OpenRaiser/Intern-Atlas huggingface dataset:
Delving into the Pre-training Paradigm of Monocular 3D Object Detection
Venue: arXiv cs.CV 2022
Year: 2022

The labels of monocular 3D object detection (M3OD) are expensive to obtain. Meanwhile, there usually exists numerous unlabeled data in practical applications, and pre-training is an efficient way of exploiting the knowledge in unlabeled data. However, the pre-training paradigm for M3OD is hardly studied. We aim to bridge this gap in this work. To this end, we first draw two observations: (1) The guideline of devising pre-training tasks is imitating the representation of the target task. (2) Combining depth estimation and 2D object detection is a promising M3OD pre-training baseline. Afterwards, following the guideline, we propose several strategies to further improve this baseline, which mainly include target guided semi-dense depth estimation, keypoint-aware 2D object detection, and class-level loss adjustment. Combining all the developed techniques, the obtained pre-training framework produces pre-trained backbones that improve M3OD performance significantly on both the KITTI-3D and nuScenes benchmarks. For example, by applying a DLA34 backbone to a naive center-based M3OD detector, the moderate ${\rm AP}_{3D}70$ score of Car on the KITTI-3D testing set is boosted by 18.71\% and the NDS score on the nuScenes validation set is improved by 40.41\% relatively.
Robust Deep Ensemble Method for Real-world Image Denoising
Venue: arXiv cs.CV 2022
Year: 2022

Recently, deep learning-based image denoising methods have achieved promising performance on test data with the same distribution as training set, where various denoising models based on synthetic or collected real-world training data have been learned. However, when handling real-world noisy images, the denoising performance is still limited. In this paper, we propose a simple yet effective Bayesian deep ensemble (BDE) method for real-world image denoising, where several representative deep denoisers pre-trained with various training data settings can be fused to improve robustness. The foundation of BDE is that real-world image noises are highly signal-dependent, and heterogeneous noises in a real-world noisy image can be separately handled by different denoisers. In particular, we take well-trained CBDNet, NBNet, HINet, Uformer and GMSNet into denoiser pool, and a U-Net is adopted to predict pixel-wise weighting maps to fuse these denoisers. Instead of solely learning pixel-wise weighting maps, Bayesian deep learning strategy is introduced to predict weighting uncertainty as well as weighting map, by which prediction variance can be modeled for improving robustness on real-world noisy images. Extensive experiments have shown that real-world noises can be better removed by fusing existing denoisers instead of training a big denoiser with expensive cost. On DND dataset, our BDE achieves +0.28~dB PSNR gain over the state-of-the-art denoising method. Moreover, we note that our BDE denoiser based on different Gaussian noise levels outperforms state-of-the-art CBDNet when applying to real-world noisy images. Furthermore, our BDE can be extended to other image restoration tasks, and achieves +0.30dB, +0.18dB and +0.12dB PSNR gains on benchmark datasets for image deblurring, image deraining and single image super-resolution, respectively.
Covering Sequences for $\ell$-Tuples
Venue: arXiv cs.IT 2022
Year: 2022

de Bruijn sequences of order $\ell$, i.e., sequences that contain each $\ell$-tuple as a window exactly once, have found many diverse applications in information theory and most recently in DNA storage. This family of binary sequences has rate of $1/2$. To overcome this low rate, we study $\ell$-tuples covering sequences, which impose that each $\ell$-tuple appears at least once as a window in the sequence. The cardinality of this family of sequences is analyzed while assuming that $\ell$ is a function of the sequence length $n$. Lower and upper bounds on the asymptotic rate of this family are given. Moreover, we study an upper bound for $\ell$ such that the redundancy of the set of $\ell$-tuples covering sequences is at most a single symbol. Lastly, we present efficient encoding and decoding schemes for $\ell$-tuples covering sequences that meet this bound.
A Survey on the Fairness of Recommender Systems
Venue: arXiv cs.IR 2022
Year: 2022

Recommender systems are an essential tool to relieve the information overload challenge and play an important role in people's daily lives. Since recommendations involve allocations of social resources (e.g., job recommendation), an important issue is whether recommendations are fair. Unfair recommendations are not only unethical but also harm the long-term interests of the recommender system itself. As a result, fairness issues in recommender systems have recently attracted increasing attention. However, due to multiple complex resource allocation processes and various fairness definitions, the research on fairness in recommendation is scattered. To fill this gap, we review over 60 papers published in top conferences/journals, including TOIS, SIGIR, and WWW. First, we summarize fairness definitions in the recommendation and provide several views to classify fairness issues. Then, we review recommendation datasets and measurements in fairness studies and provide an elaborate taxonomy of fairness methods in the recommendation. Finally, we conclude this survey by outlining some promising future directions.
State Estimation for Human Motion and Humanoid Locomotion
Venue: arXiv cs.RO 2022
Year: 2022

The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that future by extending their research efforts in human-robot interaction towards human-robot collaboration. It is possible that the anthropomorphic nature of the humanoid robots could deem the most suitable for such collaborations in semi-structured, human-centered environments. Wearable sensing technologies for human agents and efficient human-aware control strategies for the humanoid robot will be key in achieving a seamless human-humanoid collaboration. This is where reliable state estimation strategies become crucial in making sense of the information coming from multiple distributed sensors attached to the human and those on the robot to augment the feedback controllers designed for the humanoid robot to aid their human counterparts. In this context, this thesis investigates the theory of Lie groups for designing state estimation techniques aimed towards humanoid locomotion and human motion estimation. [continued]
Sim2real for Reinforcement Learning Driven Next Generation Networks
Venue: arXiv cs.LG 2022
Year: 2022

The next generation of networks will actively embrace artificial intelligence (AI) and machine learning (ML) technologies for automation networks and optimal network operation strategies. The emerging network structure represented by Open RAN (O-RAN) conforms to this trend, and the radio intelligent controller (RIC) at the centre of its specification serves as an ML applications host. Various ML models, especially Reinforcement Learning (RL) models, are regarded as the key to solving RAN-related multi-objective optimization problems. However, it should be recognized that most of the current RL successes are confined to abstract and simplified simulation environments, which may not directly translate to high performance in complex real environments. One of the main reasons is the modelling gap between the simulation and the real environment, which could make the RL agent trained by simulation ill-equipped for the real environment. This issue is termed as the sim2real gap. This article brings to the fore the sim2real challenge within the context of O-RAN. Specifically, it emphasizes the characteristics, and benefits that the digital twins (DT) could have as a place for model development and verification. Several use cases are presented to exemplify and demonstrate failure modes of the simulations trained RL model in real environments. The effectiveness of DT in assisting the development of RL algorithms is discussed. Then the current state of the art learning-based methods commonly used to overcome the sim2real challenge are presented. Finally, the development and deployment concerns for the RL applications realisation in O-RAN are discussed from the view of the potential issues like data interaction, environment bottlenecks, and algorithm design.
Non-decreasing Payment Rules for Combinatorial Auctions
Venue: arXiv cs.GT 2022
Year: 2022

Combinatorial auctions are used to allocate resources in domains where bidders have complex preferences over bundles of goods. However, the behavior of bidders under different payment rules is not well understood, and there has been limited success in finding Bayes-Nash equilibria of such auctions due to the computational difficulties involved. In this paper, we introduce non-decreasing payment rules. Under such a rule, the payment of a bidder cannot decrease when he increases his bid, which is a natural and desirable property. VCG-nearest, the payment rule most commonly used in practice, violates this property and can thus be manipulated in surprising ways. In contrast, we show that many other payment rules are non-decreasing. We also show that a non-decreasing payment rule imposes a structure on the auction game that enables us to search for an approximate Bayes-Nash equilibrium much more efficiently than in the general case. Finally, we introduce the utility planes BNE algorithm, which exploits this structure and outperforms a state-of-the-art algorithm by multiple orders of magnitude.
Efficient Resource Allocation with Fairness Constraints in Restless Multi-Armed Bandits
Venue: arXiv cs.LG 2022
Year: 2022

Restless Multi-Armed Bandits (RMAB) is an apt model to represent decision-making problems in public health interventions (e.g., tuberculosis, maternal, and child care), anti-poaching planning, sensor monitoring, personalized recommendations and many more. Existing research in RMAB has contributed mechanisms and theoretical results to a wide variety of settings, where the focus is on maximizing expected value. In this paper, we are interested in ensuring that RMAB decision making is also fair to different arms while maximizing expected value. In the context of public health settings, this would ensure that different people and/or communities are fairly represented while making public health intervention decisions. To achieve this goal, we formally define the fairness constraints in RMAB and provide planning and learning methods to solve RMAB in a fair manner. We demonstrate key theoretical properties of fair RMAB and experimentally demonstrate that our proposed methods handle fairness constraints without sacrificing significantly on solution quality.
Sequential Density Estimation via Nonlinear Continuous Weighted Finite Automata
Venue: arXiv cs.LG 2022
Year: 2022

Weighted finite automata (WFAs) have been widely applied in many fields. One of the classic problems for WFAs is probability distribution estimation over sequences of discrete symbols. Although WFAs have been extended to deal with continuous input data, namely continuous WFAs (CWFAs), it is still unclear how to approximate density functions over sequences of continuous random variables using WFA-based models, due to the limitation on the expressiveness of the model as well as the tractability of approximating density functions via CWFAs. In this paper, we propose a nonlinear extension to the CWFA model to first improve its expressiveness, we refer to it as the nonlinear continuous WFAs (NCWFAs). Then we leverage the so-called RNADE method, which is a well-known density estimator based on neural networks, and propose the RNADE-NCWFA model. The RNADE-NCWFA model computes a density function by design. We show that this model is strictly more expressive than the Gaussian HMM model, which CWFA cannot approximate. Empirically, we conduct a synthetic experiment using Gaussian HMM generated data. We focus on evaluating the model's ability to estimate densities for sequences of varying lengths (longer length than the training data). We observe that our model performs the best among the compared baseline methods.
TURJUMAN: A Public Toolkit for Neural Arabic Machine Translation
Venue: arXiv cs.CL 2022
Year: 2022

We present TURJUMAN, a neural toolkit for translating from 20 languages into Modern Standard Arabic (MSA). TURJUMAN exploits the recently-introduced text-to-text Transformer AraT5 model, endowing it with a powerful ability to decode into Arabic. The toolkit offers the possibility of employing a number of diverse decoding methods, making it suited for acquiring paraphrases for the MSA translations as an added value. To train TURJUMAN, we sample from publicly available parallel data employing a simple semantic similarity method to ensure data quality. This allows us to prepare and release AraOPUS-20, a new machine translation benchmark. We publicly release our translation toolkit (TURJUMAN) as well as our benchmark dataset (AraOPUS-20).
A Study of Continual Learning Methods for Q-Learning
Venue: arXiv cs.LG 2022
Year: 2022

We present an empirical study on the use of continual learning (CL) methods in a reinforcement learning (RL) scenario, which, to the best of our knowledge, has not been described before. CL is a very active recent research topic concerned with machine learning under non-stationary data distributions. Although this naturally applies to RL, the use of dedicated CL methods is still uncommon. This may be due to the fact that CL methods often assume a decomposition of CL problems into disjoint sub-tasks of stationary distribution, that the onset of these sub-tasks is known, and that sub-tasks are non-contradictory. In this study, we perform an empirical comparison of selected CL methods in a RL problem where a physically simulated robot must follow a racetrack by vision. In order to make CL methods applicable, we restrict the RL setting and introduce non-conflicting subtasks of known onset, which are however not disjoint and whose distribution, from the learner's point of view, is still non-stationary. Our results show that dedicated CL methods can significantly improve learning when compared to the baseline technique of "experience replay".
Combining Monte-Carlo Tree Search with Proof-Number Search
Venue: arXiv cs.AI 2022
Year: 2022

Proof-Number Search (PNS) and Monte-Carlo Tree Search (MCTS) have been successfully applied for decision making in a range of games. This paper proposes a new approach called PN-MCTS that combines these two tree-search methods by incorporating the concept of proof and disproof numbers into the UCT formula of MCTS. Experimental results demonstrate that PN-MCTS outperforms basic MCTS in several games including Lines of Action, MiniShogi, Knightthrough, and Awari, achieving win rates up to 94.0%.
How unfair is private learning ?
Venue: arXiv cs.LG 2022
Year: 2022

As machine learning algorithms are deployed on sensitive data in critical decision making processes, it is becoming increasingly important that they are also private and fair. In this paper, we show that, when the data has a long-tailed structure, it is not possible to build accurate learning algorithms that are both private and results in higher accuracy on minority subpopulations. We further show that relaxing overall accuracy can lead to good fairness even with strict privacy requirements. To corroborate our theoretical results in practice, we provide an extensive set of experimental results using a variety of synthetic, vision (CIFAR10 and CelebA), and tabular (Law School) datasets and learning algorithms.
Finding and Following Optimal Trajectories for an Overactuated Floating Robotic Platform
Venue: arXiv cs.RO 2022
Year: 2022

The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the ability to service malfunctioning - and actively remove dysfunctional spacecraft from orbit. Robotic platforms that autonomously perform these tasks are a topic of ongoing research and thus must undergo thorough testing before launch. For representative system-level testing, the European Space Agency (ESA) uses, among other things, the Orbital Robotics and GNC Lab (ORGL), a flat-floor facility where air-bearing based platforms exhibit free-floating behavior in three Degrees of Freedom (DoF). This work introduces a representative simulation of a free-floating platform in the testing environment and a software framework for controller development. Finally, this work proposes a controller within that framework for finding and following optimal trajectories between arbitrary states, which is evaluated in simulation and reality.
Sharp-MAML: Sharpness-Aware Model-Agnostic Meta Learning
Venue: arXiv cs.LG 2022
Year: 2022

Model-agnostic meta learning (MAML) is currently one of the dominating approaches for few-shot meta-learning. Albeit its effectiveness, the optimization of MAML can be challenging due to the innate bilevel problem structure. Specifically, the loss landscape of MAML is much more complex with possibly more saddle points and local minimizers than its empirical risk minimization counterpart. To address this challenge, we leverage the recently invented sharpness-aware minimization and develop a sharpness-aware MAML approach that we term Sharp-MAML. We empirically demonstrate that Sharp-MAML and its computation-efficient variant can outperform the plain-vanilla MAML baseline (e.g., $+3\%$ accuracy on Mini-Imagenet). We complement the empirical study with the convergence rate analysis and the generalization bound of Sharp-MAML. To the best of our knowledge, this is the first empirical and theoretical study on sharpness-aware minimization in the context of bilevel learning. The code is available at https://github.com/mominabbass/Sharp-MAML.
SYNERgy between SYNaptic consolidation and Experience Replay for general continual learning
Venue: arXiv cs.NE 2022
Year: 2022

Continual learning (CL) in the brain is facilitated by a complex set of mechanisms. This includes the interplay of multiple memory systems for consolidating information as posited by the complementary learning systems (CLS) theory and synaptic consolidation for protecting the acquired knowledge from erasure. Thus, we propose a general CL method that creates a synergy between SYNaptic consolidation and dual memory Experience Replay (SYNERgy). Our method maintains a semantic memory that accumulates and consolidates information across the tasks and interacts with the episodic memory for effective replay. It further employs synaptic consolidation by tracking the importance of parameters during the training trajectory and anchoring them to the consolidated parameters in the semantic memory. To the best of our knowledge, our study is the first to employ dual memory experience replay in conjunction with synaptic consolidation that is suitable for general CL whereby the network does not utilize task boundaries or task labels during training or inference. Our evaluation on various challenging CL scenarios and characteristics analyses demonstrate the efficacy of incorporating both synaptic consolidation and CLS theory in enabling effective CL in DNNs.
Hypersyn: A Peer-to-Peer System for Mutual Credit
Venue: arXiv cs.CR 2022
Year: 2022

The Hypersyn protocol is a new type of permissionless and peer-to-peer payment network that is based on the concept of mutual credit and mutual arbitrage. Unlike blockchain-based systems, Hypersyn does not rely on any consensus algorithm. It does not require a distributed ledger to store the history of events nor a set of validators. Hypersyn does not have a system-imposed hard-cap on the number of transactions per second that it can perform, and can therefore easily scale up or down depending on network usage. Unlike in other payment systems, money in Hypersyn does not get transferred from person $A$ to person $B$ in the conventional sense. Instead of transferring a token between each other, peers in Hypersyn change their exchange value of their credit (i.e. their purchasing power) within the network. Just as in centrally-issued fiat systems, money in Hypersyn is treated as freely tradable debt, which inherently requires trust. But unlike centrally-issued fiat systems, money issuance in Hypersyn is not controlled by an authority, but is instead created on the spot as mutual credit. In blockchain-based systems and even in centrally-issued fiat systems, money is treated as a scarce commodity. In the Hypersyn protocol on the other hand, money supply within the system is elastic in nature. Because of these fundamental differences in assumptions, the Hypersyn protocol does not aim to compete with, or substitute blockchain-based systems. Instead, Hypersyn should be viewed as a tool that aims to offer a qualitative change in the way we exchange. It has the potential to increase the autonomy and self-organization that people can have, by enabling people to become both the creditors and debtors of their own "money" through mutual credit.
Simplifying Polylogarithms with Machine Learning
Venue: arXiv cs.LG 2022
Year: 2022

Polylogrithmic functions, such as the logarithm or dilogarithm, satisfy a number of algebraic identities. For the logarithm, all the identities follow from the product rule. For the dilogarithm and higher-weight classical polylogarithms, the identities can involve five functions or more. In many calculations relevant to particle physics, complicated combinations of polylogarithms often arise from Feynman integrals. Although the initial expressions resulting from the integration usually simplify, it is often difficult to know which identities to apply and in what order. To address this bottleneck, we explore to what extent machine learning methods can help. We consider both a reinforcement learning approach, where the identities are analogous to moves in a game, and a transformer network approach, where the problem is viewed analogously to a language-translation task. While both methods are effective, the transformer network appears more powerful and holds promise for practical use in symbolic manipulation tasks in mathematical physics.
Forecasting AI Progress: Evidence from a Survey of Machine Learning Researchers
Venue: arXiv cs.CY 2022
Year: 2022

Advances in artificial intelligence (AI) are shaping modern life, from transportation, health care, science, finance, to national defense. Forecasts of AI development could help improve policy- and decision-making. We report the results from a large survey of AI and machine learning (ML) researchers on their beliefs about progress in AI. The survey, fielded in late 2019, elicited forecasts for near-term AI development milestones and high- or human-level machine intelligence, defined as when machines are able to accomplish every or almost every task humans are able to do currently. As part of this study, we re-contacted respondents from a highly-cited study by Grace et al. (2018), in which AI/ML researchers gave forecasts about high-level machine intelligence and near-term milestones in AI development. Results from our 2019 survey show that, in aggregate, AI/ML researchers surveyed placed a 50% likelihood of human-level machine intelligence being achieved by 2060. The results show researchers newly contacted in 2019 expressed similar beliefs about the progress of advanced AI as respondents in the Grace et al. (2018) survey. For the recontacted participants from the Grace et al. (2018) study, the aggregate forecast for a 50% likelihood of high-level machine intelligence shifted from 2062 to 2076, although this change is not statistically significant, likely due to the small size of our panel sample. Forecasts of several near-term AI milestones have reduced in time, suggesting more optimism about AI progress. Finally, AI/ML researchers also exhibited significant optimism about how human-level machine intelligence will impact society.