Miracle-dz/UniFAR-FTUs huggingface dataset:
Pointless Global Bundle Adjustment With Relative Motions Hessians

Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient. Inspired by global motion averaging methods, we propose a new bundle adjustment objective which does not rely on image features’ reprojection errors yet maintains precision on par with classical BA. Our method averages over relative motions while implicitly incorporating the contribution of the structure in the adjustment. To that end, we weight the objective function by local hessian matrices – a by-product of local bundle adjustments performed on relative motions (e.g., pairs or triplets) during the pose initialisation step. Such hessians are extremely rich as they encapsulate both the features’ random errors and the geometric configuration between the cameras. These pieces of information propagated to the global frame help to guide the final optimisation in a more rigorous way. We argue that this approach is an upgraded version of the motion averaging approach and demonstrate its effectiveness on both photogrammetric datasets and computer vision benchmarks. The code is available at https://github.com/erupnik/pointlessGBA
Accurate numerical solutions of conservative nonlinear oscillators

Abstract The objective of this paper is to present an investigation to analyze the vibration of a conservative nonlinear oscillator in the form u" + lambda u + u^(2n-1) + (1 + epsilon^2 u^(4m))^(1/2) = 0 for any arbitrary power of n and m. This method converts the differential equation to sets of algebraic equations and solve numerically. We have presented for three different cases: a higher order Duffing equation, an equation with irrational restoring force and a plasma physics equation. It is also found that the method is valid for any arbitrary order of n and m. Comparisons have been made with the results found in the literature the method gives accurate results.
Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator

Many state-of-the-art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to instability due to nonlinearities in the SEA where cascaded model-based robust controllers can remove these effects to achieve stable force control. However, these model-based methods require detailed investigations to characterize the system accurately. Deep reinforcement learning (DRL) has proved to be an effective model-free method for continuous control tasks, where few works deal with hardware learning. This paper describes the training process of a DRL policy on the hardware of an SEA pendulum system for tracking force control trajectories from 0.05 - 0.35 Hz at 50 N amplitude using the Proximal Policy Optimization (PPO) algorithm. Safety mechanisms are developed and utilized for training the policy for over 21 hours (including overnight) without an operator present. The tracking performance is evaluated showing improvements of 25 N in mean absolute error when comparing the first 18 minutes of training to the full 21 hours for a 50 N amplitude, 0.1 Hz sinusoid desired force trajectory. Finally, the DRL policy exhibits better tracking and stability margins when compared to a model-free PID controller for a 50 N chirp force trajectory.
Toxicity in ChatGPT: Analyzing Persona-assigned Language Models

Large language models (LLMs) have shown incredible capabilities and transcended the natural language processing (NLP) community, with adoption throughout many services like healthcare, therapy, education, and customer service. Since users include people with critical information needs like students or patients engaging with chatbots, the safety of these systems is of prime importance. Therefore, a clear understanding of the capabilities and limitations of LLMs is necessary. To this end, we systematically evaluate toxicity in over half a million generations of ChatGPT, a popular dialogue-based LLM. We find that setting the system parameter of ChatGPT by assigning it a persona, say that of the boxer Muhammad Ali, significantly increases the toxicity of generations. Depending on the persona assigned to ChatGPT, its toxicity can increase up to 6x, with outputs engaging in incorrect stereotypes, harmful dialogue, and hurtful opinions. This may be potentially defamatory to the persona and harmful to an unsuspecting user. Furthermore, we find concerning patterns where specific entities (e.g., certain races) are targeted more than others (3x more) irrespective of the assigned persona, that reflect inherent discriminatory biases in the model. We hope that our findings inspire the broader AI community to rethink the efficacy of current safety guardrails and develop better techniques that lead to robust, safe, and trustworthy AI systems.
Scallop: A Language for Neurosymbolic Programming

We present Scallop, a language which combines the benefits of deep learning and logical reasoning. Scallop enables users to write a wide range of neurosymbolic applications and train them in a data- and compute-efficient manner. It achieves these goals through three key features: 1) a flexible symbolic representation that is based on the relational data model; 2) a declarative logic programming language that is based on Datalog and supports recursion, aggregation, and negation; and 3) a framework for automatic and efficient differentiable reasoning that is based on the theory of provenance semirings. We evaluate Scallop on a suite of eight neurosymbolic applications from the literature. Our evaluation demonstrates that Scallop is capable of expressing algorithmic reasoning in diverse and challenging AI tasks, provides a succinct interface for machine learning programmers to integrate logical domain knowledge, and yields solutions that are comparable or superior to state-of-the-art models in terms of accuracy. Furthermore, Scallop's solutions outperform these models in aspects such as runtime and data efficiency, interpretability, and generalizability.
Targeted Maximum Likelihood Based Estimation for Longitudinal Mediation Analysis

Causal mediation analysis with random interventions has become an area of significant interest for understanding time-varying effects with longitudinal and survival outcomes. To tackle causal and statistical challenges due to the complex longitudinal data structure with time-varying confounders, competing risks, and informative censoring, there exists a general desire to combine machine learning techniques and semiparametric theory. In this manuscript, we focus on targeted maximum likelihood estimation (TMLE) of longitudinal natural direct and indirect effects defined with random interventions. The proposed estimators are multiply robust, locally efficient, and directly estimate and update the conditional densities that factorize data likelihoods. We utilize the highly adaptive lasso (HAL) and projection representations to derive new estimators (HAL-EIC) of the efficient influence curves of longitudinal mediation problems and propose a fast one-step TMLE algorithm using HAL-EIC while preserving the asymptotic properties. The proposed method can be generalized for other longitudinal causal parameters that are smooth functions of data likelihoods, and thereby provides a novel and flexible statistical toolbox.
Unified Multi-Modal Image Synthesis for Missing Modality Imputation

Multi-modal medical images provide complementary soft-tissue characteristics that aid in the screening and diagnosis of diseases. However, limited scanning time, image corruption and various imaging protocols often result in incomplete multi-modal images, thus limiting the usage of multi-modal data for clinical purposes. To address this issue, in this paper, we propose a novel unified multi-modal image synthesis method for missing modality imputation. Our method overall takes a generative adversarial architecture, which aims to synthesize missing modalities from any combination of available ones with a single model. To this end, we specifically design a Commonality- and Discrepancy-Sensitive Encoder for the generator to exploit both modality-invariant and specific information contained in input modalities. The incorporation of both types of information facilitates the generation of images with consistent anatomy and realistic details of the desired distribution. Besides, we propose a Dynamic Feature Unification Module to integrate information from a varying number of available modalities, which enables the network to be robust to random missing modalities. The module performs both hard integration and soft integration, ensuring the effectiveness of feature combination while avoiding information loss. Verified on two public multi-modal magnetic resonance datasets, the proposed method is effective in handling various synthesis tasks and shows superior performance compared to previous methods.
Algebraic solutions of linear differential equations: an arithmetic approach

Given a linear differential equation with coefficients in $\mathbb{Q}(x)$, an important question is to know whether its full space of solutions consists of algebraic functions, or at least if one of its specific solutions is algebraic. After presenting motivating examples coming from various branches of mathematics, we advertise in an elementary way a beautiful local-global arithmetic approach to these questions, initiated by Grothendieck in the late sixties. This approach has deep ramifications and leads to the still unsolved Grothendieck-Katz $p$-curvature conjecture.
Object Rigidity: Competition and cooperation between motion-energy and feature-tracking mechanisms and shape-based priors

Why do moving objects appear rigid when projected retinal images are deformed nonrigidly? We used rotating rigid objects that can appear rigid or non-rigid to test whether shape features contribute to rigidity perception. When two circular rings were rigidly linked at an angle and jointly rotated at moderate speeds, observers reported that the rings wobbled and were not linked rigidly but rigid rotation was reported at slow speeds. When gaps, paint or vertices were added, the rings appeared rigidly rotating even at moderate speeds. At high speeds, all configurations appeared non-rigid. Salient features thus contribute to rigidity at slow and moderate speeds, but not at high speeds. Simulated responses of arrays of motion-energy cells showed that motion flow vectors are predominantly orthogonal to the contours of the rings, not parallel to the rotation direction. A convolutional neural network trained to distinguish flow patterns for wobbling versus rotation, gave a high probability of wobbling for the motion-energy flows. However, the CNN gave high probabilities of rotation for motion flows generated by tracking features with arrays of MT pattern-motion cells and corner detectors. In addition, circular rings can appear to spin and roll despite the absence of any sensory evidence, and this illusion is prevented by vertices, gaps, and painted segments, showing the effects of rotational symmetry and shape. Combining CNN outputs that give greater weight to motion energy at fast speeds and to feature tracking at slow, with the shape-based priors for wobbling and rolling, explained rigid and nonrigid percepts across shapes and speeds (R2=0.95). The results demonstrate how cooperation and competition between different neuronal classes lead to specific states of visual perception and to transitions between the states.
Did we personalize? Assessing personalization by an online reinforcement learning algorithm using resampling

There is a growing interest in using reinforcement learning (RL) to personalize sequences of treatments in digital health to support users in adopting healthier behaviors. Such sequential decision-making problems involve decisions about when to treat and how to treat based on the user's context (e.g., prior activity level, location, etc.). Online RL is a promising data-driven approach for this problem as it learns based on each user's historical responses and uses that knowledge to personalize these decisions. However, to decide whether the RL algorithm should be included in an ``optimized'' intervention for real-world deployment, we must assess the data evidence indicating that the RL algorithm is actually personalizing the treatments to its users. Due to the stochasticity in the RL algorithm, one may get a false impression that it is learning in certain states and using this learning to provide specific treatments. We use a working definition of personalization and introduce a resampling-based methodology for investigating whether the personalization exhibited by the RL algorithm is an artifact of the RL algorithm stochasticity. We illustrate our methodology with a case study by analyzing the data from a physical activity clinical trial called HeartSteps, which included the use of an online RL algorithm. We demonstrate how our approach enhances data-driven truth-in-advertising of algorithm personalization both across all users as well as within specific users in the study.
Remove, Reduce, Inform: What Actions do People Want Social Media Platforms to Take on Potentially Misleading Content?

To reduce the spread of misinformation, social media platforms may take enforcement actions against offending content, such as adding informational warning labels, reducing distribution, or removing content entirely. However, both their actions and their inactions have been controversial and plagued by allegations of partisan bias. When it comes to specific content items, surprisingly little is known about what ordinary people want the platforms to do. We provide empirical evidence about a politically balanced panel of lay raters' preferences for three potential platform actions on 368 news articles. Our results confirm that on many articles there is a lack of consensus on which actions to take. We find a clear hierarchy of perceived severity of actions with a majority of raters wanting informational labels on the most articles and removal on the fewest. There was no partisan difference in terms of how many articles deserve platform actions but conservatives did prefer somewhat more action on content from liberal sources, and vice versa. We also find that judgments about two holistic properties, misleadingness and harm, could serve as an effective proxy to determine what actions would be approved by a majority of raters.
Language-Driven Anchors for Zero-Shot Adversarial Robustness

Deep Neural Networks (DNNs) are known to be susceptible to adversarial attacks. Previous researches mainly focus on improving adversarial robustness in the fully supervised setting, leaving the challenging domain of zero-shot adversarial robustness an open question. In this work, we investigate this domain by leveraging the recent advances in large vision-language models, such as CLIP, to introduce zero-shot adversarial robustness to DNNs. We propose LAAT, a Language-driven, Anchor-based Adversarial Training strategy. LAAT utilizes the features of a text encoder for each category as fixed anchors (normalized feature embeddings) for each category, which are then employed for adversarial training. By leveraging the semantic consistency of the text encoders, LAAT aims to enhance the adversarial robustness of the image model on novel categories. However, naively using text encoders leads to poor results. Through analysis, we identified the issue to be the high cosine similarity between text encoders. We then design an expansion algorithm and an alignment cross-entropy loss to alleviate the problem. Our experimental results demonstrated that LAAT significantly improves zero-shot adversarial robustness over state-of-the-art methods. LAAT has the potential to enhance adversarial robustness by large-scale multimodal models, especially when labeled data is unavailable during training.
Breakdown of a concavity property of mutual information for non-Gaussian channels

Let $S$ and $\tilde S$ be two independent and identically distributed random variables, which we interpret as the signal, and let $P_1$ and $P_2$ be two communication channels. We can choose between two measurement scenarios: either we observe $S$ through $P_1$ and $P_2$, and also $\tilde S$ through $P_1$ and $P_2$; or we observe $S$ twice through $P_1$, and $\tilde{S}$ twice through $P_2$. In which of these two scenarios do we obtain the most information on the signal $(S, \tilde S)$? While the first scenario always yields more information when $P_1$ and $P_2$ are additive Gaussian channels, we give examples showing that this property does not extend to arbitrary channels. As a consequence of this result, we show that the continuous-time mutual information arising in the setting of community detection on sparse stochastic block models is not concave, even in the limit of large system size. This stands in contrast to the case of models with diverging average degree, and brings additional challenges to the analysis of the asymptotic behavior of this quantity.
Simultaneous Adversarial Attacks On Multiple Face Recognition System Components

In this work, we investigate the potential threat of adversarial examples to the security of face recognition systems. Although previous research has explored the adversarial risk to individual components of FRSs, our study presents an initial exploration of an adversary simultaneously fooling multiple components: the face detector and feature extractor in an FRS pipeline. We propose three multi-objective attacks on FRSs and demonstrate their effectiveness through a preliminary experimental analysis on a target system. Our attacks achieved up to 100% Attack Success Rates against both the face detector and feature extractor and were able to manipulate the face detection probability by up to 50% depending on the adversarial objective. This research identifies and examines novel attack vectors against FRSs and suggests possible ways to augment the robustness by leveraging the attack vector's knowledge during training of an FRS's components.
Generative Modeling via Hierarchical Tensor Sketching

We propose a hierarchical tensor-network approach for approximating high-dimensional probability density via empirical distribution. This leverages randomized singular value decomposition (SVD) techniques and involves solving linear equations for tensor cores in this tensor network. The complexity of the resulting algorithm scales linearly in the dimension of the high-dimensional density. An analysis of estimation error demonstrates the effectiveness of this method through several numerical experiments.
High-performance and Scalable Software-based NVMe Virtualization Mechanism with I/O Queues Passthrough

NVMe(Non-Volatile Memory Express) is an industry standard for solid-state drives (SSDs) that has been widely adopted in data centers. NVMe virtualization is crucial in cloud computing as it allows for virtualized NVMe devices to be used by virtual machines (VMs), thereby improving the utilization of storage resources. However, traditional software-based solutions have flexibility benefits but often come at the cost of performance degradation or high CPU overhead. On the other hand, hardware-assisted solutions offer high performance and low CPU usage, but their adoption is often limited by the need for special hardware support or the requirement for new hardware development. In this paper, we propose LightIOV, a novel software-based NVMe virtualization mechanism that achieves high performance and scalability without consuming valuable CPU resources and without requiring special hardware support. LightIOV can support thousands of VMs on each server. The key idea behind LightIOV is NVMe hardware I/O queues passthrough, which enables VMs to directly access I/O queues of NVMe devices, thus eliminating virtualization overhead and providing near-native performance. Results from our experiments show that LightIOV can provide comparable performance to VFIO, with an IOPS of 97.6%-100.2% of VFIO. Furthermore, in high-density VMs environments, LightIOV achieves 31.4% lower latency than SPDK-Vhost when running 200 VMs, and an improvement of 27.1% in OPS performance in real-world applications.
Survey on Leveraging Uncertainty Estimation Towards Trustworthy Deep Neural Networks: The Case of Reject Option and Post-training Processing

Although neural networks (especially deep neural networks) have achieved \textit{better-than-human} performance in many fields, their real-world deployment is still questionable due to the lack of awareness about the limitation in their knowledge. To incorporate such awareness in the machine learning model, prediction with reject option (also known as selective classification or classification with abstention) has been proposed in literature. In this paper, we present a systematic review of the prediction with the reject option in the context of various neural networks. To the best of our knowledge, this is the first study focusing on this aspect of neural networks. Moreover, we discuss different novel loss functions related to the reject option and post-training processing (if any) of network output for generating suitable measurements for knowledge awareness of the model. Finally, we address the application of the rejection option in reducing the prediction time for the real-time problems and present a comprehensive summary of the techniques related to the reject option in the context of extensive variety of neural networks. Our code is available on GitHub: \url{https://github.com/MehediHasanTutul/Reject_option}
HPN: Personalized Federated Hyperparameter Optimization

Numerous research studies in the field of federated learning (FL) have attempted to use personalization to address the heterogeneity among clients, one of FL's most crucial and challenging problems. However, existing works predominantly focus on tailoring models. Yet, due to the heterogeneity of clients, they may each require different choices of hyperparameters, which have not been studied so far. We pinpoint two challenges of personalized federated hyperparameter optimization (pFedHPO): handling the exponentially increased search space and characterizing each client without compromising its data privacy. To overcome them, we propose learning a \textsc{H}yper\textsc{P}arameter \textsc{N}etwork (HPN) fed with client encoding to decide personalized hyperparameters. The client encoding is calculated with a random projection-based procedure to protect each client's privacy. Besides, we design a novel mechanism to debias the low-fidelity function evaluation samples for learning HPN. We conduct extensive experiments on FL tasks from various domains, demonstrating the superiority of HPN.
Self-Supervision for Medical Image Classification: State-of-the-Art Performance with ~100 Labeled Training Samples per Class

Is self-supervised deep learning (DL) for medical image analysis already a serious alternative to the de facto standard of end-to-end trained supervised DL? We tackle this question for medical image classification, with a particular focus on one of the currently most limiting factor of the field: the (non-)availability of labeled data. Based on three common medical imaging modalities (bone marrow microscopy, gastrointestinal endoscopy, dermoscopy) and publicly available data sets, we analyze the performance of self-supervised DL within the self-distillation with no labels (DINO) framework. After learning an image representation without use of image labels, conventional machine learning classifiers are applied. The classifiers are fit using a systematically varied number of labeled data (1–1000 samples per class). Exploiting the learned image representation, we achieve state-of-the-art classification performance for all three imaging modalities and data sets with only a fraction of between 1% and 10% of the available labeled data and about 100 labeled samples per class.