OpenRaiser/Intern-Atlas huggingface dataset:
Leveraging Demonstrations with Latent Space Priors
Venue: arXiv cs.LG 2023
Year: 2023

Demonstrations provide insight into relevant state or action space regions, bearing great potential to boost the efficiency and practicality of reinforcement learning agents. In this work, we propose to leverage demonstration datasets by combining skill learning and sequence modeling. Starting with a learned joint latent space, we separately train a generative model of demonstration sequences and an accompanying low-level policy. The sequence model forms a latent space prior over plausible demonstration behaviors to accelerate learning of high-level policies. We show how to acquire such priors from state-only motion capture demonstrations and explore several methods for integrating them into policy learning on transfer tasks. Our experimental results confirm that latent space priors provide significant gains in learning speed and final performance. We benchmark our approach on a set of challenging sparse-reward environments with a complex, simulated humanoid, and on offline RL benchmarks for navigation and object manipulation. Videos, source code and pre-trained models are available at the corresponding project website at https://facebookresearch.github.io/latent-space-priors .
Multi-Viewpoint and Multi-Evaluation with Felicitous Inductive Bias Boost Machine Abstract Reasoning Ability
Venue: arXiv cs.LG 2023
Year: 2023

Great endeavors have been made to study AI's ability in abstract reasoning, along with which different versions of RAVEN's progressive matrices (RPM) are proposed as benchmarks. Previous works give inkling that without sophisticated design or extra meta-data containing semantic information, neural networks may still be indecisive in making decisions regarding RPM problems, after relentless training. Evidenced by thorough experiments and ablation studies, we showcase that end-to-end neural networks embodied with felicitous inductive bias, intentionally design or serendipitously match, can solve RPM problems elegantly, without the augment of any extra meta-data or preferences of any specific backbone. Our work also reveals that multi-viewpoint with multi-evaluation is a key learning strategy for successful reasoning. Finally, potential explanations for the failure of connectionist models in generalization are provided. We hope that these results will serve as inspections of AI's ability beyond perception and toward abstract reasoning. Source code can be found in https://github.com/QinglaiWeiCASIA/RavenSolver.
kube-volttron: Rearchitecting the VOLTTRON Building Energy Management System for Cloud Native Deployment
Venue: arXiv cs.DC 2023
Year: 2023

Managing the energy consumption of the built environment is an important source of flexible load and decarbonization, enabling building managers and utilities to schedule consumption to avoid costly demand charges and peak times when carbon emissions from grid generated electricity are highest. A key technology component in building energy management is the building energy management system. Eclipse VOLTTRON is a legacy software platform which enables building energy management. It was developed for the US Department of Energy (DOE) at Pacific Northwest National Labs (PNNL) written in Python and based on a monolithic build-configure-and-run-in-place system architecture that predates cloud native architectural concepts. Yet the software architecture is componentized in a way that anticipates modular containerized applications, with software agents handling functions like data storage, web access, and communication with IoT devices over specific IoT protocols such as BACnet and Modbus. The agents communicate among themselves over a message bus. This paper describes a proof-of-concept prototype to rearchitect VOLTTRON into a collection of microservices suitable for deployment on the Kubernetes cloud native container orchestration platform. The agents are packaged in redistributable containers that perform specific functions and which can be configured when they are deployed. The deployment architecture consists of single Kubernetes cluster containing a central node, nominally in a cloud-based VM, where a microservice containing the database agent (called a "historian") and the web site agent for the service run, and gateway nodes running on sites in buildings where a microservice containing IoT protocol-specific agents handles control and data collection to and from devices, and communication back to the central node.
Visualizing Squircular Implicit Surfaces
Venue: arXiv cs.GR 2023
Year: 2023

The squircle is an intermediate shape between the square and the circle. In this paper, we examine and discuss equations for different types of squircles. We then build upon these 2D shapes to come-up with various 3D surfaces based on squircles.
High SNR Analysis of RIS-Aided MIMO Broadcast Channels
Venue: arXiv cs.IT 2023
Year: 2023

We analyze the influence of a reconfigurable intelligent surface (RIS) on the Gram channel eigenvalues in a high signal-to-noise ratio (SNR) scenario. This allows to connect specific channel properties with the rank improvement capabilities of the RIS. In particular, fundamental limits due to a possible line of sight (LOS) setup between the base station (BS) and the RIS are derived. Furthermore, dirty paper coding (DPC) based schemes are compared to linear precoding in such a scenario and it is shown that under certain channel conditions, the performance gap between DPC and linear precoding vanishes.
Block Codes on Pomset Metric
Venue: arXiv cs.IT 2023
Year: 2023

Given a regular multiset $M$ on $[n]=\{1,2,\ldots,n\}$, a partial order $R$ on $M$, and a label map $π: [n] \rightarrow \mathbb{N}$ defined by $π(i) = k_i$ with $\sum_{i=1}^{n}π(i) = N$, we define a pomset block metric $d_{(Pm,π)}$ on the direct sum $ \mathbb{Z}_{m}^{k_1} \oplus \mathbb{Z}_{m}^{k_2} \oplus \ldots \oplus \mathbb{Z}_{m}^{k_n}$ of $\mathbb{Z}_{m}^{N}$ based on the pomset $\mathbb{P}=(M,R)$. The pomset block metric extends the classical pomset metric introduced by I. G. Sudha and R. S. Selvaraj and generalizes the poset block metric introduced by M. M. S. Alves et al over $\mathbb{Z}_m$. The space $ (\mathbb{Z}_{m}^N,~d_{(Pm,π)} ) $ is called the pomset block space and we determine the complete weight distribution of it. Further, $I$-perfect pomset block codes for ideals with partial and full counts are described. Then, for block codes with chain pomset, the packing radius and Singleton bound are established. The relation between MDS codes and $I$-perfect codes for any ideal $I$ is investigated. Moreover, the duality theorem for an MDS pomset block code is established when all the blocks have the same size.
LP-BFGS attack: An adversarial attack based on the Hessian with limited pixels
Venue: arXiv cs.CR 2023
Year: 2023

Deep neural networks are vulnerable to adversarial attacks. Most $L_{0}$-norm based white-box attacks craft perturbations by the gradient of models to the input. Since the computation cost and memory limitation of calculating the Hessian matrix, the application of Hessian or approximate Hessian in white-box attacks is gradually shelved. In this work, we note that the sparsity requirement on perturbations naturally lends itself to the usage of Hessian information. We study the attack performance and computation cost of the attack method based on the Hessian with a limited number of perturbation pixels. Specifically, we propose the Limited Pixel BFGS (LP-BFGS) attack method by incorporating the perturbation pixel selection strategy and the BFGS algorithm. Pixels with top-k attribution scores calculated by the Integrated Gradient method are regarded as optimization variables of the LP-BFGS attack. Experimental results across different networks and datasets demonstrate that our approach has comparable attack ability with reasonable computation in different numbers of perturbation pixels compared with existing solutions.
Feature Necessity & Relevancy in ML Classifier Explanations
Venue: arXiv cs.LG 2023
Year: 2023

Given a machine learning (ML) model and a prediction, explanations can be defined as sets of features which are sufficient for the prediction. In some applications, and besides asking for an explanation, it is also critical to understand whether sensitive features can occur in some explanation, or whether a non-interesting feature must occur in all explanations. This paper starts by relating such queries respectively with the problems of relevancy and necessity in logic-based abduction. The paper then proves membership and hardness results for several families of ML classifiers. Afterwards the paper proposes concrete algorithms for two classes of classifiers. The experimental results confirm the scalability of the proposed algorithms.
Decentralized Federated Learning via Non-Coherent Over-the-Air Consensus
Venue: arXiv cs.IT 2023
Year: 2023

This paper presents NCOTA-DGD, a Decentralized Gradient Descent (DGD) algorithm that combines local gradient descent with a novel Non-Coherent Over-The-Air (NCOTA) consensus scheme to solve distributed machine-learning problems over wirelessly-connected systems. NCOTA-DGD leverages the waveform superposition properties of the wireless channels: it enables simultaneous transmissions under half-duplex constraints, by mapping local optimization signals to a mixture of preamble sequences, and consensus via non-coherent combining at the receivers. NCOTA-DGD operates without channel state information at transmitters and receivers, and leverages the average channel pathloss to mix signals, without explicit knowledge of the mixing weights (typically known in consensus-based optimization algorithms). It is shown both theoretically and numerically that, for smooth and strongly-convex problems with fixed consensus and learning stepsizes, the updates of NCOTA-DGD converge in Euclidean distance to the global optimum with rate $\mathcal O(K^{-1/4})$ for a target of $K$ iterations. NCOTA-DGD is evaluated numerically over a logistic regression problem, showing faster convergence vis-à-vis running time than implementations of the classical DGD algorithm over digital and analog orthogonal channels.
Federated Learning with Intermediate Representation Regularization
Venue: arXiv cs.LG 2023
Year: 2023

In contrast to centralized model training that involves data collection, federated learning (FL) enables remote clients to collaboratively train a model without exposing their private data. However, model performance usually degrades in FL due to the heterogeneous data generated by clients of diverse characteristics. One promising strategy to maintain good performance is by limiting the local training from drifting far away from the global model. Previous studies accomplish this by regularizing the distance between the representations learned by the local and global models. However, they only consider representations from the early layers of a model or the layer preceding the output layer. In this study, we introduce FedIntR, which provides a more fine-grained regularization by integrating the representations of intermediate layers into the local training process. Specifically, FedIntR computes a regularization term that encourages the closeness between the intermediate layer representations of the local and global models. Additionally, FedIntR automatically determines the contribution of each layer's representation to the regularization term based on the similarity between local and global representations. We conduct extensive experiments on various datasets to show that FedIntR can achieve equivalent or higher performance compared to the state-of-the-art approaches. Our code is available at https://github.com/YLTun/FedIntR.
Toward Equation of Motion for Deep Neural Networks: Continuous-time Gradient Descent and Discretization Error Analysis
Venue: arXiv cs.LG 2023
Year: 2023

We derive and solve an ``Equation of Motion'' (EoM) for deep neural networks (DNNs), a differential equation that precisely describes the discrete learning dynamics of DNNs. Differential equations are continuous but have played a prominent role even in the study of discrete optimization (gradient descent (GD) algorithms). However, there still exist gaps between differential equations and the actual learning dynamics of DNNs due to discretization error. In this paper, we start from gradient flow (GF) and derive a counter term that cancels the discretization error between GF and GD. As a result, we obtain EoM, a continuous differential equation that precisely describes the discrete learning dynamics of GD. We also derive discretization error to show to what extent EoM is precise. In addition, we apply EoM to two specific cases: scale- and translation-invariant layers. EoM highlights differences between continuous-time and discrete-time GD, indicating the importance of the counter term for a better description of the discrete learning dynamics of GD. Our experimental results support our theoretical findings.
Extending Cobot's Motion Intention Visualization by Haptic Feedback
Venue: arXiv cs.HC 2023
Year: 2023

Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, supporting people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior, which is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their motion intention and comprehending how they "think" about their actions. Moreover, other information sources often occupy human visual and audio modalities, rendering them frequently unsuitable for transmitting such information. We work on a solution that communicates cobot intention via haptic feedback to tackle this challenge. In our concept, we map planned motions of the cobot to different haptic patterns to extend the visual intention feedback.
Towards trustworthy multi-modal motion prediction: Holistic evaluation and interpretability of outputs
Venue: arXiv cs.RO 2023
Year: 2023

Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future trajectories can be considerable (multi-modal). Most prior approaches proposed to address multi-modal motion prediction are based on complex machine learning systems that have limited interpretability. Moreover, the metrics used in current benchmarks do not evaluate all aspects of the problem, such as the diversity and admissibility of the output. In this work, we aim to advance towards the design of trustworthy motion prediction systems, based on some of the requirements for the design of Trustworthy Artificial Intelligence. We focus on evaluation criteria, robustness, and interpretability of outputs. First, we comprehensively analyse the evaluation metrics, identify the main gaps of current benchmarks, and propose a new holistic evaluation framework. We then introduce a method for the assessment of spatial and temporal robustness by simulating noise in the perception system. To enhance the interpretability of the outputs and generate more balanced results in the proposed evaluation framework, we propose an intent prediction layer that can be attached to multi-modal motion prediction models. The effectiveness of this approach is assessed through a survey that explores different elements in the visualization of the multi-modal trajectories and intentions. The proposed approach and findings make a significant contribution to the development of trustworthy motion prediction systems for autonomous vehicles, advancing the field towards greater safety and reliability.
Interactive Imitation Learning of Bimanual Movement Primitives
Venue: arXiv cs.RO 2023
Year: 2023

Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the single-arm policies. This article proposes the Safe, Interactive Movement Primitives Learning (SIMPLe) algorithm, to teach and correct single or dual arm impedance policies directly from human kinesthetic demonstrations. Moreover, it proposes a novel graph encoding of the policy based on Gaussian Process Regression (GPR) where the single-arm motion is guaranteed to converge close to the trajectory and then towards the demonstrated goal. Regulation of the robot stiffness according to the epistemic uncertainty of the policy allows for easily reshaping the motion with human feedback and/or adapting to external perturbations. We tested the SIMPLe algorithm on a real dual-arm setup where the teacher gave separate single-arm demonstrations and then successfully synchronized them only using kinesthetic feedback or where the original bimanual demonstration was locally reshaped to pick a box at a different height.
Improving Lipschitz-Constrained Neural Networks by Learning Activation Functions
Venue: arXiv cs.LG 2023
Year: 2023

Lipschitz-constrained neural networks have several advantages over unconstrained ones and can be applied to a variety of problems, making them a topic of attention in the deep learning community. Unfortunately, it has been shown both theoretically and empirically that they perform poorly when equipped with ReLU activation functions. By contrast, neural networks with learnable 1-Lipschitz linear splines are known to be more expressive. In this paper, we show that such networks correspond to global optima of a constrained functional optimization problem that consists of the training of a neural network composed of 1-Lipschitz linear layers and 1-Lipschitz freeform activation functions with second-order total-variation regularization. Further, we propose an efficient method to train these neural networks. Our numerical experiments show that our trained networks compare favorably with existing 1-Lipschitz neural architectures.
Scalable Spectral Clustering with Group Fairness Constraints
Venue: arXiv cs.LG 2023
Year: 2023

There are synergies of research interests and industrial efforts in modeling fairness and correcting algorithmic bias in machine learning. In this paper, we present a scalable algorithm for spectral clustering (SC) with group fairness constraints. Group fairness is also known as statistical parity where in each cluster, each protected group is represented with the same proportion as in the entirety. While FairSC algorithm (Kleindessner et al., 2019) is able to find the fairer clustering, it is compromised by high costs due to the kernels of computing nullspaces and the square roots of dense matrices explicitly. We present a new formulation of underlying spectral computation by incorporating nullspace projection and Hotelling's deflation such that the resulting algorithm, called s-FairSC, only involves the sparse matrix-vector products and is able to fully exploit the sparsity of the fair SC model. The experimental results on the modified stochastic block model demonstrate that s-FairSC is comparable with FairSC in recovering fair clustering. Meanwhile, it is sped up by a factor of 12 for moderate model sizes. s-FairSC is further demonstrated to be scalable in the sense that the computational costs of s-FairSC only increase marginally compared to the SC without fairness constraints.
Learning Probabilistic Models from Generator Latent Spaces with Hat EBM
Venue: arXiv cs.CV 2023
Year: 2023

This work proposes a method for using any generator network as the foundation of an Energy-Based Model (EBM). Our formulation posits that observed images are the sum of unobserved latent variables passed through the generator network and a residual random variable that spans the gap between the generator output and the image manifold. One can then define an EBM that includes the generator as part of its forward pass, which we call the Hat EBM. The model can be trained without inferring the latent variables of the observed data or calculating the generator Jacobian determinant. This enables explicit probabilistic modeling of the output distribution of any type of generator network. Experiments show strong performance of the proposed method on (1) unconditional ImageNet synthesis at 128x128 resolution, (2) refining the output of existing generators, and (3) learning EBMs that incorporate non-probabilistic generators. Code and pretrained models to reproduce our results are available at https://github.com/point0bar1/hat-ebm.
Aligning Offline Metrics and Human Judgments of Value for Code Generation Models
Venue: arXiv cs.SE 2023
Year: 2023

Large language models have demonstrated great potential to assist programmers in generating code. For such human-AI pair programming scenarios, we empirically demonstrate that while generated code is most often evaluated in terms of their functional correctness (i.e., whether generations pass available unit tests), correctness does not fully capture (e.g., may underestimate) the productivity gains these models may provide. Through a user study with N = 49 experienced programmers, we show that while correctness captures high-value generations, programmers still rate code that fails unit tests as valuable if it reduces the overall effort needed to complete a coding task. Finally, we propose a hybrid metric that combines functional correctness and syntactic similarity and show that it achieves a 14% stronger correlation with value and can therefore better represent real-world gains when evaluating and comparing models.
Federated clustering with GAN-based data synthesis
Venue: arXiv cs.LG 2023
Year: 2023

Federated clustering (FC) is an extension of centralized clustering in federated settings. The key here is how to construct a global similarity measure without sharing private data, since the local similarity may be insufficient to group local data correctly and the similarity of samples across clients cannot be directly measured due to privacy constraints. Obviously, the most straightforward way to analyze FC is to employ the methods extended from centralized ones, such as K-means (KM) and fuzzy c-means (FCM). However, they are vulnerable to non independent-and-identically-distributed (non-IID) data among clients. To handle this, we propose a new federated clustering framework, named synthetic data aided federated clustering (SDA-FC). It trains generative adversarial network locally in each client and uploads the generated synthetic data to the server, where KM or FCM is performed on the synthetic data. The synthetic data can make the model immune to the non-IID problem and enable us to capture the global similarity characteristics more effectively without sharing private data. Comprehensive experiments reveals the advantages of SDA-FC, including superior performance in addressing the non-IID problem and the device failures.