OpenRaiser/Intern-Atlas huggingface dataset:
Learning High-Speed Flight in the Wild
Venue: arXiv cs.RO 2021
Year: 2021

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board sensing and computation has been limited to low speeds. State-of-the-art methods generally separate the navigation problem into subtasks: sensing, mapping, and planning. While this approach has proven successful at low speeds, the separation it builds upon can be problematic for high-speed navigation in cluttered environments. Indeed, the subtasks are executed sequentially, leading to increased processing latency and a compounding of errors through the pipeline. Here we propose an end-to-end approach that can autonomously fly quadrotors through complex natural and man-made environments at high speeds, with purely onboard sensing and computation. The key principle is to directly map noisy sensory observations to collision-free trajectories in a receding-horizon fashion. This direct mapping drastically reduces processing latency and increases robustness to noisy and incomplete perception. The sensorimotor mapping is performed by a convolutional network that is trained exclusively in simulation via privileged learning: imitating an expert with access to privileged information. By simulating realistic sensor noise, our approach achieves zero-shot transfer from simulation to challenging real-world environments that were never experienced during training: dense forests, snow-covered terrain, derailed trains, and collapsed buildings. Our work demonstrates that end-to-end policies trained in simulation enable high-speed autonomous flight through challenging environments, outperforming traditional obstacle avoidance pipelines.
A Comprehensive Comparison of Word Embeddings in Event & Entity Coreference Resolution
Venue: arXiv cs.CL 2021
Year: 2021

Coreference Resolution is an important NLP task and most state-of-the-art methods rely on word embeddings for word representation. However, one issue that has been largely overlooked in literature is that of comparing the performance of different embeddings across and within families in this task. Therefore, we frame our study in the context of Event and Entity Coreference Resolution (EvCR & EnCR), and address two questions : 1) Is there a trade-off between performance (predictive & run-time) and embedding size? 2) How do the embeddings' performance compare within and across families? Our experiments reveal several interesting findings. First, we observe diminishing returns in performance with respect to embedding size. E.g. a model using solely a character embedding achieves 86% of the performance of the largest model (Elmo, GloVe, Character) while being 1.2% of its size. Second, the larger model using multiple embeddings learns faster overall despite being slower per epoch. However, it is still slower at test time. Finally, Elmo performs best on both EvCR and EnCR, while GloVe and FastText perform best in EvCR and EnCR respectively.
An automated threshold Edge Drawing algorithm
Venue: arXiv cs.CV 2021
Year: 2021

Parameter choosing in classical edge detection algorithms can be a costly and complex task. Choosing the correct parameters can improve considerably the resulting edge-map. In this paper we present a version of Edge Drawing algorithm in which we include an automated threshold choosing step. To better highlight the effect of this additional step we use different first order operators in the algorithm. Visual and statistical results are presented to sustain the benefits of the proposed automated threshold scheme.
Beyond Desktop Computation: Challenges in Scaling a GPU Infrastructure
Venue: arXiv cs.DC 2021
Year: 2021

Enterprises and labs performing computationally expensive data science applications sooner or later face the problem of scale but unconnected infrastructure. For this up-scaling process, an IT service provider can be hired or in-house personnel can attempt to implement a software stack. The first option can be quite expensive if it is just about connecting several machines. For the latter option often experience is missing with the data science staff in order to navigate through the software jungle. In this technical report, we illustrate the decision process towards an on-premises infrastructure, our implemented system architecture, and the transformation of the software stack towards a scaleable GPU cluster system.
Can the brain use waves to solve planning problems?
Venue: arXiv cs.NE 2021
Year: 2021

A variety of behaviors like spatial navigation or bodily motion can be formulated as graph traversal problems through cognitive maps. We present a neural network model which can solve such tasks and is compatible with a broad range of empirical findings about the mammalian neocortex and hippocampus. The neurons and synaptic connections in the model represent structures that can result from self-organization into a cognitive map via Hebbian learning, i.e. into a graph in which each neuron represents a point of some abstract task-relevant manifold and the recurrent connections encode a distance metric on the manifold. Graph traversal problems are solved by wave-like activation patterns which travel through the recurrent network and guide a localized peak of activity onto a path from some starting position to a target state.
AskMe: Joint Individual-level and Community-level Behavior Interaction for Question Recommendation
Venue: arXiv cs.IR 2021
Year: 2021

Questions in Community Question Answering (CQA) sites are recommended to users, mainly based on users' interest extracted from questions that users have answered or have asked. However, there is a general phenomenon that users answer fewer questions while pay more attention to follow questions and vote answers. This can impact the performance when recommending questions to users (for obtaining their answers) by using their historical answering behaviors on existing studies. To address the data sparsity issue, we propose AskMe, which aims to leverage the rich, hybrid behavior interactions in CQA to improve the question recommendation performance. On the one hand, we model the rich correlations between the users' diverse behaviors (e.g., answer, follow, vote) to obtain the individual-level behavior interaction. On the other hand, we model the sophisticated behavioral associations between similar users to obtain the community-level behavior interaction. Finally, we propose the way of element-level fusion to mix these two kinds of interactions together to predict the ranking scores. A dataset collected from Zhihu (1126 users, 219434 questions) is utilized to evaluate the performance of the proposed model, and the experimental results show that our model has gained the best performance compared to baseline methods, especially when the historical answering behaviors data is scarce.
On a Benefit of Mask Language Modeling: Robustness to Simplicity Bias
Venue: arXiv cs.CL 2021
Year: 2021

Despite the success of pretrained masked language models (MLM), why MLM pretraining is useful is still a qeustion not fully answered. In this work we theoretically and empirically show that MLM pretraining makes models robust to lexicon-level spurious features, partly answer the question. We theoretically show that, when we can model the distribution of a spurious feature $Π$ conditioned on the context, then (1) $Π$ is at least as informative as the spurious feature, and (2) learning from $Π$ is at least as simple as learning from the spurious feature. Therefore, MLM pretraining rescues the model from the simplicity bias caused by the spurious feature. We also explore the efficacy of MLM pretraing in causal settings. Finally we close the gap between our theories and the real world practices by conducting experiments on the hate speech detection and the name entity recognition tasks.
Learnable Adaptive Cosine Estimator (LACE) for Image Classification
Venue: arXiv cs.CV 2021
Year: 2021

In this work, we propose a new loss to improve feature discriminability and classification performance. Motivated by the adaptive cosine/coherence estimator (ACE), our proposed method incorporates angular information that is inherently learned by artificial neural networks. Our learnable ACE (LACE) transforms the data into a new "whitened" space that improves the inter-class separability and intra-class compactness. We compare our LACE to alternative state-of-the art softmax-based and feature regularization approaches. Our results show that the proposed method can serve as a viable alternative to cross entropy and angular softmax approaches. Our code is publicly available: https://github.com/GatorSense/LACE.
All One Needs to Know about Metaverse: A Complete Survey on Technological Singularity, Virtual Ecosystem, and Research Agenda
Venue: arXiv cs.CY 2021
Year: 2021

Since the popularisation of the Internet in the 1990s, the cyberspace has kept evolving. We have created various computer-mediated virtual environments including social networks, video conferencing, virtual 3D worlds (e.g., VR Chat), augmented reality applications (e.g., Pokemon Go), and Non-Fungible Token Games (e.g., Upland). Such virtual environments, albeit non-perpetual and unconnected, have bought us various degrees of digital transformation. The term `metaverse' has been coined to further facilitate the digital transformation in every aspect of our physical lives. At the core of the metaverse stands the vision of an immersive Internet as a gigantic, unified, persistent, and shared realm. While the metaverse may seem futuristic, catalysed by emerging technologies such as Extended Reality, 5G, and Artificial Intelligence, the digital `big bang' of our cyberspace is not far away. This survey paper presents the first effort to offer a comprehensive framework that examines the latest metaverse development under the dimensions of state-of-the-art technologies and metaverse ecosystems, and illustrates the possibility of the digital `big bang'. First, technologies are the enablers that drive the transition from the current Internet to the metaverse. We thus examine eight enabling technologies rigorously - Extended Reality, User Interactivity (Human-Computer Interaction), Artificial Intelligence, Blockchain, Computer Vision, IoT and Robotics, Edge and Cloud computing, and Future Mobile Networks. In terms of applications, the metaverse ecosystem allows human users to live and play within a self-sustaining, persistent, and shared realm. Therefore, we discuss six user-centric factors -- Avatar, Content Creation, Virtual Economy, Social Acceptability, Security and Privacy, and Trust and Accountability. Finally, we propose a concrete research agenda for the development of the metaverse.
Symmetries in Reversible Programming: From Symmetric Rig Groupoids to Reversible Programming Languages
Venue: arXiv cs.PL 2021
Year: 2021

The $\mathitΠ$ family of reversible programming languages for boolean circuits is presented as a syntax of combinators witnessing type isomorphisms of algebraic datatypes. In this paper, we give a denotational semantics for this language, using the language of weak groupoids à la Homotopy Type Theory, and show how to derive an equational theory for it, presented by 2-combinators witnessing equivalences of reversible circuits. We establish a correspondence between the syntactic groupoid of the language and a formally presented univalent subuniverse of finite types. The correspondence relates 1-combinators to 1-paths, and 2-combinators to 2-paths in the universe, which is shown to be sound and complete for both levels, establishing full abstraction and adequacy. We extend the already established Curry-Howard correspondence for $\mathitΠ$ to a Curry-Howard-Lambek correspondence between Reversible Logic, Reversible Programming Languages, and Symmetric Rig Groupoids, by showing that the syntax of $\mathitΠ$ is presented by the free symmetric rig groupoid, given by finite sets and permutations. Our proof uses techniques from the theory of group presentations and rewriting systems to solve the word problem for symmetric groups. Using the formalisation of our results, we show how to perform normalisation-by-evaluation, verification, and synthesis of reversible logic gates, motivated by examples from quantum computing.
Safe Human-Interactive Control via Shielding
Venue: arXiv cs.RO 2021
Year: 2021

Ensuring safety for human-interactive robotics is important due to the potential for human injury. The key challenge is defining safety in a way that accounts for the complex range of human behaviors without modeling the human as an unconstrained adversary. We propose a novel approach to ensuring safety in these settings. Our approach focuses on defining backup actions that we believe human always considers taking to avoid an accident -- e.g., brake to avoid rear-ending the other agent. Given such a definition, we consider a safety constraint that guarantees safety as long as the human takes the appropriate backup actions when necessary to ensure safety. Then, we propose an algorithm that overrides an arbitrary given controller as needed to ensure that the robot is safe. We evaluate our approach in a simulated environment, interacting with both real and simulated humans.
Predicting the spread of COVID-19 in Delhi, India using Deep Residual Recurrent Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Detecting the spread of coronavirus will go a long way toward reducing human and economic loss. Unfortunately, existing Epidemiological models used for COVID 19 prediction models are too slow and fail to capture the COVID-19 development in detail. This research uses Partial Differential Equations to improve the processing speed and accuracy of forecasting of COVID 19 governed by SEIRD model equations. The dynamics of COVID 19 were extracted using Convolutional Neural Networks and Deep Residual Recurrent Neural Networks from data simulated using PDEs. The DRRNNs accuracy is measured using Mean Squared Error. The DRRNNs COVID-19 prediction model has been shown to have accurate COVID-19 predictions. In addition, we concluded that DR-RNNs can significantly advance the ability to support decision-making in real time COVID-19 prediction.
Fallout: Distributed Systems Testing as a Service
Venue: arXiv cs.DB 2021
Year: 2021

All modern distributed systems list performance and scalability as their core strengths. Given that optimal performance requires carefully selecting configuration options, and typical cluster sizes can range anywhere from 2 to 300 nodes, it is rare for any two clusters to be exactly the same. Validating the behavior and performance of distributed systems in this large configuration space is challenging without automation that stretches across the software stack. In this paper we present Fallout, an open-source distributed systems testing service that automatically provisions and configures distributed systems and clients, supports running a variety of workloads and benchmarks, and generates performance reports based on collected metrics for visual analysis. We have been running the Fallout service internally at DataStax for over 5 years and have recently open sourced it to support our work with Apache Cassandra, Pulsar, and other open source projects. We describe the architecture of Fallout along with the evolution of its design and the lessons we learned operating this service in a dynamic environment where teams work on different products and favor different benchmarking tools.
Development and testing of an image transformer for explainable autonomous driving systems
Venue: arXiv cs.CV 2021
Year: 2021

In the last decade, deep learning (DL) approaches have been used successfully in computer vision (CV) applications. However, DL-based CV models are generally considered to be black boxes due to their lack of interpretability. This black box behavior has exacerbated user distrust and therefore has prevented widespread deployment DLCV models in autonomous driving tasks even though some of these models exhibit superiority over human performance. For this reason, it is essential to develop explainable DL models for autonomous driving task. Explainable DL models can not only boost user trust in autonomy but also serve as a diagnostic approach to identify anydefects and weaknesses of the model during the system development phase. In this paper, we propose an explainable end-to-end autonomous driving system based on "Transformer", a state-of-the-art (SOTA) self-attention based model, to map visual features from images collected by onboard cameras to guide potential driving actions with corresponding explanations. The model achieves a soft attention over the global features of the image. The results demonstrate the efficacy of our proposed model as it exhibits superior performance (in terms of correct prediction of actions and explanations) compared to the benchmark model by a significant margin with lower computational cost.
Perspective-taking to Reduce Affective Polarization on Social Media
Venue: arXiv cs.SI 2021
Year: 2021

The intensification of affective polarization worldwide has raised new questions about how social media platforms might be further fracturing an already-divided public sphere. As opposed to ideological polarization, affective polarization is defined less by divergent policy preferences and more by strong negative emotions towards opposing political groups, and thus arguably poses a formidable threat to rational democratic discourse. We explore if prompting perspective-taking on social media platforms can help enhance empathy between opposing groups as a first step towards reducing affective polarization. Specifically, we deploy a randomized field experiment through a browser extension to 1,611 participants on Twitter, which enables participants to randomly replace their feeds with those belonging to accounts whose political views either agree with or diverge from their own. We find that simply exposing participants to "outgroup" feeds enhances engagement, but not an understanding of why others hold their political views. On the other hand, framing the experience in familiar, empathic terms by prompting participants to recall a disagreement with a friend does not affect engagement, but does increase their ability to understand opposing views. Our findings illustrate how social media platforms might take simple steps that align with business objectives to reduce affective polarization.
Learning to Coordinate in Multi-Agent Systems: A Coordinated Actor-Critic Algorithm and Finite-Time Guarantees
Venue: arXiv cs.LG 2021
Year: 2021

Multi-agent reinforcement learning (MARL) has attracted much research attention recently. However, unlike its single-agent counterpart, many theoretical and algorithmic aspects of MARL have not been well-understood. In this paper, we study the emergence of coordinated behavior by autonomous agents using an actor-critic (AC) algorithm. Specifically, we propose and analyze a class of coordinated actor-critic algorithms (CAC) in which individually parametrized policies have a {\it shared} part (which is jointly optimized among all agents) and a {\it personalized} part (which is only locally optimized). Such kind of {\it partially personalized} policy allows agents to learn to coordinate by leveraging peers' past experience and adapt to individual tasks. The flexibility in our design allows the proposed MARL-CAC algorithm to be used in a {\it fully decentralized} setting, where the agents can only communicate with their neighbors, as well as a {\it federated} setting, where the agents occasionally communicate with a server while optimizing their (partially personalized) local models. Theoretically, we show that under some standard regularity assumptions, the proposed MARL-CAC algorithm requires $\mathcal{O}(ε^{-\frac{5}{2}})$ samples to achieve an $ε$-stationary solution (defined as the solution whose squared norm of the gradient of the objective function is less than $ε$). To the best of our knowledge, this work provides the first finite-sample guarantee for decentralized AC algorithm with partially personalized policies.
A caster-wheel-aware MPC-based motion planner for mobile robotics
Venue: arXiv cs.RO 2021
Year: 2021

Differential drive mobile robots often use one or more caster wheels for balance. Caster wheels are appreciated for their ability to turn in any direction almost on the spot, allowing the robot to do the same and thereby greatly simplifying the motion planning and control. However, in aligning the caster wheels to the intended direction of motion they produce a so-called bore torque. As a result, additional motor torque is required to move the robot, which may in some cases exceed the motor capacity or compromise the motion planner's accuracy. Instead of taking a decoupled approach, where the navigation and disturbance rejection algorithms are separated, we propose to embed the caster wheel awareness into the motion planner. To do so, we present a caster-wheel-aware term that is compatible with MPC-based control methods, leveraging the existence of caster wheels in the motion planning stage. As a proof of concept, this term is combined with a a model-predictive trajectory tracking controller. Since this method requires knowledge of the caster wheel angle and rolling speed, an observer that estimates these states is also presented. The efficacy of the approach is shown in experiments on an intralogistics robot and compared against a decoupled bore-torque reduction approach and a caster-wheel agnostic controller. Moreover, the experiments show that the presented caster wheel estimator performs sufficiently well and therefore avoids the need for additional sensors.
Learned Construction Grammars Converge Across Registers Given Increased Exposure
Venue: arXiv cs.CL 2021
Year: 2021

This paper measures the impact of increased exposure on whether learned construction grammars converge onto shared representations when trained on data from different registers. Register influences the frequency of constructions, with some structures common in formal but not informal usage. We expect that a grammar induction algorithm exposed to different registers will acquire different constructions. To what degree does increased exposure lead to the convergence of register-specific grammars? The experiments in this paper simulate language learning in 12 languages (half Germanic and half Romance) with corpora representing three registers (Twitter, Wikipedia, Web). These simulations are repeated with increasing amounts of exposure, from 100k to 2 million words, to measure the impact of exposure on the convergence of grammars. The results show that increased exposure does lead to converging grammars across all languages. In addition, a shared core of register-universal constructions remains constant across increasing amounts of exposure.
Partial Counterfactual Identification from Observational and Experimental Data
Venue: arXiv cs.AI 2021
Year: 2021

This paper investigates the problem of bounding counterfactual queries from an arbitrary collection of observational and experimental distributions and qualitative knowledge about the underlying data-generating model represented in the form of a causal diagram. We show that all counterfactual distributions in an arbitrary structural causal model (SCM) could be generated by a canonical family of SCMs with the same causal diagram where unobserved (exogenous) variables are discrete with a finite domain. Utilizing the canonical SCMs, we translate the problem of bounding counterfactuals into that of polynomial programming whose solution provides optimal bounds for the counterfactual query. Solving such polynomial programs is in general computationally expensive. We therefore develop effective Monte Carlo algorithms to approximate the optimal bounds from an arbitrary combination of observational and experimental data. Our algorithms are validated extensively on synthetic and real-world datasets.