OpenRaiser/Intern-Atlas huggingface dataset:
DAIR: Disentangled Attention Intrinsic Regularization for Safe and Efficient Bimanual Manipulation
Venue: arXiv cs.LG 2021
Year: 2021

We address the problem of safely solving complex bimanual robot manipulation tasks with sparse rewards. Such challenging tasks can be decomposed into sub-tasks that are accomplishable by different robots concurrently or sequentially for better efficiency. While previous reinforcement learning approaches primarily focus on modeling the compositionality of sub-tasks, two fundamental issues are largely ignored particularly when learning cooperative strategies for two robots: (i) domination, i.e., one robot may try to solve a task by itself and leaves the other idle; (ii) conflict, i.e., one robot can interrupt another's workspace when executing different sub-tasks simultaneously, which leads to unsafe collisions. To tackle these two issues, we propose a novel technique called disentangled attention, which provides an intrinsic regularization for two robots to focus on separate sub-tasks and objects. We evaluate our method on five bimanual manipulation tasks. Experimental results show that our proposed intrinsic regularization successfully avoids domination and reduces conflicts for the policies, which leads to significantly more efficient and safer cooperative strategies than all the baselines. Our project page with videos is at https://mehooz.github.io/bimanual-attention.
An Ensemble Approach Towards Adversarial Robustness
Venue: arXiv cs.LG 2021
Year: 2021

It is a known phenomenon that adversarial robustness comes at a cost to natural accuracy. To improve this trade-off, this paper proposes an ensemble approach that divides a complex robust-classification task into simpler subtasks. Specifically, fractal divide derives multiple training sets from the training data, and fractal aggregation combines inference outputs from multiple classifiers that are trained on those sets. The resulting ensemble classifiers have a unique property that ensures robustness for an input if certain don't-care conditions are met. The new techniques are evaluated on MNIST and Fashion-MNIST, with no adversarial training. The MNIST classifier has 99% natural accuracy, 70% measured robustness and 36.9% provable robustness, within L2 distance of 2. The Fashion-MNIST classifier has 90% natural accuracy, 54.5% measured robustness and 28.2% provable robustness, within L2 distance of 1.5. Both results are new state of the art, and we also present new state-of-the-art binary results on challenging label-pairs.
Coordinate Independent Convolutional Networks -- Isometry and Gauge Equivariant Convolutions on Riemannian Manifolds
Venue: arXiv cs.LG 2021
Year: 2021

Motivated by the vast success of deep convolutional networks, there is a great interest in generalizing convolutions to non-Euclidean manifolds. A major complication in comparison to flat spaces is that it is unclear in which alignment a convolution kernel should be applied on a manifold. The underlying reason for this ambiguity is that general manifolds do not come with a canonical choice of reference frames (gauge). Kernels and features therefore have to be expressed relative to arbitrary coordinates. We argue that the particular choice of coordinatization should not affect a network's inference -- it should be coordinate independent. A simultaneous demand for coordinate independence and weight sharing is shown to result in a requirement on the network to be equivariant under local gauge transformations (changes of local reference frames). The ambiguity of reference frames depends thereby on the G-structure of the manifold, such that the necessary level of gauge equivariance is prescribed by the corresponding structure group G. Coordinate independent convolutions are proven to be equivariant w.r.t. those isometries that are symmetries of the G-structure. The resulting theory is formulated in a coordinate free fashion in terms of fiber bundles. To exemplify the design of coordinate independent convolutions, we implement a convolutional network on the Möbius strip. The generality of our differential geometric formulation of convolutional networks is demonstrated by an extensive literature review which explains a large number of Euclidean CNNs, spherical CNNs and CNNs on general surfaces as specific instances of coordinate independent convolutions.
Deep Probabilistic Koopman: Long-term time-series forecasting under periodic uncertainties
Venue: arXiv cs.LG 2021
Year: 2021

Probabilistic forecasting of complex phenomena is paramount to various scientific disciplines and applications. Despite the generality and importance of the problem, general mathematical techniques that allow for stable long-term forecasts with calibrated uncertainty measures are lacking. For most time series models, the difficulty of obtaining accurate probabilistic future time step predictions increases with the prediction horizon. In this paper, we introduce a surprisingly simple approach that characterizes time-varying distributions and enables reasonably accurate predictions thousands of timesteps into the future. This technique, which we call Deep Probabilistic Koopman (DPK), is based on recent advances in linear Koopman operator theory, and does not require time stepping for future time predictions. Koopman models also tend to have a small parameter footprint (often less than 10,000 parameters). We demonstrate the long-term forecasting performance of these models on a diversity of domains, including electricity demand forecasting, atmospheric chemistry, and neuroscience. For electricity demand modeling, our domain-agnostic technique outperforms all of 177 domain-specific competitors in the most recent Global Energy Forecasting Competition.
Optimizing Bayesian Recurrent Neural Networks on an FPGA-based Accelerator
Venue: arXiv cs.LG 2021
Year: 2021

Neural networks have demonstrated their outstanding performance in a wide range of tasks. Specifically recurrent architectures based on long-short term memory (LSTM) cells have manifested excellent capability to model time dependencies in real-world data. However, standard recurrent architectures cannot estimate their uncertainty which is essential for safety-critical applications such as in medicine. In contrast, Bayesian recurrent neural networks (RNNs) are able to provide uncertainty estimation with improved accuracy. Nonetheless, Bayesian RNNs are computationally and memory demanding, which limits their practicality despite their advantages. To address this issue, we propose an FPGA-based hardware design to accelerate Bayesian LSTM-based RNNs. To further improve the overall algorithmic-hardware performance, a co-design framework is proposed to explore the most fitting algorithmic-hardware configurations for Bayesian RNNs. We conduct extensive experiments on healthcare applications to demonstrate the improvement of our design and the effectiveness of our framework. Compared with GPU implementation, our FPGA-based design can achieve up to 10 times speedup with nearly 106 times higher energy efficiency. To the best of our knowledge, this is the first work targeting acceleration of Bayesian RNNs on FPGAs.
Fair Preprocessing: Towards Understanding Compositional Fairness of Data Transformers in Machine Learning Pipeline
Venue: arXiv cs.LG 2021
Year: 2021

In recent years, many incidents have been reported where machine learning models exhibited discrimination among people based on race, sex, age, etc. Research has been conducted to measure and mitigate unfairness in machine learning models. For a machine learning task, it is a common practice to build a pipeline that includes an ordered set of data preprocessing stages followed by a classifier. However, most of the research on fairness has considered a single classifier based prediction task. What are the fairness impacts of the preprocessing stages in machine learning pipeline? Furthermore, studies showed that often the root cause of unfairness is ingrained in the data itself, rather than the model. But no research has been conducted to measure the unfairness caused by a specific transformation made in the data preprocessing stage. In this paper, we introduced the causal method of fairness to reason about the fairness impact of data preprocessing stages in ML pipeline. We leveraged existing metrics to define the fairness measures of the stages. Then we conducted a detailed fairness evaluation of the preprocessing stages in 37 pipelines collected from three different sources. Our results show that certain data transformers are causing the model to exhibit unfairness. We identified a number of fairness patterns in several categories of data transformers. Finally, we showed how the local fairness of a preprocessing stage composes in the global fairness of the pipeline. We used the fairness composition to choose appropriate downstream transformer that mitigates unfairness in the machine learning pipeline.
Instance-Level Task Parameters: A Robust Multi-task Weighting Framework
Venue: arXiv cs.CV 2021
Year: 2021

Recent works have shown that deep neural networks benefit from multi-task learning by learning a shared representation across several related tasks. However, performance of such systems depend on relative weighting between various losses involved during training. Prior works on loss weighting schemes assume that instances are equally easy or hard for all tasks. In order to break this assumption, we let the training process dictate the optimal weighting of tasks for every instance in the dataset. More specifically, we equip every instance in the dataset with a set of learnable parameters (instance-level task parameters) where the cardinality is equal to the number of tasks learned by the model. These parameters model the weighting of each task for an instance. They are updated by gradient descent and do not require hand-crafted rules. We conduct extensive experiments on SURREAL and CityScapes datasets, for human shape and pose estimation, depth estimation and semantic segmentation tasks. In these tasks, our approach outperforms recent dynamic loss weighting approaches, e.g. reducing surface estimation errors by 8.97% on SURREAL. When applied to datasets where one or more tasks can have noisy annotations, the proposed method learns to prioritize learning from clean labels for a given task, e.g. reducing surface estimation errors by up to 60%. We also show that we can reliably detect corrupt labels for a given task as a by-product from learned instance-level task parameters.
A comprehensive solution to retrieval-based chatbot construction
Venue: arXiv cs.CL 2021
Year: 2021

In this paper we present the results of our experiments in training and deploying a self-supervised retrieval-based chatbot trained with contrastive learning for assisting customer support agents. In contrast to most existing research papers in this area where the focus is on solving just one component of a deployable chatbot, we present an end-to-end set of solutions to take the reader from an unlabelled chatlogs to a deployed chatbot. This set of solutions includes creating a self-supervised dataset and a weakly labelled dataset from chatlogs, as well as a systematic approach to selecting a fixed list of canned responses. We present a hierarchical-based RNN architecture for the response selection model, chosen for its ability to cache intermediate utterance embeddings, which helped to meet deployment inference speed requirements. We compare the performance of this architecture across 3 different learning objectives: self-supervised contrastive learning, binary classification, and multi-class classification. We find that using a self-supervised contrastive learning model outperforms training the binary and multi-class classification models on a weakly labelled dataset. Our results validate that the self-supervised contrastive learning approach can be effectively used for a real-world chatbot scenario.
Cell-Free Symbiotic Radio: Channel Estimation Method and Achievable Rate Analysis
Venue: arXiv cs.IT 2021
Year: 2021

Cell-free massive MIMO and symbiotic radio are promising beyond 5G (B5G) networking architecture and transmission technology, respectively. This paper studies cell-free symbiotic radio systems, where a number of distributed access points (APs) cooperatively send primary information to a receiver, and simultaneously support the backscattering communication of the secondary backscatter device (BD). An efficient two-phase uplink-training based channel estimation method is proposed to estimate the direct-link channel and cascaded backscatter channel, and the achievable primary and secondary communication rates taking into account the channel estimation errors are derived. Furthermore, to achieve a flexible trade-off between the primary and secondary communication rates, we propose a low-complexity weighted-maximal-ratio transmission (weighted-MRT) beamforming scheme, which only requires local processing at each AP without having to exchange the estimated channel state information. Simulation results are provided to show the impact of the channel training lengths on the performance of the cell-free symbiotic radio systems.
Non-orthogonal Multiple Access for Multi-cell Indoor VLC
Venue: arXiv cs.IT 2021
Year: 2021

In this letter, we propose a non-orthogonal multiple access (NOMA) based scheme for multi-cell indoor visible light communications (VLC), where cell-edge user is jointly served by multiple cells. Unlike the typical designs in the existing literature, the proposed scheme doesn't involve complex domain and direct current bias addition, which makes the design simple and feasible for real time implementation in indoor VLC. The symbol error rate (SER) of the proposed NOMA scheme is analysed using analytical and simulation results, and is compared with orthogonal multiple access (OMA). It is observed that the average SER of the users with the proposed NOMA is marginally degraded as compared to OMA. However, the SER of cell-edge user with the proposed NOMA is significantly improved with joint maximum likelihood decoding, and outperforms successive interference cancellation based decoding and OMA, with trade-off on computational complexity.
Structural evolution and on-demand growth of artificial synapses via field-directed polymerization
Venue: arXiv cs.ET 2021
Year: 2021

Interconnectivity, fault tolerance, and dynamic evolution of the circuitry are long sought-after objectives of bio-inspired engineering. Here, we propose dendritic transistors composed of organic semiconductors as building blocks for neuromorphic computing. These devices, owning to their voltage-triggered growth and resemblance to neural structures, respond to action potentials to achieve complex brain-like features, such as Pavlovian learning, pattern recognition, and spike-timing-dependent plasticity. The dynamic formation of the connections is reminiscent of a biological learning mechanism known as synaptogenesis, and it is carried out by an electrochemical reaction that we name field-directed polymerization. We employ it to dendritic connections and, by modulating the growth parameters, control material properties such as the resistance and the time constants relevant for plasticity. We believe these results will inspire further research towards the complex integration of polymerized synapses for brain-inspired computing.
Learning to Pool in Graph Neural Networks for Extrapolation
Venue: arXiv cs.LG 2021
Year: 2021

Graph neural networks (GNNs) are one of the most popular approaches to using deep learning on graph-structured data, and they have shown state-of-the-art performances on a variety of tasks. However, according to a recent study, a careful choice of pooling functions, which are used for the aggregation and readout operations in GNNs, is crucial for enabling GNNs to extrapolate. Without proper choices of pooling functions, which varies across tasks, GNNs completely fail to generalize to out-of-distribution data, while the number of possible choices grows exponentially with the number of layers. In this paper, we present GNP, a $L^p$ norm-like pooling function that is trainable end-to-end for any given task. Notably, GNP generalizes most of the widely-used pooling functions. We verify experimentally that simply using GNP for every aggregation and readout operation enables GNNs to extrapolate well on many node-level, graph-level, and set-related tasks; and GNP sometimes performs even better than the best-performing choices among existing pooling functions.
DebiasGAN: Eliminating Position Bias in News Recommendation with Adversarial Learning
Venue: arXiv cs.IR 2021
Year: 2021

News recommendation is important for improving news reading experience of users. Users' news click behaviors are widely used for inferring user interests and predicting future clicks. However, click behaviors are heavily affected by the biases brought by the positions of news displayed on the webpage. It is important to eliminate the effect of position biases on the recommendation model to accurately target user interests. In this paper, we propose a news recommendation method named DebiasGAN that can effectively eliminate the effect of position biases via adversarial learning. We use a bias-aware click model to capture the influence of position bias on click behaviors, and we use a bias-invariant click model with random candidate news positions to estimate the ideally unbiased click scores. We apply adversarial learning techniques to the hidden representations learned by the two models to help the bias-invariant click model capture the bias-independent interest of users on news. Experimental results on two real-world datasets show that DebiasGAN can effectively improve the accuracy of news recommendation by eliminating position biases.
DRLD-SP: A Deep Reinforcement Learning-based Dynamic Service Placement in Edge-Enabled Internet of Vehicles
Venue: arXiv cs.NI 2021
Year: 2021

The growth of 5G and edge computing has enabled the emergence of Internet of Vehicles. It supports different types of services with different resource and service requirements. However, limited resources at the edge, high mobility of vehicles, increasing demand, and dynamicity in service request-types have made service placement a challenging task. A typical static placement solution is not effective as it does not consider the traffic mobility and service dynamics. Handling dynamics in IoV for service placement is an important and challenging problem which is the primary focus of our work in this paper. We propose a Deep Reinforcement Learning-based Dynamic Service Placement (DRLD-SP) framework with the objective of minimizing the maximum edge resource usage and service delay while considering the vehicle's mobility, varying demand, and dynamics in the requests for different types of services. We use SUMO and MATLAB to carry out simulation experiments. The experimental results show that the proposed DRLD-SP approach is effective and outperforms other static and dynamic placement approaches.
Acceleration-as-a-μService: A Cloud-native Monte-Carlo Option Pricing Engine on CPUs, GPUs and Disaggregated FPGAs
Venue: arXiv cs.NI 2021
Year: 2021

The evolution of cloud applications into loosely-coupled microservices opens new opportunities for hardware accelerators to improve workload performance. Existing accelerator techniques for cloud sacrifice the consolidation benefits of microservices. This paper presents CloudiFi, a framework to deploy and compare accelerators as a cloud service. We evaluate our framework in the context of a financial workload and present early results indicating up to 485x gains in microservice response time.
Automatic Risk Adaptation in Distributional Reinforcement Learning
Venue: arXiv cs.LG 2021
Year: 2021

The use of Reinforcement Learning (RL) agents in practical applications requires the consideration of suboptimal outcomes, depending on the familiarity of the agent with its environment. This is especially important in safety-critical environments, where errors can lead to high costs or damage. In distributional RL, the risk-sensitivity can be controlled via different distortion measures of the estimated return distribution. However, these distortion functions require an estimate of the risk level, which is difficult to obtain and depends on the current state. In this work, we demonstrate the suboptimality of a static risk level estimation and propose a method to dynamically select risk levels at each environment step. Our method ARA (Automatic Risk Adaptation) estimates the appropriate risk level in both known and unknown environments using a Random Network Distillation error. We show reduced failure rates by up to a factor of 7 and improved generalization performance by up to 14% compared to both risk-aware and risk-agnostic agents in several locomotion environments.
ERRANT: Realistic Emulation of Radio Access Networks
Venue: arXiv cs.NI 2021
Year: 2021

Mobile networks have become ubiquitous, but running experiments on them is expensive and hard, given their complexity and diversity. Emulation can be the solution, and, with ERRANT, we offer a realistic emulator of mobile networks based on a large measurement campaign on European Mobile Network Operators. It improves the current situation, where tools and emulators only implement pre-defined profiles, with built-in parameters, which are not supported with real measurements.
Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning
Venue: arXiv cs.LG 2021
Year: 2021

The transition from today's mostly human-driven traffic to a purely automated one will be a gradual evolution, with the effect that we will likely experience mixed traffic in the near future. Connected and automated vehicles can benefit human-driven ones and the whole traffic system in different ways, for example by improving collision avoidance and reducing traffic waves. Many studies have been carried out to improve intersection management, a significant bottleneck in traffic, with intelligent traffic signals or exclusively automated vehicles. However, the problem of how to improve mixed traffic at unsignalized intersections has received less attention. In this paper, we propose a novel approach to optimizing traffic flow at intersections in mixed traffic situations using deep reinforcement learning. Our reinforcement learning agent learns a policy for a centralized controller to let connected autonomous vehicles at unsignalized intersections give up their right of way and yield to other vehicles to optimize traffic flow. We implemented our approach and tested it in the traffic simulator SUMO based on simulated and real traffic data. The experimental evaluation demonstrates that our method significantly improves traffic flow through unsignalized intersections in mixed traffic settings and also provides better performance on a wide range of traffic situations compared to the state-of-the-art traffic signal controller for the corresponding signalized intersection.