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For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward function. Recent advances in vision-language models, such as CLIP, have shown remarkable performance in the domain of deep learning, paving the way for open-domain visual recognition. However, collecting data on robots executing various language instructions across multiple environments remains a challenge. This paper aims to transfer video-language models with robust generalization into a generalizable language-conditioned reward function, only utilizing robot video data from a minimal amount of tasks in a singular environment. Unlike common robotic datasets used for training reward functions, human video-language datasets rarely contain trivial failure videos. To enhance the model's ability to distinguish between successful and failed robot executions, we cluster failure video features to enable the model to identify patterns within. For each cluster, we integrate a newly trained failure prompt into the text encoder to represent the corresponding failure mode. Our language-conditioned reward function shows outstanding generalization to new environments and new instructions for robot planning and reinforcement learning., Comment: ECCV 2024 camera-ready

In this paper, we introduce a novel approach for addressing the multi-objective optimization problem in large language model merging via black-box multi-objective optimization algorithms. The goal of model merging is to combine multiple models, each excelling in different tasks, into a single model that outperforms any of the individual source models. However, model merging faces two significant challenges: First, existing methods rely heavily on human knowledge or intuition. Second, it's difficult to obtain the great model merging configuration in limited evaluations. To address these challenges, we formalize model merging as a multi-objective optimization problem and propose an automated optimization approach named MM-MO. This method leverages multi-objective optimization algorithms to autonomously search for optimal merging configurations across various tasks, alleviating the need for human intervention. In MM-MO, a weak-to-strong method is employed to enhance the acquisition function, allowing previously evaluated superior configurations to guide the search for new ones. Meanwhile, Fisher information is applied to screen these configurations, increasing the possibility of identifying high-quality merging configuration. Additionally, we designed a sparsity metric as an additional optimization objective to enhance the model's generalization performance across different tasks. We conducted comprehensive experiments with other mainstream model merging methods, demonstrating that the proposed MM-MO algorithm is competitive and effective in achieving high-quality model merging.

Large Language Models (LLM) based agents have shown promise in autonomously completing tasks across various domains, e.g., robotics, games, and web navigation. However, these agents typically require elaborate design and expert prompts to solve tasks in specific domains, which limits their adaptability. We introduce AutoManual, a framework enabling LLM agents to autonomously build their understanding through interaction and adapt to new environments. AutoManual categorizes environmental knowledge into diverse rules and optimizes them in an online fashion by two agents: 1) The Planner codes actionable plans based on current rules for interacting with the environment. 2) The Builder updates the rules through a well-structured rule system that facilitates online rule management and essential detail retention. To mitigate hallucinations in managing rules, we introduce a *case-conditioned prompting* strategy for the Builder. Finally, the Formulator agent compiles these rules into a comprehensive manual. The self-generated manual can not only improve the adaptability but also guide the planning of smaller LLMs while being human-readable. Given only one simple demonstration, AutoManual significantly improves task success rates, achieving 97.4\% with GPT-4-turbo and 86.2\% with GPT-3.5-turbo on ALFWorld benchmark tasks. The code is available at https://github.com/minghchen/automanual., Comment: Accepted at NeurIPS 2024

Personalized recommendation serves as a ubiquitous channel for users to discover information tailored to their interests. However, traditional recommendation models primarily rely on unique IDs and categorical features for user-item matching, potentially overlooking the nuanced essence of raw item contents across multiple modalities such as text, image, audio, and video. This underutilization of multimodal data poses a limitation to recommender systems, especially in multimedia services like news, music, and short-video platforms. The recent advancements in large multimodal models offer new opportunities and challenges in developing content-aware recommender systems. This survey seeks to provide a comprehensive exploration of the latest advancements and future trajectories in multimodal pretraining, adaptation, and generation techniques, as well as their applications in enhancing recommender systems. Furthermore, we discuss current open challenges and opportunities for future research in this dynamic domain. We believe that this survey, alongside the curated resources, will provide valuable insights to inspire further advancements in this evolving landscape., Comment: Accepted by KDD 2024. See our tutorial materials at https://mmrec.github.io

Neuroscientific research has revealed that the complex brain network can be organized into distinct functional communities, each characterized by a cohesive group of regions of interest (ROIs) with strong interconnections. These communities play a crucial role in comprehending the functional organization of the brain and its implications for neurological conditions, including Autism Spectrum Disorder (ASD) and biological differences, such as in gender. Traditional models have been constrained by the necessity of predefined community clusters, limiting their flexibility and adaptability in deciphering the brain's functional organization. Furthermore, these models were restricted by a fixed number of communities, hindering their ability to accurately represent the brain's dynamic nature. In this study, we present a token clustering brain transformer-based model ($\texttt{TC-BrainTF}$) for joint community clustering and classification. Our approach proposes a novel token clustering (TC) module based on the transformer architecture, which utilizes learnable prompt tokens with orthogonal loss where each ROI embedding is projected onto the prompt embedding space, effectively clustering ROIs into communities and reducing the dimensions of the node representation via merging with communities. Our results demonstrate that our learnable community-aware model $\texttt{TC-BrainTF}$ offers improved accuracy in identifying ASD and classifying genders through rigorous testing on ABIDE and HCP datasets. Additionally, the qualitative analysis on $\texttt{TC-BrainTF}$ has demonstrated the effectiveness of the designed TC module and its relevance to neuroscience interpretations.

Deep complex-valued neural networks provide a powerful way to leverage complex number operations and representations and have succeeded in several phase-based applications. However, most previously published networks have not fully explored the impact of complex-valued networks in the frequency domain. Here, we introduce a unified complex-valued deep learning framework-Artificial Fourier Transform Network (AFTNet)-which combines domain-manifold learning and complex-valued neural networks. AFTNet can be readily used to solve image inverse problems in domain transformation, especially for accelerated magnetic resonance imaging (MRI) reconstruction and other applications. While conventional methods only accept magnitude images, the proposed method takes raw k-space data in the frequency domain as input, allowing a mapping between the k-space and image domains to be determined through cross-domain learning. We show that AFTNet achieves superior accelerated MRI reconstruction compared to existing approaches. Furthermore, our approach can be applied to various tasks, such as denoised magnetic resonance spectroscopy (MRS) reconstruction and datasets with various contrasts. The AFTNet presented here is a valuable preprocessing component for different preclinical studies and provides an innovative alternative for solving inverse problems in imaging and spectroscopy. The code is available at: https://github.com/yanting-yang/AFT-Net.

In the field of music information retrieval (MIR), cover song identification (CSI) is a challenging task that aims to identify cover versions of a query song from a massive collection. Existing works still suffer from high intra-song variances and inter-song correlations, due to the entangled nature of version-specific and version-invariant factors in their modeling. In this work, we set the goal of disentangling version-specific and version-invariant factors, which could make it easier for the model to learn invariant music representations for unseen query songs. We analyze the CSI task in a disentanglement view with the causal graph technique, and identify the intra-version and inter-version effects biasing the invariant learning. To block these effects, we propose the disentangled music representation learning framework (DisCover) for CSI. DisCover consists of two critical components: (1) Knowledge-guided Disentanglement Module (KDM) and (2) Gradient-based Adversarial Disentanglement Module (GADM), which block intra-version and inter-version biased effects, respectively. KDM minimizes the mutual information between the learned representations and version-variant factors that are identified with prior domain knowledge. GADM identifies version-variant factors by simulating the representation transitions between intra-song versions, and exploits adversarial distillation for effect blocking. Extensive comparisons with best-performing methods and in-depth analysis demonstrate the effectiveness of DisCover and the and necessity of disentanglement for CSI.

Schizophrenia is a chronic neuropsychiatric disorder that causes distinct structural alterations within the brain. We hypothesize that deep learning applied to a structural neuroimaging dataset could detect disease-related alteration and improve classification and diagnostic accuracy. We tested this hypothesis using a single, widely available, and conventional T1-weighted MRI scan, from which we extracted the 3D whole-brain structure using standard post-processing methods. A deep learning model was then developed, optimized, and evaluated on three open datasets with T1-weighted MRI scans of patients with schizophrenia. Our proposed model outperformed the benchmark model, which was also trained with structural MR images using a 3D CNN architecture. Our model is capable of almost perfectly (area under the ROC curve = 0.987) distinguishing schizophrenia patients from healthy controls on unseen structural MRI scans. Regional analysis localized subcortical regions and ventricles as the most predictive brain regions. Subcortical structures serve a pivotal role in cognitive, affective, and social functions in humans, and structural abnormalities of these regions have been associated with schizophrenia. Our finding corroborates that schizophrenia is associated with widespread alterations in subcortical brain structure and the subcortical structural information provides prominent features in diagnostic classification. Together, these results further demonstrate the potential of deep learning to improve schizophrenia diagnosis and identify its structural neuroimaging signatures from a single, standard T1-weighted brain MRI., Comment: 13 pages, 6 figures