OpenRaiser/Intern-Atlas huggingface dataset:
Exploration in Deep Reinforcement Learning: From Single-Agent to Multiagent Domain
Venue: arXiv cs.AI 2023
Year: 2023

Deep Reinforcement Learning (DRL) and Deep Multi-agent Reinforcement Learning (MARL) have achieved significant successes across a wide range of domains, including game AI, autonomous vehicles, robotics, and so on. However, DRL and deep MARL agents are widely known to be sample inefficient that millions of interactions are usually needed even for relatively simple problem settings, thus preventing the wide application and deployment in real-industry scenarios. One bottleneck challenge behind is the well-known exploration problem, i.e., how efficiently exploring the environment and collecting informative experiences that could benefit policy learning towards the optimal ones. This problem becomes more challenging in complex environments with sparse rewards, noisy distractions, long horizons, and non-stationary co-learners. In this paper, we conduct a comprehensive survey on existing exploration methods for both single-agent and multi-agent RL. We start the survey by identifying several key challenges to efficient exploration. Beyond the above two main branches, we also include other notable exploration methods with different ideas and techniques. In addition to algorithmic analysis, we provide a comprehensive and unified empirical comparison of different exploration methods for DRL on a set of commonly used benchmarks. According to our algorithmic and empirical investigation, we finally summarize the open problems of exploration in DRL and deep MARL and point out a few future directions.
Multi-Agent Deep Reinforcement Learning For Persistent Monitoring With Sensing, Communication, and Localization Constraints
Venue: arXiv cs.RO 2023
Year: 2023

Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into account, in this paper, we consider a heterogeneous robotic system consisting of two types of agents: anchor agents with accurate localization capability and auxiliary agents with low localization accuracy. To localize itself, the auxiliary agents must be within the communication range of an {anchor}, directly or indirectly. The robotic team's objective is to minimize environmental uncertainty through persistent monitoring. We propose a multi-agent deep reinforcement learning (MARL) based architecture with graph convolution called Graph Localized Proximal Policy Optimization (GALOPP), which incorporates the limited sensor field-of-view, communication, and localization constraints of the agents along with persistent monitoring objectives to determine motion policies for each agent. We evaluate the performance of GALOPP on open maps with obstacles having a different number of anchor and auxiliary agents. We further study (i) the effect of communication range, obstacle density, and sensing range on the performance and (ii) compare the performance of GALOPP with non-RL baselines, namely, greedy search, random search, and random search with communication constraint. For its generalization capability, we also evaluated GALOPP in two different environments -- 2-room and 4-room. The results show that GALOPP learns the policies and monitors the area well. As a proof-of-concept, we perform hardware experiments to demonstrate the performance of GALOPP.
Security, Privacy, and Decentralization in Web3
Venue: arXiv cs.CR 2023
Year: 2023

Much of the recent excitement around decentralized finance (DeFi) comes from hopes that DeFi can be a secure, private, less centralized alternative to traditional finance systems. However, people moving to DeFi sites in hopes of improving their security and privacy may end up with less of both as recent attacks have demonstrated. In this work, we improve the understanding of DeFi by conducting the first Web measurements of the security, privacy, and decentralization properties of popular DeFi front ends. We find that DeFi applications -- or dapps -- suffer from the same security and privacy risks that frequent other parts of the Web but those risks are greatly exacerbated considering the money that is involved in DeFi. Our results show that a common tracker can observe user behavior on over 56% of websites we analyzed and many trackers on DeFi sites can trivially link a user's Ethereum address with PII (e.g., user name or demographic information), or phish users by initiating fake Ethereum transactions. Lastly, we establish that despite claims to the opposite, because of companies like Amazon and Cloudflare operating significant Web infrastructure, DeFi as a whole is considerably less decentralized than previously believed.
Optimising Rolling Stock Planning including Maintenance with Constraint Programming and Quantum Annealing
Venue: arXiv cs.AI 2023
Year: 2023

We propose and compare Constraint Programming (CP) and Quantum Annealing (QA) approaches for rolling stock assignment optimisation considering necessary maintenance tasks. In the CP approach, we model the problem with an Alldifferent constraint, extensions of the Element constraint, and logical implications, among others. For the QA approach, we develop a quadratic unconstrained binary optimisation (QUBO) model. For evaluation, we use data sets based on real data from Deutsche Bahn and run the QA approach on real quantum computers from D-Wave. Classical computers are used to evaluate the CP approach as well as tabu search for the QUBO model. At the current development stage of the physical quantum annealers, we find that both approaches tend to produce comparable results.
Distract Your Attention: Multi-head Cross Attention Network for Facial Expression Recognition
Venue: arXiv cs.CV 2023
Year: 2023

We present a novel facial expression recognition network, called Distract your Attention Network (DAN). Our method is based on two key observations. Firstly, multiple classes share inherently similar underlying facial appearance, and their differences could be subtle. Secondly, facial expressions exhibit themselves through multiple facial regions simultaneously, and the recognition requires a holistic approach by encoding high-order interactions among local features. To address these issues, we propose our DAN with three key components: Feature Clustering Network (FCN), Multi-head cross Attention Network (MAN), and Attention Fusion Network (AFN). The FCN extracts robust features by adopting a large-margin learning objective to maximize class separability. In addition, the MAN instantiates a number of attention heads to simultaneously attend to multiple facial areas and build attention maps on these regions. Further, the AFN distracts these attentions to multiple locations before fusing the attention maps to a comprehensive one. Extensive experiments on three public datasets (including AffectNet, RAF-DB, and SFEW 2.0) verified that the proposed method consistently achieves state-of-the-art facial expression recognition performance. Code will be made available at https://github.com/yaoing/DAN.
Aesthetics and neural network image representations
Venue: arXiv cs.CV 2023
Year: 2023

We analyze the spaces of images encoded by generative neural networks of the BigGAN architecture. We find that generic multiplicative perturbations of neural network parameters away from the photo-realistic point often lead to networks generating images which appear as "artistic renditions" of the corresponding objects. This demonstrates an emergence of aesthetic properties directly from the structure of the photo-realistic visual environment as encoded in its neural network parametrization. Moreover, modifying a deep semantic part of the neural network leads to the appearance of symbolic visual representations. None of the considered networks had any access to images of human-made art.
Extending Bootstrap AMG for Clustering of Attributed Graphs
Venue: arXiv cs.LG 2023
Year: 2023

In this paper we propose a new approach to detect clusters in undirected graphs with attributed vertices. We incorporate structural and attribute similarities between the vertices in an augmented graph by creating additional vertices and edges as proposed in [1, 2]. The augmented graph is then embedded in a Euclidean space associated to its Laplacian and we cluster vertices via a modified K-means algorithm, using a new vector-valued distance in the embedding space. Main novelty of our method, which can be classified as an early fusion method, i.e., a method in which additional information on vertices are fused to the structure information before applying clustering, is the interpretation of attributes as new realizations of graph vertices, which can be dealt with as coordinate vectors in a related Euclidean space. This allows us to extend a scalable generalized spectral clustering procedure which substitutes graph Laplacian eigenvectors with some vectors, named algebraically smooth vectors, obtained by a linear-time complexity Algebraic MultiGrid (AMG) method. We discuss the performance of our proposed clustering method by comparison with recent literature approaches and public available results. Extensive experiments on different types of synthetic datasets and real-world attributed graphs show that our new algorithm, embedding attributes information in the clustering, outperforms structure-only-based methods, when the attributed network has an ambiguous structure. Furthermore, our new method largely outperforms the method which originally proposed the graph augmentation, showing that our embedding strategy and vector-valued distance are very effective in taking advantages from the augmented-graph representation.
A Survey on Reinforcement Learning for Recommender Systems
Venue: arXiv cs.IR 2023
Year: 2023

Recommender systems have been widely applied in different real-life scenarios to help us find useful information. In particular, Reinforcement Learning (RL) based recommender systems have become an emerging research topic in recent years, owing to the interactive nature and autonomous learning ability. Empirical results show that RL-based recommendation methods often surpass most of supervised learning methods. Nevertheless, there are various challenges of applying RL in recommender systems. To understand the challenges and relevant solutions, there should be a reference for researchers and practitioners working on RL-based recommender systems. To this end, we firstly provide a thorough overview, comparisons, and summarization of RL approaches applied in four typical recommendation scenarios, including interactive recommendation, conversational recommendatin, sequential recommendation, and explainable recommendation. Furthermore, we systematically analyze the challenges and relevant solutions on the basis of existing literature. Finally, under discussion for open issues of RL and its limitations of recommender systems, we highlight some potential research directions in this field.
General Space-Time Tradeoffs via Relational Queries
Venue: arXiv cs.DS 2023
Year: 2023

In this paper, we investigate space-time tradeoffs for answering Boolean conjunctive queries. The goal is to create a data structure in an initial preprocessing phase and use it for answering (multiple) queries. Previous work has developed data structures that trade off space usage for answering time and has proved conditional space lower bounds for queries of practical interest such as the path and triangle query. However, most of these results cater to only those queries, lack a comprehensive framework, and are not generalizable. The isolated treatment of these queries also fails to utilize the connections with extensive research on related problems within the database community. The key insight in this work is to exploit the formalism of relational algebra by casting the problems as answering join queries over a relational database. Using the notion of boolean {\em adorned queries} and {\em access patterns}, we propose a unified framework that captures several widely studied algorithmic problems. Our main contribution is three-fold. First, we present an algorithm that recovers existing space-time tradeoffs for several problems. The algorithm is based on an application of the {\em join size bound} to capture the space usage of our data structure. We combine our data structure with {\em query decomposition} techniques to further improve the tradeoffs and show that it is readily extensible to queries with negation. Second, we falsify two proposed conjectures in the existing literature related to the space-time lower bound for path queries and triangle detection for which we show unexpectedly better algorithms. This result opens a new avenue for improving several algorithmic results that have so far been assumed to be (conditionally) optimal. Finally, we prove new conditional space-time lower bounds for star and path queries.
Secure PAC Bayesian Regression via Real Shamir Secret Sharing
Venue: arXiv cs.LG 2023
Year: 2023

A common approach of system identification and machine learning is to generate a model by using training data to predict the test data instances as accurate as possible. Nonetheless, concerns about data privacy are increasingly raised, but not always addressed. We present a secure protocol for learning a linear model relying on recently described technique called real number secret sharing. We take as our starting point the PAC Bayesian bounds and deduce a closed form for the model parameters which depends on the data and the prior from the PAC Bayesian bounds. To obtain the model parameters one needs to solve a linear system. However, we consider the situation where several parties hold different data instances and they are not willing to give up the privacy of the data. Hence, we suggest to use real number secret sharing and multiparty computation to share the data and solve the linear regression in a secure way without violating the privacy of data. We suggest two methods; a secure inverse method and a secure Gaussian elimination method, and compare these methods at the end. The benefit of using secret sharing directly on real numbers is reflected in the simplicity of the protocols and the number of rounds needed. However, this comes with the drawback that a share might leak a small amount of information, but in our analysis we argue that the leakage is small.
Anomalous Edge Detection in Edge Exchangeable Social Network Models
Venue: arXiv cs.SI 2023
Year: 2023

This paper studies detecting anomalous edges in directed graphs that model social networks. We exploit edge exchangeability as a criterion for distinguishing anomalous edges from normal edges. Then we present an anomaly detector based on conformal prediction theory; this detector has a guaranteed upper bound for false positive rate. In numerical experiments, we show that the proposed algorithm achieves superior performance to baseline methods.
A Next Basket Recommendation Reality Check
Venue: arXiv cs.IR 2023
Year: 2023

The goal of a next basket recommendation (NBR) system is to recommend items for the next basket for a user, based on the sequence of their prior baskets. Recently, a number of methods with complex modules have been proposed that claim state-of-the-art performance. They rarely look into the predicted basket and just provide intuitive reasons for the observed improvements, e.g., better representation, capturing intentions or relations, etc. We provide a novel angle on the evaluation of next basket recommendation methods, centered on the distinction between repetition and exploration: the next basket is typically composed of previously consumed items (i.e., repeat items) and new items (i.e, explore items). We propose a set of metrics that measure the repeat/explore ratio and performance of NBR models. Using these new metrics, we analyze state-of-the-art NBR models. The results of our analysis help to clarify the extent of the actual progress achieved by existing NBR methods as well as the underlying reasons for the improvements. Overall, our work sheds light on the evaluation problem of NBR and provides useful insights into the model design for this task.
Surveillance Evasion Through Bayesian Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

We consider a task of surveillance-evading path-planning in a continuous setting. An Evader strives to escape from a 2D domain while minimizing the risk of detection (and immediate capture). The probability of detection is path-dependent and determined by the spatially inhomogeneous surveillance intensity, which is fixed but a priori unknown and gradually learned in the multi-episodic setting. We introduce a Bayesian reinforcement learning algorithm that relies on a Gaussian Process regression (to model the surveillance intensity function based on the information from prior episodes), numerical methods for Hamilton-Jacobi PDEs (to plan the best continuous trajectories based on the current model), and Confidence Bounds (to balance the exploration vs exploitation). We use numerical experiments and regret metrics to highlight the significant advantages of our approach compared to traditional graph-based algorithms of reinforcement learning.
Genealogical Population-Based Training for Hyperparameter Optimization
Venue: arXiv cs.LG 2023
Year: 2023

HyperParameter Optimization (HPO) aims at finding the best HyperParameters (HPs) of learning models, such as neural networks, in the fastest and most efficient way possible. Most recent HPO algorithms try to optimize HPs regardless of the model that obtained them, assuming that for different models, same HPs will produce very similar results. We break free from this paradigm and propose a new take on preexisting methods that we called Genealogical Population Based Training (GPBT). GPBT, via the shared histories of "genealogically"-related models, exploit the coupling of HPs and models in an efficient way. We experimentally demonstrate that our method cuts down by 2 to 3 times the computational cost required, generally allows a 1% accuracy improvement on computer vision tasks, and reduces the variance of the results by an order of magnitude, compared to the current algorithms. Our method is search-algorithm agnostic so that the inner search routine can be any search algorithm like TPE, GP, CMA or random search.
Improving Axial-Attention Network Classification via Cross-Channel Weight Sharing
Venue: arXiv cs.CV 2023
Year: 2023

In recent years, hypercomplex-inspired neural networks (HCNNs) have been used to improve deep learning architectures due to their ability to enable channel-based weight sharing, treat colors as a single entity, and improve representational coherence within the layers. The work described herein studies the effect of replacing existing layers in an Axial Attention network with their representationally coherent variants to assess the effect on image classification. We experiment with the stem of the network, the bottleneck layers, and the fully connected backend, by replacing them with representationally coherent variants. These various modifications lead to novel architectures which all yield improved accuracy performance on the ImageNet300k classification dataset. Our baseline networks for comparison were the original real-valued ResNet, the original quaternion-valued ResNet, and the Axial Attention ResNet. Since improvement was observed regardless of which part of the network was modified, there is a promise that this technique may be generally useful in improving classification accuracy for a large class of networks.
Combining Physics and Deep Learning to learn Continuous-Time Dynamics Models
Venue: arXiv cs.LG 2023
Year: 2023

Deep learning has been widely used within learning algorithms for robotics. One disadvantage of deep networks is that these networks are black-box representations. Therefore, the learned approximations ignore the existing knowledge of physics or robotics. Especially for learning dynamics models, these black-box models are not desirable as the underlying principles are well understood and the standard deep networks can learn dynamics that violate these principles. To learn dynamics models with deep networks that guarantee physically plausible dynamics, we introduce physics-inspired deep networks that combine first principles from physics with deep learning. We incorporate Lagrangian mechanics within the model learning such that all approximated models adhere to the laws of physics and conserve energy. Deep Lagrangian Networks (DeLaN) parametrize the system energy using two networks. The parameters are obtained by minimizing the squared residual of the Euler-Lagrange differential equation. Therefore, the resulting model does not require specific knowledge of the individual system, is interpretable, and can be used as a forward, inverse, and energy model. Previously these properties were only obtained when using system identification techniques that require knowledge of the kinematic structure. We apply DeLaN to learning dynamics models and apply these models to control simulated and physical rigid body systems. The results show that the proposed approach obtains dynamics models that can be applied to physical systems for real-time control. Compared to standard deep networks, the physics-inspired models learn better models and capture the underlying structure of the dynamics.
Approximate Newton policy gradient algorithms
Venue: arXiv cs.LG 2023
Year: 2023

Policy gradient algorithms have been widely applied to Markov decision processes and reinforcement learning problems in recent years. Regularization with various entropy functions is often used to encourage exploration and improve stability. This paper proposes an approximate Newton method for the policy gradient algorithm with entropy regularization. In the case of Shannon entropy, the resulting algorithm reproduces the natural policy gradient algorithm. For other entropy functions, this method results in brand-new policy gradient algorithms. We prove that all these algorithms enjoy Newton-type quadratic convergence and that the corresponding gradient flow converges globally to the optimal solution. We use synthetic and industrial-scale examples to demonstrate that the proposed approximate Newton method typically converges in single-digit iterations, often orders of magnitude faster than other state-of-the-art algorithms.
Imaginary Hindsight Experience Replay: Curious Model-based Learning for Sparse Reward Tasks
Venue: arXiv cs.LG 2023
Year: 2023

Model-based reinforcement learning is a promising learning strategy for practical robotic applications due to its improved data-efficiency versus model-free counterparts. However, current state-of-the-art model-based methods rely on shaped reward signals, which can be difficult to design and implement. To remedy this, we propose a simple model-based method tailored for sparse-reward multi-goal tasks that foregoes the need for complicated reward engineering. This approach, termed Imaginary Hindsight Experience Replay, minimises real-world interactions by incorporating imaginary data into policy updates. To improve exploration in the sparse-reward setting, the policy is trained with standard Hindsight Experience Replay and endowed with curiosity-based intrinsic rewards. Upon evaluation, this approach provides an order of magnitude increase in data-efficiency on average versus the state-of-the-art model-free method in the benchmark OpenAI Gym Fetch Robotics tasks.