OpenRaiser/Intern-Atlas huggingface dataset:
Sonification as a Reliable Alternative to Conventional Visual Surgical Navigation
Venue: arXiv cs.SD 2022
Year: 2022

Despite the undeniable advantages of image-guided surgical assistance systems in terms of accuracy, such systems have not yet fully met surgeons' needs or expectations regarding usability, time efficiency, and their integration into the surgical workflow. On the other hand, perceptual studies have shown that presenting independent but causally correlated information via multimodal feedback involving different sensory modalities can improve task performance. This article investigates an alternative method for computer-assisted surgical navigation, introduces a novel sonification methodology for navigated pedicle screw placement, and discusses advanced solutions based on multisensory feedback. The proposed method comprises a novel sonification solution for alignment tasks in four degrees of freedom based on frequency modulation (FM) synthesis. We compared the resulting accuracy and execution time of the proposed sonification method with visual navigation, which is currently considered the state of the art. We conducted a phantom study in which 17 surgeons executed the pedicle screw placement task in the lumbar spine, guided by either the proposed sonification-based or the traditional visual navigation method. The results demonstrated that the proposed method is as accurate as the state of the art while decreasing the surgeon's need to focus on visual navigation displays instead of the natural focus on surgical tools and targeted anatomy during task execution.
Byzantine Agreement with Optimal Resilience via Statistical Fraud Detection
Venue: arXiv cs.DC 2022
Year: 2022

Since the mid-1980s it has been known that Byzantine Agreement can be solved with probability 1 asynchronously, even against an omniscient, computationally unbounded adversary that can adaptively \emph{corrupt} up to $f<n/3$ parties. Moreover, the problem is insoluble with $f\geq n/3$ corruptions. However, Bracha's 1984 protocol achieved $f<n/3$ resilience at the cost of exponential expected latency $2^{Θ(n)}$, a bound that has never been improved in this model with $f=\lfloor (n-1)/3 \rfloor$ corruptions. In this paper we prove that Byzantine Agreement in the asynchronous, full information model can be solved with probability 1 against an adaptive adversary that can corrupt $f<n/3$ parties, while incurring only polynomial latency with high probability. Our protocol follows earlier polynomial latency protocols of King and Saia and Huang, Pettie, and Zhu, which had suboptimal resilience, namely $f \approx n/10^9$ and $f<n/4$, respectively. Resilience $f=(n-1)/3$ is uniquely difficult as this is the point at which the influence of the Byzantine and honest players are of roughly equal strength. The core technical problem we solve is to design a collective coin-flipping protocol that eventually lets us flip a coin with an unambiguous outcome. In the beginning the influence of the Byzantine players is too powerful to overcome and they can essentially fix the coin's behavior at will. We guarantee that after just a polynomial number of executions of the coin-flipping protocol, either (a) the Byzantine players fail to fix the behavior of the coin (thereby ending the game) or (b) we can ``blacklist'' players such that the blacklisting rate for Byzantine players is at least as large as the blacklisting rate for good players. The blacklisting criterion is based on a simple statistical test of fraud detection.
Randomized K-FACs: Speeding up K-FAC with Randomized Numerical Linear Algebra
Venue: arXiv cs.LG 2022
Year: 2022

K-FAC is a successful tractable implementation of Natural Gradient for Deep Learning, which nevertheless suffers from the requirement to compute the inverse of the Kronecker factors (through an eigen-decomposition). This can be very time-consuming (or even prohibitive) when these factors are large. In this paper, we theoretically show that, owing to the exponential-average construction paradigm of the Kronecker factors that is typically used, their eigen-spectrum must decay. We show numerically that in practice this decay is very rapid, leading to the idea that we could save substantial computation by only focusing on the first few eigen-modes when inverting the Kronecker-factors. Importantly, the spectrum decay happens over a constant number of modes irrespectively of the layer width. This allows us to reduce the time complexity of K-FAC from cubic to quadratic in layer width, partially closing the gap w.r.t. SENG (another practical Natural Gradient implementation for Deep learning which scales linearly in width). Randomized Numerical Linear Algebra provides us with the necessary tools to do so. Numerical results show we obtain $\approx2.5\times$ reduction in per-epoch time and $\approx3.3\times$ reduction in time to target accuracy. We compare our proposed K-FAC sped-up versions SENG, and observe that for CIFAR10 classification with VGG16_bn we perform on par with it.
Shifts 2.0: Extending The Dataset of Real Distributional Shifts
Venue: arXiv cs.LG 2022
Year: 2022

Distributional shift, or the mismatch between training and deployment data, is a significant obstacle to the usage of machine learning in high-stakes industrial applications, such as autonomous driving and medicine. This creates a need to be able to assess how robustly ML models generalize as well as the quality of their uncertainty estimates. Standard ML baseline datasets do not allow these properties to be assessed, as the training, validation and test data are often identically distributed. Recently, a range of dedicated benchmarks have appeared, featuring both distributionally matched and shifted data. Among these benchmarks, the Shifts dataset stands out in terms of the diversity of tasks as well as the data modalities it features. While most of the benchmarks are heavily dominated by 2D image classification tasks, Shifts contains tabular weather forecasting, machine translation, and vehicle motion prediction tasks. This enables the robustness properties of models to be assessed on a diverse set of industrial-scale tasks and either universal or directly applicable task-specific conclusions to be reached. In this paper, we extend the Shifts Dataset with two datasets sourced from industrial, high-risk applications of high societal importance. Specifically, we consider the tasks of segmentation of white matter Multiple Sclerosis lesions in 3D magnetic resonance brain images and the estimation of power consumption in marine cargo vessels. Both tasks feature ubiquitous distributional shifts and a strict safety requirement due to the high cost of errors. These new datasets will allow researchers to further explore robust generalization and uncertainty estimation in new situations. In this work, we provide a description of the dataset and baseline results for both tasks.
Evaluation of Performance-Trust vs Moral-Trust Violation in 3D Environment
Venue: arXiv cs.RO 2022
Year: 2022

Human-Robot Interaction, in which a robot with some level of autonomy interacts with a human to achieve a specific goal has seen much recent progress. With the introduction of autonomous robots and the possibility of widespread use of those in near future, it is critical that humans understand the robot's intention while interacting with them as this will foster the development of human-robot trust. The new conceptualization of trust which had been introduced by researchers in recent years considers trust in Human-Robot Interaction to be a multidimensional nature. Two main aspects which are attributed to trust are performance trust and moral trust. We aim to design an experiment to investigate the consequences of performance-trust violation and moral-trust violation in a search and rescue scenario. We want to see if two similar robot failures, one caused by a performance-trust violation and the other by a moral-trust violation have distinct effects on human trust. In addition to this, we plan to develop an interface that allows us to investigate whether altering the interface's modality from grid-world scenario (2D environment) to realistic simulation (3D environment) affects human perception of the task and the effects of the robot's failure on human trust.
Causal Machine Learning: A Survey and Open Problems
Venue: arXiv cs.LG 2022
Year: 2022

Causal Machine Learning (CausalML) is an umbrella term for machine learning methods that formalize the data-generation process as a structural causal model (SCM). This perspective enables us to reason about the effects of changes to this process (interventions) and what would have happened in hindsight (counterfactuals). We categorize work in CausalML into five groups according to the problems they address: (1) causal supervised learning, (2) causal generative modeling, (3) causal explanations, (4) causal fairness, and (5) causal reinforcement learning. We systematically compare the methods in each category and point out open problems. Further, we review data-modality-specific applications in computer vision, natural language processing, and graph representation learning. Finally, we provide an overview of causal benchmarks and a critical discussion of the state of this nascent field, including recommendations for future work.
DeepSpeed Inference: Enabling Efficient Inference of Transformer Models at Unprecedented Scale
Venue: arXiv cs.LG 2022
Year: 2022

The past several years have witnessed the success of transformer-based models, and their scale and application scenarios continue to grow aggressively. The current landscape of transformer models is increasingly diverse: the model size varies drastically with the largest being of hundred-billion parameters; the model characteristics differ due to the sparsity introduced by the Mixture-of-Experts; the target application scenarios can be latency-critical or throughput-oriented; the deployment hardware could be single- or multi-GPU systems with different types of memory and storage, etc. With such increasing diversity and the fast-evolving pace of transformer models, designing a highly performant and efficient inference system is extremely challenging. In this paper, we present DeepSpeed Inference, a comprehensive system solution for transformer model inference to address the above-mentioned challenges. DeepSpeed Inference consists of (1) a multi-GPU inference solution to minimize latency while maximizing the throughput of both dense and sparse transformer models when they fit in aggregate GPU memory, and (2) a heterogeneous inference solution that leverages CPU and NVMe memory in addition to the GPU memory and compute to enable high inference throughput with large models which do not fit in aggregate GPU memory. DeepSpeed Inference reduces latency by up to 7.3X over the state-of-the-art for latency-oriented scenarios and increases throughput by over 1.5x for throughput-oriented scenarios. Moreover, it enables trillion parameter scale inference under real-time latency constraints by leveraging hundreds of GPUs, an unprecedented scale for inference. It can inference 25x larger models than with GPU-only solutions, while delivering a high throughput of 84 TFLOPS (over $50\%$ of A6000 peak).
DP$^2$-NILM: A Distributed and Privacy-preserving Framework for Non-intrusive Load Monitoring
Venue: arXiv cs.LG 2022
Year: 2022

Non-intrusive load monitoring (NILM), which usually utilizes machine learning methods and is effective in disaggregating smart meter readings from the household-level into appliance-level consumption, can help analyze electricity consumption behaviours of users and enable practical smart energy and smart grid applications. Recent studies have proposed many novel NILM frameworks based on federated deep learning (FL). However, there lacks comprehensive research exploring the utility optimization schemes and the privacy-preserving schemes in different FL-based NILM application scenarios. In this paper, we make the first attempt to conduct FL-based NILM focusing on both the utility optimization and the privacy-preserving by developing a distributed and privacy-preserving NILM (DP2-NILM) framework and carrying out comparative experiments on practical NILM scenarios based on real-world smart meter datasets. Specifically, two alternative federated learning strategies are examined in the utility optimization schemes, i.e., the FedAvg and the FedProx. Moreover, different levels of privacy guarantees, i.e., the local differential privacy federated learning and the global differential privacy federated learning are provided in the DP2-NILM. Extensive comparison experiments are conducted on three real-world datasets to evaluate the proposed framework.
"Communication Is a Scarce Resource!'': A Summary of CHASE'22 Conference Discussions
Venue: arXiv cs.SE 2022
Year: 2022

Background: Software Engineering regularly views communication between project participants as a tool for solving various problems in software development. Objective: Formulate research questions in areas related to CHASE. Method: A day-long discussion of five participants at the in-person day of the 15th International Conference on Cooperative and Human Aspects of Software Engineering (CHASE 2022) on May 23rd 2022. Results: It is not rare in industrial SE projects that communication is not just a tool or technique to be applied but also represents a resource, which, when lacking, threatens project success. This situation might arise when a person required to make decisions (especially regarding requirements, budgets, or priorities) is often unavailable. It may be helpful to frame communication as a scarce resource to understand the key difficulty of such situations. Conclusion: We call for studies that focus on the allocation and management of scarce communication resources of stakeholders as a lens to analyze software engineering projects.
Advances in Prediction of Readmission Rates Using Long Term Short Term Memory Networks on Healthcare Insurance Data
Venue: arXiv cs.LG 2022
Year: 2022

30-day hospital readmission is a long standing medical problem that affects patients' morbidity and mortality and costs billions of dollars annually. Recently, machine learning models have been created to predict risk of inpatient readmission for patients with specific diseases, however no model exists to predict this risk across all patients. We developed a bi-directional Long Short Term Memory (LSTM) Network that is able to use readily available insurance data (inpatient visits, outpatient visits, and drug prescriptions) to predict 30 day re-admission for any admitted patient, regardless of reason. The top-performing model achieved an ROC AUC of 0.763 (0.011) when using historical, inpatient, and post-discharge data. The LSTM model significantly outperformed a baseline random forest classifier, indicating that understanding the sequence of events is important for model prediction. Incorporation of 30-days of historical data also significantly improved model performance compared to inpatient data alone, indicating that a patients clinical history prior to admission, including outpatient visits and pharmacy data is a strong contributor to readmission. Our results demonstrate that a machine learning model is able to predict risk of inpatient readmission with reasonable accuracy for all patients using structured insurance billing data. Because billing data or equivalent surrogates can be extracted from sites, such a model could be deployed to identify patients at risk for readmission before they are discharged, or to assign more robust follow up (closer follow up, home health, mailed medications) to at-risk patients after discharge.
Sustainable Computing -- Without the Hot Air
Venue: arXiv cs.CY 2022
Year: 2022

The demand for computing is continuing to grow exponentially. This growth will translate to exponential growth in computing's energy consumption unless improvements in its energy-efficiency can outpace increases in its demand. Yet, after decades of research, further improving energy-efficiency is becoming increasingly challenging, as it is already highly optimized. As a result, at some point, increases in computing demand are likely to outpace increases in its energy-efficiency, potentially by a wide margin. Such exponential growth, if left unchecked, will position computing as a substantial contributor to global carbon emissions. While prominent technology companies have recognized the problem and sought to reduce their carbon emissions, they understandably focus on their successes, which has the potential to inadvertently convey the false impression that this is now, or will soon be, a solved problem. Such false impressions can be counterproductive if they serve to discourage further research in this area, since, as we discuss, eliminating computing's, and more generally society's, carbon emissions is far from a solved problem. To better understand the problem's scope, this paper distills the fundamental trends that determine computing's carbon footprint and their implications for achieving sustainable computing.
WAKU-RLN-RELAY: Privacy-Preserving Peer-to-Peer Economic Spam Protection
Venue: arXiv cs.CR 2022
Year: 2022

In this paper, we propose WAKU-RLN-RELAY as a spam-protected gossip-based routing protocol that can run in heterogeneous networks. It features a privacy-preserving peer-to-peer (p2p) economic spam protection mechanism. WAKU-RLN-RELAY addresses the performance and privacy issues of the state-of-the-art p2p spam prevention techniques including peer scoring utilized by libp2p, and proof-of-work used by e.g., Whisper, the p2p messaging layer of Ethereum. In WAKU-RLN-RELAY, spam protection works by limiting the messaging rate of each network participant. Rate violation is disincentivized since it results in financial punishment where the punishment is cryptographically guaranteed. Peers who identify spammers are also rewarded. To enforce the rate limit, we adopt the suggested framework of Semaphore and its extended version, however, we modify that framework to properly address the unique requirements of a network of p2p resource-restricted users. The current work dives into the end-to-end integration of Semaphore into WAKU-RLN-RELAY, the modifications required to make it suitable for resource-limited users, and the open problems and future research directions. We also provide a proof-of-concept open-source implementation of WAKU-RLN-RELAY, and its specifications together with a rough performance evaluation.
ProSelfLC: Progressive Self Label Correction Towards A Low-Temperature Entropy State
Venue: arXiv cs.LG 2022
Year: 2022

There is a family of label modification approaches including self and non-self label correction (LC), and output regularisation. They are widely used for training robust deep neural networks (DNNs), but have not been mathematically and thoroughly analysed together. We study them and discover three key issues: (1) We are more interested in adopting Self LC as it leverages its own knowledge and requires no auxiliary models. However, it is unclear how to adaptively trust a learner as the training proceeds. (2) Some methods penalise while the others reward low-entropy (i.e., high-confidence) predictions, prompting us to ask which one is better. (3) Using the standard training setting, a learned model becomes less confident when severe noise exists. Self LC using high-entropy knowledge would generate high-entropy targets. To resolve the issue (1), inspired by a well-accepted finding, i.e., deep neural networks learn meaningful patterns before fitting noise, we propose a novel end-to-end method named ProSelfLC, which is designed according to the learning time and prediction entropy. Concretely, for any data point, we progressively and adaptively trust its predicted probability distribution versus its annotated one if a network has been trained for a relatively long time and the prediction is of low entropy. For the issue (2), the effectiveness of ProSelfLC defends entropy minimisation. By ProSelfLC, we empirically prove that it is more effective to redefine a semantic low-entropy state and optimise the learner toward it. To address the issue (3), we decrease the entropy of self knowledge using a low temperature before exploiting it to correct labels, so that the revised labels redefine low-entropy target probability distributions. We demonstrate the effectiveness of ProSelfLC through extensive experiments in both clean and noisy settings, and on both image and protein datasets.
A Hybrid Energy Harvesting Protocol for Cooperative NOMA: Error Performance Approach
Venue: arXiv cs.IT 2022
Year: 2022

Cooperative non-orthogonal multiple access (CNOMA) has recently been adapted with energy harvesting (EH) to increase energy efficiency and extend the lifetime of energy-constrained wireless networks. This paper proposes a hybrid EH protocol-assisted CNOMA, which is a combination of the two main existing EH protocols (power splitting (PS) and time switching (TS)). The end-to-end bit error rate (BER) expressions of users in the proposed scheme are obtained over Nakagami-$m$ fading channels. The proposed hybrid EH (HEH) protocol is compared with the benchmark schemes (i.e., existing EH protocols and no EH). Based on the extensive simulations, we reveal that the analytical results match perfectly with simulations which proves the correctness of the derivations. Numerical results also show that the HEH-CNOMA outperforms the benchmarks significantly. In addition, we discuss the optimum value of EH factors to minimize the error probability in HEH-CNOMA and show that an optimum value can be obtained according to channel parameters.
Blockage-Peeking Game of Mobile Strategic Nodes in Millimeter Wave Communications
Venue: arXiv cs.NI 2022
Year: 2022

Given the importance of line-of-sight in mmWave communications, a strategic adversary can harm a transmission by obstructing the receiver, which in turn can react by trying to move around this hurdle. To expand on this point, we study one such scenario from the perspective of game theory, considering a mobile mmWave receiver and an adversary interacting strategically as players in a zero-sum game, where they want to maximize, or respectively minimize, the spectral efficiency of the communication. To do so, the adversary attempts at screening the receiver's line of sight as an obstacle, while the receiver can move around so as to avoid the blockage. We consider preset distances and the choices available to the players are to change their angular coordinates to go around each other. This is framed as a static game of complete information, for which we numerically find the Nash equilibrium in mixed strategies, drawing some interesting conclusions such as connecting it with the beamforming pattern of the transmitter.
Game-theoretic Learning Anti-jamming Approaches in Wireless Networks
Venue: arXiv cs.NI 2022
Year: 2022

In this article, the anti-jamming communication problem is investigated from a game-theoretic learning perspective. By exploring and analyzing intelligent anti-jamming communication, we present the characteristics of jammers and the requirements of an intelligent anti-jamming approach. Such approach is required of self-sensing, self-decision making, self-coordination, self-evaluation, and learning ability. Then, a game-theoretic learning anti-jamming (GTLAJ) paradigm is proposed, and its framework and challenges of GTLAJ are introduced. Moreover, through three cases, i.e., Stackelberg anti-jamming game, Markov anti-jamming game and hypergraph-based anti-jamming game, different anti-jamming game models and applications are discussed, and some future directions are presented.