OpenRaiser/Intern-Atlas huggingface dataset:
Collective Vector Clocks: Low-Overhead Transparent Checkpointing for MPI
Venue: arXiv cs.DC 2023
Year: 2023

Taking snapshots of the state of a distributed computation is useful for off-line analysis of the computational state, for later restarting from the saved snapshot, for cloning a copy of the computation, and for migration to a new cluster. The problem is made more difficult when supporting collective operations across processes, such as barrier, reduce operations, scatter and gather, etc. Some processes may have reached the barrier or other collective operation, while other processes wait a long time to reach that same barrier or collective operation. At least two solutions are well-known in the literature: (I) draining in-flight network messages and then freezing the network at checkpoint time; and (ii) adding a barrier prior to the collective operation, and either completing the operation or aborting the barrier if not all processes are present. Both solutions suffer important drawbacks. The code in the first solution must be updated whenever one ports to a newer network. The second solution implies additional barrier-related network traffic prior to each collective operation. This work presents a third solution that avoids both drawbacks. There is no additional barrier-related traffic, and the solution is implemented entirely above the network layer. The work is demonstrated in the context of transparent checkpointing of MPI libraries for parallel computation, where each of the first two solutions have already been used in prior systems, and then abandoned due to the aforementioned drawbacks. Experiments demonstrate the low runtime overhead of this new, network-agnostic approach. The approach is also extended to non-blocking, collective operations in order to handle overlapping of computation and communication.
CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning
Venue: arXiv cs.RO 2023
Year: 2023

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop robots that can perform a wide range of skills and adapt to new scenarios, efficient methods for collecting vast and diverse amounts of data on physical robot systems are required, as well as the capability to train high-capacity policies using such datasets. In this work, we propose a framework for scaling robot learning, with specific focus on multi-task and multi-scene manipulation in kitchen environments, both in simulation and in the real world. Our proposed framework, CACTI, comprises four stages that separately handle: data collection, data augmentation, visual representation learning, and imitation policy training, to enable scalability in robot learning . We make use of state-of-the-art generative models as part of the data augmentation stage, and use pre-trained out-of-domain visual representations to improve training efficiency. Experimental results demonstrate the effectiveness of our approach. On a real robot setup, CACTI enables efficient training of a single policy that can perform 10 manipulation tasks involving kitchen objects, and is robust to varying layouts of distractors. In a simulated kitchen environment, CACTI trains a single policy to perform 18 semantic tasks across 100 layout variations for each individual task. We will release the simulation task benchmark and augmented datasets in both real and simulated environments to facilitate future research.
Satellite-based ITS Data Offloading & Computation in 6G Networks: A Cooperative Multi-Agent Proximal Policy Optimization DRL with Attention Approach
Venue: arXiv cs.NI 2023
Year: 2023

The proliferation of intelligent transportation systems (ITS) has led to increasing demand for diverse network applications. However, conventional terrestrial access networks (TANs) are inadequate in accommodating various applications for remote ITS nodes, i.e., airplanes and ships. In contrast, satellite access networks (SANs) offer supplementary support for TANs, in terms of coverage flexibility and availability. In this study, we propose a novel approach to ITS data offloading and computation services based on SANs. We use low-Earth orbit (LEO) and cube satellites (CubeSats) as independent mobile edge computing (MEC) servers that schedule the processing of data generated by ITS nodes. To optimize offloading task selection, computing, and bandwidth resource allocation for different satellite servers, we formulate a joint delay and rental price minimization problem that is mixed-integer non-linear programming (MINLP) and NP-hard. We propose a cooperative multi-agent proximal policy optimization (Co-MAPPO) deep reinforcement learning (DRL) approach with an attention mechanism to deal with intelligent offloading decisions. We also decompose the remaining subproblem into three independent subproblems for resource allocation and use convex optimization techniques to obtain their optimal closed-form analytical solutions. We conduct extensive simulations and compare our proposed approach to baselines, resulting in performance improvements of 9.9%, 5.2%, and 4.2%, respectively.
A Survey of Knowledge Graph Reasoning on Graph Types: Static, Dynamic, and Multimodal
Venue: arXiv cs.AI 2023
Year: 2023

Knowledge graph reasoning (KGR), aiming to deduce new facts from existing facts based on mined logic rules underlying knowledge graphs (KGs), has become a fast-growing research direction. It has been proven to significantly benefit the usage of KGs in many AI applications, such as question answering, recommendation systems, and etc. According to the graph types, existing KGR models can be roughly divided into three categories, i.e., static models, temporal models, and multi-modal models. Early works in this domain mainly focus on static KGR, and recent works try to leverage the temporal and multi-modal information, which are more practical and closer to real-world. However, no survey papers and open-source repositories comprehensively summarize and discuss models in this important direction. To fill the gap, we conduct a first survey for knowledge graph reasoning tracing from static to temporal and then to multi-modal KGs. Concretely, the models are reviewed based on bi-level taxonomy, i.e., top-level (graph types) and base-level (techniques and scenarios). Besides, the performances, as well as datasets, are summarized and presented. Moreover, we point out the challenges and potential opportunities to enlighten the readers. The corresponding open-source repository is shared on GitHub https://github.com/LIANGKE23/Awesome-Knowledge-Graph-Reasoning.
DeepCut: Unsupervised Segmentation using Graph Neural Networks Clustering
Venue: arXiv cs.CV 2023
Year: 2023

Image segmentation is a fundamental task in computer vision. Data annotation for training supervised methods can be labor-intensive, motivating unsupervised methods. Current approaches often rely on extracting deep features from pre-trained networks to construct a graph, and classical clustering methods like k-means and normalized-cuts are then applied as a post-processing step. However, this approach reduces the high-dimensional information encoded in the features to pair-wise scalar affinities. To address this limitation, this study introduces a lightweight Graph Neural Network (GNN) to replace classical clustering methods while optimizing for the same clustering objective function. Unlike existing methods, our GNN takes both the pair-wise affinities between local image features and the raw features as input. This direct connection between the raw features and the clustering objective enables us to implicitly perform classification of the clusters between different graphs, resulting in part semantic segmentation without the need for additional post-processing steps. We demonstrate how classical clustering objectives can be formulated as self-supervised loss functions for training an image segmentation GNN. Furthermore, we employ the Correlation-Clustering (CC) objective to perform clustering without defining the number of clusters, allowing for k-less clustering. We apply the proposed method for object localization, segmentation, and semantic part segmentation tasks, surpassing state-of-the-art performance on multiple benchmarks.
Hierarchical multimodal transformers for Multi-Page DocVQA
Venue: arXiv cs.CV 2023
Year: 2023

Document Visual Question Answering (DocVQA) refers to the task of answering questions from document images. Existing work on DocVQA only considers single-page documents. However, in real scenarios documents are mostly composed of multiple pages that should be processed altogether. In this work we extend DocVQA to the multi-page scenario. For that, we first create a new dataset, MP-DocVQA, where questions are posed over multi-page documents instead of single pages. Second, we propose a new hierarchical method, Hi-VT5, based on the T5 architecture, that overcomes the limitations of current methods to process long multi-page documents. The proposed method is based on a hierarchical transformer architecture where the encoder summarizes the most relevant information of every page and then, the decoder takes this summarized information to generate the final answer. Through extensive experimentation, we demonstrate that our method is able, in a single stage, to answer the questions and provide the page that contains the relevant information to find the answer, which can be used as a kind of explainability measure.
RPN: A Word Vector Level Data Augmentation Algorithm in Deep Learning for Language Understanding
Venue: arXiv cs.CL 2023
Year: 2023

Data augmentation is a widely used technique in machine learning to improve model performance. However, existing data augmentation techniques in natural language understanding (NLU) may not fully capture the complexity of natural language variations, and they can be challenging to apply to large datasets. This paper proposes the Random Position Noise (RPN) algorithm, a novel data augmentation technique that operates at the word vector level. RPN modifies the word embeddings of the original text by introducing noise based on the existing values of selected word vectors, allowing for more fine-grained modifications and better capturing natural language variations. Unlike traditional data augmentation methods, RPN does not require gradients in the computational graph during virtual sample updates, making it simpler to apply to large datasets. Experimental results demonstrate that RPN consistently outperforms existing data augmentation techniques across various NLU tasks, including sentiment analysis, natural language inference, and paraphrase detection. Moreover, RPN performs well in low-resource settings and is applicable to any model featuring a word embeddings layer. The proposed RPN algorithm is a promising approach for enhancing NLU performance and addressing the challenges associated with traditional data augmentation techniques in large-scale NLU tasks. Our experimental results demonstrated that the RPN algorithm achieved state-of-the-art performance in all seven NLU tasks, thereby highlighting its effectiveness and potential for real-world NLU applications.
Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces
Venue: arXiv cs.RO 2023
Year: 2023

Vanilla Reinforcement Learning (RL) can efficiently solve complex tasks but does not provide any guarantees on system behavior. To bridge this gap, we propose a three-step safe RL procedure for continuous action spaces that provides probabilistic guarantees with respect to temporal logic specifications. First, our approach probabilistically verifies a candidate controller with respect to a temporal logic specification while randomizing the control inputs to the system within a bounded set. Second, we improve the performance of this probabilistically verified controller by adding an RL agent that optimizes the verified controller for performance in the same bounded set around the control input. Third, we verify probabilistic safety guarantees with respect to temporal logic specifications for the learned agent. Our approach is efficiently implementable for continuous action and state spaces. The separation of safety verification and performance improvement into two distinct steps realizes both explicit probabilistic safety guarantees and a straightforward RL setup that focuses on performance. We evaluate our approach on an evasion task where a robot has to reach a goal while evading a dynamic obstacle with a specific maneuver. Our results show that our safe RL approach leads to efficient learning while maintaining its probabilistic safety specification.
ScanEnts3D: Exploiting Phrase-to-3D-Object Correspondences for Improved Visio-Linguistic Models in 3D Scenes
Venue: arXiv cs.CV 2023
Year: 2023

The two popular datasets ScanRefer [16] and ReferIt3D [3] connect natural language to real-world 3D data. In this paper, we curate a large-scale and complementary dataset extending both the aforementioned ones by associating all objects mentioned in a referential sentence to their underlying instances inside a 3D scene. Specifically, our Scan Entities in 3D (ScanEnts3D) dataset provides explicit correspondences between 369k objects across 84k natural referential sentences, covering 705 real-world scenes. Crucially, we show that by incorporating intuitive losses that enable learning from this novel dataset, we can significantly improve the performance of several recently introduced neural listening architectures, including improving the SoTA in both the Nr3D and ScanRefer benchmarks by 4.3% and 5.0%, respectively. Moreover, we experiment with competitive baselines and recent methods for the task of language generation and show that, as with neural listeners, 3D neural speakers can also noticeably benefit by training with ScanEnts3D, including improving the SoTA by 13.2 CIDEr points on the Nr3D benchmark. Overall, our carefully conducted experimental studies strongly support the conclusion that, by learning on ScanEnts3D, commonly used visio-linguistic 3D architectures can become more efficient and interpretable in their generalization without needing to provide these newly collected annotations at test time. The project's webpage is https://scanents3d.github.io/ .
Scalable and Sample Efficient Distributed Policy Gradient Algorithms in Multi-Agent Networked Systems
Venue: arXiv cs.MA 2023
Year: 2023

This paper studies a class of multi-agent reinforcement learning (MARL) problems where the reward that an agent receives depends on the states of other agents, but the next state only depends on the agent's own current state and action. We name it REC-MARL standing for REward-Coupled Multi-Agent Reinforcement Learning. REC-MARL has a range of important applications such as real-time access control and distributed power control in wireless networks. This paper presents a distributed policy gradient algorithm for REC-MARL. The proposed algorithm is distributed in two aspects: (i) the learned policy is a distributed policy that maps a local state of an agent to its local action and (ii) the learning/training is distributed, during which each agent updates its policy based on its own and neighbors' information. The learned algorithm achieves a stationary policy and its iterative complexity bounds depend on the dimension of local states and actions. The experimental results of our algorithm for the real-time access control and power control in wireless networks show that our policy significantly outperforms the state-of-the-art algorithms and well-known benchmarks.
Broadband Digital Over-the-Air Computation for Wireless Federated Edge Learning
Venue: arXiv cs.IT 2023
Year: 2023

This paper presents the first orthogonal frequency-division multiplexing(OFDM)-based digital over-the-air computation (AirComp) system for wireless federated edge learning, where multiple edge devices transmit model data simultaneously using non-orthogonal OFDM subcarriers, and the edge server aggregates data directly from the superimposed signal. Existing analog AirComp systems often assume perfect phase alignment via channel precoding and utilize uncoded analog transmission for model aggregation. In contrast, our digital AirComp system leverages digital modulation and channel codes to overcome phase asynchrony, thereby achieving accurate model aggregation for phase-asynchronous multi-user OFDM systems. To realize a digital AirComp system, we develop a medium access control (MAC) protocol that allows simultaneous transmissions from different users using non-orthogonal OFDM subcarriers, and put forth joint channel decoding and aggregation decoders tailored for convolutional and LDPC codes. To verify the proposed system design, we build a digital AirComp prototype on the USRP software-defined radio platform, and demonstrate a real-time LDPC-coded AirComp system with up to four users. Trace-driven simulation results on test accuracy versus SNR show that: 1) analog AirComp is sensitive to phase asynchrony in practical multi-user OFDM systems, and the test accuracy performance fails to improve even at high SNRs; 2) our digital AirComp system outperforms two analog AirComp systems at all SNRs, and approaches the optimal performance when SNR $\geq$ 6 dB for two-user LDPC-coded AirComp, demonstrating the advantage of digital AirComp in phase-asynchronous multi-user OFDM systems.
Simplicity Bias Leads to Amplified Performance Disparities
Venue: arXiv cs.LG 2023
Year: 2023

Which parts of a dataset will a given model find difficult? Recent work has shown that SGD-trained models have a bias towards simplicity, leading them to prioritize learning a majority class, or to rely upon harmful spurious correlations. Here, we show that the preference for "easy" runs far deeper: A model may prioritize any class or group of the dataset that it finds simple-at the expense of what it finds complex-as measured by performance difference on the test set. When subsets with different levels of complexity align with demographic groups, we term this difficulty disparity, a phenomenon that occurs even with balanced datasets that lack group/label associations. We show how difficulty disparity is a model-dependent quantity, and is further amplified in commonly-used models as selected by typical average performance scores. We quantify an amplification factor across a range of settings in order to compare disparity of different models on a fixed dataset. Finally, we present two real-world examples of difficulty amplification in action, resulting in worse-than-expected performance disparities between groups even when using a balanced dataset. The existence of such disparities in balanced datasets demonstrates that merely balancing sample sizes of groups is not sufficient to ensure unbiased performance. We hope this work presents a step towards measurable understanding of the role of model bias as it interacts with the structure of data, and call for additional model-dependent mitigation methods to be deployed alongside dataset audits.
Bridging Graph Position Encodings for Transformers with Weighted Graph-Walking Automata
Venue: arXiv cs.LG 2023
Year: 2023

A current goal in the graph neural network literature is to enable transformers to operate on graph-structured data, given their success on language and vision tasks. Since the transformer's original sinusoidal positional encodings (PEs) are not applicable to graphs, recent work has focused on developing graph PEs, rooted in spectral graph theory or various spatial features of a graph. In this work, we introduce a new graph PE, Graph Automaton PE (GAPE), based on weighted graph-walking automata (a novel extension of graph-walking automata). We compare the performance of GAPE with other PE schemes on both machine translation and graph-structured tasks, and we show that it generalizes several other PEs. An additional contribution of this study is a theoretical and controlled experimental comparison of many recent PEs in graph transformers, independent of the use of edge features.
Verifiable Coded Computation of Multiple Functions
Venue: arXiv cs.IT 2023
Year: 2023

We consider the problem of evaluating distinct multivariate polynomials over several massive datasets in a distributed computing system with a single master node and multiple worker nodes. We focus on the general case when each multivariate polynomial is evaluated over its corresponding dataset and propose a generalization of the Lagrange Coded Computing framework (Yu et al. 2019) to perform all computations simultaneously while providing robustness against stragglers who do not respond in time, adversarial workers who respond with wrong computation and information-theoretic security of dataset against colluding workers. Our scheme introduces a small computation overhead which results in a reduction in download cost and also offers comparable resistance to stragglers over existing solutions. On top of it, we also propose two verification schemes to detect the presence of adversaries, which leads to incorrect results, without involving additional nodes.
Understanding Translationese in Cross-Lingual Summarization
Venue: arXiv cs.CL 2023
Year: 2023

Given a document in a source language, cross-lingual summarization (CLS) aims at generating a concise summary in a different target language. Unlike monolingual summarization (MS), naturally occurring source-language documents paired with target-language summaries are rare. To collect large-scale CLS data, existing datasets typically involve translation in their creation. However, the translated text is distinguished from the text originally written in that language, i.e., translationese. In this paper, we first confirm that different approaches of constructing CLS datasets will lead to different degrees of translationese. Then we systematically investigate how translationese affects CLS model evaluation and performance when it appears in source documents or target summaries. In detail, we find that (1) the translationese in documents or summaries of test sets might lead to the discrepancy between human judgment and automatic evaluation; (2) the translationese in training sets would harm model performance in real-world applications; (3) though machine-translated documents involve translationese, they are very useful for building CLS systems on low-resource languages under specific training strategies. Lastly, we give suggestions for future CLS research including dataset and model developments. We hope that our work could let researchers notice the phenomenon of translationese in CLS and take it into account in the future.
Geometric Algebra for Optimal Control with Applications in Manipulation Tasks
Venue: arXiv cs.RO 2023
Year: 2023

Many problems in robotics are fundamentally problems of geometry, which lead to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra and dual quaternions. A unification and generalization of these popular formalisms can be found in geometric algebra. The aim of this paper is to showcase the capabilities of geometric algebra when applied to robot manipulation tasks. In particular the modelling of cost functions for optimal control can be done uniformly across different geometric primitives leading to a low symbolic complexity of the resulting expressions and a geometric intuitiveness. We demonstrate the usefulness, simplicity and computational efficiency of geometric algebra in several experiments using a Franka Emika robot. The presented algorithms were implemented in c++20 and resulted in the publicly available library \textit{gafro}. The benchmark shows faster computation of the kinematics than state-of-the-art robotics libraries.