OpenRaiser/Intern-Atlas huggingface dataset:
Navya3DSeg -- Navya 3D Semantic Segmentation Dataset & split generation for autonomous vehicles
Venue: arXiv cs.CV 2023
Year: 2023

Autonomous driving (AD) perception today relies heavily on deep learning based architectures requiring large scale annotated datasets with their associated costs for curation and annotation. The 3D semantic data are useful for core perception tasks such as obstacle detection and ego-vehicle localization. We propose a new dataset, Navya 3D Segmentation (Navya3DSeg), with a diverse label space corresponding to a large scale production grade operational domain, including rural, urban, industrial sites and universities from 13 countries. It contains 23 labeled sequences and 25 supplementary sequences without labels, designed to explore self-supervised and semi-supervised semantic segmentation benchmarks on point clouds. We also propose a novel method for sequential dataset split generation based on iterative multi-label stratification, and demonstrated to achieve a +1.2% mIoU improvement over the original split proposed by SemanticKITTI dataset. A complete benchmark for semantic segmentation task was performed, with state of the art methods. Finally, we demonstrate an Active Learning (AL) based dataset distillation framework. We introduce a novel heuristic-free sampling method called ego-pose distance based sampling in the context of AL. A detailed presentation on the dataset is available here https://www.youtube.com/watch?v=5m6ALIs-s20.
Large Language Models Fail on Trivial Alterations to Theory-of-Mind Tasks
Venue: arXiv cs.AI 2023
Year: 2023

Intuitive psychology is a pillar of common-sense reasoning. The replication of this reasoning in machine intelligence is an important stepping-stone on the way to human-like artificial intelligence. Several recent tasks and benchmarks for examining this reasoning in Large-Large Models have focused in particular on belief attribution in Theory-of-Mind tasks. These tasks have shown both successes and failures. We consider in particular a recent purported success case, and show that small variations that maintain the principles of ToM turn the results on their head. We argue that in general, the zero-hypothesis for model evaluation in intuitive psychology should be skeptical, and that outlying failure cases should outweigh average success rates. We also consider what possible future successes on Theory-of-Mind tasks by more powerful LLMs would mean for ToM tasks with people.
Entity Aware Modelling: A Survey
Venue: arXiv cs.LG 2023
Year: 2023

Personalized prediction of responses for individual entities caused by external drivers is vital across many disciplines. Recent machine learning (ML) advances have led to new state-of-the-art response prediction models. Models built at a population level often lead to sub-optimal performance in many personalized prediction settings due to heterogeneity in data across entities (tasks). In personalized prediction, the goal is to incorporate inherent characteristics of different entities to improve prediction performance. In this survey, we focus on the recent developments in the ML community for such entity-aware modeling approaches. ML algorithms often modulate the network using these entity characteristics when they are readily available. However, these entity characteristics are not readily available in many real-world scenarios, and different ML methods have been proposed to infer these characteristics from the data. In this survey, we have organized the current literature on entity-aware modeling based on the availability of these characteristics as well as the amount of training data. We highlight how recent innovations in other disciplines, such as uncertainty quantification, fairness, and knowledge-guided machine learning, can improve entity-aware modeling.
Rethinking "Risk" in Algorithmic Systems Through A Computational Narrative Analysis of Casenotes in Child-Welfare
Venue: arXiv cs.HC 2023
Year: 2023

Risk assessment algorithms are being adopted by public sector agencies to make high-stakes decisions about human lives. Algorithms model "risk" based on individual client characteristics to identify clients most in need. However, this understanding of risk is primarily based on easily quantifiable risk factors that present an incomplete and biased perspective of clients. We conducted a computational narrative analysis of child-welfare casenotes and draw attention to deeper systemic risk factors that are hard to quantify but directly impact families and street-level decision-making. We found that beyond individual risk factors, the system itself poses a significant amount of risk where parents are over-surveilled by caseworkers and lack agency in decision-making processes. We also problematize the notion of risk as a static construct by highlighting the temporality and mediating effects of different risk, protective, systemic, and procedural factors. Finally, we draw caution against using casenotes in NLP-based systems by unpacking their limitations and biases embedded within them.
Chebyshev distances associated to the second members of systems of Max-product/Lukasiewicz Fuzzy relational equations
Venue: arXiv cs.AI 2023
Year: 2023

In this article, we study the inconsistency of a system of $\max$-product fuzzy relational equations and of a system of $\max$-Lukasiewicz fuzzy relational equations. For a system of $\max-\min$ fuzzy relational equations $A \Box_{\min}^{\max} x = b$ and using the $L_\infty$ norm, (Baaj, 2023) showed that the Chebyshev distance $Δ= \inf_{c \in \mathcal{C}} \Vert b - c \Vert$, where $\mathcal{C}$ is the set of second members of consistent systems defined with the same matrix $A$, can be computed by an explicit analytical formula according to the components of the matrix $A$ and its second member $b$. In this article, we give analytical formulas analogous to that of (Baaj, 2023) to compute the Chebyshev distance associated to the second member of a system of $\max$-product fuzzy relational equations and that associated to the second member of a system of $\max$-Lukasiewicz fuzzy relational equations.
PACMAN Attack: A Mobility-Powered Attack in Private 5G-Enabled Industrial Automation System
Venue: arXiv cs.CR 2023
Year: 2023

3GPP has introduced Private 5G to support the next-generation industrial automation system (IAS) due to the versatility and flexibility of 5G architecture. Besides the 3.5GHz CBRS band, unlicensed spectrum bands, like 5GHz, are considered as an additional medium because of their free and abundant nature. However, while utilizing the unlicensed band, industrial equipment must coexist with incumbents, e.g., Wi-Fi, which could introduce new security threats and resuscitate old ones. In this paper, we propose a novel attack strategy conducted by a mobility-enabled malicious Wi-Fi access point (mmAP), namely \textit{PACMAN} attack, to exploit vulnerabilities introduced by heterogeneous coexistence. A mmAP is capable of moving around the physical surface to identify mission-critical devices, hopping through the frequency domain to detect the victim's operating channel, and launching traditional MAC layer-based attacks. The multi-dimensional mobility of the attacker makes it impervious to state-of-the-art detection techniques that assume static adversaries. In addition, we propose a novel Markov Decision Process (MDP) based framework to intelligently design an attacker's multi-dimensional mobility in space and frequency. Mathematical analysis and extensive simulation results exhibit the adverse effect of the proposed mobility-powered attack.
A Comprehensive Review and a Taxonomy of Edge Machine Learning: Requirements, Paradigms, and Techniques
Venue: arXiv cs.LG 2023
Year: 2023

The union of Edge Computing (EC) and Artificial Intelligence (AI) has brought forward the Edge AI concept to provide intelligent solutions close to the end-user environment, for privacy preservation, low latency to real-time performance, and resource optimization. Machine Learning (ML), as the most advanced branch of AI in the past few years, has shown encouraging results and applications in the edge environment. Nevertheless, edge-powered ML solutions are more complex to realize due to the joint constraints from both edge computing and AI domains, and the corresponding solutions are expected to be efficient and adapted in technologies such as data processing, model compression, distributed inference, and advanced learning paradigms for Edge ML requirements. Despite the fact that a great deal of the attention garnered by Edge ML is gained in both the academic and industrial communities, we noticed the lack of a complete survey on existing Edge ML technologies to provide a common understanding of this concept. To tackle this, this paper aims at providing a comprehensive taxonomy and a systematic review of Edge ML techniques, focusing on the soft computing aspects of existing paradigms and techniques. We start by identifying the Edge ML requirements driven by the joint constraints. We then extensively survey more than twenty paradigms and techniques along with their representative work, covering two main parts: edge inference, and edge learning. In particular, we analyze how each technique fits into Edge ML by meeting a subset of the identified requirements. We also summarize Edge ML frameworks and open issues to shed light on future directions for Edge ML.
Foundation Models for Natural Language Processing -- Pre-trained Language Models Integrating Media
Venue: arXiv cs.CL 2023
Year: 2023

This open access book provides a comprehensive overview of the state of the art in research and applications of Foundation Models and is intended for readers familiar with basic Natural Language Processing (NLP) concepts. Over the recent years, a revolutionary new paradigm has been developed for training models for NLP. These models are first pre-trained on large collections of text documents to acquire general syntactic knowledge and semantic information. Then, they are fine-tuned for specific tasks, which they can often solve with superhuman accuracy. When the models are large enough, they can be instructed by prompts to solve new tasks without any fine-tuning. Moreover, they can be applied to a wide range of different media and problem domains, ranging from image and video processing to robot control learning. Because they provide a blueprint for solving many tasks in artificial intelligence, they have been called Foundation Models. After a brief introduction to basic NLP models the main pre-trained language models BERT, GPT and sequence-to-sequence transformer are described, as well as the concepts of self-attention and context-sensitive embedding. Then, different approaches to improving these models are discussed, such as expanding the pre-training criteria, increasing the length of input texts, or including extra knowledge. An overview of the best-performing models for about twenty application areas is then presented, e.g., question answering, translation, story generation, dialog systems, generating images from text, etc. For each application area, the strengths and weaknesses of current models are discussed, and an outlook on further developments is given. In addition, links are provided to freely available program code. A concluding chapter summarizes the economic opportunities, mitigation of risks, and potential developments of AI.
What A Situated Language-Using Agent Must be Able to Do: A Top-Down Analysis
Venue: arXiv cs.CL 2023
Year: 2023

Even in our increasingly text-intensive times, the primary site of language use is situated, co-present interaction. It is primary ontogenetically and phylogenetically, and it is arguably also still primary in negotiating everyday social situations. Situated interaction is also the final frontier of Natural Language Processing, where, compared to the area of text processing, very little progress has been made in the past decade, and where a myriad of practical applications is waiting to be unlocked. While the usual approach in the field is to reach, bottom-up, for the ever next "adjacent possible", in this paper I attempt a top-down analysis of what the demands are that unrestricted situated interaction makes on the participating agent, and suggest ways in which this analysis can structure computational models and research on them. Specifically, I discuss representational demands (the building up and application of world model, language model, situation model, discourse model, and agent model) and what I call anchoring processes (incremental processing, incremental learning, conversational grounding, multimodal grounding) that bind the agent to the here, now, and us.
Computing the Characteristic Polynomial of Endomorphisms of a finite Drinfeld Module using Crystalline Cohomology
Venue: arXiv cs.SC 2023
Year: 2023

We present a new algorithm for computing the characteristic polynomial of an arbitrary endomorphism of a finite Drinfeld module using its associated crystalline cohomology. Our approach takes inspiration from Kedlaya's p-adic algorithm for computing the characteristic polynomial of the Frobenius endomorphism on a hyperelliptic curve using Monsky-Washnitzer cohomology. The method is specialized using a baby-step giant-step algorithm for the particular case of the Frobenius endomorphism, and in this case we include a complexity analysis that demonstrates asymptotic gains over previously existing approaches
Robust expected improvement for Bayesian optimization
Venue: arXiv cs.LG 2023
Year: 2023

Bayesian Optimization (BO) links Gaussian Process (GP) surrogates with sequential design toward optimizing expensive-to-evaluate black-box functions. Example design heuristics, or so-called acquisition functions, like expected improvement (EI), balance exploration and exploitation to furnish global solutions under stringent evaluation budgets. However, they fall short when solving for robust optima, meaning a preference for solutions in a wider domain of attraction. Robust solutions are useful when inputs are imprecisely specified, or where a series of solutions is desired. A common mathematical programming technique in such settings involves an adversarial objective, biasing a local solver away from ``sharp'' troughs. Here we propose a surrogate modeling and active learning technique called robust expected improvement (REI) that ports adversarial methodology into the BO/GP framework. After describing the methods, we illustrate and draw comparisons to several competitors on benchmark synthetic exercises and real problems of varying complexity.
Drive Right: Promoting Autonomous Vehicle Education Through an Integrated Simulation Platform
Venue: arXiv cs.HC 2023
Year: 2023

Autonomous vehicles (AVs) are being rapidly introduced into our lives. However, public misunderstanding and mistrust have become prominent issues hindering the acceptance of these driverless technologies. The primary objective of this study is to evaluate the effectiveness of a driving simulator to help the public gain an understanding of AVs and build trust in them. To achieve this aim, we built an integrated simulation platform, designed various driving scenarios, and recruited 28 participants for the experiment. The study results indicate that a driving simulator effectively decreases the participants' perceived risk of AVs and increases perceived usefulness. The proposed methodologies and findings of this study can be further explored by auto manufacturers and policymakers to provide user-friendly AV design.
Physics-based parameterized neural ordinary differential equations: prediction of laser ignition in a rocket combustor
Venue: arXiv cs.LG 2023
Year: 2023

In this work, we present a novel physics-based data-driven framework for reduced-order modeling of laser ignition in a model rocket combustor based on parameterized neural ordinary differential equations (PNODE). Deep neural networks are embedded as functions of high-dimensional parameters of laser ignition to predict various terms in a 0D flow model including the heat source function, pre-exponential factors, and activation energy. Using the governing equations of a 0D flow model, our PNODE needs only a limited number of training samples and predicts trajectories of various quantities such as temperature, pressure, and mass fractions of species while satisfying physical constraints. We validate our physics-based PNODE on solution snapshots of high-fidelity Computational Fluid Dynamics (CFD) simulations of laser-induced ignition in a prototype rocket combustor. We compare the performance of our physics-based PNODE with that of kernel ridge regression and fully connected neural networks. Our results show that our physics-based PNODE provides solutions with lower mean absolute errors of average temperature over time, thus improving the prediction of successful laser ignition with high-dimensional parameters.
Towards Efficient Alternating Current Optimal Power Flow Analysis on Graphical Processing Units
Venue: arXiv cs.CE 2023
Year: 2023

We present a solution of sparse alternating current optimal power flow (ACOPF) analysis on graphical processing unit (GPU). In particular, we discuss the performance bottlenecks and detail our efforts to accelerate the linear solver, a core component of ACOPF that dominates the computational time. ACOPF analyses of two large-scale systems, synthetic Northeast (25,000 buses) and Eastern (70,000 buses) U.S. grids [1], on GPU show promising speed-up compared to analyses on central processing unit (CPU) using a state-of-the-art solver. To our knowledge, this is the first result demonstrating a significant acceleration of sparse ACOPF on GPUs.
Multimodal Subtask Graph Generation from Instructional Videos
Venue: arXiv cs.LG 2023
Year: 2023

Real-world tasks consist of multiple inter-dependent subtasks (e.g., a dirty pan needs to be washed before it can be used for cooking). In this work, we aim to model the causal dependencies between such subtasks from instructional videos describing the task. This is a challenging problem since complete information about the world is often inaccessible from videos, which demands robust learning mechanisms to understand the causal structure of events. We present Multimodal Subtask Graph Generation (MSG2), an approach that constructs a Subtask Graph defining the dependency between a task's subtasks relevant to a task from noisy web videos. Graphs generated by our multimodal approach are closer to human-annotated graphs compared to prior approaches. MSG2 further performs the downstream task of next subtask prediction 85% and 30% more accurately than recent video transformer models in the ProceL and CrossTask datasets, respectively.
EnfoMax: Domain Entropy and Mutual Information Maximization for Domain Generalized Face Anti-spoofing
Venue: arXiv cs.CV 2023
Year: 2023

The face anti-spoofing (FAS) method performs well under intra-domain setups. However, its cross-domain performance is unsatisfactory. As a result, the domain generalization (DG) method has gained more attention in FAS. Existing methods treat FAS as a simple binary classification task and propose a heuristic training objective to learn domain-invariant features. However, there is no theoretical explanation of what a domain-invariant feature is. Additionally, the lack of theoretical support makes domain generalization techniques such as adversarial training lack training stability. To address these issues, this paper proposes the EnfoMax framework, which uses information theory to analyze cross-domain FAS tasks. This framework provides theoretical guarantees and optimization objectives for domain-generalized FAS tasks. EnfoMax maximizes the domain entropy and mutual information of live samples in source domains without using adversarial learning. Experimental results demonstrate that our approach performs well on extensive public datasets and outperforms state-of-the-art methods.
CarbonScaler: Leveraging Cloud Workload Elasticity for Optimizing Carbon-Efficiency
Venue: arXiv cs.DC 2023
Year: 2023

Cloud platforms are increasing their emphasis on sustainability and reducing their operational carbon footprint. A common approach for reducing carbon emissions is to exploit the temporal flexibility inherent to many cloud workloads by executing them in periods with the greenest energy and suspending them at other times. Since such suspend-resume approaches can incur long delays in job completion times, we present a new approach that exploits the elasticity of batch workloads in the cloud to optimize their carbon emissions. Our approach is based on the notion of "carbon scaling," similar to cloud autoscaling, where a job dynamically varies its server allocation based on fluctuations in the carbon cost of the grid's energy. We develop a greedy algorithm for minimizing a job's carbon emissions via carbon scaling that is based on the well-known problem of marginal resource allocation. We implement a CarbonScaler prototype in Kubernetes using its autoscaling capabilities and an analytic tool to guide the carbon-efficient deployment of batch applications in the cloud. We then evaluate CarbonScaler using real-world machine learning training and MPI jobs on a commercial cloud platform and show that it can yield i) 51% carbon savings over carbon-agnostic execution; ii) 37% over a state-of-the-art suspend-resume policy; and iii) 8% over the best static scaling policy.
Dynamic Spatial-temporal Hypergraph Convolutional Network for Skeleton-based Action Recognition
Venue: arXiv cs.CV 2023
Year: 2023

Skeleton-based action recognition relies on the extraction of spatial-temporal topological information. Hypergraphs can establish prior unnatural dependencies for the skeleton. However, the existing methods only focus on the construction of spatial topology and ignore the time-point dependence. This paper proposes a dynamic spatial-temporal hypergraph convolutional network (DST-HCN) to capture spatial-temporal information for skeleton-based action recognition. DST-HCN introduces a time-point hypergraph (TPH) to learn relationships at time points. With multiple spatial static hypergraphs and dynamic TPH, our network can learn more complete spatial-temporal features. In addition, we use the high-order information fusion module (HIF) to fuse spatial-temporal information synchronously. Extensive experiments on NTU RGB+D, NTU RGB+D 120, and NW-UCLA datasets show that our model achieves state-of-the-art, especially compared with hypergraph methods.
Cross-Domain Label Propagation for Domain Adaptation with Discriminative Graph Self-Learning
Venue: arXiv cs.LG 2023
Year: 2023

Domain adaptation manages to transfer the knowledge of well-labeled source data to unlabeled target data. Many recent efforts focus on improving the prediction accuracy of target pseudo-labels to reduce conditional distribution shift. In this paper, we propose a novel domain adaptation method, which infers target pseudo-labels through cross-domain label propagation, such that the underlying manifold structure of two domain data can be explored. Unlike existing cross-domain label propagation methods that separate domain-invariant feature learning, affinity matrix constructing and target labels inferring into three independent stages, we propose to integrate them into a unified optimization framework. In such way, these three parts can boost each other from an iterative optimization perspective and thus more effective knowledge transfer can be achieved. Furthermore, to construct a high-quality affinity matrix, we propose a discriminative graph self-learning strategy, which can not only adaptively capture the inherent similarity of the data from two domains but also effectively exploit the discriminative information contained in well-labeled source data and pseudo-labeled target data. An efficient iterative optimization algorithm is designed to solve the objective function of our proposal. Notably, the proposed method can be extended to semi-supervised domain adaptation in a simple but effective way and the corresponding optimization problem can be solved with the identical algorithm. Extensive experiments on six standard datasets verify the significant superiority of our proposal in both unsupervised and semi-supervised domain adaptation settings.