OpenRaiser/Intern-Atlas huggingface dataset:
Large deviations rates for stochastic gradient descent with strongly convex functions
Venue: arXiv cs.LG 2022
Year: 2022

Recent works have shown that high probability metrics with stochastic gradient descent (SGD) exhibit informativeness and in some cases advantage over the commonly adopted mean-square error-based ones. In this work we provide a formal framework for the study of general high probability bounds with SGD, based on the theory of large deviations. The framework allows for a generic (not-necessarily bounded) gradient noise satisfying mild technical assumptions, allowing for the dependence of the noise distribution on the current iterate. Under the preceding assumptions, we find an upper large deviations bound for SGD with strongly convex functions. The corresponding rate function captures analytical dependence on the noise distribution and other problem parameters. This is in contrast with conventional mean-square error analysis that captures only the noise dependence through the variance and does not capture the effect of higher order moments nor interplay between the noise geometry and the shape of the cost function. We also derive exact large deviation rates for the case when the objective function is quadratic and show that the obtained function matches the one from the general upper bound hence showing the tightness of the general upper bound. Numerical examples illustrate and corroborate theoretical findings.
How Stable is Knowledge Base Knowledge?
Venue: arXiv cs.AI 2022
Year: 2022

Knowledge Bases (KBs) provide structured representation of the real-world in the form of extensive collections of facts about real-world entities, their properties and relationships. They are ubiquitous in large-scale intelligent systems that exploit structured information such as in tasks like structured search, question answering and reasoning, and hence their data quality becomes paramount. The inevitability of change in the real-world, brings us to a central property of KBs -- they are highly dynamic in that the information they contain are constantly subject to change. In other words, KBs are unstable. In this paper, we investigate the notion of KB stability, specifically, the problem of KBs changing due to real-world change. Some entity-property-pairs do not undergo change in reality anymore (e.g., Einstein-children or Tesla-founders), while others might well change in the future (e.g., Tesla-board member or Ronaldo-occupation as of 2022). This notion of real-world grounded change is different from other changes that affect the data only, notably correction and delayed insertion, which have received attention in data cleaning, vandalism detection, and completeness estimation already. To analyze KB stability, we proceed in three steps. (1) We present heuristics to delineate changes due to world evolution from delayed completions and corrections, and use these to study the real-world evolution behaviour of diverse Wikidata domains, finding a high skew in terms of properties. (2) We evaluate heuristics to identify entities and properties likely to not change due to real-world change, and filter inherently stable entities and properties. (3) We evaluate the possibility of predicting stability post-hoc, specifically predicting change in a property of an entity, finding that this is possible with up to 83% F1 score, on a balanced binary stability prediction task.
Adversarial Attack on Radar-based Environment Perception Systems
Venue: arXiv cs.CR 2022
Year: 2022

Due to their robustness to degraded capturing conditions, radars are widely used for environment perception, which is a critical task in applications like autonomous vehicles. More specifically, Ultra-Wide Band (UWB) radars are particularly efficient for short range settings as they carry rich information on the environment. Recent UWB-based systems rely on Machine Learning (ML) to exploit the rich signature of these sensors. However, ML classifiers are susceptible to adversarial examples, which are created from raw data to fool the classifier such that it assigns the input to the wrong class. These attacks represent a serious threat to systems integrity, especially for safety-critical applications. In this work, we present a new adversarial attack on UWB radars in which an adversary injects adversarial radio noise in the wireless channel to cause an obstacle recognition failure. First, based on signals collected in real-life environment, we show that conventional attacks fail to generate robust noise under realistic conditions. We propose a-RNA, i.e., Adversarial Radio Noise Attack to overcome these issues. Specifically, a-RNA generates an adversarial noise that is efficient without synchronization between the input signal and the noise. Moreover, a-RNA generated noise is, by-design, robust against pre-processing countermeasures such as filtering-based defenses. Moreover, in addition to the undetectability objective by limiting the noise magnitude budget, a-RNA is also efficient in the presence of sophisticated defenses in the spectral domain by introducing a frequency budget. We believe this work should alert about potentially critical implementations of adversarial attacks on radar systems that should be taken seriously.
OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection
Venue: arXiv cs.CV 2022
Year: 2022

Despite monocular 3D object detection having recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery, such two-stage methods typically suffer from overfitting and are incapable of explicitly encapsulating the geometric relation between depth and object bounding box. To overcome this limitation, we instead propose OPA-3D, a single-stage, end-to-end, Occlusion-Aware Pixel-Wise Aggregation network that to jointly estimate dense scene depth with depth-bounding box residuals and object bounding boxes, allowing a two-stream detection of 3D objects, leading to significantly more robust detections. Thereby, the geometry stream denoted as the Geometry Stream, combines visible depth and depth-bounding box residuals to recover the object bounding box via explicit occlusion-aware optimization. In addition, a bounding box based geometry projection scheme is employed in an effort to enhance distance perception. The second stream, named as the Context Stream, directly regresses 3D object location and size. This novel two-stream representation further enables us to enforce cross-stream consistency terms which aligns the outputs of both streams, improving the overall performance. Extensive experiments on the public benchmark demonstrate that OPA-3D outperforms state-of-the-art methods on the main Car category, whilst keeping a real-time inference speed. We plan to release all codes and trained models soon.
Proof of User Similarity: the Spatial Measurer of Blockchain
Venue: arXiv cs.CR 2022
Year: 2022

Although proof of work (PoW) consensus dominates the current blockchain-based systems mostly, it has always been criticized for the uneconomic brute-force calculation. As alternatives, energy-conservation and energy-recycling mechanisms heaved in sight. In this paper, we propose proof of user similarity (PoUS), a distinct energy-recycling consensus mechanism, harnessing the valuable computing power to calculate the similarities of users, and enact the calculation results into the packing rule. However, the expensive calculation required in PoUS challenges miners in participating, and may induce plagiarism and lying risks. To resolve these issues, PoUS embraces the best-effort schema by allowing miners to compute partially. Besides, a voting mechanism based on the two-parties computation and Bayesian truth serum is proposed to guarantee privacy-preserved voting and truthful reports. Noticeably, PoUS distinguishes itself in recycling the computing power back to blockchain since it turns the resource wastage to facilitate refined cohort analysis of users, serving as the spatial measurer and enabling a searchable blockchain. We build a prototype of PoUS and compare its performance with PoW. The results show that PoUS outperforms PoW in achieving an average TPS improvement of 24.01% and an average confirmation latency reduction of 43.64%. Besides, PoUS functions well in mirroring the spatial information of users, with negligible computation time and communication cost.
Mitigating Popularity Bias in Recommendation with Unbalanced Interactions: A Gradient Perspective
Venue: arXiv cs.IR 2022
Year: 2022

Recommender systems learn from historical user-item interactions to identify preferred items for target users. These observed interactions are usually unbalanced following a long-tailed distribution. Such long-tailed data lead to popularity bias to recommend popular but not personalized items to users. We present a gradient perspective to understand two negative impacts of popularity bias in recommendation model optimization: (i) the gradient direction of popular item embeddings is closer to that of positive interactions, and (ii) the magnitude of positive gradient for popular items are much greater than that of unpopular items. To address these issues, we propose a simple yet efficient framework to mitigate popularity bias from a gradient perspective. Specifically, we first normalize each user embedding and record accumulated gradients of users and items via popularity bias measures in model training. To address the popularity bias issues, we develop a gradient-based embedding adjustment approach used in model testing. This strategy is generic, model-agnostic, and can be seamlessly integrated into most existing recommender systems. Our extensive experiments on two classic recommendation models and four real-world datasets demonstrate the effectiveness of our method over state-of-the-art debiasing baselines.
Recommendation with User Active Disclosing Willingness
Venue: arXiv cs.IR 2022
Year: 2022

Recommender system has been deployed in a large amount of real-world applications, profoundly influencing people's daily life and production.Traditional recommender models mostly collect as comprehensive as possible user behaviors for accurate preference estimation. However, considering the privacy, preference shaping and other issues, the users may not want to disclose all their behaviors for training the model. In this paper, we study a novel recommendation paradigm, where the users are allowed to indicate their "willingness" on disclosing different behaviors, and the models are optimized by trading-off the recommendation quality as well as the violation of the user "willingness". More specifically, we formulate the recommendation problem as a multiplayer game, where the action is a selection vector representing whether the items are involved into the model training. For efficiently solving this game, we design a tailored algorithm based on influence function to lower the time cost for recommendation quality exploration, and also extend it with multiple anchor selection vectors.We conduct extensive experiments to demonstrate the effectiveness of our model on balancing the recommendation quality and user disclosing willingness.
On-Device Model Fine-Tuning with Label Correction in Recommender Systems
Venue: arXiv cs.IR 2022
Year: 2022

To meet the practical requirements of low latency, low cost, and good privacy in online intelligent services, more and more deep learning models are offloaded from the cloud to mobile devices. To further deal with cross-device data heterogeneity, the offloaded models normally need to be fine-tuned with each individual user's local samples before being put into real-time inference. In this work, we focus on the fundamental click-through rate (CTR) prediction task in recommender systems and study how to effectively and efficiently perform on-device fine-tuning. We first identify the bottleneck issue that each individual user's local CTR (i.e., the ratio of positive samples in the local dataset for fine-tuning) tends to deviate from the global CTR (i.e., the ratio of positive samples in all the users' mixed datasets on the cloud for training out the initial model). We further demonstrate that such a CTR drift problem makes on-device fine-tuning even harmful to item ranking. We thus propose a novel label correction method, which requires each user only to change the labels of the local samples ahead of on-device fine-tuning and can well align the locally prior CTR with the global CTR. The offline evaluation results over three datasets and five CTR prediction models as well as the online A/B testing results in Mobile Taobao demonstrate the necessity of label correction in on-device fine-tuning and also reveal the improvement over cloud-based learning without fine-tuning.
A logical framework to model software development by multiple agents following a common specification
Venue: arXiv cs.LO 2022
Year: 2022

In this paper, we address program development by multiple different programmers (or programming teams), each working in different settings (programming languages or reasoning frameworks), but following a common specification; in particular, we examine at an abstract level the problem of translatability between their produced programs. To this end, after consideration of some philosophical issues regarding program development, including its similarities and dissimilarities with scientific theorising, we extend a logical framework built to describe scientific theorising in relativist settings: our extensions add the ability of reasoning about programs, the iterative process of their generation, and their specifications. We are thus able to define a notion of translation between the outputs of program generators and prove that there is a (trivial) such translation when two program generators follow the same specification reliably (in a specific sense of reliability).
Are Turn-by-Turn Navigation Systems of Regular Vehicles Ready for Edge-Assisted Autonomous Vehicles?
Venue: arXiv cs.NI 2022
Year: 2022

Future private and public transportation will be dominated by Autonomous Vehicles (AV), which are potentially safer than regular vehicles. However, ensuring good performance for the autonomous features requires fast processing of heavy computational tasks. Providing each AV with powerful enough computing resources is certainly a practical solution but may result in increased AV cost and decreased driving range. An alternative solution being explored in research is to install low-power computing hardware on each AV and offload the heavy tasks to powerful nearby edge servers. In this case, the AV's reaction time depends on how quickly the navigation tasks are completed in the edge server. To reduce task completion latency, the edge servers must be equipped with enough network and computing resources to handle the vehicle demands. However, this demand shows large spatio-temporal variations. Thus, deploying the same amount of resources in different locations may lead to unnecessary resource over-provisioning. Taking these challenges into consideration, in this paper, we discuss the implications of deploying different amounts of resources in different city areas based on real traffic data to sustain peak versus average demand. Because deploying edge resources to handle the average demand leads to lower deployment costs and better system utilization, we then investigate how peak-hour demand affect the safe travel time of AVs and whether current turn-by-turn navigation apps would still provide the fastest travel route. The insights and findings of this paper will inspire new research that can considerably speed up the deployment of edge-assisted AVs in our society.
A machine learning model to identify corruption in México's public procurement contracts
Venue: arXiv cs.CY 2022
Year: 2022

The costs and impacts of government corruption range from impairing a country's economic growth to affecting its citizens' well-being and safety. Public contracting between government dependencies and private sector instances, referred to as public procurement, is a fertile land of opportunity for corrupt practices, generating substantial monetary losses worldwide. Thus, identifying and deterring corrupt activities between the government and the private sector is paramount. However, due to several factors, corruption in public procurement is challenging to identify and track, leading to corrupt practices going unnoticed. This paper proposes a machine learning model based on an ensemble of random forest classifiers, which we call hyper-forest, to identify and predict corrupt contracts in México's public procurement data. This method's results correctly detect most of the corrupt and non-corrupt contracts evaluated in the dataset. Furthermore, we found that the most critical predictors considered in the model are those related to the relationship between buyers and suppliers rather than those related to features of individual contracts. Also, the method proposed here is general enough to be trained with data from other countries. Overall, our work presents a tool that can help in the decision-making process to identify, predict and analyze corruption in public procurement contracts.
Over-communicate no more: Situated RL agents learn concise communication protocols
Venue: arXiv cs.MA 2022
Year: 2022

While it is known that communication facilitates cooperation in multi-agent settings, it is unclear how to design artificial agents that can learn to effectively and efficiently communicate with each other. Much research on communication emergence uses reinforcement learning (RL) and explores unsituated communication in one-step referential tasks -- the tasks are not temporally interactive and lack time pressures typically present in natural communication. In these settings, agents may successfully learn to communicate, but they do not learn to exchange information concisely -- they tend towards over-communication and an inefficient encoding. Here, we explore situated communication in a multi-step task, where the acting agent has to forgo an environmental action to communicate. Thus, we impose an opportunity cost on communication and mimic the real-world pressure of passing time. We compare communication emergence under this pressure against learning to communicate with a cost on articulation effort, implemented as a per-message penalty (fixed and progressively increasing). We find that while all tested pressures can disincentivise over-communication, situated communication does it most effectively and, unlike the cost on effort, does not negatively impact emergence. Implementing an opportunity cost on communication in a temporally extended environment is a step towards embodiment, and might be a pre-condition for incentivising efficient, human-like communication.
Multi-vehicle Conflict Resolution in Highly Constrained Spaces by Merging Optimal Control and Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

We present a novel method to address the problem of multi-vehicle conflict resolution in highly constrained spaces. An optimal control problem is formulated to incorporate nonlinear, non-holonomic vehicle dynamics and exact collision avoidance constraints. A solution to the problem can be obtained by first learning configuration strategies with reinforcement learning (RL) in a simplified discrete environment, and then using these strategies to shape the constraint space of the original problem. Simulation results show that our method can explore efficient actions to resolve conflicts in confined space and generate dexterous maneuvers that are both collision-free and kinematically feasible.
Try to Avoid Attacks: A Federated Data Sanitization Defense for Healthcare IoMT Systems
Venue: arXiv cs.CR 2022
Year: 2022

Healthcare IoMT systems are becoming intelligent, miniaturized, and more integrated into daily life. As for the distributed devices in the IoMT, federated learning has become a topical area with cloud-based training procedures when meeting data security. However, the distribution of IoMT has the risk of protection from data poisoning attacks. Poisoned data can be fabricated by falsifying medical data, which urges a security defense to IoMT systems. Due to the lack of specific labels, the filtering of malicious data is a unique unsupervised scenario. One of the main challenges is finding robust data filtering methods for various poisoning attacks. This paper introduces a Federated Data Sanitization Defense, a novel approach to protect the system from data poisoning attacks. To solve this unsupervised problem, we first use federated learning to project all the data to the subspace domain, allowing unified feature mapping to be established since the data is stored locally. Then we adopt the federated clustering to re-group their features to clarify the poisoned data. The clustering is based on the consistent association of data and its semantics. After we get the clustering of the private data, we do the data sanitization with a simple yet efficient strategy. In the end, each device of distributed ImOT is enabled to filter malicious data according to federated data sanitization. Extensive experiments are conducted to evaluate the efficacy of the proposed defense method against data poisoning attacks. Further, we consider our approach in the different poisoning ratios and achieve a high Accuracy and a low attack success rate.
nerf2nerf: Pairwise Registration of Neural Radiance Fields
Venue: arXiv cs.CV 2022
Year: 2022

We introduce a technique for pairwise registration of neural fields that extends classical optimization-based local registration (i.e. ICP) to operate on Neural Radiance Fields (NeRF) -- neural 3D scene representations trained from collections of calibrated images. NeRF does not decompose illumination and color, so to make registration invariant to illumination, we introduce the concept of a ''surface field'' -- a field distilled from a pre-trained NeRF model that measures the likelihood of a point being on the surface of an object. We then cast nerf2nerf registration as a robust optimization that iteratively seeks a rigid transformation that aligns the surface fields of the two scenes. We evaluate the effectiveness of our technique by introducing a dataset of pre-trained NeRF scenes -- our synthetic scenes enable quantitative evaluations and comparisons to classical registration techniques, while our real scenes demonstrate the validity of our technique in real-world scenarios. Additional results available at: https://nerf2nerf.github.io
Cooperative Maneuvers of Highly Automated Vehicles at Urban Intersections: A Game-theoretic Approach
Venue: arXiv cs.GT 2022
Year: 2022

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and vulnerable road users such as cyclists and pedestrians in so-called mixed traffic. In order to support cooperative maneuvers the urban intersection is equipped with an intelligent controller which has access to different sensors along the intersection to detect and predict the behavior of the traffic participants involved. Since the intersection controller cannot directly control all road users and - not least due to the legal situation - driving decisions must always be made by the vehicle controller itself, we focus on a decentralized control paradigm. In this context, connected and highly automated vehicles use some carefully selected game theory concepts to make the best possible and clear decisions about cooperative maneuvers. The aim is to improve traffic efficiency while maintaining road safety at the same time. Our first results obtained with a prototypical implementation of the approach in a traffic simulation are promising.