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Neurobench: DCASE 2020 Acoustic Scene Classification benchmark on XyloAudio 2
Get PDFXyloAudio is a line of ultra-low-power audio inference chips, designed for in- and near-microphone analysis of audio in real-time energy-constrained scenarios. Xylo is designed around a highly efficient integer-logic processor which simulates parameter- and activity-sparse spiking neural networks (SNNs) using a leaky integrate-and-fire (LIF) neuron model. Neurons on Xylo are quantised integer devices operating in synchronous digital CMOS, with neuron and synapse state quantised to 16 bit, and weight parameters quantised to 8 bit. Xylo is tailored for real-time streaming operation, as opposed to accelerated-time operation in the case of an inference accelerator. XyloAudio includes a low-power audio encoding interface for direct connection to a microphone, designed for sparse encoding of incident audio for further processing by the inference core. In this report we present the results of DCASE 2020 acoustic scene classification audio benchmark dataset deployed to XyloAudio 2. We describe the benchmark dataset; the audio preprocessing approach; and the network architecture and training approach. We present the performance of the trained model, and the results of power and latency measurements performed on the XyloAudio 2 development kit. This benchmark is conducted as part of the Neurobench project
Reducing Oversmoothing through Informed Weight Initialization in Graph Neural Networks
Get PDFIn this work, we generalize the ideas of Kaiming initialization to Graph Neural Networks (GNNs) and propose a new scheme (G-Init) that reduces oversmoothing, leading to very good results in node and graph classification tasks. GNNs are commonly initialized using methods designed for other types of Neural Networks, overlooking the underlying graph topology. We analyze theoretically the variance of signals flowing forward and gradients flowing backward in the class of convolutional GNNs. We then simplify our analysis to the case of the GCN and propose a new initialization method. Our results indicate that the new method (G-Init) reduces oversmoothing in deep GNNs, facilitating their effective use. Experimental validation supports our theoretical findings, demonstrating the advantages of deep networks in scenarios with no feature information for unlabeled nodes (i.e., ``cold start\u27\u27 scenario)
Lever rule violation and pressure imbalance in a driven granular system
Get PDFWe study a monolayer of metal balls under periodic chiral driving in the horizontal plane. Energy dissipation occurs in this system via (i) inelastic collisions and (ii) frictional interaction with the substrate. We show that below a density-dependent critical drive, the system phase separates into a fluid phase coexisting with a solid phase. Unlike ordinary coexistence, however, the system does not obey the lever rule, as the fluid-phase density depends on the overall particle density. Additionally, the pressure is discontinuous across the fluid-solid interface, accompanied by a chiral edge current at the interface
Evaluating and Improving ChatGPT-Based Expansion of Abbreviations
Get PDFSource code identifiers often contain abbreviations. Such abbreviations may reduce the readability of the source code, which in turn hinders the maintenance of the software applications. To this end, accurate and automated approaches to expanding abbreviations in source code are desirable and abbreviation expansion has been intensively investigated. However, to the best of our knowledge, most existing approaches are heuristics, and none of them has even employed deep learning techniques, let alone the most advanced large language models (LLMs). LLMs have demonstrated cutting-edge performance in various software engineering tasks, and thus it has the potential to expand abbreviation automatically. To this end, in this paper, we present the first empirical study on LLM-based abbreviation expansion. Our evaluation results on a public benchmark suggest that ChatGPT is substantially less accurate than the state-of-the-art approach, reducing precision and recall by 28.2\% and 27.8\%, respectively. We manually analyzed the failed cases, and discovered the root causes for the failures: 1) Lack of contexts and 2) Inability to recognize abbreviations. In response to the first cause, we investigated the effect of various contexts and found surrounding source code is the best selection. In response to the second cause, we designed an iterative approach that identifies and explicitly marks missed abbreviations in prompts. Finally, we proposed a post-condition checking to exclude incorrect expansions that violate commonsense. All such measures together make ChatGPT-based abbreviation expansion comparable to the state of the art while avoiding expensive source code parsing and deep analysis that are indispensable for state-of-the-art approaches
Transformer-based Model Predictive Control: Trajectory Optimization via Sequence Modeling
Get PDFModel predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the recursive solution of highly non-convex trajectory optimization problems, leading to high computational complexity and strong dependency on initialization. In this work, we present a unified framework to combine the main strengths of optimization-based and learning-based methods for MPC. Our approach entails embedding high-capacity, transformer-based neural network models within the optimization process for trajectory generation, whereby the transformer provides a near-optimal initial guess, or target plan, to a non-convex optimization problem. Our experiments, performed in simulation and the real world onboard a free flyer platform, demonstrate the capabilities of our framework to improve MPC convergence and runtime. Compared to purely optimization-based approaches, results show that our approach can improve trajectory generation performance by up to 75%, reduce the number of solver iterations by up to 45%, and improve overall MPC runtime by 7x without loss in performance.8 pages, 7 figures. Datasets, videos and code available at: https://transformermpc.github.i
GAMap: Zero-Shot Object Goal Navigation with Multi-Scale Geometric-Affordance Guidance
Get PDFZero-Shot Object Goal Navigation (ZS-OGN) enables robots or agents to navigate toward objects of unseen categories without object-specific training. Traditional approaches often leverage categorical semantic information for navigation guidance, which struggles when only objects are partially observed or detailed and functional representations of the environment are lacking. To resolve the above two issues, we propose \textit{Geometric-part and Affordance Maps} (GAMap), a novel method that integrates object parts and affordance attributes as navigation guidance. Our method includes a multi-scale scoring approach to capture geometric-part and affordance attributes of objects at different scales. Comprehensive experiments conducted on HM3D and Gibson benchmark datasets demonstrate improvements in Success Rate and Success weighted by Path Length, underscoring the efficacy of our geometric-part and affordance-guided navigation approach in enhancing robot autonomy and versatility, without any additional object-specific training or fine-tuning with the semantics of unseen objects and/or the locomotions of the robot.16 pages, 8 figures, 7 table
A Type System for Data Flow and Alias Analysis in ReScript
Get PDFReScript is a strongly typed language that targets JavaScript, as an alternative to gradually typed languages, such as TypeScript. In this paper, we present a sound type system for data-flow analysis for a subset of the ReScript language, more specifically for a lambda-calculus with mutability and pattern matching. The type system is a local analysis that collects information about variables that are used at each program point as well as alias information.In Proceedings FROM 2024, arXiv:2410.23020. A full version of this paper is available at arXiv:2408.1195
Task-Aware Unified Source Separation
Get PDFSeveral attempts have been made to handle multiple source separation tasks such as speech enhancement, speech separation, sound event separation, music source separation (MSS), or cinematic audio source separation (CASS) with a single model. These models are trained on large-scale data including speech, instruments, or sound events and can often successfully separate a wide range of sources. However, it is still challenging for such models to cover all separation tasks because some of them are contradictory (e.g., musical instruments are separated in MSS while they have to be grouped in CASS). To overcome this issue and support all the major separation tasks, we propose a task-aware unified source separation (TUSS) model. The model uses a variable number of learnable prompts to specify which source to separate, and changes its behavior depending on the given prompts, enabling it to handle all the major separation tasks including contradictory ones. Experimental results demonstrate that the proposed TUSS model successfully handles the five major separation tasks mentioned earlier. We also provide some audio examples, including both synthetic mixtures and real recordings, to demonstrate how flexibly the TUSS model changes its behavior at inference depending on the prompts.Submitted to ICASSP 202
Navigating the Unknown: A Chat-Based Collaborative Interface for Personalized Exploratory Tasks
Get PDFThe rise of large language models (LLMs) has revolutionized user interactions with knowledge-based systems, enabling chatbots to synthesize vast amounts of information and assist with complex, exploratory tasks. However, LLM-based chatbots often struggle to provide personalized support, particularly when users start with vague queries or lack sufficient contextual information. This paper introduces the Collaborative Assistant for Personalized Exploration (CARE), a system designed to enhance personalization in exploratory tasks by combining a multi-agent LLM framework with a structured user interface. CARE\u27s interface consists of a Chat Panel, Solution Panel, and Needs Panel, enabling iterative query refinement and dynamic solution generation. The multi-agent framework collaborates to identify both explicit and implicit user needs, delivering tailored, actionable solutions. In a within-subject user study with 22 participants, CARE was consistently preferred over a baseline LLM chatbot, with users praising its ability to reduce cognitive load, inspire creativity, and provide more tailored solutions. Our findings highlight CARE\u27s potential to transform LLM-based systems from passive information retrievers to proactive partners in personalized problem-solving and exploration
State- and context-dependent robotic manipulation and grasping via uncertainty-aware imitation learning
Get PDFGenerating context-adaptive manipulation and grasping actions is a challenging problem in robotics. Classical planning and control algorithms tend to be inflexible with regard to parameterization by external variables such as object shapes. In contrast, Learning from Demonstration (LfD) approaches, due to their nature as function approximators, allow for introducing external variables to modulate policies in response to the environment. In this paper, we utilize this property by introducing an LfD approach to acquire context-dependent grasping and manipulation strategies. We treat the problem as a kernel-based function approximation, where the kernel inputs include generic context variables describing task-dependent parameters such as the object shape. We build on existing work on policy fusion with uncertainty quantification to propose a state-dependent approach that automatically returns to demonstrations, avoiding unpredictable behavior while smoothly adapting to context changes. The approach is evaluated against the LASA handwriting dataset and on a real 7-DoF robot in two scenarios: adaptation to slippage while grasping and manipulating a deformable food item