OpenRaiser/Intern-Atlas huggingface dataset:
Keeping Minimal Experience to Achieve Efficient Interpretable Policy Distillation
Venue: arXiv cs.LG 2022
Year: 2022

Although deep reinforcement learning has become a universal solution for complex control tasks, its real-world applicability is still limited because lacking security guarantees for policies. To address this problem, we propose Boundary Characterization via the Minimum Experience Retention (BCMER), an end-to-end Interpretable Policy Distillation (IPD) framework. Unlike previous IPD approaches, BCMER distinguishes the importance of experiences and keeps a minimal but critical experience pool with almost no loss of policy similarity. Specifically, the proposed BCMER contains two basic steps. Firstly, we propose a novel multidimensional hyperspheres intersection (MHI) approach to divide experience points into boundary points and internal points, and reserve the crucial boundary points. Secondly, we develop a nearest-neighbor-based model to generate robust and interpretable decision rules based on the boundary points. Extensive experiments show that the proposed BCMER is able to reduce the amount of experience to 1.4%~19.1% (when the count of the naive experiences is 10k) and maintain high IPD performance. In general, the proposed BCMER is more suitable for the experience storage limited regime because it discovers the critical experience and eliminates redundant experience.
3DCTN: 3D Convolution-Transformer Network for Point Cloud Classification
Venue: arXiv cs.CV 2022
Year: 2022

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and efficient global discriminative feature learning. Lately, 3D Transformers have been adopted to improve point cloud processing. Nevertheless, massive Transformer layers tend to incur huge computational and memory costs. This paper presents a novel hierarchical framework that incorporates convolution with Transformer for point cloud classification, named 3D Convolution-Transformer Network (3DCTN), to combine the strong and efficient local feature learning ability of convolution with the remarkable global context modeling capability of Transformer. Our method has two main modules operating on the downsampling point sets, and each module consists of a multi-scale local feature aggregating (LFA) block and a global feature learning (GFL) block, which are implemented by using Graph Convolution and Transformer respectively. We also conduct a detailed investigation on a series of Transformer variants to explore better performance for our network. Various experiments on ModelNet40 demonstrate that our method achieves state-of-the-art classification performance, in terms of both accuracy and efficiency.
Physical Backdoor Attacks to Lane Detection Systems in Autonomous Driving
Venue: arXiv cs.CV 2022
Year: 2022

Modern autonomous vehicles adopt state-of-the-art DNN models to interpret the sensor data and perceive the environment. However, DNN models are vulnerable to different types of adversarial attacks, which pose significant risks to the security and safety of the vehicles and passengers. One prominent threat is the backdoor attack, where the adversary can compromise the DNN model by poisoning the training samples. Although lots of effort has been devoted to the investigation of the backdoor attack to conventional computer vision tasks, its practicality and applicability to the autonomous driving scenario is rarely explored, especially in the physical world. In this paper, we target the lane detection system, which is an indispensable module for many autonomous driving tasks, e.g., navigation, lane switching. We design and realize the first physical backdoor attacks to such system. Our attacks are comprehensively effective against different types of lane detection algorithms. Specifically, we introduce two attack methodologies (poison-annotation and clean-annotation) to generate poisoned samples. With those samples, the trained lane detection model will be infected with the backdoor, and can be activated by common objects (e.g., traffic cones) to make wrong detections, leading the vehicle to drive off the road or onto the opposite lane. Extensive evaluations on public datasets and physical autonomous vehicles demonstrate that our backdoor attacks are effective, stealthy and robust against various defense solutions. Our codes and experimental videos can be found in https://sites.google.com/view/lane-detection-attack/lda.
3D object reconstruction and 6D-pose estimation from 2D shape for robotic grasping of objects
Venue: arXiv cs.CV 2022
Year: 2022

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment silhouettes that are compared with the 2D silhouettes of projections obtained from various views of a 3D model representing the recognized object class. By computing transformation parameters directly from the 2D images, the number of free parameters required during the registration process is reduced, making the approach feasible. Furthermore, 3D transformations and projective geometry are employed to arrive at a full 3D reconstruction of the object in camera space using a calibrated set up. Inclusion of a second camera allows resolving remaining ambiguities. The method is quantitatively evaluated using synthetic data and tested with real data, and additional results for the well-known Linemod data set are shown. In robot experiments, successful grasping of objects demonstrates its usability in real-world environments, and, where possible, a comparison with other methods is provided. The method is applicable to scenarios where 3D object models, e.g., CAD-models or point clouds, are available and precise pixel-wise segmentation maps of 2D images can be obtained. Different from other methods, the method does not use 3D depth for training, widening the domain of application.
Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning
Venue: arXiv cs.RO 2022
Year: 2022

Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones often lead to poor planning quality. In this paper, we propose an enhanced decentralized autonomous aerial robot team system with group planning. According to the spatial distribution of agents, the system dynamically divides the team into several groups and isolated agents. For conflicts within each group, we propose a novel coordination mechanism named group planning. The group planning consists of efficient multi-agent pathfinding (MAPF) and trajectory joint optimization, which can significantly improve planning quality and success rate. We demonstrate through simulations and real-world experiments that our method not only has applicability for a large-scale team but also has top-level planning quality
A New Framework for Expressing, Parallelizing and Optimizing Big Data Applications
Venue: arXiv cs.DC 2022
Year: 2022

The Forelem framework was first introduced as a means to optimize database queries using optimization techniques developed for compilers. Since its introduction, Forelem has proven to be more versatile and to be applicable beyond database applications. In this paper we show that the original Forelem framework can be used to express and optimize Big Data applications, more specifically: k-Means clustering and PageRank, resulting in automatically generated implementations of these applications. These implementations are more efficient than state-of-the-art, hand-written MPI C/C++ implementations of k-Means and PageRank, as well as significantly outperform state-of-the-art Hadoop implementations.
Delegated Online Search
Venue: arXiv cs.GT 2022
Year: 2022

In a delegation problem, a principal P with commitment power tries to pick one out of $n$ options. Each option is drawn independently from a known distribution. Instead of inspecting the options herself, P delegates the information acquisition to a rational and self-interested agent A. After inspection, A proposes one of the options, and P can accept or reject. Delegation is a classic setting in economic information design with many prominent applications, but the computational problems are only poorly understood. In this paper, we study a natural online variant of delegation, in which the agent searches through the options in an online fashion. For each option, he has to irrevocably decide if he wants to propose the current option or discard it, before seeing information on the next option(s). How can we design algorithms for P that approximate the utility of her best option in hindsight? We show that in general P can obtain a $Θ(1/n)$-approximation and extend this result to ratios of $Θ(k/n)$ in case (1) A has a lookahead of $k$ rounds, or (2) A can propose up to $k$ different options. We provide fine-grained bounds independent of $n$ based on two parameters. If the ratio of maximum and minimum utility for A is bounded by a factor $α$, we obtain an $Ω(\log \log α/ \log α)$-approximation algorithm, and we show that this is best possible. Additionally, if P cannot distinguish options with the same value for herself, we show that ratios polynomial in $1/α$ cannot be avoided. If the utilities of P and A for each option are related by a factor $β$, we obtain an $Ω(1/ \log β)$-approximation, where $O(\log \log β/ \log β)$ is best possible.
On packing time-respecting arborescences
Venue: arXiv cs.DM 2022
Year: 2022

We present a slight generalization of the result of Kamiyama and Kawase \cite{kamkaw} on packing time-respecting arborescences in acyclic pre-flow temporal networks. Our main contribution is to provide the first results on packing time-respecting arborescences in non-acyclic temporal networks. As negative results, we prove the NP-completeness of the decision problem of the existence of 2 arc-disjoint spanning time-respecting arborescences and of a related problem proposed in this paper.
Rethinking Pretraining as a Bridge from ANNs to SNNs
Venue: arXiv cs.NE 2022
Year: 2022

Spiking neural networks (SNNs) are known as a typical kind of brain-inspired models with their unique features of rich neuronal dynamics, diverse coding schemes and low power consumption properties. How to obtain a high-accuracy model has always been the main challenge in the field of SNN. Currently, there are two mainstream methods, i.e., obtaining a converted SNN through converting a well-trained Artificial Neural Network (ANN) to its SNN counterpart or training an SNN directly. However, the inference time of a converted SNN is too long, while SNN training is generally very costly and inefficient. In this work, a new SNN training paradigm is proposed by combining the concepts of the two different training methods with the help of the pretrain technique and BP-based deep SNN training mechanism. We believe that the proposed paradigm is a more efficient pipeline for training SNNs. The pipeline includes pipeS for static data transfer tasks and pipeD for dynamic data transfer tasks. SOTA results are obtained in a large-scale event-driven dataset ES-ImageNet. For training acceleration, we achieve the same (or higher) best accuracy as similar LIF-SNNs using 1/10 training time on ImageNet-1K and 2/5 training time on ES-ImageNet and also provide a time-accuracy benchmark for a new dataset ES-UCF101. These experimental results reveal the similarity of the functions of parameters between ANNs and SNNs and also demonstrate the various potential applications of this SNN training pipeline.
Linear Stochastic Bandits over a Bit-Constrained Channel
Venue: arXiv cs.LG 2022
Year: 2022

One of the primary challenges in large-scale distributed learning stems from stringent communication constraints. While several recent works address this challenge for static optimization problems, sequential decision-making under uncertainty has remained much less explored in this regard. Motivated by this gap, we introduce a new linear stochastic bandit formulation over a bit-constrained channel. Specifically, in our setup, an agent interacting with an environment transmits encoded estimates of an unknown model parameter to a server over a communication channel of finite capacity. The goal of the server is to take actions based on these estimates to minimize cumulative regret. To this end, we develop a novel and general algorithmic framework that hinges on two main components: (i) an adaptive encoding mechanism that exploits statistical concentration bounds, and (ii) a decision-making principle based on confidence sets that account for encoding errors. As our main result, we prove that when the unknown model is $d$-dimensional, a channel capacity of $O(d)$ bits suffices to achieve order-optimal regret. To demonstrate the generality of our approach, we then show that the same result continues to hold for non-linear observation models satisfying standard regularity conditions. Finally, we establish that for the simpler unstructured multi-armed bandit problem, $1$ bit channel-capacity is sufficient for achieving optimal regret bounds. Overall, our work takes a significant first step towards paving the way for statistical decision-making over finite-capacity channels.
Towards Efficient and Stable K-Asynchronous Federated Learning with Unbounded Stale Gradients on Non-IID Data
Venue: arXiv cs.LG 2022
Year: 2022

Federated learning (FL) is an emerging privacy-preserving paradigm that enables multiple participants collaboratively to train a global model without uploading raw data. Considering heterogeneous computing and communication capabilities of different participants, asynchronous FL can avoid the stragglers effect in synchronous FL and adapts to scenarios with vast participants. Both staleness and non-IID data in asynchronous FL would reduce the model utility. However, there exists an inherent contradiction between the solutions to the two problems. That is, mitigating the staleness requires to select less but consistent gradients while coping with non-IID data demands more comprehensive gradients. To address the dilemma, this paper proposes a two-stage weighted $K$ asynchronous FL with adaptive learning rate (WKAFL). By selecting consistent gradients and adjusting learning rate adaptively, WKAFL utilizes stale gradients and mitigates the impact of non-IID data, which can achieve multifaceted enhancement in training speed, prediction accuracy and training stability. We also present the convergence analysis for WKAFL under the assumption of unbounded staleness to understand the impact of staleness and non-IID data. Experiments implemented on both benchmark and synthetic FL datasets show that WKAFL has better overall performance compared to existing algorithms.
Mukayese: Turkish NLP Strikes Back
Venue: arXiv cs.CL 2022
Year: 2022

Having sufficient resources for language X lifts it from the under-resourced languages class, but not necessarily from the under-researched class. In this paper, we address the problem of the absence of organized benchmarks in the Turkish language. We demonstrate that languages such as Turkish are left behind the state-of-the-art in NLP applications. As a solution, we present Mukayese, a set of NLP benchmarks for the Turkish language that contains several NLP tasks. We work on one or more datasets for each benchmark and present two or more baselines. Moreover, we present four new benchmarking datasets in Turkish for language modeling, sentence segmentation, and spell checking. All datasets and baselines are available under: https://github.com/alisafaya/mukayese
A Simple and Universal Rotation Equivariant Point-cloud Network
Venue: arXiv cs.LG 2022
Year: 2022

Equivariance to permutations and rigid motions is an important inductive bias for various 3D learning problems. Recently it has been shown that the equivariant Tensor Field Network architecture is universal -- it can approximate any equivariant function. In this paper we suggest a much simpler architecture, prove that it enjoys the same universality guarantees and evaluate its performance on Modelnet40. The code to reproduce our experiments is available at \url{https://github.com/simpleinvariance/UniversalNetwork}
Recommendations in a Multi-Domain Setting: Adapting for Customization, Scalability and Real-Time Performance
Venue: arXiv cs.IR 2022
Year: 2022

In this industry talk at ECIR'2022, we illustrate how to build a modern recommender system that can serve recommendations in real-time for a diverse set of application domains. Specifically, we present our system architecture that utilizes popular recommendation algorithms from the literature such as Collaborative Filtering, Content-based Filtering as well as various neural embedding approaches (e.g., Doc2Vec, Autoencoders, etc.). We showcase the applicability of our system architecture using two real-world use-cases, namely providing recommendations for the domains of (i) job marketplaces, and (ii) entrepreneurial start-up founding. We strongly believe that our experiences from both research- and industry-oriented settings should be of interest for practitioners in the field of real-time multi-domain recommender systems.
Interactive Visualization of Protein RINs using NetworKit in the Cloud
Venue: arXiv cs.SI 2022
Year: 2022

Network analysis has been applied in diverse application domains. In this paper, we consider an example from protein dynamics, specifically residue interaction networks (RINs). In this context, we use NetworKit -- an established package for network analysis -- to build a cloud-based environment that enables domain scientists to run their visualization and analysis workflows on large compute servers, without requiring extensive programming and/or system administration knowledge. To demonstrate the versatility of this approach, we use it to build a custom Jupyter-based widget for RIN visualization. In contrast to existing RIN visualization approaches, our widget can easily be customized through simple modifications of Python code, while both supporting a good feature set and providing near real-time speed. It is also easily integrated into analysis pipelines (e.g., that use Python to feed RIN data into downstream machine learning tasks).
Recent, rapid advancement in visual question answering architecture: a review
Venue: arXiv cs.CV 2022
Year: 2022

Understanding visual question answering is going to be crucial for numerous human activities. However, it presents major challenges at the heart of the artificial intelligence endeavor. This paper presents an update on the rapid advancements in visual question answering using images that have occurred in the last couple of years. Tremendous growth in research on improving visual question answering system architecture has been published recently, showing the importance of multimodal architectures. Several points on the benefits of visual question answering are mentioned in the review paper by Manmadhan et al. (2020), on which the present article builds, including subsequent updates in the field.
Partisan Asymmetries in Exposure to Misinformation
Venue: arXiv cs.SI 2022
Year: 2022

Health misinformation is believed to have contributed to vaccine hesitancy during the Covid-19 pandemic, highlighting concerns about the role of social media in polarization and social stability. While previous research has identified a link between political partisanship and misinformation sharing online, the interaction between partisanship and how much misinformation people see within their social networks has not been well studied. As a result, we do not know whether partisanship drives exposure to misinformation or people selectively share misinformation despite being exposed to factual content. We study Twitter discussions about the Covid-19 pandemic, classifying users ideologically along political and factual dimensions. We find partisan asymmetries in both sharing behaviors and exposure, with conservatives more likely to see and share misinformation and moderate liberals seeing the most factual content. We identify multi-dimensional echo chambers that expose users to ideologically congruent content; however, the interaction between political and factual dimensions creates conditions for the highly polarized users -- hardline conservatives and liberals -- to amplify misinformation. Despite this, misinformation receives less attention than factual content and political moderates, who represent the bulk of users in our sample, help filter out misinformation, reducing the amount of low factuality content in the information ecosystem. Identifying the extent of polarization and how political ideology can exacerbate misinformation can potentially help public health experts and policy makers improve their messaging to promote consensus.
Conditional Reconstruction for Open-set Semantic Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Open set segmentation is a relatively new and unexploredtask, with just a handful of methods proposed to model suchtasks.We propose a novel method called CoReSeg thattackles the issue using class conditional reconstruction ofthe input images according to their pixelwise mask. Ourmethod conditions each input pixel to all known classes,expecting higher errors for pixels of unknown classes. Itwas observed that the proposed method produces better se-mantic consistency in its predictions, resulting in cleanersegmentation maps that better fit object boundaries. CoRe-Seg outperforms state-of-the-art methods on the Vaihin-gen and Potsdam ISPRS datasets, while also being com-petitive on the Houston 2018 IEEE GRSS Data Fusiondataset. Official implementation for CoReSeg is availableat:https://github.com/iannunes/CoReSeg.
Micromechanics-based phase field fracture modelling of CNT composites
Venue: arXiv cs.CE 2022
Year: 2022

We present a novel micromechanics-based phase field approach to model crack initiation and propagation in carbon nanotube (CNT) based composites. The constitutive mechanical and fracture properties of the nanocomposites are first estimated by a mean-field homogenisation approach. Inhomogeneous dispersion of CNTs is accounted for by means of equivalent inclusions representing agglomerated CNTs. Detailed parametric analyses are presented to assess the effect of the main micromechanical properties upon the fracture behaviour of CNT-based composites. The second step of the proposed approach incorporates the previously estimated constitutive properties into a phase field fracture model to simulate crack initiation and growth in CNT-based composites. The modelling capabilities of the framework presented is demonstrated through three paradigmatic case studies involving mode I and mixed mode fracture conditions.
Skew-Symmetric Adjacency Matrices for Clustering Directed Graphs
Venue: arXiv cs.LG 2022
Year: 2022

Cut-based directed graph (digraph) clustering often focuses on finding dense within-cluster or sparse between-cluster connections, similar to cut-based undirected graph clustering methods. In contrast, for flow-based clusterings the edges between clusters tend to be oriented in one direction and have been found in migration data, food webs, and trade data. In this paper we introduce a spectral algorithm for finding flow-based clusterings. The proposed algorithm is based on recent work which uses complex-valued Hermitian matrices to represent digraphs. By establishing an algebraic relationship between a complex-valued Hermitian representation and an associated real-valued, skew-symmetric matrix the proposed algorithm produces clusterings while remaining completely in the real field. Our algorithm uses less memory and asymptotically less computation while provably preserving solution quality. We also show the algorithm can be easily implemented using standard computational building blocks, possesses better numerical properties, and loans itself to a natural interpretation via an objective function relaxation argument.