OpenRaiser/Intern-Atlas huggingface dataset:
Interpretable Directed Diversity: Leveraging Model Explanations for Iterative Crowd Ideation
Venue: arXiv cs.HC 2022
Year: 2022

Feedback in creativity support tools can help crowdworkers to improve their ideations. However, current feedback methods require human assessment from facilitators or peers. This is not scalable to large crowds. We propose Interpretable Directed Diversity to automatically predict ideation quality and diversity scores, and provide AI explanations - Attribution, Contrastive Attribution, and Counterfactual Suggestions - to feedback on why ideations were scored (low), and how to get higher scores. These explanations provide multi-faceted feedback as users iteratively improve their ideations. We conducted formative and controlled user studies to understand the usage and usefulness of explanations to improve ideation diversity and quality. Users appreciated that explanation feedback helped focus their efforts and provided directions for improvement. This resulted in explanations improving diversity compared to no feedback or feedback with scores only. Hence, our approach opens opportunities for explainable AI towards scalable and rich feedback for iterative crowd ideation and creativity support tools.
Learning low-degree functions from a logarithmic number of random queries
Venue: arXiv cs.LG 2022
Year: 2022

We prove that every bounded function $f:\{-1,1\}^n\to[-1,1]$ of degree at most $d$ can be learned with $L_2$-accuracy $\varepsilon$ and confidence $1-δ$ from $\log(\tfrac{n}δ)\,\varepsilon^{-d-1} C^{d^{3/2}\sqrt{\log d}}$ random queries, where $C>1$ is a universal finite constant.
SalienTrack: providing salient information for semi-automated self-tracking feedback with model explanations
Venue: arXiv cs.HC 2022
Year: 2022

Self-tracking can improve people's awareness of their unhealthy behaviors and support reflection to inform behavior change. Increasingly, new technologies make tracking easier, leading to large amounts of tracked data. However, much of that information is not salient for reflection and self-awareness. To tackle this burden for reflection, we created the SalienTrack framework, which aims to 1) identify salient tracking events, 2) select the salient details of those events, 3) explain why they are informative, and 4) present the details as manually elicited or automatically shown feedback. We implemented SalienTrack in the context of nutrition tracking. To do this, we first conducted a field study to collect photo-based mobile food tracking over 1-5 weeks. We then report how we used this data to train an explainable-AI model of salience. Finally, we created interfaces to present salient information and conducted a formative user study to gain insights about how SalienTrack could be integrated into an interface for reflection. Our key contributions are the SalienTrack framework, a demonstration of its implementation for semi-automated feedback in an important and challenging self-tracking context and a discussion of the broader uses of the framework.
On the $2$-domination number of cylinders with small cycles
Venue: arXiv cs.DM 2022
Year: 2022

Domination-type parameters are difficult to manage in Cartesian product graphs and there is usually no general relationship between the parameter in both factors and in the product graph. This is the situation of the domination number, the Roman domination number or the $2$-domination number, among others. Contrary to what happens with the domination number and the Roman domination number, the $2$-domination number remains unknown in cylinders, that is, the Cartesian product of a cycle and a path and in this paper, we will compute this parameter in the cylinders with small cycles. We will develop two algorithms involving the $(\min,+)$ matrix product that will allow us to compute the desired values of $γ_2(C_n\Box P_m)$, with $3\leq n\leq 15$ and $m\geq 2$. We will also pose a conjecture about the general formulae for the $2$-domination number in this graph class.
Early Lane Change Prediction for Automated Driving Systems Using Multi-Task Attention-based Convolutional Neural Networks
Venue: arXiv cs.CV 2022
Year: 2022

Lane change (LC) is one of the safety-critical manoeuvres in highway driving according to various road accident records. Thus, reliably predicting such manoeuvre in advance is critical for the safe and comfortable operation of automated driving systems. The majority of previous studies rely on detecting a manoeuvre that has been already started, rather than predicting the manoeuvre in advance. Furthermore, most of the previous works do not estimate the key timings of the manoeuvre (e.g., crossing time), which can actually yield more useful information for the decision making in the ego vehicle. To address these shortcomings, this paper proposes a novel multi-task model to simultaneously estimate the likelihood of LC manoeuvres and the time-to-lane-change (TTLC). In both tasks, an attention-based convolutional neural network (CNN) is used as a shared feature extractor from a bird's eye view representation of the driving environment. The spatial attention used in the CNN model improves the feature extraction process by focusing on the most relevant areas of the surrounding environment. In addition, two novel curriculum learning schemes are employed to train the proposed approach. The extensive evaluation and comparative analysis of the proposed method in existing benchmark datasets show that the proposed method outperforms state-of-the-art LC prediction models, particularly considering long-term prediction performance.
"It's a Trap!"-How Speculation Invariance Can Be Abused with Forward Speculative Interference
Venue: arXiv cs.CR 2022
Year: 2022

Speculative side-channel attacks access sensitive data and use transmitters to leak the data during wrong-path execution. Various defenses have been proposed to prevent such information leakage. However, not all speculatively executed instructions are unsafe: Recent work demonstrates that speculation invariant instructions are independent of speculative control-flow paths and are guaranteed to eventually commit, regardless of the speculation outcome. Compile-time information coupled with run-time mechanisms can then selectively lift defenses for speculation invariant instructions, reclaiming some of the lost performance. Unfortunately, speculation invariant instructions can easily be manipulated by a form of speculative interference to leak information via a new side-channel that we introduce in this paper. We show that forward speculative interference whereolder speculative instructions interfere with younger speculation invariant instructions effectively turns them into transmitters for secret data accessed during speculation. We demonstrate forward speculative interference on actual hardware, by selectively filling the reorder buffer (ROB) with instructions, pushing speculative invariant instructions in-or-out of the ROB on demand, based on a speculatively accessed secret. This reveals the speculatively accessed secret, as the occupancy of the ROB itself becomes a new speculative side-channel.
Robust Generalization of Quadratic Neural Networks via Function Identification
Venue: arXiv cs.LG 2022
Year: 2022

A key challenge facing deep learning is that neural networks are often not robust to shifts in the underlying data distribution. We study this problem from the perspective of the statistical concept of parameter identification. Generalization bounds from learning theory often assume that the test distribution is close to the training distribution. In contrast, if we can identify the "true" parameters, then the model generalizes to arbitrary distribution shifts. However, neural networks typically have internal symmetries that make parameter identification impossible. We show that we can identify the function represented by a quadratic network even though we cannot identify its parameters; we extend this result to neural networks with ReLU activations. Thus, we can obtain robust generalization bounds for neural networks. We leverage this result to obtain new bounds for contextual bandits and transfer learning with quadratic neural networks. Overall, our results suggest that we can improve robustness of neural networks by designing models that can represent the true data generating process.
Real Robot Challenge: A Robotics Competition in the Cloud
Venue: arXiv cs.RO 2022
Year: 2022

Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designed and built robotic platforms that are hosted at MPI for Intelligent Systems and can be accessed remotely. Each platform consists of three robotic fingers that are capable of dexterous object manipulation. Users are able to control the platforms remotely by submitting code that is executed automatically, akin to a computational cluster. Using this setup, i) we host robotics competitions, where teams from anywhere in the world access our platforms to tackle challenging tasks ii) we publish the datasets collected during these competitions (consisting of hundreds of robot hours), and iii) we give researchers access to these platforms for their own projects.
IE-GAN: An Improved Evolutionary Generative Adversarial Network Using a New Fitness Function and a Generic Crossover Operator
Venue: arXiv cs.NE 2022
Year: 2022

The training of generative adversarial networks (GANs) is usually vulnerable to mode collapse and vanishing gradients. The evolutionary generative adversarial network (E-GAN) attempts to alleviate these issues by optimizing the learning strategy with multiple loss functions. It uses a learning-based evolutionary framework, which develops new mutation operators specifically for general deep neural networks. However, the evaluation mechanism in the fitness function of E-GAN cannot truly reflect the adaptability of individuals to their environment, leading to an inaccurate assessment of the diversity of individuals. Moreover, the evolution step of E-GAN only contains mutation operators without considering the crossover operator jointly, isolating the superior characteristics among individuals. To address these issues, we propose an improved E-GAN framework called IE-GAN, which introduces a new fitness function and a generic crossover operator. In particular, the proposed fitness function, from an objective perspective, can model the evolutionary process of individuals more accurately. The crossover operator, which has been commonly adopted in evolutionary algorithms, can enable offspring to imitate the superior gene expression of their parents through knowledge distillation. Experiments on various datasets demonstrate the effectiveness of our proposed IE-GAN in terms of the quality of the generated samples and time efficiency.
Stochastic Normalizing Flows for Inverse Problems: a Markov Chains Viewpoint
Venue: arXiv cs.LG 2022
Year: 2022

To overcome topological constraints and improve the expressiveness of normalizing flow architectures, Wu, Köhler and Noé introduced stochastic normalizing flows which combine deterministic, learnable flow transformations with stochastic sampling methods. In this paper, we consider stochastic normalizing flows from a Markov chain point of view. In particular, we replace transition densities by general Markov kernels and establish proofs via Radon-Nikodym derivatives which allows to incorporate distributions without densities in a sound way. Further, we generalize the results for sampling from posterior distributions as required in inverse problems. The performance of the proposed conditional stochastic normalizing flow is demonstrated by numerical examples.
Deep Reinforcement Learning-Based Long-Range Autonomous Valet Parking for Smart Cities
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, to reduce the congestion rate at the city center and increase the quality of experience (QoE) of each user, the framework of long-range autonomous valet parking (LAVP) is presented, where an Autonomous Vehicle (AV) is deployed in the city, which can pick up, drop off users at their required spots, and then drive to the car park out of city center autonomously. In this framework, we aim to minimize the overall distance of the AV, while guarantee all users are served, i.e., picking up, and dropping off users at their required spots through optimizing the path planning of the AV and number of serving time slots. To this end, we first propose a learning based algorithm, which is named as Double-Layer Ant Colony Optimization (DL-ACO) algorithm to solve the above problem in an iterative way. Then, to make the real-time decision, while consider the dynamic environment (i.e., the AV may pick up and drop off users from different locations), we further present a deep reinforcement learning (DRL) based algorithm, which is known as deep Q network (DQN). The experimental results show that the DL-ACO and DQN-based algorithms both achieve the considerable performance.
Morse-STF: Improved Protocols for Privacy-Preserving Machine Learning
Venue: arXiv cs.CR 2022
Year: 2022

Secure multi-party computation enables multiple mutually distrusting parties to perform computations on data without revealing the data itself, and has become one of the core technologies behind privacy-preserving machine learning. In this work, we present several improved privacy-preserving protocols for both linear and non-linear layers in machine learning. For linear layers, we present an extended beaver triple protocol for bilinear maps that significantly reduces communication of convolution layer. For non-linear layers, we introduce novel protocols for computing the sigmoid and softmax function. Both functions are essential building blocks for machine learning training of classification tasks. Our protocols are both more scalable and robust than prior constructions, and improves runtime performance by 3-17x. Finally, we introduce Morse-STF, an end-to-end privacy-preserving system for machine learning training that leverages all these improved protocols. Our system achieves a 1.8x speedup on logistic regression and 3.9-4.9x speedup on convolutional neural networks compared to prior state-of-the-art systems.
GSIP: Green Semantic Segmentation of Large-Scale Indoor Point Clouds
Venue: arXiv cs.CV 2022
Year: 2022

An efficient solution to semantic segmentation of large-scale indoor scene point clouds is proposed in this work. It is named GSIP (Green Segmentation of Indoor Point clouds) and its performance is evaluated on a representative large-scale benchmark -- the Stanford 3D Indoor Segmentation (S3DIS) dataset. GSIP has two novel components: 1) a room-style data pre-processing method that selects a proper subset of points for further processing, and 2) a new feature extractor which is extended from PointHop. For the former, sampled points of each room form an input unit. For the latter, the weaknesses of PointHop's feature extraction when extending it to large-scale point clouds are identified and fixed with a simpler processing pipeline. As compared with PointNet, which is a pioneering deep-learning-based solution, GSIP is green since it has significantly lower computational complexity and a much smaller model size. Furthermore, experiments show that GSIP outperforms PointNet in segmentation performance for the S3DIS dataset.
Graph-based Approximate Message Passing Iterations
Venue: arXiv cs.IT 2022
Year: 2022

Approximate-message passing (AMP) algorithms have become an important element of high-dimensional statistical inference, mostly due to their adaptability and concentration properties, the state evolution (SE) equations. This is demonstrated by the growing number of new iterations proposed for increasingly complex problems, ranging from multi-layer inference to low-rank matrix estimation with elaborate priors. In this paper, we address the following questions: is there a structure underlying all AMP iterations that unifies them in a common framework? Can we use such a structure to give a modular proof of state evolution equations, adaptable to new AMP iterations without reproducing each time the full argument ? We propose an answer to both questions, showing that AMP instances can be generically indexed by an oriented graph. This enables to give a unified interpretation of these iterations, independent from the problem they solve, and a way of composing them arbitrarily. We then show that all AMP iterations indexed by such a graph admit rigorous SE equations, extending the reach of previous proofs, and proving a number of recent heuristic derivations of those equations. Our proof naturally includes non-separable functions and we show how existing refinements, such as spatial coupling or matrix-valued variables, can be combined with our framework.
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

In this work, we present and study a training set-up that achieves fast policy generation for real-world robotic tasks by using massive parallelism on a single workstation GPU. We analyze and discuss the impact of different training algorithm components in the massively parallel regime on the final policy performance and training times. In addition, we present a novel game-inspired curriculum that is well suited for training with thousands of simulated robots in parallel. We evaluate the approach by training the quadrupedal robot ANYmal to walk on challenging terrain. The parallel approach allows training policies for flat terrain in under four minutes, and in twenty minutes for uneven terrain. This represents a speedup of multiple orders of magnitude compared to previous work. Finally, we transfer the policies to the real robot to validate the approach. We open-source our training code to help accelerate further research in the field of learned legged locomotion.
AraT5: Text-to-Text Transformers for Arabic Language Generation
Venue: arXiv cs.CL 2022
Year: 2022

Transfer learning with a unified Transformer framework (T5) that converts all language problems into a text-to-text format was recently proposed as a simple and effective transfer learning approach. Although a multilingual version of the T5 model (mT5) was also introduced, it is not clear how well it can fare on non-English tasks involving diverse data. To investigate this question, we apply mT5 on a language with a wide variety of dialects--Arabic. For evaluation, we introduce a novel benchmark for ARabic language GENeration (ARGEN), covering seven important tasks. For model comparison, we pre-train three powerful Arabic T5-style models and evaluate them on ARGEN. Although pre-trained with ~49 less data, our new models perform significantly better than mT5 on all ARGEN tasks (in 52 out of 59 test sets) and set several new SOTAs. Our models also establish new SOTA on the recently-proposed, large Arabic language understanding evaluation benchmark ARLUE (Abdul-Mageed et al., 2021). Our new models are publicly available. We also link to ARGEN datasets through our repository: https://github.com/UBC-NLP/araT5.
A Unified Treatment of Partial Stragglers and Sparse Matrices in Coded Matrix Computation
Venue: arXiv cs.IT 2022
Year: 2022

The overall execution time of distributed matrix computations is often dominated by slow worker nodes (stragglers) within the clusters. Recently, different coding techniques have been utilized to mitigate the effect of stragglers where worker nodes are assigned the job of processing encoded submatrices of the original matrices. In many machine learning or optimization problems the relevant matrices are often sparse. Several prior coded computation methods operate with dense linear combinations of the original submatrices; this can significantly increase the worker node computation times and consequently the overall job execution time. Moreover, several existing techniques treat the stragglers as failures (erasures) and discard their computations. In this work, we present a coding approach which operates with limited encoding of the original submatrices and utilizes the partial computations done by the slower workers. While our scheme can continue to have the optimal threshold of prior work, it also allows us to trade off the straggler resilience with the worker computation speed for sparse input matrices. Extensive numerical experiments done in AWS (Amazon Web Services) cluster confirm that the proposed approach enhances the speed of the worker computations (and thus the whole process) significantly.
Ground material classification for UAV-based photogrammetric 3D data A 2D-3D Hybrid Approach
Venue: arXiv cs.CV 2022
Year: 2022

In recent years, photogrammetry has been widely used in many areas to create photorealistic 3D virtual data representing the physical environment. The innovation of small unmanned aerial vehicles (sUAVs) has provided additional high-resolution imaging capabilities with low cost for mapping a relatively large area of interest. These cutting-edge technologies have caught the US Army and Navy's attention for the purpose of rapid 3D battlefield reconstruction, virtual training, and simulations. Our previous works have demonstrated the importance of information extraction from the derived photogrammetric data to create semantic-rich virtual environments (Chen et al., 2019). For example, an increase of simulation realism and fidelity was achieved by segmenting and replacing photogrammetric trees with game-ready tree models. In this work, we further investigated the semantic information extraction problem and focused on the ground material segmentation and object detection tasks. The main innovation of this work was that we leveraged both the original 2D images and the derived 3D photogrammetric data to overcome the challenges faced when using each individual data source. For ground material segmentation, we utilized an existing convolutional neural network architecture (i.e., 3DMV) which was originally designed for segmenting RGB-D sensed indoor data. We improved its performance for outdoor photogrammetric data by introducing a depth pooling layer in the architecture to take into consideration the distance between the source images and the reconstructed terrain model. To test the performance of our improved 3DMV, a ground truth ground material database was created using data from the One World Terrain (OWT) data repository. Finally, a workflow for importing the segmented ground materials into a virtual simulation scene was introduced, and visual results are reported in this paper.
Learning Interpretable BEV Based VIO without Deep Neural Networks
Venue: arXiv cs.RO 2022
Year: 2022

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference and empirical parameter tuning. On the other hand, learning-based approaches allow for end-to-end training but require a large number of training data to learn millions of parameters. However, the non-interpretable and heavy models hinder the generalization ability. In this paper, we propose a fully differentiable, and interpretable, bird-eye-view (BEV) based VIO model for robots with local planar motion that can be trained without deep neural networks. Specifically, we first adopt Unscented Kalman Filter as a differentiable layer to predict the pitch and roll, where the covariance matrices of noise are learned to filter out the noise of the IMU raw data. Second, the refined pitch and roll are adopted to retrieve a gravity-aligned BEV image of each frame using differentiable camera projection. Finally, a differentiable pose estimator is utilized to estimate the remaining 3 DoF poses between the BEV frames: leading to a 5 DoF pose estimation. Our method allows for learning the covariance matrices end-to-end supervised by the pose estimation loss, demonstrating superior performance to empirical baselines. Experimental results on synthetic and real-world datasets demonstrate that our simple approach is competitive with state-of-the-art methods and generalizes well on unseen scenes.