OpenRaiser/Intern-Atlas huggingface dataset:
Learning Minimally-Violating Continuous Control for Infeasible Linear Temporal Logic Specifications
Venue: arXiv cs.RO 2023
Year: 2023

This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-free framework using deep reinforcement learning (DRL) where the underlying dynamic system is unknown (an opaque box). Unlike prior work, this paper considers scenarios where the given LTL specification might be infeasible and therefore cannot be accomplished globally. Instead of modifying the given LTL formula, we provide a general DRL-based approach to satisfy it with minimal violation. To do this, we transform a previously multi-objective DRL problem, which requires simultaneous automata satisfaction and minimum violation cost, into a single objective. By guiding the DRL agent with a sampling-based path planning algorithm for the potentially infeasible LTL task, the proposed approach mitigates the myopic tendencies of DRL, which are often an issue when learning general LTL tasks that can have long or infinite horizons. This is achieved by decomposing an infeasible LTL formula into several reach-avoid sub-tasks with shorter horizons, which can be trained in a modular DRL architecture. Furthermore, we overcome the challenge of the exploration process for DRL in complex and cluttered environments by using path planners to design rewards that are dense in the configuration space. The benefits of the presented approach are demonstrated through testing on various complex nonlinear systems and compared with state-of-the-art baselines. The Video demonstration can be found here:https://youtu.be/jBhx6Nv224E.
Robust Active Distillation
Venue: arXiv cs.LG 2023
Year: 2023

Distilling knowledge from a large teacher model to a lightweight one is a widely successful approach for generating compact, powerful models in the semi-supervised learning setting where a limited amount of labeled data is available. In large-scale applications, however, the teacher tends to provide a large number of incorrect soft-labels that impairs student performance. The sheer size of the teacher additionally constrains the number of soft-labels that can be queried due to prohibitive computational and/or financial costs. The difficulty in achieving simultaneous \emph{efficiency} (i.e., minimizing soft-label queries) and \emph{robustness} (i.e., avoiding student inaccuracies due to incorrect labels) hurts the widespread application of knowledge distillation to many modern tasks. In this paper, we present a parameter-free approach with provable guarantees to query the soft-labels of points that are simultaneously informative and correctly labeled by the teacher. At the core of our work lies a game-theoretic formulation that explicitly considers the inherent trade-off between the informativeness and correctness of input instances. We establish bounds on the expected performance of our approach that hold even in worst-case distillation instances. We present empirical evaluations on popular benchmarks that demonstrate the improved distillation performance enabled by our work relative to that of state-of-the-art active learning and active distillation methods.
RAP: Risk-Aware Prediction for Robust Planning
Venue: arXiv cs.LG 2023
Year: 2023

Robust planning in interactive scenarios requires predicting the uncertain future to make risk-aware decisions. Unfortunately, due to long-tail safety-critical events, the risk is often under-estimated by finite-sampling approximations of probabilistic motion forecasts. This can lead to overconfident and unsafe robot behavior, even with robust planners. Instead of assuming full prediction coverage that robust planners require, we propose to make prediction itself risk-aware. We introduce a new prediction objective to learn a risk-biased distribution over trajectories, so that risk evaluation simplifies to an expected cost estimation under this biased distribution. This reduces the sample complexity of the risk estimation during online planning, which is needed for safe real-time performance. Evaluation results in a didactic simulation environment and on a real-world dataset demonstrate the effectiveness of our approach. The code and a demo are available.
Robotic Learning the Sequence of Packing Irregular Objects from Human Demonstrations
Venue: arXiv cs.RO 2023
Year: 2023

We tackle the challenge of robotic bin packing with irregular objects, such as groceries. Given the diverse physical attributes of these objects and the complex constraints governing their placement and manipulation, employing preprogrammed strategies becomes unfeasible. Our approach is to learn directly from expert demonstrations in order to extract implicit task knowledge and strategies to ensure safe object positioning, efficient use of space, and the generation of human-like behaviors that enhance human-robot trust. We rely on human demonstrations to learn a Markov chain for predicting the object packing sequence for a given set of items and then compare it with human performance. Our experimental results show that the model outperforms human performance by generating sequence predictions that humans classify as human-like more frequently than human-generated sequences. The human demonstrations were collected using our proposed VR platform, BoxED, which is a box packaging environment for simulating real-world objects and scenarios for fast and streamlined data collection with the purpose of teaching robots. We collected data from 43 participants packing a total of 263 boxes with supermarket-like objects, yielding 4644 object manipulations. Our VR platform can be easily adapted to new scenarios and objects, and is publicly available, alongside our dataset, at https://github.com/andrejfsantos4/BoxED.
A Framework for Large Scale Synthetic Graph Dataset Generation
Venue: arXiv cs.LG 2023
Year: 2023

Recently there has been increasing interest in developing and deploying deep graph learning algorithms for many tasks, such as fraud detection and recommender systems. Albeit, there is a limited number of publicly available graph-structured datasets, most of which are tiny compared to production-sized applications or are limited in their application domain. This work tackles this shortcoming by proposing a scalable synthetic graph generation tool to scale the datasets to production-size graphs with trillions of edges and billions of nodes. The tool learns a series of parametric models from proprietary datasets that can be released to researchers to study various graph methods on the synthetic data increasing prototype development and novel applications. We demonstrate the generalizability of the framework across a series of datasets, mimicking structural and feature distributions as well as the ability to scale them across varying sizes demonstrating their usefulness for benchmarking and model development. Code can be found on https://github.com/NVIDIA/DeepLearningExamples/tree/master/Tools/DGLPyTorch/SyntheticGraphGeneration.
WavSpA: Wavelet Space Attention for Boosting Transformers' Long Sequence Learning Ability
Venue: arXiv cs.CL 2023
Year: 2023

Transformer and its variants are fundamental neural architectures in deep learning. Recent works show that learning attention in the Fourier space can improve the long sequence learning capability of Transformers. We argue that wavelet transform shall be a better choice because it captures both position and frequency information with linear time complexity. Therefore, in this paper, we systematically study the synergy between wavelet transform and Transformers. We propose Wavelet Space Attention (WavSpA) that facilitates attention learning in a learnable wavelet coefficient space which replaces the attention in Transformers by (1) applying forward wavelet transform to project the input sequences to multi-resolution bases, (2) conducting attention learning in the wavelet coefficient space, and (3) reconstructing the representation in input space via backward wavelet transform. Extensive experiments on the Long Range Arena demonstrate that learning attention in the wavelet space using either fixed or adaptive wavelets can consistently improve Transformer's performance and also significantly outperform learning in Fourier space. We further show our method can enhance Transformer's reasoning extrapolation capability over distance on the LEGO chain-of-reasoning task.
Finding Top-k Longest Palindromes in Substrings
Venue: arXiv cs.DS 2023
Year: 2023

Palindromes are strings that read the same forward and backward. Problems of computing palindromic structures in strings have been studied for many years with a motivation of their application to biology. The longest palindrome problem is one of the most important and classical problems regarding palindromic structures, that is, to compute the longest palindrome appearing in a string $T$ of length $n$. The problem can be solved in $O(n)$ time by the famous algorithm of Manacher [Journal of the ACM, 1975]. This paper generalizes the longest palindrome problem to the problem of finding top-$k$ longest palindromes in an arbitrary substring, including the input string $T$ itself. The internal top-$k$ longest palindrome query is, given a substring $T[i..j]$ of $T$ and a positive integer $k$ as a query, to compute the top-$k$ longest palindromes appearing in $T[i.. j]$. This paper proposes a linear-size data structure that can answer internal top-$k$ longest palindromes query in optimal $O(k)$ time. Also, given the input string $T$, our data structure can be constructed in $O(n\log n)$ time. For $k = 1$, the construction time is reduced to $O(n)$.
Hierarchical Neyman-Pearson Classification for Prioritizing Severe Disease Categories in COVID-19 Patient Data
Venue: arXiv cs.LG 2023
Year: 2023

COVID-19 has a spectrum of disease severity, ranging from asymptomatic to requiring hospitalization. Understanding the mechanisms driving disease severity is crucial for developing effective treatments and reducing mortality rates. One way to gain such understanding is using a multi-class classification framework, in which patients' biological features are used to predict patients' severity classes. In this severity classification problem, it is beneficial to prioritize the identification of more severe classes and control the "under-classification" errors, in which patients are misclassified into less severe categories. The Neyman-Pearson (NP) classification paradigm has been developed to prioritize the designated type of error. However, current NP procedures are either for binary classification or do not provide high probability controls on the prioritized errors in multi-class classification. Here, we propose a hierarchical NP (H-NP) framework and an umbrella algorithm that generally adapts to popular classification methods and controls the under-classification errors with high probability. On an integrated collection of single-cell RNA-seq (scRNA-seq) datasets for 864 patients, we explore ways of featurization and demonstrate the efficacy of the H-NP algorithm in controlling the under-classification errors regardless of featurization. Beyond COVID-19 severity classification, the H-NP algorithm generally applies to multi-class classification problems, where classes have a priority order.
Using Full-Text Content to Characterize and Identify Best Seller Books
Venue: arXiv cs.CL 2023
Year: 2023

Artistic pieces can be studied from several perspectives, one example being their reception among readers over time. In the present work, we approach this interesting topic from the standpoint of literary works, particularly assessing the task of predicting whether a book will become a best seller. Dissimilarly from previous approaches, we focused on the full content of books and considered visualization and classification tasks. We employed visualization for the preliminary exploration of the data structure and properties, involving SemAxis and linear discriminant analyses. Then, to obtain quantitative and more objective results, we employed various classifiers. Such approaches were used along with a dataset containing (i) books published from 1895 to 1924 and consecrated as best sellers by the Publishers Weekly Bestseller Lists and (ii) literary works published in the same period but not being mentioned in that list. Our comparison of methods revealed that the best-achieved result - combining a bag-of-words representation with a logistic regression classifier - led to an average accuracy of 0.75 both for the leave-one-out and 10-fold cross-validations. Such an outcome suggests that it is unfeasible to predict the success of books with high accuracy using only the full content of the texts. Nevertheless, our findings provide insights into the factors leading to the relative success of a literary work.
Athletic Mobile Manipulator System for Robotic Wheelchair Tennis
Venue: arXiv cs.RO 2023
Year: 2023

Athletics are a quintessential and universal expression of humanity. From French monks who in the 12th century invented jeu de paume, the precursor to modern lawn tennis, back to the K'iche' people who played the Maya Ballgame as a form of religious expression over three thousand years ago, humans have sought to train their minds and bodies to excel in sporting contests. Advances in robotics are opening up the possibility of robots in sports. Yet, key challenges remain, as most prior works in robotics for sports are limited to pristine sensing environments, do not require significant force generation, or are on miniaturized scales unsuited for joint human-robot play. In this paper, we propose the first open-source, autonomous robot for playing regulation wheelchair tennis. We demonstrate the performance of our full-stack system in executing ground strokes and evaluate each of the system's hardware and software components. The goal of this paper is to (1) inspire more research in human-scale robot athletics and (2) establish the first baseline for a reproducible wheelchair tennis robot for regulation singles play. Our paper contributes to the science of systems design and poses a set of key challenges for the robotics community to address in striving towards robots that can match human capabilities in sports.
Random Max-CSPs Inherit Algorithmic Hardness from Spin Glasses
Venue: arXiv cs.DM 2023
Year: 2023

We study random constraint satisfaction problems (CSPs) in the unsatisfiable regime. We relate the structure of near-optimal solutions for any Max-CSP to that for an associated spin glass on the hypercube, using the Guerra-Toninelli interpolation from statistical physics. The noise stability polynomial of the CSP's predicate is, up to a constant, the mixture polynomial of the associated spin glass. We prove two main consequences: 1) We relate the maximum fraction of constraints that can be satisfied in a random Max-CSP to the ground state energy density of the corresponding spin glass. Since the latter value can be computed with the Parisi formula, we provide numerical values for some popular CSPs. 2) We prove that a Max-CSP possesses generalized versions of the overlap gap property if and only if the same holds for the corresponding spin glass. We transfer results from Huang et al. [arXiv:2110.07847, 2021] to obstruct algorithms with overlap concentration on a large class of Max-CSPs. This immediately includes local classical and local quantum algorithms.
"A Special Operation": A Quantitative Approach to Dissecting and Comparing Different Media Ecosystems' Coverage of the Russo-Ukrainian War
Venue: arXiv cs.CY 2023
Year: 2023

The coverage of the Russian invasion of Ukraine has varied widely between Western, Russian, and Chinese media ecosystems with propaganda, disinformation, and narrative spins present in all three. By utilizing the normalized pointwise mutual information metric, differential sentiment analysis, word2vec models, and partially labeled Dirichlet allocation, we present a quantitative analysis of the differences in coverage amongst these three news ecosystems. We find that while the Western press outlets have focused on the military and humanitarian aspects of the war, Russian media have focused on the purported justifications for the "special military operation" such as the presence in Ukraine of "bio-weapons" and "neo-nazis", and Chinese news media have concentrated on the conflict's diplomatic and economic consequences. Detecting the presence of several Russian disinformation narratives in the articles of several Chinese outlets, we finally measure the degree to which Russian media has influenced Chinese coverage across Chinese outlets' news articles, Weibo accounts, and Twitter accounts. Our analysis indicates that since the Russian invasion of Ukraine, Chinese state media outlets have increasingly cited Russian outlets as news sources and spread Russian disinformation narratives.
IR-MCL: Implicit Representation-Based Online Global Localization
Venue: arXiv cs.RO 2023
Year: 2023

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern environment models can improve gold standard Monte-Carlo localization (MCL) systems. We propose a neural occupancy field to implicitly represent the scene using a neural network. With the pretrained network, we can synthesize 2D LiDAR scans for an arbitrary robot pose through volume rendering. Based on the implicit representation, we can obtain the similarity between a synthesized and actual scan as an observation model and integrate it into an MCL system to perform accurate localization. We evaluate our approach on self-recorded datasets and three publicly available ones. We show that we can accurately and efficiently localize a robot using our approach surpassing the localization performance of state-of-the-art methods. The experiments suggest that the presented implicit representation is able to predict more accurate 2D LiDAR scans leading to an improved observation model for our particle filter-based localization. The code of our approach will be available at: https://github.com/PRBonn/ir-mcl.
Towards Out-of-Distribution Adversarial Robustness
Venue: arXiv cs.LG 2023
Year: 2023

Adversarial robustness continues to be a major challenge for deep learning. A core issue is that robustness to one type of attack often fails to transfer to other attacks. While prior work establishes a theoretical trade-off in robustness against different $L_p$ norms, we show that there is potential for improvement against many commonly used attacks by adopting a domain generalisation approach. Concretely, we treat each type of attack as a domain, and apply the Risk Extrapolation method (REx), which promotes similar levels of robustness against all training attacks. Compared to existing methods, we obtain similar or superior worst-case adversarial robustness on attacks seen during training. Moreover, we achieve superior performance on families or tunings of attacks only encountered at test time. On ensembles of attacks, our approach improves the accuracy from 3.4% with the best existing baseline to 25.9% on MNIST, and from 16.9% to 23.5% on CIFAR10.
On Routing Optimization in Networks with Embedded Computational Services
Venue: arXiv cs.NI 2023
Year: 2023

Modern communication networks are increasingly equipped with in-network computational capabilities and services. Routing in such networks is significantly more complicated than the traditional routing. A legitimate route for a flow not only needs to have enough communication and computation resources, but also has to conform to various application-specific routing constraints. This paper presents a comprehensive study on routing optimization problems in networks with embedded computational services. We develop a set of routing optimization models and derive low-complexity heuristic routing algorithms for diverse computation scenarios. For dynamic demands, we also develop an online routing algorithm with performance guarantees. Through evaluations over emerging applications on real topologies, we demonstrate that our models can be flexibly customized to meet the diverse routing requirements of different computation applications. Our proposed heuristic algorithms significantly outperform baseline algorithms and can achieve close-to-optimal performance in various scenarios.
An Empirical Study on How the Developers Discussed about Pandas Topics
Venue: arXiv cs.SE 2023
Year: 2023

Pandas is defined as a software library which is used for data analysis in Python programming language. As pandas is a fast, easy and open source data analysis tool, it is rapidly used in different software engineering projects like software development, machine learning, computer vision, natural language processing, robotics, and others. So a huge interests are shown in software developers regarding pandas and a huge number of discussions are now becoming dominant in online developer forums, like Stack Overflow (SO). Such discussions can help to understand the popularity of pandas library and also can help to understand the importance, prevalence, difficulties of pandas topics. The main aim of this research paper is to find the popularity and difficulty of pandas topics. For this regard, SO posts are collected which are related to pandas topic discussions. Topic modeling are done on the textual contents of the posts. We found 26 topics which we further categorized into 5 board categories. We observed that developers discuss variety of pandas topics in SO related to error and excepting handling, visualization, External support, dataframe, and optimization. In addition, a trend chart is generated according to the discussion of topics in a predefined time series. The finding of this paper can provide a path to help the developers, educators and learners. For example, beginner developers can learn most important topics in pandas which are essential for develop any model. Educators can understand the topics which seem hard to learners and can build different tutorials which can make that pandas topic understandable. From this empirical study it is possible to understand the preferences of developers in pandas topic by processing their SO posts
RIS-Aided Localization under Position and Orientation Offsets in the Near and Far Field
Venue: arXiv cs.IT 2023
Year: 2023

This paper presents a rigorous Bayesian analysis of the information in the signal (consisting of both the line-of-sight (LOS) path and reflections from multiple reconfigurable intelligent surfaces (RISs)) that originate from a single base station (BS) and is received by a user equipment (UE). For a comprehensive Bayesian analysis, both near and far field regimes are considered. The Bayesian analysis views both the location of the RISs and previous information about the UE as {\em a priori} information for UE localization. With outdated {\em a priori} information, the position and orientation offsets of the RISs become parameters that need to be estimated and fed back to the BS for correction. We first show that when the RIS elements have a half wavelength spacing, this RIS orientation offset is a factor in the pathloss of the RIS paths. Subsequently, we show through the Bayesian equivalent Fisher information matrix (EFIM) for the channel parameters that the RIS orientation offset cannot be corrected when there is an unknown phase offset in the received signal in the far-field regime. However, the corresponding EFIM for the channel parameters in the received signal observed in the near-field shows that this unknown phase offset does not hinder the estimation of the RIS orientation offset when the UE has more than one receive antenna. Furthermore, we use the EFIM for the UE location parameters to present bounds for UE localization in the presence of RIS uncertainty.