OpenRaiser/Intern-Atlas huggingface dataset:
Counterfactual Learning with Multioutput Deep Kernels
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, we address the challenge of performing counterfactual inference with observational data via Bayesian nonparametric regression adjustment, with a focus on high-dimensional settings featuring multiple actions and multiple correlated outcomes. We present a general class of counterfactual multi-task deep kernels models that estimate causal effects and learn policies proficiently thanks to their sample efficiency gains, while scaling well with high dimensions. In the first part of the work, we rely on Structural Causal Models (SCM) to formally introduce the setup and the problem of identifying counterfactual quantities under observed confounding. We then discuss the benefits of tackling the task of causal effects estimation via stacked coregionalized Gaussian Processes and Deep Kernels. Finally, we demonstrate the use of the proposed methods on simulated experiments that span individual causal effects estimation, off-policy evaluation and optimization.
Attacking Shortest Paths by Cutting Edges
Venue: arXiv cs.SI 2022
Year: 2022

Identifying shortest paths between nodes in a network is a common graph analysis problem that is important for many applications involving routing of resources. An adversary that can manipulate the graph structure could alter traffic patterns to gain some benefit (e.g., make more money by directing traffic to a toll road). This paper presents the Force Path Cut problem, in which an adversary removes edges from a graph to make a particular path the shortest between its terminal nodes. We prove that this problem is APX-hard, but introduce PATHATTACK, a polynomial-time approximation algorithm that guarantees a solution within a logarithmic factor of the optimal value. In addition, we introduce the Force Edge Cut and Force Node Cut problems, in which the adversary targets a particular edge or node, respectively, rather than an entire path. We derive a nonconvex optimization formulation for these problems, and derive a heuristic algorithm that uses PATHATTACK as a subroutine. We demonstrate all of these algorithms on a diverse set of real and synthetic networks, illustrating the network types that benefit most from the proposed algorithms.
DVGG: Deep Variational Grasp Generation for Dextrous Manipulation
Venue: arXiv cs.RO 2022
Year: 2022

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work presents DVGG, an efficient grasp generation network that takes single-view observation as input and predicts high-quality grasp configurations for unknown objects. In general, our generative model consists of three components: 1) Point cloud completion for the target object based on the partial observation; 2) Diverse sets of grasps generation given the complete point cloud; 3) Iterative grasp pose refinement for physically plausible grasp optimization. To train our model, we build a large-scale grasping dataset that contains about 300 common object models with 1.5M annotated grasps in simulation. Experiments in simulation show that our model can predict robust grasp poses with a wide variety and high success rate. Real robot platform experiments demonstrate that the model trained on our dataset performs well in the real world. Remarkably, our method achieves a grasp success rate of 70.7\% for novel objects in the real robot platform, which is a significant improvement over the baseline methods.
HARL: Hierarchical Adaptive Reinforcement Learning Based Auto Scheduler for Neural Networks
Venue: arXiv cs.LG 2022
Year: 2022

To efficiently perform inference with neural networks, the underlying tensor programs require sufficient tuning efforts before being deployed into production environments. Usually, enormous tensor program candidates need to be sufficiently explored to find the one with the best performance. This is necessary to make the neural network products meet the high demand of real-world applications such as natural language processing, auto-driving, etc. Auto-schedulers are being developed to avoid the need for human intervention. However, due to the gigantic search space and lack of intelligent search guidance, current auto-schedulers require hours to days of tuning time to find the best-performing tensor program for the entire neural network. In this paper, we propose HARL, a reinforcement learning (RL) based auto-scheduler specifically designed for efficient tensor program exploration. HARL uses a hierarchical RL architecture in which learning-based decisions are made at all different levels of search granularity. It also automatically adjusts exploration configurations in real-time for faster performance convergence. As a result, HARL improves the tensor operator performance by 22% and the search speed by 4.3x compared to the state-of-the-art auto-scheduler. Inference performance and search speed are also significantly improved on end-to-end neural networks.
Terahertz Channel Measurement and Analysis on a University Campus Street
Venue: arXiv cs.IT 2022
Year: 2022

Owning abundant bandwidth resource, the Terahertz (0.1-10 THz) band is a promising spectrum to support sixth-generation (6G) and beyond communications. As the foundation of channel study in the spectrum, channel measurement is ongoing in covering representative 6G communication scenarios and promising THz frequency bands. In this paper, a wideband channel measurement in an L-shaped university campus street is conducted at 306-321 GHz and 356-371 GHz. In particular, ten line-of-sight (LoS) and eight non-line-of-sight (NLoS) points are measured at the two frequency bands, respectively. In total, 6480 channel impulse responses (CIRs) are obtained from the measurement, based on which multi-path propagation in the L-shaped roadway in the THz band is elaborated to identify major scatterers of walls, vehicles, etc. in the environment and their impact on multi-path components (MPCs). Furthermore, outdoor THz channel characteristics in the two frequency bands are analyzed, including path losses, shadow fading, cluster parameters, delay spread and angular spread. In contrast with the counterparts in the similar outdoor scenario at lower frequencies, the results verify the sparsity of MPCs at THz frequencies and indicate smaller power spreads in both temporal and spatial domains in the THz band.
Lemmas of Differential Privacy
Venue: arXiv cs.DS 2022
Year: 2022

We aim to collect buried lemmas that are useful for proofs. In particular, we try to provide self-contained proofs for those lemmas and categorise them according to their usage.
Cross-Modal Contrastive Learning for Robust Reasoning in VQA
Venue: arXiv cs.CV 2022
Year: 2022

Multi-modal reasoning in visual question answering (VQA) has witnessed rapid progress recently. However, most reasoning models heavily rely on shortcuts learned from training data, which prevents their usage in challenging real-world scenarios. In this paper, we propose a simple but effective cross-modal contrastive learning strategy to get rid of the shortcut reasoning caused by imbalanced annotations and improve the overall performance. Different from existing contrastive learning with complex negative categories on coarse (Image, Question, Answer) triplet level, we leverage the correspondences between the language and image modalities to perform finer-grained cross-modal contrastive learning. We treat each Question-Answer (QA) pair as a whole, and differentiate between images that conform with it and those against it. To alleviate the issue of sampling bias, we further build connected graphs among images. For each positive pair, we regard the images from different graphs as negative samples and deduct the version of multi-positive contrastive learning. To our best knowledge, it is the first paper that reveals a general contrastive learning strategy without delicate hand-craft rules can contribute to robust VQA reasoning. Experiments on several mainstream VQA datasets demonstrate our superiority compared to the state of the arts. Code is available at \url{https://github.com/qizhust/cmcl_vqa_pl}.
SegNeRF: 3D Part Segmentation with Neural Radiance Fields
Venue: arXiv cs.CV 2022
Year: 2022

Recent advances in Neural Radiance Fields (NeRF) boast impressive performances for generative tasks such as novel view synthesis and 3D reconstruction. Methods based on neural radiance fields are able to represent the 3D world implicitly by relying exclusively on posed images. Yet, they have seldom been explored in the realm of discriminative tasks such as 3D part segmentation. In this work, we attempt to bridge that gap by proposing SegNeRF: a neural field representation that integrates a semantic field along with the usual radiance field. SegNeRF inherits from previous works the ability to perform novel view synthesis and 3D reconstruction, and enables 3D part segmentation from a few images. Our extensive experiments on PartNet show that SegNeRF is capable of simultaneously predicting geometry, appearance, and semantic information from posed images, even for unseen objects. The predicted semantic fields allow SegNeRF to achieve an average mIoU of $\textbf{30.30%}$ for 2D novel view segmentation, and $\textbf{37.46%}$ for 3D part segmentation, boasting competitive performance against point-based methods by using only a few posed images. Additionally, SegNeRF is able to generate an explicit 3D model from a single image of an object taken in the wild, with its corresponding part segmentation.
Best of Both Worlds in Online Control: Competitive Ratio and Policy Regret
Venue: arXiv cs.LG 2022
Year: 2022

We consider the fundamental problem of online control of a linear dynamical system from two different viewpoints: regret minimization and competitive analysis. We prove that the optimal competitive policy is well-approximated by a convex parameterized policy class, known as a disturbance-action control (DAC) policies. Using this structural result, we show that several recently proposed online control algorithms achieve the best of both worlds: sublinear regret vs. the best DAC policy selected in hindsight, and optimal competitive ratio, up to an additive correction which grows sublinearly in the time horizon. We further conclude that sublinear regret vs. the optimal competitive policy is attainable when the linear dynamical system is unknown, and even when a stabilizing controller for the dynamics is not available a priori.
Intent-Based Orchestration for Application Relocation in a 5G Cloud-native Platform
Venue: arXiv cs.NI 2022
Year: 2022

The need of mobile network operators for cost-effectiveness is driving 5G and beyond networks towards highly flexible and agile deployments to adapt to dynamic and resource-constrained scenarios while meeting a myriad of user network stakeholders' requirements. In this setting, we consider that zero-touch orchestration schemes based on cloud-native deployments equipped with end-to-end monitoring capabilities provide the necessary technology mix to be a solution candidate. This demonstration, built on top of an end-to-end cloud-native 5G experimental platform with over-the-air transmissions, shows how dynamic orchestration can relocate container-based end-user applications to fulfil intent-based requirements. Accordingly, we provide an experimental validation to showcase how the platform enables the desired flexible and agile 5G deployments.
TCBERT: A Technical Report for Chinese Topic Classification BERT
Venue: arXiv cs.CL 2022
Year: 2022

Bidirectional Encoder Representations from Transformers or BERT~\cite{devlin-etal-2019-bert} has been one of the base models for various NLP tasks due to its remarkable performance. Variants customized for different languages and tasks are proposed to further improve the performance. In this work, we investigate supervised continued pre-training~\cite{gururangan-etal-2020-dont} on BERT for Chinese topic classification task. Specifically, we incorporate prompt-based learning and contrastive learning into the pre-training. To adapt to the task of Chinese topic classification, we collect around 2.1M Chinese data spanning various topics. The pre-trained Chinese Topic Classification BERTs (TCBERTs) with different parameter sizes are open-sourced at \url{https://huggingface.co/IDEA-CCNL}.
Object-level 3D Semantic Mapping using a Network of Smart Edge Sensors
Venue: arXiv cs.CV 2022
Year: 2022

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in the map. In this work, we extend a multi-view 3D semantic mapping system consisting of a network of distributed smart edge sensors with object-level information, to enable downstream tasks that need object-level input. Objects are represented in the map via their 3D mesh model or as an object-centric volumetric sub-map that can model arbitrary object geometry when no detailed 3D model is available. We propose a keypoint-based approach to estimate object poses via PnP and refinement via ICP alignment of the 3D object model with the observed point cloud segments. Object instances are tracked to integrate observations over time and to be robust against temporary occlusions. Our method is evaluated on the public Behave dataset where it shows pose estimation accuracy within a few centimeters and in real-world experiments with the sensor network in a challenging lab environment where multiple chairs and a table are tracked through the scene online, in real time even under high occlusions.
Challenges and Applications of Automated Extraction of Socio-political Events from Text (CASE 2022): Workshop and Shared Task Report
Venue: arXiv cs.CL 2022
Year: 2022

We provide a summary of the fifth edition of the CASE workshop that is held in the scope of EMNLP 2022. The workshop consists of regular papers, two keynotes, working papers of shared task participants, and task overview papers. This workshop has been bringing together all aspects of event information collection across technical and social science fields. In addition to the progress in depth, the submission and acceptance of multimodal approaches show the widening of this interdisciplinary research topic.
Extended Multilingual Protest News Detection -- Shared Task 1, CASE 2021 and 2022
Venue: arXiv cs.CL 2022
Year: 2022

We report results of the CASE 2022 Shared Task 1 on Multilingual Protest Event Detection. This task is a continuation of CASE 2021 that consists of four subtasks that are i) document classification, ii) sentence classification, iii) event sentence coreference identification, and iv) event extraction. The CASE 2022 extension consists of expanding the test data with more data in previously available languages, namely, English, Hindi, Portuguese, and Spanish, and adding new test data in Mandarin, Turkish, and Urdu for Sub-task 1, document classification. The training data from CASE 2021 in English, Portuguese and Spanish were utilized. Therefore, predicting document labels in Hindi, Mandarin, Turkish, and Urdu occurs in a zero-shot setting. The CASE 2022 workshop accepts reports on systems developed for predicting test data of CASE 2021 as well. We observe that the best systems submitted by CASE 2022 participants achieve between 79.71 and 84.06 F1-macro for new languages in a zero-shot setting. The winning approaches are mainly ensembling models and merging data in multiple languages. The best two submissions on CASE 2021 data outperform submissions from last year for Subtask 1 and Subtask 2 in all languages. Only the following scenarios were not outperformed by new submissions on CASE 2021: Subtask 3 Portuguese \& Subtask 4 English.
Enterprise Model Library for Business-IT-Alignment
Venue: arXiv cs.SE 2022
Year: 2022

The knowledge of the world is passed on through libraries. Accordingly, domain expertise and experiences should also be transferred within an enterprise by a knowledge base. Therefore, models are an established medium to describe good practices for complex systems, processes, and interconnections. However, there is no structured and detailed approach for a design of an enterprise model library. The objective of this work is the reference architecture of a repository for models with function of reuse. It includes the design of the data structure for filing, the processes for administration and possibilities for usage. Our approach enables consistent mapping of requirements into models via meta-data attributes. Furthermore, the adaptation of reference architectures in specific use cases as well as a reconciliation of interrelationships is enabled. A case study with industry demonstrates the practical benefits of reusing work already done. It provides an organization with systematic access to specifications, standards and guidelines. Thus, further development is accelerated and supported in a structured manner, while complexity remains controllable. The presented approach enriches various enterprise architecture frameworks. It provides benefits for development based on models.
Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators
Venue: arXiv cs.RO 2022
Year: 2022

In this paper we present the implementation of a Control Barrier Function (CBF) using a quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulator arm system. CBF is a control technique that has emerged and developed over the past decade and has been extensively explored in the literature on its mathematical foundations, proof of set invariance and potential applications for a variety of safety-critical control systems. In this work we will look at the design of CBF for the robotic manipulator obstacle avoidance, discuss the selection of the CBF parameters and present a Reinforcement Learning (RL) scheme to assist with finding parameters values that provide the most efficient trajectory to successfully avoid different sized obstacles. We then create a data-set across a range of scenarios used to train a Neural-Network (NN) model that can be used within the control scheme to allow the system to efficiently adapt to different obstacle scenarios. Computer simulations (based on Matlab/Simulink) demonstrate the effectiveness of the proposed algorithm.
Fine-Grained Scheduling for Containerized HPC Workloads in Kubernetes Clusters
Venue: arXiv cs.DC 2022
Year: 2022

Containerization technology offers lightweight OS-level virtualization, and enables portability, reproducibility, and flexibility by packing applications with low performance overhead and low effort to maintain and scale them. Moreover, container orchestrators (e.g., Kubernetes) are widely used in the Cloud to manage large clusters running many containerized applications. However, scheduling policies that consider the performance nuances of containerized High Performance Computing (HPC) workloads have not been well-explored yet. This paper conducts fine-grained scheduling policies for containerized HPC workloads in Kubernetes clusters, focusing especially on partitioning each job into a suitable multi-container deployment according to the application profile. We implement our scheduling schemes on different layers of management (application and infrastructure), so that each component has its own focus and algorithms but still collaborates with others. Our results show that our fine-grained scheduling policies outperform baseline and baseline with CPU/memory affinity enabled policies, reducing the overall response time by 35% and 19%, respectively, and also improving the makespan by 34% and 11%, respectively. They also provide better usability and flexibility to specify HPC workloads than other comparable HPC Cloud frameworks, while providing better scheduling efficiency thanks to their multi-layered approach.
Self-Adaptive, Dynamic, Integrated Statistical and Information Theory Learning
Venue: arXiv cs.LG 2022
Year: 2022

The paper analyses and serves with a positioning of various error measures applied in neural network training and identifies that there is no best of measure, although there is a set of measures with changing superiorities in different learning situations. An outstanding, remarkable measure called $E_{Exp}$ published by Silva and his research partners represents a research direction to combine more measures successfully with fixed importance weighting during learning. The main idea of the paper is to go far beyond and to integrate this relative importance into the neural network training algorithm(s) realized through a novel error measure called $E_{ExpAbs}$. This approach is included into the Levenberg-Marquardt training algorithm, so, a novel version of it is also introduced, resulting a self-adaptive, dynamic learning algorithm. This dynamism does not has positive effects on the resulted model accuracy only, but also on the training process itself. The described comprehensive algorithm tests proved that the proposed, novel algorithm integrates dynamically the two big worlds of statistics and information theory that is the key novelty of the paper.
Immersion and Invariance-based Coding for Privacy in Remote Anomaly Detection
Venue: arXiv cs.CR 2022
Year: 2022

We present a framework for the design of coding mechanisms that allow remotely operating anomaly detectors in a privacy-preserving manner. We consider the following problem setup. A remote station seeks to identify anomalies based on system input-output signals transmitted over communication networks. However, it is not desired to disclose true data of the system operation as it can be used to infer private information. To prevent adversaries from eavesdropping on the network or at the remote station itself to access private data, we propose a privacy-preserving coding scheme to distort signals before transmission. As a next step, we design a new anomaly detector that runs on distorted signals and produces distorted diagnostics signals, and a decoding scheme that allows extracting true diagnostics data from distorted signals without error. The proposed scheme is built on the synergy of matrix encryption and system Immersion and Invariance (I&I) tools from control theory. The idea is to immerse the anomaly detector into a higher-dimensional system (the so-called target system). The dynamics of the target system is designed such that: the trajectories of the original anomaly detector are immersed/embedded in its trajectories, it works on randomly encoded input-output signals, and produces an encoded version of the original anomaly detector alarm signals, which are decoded to extract the original alarm at the user side. We show that the proposed privacy-preserving scheme provides the same anomaly detection performance as standard Kalman filter-based chi-squared anomaly detectors while revealing no information about system data.