OpenRaiser/Intern-Atlas huggingface dataset:
Bridging the Gap between Structural and Semantic Similarity in Diverse Planning
Venue: arXiv cs.AI 2023
Year: 2023

Diverse planning is the problem of finding multiple plans for a given problem specification, which is at the core of many real-world applications. For example, diverse planning is a critical piece for the efficiency of plan recognition systems when dealing with noisy and missing observations. Providing diverse solutions can also benefit situations where constraints are too expensive or impossible to model. Current diverse planners operate by generating multiple plans and then applying a selection procedure to extract diverse solutions using a similarity metric. Generally, current similarity metrics only consider the structural properties of the given plans. We argue that this approach is a limitation that sometimes prevents such metrics from capturing why two plans differ. In this work, we propose two new domain-independent metrics which are able to capture relevant information on the difference between two given plans from a domain-dependent viewpoint. We showcase their utility in various situations where the currently used metrics fail to capture the similarity between plans, failing to capture some structural symmetries.
Iterative Option Discovery for Planning, by Planning
Venue: arXiv cs.AI 2023
Year: 2023

Discovering useful temporal abstractions, in the form of options, is widely thought to be key to applying reinforcement learning and planning to increasingly complex domains. Building on the empirical success of the Expert Iteration approach to policy learning used in AlphaZero, we propose Option Iteration, an analogous approach to option discovery. Rather than learning a single strong policy that is trained to match the search results everywhere, Option Iteration learns a set of option policies trained such that for each state encountered, at least one policy in the set matches the search results for some horizon into the future. Intuitively, this may be significantly easier as it allows the algorithm to hedge its bets compared to learning a single globally strong policy, which may have complex dependencies on the details of the current state. Having learned such a set of locally strong policies, we can use them to guide the search algorithm resulting in a virtuous cycle where better options lead to better search results which allows for training of better options. We demonstrate experimentally that planning using options learned with Option Iteration leads to a significant benefit in challenging planning environments compared to an analogous planning algorithm operating in the space of primitive actions and learning a single rollout policy with Expert Iteration.
Towards Efficient and Effective Adaptation of Large Language Models for Sequential Recommendation
Venue: arXiv cs.IR 2023
Year: 2023

In recent years, with large language models (LLMs) achieving state-of-the-art performance in context understanding, increasing efforts have been dedicated to developing LLM-enhanced sequential recommendation (SR) methods. Considering that most existing LLMs are not specifically optimized for recommendation tasks, adapting them for SR becomes a critical step in LLM-enhanced SR methods. Though numerous adaptation methods have been developed, it still remains a significant challenge to adapt LLMs for SR both efficiently and effectively. To address this challenge, in this paper, we introduce a novel side sequential network adaptation method, denoted as SSNA, for LLM enhanced SR. SSNA features three key designs to allow both efficient and effective LLM adaptation. First, SSNA learns adapters separate from LLMs, while fixing all the pre-trained parameters within LLMs to allow efficient adaptation. In addition, SSNA adapts the top-a layers of LLMs jointly, and integrates adapters sequentially for enhanced effectiveness (i.e., recommendation performance). We compare SSNA against five state-of-the-art baseline methods on five benchmark datasets using three LLMs. The experimental results demonstrate that SSNA significantly outperforms all the baseline methods in terms of recommendation performance, and achieves substantial improvement over the best-performing baseline methods at both run-time and memory efficiency during training. Our analysis shows the effectiveness of integrating adapters in a sequential manner. Our parameter study demonstrates the effectiveness of jointly adapting the top-a layers of LLMs.
Distributed Multi-agent Interaction Generation with Imagined Potential Games
Venue: arXiv cs.RO 2023
Year: 2023

Interactive behavior modeling of multiple agents is an essential challenge in simulation, especially in scenarios when agents need to avoid collisions and cooperate at the same time. Humans can interact with others without explicit communication and navigate in scenarios when cooperation is required. In this work, we aim to model human interactions in this realistic setting, where each agent acts based on its observation and does not communicate with others. We propose a framework based on distributed potential games, where each agent imagines a cooperative game with other agents and solves the game using its estimation of their behavior. We utilize iLQR to solve the games and closed-loop simulate the interactions. We demonstrate the benefits of utilizing distributed imagined games in our framework through various simulation experiments. We show the high success rate, the increased navigation efficiency, and the ability to generate rich and realistic interactions with interpretable parameters. Illustrative examples are available at https://sites.google.com/berkeley.edu/distributed-interaction.
Strategic Information Attacks on Incentive-Compatible Navigational Recommendations in Intelligent Transportation Systems
Venue: arXiv cs.GT 2023
Year: 2023

Intelligent transportation systems (ITS) have gained significant attention from various communities, driven by rapid advancements in informational technology. Within the realm of ITS, navigational recommendation systems (RS) play a pivotal role, as users often face diverse path (route) options in such complex urban environments. However, RS is not immune to vulnerabilities, especially when confronted with potential information-based attacks. This study aims to explore the impacts of these cyber threats on RS, explicitly focusing on local targeted information attacks in which the attacker favors certain groups or businesses. We study human behaviors and propose the coordinated incentive-compatible RS that guides users toward a mixed Nash equilibrium, under which each user has no incentive to deviate from the recommendation. Then, we delve into the vulnerabilities within the recommendation process, focusing on scenarios involving misinformed demands. In such cases, the attacker can fabricate fake users to mislead the RS's recommendations. Using the Stackelberg game approach, the analytical results and the numerical case study reveal that RS is susceptible to informational attacks. This study highlights the need to consider informational attacks for a more resilient and effective navigational recommendation.
Sleep during COVID-19 pandemic: Longitudinal observational study combining multisensor data with questionnaires
Venue: arXiv cs.HC 2023
Year: 2023

The COVID-19 pandemic led to various containment strategies, such as work-from-home policies and reduced social contact, which significantly altered people's sleep patterns. Our study, conducted from June 2021 to June 2022, longitudinally examined the changes in the sleep patterns of working adults in Finland during this period, utilizing multisensor data from fitness trackers and monthly questionnaires. We conducted a comprehensive study, exploring the changes in sleep patterns in correlation with multiple factors such as individual demographics, occupation, sleep-related behaviors, levels of physical activity, restrictions imposed by the pandemic, and adjustments in seasonal variations. From over 27,000 nights analyzed from 112 participants, we found a correlation between stringent pandemic measures and increased total sleep time as well as delayed sleep timing. Academic staff experienced shorter and more variable sleep durations compared to service staff. Early-day physical activity was also linked to longer sleep duration, revealing the influence of lifestyle on sleep quality. Habitual snoozers exhibited higher variability in their sleep patterns. The findings reveal the multifaceted impacts of the pandemic and associated measures on sleep patterns, highlighting the nuanced variations among different occupations and habits, and emphasizing the role of flexible work-life routines and external factors in shaping sleep behaviors during such unprecedented times.
Risk and Threat Mitigation Techniques in Internet of Things (IoT) Environments: A Survey
Venue: arXiv cs.CR 2023
Year: 2023

Security in the Internet of Things (IoT) remains a predominant area of concern. This survey updates the state of the art covered in previous surveys and focuses on defending against threats rather than on the threats alone. This area is less extensively covered by other surveys and warrants particular attention. A life-cycle approach is adopted, articulated to form a "defence in depth" strategy against malicious actors compromising an IoT network laterally within it and from it. This study highlights the challenges of each mitigation step, emphasises novel perspectives, and reconnects the discussed mitigation steps to the ground principles they seek to implement.
OFDM-RSMA: Robust Transmission under Inter-Carrier Interference
Venue: arXiv cs.IT 2023
Year: 2023

Rate-splitting multiple access (RSMA) is a multiple access scheme to mitigate the effects of the multi-user interference (MUI) in multi-antenna systems. In this study, we leverage the interference management capabilities of RSMA to tackle the issue of inter-carrier interference (ICI) in orthogonal frequency division multiplexing (OFDM) waveform. We formulate a sum-rate maximization problem to find the optimal subcarrier and power allocation for downlink transmission in a two-user system using RSMA and OFDM. A weighted minimum mean-square error (WMMSE)-based algorithm is proposed to obtain a solution for the formulated non-convex problem. We show that the marriage of rate-splitting (RS) with OFDM provides complementary strengths to cope with peculiar characteristic of wireless medium and its performance-limiting challenges including inter-symbol interference (ISI), MUI, ICI, and inter-numerology interference (INI). The sum-rate performance of the proposed OFDM-RSMA scheme is numerically compared with that of conventional orthogonal frequency division multiple access (OFDMA) and OFDM-non-orthogonal multiple access (NOMA). It is shown that the proposed OFDM-RSMA outperforms OFDM-NOMA and OFDMA in diverse propagation channel conditions owing to its flexible structure and robust interference management capabilities.
CausalTime: Realistically Generated Time-series for Benchmarking of Causal Discovery
Venue: arXiv cs.LG 2023
Year: 2023

Time-series causal discovery (TSCD) is a fundamental problem of machine learning. However, existing synthetic datasets cannot properly evaluate or predict the algorithms' performance on real data. This study introduces the CausalTime pipeline to generate time-series that highly resemble the real data and with ground truth causal graphs for quantitative performance evaluation. The pipeline starts from real observations in a specific scenario and produces a matching benchmark dataset. Firstly, we harness deep neural networks along with normalizing flow to accurately capture realistic dynamics. Secondly, we extract hypothesized causal graphs by performing importance analysis on the neural network or leveraging prior knowledge. Thirdly, we derive the ground truth causal graphs by splitting the causal model into causal term, residual term, and noise term. Lastly, using the fitted network and the derived causal graph, we generate corresponding versatile time-series proper for algorithm assessment. In the experiments, we validate the fidelity of the generated data through qualitative and quantitative experiments, followed by a benchmarking of existing TSCD algorithms using these generated datasets. CausalTime offers a feasible solution to evaluating TSCD algorithms in real applications and can be generalized to a wide range of fields. For easy use of the proposed approach, we also provide a user-friendly website, hosted on www.causaltime.cc.
Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning
Venue: arXiv cs.RO 2023
Year: 2023

Perceptive deep reinforcement learning (DRL) has lead to many recent breakthroughs for complex AI systems leveraging image-based input data. Applications of these results range from super-human level video game agents to dexterous, physically intelligent robots. However, training these perceptive DRL-enabled systems remains incredibly compute and memory intensive, often requiring huge training datasets and large experience replay buffers. This poses a challenge for the next generation of field robots that will need to be able to learn on the edge in order to adapt to their environments. In this paper, we begin to address this issue through differentially encoded observation spaces. By reinterpreting stored image-based observations as a video, we leverage lossless differential video encoding schemes to compress the replay buffer without impacting training performance. We evaluate our approach with three state-of-the-art DRL algorithms and find that differential image encoding reduces the memory footprint by as much as 14.2x and 16.7x across tasks from the Atari 2600 benchmark and the DeepMind Control Suite (DMC) respectively. These savings also enable large-scale perceptive DRL that previously required paging between flash and RAM to be run entirely in RAM, improving the latency of DMC tasks by as much as 32%.
Comparative study of microgrid optimal scheduling under multi-optimization algorithm fusion
Venue: arXiv cs.AI 2023
Year: 2023

As global attention on renewable and clean energy grows, the research and implementation of microgrids become paramount. This paper delves into the methodology of exploring the relationship between the operational and environmental costs of microgrids through multi-objective optimization models. By integrating various optimization algorithms like Genetic Algorithm, Simulated Annealing, Ant Colony Optimization, and Particle Swarm Optimization, we propose an integrated approach for microgrid optimization. Simulation results depict that these algorithms provide different dispatch results under economic and environmental dispatch, revealing distinct roles of diesel generators and micro gas turbines in microgrids. Overall, this study offers in-depth insights and practical guidance for microgrid design and operation.
Trainable Noise Model as an XAI evaluation method: application on Sobol for remote sensing image segmentation
Venue: arXiv cs.CV 2023
Year: 2023

eXplainable Artificial Intelligence (XAI) has emerged as an essential requirement when dealing with mission-critical applications, ensuring transparency and interpretability of the employed black box AI models. The significance of XAI spans various domains, from healthcare to finance, where understanding the decision-making process of deep learning algorithms is essential. Most AI-based computer vision models are often black boxes; hence, providing explainability of deep neural networks in image processing is crucial for their wide adoption and deployment in medical image analysis, autonomous driving, and remote sensing applications. Recently, several XAI methods for image classification tasks have been introduced. On the contrary, image segmentation has received comparatively less attention in the context of explainability, although it is a fundamental task in computer vision applications, especially in remote sensing. Only some research proposes gradient-based XAI algorithms for image segmentation. This paper adapts the recent gradient-free Sobol XAI method for semantic segmentation. To measure the performance of the Sobol method for segmentation, we propose a quantitative XAI evaluation method based on a learnable noise model. The main objective of this model is to induce noise on the explanation maps, where higher induced noise signifies low accuracy and vice versa. A benchmark analysis is conducted to evaluate and compare performance of three XAI methods, including Seg-Grad-CAM, Seg-Grad-CAM++ and Seg-Sobol using the proposed noise-based evaluation technique. This constitutes the first attempt to run and evaluate XAI methods using high-resolution satellite images.
MFOS: Model-Free & One-Shot Object Pose Estimation
Venue: arXiv cs.CV 2023
Year: 2023

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their practicability and scalability. Notably, recent attempts have been made to solve this issue, but they still require accurate 3D data of the object surface at both train and test time. In this paper, we introduce a novel approach that can estimate in a single forward pass the pose of objects never seen during training, given minimum input. In contrast to existing state-of-the-art approaches, which rely on task-specific modules, our proposed model is entirely based on a transformer architecture, which can benefit from recently proposed 3D-geometry general pretraining. We conduct extensive experiments and report state-of-the-art one-shot performance on the challenging LINEMOD benchmark. Finally, extensive ablations allow us to determine good practices with this relatively new type of architecture in the field.
RoFormer for Position Aware Multiple Instance Learning in Whole Slide Image Classification
Venue: arXiv cs.CV 2023
Year: 2023

Whole slide image (WSI) classification is a critical task in computational pathology. However, the gigapixel-size of such images remains a major challenge for the current state of deep-learning. Current methods rely on multiple-instance learning (MIL) models with frozen feature extractors. Given the the high number of instances in each image, MIL methods have long assumed independence and permutation-invariance of patches, disregarding the tissue structure and correlation between patches. Recent works started studying this correlation between instances but the computational workload of such a high number of tokens remained a limiting factor. In particular, relative position of patches remains unaddressed. We propose to apply a straightforward encoding module, namely a RoFormer layer , relying on memory-efficient exact self-attention and relative positional encoding. This module can perform full self-attention with relative position encoding on patches of large and arbitrary shaped WSIs, solving the need for correlation between instances and spatial modeling of tissues. We demonstrate that our method outperforms state-of-the-art MIL models on three commonly used public datasets (TCGA-NSCLC, BRACS and Camelyon16)) on weakly supervised classification tasks. Code is available at https://github.com/Sanofi-Public/DDS-RoFormerMIL
A Distributed Multi-Robot Framework for Exploration, Information Acquisition and Consensus
Venue: arXiv cs.RO 2023
Year: 2023

The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are often solved separately, when clearly each of these should influence the others for the most efficient behaviour. In this paper we use the example application of distributed information acquisition as a robot team explores a large space to show that we can formulate the whole problem as a single factor graph with multiple connected layers representing each aspect. We use Gaussian Belief Propagation (GBP) as the inference mechanism, which permits parallel, on-demand or asynchronous computation for efficiency when different aspects are more or less important. This is the first time that a distributed GBP multi-robot solver has been proven to enable intelligent collaborative behaviour rather than just guiding robots to individual, selfish goals. We encourage the reader to view our demos at https://aalpatya.github.io/gbpstack
Probabilistic Reach-Avoid for Bayesian Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Model-based reinforcement learning seeks to simultaneously learn the dynamics of an unknown stochastic environment and synthesise an optimal policy for acting in it. Ensuring the safety and robustness of sequential decisions made through a policy in such an environment is a key challenge for policies intended for safety-critical scenarios. In this work, we investigate two complementary problems: first, computing reach-avoid probabilities for iterative predictions made with dynamical models, with dynamics described by Bayesian neural network (BNN); second, synthesising control policies that are optimal with respect to a given reach-avoid specification (reaching a "target" state, while avoiding a set of "unsafe" states) and a learned BNN model. Our solution leverages interval propagation and backward recursion techniques to compute lower bounds for the probability that a policy's sequence of actions leads to satisfying the reach-avoid specification. Such computed lower bounds provide safety certification for the given policy and BNN model. We then introduce control synthesis algorithms to derive policies maximizing said lower bounds on the safety probability. We demonstrate the effectiveness of our method on a series of control benchmarks characterized by learned BNN dynamics models. On our most challenging benchmark, compared to purely data-driven policies the optimal synthesis algorithm is able to provide more than a four-fold increase in the number of certifiable states and more than a three-fold increase in the average guaranteed reach-avoid probability.
Steganalysis of AI Models LSB Attacks
Venue: arXiv cs.CR 2023
Year: 2023

Artificial intelligence has made significant progress in the last decade, leading to a rise in the popularity of model sharing. The model zoo ecosystem, a repository of pre-trained AI models, has advanced the AI open-source community and opened new avenues for cyber risks. Malicious attackers can exploit shared models to launch cyber-attacks. This work focuses on the steganalysis of injected malicious Least Significant Bit (LSB) steganography into AI models, and it is the first work focusing on AI model attacks. In response to this threat, this paper presents a steganalysis method specifically tailored to detect and mitigate malicious LSB steganography attacks based on supervised and unsupervised AI detection steganalysis methods. Our proposed technique aims to preserve the integrity of shared models, protect user trust, and maintain the momentum of open collaboration within the AI community. In this work, we propose 3 steganalysis methods and open source our code. We found that the success of the steganalysis depends on the LSB attack location. If the attacker decides to exploit the least significant bits in the LSB, the ability to detect the attacks is low. However, if the attack is in the most significant LSB bits, the attack can be detected with almost perfect accuracy.