Miracle-dz/UniFAR-FTUs huggingface dataset:
Self-Supervised Learning for Point Clouds Data: A Survey

3D point clouds are a crucial type of data collected by LiDAR sensors and widely used in transportation applications due to its concise descriptions and accurate localization. Deep neural networks (DNNs) have achieved remarkable success in processing large amount of disordered and sparse 3D point clouds, especially in various computer vision tasks, such as pedestrian detection and vehicle recognition. Among all the learning paradigms, Self-Supervised Learning (SSL), an unsupervised training paradigm that mines effective information from the data itself, is considered as an essential solution to solve the time-consuming and labor-intensive data labelling problems via smart pre-training task design. This paper provides a comprehensive survey of recent advances on SSL for point clouds. We first present an innovative taxonomy, categorizing the existing SSL methods into four broad categories based on the pretexts' characteristics. Under each category, we then further categorize the methods into more fine-grained groups and summarize the strength and limitations of the representative methods. We also compare the performance of the notable SSL methods in literature on multiple downstream tasks on benchmark datasets both quantitatively and qualitatively. Finally, we propose a number of future research directions based on the identified limitations of existing SSL research on point clouds.
Revisiting coupled CDM-massive neutrino perturbations in diverse cosmological backgrounds

Massive neutrinos are well-known to cause a characteristic suppression in the growth of structures at scales below the neutrino free-streaming length. A detailed understanding of this suppression is essential in the era of precision cosmology we are entering into, enabling us to better constrain the total neutrino mass and possibly probe (beyond)-ΛCDM cosmological model(s). Instead of the usual N-body simulation or Boltzmann solver, in this article we consider a two-fluid framework at the linear scales, where the neutrino fluid perturbations are coupled to the CDM (+ baryon) fluid via gravity at redshifts of interest. Treating the neutrino mass fraction f ν as a perturbative parameter, we find solutions to the system with redshift-dependent neutrino free-streaming length in ΛCDM background via two separate approaches. The perturbative scale-dependent solution is shown to be in excellent agreement with numerical solution of the two-fluid equations valid to all orders in f ν, and also agrees with results from CLASS to a good accuracy. We further generalize the framework to incorporate different evolving dark energy backgrounds and found sub-percent level differences in the suppression, all of which lie within the observational uncertainty of BOSS-like surveys. We also present a brief discussion on the prospects of the current analysis in the context of upcoming missions.
Exploring the Context Generalizability in Spatiotemporal Crowd Flow Prediction: Benchmark and Guideline

—Contextual features are important data sources for building spatiotemporal crowd ﬂow prediction (STCFP) models. However, the difﬁculty of applying context lies in the unknown generalizability of both contextual features (e.g., weather, holiday, and points of interests) and context modeling techniques across different scenarios. In this paper, we build a benchmark composed of large-scale spatiotemporal crowd ﬂow data, contextual data, and state-of-the-art spatiotemporal prediction models. We conduct a comprehensive experimental study to quantitatively investigate the generalizability of different contextual features and modeling techniques in several urban crowd ﬂow prediction scenarios (including bike ﬂow, metro passenger ﬂow, electric vehicle charging demand and so on). In particular, we develop a general taxonomy of context modeling techniques based on extensive investigations in prevailing research. With millions of records and rich context data, we have trained and tested hundreds of different models. Our results reveal several important observations: (1) Using more contextual features may not always result in better prediction with existing context modeling techniques; in particular, the combination of holiday and temporal position can provide more generalizable beneﬁcial information than other contextual feature combinations. (2) In context modeling techniques, using a gated unit to incorporate raw contextual features into the state-of-the-art prediction model has good generalizability. Besides, we also offer several suggestions about incorporating contextual factors for practitioners who want to build STCFP applications. From our ﬁndings, we call for future research efforts devoted to developing new context processing and modeling solutions to fully exploit the potential of contextual features for STCFP.
Fast Anticipatory Motion Planning for Close-Proximity Human-Robot Interaction

Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing, aspects of interaction. We propose a real-time motion-planning framework for robotic manipulators that can simultaneously optimize a set of both task- and human-centric cost functions. To this end, we formulate a Nonlinear Model-Predictive Control (NMPC) problem with kino-dynamic constraints and efficiently solve it by leveraging recent advances in nonlinear trajectory optimization. We employ stochastic predictions of the human partner's trajectories in order to adapt the robot's nominal behavior in anticipation of its human partner. Our framework explicitly models and allows balancing of different task- and human-centric cost functions. While previous approaches to trajectory optimization for CP-HRI take anywhere from several seconds to a full minute to compute a trajectory, our approach is capable of computing one in 318 ms on average, enabling real-time implementation. We illustrate the effectiveness of our framework by simultaneously optimizing for separation distance, end-effector visibility, legibility, smoothness, and deviation from nominal behavior. We also demonstrate that our approach performs comparably to prior work in terms of the chosen cost functions, while significantly improving computational efficiency.
Cross-lingual Transfer Can Worsen Bias in Sentiment Analysis

Sentiment analysis (SA) systems are widely deployed in many of the world's languages, and there is well-documented evidence of demographic bias in these systems. In languages beyond English, scarcer training data is often supplemented with transfer learning using pre-trained models, including multilingual models trained on other languages. In some cases, even supervision data comes from other languages. Does cross-lingual transfer also import new biases? To answer this question, we use counterfactual evaluation to test whether gender or racial biases are imported when using cross-lingual transfer, compared to a monolingual transfer setting. Across five languages, we find that systems using cross-lingual transfer usually become more biased than their monolingual counterparts. We also find racial biases to be much more prevalent than gender biases. To spur further research on this topic, we release the sentiment models we used for this study, and the intermediate checkpoints throughout training, yielding 1,525 distinct models; we also release our evaluation code.
It's Enough: Relaxing Diagonal Constraints in Linear Autoencoders for Recommendation

Linear autoencoder models learn an item-to-item weight matrix via convex optimization with L2 regularization and zero-diagonal constraints. Despite their simplicity, they have shown remarkable performance compared to sophisticated non-linear models. This paper aims to theoretically understand the properties of two terms in linear autoencoders. Through the lens of singular value decomposition (SVD) and principal component analysis (PCA), it is revealed that L2 regularization enhances the impact of high-ranked PCs. Meanwhile, zero-diagonal constraints reduce the impact of low-ranked PCs, leading to performance degradation for unpopular items. Inspired by this analysis, we propose simple-yet-effective linear autoencoder models using diagonal inequality constraints, called Relaxed Linear AutoEncoder (RLAE) and Relaxed Denoising Linear AutoEncoder (RDLAE). We prove that they generalize linear autoencoders by adjusting the degree of diagonal constraints. Experimental results demonstrate that our models are comparable or superior to state-of-the-art linear and non-linear models on six benchmark datasets; they significantly improve the accuracy of long-tail items. These results also support our theoretical insights on regularization and diagonal constraints in linear autoencoders.
Distribution-Free Model-Agnostic Regression Calibration via Nonparametric Methods

In this paper, we consider the uncertainty quantification problem for regression models. Specifically, we consider an individual calibration objective for characterizing the quantiles of the prediction model. While such an objective is well-motivated from downstream tasks such as newsvendor cost, the existing methods have been largely heuristic and lack of statistical guarantee in terms of individual calibration. We show via simple examples that the existing methods focusing on population-level calibration guarantees such as average calibration or sharpness can lead to harmful and unexpected results. We propose simple nonparametric calibration methods that are agnostic of the underlying prediction model and enjoy both computational efficiency and statistical consistency. Our approach enables a better understanding of the possibility of individual calibration, and we establish matching upper and lower bounds for the calibration error of our proposed methods. Technically, our analysis combines the nonparametric analysis with a covering number argument for parametric analysis, which advances the existing theoretical analyses in the literature of nonparametric density estimation and quantile bandit problems. Importantly, the nonparametric perspective sheds new theoretical insights into regression calibration in terms of the curse of dimensionality and reconciles the existing results on the impossibility of individual calibration. To our knowledge, we make the first effort to reach both individual calibration and finite-sample guarantee with minimal assumptions in terms of conformal prediction. Numerical experiments show the advantage of such a simple approach under various metrics, and also under covariates shift. We hope our work provides a simple benchmark and a starting point of theoretical ground for future research on regression calibration.
Taking Advice from ChatGPT

A growing literature studies how humans incorporate advice from algorithms. This study examines an algorithm with millions of daily users: ChatGPT. In a preregistered study, 118 student participants answer 2,828 multiple-choice questions across 25 academic subjects. Participants receive advice from a GPT model and can update their initial responses. The advisor's identity ("AI chatbot"versus a human"expert"), presence of a written justification, and advice correctness do not significantly affect weight on advice. Instead, participants weigh advice more heavily if they (1) are unfamiliar with the topic, (2) used ChatGPT in the past, or (3) received more accurate advice previously. The last two effects -- algorithm familiarity and experience -- are stronger with an AI chatbot as the advisor. Participants that receive written justifications are able to discern correct advice and update accordingly. Student participants are miscalibrated in their judgements of ChatGPT advice accuracy; one reason is that they significantly misjudge the accuracy of ChatGPT on 11/25 topics. Participants under-weigh advice by over 50% and can score better by trusting ChatGPT more.
Normalizing flow sampling with Langevin dynamics in the latent space

Normalizing flows (NF) use a continuous generator to map a simple latent (e.g. Gaussian) distribution, towards an empirical target distribution associated with a training data set. Once trained by minimizing a variational objective, the learnt map provides an approximate generative model of the target distribution. Since standard NF implement differentiable maps, they may suffer from pathological behaviors when targeting complex distributions. For instance, such problems may appear for distributions on multi-component topologies or characterized by multiple modes with high probability regions separated by very unlikely areas. A typical symptom is the explosion of the Jacobian norm of the transformation in very low probability areas. This paper proposes to overcome this issue thanks to a new Markov chain Monte Carlo algorithm to sample from the target distribution in the latent domain before transporting it back to the target domain. The approach relies on a Metropolis adjusted Langevin algorithm (MALA) whose dynamics explicitly exploits the Jacobian of the transformation. Contrary to alternative approaches, the proposed strategy preserves the tractability of the likelihood and it does not require a specific training. Notably, it can be straightforwardly used with any pre-trained NF network, regardless of the architecture. Experiments conducted on synthetic and high-dimensional real data sets illustrate the efficiency of the method.
LLM Paternity Test: Generated Text Detection with LLM Genetic Inheritance

Large language models (LLMs) can generate texts that carry the risk of various misuses, including plagiarism, planting fake reviews on e-commerce platforms, or creating inflammatory false tweets. Detecting whether a text is machine-generated has thus become increasingly important. While existing detection methods exhibit superior performance, they often lack generalizability due to their heavy dependence on training data. To alleviate this problem, we propose a model-related generated text detection method, the LLM Paternity Test (LLM-Pat). Specifically, given any candidate text (\textit{child}), LLM-Pat employs an intermediary LLM (\textit{parent}) to reconstruct a \textit{sibling} text corresponding to the given text and then measures the similarity between candidate texts and their sibling texts. High similarity indicates that the candidate text is machine-generated, akin to genetic traits. We have constructed datasets encompassing four scenarios: student responses in educational settings, news creation, academic paper writing, and social media bots to assess the performance of LLM-Pat. The experiments show that LLM-Pat outperforms the existing detection methods and is more robust against paraphrasing attacks and re-translating attacks. Besides, LLM-Pat can also be used to trace which large language model the text was generated by. The constructed dataset and code will be released to benefit the community.
Modeling User Satisfaction Dynamics in Dialogue via Hawkes Process

Dialogue systems have received increasing attention while automatically evaluating their performance remains challenging. User satisfaction estimation (USE) has been proposed as an alternative. It assumes that the performance of a dialogue system can be measured by user satisfaction and uses an estimator to simulate users. The effectiveness of USE depends heavily on the estimator. Existing estimators independently predict user satisfaction at each turn and ignore satisfaction dynamics across turns within a dialogue. In order to fully simulate users, it is crucial to take satisfaction dynamics into account. To fill this gap, we propose a new estimator ASAP (sAtisfaction eStimation via HAwkes Process) that treats user satisfaction across turns as an event sequence and employs a Hawkes process to effectively model the dynamics in this sequence. Experimental results on four benchmark dialogue datasets demonstrate that ASAP can substantially outperform state-of-the-art baseline estimators.
Finite Blocklength Regime Performance of Downlink Large Scale Networks

Some emerging 5G and beyond use-cases impose stringent latency constraints, which necessitates a paradigm shift towards finite blocklength performance analysis. In contrast to Shannon capacity-achieving codes, the codeword length in the finite blocklength regime (FBR) is a critical design parameter that imposes an intricate tradeoff between delay, reliability, and information coding rate. In this context, this paper presents a novel mathematical analysis to characterize the performance of large-scale downlink networks using short codewords. Theoretical achievable rates, outage probability, and reliability expressions are derived using the finite blocklength coding theory in conjunction with stochastic geometry, and compared to the performance in the asymptotic regime (AR). Achievable rates under practical modulation schemes as well as multilevel polar coded modulation (MLPCM) are investigated. Numerical results provide theoretical performance benchmarks, highlight the potential of MLPCM in achieving close to optimal performance with short codewords, and confirm the discrepancy between the performance in the FBR and that predicted by analysis in the AR. Finally, the meta distribution of the coding rate is derived, providing the percentiles of users that achieve a predefined target rate in a network.
CQS: A Formally-Verified Framework for Fair and Abortable Synchronization

Writing concurrent code that is both correct and efficient is notoriously difficult. Thus, programmers often prefer to use synchronization abstractions, which render code simpler and easier to reason about. Despite a wealth of work on this topic, there is still a gap between the rich semantics provided by synchronization abstractions in modern programming languages—specifically, fair FIFO ordering of synchronization requests and support for abortable operations—and frameworks for implementing it correctly and efficiently. Supporting such semantics is critical given the rising popularity of constructs for asynchronous programming, such as coroutines, which abort frequently and are cheaper to suspend and resume compared to native threads. This paper introduces a new framework called CancellableQueueSynchronizer (CQS), which enables simple yet efficient implementations of a wide range of fair and abortable synchronization primitives: mutexes, semaphores, barriers, count-down latches, and blocking pools. Our main contribution is algorithmic, as implementing both fairness and abortability efficiently at this level of generality is non-trivial. Importantly, all our algorithms, including the CQS framework and the primitives built on top of it, come with formal proofs in the Iris framework for Coq for many of their properties. These proofs are modular, so it is easy to show correctness for new primitives implemented on top of CQS. From a practical perspective, implementation of CQS for native threads on the JVM improves throughput by up to two orders of magnitude over Java’s AbstractQueuedSynchronizer, the only practical abstraction offering similar semantics. Further, we successfully integrated CQS as a core component of the popular Kotlin Coroutines library, validating the framework’s practical impact and expressiveness in a real-world environment. In sum, CancellableQueueSynchronizer is the first framework to combine expressiveness with formal guarantees and solid practical performance. Our approach should be extensible to other languages and families of synchronization primitives.
Adaptive action supervision in reinforcement learning from real-world multi-agent demonstrations

Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however, when modeling real-world biological multi-agents, there is a domain gap between behaviors in the source (i.e., real-world data) and the target (i.e., cyberspace for RL), and the source environment parameters are usually unknown. In this paper, we propose a method for adaptive action supervision in RL from real-world demonstrations in multi-agent scenarios. We adopt an approach that combines RL and supervised learning by selecting actions of demonstrations in RL based on the minimum distance of dynamic time warping for utilizing the information of the unknown source dynamics. This approach can be easily applied to many existing neural network architectures and provide us with an RL model balanced between reproducibility as imitation and generalization ability to obtain rewards in cyberspace. In the experiments, using chase-and-escape and football tasks with the different dynamics between the unknown source and target environments, we show that our approach achieved a balance between the reproducibility and the generalization ability compared with the baselines. In particular, we used the tracking data of professional football players as expert demonstrations in football and show successful performances despite the larger gap between behaviors in the source and target environments than the chase-and-escape task.
Networks of reinforced stochastic processes: probability of asymptotic polarization and related general results

In a network of reinforced stochastic processes, for certain values of the parameters, all the agents' inclinations synchronize and converge almost surely toward a certain random variable. The present work aims at clarifying when the agents can asymptotically polarize, i.e. when the common limit inclination can take the extreme values, 0 or 1, with probability zero, strictly positive, or equal to one. Moreover, we present a suitable technique to estimate this probability that, along with the theoretical results, has been framed in the more general setting of a class of martingales taking values in [0, 1] and following a specific dynamics.
When are ensembles really effective?

Ensembling has a long history in statistical data analysis, with many impactful applications. However, in many modern machine learning settings, the benefits of ensembling are less ubiquitous and less obvious. We study, both theoretically and empirically, the fundamental question of when ensembling yields significant performance improvements in classification tasks. Theoretically, we prove new results relating the \emph{ensemble improvement rate} (a measure of how much ensembling decreases the error rate versus a single model, on a relative scale) to the \emph{disagreement-error ratio}. We show that ensembling improves performance significantly whenever the disagreement rate is large relative to the average error rate; and that, conversely, one classifier is often enough whenever the disagreement rate is low relative to the average error rate. On the way to proving these results, we derive, under a mild condition called \emph{competence}, improved upper and lower bounds on the average test error rate of the majority vote classifier. To complement this theory, we study ensembling empirically in a variety of settings, verifying the predictions made by our theory, and identifying practical scenarios where ensembling does and does not result in large performance improvements. Perhaps most notably, we demonstrate a distinct difference in behavior between interpolating models (popular in current practice) and non-interpolating models (such as tree-based methods, where ensembling is popular), demonstrating that ensembling helps considerably more in the latter case than in the former.