OpenRaiser/Intern-Atlas huggingface dataset:
TRADE: Object Tracking with 3D Trajectory and Ground Depth Estimates for UAVs
Venue: arXiv cs.RO 2022
Year: 2022

We propose TRADE for robust tracking and 3D localization of a moving target in cluttered environments, from UAVs equipped with a single camera. Ultimately TRADE enables 3d-aware target following. Tracking-by-detection approaches are vulnerable to target switching, especially between similar objects. Thus, TRADE predicts and incorporates the target 3D trajectory to select the right target from the tracker's response map. Unlike static environments, depth estimation of a moving target from a single camera is a ill-posed problem. Therefore we propose a novel 3D localization method for ground targets on complex terrain. It reasons about scene geometry by combining ground plane segmentation, depth-from-motion and single-image depth estimation. The benefits of using TRADE are demonstrated as tracking robustness and depth accuracy on several dynamic scenes simulated in this work. Additionally, we demonstrate autonomous target following using a thermal camera by running TRADE on a quadcopter's board computer.
TCNL: Transparent and Controllable Network Learning Via Embedding Human-Guided Concepts
Venue: arXiv cs.LG 2022
Year: 2022

Explaining deep learning models is of vital importance for understanding artificial intelligence systems, improving safety, and evaluating fairness. To better understand and control the CNN model, many methods for transparency-interpretability have been proposed. However, most of these works are less intuitive for human understanding and have insufficient human control over the CNN model. We propose a novel method, Transparent and Controllable Network Learning (TCNL), to overcome such challenges. Towards the goal of improving transparency-interpretability, in TCNL, we define some concepts for specific classification tasks through scientific human-intuition study and incorporate concept information into the CNN model. In TCNL, the shallow feature extractor gets preliminary features first. Then several concept feature extractors are built right after the shallow feature extractor to learn high-dimensional concept representations. The concept feature extractor is encouraged to encode information related to the predefined concepts. We also build the concept mapper to visualize features extracted by the concept extractor in a human-intuitive way. TCNL provides a generalizable approach to transparency-interpretability. Researchers can define concepts corresponding to certain classification tasks and encourage the model to encode specific concept information, which to a certain extent improves transparency-interpretability and the controllability of the CNN model. The datasets (with concept sets) for our experiments will also be released (https://github.com/bupt-ai-cz/TCNL).
Real-Time Navigation for Bipedal Robots in Dynamic Environments
Venue: arXiv cs.RO 2022
Year: 2022

The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation systems need to be developed that can execute in real-time and respond to dynamic environments. These systems can be divided into three stages: perception, planning, and control. A holistic navigation framework for bipedal robots must successfully integrate all three components of the autonomous navigation problem to enable robust real-world navigation. In this paper, we present a real-time navigation framework for bipedal robots in dynamic environments. The proposed system addresses all components of the navigation problem: We introduce a depth-based perception system for obstacle detection, mapping, and localization. A two-stage planner is developed to generate collision-free trajectories robust to unknown and dynamic environments. And execute trajectories on the Digit bipedal robot's walking gait controller. The navigation framework is validated through a series of simulation and hardware experiments that contain unknown environments and dynamic obstacles.
Automatic Prediction of Rejected Edits in Stack Overflow
Venue: arXiv cs.SE 2022
Year: 2022

The content quality of shared knowledge in Stack Overflow (SO) is crucial in supporting software developers with their programming problems. Thus, SO allows its users to suggest edits to improve the quality of a post (i.e., question and answer). However, existing research shows that many suggested edits in SO are rejected due to undesired contents/formats or violating edit guidelines. Such a scenario frustrates or demotivates users who would like to conduct good-quality edits. Therefore, our research focuses on assisting SO users by offering them suggestions on how to improve their editing of posts. First, we manually investigate 764 (382 questions + 382 answers) rejected edits by rollbacks and produce a catalog of 19 rejection reasons. Second, we extract 15 texts and user-based features to capture those rejection reasons. Third, we develop four machine learning models using those features. Our best-performing model can predict rejected edits with 69.1% precision, 71.2% recall, 70.1% F1-score, and 69.8% overall accuracy. Fourth, we introduce an online tool named EditEx that works with the SO edit system. EditEx can assist users while editing posts by suggesting the potential causes of rejections. We recruit 20 participants to assess the effectiveness of EditEx. Half of the participants (i.e., treatment group) use EditEx and another half (i.e., control group) use the SO standard edit system to edit posts. According to our experiment, EditEx can support SO standard edit system to prevent 49% of rejected edits, including the commonly rejected ones. However, it can prevent 12% rejections even in free-form regular edits. The treatment group finds the potential rejection reasons identified by EditEx influential. Furthermore, the median workload suggesting edits using EditEx is half compared to the SO edit system.
Scalable Self-Supervised Representation Learning from Spatiotemporal Motion Trajectories for Multimodal Computer Vision
Venue: arXiv cs.CV 2022
Year: 2022

Self-supervised representation learning techniques utilize large datasets without semantic annotations to learn meaningful, universal features that can be conveniently transferred to solve a wide variety of downstream supervised tasks. In this work, we propose a self-supervised method for learning representations of geographic locations from unlabeled GPS trajectories to solve downstream geospatial computer vision tasks. Tiles resulting from a raster representation of the earth's surface are modeled as nodes on a graph or pixels of an image. GPS trajectories are modeled as allowed Markovian paths on these nodes. A scalable and distributed algorithm is presented to compute image-like representations, called reachability summaries, of the spatial connectivity patterns between tiles and their neighbors implied by the observed Markovian paths. A convolutional, contractive autoencoder is trained to learn compressed representations, called reachability embeddings, of reachability summaries for every tile. Reachability embeddings serve as task-agnostic, feature representations of geographic locations. Using reachability embeddings as pixel representations for five different downstream geospatial tasks, cast as supervised semantic segmentation problems, we quantitatively demonstrate that reachability embeddings are semantically meaningful representations and result in 4-23% gain in performance, as measured using area under the precision-recall curve (AUPRC) metric, when compared to baseline models that use pixel representations that do not account for the spatial connectivity between tiles. Reachability embeddings transform sequential, spatiotemporal mobility data into semantically meaningful tensor representations that can be combined with other sources of imagery and are designed to facilitate multimodal learning in geospatial computer vision.
How Do Data Science Workers Communicate Intermediate Results?
Venue: arXiv cs.HC 2022
Year: 2022

Data science workers increasingly collaborate on large-scale projects before communicating insights to a broader audience in the form of visualization. While prior work has modeled how data science teams, oftentimes with distinct roles and work processes, communicate knowledge to outside stakeholders, we have little knowledge of how data science workers communicate intermediately before delivering the final products. In this work, we contribute a nuanced description of the intermediate communication process within data science teams. By analyzing interview data with 8 self-identified data science workers, we characterized the data science intermediate communication process with four factors, including the types of audience, communication goals, shared artifacts, and mode of communication. We also identified overarching challenges in the current communication process. We also discussed design implications that might inform better tools that facilitate intermediate communication within data science teams.
Robust Unsupervised Cross-Lingual Word Embedding using Domain Flow Interpolation
Venue: arXiv cs.CL 2022
Year: 2022

This paper investigates an unsupervised approach towards deriving a universal, cross-lingual word embedding space, where words with similar semantics from different languages are close to one another. Previous adversarial approaches have shown promising results in inducing cross-lingual word embedding without parallel data. However, the training stage shows instability for distant language pairs. Instead of mapping the source language space directly to the target language space, we propose to make use of a sequence of intermediate spaces for smooth bridging. Each intermediate space may be conceived as a pseudo-language space and is introduced via simple linear interpolation. This approach is modeled after domain flow in computer vision, but with a modified objective function. Experiments on intrinsic Bilingual Dictionary Induction tasks show that the proposed approach can improve the robustness of adversarial models with comparable and even better precision. Further experiments on the downstream task of Cross-Lingual Natural Language Inference show that the proposed model achieves significant performance improvement for distant language pairs in downstream tasks compared to state-of-the-art adversarial and non-adversarial models.
AutoML for Climate Change: A Call to Action
Venue: arXiv cs.LG 2022
Year: 2022

The challenge that climate change poses to humanity has spurred a rapidly developing field of artificial intelligence research focused on climate change applications. The climate change AI (CCAI) community works on a diverse, challenging set of problems which often involve physics-constrained ML or heterogeneous spatiotemporal data. It would be desirable to use automated machine learning (AutoML) techniques to automatically find high-performing architectures and hyperparameters for a given dataset. In this work, we benchmark popular AutoML libraries on three high-leverage CCAI applications: climate modeling, wind power forecasting, and catalyst discovery. We find that out-of-the-box AutoML libraries currently fail to meaningfully surpass the performance of human-designed CCAI models. However, we also identify a few key weaknesses, which stem from the fact that most AutoML techniques are tailored to computer vision and NLP applications. For example, while dozens of search spaces have been designed for image and language data, none have been designed for spatiotemporal data. Addressing these key weaknesses can lead to the discovery of novel architectures that yield substantial performance gains across numerous CCAI applications. Therefore, we present a call to action to the AutoML community, since there are a number of concrete, promising directions for future work in the space of AutoML for CCAI. We release our code and a list of resources at https://github.com/climate-change-automl/climate-change-automl.
Calibrating Factual Knowledge in Pretrained Language Models
Venue: arXiv cs.CL 2022
Year: 2022

Previous literature has proved that Pretrained Language Models (PLMs) can store factual knowledge. However, we find that facts stored in the PLMs are not always correct. It motivates us to explore a fundamental question: How do we calibrate factual knowledge in PLMs without re-training from scratch? In this work, we propose a simple and lightweight method CaliNet to achieve this goal. To be specific, we first detect whether PLMs can learn the right facts via a contrastive score between right and fake facts. If not, we then use a lightweight method to add and adapt new parameters to specific factual texts. Experiments on the knowledge probing task show the calibration effectiveness and efficiency. In addition, through closed-book question answering, we find that the calibrated PLM possesses knowledge generalization ability after fine-tuning. Beyond the calibration performance, we further investigate and visualize the knowledge calibration mechanism.
Zero-shot stance detection based on cross-domain feature enhancement by contrastive learning
Venue: arXiv cs.CL 2022
Year: 2022

Zero-shot stance detection is challenging because it requires detecting the stance of previously unseen targets in the inference phase. The ability to learn transferable target-invariant features is critical for zero-shot stance detection. In this work, we propose a stance detection approach that can efficiently adapt to unseen targets, the core of which is to capture target-invariant syntactic expression patterns as transferable knowledge. Specifically, we first augment the data by masking the topic words of sentences, and then feed the augmented data to an unsupervised contrastive learning module to capture transferable features. Then, to fit a specific target, we encode the raw texts as target-specific features. Finally, we adopt an attention mechanism, which combines syntactic expression patterns with target-specific features to obtain enhanced features for predicting previously unseen targets. Experiments demonstrate that our model outperforms competitive baselines on four benchmark datasets.
Certified machine learning: Rigorous a posteriori error bounds for PDE defined PINNs
Venue: arXiv cs.LG 2022
Year: 2022

Prediction error quantification in machine learning has been left out of most methodological investigations of neural networks, for both purely data-driven and physics-informed approaches. Beyond statistical investigations and generic results on the approximation capabilities of neural networks, we present a rigorous upper bound on the prediction error of physics-informed neural networks. This bound can be calculated without the knowledge of the true solution and only with a priori available information about the characteristics of the underlying dynamical system governed by a partial differential equation. We apply this a posteriori error bound exemplarily to four problems: the transport equation, the heat equation, the Navier-Stokes equation and the Klein-Gordon equation.
Adversarially Robust Prototypical Few-shot Segmentation with Neural-ODEs
Venue: arXiv cs.CV 2022
Year: 2022

Few-shot Learning (FSL) methods are being adopted in settings where data is not abundantly available. This is especially seen in medical domains where the annotations are expensive to obtain. Deep Neural Networks have been shown to be vulnerable to adversarial attacks. This is even more severe in the case of FSL due to the lack of a large number of training examples. In this paper, we provide a framework to make few-shot segmentation models adversarially robust in the medical domain where such attacks can severely impact the decisions made by clinicians who use them. We propose a novel robust few-shot segmentation framework, Prototypical Neural Ordinary Differential Equation (PNODE), that provides defense against gradient-based adversarial attacks. We show that our framework is more robust compared to traditional adversarial defense mechanisms such as adversarial training. Adversarial training involves increased training time and shows robustness to limited types of attacks depending on the type of adversarial examples seen during training. Our proposed framework generalises well to common adversarial attacks like FGSM, PGD and SMIA while having the model parameters comparable to the existing few-shot segmentation models. We show the effectiveness of our proposed approach on three publicly available multi-organ segmentation datasets in both in-domain and cross-domain settings by attacking the support and query sets without the need for ad-hoc adversarial training.
Trans2k: Unlocking the Power of Deep Models for Transparent Object Tracking
Venue: arXiv cs.CV 2022
Year: 2022

Visual object tracking has focused predominantly on opaque objects, while transparent object tracking received very little attention. Motivated by the uniqueness of transparent objects in that their appearance is directly affected by the background, the first dedicated evaluation dataset has emerged recently. We contribute to this effort by proposing the first transparent object tracking training dataset Trans2k that consists of over 2k sequences with 104,343 images overall, annotated by bounding boxes and segmentation masks. Noting that transparent objects can be realistically rendered by modern renderers, we quantify domain-specific attributes and render the dataset containing visual attributes and tracking situations not covered in the existing object training datasets. We observe a consistent performance boost (up to 16%) across a diverse set of modern tracking architectures when trained using Trans2k, and show insights not previously possible due to the lack of appropriate training sets. The dataset and the rendering engine will be publicly released to unlock the power of modern learning-based trackers and foster new designs in transparent object tracking.
Hate Speech and Offensive Language Detection in Bengali
Venue: arXiv cs.CL 2022
Year: 2022

Social media often serves as a breeding ground for various hateful and offensive content. Identifying such content on social media is crucial due to its impact on the race, gender, or religion in an unprejudiced society. However, while there is extensive research in hate speech detection in English, there is a gap in hateful content detection in low-resource languages like Bengali. Besides, a current trend on social media is the use of Romanized Bengali for regular interactions. To overcome the existing research's limitations, in this study, we develop an annotated dataset of 10K Bengali posts consisting of 5K actual and 5K Romanized Bengali tweets. We implement several baseline models for the classification of such hateful posts. We further explore the interlingual transfer mechanism to boost classification performance. Finally, we perform an in-depth error analysis by looking into the misclassified posts by the models. While training actual and Romanized datasets separately, we observe that XLM-Roberta performs the best. Further, we witness that on joint training and few-shot training, MuRIL outperforms other models by interpreting the semantic expressions better. We make our code and dataset public for others.
From plane crashes to algorithmic harm: applicability of safety engineering frameworks for responsible ML
Venue: arXiv cs.HC 2022
Year: 2022

Inappropriate design and deployment of machine learning (ML) systems leads to negative downstream social and ethical impact -- described here as social and ethical risks -- for users, society and the environment. Despite the growing need to regulate ML systems, current processes for assessing and mitigating risks are disjointed and inconsistent. We interviewed 30 industry practitioners on their current social and ethical risk management practices, and collected their first reactions on adapting safety engineering frameworks into their practice -- namely, System Theoretic Process Analysis (STPA) and Failure Mode and Effects Analysis (FMEA). Our findings suggest STPA/FMEA can provide appropriate structure toward social and ethical risk assessment and mitigation processes. However, we also find nontrivial challenges in integrating such frameworks in the fast-paced culture of the ML industry. We call on the ML research community to strengthen existing frameworks and assess their efficacy, ensuring that ML systems are safer for all people.
Robotic Control Using Model Based Meta Adaption
Venue: arXiv cs.RO 2022
Year: 2022

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for increased sample efficiency. However, adaption to unknown tasks does not always result in preferable agent behavior. This paper introduces a new Meta Adaptation Controller (MAC) that employs MRL to apply a preferred robot behavior from one task to many similar tasks. To do this, MAC aims to find actions an agent has to take in a new task to reach a similar outcome as in a learned task. As a result, the agent will adapt quickly to the change in the dynamic and behave appropriately without the need to construct a reward function that enforces the preferred behavior.
A deep learning approach for detection and localization of leaf anomalies
Venue: arXiv cs.CV 2022
Year: 2022

The detection and localization of possible diseases in crops are usually automated by resorting to supervised deep learning approaches. In this work, we tackle these goals with unsupervised models, by applying three different types of autoencoders to a specific open-source dataset of healthy and unhealthy pepper and cherry leaf images. CAE, CVAE and VQ-VAE autoencoders are deployed to screen unlabeled images of such a dataset, and compared in terms of image reconstruction, anomaly removal, detection and localization. The vector-quantized variational architecture turns out to be the best performing one with respect to all these targets.
KAST: Knowledge Aware Adaptive Session Multi-Topic Network for Click-Through Rate Prediction
Venue: arXiv cs.IR 2022
Year: 2022

Capturing the evolving trends of user interest is important for both recommendation systems and advertising systems, and user behavior sequences have been successfully used in Click-Through-Rate(CTR) prediction problems. However, if the user interest is learned on the basis of item-level behaviors, the performance may be affected by the following two issues. Firstly, some casual outliers might be included in the behavior sequences as user behaviors are likely to be diverse. Secondly, the span of time intervals between user behaviors is random and irregular, for which a RNN-based module employed from NLP is not perfectly adaptive. To handle these two issues, we propose the Knowledge aware Adaptive Session multi-Topic network(KAST). It can adaptively segment user sessions from the whole user behavior sequence, and maintain similar intents in the same session. Furthermore, in order to improve the quality of session segmentation and representation, a knowledge-aware module is introduced so that the structural information from the user-item interaction can be extracted in an end-to-end manner, and a marginal based loss with these information is merged into the major loss. Through extensive experiments on public benchmarks, we demonstrate that KAST can achieve superior performance than state-of-the-art methods for CTR prediction, and key modules and hyper-parameters are also evaluated.