OpenRaiser/Intern-Atlas huggingface dataset:
Graph-Based Multi-Robot Path Finding and Planning
Venue: arXiv cs.RO 2022
Year: 2022

Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys different categories of classic and state-of-the-art MAPF algorithms and different research attempts to tackle the challenges of generalizing MAPF techniques to real-world scenarios. Recent Findings Solving MAPF problems optimally is computationally challenging. Recent advances have resulted in MAPF algorithms that can compute collision-free paths for hundreds of robots and thousands of navigation tasks in seconds of runtime. Many variants of MAPF have been formalized to adapt MAPF techniques to different real-world requirements, such as considerations of robot kinematics, online optimization for real-time systems, and the integration of task assignment and path planning. Summary Algorithmic techniques for MAPF problems have addressed important aspects of several multi-robot applications, including automated warehouse fulfillment and sortation, automated train scheduling, and navigation of non-holonomic robots and quadcopters. This showcases their potential for real-world applications of large-scale multi-robot systems.
DP-Parse: Finding Word Boundaries from Raw Speech with an Instance Lexicon
Venue: arXiv cs.CL 2022
Year: 2022

Finding word boundaries in continuous speech is challenging as there is little or no equivalent of a 'space' delimiter between words. Popular Bayesian non-parametric models for text segmentation use a Dirichlet process to jointly segment sentences and build a lexicon of word types. We introduce DP-Parse, which uses similar principles but only relies on an instance lexicon of word tokens, avoiding the clustering errors that arise with a lexicon of word types. On the Zero Resource Speech Benchmark 2017, our model sets a new speech segmentation state-of-the-art in 5 languages. The algorithm monotonically improves with better input representations, achieving yet higher scores when fed with weakly supervised inputs. Despite lacking a type lexicon, DP-Parse can be pipelined to a language model and learn semantic and syntactic representations as assessed by a new spoken word embedding benchmark.
Communication by Means of Thermal Noise: Towards Networks with Extremely Low Power Consumption
Venue: arXiv cs.IT 2022
Year: 2022

In this paper, the paradigm of thermal noise communication (TherCom) is put forward for future wired/wireless networks with extremely low power consumption. Taking backscatter communication (BackCom) and reconfigurable intelligent surface (RIS)-based radio frequency chain-free transmitters one step further, a thermal noise-driven transmitter might enable zero-signal-power transmission by simply indexing resistors or other noise sources according to information bits. This preliminary paper aims to shed light on the theoretical foundations, transceiver designs, and error performance derivations as well as optimizations of two emerging TherCom solutions: Kirchhoff-law-Johnson-noise (KLJN) secure bit exchange and wireless thermal noise modulation (TherMod) schemes. Our theoretical and computer simulation findings reveal that noise variance detection, supported by sample variance estimation with carefully optimized decision thresholds, is a reliable way of extracting the embedded information from noise modulated signals, even with limited number of noise samples.
Prompt Injection: Parameterization of Fixed Inputs
Venue: arXiv cs.LG 2022
Year: 2022

Recent works have shown that attaching prompts to the input is effective at conditioning Language Models (LM) to perform specific tasks. However, prompts are always included in the input text during inference, thus incurring substantial computational and memory overhead. Also, there is currently no straightforward method of utilizing prompts that are longer than the maximum input length of the LMs without incurring additional costs during inference. We propose Prompt Injection (PI), a novel formulation of injecting the prompt into the parameters of an LM to be an efficient alternative to attaching fixed prompts to the input. We show that in scenarios with long fixed prompts, PI can be up to 280 times more efficient in terms of total FLOPs than previous approaches. We further explore methodologies for PI and show promising results in persona-dependent conversation, semantic parsing, and zero-shot learning with task instructions. Through these explorations, we show that PI can be a promising direction for conditioning language models, especially in scenarios with long and fixed prompts.
Continual Learning for Affective Robotics: A Proof of Concept for Wellbeing
Venue: arXiv cs.HC 2022
Year: 2022

Sustaining real-world human-robot interactions requires robots to be sensitive to human behavioural idiosyncrasies and adapt their perception and behaviour models to cater to these individual preferences. For affective robots, this entails learning to adapt to individual affective behaviour to offer a personalised interaction experience to each individual. Continual Learning (CL) has been shown to enable real-time adaptation in agents, allowing them to learn with incrementally acquired data while preserving past knowledge. In this work, we present a novel framework for real-world application of CL for modelling personalised human-robot interactions using a CL-based affect perception mechanism. To evaluate the proposed framework, we undertake a proof-of-concept user study with 20 participants interacting with the Pepper robot using three variants of interaction behaviour: static and scripted, using affect-based adaptation without personalisation, and using affect-based adaptation with continual personalisation. Our results demonstrate a clear preference in the participants for CL-based continual personalisation with significant improvements observed in the robot's anthropomorphism, animacy and likeability ratings as well as the interactions being rated significantly higher for warmth and comfort as the robot is rated as significantly better at understanding how the participants feel.
Complementary datasets to COCO for object detection
Venue: arXiv cs.CV 2022
Year: 2022

For nearly a decade, the COCO dataset has been the central test bed of research in object detection. According to the recent benchmarks, however, it seems that performance on this dataset has started to saturate. One possible reason can be that perhaps it is not large enough for training deep models. To address this limitation, here we introduce two complementary datasets to COCO: i) COCO_OI, composed of images from COCO and OpenImages (from their 80 classes in common) with 1,418,978 training bounding boxes over 380,111 images, and 41,893 validation bounding boxes over 18,299 images, and ii) ObjectNet_D containing objects in daily life situations (originally created for object recognition known as ObjectNet; 29 categories in common with COCO). The latter can be used to test the generalization ability of object detectors. We evaluate some models on these datasets and pinpoint the source of errors. We encourage the community to utilize these datasets for training and testing object detection models. Code and data is available at https://github.com/aliborji/COCO_OI.
Evolutionary Time-Use Optimization for Improving Children's Health Outcomes
Venue: arXiv cs.NE 2022
Year: 2022

How someone allocates their time is important to their health and well-being. In this paper, we show how evolutionary algorithms can be used to promote health and well-being by optimizing time usage. Based on data from a large population-based child cohort, we design fitness functions to explain health outcomes and introduce constraints for viable time plans. We then investigate the performance of evolutionary algorithms to optimize time use for four individual health outcomes with hypothetical children with different day structures. As the four health outcomes are competing for time allocations, we study how to optimize multiple health outcomes simultaneously in the form of a multi-objective optimization problem. We optimize one-week time-use plans using evolutionary multi-objective algorithms and point out the trade-offs achievable with respect to different health outcomes.
Mining Error Templates for Grammatical Error Correction
Venue: arXiv cs.CL 2022
Year: 2022

Some grammatical error correction (GEC) systems incorporate hand-crafted rules and achieve positive results. However, manually defining rules is time-consuming and laborious. In view of this, we propose a method to mine error templates for GEC automatically. An error template is a regular expression aiming at identifying text errors. We use the web crawler to acquire such error templates from the Internet. For each template, we further select the corresponding corrective action by using the language model perplexity as a criterion. We have accumulated 1,119 error templates for Chinese GEC based on this method. Experimental results on the newly proposed CTC-2021 Chinese GEC benchmark show that combing our error templates can effectively improve the performance of a strong GEC system, especially on two error types with very little training data. Our error templates are available at \url{https://github.com/HillZhang1999/gec_error_template}.
Capacity Optimality of OAMP in Coded Large Unitarily Invariant Systems
Venue: arXiv cs.IT 2022
Year: 2022

This paper investigates a large unitarily invariant system (LUIS) involving a unitarily invariant sensing matrix, an arbitrary fixed signal distribution, and forward error control (FEC) coding. Several area properties are established based on the state evolution of orthogonal approximate message passing (OAMP) in an un-coded LUIS. Under the assumptions that the state evolution for joint OAMP and FEC decoding is correct and the replica method is reliable, we analyze the achievable rate of OAMP. We prove that OAMP reaches the constrained capacity predicted by the replica method of the LUIS with an arbitrary signal distribution based on matched FEC coding. Meanwhile, we elaborate a constrained capacity-achieving coding principle for LUIS, based on which irregular low-density parity-check (LDPC) codes are optimized for binary signaling in the simulation results. We show that OAMP with the optimized codes has significant performance improvement over the un-optimized ones and the well-known Turbo linear MMSE algorithm. For quadrature phase-shift keying (QPSK) modulation, constrained capacity-approaching bit error rate (BER) performances are observed under various channel conditions.
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
Venue: arXiv cs.RO 2022
Year: 2022

Learning agile skills is one of the main challenges in robotics. To this end, reinforcement learning approaches have achieved impressive results. These methods require explicit task information in terms of a reward function or an expert that can be queried in simulation to provide a target control output, which limits their applicability. In this work, we propose a generative adversarial method for inferring reward functions from partial and potentially physically incompatible demonstrations for successful skill acquirement where reference or expert demonstrations are not easily accessible. Moreover, we show that by using a Wasserstein GAN formulation and transitions from demonstrations with rough and partial information as input, we are able to extract policies that are robust and capable of imitating demonstrated behaviors. Finally, the obtained skills such as a backflip are tested on an agile quadruped robot called Solo 8 and present faithful replication of hand-held human demonstrations.
Cooperative Hybrid Networks with Active Relays and RISs for B5G: Applications, Challenges, and Research Directions
Venue: arXiv cs.IT 2022
Year: 2022

Among the recent advances and innovations in wireless technologies, reconfigurable intelligent surfaces (RISs) have received much attention and are envisioned to be one of the enabling technologies for beyond 5G (B5G) networks. On the other hand, active (or classical) cooperative relays have played a key role in providing reliable and power-efficient communications in previous wireless generations. In this article, we focus on hybrid network architectures that amalgamate both active relays and RISs. The operation concept and protocols of each technology are first discussed. Subsequently, we present multiple use cases of cooperative hybrid networks where both active relays and RISs can coexist harmoniously for enhanced rate performance. Furthermore, a case study is provided which demonstrates the achievable rate performance of a communication network assisted by either an active relay, an RIS, or both, and with different relaying protocols. Finally, we provide the reader with the challenges and key research directions in this area.
Reinforcement Learning under Partial Observability Guided by Learned Environment Models
Venue: arXiv cs.LG 2022
Year: 2022

In practical applications, we can rarely assume full observability of a system's environment, despite such knowledge being important for determining a reactive control system's precise interaction with its environment. Therefore, we propose an approach for reinforcement learning (RL) in partially observable environments. While assuming that the environment behaves like a partially observable Markov decision process with known discrete actions, we assume no knowledge about its structure or transition probabilities. Our approach combines Q-learning with IoAlergia, a method for learning Markov decision processes (MDP). By learning MDP models of the environment from episodes of the RL agent, we enable RL in partially observable domains without explicit, additional memory to track previous interactions for dealing with ambiguities stemming from partial observability. We instead provide RL with additional observations in the form of abstract environment states by simulating new experiences on learned environment models to track the explored states. In our evaluation, we report on the validity of our approach and its promising performance in comparison to six state-of-the-art deep RL techniques with recurrent neural networks and fixed memory.
Measurement and applications of position bias in a marketplace search engine
Venue: arXiv cs.IR 2022
Year: 2022

Search engines intentionally influence user behavior by picking and ranking the list of results. Users engage with the highest results both because of their prominent placement and because they are typically the most relevant documents. Search engine ranking algorithms need to identify relevance while incorporating the influence of the search engine itself. This paper describes our efforts at Thumbtack to understand the impact of ranking, including the empirical results of a randomization program. In the context of a consumer marketplace we discuss practical details of model choice, experiment design, bias calculation, and machine learning model adaptation. We include a novel discussion of how ranking bias may not only affect labels, but also model features. The randomization program led to improved models, motivated internal scenario analysis, and enabled user-facing scenario tooling.
Graph Neural Networks for Temperature-Dependent Activity Coefficient Prediction of Solutes in Ionic Liquids
Venue: arXiv cs.LG 2022
Year: 2022

Ionic liquids (ILs) are important solvents for sustainable processes and predicting activity coefficients (ACs) of solutes in ILs is needed. Recently, matrix completion methods (MCMs), transformers, and graph neural networks (GNNs) have shown high accuracy in predicting ACs of binary mixtures, superior to well-established models, e.g., COSMO-RS and UNIFAC. GNNs are particularly promising here as they learn a molecular graph-to-property relationship without pretraining, typically required for transformers, and are, unlike MCMs, applicable to molecules not included in training. For ILs, however, GNN applications are currently missing. Herein, we present a GNN to predict temperature-dependent infinite dilution ACs of solutes in ILs. We train the GNN on a database including more than 40,000 AC values and compare it to a state-of-the-art MCM. The GNN and MCM achieve similar high prediction performance, with the GNN additionally enabling high-quality predictions for ACs of solutions that contain ILs and solutes not considered during training.
Formalizing the Problem of Side Effect Regularization
Venue: arXiv cs.AI 2022
Year: 2022

AI objectives are often hard to specify properly. Some approaches tackle this problem by regularizing the AI's side effects: Agents must weigh off "how much of a mess they make" with an imperfectly specified proxy objective. We propose a formal criterion for side effect regularization via the assistance game framework. In these games, the agent solves a partially observable Markov decision process (POMDP) representing its uncertainty about the objective function it should optimize. We consider the setting where the true objective is revealed to the agent at a later time step. We show that this POMDP is solved by trading off the proxy reward with the agent's ability to achieve a range of future tasks. We empirically demonstrate the reasonableness of our problem formalization via ground-truth evaluation in two gridworld environments.
Analysis of account behaviors in Ethereum during an economic impact event
Venue: arXiv cs.SI 2022
Year: 2022

One of the main events that involve the world economy in 2022 is the conflict between Russia and Ukraine. This event offers a rare opportunity to analyze how events of this magnitude can reflect the use of cryptocurrencies. This work aims to investigate the behavior of accounts and their transactions on the Ethereum cryptocurrency during this event. To this end, we collected all transactions that occurred two weeks before and two weeks after the beginning of the conflict, organized into two groups: the collection of the accounts involved in these transactions and the subset of these ones that interacted with a service in Ethereum, called Flashbots Auction. We modeled temporal graphs where each node represents an account, and each edge represents a transaction between two accounts. Then, we analyzed the behavior of these accounts with graph metrics for both groups during each observed week. The results showed changes in the behavior and activity of users and their accounts, as well as variations in the daily volume of transactions.
CHEF: A Pilot Chinese Dataset for Evidence-Based Fact-Checking
Venue: arXiv cs.CL 2022
Year: 2022

The explosion of misinformation spreading in the media ecosystem urges for automated fact-checking. While misinformation spans both geographic and linguistic boundaries, most work in the field has focused on English. Datasets and tools available in other languages, such as Chinese, are limited. In order to bridge this gap, we construct CHEF, the first CHinese Evidence-based Fact-checking dataset of 10K real-world claims. The dataset covers multiple domains, ranging from politics to public health, and provides annotated evidence retrieved from the Internet. Further, we develop established baselines and a novel approach that is able to model the evidence retrieval as a latent variable, allowing jointly training with the veracity prediction model in an end-to-end fashion. Extensive experiments show that CHEF will provide a challenging testbed for the development of fact-checking systems designed to retrieve and reason over non-English claims.
Romantic-Computing
Venue: arXiv cs.CL 2022
Year: 2022

In this paper we compare various text generation models' ability to write poetry in the style of early English Romanticism. These models include: Character-Level Recurrent Neural Networks with Long Short-Term Memory, Hugging Face's GPT-2, OpenAI's GPT-3, and EleutherAI's GPT-NEO. Quality was measured based syllable count and coherence with the automatic evaluation metric GRUEN. Character-Level Recurrent Neural Networks performed far worse compared to transformer models. And, as parameter-size increased, the quality of transformer models' poems improved. These models are typically not compared in a creative context, and we are happy to contribute.
BOS at LSCDiscovery: Lexical Substitution for Interpretable Lexical Semantic Change Detection
Venue: arXiv cs.CL 2022
Year: 2022

We propose a solution for the LSCDiscovery shared task on Lexical Semantic Change Detection in Spanish. Our approach is based on generating lexical substitutes that describe old and new senses of a given word. This approach achieves the second best result in sense loss and sense gain detection subtasks. By observing those substitutes that are specific for only one time period, one can understand which senses were obtained or lost. This allows providing more detailed information about semantic change to the user and makes our method interpretable.
A Topological characterisation of Weisfeiler-Leman equivalence classes
Venue: arXiv cs.LG 2022
Year: 2022

Graph Neural Networks (GNNs) are learning models aimed at processing graphs and signals on graphs. The most popular and successful GNNs are based on message passing schemes. Such schemes inherently have limited expressive power when it comes to distinguishing two non-isomorphic graphs. In this article, we rely on the theory of covering spaces to fully characterize the classes of graphs that GNNs cannot distinguish. We then generate arbitrarily many non-isomorphic graphs that cannot be distinguished by GNNs, leading to the GraphCovers dataset. We also show that the number of indistinguishable graphs in our dataset grows super-exponentially with the number of nodes. Finally, we test the GraphCovers dataset on several GNN architectures, showing that none of them can distinguish any two graphs it contains.
Augmenting differentiable physics with randomized smoothing
Venue: arXiv cs.RO 2022
Year: 2022

In the past few years, following the differentiable programming paradigm, there has been a growing interest in computing the gradient information of physical processes (e.g., physical simulation, image rendering). However, such processes may be non-differentiable or yield uninformative gradients (i.d., null almost everywhere). When faced with the former pitfalls, gradients estimated via analytical expression or numerical techniques such as automatic differentiation and finite differences, make classical optimization schemes converge towards poor quality solutions. Thus, relying only on the local information provided by these gradients is often not sufficient to solve advanced optimization problems involving such physical processes, notably when they are subject to non-smoothness and non-convexity issues.In this work, inspired by the field of zero-th order optimization, we leverage randomized smoothing to augment differentiable physics by estimating gradients in a neighborhood. Our experiments suggest that integrating this approach inside optimization algorithms may be fruitful for tasks as varied as mesh reconstruction from images or optimal control of robotic systems subject to contact and friction issues.