OpenRaiser/Intern-Atlas huggingface dataset:
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields
Venue: arXiv cs.CV 2022
Year: 2022

We present a method to learn compositional multi-object dynamics models from image observations based on implicit object encoders, Neural Radiance Fields (NeRFs), and graph neural networks. NeRFs have become a popular choice for representing scenes due to their strong 3D prior. However, most NeRF approaches are trained on a single scene, representing the whole scene with a global model, making generalization to novel scenes, containing different numbers of objects, challenging. Instead, we present a compositional, object-centric auto-encoder framework that maps multiple views of the scene to a set of latent vectors representing each object separately. The latent vectors parameterize individual NeRFs from which the scene can be reconstructed. Based on those latent vectors, we train a graph neural network dynamics model in the latent space to achieve compositionality for dynamics prediction. A key feature of our approach is that the latent vectors are forced to encode 3D information through the NeRF decoder, which enables us to incorporate structural priors in learning the dynamics models, making long-term predictions more stable compared to several baselines. Simulated and real world experiments show that our method can model and learn the dynamics of compositional scenes including rigid and deformable objects. Video: https://dannydriess.github.io/compnerfdyn/
Some Stylometric Remarks on Ovid's Heroides and the Epistula Sapphus
Venue: arXiv cs.CL 2022
Year: 2022

This article aims to contribute to two well-worn areas of debate in classical Latin philology, relating to Ovid's Heroides. The first is the question of the authenticity (and, to a lesser extent the correct position) of the letter placed fifteenth by almost every editor -- the so-called Epistula Sapphus (henceforth ES). The secondary question, although perhaps now less fervently debated, is the authenticity of the 'Double Heroides', placed by those who accept them as letters 16-21. I employ a variety of methods drawn from the domain of computational stylometry to consider the poetics and the lexico-grammatical features of these elegiac poems in the broader context of a corpus of 'shorter' (from 20 to 546 lines) elegiac works from five authors (266 poems in all) comprising more or less all of the non-fragmentary classical corpus. Based on a variety of techniques, every measure gives clear indication that the poetic style of the Heroides is Ovidian, but distinctive; they can be accurately isolated from Ovid more broadly. The Single and Double Heroides split into two clear groups, with the ES grouped consistently with the single letters. Furthermore, by comparing the style of the letters with the 'early' (although there are complications in this label) works of the Amores and the late works of the Ex Ponto, the evidence supports sequential composition -- meaning that the ES is correctly placed -- and, further, supports the growing consensus that the double letters were composed significantly later, in exile.
On Nash-Stackelberg-Nash Games under Decision-Dependent Uncertainties: Model and Equilibrium
Venue: arXiv cs.GT 2022
Year: 2022

In this paper, we discuss a class of two-stage hierarchical games with multiple leaders and followers, which is called Nash-Stackelberg-Nash (N-S-N) games. Particularly, we consider N-S-N games under decision-dependent uncertainties (DDUs). DDUs refer to the uncertainties that are affected by the strategies of decision-makers and have been rarely addressed in game equilibrium analysis. In this paper, we first formulate the N-S-N games with DDUs of complete ignorance, where the interactions between the players and DDUs are characterized by uncertainty sets that depend parametrically on the players' strategies. Then, a rigorous definition for the equilibrium of the game is established by consolidating generalized Nash equilibrium and Pareto-Nash equilibrium. Afterward, we prove the existence of the equilibrium of N-S-N games under DDUs by applying Kakutani's fixed-point theorem. Finally, an illustrative example is provided to show the impact of DDUs on the equilibrium of N-S-N games.
An Efficient Binary Harris Hawks Optimization based on Quantum SVM for Cancer Classification Tasks
Venue: arXiv cs.LG 2022
Year: 2022

Cancer classification based on gene expression increases early diagnosis and recovery, but high-dimensional genes with a small number of samples are a major challenge. This work introduces a new hybrid quantum kernel support vector machine (QKSVM) combined with a Binary Harris hawk optimization (BHHO) based gene selection for cancer classification on a quantum simulator. This study aims to improve the microarray cancer prediction performance with the quantum kernel estimation based on the informative genes by BHHO. The feature selection is a critical step in large-dimensional features, and BHHO is used to select important features. The BHHO mimics the behavior of the cooperative action of Harris hawks in nature. The principal component analysis (PCA) is applied to reduce the selected genes to match the qubit numbers. After which, the quantum computer is used to estimate the kernel with the training data of the reduced genes and generate the quantum kernel matrix. Moreover, the classical computer is used to draw the support vectors based on the quantum kernel matrix. Also, the prediction stage is performed with the classical device. Finally, the proposed approach is applied to colon and breast microarray datasets and evaluated with all genes and the selected genes by BHHO. The proposed approach is found to enhance the overall performance with two datasets. Also, the proposed approach is evaluated with different quantum feature maps (kernels) and classical kernel (RBF).
Learning Program Synthesis for Integer Sequences from Scratch
Venue: arXiv cs.AI 2022
Year: 2022

We present a self-learning approach for synthesizing programs from integer sequences. Our method relies on a tree search guided by a learned policy. Our system is tested on the On-Line Encyclopedia of Integer Sequences. There, it discovers, on its own, solutions for 27987 sequences starting from basic operators and without human-written training examples.
Robust Probabilistic Time Series Forecasting
Venue: arXiv cs.LG 2022
Year: 2022

Probabilistic time series forecasting has played critical role in decision-making processes due to its capability to quantify uncertainties. Deep forecasting models, however, could be prone to input perturbations, and the notion of such perturbations, together with that of robustness, has not even been completely established in the regime of probabilistic forecasting. In this work, we propose a framework for robust probabilistic time series forecasting. First, we generalize the concept of adversarial input perturbations, based on which we formulate the concept of robustness in terms of bounded Wasserstein deviation. Then we extend the randomized smoothing technique to attain robust probabilistic forecasters with theoretical robustness certificates against certain classes of adversarial perturbations. Lastly, extensive experiments demonstrate that our methods are empirically effective in enhancing the forecast quality under additive adversarial attacks and forecast consistency under supplement of noisy observations.
Collective Conditioned Reflex: A Bio-Inspired Fast Emergency Reaction Mechanism for Designing Safe Multi-Robot Systems
Venue: arXiv cs.RO 2022
Year: 2022

A multi-robot system (MRS) is a group of coordinated robots designed to cooperate with each other and accomplish given tasks. Due to the uncertainties in operating environments, the system may encounter emergencies, such as unobserved obstacles, moving vehicles, and extreme weather. Animal groups such as bee colonies initiate collective emergency reaction behaviors such as bypassing obstacles and avoiding predators, similar to muscle-conditioned reflex which organizes local muscles to avoid hazards in the first response without delaying passage through the brain. Inspired by this, we develop a similar collective conditioned reflex mechanism for multi-robot systems to respond to emergencies. In this study, Collective Conditioned Reflex (CCR), a bio-inspired emergency reaction mechanism, is developed based on animal collective behavior analysis and multi-agent reinforcement learning (MARL). The algorithm uses a physical model to determine if the robots are experiencing an emergency; then, rewards for robots involved in the emergency are augmented with corresponding heuristic rewards, which evaluate emergency magnitudes and consequences and decide local robots' participation. CCR is validated on three typical emergency scenarios: \textit{turbulence, strong wind, and hidden obstacle}. Simulation results demonstrate that CCR improves robot teams' emergency reaction capability with faster reaction speed and safer trajectory adjustment compared with baseline methods.
A Timing Yield Model for SRAM Cells in Sub/Near-threshold Voltages Based on A Compact Drain Current Model
Venue: arXiv cs.AR 2022
Year: 2022

Sub/Near-threshold static random-access memory (SRAM) design is crucial for addressing the memory bottleneck in energy-constrained applications. However, the high integration density and reliability under process variations demand an accurate estimation of extremely small failure probabilities. To capture such a rare event in memory circuits, the time and storage overhead of conventional Monte Carlo (MC) simulations cannot be tolerated. On the other hand, classic analytical methods predicting failure probabilities from a physical expression become inaccurate in the sub/near-threshold region due to the assumed distribution or the oversimplified drain current model for nanoscale devices. This work first proposes a simple but efficient drain current model to describe the drain-induced barrier lowering effect at low voltages. Based on that, the probability density functions of the interest metrics in SRAM are derived. Two analytical models are then put forward to evaluate SRAM dynamic stabilities including access and write-time failures. The proposed models can be extended easily to different types of SRAM with different read/write assist circuits. The models are validated against MC simulations across different operating voltages and temperatures. The average relative errors at 0.5V VDD are only 8.8% and 10.4% for the access-time and write failure models respectively. The size of required data samples is 43.6X smaller than that of the state-of-the-art method.
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints
Venue: arXiv cs.RO 2022
Year: 2022

The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the singularities and self-collisions lead to a complicated relation between the input and output parameters. In this article, a novel optimization methodology is proposed by combining a local search, Nelder-Mead algorithm, with global search methodologies such as low discrepancy distribution for faster and more efficient exploration of the optimization space. The effect of the dimension of the optimization problem and the different constraints are discussed to highlight the complexities of closed-loop kinematic chain optimization. The work also presents the approaches used to consider constraints for passive joint boundaries as well as singularities to avoid internal collisions in such mechanisms. The proposed algorithm can also optimize the length of the prismatic actuators and the constraints can be added in modular fashion, allowing to understand the impact of given criteria on the final result. The application of the presented approach is used to optimize two PKMs of different degrees of freedom.
NP$^{\#P}$ = $\exists$PP and other remarks about maximized counting
Venue: arXiv cs.CC 2022
Year: 2022

We consider the following decision problem DMAX#SAT, and generalizations thereof: given a quantifier-free propositional formula $F(\mathbf{x},\mathbf{y})$, where $\mathbf{x},\mathbf{y}$ are tuples of variables, and a bound $B$, determine if there is $\vec{x}$ such that $\#\{\mathbf{y} \mid F(\mathbf{x},\mathbf{y})\} \geq B$. This is the decision version of the problem of MAX#SAT: finding $\mathbf{x}$ and $B$ for maximal $B$.
Cognitive Semantic Communication Systems Driven by Knowledge Graph
Venue: arXiv cs.AI 2022
Year: 2022

Semantic communication is envisioned as a promising technique to break through the Shannon limit. However, the existing semantic communication frameworks do not involve inference and error correction, which limits the achievable performance. In this paper, in order to tackle this issue, a cognitive semantic communication framework is proposed by exploiting knowledge graph. Moreover, a simple, general and interpretable solution for semantic information detection is developed by exploiting triples as semantic symbols. It also allows the receiver to correct errors occurring at the symbolic level. Furthermore, the pre-trained model is fine-tuned to recover semantic information, which overcomes the drawback that a fixed bit length coding is used to encode sentences of different lengths. Simulation results on the public WebNLG corpus show that our proposed system is superior to other benchmark systems in terms of the data compression rate and the reliability of communication.
All You Need Is Supervised Learning: From Imitation Learning to Meta-RL With Upside Down RL
Venue: arXiv cs.LG 2022
Year: 2022

Upside down reinforcement learning (UDRL) flips the conventional use of the return in the objective function in RL upside down, by taking returns as input and predicting actions. UDRL is based purely on supervised learning, and bypasses some prominent issues in RL: bootstrapping, off-policy corrections, and discount factors. While previous work with UDRL demonstrated it in a traditional online RL setting, here we show that this single algorithm can also work in the imitation learning and offline RL settings, be extended to the goal-conditioned RL setting, and even the meta-RL setting. With a general agent architecture, a single UDRL agent can learn across all paradigms.
"Is not the truth the truth?": Analyzing the Impact of User Validations for Bus In/Out Detection in Smartphone-based Surveys
Venue: arXiv cs.HC 2022
Year: 2022

Passenger flow allows the study of users' behavior through the public network and assists in designing new facilities and services. This flow is observed through interactions between passengers and infrastructure. For this task, Bluetooth technology and smartphones represent the ideal solution. The latter component allows users' identification, authentication, and billing, while the former allows short-range implicit interactions, device-to-device. To assess the potential of such a use case, we need to verify how robust Bluetooth signal and related machine learning (ML) classifiers are against the noise of realistic contexts. Therefore, we model binary passenger states with respect to a public vehicle, where one can either be-in or be-out (BIBO). The BIBO label identifies a fundamental building block of continuously-valued passenger flow. This paper describes the Human-Computer interaction experimental setting in a semi-controlled environment, which involves: two autonomous vehicles operating on two routes, serving three bus stops and eighteen users, as well as a proprietary smartphone-Bluetooth sensing platform. The resulting dataset includes multiple sensors' measurements of the same event and two ground-truth levels, the first being validation by participants, the second by three video-cameras surveilling buses and track. We performed a Monte-Carlo simulation of labels-flip to emulate human errors in the labeling process, as is known to happen in smartphone surveys; next we used such flipped labels for supervised training of ML classifiers. The impact of errors on model performance bias can be large. Results show ML tolerance to label flips caused by human or machine errors up to 30%.
Validating an SVM-based neonatal seizure detection algorithm for generalizability, non-inferiority and clinical efficacy
Venue: arXiv cs.LG 2022
Year: 2022

Neonatal seizure detection algorithms (SDA) are approaching the benchmark of human expert annotation. Measures of algorithm generalizability and non-inferiority as well as measures of clinical efficacy are needed to assess the full scope of neonatal SDA performance. We validated our neonatal SDA on an independent data set of 28 neonates. Generalizability was tested by comparing the performance of the original training set (cross-validation) to its performance on the validation set. Non-inferiority was tested by assessing inter-observer agreement between combinations of SDA and two human expert annotations. Clinical efficacy was tested by comparing how the SDA and human experts quantified seizure burden and identified clinically significant periods of seizure activity in the EEG. Algorithm performance was consistent between training and validation sets with no significant worsening in AUC (p>0.05, n =28). SDA output was inferior to the annotation of the human expert, however, re-training with an increased diversity of data resulted in non-inferior performance ($Δκ$=0.077, 95% CI: -0.002-0.232, n=18). The SDA assessment of seizure burden had an accuracy ranging from 89-93%, and 87% for identifying periods of clinical interest. The proposed SDA is approaching human equivalence and provides a clinically relevant interpretation of the EEG.
Multi-Modal Legged Locomotion Framework with Automated Residual Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In this paper, we propose a multi-modal locomotion framework that is composed of a hand-crafted transition motion and a learning-based bipedal controller -- learnt by a novel algorithm called Automated Residual Reinforcement Learning. This framework aims to endow arbitrary quadruped robots with the ability to walk bipedally. In particular, we 1) design an additional supporting structure for a quadruped robot and a sequential multi-modal transition strategy; 2) propose a novel class of Reinforcement Learning algorithms for bipedal control and evaluate their performances in both simulation and the real world. Experimental results show that our proposed algorithms have the best performance in simulation and maintain a good performance in a real-world robot. Overall, our multi-modal robot could successfully switch between biped and quadruped, and walk in both modes. Experiment videos and code are available at https://chenaah.github.io/multimodal/.
Activation Functions: Dive into an optimal activation function
Venue: arXiv cs.LG 2022
Year: 2022

Activation functions have come up as one of the essential components of neural networks. The choice of adequate activation function can impact the accuracy of these methods. In this study, we experiment for finding an optimal activation function by defining it as a weighted sum of existing activation functions and then further optimizing these weights while training the network. The study uses three activation functions, ReLU, tanh, and sin, over three popular image datasets, MNIST, FashionMNIST, and KMNIST. We observe that the ReLU activation function can easily overlook other activation functions. Also, we see that initial layers prefer to have ReLU or LeakyReLU type of activation functions, but deeper layers tend to prefer more convergent activation functions.
Random primes without primality testing
Venue: arXiv cs.SC 2022
Year: 2022

Numerous algorithms call for computation over the integers modulo a randomly-chosen large prime. In some cases, the quasi-cubic complexity of selecting a random prime can dominate the total running time. We propose a new variant of the classic D5 algorithm for "dynamic evaluation", applied to a randomly-chosen (composite) integer. Unlike the D5 principle which has been used in the past to compute over a direct product of fields, our method is simpler as it only requires following a single path after any modulus splits. The transformation we propose can apply to any algorithm in the algebraic RAM model, even allowing randomization. The resulting transformed algorithm avoids any primality tests and will, with constant positive probability, have the same result as the original computation modulo a randomly-chosen prime. As an application, we demonstrate how to compute the exact number of nonzero terms in an unknown integer polynomial in quasi-linear time. We also show how the same algorithmic transformation technique can be used for computing modulo random irreducible polynomials over a finite field.
An Information-theoretical Approach to Semi-supervised Learning under Covariate-shift
Venue: arXiv cs.IT 2022
Year: 2022

A common assumption in semi-supervised learning is that the labeled, unlabeled, and test data are drawn from the same distribution. However, this assumption is not satisfied in many applications. In many scenarios, the data is collected sequentially (e.g., healthcare) and the distribution of the data may change over time often exhibiting so-called covariate shifts. In this paper, we propose an approach for semi-supervised learning algorithms that is capable of addressing this issue. Our framework also recovers some popular methods, including entropy minimization and pseudo-labeling. We provide new information-theoretical based generalization error upper bounds inspired by our novel framework. Our bounds are applicable to both general semi-supervised learning and the covariate-shift scenario. Finally, we show numerically that our method outperforms previous approaches proposed for semi-supervised learning under the covariate shift.
Collaborative Training of Heterogeneous Reinforcement Learning Agents in Environments with Sparse Rewards: What and When to Share?
Venue: arXiv cs.LG 2022
Year: 2022

In the early stages of human life, babies develop their skills by exploring different scenarios motivated by their inherent satisfaction rather than by extrinsic rewards from the environment. This behavior, referred to as intrinsic motivation, has emerged as one solution to address the exploration challenge derived from reinforcement learning environments with sparse rewards. Diverse exploration approaches have been proposed to accelerate the learning process over single- and multi-agent problems with homogeneous agents. However, scarce studies have elaborated on collaborative learning frameworks between heterogeneous agents deployed into the same environment, but interacting with different instances of the latter without any prior knowledge. Beyond the heterogeneity, each agent's characteristics grant access only to a subset of the full state space, which may hide different exploration strategies and optimal solutions. In this work we combine ideas from intrinsic motivation and transfer learning. Specifically, we focus on sharing parameters in actor-critic model architectures and on combining information obtained through intrinsic motivation with the aim of having a more efficient exploration and faster learning. We test our strategies through experiments performed over a modified ViZDooM's My Way Home scenario, which is more challenging than its original version and allows evaluating the heterogeneity between agents. Our results reveal different ways in which a collaborative framework with little additional computational cost can outperform an independent learning process without knowledge sharing. Additionally, we depict the need for modulating correctly the importance between the extrinsic and intrinsic rewards to avoid undesired agent behaviors.