OpenRaiser/Intern-Atlas huggingface dataset:
Roadside IRS-Aided Vehicular Communication: Efficient Channel Estimation and Low-Complexity Beamforming Design
Venue: arXiv cs.IT 2023
Year: 2023

Intelligent reflecting surface (IRS) has emerged as a promising technique to control wireless propagation environment for enhancing the communication performance cost-effectively. However, the rapidly time-varying channel in high-mobility communication scenarios such as vehicular communication renders it challenging to obtain the instantaneous channel state information (CSI) efficiently for IRS with a large number of reflecting elements. In this paper, we propose a new roadside IRS-aided vehicular communication system to tackle this challenge. Specifically, by exploiting the symmetrical deployment of IRSs with inter-laced equal intervals on both sides of the road and the cooperation among nearby IRS controllers, we propose a new two-stage channel estimation scheme with off-line and online training, respectively, to obtain the static/time-varying CSI required by the proposed low-complexity passive beamforming scheme efficiently. The proposed IRS beamforming and online channel estimation designs leverage the existing uplink pilots in wireless networks and do not require any change of the existing transmission protocol. Moreover, they can be implemented by each of IRS controllers independently, without the need of any real-time feedback from the user's serving BS. Simulation results show that the proposed designs can efficiently achieve the high IRS passive beamforming gain and thus significantly enhance the achievable communication throughput for high-speed vehicular communications.
Fairness and Bias in Robot Learning
Venue: arXiv cs.RO 2023
Year: 2023

Machine learning has significantly enhanced the abilities of robots, enabling them to perform a wide range of tasks in human environments and adapt to our uncertain real world. Recent works in various machine learning domains have highlighted the importance of accounting for fairness to ensure that these algorithms do not reproduce human biases and consequently lead to discriminatory outcomes. With robot learning systems increasingly performing more and more tasks in our everyday lives, it is crucial to understand the influence of such biases to prevent unintended behavior toward certain groups of people. In this work, we present the first survey on fairness in robot learning from an interdisciplinary perspective spanning technical, ethical, and legal challenges. We propose a taxonomy for sources of bias and the resulting types of discrimination due to them. Using examples from different robot learning domains, we examine scenarios of unfair outcomes and strategies to mitigate them. We present early advances in the field by covering different fairness definitions, ethical and legal considerations, and methods for fair robot learning. With this work, we aim to pave the road for groundbreaking developments in fair robot learning.
Robustness Evaluation of Deep Unsupervised Learning Algorithms for Intrusion Detection Systems
Venue: arXiv cs.CR 2023
Year: 2023

Recently, advances in deep learning have been observed in various fields, including computer vision, natural language processing, and cybersecurity. Machine learning (ML) has demonstrated its ability as a potential tool for anomaly detection-based intrusion detection systems to build secure computer networks. Increasingly, ML approaches are widely adopted than heuristic approaches for cybersecurity because they learn directly from data. Data is critical for the development of ML systems, and becomes potential targets for attackers. Basically, data poisoning or contamination is one of the most common techniques used to fool ML models through data. This paper evaluates the robustness of six recent deep learning algorithms for intrusion detection on contaminated data. Our experiments suggest that the state-of-the-art algorithms used in this study are sensitive to data contamination and reveal the importance of self-defense against data perturbation when developing novel models, especially for intrusion detection systems.
Learning and generalization of one-hidden-layer neural networks, going beyond standard Gaussian data
Venue: arXiv cs.LG 2023
Year: 2023

This paper analyzes the convergence and generalization of training a one-hidden-layer neural network when the input features follow the Gaussian mixture model consisting of a finite number of Gaussian distributions. Assuming the labels are generated from a teacher model with an unknown ground truth weight, the learning problem is to estimate the underlying teacher model by minimizing a non-convex risk function over a student neural network. With a finite number of training samples, referred to the sample complexity, the iterations are proved to converge linearly to a critical point with guaranteed generalization error. In addition, for the first time, this paper characterizes the impact of the input distributions on the sample complexity and the learning rate.
Big Learning
Venue: arXiv cs.LG 2023
Year: 2023

Recent advances in big/foundation models reveal a promising path for deep learning, where the roadmap steadily moves from big data to big models to (the newly-introduced) big learning. Specifically, the big learning exhaustively exploits the information inherent in its large-scale complete/incomplete training data, by simultaneously modeling many/all joint/conditional/marginal data distributions across potentially diverse domains, with one universal foundation model. We reveal that big learning ($i$) underlies most existing foundation models, ($ii$) is equipped with extraordinary flexibilities for complete/incomplete training data and trustworthy data tasks, ($iii$) is capable of delivering all joint/conditional/marginal data capabilities with one universal model, and ($iv$) unifies conventional machine learning paradigms and enables their flexible cooperations, manifested as a universal learning paradigm. Diverse experiments are carried out to validate the effectiveness of the presented big learning.
Memory-free Online Change-point Detection: A Novel Neural Network Approach
Venue: arXiv cs.LG 2023
Year: 2023

Change-point detection (CPD), which detects abrupt changes in the data distribution, is recognized as one of the most significant tasks in time series analysis. Despite the extensive literature on offline CPD, unsupervised online CPD still suffers from major challenges, including scalability, hyperparameter tuning, and learning constraints. To mitigate some of these challenges, in this paper, we propose a novel deep learning approach for unsupervised online CPD from multi-dimensional time series, named Adaptive LSTM-Autoencoder Change-Point Detection (ALACPD). ALACPD exploits an LSTM-autoencoder-based neural network to perform unsupervised online CPD. It continuously adapts to the incoming samples without keeping the previously received input, thus being memory-free. We perform an extensive evaluation on several real-world time series CPD benchmarks. We show that ALACPD, on average, ranks first among state-of-the-art CPD algorithms in terms of quality of the time series segmentation, and it is on par with the best performer in terms of the accuracy of the estimated change-points. The implementation of ALACPD is available online on Github\footnote{\url{https://github.com/zahraatashgahi/ALACPD}}.
TalkToModel: Explaining Machine Learning Models with Interactive Natural Language Conversations
Venue: arXiv cs.LG 2023
Year: 2023

Machine Learning (ML) models are increasingly used to make critical decisions in real-world applications, yet they have become more complex, making them harder to understand. To this end, researchers have proposed several techniques to explain model predictions. However, practitioners struggle to use these explainability techniques because they often do not know which one to choose and how to interpret the results of the explanations. In this work, we address these challenges by introducing TalkToModel: an interactive dialogue system for explaining machine learning models through conversations. Specifically, TalkToModel comprises of three key components: 1) a natural language interface for engaging in conversations, making ML model explainability highly accessible, 2) a dialogue engine that adapts to any tabular model and dataset, interprets natural language, maps it to appropriate explanations, and generates text responses, and 3) an execution component that constructs the explanations. We carried out extensive quantitative and human subject evaluations of TalkToModel. Overall, we found the conversational system understands user inputs on novel datasets and models with high accuracy, demonstrating the system's capacity to generalize to new situations. In real-world evaluations with humans, 73% of healthcare workers (e.g., doctors and nurses) agreed they would use TalkToModel over baseline point-and-click systems for explainability in a disease prediction task, and 85% of ML professionals agreed TalkToModel was easier to use for computing explanations. Our findings demonstrate that TalkToModel is more effective for model explainability than existing systems, introducing a new category of explainability tools for practitioners. Code & demo released here: https://github.com/dylan-slack/TalkToModel.
Wasserstein Graph Distance Based on $L_1$-Approximated Tree Edit Distance between Weisfeiler-Lehman Subtrees
Venue: arXiv cs.LG 2023
Year: 2023

The Weisfeiler-Lehman (WL) test is a widely used algorithm in graph machine learning, including graph kernels, graph metrics, and graph neural networks. However, it focuses only on the consistency of the graph, which means that it is unable to detect slight structural differences. Consequently, this limits its ability to capture structural information, which also limits the performance of existing models that rely on the WL test. This limitation is particularly severe for traditional metrics defined by the WL test, which cannot precisely capture slight structural differences. In this paper, we propose a novel graph metric called the Wasserstein WL Subtree (WWLS) distance to address this problem. Our approach leverages the WL subtree as structural information for node neighborhoods and defines node metrics using the $L_1$-approximated tree edit distance ($L_1$-TED) between WL subtrees of nodes. Subsequently, we combine the Wasserstein distance and the $L_1$-TED to define the WWLS distance, which can capture slight structural differences that may be difficult to detect using conventional metrics. We demonstrate that the proposed WWLS distance outperforms baselines in both metric validation and graph classification experiments.
Accelerating Polarization via Alphabet Extension
Venue: arXiv cs.IT 2023
Year: 2023

Polarization is an unprecedented coding technique in that it not only achieves channel capacity, but also does so at a faster speed of convergence than any other coding technique. This speed is measured by the ``scaling exponent'' and its importance is three-fold. Firstly, estimating the scaling exponent is challenging and demands a deeper understanding of the dynamics of communication channels. Secondly, scaling exponents serve as a benchmark for different variants of polar codes that helps us select the proper variant for real-life applications. Thirdly, the need to optimize for the scaling exponent sheds light on how to reinforce the design of polar codes. In this paper, we generalize the binary erasure channel (BEC), the simplest communication channel and the protagonist of many coding theory studies, to the ``tetrahedral erasure channel'' (TEC). We then invoke Mori--Tanaka's $2 \times 2$ matrix over GF$(4)$ to construct polar codes over TEC. Our main contribution is showing that the dynamic of TECs converges to an almost--one-parameter family of channels, which then leads to an upper bound of $3.328$ on the scaling exponent. This is the first non-binary matrix whose scaling exponent is upper-bounded. It also polarizes BEC faster than all known binary matrices up to $23 \times 23$ in size. Our result indicates that expanding the alphabet is a more effective and practical alternative to enlarging the matrix in order to achieve faster polarization.
Depth Perspective-aware Multiple Object Tracking
Venue: arXiv cs.CV 2023
Year: 2023

This paper aims to tackle Multiple Object Tracking (MOT), an important problem in computer vision but remains challenging due to many practical issues, especially occlusions. Indeed, we propose a new real-time Depth Perspective-aware Multiple Object Tracking (DP-MOT) approach to tackle the occlusion problem in MOT. A simple yet efficient Subject-Ordered Depth Estimation (SODE) is first proposed to automatically order the depth positions of detected subjects in a 2D scene in an unsupervised manner. Using the output from SODE, a new Active pseudo-3D Kalman filter, a simple but effective extension of Kalman filter with dynamic control variables, is then proposed to dynamically update the movement of objects. In addition, a new high-order association approach is presented in the data association step to incorporate first-order and second-order relationships between the detected objects. The proposed approach consistently achieves state-of-the-art performance compared to recent MOT methods on standard MOT benchmarks.
Reinforcement Learning of CPG-regulated Locomotion Controller for a Soft Snake Robot
Venue: arXiv cs.RO 2023
Year: 2023

Intelligent control of soft robots is challenging due to the nonlinear and difficult-to-model dynamics. One promising model-free approach for soft robot control is reinforcement learning (RL). However, model-free RL methods tend to be computationally expensive and data-inefficient and may not yield natural and smooth locomotion patterns for soft robots. In this work, we develop a bio-inspired design of a learning-based goal-tracking controller for a soft snake robot. The controller is composed of two modules: An RL module for learning goal-tracking behaviors given the unmodeled and stochastic dynamics of the robot, and a central pattern generator (CPG) with the Matsuoka oscillators for generating stable and diverse locomotion patterns. We theoretically investigate the maneuverability of Matsuoka CPG's oscillation bias, frequency, and amplitude for steering control, velocity control, and sim-to-real adaptation of the soft snake robot. Based on this analysis, we proposed a composition of RL and CPG modules such that the RL module regulates the tonic inputs to the CPG system given state feedback from the robot, and the output of the CPG module is then transformed into pressure inputs to pneumatic actuators of the soft snake robot. This design allows the RL agent to naturally learn to entrain the desired locomotion patterns determined by the CPG maneuverability. We validated the optimality and robustness of the control design in both simulation and real experiments, and performed extensive comparisons with state-of-art RL methods to demonstrate the benefit of our bio-inspired control design.
Strategic Voting in the Context of Stable-Matching of Teams
Venue: arXiv cs.GT 2023
Year: 2023

In the celebrated stable-matching problem, there are two sets of agents M and W, and the members of M only have preferences over the members of W and vice versa. It is usually assumed that each member of M and W is a single entity. However, there are many cases in which each member of M or W represents a team that consists of several individuals with common interests. For example, students may need to be matched to professors for their final projects, but each project is carried out by a team of students. Thus, the students first form teams, and the matching is between teams of students and professors. When a team is considered as an agent from M or W, it needs to have a preference order that represents it. A voting rule is a natural mechanism for aggregating the preferences of the team members into a single preference order. In this paper, we investigate the problem of strategic voting in the context of stable-matching of teams. Specifically, we assume that members of each team use the Borda rule for generating the preference order of the team. Then, the Gale-Shapley algorithm is used for finding a stable-matching, where the set M is the proposing side. We show that the single-voter manipulation problem can be solved in polynomial time, both when the team is from M and when it is from W. We show that the coalitional manipulation problem is computationally hard, but it can be solved approximately both when the team is from M and when it is from W.
Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning
Venue: arXiv cs.LG 2023
Year: 2023

Problems which require both long-horizon planning and continuous control capabilities pose significant challenges to existing reinforcement learning agents. In this paper we introduce a novel hierarchical reinforcement learning agent which links temporally extended skills for continuous control with a forward model in a symbolic discrete abstraction of the environment's state for planning. We term our agent SEADS for Symbolic Effect-Aware Diverse Skills. We formulate an objective and corresponding algorithm which leads to unsupervised learning of a diverse set of skills through intrinsic motivation given a known state abstraction. The skills are jointly learned with the symbolic forward model which captures the effect of skill execution in the state abstraction. After training, we can leverage the skills as symbolic actions using the forward model for long-horizon planning and subsequently execute the plan using the learned continuous-action control skills. The proposed algorithm learns skills and forward models that can be used to solve complex tasks which require both continuous control and long-horizon planning capabilities with high success rate. It compares favorably with other flat and hierarchical reinforcement learning baseline agents and is successfully demonstrated with a real robot.
FreeREA: Training-Free Evolution-based Architecture Search
Venue: arXiv cs.NE 2023
Year: 2023

In the last decade, most research in Machine Learning contributed to the improvement of existing models, with the aim of increasing the performance of neural networks for the solution of a variety of different tasks. However, such advancements often come at the cost of an increase of model memory and computational requirements. This represents a significant limitation for the deployability of research output in realistic settings, where the cost, the energy consumption, and the complexity of the framework play a crucial role. To solve this issue, the designer should search for models that maximise the performance while limiting its footprint. Typical approaches to reach this goal rely either on manual procedures, which cannot guarantee the optimality of the final design, or upon Neural Architecture Search algorithms to automatise the process, at the expenses of extremely high computational time. This paper provides a solution for the fast identification of a neural network that maximises the model accuracy while preserving size and computational constraints typical of tiny devices. Our approach, named FreeREA, is a custom cell-based evolution NAS algorithm that exploits an optimised combination of training-free metrics to rank architectures during the search, thus without need of model training. Our experiments, carried out on the common benchmarks NAS-Bench-101 and NATS-Bench, demonstrate that i) FreeREA is a fast, efficient, and effective search method for models automatic design; ii) it outperforms State of the Art training-based and training-free techniques in all the datasets and benchmarks considered, and iii) it can easily generalise to constrained scenarios, representing a competitive solution for fast Neural Architecture Search in generic constrained applications. The code is available at \url{https://github.com/NiccoloCavagnero/FreeREA}.
Dateformer: Time-modeling Transformer for Longer-term Series Forecasting
Venue: arXiv cs.LG 2023
Year: 2023

Transformers have demonstrated impressive strength in long-term series forecasting. Existing prediction research mostly focused on mapping past short sub-series (lookback window) to future series (forecast window). The longer training dataset time series will be discarded, once training is completed. Models can merely rely on lookback window information for inference, which impedes models from analyzing time series from a global perspective. And these windows used by Transformers are quite narrow because they must model each time-step therein. Under this point-wise processing style, broadening windows will rapidly exhaust their model capacity. This, for fine-grained time series, leads to a bottleneck in information input and prediction output, which is mortal to long-term series forecasting. To overcome the barrier, we propose a brand-new methodology to utilize Transformer for time series forecasting. Specifically, we split time series into patches by day and reform point-wise to patch-wise processing, which considerably enhances the information input and output of Transformers. To further help models leverage the whole training set's global information during inference, we distill the information, store it in time representations, and replace series with time representations as the main modeling entities. Our designed time-modeling Transformer -- Dateformer yields state-of-the-art accuracy on 7 real-world datasets with a 33.6\% relative improvement and extends the maximum forecast range to half-year.
1+1>2: Programming Know-What and Know-How Knowledge Fusion, Semantic Enrichment and Coherent Application
Venue: arXiv cs.SE 2023
Year: 2023

Software programming requires both API reference (know-what) knowledge and programming task (know-how) knowledge. Lots of programming know-what and know-how knowledge is documented in text, for example, API reference documentation and programming tutorials. To improve knowledge accessibility and usage, several recent studies use Natural Language Processing (NLP) methods to construct API know-what knowledge graph (API-KG) and programming task know-how knowledge graph (Task-KG) from software documentation. Although being promising, current API-KG and Task-KG are independent of each other, and thus are void of inherent connections between the two types of knowledge. Our empirical study on Stack Overflow questions confirms that only 36% of the API usage problems can be answered by the know-how or the know-what knowledge alone, while the rest questions require a fusion of both. Inspired by this observation, we make the first attempt to fuse API-KG and Task-KG by API entity linking. This fusion creates nine categories of API semantic relations and two types of task semantic relations which are not present in the stand-alone API-KG or Task-KG. According to the definitions of these new API and task semantic relations, our approach dives deeper than the surface-level API linking of API-KG and Task-KG, and infers nine categories of API semantic relations from task descriptions and two types of task semantic relations with the assistance of API-KG, which enrich the declaration or syntactic relations in the current API-KG and Task-KG. Our fused and semantically-enriched API-Task KG supports coherent API/Task-centric knowledge search by text or code queries.