OpenRaiser/Intern-Atlas huggingface dataset:
Vision-Language Navigation: A Survey and Taxonomy
Venue: arXiv cs.CV 2022
Year: 2022

Vision-Language Navigation (VLN) tasks require an agent to follow human language instructions to navigate in previously unseen environments. This challenging field involving problems in natural language processing, computer vision, robotics, etc., has spawn many excellent works focusing on various VLN tasks. This paper provides a comprehensive survey and an insightful taxonomy of these tasks based on the different characteristics of language instructions in these tasks. Depending on whether the navigation instructions are given for once or multiple times, this paper divides the tasks into two categories, i.e., single-turn and multi-turn tasks. For single-turn tasks, we further subdivide them into goal-oriented and route-oriented based on whether the instructions designate a single goal location or specify a sequence of multiple locations. For multi-turn tasks, we subdivide them into passive and interactive tasks based on whether the agent is allowed to question the instruction or not. These tasks require different capabilities of the agent and entail various model designs. We identify progress made on the tasks and look into the limitations of existing VLN models and task settings. Finally, we discuss several open issues of VLN and point out some opportunities in the future, i.e., incorporating knowledge with VLN models and implementing them in the real physical world.
Graph-guided random forest for gene set selection
Venue: arXiv cs.AI 2022
Year: 2022

Machine learning methods can detect complex relationships between variables, but usually do not exploit domain knowledge. This is a limitation because in many scientific disciplines, such as systems biology, domain knowledge is available in the form of graphs or networks, and its use can improve model performance. We need network-based algorithms that are versatile and applicable in many research areas. In this work, we demonstrate subnetwork detection based on multi-modal node features using a novel Greedy Decision Forest with inherent interpretability. The latter will be a crucial factor to retain experts and gain their trust in such algorithms. To demonstrate a concrete application example, we focus on bioinformatics, systems biology and particularly biomedicine, but the presented methodology is applicable in many other domains as well. Systems biology is a good example of a field in which statistical data-driven machine learning enables the analysis of large amounts of multi-modal biomedical data. This is important to reach the future goal of precision medicine, where the complexity of patients is modeled on a system level to best tailor medical decisions, health practices and therapies to the individual patient. Our proposed approach can help to uncover disease-causing network modules from multi-omics data to better understand complex diseases such as cancer.
A Statutory Article Retrieval Dataset in French
Venue: arXiv cs.CL 2022
Year: 2022

Statutory article retrieval is the task of automatically retrieving law articles relevant to a legal question. While recent advances in natural language processing have sparked considerable interest in many legal tasks, statutory article retrieval remains primarily untouched due to the scarcity of large-scale and high-quality annotated datasets. To address this bottleneck, we introduce the Belgian Statutory Article Retrieval Dataset (BSARD), which consists of 1,100+ French native legal questions labeled by experienced jurists with relevant articles from a corpus of 22,600+ Belgian law articles. Using BSARD, we benchmark several state-of-the-art retrieval approaches, including lexical and dense architectures, both in zero-shot and supervised setups. We find that fine-tuned dense retrieval models significantly outperform other systems. Our best performing baseline achieves 74.8% R@100, which is promising for the feasibility of the task and indicates there is still room for improvement. By the specificity of the domain and addressed task, BSARD presents a unique challenge problem for future research on legal information retrieval. Our dataset and source code are publicly available.
Unsupervised domain adaptation for clinician pose estimation and instance segmentation in the operating room
Venue: arXiv cs.CV 2022
Year: 2022

The fine-grained localization of clinicians in the operating room (OR) is a key component to design the new generation of OR support systems. Computer vision models for person pixel-based segmentation and body-keypoints detection are needed to better understand the clinical activities and the spatial layout of the OR. This is challenging, not only because OR images are very different from traditional vision datasets, but also because data and annotations are hard to collect and generate in the OR due to privacy concerns. To address these concerns, we first study how joint person pose estimation and instance segmentation can be performed on low resolutions images with downsampling factors from 1x to 12x. Second, to address the domain shift and the lack of annotations, we propose a novel unsupervised domain adaptation method, called AdaptOR, to adapt a model from an in-the-wild labeled source domain to a statistically different unlabeled target domain. We propose to exploit explicit geometric constraints on the different augmentations of the unlabeled target domain image to generate accurate pseudo labels and use these pseudo labels to train the model on high- and low-resolution OR images in a self-training framework. Furthermore, we propose disentangled feature normalization to handle the statistically different source and target domain data. Extensive experimental results with detailed ablation studies on the two OR datasets MVOR+ and TUM-OR-test show the effectiveness of our approach against strongly constructed baselines, especially on the low-resolution privacy-preserving OR images. Finally, we show the generality of our method as a semi-supervised learning (SSL) method on the large-scale COCO dataset, where we achieve comparable results with as few as 1% of labeled supervision against a model trained with 100% labeled supervision.
A Framework for Supervised Heterogeneous Transfer Learning using Dynamic Distribution Adaptation and Manifold Regularization
Venue: arXiv cs.LG 2022
Year: 2022

Transfer learning aims to learn classifiers for a target domain by transferring knowledge from a source domain. However, due to two main issues: feature discrepancy and distribution divergence, transfer learning can be a very difficult problem in practice. In this paper, we present a framework called TLF that builds a classifier for the target domain having only few labeled training records by transferring knowledge from the source domain having many labeled records. While existing methods often focus on one issue and leave the other one for the further work, TLF is capable of handling both issues simultaneously. In TLF, we alleviate feature discrepancy by identifying shared label distributions that act as the pivots to bridge the domains. We handle distribution divergence by simultaneously optimizing the structural risk functional, joint distributions between domains, and the manifold consistency underlying marginal distributions. Moreover, for the manifold consistency we exploit its intrinsic properties by identifying k nearest neighbors of a record, where the value of k is determined automatically in TLF. Furthermore, since negative transfer is not desired, we consider only the source records that are belonging to the source pivots during the knowledge transfer. We evaluate TLF on seven publicly available natural datasets and compare the performance of TLF against the performance of fourteen state-of-the-art techniques. We also evaluate the effectiveness of TLF in some challenging situations. Our experimental results, including statistical sign test and Nemenyi test analyses, indicate a clear superiority of the proposed framework over the state-of-the-art techniques.
Revising Ontologies via Models: The ALC-formula Case
Venue: arXiv cs.LO 2022
Year: 2022

Most approaches for repairing description logic (DL) ontologies aim at changing the axioms as little as possible while solving inconsistencies, incoherences and other types of undesired behaviours. As in Belief Change, these issues are often specified using logical formulae. Instead, in the new setting for updating DL ontologies that we propose here, the input for the change is given by a model which we want to add or remove. The main goal is to minimise the loss of information, without concerning with the syntactic structure. This new setting is motivated by scenarios where an ontology is built automatically and needs to be refined or updated. In such situations, the syntactical form is often irrelevant and the incoming information is not necessarily given as a formula. We define general operations and conditions on which they are applicable, and instantiate our approach to the case of ALC-formulae.
An Anytime Hierarchical Approach for Stochastic Task and Motion Planning
Venue: arXiv cs.RO 2022
Year: 2022

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed using them can be inexecutable. These problems are exacerbated in stochastic situations where the robot needs to reason about and plan for multiple contingencies. We present a new approach for integrated task and motion planning in stochastic settings. In contrast to prior work in this direction, we show that our approach can effectively compute integrated task and motion policies whose branching structures encode agent behaviors that handle multiple execution-time contingencies. We prove that our algorithm is probabilistically complete and can compute feasible solution policies in an anytime fashion so that the probability of encountering an unresolved contingency decreases over time. Empirical results on a set of challenging problems show the utility and scope of our method.
An axiomatic characterization of mutual information
Venue: arXiv cs.IT 2022
Year: 2022

We characterize mutual information as the unique map on ordered pairs of random variables satisfying a set of axioms similar to those of Faddeev's characterization of the Shannon entropy. There is a new axiom in our characterization however which has no analogue for Shannon entropy, based on the notion of a Markov triangle, which may be thought of as a composition of communication channels for which conditional entropy acts functorially. Our proofs are coordinate-free in the sense that no logarithms appear in our calculations.
Feature Extraction for Machine Learning-based Intrusion Detection in IoT Networks
Venue: arXiv cs.NI 2022
Year: 2022

A large number of network security breaches in IoT networks have demonstrated the unreliability of current Network Intrusion Detection Systems (NIDSs). Consequently, network interruptions and loss of sensitive data have occurred, which led to an active research area for improving NIDS technologies. In an analysis of related works, it was observed that most researchers aim to obtain better classification results by using a set of untried combinations of Feature Reduction (FR) and Machine Learning (ML) techniques on NIDS datasets. However, these datasets are different in feature sets, attack types, and network design. Therefore, this paper aims to discover whether these techniques can be generalised across various datasets. Six ML models are utilised: a Deep Feed Forward (DFF), Convolutional Neural Network (CNN), Recurrent Neural Network (RNN), Decision Tree (DT), Logistic Regression (LR), and Naive Bayes (NB). The accuracy of three Feature Extraction (FE) algorithms; Principal Component Analysis (PCA), Auto-encoder (AE), and Linear Discriminant Analysis (LDA), are evaluated using three benchmark datasets: UNSW-NB15, ToN-IoT and CSE-CIC-IDS2018. Although PCA and AE algorithms have been widely used, the determination of their optimal number of extracted dimensions has been overlooked. The results indicate that no clear FE method or ML model can achieve the best scores for all datasets. The optimal number of extracted dimensions has been identified for each dataset, and LDA degrades the performance of the ML models on two datasets. The variance is used to analyse the extracted dimensions of LDA and PCA. Finally, this paper concludes that the choice of datasets significantly alters the performance of the applied techniques. We believe that a universal (benchmark) feature set is needed to facilitate further advancement and progress of research in this field.
RPR-Net: A Point Cloud-based Rotation-aware Large Scale Place Recognition Network
Venue: arXiv cs.CV 2022
Year: 2022

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made delightful achievements. However, how to deal with catastrophic collapse caused by rotation problems is still under-explored. In this paper, to tackle the issue, we propose a novel Point Cloud-based Rotation-aware Large Scale Place Recognition Network (RPR-Net). In particular, to solve the problem, we propose to learn rotation-invariant features in three steps. First, we design three kinds of novel Rotation-Invariant Features (RIFs), which are low-level features that can hold the rotation-invariant property. Second, using these RIFs, we design an attentive module to learn rotation-invariant kernels. Third, we apply these kernels to previous point cloud features to generate new features, which is the well-known SO(3) mapping process. By doing so, high-level scene-specific rotation-invariant features can be learned. We call the above process an Attentive Rotation-Invariant Convolution (ARIConv). To achieve the place recognition goal, we build RPR-Net, which takes ARIConv as a basic unit to construct a dense network architecture. Then, powerful global descriptors used for retrieval-based place recognition can be sufficiently extracted from RPR-Net. Experimental results on prevalent datasets show that our method achieves comparable results to existing state-of-the-art place recognition models and significantly outperforms other rotation-invariant baseline models when solving rotation problems.
Partial Domain Adaptation without Domain Alignment
Venue: arXiv cs.CV 2022
Year: 2022

Unsupervised domain adaptation (UDA) aims to transfer knowledge from a well-labeled source domain to a different but related unlabeled target domain with identical label space. Currently, the main workhorse for solving UDA is domain alignment, which has proven successful. However, it is often difficult to find an appropriate source domain with identical label space. A more practical scenario is so-called partial domain adaptation (PDA) in which the source label set or space subsumes the target one. Unfortunately, in PDA, due to the existence of the irrelevant categories in the source domain, it is quite hard to obtain a perfect alignment, thus resulting in mode collapse and negative transfer. Although several efforts have been made by down-weighting the irrelevant source categories, the strategies used tend to be burdensome and risky since exactly which irrelevant categories are unknown. These challenges motivate us to find a relatively simpler alternative to solve PDA. To achieve this, we first provide a thorough theoretical analysis, which illustrates that the target risk is bounded by both model smoothness and between-domain discrepancy. Considering the difficulty of perfect alignment in solving PDA, we turn to focus on the model smoothness while discard the riskier domain alignment to enhance the adaptability of the model. Specifically, we instantiate the model smoothness as a quite simple intra-domain structure preserving (IDSP). To our best knowledge, this is the first naive attempt to address the PDA without domain alignment. Finally, our empirical results on multiple benchmark datasets demonstrate that IDSP is not only superior to the PDA SOTAs by a significant margin on some benchmarks (e.g., +10% on Cl->Rw and +8% on Ar->Rw ), but also complementary to domain alignment in the standard UDA
Tight Guarantees for Static Threshold Policies in the Prophet Secretary Problem
Venue: arXiv cs.GT 2022
Year: 2022

In the prophet secretary problem, $n$ values are drawn independently from known distributions, and presented in a uniformly random order. A decision-maker must accept or reject each value when it is presented, and may accept at most $k$ values in total. The objective is to maximize the expected sum of accepted values. We analyze the performance of static threshold policies, which accept the first $k$ values exceeding a fixed threshold (or all such values, if fewer than $k$ exist). We show that an appropriate threshold guarantees $γ_k = 1 - e^{-k}k^k/k!$ times the value of the offline optimal solution. Note that $γ_1 = 1-1/e$, and by Stirling's approximation $γ_k \approx 1-1/\sqrt{2 πk}$. This represents the best-known guarantee for the prophet secretary problem for all $k>1$, and is tight for all $k$ for the class of static threshold policies. We provide two simple methods for setting the threshold. Our first method sets a threshold such that $k \cdot γ_k$ values are accepted in expectation, and offers an optimal guarantee for all $k$. Our second sets a threshold such that the expected number of values exceeding the threshold is equal to $k$. This approach gives an optimal guarantee if $k > 4$, but gives sub-optimal guarantees for $k \le 4$. Our proofs use a new result for optimizing sums of independent Bernoulli random variables, which extends a classical result of Hoeffding (1956) and is likely to be of independent interest. Finally, we note that our methods for setting thresholds can be implemented under limited information about agents' values.
Regularizing Instabilities in Image Reconstruction Arising from Learned Denoisers
Venue: arXiv cs.LG 2022
Year: 2022

It's well-known that inverse problems are ill-posed and to solve them meaningfully one has to employ regularization methods. Traditionally, popular regularization methods have been the penalized Variational approaches. In recent years, the classical regularized-reconstruction approaches have been outclassed by the (deep-learning-based) learned reconstruction algorithms. However, unlike the traditional regularization methods, the theoretical underpinnings, such as stability and regularization, have been insufficient for such learned reconstruction algorithms. Hence, the results obtained from such algorithms, though empirically outstanding, can't always be completely trusted, as they may contain certain instabilities or (hallucinated) features arising from the learned process. In fact, it has been shown that such learning algorithms are very susceptible to small (adversarial) noises in the data and can lead to severe instabilities in the recovered solution, which can be quite different than the inherent instabilities of the ill-posed (inverse) problem. Whereas, the classical regularization methods can handle such (adversarial) noises very well and can produce stable recovery. Here, we try to present certain regularization methods to stabilize such (unstable) learned reconstruction methods and recover a regularized solution, even in the presence of adversarial noises. For this, we need to extend the classical notion of regularization and incorporate it in the learned reconstruction algorithms. We also present some regularization techniques to regularize two of the most popular learning reconstruction algorithms, the Learned Post-Processing Reconstruction and the Learned Unrolling Reconstruction.
Student Surpasses Teacher: Imitation Attack for Black-Box NLP APIs
Venue: arXiv cs.CR 2022
Year: 2022

Machine-learning-as-a-service (MLaaS) has attracted millions of users to their splendid large-scale models. Although published as black-box APIs, the valuable models behind these services are still vulnerable to imitation attacks. Recently, a series of works have demonstrated that attackers manage to steal or extract the victim models. Nonetheless, none of the previous stolen models can outperform the original black-box APIs. In this work, we conduct unsupervised domain adaptation and multi-victim ensemble to showing that attackers could potentially surpass victims, which is beyond previous understanding of model extraction. Extensive experiments on both benchmark datasets and real-world APIs validate that the imitators can succeed in outperforming the original black-box models on transferred domains. We consider our work as a milestone in the research of imitation attack, especially on NLP APIs, as the superior performance could influence the defense or even publishing strategy of API providers.
Shallow pooling for sparse labels
Venue: arXiv cs.IR 2022
Year: 2022

Recent years have seen enormous gains in core IR tasks, including document and passage ranking. Datasets and leaderboards, and in particular the MS MARCO datasets, illustrate the dramatic improvements achieved by modern neural rankers. When compared with traditional test collections, the MS MARCO datasets employ substantially more queries with substantially fewer known relevant items per query. Given the sparsity of these relevance labels, the MS MARCO leaderboards track improvements with mean reciprocal rank (MRR). In essence, a relevant item is treated as the "right answer", with rankers scored on their ability to place this item high in the ranking. In working with these sparse labels, we have observed that the top items returned by a ranker often appear superior to judged relevant items. To test this observation, we employed crowdsourced workers to make preference judgments between the top item returned by a modern neural ranking stack and a judged relevant item. The results support our observation. If we imagine a perfect ranker under MRR, with a score of 1 on all queries, our preference judgments indicate that a searcher would prefer the top result from a modern neural ranking stack more frequently than the top result from the imaginary perfect ranker, making our neural ranker "better than perfect". To understand the implications for the leaderboard, we pooled the top document from available runs near the top of the passage ranking leaderboard for over 500 queries. We employed crowdsourced workers to make preference judgments over these pools and re-evaluated the runs. Our results support our concerns that current MS MARCO datasets may no longer be able to recognize genuine improvements in rankers. In future, if rankers are measured against a single "right answer", this answer should be the best answer or most preferred answer, and maintained with ongoing judgments.
Optimization problems in graphs with locational uncertainty
Venue: arXiv cs.DS 2022
Year: 2022

Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets. The objective is to minimize the sum of the distances of the chosen set of edges for the worst positions of the vertices in their uncertainty sets. We first prove that these problems are $\cal NP$-hard even when the feasible sets consist either of all spanning trees or of all $s-t$ paths. Given this hardness, we propose an exact solution algorithm combining integer programming formulations with a cutting plane algorithm, identifying the cases where the separation problem can be solved efficiently. We also propose a conservative approximation and show its equivalence to the affine decision rule approximation in the context of Euclidean distances. We compare our algorithms to three deterministic reformulations on instances inspired by the scientific literature for the Steiner tree problem and a facility location problem.