OpenRaiser/Intern-Atlas huggingface dataset:
An end-to-end predict-then-optimize clustering method for intelligent assignment problems in express systems
Venue: arXiv cs.LG 2022
Year: 2022

Express systems play important roles in modern major cities. Couriers serving for the express system pick up packages in certain areas of interest (AOI) during a specific time. However, future pick-up requests vary significantly with time. While the assignment results are generally static without changing with time. Using the historical pick-up request number to conduct AOI assignment (or pick-up request assignment) for couriers is thus unreasonable. Moreover, even we can first predict future pick-up requests and then use the prediction results to conduct the assignments, this kind of two-stage method is also impractical and trivial, and exists some drawbacks, such as the best prediction results might not ensure the best clustering results. To solve these problems, we put forward an intelligent end-to-end predict-then-optimize clustering method to simultaneously predict the future pick-up requests of AOIs and assign AOIs to couriers by clustering. At first, we propose a deep learning-based prediction model to predict order numbers on AOIs. Then a differential constrained K-means clustering method is introduced to cluster AOIs based on the prediction results. We finally propose a one-stage end-to-end predict-then-optimize clustering method to assign AOIs to couriers reasonably, dynamically, and intelligently. Results show that this kind of one-stage predict-then-optimize method is beneficial to improve the performance of optimization results, namely the clustering results. This study can provide critical experiences for predict-and-optimize related tasks and intelligent assignment problems in express systems.
Multiple Importance Sampling ELBO and Deep Ensembles of Variational Approximations
Venue: arXiv cs.LG 2022
Year: 2022

In variational inference (VI), the marginal log-likelihood is estimated using the standard evidence lower bound (ELBO), or improved versions as the importance weighted ELBO (IWELBO). We propose the multiple importance sampling ELBO (MISELBO), a \textit{versatile} yet \textit{simple} framework. MISELBO is applicable in both amortized and classical VI, and it uses ensembles, e.g., deep ensembles, of independently inferred variational approximations. As far as we are aware, the concept of deep ensembles in amortized VI has not previously been established. We prove that MISELBO provides a tighter bound than the average of standard ELBOs, and demonstrate empirically that it gives tighter bounds than the average of IWELBOs. MISELBO is evaluated in density-estimation experiments that include MNIST and several real-data phylogenetic tree inference problems. First, on the MNIST dataset, MISELBO boosts the density-estimation performances of a state-of-the-art model, nouveau VAE. Second, in the phylogenetic tree inference setting, our framework enhances a state-of-the-art VI algorithm that uses normalizing flows. On top of the technical benefits of MISELBO, it allows to unveil connections between VI and recent advances in the importance sampling literature, paving the way for further methodological advances. We provide our code at \url{https://github.com/Lagergren-Lab/MISELBO}.
Learning Cluster Patterns for Abstractive Summarization
Venue: arXiv cs.CL 2022
Year: 2022

Nowadays, pre-trained sequence-to-sequence models such as BERTSUM and BART have shown state-of-the-art results in abstractive summarization. In these models, during fine-tuning, the encoder transforms sentences to context vectors in the latent space and the decoder learns the summary generation task based on the context vectors. In our approach, we consider two clusters of salient and non-salient context vectors, using which the decoder can attend more to salient context vectors for summary generation. For this, we propose a novel clustering transformer layer between the encoder and the decoder, which first generates two clusters of salient and non-salient vectors, and then normalizes and shrinks the clusters to make them apart in the latent space. Our experimental result shows that the proposed model outperforms the existing BART model by learning these distinct cluster patterns, improving up to 4% in ROUGE and 0.3% in BERTScore on average in CNN/DailyMail and XSUM data sets.
Estimation of Looming from LiDAR
Venue: arXiv cs.CV 2022
Year: 2022

Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. The measurement of the looming cue is not only limited to vision, and can also be obtained from range sensors like LiDAR (Light Detection and Ranging). In this article we present two methods that process raw LiDAR data to estimate the looming cue. Using looming values we show how to obtain threat zones for collision avoidance tasks. The methods are general enough to be suitable for any six-degree-of-freedom motion and can be implemented in real-time without the need for fine matching, point-cloud registration, object classification or object segmentation. Quantitative results using the KITTI dataset shows advantages and limitations of the methods.
Swarm Fabrication: Reconfigurable 3D Printers and Drawing Plotters Made of Swarm Robots
Venue: arXiv cs.RO 2022
Year: 2022

We introduce Swarm Fabrication, a novel concept of creating on-demand, scalable, and reconfigurable fabrication machines made of swarm robots. We present ways to construct an element of fabrication machines, such as motors, elevator, table, feeder, and extruder, by leveraging toio robots and 3D printed attachments. By combining these elements, we demonstrate constructing a X-Y-Z plotter with multiple toio robots, which can be used for drawing plotters and 3D printers. We also show the possibility to extend our idea to more general-purpose fabrication machines, which include 3D printers, CNC machining, foam cutters, line drawing devices, pick and place machines, 3D scanning, etc. Through this, we draw a future vision, where the swarm robots can construct a scalable and reconfigurable fabrication machines on-demand, which can be deployed anywhere the user wishes. We believe this fabrication technique will become a means of interactive and highly flexible fabrication in the future.
Enabling Reproducibility and Meta-learning Through a Lifelong Database of Experiments (LDE)
Venue: arXiv cs.LG 2022
Year: 2022

Artificial Intelligence (AI) development is inherently iterative and experimental. Over the course of normal development, especially with the advent of automated AI, hundreds or thousands of experiments are generated and are often lost or never examined again. There is a lost opportunity to document these experiments and learn from them at scale, but the complexity of tracking and reproducing these experiments is often prohibitive to data scientists. We present the Lifelong Database of Experiments (LDE) that automatically extracts and stores linked metadata from experiment artifacts and provides features to reproduce these artifacts and perform meta-learning across them. We store context from multiple stages of the AI development lifecycle including datasets, pipelines, how each is configured, and training runs with information about their runtime environment. The standardized nature of the stored metadata allows for querying and aggregation, especially in terms of ranking artifacts by performance metrics. We exhibit the capabilities of the LDE by reproducing an existing meta-learning study and storing the reproduced metadata in our system. Then, we perform two experiments on this metadata: 1) examining the reproducibility and variability of the performance metrics and 2) implementing a number of meta-learning algorithms on top of the data and examining how variability in experimental results impacts recommendation performance. The experimental results suggest significant variation in performance, especially depending on dataset configurations; this variation carries over when meta-learning is built on top of the results, with performance improving when using aggregated results. This suggests that a system that automatically collects and aggregates results such as the LDE not only assists in implementing meta-learning but may also improve its performance.
Multi-Objective Dual Simplex-Mesh Based Deformable Image Registration for 3D Medical Images -- Proof of Concept
Venue: arXiv cs.CV 2022
Year: 2022

Reliably and physically accurately transferring information between images through deformable image registration with large anatomical differences is an open challenge in medical image analysis. Most existing methods have two key shortcomings: first, they require extensive up-front parameter tuning to each specific registration problem, and second, they have difficulty capturing large deformations and content mismatches between images. There have however been developments that have laid the foundation for potential solutions to both shortcomings. Towards the first shortcoming, a multi-objective optimization approach using the Real-Valued Gene-pool Optimal Mixing Evolutionary Algorithm (RV-GOMEA) has been shown to be capable of producing a diverse set of registrations for 2D images in one run of the algorithm, representing different trade-offs between conflicting objectives in the registration problem. This allows the user to select a registration afterwards and removes the need for up-front tuning. Towards the second shortcoming, a dual-dynamic grid transformation model has proven effective at capturing large differences in 2D images. These two developments have recently been accelerated through GPU parallelization, delivering large speed-ups. Based on this accelerated version, it is now possible to extend the approach to 3D images. Concordantly, this work introduces the first method for multi-objective 3D deformable image registration, using a 3D dual-dynamic grid transformation model based on simplex meshes while still supporting the incorporation of annotated guidance information and multi-resolution schemes. Our proof-of-concept prototype shows promising results on synthetic and clinical 3D registration problems, forming the foundation for a new, insightful method that can include bio-mechanical properties in the registration.
Occupation similarity through bipartite graphs
Venue: arXiv cs.SI 2022
Year: 2022

Similarity between occupations is a crucial piece of information when making career decisions. However, the notion of a single and unified occupation similarity measure is more of a limitation than an asset. The goal of the study is to assess multiple explainable occupation similarity measures that can provide different insights into inter-occupation relations. Several such measures are derived using the framework of bipartite graphs. Their viability is assessed on more than 450,000 job transitions occurring in Slovenia in the period between 2012 and 2021. The results support the hypothesis that several similarity measures are plausible and that they present different feasible career paths. The complete implementation and part of the datasets are available at https://repo.ijs.si/pboskoski/bipartite_job_similarity_code.
FlowSense: Monitoring Airflow in Building Ventilation Systems Using Audio Sensing
Venue: arXiv cs.SD 2022
Year: 2022

Proper indoor ventilation through buildings' heating, ventilation, and air conditioning (HVAC) systems has become an increasing public health concern that significantly impacts individuals' health and safety at home, work, and school. While much work has progressed in providing energy-efficient and user comfort for HVAC systems through IoT devices and mobile-sensing approaches, ventilation is an aspect that has received lesser attention despite its importance. With a motivation to monitor airflow from building ventilation systems through commodity sensing devices, we present FlowSense, a machine learning-based algorithm to predict airflow rate from sensed audio data in indoor spaces. Our ML technique can predict the state of an air vent-whether it is on or off-as well as the rate of air flowing through active vents. By exploiting a low-pass filter to obtain low-frequency audio signals, we put together a privacy-preserving pipeline that leverages a silence detection algorithm to only sense for sounds of air from HVAC air vent when no human speech is detected. We also propose the Minimum Persistent Sensing (MPS) as a post-processing algorithm to reduce interference from ambient noise, including ongoing human conversation, office machines, and traffic noises. Together, these techniques ensure user privacy and improve the robustness of FlowSense. We validate our approach yielding over 90% accuracy in predicting vent status and 0.96 MSE in predicting airflow rate when the device is placed within 2.25 meters away from an air vent. Additionally, we demonstrate how our approach as a mobile audio-sensing platform is robust to smartphone models, distance, and orientation. Finally, we evaluate FlowSense privacy-preserving pipeline through a user study and a Google Speech Recognition service, confirming that the audio signals we used as input data are inaudible and inconstructible.
Impact of Channel Correlation on Subspace-Based Activity Detection in Grant-Free NOMA
Venue: arXiv cs.IT 2022
Year: 2022

In this paper, we consider the problem of activity detection in grant-free code-domain non-orthogonal multiple access (NOMA). We focus on performing activity detection via subspace methods under a setup where the data and pilot spreading signatures are of different lengths, and consider a realistic frame-structure similar to existing mobile networks. We investigate the impact of channel correlation on the activity detection performance; first, we consider the case where the channel exhibits high correlation in time and frequency and show how it can heavily deteriorate the performance. To tackle that, we propose to apply user-specific masking sequences overlaid on top of the pilot signatures. Second, we consider the other extreme with the channel being highly selective, and show that it can also negatively impact the performance. We investigate possible pilots' reallocation strategies that can help reduce its impact.
Recommendations to Develop, Distribute and Market Sonification Apps
Venue: arXiv cs.HC 2022
Year: 2022

After decades of research, sonification is still rarely adopted in consumer electronics, software and user interfaces. Outside the science and arts scenes the term sonification seems not well known to the public. As a means of science communication, and in order to make software developers, producers of consumer electronics and end users aware of sonification, we developed, distributed, and promoted Tiltification. This smartphone app utilizes sonification to inform users about the tilt angle of their phone, so that they can use it as a torpedo level. In this paper we report on our app development, distribution and promotion strategies and reflect on their success in making the app in particular, and sonification in general, better known to the public. Finally, we give recommendations on how to develop, distribute and market sonification apps. This article is dedicated to research institutions without commercial interests.
Backdoor Defense in Federated Learning Using Differential Testing and Outlier Detection
Venue: arXiv cs.CR 2022
Year: 2022

The goal of federated learning (FL) is to train one global model by aggregating model parameters updated independently on edge devices without accessing users' private data. However, FL is susceptible to backdoor attacks where a small fraction of malicious agents inject a targeted misclassification behavior in the global model by uploading polluted model updates to the server. In this work, we propose DifFense, an automated defense framework to protect an FL system from backdoor attacks by leveraging differential testing and two-step MAD outlier detection, without requiring any previous knowledge of attack scenarios or direct access to local model parameters. We empirically show that our detection method prevents a various number of potential attackers while consistently achieving the convergence of the global model comparable to that trained under federated averaging (FedAvg). We further corroborate the effectiveness and generalizability of our method against prior defense techniques, such as Multi-Krum and coordinate-wise median aggregation. Our detection method reduces the average backdoor accuracy of the global model to below 4% and achieves a false negative rate of zero.
Model2Detector: Widening the Information Bottleneck for Out-of-Distribution Detection using a Handful of Gradient Steps
Venue: arXiv cs.LG 2022
Year: 2022

Out-of-distribution detection is an important capability that has long eluded vanilla neural networks. Deep Neural networks (DNNs) tend to generate over-confident predictions when presented with inputs that are significantly out-of-distribution (OOD). This can be dangerous when employing machine learning systems in the wild as detecting attacks can thus be difficult. Recent advances inference-time out-of-distribution detection help mitigate some of these problems. However, existing methods can be restrictive as they are often computationally expensive. Additionally, these methods require training of a downstream detector model which learns to detect OOD inputs from in-distribution ones. This, therefore, adds latency during inference. Here, we offer an information theoretic perspective on why neural networks are inherently incapable of OOD detection. We attempt to mitigate these flaws by converting a trained model into a an OOD detector using a handful of steps of gradient descent. Our work can be employed as a post-processing method whereby an inference-time ML system can convert a trained model into an OOD detector. Experimentally, we show how our method consistently outperforms the state-of-the-art in detection accuracy on popular image datasets while also reducing computational complexity.
Minimax Optimal Quantization of Linear Models: Information-Theoretic Limits and Efficient Algorithms
Venue: arXiv cs.IT 2022
Year: 2022

High-dimensional models often have a large memory footprint and must be quantized after training before being deployed on resource-constrained edge devices for inference tasks. In this work, we develop an information-theoretic framework for the problem of quantizing a linear regressor learned from training data $(\mathbf{X}, \mathbf{y})$, for some underlying statistical relationship $\mathbf{y} = \mathbf{X}\boldsymbolθ + \mathbf{v}$. The learned model, which is an estimate of the latent parameter $\boldsymbolθ \in \mathbb{R}^d$, is constrained to be representable using only $Bd$ bits, where $B \in (0, \infty)$ is a pre-specified budget and $d$ is the dimension. We derive an information-theoretic lower bound for the minimax risk under this setting and propose a matching upper bound using randomized embedding-based algorithms which is tight up to constant factors. The lower and upper bounds together characterize the minimum threshold bit-budget required to achieve a performance risk comparable to the unquantized setting. We also propose randomized Hadamard embeddings that are computationally efficient and are optimal up to a mild logarithmic factor of the lower bound. Our model quantization strategy can be generalized and we show its efficacy by extending the method and upper-bounds to two-layer ReLU neural networks for non-linear regression. Numerical simulations show the improved performance of our proposed scheme as well as its closeness to the lower bound.
Deep Recurrent Modelling of Granger Causality with Latent Confounding
Venue: arXiv cs.LG 2022
Year: 2022

Inferring causal relationships in observational time series data is an important task when interventions cannot be performed. Granger causality is a popular framework to infer potential causal mechanisms between different time series. The original definition of Granger causality is restricted to linear processes and leads to spurious conclusions in the presence of a latent confounder. In this work, we harness the expressive power of recurrent neural networks and propose a deep learning-based approach to model non-linear Granger causality by directly accounting for latent confounders. Our approach leverages multiple recurrent neural networks to parameterise predictive distributions and we propose the novel use of a dual-decoder setup to conduct the Granger tests. We demonstrate the model performance on non-linear stochastic time series for which the latent confounder influences the cause and effect with different time lags; results show the effectiveness of our model compared to existing benchmarks.
Web of Scholars: A Scholar Knowledge Graph
Venue: arXiv cs.DL 2022
Year: 2022

In this work, we demonstrate a novel system, namely Web of Scholars, which integrates state-of-the-art mining techniques to search, mine, and visualize complex networks behind scholars in the field of Computer Science. Relying on the knowledge graph, it provides services for fast, accurate, and intelligent semantic querying as well as powerful recommendations. In addition, in order to realize information sharing, it provides an open API to be served as the underlying architecture for advanced functions. Web of Scholars takes advantage of knowledge graph, which means that it will be able to access more knowledge if more search exist. It can be served as a useful and interoperable tool for scholars to conduct in-depth analysis within Science of Science.
Absolute Zero-Shot Learning
Venue: arXiv cs.CV 2022
Year: 2022

Considering the increasing concerns about data copyright and privacy issues, we present a novel Absolute Zero-Shot Learning (AZSL) paradigm, i.e., training a classifier with zero real data. The key innovation is to involve a teacher model as the data safeguard to guide the AZSL model training without data leaking. The AZSL model consists of a generator and student network, which can achieve date-free knowledge transfer while maintaining the performance of the teacher network. We investigate `black-box' and `white-box' scenarios in AZSL task as different levels of model security. Besides, we also provide discussion of teacher model in both inductive and transductive settings. Despite embarrassingly simple implementations and data-missing disadvantages, our AZSL framework can retain state-of-the-art ZSL and GZSL performance under the `white-box' scenario. Extensive qualitative and quantitative analysis also demonstrates promising results when deploying the model under `black-box' scenario.
Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning
Venue: arXiv cs.RO 2022
Year: 2022

We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local and global planning techniques to efficiently navigate in scenarios with multiple corridors. To handle dense scenes with narrow passages, our approach computes the initial path for each agent to its assigned goal using a lattice planner. Based on neighbors' information, each agent performs online replanning using a congestion metric that tends to reduce the collisions and improves the navigation performance. Furthermore, we use the Voronoi cells of each agent to plan the local motion as well as a corridor selection strategy to limit the congestion in narrow passages. We evaluate the performance of our approach in complex warehouse-like scenes and demonstrate improved performance and efficiency over prior methods. In addition, our approach results in a higher success rate in terms of collision-free navigation to the goals.