OpenRaiser/Intern-Atlas huggingface dataset:
Sharing Spectrum and Services in the 7-24 GHz Upper Midband
Venue: arXiv cs.NI 2024
Year: 2024

The upper midband, spanning 7 to 24 GHz, strikes a good balance between large bandwidths and favorable propagation environments for future 6th Generation (6G) networks. Wireless networks in the upper midband, however, will need to share the spectrum and safely coexist with a variety of incumbents, ranging from radiolocation to fixed satellite services, as well as Earth exploration and sensing. In this paper, we take the first step toward understanding the potential and challenges associated with cellular systems between 7 and 24 GHz. Our focus is on the enabling technologies and policies for coexistence with established incumbents. We consider dynamic spectrum sharing solutions enabled by programmable and adaptive cellular networks, but also the possibility of leveraging the cellular infrastructure for incumbent services. Our comprehensive analysis employs ray tracing and examines real-world urban scenarios to evaluate throughput, coverage tradeoffs, and the potential impact on incumbent services. Our findings highlight the advantages of FR-3 over FR-2 and FR-1 in terms of coverage and bandwidth, respectively. We conclude by discussing a network architecture based on Open RAN, aimed at enabling dynamic spectrum and service sharing.
SAGMAN: Stability Analysis of Graph Neural Networks on the Manifolds
Venue: arXiv cs.LG 2024
Year: 2024

Modern graph neural networks (GNNs) can be sensitive to changes in the input graph structure and node features, potentially resulting in unpredictable behavior and degraded performance. In this work, we introduce a spectral framework known as SAGMAN for examining the stability of GNNs. This framework assesses the distance distortions that arise from the nonlinear mappings of GNNs between the input and output manifolds: when two nearby nodes on the input manifold are mapped (through a GNN model) to two distant ones on the output manifold, it implies a large distance distortion and thus a poor GNN stability. We propose a distance-preserving graph dimension reduction (GDR) approach that utilizes spectral graph embedding and probabilistic graphical models (PGMs) to create low-dimensional input/output graph-based manifolds for meaningful stability analysis. Our empirical evaluations show that SAGMAN effectively assesses the stability of each node when subjected to various edge or feature perturbations, offering a scalable approach for evaluating the stability of GNNs, extending to applications within recommendation systems. Furthermore, we illustrate its utility in downstream tasks, notably in enhancing GNN stability and facilitating adversarial targeted attacks.
AMEND: A Mixture of Experts Framework for Long-tailed Trajectory Prediction
Venue: arXiv cs.CV 2024
Year: 2024

Accurate prediction of pedestrians' future motions is critical for intelligent driving systems. Developing models for this task requires rich datasets containing diverse sets of samples. However, the existing naturalistic trajectory prediction datasets are generally imbalanced in favor of simpler samples and lack challenging scenarios. Such a long-tail effect causes prediction models to underperform on the tail portion of the data distribution containing safety-critical scenarios. Previous methods tackle the long-tail problem using methods such as contrastive learning and class-conditioned hypernetworks. These approaches, however, are not modular and cannot be applied to many machine learning architectures. In this work, we propose a modular model-agnostic framework for trajectory prediction that leverages a specialized mixture of experts. In our approach, each expert is trained with a specialized skill with respect to a particular part of the data. To produce predictions, we utilise a router network that selects the best expert by generating relative confidence scores. We conduct experimentation on common pedestrian trajectory prediction datasets and show that our method improves performance on long-tail scenarios. We further conduct ablation studies to highlight the contribution of different proposed components.
ADS: Approximate Densest Subgraph for Novel Image Discovery
Venue: arXiv cs.CV 2024
Year: 2024

The volume of image repositories continues to grow. Despite the availability of content-based addressing, we still lack a lightweight tool that allows us to discover images of distinct characteristics from a large collection. In this paper, we propose a fast and training-free algorithm for novel image discovery. The key of our algorithm is formulating a collection of images as a perceptual distance-weighted graph, within which our task is to locate the K-densest subgraph that corresponds to a subset of the most unique images. While solving this problem is not just NP-hard but also requires a full computation of the potentially huge distance matrix, we propose to relax it into a K-sparse eigenvector problem that we can efficiently solve using stochastic gradient descent (SGD) without explicitly computing the distance matrix. We compare our algorithm against state-of-the-arts on both synthetic and real datasets, showing that it is considerably faster to run with a smaller memory footprint while able to mine novel images more accurately.
An impossibility result for strongly group-strategyproof multi-winner approval-based voting
Venue: arXiv cs.GT 2024
Year: 2024

Multi-winner approval-based voting has received considerable attention recently. A voting rule in this setting takes as input ballots in which each agent approves a subset of the available alternatives and outputs a committee of alternatives of given size $k$. We consider the scenario when a coalition of agents can act strategically and alter their ballots so that the new outcome is strictly better for a coalition member and at least as good for anyone else in the coalition. Voting rules that are robust against this strategic behaviour are called strongly group-strategyproof. We prove that, for $k\in \{1,2, ..., m-2\}$, strongly group-strategyproof multi-winner approval-based voting rules which furthermore satisfy the minimum efficiency requirement of unanimity do not exist, where $m$ is the number of available alternatives. Our proof builds a connection to single-winner voting with ranking-based ballots and exploits the infamous Gibbard-Satterthwaite theorem to reach the desired impossibility result. Our result has implications for paradigmatic problems from the area of approximate mechanism design without money and indicates that strongly group-strategyproof mechanisms for minimax approval voting, variants of facility location, and classification can only have an unbounded approximation ratio.
Automated detection of motion artifacts in brain MR images using deep learning and explainable artificial intelligence
Venue: arXiv cs.CV 2024
Year: 2024

Quality assessment, including inspecting the images for artifacts, is a critical step during MRI data acquisition to ensure data quality and downstream analysis or interpretation success. This study demonstrates a deep learning model to detect rigid motion in T1-weighted brain images. We leveraged a 2D CNN for three-class classification and tested it on publicly available retrospective and prospective datasets. Grad-CAM heatmaps enabled the identification of failure modes and provided an interpretation of the model's results. The model achieved average precision and recall metrics of 85% and 80% on six motion-simulated retrospective datasets. Additionally, the model's classifications on the prospective dataset showed a strong inverse correlation (-0.84) compared to average edge strength, an image quality metric indicative of motion. This model is part of the ArtifactID tool, aimed at inline automatic detection of Gibbs ringing, wrap-around, and motion artifacts. This tool automates part of the time-consuming QA process and augments expertise on-site, particularly relevant in low-resource settings where local MR knowledge is scarce.
Optimal Task Assignment and Path Planning using Conflict-Based Search with Precedence and Temporal Constraints
Venue: arXiv cs.AI 2024
Year: 2024

The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For example, agents may need to perform actions at goal locations with specific execution times, adhering to predetermined orders and timeframes. Moreover, goal assignments may not be predefined for agents, and the optimization objective may lack an explicit definition. To incorporate task assignment, path planning, and a user-defined objective into a coherent framework, this paper examines the Task Assignment and Path Finding with Precedence and Temporal Constraints (TAPF-PTC) problem. We augment Conflict-Based Search (CBS) to simultaneously generate task assignments and collision-free paths that adhere to precedence and temporal constraints, maximizing an objective quantified by the return from a user-defined reward function in reinforcement learning (RL). Experimentally, we demonstrate that our algorithm, CBS-TA-PTC, can solve highly challenging bomb-defusing tasks with precedence and temporal constraints efficiently relative to MARL and adapted Target Assignment and Path Finding (TAPF) methods.
LDTrack: Dynamic People Tracking by Service Robots using Diffusion Models
Venue: arXiv cs.CV 2024
Year: 2024

Tracking of dynamic people in cluttered and crowded human-centered environments is a challenging robotics problem due to the presence of intraclass variations including occlusions, pose deformations, and lighting variations. This paper introduces a novel deep learning architecture, using conditional latent diffusion models, the Latent Diffusion Track (LDTrack), for tracking multiple dynamic people under intraclass variations. By uniquely utilizing conditional latent diffusion models to capture temporal person embeddings, our architecture can adapt to appearance changes of people over time. We incorporated a latent feature encoder network which enables the diffusion process to operate within a high-dimensional latent space to allow for the extraction and spatial-temporal refinement of such rich features as person appearance, motion, location, identity, and contextual information. Extensive experiments demonstrate the effectiveness of LDTrack over other state-of-the-art tracking methods in cluttered and crowded human-centered environments under intraclass variations. Namely, the results show our method outperforms existing deep learning robotic people tracking methods in both tracking accuracy and tracking precision with statistical significance. Additionally, a comprehensive multi-object tracking comparison study was performed against the state-of-the-art methods in urban environments, demonstrating the generalizability of LDTrack. An ablation study was performed to validate the design choices of LDTrack.
Reproducibility, Replicability, and Transparency in Research: What 430 Professors Think in Universities across the USA and India
Venue: arXiv cs.HC 2024
Year: 2024

In the past decade, open science and science of science communities have initiated innovative efforts to address concerns about the reproducibility and replicability of published scientific research. In some respects, these efforts have been successful, yet there are still many pockets of researchers with little to no familiarity with these concerns, subsequent responses, or best practices for engaging in reproducible, replicable, and reliable scholarship. In this work, we survey 430 professors from Universities across the USA and India to understand perspectives on scientific processes and identify key points for intervention. Our findings reveal both national and disciplinary gaps in attention to reproducibility and replicability, aggravated by incentive misalignment and resource constraints. We suggest that solutions addressing scientific integrity should be culturally-centered, where definitions of culture should include both regional and domain-specific elements.
Random Representations Outperform Online Continually Learned Representations
Venue: arXiv cs.CV 2024
Year: 2024

Continual learning has primarily focused on the issue of catastrophic forgetting and the associated stability-plasticity tradeoffs. However, little attention has been paid to the efficacy of continually learned representations, as representations are learned alongside classifiers throughout the learning process. Our primary contribution is empirically demonstrating that existing online continually trained deep networks produce inferior representations compared to a simple pre-defined random transforms. Our approach projects raw pixels using a fixed random transform, approximating an RBF-Kernel initialized before any data is seen. We then train a simple linear classifier on top without storing any exemplars, processing one sample at a time in an online continual learning setting. This method, called RanDumb, significantly outperforms state-of-the-art continually learned representations across all standard online continual learning benchmarks. Our study reveals the significant limitations of representation learning, particularly in low-exemplar and online continual learning scenarios. Extending our investigation to popular exemplar-free scenarios with pretrained models, we find that training only a linear classifier on top of pretrained representations surpasses most continual fine-tuning and prompt-tuning strategies. Overall, our investigation challenges the prevailing assumptions about effective representation learning in online continual learning. Our code is available at://github.com/drimpossible/RanDumb.
Equilibria of Data Marketplaces with Privacy-Aware Sellers under Endogenous Privacy Costs
Venue: arXiv cs.GT 2024
Year: 2024

We study a two-sided online data ecosystem comprised of an online platform, users on the platform, and downstream learners or data buyers. The learners can buy user data on the platform (to run a statistic or machine learning task). Potential users decide whether to join by looking at the trade-off between i) their benefit from joining the platform and interacting with other users and ii) the privacy costs they incur from sharing their data. First, we introduce a novel modeling element for two-sided data platforms: the privacy costs of the users are endogenous and depend on how much of their data is purchased by the downstream learners. Then, we characterize marketplace equilibria in certain simple settings. In particular, we provide a full characterization in two variants of our model that correspond to different utility functions for the users: i) when each user gets a constant benefit for participating in the platform and ii) when each user's benefit is linearly increasing in the number of other users that participate. In both variants, equilibria in our setting are significantly different from equilibria when privacy costs are exogenous and fixed, highlighting the importance of taking endogeneity in the privacy costs into account. Finally, we provide simulations and semi-synthetic experiments to extend our results to more general assumptions. We experiment with different distributions of users' privacy costs and different functional forms of the users' utilities for joining the platform.
Approximate Sequential Optimization for Informative Path Planning
Venue: arXiv cs.RO 2024
Year: 2024

We consider the problem of finding an informative path through a graph, given initial and terminal nodes and a given maximum path length. We assume that a linear noise corrupted measurement is taken at each node of an underlying unknown vector that we wish to estimate. The informativeness is measured by the reduction in uncertainty in our estimate, evaluated using several metrics. We present a convex relaxation for this informative path planning problem, which we can readily solve to obtain a bound on the possible performance. We develop an approximate sequential method where the path is constructed segment by segment through dynamic programming. This involves solving an orienteering problem, with the node reward acting as a surrogate for informativeness, taking the first step, and then repeating the process. The method scales to very large problem instances and achieves performance not too far from the bound produced by the convex relaxation. We also demonstrate our method's ability to handle adaptive objectives, multimodal sensing, and multi-agent variations of the informative path planning problem.
An Embarrassingly Simple Approach for LLM with Strong ASR Capacity
Venue: arXiv cs.CL 2024
Year: 2024

In this paper, we focus on solving one of the most important tasks in the field of speech processing, i.e., automatic speech recognition (ASR), with speech foundation encoders and large language models (LLM). Recent works have complex designs such as compressing the output temporally for the speech encoder, tackling modal alignment for the projector, and utilizing parameter-efficient fine-tuning for the LLM. We found that delicate designs are not necessary, while an embarrassingly simple composition of off-the-shelf speech encoder, LLM, and the only trainable linear projector is competent for the ASR task. To be more specific, we benchmark and explore various combinations of LLMs and speech encoders, leading to the optimal LLM-based ASR system, which we call SLAM-ASR. The proposed SLAM-ASR provides a clean setup and little task-specific design, where only the linear projector is trained. To the best of our knowledge, SLAM-ASR achieves the best performance on the Librispeech benchmark among LLM-based ASR models and even outperforms the latest LLM-based audio-universal model trained on massive pair data. Finally, we explore the capability emergence of LLM-based ASR in the process of modal alignment. We hope that our study can facilitate the research on extending LLM with cross-modality capacity and shed light on the LLM-based ASR community.
Approximation of relation functions and attention mechanisms
Venue: arXiv cs.LG 2024
Year: 2024

Inner products of neural network feature maps arise in a wide variety of machine learning frameworks as a method of modeling relations between inputs. This work studies the approximation properties of inner products of neural networks. It is shown that the inner product of a multi-layer perceptron with itself is a universal approximator for symmetric positive-definite relation functions. In the case of asymmetric relation functions, it is shown that the inner product of two different multi-layer perceptrons is a universal approximator. In both cases, a bound is obtained on the number of neurons required to achieve a given accuracy of approximation. In the symmetric case, the function class can be identified with kernels of reproducing kernel Hilbert spaces, whereas in the asymmetric case the function class can be identified with kernels of reproducing kernel Banach spaces. Finally, these approximation results are applied to analyzing the attention mechanism underlying Transformers, showing that any retrieval mechanism defined by an abstract preorder can be approximated by attention through its inner product relations. This result uses the Debreu representation theorem in economics to represent preference relations in terms of utility functions.
Auto-Encoding Bayesian Inverse Games
Venue: arXiv cs.RO 2024
Year: 2024

When multiple agents interact in a common environment, each agent's actions impact others' future decisions, and noncooperative dynamic games naturally capture this coupling. In interactive motion planning, however, agents typically do not have access to a complete model of the game, e.g., due to unknown objectives of other players. Therefore, we consider the inverse game problem, in which some properties of the game are unknown a priori and must be inferred from observations. Existing maximum likelihood estimation (MLE) approaches to solve inverse games provide only point estimates of unknown parameters without quantifying uncertainty, and perform poorly when many parameter values explain the observed behavior. To address these limitations, we take a Bayesian perspective and construct posterior distributions of game parameters. To render inference tractable, we employ a variational autoencoder (VAE) with an embedded differentiable game solver. This structured VAE can be trained from an unlabeled dataset of observed interactions, naturally handles continuous, multi-modal distributions, and supports efficient sampling from the inferred posteriors without computing game solutions at runtime. Extensive evaluations in simulated driving scenarios demonstrate that the proposed approach successfully learns the prior and posterior game parameter distributions, provides more accurate objective estimates than MLE baselines, and facilitates safer and more efficient game-theoretic motion planning.
Measuring Sharpness in Grokking
Venue: arXiv cs.LG 2024
Year: 2024

Neural networks sometimes exhibit grokking, a phenomenon where perfect or near-perfect performance is achieved on a validation set well after the same performance has been obtained on the corresponding training set. In this workshop paper, we introduce a robust technique for measuring grokking, based on fitting an appropriate functional form. We then use this to investigate the sharpness of transitions in training and validation accuracy under two settings. The first setting is the theoretical framework developed by Levi et al. (2023) where closed form expressions are readily accessible. The second setting is a two-layer MLP trained to predict the parity of bits, with grokking induced by the concealment strategy of Miller et al. (2023). We find that trends between relative grokking gap and grokking sharpness are similar in both settings when using absolute and relative measures of sharpness. Reflecting on this, we make progress toward explaining some trends and identify the need for further study to untangle the various mechanisms which influence the sharpness of grokking.
Pretraining Vision-Language Model for Difference Visual Question Answering in Longitudinal Chest X-rays
Venue: arXiv cs.CV 2024
Year: 2024

Difference visual question answering (diff-VQA) is a challenging task that requires answering complex questions based on differences between a pair of images. This task is particularly important in reading chest X-ray images because radiologists often compare multiple images of the same patient taken at different times to track disease progression and changes in its severity in their clinical practice. However, previous works focused on designing specific network architectures for the diff-VQA task, missing opportunities to enhance the model's performance using a pretrained vision-language model (VLM). Here, we introduce a novel VLM called PLURAL, which is pretrained on natural and longitudinal chest X-ray data for the diff-VQA task. The model is developed using a step-by-step approach, starting with being pretrained on natural images and texts, followed by being trained using longitudinal chest X-ray data. The longitudinal data consist of pairs of X-ray images, along with question-answer sets and radiologist's reports that describe the changes in lung abnormalities and diseases over time. Our experimental results show that the PLURAL model outperforms state-of-the-art methods not only in diff-VQA for longitudinal X-rays but also in conventional VQA for a single X-ray image. Through extensive experiments, we demonstrate the effectiveness of the proposed VLM architecture and pretraining method in improving the model's performance.