Generative models have shown great promise as trajectory planners, given their affinity to modeling complex distributions and guidable inference process. Previous works have successfully applied these in the context of robotic manipulation but perform poorly when the required solution does not exist as a complete trajectory within the training set. We identify that this is a result of being unable to plan via stitching, and subsequently address the architectural and dataset choices needed to remedy this. On top of this, we propose a novel addition to the training and inference procedures to both stabilize and enhance these capabilities. We demonstrate the efficacy of our approach by generating plans with out of distribution boundary conditions and performing obstacle avoidance on the Franka Panda in simulation and on real hardware. In both of these tasks our method performs significantly better than the baselines and is able to avoid obstacles up to four times as large.

This paper explores the enhancement of small language models through strategic dataset augmentation via ChatGPT-3.5-Turbo, in the domain of Natural Language Inference (NLI). By employing knowledge distillation-based techniques and synthetic dataset augmentation, we aim to bridge the performance gap between large language models (LLMs) and small language models (SLMs) without the immense cost of human annotation. Our methods involve two forms of rationale generation--information extraction and informed reasoning--to enrich the ANLI dataset. We then fine-tune T5-Small on these augmented datasets, evaluating its performance against an established benchmark. Our findings reveal that the incorporation of synthetic rationales significantly improves the model's ability to comprehend natural language, leading to 1.3\% and 2.3\% higher classification accuracy, respectively, on the ANLI dataset, demonstrating the potential of leveraging LLMs for dataset augmentation. This approach not only enhances the performance of smaller models on complex tasks but also introduces a cost-effective method for fine-tuning smaller language models. By advancing our understanding of knowledge distillation and fine-tuning strategies, this work contributes to the ongoing effort to create more capable and efficient NLP systems.

Recent advancements in morpheme segmentation primarily emphasize word-level segmentation, often neglecting the contextual relevance within the sentence. In this study, we redefine the morpheme segmentation task as a sequence-to-sequence problem, treating the entire sentence as input rather than isolating individual words. Our findings reveal that the multilingual model consistently exhibits superior performance compared to monolingual counterparts. While our model did not surpass the performance of the current state-of-the-art, it demonstrated comparable efficacy with high-resource languages while revealing limitations in low-resource language scenarios.

Quantum algorithms, represented as quantum circuits, can be used as benchmarks for assessing the performance of quantum systems. Existing datasets, widely utilized in the field, suffer from limitations in size and versatility, leading researchers to employ randomly generated circuits. Random circuits are, however, not representative benchmarks as they lack the inherent properties of real quantum algorithms for which the quantum systems are manufactured. This shortage of `useful' quantum benchmarks poses a challenge to advancing the development and comparison of quantum compilers and hardware. This research aims to enhance the existing quantum circuit datasets by generating what we refer to as `realistic-looking' circuits by employing the Transformer machine learning architecture. For this purpose, we introduce KetGPT, a tool that generates synthetic circuits in OpenQASM language, whose structure is based on quantum circuits derived from existing quantum algorithms and follows the typical patterns of human-written algorithm-based code (e.g., order of gates and qubits). Our three-fold verification process, involving manual inspection and Qiskit framework execution, transformer-based classification, and structural analysis, demonstrates the efficacy of KetGPT in producing large amounts of additional circuits that closely align with algorithm-based structures. Beyond benchmarking, we envision KetGPT contributing substantially to AI-driven quantum compilers and systems.

Security classifiers, designed to detect malicious content in computer systems and communications, can underperform when provided with insufficient training data. In the security domain, it is often easy to find samples of the negative (benign) class, and challenging to find enough samples of the positive (malicious) class to train an effective classifier. This study evaluates the application of natural language text generators to fill this data gap in multiple security-related text classification tasks. We describe a variety of previously-unexamined language-model fine-tuning approaches for this purpose and consider in particular the impact of disproportionate class-imbalances in the training set. Across our evaluation using three state-of-the-art classifiers designed for offensive language detection, review fraud detection, and SMS spam detection, we find that models trained with GPT-3 data augmentation strategies outperform both models trained without augmentation and models trained using basic data augmentation strategies already in common usage. In particular, we find substantial benefits for GPT-3 data augmentation strategies in situations with severe limitations on known positive-class samples.

In which we propose neural network architecture (dune neural network) for recognizing general noisy image without adding any artificial noise in the training data. By representing each free parameter of the network as an uncertainty interval, and applying a linear transformation to each input element, we show that the resulting architecture achieves decent noise robustness when faced with input data with white noise. We apply simple dune neural networks for MNIST dataset and demonstrate that even for very noisy input images which are hard for human to recognize, our approach achieved better test set accuracy than human without dataset augmentation. We also find that our method is robust for many other examples with various background patterns added.

Dataset augmentation, the practice of applying a wide array of domain-specific transformations to synthetically expand a training set, is a standard tool in supervised learning. While effective in tasks such as visual recognition, the set of transformations must be carefully designed, implemented, and tested for every new domain, limiting its re-use and generality. In this paper, we adopt a simpler, domain-agnostic approach to dataset augmentation. We start with existing data points and apply simple transformations such as adding noise, interpolating, or extrapolating between them. Our main insight is to perform the transformation not in input space, but in a learned feature space. A re-kindling of interest in unsupervised representation learning makes this technique timely and more effective. It is a simple proposal, but to-date one that has not been tested empirically. Working in the space of context vectors generated by sequence-to-sequence models, we demonstrate a technique that is effective for both static and sequential data.