OpenRaiser/Intern-Atlas huggingface dataset:
Hardness of Random Optimization Problems for Boolean Circuits, Low-Degree Polynomials, and Langevin Dynamics
Venue: arXiv cs.CC 2022
Year: 2022

We consider the problem of finding nearly optimal solutions of optimization problems with random objective functions. Two concrete problems we consider are (a) optimizing the Hamiltonian of a spherical or Ising $p$-spin glass model, and (b) finding a large independent set in a sparse Erdős-Rényi graph. The following families of algorithms are considered: (a) low-degree polynomials of the input; (b) low-depth Boolean circuits; (c) the Langevin dynamics algorithm. We show that these families of algorithms fail to produce nearly optimal solutions with high probability. For the case of Boolean circuits, our results improve the state-of-the-art bounds known in circuit complexity theory (although we consider the search problem as opposed to the decision problem). Our proof uses the fact that these models are known to exhibit a variant of the overlap gap property (OGP) of near-optimal solutions. Specifically, for both models, every two solutions whose objectives are above a certain threshold are either close or far from each other. The crux of our proof is that the classes of algorithms we consider exhibit a form of stability. We show by an interpolation argument that stable algorithms cannot overcome the OGP barrier. The stability of Langevin dynamics is an immediate consequence of the well-posedness of stochastic differential equations. The stability of low-degree polynomials and Boolean circuits is established using tools from Gaussian and Boolean analysis -- namely hypercontractivity and total influence, as well as a novel lower bound for random walks avoiding certain subsets. In the case of Boolean circuits, the result also makes use of Linal-Mansour-Nisan's classical theorem. Our techniques apply more broadly to low influence functions and may apply more generally.
When CNNs Meet Random RNNs: Towards Multi-Level Analysis for RGB-D Object and Scene Recognition
Venue: arXiv cs.CV 2022
Year: 2022

Recognizing objects and scenes are two challenging but essential tasks in image understanding. In particular, the use of RGB-D sensors in handling these tasks has emerged as an important area of focus for better visual understanding. Meanwhile, deep neural networks, specifically convolutional neural networks (CNNs), have become widespread and have been applied to many visual tasks by replacing hand-crafted features with effective deep features. However, it is an open problem how to exploit deep features from a multi-layer CNN model effectively. In this paper, we propose a novel two-stage framework that extracts discriminative feature representations from multi-modal RGB-D images for object and scene recognition tasks. In the first stage, a pretrained CNN model has been employed as a backbone to extract visual features at multiple levels. The second stage maps these features into high level representations with a fully randomized structure of recursive neural networks (RNNs) efficiently. To cope with the high dimensionality of CNN activations, a random weighted pooling scheme has been proposed by extending the idea of randomness in RNNs. Multi-modal fusion has been performed through a soft voting approach by computing weights based on individual recognition confidences (i.e. SVM scores) of RGB and depth streams separately. This produces consistent class label estimation in final RGB-D classification performance. Extensive experiments verify that fully randomized structure in RNN stage encodes CNN activations to discriminative solid features successfully. Comparative experimental results on the popular Washington RGB-D Object and SUN RGB-D Scene datasets show that the proposed approach achieves superior or on-par performance compared to state-of-the-art methods both in object and scene recognition tasks. Code is available at https://github.com/acaglayan/CNN_randRNN.
Distance Guided Channel Weighting for Semantic Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Recent works have achieved great success in improving the performance of multiple computer vision tasks by capturing features with a high channel number utilizing deep neural networks. However, many channels of extracted features are not discriminative and contain a lot of redundant information. In this paper, we address above issue by introducing the Distance Guided Channel Weighting (DGCW) Module. The DGCW module is constructed in a pixel-wise context extraction manner, which enhances the discriminativeness of features by weighting different channels of each pixel's feature vector when modeling its relationship with other pixels. It can make full use of the high-discriminative information while ignore the low-discriminative information containing in feature maps, as well as capture the long-range dependencies. Furthermore, by incorporating the DGCW module with a baseline segmentation network, we propose the Distance Guided Channel Weighting Network (DGCWNet). We conduct extensive experiments to demonstrate the effectiveness of DGCWNet. In particular, it achieves 81.6% mIoU on Cityscapes with only fine annotated data for training, and also gains satisfactory performance on another two semantic segmentation datasets, i.e. Pascal Context and ADE20K. Code will be available soon at https://github.com/LanyunZhu/DGCWNet.
Self-Supervised Attention Learning for Depth and Ego-motion Estimation
Venue: arXiv cs.CV 2022
Year: 2022

We address the problem of depth and ego-motion estimation from image sequences. Recent advances in the domain propose to train a deep learning model for both tasks using image reconstruction in a self-supervised manner. We revise the assumptions and the limitations of the current approaches and propose two improvements to boost the performance of the depth and ego-motion estimation. We first use Lie group properties to enforce the geometric consistency between images in the sequence and their reconstructions. We then propose a mechanism to pay an attention to image regions where the image reconstruction get corrupted. We show how to integrate the attention mechanism in the form of attention gates in the pipeline and use attention coefficients as a mask. We evaluate the new architecture on the KITTI datasets and compare it to the previous techniques. We show that our approach improves the state-of-the-art results for ego-motion estimation and achieve comparable results for depth estimation.
SCRDet++: Detecting Small, Cluttered and Rotated Objects via Instance-Level Feature Denoising and Rotation Loss Smoothing
Venue: arXiv cs.CV 2022
Year: 2022

Small and cluttered objects are common in real-world which are challenging for detection. The difficulty is further pronounced when the objects are rotated, as traditional detectors often routinely locate the objects in horizontal bounding box such that the region of interest is contaminated with background or nearby interleaved objects. In this paper, we first innovatively introduce the idea of denoising to object detection. Instance-level denoising on the feature map is performed to enhance the detection to small and cluttered objects. To handle the rotation variation, we also add a novel IoU constant factor to the smooth L1 loss to address the long standing boundary problem, which to our analysis, is mainly caused by the periodicity of angular (PoA) and exchangeability of edges (EoE). By combing these two features, our proposed detector is termed as SCRDet++. Extensive experiments are performed on large aerial images public datasets DOTA, DIOR, UCAS-AOD as well as natural image dataset COCO, scene text dataset ICDAR2015, small traffic light dataset BSTLD and our released S$^2$TLD by this paper. The results show the effectiveness of our approach. The released dataset S2TLD is made public available, which contains 5,786 images with 14,130 traffic light instances across five categories.
Generating and Adapting to Diverse Ad-Hoc Cooperation Agents in Hanabi
Venue: arXiv cs.AI 2022
Year: 2022

Hanabi is a cooperative game that brings the problem of modeling other players to the forefront. In this game, coordinated groups of players can leverage pre-established conventions to great effect, but playing in an ad-hoc setting requires agents to adapt to its partner's strategies with no previous coordination. Evaluating an agent in this setting requires a diverse population of potential partners, but so far, the behavioral diversity of agents has not been considered in a systematic way. This paper proposes Quality Diversity algorithms as a promising class of algorithms to generate diverse populations for this purpose, and generates a population of diverse Hanabi agents using MAP-Elites. We also postulate that agents can benefit from a diverse population during training and implement a simple "meta-strategy" for adapting to an agent's perceived behavioral niche. We show this meta-strategy can work better than generalist strategies even outside the population it was trained with if its partner's behavioral niche can be correctly inferred, but in practice a partner's behavior depends and interferes with the meta-agent's own behavior, suggesting an avenue for future research in characterizing another agent's behavior during gameplay.
Recovery of Behaviors Encoded via Bilateral Constraints
Venue: arXiv cs.RO 2022
Year: 2022

If robots are ever to achieve autonomous motion comparable to that exhibited by animals, they must acquire the ability to quickly recover motor behaviors when damage, malfunction, or environmental conditions compromise their ability to move effectively. We present an approach which allowed our robots and simulated robots to recover high-degree of freedom motor behaviors within a few dozen attempts. Our approach employs a behavior specification expressing the desired behaviors in terms as rank ordered differential constraints. We show how factoring these constraints through an encoding template produces a recipe for generalizing a previously optimized behavior to new circumstances in a form amenable to rapid learning. We further illustrate that adequate constraints are generically easy to determine in data-driven contexts. As illustration, we demonstrate our recovery approach on a physical 7 DOF hexapod robot, as well as a simulation of a 6 DOF 2D kinematic mechanism. In both cases we recovered a behavior functionally indistinguishable from the previously optimized motion.
Neural Lyapunov Control
Venue: arXiv cs.LG 2022
Year: 2022

We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and Lyapunov functions, and a falsifier that finds counterexamples to quickly guide the learner towards solutions. The procedure terminates when no counterexample is found by the falsifier, in which case the controlled nonlinear system is provably stable. The approach significantly simplifies the process of Lyapunov control design, provides end-to-end correctness guarantee, and can obtain much larger regions of attraction than existing methods such as LQR and SOS/SDP. We show experiments on how the new methods obtain high-quality solutions for challenging control problems.
Knowledge Base Completion: Baseline strikes back (Again)
Venue: arXiv cs.LG 2022
Year: 2022

Knowledge Base Completion (KBC) has been a very active area lately. Several recent KBCpapers propose architectural changes, new training methods, or even new formulations. KBC systems are usually evaluated on standard benchmark datasets: FB15k, FB15k-237, WN18, WN18RR, and Yago3-10. Most existing methods train with a small number of negative samples for each positive instance in these datasets to save computational costs. This paper discusses how recent developments allow us to use all available negative samples for training. We show that Complex, when trained using all available negative samples, gives near state-of-the-art performance on all the datasets. We call this approach COMPLEX-V2. We also highlight how various multiplicative KBC methods, recently proposed in the literature, benefit from this train-ing regime and become indistinguishable in terms of performance on most datasets. Our work calls for a reassessment of their individual value, in light of these findings.
A Finite Time Analysis of Two Time-Scale Actor Critic Methods
Venue: arXiv cs.LG 2022
Year: 2022

Actor-critic (AC) methods have exhibited great empirical success compared with other reinforcement learning algorithms, where the actor uses the policy gradient to improve the learning policy and the critic uses temporal difference learning to estimate the policy gradient. Under the two time-scale learning rate schedule, the asymptotic convergence of AC has been well studied in the literature. However, the non-asymptotic convergence and finite sample complexity of actor-critic methods are largely open. In this work, we provide a non-asymptotic analysis for two time-scale actor-critic methods under non-i.i.d. setting. We prove that the actor-critic method is guaranteed to find a first-order stationary point (i.e., $\|\nabla J(\boldsymbolθ)\|_2^2 \le ε$) of the non-concave performance function $J(\boldsymbolθ)$, with $\mathcal{\tilde{O}}(ε^{-2.5})$ sample complexity. To the best of our knowledge, this is the first work providing finite-time analysis and sample complexity bound for two time-scale actor-critic methods.
Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Venue: arXiv cs.RO 2022
Year: 2022

Robots operating in households must find objects on shelves, under tables, and in cupboards. In such environments, it is crucial to search efficiently at 3D scale while coping with limited field of view and the complexity of searching for multiple objects. Principled approaches to object search frequently use Partially Observable Markov Decision Process (POMDP) as the underlying framework for computing search strategies, but constrain the search space in 2D. In this paper, we present a POMDP formulation for multi-object search in a 3D region with a frustum-shaped field-of-view. To efficiently solve this POMDP, we propose a multi-resolution planning algorithm based on online Monte-Carlo tree search. In this approach, we design a novel octree-based belief representation to capture uncertainty of the target objects at different resolution levels, then derive abstract POMDPs at lower resolutions with dramatically smaller state and observation spaces. Evaluation in a simulated 3D domain shows that our approach finds objects more efficiently and successfully compared to a set of baselines without resolution hierarchy in larger instances under the same computational requirement. We demonstrate our approach on a mobile robot to find objects placed at different heights in two 10m$^2 \times 2$m regions by moving its base and actuating its torso.
Provable Training of a ReLU Gate with an Iterative Non-Gradient Algorithm
Venue: arXiv cs.LG 2022
Year: 2022

In this work, we demonstrate provable guarantees on the training of a single ReLU gate in hitherto unexplored regimes. We give a simple iterative stochastic algorithm that can train a ReLU gate in the realizable setting in linear time while using significantly milder conditions on the data distribution than previous such results. Leveraging certain additional moment assumptions, we also show a first-of-its-kind approximate recovery of the true label generating parameters under an (online) data-poisoning attack on the true labels, while training a ReLU gate by the same algorithm. Our guarantee is shown to be nearly optimal in the worst case and its accuracy of recovering the true weight degrades gracefully with increasing probability of attack and its magnitude. For both the realizable and the non-realizable cases as outlined above, our analysis allows for mini-batching and computes how the convergence time scales with the mini-batch size. We corroborate our theorems with simulation results which also bring to light a striking similarity in trajectories between our algorithm and the popular S.G.D. algorithm - for which similar guarantees as here are still unknown.
Improved Throughput for All-or-Nothing Multicommodity Flows with Arbitrary Demands
Venue: arXiv cs.DS 2022
Year: 2022

Throughput is a main performance objective in communication networks. This paper considers a fundamental maximum throughput routing problem -- the all-or-nothing multicommodity flow (ANF) problem -- in arbitrary directed graphs and in the practically relevant but challenging setting where demands can be (much) larger than the edge capacities. Hence, in addition to assigning requests to valid flows for each routed commodity, an admission control mechanism is required which prevents overloading the network when routing commodities. We make several contributions. On the theoretical side we obtain substantially improved bi-criteria approximation algorithms for this NP-hard problem. We present two non-trivial linear programming relaxations and show how to convert their fractional solutions into integer solutions via randomized rounding. One is an exponential-size formulation (solvable in polynomial time using a separation oracle) that considers a "packing" view and allows a more flexible approach, while the other is a compact (polynomial-size) edge-flow formulation that allows for easy solving via standard LP solvers. We obtain a polynomial-time randomized algorithm that yields an arbitrarily good approximation on the weighted throughput, while violating the edge capacity constraints by only a small multiplicative factor. We also describe a deterministic rounding algorithm by derandomization, using the method of pessimistic estimators. We complement our theoretical results with a proof of concept empirical evaluation.
CoSimGNN: Towards Large-scale Graph Similarity Computation
Venue: arXiv cs.LG 2022
Year: 2022

The ability to compute similarity scores between graphs based on metrics such as Graph Edit Distance (GED) is important in many real-world applications. Computing exact GED values is typically an NP-hard problem and traditional algorithms usually achieve an unsatisfactory trade-off between accuracy and efficiency. Recently, Graph Neural Networks (GNNs) provide a data-driven solution for this task, which is more efficient while maintaining prediction accuracy in small graph (around 10 nodes per graph) similarity computation. Existing GNN-based methods, which either respectively embeds two graphs (lack of low-level cross-graph interactions) or deploy cross-graph interactions for whole graph pairs (redundant and time-consuming), are still not able to achieve competitive results when the number of nodes in graphs increases. In this paper, we focus on similarity computation for large-scale graphs and propose the "embedding-coarsening-matching" framework CoSimGNN, which first embeds and coarsens large graphs with adaptive pooling operation and then deploys fine-grained interactions on the coarsened graphs for final similarity scores. Furthermore, we create several synthetic datasets which provide new benchmarks for graph similarity computation. Detailed experiments on both synthetic and real-world datasets have been conducted and CoSimGNN achieves the best performance while the inference time is at most 1/3 of that of previous state-of-the-art.
Information Design for Congested Social Services: Optimal Need-Based Persuasion
Venue: arXiv cs.GT 2022
Year: 2022

We study the effectiveness of information design in reducing congestion in social services catering to users with varied levels of need. In the absence of price discrimination and centralized admission, the provider relies on sharing information about wait times to improve welfare. We consider a stylized model with heterogeneous users who differ in their private outside options: low-need users have an acceptable outside option to the social service, whereas high-need users have no viable outside option. Upon arrival, a user decides to wait for the service by joining an unobservable first-come-first-serve queue, or leave and seek her outside option. To reduce congestion and improve social outcomes, the service provider seeks to persuade more low-need users to avail their outside option, and thus better serve high-need users. We characterize the Pareto-optimal signaling mechanisms and compare their welfare outcomes against several benchmarks. We show that if either type is the overwhelming majority of the population, information design does not provide improvement over sharing full information or no information. On the other hand, when the population is a mixture of the two types, information design not only Pareto dominates full-information and no-information mechanisms, in some regimes it also achieves the same welfare as the "first-best", i.e., the Pareto-optimal centralized admission policy with knowledge of users' types.
Rethinking and Improving Natural Language Generation with Layer-Wise Multi-View Decoding
Venue: arXiv cs.CL 2022
Year: 2022

In sequence-to-sequence learning, e.g., natural language generation, the decoder relies on the attention mechanism to efficiently extract information from the encoder. While it is common practice to draw information from only the last encoder layer, recent work has proposed to use representations from different encoder layers for diversified levels of information. Nonetheless, the decoder still obtains only a single view of the source sequences, which might lead to insufficient training of the encoder layer stack due to the hierarchy bypassing problem. In this work, we propose layer-wise multi-view decoding, where for each decoder layer, together with the representations from the last encoder layer, which serve as a global view, those from other encoder layers are supplemented for a stereoscopic view of the source sequences. Systematic experiments and analyses show that we successfully address the hierarchy bypassing problem, require almost negligible parameter increase, and substantially improve the performance of sequence-to-sequence learning with deep representations on five diverse tasks, i.e., machine translation, abstractive summarization, image captioning, video captioning, medical report generation, and paraphrase generation. In particular, our approach achieves new state-of-the-art results on ten benchmark datasets, including a low-resource machine translation dataset and two low-resource medical report generation datasets.
A faster reduction of the dynamic time warping distance to the longest increasing subsequence length
Venue: arXiv cs.DS 2022
Year: 2022

The similarity between a pair of time series, i.e., sequences of indexed values in time order, is often estimated by the dynamic time warping (DTW) distance, instead of any in the well-studied family of measures including the longest common subsequence (LCS) length and the edit distance. Although it may seem as if the DTW and the LCS(-like) measures are essentially different, we reveal that the DTW distance can be represented by the longest increasing subsequence (LIS) length of a sequence of integers, which is the LCS length between the integer sequence and itself sorted. For a given pair of time series of length $n$ such that the dissimilarity between any elements is an integer between zero and $c$, we propose an integer sequence that represents any substring-substring DTW distance as its band-substring LIS length. The length of the produced integer sequence is $O(c n^2)$, which can be translated to $O(n^2)$ for constant dissimilarity functions. To demonstrate that techniques developed under the LCS(-like) measures are directly applicable to analysis of time series via our reduction of DTW to LIS, we present time-efficient algorithms for DTW-related problems utilizing the semi-local sequence comparison technique developed for LCS-related problems.