OpenRaiser/Intern-Atlas huggingface dataset:
Reducing shared memory footprint to leverage high throughput on Tensor Cores and its flexible API extension library
Venue: arXiv cs.DC 2023
Year: 2023

NVIDIA Tensor Core is a mixed-precision matrix-matrix multiplication and addition computing unit, where the theoretical peak performance is more than 300 TFlop/s on NVIDIA A100 GPU. NVIDIA provides WMMA API for using Tensor Cores in custom kernel functions. The most common way to use Tensor Core is to supply the input matrices from shared memory, which has higher bandwidth than global memory. However, the Bytes-per-Flops (B/F) ratio of the shared memory and Tensor Cores is small since the performance of Tensor Cores is high. Thus, it is important to reduce the shared memory footprint for efficient Tensor Cores usage. In this paper, we analyze the simple matrix-matrix multiplication on Tensor Cores by the roofline model and figure out that the bandwidth of shared memory might be a limitation of the performance when using WMMA API. To alleviate this issue, we provide a WMMA API extension library to boost the throughput of the computation, which has two components. The first one allows for manipulating the array of registers input to Tensor Cores flexibly. We evaluate the performance improvement of this library. The outcome of our evaluation shows that our library reduces the shared memory footprint and speeds up the computation using Tensor Cores. The second one is an API for the SGEMM emulation on Tensor Cores without additional shared memory usage. We have demonstrated that the single-precision emulating batch SGEMM implementation on Tensor Cores using this library achieves 54.2 TFlop/s on A100 GPU, which outperforms the theoretical peak performance of FP32 SIMT Cores while achieving the same level of accuracy as cuBLAS. The achieved throughput can not be achieved without reducing the shared memory footprint done by our library with the same amount of register usage.
ABS-SGD: A Delayed Synchronous Stochastic Gradient Descent Algorithm with Adaptive Batch Size for Heterogeneous GPU Clusters
Venue: arXiv cs.LG 2023
Year: 2023

As the size of models and datasets grows, it has become increasingly common to train models in parallel. However, existing distributed stochastic gradient descent (SGD) algorithms suffer from insufficient utilization of computational resources and poor convergence in heterogeneous clusters. In this paper, we propose a delayed synchronous SGD algorithm with adaptive batch size (ABS-SGD) for heterogeneous GPU clusters. In ABS-SGD, workers perform global synchronization to accumulate delayed gradients and use the accumulated delayed gradients to update parameters. While workers are performing global synchronization for delayed gradients, they perform the computation of the next batch without specifying batch size in advance, which lasts until the next global synchronization starts, realizing the full utilization of computational resources. Since the gradient delay is only one iteration, the stale gradient problem can be alleviated. We theoretically prove the convergence of ABS-SGD in heterogeneous clusters. Extensive experiments in three types of heterogeneous clusters demonstrate that ABS-SGD can make full use of computational resources and accelerate model convergence: When training ResNet18 network with 4 workers, ABS-SGD increases the convergence speed by 1.30x on average compared with the best baseline algorithm.
Dynamic Collaborative Path Planning for Remote Assistance of Highly-Automated Vehicles
Venue: arXiv cs.RO 2023
Year: 2023

Given its increasing popularity in recent years, teleoperation technology is now recognized as a robust fallback solution for Automated Driving (AD). Remote Assistance (RA) represents an event-driven class of teleoperation with a distinct division of tasks between the Autonomous Vehicle (AV) and the remote human operator. This paper presents a novel approach for RA of AVs in urban environments. The concept draws inspiration from the potential synergy between highly-automated systems and human operators to collaboratively solve complex driving situations. Utilizing a hybrid algorithm that makes use of the Operational Design Domain (ODD) modification idea, it considers actions that go beyond the nominal operational space. Combined with the advanced cognitive reasoning of the human remote operator, the concept offers features that hold the potential to significantly improve both RA and AD user experiences.
A Study of Different Awareness Campaigns in a Company
Venue: arXiv cs.CR 2023
Year: 2023

Phishing is a major cyber threat to organizations that can cause financial and reputational damage, threatening their existence. The technical measures against phishing should be complemented by awareness training for employees. However, there is little validation of awareness measures. Consequently, organizations have an additional burden when integrating awareness training, as there is no consensus on which method brings the best success. This paper examines how awareness concepts can be successfully implemented and validated. For this purpose, various factors, such as requirements and possible combinations of methods, are taken into account in our case study at a small- and medium-sized enterprise (SME). To measure success, phishing exercises are conducted. The study suggests that pleasant campaigns result in better performance in the simulated phishing exercise. In addition, significant improvements and differences in the target groups could be observed. The implementation of awareness training with integrated key performance indicators can be used as a basis for other organizations.
LTLf Synthesis Under Environment Specifications for Reachability and Safety Properties
Venue: arXiv cs.LO 2023
Year: 2023

In this paper, we study LTLf synthesis under environment specifications for arbitrary reachability and safety properties. We consider both kinds of properties for both agent tasks and environment specifications, providing a complete landscape of synthesis algorithms. For each case, we devise a specific algorithm (optimal wrt complexity of the problem) and prove its correctness. The algorithms combine common building blocks in different ways. While some cases are already studied in literature others are studied here for the first time.
LTLf Best-Effort Synthesis in Nondeterministic Planning Domains
Venue: arXiv cs.AI 2023
Year: 2023

We study best-effort strategies (aka plans) in fully observable nondeterministic domains (FOND) for goals expressed in Linear Temporal Logic on Finite Traces (LTLf). The notion of best-effort strategy has been introduced to also deal with the scenario when no agent strategy exists that fulfills the goal against every possible nondeterministic environment reaction. Such strategies fulfill the goal if possible, and do their best to do so otherwise. We present a game-theoretic technique for synthesizing best-effort strategies that exploit the specificity of nondeterministic planning domains. We formally show its correctness and demonstrate its effectiveness experimentally, exhibiting a much greater scalability with respect to a direct best-effort synthesis approach based on re-expressing the planning domain as generic environment specifications.
Evaluating Explanation Methods for Multivariate Time Series Classification
Venue: arXiv cs.LG 2023
Year: 2023

Multivariate time series classification is an important computational task arising in applications where data is recorded over time and over multiple channels. For example, a smartwatch can record the acceleration and orientation of a person's motion, and these signals are recorded as multivariate time series. We can classify this data to understand and predict human movement and various properties such as fitness levels. In many applications classification alone is not enough, we often need to classify but also understand what the model learns (e.g., why was a prediction given, based on what information in the data). The main focus of this paper is on analysing and evaluating explanation methods tailored to Multivariate Time Series Classification (MTSC). We focus on saliency-based explanation methods that can point out the most relevant channels and time series points for the classification decision. We analyse two popular and accurate multivariate time series classifiers, ROCKET and dResNet, as well as two popular explanation methods, SHAP and dCAM. We study these methods on 3 synthetic datasets and 2 real-world datasets and provide a quantitative and qualitative analysis of the explanations provided. We find that flattening the multivariate datasets by concatenating the channels works as well as using multivariate classifiers directly and adaptations of SHAP for MTSC work quite well. Additionally, we also find that the popular synthetic datasets we used are not suitable for time series analysis.
Classification-Aware Neural Topic Model Combined With Interpretable Analysis -- For Conflict Classification
Venue: arXiv cs.LG 2023
Year: 2023

A large number of conflict events are affecting the world all the time. In order to analyse such conflict events effectively, this paper presents a Classification-Aware Neural Topic Model (CANTM-IA) for Conflict Information Classification and Topic Discovery. The model provides a reliable interpretation of classification results and discovered topics by introducing interpretability analysis. At the same time, interpretation is introduced into the model architecture to improve the classification performance of the model and to allow interpretation to focus further on the details of the data. Finally, the model architecture is optimised to reduce the complexity of the model.
Multilevel Semantic Embedding of Software Patches: A Fine-to-Coarse Grained Approach Towards Security Patch Detection
Venue: arXiv cs.SE 2023
Year: 2023

The growth of open-source software has increased the risk of hidden vulnerabilities that can affect downstream software applications. This concern is further exacerbated by software vendors' practice of silently releasing security patches without explicit warnings or common vulnerability and exposure (CVE) notifications. This lack of transparency leaves users unaware of potential security threats, giving attackers an opportunity to take advantage of these vulnerabilities. In the complex landscape of software patches, grasping the nuanced semantics of a patch is vital for ensuring secure software maintenance. To address this challenge, we introduce a multilevel Semantic Embedder for security patch detection, termed MultiSEM. This model harnesses word-centric vectors at a fine-grained level, emphasizing the significance of individual words, while the coarse-grained layer adopts entire code lines for vector representation, capturing the essence and interrelation of added or removed lines. We further enrich this representation by assimilating patch descriptions to obtain a holistic semantic portrait. This combination of multi-layered embeddings offers a robust representation, balancing word complexity, understanding code-line insights, and patch descriptions. Evaluating MultiSEM for detecting patch security, our results demonstrate its superiority, outperforming state-of-the-art models with promising margins: a 22.46\% improvement on PatchDB and a 9.21\% on SPI-DB in terms of the F1 metric.
Trustless Privacy-Preserving Data Aggregation on Ethereum with Hypercube Network Topology
Venue: arXiv cs.CR 2023
Year: 2023

The privacy-preserving data aggregation is a critical problem for many applications where multiple parties need to collaborate with each other privately to arrive at certain results. Blockchain, as a database shared across the network, provides an underlying platform on which such aggregations can be carried out with a decentralized manner. Therefore, in this paper, we have proposed a scalable privacy-preserving data aggregation protocol for summation on the Ethereum blockchain by integrating several cryptographic primitives including commitment scheme, asymmetric encryption and zero-knowledge proof along with the hypercube network topology. The protocol consists of four stages as contract deployment, user registration, private submission and proof verification. The analysis of the protocol is made with respect to two main perspectives as security and scalability including computational, communicational and storage overheads. In the paper, the zero-knowledge proof, smart contract and web user interface models for the protocol are provided. We have performed an experimental study in order to identify the required gas costs per individual and per system. The general formulation is provided to characterize the changes in gas costs for the increasing number of users. The zero-knowledge proof generation and verification times are also measured.
Structural Node Embeddings with Homomorphism Counts
Venue: arXiv cs.LG 2023
Year: 2023

Graph homomorphism counts, first explored by Lovász in 1967, have recently garnered interest as a powerful tool in graph-based machine learning. Grohe (PODS 2020) proposed the theoretical foundations for using homomorphism counts in machine learning on graph level as well as node level tasks. By their very nature, these capture local structural information, which enables the creation of robust structural embeddings. While a first approach for graph level tasks has been made by Nguyen and Maehara (ICML 2020), we experimentally show the effectiveness of homomorphism count based node embeddings. Enriched with node labels, node weights, and edge weights, these offer an interpretable representation of graph data, allowing for enhanced explainability of machine learning models. We propose a theoretical framework for isomorphism-invariant homomorphism count based embeddings which lend themselves to a wide variety of downstream tasks. Our approach capitalises on the efficient computability of graph homomorphism counts for bounded treewidth graph classes, rendering it a practical solution for real-world applications. We demonstrate their expressivity through experiments on benchmark datasets. Although our results do not match the accuracy of state-of-the-art neural architectures, they are comparable to other advanced graph learning models. Remarkably, our approach demarcates itself by ensuring explainability for each individual feature. By integrating interpretable machine learning algorithms like SVMs or Random Forests, we establish a seamless, end-to-end explainable pipeline. Our study contributes to the advancement of graph-based techniques that offer both performance and interpretability.
3D-MuPPET: 3D Multi-Pigeon Pose Estimation and Tracking
Venue: arXiv cs.CV 2023
Year: 2023

Markerless methods for animal posture tracking have been rapidly developing recently, but frameworks and benchmarks for tracking large animal groups in 3D are still lacking. To overcome this gap in the literature, we present 3D-MuPPET, a framework to estimate and track 3D poses of up to 10 pigeons at interactive speed using multiple camera views. We train a pose estimator to infer 2D keypoints and bounding boxes of multiple pigeons, then triangulate the keypoints to 3D. For identity matching of individuals in all views, we first dynamically match 2D detections to global identities in the first frame, then use a 2D tracker to maintain IDs across views in subsequent frames. We achieve comparable accuracy to a state of the art 3D pose estimator in terms of median error and Percentage of Correct Keypoints. Additionally, we benchmark the inference speed of 3D-MuPPET, with up to 9.45 fps in 2D and 1.89 fps in 3D, and perform quantitative tracking evaluation, which yields encouraging results. Finally, we showcase two novel applications for 3D-MuPPET. First, we train a model with data of single pigeons and achieve comparable results in 2D and 3D posture estimation for up to 5 pigeons. Second, we show that 3D-MuPPET also works in outdoors without additional annotations from natural environments. Both use cases simplify the domain shift to new species and environments, largely reducing annotation effort needed for 3D posture tracking. To the best of our knowledge we are the first to present a framework for 2D/3D animal posture and trajectory tracking that works in both indoor and outdoor environments for up to 10 individuals. We hope that the framework can open up new opportunities in studying animal collective behaviour and encourages further developments in 3D multi-animal posture tracking.
Enhancing Robot Learning through Learned Human-Attention Feature Maps
Venue: arXiv cs.RO 2023
Year: 2023

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the environment, we think that embedding auxiliary information about focus point into robot learning would enhance efficiency and robustness of the learning process. In this paper, we propose a novel approach to model and emulate the human attention with an approximate prediction model. We then leverage this output and feed it as a structured auxiliary feature map into downstream learning tasks. We validate this idea by learning a prediction model from human-gaze recordings of manual driving in the real world. We test our approach on two learning tasks - object detection and imitation learning. Our experiments demonstrate that the inclusion of predicted human attention leads to improved robustness of the trained models to out-of-distribution samples and faster learning in low-data regime settings. Our work highlights the potential of incorporating structured auxiliary information in representation learning for robotics and opens up new avenues for research in this direction. All code and data are available online.
Heterogeneous Multi-Task Gaussian Cox Processes
Venue: arXiv cs.LG 2023
Year: 2023

This paper presents a novel extension of multi-task Gaussian Cox processes for modeling multiple heterogeneous correlated tasks jointly, e.g., classification and regression, via multi-output Gaussian processes (MOGP). A MOGP prior over the parameters of the dedicated likelihoods for classification, regression and point process tasks can facilitate sharing of information between heterogeneous tasks, while allowing for nonparametric parameter estimation. To circumvent the non-conjugate Bayesian inference in the MOGP modulated heterogeneous multi-task framework, we employ the data augmentation technique and derive a mean-field approximation to realize closed-form iterative updates for estimating model parameters. We demonstrate the performance and inference on both 1D synthetic data as well as 2D urban data of Vancouver.
RED: A Systematic Real-Time Scheduling Approach for Robotic Environmental Dynamics
Venue: arXiv cs.RO 2023
Year: 2023

Intelligent robots are designed to effectively navigate dynamic and unpredictable environments laden with moving mechanical elements and objects. Such environment-induced dynamics, including moving obstacles, can readily alter the computational demand (e.g., the creation of new tasks) and the structure of workloads (e.g., precedence constraints among tasks) during runtime, thereby adversely affecting overall system performance. This challenge is amplified when multi-task inference is expected on robots operating under stringent resource and real-time constraints. To address such a challenge, we introduce RED, a systematic real-time scheduling approach designed to support multi-task deep neural network workloads in resource-limited robotic systems. It is designed to adaptively manage the Robotic Environmental Dynamics (RED) while adhering to real-time constraints. At the core of RED lies a deadline-based scheduler that employs an intermediate deadline assignment policy, effectively managing to change workloads and asynchronous inference prompted by complex, unpredictable environments. This scheduling framework also facilitates the flexible deployment of MIMONet (multi-input multi-output neural networks), which are commonly utilized in multi-tasking robotic systems to circumvent memory bottlenecks. Building on this scheduling framework, RED recognizes and leverages a unique characteristic of MIMONet: its weight-shared architecture. To further accommodate and exploit this feature, RED devises a novel and effective workload refinement and reconstruction process. This process ensures the scheduling framework's compatibility with MIMONet and maximizes efficiency.
Robust Long-Tailed Learning via Label-Aware Bounded CVaR
Venue: arXiv cs.LG 2023
Year: 2023

Data in the real-world classification problems are always imbalanced or long-tailed, wherein the majority classes have the most of the samples that dominate the model training. In such setting, the naive model tends to have poor performance on the minority classes. Previously, a variety of loss modifications have been proposed to address the long-tailed leaning problem, while these methods either treat the samples in the same class indiscriminatingly or lack a theoretical guarantee. In this paper, we propose two novel approaches based on CVaR (Conditional Value at Risk) to improve the performance of long-tailed learning with a solid theoretical ground. Specifically, we firstly introduce a Label-Aware Bounded CVaR (LAB-CVaR) loss to overcome the pessimistic result of the original CVaR, and further design the optimal weight bounds for LAB-CVaR theoretically. Based on LAB-CVaR, we additionally propose a LAB-CVaR with logit adjustment (LAB-CVaR-logit) loss to stabilize the optimization process, where we also offer the theoretical support. Extensive experiments on real-world datasets with long-tailed label distributions verify the superiority of our proposed methods.
Random feature approximation for general spectral methods
Venue: arXiv cs.LG 2023
Year: 2023

Random feature approximation is arguably one of the most popular techniques to speed up kernel methods in large scale algorithms and provides a theoretical approach to the analysis of deep neural networks. We analyze generalization properties for a large class of spectral regularization methods combined with random features, containing kernel methods with implicit regularization such as gradient descent or explicit methods like Tikhonov regularization. For our estimators we obtain optimal learning rates over regularity classes (even for classes that are not included in the reproducing kernel Hilbert space), which are defined through appropriate source conditions. This improves or completes previous results obtained in related settings for specific kernel algorithms.
Pseudo-Boolean Polynomials Approach To Edge Detection And Image Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

We introduce a deterministic approach to edge detection and image segmentation by formulating pseudo-Boolean polynomials on image patches. The approach works by applying a binary classification of blob and edge regions in an image based on the degrees of pseudo-Boolean polynomials calculated on patches extracted from the provided image. We test our method on simple images containing primitive shapes of constant and contrasting colour and establish the feasibility before applying it to complex instances like aerial landscape images. The proposed method is based on the exploitation of the reduction, polynomial degree, and equivalence properties of penalty-based pseudo-Boolean polynomials.