Yao Liu

Zuxin Liu, Jesse Zhang, Kavosh Asadi et al. · cmu

The full potential of large pretrained models remains largely untapped in control domains like robotics. This is mainly because of the scarcity of data and the computational challenges associated with training or fine-tuning these large models for such applications. Prior work mainly emphasizes either effective pretraining of large models for decision-making or single-task adaptation. But real-world problems will require data-efficient, continual adaptation for new control tasks. Recognizing these constraints, we introduce TAIL (Task-specific Adapters for Imitation Learning), a framework for efficient adaptation to new control tasks. Inspired by recent advancements in parameter-efficient fine-tuning in language domains, we explore efficient fine-tuning techniques -- e.g., Bottleneck Adapters, P-Tuning, and Low-Rank Adaptation (LoRA) -- in TAIL to adapt large pretrained models for new tasks with limited demonstration data. Our extensive experiments in large-scale language-conditioned manipulation tasks comparing prevalent parameter-efficient fine-tuning techniques and adaptation baselines suggest that TAIL with LoRA can achieve the best post-adaptation performance with only 1\% of the trainable parameters of full fine-tuning, while avoiding catastrophic forgetting and preserving adaptation plasticity in continual learning settings.

Yao Liu, Zesheng Ye, Rui Wang et al.

Tremendous efforts have been put forth on predicting pedestrian trajectory with generative models to accommodate uncertainty and multi-modality in human behaviors. An individual's inherent uncertainty, e.g., change of destination, can be masked by complex patterns resulting from the movements of interacting pedestrians. However, latent variable-based generative models often entangle such uncertainty with complexity, leading to limited either latent expressivity or predictive diversity. In this work, we propose to separately model these two factors by implicitly deriving a flexible latent representation to capture intricate pedestrian movements, while integrating predictive uncertainty of individuals with explicit bivariate Gaussian mixture densities over their future locations. More specifically, we present a model-agnostic uncertainty-aware pedestrian trajectory prediction framework, parameterizing sufficient statistics for the mixture of Gaussians that jointly comprise the multi-modal trajectories. We further estimate these parameters of interest by approximating a denoising process that progressively recovers pedestrian movements from noise. Unlike previous studies, we translate the predictive stochasticity to explicit distributions, allowing it to readily generate plausible future trajectories indicating individuals' self-uncertainty. Moreover, our framework is compatible with different neural net architectures. We empirically show the performance gains over state-of-the-art even with lighter backbones, across most scenes on two public benchmarks.

Rui Duan, Zhe Qu, Leah Ding et al.

Audio adversarial examples (AEs) have posed significant security challenges to real-world speaker recognition systems. Most black-box attacks still require certain information from the speaker recognition model to be effective (e.g., keeping probing and requiring the knowledge of similarity scores). This work aims to push the practicality of the black-box attacks by minimizing the attacker's knowledge about a target speaker recognition model. Although it is not feasible for an attacker to succeed with completely zero knowledge, we assume that the attacker only knows a short (or a few seconds) speech sample of a target speaker. Without any probing to gain further knowledge about the target model, we propose a new mechanism, called parrot training, to generate AEs against the target model. Motivated by recent advancements in voice conversion (VC), we propose to use the one short sentence knowledge to generate more synthetic speech samples that sound like the target speaker, called parrot speech. Then, we use these parrot speech samples to train a parrot-trained(PT) surrogate model for the attacker. Under a joint transferability and perception framework, we investigate different ways to generate AEs on the PT model (called PT-AEs) to ensure the PT-AEs can be generated with high transferability to a black-box target model with good human perceptual quality. Real-world experiments show that the resultant PT-AEs achieve the attack success rates of 45.8% - 80.8% against the open-source models in the digital-line scenario and 47.9% - 58.3% against smart devices, including Apple HomePod (Siri), Amazon Echo, and Google Home, in the over-the-air scenario.

Yao Liu, Gangfeng Cui, Jiahui Luo et al.

As a fundamental aspect of human life, two-person interactions contain meaningful information about people's activities, relationships, and social settings. Human action recognition serves as the foundation for many smart applications, with a strong focus on personal privacy. However, recognizing two-person interactions poses more challenges due to increased body occlusion and overlap compared to single-person actions. In this paper, we propose a point cloud-based network named Two-stream Multi-level Dynamic Point Transformer for two-person interaction recognition. Our model addresses the challenge of recognizing two-person interactions by incorporating local-region spatial information, appearance information, and motion information. To achieve this, we introduce a designed frame selection method named Interval Frame Sampling (IFS), which efficiently samples frames from videos, capturing more discriminative information in a relatively short processing time. Subsequently, a frame features learning module and a two-stream multi-level feature aggregation module extract global and partial features from the sampled frames, effectively representing the local-region spatial information, appearance information, and motion information related to the interactions. Finally, we apply a transformer to perform self-attention on the learned features for the final classification. Extensive experiments are conducted on two large-scale datasets, the interaction subsets of NTU RGB+D 60 and NTU RGB+D 120. The results show that our network outperforms state-of-the-art approaches in most standard evaluation settings.

Xinzhe Li, Sun Rui, Yiming Niu et al.

Precipitation prediction plays a crucial role in modern agriculture and industry. However, it poses significant challenges due to the diverse patterns and dynamics in time and space, as well as the scarcity of high precipitation events. To address this challenge, we propose an ensemble learning framework that leverages multiple learners to capture the diverse patterns of precipitation distribution. Specifically, the framework consists of a precipitation predictor with multiple lightweight heads (learners) and a controller that combines the outputs from these heads. The learners and the controller are separately optimized with a proposed 3-stage training scheme. By utilizing provided satellite images, the proposed approach can effectively model the intricate rainfall patterns, especially for high precipitation events. It achieved 1st place on the core test as well as the nowcasting leaderboards of the Weather4Cast 2023 competition. For detailed implementation, please refer to our GitHub repository at: https://github.com/lxz1217/weather4cast-2023-lxz.

Zexue He, Yu Wang, An Yan et al.

Curated datasets for healthcare are often limited due to the need of human annotations from experts. In this paper, we present MedEval, a multi-level, multi-task, and multi-domain medical benchmark to facilitate the development of language models for healthcare. MedEval is comprehensive and consists of data from several healthcare systems and spans 35 human body regions from 8 examination modalities. With 22,779 collected sentences and 21,228 reports, we provide expert annotations at multiple levels, offering a granular potential usage of the data and supporting a wide range of tasks. Moreover, we systematically evaluated 10 generic and domain-specific language models under zero-shot and finetuning settings, from domain-adapted baselines in healthcare to general-purposed state-of-the-art large language models (e.g., ChatGPT). Our evaluations reveal varying effectiveness of the two categories of language models across different tasks, from which we notice the importance of instruction tuning for few-shot usage of large language models. Our investigation paves the way toward benchmarking language models for healthcare and provides valuable insights into the strengths and limitations of adopting large language models in medical domains, informing their practical applications and future advancements.

Jessica Echterhoff, Yao Liu, Abeer Alessa et al.

Large language models (LLMs) offer significant potential as tools to support an expanding range of decision-making tasks. Given their training on human (created) data, LLMs have been shown to inherit societal biases against protected groups, as well as be subject to bias functionally resembling cognitive bias. Human-like bias can impede fair and explainable decisions made with LLM assistance. Our work introduces BiasBuster, a framework designed to uncover, evaluate, and mitigate cognitive bias in LLMs, particularly in high-stakes decision-making tasks. Inspired by prior research in psychology and cognitive science, we develop a dataset containing 13,465 prompts to evaluate LLM decisions on different cognitive biases (e.g., prompt-induced, sequential, inherent). We test various bias mitigation strategies, while proposing a novel method utilizing LLMs to debias their own human-like cognitive bias within prompts. Our analysis provides a comprehensive picture of the presence and effects of cognitive bias across commercial and open-source models. We demonstrate that our selfhelp debiasing effectively mitigates model answers that display patterns akin to human cognitive bias without having to manually craft examples for each bias.

Yabin Zhu, Chenglong Li, Yao Liu et al.

Tiny objects, frequently appearing in practical applications, have weak appearance and features, and receive increasing interests in meany vision tasks, such as object detection and segmentation. To promote the research and development of tiny object tracking, we create a large-scale video dataset, which contains 434 sequences with a total of more than 217K frames. Each frame is carefully annotated with a high-quality bounding box. In data creation, we take 12 challenge attributes into account to cover a broad range of viewpoints and scene complexities, and annotate these attributes for facilitating the attribute-based performance analysis. To provide a strong baseline in tiny object tracking, we propose a novel Multilevel Knowledge Distillation Network (MKDNet), which pursues three-level knowledge distillations in a unified framework to effectively enhance the feature representation, discrimination and localization abilities in tracking tiny objects. Extensive experiments are performed on the proposed dataset, and the results prove the superiority and effectiveness of MKDNet compared with state-of-the-art methods. The dataset, the algorithm code, and the evaluation code are available at https://github.com/mmic-lcl/Datasets-and-benchmark-code.

Jianing Wang, Junda Wu, Yupeng Hou et al.

Do current large language models (LLMs) better solve graph reasoning and generation tasks with parameter updates? In this paper, we propose InstructGraph, a framework that empowers LLMs with the abilities of graph reasoning and generation by instruction tuning and preference alignment. Specifically, we first propose a structured format verbalizer to unify all graph data into a universal code-like format, which can simply represent the graph without any external graph-specific encoders. Furthermore, a graph instruction tuning stage is introduced to guide LLMs in solving graph reasoning and generation tasks. Finally, we identify potential hallucination problems in graph tasks and sample negative instances for preference alignment, the target of which is to enhance the output's reliability of the model. Extensive experiments across multiple graph-centric tasks exhibit that InstructGraph can achieve the best performance and outperform GPT-4 and LLaMA2 by more than 13\% and 38\%, respectively.

Yao Liu, Binghao Li, Xianzhi Wang et al.

Trajectory prediction is fundamental to various intelligent technologies, such as autonomous driving and robotics. The motion prediction of pedestrians and vehicles helps emergency braking, reduces collisions, and improves traffic safety. Current trajectory prediction research faces problems of complex social interactions, high dynamics and multi-modality. Especially, it still has limitations in long-time prediction. We propose Attention-aware Social Graph Transformer Networks for multi-modal trajectory prediction. We combine Graph Convolutional Networks and Transformer Networks by generating stable resolution pseudo-images from Spatio-temporal graphs through a designed stacking and interception method. Furthermore, we design the attention-aware module to handle social interaction information in scenarios involving mixed pedestrian-vehicle traffic. Thus, we maintain the advantages of the Graph and Transformer, i.e., the ability to aggregate information over an arbitrary number of neighbors and the ability to perform complex time-dependent data processing. We conduct experiments on datasets involving pedestrian, vehicle, and mixed trajectories, respectively. Our results demonstrate that our model minimizes displacement errors across various metrics and significantly reduces the likelihood of collisions. It is worth noting that our model effectively reduces the final displacement error, illustrating the ability of our model to predict for a long time.

Zhepeng Cen, Yao Liu, Siliang Zeng et al.

Language models are often trained to maximize the likelihood of the next token given past tokens in the training dataset. However, during inference time, they are utilized differently, generating text sequentially and auto-regressively by using previously generated tokens as input to predict the next one. Marginal differences in predictions at each step can cascade over successive steps, resulting in different distributions from what the models were trained for and potentially leading to unpredictable behavior. This paper proposes two simple approaches based on model own generation to address this discrepancy between the training and inference time. Our first approach is Batch-Scheduled Sampling, where, during training, we stochastically choose between the ground-truth token from the dataset and the model's own generated token as input to predict the next token. This is done in an offline manner, modifying the context window by interleaving ground-truth tokens with those generated by the model. Our second approach is Reference-Answer-based Correction, where we explicitly incorporate a self-correction capability into the model during training. This enables the model to effectively self-correct the gaps between the generated sequences and the ground truth data without relying on an external oracle model. By incorporating our proposed strategies during training, we have observed an overall improvement in performance compared to baseline methods, as demonstrated by our extensive experiments using summarization, general question-answering, and math question-answering tasks.

Tianwei Ni, Allen Nie, Sapana Chaudhary et al.

Leveraging inference-time search in large language models has proven effective in further enhancing a trained model's capability to solve complex mathematical and reasoning problems. However, this approach significantly increases computational costs and inference time, as the model must generate and evaluate multiple candidate solutions to identify a viable reasoning path. To address this, we propose an effective approach that integrates search capabilities directly into the model by fine-tuning it on unpaired successful (learning) and failed reasoning paths (forgetting) derived from diverse search methods. A key challenge we identify is that naive fine-tuning can degrade the model's search capability; we show this can be mitigated with a smaller learning rate. Extensive experiments on the challenging Game-of-24 and Countdown arithmetic puzzles show that, replacing CoT-generated data with search-generated data for offline fine-tuning improves success rates by around 23% over inference-time search baselines, while reducing inference time by 180$\times$. On top of this, our learning and forgetting objective consistently outperforms both supervised fine-tuning and preference-based methods.

Jesse Zhang, Minho Heo, Zuxin Liu et al.

Most reinforcement learning (RL) methods focus on learning optimal policies over low-level action spaces. While these methods can perform well in their training environments, they lack the flexibility to transfer to new tasks. Instead, RL agents that can act over useful, temporally extended skills rather than low-level actions can learn new tasks more easily. Prior work in skill-based RL either requires expert supervision to define useful skills, which is hard to scale, or learns a skill-space from offline data with heuristics that limit the adaptability of the skills, making them difficult to transfer during downstream RL. Our approach, EXTRACT, instead utilizes pre-trained vision language models to extract a discrete set of semantically meaningful skills from offline data, each of which is parameterized by continuous arguments, without human supervision. This skill parameterization allows robots to learn new tasks by only needing to learn when to select a specific skill and how to modify its arguments for the specific task. We demonstrate through experiments in sparse-reward, image-based, robot manipulation environments that EXTRACT can more quickly learn new tasks than prior works, with major gains in sample efficiency and performance over prior skill-based RL. Website at https://www.jessezhang.net/projects/extract/.

Xingyu Li, Zhe Qu, Shangqing Zhao et al.

Federated learning (FL) provides a high efficient decentralized machine learning framework, where the training data remains distributed at remote clients in a network. Though FL enables a privacy-preserving mobile edge computing framework using IoT devices, recent studies have shown that this approach is susceptible to poisoning attacks from the side of remote clients. To address the poisoning attacks on FL, we provide a \textit{two-phase} defense algorithm called {Lo}cal {Ma}licious Facto{r} (LoMar). In phase I, LoMar scores model updates from each remote client by measuring the relative distribution over their neighbors using a kernel density estimation method. In phase II, an optimal threshold is approximated to distinguish malicious and clean updates from a statistical perspective. Comprehensive experiments on four real-world datasets have been conducted, and the experimental results show that our defense strategy can effectively protect the FL system. {Specifically, the defense performance on Amazon dataset under a label-flipping attack indicates that, compared with FG+Krum, LoMar increases the target label testing accuracy from $96.0\%$ to $98.8\%$, and the overall averaged testing accuracy from $90.1\%$ to $97.0\%$.

Sheng Jin, Shangchen Zhou, Yao Liu et al.

Deep hashing methods have been proved to be effective and efficient for large-scale Web media search. The success of these data-driven methods largely depends on collecting sufficient labeled data, which is usually a crucial limitation in practical cases. The current solutions to this issue utilize Generative Adversarial Network (GAN) to augment data in semi-supervised learning. However, existing GAN-based methods treat image generations and hashing learning as two isolated processes, leading to generation ineffectiveness. Besides, most works fail to exploit the semantic information in unlabeled data. In this paper, we propose a novel Semi-supervised Self-pace Adversarial Hashing method, named SSAH to solve the above problems in a unified framework. The SSAH method consists of an adversarial network (A-Net) and a hashing network (H-Net). To improve the quality of generative images, first, the A-Net learns hard samples with multi-scale occlusions and multi-angle rotated deformations which compete against the learning of accurate hashing codes. Second, we design a novel self-paced hard generation policy to gradually increase the hashing difficulty of generated samples. To make use of the semantic information in unlabeled ones, we propose a semi-supervised consistent loss. The experimental results show that our method can significantly improve state-of-the-art models on both the widely-used hashing datasets and fine-grained datasets.