OpenRaiser/Intern-Atlas huggingface dataset:
QMKPy: A Python Testbed for the Quadratic Multiple Knapsack Problem
Venue: arXiv cs.OH 2022
Year: 2022

QMKPy provides a Python framework for modeling and solving the quadratic multiple knapsack problem (QMKP). It is primarily aimed at researchers who develop new solution algorithms for the QMKP. QMKPy therefore mostly functions as a testbed to quickly implement novel algorithms and compare their results with existing ones. However, the package also already includes implementations of established algorithms for those who only need to solve a QMKP as part of their research.
CREPE: Open-Domain Question Answering with False Presuppositions
Venue: arXiv cs.CL 2022
Year: 2022

Information seeking users often pose questions with false presuppositions, especially when asking about unfamiliar topics. Most existing question answering (QA) datasets, in contrast, assume all questions have well defined answers. We introduce CREPE, a QA dataset containing a natural distribution of presupposition failures from online information-seeking forums. We find that 25% of questions contain false presuppositions, and provide annotations for these presuppositions and their corrections. Through extensive baseline experiments, we show that adaptations of existing open-domain QA models can find presuppositions moderately well, but struggle when predicting whether a presupposition is factually correct. This is in large part due to difficulty in retrieving relevant evidence passages from a large text corpus. CREPE provides a benchmark to study question answering in the wild, and our analyses provide avenues for future work in better modeling and further studying the task.
Knowledge-augmented Deep Learning and Its Applications: A Survey
Venue: arXiv cs.LG 2022
Year: 2022

Deep learning models, though having achieved great success in many different fields over the past years, are usually data hungry, fail to perform well on unseen samples, and lack of interpretability. Various prior knowledge often exists in the target domain and their use can alleviate the deficiencies with deep learning. To better mimic the behavior of human brains, different advanced methods have been proposed to identify domain knowledge and integrate it into deep models for data-efficient, generalizable, and interpretable deep learning, which we refer to as knowledge-augmented deep learning (KADL). In this survey, we define the concept of KADL, and introduce its three major tasks, i.e., knowledge identification, knowledge representation, and knowledge integration. Different from existing surveys that are focused on a specific type of knowledge, we provide a broad and complete taxonomy of domain knowledge and its representations. Based on our taxonomy, we provide a systematic review of existing techniques, different from existing works that survey integration approaches agnostic to taxonomy of knowledge. This survey subsumes existing works and offers a bird's-eye view of research in the general area of knowledge-augmented deep learning. The thorough and critical reviews of numerous papers help not only understand current progresses but also identify future directions for the research on knowledge-augmented deep learning.
An Augmented Reality Application and User Study for Understanding and Learning Spatial Transformation Matrices
Venue: arXiv cs.HC 2022
Year: 2022

Understanding spatial transformations and their mathematical representations are essential in computer-aided design, robotics, etc. This research has developed and tested an Augmented Reality (AR) application (BRICKxAR/T) to enhance students' learning of spatial transformation matrices. BRICKxAR/T leverages AR features, including information augmentation, physical-virtual object interplay, and embodied learning, to create a novel and effective visualization experience for learning. BRICKxAR T has been evaluated as a learning intervention using LEGO models as example physical and virtual manipulatives in a user study to assess students' learning gains. The study compared AR (N=29) vs. non-AR (N=30) learning workshops with pre- and post-tests on Purdue Visualization of Rotations Test and math questions. Students' math scores significantly improved after participating in both workshops with the AR workshop tending to show greater improvements. The post-workshop survey showed students were inclined to think BRICKxAR/T an interesting and useful application, and they spent more time learning in AR than non-AR.
Denoising Diffusion for Sampling SAT Solutions
Venue: arXiv cs.AI 2022
Year: 2022

Generating diverse solutions to the Boolean Satisfiability Problem (SAT) is a hard computational problem with practical applications for testing and functional verification of software and hardware designs. We explore the way to generate such solutions using Denoising Diffusion coupled with a Graph Neural Network to implement the denoising function. We find that the obtained accuracy is similar to the currently best purely neural method and the produced SAT solutions are highly diverse, even if the system is trained with non-random solutions from a standard solver.
Self-Supervised Feature Learning for Long-Term Metric Visual Localization
Venue: arXiv cs.RO 2022
Year: 2022

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance changes caused by lighting and seasons. While techniques exist to address appearance changes using neural networks, these methods typically require ground-truth pose information to generate accurate image correspondences or act as a supervisory signal during training. In this paper, we present a novel self-supervised feature learning framework for metric visual localization. We use a sequence-based image matching algorithm across different sequences of images (i.e., experiences) to generate image correspondences without ground-truth labels. We can then sample image pairs to train a deep neural network that learns sparse features with associated descriptors and scores without ground-truth pose supervision. The learned features can be used together with a classical pose estimator for visual stereo localization. We validate the learned features by integrating with an existing Visual Teach & Repeat pipeline to perform closed-loop localization experiments under different lighting conditions for a total of 22.4 km.
Learning Progressive Modality-shared Transformers for Effective Visible-Infrared Person Re-identification
Venue: arXiv cs.CV 2022
Year: 2022

Visible-Infrared Person Re-Identification (VI-ReID) is a challenging retrieval task under complex modality changes. Existing methods usually focus on extracting discriminative visual features while ignoring the reliability and commonality of visual features between different modalities. In this paper, we propose a novel deep learning framework named Progressive Modality-shared Transformer (PMT) for effective VI-ReID. To reduce the negative effect of modality gaps, we first take the gray-scale images as an auxiliary modality and propose a progressive learning strategy. Then, we propose a Modality-Shared Enhancement Loss (MSEL) to guide the model to explore more reliable identity information from modality-shared features. Finally, to cope with the problem of large intra-class differences and small inter-class differences, we propose a Discriminative Center Loss (DCL) combined with the MSEL to further improve the discrimination of reliable features. Extensive experiments on SYSU-MM01 and RegDB datasets show that our proposed framework performs better than most state-of-the-art methods. For model reproduction, we release the source code at https://github.com/hulu88/PMT.
Modeling Complex Dialogue Mappings via Sentence Semantic Segmentation Guided Conditional Variational Auto-Encoder
Venue: arXiv cs.CL 2022
Year: 2022

Complex dialogue mappings (CDM), including one-to-many and many-to-one mappings, tend to make dialogue models generate incoherent or dull responses, and modeling these mappings remains a huge challenge for neural dialogue systems. To alleviate these problems, methods like introducing external information, reconstructing the optimization function, and manipulating data samples are proposed, while they primarily focus on avoiding training with CDM, inevitably weakening the model's ability of understanding CDM in human conversations and limiting further improvements in model performance. This paper proposes a Sentence Semantic \textbf{Seg}mentation guided \textbf{C}onditional \textbf{V}ariational \textbf{A}uto-\textbf{E}ncoder (SegCVAE) method which can model and take advantages of the CDM data. Specifically, to tackle the incoherent problem caused by one-to-many, SegCVAE uses response-related prominent semantics to constrained the latent variable. To mitigate the non-diverse problem brought by many-to-one, SegCVAE segments multiple prominent semantics to enrich the latent variables. Three novel components, Internal Separation, External Guidance, and Semantic Norms, are proposed to achieve SegCVAE. On dialogue generation tasks, both the automatic and human evaluation results show that SegCVAE achieves new state-of-the-art performance.
Distributed Deep Reinforcement Learning: A Survey and A Multi-Player Multi-Agent Learning Toolbox
Venue: arXiv cs.LG 2022
Year: 2022

With the breakthrough of AlphaGo, deep reinforcement learning becomes a recognized technique for solving sequential decision-making problems. Despite its reputation, data inefficiency caused by its trial and error learning mechanism makes deep reinforcement learning hard to be practical in a wide range of areas. Plenty of methods have been developed for sample efficient deep reinforcement learning, such as environment modeling, experience transfer, and distributed modifications, amongst which, distributed deep reinforcement learning has shown its potential in various applications, such as human-computer gaming, and intelligent transportation. In this paper, we conclude the state of this exciting field, by comparing the classical distributed deep reinforcement learning methods, and studying important components to achieve efficient distributed learning, covering single player single agent distributed deep reinforcement learning to the most complex multiple players multiple agents distributed deep reinforcement learning. Furthermore, we review recently released toolboxes that help to realize distributed deep reinforcement learning without many modifications of their non-distributed versions. By analyzing their strengths and weaknesses, a multi-player multi-agent distributed deep reinforcement learning toolbox is developed and released, which is further validated on Wargame, a complex environment, showing usability of the proposed toolbox for multiple players and multiple agents distributed deep reinforcement learning under complex games. Finally, we try to point out challenges and future trends, hoping this brief review can provide a guide or a spark for researchers who are interested in distributed deep reinforcement learning.
Adaptive Conformal Prediction for Motion Planning among Dynamic Agents
Venue: arXiv cs.RO 2022
Year: 2022

This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predictors to predict the dynamic agents' future motion, which is assumed to follow an unknown distribution. We then leverage ideas from adaptive conformal prediction to dynamically quantify prediction uncertainty from an online data stream. Particularly, we provide an online algorithm uses delayed agent observations to obtain uncertainty sets for multistep-ahead predictions with probabilistic coverage. These uncertainty sets are used within a model predictive controller to safely navigate among dynamic agents. While most existing data-driven prediction approached quantify prediction uncertainty heuristically, we quantify the true prediction uncertainty in a distribution-free, adaptive manner that even allows to capture changes in prediction quality and the agents' motion. We empirically evaluate of our algorithm on a simulation case studies where a drone avoids a flying frisbee.
Hybrid Life: Integrating Biological, Artificial, and Cognitive Systems
Venue: arXiv cs.AI 2022
Year: 2022

Artificial life is a research field studying what processes and properties define life, based on a multidisciplinary approach spanning the physical, natural and computational sciences. Artificial life aims to foster a comprehensive study of life beyond "life as we know it" and towards "life as it could be", with theoretical, synthetic and empirical models of the fundamental properties of living systems. While still a relatively young field, artificial life has flourished as an environment for researchers with different backgrounds, welcoming ideas and contributions from a wide range of subjects. Hybrid Life is an attempt to bring attention to some of the most recent developments within the artificial life community, rooted in more traditional artificial life studies but looking at new challenges emerging from interactions with other fields. In particular, Hybrid Life focuses on three complementary themes: 1) theories of systems and agents, 2) hybrid augmentation, with augmented architectures combining living and artificial systems, and 3) hybrid interactions among artificial and biological systems. After discussing some of the major sources of inspiration for these themes, we will focus on an overview of the works that appeared in Hybrid Life special sessions, hosted by the annual Artificial Life Conference between 2018 and 2022.
A Commonsense-Infused Language-Agnostic Learning Framework for Enhancing Prediction of Political Polarity in Multilingual News Headlines
Venue: arXiv cs.CL 2022
Year: 2022

Predicting the political polarity of news headlines is a challenging task that becomes even more challenging in a multilingual setting with low-resource languages. To deal with this, we propose to utilise the Inferential Commonsense Knowledge via a Translate-Retrieve-Translate strategy to introduce a learning framework. To begin with, we use the method of translation and retrieval to acquire the inferential knowledge in the target language. We then employ an attention mechanism to emphasise important inferences. We finally integrate the attended inferences into a multilingual pre-trained language model for the task of bias prediction. To evaluate the effectiveness of our framework, we present a dataset of over 62.6K multilingual news headlines in five European languages annotated with their respective political polarities. We evaluate several state-of-the-art multilingual pre-trained language models since their performance tends to vary across languages (low/high resource). Evaluation results demonstrate that our proposed framework is effective regardless of the models employed. Overall, the best performing model trained with only headlines show 0.90 accuracy and F1, and 0.83 jaccard score. With attended knowledge in our framework, the same model show an increase in 2.2% accuracy and F1, and 3.6% jaccard score. Extending our experiments to individual languages reveals that the models we analyze for Slovenian perform significantly worse than other languages in our dataset. To investigate this, we assess the effect of translation quality on prediction performance. It indicates that the disparity in performance is most likely due to poor translation quality. We release our dataset and scripts at: https://github.com/Swati17293/KG-Multi-Bias for future research. Our framework has the potential to benefit journalists, social scientists, news producers, and consumers.
What Physical Layer Security Can Do for 6G Security
Venue: arXiv cs.CR 2022
Year: 2022

While existing security protocols were designed with a focus on the core network, the enhancement of the security of the B5G access network becomes of critical importance. Despite the strengthening of 5G security protocols with respect to LTE, there are still open issues that have not been fully addressed. This work is articulated around the premise that rethinking the security design bottom up, starting at the physical layer, is not only viable in 6G but importantly, arises as an efficient way to overcome security hurdles in novel use cases, notably massive machine type communications (mMTC), ultra reliable low latency communications (URLLC) and autonomous cyberphysical systems. Unlike existing review papers that treat physical layer security orthogonally to cryptography, we will try to provide a few insights of underlying connections. Discussing many practical issues, we will present a comprehensive review of the state-of-the-art in i) secret key generation from shared randomness, ii) the wiretap channel and fundamental limits, iii) authentication of devices using physical unclonable functions (PUFs), localization and multi-factor authentication, and, iv) jamming attacks at the physical layer. We finally conclude with the proposers' aspirations for the 6G security landscape, in the hyper-connectivity and semantic communications era.
Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion
Venue: arXiv cs.RO 2022
Year: 2022

Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver sensory information with significant delays, one would expect a destabilizing effect on sensorimotor control. Hence, an alternative explanation describes a hierarchical structure of low-level adaptive mechanics and high-level sensorimotor control to help mitigate the effects of transmission delays. Motivated by the concept of an adaptive mechanism triggering an immediate response, we developed a tunable physical damper system. Our mechanism combines a tendon with adjustable slackness connected to a physical damper. The slack damper allows adjustment of damping force, onset timing, effective stroke, and energy dissipation. We characterize the slack damper mechanism mounted to a legged robot controlled in open-loop mode. The robot hops vertically and planar over varying terrains and perturbations. During forward hopping, slack-based damping improves faster perturbation recovery (up to 170%) at higher energetic cost (27%). The tunable slack mechanism auto-engages the damper during perturbations, leading to a perturbation-trigger damping, improving robustness at minimum energetic cost. With the results from the slack damper mechanism, we propose a new functional interpretation of animals' redundant muscle tendons as tunable dampers.
Identifying Different Layers of Online Misogyny
Venue: arXiv cs.SI 2022
Year: 2022

Social media has become an everyday means of interaction and information sharing on the Internet. However, posts on social networks are often aggressive and toxic, especially when the topic is controversial or politically charged. Radicalization, extreme speech, and in particular online misogyny against women in the public eye have become alarmingly negative features of online discussions. The present study proposes a methodological approach to contribute to ongoing discussions about the multiple ways in which women, their experiences, and their choices are attacked in polarized social media responses. Based on a review of theories on and detection methods for misogyny, we present a classification scheme that incorporates eleven different explicit as well as implicit layers of online misogyny. We also apply our classes to a case study related to online aggression against Amber Heard in the context of her allegations of domestic violence against Johnny Depp. We finally evaluate the reliability of Google's Perspective API -- a standard for detecting toxic language -- for determining gender discrimination as toxicity. We show that a large part of online misogyny, especially when verbalized without expletive terms but instead more implicitly is not captured automatically.
Real-Time High-Quality Stereo Matching System on a GPU
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, we propose a low error rate and real-time stereo vision system on GPU. Many stereo vision systems on GPU have been proposed to date. In those systems, the error rates and the processing speed are in trade-off relationship. We propose a real-time stereo vision system on GPU for the high resolution images. This system also maintains a low error rate compared to other fast systems. In our approach, we have implemented the cost aggregation (CA), cross-checking and median filter on GPU in order to realize the real-time processing. Its processing speed is 40 fps for 1436x992 pixels images when the maximum disparity is 145, and its error rate is the lowest among the GPU systems which are faster than 30 fps.
An Extended Model of Software Configuration
Venue: arXiv cs.SE 2022
Year: 2022

Feature toggles and configuration options are modern programmatic techniques to easily include or exclude functionality in a software product. The research contributions to these two techniques have most often been focused on either one of them separately. However, focusing on the similarities of these two techniques may enable a more fruitful combined family of research on software configuration, a term we use to encompass both techniques. Also, a common terminology may have enabled meta-analysis, a more practical application of the research on the two techniques, and prevented duplication of research effort. The goal of this research study is to aid researchers in conducting a family of research on software configuration by extending an existing model of software configuration that provides terminology for research studies. To achieve our goal, we started with Seigmund et al. Model of Software Configuration (MSC) which was developed based on interviews and publications on configuration options. We explicitly extend the MSC to include feature toggles and to add qualitative analysis of feature toggle-related resources. From our analysis, we proposed MSCv2 as an extended version of MSC and evaluated it through its application on five academic publications and the Chrome system. Our results indicate that multiple researchers studying the same system may provide different definitions of software configuration in their publications. Also, similar research questions may be answered on feature toggles and configuration options repeatedly because of a lack of a clear definition of software configuration. These observations indicate that having a model for defining software configuration may enable more clear and generalized research on the software configuration family of research. Practitioners benefit MSCv2 in their systems to better knowledge transfer to other practitioners and researchers.