OpenRaiser/Intern-Atlas huggingface dataset:
Omnipush: accurate, diverse, real-world dataset of pushing dynamics with RGB-D video
Venue: arXiv cs.RO 2021
Year: 2021

Pushing is a fundamental robotic skill. Existing work has shown how to exploit models of pushing to achieve a variety of tasks, including grasping under uncertainty, in-hand manipulation and clearing clutter. Such models, however, are approximate, which limits their applicability. Learning-based methods can reason directly from raw sensory data with accuracy, and have the potential to generalize to a wider diversity of scenarios. However, developing and testing such methods requires rich-enough datasets. In this paper we introduce Omnipush, a dataset with high variety of planar pushing behavior. In particular, we provide 250 pushes for each of 250 objects, all recorded with RGB-D and a high precision tracking system. The objects are constructed so as to systematically explore key factors that affect pushing -- the shape of the object and its mass distribution -- which have not been broadly explored in previous datasets, and allow to study generalization in model learning. Omnipush includes a benchmark for meta-learning dynamic models, which requires algorithms that make good predictions and estimate their own uncertainty. We also provide an RGB video prediction benchmark and propose other relevant tasks that can be suited with this dataset. Data and code are available at \url{https://web.mit.edu/mcube/omnipush-dataset/}.
MIMO Assisted Networks Relying on Intelligent Reflective Surfaces
Venue: arXiv cs.IT 2021
Year: 2021

Intelligent reflective surfaces (IRSs) are invoked for improving both spectral efficiency (SE) and energy efficiency (EE). Specifically, an IRS-aided multiple-input multiple-output network is considered, where the performance of randomly roaming users is analyzed by utilizing stochastic geometry tools. As such, to distinguish the superposed signals at each user, the passive beamforming weight at the IRSs and detection weight vectors at the users are jointly designed. As a benefit, by adopting a zero-forcing-based design, the intra-cell interference imposed by the IRS can be suppressed. In order to evaluate the performance of the proposed network, we first derive the approximated channel statistics in the high signal-to-noise-ratio (SNR) regime. Then, we derive the closed-form expressions both for the outage probability and for the ergodic rate of users. Both the high-SNR slopes of ergodic rate and the diversity orders of outage probability are derived for gleaning further insights. The network's SE and EE are also derived. Our numerical results are provided to confirm that: i) the high-SNR slope of the proposed network is one; ii) the SE and EE can be significantly enhanced by increasing the number of IRS elements.
The Effects of Information and Communication Technology Use on Human Energy and Fatigue: A Review
Venue: arXiv cs.CY 2021
Year: 2021

Information and communication technologies (ICTs) are generally assumed to save time and energy, yet user fatigue due to ICT use is assumed to be on the rise. The question about the effects of ICT use on human energy has sparked increased research interest in recent years. however, the course is complicated by the fact that the conceptualization of human energy is extremely diverse. The aim of this paper is therefore twofold. First, we provide a conceptual framework and classification for subjective energy concepts and reflect on the theoretical embedding of technology within the theories on subjective energy. Second, we review the leading empirical literature on the relationship between ICT use and eight different subjective energy concepts prominent in different disciplines. We also include the new phenomena of social networking sites (SNS) exhaustion and SNS fatigue. With this, we aim to consolidate the existing research, illuminate the gaps and provide a conceptual baseline for future research on the relationship between ICT use and subjective energy of ICT users. We show that ICT use has predominantly negative effect on users' energy, especially in organizational contexts, and show the main patterns and mechanisms through which technology drains as well as energizes users.
Distributed-Memory Tensor Completion for Generalized Loss Functions in Python using New Sparse Tensor Kernels
Venue: arXiv cs.DC 2021
Year: 2021

Tensor computations are increasingly prevalent numerical techniques in data science, but pose unique challenges for high-performance implementation. We provide novel algorithms and systems infrastructure which enable efficient parallel implementation of algorithms for tensor completion with generalized loss functions. Specifically, we consider alternating minimization, coordinate minimization, and a quasi-Newton (generalized Gauss-Newton) method. By extending the Cyclops library, we implement all of these methods in high-level Python syntax. To make possible tensor completion for very sparse tensors, we introduce new multi-tensor primitives, for which we provide specialized parallel implementations. We compare these routines to pairwise contraction of sparse tensors by reduction to hypersparse matrix formats, and find that the multi-tensor routines are more efficient in theoretical cost and execution time in experiments. We provide microbenchmarking results on the Stampede2 supercomputer to demonstrate the efficiency of the new primitives and Cyclops functionality. We then study the performance of the tensor completion methods for a synthetic tensor with 10 billion nonzeros and the Netflix dataset, considering both least squares and Poisson loss functions.
Parallel Split-Join Networks for Shared-account Cross-domain Sequential Recommendations
Venue: arXiv cs.IR 2021
Year: 2021

Sequential recommendation is a task in which one models and uses sequential information about user behavior for recommendation purposes. We study sequential recommendation in a particularly challenging context, in which multiple individual users share asingle account (i.e., they have a shared account) and in which user behavior is available in multiple domains (i.e., recommendations are cross-domain). These two characteristics bring new challenges on top of those of the traditional sequential recommendation task. First, we need to identify the behavior associated with different users and different user roles under the same account in order to recommend the right item to the right user role at the right time. Second, we need to identify behavior in one domain that might be helpful to improve recommendations in other domains. In this work, we study shared account cross-domain sequential recommendation and propose Parallel Split-Join Network (PSJNet), a parallel modeling network to address the two challenges above. We present two variants of PSJNet, PSJNet-I and PSJNet-II. PSJNet-I is a "split-by-join" framework that splits the mixed representations to get role-specific representations and joins them to obtain cross-domain representations at each timestamp simultaneously. PSJNet-II is a "split-and-join" framework that first splits role-specific representations at each timestamp, and then the representations from all timestamps and all roles are joined to obtain cross-domain representations. We use two datasets to assess the effectiveness of PSJNet. Our experimental results demonstrate that PSJNet outperforms state-of-the-art sequential recommendation baselines in terms of MRR and Recall.
Modeling Communication of Collaborative Multi-Agent System under Epistemic Planning
Venue: arXiv cs.MA 2021
Year: 2021

In most multiagent applications, communication is essential among agents to coordinate their actions, and thus achieve their goal. However, communication often has a related cost that affects overall system performance. In this paper, we draw inspiration from studies of epistemic planning to develop a communication model for agents that allows them to cooperate and make communication decisions effectively within a planning task. The proposed model treats a communication process as an action that modifies the epistemic state of the team. In two simulated tasks, we evaluate whether agents can cooperate effectively and achieve higher performance using communication protocol modeled in our epistemic planning framework. Based on an empirical study conducted using search and rescue tasks with different scenarios, our results show that the proposed model improved team performance across all scenarios compared with baseline models.
Coordination Games on Weighted Directed Graphs
Venue: arXiv cs.GT 2021
Year: 2021

We study strategic games on weighted directed graphs, in which the payoff of a player is defined as the sum of the weights on the edges from players who chose the same strategy, augmented by a fixed non-negative integer bonus for picking a given strategy. These games capture the idea of coordination in the absence of globally common strategies. We identify natural classes of graphs for which finite improvement or coalition-improvement paths of polynomial length always exist, and, as a consequence, a (pure) Nash equlibrium or a strong equilibrium can be found in polynomial time. The considered classes of graphs are typical in network topologies: simple cycles correspond to the token ring local area networks, while open chains of simple cycles correspond to multiple independent rings topology from the recommendation G.8032v2 on the Ethernet ring protection switching. For simple cycles these results are optimal in the sense that without the imposed conditions on the weights and bonuses a Nash equilibrium may not even exist. Finally, we prove that the problem of determining the existence of a Nash equilibrium or of a strong equilibrium in these games is NP-complete already for unweighted graphs and with no bonuses assumed. This implies that the same problems for polymatrix games are strongly NP-hard.
On geodesic triangles with right angles in a dually flat space
Venue: arXiv cs.CG 2021
Year: 2021

The dualistic structure of statistical manifolds in information geometry yields eight types of geodesic triangles passing through three given points, the triangle vertices. The interior angles of geodesic triangles can sum up to $π$ like in Euclidean/Mahalanobis flat geometry, or exhibit otherwise angle excesses or angle defects. In this paper, we initiate the study of geodesic triangles in dually flat spaces, termed Bregman manifolds, where a generalized Pythagorean theorem holds. We consider non-self dual Bregman manifolds since Mahalanobis self-dual manifolds amount to Euclidean geometry. First, we show how to construct geodesic triangles with either one, two, or three interior right angles, whenever it is possible. Second, we report a construction of triples of points for which the dual Pythagorean theorems hold simultaneously at a point, yielding two dual pairs of dual-type geodesics with right angles at that point.
Improved Sample Complexities for Deep Networks and Robust Classification via an All-Layer Margin
Venue: arXiv cs.LG 2021
Year: 2021

For linear classifiers, the relationship between (normalized) output margin and generalization is captured in a clear and simple bound -- a large output margin implies good generalization. Unfortunately, for deep models, this relationship is less clear: existing analyses of the output margin give complicated bounds which sometimes depend exponentially on depth. In this work, we propose to instead analyze a new notion of margin, which we call the "all-layer margin." Our analysis reveals that the all-layer margin has a clear and direct relationship with generalization for deep models. This enables the following concrete applications of the all-layer margin: 1) by analyzing the all-layer margin, we obtain tighter generalization bounds for neural nets which depend on Jacobian and hidden layer norms and remove the exponential dependency on depth 2) our neural net results easily translate to the adversarially robust setting, giving the first direct analysis of robust test error for deep networks, and 3) we present a theoretically inspired training algorithm for increasing the all-layer margin. Our algorithm improves both clean and adversarially robust test performance over strong baselines in practice.
Multilingual Question Answering from Formatted Text applied to Conversational Agents
Venue: arXiv cs.CL 2021
Year: 2021

Recent advances with language models (e.g. BERT, XLNet, ...), have allowed surpassing human performance on complex NLP tasks such as Reading Comprehension. However, labeled datasets for training are available mostly in English which makes it difficult to acknowledge progress in other languages. Fortunately, models are now pre-trained on unlabeled data from hundreds of languages and exhibit interesting transfer abilities from one language to another. In this paper, we show that multilingual BERT is naturally capable of zero-shot transfer for an extractive Question Answering task (eQA) from English to other languages. More specifically, it outperforms the best previously known baseline for transfer to Japanese and French. Moreover, using a recently published large eQA French dataset, we are able to further show that (1) zero-shot transfer provides results really close to a direct training on the target language and (2) combination of transfer and training on target is the best option overall. We finally present a practical application: a multilingual conversational agent called Kate which answers to HR-related questions in several languages directly from the content of intranet pages.
Constructive Domains with Classical Witnesses
Venue: arXiv cs.LO 2021
Year: 2021

We develop a constructive theory of continuous domains from the perspective of program extraction. Our goal that programs represent (provably correct) computation without witnesses of correctness is achieved by formulating correctness assertions classically. Technically, we start from a predomain base and construct a completion. We then investigate continuity with respect to the Scott topology, and present a construction of the function space. We then discuss our main motivating example in detail, and instantiate our theory to real numbers that we conceptualise as the total elements of the completion of the predomain of rational intervals, and prove a representation theorem that precisely delineates the class of representable continuous functions.
Demon: Improved Neural Network Training with Momentum Decay
Venue: arXiv cs.LG 2021
Year: 2021

Momentum is a widely used technique for gradient-based optimizers in deep learning. In this paper, we propose a decaying momentum (\textsc{Demon}) rule. We conduct the first large-scale empirical analysis of momentum decay methods for modern neural network optimization, in addition to the most popular learning rate decay schedules. Across 28 relevant combinations of models, epochs, datasets, and optimizers, \textsc{Demon} achieves the highest number of Top-1 and Top-3 finishes at 39\% and 85\% respectively, almost doubling the second-placed learning rate cosine schedule at 17\% and 60\%, respectively. \textsc{Demon} also outperforms other widely used schedulers including, but not limited to, the learning rate step schedule, linear schedule, OneCycle schedule, and exponential schedule. Compared with the widely used learning rate step schedule, \textsc{Demon} is observed to be less sensitive to parameter tuning, which is critical to training neural networks in practice. Results are demonstrated across a variety of settings and architectures, including image classification, generative models, and language models. \textsc{Demon} is easy to implement, requires no additional tuning, and incurs almost no extra computational overhead compared to the vanilla counterparts. Code is readily available.
A Theory of Relation Learning and Cross-domain Generalization
Venue: arXiv cs.AI 2021
Year: 2021

People readily generalize knowledge to novel domains and stimuli. We present a theory, instantiated in a computational model, based on the idea that cross-domain generalization in humans is a case of analogical inference over structured (i.e., symbolic) relational representations. The model is an extension of the LISA and DORA models of relational inference and learning. The resulting model learns both the content and format (i.e., structure) of relational representations from non-relational inputs without supervision, when augmented with the capacity for reinforcement learning, leverages these representations to learn individual domains, and then generalizes to new domains on the first exposure (i.e., zero-shot learning) via analogical inference. We demonstrate the capacity of the model to learn structured relational representations from a variety of simple visual stimuli, and to perform cross-domain generalization between video games (Breakout and Pong) and between several psychological tasks. We demonstrate that the model's trajectory closely mirrors the trajectory of children as they learn about relations, accounting for phenomena from the literature on the development of children's reasoning and analogy making. The model's ability to generalize between domains demonstrates the flexibility afforded by representing domains in terms of their underlying relational structure, rather than simply in terms of the statistical relations between their inputs and outputs.
IdBench: Evaluating Semantic Representations of Identifier Names in Source Code
Venue: arXiv cs.LG 2021
Year: 2021

Identifier names convey useful information about the intended semantics of code. Name-based program analyses use this information, e.g., to detect bugs, to predict types, and to improve the readability of code. At the core of name-based analyses are semantic representations of identifiers, e.g., in the form of learned embeddings. The high-level goal of such a representation is to encode whether two identifiers, e.g., len and size, are semantically similar. Unfortunately, it is currently unclear to what extent semantic representations match the semantic relatedness and similarity perceived by developers. This paper presents IdBench, the first benchmark for evaluating semantic representations against a ground truth created from thousands of ratings by 500 software developers. We use IdBench to study state-of-the-art embedding techniques proposed for natural language, an embedding technique specifically designed for source code, and lexical string distance functions. Our results show that the effectiveness of semantic representations varies significantly and that the best available embeddings successfully represent semantic relatedness. On the downside, no existing technique provides a satisfactory representation of semantic similarities, among other reasons because identifiers with opposing meanings are incorrectly considered to be similar, which may lead to fatal mistakes, e.g., in a refactoring tool. Studying the strengths and weaknesses of the different techniques shows that they complement each other. As a first step toward exploiting this complementarity, we present an ensemble model that combines existing techniques and that clearly outperforms the best available semantic representation.
A Geometric Model of Opinion Polarization
Venue: arXiv cs.SI 2021
Year: 2021

We introduce a simple, geometric model of opinion polarization. It is a model of political persuasion, as well as marketing and advertising, utilizing social values. It focuses on the interplay between different topics and persuasion efforts. We demonstrate that societal opinion polarization often arises as an unintended byproduct of influencers attempting to promote a product or idea. We discuss a number of mechanisms for the emergence of polarization involving one or more influencers, sending messages strategically, heuristically, or randomly. We also examine some computational aspects of choosing the most effective means of influencing agents, and the effects of those strategic considerations on polarization.
Deep Kernels with Probabilistic Embeddings for Small-Data Learning
Venue: arXiv cs.LG 2021
Year: 2021

Gaussian Processes (GPs) are known to provide accurate predictions and uncertainty estimates even with small amounts of labeled data by capturing similarity between data points through their kernel function. However traditional GP kernels are not very effective at capturing similarity between high dimensional data points. Neural networks can be used to learn good representations that encode intricate structures in high dimensional data, and can be used as inputs to the GP kernel. However the huge data requirement of neural networks makes this approach ineffective in small data settings. To solves the conflicting problems of representation learning and data efficiency, we propose to learn deep kernels on probabilistic embeddings by using a probabilistic neural network. Our approach maps high-dimensional data to a probability distribution in a low dimensional subspace and then computes a kernel between these distributions to capture similarity. To enable end-to-end learning, we derive a functional gradient descent procedure for training the model. Experiments on a variety of datasets show that our approach outperforms the state-of-the-art in GP kernel learning in both supervised and semi-supervised settings. We also extend our approach to other small-data paradigms such as few-shot classification where it outperforms previous approaches on mini-Imagenet and CUB datasets.
OverQ: Opportunistic Outlier Quantization for Neural Network Accelerators
Venue: arXiv cs.LG 2021
Year: 2021

Outliers in weights and activations pose a key challenge for fixed-point quantization of neural networks. While they can be addressed by fine-tuning, this is not practical for ML service providers (e.g., Google or Microsoft) who often receive customer models without training data. Specialized hardware for handling activation outliers can enable low-precision neural networks, but at the cost of nontrivial area overhead. We instead propose overwrite quantization (OverQ), a lightweight hardware technique that opportunistically increases bitwidth for activation outliers by overwriting nearby zeros. It has two major modes of operation: range overwrite and precision overwrite. Range overwrite reallocates bits to increase the range of outliers, while precision overwrite reuses zeros to increase the precision of non-outlier values. Combining range overwrite with a simple cascading logic, we handle the vast majority of outliers to significantly improve model accuracy at low bitwidth. Our experiments show that with modest cascading, we can consistently handle over 90% of outliers and achieve +5% ImageNet Top-1 accuracy on a quantized ResNet-50 at 4 bits. Our ASIC prototype shows OverQ can be implemented efficiently on top of existing weight-stationary systolic arrays with small area increases per processing element. We imagine this technique can complement modern DNN accelerator designs to provide small increases in accuracy with insignificant area overhead.