OpenRaiser/Intern-Atlas huggingface dataset:
INDoRI: Indian Dataset of Recipes and Ingredients and its Ingredient Network
Venue: arXiv cs.SI 2023
Year: 2023

Exploring and comprehending the culinary heritage of a nation holds a captivating allure. It offers insights into the structure and qualities of its cuisine. The endeavor becomes more accessible with the availability of a well-organized dataset. In this paper, we present the introduction of INDoRI (Indian Dataset of Recipes and Ingredients), a compilation drawn from seven distinct online platforms, representing 18 regions within the Indian subcontinent. This comprehensive geographical span ensures a portrayal of the rich variety within culinary practices. Furthermore, we introduce a unique collection of stop words, referred to as ISW (Ingredient Stop Words), manually tuned for the culinary domain. We assess the validity of ISW in the context of global cuisines beyond Indian culinary tradition. Subsequently, an ingredient network (InN) is constructed, highlighting interconnections among ingredients sourced from different recipes. We delve into both the defining attributes of INDoRI and the communal dimensions of InN. Additionally, we outline the potential applications that can be developed leveraging this dataset. Addressing one of the applications, we demonstrated a research problem on InN with a simple weighted community detection algorithm. Furthermore, we provide a comparative analysis of the results obtained with this algorithm against those generated by two baselines.
Predicate Classification Using Optimal Transport Loss in Scene Graph Generation
Venue: arXiv cs.CV 2023
Year: 2023

In scene graph generation (SGG), learning with cross-entropy loss yields biased predictions owing to the severe imbalance in the distribution of the relationship labels in the dataset. Thus, this study proposes a method to generate scene graphs using optimal transport as a measure for comparing two probability distributions. We apply learning with the optimal transport loss, which reflects the similarity between the labels in terms of transportation cost, for predicate classification in SGG. In the proposed approach, the transportation cost of the optimal transport is defined using the similarity of words obtained from the pre-trained model. The experimental evaluation of the effectiveness demonstrates that the proposed method outperforms existing methods in terms of mean Recall@50 and 100. Furthermore, it improves the recall of the relationship labels scarcely available in the dataset.
LiDAR-Generated Images Derived Keypoints Assisted Point Cloud Registration Scheme in Odometry Estimation
Venue: arXiv cs.RO 2023
Year: 2023

Keypoint detection and description play a pivotal role in various robotics and autonomous applications including visual odometry (VO), visual navigation, and Simultaneous localization and mapping (SLAM). While a myriad of keypoint detectors and descriptors have been extensively studied in conventional camera images, the effectiveness of these techniques in the context of LiDAR-generated images, i.e. reflectivity and ranges images, has not been assessed. These images have gained attention due to their resilience in adverse conditions such as rain or fog. Additionally, they contain significant textural information that supplements the geometric information provided by LiDAR point clouds in the point cloud registration phase, especially when reliant solely on LiDAR sensors. This addresses the challenge of drift encountered in LiDAR Odometry (LO) within geometrically identical scenarios or where not all the raw point cloud is informative and may even be misleading. This paper aims to analyze the applicability of conventional image key point extractors and descriptors on LiDAR-generated images via a comprehensive quantitative investigation. Moreover, we propose a novel approach to enhance the robustness and reliability of LO. After extracting key points, we proceed to downsample the point cloud, subsequently integrating it into the point cloud registration phase for the purpose of odometry estimation. Our experiment demonstrates that the proposed approach has comparable accuracy but reduced computational overhead, higher odometry publishing rate, and even superior performance in scenarios prone to drift by using the raw point cloud. This, in turn, lays a foundation for subsequent investigations into the integration of LiDAR-generated images with LO. Our code is available on GitHub: https://github.com/TIERS/ws-lidar-as-camera-odom.
Toward Unified Controllable Text Generation via Regular Expression Instruction
Venue: arXiv cs.CL 2023
Year: 2023

Controllable text generation is a fundamental aspect of natural language generation, with numerous methods proposed for different constraint types. However, these approaches often require significant architectural or decoding modifications, making them challenging to apply to additional constraints or resolve different constraint combinations. To address this, our paper introduces Regular Expression Instruction (REI), which utilizes an instruction-based mechanism to fully exploit regular expressions' advantages to uniformly model diverse constraints. Specifically, our REI supports all popular fine-grained controllable generation constraints, i.e., lexical, positional, and length, as well as their complex combinations, via regular expression-style instructions. Our method only requires fine-tuning on medium-scale language models or few-shot, in-context learning on large language models, and requires no further adjustment when applied to various constraint combinations. Experiments demonstrate that our straightforward approach yields high success rates and adaptability to various constraints while maintaining competitiveness in automatic metrics and outperforming most previous baselines.
Computing the Weight Distribution of the Binary Reed-Muller Code ${\mathcal R} (4,9)$
Venue: arXiv cs.IT 2023
Year: 2023

We compute the weight distribution of the ${\mathcal R} (4,9)$ by combining the approach described in D. V. Sarwate's Ph.D. thesis from 1973 with knowledge on the affine equivalence classification of Boolean functions. To solve this problem posed, e.g., in the MacWilliams and Sloane book [p. 447], we apply a refined approach based on the classification of Boolean quartic forms in $8$ variables due to Ph. Langevin and G. Leander, and recent results on the classification of the quotient space ${\mathcal R} (4,7)/{\mathcal R} (2,7)$ due to V. Gillot and Ph. Langevin.
Modular Analysis of Distributed Hybrid Systems using Post-Regions (Full Version)
Venue: arXiv cs.LO 2023
Year: 2023

We introduce a new approach to analyze distributed hybrid systems by a generalization of rely-guarantee reasoning. First, we give a system for deductive verification of class invariants and method contracts in object-oriented distributed hybrid systems. In a hybrid setting, the object invariant must not only be the post-condition of a method, but also has to hold in the post-region of a method. The post-region describes all reachable states after method termination before another process is guaranteed to run. The system naturally generalizes rely-guarantee reasoning of discrete object-oriented languages to hybrid systems and carries over its modularity to hybrid systems: Only one dL-proof obligation is generated per method. The post-region can be approximated using lightweight analyses and we give a general notion of soundness for such analyses. Post-region based verification is implemented for the Hybrid Active Object language HABS.
A Configurable Library for Generating and Manipulating Maze Datasets
Venue: arXiv cs.LG 2023
Year: 2023

Understanding how machine learning models respond to distributional shifts is a key research challenge. Mazes serve as an excellent testbed due to varied generation algorithms offering a nuanced platform to simulate both subtle and pronounced distributional shifts. To enable systematic investigations of model behavior on out-of-distribution data, we present $\texttt{maze-dataset}$, a comprehensive library for generating, processing, and visualizing datasets consisting of maze-solving tasks. With this library, researchers can easily create datasets, having extensive control over the generation algorithm used, the parameters fed to the algorithm of choice, and the filters that generated mazes must satisfy. Furthermore, it supports multiple output formats, including rasterized and text-based, catering to convolutional neural networks and autoregressive transformer models. These formats, along with tools for visualizing and converting between them, ensure versatility and adaptability in research applications.
TELESIM: A Modular and Plug-and-Play Framework for Robotic Arm Teleoperation using a Digital Twin
Venue: arXiv cs.RO 2023
Year: 2023

We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37 participants on two different robots using two different control modalities: a virtual reality controller and a finger mapping hardware controller using different grasping systems. Users were asked to teleoperate the robot to pick and place 3 cubes in a tower and to repeat this task as many times as possible in 10 minutes, with only 5 minutes of training beforehand. Our experimental results show that most users were able to succeed by building at least a tower of 3 cubes regardless of the control modality or robot used, demonstrating the user-friendliness of TELESIM.
Adversarial Attacks Against Uncertainty Quantification
Venue: arXiv cs.CV 2023
Year: 2023

Machine-learning models can be fooled by adversarial examples, i.e., carefully-crafted input perturbations that force models to output wrong predictions. While uncertainty quantification has been recently proposed to detect adversarial inputs, under the assumption that such attacks exhibit a higher prediction uncertainty than pristine data, it has been shown that adaptive attacks specifically aimed at reducing also the uncertainty estimate can easily bypass this defense mechanism. In this work, we focus on a different adversarial scenario in which the attacker is still interested in manipulating the uncertainty estimate, but regardless of the correctness of the prediction; in particular, the goal is to undermine the use of machine-learning models when their outputs are consumed by a downstream module or by a human operator. Following such direction, we: \textit{(i)} design a threat model for attacks targeting uncertainty quantification; \textit{(ii)} devise different attack strategies on conceptually different UQ techniques spanning for both classification and semantic segmentation problems; \textit{(iii)} conduct a first complete and extensive analysis to compare the differences between some of the most employed UQ approaches under attack. Our extensive experimental analysis shows that our attacks are more effective in manipulating uncertainty quantification measures than attacks aimed to also induce misclassifications.
FRACAS: A FRench Annotated Corpus of Attribution relations in newS
Venue: arXiv cs.CL 2023
Year: 2023

Quotation extraction is a widely useful task both from a sociological and from a Natural Language Processing perspective. However, very little data is available to study this task in languages other than English. In this paper, we present a manually annotated corpus of 1676 newswire texts in French for quotation extraction and source attribution. We first describe the composition of our corpus and the choices that were made in selecting the data. We then detail the annotation guidelines and annotation process, as well as a few statistics about the final corpus and the obtained balance between quote types (direct, indirect and mixed, which are particularly challenging). We end by detailing our inter-annotator agreement between the 8 annotators who worked on manual labelling, which is substantially high for such a difficult linguistic phenomenon.
Improving Medical Dialogue Generation with Abstract Meaning Representations
Venue: arXiv cs.CL 2023
Year: 2023

Medical Dialogue Generation serves a critical role in telemedicine by facilitating the dissemination of medical expertise to patients. Existing studies focus on incorporating textual representations, which have limited their ability to represent the semantics of text, such as ignoring important medical entities. To enhance the model's understanding of the textual semantics and the medical knowledge including entities and relations, we introduce the use of Abstract Meaning Representations (AMR) to construct graphical representations that delineate the roles of language constituents and medical entities within the dialogues. In this paper, We propose a novel framework that models dialogues between patients and healthcare professionals using AMR graphs, where the neural networks incorporate textual and graphical knowledge with a dual attention mechanism. Experimental results show that our framework outperforms strong baseline models in medical dialogue generation, demonstrating the effectiveness of AMR graphs in enhancing the representations of medical knowledge and logical relationships. Furthermore, to support future research in this domain, we provide the corresponding source code at https://github.com/Bernard-Yang/MedDiaAMR.
An Extendable Python Implementation of Robust Optimisation Monte Carlo
Venue: arXiv cs.LG 2023
Year: 2023

Performing inference in statistical models with an intractable likelihood is challenging, therefore, most likelihood-free inference (LFI) methods encounter accuracy and efficiency limitations. In this paper, we present the implementation of the LFI method Robust Optimisation Monte Carlo (ROMC) in the Python package ELFI. ROMC is a novel and efficient (highly-parallelizable) LFI framework that provides accurate weighted samples from the posterior. Our implementation can be used in two ways. First, a scientist may use it as an out-of-the-box LFI algorithm; we provide an easy-to-use API harmonized with the principles of ELFI, enabling effortless comparisons with the rest of the methods included in the package. Additionally, we have carefully split ROMC into isolated components for supporting extensibility. A researcher may experiment with novel method(s) for solving part(s) of ROMC without reimplementing everything from scratch. In both scenarios, the ROMC parts can run in a fully-parallelized manner, exploiting all CPU cores. We also provide helpful functionalities for (i) inspecting the inference process and (ii) evaluating the obtained samples. Finally, we test the robustness of our implementation on some typical LFI examples.
Perceptual Factors for Environmental Modeling in Robotic Active Perception
Venue: arXiv cs.RO 2023
Year: 2023

Accurately assessing the potential value of new sensor observations is a critical aspect of planning for active perception. This task is particularly challenging when reasoning about high-level scene understanding using measurements from vision-based neural networks. Due to appearance-based reasoning, the measurements are susceptible to several environmental effects such as the presence of occluders, variations in lighting conditions, and redundancy of information due to similarity in appearance between nearby viewpoints. To address this, we propose a new active perception framework incorporating an arbitrary number of perceptual effects in planning and fusion. Our method models the correlation with the environment by a set of general functions termed perceptual factors to construct a perceptual map, which quantifies the aggregated influence of the environment on candidate viewpoints. This information is seamlessly incorporated into the planning and fusion processes by adjusting the uncertainty associated with measurements to weigh their contributions. We evaluate our perceptual maps in a simulated environment that reproduces environmental conditions common in robotics applications. Our results show that, by accounting for environmental effects within our perceptual maps, we improve in the state estimation by correctly selecting the viewpoints and considering the measurement noise correctly when affected by environmental factors. We furthermore deploy our approach on a ground robot to showcase its applicability for real-world active perception missions.
NusaWrites: Constructing High-Quality Corpora for Underrepresented and Extremely Low-Resource Languages
Venue: arXiv cs.CL 2023
Year: 2023

Democratizing access to natural language processing (NLP) technology is crucial, especially for underrepresented and extremely low-resource languages. Previous research has focused on developing labeled and unlabeled corpora for these languages through online scraping and document translation. While these methods have proven effective and cost-efficient, we have identified limitations in the resulting corpora, including a lack of lexical diversity and cultural relevance to local communities. To address this gap, we conduct a case study on Indonesian local languages. We compare the effectiveness of online scraping, human translation, and paragraph writing by native speakers in constructing datasets. Our findings demonstrate that datasets generated through paragraph writing by native speakers exhibit superior quality in terms of lexical diversity and cultural content. In addition, we present the \datasetname{} benchmark, encompassing 12 underrepresented and extremely low-resource languages spoken by millions of individuals in Indonesia. Our empirical experiment results using existing multilingual large language models conclude the need to extend these models to more underrepresented languages. We release the NusaWrites dataset at https://github.com/IndoNLP/nusa-writes.
OpenBA: An Open-sourced 15B Bilingual Asymmetric seq2seq Model Pre-trained from Scratch
Venue: arXiv cs.CL 2023
Year: 2023

Large language models (LLMs) with billions of parameters have demonstrated outstanding performance on various natural language processing tasks. This report presents OpenBA, an open-sourced 15B bilingual asymmetric seq2seq model, to contribute an LLM variant to the Chinese-oriented open-source model community. We enhance OpenBA with effective and efficient techniques as well as adopt a three-stage training strategy to train the model from scratch. Our solution can also achieve very competitive performance with only 380B tokens, which is better than LLaMA-70B on the BELEBELE benchmark, BLOOM-176B on the MMLU benchmark, GLM-130B on the C-Eval (hard) benchmark. This report provides the main details to pre-train an analogous model, including pre-training data processing, Bilingual Flan data collection, the empirical observations that inspire our model architecture design, training objectives of different stages, and other enhancement techniques. Additionally, we also provide the fine-tuning details of OpenBA on four downstream tasks. We have refactored our code to follow the design principles of the Huggingface Transformers Library, making it more convenient for developers to use, and released checkpoints of different training stages at https://huggingface.co/openBA. More details of our project are available at https://github.com/OpenNLG/openBA.git.
Monte-Carlo tree search with uncertainty propagation via optimal transport
Venue: arXiv cs.AI 2023
Year: 2023

This paper introduces a novel backup strategy for Monte-Carlo Tree Search (MCTS) designed for highly stochastic and partially observable Markov decision processes. We adopt a probabilistic approach, modeling both value and action-value nodes as Gaussian distributions. We introduce a novel backup operator that computes value nodes as the Wasserstein barycenter of their action-value children nodes; thus, propagating the uncertainty of the estimate across the tree to the root node. We study our novel backup operator when using a novel combination of $L^1$-Wasserstein barycenter with $α$-divergence, by drawing a notable connection to the generalized mean backup operator. We complement our probabilistic backup operator with two sampling strategies, based on optimistic selection and Thompson sampling, obtaining our Wasserstein MCTS algorithm. We provide theoretical guarantees of asymptotic convergence to the optimal policy, and an empirical evaluation on several stochastic and partially observable environments, where our approach outperforms well-known related baselines.
Combinatorial Contracts Beyond Gross Substitutes
Venue: arXiv cs.GT 2023
Year: 2023

We study the combinatorial contracting problem of Dütting et al. [FOCS '21], in which a principal seeks to incentivize an agent to take a set of costly actions. In their model, there is a binary outcome (the agent can succeed or fail), and the success probability and the costs depend on the set of actions taken. The optimal contract is linear, paying the agent an $α$ fraction of the reward. For gross substitutes (GS) rewards and additive costs, they give a poly-time algorithm for finding the optimal contract. They use the properties of GS functions to argue that there are poly-many "critical values" of $α$, and that one can iterate through all of them efficiently in order to find the optimal contract. In this work we study to which extent GS rewards and additive costs constitute a tractability frontier for combinatorial contracts. We present an algorithm that for any rewards and costs, enumerates all critical values, with poly-many demand queries (in the number of critical values). This implies the tractability of the optimal contract for any setting with poly-many critical values and efficient demand oracle. A direct corollary is a poly-time algorithm for the optimal contract in settings with supermodular rewards and submodular costs. We also study a natural class of matching-based instances with XOS rewards and additive costs. While the demand problem for this setting is tractable, we show that it admits an exponential number of critical values. On the positive side, we present (pseudo-) polynomial-time algorithms for two natural special cases of this setting. Our work unveils a profound connection to sensitivity analysis, and designates matching-based instances as a crucial focal point for gaining a deeper understanding of combinatorial contract settings.
Interactive Distillation of Large Single-Topic Corpora of Scientific Papers
Venue: arXiv cs.IR 2023
Year: 2023

Highly specific datasets of scientific literature are important for both research and education. However, it is difficult to build such datasets at scale. A common approach is to build these datasets reductively by applying topic modeling on an established corpus and selecting specific topics. A more robust but time-consuming approach is to build the dataset constructively in which a subject matter expert (SME) handpicks documents. This method does not scale and is prone to error as the dataset grows. Here we showcase a new tool, based on machine learning, for constructively generating targeted datasets of scientific literature. Given a small initial "core" corpus of papers, we build a citation network of documents. At each step of the citation network, we generate text embeddings and visualize the embeddings through dimensionality reduction. Papers are kept in the dataset if they are "similar" to the core or are otherwise pruned through human-in-the-loop selection. Additional insight into the papers is gained through sub-topic modeling using SeNMFk. We demonstrate our new tool for literature review by applying it to two different fields in machine learning.