OpenRaiser/Intern-Atlas huggingface dataset:
Navigating Higher Dimensional Spaces using Hyperbolic Geometry
Venue: arXiv cs.GR 2021
Year: 2021

Higher-dimensional spaces are ubiquitous in applications of mathematics. Yet, as we live in a three-dimensional space, visualizing, say, a four-dimensional space is challenging. We introduce a novel method of interactive visualization of higher-dimensional grids, based on hyperbolic geometry. In our approach, visualized objects are adjacent on the screen if and only if they are in adjacent cells of the grid. Previous attempts do not show the whole higher-dimensional space at once, put close objects in distant parts of the screen, or map multiple locations to the same point on the screen; our solution lacks these disadvantages, making it applicable in data visualization, user interfaces, and game design.
Learning from Demonstrations for Autonomous Soft-tissue Retraction
Venue: arXiv cs.RO 2021
Year: 2021

The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from Demonstrations (LfD) approaches are among the preferred ways for an autonomous surgical system to learn expert gestures, they require a high number of demonstrations and show poor generalization to the variable conditions of the surgical environment. In this work, we propose an LfD methodology based on Generative Adversarial Imitation Learning (GAIL) that is built on a Deep Reinforcement Learning (DRL) setting. GAIL combines generative adversarial networks to learn the distribution of expert trajectories with a DRL setting to ensure generalisation of trajectories providing human-like behaviour. We consider automation of tissue retraction, a common RAMIS task that involves soft tissues manipulation to expose a region of interest. In our proposed methodology, a small set of expert trajectories can be acquired through the da Vinci Research Kit (dVRK) and used to train the proposed LfD method inside a simulated environment. Results indicate that our methodology can accomplish the tissue retraction task with human-like behaviour while being more sample-efficient than the baseline DRL method. Towards the end, we show that the learnt policies can be successfully transferred to the real robotic platform and deployed for soft tissue retraction on a synthetic phantom.
Cellular traffic offloading via Opportunistic Networking with Reinforcement Learning
Venue: arXiv cs.NI 2021
Year: 2021

The widespread diffusion of mobile phones is triggering an exponential growth of mobile data traffic that is likely to cause, in the near future, considerable traffic overload issues even in last-generation cellular networks. Offloading part of the traffic to other networks is considered a very promising approach and, in particular, in this paper, we consider offloading through opportunistic networks of users' devices. However, the performance of this solution strongly depends on the pattern of encounters between mobile nodes, which should therefore be taken into account when designing offloading control algorithms. In this paper, we propose an adaptive offloading solution based on the Reinforcement Learning framework and we evaluate and compare the performance of two well-known learning algorithms: Actor-Critic and Q-Learning. More precisely, in our solution the controller of the dissemination process, once trained, is able to select a proper number of content replicas to be injected into the opportunistic network to guarantee the timely delivery of contents to all interested users. We show that our system based on Reinforcement Learning is able to automatically learn a very efficient strategy to reduce the traffic on the cellular network, without relying on any additional context information about the opportunistic network. Our solution achieves a higher level of offloading with respect to other state-of-the-art approaches, in a range of different mobility settings. Moreover, we show that a more refined learning solution, based on the Actor-Critic algorithm, is significantly more efficient than a simpler solution based on Q-learning.
Optimization Networks for Integrated Machine Learning
Venue: arXiv cs.LG 2021
Year: 2021

Optimization networks are a new methodology for holistically solving interrelated problems that have been developed with combinatorial optimization problems in mind. In this contribution we revisit the core principles of optimization networks and demonstrate their suitability for solving machine learning problems. We use feature selection in combination with linear model creation as a benchmark application and compare the results of optimization networks to ordinary least squares with optional elastic net regularization. Based on this example we justify the advantages of optimization networks by adapting the network to solve other machine learning problems. Finally, optimization analysis is presented, where optimal input values of a system have to be found to achieve desired output values. Optimization analysis can be divided into three subproblems: model creation to describe the system, model selection to choose the most appropriate one and parameter optimization to obtain the input values. Therefore, optimization networks are an obvious choice for handling optimization analysis tasks.
A Web Scale Entity Extraction System
Venue: arXiv cs.CL 2021
Year: 2021

Understanding the semantic meaning of content on the web through the lens of entities and concepts has many practical advantages. However, when building large-scale entity extraction systems, practitioners are facing unique challenges involving finding the best ways to leverage the scale and variety of data available on internet platforms. We present learnings from our efforts in building an entity extraction system for multiple document types at large scale using multi-modal Transformers. We empirically demonstrate the effectiveness of multi-lingual, multi-task and cross-document type learning. We also discuss the label collection schemes that help to minimize the amount of noise in the collected data.
Guiding Evolutionary Strategies by Differentiable Robot Simulators
Venue: arXiv cs.RO 2021
Year: 2021

In recent years, Evolutionary Strategies were actively explored in robotic tasks for policy search as they provide a simpler alternative to reinforcement learning algorithms. However, this class of algorithms is often claimed to be extremely sample-inefficient. On the other hand, there is a growing interest in Differentiable Robot Simulators (DRS) as they potentially can find successful policies with only a handful of trajectories. But the resulting gradient is not always useful for the first-order optimization. In this work, we demonstrate how DRS gradient can be used in conjunction with Evolutionary Strategies. Preliminary results suggest that this combination can reduce sample complexity of Evolutionary Strategies by 3x-5x times in both simulation and the real world.
Phonology Recognition in American Sign Language
Venue: arXiv cs.CL 2021
Year: 2021

Inspired by recent developments in natural language processing, we propose a novel approach to sign language processing based on phonological properties validated by American Sign Language users. By taking advantage of datasets composed of phonological data and people speaking sign language, we use a pretrained deep model based on mesh reconstruction to extract the 3D coordinates of the signers keypoints. Then, we train standard statistical and deep machine learning models in order to assign phonological classes to each temporal sequence of coordinates. Our paper introduces the idea of exploiting the phonological properties manually assigned by sign language users to classify videos of people performing signs by regressing a 3D mesh. We establish a new baseline for this problem based on the statistical distribution of 725 different signs. Our best-performing models achieve a micro-averaged F1-score of 58% for the major location class and 70% for the sign type using statistical and deep learning algorithms, compared to their corresponding baselines of 35% and 39%.
Explainable Point-Based Document Visualizations
Venue: arXiv cs.IR 2021
Year: 2021

Two-dimensional data maps can visually reveal information about the relations between data instances. Popular techniques to construct data maps are t-SNE and UMAP. The resulting point-based visualizations, though, provide information only through their interpretation. We here consider a set of abstracts from the articles on longevity to argue for using keyword extraction methods to label clusters of documents in the map. Among the considered approaches, the best results were obtained by recently proposed YAKE!. Surprisingly, a classical TF-IDF term ranking outperformed graph and embedding-based techniques.
Survey and synthesis of state of the art in driver monitoring
Venue: arXiv cs.CV 2021
Year: 2021

Road-vehicle accidents are mostly due to human errors, and many such accidents could be avoided by continuously monitoring the driver. Driver monitoring (DM) is a topic of growing interest in the automotive industry, and it will remain relevant for all vehicles that are not fully autonomous, and thus for decades for the average vehicle owner. The present paper focuses on the first step of DM, which consists in characterizing the state of the driver. Since DM will be increasingly linked to driving automation (DA), this paper presents a clear view of the role of DM at each of the six SAE levels of DA. This paper surveys the state of the art of DM, and then synthesizes it, providing a unique, structured, polychotomous view of the many characterization techniques of DM. Informed by the survey, the paper characterizes the driver state along the five main dimensions--called here "(sub)states"--of drowsiness, mental workload, distraction, emotions, and under the influence. The polychotomous view of DM is presented through a pair of interlocked tables that relate these states to their indicators (e.g., the eye-blink rate) and the sensors that can access each of these indicators (e.g., a camera). The tables factor in not only the effects linked directly to the driver, but also those linked to the (driven) vehicle and the (driving) environment. They show, at a glance, to concerned researchers, equipment providers, and vehicle manufacturers (1) most of the options they have to implement various forms of advanced DM systems, and (2) fruitful areas for further research and innovation.
Fixed-Parameter Algorithms for Longest Heapable Subsequence and Maximum Binary Tree
Venue: arXiv cs.DS 2021
Year: 2021

A heapable sequence is a sequence of numbers that can be arranged in a "min-heap data structure". Finding a longest heapable subsequence of a given sequence was proposed by Byers, Heeringa, Mitzenmacher, and Zervas (ANALCO 2011) as a generalization of the well-studied longest increasing subsequence problem and its complexity still remains open. An equivalent formulation of the longest heapable subsequence problem is that of finding a maximum-sized binary tree in a given permutation directed acyclic graph (permutation DAG). In this work, we study parameterized algorithms for both longest heapable subsequence as well as maximum-sized binary tree. We show the following results: 1. The longest heapable subsequence problem can be solved in $k^{O(\log{k})}n$ time, where $k$ is the number of distinct values in the input sequence. We introduce the "alphabet size" as a new parameter in the study of computational problems in permutation DAGs. Our result on longest heapable subsequence implies that the maximum-sized binary tree problem in a given permutation DAG is fixed-parameter tractable when parameterized by the alphabet size. 2. We show that the alphabet size with respect to a fixed topological ordering can be computed in polynomial time, admits a min-max relation, and has a polyhedral description. 3. We design a fixed-parameter algorithm with run-time $w^{O(w)}n$ for the maximum-sized binary tree problem in undirected graphs when parameterized by treewidth $w$. Our results make progress towards understanding the complexity of the longest heapable subsequence and maximum-sized binary tree in permutation DAGs from the perspective of parameterized algorithms. We believe that the parameter alphabet size that we introduce is likely to be useful in the context of optimization problems defined over permutation DAGs.
Evaluating the fairness of fine-tuning strategies in self-supervised learning
Venue: arXiv cs.LG 2021
Year: 2021

In this work we examine how fine-tuning impacts the fairness of contrastive Self-Supervised Learning (SSL) models. Our findings indicate that Batch Normalization (BN) statistics play a crucial role, and that updating only the BN statistics of a pre-trained SSL backbone improves its downstream fairness (36% worst subgroup, 25% mean subgroup gap). This procedure is competitive with supervised learning, while taking 4.4x less time to train and requiring only 0.35% as many parameters to be updated. Finally, inspired by recent work in supervised learning, we find that updating BN statistics and training residual skip connections (12.3% of the parameters) achieves parity with a fully fine-tuned model, while taking 1.33x less time to train.
Self-supervised Secondary Landmark Detection via 3D Representation Learning
Venue: arXiv cs.CV 2021
Year: 2021

Recent technological developments have spurred great advances in the computerized tracking of joints and other landmarks in moving animals, including humans. Such tracking promises important advances in biology and biomedicine. Modern tracking models depend critically on labor-intensive annotated datasets of primary landmarks by non-expert humans. However, such annotation approaches can be costly and impractical for secondary landmarks, that is, ones that reflect fine-grained geometry of animals, and that are often specific to customized behavioral tasks. Due to visual and geometric ambiguity, nonexperts are often not qualified for secondary landmark annotation, which can require anatomical and zoological knowledge. These barriers significantly impede downstream behavioral studies because the learned tracking models exhibit limited generalizability. We hypothesize that there exists a shared representation between the primary and secondary landmarks because the range of motion of the secondary landmarks can be approximately spanned by that of the primary landmarks. We present a method to learn this spatial relationship of the primary and secondary landmarks in three dimensional space, which can, in turn, self-supervise the secondary landmark detector. This 3D representation learning is generic, and can therefore be applied to various multiview settings across diverse organisms, including macaques, flies, and humans.
Stochastic Contrastive Learning
Venue: arXiv cs.LG 2021
Year: 2021

While state-of-the-art contrastive Self-Supervised Learning (SSL) models produce results competitive with their supervised counterparts, they lack the ability to infer latent variables. In contrast, prescribed latent variable (LV) models enable attributing uncertainty, inducing task specific compression, and in general allow for more interpretable representations. In this work, we introduce LV approximations to large scale contrastive SSL models. We demonstrate that this addition improves downstream performance (resulting in 96.42% and 77.49% test top-1 fine-tuned performance on CIFAR10 and ImageNet respectively with a ResNet50) as well as producing highly compressed representations (588x reduction) that are useful for interpretability, classification and regression downstream tasks.
Computational Complexity of Deciding Provability in Linear Logic and its Fragments
Venue: arXiv cs.LO 2021
Year: 2021

Linear logic was conceived in 1987 by Girard and, in contrast to classical logic, restricts the usage of the structural inference rules of weakening and contraction. With this, atoms of the logic are no longer interpreted as truth, but as information or resources. This interpretation makes linear logic a useful tool for formalisation in mathematics and computer science. Linear logic has, for example, found applications in proof theory, quantum logic, and the theory of programming languages. A central problem of the logic is the question whether a given list of formulas is provable with the calculus. In the research regarding the complexity of this problem, some results were achieved, but other questions are still open. To present these questions and give new perspectives, this thesis consists of three main parts which build on each other: We present the syntax, proof theory, and various approaches to a semantics for linear logic. Here already, we will meet some open research questions. We present the current state of the complexity-theoretic characterization of the most important fragments of linear logic. Here, further research problems are presented and it becomes apparent that until now, the results have all made use of different approaches. We prove an original complexity characterization of a fragment of the logic and present ideas for a new, structural approach to the examination of provability in linear logic.
Application of Social Network Analysis in Evaluating Risk and network resilience of Closed-Loop-Supply-Chain
Venue: arXiv cs.SI 2021
Year: 2021

Closed Loop Supply Chain (CLSC) networks are an attractive topic in both industry and academic research due to their positive environmental effects and waste reduction. Performance evaluation of CLSC networks is challenging due to the variety of facility types and complex relationships among them. In this study, a framework based on Social Network Analysis (SNA) is proposed to evaluate the individual components of a network and identify the critical facilities whose disruptions can affect the entire network. The proposed SNA metrics are applied to a CLSC network case study based on real data and the results and their interpretation are presented. Practical recommendations and actionable guidelines are provided are provided based on the results to mitigate the identified risks and improve the flexibility and resilience of the network. The SNAinSCM R package is developed and shared on GitHub to facilitate the computation and visualization of the discussed metrics
OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
Venue: arXiv cs.RO 2021
Year: 2021

Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control (OSC) has been used as an effective task-space controller for manipulation. Nonetheless, its strength depends on the underlying modeling fidelity, and is prone to failure when there are modeling errors. In this work, we propose OSC for Adaptation and Robustness (OSCAR), a data-driven variant of OSC that compensates for modeling errors by inferring relevant dynamics parameters from online trajectories. OSCAR decomposes dynamics learning into task-agnostic and task-specific phases, decoupling the dynamics dependencies of the robot and the extrinsics due to its environment. This structure enables robust zero-shot performance under out-of-distribution and rapid adaptation to significant domain shifts through additional finetuning. We evaluate our method on a variety of simulated manipulation problems, and find substantial improvements over an array of controller baselines. For more results and information, please visit https://cremebrule.github.io/oscar-web/.
Universal Adversarial Spoofing Attacks against Face Recognition
Venue: arXiv cs.CV 2021
Year: 2021

We assess the vulnerabilities of deep face recognition systems for images that falsify/spoof multiple identities simultaneously. We demonstrate that, by manipulating the deep feature representation extracted from a face image via imperceptibly small perturbations added at the pixel level using our proposed Universal Adversarial Spoofing Examples (UAXs), one can fool a face verification system into recognizing that the face image belongs to multiple different identities with a high success rate. One characteristic of the UAXs crafted with our method is that they are universal (identity-agnostic); they are successful even against identities not known in advance. For a certain deep neural network, we show that we are able to spoof almost all tested identities (99\%), including those not known beforehand (not included in training). Our results indicate that a multiple-identity attack is a real threat and should be taken into account when deploying face recognition systems.
Improving Zero-shot Multilingual Neural Machine Translation for Low-Resource Languages
Venue: arXiv cs.CL 2021
Year: 2021

Although the multilingual Neural Machine Translation(NMT), which extends Google's multilingual NMT, has ability to perform zero-shot translation and the iterative self-learning algorithm can improve the quality of zero-shot translation, it confronts with two problems: the multilingual NMT model is prone to generate wrong target language when implementing zero-shot translation; the self-learning algorithm, which uses beam search to generate synthetic parallel data, demolishes the diversity of the generated source language and amplifies the impact of the same noise during the iterative learning process. In this paper, we propose the tagged-multilingual NMT model and improve the self-learning algorithm to handle these two problems. Firstly, we extend the Google's multilingual NMT model and add target tokens to the target languages, which associates the start tag with the target language to ensure that the source language can be translated to the required target language. Secondly, we improve the self-learning algorithm by replacing beam search with random sample to increases the diversity of the generated data and makes it properly cover the true data distribution. Experimental results on IWSLT show that the adjusted tagged-multilingual NMT separately obtains 9.41 and 7.85 BLEU scores over the multilingual NMT on 2010 and 2017 Romanian-Italian test sets. Similarly, it obtains 9.08 and 7.99 BLEU scores on Italian-Romanian zero-shot translation. Furthermore, the improved self-learning algorithm shows its superiorities over the conventional self-learning algorithm on zero-shot translations.