OpenRaiser/Intern-Atlas huggingface dataset:
A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV
Venue: arXiv cs.RO 2023
Year: 2023

A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB.
Find a witness or shatter: the landscape of computable PAC learning
Venue: arXiv cs.CC 2023
Year: 2023

This paper contributes to the study of CPAC learnability -- a computable version of PAC learning -- by solving three open questions from recent papers. Firstly, we prove that every improperly CPAC learnable class is contained in a class which is properly CPAC learnable with polynomial sample complexity. This confirms a conjecture by Agarwal et al (COLT 2021). Secondly, we show that there exists a decidable class of hypothesis which is properly CPAC learnable, but only with uncomputably fast growing sample complexity. This solves a question from Sterkenburg (COLT 2022). Finally, we construct a decidable class of finite Littlestone dimension which is not improperly CPAC learnable, strengthening a recent result of Sterkenburg (2022) and answering a question posed by Hasrati and Ben-David (ALT 2023). Together with previous work, our results provide a complete landscape for the learnability problem in the CPAC setting.
Modeling and Forecasting COVID-19 Cases using Latent Subpopulations
Venue: arXiv cs.LG 2023
Year: 2023

Classical epidemiological models assume homogeneous populations. There have been important extensions to model heterogeneous populations, when the identity of the sub-populations is known, such as age group or geographical location. Here, we propose two new methods to model the number of people infected with COVID-19 over time, each as a linear combination of latent sub-populations -- i.e., when we do not know which person is in which sub-population, and the only available observations are the aggregates across all sub-populations. Method #1 is a dictionary-based approach, which begins with a large number of pre-defined sub-population models (each with its own starting time, shape, etc), then determines the (positive) weight of small (learned) number of sub-populations. Method #2 is a mixture-of-$M$ fittable curves, where $M$, the number of sub-populations to use, is given by the user. Both methods are compatible with any parametric model; here we demonstrate their use with first (a)~Gaussian curves and then (b)~SIR trajectories. We empirically show the performance of the proposed methods, first in (i) modeling the observed data and then in (ii) forecasting the number of infected people 1 to 4 weeks in advance. Across 187 countries, we show that the dictionary approach had the lowest mean absolute percentage error and also the lowest variance when compared with classical SIR models and moreover, it was a strong baseline that outperforms many of the models developed for COVID-19 forecasting.
FrameBERT: Conceptual Metaphor Detection with Frame Embedding Learning
Venue: arXiv cs.CL 2023
Year: 2023

In this paper, we propose FrameBERT, a RoBERTa-based model that can explicitly learn and incorporate FrameNet Embeddings for concept-level metaphor detection. FrameBERT not only achieves better or comparable performance to the state-of-the-art, but also is more explainable and interpretable compared to existing models, attributing to its ability of accounting for external knowledge of FrameNet.
Re-ViLM: Retrieval-Augmented Visual Language Model for Zero and Few-Shot Image Captioning
Venue: arXiv cs.CV 2023
Year: 2023

Augmenting pretrained language models (LMs) with a vision encoder (e.g., Flamingo) has obtained the state-of-the-art results in image-to-text generation. However, these models store all the knowledge within their parameters, thus often requiring enormous model parameters to model the abundant visual concepts and very rich textual descriptions. Additionally, they are inefficient in incorporating new data, requiring a computational-expensive fine-tuning process. In this work, we introduce a Retrieval-augmented Visual Language Model, Re-ViLM, built upon the Flamingo, that supports retrieving the relevant knowledge from the external database for zero and in-context few-shot image-to-text generations. By storing certain knowledge explicitly in the external database, our approach reduces the number of model parameters and can easily accommodate new data during evaluation by simply updating the database. We also construct an interleaved image and text data that facilitates in-context few-shot learning capabilities. We demonstrate that Re-ViLM significantly boosts performance for image-to-text generation tasks, especially for zero-shot and few-shot generation in out-of-domain settings with 4 times less parameters compared with baseline methods.
Projection-free Online Exp-concave Optimization
Venue: arXiv cs.LG 2023
Year: 2023

We consider the setting of online convex optimization (OCO) with \textit{exp-concave} losses. The best regret bound known for this setting is $O(n\log{}T)$, where $n$ is the dimension and $T$ is the number of prediction rounds (treating all other quantities as constants and assuming $T$ is sufficiently large), and is attainable via the well-known Online Newton Step algorithm (ONS). However, ONS requires on each iteration to compute a projection (according to some matrix-induced norm) onto the feasible convex set, which is often computationally prohibitive in high-dimensional settings and when the feasible set admits a non-trivial structure. In this work we consider projection-free online algorithms for exp-concave and smooth losses, where by projection-free we refer to algorithms that rely only on the availability of a linear optimization oracle (LOO) for the feasible set, which in many applications of interest admits much more efficient implementations than a projection oracle. We present an LOO-based ONS-style algorithm, which using overall $O(T)$ calls to a LOO, guarantees in worst case regret bounded by $\widetilde{O}(n^{2/3}T^{2/3})$ (ignoring all quantities except for $n,T$). However, our algorithm is most interesting in an important and plausible low-dimensional data scenario: if the gradients (approximately) span a subspace of dimension at most $ρ$, $ρ<< n$, the regret bound improves to $\widetilde{O}(ρ^{2/3}T^{2/3})$, and by applying standard deterministic sketching techniques, both the space and average additional per-iteration runtime requirements are only $O(ρn)$ (instead of $O(n^2)$). This improves upon recently proposed LOO-based algorithms for OCO which, while having the same state-of-the-art dependence on the horizon $T$, suffer from regret/oracle complexity that scales with $\sqrt{n}$ or worse.
Offsite-Tuning: Transfer Learning without Full Model
Venue: arXiv cs.CL 2023
Year: 2023

Transfer learning is important for foundation models to adapt to downstream tasks. However, many foundation models are proprietary, so users must share their data with model owners to fine-tune the models, which is costly and raise privacy concerns. Moreover, fine-tuning large foundation models is computation-intensive and impractical for most downstream users. In this paper, we propose Offsite-Tuning, a privacy-preserving and efficient transfer learning framework that can adapt billion-parameter foundation models to downstream data without access to the full model. In offsite-tuning, the model owner sends a light-weight adapter and a lossy compressed emulator to the data owner, who then fine-tunes the adapter on the downstream data with the emulator's assistance. The fine-tuned adapter is then returned to the model owner, who plugs it into the full model to create an adapted foundation model. Offsite-tuning preserves both parties' privacy and is computationally more efficient than the existing fine-tuning methods that require access to the full model weights. We demonstrate the effectiveness of offsite-tuning on various large language and vision foundation models. Offsite-tuning can achieve comparable accuracy as full model fine-tuning while being privacy-preserving and efficient, achieving 6.5x speedup and 5.6x memory reduction. Code is available at https://github.com/mit-han-lab/offsite-tuning.
ChemVise: Maximizing Out-of-Distribution Chemical Detection with the Novel Application of Zero-Shot Learning
Venue: arXiv cs.LG 2023
Year: 2023

Accurate chemical sensors are vital in medical, military, and home safety applications. Training machine learning models to be accurate on real world chemical sensor data requires performing many diverse, costly experiments in controlled laboratory settings to create a data set. In practice even expensive, large data sets may be insufficient for generalization of a trained model to a real-world testing distribution. Rather than perform greater numbers of experiments requiring exhaustive mixtures of chemical analytes, this research proposes learning approximations of complex exposures from training sets of simple ones by using single-analyte exposure signals as building blocks of a multiple-analyte space. We demonstrate this approach to synthetic sensor responses surprisingly improves the detection of out-of-distribution obscured chemical analytes. Further, we pair these synthetic signals to targets in an information-dense representation space utilizing a large corpus of chemistry knowledge. Through utilization of a semantically meaningful analyte representation spaces along with synthetic targets we achieve rapid analyte classification in the presence of obscurants without corresponding obscured-analyte training data. Transfer learning for supervised learning with molecular representations makes assumptions about the input data. Instead, we borrow from the natural language and natural image processing literature for a novel approach to chemical sensor signal classification using molecular semantics for arbitrary chemical sensor hardware designs.
Unsupervised ore/waste classification on open-cut mine faces using close-range hyperspectral data
Venue: arXiv cs.CV 2023
Year: 2023

The remote mapping of minerals and discrimination of ore and waste on surfaces are important tasks for geological applications such as those in mining. Such tasks have become possible using ground-based, close-range hyperspectral sensors which can remotely measure the reflectance properties of the environment with high spatial and spectral resolution. However, autonomous mapping of mineral spectra measured on an open-cut mine face remains a challenging problem due to the subtleness of differences in spectral absorption features between mineral and rock classes as well as variability in the illumination of the scene. An additional layer of difficulty arises when there is no annotated data available to train a supervised learning algorithm. A pipeline for unsupervised mapping of spectra on a mine face is proposed which draws from several recent advances in the hyperspectral machine learning literature. The proposed pipeline brings together unsupervised and self-supervised algorithms in a unified system to map minerals on a mine face without the need for human-annotated training data. The pipeline is evaluated with a hyperspectral image dataset of an open-cut mine face comprising mineral ore martite and non-mineralised shale. The combined system is shown to produce a superior map to its constituent algorithms, and the consistency of its mapping capability is demonstrated using data acquired at two different times of day.
Almost-Nash Sequential Bargaining
Venue: arXiv cs.GT 2023
Year: 2023

In a 2017 paper, later presented at the Web and Internet Economics conference, titled ``Sequential Deliberation for Social Choice", the authors propose a mechanism in which a series of agents, are tasked to negotiate over a set of decisions S. Building on assumptions of Nash Bargaining and assuming the decision space follows the median graph, the authors constructed a robust algorithm which approximates the decision which minimizes the social cost to the entire population. In this paper, we give a brief overview of the background theory which this paper builds upon from foundational work from Nash, and social choice results which hold true in Condorcet mechanisms. Following this analysis, we consider the stability of the results in the paper with different deviations from Nash equilibrium. These deviations could be pessimal, in the context of unequal bargaining power (say in a labor market) or constructive, as in the context of opinion dynamics. Our analysis is observatory, in the context of simulations, and we hope to formalize the results of these simulations to get an understanding of more general properties in spaces beyond our simulation.
Differentially Private Optimization for Smooth Nonconvex ERM
Venue: arXiv cs.LG 2023
Year: 2023

We develop simple differentially private optimization algorithms that move along directions of (expected) descent to find an approximate second-order solution for nonconvex ERM. We use line search, mini-batching, and a two-phase strategy to improve the speed and practicality of the algorithm. Numerical experiments demonstrate the effectiveness of these approaches.
Causal Inference out of Control: Estimating the Steerability of Consumption
Venue: arXiv cs.LG 2023
Year: 2023

Regulators and academics are increasingly interested in the causal effect that algorithmic actions of a digital platform have on consumption. We introduce a general causal inference problem we call the steerability of consumption that abstracts many settings of interest. Focusing on observational designs and exploiting the structure of the problem, we exhibit a set of assumptions for causal identifiability that significantly weaken the often unrealistic overlap assumptions of standard designs. The key novelty of our approach is to explicitly model the dynamics of consumption over time, viewing the platform as a controller acting on a dynamical system. From this dynamical systems perspective, we are able to show that exogenous variation in consumption and appropriately responsive algorithmic control actions are sufficient for identifying steerability of consumption. Our results illustrate the fruitful interplay of control theory and causal inference, which we illustrate with examples from econometrics, macroeconomics, and machine learning.
Is Multimodal Vision Supervision Beneficial to Language?
Venue: arXiv cs.CV 2023
Year: 2023

Vision (image and video) - Language (VL) pre-training is the recent popular paradigm that achieved state-of-the-art results on multi-modal tasks like image-retrieval, video-retrieval, visual question answering etc. These models are trained in an unsupervised way and greatly benefit from the complementary modality supervision. In this paper, we explore if the language representations trained using vision supervision perform better than vanilla language representations on Natural Language Understanding and commonsense reasoning benchmarks. We experiment with a diverse set of image-text models such as ALBEF, BLIP, METER and video-text models like ALPRO, Frozen-in-Time (FiT), VIOLET. We compare the performance of language representations of stand-alone text encoders of these models to the language representations of text encoders learnt through vision supervision. Our experiments suggest that vanilla language representations show superior performance on most of the tasks. These results shed light on the current drawbacks of the vision-language models.
Deep Seam Prediction for Image Stitching Based on Selection Consistency Loss
Venue: arXiv cs.CV 2023
Year: 2023

Image stitching is to construct panoramic images with wider field of vision (FOV) from some images captured from different viewing positions. To solve the problem of fusion ghosting in the stitched image, seam-driven methods avoid the misalignment area to fuse images by predicting the best seam. Currently, as standard tools of the OpenCV library, dynamic programming (DP) and GraphCut (GC) are still the only commonly used seam prediction methods despite the fact that they were both proposed two decades ago. However, GC can get excellent seam quality but poor real-time performance while DP method has good efficiency but poor seam quality. In this paper, we propose a deep learning based seam prediction method (DSeam) for the sake of high seam quality with high efficiency. To overcome the difficulty of the seam description in network and no GroundTruth for training we design a selective consistency loss combining the seam shape constraint and seam quality constraint to supervise the network learning. By the constraint of the selection of consistency loss, we implicitly defined the mask boundaries as seams and transform seam prediction into mask prediction. To our knowledge, the proposed DSeam is the first deep learning based seam prediction method for image stitching. Extensive experimental results well demonstrate the superior performance of our proposed Dseam method which is 15 times faster than the classic GC seam prediction method in OpenCV 2.4.9 with similar seam quality.
Predicting Desirable Revisions of Evidence and Reasoning in Argumentative Writing
Venue: arXiv cs.CL 2023
Year: 2023

We develop models to classify desirable evidence and desirable reasoning revisions in student argumentative writing. We explore two ways to improve classifier performance - using the essay context of the revision, and using the feedback students received before the revision. We perform both intrinsic and extrinsic evaluation for each of our models and report a qualitative analysis. Our results show that while a model using feedback information improves over a baseline model, models utilizing context - either alone or with feedback - are the most successful in identifying desirable revisions.
Autonomy Is An Acquired Taste: Exploring Developer Preferences for GitHub Bots
Venue: arXiv cs.SE 2023
Year: 2023

Software bots fulfill an important role in collective software development, and their adoption by developers promises increased productivity. Past research has identified that bots that communicate too often can irritate developers, which affects the utility of the bot. However, it is not clear what other properties of human-bot collaboration affect developers' preferences, or what impact these properties might have. The main idea of this paper is to explore characteristics affecting developer preferences for interactions between humans and bots, in the context of GitHub pull requests. We carried out an exploratory sequential study with interviews and a subsequent vignette-based survey. We find developers generally prefer bots that are personable but show little autonomy, however, more experienced developers tend to prefer more autonomous bots. Based on this empirical evidence, we recommend bot developers increase configuration options for bots so that individual developers and projects can configure bots to best align with their own preferences and project cultures.
Low Entropy Communication in Multi-Agent Reinforcement Learning
Venue: arXiv cs.MA 2023
Year: 2023

Communication in multi-agent reinforcement learning has been drawing attention recently for its significant role in cooperation. However, multi-agent systems may suffer from limitations on communication resources and thus need efficient communication techniques in real-world scenarios. According to the Shannon-Hartley theorem, messages to be transmitted reliably in worse channels require lower entropy. Therefore, we aim to reduce message entropy in multi-agent communication. A fundamental challenge is that the gradients of entropy are either 0 or infinity, disabling gradient-based methods. To handle it, we propose a pseudo gradient descent scheme, which reduces entropy by adjusting the distributions of messages wisely. We conduct experiments on two base communication frameworks with six environment settings and find that our scheme can reduce message entropy by up to 90% with nearly no loss of cooperation performance.
Is It Enough to Recommend Tasks to Newcomers? Understanding Mentoring on Good First Issues
Venue: arXiv cs.SE 2023
Year: 2023

Newcomers are critical for the success and continuity of open source software (OSS) projects. To attract newcomers and facilitate their onboarding, many OSS projects recommend tasks for newcomers, such as good first issues (GFIs). Previous studies have preliminarily investigated the effects of GFIs and techniques to identify suitable GFIs. However, it is still unclear whether just recommending tasks is enough and how significant mentoring is for newcomers. To better understand mentoring in OSS communities, we analyze the resolution process of 48,402 GFIs from 964 repositories through a mix-method approach. We investigate the extent, the mentorship structures, the discussed topics, and the relevance of expert involvement. We find that $\sim$70\% of GFIs have expert participation, with each GFI usually having one expert who makes two comments. Half of GFIs will receive their first expert comment within 8.5 hours after a newcomer comment. Through analysis of the collaboration networks of newcomers and experts, we observe that community mentorship presents four types of structure: centralized mentoring, decentralized mentoring, collaborative mentoring, and distributed mentoring. As for discussed topics, we identify 14 newcomer challenges and 18 expert mentoring content. By fitting the generalized linear models, we find that expert involvement positively correlates with newcomers' successful contributions but negatively correlates with newcomers' retention. Our study manifests the status and significance of mentoring in the OSS projects, which provides rich practical implications for optimizing the mentoring process and helping newcomers contribute smoothly and successfully.
ControversialQA: Exploring Controversy in Question Answering
Venue: arXiv cs.CL 2023
Year: 2023

Controversy is widespread online. Previous studies mainly define controversy based on vague assumptions of its relation to sentiment such as hate speech and offensive words. This paper introduces the first question-answering dataset that defines content controversy by user perception, i.e., votes from plenty of users. It contains nearly 10K questions, and each question has a best answer and a most controversial answer. Experimental results reveal that controversy detection in question answering is essential and challenging, and there is no strong correlation between controversy and sentiment tasks.
XFL: A High Performace, Lightweighted Federated Learning Framework
Venue: arXiv cs.LG 2023
Year: 2023

This paper introduces XFL, an industrial-grade federated learning project. XFL supports training AI models collaboratively on multiple devices, while utilizes homomorphic encryption, differential privacy, secure multi-party computation and other security technologies ensuring no leakage of data. XFL provides an abundant algorithms library, integrating a large number of pre-built, secure and outstanding federated learning algorithms, covering both the horizontally and vertically federated learning scenarios. Numerical experiments have shown the prominent performace of these algorithms. XFL builds a concise configuration interfaces with presettings for all federation algorithms, and supports the rapid deployment via docker containers.Therefore, we believe XFL is the most user-friendly and easy-to-develop federated learning framework. XFL is open-sourced, and both the code and documents are available at https://github.com/paritybit-ai/XFL.