OpenRaiser/Intern-Atlas huggingface dataset:
Convergence Guarantees for Deep Epsilon Greedy Policy Learning
Venue: arXiv cs.LG 2022
Year: 2022

Policy learning is a quickly growing area. As robotics and computers control day-to-day life, their error rate needs to be minimized and controlled. There are many policy learning methods and bandit methods with provable error rates that accompany them. We show an error or regret bound and convergence of the Deep Epsilon Greedy method which chooses actions with a neural network's prediction. We also show that Epsilon Greedy method regret upper bound is minimized with cubic root exploration. In experiments with the real-world dataset MNIST, we construct a nonlinear reinforcement learning problem. We witness how with either high or low noise, some methods do and some do not converge which agrees with our proof of convergence.
Graph Neural Networks Accelerated Molecular Dynamics
Venue: arXiv cs.LG 2022
Year: 2022

Molecular Dynamics (MD) simulation is a powerful tool for understanding the dynamics and structure of matter. Since the resolution of MD is atomic-scale, achieving long time-scale simulations with femtosecond integration is very expensive. In each MD step, numerous iterative computations are performed to calculate energy based on different types of interaction and their corresponding spatial gradients. These repetitive computations can be learned and surrogated by a deep learning model like a Graph Neural Network (GNN). In this work, we developed a GNN Accelerated Molecular Dynamics (GAMD) model that directly predicts forces given the state of the system (atom positions, atom types), bypassing the evaluation of potential energy. By training the GNN on a variety of data sources (simulation data derived from classical MD and density functional theory), we show that GAMD can predict the dynamics of two typical molecular systems, Lennard-Jones system and Water system, in the NVT ensemble with velocities regulated by a thermostat. We further show that GAMD's learning and inference are agnostic to the scale, where it can scale to much larger systems at test time. We also perform a comprehensive benchmark test comparing our implementation of GAMD to production-level MD softwares, showing GAMD's competitive performance on the large-scale simulation.
A Novel Deep Parallel Time-series Relation Network for Fault Diagnosis
Venue: arXiv cs.LG 2022
Year: 2022

Considering the models that apply the contextual information of time-series data could improve the fault diagnosis performance, some neural network structures such as RNN, LSTM, and GRU were proposed to model the fault diagnosis effectively. However, these models are restricted by their serial computation and hence cannot achieve high diagnostic efficiency. Also the parallel CNN is difficult to implement fault diagnosis in an efficient way because it requires larger convolution kernels or deep structure to achieve long-term feature extraction capabilities. Besides, BERT model applies absolute position embedding to introduce contextual information to the model, which would bring noise to the raw data and therefore cannot be applied to fault diagnosis directly. In order to address the above problems, a fault diagnosis model named deep parallel time-series relation network(DPTRN) has been proposed in this paper. There are mainly three advantages for DPTRN: (1) Our proposed time relationship unit is based on full multilayer perceptron(MLP) structure, therefore, DPTRN performs fault diagnosis in a parallel way and improves computing efficiency significantly. (2) By improving the absolute position embedding, our novel decoupling position embedding unit could be applied on the fault diagnosis directly and learn contextual information. (3) Our proposed DPTRN has obvious advantage in feature interpretability. We confirm the effect of the proposed method on four datasets, and the results show the effectiveness, efficiency and interpretability of the proposed DPTRN model.
Combining Learning from Human Feedback and Knowledge Engineering to Solve Hierarchical Tasks in Minecraft
Venue: arXiv cs.LG 2022
Year: 2022

Real-world tasks of interest are generally poorly defined by human-readable descriptions and have no pre-defined reward signals unless it is defined by a human designer. Conversely, data-driven algorithms are often designed to solve a specific, narrowly defined, task with performance metrics that drives the agent's learning. In this work, we present the solution that won first place and was awarded the most human-like agent in the 2021 NeurIPS Competition MineRL BASALT Challenge: Learning from Human Feedback in Minecraft, which challenged participants to use human data to solve four tasks defined only by a natural language description and no reward function. Our approach uses the available human demonstration data to train an imitation learning policy for navigation and additional human feedback to train an image classifier. These modules, combined with an estimated odometry map, become a powerful state-machine designed to utilize human knowledge in a natural hierarchical paradigm. We compare this hybrid intelligence approach to both end-to-end machine learning and pure engineered solutions, which are then judged by human evaluators. Codebase is available at https://github.com/viniciusguigo/kairos_minerl_basalt.
Combining optimal control and learning for autonomous aerial navigation in novel indoor environments
Venue: arXiv cs.RO 2022
Year: 2022

This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information from a simulator to generate optimal waypoints in 3D space that our perception system learns to imitate. The trained learning based perception module in turn is able to generate similar obstacle avoiding waypoints from sensor data (RGB + IMU) alone. We demonstrate the efficacy of the framework across novel scenes in the iGibson simulation environment.
Auxiliary Learning for Self-Supervised Video Representation via Similarity-based Knowledge Distillation
Venue: arXiv cs.CV 2022
Year: 2022

Despite the outstanding success of self-supervised pretraining methods for video representation learning, they generalise poorly when the unlabeled dataset for pretraining is small or the domain difference between unlabelled data in source task (pretraining) and labeled data in target task (finetuning) is significant. To mitigate these issues, we propose a novel approach to complement self-supervised pretraining via an auxiliary pretraining phase, based on knowledge similarity distillation, auxSKD, for better generalisation with a significantly smaller amount of video data, e.g. Kinetics-100 rather than Kinetics-400. Our method deploys a teacher network that iteratively distills its knowledge to the student model by capturing the similarity information between segments of unlabelled video data. The student model meanwhile solves a pretext task by exploiting this prior knowledge. We also introduce a novel pretext task, Video Segment Pace Prediction or VSPP, which requires our model to predict the playback speed of a randomly selected segment of the input video to provide more reliable self-supervised representations. Our experimental results show superior results to the state of the art on both UCF101 and HMDB51 datasets when pretraining on K100 in apple-to-apple comparisons. Additionally, we show that our auxiliary pretraining, auxSKD, when added as an extra pretraining phase to recent state of the art self-supervised methods (i.e. VCOP, VideoPace, and RSPNet), improves their results on UCF101 and HMDB51. Our code is available at https://github.com/Plrbear/auxSKD.
Image classifiers can not be made robust to small perturbations
Venue: arXiv cs.CV 2022
Year: 2022

The sensitivity of image classifiers to small perturbations in the input is often viewed as a defect of their construction. We demonstrate that this sensitivity is a fundamental property of classifiers. For any arbitrary classifier over the set of $n$-by-$n$ images, we show that for all but one class it is possible to change the classification of all but a tiny fraction of the images in that class with a perturbation of size $O(n^{1/\max{(p,1)}})$ when measured in any $p$-norm for $p \geq 0$. We then discuss how this phenomenon relates to human visual perception and the potential implications for the design considerations of computer vision systems.
Active Sensing for Communications by Learning
Venue: arXiv cs.IT 2022
Year: 2022

This paper proposes a deep learning approach to a class of active sensing problems in wireless communications in which an agent sequentially interacts with an environment over a predetermined number of time frames to gather information in order to perform a sensing or actuation task for maximizing some utility function. In such an active learning setting, the agent needs to design an adaptive sensing strategy sequentially based on the observations made so far. To tackle such a challenging problem in which the dimension of historical observations increases over time, we propose to use a long short-term memory (LSTM) network to exploit the temporal correlations in the sequence of observations and to map each observation to a fixed-size state information vector. We then use a deep neural network (DNN) to map the LSTM state at each time frame to the design of the next measurement step. Finally, we employ another DNN to map the final LSTM state to the desired solution. We investigate the performance of the proposed framework for adaptive channel sensing problems in wireless communications. In particular, we consider the adaptive beamforming problem for mmWave beam alignment and the adaptive reconfigurable intelligent surface sensing problem for reflection alignment. Numerical results demonstrate that the proposed deep active sensing strategy outperforms the existing adaptive or nonadaptive sensing schemes.
Diffeomorphically Learning Stable Koopman Operators
Venue: arXiv cs.LG 2022
Year: 2022

System representations inspired by the infinite-dimensional Koopman operator (generator) are increasingly considered for predictive modeling. Due to the operator's linearity, a range of nonlinear systems admit linear predictor representations - allowing for simplified prediction, analysis and control. However, finding meaningful finite-dimensional representations for prediction is difficult as it involves determining features that are both Koopman-invariant (evolve linearly under the dynamics) as well as relevant (spanning the original state) - a generally unsupervised problem. In this work, we present Koopmanizing Flows - a novel continuous-time framework for supervised learning of linear predictors for a class of nonlinear dynamics. In our model construction a latent diffeomorphically related linear system unfolds into a linear predictor through the composition with a monomial basis. The lifting, its linear dynamics and state reconstruction are learned simultaneously, while an unconstrained parameterization of Hurwitz matrices ensures asymptotic stability regardless of the operator approximation accuracy. The superior efficacy of Koopmanizing Flows is demonstrated in comparison to a state-of-the-art method on the well-known LASA handwriting benchmark.
Transformaly -- Two (Feature Spaces) Are Better Than One
Venue: arXiv cs.CV 2022
Year: 2022

Anomaly detection is a well-established research area that seeks to identify samples outside of a predetermined distribution. An anomaly detection pipeline is comprised of two main stages: (1) feature extraction and (2) normality score assignment. Recent papers used pre-trained networks for feature extraction achieving state-of-the-art results. However, the use of pre-trained networks does not fully-utilize the normal samples that are available at train time. This paper suggests taking advantage of this information by using teacher-student training. In our setting, a pretrained teacher network is used to train a student network on the normal training samples. Since the student network is trained only on normal samples, it is expected to deviate from the teacher network in abnormal cases. This difference can serve as a complementary representation to the pre-trained feature vector. Our method -- Transformaly -- exploits a pre-trained Vision Transformer (ViT) to extract both feature vectors: the pre-trained (agnostic) features and the teacher-student (fine-tuned) features. We report state-of-the-art AUROC results in both the common unimodal setting, where one class is considered normal and the rest are considered abnormal, and the multimodal setting, where all classes but one are considered normal, and just one class is considered abnormal. The code is available at https://github.com/MatanCohen1/Transformaly.
Faster Algorithms for $k$-Subset Sum and Variations
Venue: arXiv cs.DS 2022
Year: 2022

We present new, faster pseudopolynomial time algorithms for the $k$-Subset Sum problem, defined as follows: given a set $Z$ of $n$ positive integers and $k$ targets $t_1, \ldots, t_k$, determine whether there exist $k$ disjoint subsets $Z_1,\dots,Z_k \subseteq Z$, such that $Σ(Z_i) = t_i$, for $i = 1, \ldots, k$. Assuming $t = \max \{ t_1, \ldots, t_k \}$ is the maximum among the given targets, a standard dynamic programming approach based on Bellman's algorithm [Bell57] can solve the problem in $O(n t^k)$ time. We build upon recent advances on Subset Sum due to Koiliaris and Xu [Koil19] and Bringmann [Brin17] in order to provide faster algorithms for $k$-Subset Sum. We devise two algorithms: a deterministic one of time complexity $\tilde{O}(n^{k / (k+1)} t^k)$ and a randomised one of $\tilde{O}(n + t^k)$ complexity. Additionally, we show how these algorithms can be modified in order to incorporate cardinality constraints enforced on the solution subsets. We further demonstrate how these algorithms can be used in order to cope with variations of $k$-Subset Sum, namely Subset Sum Ratio, $k$-Subset Sum Ratio and Multiple Subset Sum.
JABER and SABER: Junior and Senior Arabic BERt
Venue: arXiv cs.CL 2022
Year: 2022

Language-specific pre-trained models have proven to be more accurate than multilingual ones in a monolingual evaluation setting, Arabic is no exception. However, we found that previously released Arabic BERT models were significantly under-trained. In this technical report, we present JABER and SABER, Junior and Senior Arabic BERt respectively, our pre-trained language model prototypes dedicated for Arabic. We conduct an empirical study to systematically evaluate the performance of models across a diverse set of existing Arabic NLU tasks. Experimental results show that JABER and SABER achieve state-of-the-art performances on ALUE, a new benchmark for Arabic Language Understanding Evaluation, as well as on a well-established NER benchmark.
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Venue: arXiv cs.RO 2022
Year: 2022

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety and stability guarantees. The state of a rigid-body robot usually contains its position, orientation, and generalized velocity and satisfies Hamilton's equations of motion. Instead of a hand-derived dynamics model, we use a dataset of state-control trajectories to train a translation-equivariant nonlinear Hamiltonian model represented as a neural ordinary differential equation (ODE) network. The learned Hamiltonian model is used to synthesize an energy-shaping passivity-based controller and derive conditions which guarantee safe regulation to a desired reference pose. We enable adaptive tracking of a desired path, subject to safety constraints obtained from obstacle distance measurements. The trade-off between the robot's energy and the distance to safety constraint violation is used to adaptively govern a reference pose along the desired path. Our safe adaptive controller is demonstrated on a simulated hexarotor robot navigating in an unknown environments.
i-SpaSP: Structured Neural Pruning via Sparse Signal Recovery
Venue: arXiv cs.LG 2022
Year: 2022

We propose a novel, structured pruning algorithm for neural networks -- the iterative, Sparse Structured Pruning algorithm, dubbed as i-SpaSP. Inspired by ideas from sparse signal recovery, i-SpaSP operates by iteratively identifying a larger set of important parameter groups (e.g., filters or neurons) within a network that contribute most to the residual between pruned and dense network output, then thresholding these groups based on a smaller, pre-defined pruning ratio. For both two-layer and multi-layer network architectures with ReLU activations, we show the error induced by pruning with i-SpaSP decays polynomially, where the degree of this polynomial becomes arbitrarily large based on the sparsity of the dense network's hidden representations. In our experiments, i-SpaSP is evaluated across a variety of datasets (i.e., MNIST, ImageNet, and XNLI) and architectures (i.e., feed forward networks, ResNet34, MobileNetV2, and BERT), where it is shown to discover high-performing sub-networks and improve upon the pruning efficiency of provable baseline methodologies by several orders of magnitude. Put simply, i-SpaSP is easy to implement with automatic differentiation, achieves strong empirical results, comes with theoretical convergence guarantees, and is efficient, thus distinguishing itself as one of the few computationally efficient, practical, and provable pruning algorithms.
mechanoChemML: A software library for machine learning in computational materials physics
Venue: arXiv cs.CE 2022
Year: 2022

We present mechanoChemML, a machine learning software library for computational materials physics. mechanoChemML is designed to function as an interface between platforms that are widely used for machine learning on one hand, and others for solution of partial differential equations-based models of physics. Of special interest here, and the focus of mechanoChemML, are applications to computational materials physics. These typically feature the coupled solution of material transport, reaction, phase transformation, mechanics, heat transport and electrochemistry. Central to the organization of mechanoChemML are machine learning workflows that arise in the context of data-driven computational materials physics. The mechanoChemML code structure is described, the machine learning workflows are laid out and their application to the solution of several problems in materials physics is outlined.
Millimeter Wave Localization with Imperfect Training Data using Shallow Neural Networks
Venue: arXiv cs.NI 2022
Year: 2022

Millimeter wave (mmWave) localization algorithms exploit the quasi-optical propagation of mmWave signals, which yields sparse angular spectra at the receiver. Geometric approaches to angle-based localization typically require to know the map of the environment and the location of the access points. Thus, several works have resorted to automated learning in order to infer a device's location from the properties of the received mmWave signals. However, collecting training data for such models is a significant burden. In this work, we propose a shallow neural network model to localize mmWave devices indoors. This model requires significantly fewer weights than those proposed in the literature. Therefore, it is amenable for implementation in resource-constrained hardware, and needs fewer training samples to converge. We also propose to relieve training data collection efforts by retrieving (inherently imperfect) location estimates from geometry-based mmWave localization algorithms. Even in this case, our results show that the proposed neural networks perform as good as or better than state-of-the-art algorithms.
Structure-Preserving Learning Using Gaussian Processes and Variational Integrators
Venue: arXiv cs.LG 2022
Year: 2022

Gaussian process regression is increasingly applied for learning unknown dynamical systems. In particular, the implicit quantification of the uncertainty of the learned model makes it a promising approach for safety-critical applications. When using Gaussian process regression to learn unknown systems, a commonly considered approach consists of learning the residual dynamics after applying some generic discretization technique, which might however disregard properties of the underlying physical system. Variational integrators are a less common yet promising approach to discretization, as they retain physical properties of the underlying system, such as energy conservation and satisfaction of explicit kinematic constraints. In this work, we present a novel structure-preserving learning-based modelling approach that combines a variational integrator for the nominal dynamics of a mechanical system and learning residual dynamics with Gaussian process regression. We extend our approach to systems with known kinematic constraints and provide formal bounds on the prediction uncertainty. The simulative evaluation of the proposed method shows desirable energy conservation properties in accordance with general theoretical results and demonstrates exact constraint satisfaction for constrained dynamical systems.
A Class of $(n, k, r, t)_i$ LRCs Via Parity Check Matrix
Venue: arXiv cs.IT 2022
Year: 2022

A code is called $(n, k, r, t)$ information symbol locally repairable code \big($(n, k, r, t)_i$ LRC\big) if each information coordinate can be achieved by at least $t$ disjoint repair sets, containing at most $r$ other coordinates. This paper considers a class of $(n, k, r, t)_i$ LRCs, where each repair set contains exactly one parity coordinate. We explore the systematic code in terms of the standard parity check matrix. First, some structural features of the parity check matrix are proposed by showing some connections with the membership matrix and the minimum distance optimality of the code. Next to that, parity check matrix based proofs of various bounds associated with the code are placed. In addition to this, we provide several constructions of optimal $(n, k, r, t)_i$ LRCs, with the help of two Cayley tables of a finite field. Finally, we generalize a result of $q$-ary $(n, k, r)$ LRCs to $q$-ary $(n, k, r, t)$ LRCs.
Rapid manufacturing of color-based hemispherical soft tactile fingertips
Venue: arXiv cs.RO 2022
Year: 2022

Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation of soft fingertips is necessary. Recently, tactile sensors that rely on a camera looking at a deformable membrane have demonstrated that a dense measurement of the contact is possible. However, their manufacturing can be time-consuming and labor-intensive. Here, we show a new design method that uses multi-color additive manufacturing and silicone casting to efficiently manufacture soft marker-based tactile sensors that are able to capture with high-resolution the three-dimensional deformation field at the interface. Each marker is composed of two superimposed color filters. The subtractive color mixing encodes the normal deformation of the membrane, and the lateral deformation is found by centroid detection. With this manufacturing method, we can reach a density of 400 markers on a 21 mm radius hemisphere, allowing for regular and dense measurement of the deformation. We calibrated and validated the approach by finding the curvature of objects with a threefold increase in accuracy as compared to previous implementations. The results demonstrate a simple yet effective approach to manufacturing artificial fingertips for capturing a rich image of the tactile interaction at the location of contact.