OpenRaiser/Intern-Atlas huggingface dataset:
LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we propose LF-PGVIO, a Visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash the potential of point-line odometry with large-FoV omnidirectional cameras, even for cameras with negative-plane FoV. To achieve this, we propose an Omnidirectional Curve Segment Detection (OCSD) method combined with a camera model which is applicable to images with large distortions, such as panoramic annular images, fisheye images, and various panoramic images. The geodesic segment is sliced into multiple straight-line segments based on the radian and descriptors are extracted and recombined. Descriptor matching establishes the constraint relationship between 3D line segments in multiple frames. In our VIO system, line feature residual is also extended to support large-FoV cameras. Extensive evaluations on public datasets demonstrate the superior accuracy and robustness of LF-PGVIO compared to state-of-the-art methods. The source code will be made publicly available at https://github.com/flysoaryun/LF-PGVIO.
To be a pro-vax or not, the COVID-19 vaccine conundrum on Twitter
Venue: arXiv cs.SI 2024
Year: 2024

The most surprising observation reported by the study in (arXiv:2208.13523), involving stance detection of COVID-19 vaccine related tweets during the first year of pandemic, is the presence of a significant number of users (~2 million) who posted tweets with both anti-vax and pro-vax stances. This is a sizable cohort even when the stance detection noise is considered. In this paper, we tried to get deeper understanding of this 'dual-stance' group. Out of this group, 60% of users have more pro-vax tweets than anti-vax tweets and 17% have the same number of tweets in both classes. The rest have more anti-vax tweets, and they were highly active in expressing concerns about mandate and safety of a fast-tracked vaccine, while also tweeted some updates about vaccine development. The leaning pro-vax group have opposite composition: more vaccine updates and some posts about concerns. It is important to note that vaccine concerns were not always genuine and had a large dose of misinformation. 43% of the balanced group have only tweeted one tweet of each type during our study period and are the less active participants in the vaccine discourse. Our temporal study also shows that the change-of-stance behaviour became really significant once the trial results of COVID-19 vaccine were announced to the public, and it appears as the change of stance towards pro-vax is a reaction to people changing their opinion towards anti-vax. Our study finished at Mar 23, 2021 when the conundrum was still going strong. The dilemma might be a reflection of the uncertain and stressful times, but it also highlights the importance of building public trust to combat prevalent misinformation.
MLE-based Device Activity Detection under Rician Fading for Massive Grant-free Access with Perfect and Imperfect Synchronization
Venue: arXiv cs.IT 2024
Year: 2024

Most existing studies on massive grant-free access, proposed to support massive machine-type communications (mMTC) for the Internet of things (IoT), assume Rayleigh fading and perfect synchronization for simplicity. However, in practice, line-of-sight (LoS) components generally exist, and time and frequency synchronization are usually imperfect. This paper systematically investigates maximum likelihood estimation (MLE)-based device activity detection under Rician fading for massive grant-free access with perfect and imperfect synchronization. We assume that the large-scale fading powers, Rician factors, and normalized LoS components can be estimated offline. We formulate device activity detection in the synchronous case and joint device activity and offset detection in three asynchronous cases (i.e., time, frequency, and time and frequency asynchronous cases) as MLE problems. In the synchronous case, we propose an iterative algorithm to obtain a stationary point of the MLE problem. In each asynchronous case, we propose two iterative algorithms with identical detection performance but different computational complexities. In particular, one is computationally efficient for small ranges of offsets, whereas the other one, relying on fast Fourier transform (FFT) and inverse FFT, is computationally efficient for large ranges of offsets. The proposed algorithms generalize the existing MLE-based methods for Rayleigh fading and perfect synchronization. Numerical results show that the proposed algorithm for the synchronous case can reduce the detection error probability by up to 50.4% at a 78.6% computation time increase, compared to the MLEbased state-of-the-art, and the proposed algorithms for the three asynchronous cases can reduce the detection error probabilities and computation times by up to 65.8% and 92.0%, respectively, compared to the MLE-based state-of-the-arts.
Digital Twin-Enhanced Wireless Indoor Navigation: Achieving Efficient Environment Sensing with Zero-Shot Reinforcement Learning
Venue: arXiv cs.RO 2024
Year: 2024

Millimeter-wave (mmWave) communication is a vital component of future generations of mobile networks, offering not only high data rates but also precise beams, making it ideal for indoor navigation in complex environments. However, the challenges of multipath propagation and noisy signal measurements in indoor spaces complicate the use of mmWave signals for navigation tasks. Traditional physics-based methods, such as following the angle of arrival (AoA), often fall short in complex scenarios, highlighting the need for more sophisticated approaches. Digital twins, as virtual replicas of physical environments, offer a powerful tool for simulating and optimizing mmWave signal propagation in such settings. By creating detailed, physics-based models of real-world spaces, digital twins enable the training of machine learning algorithms in virtual environments, reducing the costs and limitations of physical testing. Despite their advantages, current machine learning models trained in digital twins often overfit specific virtual environments and require costly retraining when applied to new scenarios. In this paper, we propose a Physics-Informed Reinforcement Learning (PIRL) approach that leverages the physical insights provided by digital twins to shape the reinforcement learning (RL) reward function. By integrating physics-based metrics such as signal strength, AoA, and path reflections into the learning process, PIRL enables efficient learning and improved generalization to new environments without retraining. Our experiments demonstrate that the proposed PIRL, supported by digital twin simulations, outperforms traditional heuristics and standard RL models, achieving zero-shot generalization in unseen environments and offering a cost-effective, scalable solution for wireless indoor navigation.
Tackling Heavy-Tailed Rewards in Reinforcement Learning with Function Approximation: Minimax Optimal and Instance-Dependent Regret Bounds
Venue: arXiv cs.LG 2024
Year: 2024

While numerous works have focused on devising efficient algorithms for reinforcement learning (RL) with uniformly bounded rewards, it remains an open question whether sample or time-efficient algorithms for RL with large state-action space exist when the rewards are \emph{heavy-tailed}, i.e., with only finite $(1+ε)$-th moments for some $ε\in(0,1]$. In this work, we address the challenge of such rewards in RL with linear function approximation. We first design an algorithm, \textsc{Heavy-OFUL}, for heavy-tailed linear bandits, achieving an \emph{instance-dependent} $T$-round regret of $\tilde{O}\big(d T^{\frac{1-ε}{2(1+ε)}} \sqrt{\sum_{t=1}^T ν_t^2} + d T^{\frac{1-ε}{2(1+ε)}}\big)$, the \emph{first} of this kind. Here, $d$ is the feature dimension, and $ν_t^{1+ε}$ is the $(1+ε)$-th central moment of the reward at the $t$-th round. We further show the above bound is minimax optimal when applied to the worst-case instances in stochastic and deterministic linear bandits. We then extend this algorithm to the RL settings with linear function approximation. Our algorithm, termed as \textsc{Heavy-LSVI-UCB}, achieves the \emph{first} computationally efficient \emph{instance-dependent} $K$-episode regret of $\tilde{O}(d \sqrt{H \mathcal{U}^*} K^\frac{1}{1+ε} + d \sqrt{H \mathcal{V}^* K})$. Here, $H$ is length of the episode, and $\mathcal{U}^*, \mathcal{V}^*$ are instance-dependent quantities scaling with the central moment of reward and value functions, respectively. We also provide a matching minimax lower bound $Ω(d H K^{\frac{1}{1+ε}} + d \sqrt{H^3 K})$ to demonstrate the optimality of our algorithm in the worst case. Our result is achieved via a novel robust self-normalized concentration inequality that may be of independent interest in handling heavy-tailed noise in general online regression problems.
A Graph Transformer-Driven Approach for Network Robustness Learning
Venue: arXiv cs.LG 2024
Year: 2024

Learning and analysis of network robustness, including controllability robustness and connectivity robustness, is critical for various networked systems against attacks. Traditionally, network robustness is determined by attack simulations, which is very time-consuming and even incapable for large-scale networks. Network Robustness Learning, which is dedicated to learning network robustness with high precision and high speed, provides a powerful tool to analyze network robustness by replacing simulations. In this paper, a novel versatile and unified robustness learning approach via graph transformer (NRL-GT) is proposed, which accomplishes the task of controllability robustness learning and connectivity robustness learning from multiple aspects including robustness curve learning, overall robustness learning, and synthetic network classification. Numerous experiments show that: 1) NRL-GT is a unified learning framework for controllability robustness and connectivity robustness, demonstrating a strong generalization ability to ensure high precision when training and test sets are distributed differently; 2) Compared to the cutting-edge methods, NRL-GT can simultaneously perform network robustness learning from multiple aspects and obtains superior results in less time. NRL-GT is also able to deal with complex networks of different size with low learning error and high efficiency; 3) It is worth mentioning that the backbone of NRL-GT can serve as a transferable feature learning module for complex networks of different size and different downstream tasks.
RIP Linked List
Venue: arXiv cs.DS 2024
Year: 2024

Linked lists have long served as a valuable teaching tool in programming. However, the question arises: Are they truly practical for everyday program use? In most cases, it appears that array-based data structures offer distinct advantages, particularly in terms of memory efficiency and,more importantly, execution speed. While it's relatively straightforward to calculate the complexity of operations, gauging actual execution efficiency remains a challenge. This paper addresses this question by introducing a new benchmark. Our study compares various linked list implementations with several array-based alternatives. We also demonstrate the ease of incorporating memory caching for linked lists, enhancing their performance. Additionally, we introduce a new array-based data structure designed to excel in a wide range of operations.
Inference-time Stochastic Ranking with Risk Control
Venue: arXiv cs.LG 2024
Year: 2024

Learning to Rank (LTR) methods are vital in online economies, affecting users and item providers. Fairness in LTR models is crucial to allocate exposure proportionally to item relevance. Widely used deterministic LTR models can lead to unfair exposure distribution, especially when items with the same relevance receive slightly different ranking scores. Stochastic LTR models, incorporating the Plackett-Luce (PL) ranking model, address fairness issues but suffer from high training cost. In addition, they cannot provide guarantees on the utility or fairness, which can lead to dramatic degraded utility when optimized for fairness. To overcome these limitations, we propose Inference-time Stochastic Ranking with Risk Control (ISRR), a novel method that performs stochastic ranking at inference time with guanranteed utility or fairness given pretrained scoring functions from deterministic or stochastic LTR models. Comprehensive experimental results on three widely adopted datasets demonstrate that our proposed method achieves utility and fairness comparable to existing stochastic ranking methods with much lower computational cost. In addition, results verify that our method provides finite-sample guarantee on utility and fairness. This advancement represents a significant contribution to the field of stochastic ranking and fair LTR with promising real-world applications.
Efficient and Robust Quantization-aware Training via Adaptive Coreset Selection
Venue: arXiv cs.LG 2024
Year: 2024

Quantization-aware training (QAT) is a representative model compression method to reduce redundancy in weights and activations. However, most existing QAT methods require end-to-end training on the entire dataset, which suffers from long training time and high energy costs. In addition, the potential label noise in the training data undermines the robustness of QAT. We propose two metrics based on analysis of loss and gradient of quantized weights: error vector score and disagreement score, to quantify the importance of each sample during training. Guided by these two metrics, we proposed a quantization-aware Adaptive Coreset Selection (ACS) method to select the data for the current training epoch. We evaluate our method on various networks (ResNet-18, MobileNetV2, RetinaNet), datasets(CIFAR-10, CIFAR-100, ImageNet-1K, COCO), and under different quantization settings. Specifically, our method can achieve an accuracy of 68.39\% of 4-bit quantized ResNet-18 on the ImageNet-1K dataset with only a 10\% subset, which has an absolute gain of 4.24\% compared to the baseline. Our method can also improve the robustness of QAT by removing noisy samples in the training set.
Strokes2Surface: Recovering Curve Networks From 4D Architectural Design Sketches
Venue: arXiv cs.GR 2024
Year: 2024

We present Strokes2Surface, an offline geometry reconstruction pipeline that recovers well-connected curve networks from imprecise 4D sketches to bridge concept design and digital modeling stages in architectural design. The input to our pipeline consists of 3D strokes' polyline vertices and their timestamps as the 4th dimension, along with additional metadata recorded throughout sketching. Inspired by architectural sketching practices, our pipeline combines a classifier and two clustering models to achieve its goal. First, with a set of extracted hand-engineered features from the sketch, the classifier recognizes the type of individual strokes between those depicting boundaries (Shape strokes) and those depicting enclosed areas (Scribble strokes). Next, the two clustering models parse strokes of each type into distinct groups, each representing an individual edge or face of the intended architectural object. Curve networks are then formed through topology recovery of consolidated Shape clusters and surfaced using Scribble clusters guiding the cycle discovery. Our evaluation is threefold: We confirm the usability of the Strokes2Surface pipeline in architectural design use cases via a user study, we validate our choice of features via statistical analysis and ablation studies on our collected dataset, and we compare our outputs against a range of reconstructions computed using alternative methods.
SARN: Structurally-Aware Recurrent Network for Spatio-Temporal Disaggregation
Venue: arXiv cs.LG 2024
Year: 2024

Open data is frequently released spatially aggregated, usually to comply with privacy policies. But coarse, heterogeneous aggregations complicate learning and integration for downstream AI/ML systems. In this work, we consider models to disaggregate spatio-temporal data from a low-resolution, irregular partition (e.g., census tract) to a high-resolution, irregular partition (e.g., city block). We propose an overarching model named the Structurally-Aware Recurrent Network (SARN), which integrates structurally-aware spatial attention (SASA) layers into the Gated Recurrent Unit (GRU) model. The spatial attention layers capture spatial interactions among regions, while the gated recurrent module captures the temporal dependencies. Each SASA layer calculates both global and structural attention -- global attention facilitates comprehensive interactions between different geographic levels, while structural attention leverages the containment relationship between different geographic levels (e.g., a city block being wholly contained within a census tract) to ensure coherent and consistent results. For scenarios with limited historical training data, we explore transfer learning and show that a model pre-trained on one city variable can be fine-tuned for another city variable using only a few hundred samples. Evaluating these techniques on two mobility datasets, we find that on both datasets, SARN significantly outperforms other neural models (5% and 1%) and typical heuristic methods (40% and 14%), enabling us to generate realistic, high-quality fine-grained data for downstream applications.
Nested Sequents for Intermediate Logics: The Case of Gödel-Dummett Logics
Venue: arXiv cs.LO 2024
Year: 2024

We present nested sequent systems for propositional Gödel-Dummett logic and its first-order extensions with non-constant and constant domains, built atop nested calculi for intuitionistic logics. To obtain nested systems for these Gödel-Dummett logics, we introduce a new structural rule, called the "linearity rule," which (bottom-up) operates by linearizing branching structure in a given nested sequent. In addition, an interesting feature of our calculi is the inclusion of reachability rules, which are special logical rules that operate by propagating data and/or checking if data exists along certain paths within a nested sequent. Such rules require us to generalize our nested sequents to include signatures (i.e. finite collections of variables) in the first-order cases, thus giving rise to a generalization of the usual nested sequent formalism. Our calculi exhibit favorable properties, admitting the height-preserving invertibility of every logical rule and the (height-preserving) admissibility of a large collection of structural and reachability rules. We prove all of our systems sound and cut-free complete, and show that syntactic cut-elimination obtains for the intuitionistic systems. We conclude the paper by discussing possible extensions and modifications, putting forth an array of structural rules that could be used to provide a sizable class of intermediate logics with cut-free nested sequent systems.
NeuS-PIR: Learning Relightable Neural Surface using Pre-Integrated Rendering
Venue: arXiv cs.CV 2024
Year: 2024

This paper presents a method, namely NeuS-PIR, for recovering relightable neural surfaces using pre-integrated rendering from multi-view images or video. Unlike methods based on NeRF and discrete meshes, our method utilizes implicit neural surface representation to reconstruct high-quality geometry, which facilitates the factorization of the radiance field into two components: a spatially varying material field and an all-frequency lighting representation. This factorization, jointly optimized using an adapted differentiable pre-integrated rendering framework with material encoding regularization, in turn addresses the ambiguity of geometry reconstruction and leads to better disentanglement and refinement of each scene property. Additionally, we introduced a method to distil indirect illumination fields from the learned representations, further recovering the complex illumination effect like inter-reflection. Consequently, our method enables advanced applications such as relighting, which can be seamlessly integrated with modern graphics engines. Qualitative and quantitative experiments have shown that NeuS-PIR outperforms existing methods across various tasks on both synthetic and real datasets. Source code is available at https://github.com/Sheldonmao/NeuSPIR
Omega: Optimistic EMA Gradients
Venue: arXiv cs.LG 2024
Year: 2024

Stochastic min-max optimization has gained interest in the machine learning community with the advancements in GANs and adversarial training. Although game optimization is fairly well understood in the deterministic setting, some issues persist in the stochastic regime. Recent work has shown that stochastic gradient descent-ascent methods such as the optimistic gradient are highly sensitive to noise or can fail to converge. Although alternative strategies exist, they can be prohibitively expensive. We introduce Omega, a method with optimistic-like updates that mitigates the impact of noise by incorporating an EMA of historic gradients in its update rule. We also explore a variation of this algorithm that incorporates momentum. Although we do not provide convergence guarantees, our experiments on stochastic games show that Omega outperforms the optimistic gradient method when applied to linear players.
AutoML in the Age of Large Language Models: Current Challenges, Future Opportunities and Risks
Venue: arXiv cs.LG 2024
Year: 2024

The fields of both Natural Language Processing (NLP) and Automated Machine Learning (AutoML) have achieved remarkable results over the past years. In NLP, especially Large Language Models (LLMs) have experienced a rapid series of breakthroughs very recently. We envision that the two fields can radically push the boundaries of each other through tight integration. To showcase this vision, we explore the potential of a symbiotic relationship between AutoML and LLMs, shedding light on how they can benefit each other. In particular, we investigate both the opportunities to enhance AutoML approaches with LLMs from different perspectives and the challenges of leveraging AutoML to further improve LLMs. To this end, we survey existing work, and we critically assess risks. We strongly believe that the integration of the two fields has the potential to disrupt both fields, NLP and AutoML. By highlighting conceivable synergies, but also risks, we aim to foster further exploration at the intersection of AutoML and LLMs.
Provable Accelerated Convergence of Nesterov's Momentum for Deep ReLU Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Current state-of-the-art analyses on the convergence of gradient descent for training neural networks focus on characterizing properties of the loss landscape, such as the Polyak-Lojaciewicz (PL) condition and the restricted strong convexity. While gradient descent converges linearly under such conditions, it remains an open question whether Nesterov's momentum enjoys accelerated convergence under similar settings and assumptions. In this work, we consider a new class of objective functions, where only a subset of the parameters satisfies strong convexity, and show Nesterov's momentum achieves acceleration in theory for this objective class. We provide two realizations of the problem class, one of which is deep ReLU networks, which --to the best of our knowledge--constitutes this work the first that proves accelerated convergence rate for non-trivial neural network architectures.