OpenRaiser/Intern-Atlas huggingface dataset:
Provably Safe Reinforcement Learning: Conceptual Analysis, Survey, and Benchmarking
Venue: arXiv cs.LG 2023
Year: 2023

Ensuring the safety of reinforcement learning (RL) algorithms is crucial to unlock their potential for many real-world tasks. However, vanilla RL and most safe RL approaches do not guarantee safety. In recent years, several methods have been proposed to provide hard safety guarantees for RL, which is essential for applications where unsafe actions could have disastrous consequences. Nevertheless, there is no comprehensive comparison of these provably safe RL methods. Therefore, we introduce a categorization of existing provably safe RL methods, present the conceptual foundations for both continuous and discrete action spaces, and empirically benchmark existing methods. We categorize the methods based on how they adapt the action: action replacement, action projection, and action masking. Our experiments on an inverted pendulum and a quadrotor stabilization task indicate that action replacement is the best-performing approach for these applications despite its comparatively simple realization. Furthermore, adding a reward penalty, every time the safety verification is engaged, improved training performance in our experiments. Finally, we provide practical guidance on selecting provably safe RL approaches depending on the safety specification, RL algorithm, and type of action space.
MM-BD: Post-Training Detection of Backdoor Attacks with Arbitrary Backdoor Pattern Types Using a Maximum Margin Statistic
Venue: arXiv cs.LG 2023
Year: 2023

Backdoor attacks are an important type of adversarial threat against deep neural network classifiers, wherein test samples from one or more source classes will be (mis)classified to the attacker's target class when a backdoor pattern is embedded. In this paper, we focus on the post-training backdoor defense scenario commonly considered in the literature, where the defender aims to detect whether a trained classifier was backdoor-attacked without any access to the training set. Many post-training detectors are designed to detect attacks that use either one or a few specific backdoor embedding functions (e.g., patch-replacement or additive attacks). These detectors may fail when the backdoor embedding function used by the attacker (unknown to the defender) is different from the backdoor embedding function assumed by the defender. In contrast, we propose a post-training defense that detects backdoor attacks with arbitrary types of backdoor embeddings, without making any assumptions about the backdoor embedding type. Our detector leverages the influence of the backdoor attack, independent of the backdoor embedding mechanism, on the landscape of the classifier's outputs prior to the softmax layer. For each class, a maximum margin statistic is estimated. Detection inference is then performed by applying an unsupervised anomaly detector to these statistics. Thus, our detector does not need any legitimate clean samples, and can efficiently detect backdoor attacks with arbitrary numbers of source classes. These advantages over several state-of-the-art methods are demonstrated on four datasets, for three different types of backdoor patterns, and for a variety of attack configurations. Finally, we propose a novel, general approach for backdoor mitigation once a detection is made. The mitigation approach was the runner-up at the first IEEE Trojan Removal Competition. The code is online available.
Wrist-Squeezing Force Feedback Improves Accuracy and Speed in Robotic Surgery Training
Venue: arXiv cs.RO 2023
Year: 2023

Current robotic minimally invasive surgery (RMIS) platforms provide surgeons with no haptic feedback of the robot's physical interactions. This limitation forces surgeons to rely heavily on visual feedback and can make it challenging for surgical trainees to manipulate tissue gently. Prior research has demonstrated that haptic feedback can increase task accuracy in RMIS training. However, it remains unclear whether these improvements represent a fundamental improvement in skill, or if they simply stem from re-prioritizing accuracy over task completion time. In this study, we provide haptic feedback of the force applied by the surgical instruments using custom wrist-squeezing devices. We hypothesize that individuals receiving haptic feedback will increase accuracy (produce less force) while increasing their task completion time, compared to a control group receiving no haptic feedback. To test this hypothesis, N=21 novice participants were asked to repeatedly complete a ring rollercoaster surgical training task as quickly as possible. Results show that participants receiving haptic feedback apply significantly less force (0.67 N) than the control group, and they complete the task no faster or slower than the control group after twelve repetitions. Furthermore, participants in the feedback group decreased their task completion times significantly faster (7.68%) than participants in the control group (5.26%). This form of haptic feedback, therefore, has the potential to help trainees improve their technical accuracy without compromising speed.
Efficient Off-Policy Reinforcement Learning via Brain-Inspired Computing
Venue: arXiv cs.LG 2023
Year: 2023

Reinforcement Learning (RL) has opened up new opportunities to enhance existing smart systems that generally include a complex decision-making process. However, modern RL algorithms, e.g., Deep Q-Networks (DQN), are based on deep neural networks, resulting in high computational costs. In this paper, we propose QHD, an off-policy value-based Hyperdimensional Reinforcement Learning, that mimics brain properties toward robust and real-time learning. QHD relies on a lightweight brain-inspired model to learn an optimal policy in an unknown environment. On both desktop and power-limited embedded platforms, QHD achieves significantly better overall efficiency than DQN while providing higher or comparable rewards. QHD is also suitable for highly-efficient reinforcement learning with great potential for online and real-time learning. Our solution supports a small experience replay batch size that provides 12.3 times speedup compared to DQN while ensuring minimal quality loss. Our evaluation shows QHD capability for real-time learning, providing 34.6 times speedup and significantly better quality of learning than DQN.
Textual Explanations and Critiques in Recommendation Systems
Venue: arXiv cs.LG 2023
Year: 2023

Artificial intelligence and machine learning algorithms have become ubiquitous. Although they offer a wide range of benefits, their adoption in decision-critical fields is limited by their lack of interpretability, particularly with textual data. Moreover, with more data available than ever before, it has become increasingly important to explain automated predictions. Generally, users find it difficult to understand the underlying computational processes and interact with the models, especially when the models fail to generate the outcomes or explanations, or both, correctly. This problem highlights the growing need for users to better understand the models' inner workings and gain control over their actions. This dissertation focuses on two fundamental challenges of addressing this need. The first involves explanation generation: inferring high-quality explanations from text documents in a scalable and data-driven manner. The second challenge consists in making explanations actionable, and we refer to it as critiquing. This dissertation examines two important applications in natural language processing and recommendation tasks. Overall, we demonstrate that interpretability does not come at the cost of reduced performance in two consequential applications. Our framework is applicable to other fields as well. This dissertation presents an effective means of closing the gap between promise and practice in artificial intelligence.
Binarizing by Classification: Is soft function really necessary?
Venue: arXiv cs.CV 2023
Year: 2023

Binary neural networks leverage $\mathrm{Sign}$ function to binarize weights and activations, which require gradient estimators to overcome its non-differentiability and will inevitably bring gradient errors during backpropagation. Although many hand-designed soft functions have been proposed as gradient estimators to better approximate gradients, their mechanism is not clear and there are still huge performance gaps between binary models and their full-precision counterparts. To address these issues and reduce gradient error, we propose to tackle network binarization as a binary classification problem and use a multi-layer perceptron (MLP) as the classifier in the forward pass and gradient estimator in the backward pass. Benefiting from the MLP's theoretical capability to fit any continuous function, it can be adaptively learned to binarize networks and backpropagate gradients without any prior knowledge of soft functions. From this perspective, we further empirically justify that even a simple linear function can outperform previous complex soft functions. Extensive experiments demonstrate that the proposed method yields surprising performance both in image classification and human pose estimation tasks. Specifically, we achieve $65.7\%$ top-1 accuracy of ResNet-34 on ImageNet dataset, with an absolute improvement of $2.6\%$. Moreover, we take binarization as a lightweighting approach for pose estimation models and propose well-designed binary pose estimation networks SBPN and BHRNet. When evaluating on the challenging Microsoft COCO keypoint dataset, the proposed method enables binary networks to achieve a mAP of up to $60.6$ for the first time. Experiments conducted on real platforms demonstrate that BNN achieves a better balance between performance and computational complexity, especially when computational resources are extremely low.
Selfadhesivity in Gaussian conditional independence structures
Venue: arXiv cs.IT 2023
Year: 2023

Selfadhesivity is a property of entropic polymatroids which guarantees that the polymatroid can be glued to an identical copy of itself along arbitrary restrictions such that the two pieces are independent given the common restriction. We show that positive definite matrices satisfy this condition as well and examine consequences for Gaussian conditional independence structures. New axioms of Gaussian CI are obtained by applying selfadhesivity to the previously known axioms of structural semigraphoids and orientable gaussoids.
DDAC-SpAM: A Distributed Algorithm for Fitting High-dimensional Sparse Additive Models with Feature Division and Decorrelation
Venue: arXiv cs.LG 2023
Year: 2023

Distributed statistical learning has become a popular technique for large-scale data analysis. Most existing work in this area focuses on dividing the observations, but we propose a new algorithm, DDAC-SpAM, which divides the features under a high-dimensional sparse additive model. Our approach involves three steps: divide, decorrelate, and conquer. The decorrelation operation enables each local estimator to recover the sparsity pattern for each additive component without imposing strict constraints on the correlation structure among variables. The effectiveness and efficiency of the proposed algorithm are demonstrated through theoretical analysis and empirical results on both synthetic and real data. The theoretical results include both the consistent sparsity pattern recovery as well as statistical inference for each additive functional component. Our approach provides a practical solution for fitting sparse additive models, with promising applications in a wide range of domains.
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort
Venue: arXiv cs.RO 2023
Year: 2023

Multiquery planning algorithms find paths between various different starts and goals in a single search space. They are designed to do so efficiently by reusing information across planning queries. This information may be computed before or during the search and often includes knowledge of valid paths. Using known valid paths to solve an individual planning query takes less computational effort than finding a completely new solution. This allows multiquery algorithms, such as PRM*, to outperform single-query algorithms, such as RRT*, on many problems but their relative performance depends on how much information is reused. Despite this, few multiquery planners explicitly seek to maximize path reuse and, as a result, many do not consistently outperform single-query alternatives. This paper presents Effort Informed Roadmaps (EIRM*), an almost-surely asymptotically optimal multiquery planning algorithm that explicitly prioritizes reusing computational effort. EIRM* uses an asymmetric bidirectional search to identify existing paths that may help solve an individual planning query and then uses this information to order its search and reduce computational effort. This allows it to find initial solutions up to an order-of-magnitude faster than state-of-the-art planning algorithms on the tested abstract and robotic multiquery planning problems.
F3B: A Low-Overhead Blockchain Architecture with Per-Transaction Front-Running Protection
Venue: arXiv cs.CR 2023
Year: 2023

Front-running attacks, which benefit from advanced knowledge of pending transactions, have proliferated in the blockchain space since the emergence of decentralized finance. Front-running causes devastating losses to honest participants and continues to endanger the fairness of the ecosystem. We present Flash Freezing Flash Boys (F3B), a blockchain architecture that addresses front-running attacks by using threshold cryptography. In F3B, a user generates a symmetric key to encrypt their transaction, and once the underlying consensus layer has finalized the transaction, a decentralized secret-management committee reveals this key. F3B mitigates front-running attacks because, before the consensus group finalizes it, an adversary can no longer read the content of a transaction, thus preventing the adversary from benefiting from advanced knowledge of pending transactions. Unlike other mitigation systems, F3B properly ensures that all unfinalized transactions, even with significant delays, remain private by adopting per-transaction protection. Furthermore, F3B addresses front-running at the execution layer; thus, our solution is agnostic to the underlying consensus algorithm and compatible with existing smart contracts. We evaluated F3B on Ethereum with a modified execution layer and found only a negligible (0.026%) increase in transaction latency, specifically due to running threshold decryption with a 128-member secret-management committee after a transaction is finalized; this indicates that F3B is both practical and low-cost.
3D-VFD: A Victim-free Detector against 3D Adversarial Point Clouds
Venue: arXiv cs.MM 2023
Year: 2023

3D deep models consuming point clouds have achieved sound application effects in computer vision. However, recent studies have shown they are vulnerable to 3D adversarial point clouds. In this paper, we regard these malicious point clouds as 3D steganography examples and present a new perspective, 3D steganalysis, to counter such examples. Specifically, we propose 3D-VFD, a victim-free detector against 3D adversarial point clouds. Its core idea is to capture the discrepancies between residual geometric feature distributions of benign point clouds and adversarial point clouds and map these point clouds to a lower dimensional space where we can efficiently distinguish them. Unlike existing detection techniques against 3D adversarial point clouds, 3D-VFD does not rely on the victim 3D deep model's outputs for discrimination. Extensive experiments demonstrate that 3D-VFD achieves state-of-the-art detection and can effectively detect 3D adversarial attacks based on point adding and point perturbation while keeping fast detection speed.
Relation Extraction with Weighted Contrastive Pre-training on Distant Supervision
Venue: arXiv cs.CL 2023
Year: 2023

Contrastive pre-training on distant supervision has shown remarkable effectiveness in improving supervised relation extraction tasks. However, the existing methods ignore the intrinsic noise of distant supervision during the pre-training stage. In this paper, we propose a weighted contrastive learning method by leveraging the supervised data to estimate the reliability of pre-training instances and explicitly reduce the effect of noise. Experimental results on three supervised datasets demonstrate the advantages of our proposed weighted contrastive learning approach compared to two state-of-the-art non-weighted baselines.Our code and models are available at: https://github.com/YukinoWan/WCL
Finding Qs: Profiling QAnon Supporters on Parler
Venue: arXiv cs.SI 2023
Year: 2023

The social media platform "Parler" has emerged into a prominent fringe community where a significant part of the user base are self-reported supporters of QAnon, a far-right conspiracy theory alleging that a cabal of elites controls global politics. QAnon is considered to have had an influential role in the public discourse during the 2020 U.S. presidential election. However, little is known about QAnon supporters on Parler and what sets them aside from other users. Building up on social identity theory, we aim at profiling the characteristics of QAnon supporters on Parler. We analyze a large-scale dataset with more than 600,000 profiles of English-speaking users on Parler. Based on users' profiles, posts, and comments, we then extract a comprehensive set of user features, linguistic features, network features, and content features. This allows us to perform user profiling and understand to what extent these features discriminate between QAnon and non-QAnon supporters on Parler. Our analysis is three-fold: (1) We quantify the number of QAnon supporters on Parler, finding that 34,913 users (5.5% of all users) openly report to support the conspiracy. (2) We examine differences between QAnon vs. non-QAnon supporters. We find that QAnon supporters differ statistically significantly from non-QAnon supporters across multiple dimensions. For example, they have, on average, a larger number of followers, followees, and posts, and thus have a large impact on the Parler network. (3) We use machine learning to identify which user characteristics discriminate QAnon from non-QAnon supporters. We find that user features, linguistic features, network features, and content features, can - to a large extent - discriminate QAnon vs. non-QAnon supporters on Parler. In particular, we find that user features are highly discriminatory, followed by content features and linguistic features.
On the Effective Number of Linear Regions in Shallow Univariate ReLU Networks: Convergence Guarantees and Implicit Bias
Venue: arXiv cs.LG 2023
Year: 2023

We study the dynamics and implicit bias of gradient flow (GF) on univariate ReLU neural networks with a single hidden layer in a binary classification setting. We show that when the labels are determined by the sign of a target network with $r$ neurons, with high probability over the initialization of the network and the sampling of the dataset, GF converges in direction (suitably defined) to a network achieving perfect training accuracy and having at most $\mathcal{O}(r)$ linear regions, implying a generalization bound. Unlike many other results in the literature, under an additional assumption on the distribution of the data, our result holds even for mild over-parameterization, where the width is $\tilde{\mathcal{O}}(r)$ and independent of the sample size.
A Classification of $G$-invariant Shallow Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

When trying to fit a deep neural network (DNN) to a $G$-invariant target function with $G$ a group, it only makes sense to constrain the DNN to be $G$-invariant as well. However, there can be many different ways to do this, thus raising the problem of ``$G$-invariant neural architecture design'': What is the optimal $G$-invariant architecture for a given problem? Before we can consider the optimization problem itself, we must understand the search space, the architectures in it, and how they relate to one another. In this paper, we take a first step towards this goal; we prove a theorem that gives a classification of all $G$-invariant single-hidden-layer or ``shallow'' neural network ($G$-SNN) architectures with ReLU activation for any finite orthogonal group $G$, and we prove a second theorem that characterizes the inclusion maps or ``network morphisms'' between the architectures that can be leveraged during neural architecture search (NAS). The proof is based on a correspondence of every $G$-SNN to a signed permutation representation of $G$ acting on the hidden neurons; the classification is equivalently given in terms of the first cohomology classes of $G$, thus admitting a topological interpretation. The $G$-SNN architectures corresponding to nontrivial cohomology classes have, to our knowledge, never been explicitly identified in the literature previously. Using a code implementation, we enumerate the $G$-SNN architectures for some example groups $G$ and visualize their structure. Finally, we prove that architectures corresponding to inequivalent cohomology classes coincide in function space only when their weight matrices are zero, and we discuss the implications of this for NAS.
Frequency-Competitive Query Strategies to Maintain Low Congestion Potential Among Moving Entities
Venue: arXiv cs.CG 2023
Year: 2023

We consider the problem of using location queries to monitor the congestion potential among a collection of entities moving, with bounded speed but otherwise unpredictably, in $d$-dimensional Euclidean space. Uncertainty in entity locations due to potential motion between queries gives rise to a space of possible entity configurations at each moment in time, with possibly very different congestion properties. We define different measures of what we call the congestion potential of such spaces, in terms of the (dynamic) intersection graph of the uncertainty regions associated with entities, to describe the congestion that might actually occur. Previous work [SoCG'13, EuroCG'14, SICOMP'16, SODA'19], in the same uncertainty model, addressed the problem of minimizing congestion potential using location queries of some bounded frequency. It was shown that it is possible to design a query scheme that is $O(1)$-competitive, in terms of worst-case congestion potential, with other, even clairvoyant query schemes (that know the trajectories of all entities), subject to the same bound on query frequency. In this paper we address the dual problem: how to guarantee a fixed bound on congestion potential while minimizing the query frequency, measured in terms of total number of queries or the minimum spacing between queries (granularity), over any fixed time interval. This complementary objective necessitates quite different algorithms and analyses. Nevertheless, our results parallel those of the earlier papers, specifically tight competitive bounds on required query frequency, with a few surprising differences.
Training Vision-Language Transformers from Captions
Venue: arXiv cs.CV 2023
Year: 2023

Vision-Language Transformers can be learned without low-level human labels (e.g. class labels, bounding boxes, etc). Existing work, whether explicitly utilizing bounding boxes or patches, assumes that the visual backbone must first be trained on ImageNet class prediction before being integrated into a multimodal linguistic pipeline. We show that this is not necessary and introduce a new model Vision-Language from Captions (VLC) built on top of Masked Auto-Encoders that does not require this supervision. In fact, in a head-to-head comparison between ViLT, the current state-of-the-art patch-based vision-language transformer which is pretrained with supervised object classification, and our model, VLC, we find that our approach 1. outperforms ViLT on standard benchmarks, 2. provides more interpretable and intuitive patch visualizations, and 3. is competitive with many larger models that utilize ROIs trained on annotated bounding-boxes.