OpenRaiser/Intern-Atlas huggingface dataset:
Task planning and explanation with virtual actions
Venue: arXiv cs.RO 2022
Year: 2022

One of the challenges of task planning is to find out what causes the planning failure and how to handle the failure intelligently. This paper shows how to achieve this. The idea is inspired by the connected graph: each verticle represents a set of compatible \textit{states}, and each edge represents an \textit{action}. For any given initial states and goals, we construct virtual actions to ensure that we always get a plan via task planning. This paper shows how to introduce virtual action to extend action models to make the graph to be connected: i) explicitly defines static predicate (type, permanent properties, etc) or dynamic predicate (state); ii) constructs a full virtual action or a semi-virtual action for each state; iii) finds the cause of the planning failure through a progressive planning approach. The implementation was evaluated in three typical scenarios.
Wind Park Power Prediction: Attention-Based Graph Networks and Deep Learning to Capture Wake Losses
Venue: arXiv cs.LG 2022
Year: 2022

With the increased penetration of wind energy into the power grid, it has become increasingly important to be able to predict the expected power production for larger wind farms. Deep learning (DL) models can learn complex patterns in the data and have found wide success in predicting wake losses and expected power production. This paper proposes a modular framework for attention-based graph neural networks (GNN), where attention can be applied to any desired component of a graph block. The results show that the model significantly outperforms a multilayer perceptron (MLP) and a bidirectional LSTM (BLSTM) model, while delivering performance on-par with a vanilla GNN model. Moreover, we argue that the proposed graph attention architecture can easily adapt to different applications by offering flexibility into the desired attention operations to be used, which might depend on the specific application. Through analysis of the attention weights, it was showed that employing attention-based GNNs can provide insights into what the models learn. In particular, the attention networks seemed to realise turbine dependencies that aligned with some physical intuition about wake losses.
Tree-based Search Graph for Approximate Nearest Neighbor Search
Venue: arXiv cs.IR 2022
Year: 2022

Nearest neighbor search supports important applications in many domains, such as database, machine learning, computer vision. Since the computational cost for accurate search is too high, the community turned to the research of approximate nearest neighbor search (ANNS). Among them, graph-based algorithm is one of the most important branches. Research by Fu et al. shows that the algorithms based on Monotonic Search Network (MSNET), such as NSG and NSSG, have achieved the state-of-the-art search performance in efficiency. The MSNET is dedicated to achieving monotonic search with minimal out-degree of nodes to pursue high efficiency. However, the current MSNET designs did not optimize the probability of the monotonic search, and the lower bound of the probability is only 50%. If they fail in monotonic search stage, they have to suffer tremendous backtracking cost to achieve the required accuracy. This will cause performance problems in search efficiency. To address this problem, we propose (r,p)-MSNET, which achieves guaranteed probability on monotonic search. Due to the high building complexity of a strict (r,p)-MSNET, we propose TBSG, which is an approximation with low complexity. Experiment conducted on four million-scaled datasets show that TBSG outperforms existing state-of-the-art graph-based algorithms in search efficiency. Our code has been released on Github.
Using Online Customer Reviews to Classify, Predict, and Learn about Domestic Robot Failures
Venue: arXiv cs.RO 2022
Year: 2022

There is a knowledge gap regarding which types of failures robots undergo in domestic settings and how these failures influence customer experience. We classified 10,072 customer reviews of small utilitarian domestic robots on Amazon by the robotic failures described in them, grouping failures into twelve types and three categories (Technical, Interaction, and Service). We identified sources and types of failures previously overlooked in the literature, combining them into an updated failure taxonomy. We analyzed their frequencies and relations to customer star ratings. Results indicate that for utilitarian domestic robots, Technical failures were more detrimental to customer experience than Interaction or Service failures. Issues with Task Completion and Robustness & Resilience were commonly reported and had the most significant negative impact. Future failure-prevention and response strategies should address the technical ability of the robot to meet functional goals, operate and maintain structural integrity over time. Usability and interaction design were less detrimental to customer experience, indicating that customers may be more forgiving of failures that impact these aspects for the robots and practical uses examined. Further, we developed a Natural Language Processing model capable of predicting whether a customer review contains content that describes a failure and the type of failure it describes. With this knowledge, designers and researchers of robotic systems can prioritize design and development efforts towards essential issues.
Detours in Directed Graphs
Venue: arXiv cs.DS 2022
Year: 2022

We study two "above guarantee" versions of the classical Longest Path problem on undirected and directed graphs and obtain the following results. In the first variant of Longest Path that we study, called Longest Detour, the task is to decide whether a graph has an (s,t)-path of length at least dist_G(s,t)+k (where dist_G(s,t) denotes the length of a shortest path from s to t). Bezáková et al. proved that on undirected graphs the problem is fixed-parameter tractable (FPT) by providing an algorithm of running time 2^{O (k)} n. Further, they left the parameterized complexity of the problem on directed graphs open. Our first main result establishes a connection between Longest Detour on directed graphs and 3-Disjoint Paths on directed graphs. Using these new insights, we design a 2^{O(k)} n^{O(1)} time algorithm for the problem on directed planar graphs. Further, the new approach yields a significantly faster FPT algorithm on undirected graphs. In the second variant of Longest Path, namely Longest Path Above Diameter, the task is to decide whether the graph has a path of length at least diam(G)+k (diam(G) denotes the length of a longest shortest path in a graph G). We obtain dichotomy results about Longest Path Above Diameter on undirected and directed graphs. For (un)directed graphs, Longest Path Above Diameter is NP-complete even for k=1. However, if the input undirected graph is 2-connected, then the problem is FPT. On the other hand, for 2-connected directed graphs, we show that Longest Path Above Diameter is solvable in polynomial time for each k\in{1,\dots, 4} and is NP-complete for every k\geq 5. The parameterized complexity of Longest Path Above Diameter on general directed graphs remains an interesting open problem.
COIN: Counterfactual Image Generation for VQA Interpretation
Venue: arXiv cs.CV 2022
Year: 2022

Due to the significant advancement of Natural Language Processing and Computer Vision-based models, Visual Question Answering (VQA) systems are becoming more intelligent and advanced. However, they are still error-prone when dealing with relatively complex questions. Therefore, it is important to understand the behaviour of the VQA models before adopting their results. In this paper, we introduce an interpretability approach for VQA models by generating counterfactual images. Specifically, the generated image is supposed to have the minimal possible change to the original image and leads the VQA model to give a different answer. In addition, our approach ensures that the generated image is realistic. Since quantitative metrics cannot be employed to evaluate the interpretability of the model, we carried out a user study to assess different aspects of our approach. In addition to interpreting the result of VQA models on single images, the obtained results and the discussion provides an extensive explanation of VQA models' behaviour.
Border Control and Use of Biometrics: Reasons Why the Right to Privacy Can Not Be Absolute
Venue: arXiv cs.CY 2022
Year: 2022

This paper discusses concerns pertaining to the absoluteness of the right to privacy regarding the use of biometric data for border control. The discussion explains why privacy cannot be absolute from different points of view, including privacy versus national security, privacy properties conflicting with border risk analysis, and Privacy by Design (PbD) and engineering design challenges.
Segment Visibility Counting Queries in Polygons
Venue: arXiv cs.CG 2022
Year: 2022

Let $P$ be a simple polygon with $n$ vertices, and let $A$ be a set of $m$ points or line segments inside $P$. We develop data structures that can efficiently count the number of objects from $A$ that are visible to a query point or a query segment. Our main aim is to obtain fast, $O(\mathop{\textrm{polylog}} nm$), query times, while using as little space as possible. In case the query is a single point, a simple visibility-polygon-based solution achieves $O(\log nm)$ query time using $O(nm^2)$ space. In case $A$ also contains only points, we present a smaller, $O(n + m^{2 + \varepsilon}\log n)$-space, data structure based on a hierarchical decomposition of the polygon. Building on these results, we tackle the case where the query is a line segment and $A$ contains only points. The main complication here is that the segment may intersect multiple regions of the polygon decomposition, and that a point may see multiple such pieces. Despite these issues, we show how to achieve $O(\log n\log nm)$ query time using only $O(nm^{2 + \varepsilon} + n^2)$ space. Finally, we show that we can even handle the case where the objects in $A$ are segments with the same bounds.
Interpretation and inference for altmetric indicators arising from sparse data statistics
Venue: arXiv cs.DL 2022
Year: 2022

In 2018 Bornmann and Haunschild (2018a) introduced a new indicator called the Mantel-Haenszel quotient (MHq) to measure alternative metrics (or altmetrics) of scientometric data. In this article we review the Mantel-Haenszel statistics, point out two errors in the literature, and introduce a new indicator. First, we correct the interpretation of MHq and mention that it is still a meaningful indicator. Second, we correct the variance formula for MHq, which leads to narrower confidence intervals. A simulation study shows the superior performance of our variance estimator and confidence intervals. Since MHq does not match its original description in the literature, we propose a new indicator, the Mantel-Haenszel row risk ratio (MHRR), to meet that need. Interpretation and statistical inference for MHRR are discussed. For both MHRR and MHq, a value greater (less) than one means performance is better (worse) than in the reference set called the world.
Deletion-Compliance in the Absence of Privacy
Venue: arXiv cs.CR 2022
Year: 2022

Garg, Goldwasser and Vasudevan (Eurocrypt 2020) invented the notion of deletion-compliance to formally model the "right to be forgotten", a concept that confers individuals more control over their digital data. A requirement of deletion-compliance is strong privacy for the deletion requesters since no outside observer must be able to tell if deleted data was ever present in the first place. Naturally, many real world systems where information can flow across users are automatically ruled out. The main thesis of this paper is that deletion-compliance is a standalone notion, distinct from privacy. We present an alternative definition that meaningfully captures deletion-compliance without any privacy implications. This allows broader class of data collectors to demonstrate compliance to deletion requests and to be paired with various notions of privacy. Our new definition has several appealing properties: - It is implied by the stronger definition of Garg et al. under natural conditions, and is equivalent when we add a privacy requirement. - It is naturally composable with minimal assumptions. - Its requirements are met by data structure implementations that do not reveal the order of operations, a concept known as history-independence. Along the way, we discuss the many challenges that remain in providing a universal definition of compliance to the "right to be forgotten."
On the interplay of data and cognitive bias in crisis information management -- An exploratory study on epidemic response
Venue: arXiv cs.CY 2022
Year: 2022

Humanitarian crises, such as the 2014 West Africa Ebola epidemic, challenge information management and thereby threaten the digital resilience of the responding organizations. Crisis information management (CIM) is characterised by the urgency to respond despite the uncertainty of the situation. Coupled with high stakes, limited resources and a high cognitive load, crises are prone to induce biases in the data and the cognitive processes of analysts and decision-makers. When biases remain undetected and untreated in CIM, they may lead to decisions based on biased information, increasing the risk of an inefficient response. Literature suggests that crisis response needs to address the initial uncertainty and possible biases by adapting to new and better information as it becomes available. However, we know little about whether adaptive approaches mitigate the interplay of data and cognitive biases. We investigated this question in an exploratory, three-stage experiment on epidemic response. Our participants were experienced practitioners in the fields of crisis decision-making and information analysis. We found that analysts fail to successfully debias data, even when biases are detected, and that this failure can be attributed to undervaluing debiasing efforts in favor of rapid results. This failure leads to the development of biased information products that are conveyed to decision-makers, who consequently make decisions based on biased information. Confirmation bias reinforces the reliance on conclusions reached with biased data, leading to a vicious cycle, in which biased assumptions remain uncorrected. We suggest mindful debiasing as a possible counter-strategy against these bias effects in CIM.
Investigating internal migration with network analysis and latent space representations: An application to Turkey
Venue: arXiv cs.SI 2022
Year: 2022

Human migration patterns influence the redistribution of population characteristics over the geography and since such distributions are closely related to social and economic outcomes, investigating the structure and dynamics of internal migration plays a crucial role in understanding and designing policies for such systems. We provide an in-depth investigation into the structure and dynamics of the internal migration in Turkey from 2008 to 2020. We identify a set of classical migration laws and examine them via various methods for signed network analysis, ego network analysis, representation learning, temporal stability analysis, community detection, and network visualization. The findings show that, in line with the classical migration laws, most migration links are geographically bounded with several exceptions involving cities with large economic activity, major migration flows are countered with migration flows in the opposite direction, there are well-defined migration routes, and the migration system is generally stable over the investigated period. Apart from these general results, we also provide unique and specific insights into Turkey. Overall, the novel toolset we employ for the first time in the literature allows the investigation of selected migration laws from a complex networks perspective and sheds light on future migration research on different geographies.
RISE & Shine: Language-Oriented Compiler Design
Venue: arXiv cs.PL 2022
Year: 2022

The trend towards specialization of software and hardware - fuelled by the end of Moore's law and the still accelerating interest in domain-specific computing, such as machine learning - forces us to radically rethink our compiler designs. The era of a universal compiler framework built around a single one-size-fits-all intermediate representation (IR) is over. This realization has sparked the creation of the MLIR compiler framework that empowers compiler engineers to design and integrate IRs capturing specific abstractions. MLIR provides a generic framework for SSA-based IRs, but it doesn't help us to decide how we should design IRs that are easy to develop, to work with and to combine into working compilers. To address the challenge of IR design, we advocate for a language-oriented compiler design that understands IRs as formal programming languages and enforces their correct use via an accompanying type system. We argue that programming language techniques directly guide extensible IR designs and provide a formal framework to reason about transforming between multiple IRs. In this paper, we discuss the design of the Shine compiler that compiles the high-level functional pattern-based data-parallel language RISE via a hybrid functional-imperative intermediate language to C, OpenCL, and OpenMP. We compare our work directly with the closely related pattern-based Lift IR and compiler. We demonstrate that our language-oriented compiler design results in a more robust and predictable compiler that is extensible at various abstraction levels. Our experimental evaluation shows that this compiler design is able to generate high-performance GPU code.
SpectraNet: Learned Recognition of Artificial Satellites From High Contrast Spectroscopic Imagery
Venue: arXiv cs.LG 2022
Year: 2022

Effective space traffic management requires positive identification of artificial satellites. Current methods for extracting object identification from observed data require spatially resolved imagery which limits identification to objects in low earth orbits. Most artificial satellites, however, operate in geostationary orbits at distances which prohibit ground based observatories from resolving spatial information. This paper demonstrates an object identification solution leveraging modified residual convolutional neural networks to map distance-invariant spectroscopic data to object identity. We report classification accuracies exceeding 80% for a simulated 64-class satellite problem--even in the case of satellites undergoing constant, random re-orientation. An astronomical observing campaign driven by these results returned accuracies of 72% for a nine-class problem with an average of 100 examples per class, performing as expected from simulation. We demonstrate the application of variational Bayesian inference by dropout, stochastic weight averaging (SWA), and SWA-focused deep ensembling to measure classification uncertainties--critical components in space traffic management where routine decisions risk expensive space assets and carry geopolitical consequences.
Towards Group Robustness in the presence of Partial Group Labels
Venue: arXiv cs.LG 2022
Year: 2022

Learning invariant representations is an important requirement when training machine learning models that are driven by spurious correlations in the datasets. These spurious correlations, between input samples and the target labels, wrongly direct the neural network predictions resulting in poor performance on certain groups, especially the minority groups. Robust training against these spurious correlations requires the knowledge of group membership for every sample. Such a requirement is impractical in situations where the data labeling efforts for minority or rare groups are significantly laborious or where the individuals comprising the dataset choose to conceal sensitive information. On the other hand, the presence of such data collection efforts results in datasets that contain partially labeled group information. Recent works have tackled the fully unsupervised scenario where no labels for groups are available. Thus, we aim to fill the missing gap in the literature by tackling a more realistic setting that can leverage partially available sensitive or group information during training. First, we construct a constraint set and derive a high probability bound for the group assignment to belong to the set. Second, we propose an algorithm that optimizes for the worst-off group assignments from the constraint set. Through experiments on image and tabular datasets, we show improvements in the minority group's performance while preserving overall aggregate accuracy across groups.
Pavlovian Signalling with General Value Functions in Agent-Agent Temporal Decision Making
Venue: arXiv cs.AI 2022
Year: 2022

In this paper, we contribute a multi-faceted study into Pavlovian signalling -- a process by which learned, temporally extended predictions made by one agent inform decision-making by another agent. Signalling is intimately connected to time and timing. In service of generating and receiving signals, humans and other animals are known to represent time, determine time since past events, predict the time until a future stimulus, and both recognize and generate patterns that unfold in time. We investigate how different temporal processes impact coordination and signalling between learning agents by introducing a partially observable decision-making domain we call the Frost Hollow. In this domain, a prediction learning agent and a reinforcement learning agent are coupled into a two-part decision-making system that works to acquire sparse reward while avoiding time-conditional hazards. We evaluate two domain variations: machine agents interacting in a seven-state linear walk, and human-machine interaction in a virtual-reality environment. Our results showcase the speed of learning for Pavlovian signalling, the impact that different temporal representations do (and do not) have on agent-agent coordination, and how temporal aliasing impacts agent-agent and human-agent interactions differently. As a main contribution, we establish Pavlovian signalling as a natural bridge between fixed signalling paradigms and fully adaptive communication learning between two agents. We further show how to computationally build this adaptive signalling process out of a fixed signalling process, characterized by fast continual prediction learning and minimal constraints on the nature of the agent receiving signals. Our results therefore suggest an actionable, constructivist path towards communication learning between reinforcement learning agents.
CVSS Corpus and Massively Multilingual Speech-to-Speech Translation
Venue: arXiv cs.CL 2022
Year: 2022

We introduce CVSS, a massively multilingual-to-English speech-to-speech translation (S2ST) corpus, covering sentence-level parallel S2ST pairs from 21 languages into English. CVSS is derived from the Common Voice speech corpus and the CoVoST 2 speech-to-text translation (ST) corpus, by synthesizing the translation text from CoVoST 2 into speech using state-of-the-art TTS systems. Two versions of translation speeches are provided: 1) CVSS-C: All the translation speeches are in a single high-quality canonical voice; 2) CVSS-T: The translation speeches are in voices transferred from the corresponding source speeches. In addition, CVSS provides normalized translation text which matches the pronunciation in the translation speech. On each version of CVSS, we built baseline multilingual direct S2ST models and cascade S2ST models, verifying the effectiveness of the corpus. To build strong cascade S2ST baselines, we trained an ST model on CoVoST 2, which outperforms the previous state-of-the-art trained on the corpus without extra data by 5.8 BLEU. Nevertheless, the performance of the direct S2ST models approaches the strong cascade baselines when trained from scratch, and with only 0.1 or 0.7 BLEU difference on ASR transcribed translation when initialized from matching ST models.