OpenRaiser/Intern-Atlas huggingface dataset:
Importance Sampling Placement in Off-Policy Temporal-Difference Methods
Venue: arXiv cs.LG 2022
Year: 2022

A central challenge to applying many off-policy reinforcement learning algorithms to real world problems is the variance introduced by importance sampling. In off-policy learning, the agent learns about a different policy than the one being executed. To account for the difference importance sampling ratios are often used, but can increase variance in the algorithms and reduce the rate of learning. Several variations of importance sampling have been proposed to reduce variance, with per-decision importance sampling being the most popular. However, the update rules for most off-policy algorithms in the literature depart from per-decision importance sampling in a subtle way; they correct the entire TD error instead of just the TD target. In this work, we show how this slight change can be interpreted as a control variate for the TD target, reducing variance and improving performance. Experiments over a wide range of algorithms show this subtle modification results in improved performance.
Fair Federated Learning via Bounded Group Loss
Venue: arXiv cs.LG 2022
Year: 2022

Fair prediction across protected groups is an important constraint for many federated learning applications. However, prior work studying group fair federated learning lacks formal convergence or fairness guarantees. In this work we propose a general framework for provably fair federated learning. In particular, we explore and extend the notion of Bounded Group Loss as a theoretically-grounded approach for group fairness. Using this setup, we propose a scalable federated optimization method that optimizes the empirical risk under a number of group fairness constraints. We provide convergence guarantees for the method as well as fairness guarantees for the resulting solution. Empirically, we evaluate our method across common benchmarks from fair ML and federated learning, showing that it can provide both fairer and more accurate predictions than baseline approaches.
Learning Morphological Feature Perturbations for Calibrated Semi-Supervised Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

We propose MisMatch, a novel consistency-driven semi-supervised segmentation framework which produces predictions that are invariant to learnt feature perturbations. MisMatch consists of an encoder and a two-head decoders. One decoder learns positive attention to the foreground regions of interest (RoI) on unlabelled images thereby generating dilated features. The other decoder learns negative attention to the foreground on the same unlabelled images thereby generating eroded features. We then apply a consistency regularisation on the paired predictions. MisMatch outperforms state-of-the-art semi-supervised methods on a CT-based pulmonary vessel segmentation task and a MRI-based brain tumour segmentation task. In addition, we show that the effectiveness of MisMatch comes from better model calibration than its supervised learning counterpart.
Conjugate Gradient Adaptive Learning with Tukey's Biweight M-Estimate
Venue: arXiv cs.LG 2022
Year: 2022

We propose a novel M-estimate conjugate gradient (CG) algorithm, termed Tukey's biweight M-estimate CG (TbMCG), for system identification in impulsive noise environments. In particular, the TbMCG algorithm can achieve a faster convergence while retaining a reduced computational complexity as compared to the recursive least-squares (RLS) algorithm. Specifically, the Tukey's biweight M-estimate incorporates a constraint into the CG filter to tackle impulsive noise environments. Moreover, the convergence behavior of the TbMCG algorithm is analyzed. Simulation results confirm the excellent performance of the proposed TbMCG algorithm for system identification and active noise control applications.
Read Top News First: A Document Reordering Approach for Multi-Document News Summarization
Venue: arXiv cs.CL 2022
Year: 2022

A common method for extractive multi-document news summarization is to re-formulate it as a single-document summarization problem by concatenating all documents as a single meta-document. However, this method neglects the relative importance of documents. We propose a simple approach to reorder the documents according to their relative importance before concatenating and summarizing them. The reordering makes the salient content easier to learn by the summarization model. Experiments show that our approach outperforms previous state-of-the-art methods with more complex architectures.
Adversarial Defense via Image Denoising with Chaotic Encryption
Venue: arXiv cs.LG 2022
Year: 2022

In the literature on adversarial examples, white box and black box attacks have received the most attention. The adversary is assumed to have either full (white) or no (black) access to the defender's model. In this work, we focus on the equally practical gray box setting, assuming an attacker has partial information. We propose a novel defense that assumes everything but a private key will be made available to the attacker. Our framework uses an image denoising procedure coupled with encryption via a discretized Baker map. Extensive testing against adversarial images (e.g. FGSM, PGD) crafted using various gradients shows that our defense achieves significantly better results on CIFAR-10 and CIFAR-100 than the state-of-the-art gray box defenses in both natural and adversarial accuracy.
Incremental Few-Shot Learning via Implanting and Compressing
Venue: arXiv cs.CV 2022
Year: 2022

This work focuses on tackling the challenging but realistic visual task of Incremental Few-Shot Learning (IFSL), which requires a model to continually learn novel classes from only a few examples while not forgetting the base classes on which it was pre-trained. Our study reveals that the challenges of IFSL lie in both inter-class separation and novel-class representation. Dur to intra-class variation, a novel class may implicitly leverage the knowledge from multiple base classes to construct its feature representation. Hence, simply reusing the pre-trained embedding space could lead to a scattered feature distribution and result in category confusion. To address such issues, we propose a two-step learning strategy referred to as \textbf{Im}planting and \textbf{Co}mpressing (\textbf{IMCO}), which optimizes both feature space partition and novel class reconstruction in a systematic manner. Specifically, in the \textbf{Implanting} step, we propose to mimic the data distribution of novel classes with the assistance of data-abundant base set, so that a model could learn semantically-rich features that are beneficial for discriminating between the base and other unseen classes. In the \textbf{Compressing} step, we adapt the feature extractor to precisely represent each novel class for enhancing intra-class compactness, together with a regularized parameter updating rule for preventing aggressive model updating. Finally, we demonstrate that IMCO outperforms competing baselines with a significant margin, both in image classification task and more challenging object detection task.
Bridging Pre-trained Language Models and Hand-crafted Features for Unsupervised POS Tagging
Venue: arXiv cs.CL 2022
Year: 2022

In recent years, large-scale pre-trained language models (PLMs) have made extraordinary progress in most NLP tasks. But, in the unsupervised POS tagging task, works utilizing PLMs are few and fail to achieve state-of-the-art (SOTA) performance. The recent SOTA performance is yielded by a Guassian HMM variant proposed by He et al. (2018). However, as a generative model, HMM makes very strong independence assumptions, making it very challenging to incorporate contexualized word representations from PLMs. In this work, we for the first time propose a neural conditional random field autoencoder (CRF-AE) model for unsupervised POS tagging. The discriminative encoder of CRF-AE can straightforwardly incorporate ELMo word representations. Moreover, inspired by feature-rich HMM, we reintroduce hand-crafted features into the decoder of CRF-AE. Finally, experiments clearly show that our model outperforms previous state-of-the-art models by a large margin on Penn Treebank and multilingual Universal Dependencies treebank v2.0.
Font Generation with Missing Impression Labels
Venue: arXiv cs.CV 2022
Year: 2022

Our goal is to generate fonts with specific impressions, by training a generative adversarial network with a font dataset with impression labels. The main difficulty is that font impression is ambiguous and the absence of an impression label does not always mean that the font does not have the impression. This paper proposes a font generation model that is robust against missing impression labels. The key ideas of the proposed method are (1)a co-occurrence-based missing label estimator and (2)an impression label space compressor. The first is to interpolate missing impression labels based on the co-occurrence of labels in the dataset and use them for training the model as completed label conditions. The second is an encoder-decoder module to compress the high-dimensional impression space into low-dimensional. We proved that the proposed model generates high-quality font images using multi-label data with missing labels through qualitative and quantitative evaluations.
On Debugging the Performance of Configurable Software Systems: Developer Needs and Tailored Tool Support
Venue: arXiv cs.SE 2022
Year: 2022

Determining whether a configurable software system has a performance bug or it was misconfigured is often challenging. While there are numerous debugging techniques that can support developers in this task, there is limited empirical evidence of how useful the techniques are to address the actual needs that developers have when debugging the performance of configurable software systems; most techniques are often evaluated in terms of technical accuracy instead of their usability. In this paper, we take a human-centered approach to identify, design, implement, and evaluate a solution to support developers in the process of debugging the performance of configurable software systems. We first conduct an exploratory study with 19 developers to identify the information needs that developers have during this process. Subsequently, we design and implement a tailored tool, adapting techniques from prior work, to support those needs. Two user studies, with a total of 20 developers, validate and confirm that the information that we provide helps developers debug the performance of configurable software systems.
Design and Development of a Research Oriented Low Cost Robotics Platform with a Novel Dynamic Global Path Planning Approach
Venue: arXiv cs.RO 2022
Year: 2022

Autonomous navigation systems based on computer vision sensors often require sophisticated robotics platforms which are very expensive. This poses a barrier for the implementation and testing of complex localization, mapping, and navigation algorithms that are vital in robotics applications. Addressing this issue, in this work, Robot Operating System (ROS) supported mobile robotics platforms are compared and an end-to-end implementation of an autonomous navigation system based on a low-cost educational robotics platform, AlphaBot2 is presented, while integrating the Intel RealSense D435 camera. Furthermore, a novel approach to implement dynamic path planners as global path planners in the ROS framework is presented. We evaluate the performance of this approach and highlight the improvements that could be achieved through a dynamic global path planner. This low-cost modified AlphaBot2 robotics platform along with the proposed dynamic global path planning approach will be useful for researchers and students for getting hands-on experience with computer vision-based navigation systems.
Lazy Rearrangement Planning in Confined Spaces
Venue: arXiv cs.RO 2022
Year: 2022

Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require many motion planning and collision checking calls, which are computationally expensive. In addition, the arrangement space grows exponentially with the number of objects. To address these issues, this work introduces a lazy evaluation framework with a local monotone solver and a global planner. Monotone instances are those that can be solved by moving each object at most once. A key insight is that reachability constraints at the grasps for objects' starts and goals can quickly reveal dependencies between objects without having to execute expensive motion planning queries. Given that, the local solver builds lazily a search tree that respects these reachability constraints without verifying that the arm paths are collision free. It only collision checks when a promising solution is found. If a monotone solution is not found, the non-monotone planner loads the lazy search tree and explores ways to move objects to intermediate locations from where monotone solutions to the goal can be found. Results show that the proposed framework can solve difficult instances in confined spaces with up to 16 objects, which state-of-the-art methods fail to solve. It also solves problems faster than alternatives, when the alternatives find a solution. It also achieves high-quality solutions, i.e., only 1.8 additional actions on average are needed for non-monotone instances.
Ethical Considerations When Constructing Participatory Design Protocols for Social Robots
Venue: arXiv cs.RO 2022
Year: 2022

Participatory design has emerged as a popular approach to foreground ethical considerations in social robots by incorporating anticipated users and stakeholders as designers. Here we draw attention to the ethics of participatory design as a method, distinct from the ethical considerations of the social robot being co-designed. More specifically, we consider the ethical concerns posed by the act of stakeholder participation - the morals and values that should be explicitly considered when we, as researchers or practitioners, devise protocols for participatory design of social robots ("how" stakeholders participate). We use the case of robot-assisted sexual violence mitigation to exemplify ethical considerations of participatory design protocols such as risk of harm, exploitation, and reduction of stakeholder agency. To incorporate these and other ethical considerations in the creation of social robot participatory design protocols, we advocate letting stakeholders design their own form of participation by including them in the creation of participatory design sessions, structures, and processes.
Subspace Modeling for Fast Out-Of-Distribution and Anomaly Detection
Venue: arXiv cs.LG 2022
Year: 2022

This paper presents a fast, principled approach for detecting anomalous and out-of-distribution (OOD) samples in deep neural networks (DNN). We propose the application of linear statistical dimensionality reduction techniques on the semantic features produced by a DNN, in order to capture the low-dimensional subspace truly spanned by said features. We show that the "feature reconstruction error" (FRE), which is the $\ell_2$-norm of the difference between the original feature in the high-dimensional space and the pre-image of its low-dimensional reduced embedding, is highly effective for OOD and anomaly detection. To generalize to intermediate features produced at any given layer, we extend the methodology by applying nonlinear kernel-based methods. Experiments using standard image datasets and DNN architectures demonstrate that our method meets or exceeds best-in-class quality performance, but at a fraction of the computational and memory cost required by the state of the art. It can be trained and run very efficiently, even on a traditional CPU.
A Study on Robustness to Perturbations for Representations of Environmental Sound
Venue: arXiv cs.SD 2022
Year: 2022

Audio applications involving environmental sound analysis increasingly use general-purpose audio representations, also known as embeddings, for transfer learning. Recently, Holistic Evaluation of Audio Representations (HEAR) evaluated twenty-nine embedding models on nineteen diverse tasks. However, the evaluation's effectiveness depends on the variation already captured within a given dataset. Therefore, for a given data domain, it is unclear how the representations would be affected by the variations caused by myriad microphones' range and acoustic conditions -- commonly known as channel effects. We aim to extend HEAR to evaluate invariance to channel effects in this work. To accomplish this, we imitate channel effects by injecting perturbations to the audio signal and measure the shift in the new (perturbed) embeddings with three distance measures, making the evaluation domain-dependent but not task-dependent. Combined with the downstream performance, it helps us make a more informed prediction of how robust the embeddings are to the channel effects. We evaluate two embeddings -- YAMNet, and OpenL3 on monophonic (UrbanSound8K) and polyphonic (SONYC-UST) urban datasets. We show that one distance measure does not suffice in such task-independent evaluation. Although Fréchet Audio Distance (FAD) correlates with the trend of the performance drop in the downstream task most accurately, we show that we need to study FAD in conjunction with the other distances to get a clear understanding of the overall effect of the perturbation. In terms of the embedding performance, we find OpenL3 to be more robust than YAMNet, which aligns with the HEAR evaluation.
Optical Flow for Video Super-Resolution: A Survey
Venue: arXiv cs.CV 2022
Year: 2022

Video super-resolution is currently one of the most active research topics in computer vision as it plays an important role in many visual applications. Generally, video super-resolution contains a significant component, i.e., motion compensation, which is used to estimate the displacement between successive video frames for temporal alignment. Optical flow, which can supply dense and sub-pixel motion between consecutive frames, is among the most common ways for this task. To obtain a good understanding of the effect that optical flow acts in video super-resolution, in this work, we conduct a comprehensive review on this subject for the first time. This investigation covers the following major topics: the function of super-resolution (i.e., why we require super-resolution); the concept of video super-resolution (i.e., what is video super-resolution); the description of evaluation metrics (i.e., how (video) superresolution performs); the introduction of optical flow based video super-resolution; the investigation of using optical flow to capture temporal dependency for video super-resolution. Prominently, we give an in-depth study of the deep learning based video super-resolution method, where some representative algorithms are analyzed and compared. Additionally, we highlight some promising research directions and open issues that should be further addressed.
EdgeMatrix: A Resources Redefined Edge-Cloud System for Prioritized Services
Venue: arXiv cs.NI 2022
Year: 2022

The edge-cloud system has the potential to combine the advantages of heterogeneous devices and truly realize ubiquitous computing. However, for service providers to guarantee the Service-Level-Agreement (SLA) priorities, the complex networked environment brings inherent challenges such as multi-resource heterogeneity, resource competition, and networked system dynamics. In this paper, we design a framework for the edge-cloud system, namely EdgeMatrix, to maximize the throughput while guaranteeing various SLA priorities. First, EdgeMatrix introduces Networked Multi-agent Actor-Critic (NMAC) algorithm to redefine physical resources as logically isolated resource combinations, i.e., resource cells. Then, we use a clustering algorithm to group the cells with similar characteristics into various sets, i.e., resource channels, for different channels can offer different SLA guarantees. Besides, we design a multi-task mechanism to solve the problem of joint service orchestration and request dispatch (JSORD) among edge-cloud clusters, significantly reducing the runtime than traditional methods. To ensure stability, EdgeMatrix adopts a two-time-scale framework, i.e., coordinating resources and services at the large time scale and dispatching requests at the small time scale. The real trace-based experimental results verify that EdgeMatrix can improve system throughput in complex networked environments, reduce SLA violations, and significantly reduce the runtime than traditional methods.
Hierarchical Inductive Transfer for Continual Dialogue Learning
Venue: arXiv cs.CL 2022
Year: 2022

Pre-trained models have achieved excellent performance on the dialogue task. However, for the continual increase of online chit-chat scenarios, directly fine-tuning these models for each of the new tasks not only explodes the capacity of the dialogue system on the embedded devices but also causes knowledge forgetting on pre-trained models and knowledge interference among diverse dialogue tasks. In this work, we propose a hierarchical inductive transfer framework to learn and deploy the dialogue skills continually and efficiently. First, we introduce the adapter module into pre-trained models for learning new dialogue tasks. As the only trainable module, it is beneficial for the dialogue system on the embedded devices to acquire new dialogue skills with negligible additional parameters. Then, for alleviating knowledge interference between tasks yet benefiting the regularization between them, we further design hierarchical inductive transfer that enables new tasks to use general knowledge in the base adapter without being misled by diverse knowledge in task-specific adapters. Empirical evaluation and analysis indicate that our framework obtains comparable performance under deployment-friendly model capacity.
Reinforcement learning reward function in unmanned aerial vehicle control tasks
Venue: arXiv cs.RO 2022
Year: 2022

This paper presents a new reward function that can be used for deep reinforcement learning in unmanned aerial vehicle (UAV) control and navigation problems. The reward function is based on the construction and estimation of the time of simplified trajectories to the target, which are third-order Bezier curves. This reward function can be applied unchanged to solve problems in both two-dimensional and three-dimensional virtual environments. The effectiveness of the reward function was tested in a newly developed virtual environment, namely, a simplified two-dimensional environment describing the dynamics of UAV control and flight, taking into account the forces of thrust, inertia, gravity, and aerodynamic drag. In this formulation, three tasks of UAV control and navigation were successfully solved: UAV flight to a given point in space, avoidance of interception by another UAV, and organization of interception of one UAV by another. The three most relevant modern deep reinforcement learning algorithms, Soft actor-critic, Deep Deterministic Policy Gradient, and Twin Delayed Deep Deterministic Policy Gradient were used. All three algorithms performed well, indicating the effectiveness of the selected reward function.