OpenRaiser/Intern-Atlas huggingface dataset:
Iterative Surface Mapping Using Local Geometry Approximation with Sparse Measurements During Robotic Tooling Tasks
Venue: arXiv cs.RO 2021
Year: 2021

We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane, which is defined by measured points on the surface. The method relies on linear Kalman filters, estimating the height of each point on a 2D grid. Therefore, the approximation covariance for each grid point is determined using a radial basis function to consider the measured point positions. We propose different update strategies for the grid points exploiting the locality of the planar approximation in combination with a projection method. The approach is experimentally validated by tracking the surface with a robotic manipulator. Three laser distance sensors mounted on the end-effector continuously measure points on the surface during the motion to determine the approximation plane. It is shown that the surface geometry can be mapped reasonably accurate with a mean absolute error below 1 mm. The mapping error mainly depends on the size of the approximation area and the curvature of the surface.
Optimal governance and implementation of vaccination programmes to contain the COVID-19 pandemic
Venue: arXiv cs.GT 2021
Year: 2021

Since the recent introduction of several viable vaccines for SARS-CoV-2, vaccination uptake has become the key factor that will determine our success in containing the COVID-19 pandemic. We argue that game theory and social network models should be used to guide decisions pertaining to vaccination programmes for the best possible results. In the months following the introduction of vaccines, their availability and the human resources needed to run the vaccination programmes have been scarce in many countries. Vaccine hesitancy is also being encountered from some sections of the general public. We emphasize that decision-making under uncertainty and imperfect information, and with only conditionally optimal outcomes, is a unique forte of established game-theoretic modelling. Therefore, we can use this approach to obtain the best framework for modelling and simulating vaccination prioritization and uptake that will be readily available to inform important policy decisions for the optimal control of the COVID-19 pandemic.
Trajectory Prediction in Autonomous Driving with a Lane Heading Auxiliary Loss
Venue: arXiv cs.CV 2021
Year: 2021

Predicting a vehicle's trajectory is an essential ability for autonomous vehicles navigating through complex urban traffic scenes. Bird's-eye-view roadmap information provides valuable information for making trajectory predictions, and while state-of-the-art models extract this information via image convolution, auxiliary loss functions can augment patterns inferred from deep learning by further encoding common knowledge of social and legal driving behaviors. Since human driving behavior is inherently multimodal, models which allow for multimodal output tend to outperform single-prediction models on standard metrics. We propose a loss function which enhances such models by enforcing expected driving rules on all predicted modes. Our contribution to trajectory prediction is twofold; we propose a new metric which addresses failure cases of the off-road rate metric by penalizing trajectories that oppose the ascribed heading (flow direction) of a driving lane, and we show this metric to be differentiable and therefore suitable as an auxiliary loss function. We then use this auxiliary loss to extend the the standard multiple trajectory prediction (MTP) and MultiPath models, achieving improved results on the nuScenes prediction benchmark by predicting trajectories which better conform to the lane-following rules of the road.
Testing the Genomic Bottleneck Hypothesis in Hebbian Meta-Learning
Venue: arXiv cs.NE 2021
Year: 2021

Hebbian meta-learning has recently shown promise to solve hard reinforcement learning problems, allowing agents to adapt to some degree to changes in the environment. However, because each synapse in these approaches can learn a very specific learning rule, the ability to generalize to very different situations is likely reduced. We hypothesize that limiting the number of Hebbian learning rules through a "genomic bottleneck" can act as a regularizer leading to better generalization across changes to the environment. We test this hypothesis by decoupling the number of Hebbian learning rules from the number of synapses and systematically varying the number of Hebbian learning rules. The results in this paper suggest that simultaneously learning the Hebbian learning rules and their assignment to synapses is a difficult optimization problem, leading to poor performance in the environments tested. However, parallel research to ours finds that it is indeed possible to reduce the number of learning rules by clustering similar rules together. How to best implement a "genomic bottleneck" algorithm is thus an important research direction that warrants further investigation.
Medical symptom recognition from patient text: An active learning approach for long-tailed multilabel distributions
Venue: arXiv cs.CL 2021
Year: 2021

We study the problem of medical symptoms recognition from patient text, for the purposes of gathering pertinent information from the patient (known as history-taking). A typical patient text is often descriptive of the symptoms the patient is experiencing and a single instance of such a text can be "labeled" with multiple symptoms. This makes learning a medical symptoms recognizer challenging on account of i) the lack of availability of voluminous annotated data as well as ii) the large unknown universe of multiple symptoms that a single text can map to. Furthermore, patient text is often characterized by a long tail in the data (i.e., some labels/symptoms occur more frequently than others for e.g "fever" vs "hematochezia"). In this paper, we introduce an active learning method that leverages underlying structure of a continually refined, learned latent space to select the most informative examples to label. This enables the selection of the most informative examples that progressively increases the coverage on the universe of symptoms via the learned model, despite the long tail in data distribution.
Federated Multi-Mini-Batch: An Efficient Training Approach to Federated Learning in Non-IID Environments
Venue: arXiv cs.LG 2021
Year: 2021

Federated learning has faced performance and network communication challenges, especially in the environments where the data is not independent and identically distributed (IID) across the clients. To address the former challenge, we introduce the federated-centralized concordance property and show that the federated single-mini-batch training approach can achieve comparable performance as the corresponding centralized training in the Non-IID environments. To deal with the latter, we present the federated multi-mini-batch approach and illustrate that it can establish a trade-off between the performance and communication efficiency and outperforms federated averaging in the Non-IID settings.
Adaptive Learning of Compressible Strings
Venue: arXiv cs.DS 2021
Year: 2021

Suppose an oracle knows a string $S$ that is unknown to us and that we want to determine. The oracle can answer queries of the form "Is $s$ a substring of $S$?". In 1995, Skiena and Sundaram showed that, in the worst case, any algorithm needs to ask the oracle $σn/4 -O(n)$ queries in order to be able to reconstruct the hidden string, where $σ$ is the size of the alphabet of $S$ and $n$ its length, and gave an algorithm that spends $(σ-1)n+O(σ\sqrt{n})$ queries to reconstruct $S$. The main contribution of our paper is to improve the above upper-bound in the context where the string is compressible. We first present a universal algorithm that, given a (computable) compressor that compresses the string to $τ$ bits, performs $q=O(τ)$ substring queries; this algorithm, however, runs in exponential time. For this reason, the second part of the paper focuses on more time-efficient algorithms whose number of queries is bounded by specific compressibility measures. We first show that any string of length $n$ over an integer alphabet of size $σ$ with $rle$ runs can be reconstructed with $q=O(rle (σ+ \log \frac{n}{rle}))$ substring queries in linear time and space. We then present an algorithm that spends $q \in O(σg\log n)$ substring queries and runs in $O(n(\log n + \log σ)+ q)$ time using linear space, where $g$ is the size of a smallest straight-line program generating the string.
Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation
Venue: arXiv cs.LG 2021
Year: 2021

Humans quickly solve tasks in novel systems with complex dynamics, without requiring much interaction. While deep reinforcement learning algorithms have achieved tremendous success in many complex tasks, these algorithms need a large number of samples to learn meaningful policies. In this paper, we present a task for navigating a marble to the center of a circular maze. While this system is very intuitive and easy for humans to solve, it can be very difficult and inefficient for standard reinforcement learning algorithms to learn meaningful policies. We present a model that learns to move a marble in the complex environment within minutes of interacting with the real system. Learning consists of initializing a physics engine with parameters estimated using data from the real system. The error in the physics engine is then corrected using Gaussian process regression, which is used to model the residual between real observations and physics engine simulations. The physics engine augmented with the residual model is then used to control the marble in the maze environment using a model-predictive feedback over a receding horizon. To the best of our knowledge, this is the first time that a hybrid model consisting of a full physics engine along with a statistical function approximator has been used to control a complex physical system in real-time using nonlinear model-predictive control (NMPC).
Deep Interpretable Classification and Weakly-Supervised Segmentation of Histology Images via Max-Min Uncertainty
Venue: arXiv cs.CV 2021
Year: 2021

Weakly-supervised learning (WSL) has recently triggered substantial interest as it mitigates the lack of pixel-wise annotations. Given global image labels, WSL methods yield pixel-level predictions (segmentations), which enable to interpret class predictions. Despite their recent success, mostly with natural images, such methods can face important challenges when the foreground and background regions have similar visual cues, yielding high false-positive rates in segmentations, as is the case in challenging histology images. WSL training is commonly driven by standard classification losses, which implicitly maximize model confidence, and locate the discriminative regions linked to classification decisions. Therefore, they lack mechanisms for modeling explicitly non-discriminative regions and reducing false-positive rates. We propose novel regularization terms, which enable the model to seek both non-discriminative and discriminative regions, while discouraging unbalanced segmentations. We introduce high uncertainty as a criterion to localize non-discriminative regions that do not affect classifier decision, and describe it with original Kullback-Leibler (KL) divergence losses evaluating the deviation of posterior predictions from the uniform distribution. Our KL terms encourage high uncertainty of the model when the latter inputs the latent non-discriminative regions. Our loss integrates: (i) a cross-entropy seeking a foreground, where model confidence about class prediction is high; (ii) a KL regularizer seeking a background, where model uncertainty is high; and (iii) log-barrier terms discouraging unbalanced segmentations. Comprehensive experiments and ablation studies over the public GlaS colon cancer data and a Camelyon16 patch-based benchmark for breast cancer show substantial improvements over state-of-the-art WSL methods, and confirm the effect of our new regularizers.
Self Normalizing Flows
Venue: arXiv cs.LG 2021
Year: 2021

Efficient gradient computation of the Jacobian determinant term is a core problem in many machine learning settings, and especially so in the normalizing flow framework. Most proposed flow models therefore either restrict to a function class with easy evaluation of the Jacobian determinant, or an efficient estimator thereof. However, these restrictions limit the performance of such density models, frequently requiring significant depth to reach desired performance levels. In this work, we propose Self Normalizing Flows, a flexible framework for training normalizing flows by replacing expensive terms in the gradient by learned approximate inverses at each layer. This reduces the computational complexity of each layer's exact update from $\mathcal{O}(D^3)$ to $\mathcal{O}(D^2)$, allowing for the training of flow architectures which were otherwise computationally infeasible, while also providing efficient sampling. We show experimentally that such models are remarkably stable and optimize to similar data likelihood values as their exact gradient counterparts, while training more quickly and surpassing the performance of functionally constrained counterparts.
Predictive Coding, Variational Autoencoders, and Biological Connections
Venue: arXiv cs.NE 2021
Year: 2021

This paper reviews predictive coding, from theoretical neuroscience, and variational autoencoders, from machine learning, identifying the common origin and mathematical framework underlying both areas. As each area is prominent within its respective field, more firmly connecting these areas could prove useful in the dialogue between neuroscience and machine learning. After reviewing each area, we discuss two possible correspondences implied by this perspective: cortical pyramidal dendrites as analogous to (non-linear) deep networks and lateral inhibition as analogous to normalizing flows. These connections may provide new directions for further investigations in each field.
Tonic: A Deep Reinforcement Learning Library for Fast Prototyping and Benchmarking
Venue: arXiv cs.LG 2021
Year: 2021

Deep reinforcement learning has been one of the fastest growing fields of machine learning over the past years and numerous libraries have been open sourced to support research. However, most codebases have a steep learning curve or limited flexibility that do not satisfy a need for fast prototyping in fundamental research. This paper introduces Tonic, a Python library allowing researchers to quickly implement new ideas and measure their importance by providing: 1) general-purpose configurable modules 2) several baseline agents: A2C, TRPO, PPO, MPO, DDPG, D4PG, TD3 and SAC built with these modules 3) support for TensorFlow 2 and PyTorch 4) support for continuous-control environments from OpenAI Gym, DeepMind Control Suite and PyBullet 5) scripts to experiment in a reproducible way, plot results, and play with trained agents 6) a benchmark of the provided agents on 70 continuous-control tasks. Evaluation is performed in fair conditions with identical seeds, training and testing loops, while sharing general improvements such as non-terminal timeouts and observation normalization. Finally, to demonstrate how Tonic simplifies experimentation, a novel agent called TD4 is implemented and evaluated.
Zero Cost Improvements for General Object Detection Network
Venue: arXiv cs.CV 2021
Year: 2021

Modern object detection networks pursuit higher precision on general object detection datasets, at the same time the computation burden is also increasing along with the improvement of precision. Nevertheless, the inference time and precision are both critical to object detection system which needs to be real-time. It is necessary to research precision improvement without extra computation cost. In this work, two modules are proposed to improve detection precision with zero cost, which are focus on FPN and detection head improvement for general object detection networks. We employ the scale attention mechanism to efficiently fuse multi-level feature maps with less parameters, which is called SA-FPN module. Considering the correlation of classification head and regression head, we use sequential head to take the place of widely-used parallel head, which is called Seq-HEAD module. To evaluate the effectiveness, we apply the two modules to some modern state-of-art object detection networks, including anchor-based and anchor-free. Experiment results on coco dataset show that the networks with the two modules can surpass original networks by 1.1 AP and 0.8 AP with zero cost for anchor-based and anchor-free networks, respectively. Code will be available at https://git.io/JTFGl.
Risk-Constrained Thompson Sampling for CVaR Bandits
Venue: arXiv cs.LG 2021
Year: 2021

The multi-armed bandit (MAB) problem is a ubiquitous decision-making problem that exemplifies the exploration-exploitation tradeoff. Standard formulations exclude risk in decision making. Risk notably complicates the basic reward-maximising objective, in part because there is no universally agreed definition of it. In this paper, we consider a popular risk measure in quantitative finance known as the Conditional Value at Risk (CVaR). We explore the performance of a Thompson Sampling-based algorithm CVaR-TS under this risk measure. We provide comprehensive comparisons between our regret bounds with state-of-the-art L/UCB-based algorithms in comparable settings and demonstrate their clear improvement in performance. We also include numerical simulations to empirically verify that CVaR-TS outperforms other L/UCB-based algorithms.
Please Turn Your Cameras On: Remote Onboarding of Software Developers during a Pandemic
Venue: arXiv cs.SE 2021
Year: 2021

The COVID-19 pandemic has impacted the way that software development teams onboard new hires. Previously, most software developers worked in physical offices and new hires onboarded to their teams in the physical office, following a standard onboarding process. However, when companies transitioned employees to work from home due to the pandemic, there was little to no time to develop new onboarding procedures. In this paper, we present a survey of 267 new hires at Microsoft that onboarded to software development teams during the pandemic. We explored their remote onboarding process, including the challenges that the new hires encountered and their social connectedness with their teams. We found that most developers onboarded remotely and never had an opportunity to meet their teammates in person. This leads to one of the biggest challenges faced by these new hires, building a strong social connection with their team. We use these results to provide recommendations for onboarding remote hires.
Automatic selection of clustering algorithms using supervised graph embedding
Venue: arXiv cs.LG 2021
Year: 2021

The widespread adoption of machine learning (ML) techniques and the extensive expertise required to apply them have led to increased interest in automated ML solutions that reduce the need for human intervention. One of the main challenges in applying ML to previously unseen problems is algorithm selection - the identification of high-performing algorithm(s) for a given dataset, task, and evaluation measure. This study addresses the algorithm selection challenge for data clustering, a fundamental task in data mining that is aimed at grouping similar objects. We present MARCO-GE, a novel meta-learning approach for the automated recommendation of clustering algorithms. MARCO-GE first transforms datasets into graphs and then utilizes a graph convolutional neural network technique to extract their latent representation. Using the embedding representations obtained, MARCO-GE trains a ranking meta-model capable of accurately recommending top-performing algorithms for a new dataset and clustering evaluation measure. Extensive evaluation on 210 datasets, 13 clustering algorithms, and 10 clustering measures demonstrates the effectiveness of our approach and its superiority in terms of predictive and generalization performance over state-of-the-art clustering meta-learning approaches.
Where Are You? Localization from Embodied Dialog
Venue: arXiv cs.CV 2021
Year: 2021

We present Where Are You? (WAY), a dataset of ~6k dialogs in which two humans -- an Observer and a Locator -- complete a cooperative localization task. The Observer is spawned at random in a 3D environment and can navigate from first-person views while answering questions from the Locator. The Locator must localize the Observer in a detailed top-down map by asking questions and giving instructions. Based on this dataset, we define three challenging tasks: Localization from Embodied Dialog or LED (localizing the Observer from dialog history), Embodied Visual Dialog (modeling the Observer), and Cooperative Localization (modeling both agents). In this paper, we focus on the LED task -- providing a strong baseline model with detailed ablations characterizing both dataset biases and the importance of various modeling choices. Our best model achieves 32.7% success at identifying the Observer's location within 3m in unseen buildings, vs. 70.4% for human Locators.
Designing Cost- and Energy-Efficient Cell-Free Massive MIMO Network with Fiber and FSO Fronthaul Links
Venue: arXiv cs.IT 2021
Year: 2021

The emerging cell-free massive multiple-input multiple-output (CF-mMIMO) is a promising scheme to tackle the capacity crunch in wireless networks. Designing the optimal fronthaul network in the CF-mMIMIO is of utmost importance to deploy a cost- and energy-efficient network. In this paper, we present a framework to optimally design the fronthaul network of CF-mMIMO utilizing optical fiber and free space optical (FSO) technologies. We study an uplink data transmission of the CF-mMIMO network wherein each of the distributed access points (APs) is connected to a central processing unit (CPU) through a capacity-limited fronthaul, which could be the optical fiber or FSO. Herein, we have derived achievable rates and studied the network's energy efficiency in the presence of power consumption models at the APs and fronthaul links. Although an optical fiber link has a larger capacity, it consumes less power and has a higher deployment cost than that of an FSO link. For a given total number of APs, the optimal number of optical fiber and FSO links and the optimal capacity coefficient for the optical fibers are derived to maximize the system's performance. Finally, the network's performance is investigated through numerical results to highlight the effects of different types of optical fronthaul links.
Self-supervised Document Clustering Based on BERT with Data Augment
Venue: arXiv cs.CL 2021
Year: 2021

Contrastive learning is a promising approach to unsupervised learning, as it inherits the advantages of well-studied deep models without a dedicated and complex model design. In this paper, based on bidirectional encoder representations from transformers, we propose self-supervised contrastive learning (SCL) as well as few-shot contrastive learning (FCL) with unsupervised data augmentation (UDA) for text clustering. SCL outperforms state-of-the-art unsupervised clustering approaches for short texts and those for long texts in terms of several clustering evaluation measures. FCL achieves performance close to supervised learning, and FCL with UDA further improves the performance for short texts.