OpenRaiser/Intern-Atlas huggingface dataset:
When Transformer Meets Robotic Grasping: Exploits Context for Efficient Grasp Detection
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well suitable for visual grasping tasks. The first key design is that we adopt the local window attention to capture local contextual information and detailed features of graspable objects. Then, we apply the cross window attention to model the long-term dependencies between distant pixels. Object knowledge, environmental configuration, and relationships between different visual entities are aggregated for subsequent grasp detection. The second key design is that we build a hierarchical encoder-decoder architecture with skip-connections, delivering shallow features from encoder to decoder to enable a multi-scale feature fusion. Due to the powerful attention mechanism, the TF-Grasp can simultaneously obtain the local information (i.e., the contours of objects), and model long-term connections such as the relationships between distinct visual concepts in clutter. Extensive computational experiments demonstrate that the TF-Grasp achieves superior results versus state-of-art grasping convolutional models and attain a higher accuracy of 97.99% and 94.6% on Cornell and Jacquard grasping datasets, respectively. Real-world experiments using a 7DoF Franka Emika Panda robot also demonstrate its capability of grasping unseen objects in a variety of scenarios. The code and pre-trained models will be available at https://github.com/WangShaoSUN/grasp-transformer
IBIA: Bayesian Inference via Incremental Build-Infer-Approximate operations on Clique Trees
Venue: arXiv cs.AI 2022
Year: 2022

Exact inference in Bayesian networks is intractable and has an exponential dependence on the size of the largest clique in the corresponding clique tree (CT), necessitating approximations. Factor based methods to bound clique sizes are more accurate than structure based methods, but expensive since they involve inference of beliefs in a large number of candidate structure or region graphs. We propose an alternative approach for approximate inference based on an incremental build-infer-approximate (IBIA) paradigm, which converts the Bayesian network into a data structure containing a sequence of linked clique tree forests (SLCTF), with clique sizes bounded by a user-specified value. In the incremental build stage of this approach, CTFs are constructed incrementally by adding variables to the CTFs as long as clique sizes are within the specified bound. Once the clique size constraint is reached, the CTs in the CTF are calibrated in the infer stage of IBIA. The resulting clique beliefs are used in the approximate phase to get an approximate CTF with reduced clique sizes. The approximate CTF forms the starting point for the next CTF in the sequence. These steps are repeated until all variables are added to a CTF in the sequence. We prove that our algorithm for incremental construction of clique trees always generates a valid CT and our approximation technique preserves the joint beliefs of the variables within a clique. Based on this, we show that the SLCTF data structure can be used for efficient approximate inference of partition function and prior and posterior marginals. More than 500 benchmarks were used to test the method and the results show a significant reduction in error when compared to other approximate methods, with competitive runtimes.
Experiments as Code: A Concept for Reproducible, Auditable, Debuggable, Reusable, & Scalable Experiments
Venue: arXiv cs.CY 2022
Year: 2022

A common concern in experimental research is the auditability and reproducibility of experiments. Experiments are usually designed, provisioned, managed, and analyzed by diverse teams of specialists (e.g., researchers, technicians and engineers) and may require many resources (e.g. cloud infrastructure, specialized equipment). Even though researchers strive to document experiments accurately, this process is often lacking, making it hard to reproduce them. Moreover, when it is necessary to create a similar experiment, very often we end up "reinventing the wheel" as it is easier to start from scratch than trying to reuse existing work, thus losing valuable embedded best practices and previous experiences. In behavioral studies this has contributed to the reproducibility crisis. To tackle this challenge, we propose the "Experiments as Code" paradigm, where the whole experiment is not only documented but additionally the automation code to provision, deploy, manage, and analyze it is provided. To this end we define the Experiments as Code concept, provide a taxonomy for the components of a practical implementation, and provide a proof of concept with a simple desktop VR experiment that showcases the benefits of its "as code" representation, i.e., reproducibility, auditability, debuggability, reusability, and scalability.
Interfering Paths in Decision Trees: A Note on Deodata Predictors
Venue: arXiv cs.LG 2022
Year: 2022

A technique for improving the prediction accuracy of decision trees is proposed. It consists in evaluating the tree's branches in parallel over multiple paths. The technique enables predictions that are more aligned with the ones generated by the nearest neighborhood variant of the deodata algorithms. The technique also enables the hybridization of the decision tree algorithm with the nearest neighborhood variant.
An Algorithm for Computing the Covering Radius of a Linear Code Based on Vilenkin-Chrestenson Transform
Venue: arXiv cs.IT 2022
Year: 2022

We present a generalization of Walsh-Hadamard transform that is suitable for applications in Coding Theory, especially for computation of the weight distribution and the covering radius of a linear code over a finite field. The transform used in our research, is a modification of Vilenkin-Chrestenson transform. Instead of using all the vectors in the considered space, we take a maximal set of nonproportional vectors, which reduces the computational complexity.
Demonstrating BrainScaleS-2 Inter-Chip Pulse-Communication using EXTOLL
Venue: arXiv cs.AR 2022
Year: 2022

The BrainScaleS-2 (BSS-2) Neuromorphic Computing System currently consists of multiple single-chip setups, which are connected to a compute cluster via Gigabit-Ethernet network technology. This is convenient for small experiments, where the neural networks fit into a single chip. When modeling networks of larger size, neurons have to be connected across chip boundaries. We implement these connections for BSS-2 using the EXTOLL networking technology. This provides high bandwidths and low latencies, as well as high message rates. Here, we describe the targeted pulse-routing implementation and required extensions to the BSS-2 software stack. We as well demonstrate feed-forward pulse-routing on BSS-2 using a scaled-down version without temporal merging.
The Shortest Path with Increasing Chords in a Simple Polygon
Venue: arXiv cs.CG 2022
Year: 2022

We study the problem of finding the shortest path with increasing chords in a simple polygon. A path has increasing chords if and only if for any points a, b, c, and d that lie on the path in that order, |ad| >= |bc|. In this paper we show that the shortest path with increasing chords is unique and present an algorithm to construct it.
Testing Deep Learning Models: A First Comparative Study of Multiple Testing Techniques
Venue: arXiv cs.SE 2022
Year: 2022

Deep Learning (DL) has revolutionized the capabilities of vision-based systems (VBS) in critical applications such as autonomous driving, robotic surgery, critical infrastructure surveillance, air and maritime traffic control, etc. By analyzing images, voice, videos, or any type of complex signals, DL has considerably increased the situation awareness of these systems. At the same time, while relying more and more on trained DL models, the reliability and robustness of VBS have been challenged and it has become crucial to test thoroughly these models to assess their capabilities and potential errors. To discover faults in DL models, existing software testing methods have been adapted and refined accordingly. In this article, we provide an overview of these software testing methods, namely differential, metamorphic, mutation, and combinatorial testing, as well as adversarial perturbation testing and review some challenges in their deployment for boosting perception systems used in VBS. We also provide a first experimental comparative study on a classical benchmark used in VBS and discuss its results.
Sequential asset ranking in nonstationary time series
Venue: arXiv cs.CE 2022
Year: 2022

We create a ranking algorithm, the naive Bayes asset ranker. Our algorithm computes the posterior probability that individual assets will be ranked higher than other portfolio constituents. Unlike earlier algorithms, such as the weighted majority, our algorithm allows poor-performing experts to have increased weight when they start performing well. We outperform the long-only holding of the S&P 500 index and a regress-then-rank baseline.
LAGC Semantics of Concurrent Programming Languages
Venue: arXiv cs.PL 2022
Year: 2022

Formal, mathematically rigorous programming language semantics are the essential prerequisite for the design of logics and calculi that permit automated reasoning about concurrent programs. We propose a novel modular semantics designed to align smoothly with program logics used in deductive verification and formal specification of concurrent programs. Our semantics separates local evaluation of expressions and statements performed in an abstract, symbolic environment from their composition into global computations, at which point they are concretised. This makes incremental addition of new language concepts possible, without the need to revise the framework. The basis is a generalisation of the notion of a program trace as a sequence of evolving states that we enrich with event descriptors and trailing continuation markers. This allows to postpone scheduling constraints from the level of local evaluation to the global composition stage, where well-formedness predicates over the event structure declaratively characterise a wide range of concurrency models. We also illustrate how a sound program logic and calculus can be defined for this semantics.
Probing BERT's priors with serial reproduction chains
Venue: arXiv cs.CL 2022
Year: 2022

Sampling is a promising bottom-up method for exposing what generative models have learned about language, but it remains unclear how to generate representative samples from popular masked language models (MLMs) like BERT. The MLM objective yields a dependency network with no guarantee of consistent conditional distributions, posing a problem for naive approaches. Drawing from theories of iterated learning in cognitive science, we explore the use of serial reproduction chains to sample from BERT's priors. In particular, we observe that a unique and consistent estimator of the ground-truth joint distribution is given by a Generative Stochastic Network (GSN) sampler, which randomly selects which token to mask and reconstruct on each step. We show that the lexical and syntactic statistics of sentences from GSN chains closely match the ground-truth corpus distribution and perform better than other methods in a large corpus of naturalness judgments. Our findings establish a firmer theoretical foundation for bottom-up probing and highlight richer deviations from human priors.
Sample Efficiency of Data Augmentation Consistency Regularization
Venue: arXiv cs.LG 2022
Year: 2022

Data augmentation is popular in the training of large neural networks; currently, however, there is no clear theoretical comparison between different algorithmic choices on how to use augmented data. In this paper, we take a step in this direction - we first present a simple and novel analysis for linear regression with label invariant augmentations, demonstrating that data augmentation consistency (DAC) is intrinsically more efficient than empirical risk minimization on augmented data (DA-ERM). The analysis is then extended to misspecified augmentations (i.e., augmentations that change the labels), which again demonstrates the merit of DAC over DA-ERM. Further, we extend our analysis to non-linear models (e.g., neural networks) and present generalization bounds. Finally, we perform experiments that make a clean and apples-to-apples comparison (i.e., with no extra modeling or data tweaks) between DAC and DA-ERM using CIFAR-100 and WideResNet; these together demonstrate the superior efficacy of DAC.
Noisy Group Testing with Side Information
Venue: arXiv cs.IT 2022
Year: 2022

Group testing has recently attracted significant attention from the research community due to its applications in diagnostic virology. An instance of the group testing problem includes a ground set of individuals which includes a small subset of infected individuals. The group testing procedure consists of a number of tests, such that each test indicates whether or not a given subset of individuals includes one or more infected individuals. The goal of the group testing procedure is to identify the subset of infected individuals with the minimum number of tests. Motivated by practical scenarios, such as testing for viral diseases, this paper focuses on the following group testing settings: (i) the group testing procedure is noisy, i.e., the outcome of the group testing procedure can be flipped with a certain probability; (ii) there is a certain amount of side information on the distribution of the infected individuals available to the group testing algorithm. The paper makes the following contributions. First, we propose a probabilistic model, referred to as an interaction model, that captures the side information about the probability distribution of the infected individuals. Next, we present a decoding scheme, based on the belief propagation, that leverages the interaction model to improve the decoding accuracy. Our results indicate that the proposed algorithm achieves higher success probability and lower false-negative and false-positive rates when compared to the traditional belief propagation especially in the high noise regime.
Toward More Meaningful Resources for Lower-resourced Languages
Venue: arXiv cs.CL 2022
Year: 2022

In this position paper, we describe our perspective on how meaningful resources for lower-resourced languages should be developed in connection with the speakers of those languages. We first examine two massively multilingual resources in detail. We explore the contents of the names stored in Wikidata for a few lower-resourced languages and find that many of them are not in fact in the languages they claim to be and require non-trivial effort to correct. We discuss quality issues present in WikiAnn and evaluate whether it is a useful supplement to hand annotated data. We then discuss the importance of creating annotation for lower-resourced languages in a thoughtful and ethical way that includes the languages' speakers as part of the development process. We conclude with recommended guidelines for resource development.
Bayesian Deep Learning for Graphs
Venue: arXiv cs.LG 2022
Year: 2022

The adaptive processing of structured data is a long-standing research topic in machine learning that investigates how to automatically learn a mapping from a structured input to outputs of various nature. Recently, there has been an increasing interest in the adaptive processing of graphs, which led to the development of different neural network-based methodologies. In this thesis, we take a different route and develop a Bayesian Deep Learning framework for graph learning. The dissertation begins with a review of the principles over which most of the methods in the field are built, followed by a study on graph classification reproducibility issues. We then proceed to bridge the basic ideas of deep learning for graphs with the Bayesian world, by building our deep architectures in an incremental fashion. This framework allows us to consider graphs with discrete and continuous edge features, producing unsupervised embeddings rich enough to reach the state of the art on several classification tasks. Our approach is also amenable to a Bayesian nonparametric extension that automatizes the choice of almost all model's hyper-parameters. Two real-world applications demonstrate the efficacy of deep learning for graphs. The first concerns the prediction of information-theoretic quantities for molecular simulations with supervised neural models. After that, we exploit our Bayesian models to solve a malware-classification task while being robust to intra-procedural code obfuscation techniques. We conclude the dissertation with an attempt to blend the best of the neural and Bayesian worlds together. The resulting hybrid model is able to predict multimodal distributions conditioned on input graphs, with the consequent ability to model stochasticity and uncertainty better than most works. Overall, we aim to provide a Bayesian perspective into the articulated research field of deep learning for graphs.
UnifiedQA-v2: Stronger Generalization via Broader Cross-Format Training
Venue: arXiv cs.CL 2022
Year: 2022

We present UnifiedQA-v2, a QA model built with the same process as UnifiedQA, except that it utilizes more supervision -- roughly 3x the number of datasets used for UnifiedQA. This generally leads to better in-domain and cross-domain results.
Alternative Metrics to Select Motors for Quasi-Direct Drive Actuators
Venue: arXiv cs.RO 2022
Year: 2022

Robotic systems for legged locomotion -- including legged robots, exoskeletons, and prosthetics -- require actuators with low inertia and high output torque. Traditionally, motors have been selected for these applications by maximizing the motor gap radius. We present alternative metrics for motor selection that are invariant to transmission ratio. The proposed metrics reward minimizing the motor inertia while maximizing the torque and motor constants without special consideration for gap radius, providing a better balance of properties for legged locomotion applications. We rigorously characterize the T-Motor RI50 and demonstrate the use of the metrics by comparing the RI50 to the widely-used T-Motor U8 as a case study.
Learning to Combine Instructions in LLVM Compiler
Venue: arXiv cs.LG 2022
Year: 2022

Instruction combiner (IC) is a critical compiler optimization pass, which replaces a sequence of instructions with an equivalent and optimized instruction sequence at basic block level. There can be thousands of instruction-combining patterns which need to be frequently updated as new coding idioms/applications and novel hardware evolve over time. This results in frequent updates to the IC optimization pass thereby incurring considerable human effort and high software maintenance costs. To mitigate these challenges associated with the traditional IC, we design and implement a Neural Instruction Combiner (NIC) and demonstrate its feasibility by integrating it into the standard LLVM compiler optimization pipeline. NIC leverages neural sequence-to-sequence (Seq2Seq) models for generating optimized encoded IR sequence from the unoptimized encoded IR sequence. To the best of our knowledge, ours is the first work demonstrating the feasibility of a neural instruction combiner built into a full-fledged compiler pipeline. Given the novelty of this task, we built a new dataset for training our NIC neural model. We show that NIC achieves exact match results percentage of 72% for optimized sequences as compared to traditional IC and neural machine translation metric Bleu precision score of 0.94, demonstrating its feasibility in a production compiler pipeline.
HeRo 2.0: A Low-Cost Robot for Swarm Robotics Research
Venue: arXiv cs.RO 2022
Year: 2022

The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet capable robots has gathered the research community's attention towards practical applications of swarm robotics. This paper presents the design of a novel platform for swarm robotics applications that is low cost, easy to assemble using off-the-shelf components, and deeply integrated with the most used robotic framework available today: ROS (Robot Operating System). The robotic platform is entirely open, composed of a 3D printed body and open-source software. We describe its architecture, present its main features, and evaluate its functionalities executing experiments using a couple of robots. Results demonstrate that the proposed mobile robot is very effective given its small size and reduced cost, being suitable for swarm robotics research and education.
Optimal channel selection with discrete QCQP
Venue: arXiv cs.CV 2022
Year: 2022

Reducing the high computational cost of large convolutional neural networks is crucial when deploying the networks to resource-constrained environments. We first show the greedy approach of recent channel pruning methods ignores the inherent quadratic coupling between channels in the neighboring layers and cannot safely remove inactive weights during the pruning procedure. Furthermore, due to these inactive weights, the greedy methods cannot guarantee to satisfy the given resource constraints and deviate with the true objective. In this regard, we propose a novel channel selection method that optimally selects channels via discrete QCQP, which provably prevents any inactive weights and guarantees to meet the resource constraints tightly in terms of FLOPs, memory usage, and network size. We also propose a quadratic model that accurately estimates the actual inference time of the pruned network, which allows us to adopt inference time as a resource constraint option. Furthermore, we generalize our method to extend the selection granularity beyond channels and handle non-sequential connections. Our experiments on CIFAR-10 and ImageNet show our proposed pruning method outperforms other fixed-importance channel pruning methods on various network architectures.
Stacked Residuals of Dynamic Layers for Time Series Anomaly Detection
Venue: arXiv cs.LG 2022
Year: 2022

We present an end-to-end differentiable neural network architecture to perform anomaly detection in multivariate time series by incorporating a Sequential Probability Ratio Test on the prediction residual. The architecture is a cascade of dynamical systems designed to separate linearly predictable components of the signal such as trends and seasonality, from the non-linear ones. The former are modeled by local Linear Dynamic Layers, and their residual is fed to a generic Temporal Convolutional Network that also aggregates global statistics from different time series as context for the local predictions of each one. The last layer implements the anomaly detector, which exploits the temporal structure of the prediction residuals to detect both isolated point anomalies and set-point changes. It is based on a novel application of the classic CUMSUM algorithm, adapted through the use of a variational approximation of f-divergences. The model automatically adapts to the time scales of the observed signals. It approximates a SARIMA model at the get-go, and auto-tunes to the statistics of the signal and its covariates, without the need for supervision, as more data is observed. The resulting system, which we call STRIC, outperforms both state-of-the-art robust statistical methods and deep neural network architectures on multiple anomaly detection benchmarks.