OpenRaiser/Intern-Atlas huggingface dataset:
Domain-adaptive Graph Attention-supervised Network for Cross-network Edge Classification
Venue: arXiv cs.SI 2023
Year: 2023

Graph neural networks (GNNs) have shown great ability in modeling graphs, however, their performance would significantly degrade when there are noisy edges connecting nodes from different classes. To alleviate negative effect of noisy edges on neighborhood aggregation, some recent GNNs propose to predict the label agreement between node pairs within a single network. However, predicting the label agreement of edges across different networks has not been investigated yet. Our work makes the pioneering attempt to study a novel problem of cross-network homophilous and heterophilous edge classification (CNHHEC), and proposes a novel domain-adaptive graph attention-supervised network (DGASN) to effectively tackle the CNHHEC problem. Firstly, DGASN adopts multi-head GAT as the GNN encoder, which jointly trains node embeddings and edge embeddings via the node classification and edge classification losses. As a result, label-discriminative embeddings can be obtained to distinguish homophilous edges from heterophilous edges. In addition, DGASN applies direct supervision on graph attention learning based on the observed edge labels from the source network, thus lowering the negative effects of heterophilous edges while enlarging the positive effects of homophilous edges during neighborhood aggregation. To facilitate knowledge transfer across networks, DGASN employs adversarial domain adaptation to mitigate domain divergence. Extensive experiments on real-world benchmark datasets demonstrate that the proposed DGASN achieves the state-of-the-art performance in CNHHEC.
International Competition on Graph Counting Algorithms 2023
Venue: arXiv cs.DS 2023
Year: 2023

This paper reports on the details of the International Competition on Graph Counting Algorithms (ICGCA) held in 2023. The graph counting problem is to count the subgraphs satisfying specified constraints on a given graph. The problem belongs to #P-complete, a computationally tough class. Since many essential systems in modern society, e.g., infrastructure networks, are often represented as graphs, graph counting algorithms are a key technology to efficiently scan all the subgraphs representing the feasible states of the system. In the ICGCA, contestants were asked to count the paths on a graph under a length constraint. The benchmark set included 150 challenging instances, emphasizing graphs resembling infrastructure networks. Eleven solvers were submitted and ranked by the number of benchmarks correctly solved within a time limit. The winning solver, TLDC, was designed based on three fundamental approaches: backtracking search, dynamic programming, and model counting or #SAT (a counting version of Boolean satisfiability). Detailed analyses show that each approach has its own strengths, and one approach is unlikely to dominate the others. The codes and papers of the participating solvers are available: https://afsa.jp/icgca/.
Unleashing the Power of Depth and Pose Estimation Neural Networks by Designing Compatible Endoscopic Images
Venue: arXiv cs.CV 2023
Year: 2023

Deep learning models have witnessed depth and pose estimation framework on unannotated datasets as a effective pathway to succeed in endoscopic navigation. Most current techniques are dedicated to developing more advanced neural networks to improve the accuracy. However, existing methods ignore the special properties of endoscopic images, resulting in an inability to fully unleash the power of neural networks. In this study, we conduct a detail analysis of the properties of endoscopic images and improve the compatibility of images and neural networks, to unleash the power of current neural networks. First, we introcude the Mask Image Modelling (MIM) module, which inputs partial image information instead of complete image information, allowing the network to recover global information from partial pixel information. This enhances the network' s ability to perceive global information and alleviates the phenomenon of local overfitting in convolutional neural networks due to local artifacts. Second, we propose a lightweight neural network to enhance the endoscopic images, to explicitly improve the compatibility between images and neural networks. Extensive experiments are conducted on the three public datasets and one inhouse dataset, and the proposed modules improve baselines by a large margin. Furthermore, the enhanced images we proposed, which have higher network compatibility, can serve as an effective data augmentation method and they are able to extract more stable feature points in traditional feature point matching tasks and achieve outstanding performance.
Nucleus-aware Self-supervised Pretraining Using Unpaired Image-to-image Translation for Histopathology Images
Venue: arXiv cs.CV 2023
Year: 2023

Self-supervised pretraining attempts to enhance model performance by obtaining effective features from unlabeled data, and has demonstrated its effectiveness in the field of histopathology images. Despite its success, few works concentrate on the extraction of nucleus-level information, which is essential for pathologic analysis. In this work, we propose a novel nucleus-aware self-supervised pretraining framework for histopathology images. The framework aims to capture the nuclear morphology and distribution information through unpaired image-to-image translation between histopathology images and pseudo mask images. The generation process is modulated by both conditional and stochastic style representations, ensuring the reality and diversity of the generated histopathology images for pretraining. Further, an instance segmentation guided strategy is employed to capture instance-level information. The experiments on 7 datasets show that the proposed pretraining method outperforms supervised ones on Kather classification, multiple instance learning, and 5 dense-prediction tasks with the transfer learning protocol, and yields superior results than other self-supervised approaches on 8 semi-supervised tasks. Our project is publicly available at https://github.com/zhiyuns/UNITPathSSL.
Secure and Scalable Circuit-based Protocol for Multi-Party Private Set Intersection
Venue: arXiv cs.CR 2023
Year: 2023

We propose a novel protocol for computing a circuit which implements the multi-party private set intersection functionality (PSI). Circuit-based approach has advantages over using custom protocols to achieve this task, since many applications of PSI do not require the computation of the intersection itself, but rather specific functional computations over the items in the intersection. Our protocol represents the pioneering circuit-based multi-party PSI protocol, which builds upon and optimizes the two-party SCS \cite{huang2012private} protocol. By using secure computation between two parties, our protocol sidesteps the complexities associated with multi-party interactions and demonstrates good scalability. In order to mitigate the high overhead associated with circuit-based constructions, we have further enhanced our protocol by utilizing simple hashing scheme and permutation-based hash functions. These tricks have enabled us to minimize circuit size by employing bucketing techniques while simultaneously attaining noteworthy reductions in both computation and communication expenses.
Detecting Unknown Attacks in IoT Environments: An Open Set Classifier for Enhanced Network Intrusion Detection
Venue: arXiv cs.CR 2023
Year: 2023

The widespread integration of Internet of Things (IoT) devices across all facets of life has ushered in an era of interconnectedness, creating new avenues for cybersecurity challenges and underscoring the need for robust intrusion detection systems. However, traditional security systems are designed with a closed-world perspective and often face challenges in dealing with the ever-evolving threat landscape, where new and unfamiliar attacks are constantly emerging. In this paper, we introduce a framework aimed at mitigating the open set recognition (OSR) problem in the realm of Network Intrusion Detection Systems (NIDS) tailored for IoT environments. Our framework capitalizes on image-based representations of packet-level data, extracting spatial and temporal patterns from network traffic. Additionally, we integrate stacking and sub-clustering techniques, enabling the identification of unknown attacks by effectively modeling the complex and diverse nature of benign behavior. The empirical results prominently underscore the framework's efficacy, boasting an impressive 88\% detection rate for previously unseen attacks when compared against existing approaches and recent advancements. Future work will perform extensive experimentation across various openness levels and attack scenarios, further strengthening the adaptability and performance of our proposed solution in safeguarding IoT environments.
Self-Supervised Prediction of the Intention to Interact with a Service Robot
Venue: arXiv cs.RO 2023
Year: 2023

A service robot can provide a smoother interaction experience if it has the ability to proactively detect whether a nearby user intends to interact, in order to adapt its behavior e.g. by explicitly showing that it is available to provide a service. In this work, we propose a learning-based approach to predict the probability that a human user will interact with a robot before the interaction actually begins; the approach is self-supervised because after each encounter with a human, the robot can automatically label it depending on whether it resulted in an interaction or not. We explore different classification approaches, using different sets of features considering the pose and the motion of the user. We validate and deploy the approach in three scenarios. The first collects $3442$ natural sequences (both interacting and non-interacting) representing employees in an office break area: a real-world, challenging setting, where we consider a coffee machine in place of a service robot. The other two scenarios represent researchers interacting with service robots ($200$ and $72$ sequences, respectively). Results show that, even in challenging real-world settings, our approach can learn without external supervision, and can achieve accurate classification (i.e. AUROC greater than $0.9$) of the user's intention to interact with an advance of more than $3$s before the interaction actually occurs.
Adaptive approximation of monotone functions
Venue: arXiv cs.LG 2023
Year: 2023

We study the classical problem of approximating a non-decreasing function $f: \mathcal{X} \to \mathcal{Y}$ in $L^p(μ)$ norm by sequentially querying its values, for known compact real intervals $\mathcal{X}$, $\mathcal{Y}$ and a known probability measure $μ$ on $\cX$. For any function~$f$ we characterize the minimum number of evaluations of $f$ that algorithms need to guarantee an approximation $\hat{f}$ with an $L^p(μ)$ error below $ε$ after stopping. Unlike worst-case results that hold uniformly over all $f$, our complexity measure is dependent on each specific function $f$. To address this problem, we introduce GreedyBox, a generalization of an algorithm originally proposed by Novak (1992) for numerical integration. We prove that GreedyBox achieves an optimal sample complexity for any function $f$, up to logarithmic factors. Additionally, we uncover results regarding piecewise-smooth functions. Perhaps as expected, the $L^p(μ)$ error of GreedyBox decreases much faster for piecewise-$C^2$ functions than predicted by the algorithm (without any knowledge on the smoothness of $f$). A simple modification even achieves optimal minimax approximation rates for such functions, which we compute explicitly. In particular, our findings highlight multiple performance gaps between adaptive and non-adaptive algorithms, smooth and piecewise-smooth functions, as well as monotone or non-monotone functions. Finally, we provide numerical experiments to support our theoretical results.
Naturalistic Robot Arm Trajectory Generation via Representation Learning
Venue: arXiv cs.RO 2023
Year: 2023

The integration of manipulator robots in household environments suggests a need for more predictable and human-like robot motion. This holds especially true for wheelchair-mounted assistive robots that can support the independence of people with paralysis. One method of generating naturalistic motion trajectories is via the imitation of human demonstrators. This paper explores a self-supervised imitation learning method using an autoregressive spatio-temporal graph neural network for an assistive drinking task. We address learning from diverse human motion trajectory data that were captured via wearable IMU sensors on a human arm as the action-free task demonstrations. Observed arm motion data from several participants is used to generate natural and functional drinking motion trajectories for a UR5e robot arm.
MMEAD: MS MARCO Entity Annotations and Disambiguations
Venue: arXiv cs.IR 2023
Year: 2023

MMEAD, or MS MARCO Entity Annotations and Disambiguations, is a resource for entity links for the MS MARCO datasets. We specify a format to store and share links for both document and passage collections of MS MARCO. Following this specification, we release entity links to Wikipedia for documents and passages in both MS MARCO collections (v1 and v2). Entity links have been produced by the REL and BLINK systems. MMEAD is an easy-to-install Python package, allowing users to load the link data and entity embeddings effortlessly. Using MMEAD takes only a few lines of code. Finally, we show how MMEAD can be used for IR research that uses entity information. We show how to improve recall@1000 and MRR@10 on more complex queries on the MS MARCO v1 passage dataset by using this resource. We also demonstrate how entity expansions can be used for interactive search applications.
AAS-VC: On the Generalization Ability of Automatic Alignment Search based Non-autoregressive Sequence-to-sequence Voice Conversion
Venue: arXiv cs.SD 2023
Year: 2023

Non-autoregressive (non-AR) sequence-to-seqeunce (seq2seq) models for voice conversion (VC) is attractive in its ability to effectively model the temporal structure while enjoying boosted intelligibility and fast inference thanks to non-AR modeling. However, the dependency of current non-AR seq2seq VC models on ground truth durations extracted from an external AR model greatly limits its generalization ability to smaller training datasets. In this paper, we first demonstrate the above-mentioned problem by varying the training data size. Then, we present AAS-VC, a non-AR seq2seq VC model based on automatic alignment search (AAS), which removes the dependency on external durations and serves as a proper inductive bias to provide the required generalization ability for small datasets. Experimental results show that AAS-VC can generalize better to a training dataset of only 5 minutes. We also conducted ablation studies to justify several model design choices. The audio samples and implementation are available online.
Turning Dross Into Gold Loss: is BERT4Rec really better than SASRec?
Venue: arXiv cs.IR 2023
Year: 2023

Recently sequential recommendations and next-item prediction task has become increasingly popular in the field of recommender systems. Currently, two state-of-the-art baselines are Transformer-based models SASRec and BERT4Rec. Over the past few years, there have been quite a few publications comparing these two algorithms and proposing new state-of-the-art models. In most of the publications, BERT4Rec achieves better performance than SASRec. But BERT4Rec uses cross-entropy over softmax for all items, while SASRec uses negative sampling and calculates binary cross-entropy loss for one positive and one negative item. In our work, we show that if both models are trained with the same loss, which is used by BERT4Rec, then SASRec will significantly outperform BERT4Rec both in terms of quality and training speed. In addition, we show that SASRec could be effectively trained with negative sampling and still outperform BERT4Rec, but the number of negative examples should be much larger than one.
Learning Quasi-Static 3D Models of Markerless Deformable Linear Objects for Bimanual Robotic Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

The robotic manipulation of Deformable Linear Objects (DLOs) is a vital and challenging task that is important in many practical applications. Classical model-based approaches to this problem require an accurate model to capture how robot motions affect the deformation of the DLO. Nowadays, data-driven models offer the best tradeoff between quality and computation time. This paper analyzes several learning-based 3D models of the DLO and proposes a new one based on the Transformer architecture that achieves superior accuracy, even on the DLOs of different lengths, thanks to the proposed scaling method. Moreover, we introduce a data augmentation technique, which improves the prediction performance of almost all considered DLO data-driven models. Thanks to this technique, even a simple Multilayer Perceptron (MLP) achieves close to state-of-the-art performance while being significantly faster to evaluate. In the experiments, we compare the performance of the learning-based 3D models of the DLO on several challenging datasets quantitatively and demonstrate their applicability in the task of shaping a DLO.
Feature Engineering in Learning-to-Rank for Community Question Answering Task
Venue: arXiv cs.LG 2023
Year: 2023

Community question answering (CQA) forums are Internet-based platforms where users ask questions about a topic and other expert users try to provide solutions. Many CQA forums such as Quora, Stackoverflow, Yahoo!Answer, StackExchange exist with a lot of user-generated data. These data are leveraged in automated CQA ranking systems where similar questions (and answers) are presented in response to the query of the user. In this work, we empirically investigate a few aspects of this domain. Firstly, in addition to traditional features like TF-IDF, BM25 etc., we introduce a BERT-based feature that captures the semantic similarity between the question and answer. Secondly, most of the existing research works have focused on features extracted only from the question part; features extracted from answers have not been explored extensively. We combine both types of features in a linear fashion. Thirdly, using our proposed concepts, we conduct an empirical investigation with different rank-learning algorithms, some of which have not been used so far in CQA domain. On three standard CQA datasets, our proposed framework achieves state-of-the-art performance. We also analyze importance of the features we use in our investigation. This work is expected to guide the practitioners to select a better set of features for the CQA retrieval task.
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning
Venue: arXiv cs.RO 2023
Year: 2023

Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an accurate model from raw sensor input is a hard problem in itself, in particular for articulated objects (e.g., closets, drawers). In this paper, we propose a Neural Field Representation (NFR) of articulated objects that enables manipulation planning directly from images. Specifically, after taking a few pictures of a new articulated object, we can forward simulate its possible movements, and, therefore, use this neural model directly for planning with trajectory optimization. Additionally, this representation can be used for shape reconstruction, semantic segmentation and image rendering, which provides a strong supervision signal during training and generalization. We show that our model, which was trained only on synthetic images, is able to extract a meaningful representation for unseen objects of the same class, both in simulation and with real images. Furthermore, we demonstrate that the representation enables robotic manipulation of an articulated object in the real world directly from images.
Exact solution of the full RMSA problem in elastic optical networks
Venue: arXiv cs.NI 2023
Year: 2023

Exact solutions of the Routing, Modulation, and Spectrum Allocation (RMSA) problem in Elastic Optical Networks (EONs), so that the number of admitted demands is maximized while those of regenerators and frequency slots used are minimized, require a complex ILP formulation taking into account frequency-slot continuity and contiguity. We introduce the first such formulation, ending a hiatus of some years since the last ILP formulation for a much simpler RMSA variation was introduced. By exploiting a number of problem and solver specificities, we use the NSFNET topology to illustrate the practicality and importance of obtaining exact solutions.
Multi-Source Domain Adaptation meets Dataset Distillation through Dataset Dictionary Learning
Venue: arXiv cs.LG 2023
Year: 2023

In this paper, we consider the intersection of two problems in machine learning: Multi-Source Domain Adaptation (MSDA) and Dataset Distillation (DD). On the one hand, the first considers adapting multiple heterogeneous labeled source domains to an unlabeled target domain. On the other hand, the second attacks the problem of synthesizing a small summary containing all the information about the datasets. We thus consider a new problem called MSDA-DD. To solve it, we adapt previous works in the MSDA literature, such as Wasserstein Barycenter Transport and Dataset Dictionary Learning, as well as DD method Distribution Matching. We thoroughly experiment with this novel problem on four benchmarks (Caltech-Office 10, Tennessee-Eastman Process, Continuous Stirred Tank Reactor, and Case Western Reserve University), where we show that, even with as little as 1 sample per class, one achieves state-of-the-art adaptation performance.
For A More Comprehensive Evaluation of 6DoF Object Pose Tracking
Venue: arXiv cs.CV 2023
Year: 2023

Previous evaluations on 6DoF object pose tracking have presented obvious limitations along with the development of this area. In particular, the evaluation protocols are not unified for different methods, the widely-used YCBV dataset contains significant annotation error, and the error metrics also may be biased. As a result, it is hard to fairly compare the methods, which has became a big obstacle for developing new algorithms. In this paper we contribute a unified benchmark to address the above problems. For more accurate annotation of YCBV, we propose a multi-view multi-object global pose refinement method, which can jointly refine the poses of all objects and view cameras, resulting in sub-pixel sub-millimeter alignment errors. The limitations of previous scoring methods and error metrics are analyzed, based on which we introduce our improved evaluation methods. The unified benchmark takes both YCBV and BCOT as base datasets, which are shown to be complementary in scene categories. In experiments, we validate the precision and reliability of the proposed global pose refinement method with a realistic semi-synthesized dataset particularly for YCBV, and then present the benchmark results unifying learning&non-learning and RGB&RGBD methods, with some finds not discovered in previous studies.