OpenRaiser/Intern-Atlas huggingface dataset:
Delay Alignment Modulation: Manipulating Channel Delay Spread for Efficient Single- and Multi-Carrier Communication
Venue: arXiv cs.IT 2023
Year: 2023

The evolution of mobile communication networks has always been accompanied by the advancement of ISI mitigation techniques, from equalization in 2G, spread spectrum and RAKE receiver in 3G, to OFDM in 4G and 5G. Looking forward towards 6G, by exploiting the high spatial resolution brought by large antenna arrays and the multi-path sparsity of mmWave and Terahertz channels, a novel ISI mitigation technique termed delay alignment modulation (DAM) was recently proposed. However, existing works only consider the single-carrier perfect DAM, which is feasible only when the number of BS antennas is no smaller than that of channel paths, so that all multi-path signal components arrive at the receiver simultaneously and constructively. This imposes stringent requirements on the number of BS antennas and multi-path sparsity. In this paper, we propose a generic DAM technique to manipulate the channel delay spread via spatial-delay processing, thus providing a flexible framework to combat channel time dispersion for efficient single- or multi-carrier transmissions. We first show that when the number of BS antennas is much larger than that of channel paths, perfect delay alignment can be achieved to transform the time-dispersive channel to time non-dispersive channel with the simple delay pre-compensation and path-based MRT beamforming. When perfect DAM is infeasible or undesirable, the proposed generic DAM technique can be applied to significantly reduce the channel delay spread. We further propose the novel DAM-OFDM technique, which is able to save the CP overhead or mitigate the PAPR issue suffered by conventional OFDM. We show that the proposed DAM-OFDM involves joint frequency- and time-domain beamforming optimization, for which a closed-form solution is derived. Simulation results show that the proposed DAM-OFDM outperforms the conventional OFDM in terms of spectral efficiency, BER and PAPR.
FOF: Learning Fourier Occupancy Field for Monocular Real-time Human Reconstruction
Venue: arXiv cs.CV 2023
Year: 2023

The advent of deep learning has led to significant progress in monocular human reconstruction. However, existing representations, such as parametric models, voxel grids, meshes and implicit neural representations, have difficulties achieving high-quality results and real-time speed at the same time. In this paper, we propose Fourier Occupancy Field (FOF), a novel powerful, efficient and flexible 3D representation, for monocular real-time and accurate human reconstruction. The FOF represents a 3D object with a 2D field orthogonal to the view direction where at each 2D position the occupancy field of the object along the view direction is compactly represented with the first few terms of Fourier series, which retains the topology and neighborhood relation in the 2D domain. A FOF can be stored as a multi-channel image, which is compatible with 2D convolutional neural networks and can bridge the gap between 3D geometries and 2D images. The FOF is very flexible and extensible, e.g., parametric models can be easily integrated into a FOF as a prior to generate more robust results. Based on FOF, we design the first 30+FPS high-fidelity real-time monocular human reconstruction framework. We demonstrate the potential of FOF on both public dataset and real captured data. The code will be released for research purposes.
Bootstrapping Semi-supervised Medical Image Segmentation with Anatomical-aware Contrastive Distillation
Venue: arXiv cs.CV 2023
Year: 2023

Contrastive learning has shown great promise over annotation scarcity problems in the context of medical image segmentation. Existing approaches typically assume a balanced class distribution for both labeled and unlabeled medical images. However, medical image data in reality is commonly imbalanced (i.e., multi-class label imbalance), which naturally yields blurry contours and usually incorrectly labels rare objects. Moreover, it remains unclear whether all negative samples are equally negative. In this work, we present ACTION, an Anatomical-aware ConTrastive dIstillatiON framework, for semi-supervised medical image segmentation. Specifically, we first develop an iterative contrastive distillation algorithm by softly labeling the negatives rather than binary supervision between positive and negative pairs. We also capture more semantically similar features from the randomly chosen negative set compared to the positives to enforce the diversity of the sampled data. Second, we raise a more important question: Can we really handle imbalanced samples to yield better performance? Hence, the key innovation in ACTION is to learn global semantic relationship across the entire dataset and local anatomical features among the neighbouring pixels with minimal additional memory footprint. During the training, we introduce anatomical contrast by actively sampling a sparse set of hard negative pixels, which can generate smoother segmentation boundaries and more accurate predictions. Extensive experiments across two benchmark datasets and different unlabeled settings show that ACTION significantly outperforms the current state-of-the-art semi-supervised methods.
Robust Fine-Tuning of Deep Neural Networks with Hessian-based Generalization Guarantees
Venue: arXiv cs.LG 2023
Year: 2023

We consider fine-tuning a pretrained deep neural network on a target task. We study the generalization properties of fine-tuning to understand the problem of overfitting, which has often been observed (e.g., when the target dataset is small or when the training labels are noisy). Existing generalization measures for deep networks depend on notions such as distance from the initialization (i.e., the pretrained network) of the fine-tuned model and noise stability properties of deep networks. This paper identifies a Hessian-based distance measure through PAC-Bayesian analysis, which is shown to correlate well with observed generalization gaps of fine-tuned models. Theoretically, we prove Hessian distance-based generalization bounds for fine-tuned models. We also describe an extended study of fine-tuning against label noise, where overfitting remains a critical problem. We present an algorithm and a generalization error guarantee for this algorithm under a class conditional independent noise model. Empirically, we observe that the Hessian-based distance measure can match the scale of the observed generalization gap of fine-tuned models in practice. We also test our algorithm on several image classification tasks with noisy training labels, showing gains over prior methods and decreases in the Hessian distance measure of the fine-tuned model.
Sensors for Mobile Robots
Venue: arXiv cs.RO 2023
Year: 2023

A sensor is a device that converts a physical parameter or an environmental characteristic (e.g., temperature, distance, speed, etc.) into a signal that can be digitally measured and processed to perform specific tasks. Mobile robots need sensors to measure properties of their environment, thus allowing for safe navigation, complex perception and corresponding actions, and effective interactions with other agents that populate it. Sensors used by mobile robots range from simple tactile sensors, such as bumpers, to complex vision-based sensors such as structured light RGB-D cameras. All of them provide a digital output (e.g., a string, a set of values, a matrix, etc.) that can be processed by the robot's computer. Such output is typically obtained by discretizing one or more analog electrical signals by using an Analog to Digital Converter (ADC) included in the sensor. In this chapter we present the most common sensors used in mobile robotics, providing an introduction to their taxonomy, basic features, and specifications. The description of the functionalities and the types of applications follows a bottom-up approach: the basic principles and components on which the sensors are based are presented before describing real-world sensors, which are generally based on multiple technologies and basic devices.
Generalization Error Bounds for Deep Neural Networks Trained by SGD
Venue: arXiv cs.LG 2023
Year: 2023

Generalization error bounds for deep neural networks trained by stochastic gradient descent (SGD) are derived by combining a dynamical control of an appropriate parameter norm and the Rademacher complexity estimate based on parameter norms. The bounds explicitly depend on the loss along the training trajectory, and work for a wide range of network architectures including multilayer perceptron (MLP) and convolutional neural networks (CNN). Compared with other algorithm-depending generalization estimates such as uniform stability-based bounds, our bounds do not require $L$-smoothness of the nonconvex loss function, and apply directly to SGD instead of Stochastic Langevin gradient descent (SGLD). Numerical results show that our bounds are non-vacuous and robust with the change of optimizer and network hyperparameters.
Tutel: Adaptive Mixture-of-Experts at Scale
Venue: arXiv cs.DC 2023
Year: 2023

Sparsely-gated mixture-of-experts (MoE) has been widely adopted to scale deep learning models to trillion-plus parameters with fixed computational cost. The algorithmic performance of MoE relies on its token routing mechanism that forwards each input token to the right sub-models or experts. While token routing dynamically determines the amount of expert workload at runtime, existing systems suffer inefficient computation due to their static execution, namely static parallelism and pipelining, which does not adapt to the dynamic workload. We present Flex, a highly scalable stack design and implementation for MoE with dynamically adaptive parallelism and pipelining. Flex designs an identical layout for distributing MoE model parameters and input data, which can be leveraged by all possible parallelism or pipelining methods without any mathematical inequivalence or tensor migration overhead. This enables adaptive parallelism/pipelining optimization at zero cost during runtime. Based on this key design, Flex also implements various MoE acceleration techniques. Aggregating all techniques, Flex finally delivers huge speedup at any scale -- 4.96x and 5.75x speedup of a single MoE layer over 16 and 2,048 A100 GPUs, respectively, over the previous state-of-the-art. Our evaluation shows that Flex efficiently and effectively runs a real-world MoE-based model named SwinV2-MoE, built upon Swin Transformer V2, a state-of-the-art computer vision architecture. On efficiency, Flex accelerates SwinV2-MoE, achieving up to 1.55x and 2.11x speedup in training and inference over Fairseq, respectively. On effectiveness, the SwinV2-MoE model achieves superior accuracy in both pre-training and down-stream computer vision tasks such as COCO object detection than the counterpart dense model, indicating the readiness of Flex for end-to-end real-world model training and inference.
EiX-GNN : Concept-level eigencentrality explainer for graph neural networks
Venue: arXiv cs.AI 2023
Year: 2023

Nowadays, deep prediction models, especially graph neural networks, have a majorplace in critical applications. In such context, those models need to be highlyinterpretable or being explainable by humans, and at the societal scope, this understandingmay also be feasible for humans that do not have a strong prior knowledgein models and contexts that need to be explained. In the literature, explainingis a human knowledge transfer process regarding a phenomenon between an explainerand an explainee. We propose EiX-GNN (Eigencentrality eXplainer forGraph Neural Networks) a new powerful method for explaining graph neural networksthat encodes computationally this social explainer-to-explainee dependenceunderlying in the explanation process. To handle this dependency, we introducethe notion of explainee concept assimibility which allows explainer to adapt itsexplanation to explainee background or expectation. We lead a qualitative studyto illustrate our explainee concept assimibility notion on real-world data as wellas a qualitative study that compares, according to objective metrics established inthe literature, fairness and compactness of our method with respect to performingstate-of-the-art methods. It turns out that our method achieves strong results inboth aspects.
Q# as a Quantum Algorithmic Language
Venue: arXiv cs.PL 2023
Year: 2023

Q# is a standalone domain-specific programming language from Microsoft for writing and running quantum programs. Like most industrial languages, it was designed without a formal specification, which can naturally lead to ambiguity in its interpretation. We aim to provide a formal language definition for Q#, placing the language on a solid mathematical foundation and enabling further evolution of its design and type system. This paper presents $λ$-Q#, an idealized version of Q# that illustrates how we may view Q# as a quantum Algol (algorithmic language). We show the safety properties enforced by $λ$-Q#'s type system and present its equational semantics based on a fully complete algebraic theory by Staton.
WIDESim: A toolkit for simulating resource management techniques of scientific Workflows In Distributed Environments with graph topology
Venue: arXiv cs.DC 2023
Year: 2023

IoT devices trigger real-time applications by receiving data from their vicinity. Modeling these applications in the form of workflows enables automating their procedure, especially for the business and industry. Depending on the features of the applications, they can be modeled in different forms, including single workflow, multiple workflows, and workflow ensembles. Since the whole data must be sent to the cloud servers for processing and storage, cloud computing has many challenges for executing real-time applications, such as bandwidth limitation, delay, and privacy. Edge paradigms are introduced to address the challenges of cloud computing in executing IoT applications. Executing IoT applications using device-to-device communications in edge paradigms requiring direct communication between devices in a network with a graph topology. While there is no simulator supporting simulating workflow-based applications and device-to-device communication, this paper introduces a toolkit for simulating resource management of scientific workflows in distributed environments with graph topology called WIDESim.The graph topology of WIDESim enables D2D communications in edge paradigms. WIDESim can work with all three different structures of scientific workflows: single, multiple workflows, and workflow ensembles. It has no constraint on the topology of the distributed environment. Also, unlike most existing network simulators, this simulator enables dynamic resource management and scheduling. We have validated the performance of WIDESim in comparison to standard simulators and workflow management tools. Also, we have evaluated its performance in different scenarios of distributed computing systems using different types of workflow-based applications. The results indicate that WIDESim's performance is close to existing standard simulators besides its improvements.
Toward Certified Robustness Against Real-World Distribution Shifts
Venue: arXiv cs.LG 2023
Year: 2023

We consider the problem of certifying the robustness of deep neural networks against real-world distribution shifts. To do so, we bridge the gap between hand-crafted specifications and realistic deployment settings by proposing a novel neural-symbolic verification framework, in which we train a generative model to learn perturbations from data and define specifications with respect to the output of the learned model. A unique challenge arising from this setting is that existing verifiers cannot tightly approximate sigmoid activations, which are fundamental to many state-of-the-art generative models. To address this challenge, we propose a general meta-algorithm for handling sigmoid activations which leverages classical notions of counter-example-guided abstraction refinement. The key idea is to "lazily" refine the abstraction of sigmoid functions to exclude spurious counter-examples found in the previous abstraction, thus guaranteeing progress in the verification process while keeping the state-space small. Experiments on the MNIST and CIFAR-10 datasets show that our framework significantly outperforms existing methods on a range of challenging distribution shifts.
Action Noise in Off-Policy Deep Reinforcement Learning: Impact on Exploration and Performance
Venue: arXiv cs.LG 2023
Year: 2023

Many Deep Reinforcement Learning (D-RL) algorithms rely on simple forms of exploration such as the additive action noise often used in continuous control domains. Typically, the scaling factor of this action noise is chosen as a hyper-parameter and is kept constant during training. In this paper, we focus on action noise in off-policy deep reinforcement learning for continuous control. We analyze how the learned policy is impacted by the noise type, noise scale, and impact scaling factor reduction schedule. We consider the two most prominent types of action noise, Gaussian and Ornstein-Uhlenbeck noise, and perform a vast experimental campaign by systematically varying the noise type and scale parameter, and by measuring variables of interest like the expected return of the policy and the state-space coverage during exploration. For the latter, we propose a novel state-space coverage measure $\operatorname{X}_{\mathcal{U}\text{rel}}$ that is more robust to estimation artifacts caused by points close to the state-space boundary than previously-proposed measures. Larger noise scales generally increase state-space coverage. However, we found that increasing the space coverage using a larger noise scale is often not beneficial. On the contrary, reducing the noise scale over the training process reduces the variance and generally improves the learning performance. We conclude that the best noise type and scale are environment dependent, and based on our observations derive heuristic rules for guiding the choice of the action noise as a starting point for further optimization.
NOMA-based Improper Signaling for Multicell MISO RIS-assisted Broadcast Channels
Venue: arXiv cs.IT 2023
Year: 2023

In this paper, we study the performance of reconfigurable intelligent surfaces (RISs) in a multicell broadcast channel (BC) that employs improper Gaussian signaling (IGS) jointly with non-orthogonal multiple access (NOMA) to optimize either the minimum-weighted rate or the energy efficiency (EE) of the network. We show that although the RIS can significantly improve the system performance, it cannot mitigate interference completely, so we have to employ other interference-management techniques to further improve performance. We show that the proposed NOMA-based IGS scheme can substantially outperform proper Gaussian signaling (PGS) and IGS schemes that treat interference as noise (TIN) in particular when the number of users per cell is larger than the number of base station (BS) antennas (referred to as overloaded networks). In other words, IGS and NOMA complement to each other as interference management techniques in multicell RIS-assisted BCs. Furthermore, we consider three different feasibility sets for the RIS components showing that even a RIS with a small number of elements provides considerable gains for all the feasibility sets.
PrivHAR: Recognizing Human Actions From Privacy-preserving Lens
Venue: arXiv cs.CV 2023
Year: 2023

The accelerated use of digital cameras prompts an increasing concern about privacy and security, particularly in applications such as action recognition. In this paper, we propose an optimizing framework to provide robust visual privacy protection along the human action recognition pipeline. Our framework parameterizes the camera lens to successfully degrade the quality of the videos to inhibit privacy attributes and protect against adversarial attacks while maintaining relevant features for activity recognition. We validate our approach with extensive simulations and hardware experiments.
ReCo: A Dataset for Residential Community Layout Planning
Venue: arXiv cs.LG 2023
Year: 2023

Layout planning is centrally important in the field of architecture and urban design. Among the various basic units carrying urban functions, residential community plays a vital part for supporting human life. Therefore, the layout planning of residential community has always been of concern, and has attracted particular attention since the advent of deep learning that facilitates the automated layout generation and spatial pattern recognition. However, the research circles generally suffer from the insufficiency of residential community layout benchmark or high-quality datasets, which hampers the future exploration of data-driven methods for residential community layout planning. The lack of datasets is largely due to the difficulties of large-scale real-world residential data acquisition and long-term expert screening. In order to address the issues and advance a benchmark dataset for various intelligent spatial design and analysis applications in the development of smart city, we introduce Residential Community Layout Planning (ReCo) Dataset, which is the first and largest open-source vector dataset related to real-world community to date. ReCo Dataset is presented in multiple data formats with 37,646 residential community layout plans, covering 598,728 residential buildings with height information. ReCo can be conveniently adapted for residential community layout related urban design tasks, e.g., generative layout design, morphological pattern recognition and spatial evaluation. To validate the utility of ReCo in automated residential community layout planning, two Generative Adversarial Network (GAN) based generative models are further applied to the dataset. We expect ReCo Dataset to inspire more creative and practical work in intelligent design and beyond. The ReCo Dataset is published at: https://www.kaggle.com/fdudsde/reco-dataset.
Fast Bayesian Inference with Batch Bayesian Quadrature via Kernel Recombination
Venue: arXiv cs.LG 2023
Year: 2023

Calculation of Bayesian posteriors and model evidences typically requires numerical integration. Bayesian quadrature (BQ), a surrogate-model-based approach to numerical integration, is capable of superb sample efficiency, but its lack of parallelisation has hindered its practical applications. In this work, we propose a parallelised (batch) BQ method, employing techniques from kernel quadrature, that possesses an empirically exponential convergence rate. Additionally, just as with Nested Sampling, our method permits simultaneous inference of both posteriors and model evidence. Samples from our BQ surrogate model are re-selected to give a sparse set of samples, via a kernel recombination algorithm, requiring negligible additional time to increase the batch size. Empirically, we find that our approach significantly outperforms the sampling efficiency of both state-of-the-art BQ techniques and Nested Sampling in various real-world datasets, including lithium-ion battery analytics.