OpenRaiser/Intern-Atlas huggingface dataset:
Contrastive Active Inference
Venue: arXiv cs.LG 2024
Year: 2024

Active inference is a unifying theory for perception and action resting upon the idea that the brain maintains an internal model of the world by minimizing free energy. From a behavioral perspective, active inference agents can be seen as self-evidencing beings that act to fulfill their optimistic predictions, namely preferred outcomes or goals. In contrast, reinforcement learning requires human-designed rewards to accomplish any desired outcome. Although active inference could provide a more natural self-supervised objective for control, its applicability has been limited because of the shortcomings in scaling the approach to complex environments. In this work, we propose a contrastive objective for active inference that strongly reduces the computational burden in learning the agent's generative model and planning future actions. Our method performs notably better than likelihood-based active inference in image-based tasks, while also being computationally cheaper and easier to train. We compare to reinforcement learning agents that have access to human-designed reward functions, showing that our approach closely matches their performance. Finally, we also show that contrastive methods perform significantly better in the case of distractors in the environment and that our method is able to generalize goals to variations in the background. Website and code: https://contrastive-aif.github.io/
Beyond Exact Gradients: Convergence of Stochastic Soft-Max Policy Gradient Methods with Entropy Regularization
Venue: arXiv cs.LG 2024
Year: 2024

Entropy regularization is an efficient technique for encouraging exploration and preventing a premature convergence of (vanilla) policy gradient methods in reinforcement learning (RL). However, the theoretical understanding of entropy-regularized RL algorithms has been limited. In this paper, we revisit the classical entropy regularized policy gradient methods with the soft-max policy parametrization, whose convergence has so far only been established assuming access to exact gradient oracles. To go beyond this scenario, we propose the first set of (nearly) unbiased stochastic policy gradient estimators with trajectory-level entropy regularization, with one being an unbiased visitation measure-based estimator and the other one being a nearly unbiased yet more practical trajectory-based estimator. We prove that although the estimators themselves are unbounded in general due to the additional logarithmic policy rewards introduced by the entropy term, the variances are uniformly bounded. We then propose a two-phase stochastic policy gradient (PG) algorithm that uses a large batch size in the first phase to overcome the challenge of the stochastic approximation due to the non-coercive landscape, and uses a small batch size in the second phase by leveraging the curvature information around the optimal policy. We establish a global optimality convergence result and a sample complexity of $\widetilde{\mathcal{O}}(\frac{1}{ε^2})$ for the proposed algorithm. Our result is the first global convergence and sample complexity results for the stochastic entropy-regularized vanilla PG method.
Deep Point Cloud Normal Estimation via Triplet Learning
Venue: arXiv cs.CV 2024
Year: 2024

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this paper, we propose a novel normal estimation method for point clouds. It consists of two phases: (a) feature encoding which learns representations of local patches, and (b) normal estimation that takes the learned representation as input and regresses the normal vector. We are motivated that local patches on isotropic and anisotropic surfaces have similar or distinct normals, and that separable features or representations can be learned to facilitate normal estimation. To realise this, we first construct triplets of local patches on 3D point cloud data, and design a triplet network with a triplet loss for feature encoding. We then design a simple network with several MLPs and a loss function to regress the normal vector. Despite having a smaller network size compared to most other methods, experimental results show that our method preserves sharp features and achieves better normal estimation results on CAD-like shapes.
Self-Initiated Open World Learning for Autonomous AI Agents
Venue: arXiv cs.AI 2024
Year: 2024

As more and more AI agents are used in practice, it is time to think about how to make these agents fully autonomous so that they can learn by themselves in a self-motivated and self-supervised manner rather than being retrained periodically on the initiation of human engineers using expanded training data. As the real-world is an open environment with unknowns or novelties, detecting novelties or unknowns, characterizing them, accommodating or adapting to them, gathering ground-truth training data, and incrementally learning the unknowns/novelties are critical to making the agent more and more knowledgeable and powerful over time. The key challenge is how to automate the process so that it is carried out on the agent's own initiative and through its own interactions with humans and the environment. Since an AI agent usually has a performance task, characterizing each novelty becomes critical and necessary so that the agent can formulate an appropriate response to adapt its behavior to accommodate the novelty and to learn from it to improve the agent's adaptation capability and task performance. The process goes continually without termination. This paper proposes a theoretic framework for this learning paradigm to promote the research of building Self-initiated Open world Learning (SOL) agents. An example SOL agent is also described.
Logical Assessment Formula and Its Principles for Evaluations with Inaccurate Ground-Truth Labels
Venue: arXiv cs.AI 2024
Year: 2024

Evaluations with accurate ground-truth labels (AGTLs) have been widely employed to assess predictive models for artificial intelligence applications. However, in some specific fields, such as medical histopathology whole slide image analysis, it is quite usual the situation that AGTLs are difficult to be precisely defined or even do not exist. To alleviate this situation, we propose logical assessment formula (LAF) and reveal its principles for evaluations with inaccurate ground-truth labels (IAGTLs) via logical reasoning under uncertainty. From the revealed principles of LAF, we summarize the practicability of LAF: 1) LAF can be applied for evaluations with IAGTLs on a more difficult task, able to act like usual strategies for evaluations with AGTLs reasonably; 2) LAF can be applied for evaluations with IAGTLs from the logical perspective on an easier task, unable to act like usual strategies for evaluations with AGTLs confidently.
Tackling the Local Bias in Federated Graph Learning
Venue: arXiv cs.LG 2024
Year: 2024

Federated graph learning (FGL) has become an important research topic in response to the increasing scale and the distributed nature of graph-structured data in the real world. In FGL, a global graph is distributed across different clients, where each client holds a subgraph. Existing FGL methods often fail to effectively utilize cross-client edges, losing structural information during the training; additionally, local graphs often exhibit significant distribution divergence. These two issues make local models in FGL less desirable than in centralized graph learning, namely the local bias problem in this paper. To solve this problem, we propose a novel FGL framework to make the local models similar to the model trained in a centralized setting. Specifically, we design a distributed learning scheme, fully leveraging cross-client edges to aggregate information from other clients. In addition, we propose a label-guided sampling approach to alleviate the imbalanced local data and meanwhile, distinctly reduce the training overhead. Extensive experiments demonstrate that local bias can compromise the model performance and slow down the convergence during training. Experimental results also verify that our framework successfully mitigates local bias, achieving better performance than other baselines with lower time and memory overhead.
GenURL: A General Framework for Unsupervised Representation Learning
Venue: arXiv cs.LG 2024
Year: 2024

Unsupervised representation learning (URL), which learns compact embeddings of high-dimensional data without supervision, has made remarkable progress recently. However, the development of URLs for different requirements is independent, which limits the generalization of the algorithms, especially prohibitive as the number of tasks grows. For example, dimension reduction methods, t-SNE, and UMAP optimize pair-wise data relationships by preserving the global geometric structure, while self-supervised learning, SimCLR, and BYOL focus on mining the local statistics of instances under specific augmentations. To address this dilemma, we summarize and propose a unified similarity-based URL framework, GenURL, which can smoothly adapt to various URL tasks. In this paper, we regard URL tasks as different implicit constraints on the data geometric structure that help to seek optimal low-dimensional representations that boil down to data structural modeling (DSM) and low-dimensional transformation (LDT). Specifically, DMS provides a structure-based submodule to describe the global structures, and LDT learns compact low-dimensional embeddings with given pretext tasks. Moreover, an objective function, General Kullback-Leibler divergence (GKL), is proposed to connect DMS and LDT naturally. Comprehensive experiments demonstrate that GenURL achieves consistent state-of-the-art performance in self-supervised visual learning, unsupervised knowledge distillation (KD), graph embeddings (GE), and dimension reduction.
Roto-translated Local Coordinate Frames For Interacting Dynamical Systems
Venue: arXiv cs.LG 2024
Year: 2024

Modelling interactions is critical in learning complex dynamical systems, namely systems of interacting objects with highly non-linear and time-dependent behaviour. A large class of such systems can be formalized as $\textit{geometric graphs}$, $\textit{i.e.}$, graphs with nodes positioned in the Euclidean space given an $\textit{arbitrarily}$ chosen global coordinate system, for instance vehicles in a traffic scene. Notwithstanding the arbitrary global coordinate system, the governing dynamics of the respective dynamical systems are invariant to rotations and translations, also known as $\textit{Galilean invariance}$. As ignoring these invariances leads to worse generalization, in this work we propose local coordinate frames per node-object to induce roto-translation invariance to the geometric graph of the interacting dynamical system. Further, the local coordinate frames allow for a natural definition of anisotropic filtering in graph neural networks. Experiments in traffic scenes, 3D motion capture, and colliding particles demonstrate that the proposed approach comfortably outperforms the recent state-of-the-art.
MCUNetV2: Memory-Efficient Patch-based Inference for Tiny Deep Learning
Venue: arXiv cs.CV 2024
Year: 2024

Tiny deep learning on microcontroller units (MCUs) is challenging due to the limited memory size. We find that the memory bottleneck is due to the imbalanced memory distribution in convolutional neural network (CNN) designs: the first several blocks have an order of magnitude larger memory usage than the rest of the network. To alleviate this issue, we propose a generic patch-by-patch inference scheduling, which operates only on a small spatial region of the feature map and significantly cuts down the peak memory. However, naive implementation brings overlapping patches and computation overhead. We further propose network redistribution to shift the receptive field and FLOPs to the later stage and reduce the computation overhead. Manually redistributing the receptive field is difficult. We automate the process with neural architecture search to jointly optimize the neural architecture and inference scheduling, leading to MCUNetV2. Patch-based inference effectively reduces the peak memory usage of existing networks by 4-8x. Co-designed with neural networks, MCUNetV2 sets a record ImageNet accuracy on MCU (71.8%), and achieves >90% accuracy on the visual wake words dataset under only 32kB SRAM. MCUNetV2 also unblocks object detection on tiny devices, achieving 16.9% higher mAP on Pascal VOC compared to the state-of-the-art result. Our study largely addressed the memory bottleneck in tinyML and paved the way for various vision applications beyond image classification.
Data structure > labels? Unsupervised heuristics for SVM hyperparameter estimation
Venue: arXiv cs.LG 2024
Year: 2024

Classification is one of the main areas of pattern recognition research, and within it, Support Vector Machine (SVM) is one of the most popular methods outside of field of deep learning -- and a de-facto reference for many Machine Learning approaches. Its performance is determined by parameter selection, which is usually achieved by a time-consuming grid search cross-validation procedure (GSCV). That method, however relies on the availability and quality of labelled examples and thus, when those are limited can be hindered. To address that problem, there exist several unsupervised heuristics that take advantage of the characteristics of the dataset for selecting parameters instead of using class label information. While an order of magnitude faster, they are scarcely used under the assumption that their results are significantly worse than those of grid search. To challenge that assumption, we have proposed improved heuristics for SVM parameter selection and tested it against GSCV and state of the art heuristics on over 30 standard classification datasets. The results show not only its advantage over state-of-art heuristics but also that it is statistically no worse than GSCV.
The Klarna Product Page Dataset: Web Element Nomination with Graph Neural Networks and Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

Web automation holds the potential to revolutionize how users interact with the digital world, offering unparalleled assistance and simplifying tasks via sophisticated computational methods. Central to this evolution is the web element nomination task, which entails identifying unique elements on webpages. Unfortunately, the development of algorithmic designs for web automation is hampered by the scarcity of comprehensive and realistic datasets that reflect the complexity faced by real-world applications on the Web. To address this, we introduce the Klarna Product Page Dataset, a comprehensive and diverse collection of webpages that surpasses existing datasets in richness and variety. The dataset features 51,701 manually labeled product pages from 8,175 e-commerce websites across eight geographic regions, accompanied by a dataset of rendered page screenshots. To initiate research on the Klarna Product Page Dataset, we empirically benchmark a range of Graph Neural Networks (GNNs) on the web element nomination task. We make three important contributions. First, we found that a simple Convolutional GNN (GCN) outperforms complex state-of-the-art nomination methods. Second, we introduce a training refinement procedure that involves identifying a small number of relevant elements from each page using the aforementioned GCN. These elements are then passed to a large language model for the final nomination. This procedure significantly improves the nomination accuracy by 16.8 percentage points on our challenging dataset, without any need for fine-tuning. Finally, in response to another prevalent challenge in this field - the abundance of training methodologies suitable for element nomination - we introduce the Challenge Nomination Training Procedure, a novel training approach that further boosts nomination accuracy.
Learn one size to infer all: Exploiting translational symmetries in delay-dynamical and spatio-temporal systems using scalable neural networks
Venue: arXiv cs.LG 2024
Year: 2024

We design scalable neural networks adapted to translational symmetries in dynamical systems, capable of inferring untrained high-dimensional dynamics for different system sizes. We train these networks to predict the dynamics of delay-dynamical and spatio-temporal systems for a single size. Then, we drive the networks by their own predictions. We demonstrate that by scaling the size of the trained network, we can predict the complex dynamics for larger or smaller system sizes. Thus, the network learns from a single example and, by exploiting symmetry properties, infers entire bifurcation diagrams.
Theoretical and Empirical Analysis of a Fast Algorithm for Extracting Polygons from Signed Distance Bounds
Venue: arXiv cs.GR 2024
Year: 2024

Recently there has been renewed interest in signed distance bound representations due to their unique properties for 3D shape modelling. This is especially the case for deep learning-based bounds. However, it is beneficial to work with polygons in most computer-graphics applications. Thus, in this paper we introduce and investigate an asymptotically fast method for transforming signed distance bounds into polygon meshes. This is achieved by combining the principles of sphere tracing (or ray marching) with traditional polygonization techniques, such as Marching Cubes. We provide theoretical and experimental evidence that this approach is of the $O(N^2\log N)$ computational complexity for a polygonization grid with $N^3$ cells. The algorithm is tested on both a set of primitive shapes as well as signed distance bounds generated from point clouds by machine learning (and represented as neural networks). Given its speed, implementation simplicity and portability, we argue that it could prove useful during the modelling stage as well as in shape compression for storage. The code is available here: https://github.com/nenadmarkus/gridhopping
Random Order Set Cover is as Easy as Offline
Venue: arXiv cs.DS 2024
Year: 2024

We give a polynomial-time algorithm for OnlineSetCover with a competitive ratio of $O(\log mn)$ when the elements are revealed in random order, essentially matching the best possible offline bound of $O(\log n)$ and circumventing the $Ω(\log m \log n)$ lower bound known in adversarial order. We also extend the result to solving pure covering IPs when constraints arrive in random order. The algorithm is a multiplicative-weights-based round-and-solve approach we call LearnOrCover. We maintain a coarse fractional solution that is neither feasible nor monotone increasing, but can nevertheless be rounded online to achieve the claimed guarantee (in the random order model). This gives a new offline algorithm for SetCover that performs a single pass through the elements, which may be of independent interest.
Evaluating Metrics for Bias in Word Embeddings
Venue: arXiv cs.CL 2024
Year: 2024

Over the last years, word and sentence embeddings have established as text preprocessing for all kinds of NLP tasks and improved the performances significantly. Unfortunately, it has also been shown that these embeddings inherit various kinds of biases from the training data and thereby pass on biases present in society to NLP solutions. Many papers attempted to quantify bias in word or sentence embeddings to evaluate debiasing methods or compare different embedding models, usually with cosine-based metrics. However, lately some works have raised doubts about these metrics showing that even though such metrics report low biases, other tests still show biases. In fact, there is a great variety of bias metrics or tests proposed in the literature without any consensus on the optimal solutions. Yet we lack works that evaluate bias metrics on a theoretical level or elaborate the advantages and disadvantages of different bias metrics. In this work, we will explore different cosine based bias metrics. We formalize a bias definition based on the ideas from previous works and derive conditions for bias metrics. Furthermore, we thoroughly investigate the existing cosine-based metrics and their limitations to show why these metrics can fail to report biases in some cases. Finally, we propose a new metric, SAME, to address the shortcomings of existing metrics and mathematically prove that SAME behaves appropriately.
Kernel-based diffusion approximated Markov decision processes for autonomous navigation and control on unstructured terrains
Venue: arXiv cs.RO 2024
Year: 2024

We propose a diffusion approximation method to the continuous-state Markov Decision Processes (MDPs) that can be utilized to address autonomous navigation and control in unstructured off-road environments. In contrast to most decision-theoretic planning frameworks that assume fully known state transition models, we design a method that eliminates such a strong assumption that is often extremely difficult to engineer in reality. We first take the second-order Taylor expansion of the value function. The Bellman optimality equation is then approximated by a partial differential equation, which only relies on the first and second moments of the transition model. By combining the kernel representation of the value function, we design an efficient policy iteration algorithm whose policy evaluation step can be represented as a linear system of equations characterized by a finite set of supporting states. We first validate the proposed method through extensive simulations in 2D obstacle avoidance and 2.5D terrain navigation problems. The results show that the proposed approach leads to a much superior performance over several baselines. We then develop a system that integrates our decision-making framework with onboard perception and conduct real-world experiments in both cluttered indoor and unstructured outdoor environments. The results from the physical systems further demonstrate the applicability of our method in challenging real-world environments.
The Acrobatics of BQP
Venue: arXiv cs.CC 2024
Year: 2024

One can fix the randomness used by a randomized algorithm, but there is no analogous notion of fixing the quantumness used by a quantum algorithm. Underscoring this fundamental difference, we show that, in the black-box setting, the behavior of quantum polynomial-time ($\mathsf{BQP}$) can be remarkably decoupled from that of classical complexity classes like $\mathsf{NP}$. Specifically: -There exists an oracle relative to which $\mathsf{NP^{BQP}}\not\subset\mathsf{BQP^{PH}}$, resolving a 2005 problem of Fortnow. As a corollary, there exists an oracle relative to which $\mathsf{P}=\mathsf{NP}$ but $\mathsf{BQP}\neq\mathsf{QCMA}$. -Conversely, there exists an oracle relative to which $\mathsf{BQP^{NP}}\not\subset\mathsf{PH^{BQP}}$. -Relative to a random oracle, $\mathsf{PP}=\mathsf{PostBQP}$ is not contained in the "$\mathsf{QMA}$ hierarchy" $\mathsf{QMA}^{\mathsf{QMA}^{\mathsf{QMA}^{\cdots}}}$. -Relative to a random oracle, $\mathsfΣ_{k+1}^\mathsf{P}\not\subset\mathsf{BQP}^{\mathsfΣ_{k}^\mathsf{P}}$ for every $k$. -There exists an oracle relative to which $\mathsf{BQP}=\mathsf{P^{\# P}}$ and yet $\mathsf{PH}$ is infinite. -There exists an oracle relative to which $\mathsf{P}=\mathsf{NP}\neq\mathsf{BQP}=\mathsf{P^{\# P}}$. To achieve these results, we build on the 2018 achievement by Raz and Tal of an oracle relative to which $\mathsf{BQP}\not \subset \mathsf{PH}$, and associated results about the Forrelation problem. We also introduce new tools that might be of independent interest. These include a "quantum-aware" version of the random restriction method, a concentration theorem for the block sensitivity of $\mathsf{AC^0}$ circuits, and a (provable) analogue of the Aaronson-Ambainis Conjecture for sparse oracles.