OpenRaiser/Intern-Atlas huggingface dataset:
ModularFed: Leveraging Modularity in Federated Learning Frameworks
Venue: arXiv cs.DC 2022
Year: 2022

Numerous research recently proposed integrating Federated Learning (FL) to address the privacy concerns of using machine learning in privacy-sensitive firms. However, the standards of the available frameworks can no longer sustain the rapid advancement and hinder the integration of FL solutions, which can be prominent in advancing the field. In this paper, we propose ModularFed, a research-focused framework that addresses the complexity of FL implementations and the lack of adaptability and extendability in the available frameworks. We provide a comprehensive architecture that assists FL approaches through well-defined protocols to cover three dominant FL paradigms: adaptable workflow, datasets distribution, and third-party application support. Within this architecture, protocols are blueprints that strictly define the framework's components' design, contribute to its flexibility, and strengthen its infrastructure. Further, our protocols aim to enable modularity in FL, supporting third-party plug-and-play architecture and dynamic simulators coupled with major built-in data distributors in the field. Additionally, the framework support wrapping multiple approaches in a single environment to enable consistent replication of FL issues such as clients' deficiency, data distribution, and network latency, which entails a fair comparison of techniques outlying FL technologies. In our evaluation, we examine the applicability of our framework addressing three major FL domains, including statistical distribution and modular-based approaches for resource monitoring and client selection.
Parameter-efficient Zero-shot Transfer for Cross-Language Dense Retrieval with Adapters
Venue: arXiv cs.IR 2022
Year: 2022

A popular approach to creating a zero-shot cross-language retrieval model is to substitute a monolingual pretrained language model in the retrieval model with a multilingual pretrained language model such as Multilingual BERT. This multilingual model is fined-tuned to the retrieval task with monolingual data such as English MS MARCO using the same training recipe as the monolingual retrieval model used. However, such transferred models suffer from mismatches in the languages of the input text during training and inference. In this work, we propose transferring monolingual retrieval models using adapters, a parameter-efficient component for a transformer network. By adding adapters pretrained on language tasks for a specific language with task-specific adapters, prior work has shown that the adapter-enhanced models perform better than fine-tuning the entire model when transferring across languages in various NLP tasks. By constructing dense retrieval models with adapters, we show that models trained with monolingual data are more effective than fine-tuning the entire model when transferring to a Cross Language Information Retrieval (CLIR) setting. However, we found that the prior suggestion of replacing the language adapters to match the target language at inference time is suboptimal for dense retrieval models. We provide an in-depth analysis of this discrepancy between other cross-language NLP tasks and CLIR.
Continuous Trajectory Optimization via B-splines for Multi-jointed Robotic Systems
Venue: arXiv cs.RO 2022
Year: 2022

Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel B-spline based trajectory optimization method for multi-jointed robots that provides a continuous trajectory with guaranteed continuous constraints satisfaction. At the core of this method, B-spline basic operations, like addition, multiplication, and derivative, are rigorously defined and applied for problem formulation. B-spline unique characteristics, such as the convex hull and smooth curves properties, are utilized to reformulate the original continuous optimization problem into a finite-dimensional problem. Collision avoidance with static obstacles is achieved using the signed distance field, while that with dynamic obstacles is accomplished via constructing time-varying separating hyperplanes. Simulation results on various robots validate the effectiveness of the algorithm. In addition, this paper provides experimental validations with a 6-link FANUC robot avoiding static and moving obstacles.
A Length-Extrapolatable Transformer
Venue: arXiv cs.CL 2022
Year: 2022

Position modeling plays a critical role in Transformers. In this paper, we focus on length extrapolation, i.e., training on short texts while evaluating longer sequences. We define attention resolution as an indicator of extrapolation. Then we propose two designs to improve the above metric of Transformers. Specifically, we introduce a relative position embedding to explicitly maximize attention resolution. Moreover, we use blockwise causal attention during inference for better resolution. We evaluate different Transformer variants with language modeling. Experimental results show that our model achieves strong performance in both interpolation and extrapolation settings. The code will be available at https://aka.ms/LeX-Transformer.
Coloring in Graph Streams via Deterministic and Adversarially Robust Algorithms
Venue: arXiv cs.DS 2022
Year: 2022

In recent years, there has been a growing interest in solving various graph coloring problems in the streaming model. The initial algorithms in this line of work are all crucially randomized, raising natural questions about how important a role randomization plays in streaming graph coloring. A couple of very recent works have made progress on this question: they prove that deterministic or even adversarially robust coloring algorithms (that work on streams whose updates may depend on the algorithm's past outputs) are considerably weaker than standard randomized ones. However, there is still a significant gap between the upper and lower bounds for the number of colors needed (as a function of the maximum degree $Δ$) for robust coloring and multipass deterministic coloring. We contribute to this line of work by proving the following results. In the deterministic semi-streaming (i.e., $O(n \cdot \text{polylog } n)$ space) regime, we present an algorithm that achieves a combinatorially optimal $(Δ+1)$-coloring using $O(\logΔ \log\logΔ)$ passes. This improves upon the prior $O(Δ)$-coloring algorithm of Assadi, Chen, and Sun (STOC 2022) at the cost of only an $O(\log\logΔ)$ factor in the number of passes. In the adversarially robust semi-streaming regime, we design an $O(Δ^{5/2})$-coloring algorithm that improves upon the previously best $O(Δ^{3})$-coloring algorithm of Chakrabarti, Ghosh, and Stoeckl (ITCS 2022). Further, we obtain a smooth colors/space tradeoff that improves upon another algorithm of the said work: whereas their algorithm uses $O(Δ^2)$ colors and $O(nΔ^{1/2})$ space, ours, in particular, achieves (i)~$O(Δ^2)$ colors in $O(nΔ^{1/3})$ space, and (ii)~$O(Δ^{7/4})$ colors in $O(nΔ^{1/2})$ space.
In-context Learning Distillation: Transferring Few-shot Learning Ability of Pre-trained Language Models
Venue: arXiv cs.CL 2022
Year: 2022

Given the success with in-context learning of large pre-trained language models, we introduce in-context learning distillation to transfer in-context few-shot learning ability from large models to smaller models. We propose to combine in-context learning objectives with language modeling objectives to distill both the ability to read in-context examples and task knowledge to the smaller models. We perform in-context learning distillation under two different few-shot learning paradigms: Meta In-context Tuning (Meta-ICT) and Multitask In-context Tuning (Multitask-ICT). Multitask-ICT performs better on multitask few-shot learning but also requires more computation than Meta-ICT. Our method shows consistent improvements for both Meta-ICT and Multitask-ICT on two benchmarks: LAMA and CrossFit. Our extensive experiments and analysis reveal that in-context learning objectives and language modeling objectives are complementary under the Multitask-ICT paradigm. In-context learning objectives achieve the best performance when combined with language modeling objectives.
Extractive Text Summarization Using Generalized Additive Models with Interactions for Sentence Selection
Venue: arXiv cs.CL 2022
Year: 2022

Automatic Text Summarization (ATS) is becoming relevant with the growth of textual data; however, with the popularization of public large-scale datasets, some recent machine learning approaches have focused on dense models and architectures that, despite producing notable results, usually turn out in models difficult to interpret. Given the challenge behind interpretable learning-based text summarization and the importance it may have for evolving the current state of the ATS field, this work studies the application of two modern Generalized Additive Models with interactions, namely Explainable Boosting Machine and GAMI-Net, to the extractive summarization problem based on linguistic features and binary classification.
AEStream: Accelerated event-based processing with coroutines
Venue: arXiv cs.DC 2022
Year: 2022

Neuromorphic sensors imitate the sparse and event-based communication seen in biological sensory organs and brains. Today's sensors can emit many millions of asynchronous events per second, which is challenging to process on conventional computers. To avoid bottleneck effects, there is a need to apply and improve concurrent and parallel processing of events. We present AEStream: a library to efficiently stream asynchronous events from inputs to outputs on conventional computers. AEStream leverages cooperative multitasking primitives known as coroutines to concurrently process individual events, which dramatically simplifies the integration with event-based peripherals, such as event-based cameras and (neuromorphic) asynchronous hardware. We explore the effects of coroutines in concurrent settings by benchmarking them against conventional threading mechanisms, and find that AEStream provides at least twice the throughput. We then apply AEStream in a real-time edge detection task on a GPU and demonstrate 1.3 times faster processing with 5 times fewer memory operations.
Typicality for stratified measures
Venue: arXiv cs.IT 2022
Year: 2022

Stratified measures on Euclidean space are defined here as convex combinations of rectifiable measures. They are possibly singular with respect to the Lebesgue measure and generalize continuous-discrete mixtures. A stratified measure $ρ$ can thus be represented as $\sum_{i=1}^k q_i ρ_i$, where $(q_1,..,q_k)$ is a probability vector and each $ρ_i$ is $m_i$-rectifiable for some integer $m_i$ i.e. absolutely continuous with respect to the $m_i$-Hausdorff measure $μ_i$ on a $m_i$-rectifiable set $E_i$ (e.g. a smooth $m_i$-manifold). We introduce a set of strongly typical realizations of $ρ^{\otimes n}$ (memoryless source) that occur with high probability. The typical realizations are supported on a finite union of strata $\{E_{i_1}\times \cdots \times E_{i_n}\}$ whose dimension concentrates around the mean dimension $\sum_{i=1}^k q_i m_i$. For each $n$, an appropriate sum of Hausdorff measures on the different strata gives a natural notion of reference "volume"; the exponential growth rate of the typical set's volume is quantified by Csiszar's generalized entropy of $ρ$ with respect to $μ=\sum_{i=1}^k μ_i$. Moreover, we prove that this generalized entropy satisfies a chain rule and that the conditional term is related to the volume growth of the typical realizations in each stratum. The chain rule and its asymptotic interpretation hold in the more general framework of piecewise continuous measures: convex combinations of measures restricted to pairwise disjoint sets equipped with reference $σ$-finite measures. Finally, we establish that our notion of mean dimension coincides with Rényi's information dimension when applied to stratified measures, but the generalized entropy used here differs from Rényi's dimensional entropy.
ZEROTOP: Zero-Shot Task-Oriented Semantic Parsing using Large Language Models
Venue: arXiv cs.CL 2022
Year: 2022

We explore the use of large language models (LLMs) for zero-shot semantic parsing. Semantic parsing involves mapping natural language utterances to task-specific meaning representations. Language models are generally trained on the publicly available text and code and cannot be expected to directly generalize to domain-specific parsing tasks in a zero-shot setting. In this work, we propose ZEROTOP, a zero-shot task-oriented parsing method that decomposes a semantic parsing problem into a set of abstractive and extractive question-answering (QA) problems, enabling us to leverage the ability of LLMs to zero-shot answer reading comprehension questions. For each utterance, we prompt the LLM with questions corresponding to its top-level intent and a set of slots and use the LLM generations to construct the target meaning representation. We observe that current LLMs fail to detect unanswerable questions; and as a result, cannot handle questions corresponding to missing slots. To address this problem, we fine-tune a language model on public QA datasets using synthetic negative samples. Experimental results show that our QA-based decomposition paired with the fine-tuned LLM can correctly parse ~16% of utterances in the MTOP dataset without requiring any annotated data.
Perching on Moving Inclined Surfaces using Uncertainty Tolerant Planner and Thrust Regulation
Venue: arXiv cs.RO 2022
Year: 2022

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and terminal state accuracy in SE(3). However, in the perching process, uncertainties in target surface prediction, tracking control and external disturbances may cause trajectory planning failure or lead to unacceptable terminal errors. To address these challenges, we first propose a trajectory planner that considers adaptation to uncertainties in target prediction and tracking control. To facilitate this work, the reachable set of quadrotors' states is first analyzed. The states whose reachable sets possess the largest coverage probability for uncertainty targets, are defined as optimal waypoints. Subsequently, an approach to seek local optimal waypoints for static and moving uncertainty targets is proposed. A real-time trajectory planner based on optimized waypoints is developed accordingly. Secondly, thrust regulation is also implemented in the terminal attitude tracking stage to handle external disturbances. When a quadrotor's attitude is commanded to align with target surfaces, the thrust is optimized to minimize terminal errors. This makes the terminal position and velocity be controlled in closed-loop manner. Therefore, the resistance to disturbances and terminal accuracy is improved. Extensive simulation experiments demonstrate that our methods can improve the accuracy of terminal states under uncertainties. The success rate is approximately increased by $50\%$ compared to the two-end planner without thrust regulation. Perching on the rear window of a car is also achieved using our proposed heterogeneous cooperation system outdoors. This validates the feasibility and practicality of our methods.
In-Sensor & Neuromorphic Computing are all you need for Energy Efficient Computer Vision
Venue: arXiv cs.CV 2022
Year: 2022

Due to the high activation sparsity and use of accumulates (AC) instead of expensive multiply-and-accumulates (MAC), neuromorphic spiking neural networks (SNNs) have emerged as a promising low-power alternative to traditional DNNs for several computer vision (CV) applications. However, most existing SNNs require multiple time steps for acceptable inference accuracy, hindering real-time deployment and increasing spiking activity and, consequently, energy consumption. Recent works proposed direct encoding that directly feeds the analog pixel values in the first layer of the SNN in order to significantly reduce the number of time steps. Although the overhead for the first layer MACs with direct encoding is negligible for deep SNNs and the CV processing is efficient using SNNs, the data transfer between the image sensors and the downstream processing costs significant bandwidth and may dominate the total energy. To mitigate this concern, we propose an in-sensor computing hardware-software co-design framework for SNNs targeting image recognition tasks. Our approach reduces the bandwidth between sensing and processing by 12-96x and the resulting total energy by 2.32x compared to traditional CV processing, with a 3.8% reduction in accuracy on ImageNet.
Object detection-based inspection of power line insulators: Incipient fault detection in the low data-regime
Venue: arXiv cs.CV 2022
Year: 2022

Deep learning-based object detection is a powerful approach for detecting faulty insulators in power lines. This involves training an object detection model from scratch, or fine tuning a model that is pre-trained on benchmark computer vision datasets. This approach works well with a large number of insulator images, but can result in unreliable models in the low data regime. The current literature mainly focuses on detecting the presence or absence of insulator caps, which is a relatively easy detection task, and does not consider detection of finer faults such as flashed and broken disks. In this article, we formulate three object detection tasks for insulator and asset inspection from aerial images, focusing on incipient faults in disks. We curate a large reference dataset of insulator images that can be used to learn robust features for detecting healthy and faulty insulators. We study the advantage of using this dataset in the low target data regime by pre-training on the reference dataset followed by fine-tuning on the target dataset. The results suggest that object detection models can be used to detect faults in insulators at a much incipient stage, and that transfer learning adds value depending on the type of object detection model. We identify key factors that dictate performance in the low data-regime and outline potential approaches to improve the state-of-the-art.
C2F-TCN: A Framework for Semi and Fully Supervised Temporal Action Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Temporal action segmentation tags action labels for every frame in an input untrimmed video containing multiple actions in a sequence. For the task of temporal action segmentation, we propose an encoder-decoder-style architecture named C2F-TCN featuring a "coarse-to-fine" ensemble of decoder outputs. The C2F-TCN framework is enhanced with a novel model agnostic temporal feature augmentation strategy formed by the computationally inexpensive strategy of the stochastic max-pooling of segments. It produces more accurate and well-calibrated supervised results on three benchmark action segmentation datasets. We show that the architecture is flexible for both supervised and representation learning. In line with this, we present a novel unsupervised way to learn frame-wise representation from C2F-TCN. Our unsupervised learning approach hinges on the clustering capabilities of the input features and the formation of multi-resolution features from the decoder's implicit structure. Further, we provide the first semi-supervised temporal action segmentation results by merging representation learning with conventional supervised learning. Our semi-supervised learning scheme, called ``Iterative-Contrastive-Classify (ICC)'', progressively improves in performance with more labeled data. The ICC semi-supervised learning in C2F-TCN, with 40% labeled videos, performs similar to fully supervised counterparts.
Balanced Split: A new train-test data splitting strategy for imbalanced datasets
Venue: arXiv cs.LG 2022
Year: 2022

Classification data sets with skewed class proportions are called imbalanced. Class imbalance is a problem since most machine learning classification algorithms are built with an assumption of equal representation of all classes in the training dataset. Therefore to counter the class imbalance problem, many algorithm-level and data-level approaches have been developed. These mainly include ensemble learning and data augmentation techniques. This paper shows a new way to counter the class imbalance problem through a new data-splitting strategy called balanced split. Data splitting can play an important role in correctly classifying imbalanced datasets. We show that the commonly used data-splitting strategies have some disadvantages, and our proposed balanced split has solved those problems.
Homo in Machina: Improving Fuzz Testing Coverage via Compartment Analysis
Venue: arXiv cs.CR 2022
Year: 2022

Fuzz testing is often automated, but also frequently augmented by experts who insert themselves into the workflow in a greedy search for bugs. In this paper, we propose Homo in Machina, or HM-fuzzing, in which analyses guide the manual efforts, maximizing benefit. As one example of this paradigm, we introduce compartment analysis. Compartment analysis uses a whole-program dominator analysis to estimate the utility of reaching new code, and combines this with a dynamic analysis indicating drastically under-covered edges guarding that code. This results in a prioritized list of compartments, i.e., large, uncovered parts of the program semantically partitioned and largely unreachable given the current corpus of inputs under consideration. A human can use this categorization and ranking of compartments directly to focus manual effort, finding or fashioning inputs that make the compartments available for future fuzzing. We evaluate the effect of compartment analysis on seven projects within the OSS-Fuzz corpus where we see coverage improvements over AFL++ as high as 94%, with a median of 13%. We further observe that the determination of compartments is highly stable and thus can be done early in a fuzzing campaign, maximizing the potential for impact.