OpenRaiser/Intern-Atlas huggingface dataset:
Topo-Geometrically Distinct Path Computation using Neighborhood-augmented Graph, and its Application to Path Planning for a Tethered Robot in 3D
Venue: arXiv cs.RO 2023
Year: 2023

Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables, multi-robot topological exploration & coverage, and, congestion reduction for mobile robots navigation without inter-robot coordination. Existing paradigm is to use topological path planning methods that can provide optimal paths from distinct topological classes available in the underlying configuration space. However, these methods usually require non-trivial and non-universal geometrical constructions, which are prohibitively complex or expensive in 3 or higher dimensional configuration spaces with complex topology. Furthermore, topological methods are unable to distinguish between locally optimal paths that belong to the same topological class but are distinct because of genus-zero obstacles in 3D or due to high-cost or high-curvature regions. In this paper we propose an universal and generalized approach to multiple, locally-optimal path planning using the concept of a novel neighborhood-augmented graph, search-based planning in which can compute paths that are topo-geometrically distinct. This approach can find desired number of locally optimal paths in a wider variety of configuration spaces without requiring any complex pre-processing or geometric constructions. Unlike the existing topological methods, resulting optimal paths are not restricted to distinct topological classes, thus making the algorithm applicable to many other problems where locally optimal and geometrically distinct paths are of interest. We demonstrate the use of our algorithm to planning for shortest traversible paths for a tethered robot in 3D with cable-length constraint, and validate the results in simulations and real robot experimentation.
Self Contrastive Learning for Session-based Recommendation
Venue: arXiv cs.IR 2023
Year: 2023

Session-based recommendation, which aims to predict the next item of users' interest as per an existing sequence interaction of items, has attracted growing applications of Contrastive Learning (CL) with improved user and item representations. However, these contrastive objectives: (1) serve a similar role as the cross-entropy loss while ignoring the item representation space optimisation; and (2) commonly require complicated modelling, including complex positive/negative sample constructions and extra data augmentation. In this work, we introduce Self-Contrastive Learning (SCL), which simplifies the application of CL and enhances the performance of state-of-the-art CL-based recommendation techniques. Specifically, SCL is formulated as an objective function that directly promotes a uniform distribution among item representations and efficiently replaces all the existing contrastive objective components of state-of-the-art models. Unlike previous works, SCL eliminates the need for any positive/negative sample construction or data augmentation, leading to enhanced interpretability of the item representation space and facilitating its extensibility to existing recommender systems. Through experiments on three benchmark datasets, we demonstrate that SCL consistently improves the performance of state-of-the-art models with statistical significance. Notably, our experiments show that SCL improves the performance of two best-performing models by 8.2% and 9.5% in P@10 (Precision) and 9.9% and 11.2% in MRR@10 (Mean Reciprocal Rank) on average across different benchmarks. Additionally, our analysis elucidates the improvement in terms of alignment and uniformity of representations, as well as the effectiveness of SCL with a low computational cost.
Beyond Active Learning: Leveraging the Full Potential of Human Interaction via Auto-Labeling, Human Correction, and Human Verification
Venue: arXiv cs.LG 2023
Year: 2023

Active Learning (AL) is a human-in-the-loop framework to interactively and adaptively label data instances, thereby enabling significant gains in model performance compared to random sampling. AL approaches function by selecting the hardest instances to label, often relying on notions of diversity and uncertainty. However, we believe that these current paradigms of AL do not leverage the full potential of human interaction granted by automated label suggestions. Indeed, we show that for many classification tasks and datasets, most people verifying if an automatically suggested label is correct take $3\times$ to $4\times$ less time than they do changing an incorrect suggestion to the correct label (or labeling from scratch without any suggestion). Utilizing this result, we propose CLARIFIER (aCtive LeARnIng From tIEred haRdness), an Interactive Learning framework that admits more effective use of human interaction by leveraging the reduced cost of verification. By targeting the hard (uncertain) instances with existing AL methods, the intermediate instances with a novel label suggestion scheme using submodular mutual information functions on a per-class basis, and the easy (confident) instances with highest-confidence auto-labeling, CLARIFIER can improve over the performance of existing AL approaches on multiple datasets -- particularly on those that have a large number of classes -- by almost 1.5$\times$ to 2$\times$ in terms of relative labeling cost.
Independent Modular Networks
Venue: arXiv cs.CV 2023
Year: 2023

Monolithic neural networks that make use of a single set of weights to learn useful representations for downstream tasks explicitly dismiss the compositional nature of data generation processes. This characteristic exists in data where every instance can be regarded as the combination of an identity concept, such as the shape of an object, combined with modifying concepts, such as orientation, color, and size. The dismissal of compositionality is especially detrimental in robotics, where state estimation relies heavily on the compositional nature of physical mechanisms (e.g., rotations and transformations) to model interactions. To accommodate this data characteristic, modular networks have been proposed. However, a lack of structure in each module's role, and modular network-specific issues such as module collapse have restricted their usability. We propose a modular network architecture that accommodates the mentioned decompositional concept by proposing a unique structure that splits the modules into predetermined roles. Additionally, we provide regularizations that improve the resiliency of the modular network to the problem of module collapse while improving the decomposition accuracy of the model.
Reducing Popularity Bias in Recommender Systems through AUC-Optimal Negative Sampling
Venue: arXiv cs.IR 2023
Year: 2023

Popularity bias is a persistent issue associated with recommendation systems, posing challenges to both fairness and efficiency. Existing literature widely acknowledges that reducing popularity bias often requires sacrificing recommendation accuracy. In this paper, we challenge this commonly held belief. Our analysis under general bias-variance decomposition framework shows that reducing bias can actually lead to improved model performance under certain conditions. To achieve this win-win situation, we propose to intervene in model training through negative sampling thereby modifying model predictions. Specifically, we provide an optimal negative sampling rule that maximizes partial AUC to preserve the accuracy of any given model, while correcting sample information and prior information to reduce popularity bias in a flexible and principled way. Our experimental results on real-world datasets demonstrate the superiority of our approach in improving recommendation performance and reducing popularity bias.
FedCIP: Federated Client Intellectual Property Protection with Traitor Tracking
Venue: arXiv cs.CR 2023
Year: 2023

Federated learning is an emerging privacy-preserving distributed machine learning that enables multiple parties to collaboratively learn a shared model while keeping each party's data private. However, federated learning faces two main problems: semi-honest server privacy inference attacks and malicious client-side model theft. To address privacy inference attacks, parameter-based encrypted federated learning secure aggregation can be used. To address model theft, a watermark-based intellectual property protection scheme can verify model ownership. Although watermark-based intellectual property protection schemes can help verify model ownership, they are not sufficient to address the issue of continuous model theft by uncaught malicious clients in federated learning. Existing IP protection schemes that have the ability to track traitors are also not compatible with federated learning security aggregation. Thus, in this paper, we propose a Federated Client-side Intellectual Property Protection (FedCIP), which is compatible with federated learning security aggregation and has the ability to track traitors. To the best of our knowledge, this is the first IP protection scheme in federated learning that is compatible with secure aggregation and tracking capabilities.
A systematic literature review on the code smells datasets and validation mechanisms
Venue: arXiv cs.SE 2023
Year: 2023

The accuracy reported for code smell-detecting tools varies depending on the dataset used to evaluate the tools. Our survey of 45 existing datasets reveals that the adequacy of a dataset for detecting smells highly depends on relevant properties such as the size, severity level, project types, number of each type of smell, number of smells, and the ratio of smelly to non-smelly samples in the dataset. Most existing datasets support God Class, Long Method, and Feature Envy while six smells in Fowler and Beck's catalog are not supported by any datasets. We conclude that existing datasets suffer from imbalanced samples, lack of supporting severity level, and restriction to Java language.
Leveraging Auxiliary Domain Parallel Data in Intermediate Task Fine-tuning for Low-resource Translation
Venue: arXiv cs.CL 2023
Year: 2023

NMT systems trained on Pre-trained Multilingual Sequence-Sequence (PMSS) models flounder when sufficient amounts of parallel data is not available for fine-tuning. This specifically holds for languages missing/under-represented in these models. The problem gets aggravated when the data comes from different domains. In this paper, we show that intermediate-task fine-tuning (ITFT) of PMSS models is extremely beneficial for domain-specific NMT, especially when target domain data is limited/unavailable and the considered languages are missing or under-represented in the PMSS model. We quantify the domain-specific results variations using a domain-divergence test, and show that ITFT can mitigate the impact of domain divergence to some extent.
From Large Language Models to Databases and Back: A discussion on research and education
Venue: arXiv cs.DB 2023
Year: 2023

This discussion was conducted at a recent panel at the 28th International Conference on Database Systems for Advanced Applications (DASFAA 2023), held April 17-20, 2023 in Tianjin, China. The title of the panel was "What does LLM (ChatGPT) Bring to Data Science Research and Education? Pros and Cons". It was moderated by Lei Chen and Xiaochun Yang. The discussion raised several questions on how large language models (LLMs) and database research and education can help each other and the potential risks of LLMs.
Domain Knowledge Matters: Improving Prompts with Fix Templates for Repairing Python Type Errors
Venue: arXiv cs.SE 2023
Year: 2023

Although the dynamic type system of Python facilitates the developers in writing Python programs, it also brings type errors at run-time. There exist rule-based approaches for automatically repairing Python type errors. The approaches can generate accurate patches but they require domain experts to design patch synthesis rules and suffer from low template coverage of real-world type errors. Learning-based approaches alleviate the manual efforts in designing patch synthesis rules. Among the learning-based approaches, the prompt-based approach which leverages the knowledge base of code pre-trained models via pre-defined prompts, obtains state-of-the-art performance in general program repair tasks. However, such prompts are manually defined and do not involve any specific clues for repairing Python type errors, resulting in limited effectiveness. How to automatically improve prompts with the domain knowledge for type error repair is challenging yet under-explored. In this paper, we present TypeFix, a novel prompt-based approach with fix templates incorporated for repairing Python type errors. TypeFix first mines generalized fix templates via a novel hierarchical clustering algorithm. The identified fix templates indicate the common edit patterns and contexts of existing type error fixes. TypeFix then generates code prompts for code pre-trained models by employing the generalized fix templates as domain knowledge, in which the masks are adaptively located for each type error instead of being pre-determined. Experiments on two benchmarks, including BugsInPy and TypeBugs, show that TypeFix successfully repairs 26 and 55 type errors, outperforming the best baseline approach by 9 and 14, respectively. Besides, the proposed fix template mining approach can cover 75% of developers' patches in both benchmarks, increasing the best rule-based approach PyTER by more than 30%.
Unsupervised Paraphrasing of Multiword Expressions
Venue: arXiv cs.CL 2023
Year: 2023

We propose an unsupervised approach to paraphrasing multiword expressions (MWEs) in context. Our model employs only monolingual corpus data and pre-trained language models (without fine-tuning), and does not make use of any external resources such as dictionaries. We evaluate our method on the SemEval 2022 idiomatic semantic text similarity task, and show that it outperforms all unsupervised systems and rivals supervised systems.
Light Coreference Resolution for Russian with Hierarchical Discourse Features
Venue: arXiv cs.CL 2023
Year: 2023

Coreference resolution is the task of identifying and grouping mentions referring to the same real-world entity. Previous neural models have mainly focused on learning span representations and pairwise scores for coreference decisions. However, current methods do not explicitly capture the referential choice in the hierarchical discourse, an important factor in coreference resolution. In this study, we propose a new approach that incorporates rhetorical information into neural coreference resolution models. We collect rhetorical features from automated discourse parses and examine their impact. As a base model, we implement an end-to-end span-based coreference resolver using a partially fine-tuned multilingual entity-aware language model LUKE. We evaluate our method on the RuCoCo-23 Shared Task for coreference resolution in Russian. Our best model employing rhetorical distance between mentions has ranked 1st on the development set (74.6% F1) and 2nd on the test set (73.3% F1) of the Shared Task. We hope that our work will inspire further research on incorporating discourse information in neural coreference resolution models.
On Feature Diversity in Energy-based Models
Venue: arXiv cs.LG 2023
Year: 2023

Energy-based learning is a powerful learning paradigm that encapsulates various discriminative and generative approaches. An energy-based model (EBM) is typically formed of inner-model(s) that learn a combination of the different features to generate an energy mapping for each input configuration. In this paper, we focus on the diversity of the produced feature set. We extend the probably approximately correct (PAC) theory of EBMs and analyze the effect of redundancy reduction on the performance of EBMs. We derive generalization bounds for various learning contexts, i.e., regression, classification, and implicit regression, with different energy functions and we show that indeed reducing redundancy of the feature set can consistently decrease the gap between the true and empirical expectation of the energy and boosts the performance of the model.
CLIPGraphs: Multimodal Graph Networks to Infer Object-Room Affinities
Venue: arXiv cs.RO 2023
Year: 2023

This paper introduces a novel method for determining the best room to place an object in, for embodied scene rearrangement. While state-of-the-art approaches rely on large language models (LLMs) or reinforcement learned (RL) policies for this task, our approach, CLIPGraphs, efficiently combines commonsense domain knowledge, data-driven methods, and recent advances in multimodal learning. Specifically, it (a)encodes a knowledge graph of prior human preferences about the room location of different objects in home environments, (b) incorporates vision-language features to support multimodal queries based on images or text, and (c) uses a graph network to learn object-room affinities based on embeddings of the prior knowledge and the vision-language features. We demonstrate that our approach provides better estimates of the most appropriate location of objects from a benchmark set of object categories in comparison with state-of-the-art baselines
PassGPT: Password Modeling and (Guided) Generation with Large Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Large language models (LLMs) successfully model natural language from vast amounts of text without the need for explicit supervision. In this paper, we investigate the efficacy of LLMs in modeling passwords. We present PassGPT, a LLM trained on password leaks for password generation. PassGPT outperforms existing methods based on generative adversarial networks (GAN) by guessing twice as many previously unseen passwords. Furthermore, we introduce the concept of guided password generation, where we leverage PassGPT sampling procedure to generate passwords matching arbitrary constraints, a feat lacking in current GAN-based strategies. Lastly, we conduct an in-depth analysis of the entropy and probability distribution that PassGPT defines over passwords and discuss their use in enhancing existing password strength estimators.
Quantifying synergy and redundancy in multiplex networks
Venue: arXiv cs.SI 2023
Year: 2023

Understanding how different networks relate to each other is key for obtaining a greater insight into complex systems. Here, we introduce an intuitive yet powerful framework to characterise the relationship between two networks comprising the same nodes. We showcase our framework by decomposing the shortest paths between nodes as being contributed uniquely by one or the other source network, or redundantly by either, or synergistically by the two together. Our approach takes into account the networks' full topology, and it also provides insights at multiple levels of resolution: from global statistics, to individual paths of different length. We show that this approach is widely applicable, from brains to the London public transport system. In humans and across 123 other mammalian species, we demonstrate that reliance on unique contributions by long-range white matter fibers is a conserved feature of mammalian structural brain networks. Across species, we also find that efficient communication relies on significantly greater synergy between long-range and short-range fibers than expected by chance, and significantly less redundancy. Our framework may find applications to help decide how to trade-off different desiderata when designing network systems, or to evaluate their relative presence in existing systems, whether biological or artificial.
Temporal-controlled Frame Swap for Generating High-Fidelity Stereo Driving Data for Autonomy Analysis
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents a novel approach, TeFS (Temporal-controlled Frame Swap), to generate synthetic stereo driving data for visual simultaneous localization and mapping (vSLAM) tasks. TeFS is designed to overcome the lack of native stereo vision support in commercial driving simulators, and we demonstrate its effectiveness using Grand Theft Auto V (GTA V), a high-budget open-world video game engine. We introduce GTAV-TeFS, the first large-scale GTA V stereo-driving dataset, containing over 88,000 high-resolution stereo RGB image pairs, along with temporal information, GPS coordinates, camera poses, and full-resolution dense depth maps. GTAV-TeFS offers several advantages over other synthetic stereo datasets and enables the evaluation and enhancement of state-of-the-art stereo vSLAM models under GTA V's environment. We validate the quality of the stereo data collected using TeFS by conducting a comparative analysis with the conventional dual-viewport data using an open-source simulator. We also benchmark various vSLAM models using the challenging-case comparison groups included in GTAV-TeFS, revealing the distinct advantages and limitations inherent to each model. The goal of our work is to bring more high-fidelity stereo data from commercial-grade game simulators into the research domain and push the boundary of vSLAM models.
Distilling Efficient Language-Specific Models for Cross-Lingual Transfer
Venue: arXiv cs.CL 2023
Year: 2023

Massively multilingual Transformers (MMTs), such as mBERT and XLM-R, are widely used for cross-lingual transfer learning. While these are pretrained to represent hundreds of languages, end users of NLP systems are often interested only in individual languages. For such purposes, the MMTs' language coverage makes them unnecessarily expensive to deploy in terms of model size, inference time, energy, and hardware cost. We thus propose to extract compressed, language-specific models from MMTs which retain the capacity of the original MMTs for cross-lingual transfer. This is achieved by distilling the MMT bilingually, i.e., using data from only the source and target language of interest. Specifically, we use a two-phase distillation approach, termed BiStil: (i) the first phase distils a general bilingual model from the MMT, while (ii) the second, task-specific phase sparsely fine-tunes the bilingual "student" model using a task-tuned variant of the original MMT as its "teacher". We evaluate this distillation technique in zero-shot cross-lingual transfer across a number of standard cross-lingual benchmarks. The key results indicate that the distilled models exhibit minimal degradation in target language performance relative to the base MMT despite being significantly smaller and faster. Furthermore, we find that they outperform multilingually distilled models such as DistilmBERT and MiniLMv2 while having a very modest training budget in comparison, even on a per-language basis. We also show that bilingual models distilled from MMTs greatly outperform bilingual models trained from scratch. Our code and models are available at https://github.com/AlanAnsell/bistil.