Daily Papers

We introduce QuaRot, a new Quantization scheme based on Rotations, which is able to quantize LLMs end-to-end, including all weights, activations, and KV cache in 4 bits. QuaRot rotates LLMs in a way that removes outliers from the hidden state without changing the output, making quantization easier. This computational invariance is applied to the hidden state (residual) of the LLM, as well as to the activations of the feed-forward components, aspects of the attention mechanism and to the KV cache. The result is a quantized model where all matrix multiplications are performed in 4-bits, without any channels identified for retention in higher precision. Our quantized LLaMa2-70B model has losses of at most 0.29 WikiText-2 perplexity and retains 99% of the zero-shot performance. Code is available at: https://github.com/spcl/QuaRot.

We propose a new end-to-end neural acoustic model for automatic speech recognition. The model is composed of multiple blocks with residual connections between them. Each block consists of one or more modules with 1D time-channel separable convolutional layers, batch normalization, and ReLU layers. It is trained with CTC loss. The proposed network achieves near state-of-the-art accuracy on LibriSpeech and Wall Street Journal, while having fewer parameters than all competing models. We also demonstrate that this model can be effectively fine-tuned on new datasets.

The NLLG (Natural Language Learning & Generation) arXiv reports assist in navigating the rapidly evolving landscape of NLP and AI research across cs.CL, cs.CV, cs.AI, and cs.LG categories. This fourth installment captures a transformative period in AI history - from January 1, 2023, following ChatGPT's debut, through September 30, 2024. Our analysis reveals substantial new developments in the field - with 45% of the top 40 most-cited papers being new entries since our last report eight months ago and offers insights into emerging trends and major breakthroughs, such as novel multimodal architectures, including diffusion and state space models. Natural Language Processing (NLP; cs.CL) remains the dominant main category in the list of our top-40 papers but its dominance is on the decline in favor of Computer vision (cs.CV) and general machine learning (cs.LG). This report also presents novel findings on the integration of generative AI in academic writing, documenting its increasing adoption since 2022 while revealing an intriguing pattern: top-cited papers show notably fewer markers of AI-generated content compared to random samples. Furthermore, we track the evolution of AI-associated language, identifying declining trends in previously common indicators such as "delve".

We demonstrate the possibility of learning drone swarm controllers that are zero-shot transferable to real quadrotors via large-scale multi-agent end-to-end reinforcement learning. We train policies parameterized by neural networks that are capable of controlling individual drones in a swarm in a fully decentralized manner. Our policies, trained in simulated environments with realistic quadrotor physics, demonstrate advanced flocking behaviors, perform aggressive maneuvers in tight formations while avoiding collisions with each other, break and re-establish formations to avoid collisions with moving obstacles, and efficiently coordinate in pursuit-evasion tasks. We analyze, in simulation, how different model architectures and parameters of the training regime influence the final performance of neural swarms. We demonstrate the successful deployment of the model learned in simulation to highly resource-constrained physical quadrotors performing station keeping and goal swapping behaviors. Code and video demonstrations are available on the project website at https://sites.google.com/view/swarm-rl.

3D-aware face generators are typically trained on 2D real-life face image datasets that primarily consist of near-frontal face data, and as such, they are unable to construct one-quarter headshot 3D portraits with complete head, neck, and shoulder geometry. Two reasons account for this issue: First, existing facial recognition methods struggle with extracting facial data captured from large camera angles or back views. Second, it is challenging to learn a distribution of 3D portraits covering the one-quarter headshot region from single-view data due to significant geometric deformation caused by diverse body poses. To this end, we first create the dataset 360{\deg}-Portrait-HQ (360{\deg}PHQ for short) which consists of high-quality single-view real portraits annotated with a variety of camera parameters (the yaw angles span the entire 360{\deg} range) and body poses. We then propose 3DPortraitGAN, the first 3D-aware one-quarter headshot portrait generator that learns a canonical 3D avatar distribution from the 360{\deg}PHQ dataset with body pose self-learning. Our model can generate view-consistent portrait images from all camera angles with a canonical one-quarter headshot 3D representation. Our experiments show that the proposed framework can accurately predict portrait body poses and generate view-consistent, realistic portrait images with complete geometry from all camera angles.

Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions to train successful policies. This necessitates the use of fast and highly-parallelizable simulators. In addition to speed, such simulators need to model the physics of the robots and their interaction with the environment to a level acceptable for transferring policies learned in simulation to reality. We present QuadSwarm, a fast, reliable simulator for research in single and multi-robot RL for quadrotors that addresses both issues. QuadSwarm, with fast forward-dynamics propagation decoupled from rendering, is designed to be highly parallelizable such that throughput scales linearly with additional compute. It provides multiple components tailored toward multi-robot RL, including diverse training scenarios, and provides domain randomization to facilitate the development and sim2real transfer of multi-quadrotor control policies. Initial experiments suggest that QuadSwarm achieves over 48,500 simulation samples per second (SPS) on a single quadrotor and over 62,000 SPS on eight quadrotors on a 16-core CPU. The code can be found in https://github.com/Zhehui-Huang/quad-swarm-rl.

High-speed online trajectory planning for UAVs poses a significant challenge due to the need for precise modeling of complex dynamics while also being constrained by computational limitations. This paper presents a multi-fidelity reinforcement learning method (MFRL) that aims to effectively create a realistic dynamics model and simultaneously train a planning policy that can be readily deployed in real-time applications. The proposed method involves the co-training of a planning policy and a reward estimator; the latter predicts the performance of the policy's output and is trained efficiently through multi-fidelity Bayesian optimization. This optimization approach models the correlation between different fidelity levels, thereby constructing a high-fidelity model based on a low-fidelity foundation, which enables the accurate development of the reward model with limited high-fidelity experiments. The framework is further extended to include real-world flight experiments in reinforcement learning training, allowing the reward model to precisely reflect real-world constraints and broadening the policy's applicability to real-world scenarios. We present rigorous evaluations by training and testing the planning policy in both simulated and real-world environments. The resulting trained policy not only generates faster and more reliable trajectories compared to the baseline snap minimization method, but it also achieves trajectory updates in 2 ms on average, while the baseline method takes several minutes.

End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy learned controllers onto single quadrotors or quadrotor teams maneuvering in simple, obstacle-free environments. However, the addition of obstacles increases the number of possible interactions exponentially, thereby increasing the difficulty of training RL policies. In this work, we propose an end-to-end DRL approach to control quadrotor swarms in environments with obstacles. We provide our agents a curriculum and a replay buffer of the clipped collision episodes to improve performance in obstacle-rich environments. We implement an attention mechanism to attend to the neighbor robots and obstacle interactions - the first successful demonstration of this mechanism on policies for swarm behavior deployed on severely compute-constrained hardware. Our work is the first work that demonstrates the possibility of learning neighbor-avoiding and obstacle-avoiding control policies trained with end-to-end DRL that transfers zero-shot to real quadrotors. Our approach scales to 32 robots with 80% obstacle density in simulation and 8 robots with 20% obstacle density in physical deployment. Video demonstrations are available on the project website at: https://sites.google.com/view/obst-avoid-swarm-rl.