OpenRaiser/Intern-Atlas huggingface dataset:
Learning Off-Policy with Online Planning
Venue: arXiv cs.LG 2021
Year: 2021

Reinforcement learning (RL) in low-data and risk-sensitive domains requires performant and flexible deployment policies that can readily incorporate constraints during deployment. One such class of policies are the semi-parametric H-step lookahead policies, which select actions using trajectory optimization over a dynamics model for a fixed horizon with a terminal value function. In this work, we investigate a novel instantiation of H-step lookahead with a learned model and a terminal value function learned by a model-free off-policy algorithm, named Learning Off-Policy with Online Planning (LOOP). We provide a theoretical analysis of this method, suggesting a tradeoff between model errors and value function errors and empirically demonstrate this tradeoff to be beneficial in deep reinforcement learning. Furthermore, we identify the "Actor Divergence" issue in this framework and propose Actor Regularized Control (ARC), a modified trajectory optimization procedure. We evaluate our method on a set of robotic tasks for Offline and Online RL and demonstrate improved performance. We also show the flexibility of LOOP to incorporate safety constraints during deployment with a set of navigation environments. We demonstrate that LOOP is a desirable framework for robotics applications based on its strong performance in various important RL settings. Project video and details can be found at https://hari-sikchi.github.io/loop .
HALO: Learning to Prune Neural Networks with Shrinkage
Venue: arXiv cs.LG 2021
Year: 2021

Deep neural networks achieve state-of-the-art performance in a variety of tasks by extracting a rich set of features from unstructured data, however this performance is closely tied to model size. Modern techniques for inducing sparsity and reducing model size are (1) network pruning, (2) training with a sparsity inducing penalty, and (3) training a binary mask jointly with the weights of the network. We study different sparsity inducing penalties from the perspective of Bayesian hierarchical models and present a novel penalty called Hierarchical Adaptive Lasso (HALO) which learns to adaptively sparsify weights of a given network via trainable parameters. When used to train over-parametrized networks, our penalty yields small subnetworks with high accuracy without fine-tuning. Empirically, on image recognition tasks, we find that HALO is able to learn highly sparse network (only 5% of the parameters) with significant gains in performance over state-of-the-art magnitude pruning methods at the same level of sparsity. Code is available at https://github.com/skyler120/sparsity-halo.
LP Formulations of sufficient statistic based strategies in Finite Horizon Two-Player Zero-Sum Stochastic Bayesian games
Venue: arXiv cs.GT 2021
Year: 2021

This paper studies two-player zero-sum stochastic Bayesian games where each player has its own dynamic state that is unknown to the other player. Using typical techniques, we provide the recursive formulas and sufficient statistics in both the primal game and its dual games. It's also shown that with a specific initial parameter, the optimal strategy of one player in a dual game is also the optimal strategy of the player in the primal game. To deal with the long finite Bayesian game we have provided an algorithm to compute the sub-optimal strategies of the players step by step to avoid the LP complexity. For this, we computed LPs to find the special initial parameters in the dual games and update the sufficient statistics of the dual games. The performance analysis has provided an upper bound on the performance difference between the optimal and suboptimal strategies. The main results are demonstrated in a security problem of underwater sensor networks.
Multi-view Graph Learning by Joint Modeling of Consistency and Inconsistency
Venue: arXiv cs.LG 2021
Year: 2021

Graph learning has emerged as a promising technique for multi-view clustering with its ability to learn a unified and robust graph from multiple views. However, existing graph learning methods mostly focus on the multi-view consistency issue, yet often neglect the inconsistency across multiple views, which makes them vulnerable to possibly low-quality or noisy datasets. To overcome this limitation, we propose a new multi-view graph learning framework, which for the first time simultaneously and explicitly models multi-view consistency and multi-view inconsistency in a unified objective function, through which the consistent and inconsistent parts of each single-view graph as well as the unified graph that fuses the consistent parts can be iteratively learned. Though optimizing the objective function is NP-hard, we design a highly efficient optimization algorithm which is able to obtain an approximate solution with linear time complexity in the number of edges in the unified graph. Furthermore, our multi-view graph learning approach can be applied to both similarity graphs and dissimilarity graphs, which lead to two graph fusion-based variants in our framework. Experiments on twelve multi-view datasets have demonstrated the robustness and efficiency of the proposed approach.
Semantic Labeling of Large-Area Geographic Regions Using Multi-View and Multi-Date Satellite Images and Noisy OSM Training Labels
Venue: arXiv cs.CV 2021
Year: 2021

We present a novel multi-view training framework and CNN architecture for combining information from multiple overlapping satellite images and noisy training labels derived from OpenStreetMap (OSM) to semantically label buildings and roads across large geographic regions (100 km$^2$). Our approach to multi-view semantic segmentation yields a 4-7% improvement in the per-class IoU scores compared to the traditional approaches that use the views independently of one another. A unique (and, perhaps, surprising) property of our system is that modifications that are added to the tail-end of the CNN for learning from the multi-view data can be discarded at the time of inference with a relatively small penalty in the overall performance. This implies that the benefits of training using multiple views are absorbed by all the layers of the network. Additionally, our approach only adds a small overhead in terms of the GPU-memory consumption even when training with as many as 32 views per scene. The system we present is end-to-end automated, which facilitates comparing the classifiers trained directly on true orthophotos vis-a-vis first training them on the off-nadir images and subsequently translating the predicted labels to geographical coordinates. With no human supervision, our IoU scores for the buildings and roads classes are 0.8 and 0.64 respectively which are better than state-of-the-art approaches that use OSM labels and that are not completely automated.
Design and Implementation of a Maxi-Sized Mobile Robot (Karo) for Rescue Missions
Venue: arXiv cs.RO 2021
Year: 2021

Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot's platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot's power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo's software system and human-robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo's field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL's test suites and training suites of a fire department. Finally, the comprehensiveness of Karo's capabilities has been verified by drawing quantitative comparisons between Karo's performance and other leading robots participating in RRL.
Video Frame Interpolation via Generalized Deformable Convolution
Venue: arXiv cs.CV 2021
Year: 2021

Video frame interpolation aims at synthesizing intermediate frames from nearby source frames while maintaining spatial and temporal consistencies. The existing deep-learning-based video frame interpolation methods can be roughly divided into two categories: flow-based methods and kernel-based methods. The performance of flow-based methods is often jeopardized by the inaccuracy of flow map estimation due to oversimplified motion models, while that of kernel-based methods tends to be constrained by the rigidity of kernel shape. To address these performance-limiting issues, a novel mechanism named generalized deformable convolution is proposed, which can effectively learn motion information in a data-driven manner and freely select sampling points in space-time. We further develop a new video frame interpolation method based on this mechanism. Our extensive experiments demonstrate that the new method performs favorably against the state-of-the-art, especially when dealing with complex motions.
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller
Venue: arXiv cs.RO 2021
Year: 2021

In the control of bipedal locomotion, linear velocity of the center of mass has been widely accepted as a primary variable for summarizing a robot's state vector. The ubiquitous massless-legged linear inverted pendulum (LIP) model is based on it. In this paper, we argue that angular momentum about the contact point has several properties that make it superior to linear velocity for feedback control. So as not to confuse the benefits of angular momentum with any other control design decisions, we first reformulate the standard LIP controller in terms of angular momentum. We then implement the resulting feedback controller on the 20 degree-of-freedom bipedal robot, Cassie Blue, where each leg accounts for nearly one-third of the robot's total mass of 35~Kg. Under this controller, the robot achieves fast walking, rapid turning while walking, large disturbance rejection, and locomotion on rough terrain. The reasoning developed in the paper is applicable to other control design philosophies, whether they be Hybrid Zero Dynamics or Reinforcement Learning.
Adapting Security Warnings to Counter Online Disinformation
Venue: arXiv cs.HC 2021
Year: 2021

Disinformation is proliferating on the internet, and platforms are responding by attaching warnings to content. There is little evidence, however, that these warnings help users identify or avoid disinformation. In this work, we adapt methods and results from the information security warning literature in order to design and evaluate effective disinformation warnings. In an initial laboratory study, we used a simulated search task to examine contextual and interstitial disinformation warning designs. We found that users routinely ignore contextual warnings, but users notice interstitial warnings -- and respond by seeking information from alternative sources. We then conducted a follow-on crowdworker study with eight interstitial warning designs. We confirmed a significant impact on user information-seeking behavior, and we found that a warning's design could effectively inform users or convey a risk of harm. We also found, however, that neither user comprehension nor fear of harm moderated behavioral effects. Our work provides evidence that disinformation warnings can -- when designed well -- help users identify and avoid disinformation. We show a path forward for designing effective warnings, and we contribute repeatable methods for evaluating behavioral effects. We also surface a possible dilemma: disinformation warnings might be able to inform users and guide behavior, but the behavioral effects might result from user experience friction, not informed decision making.
Protect, Show, Attend and Tell: Empowering Image Captioning Models with Ownership Protection
Venue: arXiv cs.CV 2021
Year: 2021

By and large, existing Intellectual Property (IP) protection on deep neural networks typically i) focus on image classification task only, and ii) follow a standard digital watermarking framework that was conventionally used to protect the ownership of multimedia and video content. This paper demonstrates that the current digital watermarking framework is insufficient to protect image captioning tasks that are often regarded as one of the frontiers AI problems. As a remedy, this paper studies and proposes two different embedding schemes in the hidden memory state of a recurrent neural network to protect the image captioning model. From empirical points, we prove that a forged key will yield an unusable image captioning model, defeating the purpose of infringement. To the best of our knowledge, this work is the first to propose ownership protection on image captioning task. Also, extensive experiments show that the proposed method does not compromise the original image captioning performance on all common captioning metrics on Flickr30k and MS-COCO datasets, and at the same time it is able to withstand both removal and ambiguity attacks. Code is available at https://github.com/jianhanlim/ipr-imagecaptioning
A Review of Serverless Use Cases and their Characteristics
Venue: arXiv cs.SE 2021
Year: 2021

The serverless computing paradigm promises many desirable properties for cloud applications - low-cost, fine-grained deployment, and management-free operation. Consequently, the paradigm has underwent rapid growth: there currently exist tens of serverless platforms and all global cloud providers host serverless operations. To help tune existing platforms, guide the design of new serverless approaches, and overall contribute to understanding this paradigm, in this work we present a long-term, comprehensive effort to identify, collect, and characterize 89 serverless use cases. We survey use cases, sourced from white and grey literature, and from consultations with experts in areas such as scientific computing. We study each use case using 24 characteristics, including general aspects, but also workload, application, and requirements. When the use cases employ workflows, we further analyze their characteristics. Overall, we hope our study will be useful for both academia and industry, and encourage the community to further share and communicate their use cases. This article appears also as a SPEC Technical Report: https://research.spec.org/fileadmin/user_upload/documents/rg_cloud/endorsed_publications/SPEC_RG_2020_Serverless_Usecases.pdf The article may be submitted for peer-reviewed publication.
Improving Semi-supervised Federated Learning by Reducing the Gradient Diversity of Models
Venue: arXiv cs.LG 2021
Year: 2021

Federated learning (FL) is a promising way to use the computing power of mobile devices while maintaining the privacy of users. Current work in FL, however, makes the unrealistic assumption that the users have ground-truth labels on their devices, while also assuming that the server has neither data nor labels. In this work, we consider the more realistic scenario where the users have only unlabeled data, while the server has some labeled data, and where the amount of labeled data is smaller than the amount of unlabeled data. We call this learning problem semi-supervised federated learning (SSFL). For SSFL, we demonstrate that a critical issue that affects the test accuracy is the large gradient diversity of the models from different users. Based on this, we investigate several design choices. First, we find that the so-called consistency regularization loss (CRL), which is widely used in semi-supervised learning, performs reasonably well but has large gradient diversity. Second, we find that Batch Normalization (BN) increases gradient diversity. Replacing BN with the recently-proposed Group Normalization (GN) can reduce gradient diversity and improve test accuracy. Third, we show that CRL combined with GN still has a large gradient diversity when the number of users is large. Based on these results, we propose a novel grouping-based model averaging method to replace the FedAvg averaging method. Overall, our grouping-based averaging, combined with GN and CRL, achieves better test accuracy than not just a contemporary paper on SSFL in the same settings (>10\%), but also four supervised FL algorithms.
Popularity and Centrality in Spotify Networks: Critical transitions in eigenvector centrality
Venue: arXiv cs.SI 2021
Year: 2021

The modern age of digital music access has increased the availability of data about music consumption and creation, facilitating the large-scale analysis of the complex networks that connect music together. Data about user streaming behaviour, and the musical collaboration networks are particularly important with new data-driven recommendation systems. Without thorough analysis, such collaboration graphs can lead to false or misleading conclusions. Here we present a new collaboration network of artists from the online music streaming service Spotify, and demonstrate a critical change in the eigenvector centrality of artists, as low popularity artists are removed. The critical change in centrality, from classical artists to rap artists, demonstrates deeper structural properties of the network. A Social Group Centrality model is presented to simulate this critical transition behaviour, and switching between dominant eigenvectors is observed. This model presents a novel investigation of the effect of popularity bias on how centrality and importance are measured, and provides a new tool for examining such flaws in networks.
Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion
Venue: arXiv cs.RO 2021
Year: 2021

Hierarchical learning has been successful at learning generalizable locomotion skills on walking robots in a sample-efficient manner. However, the low-dimensional "latent" action used to communicate between two layers of the hierarchy is typically user-designed. In this work, we present a fully-learned hierarchical framework, that is capable of jointly learning the low-level controller and the high-level latent action space. Once this latent space is learned, we plan over continuous latent actions in a model-predictive control fashion, using a learned high-level dynamics model. This framework generalizes to multiple robots, and we present results on a Daisy hexapod simulation, A1 quadruped simulation, and Daisy robot hardware. We compare a range of learned hierarchical approaches from literature, and show that our framework outperforms baselines on multiple tasks and two simulations. In addition to learning approaches, we also compare to inverse-kinematics (IK) acting on desired robot motion, and show that our fully-learned framework outperforms IK in adverse settings on both A1 and Daisy simulations. On hardware, we show the Daisy hexapod achieve multiple locomotion tasks, in an unstructured outdoor setting, with only 2000 hardware samples, reinforcing the robustness and sample-efficiency of our approach.
Towards Practical 2D Grapevine Bud Detection with Fully Convolutional Networks
Venue: arXiv cs.CV 2021
Year: 2021

In Viticulture, visual inspection of the plant is a necessary task for measuring relevant variables. In many cases, these visual inspections are susceptible to automation through computer vision methods. Bud detection is one such visual task, central for the measurement of important variables such as: measurement of bud sunlight exposure, autonomous pruning, bud counting, type-of-bud classification, bud geometric characterization, internode length, bud area, and bud development stage, among others. This paper presents a computer method for grapevine bud detection based on a Fully Convolutional Networks MobileNet architecture (FCN-MN). To validate its performance, this architecture was compared in the detection task with a strong method for bud detection, Scanning Windows (SW) based on a patch classifier, showing improvements over three aspects of detection: segmentation, correspondence identification and localization. The best version of FCN-MN showed a detection F1-measure of $88.6\%$ (for true positives defined as detected components whose intersection-over-union with the true bud is above $0.5$), and false positives that are small and near the true bud. Splits -- false positives overlapping the true bud -- showed a mean segmentation precision of $89.3\% (21.7)$, while false alarms -- false positives not overlapping the true bud -- showed a mean pixel area of only $8\%$ the area of a true bud, and a distance (between mass centers) of $1.1$ true bud diameters. The paper concludes by discussing how these results for FCN-MN would produce sufficiently accurate measurements of bud variables such as bud number, bud area, and internode length, suggesting a good performance in a practical setup.
MultiGBS: A multi-layer graph approach to biomedical summarization
Venue: arXiv cs.IR 2021
Year: 2021

Automatic text summarization methods generate a shorter version of the input text to assist the reader in gaining a quick yet informative gist. Existing text summarization methods generally focus on a single aspect of text when selecting sentences, causing the potential loss of essential information. In this study, we propose a domain-specific method that models a document as a multi-layer graph to enable multiple features of the text to be processed at the same time. The features we used in this paper are word similarity, semantic similarity, and co-reference similarity, which are modelled as three different layers. The unsupervised method selects sentences from the multi-layer graph based on the MultiRank algorithm and the number of concepts. The proposed MultiGBS algorithm employs UMLS and extracts the concepts and relationships using different tools such as SemRep, MetaMap, and OGER. Extensive evaluation by ROUGE and BERTScore shows increased F-measure values.
Avoiding Negative Side Effects due to Incomplete Knowledge of AI Systems
Venue: arXiv cs.CY 2021
Year: 2021

Autonomous agents acting in the real-world often operate based on models that ignore certain aspects of the environment. The incompleteness of any given model -- handcrafted or machine acquired -- is inevitable due to practical limitations of any modeling technique for complex real-world settings. Due to the limited fidelity of its model, an agent's actions may have unexpected, undesirable consequences during execution. Learning to recognize and avoid such negative side effects of an agent's actions is critical to improve the safety and reliability of autonomous systems. Mitigating negative side effects is an emerging research topic that is attracting increased attention due to the rapid growth in the deployment of AI systems and their broad societal impacts. This article provides a comprehensive overview of different forms of negative side effects and the recent research efforts to address them. We identify key characteristics of negative side effects, highlight the challenges in avoiding negative side effects, and discuss recently developed approaches, contrasting their benefits and limitations. The article concludes with a discussion of open questions and suggestions for future research directions.