OpenRaiser/Intern-Atlas huggingface dataset:
Training Robust Graph Neural Networks with Topology Adaptive Edge Dropping
Venue: arXiv cs.LG 2021
Year: 2021

Graph neural networks (GNNs) are processing architectures that exploit graph structural information to model representations from network data. Despite their success, GNNs suffer from sub-optimal generalization performance given limited training data, referred to as over-fitting. This paper proposes Topology Adaptive Edge Dropping (TADropEdge) method as an adaptive data augmentation technique to improve generalization performance and learn robust GNN models. We start by explicitly analyzing how random edge dropping increases the data diversity during training, while indicating i.i.d. edge dropping does not account for graph structural information and could result in noisy augmented data degrading performance. To overcome this issue, we consider graph connectivity as the key property that captures graph topology. TADropEdge incorporates this factor into random edge dropping such that the edge-dropped subgraphs maintain similar topology as the underlying graph, yielding more satisfactory data augmentation. In particular, TADropEdge first leverages the graph spectrum to assign proper weights to graph edges, which represent their criticality for establishing the graph connectivity. It then normalizes the edge weights and drops graph edges adaptively based on their normalized weights. Besides improving generalization performance, TADropEdge reduces variance for efficient training and can be applied as a generic method modular to different GNN models. Intensive experiments on real-life and synthetic datasets corroborate theory and verify the effectiveness of the proposed method.
BERTnesia: Investigating the capture and forgetting of knowledge in BERT
Venue: arXiv cs.CL 2021
Year: 2021

Probing complex language models has recently revealed several insights into linguistic and semantic patterns found in the learned representations. In this article, we probe BERT specifically to understand and measure the relational knowledge it captures in its parametric memory. While probing for linguistic understanding is commonly applied to all layers of BERT as well as fine-tuned models, this has not been done for factual knowledge. We utilize existing knowledge base completion tasks (LAMA) to probe every layer of pre-trained as well as fine-tuned BERT models(ranking, question answering, NER). Our findings show that knowledge is not just contained in BERT's final layers. Intermediate layers contribute a significant amount (17-60%) to the total knowledge found. Probing intermediate layers also reveals how different types of knowledge emerge at varying rates. When BERT is fine-tuned, relational knowledge is forgotten. The extent of forgetting is impacted by the fine-tuning objective and the training data. We found that ranking models forget the least and retain more knowledge in their final layer compared to masked language modeling and question-answering. However, masked language modeling performed the best at acquiring new knowledge from the training data. When it comes to learning facts, we found that capacity and fact density are key factors. We hope this initial work will spur further research into understanding the parametric memory of language models and the effect of training objectives on factual knowledge. The code to repeat the experiments is publicly available on GitHub.
Empirically Evaluating Creative Arc Negotiation for Improvisational Decision-making
Venue: arXiv cs.AI 2021
Year: 2021

Action selection from many options with few constraints is crucial for improvisation and co-creativity. Our previous work proposed creative arc negotiation to solve this problem, i.e., selecting actions to follow an author-defined `creative arc' or trajectory over estimates of novelty, unexpectedness, and quality for potential actions. The CARNIVAL agent architecture demonstrated this approach for playing the Props game from improv theatre in the Robot Improv Circus installation. This article evaluates the creative arc negotiation experience with CARNIVAL through two crowdsourced observer studies and one improviser laboratory study. The studies focus on subjects' ability to identify creative arcs in performance and their preference for creative arc negotiation compared to a random selection baseline. Our results show empirically that observers successfully identified creative arcs in performances. Both groups also preferred creative arc negotiation in agent creativity and logical coherence, while observers enjoyed it more too.
Zero-shot Task Adaptation using Natural Language
Venue: arXiv cs.AI 2021
Year: 2021

Imitation learning and instruction-following are two common approaches to communicate a user's intent to a learning agent. However, as the complexity of tasks grows, it could be beneficial to use both demonstrations and language to communicate with an agent. In this work, we propose a novel setting where an agent is given both a demonstration and a description, and must combine information from both the modalities. Specifically, given a demonstration for a task (the source task), and a natural language description of the differences between the demonstrated task and a related but different task (the target task), our goal is to train an agent to complete the target task in a zero-shot setting, that is, without any demonstrations for the target task. To this end, we introduce Language-Aided Reward and Value Adaptation (LARVA) which, given a source demonstration and a linguistic description of how the target task differs, learns to output a reward / value function that accurately describes the target task. Our experiments show that on a diverse set of adaptations, our approach is able to complete more than 95% of target tasks when using template-based descriptions, and more than 70% when using free-form natural language.
Design of hazard based model and collision avoidance system
Venue: arXiv cs.RO 2021
Year: 2021

The primary goal of this paper is to examine the motorcyclists' activities during the overtaking period, as well as to develop a model of total overtaking time. For the experimental study, instrumented motorcycles were used to collect data and design an overall overtaking period model. The possibility of death during an attempt to overtake is maximum for people walking on rural roads, mainly identified by a scarcity of pathways and higher speeds of vehicles. It is important to recognize and prototype driver actions during the overtaking moves to set up collision avoidance strategies in order to prevent these collisions, such that device adjustments are acceptable as they occur beyond the comfort zone of the drivers. The purpose of this research is to address both vehicle overtaking movements along urban roads and to develop a collision avoidance system. This research, based on tests performed and instrumented driving information, may lead to the discovery of advanced driver assistance systems, analyzing driver behavior during overtaking. A total of 500 overtaking movements were registered with 50 motorcycles set up with a high-resolution camera and GPS system implemented by 50 professional bikers in India in an undivided one-way road. A technique was developed to collect data explaining the actions of the motorcyclists, based on video and GPS analyses. The overall overtaking period was designed using a risk-based model, which indicates the span of the overtaking based on several coefficients. The proposed model is useful to analyze the behavior during overtaking moves, as well as to develop road and vehicle safety systems to reduce the chances of accidents.
Learning Topology from Synthetic Data for Unsupervised Depth Completion
Venue: arXiv cs.CV 2021
Year: 2021

We present a method for inferring dense depth maps from images and sparse depth measurements by leveraging synthetic data to learn the association of sparse point clouds with dense natural shapes, and using the image as evidence to validate the predicted depth map. Our learned prior for natural shapes uses only sparse depth as input, not images, so the method is not affected by the covariate shift when attempting to transfer learned models from synthetic data to real ones. This allows us to use abundant synthetic data with ground truth to learn the most difficult component of the reconstruction process, which is topology estimation, and use the image to refine the prediction based on photometric evidence. Our approach uses fewer parameters than previous methods, yet, achieves the state of the art on both indoor and outdoor benchmark datasets. Code available at: https://github.com/alexklwong/learning-topology-synthetic-data.
Individually Rational Land and Neighbor Allocation: Impossibility Results
Venue: arXiv cs.GT 2021
Year: 2021

We consider a setting in which agents are allocated land plots and they have additive preferences over which plot they get and who their neighbor is. Strategyproofness, Pareto optimality, and individual rationality are three fundamental properties in economic design. We present two impossibility results showing that the three properties are incompatible in this context.
Empowering Language Understanding with Counterfactual Reasoning
Venue: arXiv cs.CL 2021
Year: 2021

Present language understanding methods have demonstrated extraordinary ability of recognizing patterns in texts via machine learning. However, existing methods indiscriminately use the recognized patterns in the testing phase that is inherently different from us humans who have counterfactual thinking, e.g., to scrutinize for the hard testing samples. Inspired by this, we propose a Counterfactual Reasoning Model, which mimics the counterfactual thinking by learning from few counterfactual samples. In particular, we devise a generation module to generate representative counterfactual samples for each factual sample, and a retrospective module to retrospect the model prediction by comparing the counterfactual and factual samples. Extensive experiments on sentiment analysis (SA) and natural language inference (NLI) validate the effectiveness of our method.
Rethinking Training from Scratch for Object Detection
Venue: arXiv cs.CV 2021
Year: 2021

The ImageNet pre-training initialization is the de-facto standard for object detection. He et al. found it is possible to train detector from scratch(random initialization) while needing a longer training schedule with proper normalization technique. In this paper, we explore to directly pre-training on target dataset for object detection. Under this situation, we discover that the widely adopted large resizing strategy e.g. resize image to (1333, 800) is important for fine-tuning but it's not necessary for pre-training. Specifically, we propose a new training pipeline for object detection that follows `pre-training and fine-tuning', utilizing low resolution images within target dataset to pre-training detector then load it to fine-tuning with high resolution images. With this strategy, we can use batch normalization(BN) with large bath size during pre-training, it's also memory efficient that we can apply it on machine with very limited GPU memory(11G). We call it direct detection pre-training, and also use direct pre-training for short. Experiment results show that direct pre-training accelerates the pre-training phase by more than 11x on COCO dataset while with even +1.8mAP compared to ImageNet pre-training. Besides, we found direct pre-training is also applicable to transformer based backbones e.g. Swin Transformer. Code will be available.
End-to-End Neuro-Symbolic Architecture for Image-to-Image Reasoning Tasks
Venue: arXiv cs.AI 2021
Year: 2021

Neural models and symbolic algorithms have recently been combined for tasks requiring both perception and reasoning. Neural models ground perceptual input into a conceptual vocabulary, on which a classical reasoning algorithm is applied to generate output. A key limitation is that such neural-to-symbolic models can only be trained end-to-end for tasks where the output space is symbolic. In this paper, we study neural-symbolic-neural models for reasoning tasks that require a conversion from an image input (e.g., a partially filled sudoku) to an image output (e.g., the image of the completed sudoku). While designing such a three-step hybrid architecture may be straightforward, the key technical challenge is end-to-end training -- how to backpropagate without intermediate supervision through the symbolic component. We propose NSNnet, an architecture that combines an image reconstruction loss with a novel output encoder to generate a supervisory signal, develops update algorithms that leverage policy gradient methods for supervision, and optimizes loss using a novel subsampling heuristic. We experiment on problem settings where symbolic algorithms are easily specified: a visual maze solving task and a visual Sudoku solver where the supervision is in image form. Experiments show high accuracy with significantly less data compared to purely neural approaches.
ModelCI-e: Enabling Continual Learning in Deep Learning Serving Systems
Venue: arXiv cs.DC 2021
Year: 2021

MLOps is about taking experimental ML models to production, i.e., serving the models to actual users. Unfortunately, existing ML serving systems do not adequately handle the dynamic environments in which online data diverges from offline training data, resulting in tedious model updating and deployment works. This paper implements a lightweight MLOps plugin, termed ModelCI-e (continuous integration and evolution), to address the issue. Specifically, it embraces continual learning (CL) and ML deployment techniques, providing end-to-end supports for model updating and validation without serving engine customization. ModelCI-e includes 1) a model factory that allows CL researchers to prototype and benchmark CL models with ease, 2) a CL backend to automate and orchestrate the model updating efficiently, and 3) a web interface for an ML team to manage CL service collaboratively. Our preliminary results demonstrate the usability of ModelCI-e, and indicate that eliminating the interference between model updating and inference workloads is crucial for higher system efficiency.
Collective transport via sequential caging
Venue: arXiv cs.RO 2021
Year: 2021

We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be transported starting from a seed robot that makes first contact with the object. Our approach does not require previous knowledge of the shape of the object to ensure caging. To push the object to a goal location, we estimate the robots required to apply force on the object based on the angular difference between the target and the object. During transport, the robots follow a sequence of intermediate goal locations specifying the required pose of the object at that location. We evaluate our approach in a physics-based simulator with up to 100 robots, using three generic paths. Experiments using a group of KheperaIV robots demonstrate the effectiveness of our approach in a real setting. Keywords: Collaborative transport, Task Allocation, Caging, Robot Swarms
Go with the Flows: Mixtures of Normalizing Flows for Point Cloud Generation and Reconstruction
Venue: arXiv cs.CV 2021
Year: 2021

Recently normalizing flows (NFs) have demonstrated state-of-the-art performance on modeling 3D point clouds while allowing sampling with arbitrary resolution at inference time. However, these flow-based models still require long training times and large models for representing complicated geometries. This work enhances their representational power by applying mixtures of NFs to point clouds. We show that in this more general framework each component learns to specialize in a particular subregion of an object in a completely unsupervised fashion. By instantiating each mixture component with a comparatively small NF we generate point clouds with improved details compared to single-flow-based models while using fewer parameters and considerably reducing the inference runtime. We further demonstrate that by adding data augmentation, individual mixture components can learn to specialize in a semantically meaningful manner. We evaluate mixtures of NFs on generation, autoencoding and single-view reconstruction based on the ShapeNet dataset.
Path-specific Effects Based on Information Accounts of Causality
Venue: arXiv cs.AI 2021
Year: 2021

Path-specific effects in mediation analysis provide a useful tool for fairness analysis, which is mostly based on nested counterfactuals. However, the dictum ``no causation without manipulation'' implies that path-specific effects might be induced by certain interventions. This paper proposes a new path intervention inspired by information accounts of causality, and develops the corresponding intervention diagrams and $π$-formula. Compared with the interventionist approach of Robins et al.(2020) based on nested counterfactuals, our proposed path intervention method explicitly describes the manipulation in structural causal model with a simple information transferring interpretation, and does not require the non-existence of recanting witness to identify path-specific effects. Hence, it could serve useful communications and theoretical focus for mediation analysis.
Adversarial Classification of the Attacks on Smart Grids Using Game Theory and Deep Learning
Venue: arXiv cs.LG 2021
Year: 2021

Smart grids are vulnerable to cyber-attacks. This paper proposes a game-theoretic approach to evaluate the variations caused by an attacker on the power measurements. Adversaries can gain financial benefits through the manipulation of the meters of smart grids. On the other hand, there is a defender that tries to maintain the accuracy of the meters. A zero-sum game is used to model the interactions between the attacker and defender. In this paper, two different defenders are used and the effectiveness of each defender in different scenarios is evaluated. Multi-layer perceptrons (MLPs) and traditional state estimators are the two defenders that are studied in this paper. The utility of the defender is also investigated in adversary-aware and adversary-unaware situations. Our simulations suggest that the utility which is gained by the adversary drops significantly when the MLP is used as the defender. It will be shown that the utility of the defender is variant in different scenarios, based on the defender that is being used. In the end, we will show that this zero-sum game does not yield a pure strategy, and the mixed strategy of the game is calculated.
PAC Best Arm Identification Under a Deadline
Venue: arXiv cs.LG 2021
Year: 2021

We study $(ε, δ)$-PAC best arm identification, where a decision-maker must identify an $ε$-optimal arm with probability at least $1 - δ$, while minimizing the number of arm pulls (samples). Most of the work on this topic is in the sequential setting, where there is no constraint on the time taken to identify such an arm; this allows the decision-maker to pull one arm at a time. In this work, the decision-maker is given a deadline of $T$ rounds, where, on each round, it can adaptively choose which arms to pull and how many times to pull them; this distinguishes the number of decisions made (i.e., time or number of rounds) from the number of samples acquired (cost). Such situations occur in clinical trials, where one may need to identify a promising treatment under a deadline while minimizing the number of test subjects, or in simulation-based studies run on the cloud, where we can elastically scale up or down the number of virtual machines to conduct as many experiments as we wish, but need to pay for the resource-time used. As the decision-maker can only make $T$ decisions, she may need to pull some arms excessively relative to a sequential algorithm in order to perform well on all possible problems. We formalize this added difficulty with two hardness results that indicate that unlike sequential settings, the ability to adapt to the problem difficulty is constrained by the finite deadline. We propose Elastic Batch Racing (EBR), a novel algorithm for this setting and bound its sample complexity, showing that EBR is optimal with respect to both hardness results. We present simulations evaluating EBR in this setting, where it outperforms baselines by several orders of magnitude.
A Pre-training Oracle for Predicting Distances in Social Networks
Venue: arXiv cs.SI 2021
Year: 2021

In this paper, we propose a novel method to make distance predictions in real-world social networks. As predicting missing distances is a difficult problem, we take a two-stage approach. Structural parameters for families of synthetic networks are first estimated from a small set of measurements of a real-world network and these synthetic networks are then used to pre-train the predictive neural networks. Since our model first searches for the most suitable synthetic graph parameters which can be used as an "oracle" to create arbitrarily large training data sets, we call our approach "Oracle Search Pre-training" (OSP). For example, many real-world networks exhibit a Power law structure in their node degree distribution, so a Power law model can provide a foundation for the desired oracle to generate synthetic pre-training networks, if the appropriate Power law graph parameters can be estimated. Accordingly, we conduct experiments on real-world Facebook, Email, and Train Bombing networks and show that OSP outperforms models without pre-training, models pre-trained with inaccurate parameters, and other distance prediction schemes such as Low-rank Matrix Completion. In particular, we achieve a prediction error of less than one hop with only 1% of sampled distances from the social network. OSP can be easily extended to other domains such as random networks by choosing an appropriate model to generate synthetic training data, and therefore promises to impact many different network learning problems.
Itihasa: A large-scale corpus for Sanskrit to English translation
Venue: arXiv cs.CL 2021
Year: 2021

This work introduces Itihasa, a large-scale translation dataset containing 93,000 pairs of Sanskrit shlokas and their English translations. The shlokas are extracted from two Indian epics viz., The Ramayana and The Mahabharata. We first describe the motivation behind the curation of such a dataset and follow up with empirical analysis to bring out its nuances. We then benchmark the performance of standard translation models on this corpus and show that even state-of-the-art transformer architectures perform poorly, emphasizing the complexity of the dataset.
Fixing Vulnerabilities Potentially Hinders Maintainability
Venue: arXiv cs.SE 2021
Year: 2021

Security is a requirement of utmost importance to produce high-quality software. However, there is still a considerable amount of vulnerabilities being discovered and fixed almost weekly. We hypothesize that developers affect the maintainability of their codebases when patching vulnerabilities. This paper evaluates the impact of patches to improve security on the maintainability of open-source software. Maintainability is measured based on the Better Code Hub's model of 10 guidelines on a dataset, including 1300 security-related commits. Results show evidence of a trade-off between security and maintainability for 41.90% of the cases, i.e., developers may hinder software maintainability. Our analysis shows that 38.29% of patches increased software complexity and 37.87% of patches increased the percentage of LOCs per unit. The implications of our study are that changes to codebases while patching vulnerabilities need to be performed with extra care; tools for patch risk assessment should be integrated into the CI/CD pipeline; computer science curricula needs to be updated; and, more secure programming languages are necessary.