OpenRaiser/Intern-Atlas huggingface dataset:
Rethinking SIGN Training: Provable Nonconvex Acceleration without First- and Second-Order Gradient Lipschitz
Venue: arXiv cs.LG 2023
Year: 2023

Sign-based stochastic methods have gained attention due to their ability to achieve robust performance despite using only the sign information for parameter updates. However, the current convergence analysis of sign-based methods relies on the strong assumptions of first-order gradient Lipschitz and second-order gradient Lipschitz, which may not hold in practical tasks like deep neural network training that involve high non-smoothness. In this paper, we revisit sign-based methods and analyze their convergence under more realistic assumptions of first- and second-order smoothness. We first establish the convergence of the sign-based method under weak first-order Lipschitz. Motivated by the weak first-order Lipschitz, we propose a relaxed second-order condition that still allows for nonconvex acceleration in sign-based methods. Based on our theoretical results, we gain insights into the computational advantages of the recently developed LION algorithm. In distributed settings, we prove that this nonconvex acceleration persists with linear speedup in the number of nodes, when utilizing fast communication compression gossip protocols. The novelty of our theoretical results lies in that they are derived under much weaker assumptions, thereby expanding the provable applicability of sign-based algorithms to a wider range of problems.
Interaction-Driven Active 3D Reconstruction with Object Interiors
Venue: arXiv cs.CV 2023
Year: 2023

We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works in active vision which focus on optimizing camera viewpoints to better investigate the environment, the primary feature of our reconstruction is an analysis of the interactability of various parts of the target object and the ensuing part manipulation by a robot to enable scanning of occluded regions. As a result, an understanding of part articulations of the target object is obtained on top of complete geometry acquisition. Our method operates fully automatically by a Fetch robot with built-in RGBD sensors. It iterates between interaction analysis and interaction-driven reconstruction, scanning and reconstructing detected moveable parts one at a time, where both the articulated part detection and mesh reconstruction are carried out by neural networks. In the final step, all the remaining, non-articulated parts, including all the interior structures that had been exposed by prior part manipulations and subsequently scanned, are reconstructed to complete the acquisition. We demonstrate the performance of our method via qualitative and quantitative evaluation, ablation studies, comparisons to alternatives, as well as experiments in a real environment.
The Safety Challenges of Deep Learning in Real-World Type 1 Diabetes Management
Venue: arXiv cs.LG 2023
Year: 2023

Blood glucose simulation allows the effectiveness of type 1 diabetes (T1D) management strategies to be evaluated without patient harm. Deep learning algorithms provide a promising avenue for extending simulator capabilities; however, these algorithms are limited in that they do not necessarily learn physiologically correct glucose dynamics and can learn incorrect and potentially dangerous relationships from confounders in training data. This is likely to be more important in real-world scenarios, as data is not collected under strict research protocol. This work explores the implications of using deep learning algorithms trained on real-world data to model glucose dynamics. Free-living data was processed from the OpenAPS Data Commons and supplemented with patient-reported tags of challenging diabetes events, constituting one of the most detailed real-world T1D datasets. This dataset was used to train and evaluate state-of-the-art glucose simulators, comparing their prediction error across safety critical scenarios and assessing the physiological appropriateness of the learned dynamics using Shapley Additive Explanations (SHAP). While deep learning prediction accuracy surpassed the widely-used mathematical simulator approach, the model deteriorated in safety critical scenarios and struggled to leverage self-reported meal and exercise information. SHAP value analysis also indicated the model had fundamentally confused the roles of insulin and carbohydrates, which is one of the most basic T1D management principles. This work highlights the importance of considering physiological appropriateness when using deep learning to model real-world systems in T1D and healthcare more broadly, and provides recommendations for building models that are robust to real-world data constraints.
Predicting COVID-19 Infections Using Multi-layer Centrality Measures in Population-scale Networks
Venue: arXiv cs.SI 2023
Year: 2023

Understanding the spread of SARS-CoV-2 has been one of the most pressing problems of the recent past. Network models present a potent approach to studying such spreading phenomena because of their ability to represent complex social interactions. While previous studies have shown that network centrality measures are generally able to identify influential spreaders in a susceptible population, it is not yet known if they can also be used to predict infection risks. However, information about infection risks at the individual level is vital for the design of targeted interventions. Here, we use large-scale administrative data from the Netherlands to study whether centrality measures can predict the risk and timing of infections with COVID-19-like diseases. We investigate this issue leveraging the framework of multi-layer networks, which accounts for interactions taking place in different contexts, such as workplaces, households and schools. In epidemic models simulated on real-world network data from over one million individuals, we find that existing centrality measures offer good predictions of relative infection risks, and are correlated with the timing of individual infections. We however find no association between centrality measures and real SARS-CoV-2 test data, which indicates that population-scale network data alone cannot aid predictions of virus transmission.
Policy Gradient with Kernel Quadrature
Venue: arXiv cs.LG 2023
Year: 2023

Reward evaluation of episodes becomes a bottleneck in a broad range of reinforcement learning tasks. Our aim in this paper is to select a small but representative subset of a large batch of episodes, only on which we actually compute rewards for more efficient policy gradient iterations. We build a Gaussian process modeling of discounted returns or rewards to derive a positive definite kernel on the space of episodes, run an ``episodic" kernel quadrature method to compress the information of sample episodes, and pass the reduced episodes to the policy network for gradient updates. We present the theoretical background of this procedure as well as its numerical illustrations in MuJoCo tasks.
An Efficient Imbalance-Aware Federated Learning Approach for Wearable Healthcare with Autoregressive Ratio Observation
Venue: arXiv cs.LG 2023
Year: 2023

Widely available healthcare services are now getting popular because of advancements in wearable sensing techniques and mobile edge computing. People's health information is collected by edge devices such as smartphones and wearable bands for further analysis on servers, then send back suggestions and alerts for abnormal conditions. The recent emergence of federated learning allows users to train private data on local devices while updating models collaboratively. However, the heterogeneous distribution of the health condition data may lead to significant risks to model performance due to class imbalance. Meanwhile, as FL training is powered by sharing gradients only with the server, training data is almost inaccessible. The conventional solutions to class imbalance do not work for federated learning. In this work, we propose a new federated learning framework FedImT, dedicated to addressing the challenges of class imbalance in federated learning scenarios. FedImT contains an online scheme that can estimate the data composition during each round of aggregation, then introduces a self-attenuating iterative equivalent to track variations of multiple estimations and promptly tweak the balance of the loss computing for minority classes. Experiments demonstrate the effectiveness of FedImT in solving the imbalance problem without extra energy consumption and avoiding privacy risks.
Leveraging Timestamp Information for Serialized Joint Streaming Recognition and Translation
Venue: arXiv cs.CL 2023
Year: 2023

The growing need for instant spoken language transcription and translation is driven by increased global communication and cross-lingual interactions. This has made offering translations in multiple languages essential for user applications. Traditional approaches to automatic speech recognition (ASR) and speech translation (ST) have often relied on separate systems, leading to inefficiencies in computational resources, and increased synchronization complexity in real time. In this paper, we propose a streaming Transformer-Transducer (T-T) model able to jointly produce many-to-one and one-to-many transcription and translation using a single decoder. We introduce a novel method for joint token-level serialized output training based on timestamp information to effectively produce ASR and ST outputs in the streaming setting. Experiments on {it,es,de}->en prove the effectiveness of our approach, enabling the generation of one-to-many joint outputs with a single decoder for the first time.
Text2Topic: Multi-Label Text Classification System for Efficient Topic Detection in User Generated Content with Zero-Shot Capabilities
Venue: arXiv cs.LG 2023
Year: 2023

Multi-label text classification is a critical task in the industry. It helps to extract structured information from large amount of textual data. We propose Text to Topic (Text2Topic), which achieves high multi-label classification performance by employing a Bi-Encoder Transformer architecture that utilizes concatenation, subtraction, and multiplication of embeddings on both text and topic. Text2Topic also supports zero-shot predictions, produces domain-specific text embeddings, and enables production-scale batch-inference with high throughput. The final model achieves accurate and comprehensive results compared to state-of-the-art baselines, including large language models (LLMs). In this study, a total of 239 topics are defined, and around 1.6 million text-topic pairs annotations (in which 200K are positive) are collected on approximately 120K texts from 3 main data sources on Booking.com. The data is collected with optimized smart sampling and partial labeling. The final Text2Topic model is deployed on a real-world stream processing platform, and it outperforms other models with 92.9% micro mAP, as well as a 75.8% macro mAP score. We summarize the modeling choices which are extensively tested through ablation studies, and share detailed in-production decision-making steps.
3M-TRANSFORMER: A Multi-Stage Multi-Stream Multimodal Transformer for Embodied Turn-Taking Prediction
Venue: arXiv cs.CV 2023
Year: 2023

Predicting turn-taking in multiparty conversations has many practical applications in human-computer/robot interaction. However, the complexity of human communication makes it a challenging task. Recent advances have shown that synchronous multi-perspective egocentric data can significantly improve turn-taking prediction compared to asynchronous, single-perspective transcriptions. Building on this research, we propose a new multimodal transformer-based architecture for predicting turn-taking in embodied, synchronized multi-perspective data. Our experimental results on the recently introduced EgoCom dataset show a substantial performance improvement of up to 14.01% on average compared to existing baselines and alternative transformer-based approaches. The source code, and the pre-trained models of our 3M-Transformer will be available upon acceptance.
Adaptive Tuning of Robotic Polishing Skills based on Force Feedback Model
Venue: arXiv cs.RO 2023
Year: 2023

Acquiring human skills offers an efficient approach to tackle complex task planning challenges. When performing a learned skill model for a continuous contact task, such as robot polishing in an uncertain environment, the robot needs to be able to adaptively modify the skill model to suit the environment and perform the desired task. The environmental perturbation of the polishing task is mainly reflected in the variation of contact force. Therefore, adjusting the task skill model by providing feedback on the contact force deviation is an effective way to meet the task requirements. In this study, a phase-modulated diagonal recurrent neural network (PMDRNN) is proposed for force feedback model learning in the robotic polishing task. The contact between the tool and the workpiece in the polishing task can be considered a dynamic system. In comparison to the existing feedforward neural network phase-modulated neural network (PMNN), PMDRNN combines the diagonal recurrent network structure with the phase-modulated neural network layer to improve the learning performance of the feedback model for dynamic systems. Specifically, data from real-world robot polishing experiments are used to learn the feedback model. PMDRNN demonstrates a significant reduction in the training error of the feedback model when compared to PMNN. Building upon this, the combination of PMDRNN and dynamic movement primitives (DMPs) can be used for real-time adjustment of skills for polishing tasks and effectively improve the robustness of the task skill model. Finally, real-world robotic polishing experiments are conducted to demonstrate the effectiveness of the approach.
Diverse Priors for Deep Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

In Reinforcement Learning (RL), agents aim at maximizing cumulative rewards in a given environment. During the learning process, RL agents face the dilemma of exploitation and exploration: leveraging existing knowledge to acquire rewards or seeking potentially higher ones. Using uncertainty as a guiding principle provides an active and effective approach to solving this dilemma and ensemble-based methods are one of the prominent avenues for quantifying uncertainty. Nevertheless, conventional ensemble-based uncertainty estimation lacks an explicit prior, deviating from Bayesian principles. Besides, this method requires diversity among members to generate less biased uncertainty estimation results. To address the above problems, previous research has incorporated random functions as priors. Building upon these foundational efforts, our work introduces an innovative approach with delicately designed prior NNs, which can incorporate maximal diversity in the initial value functions of RL. Our method has demonstrated superior performance compared with the random prior approaches in solving classic control problems and general exploration tasks, significantly improving sample efficiency.
A Study on Knowledge Graph Embeddings and Graph Neural Networks for Web Of Things
Venue: arXiv cs.AI 2023
Year: 2023

Graph data structures are widely used to store relational information between several entities. With data being generated worldwide on a large scale, we see a significant growth in the generation of knowledge graphs. Thing in the future is Orange's take on a knowledge graph in the domain of the Web Of Things (WoT), where the main objective of the platform is to provide a digital representation of the physical world and enable cross-domain applications to be built upon this massive and highly connected graph of things. In this context, as the knowledge graph grows in size, it is prone to have noisy and messy data. In this paper, we explore state-of-the-art knowledge graph embedding (KGE) methods to learn numerical representations of the graph entities and, subsequently, explore downstream tasks like link prediction, node classification, and triple classification. We also investigate Graph neural networks (GNN) alongside KGEs and compare their performance on the same downstream tasks. Our evaluation highlights the encouraging performance of both KGE and GNN-based methods on node classification, and the superiority of GNN approaches in the link prediction task. Overall, we show that state-of-the-art approaches are relevant in a WoT context, and this preliminary work provides insights to implement and evaluate them in this context.
Efficient Causal Discovery for Robotics Applications
Venue: arXiv cs.RO 2023
Year: 2023

Using robots for automating tasks in environments shared with humans, such as warehouses, shopping centres, or hospitals, requires these robots to comprehend the fundamental physical interactions among nearby agents and objects. Specifically, creating models to represent cause-and-effect relationships among these elements can aid in predicting unforeseen human behaviours and anticipate the outcome of particular robot actions. To be suitable for robots, causal analysis must be both fast and accurate, meeting real-time demands and the limited computational resources typical in most robotics applications. In this paper, we present a practical demonstration of our approach for fast and accurate causal analysis, known as Filtered PCMCI (F-PCMCI), along with a real-world robotics application. The provided application illustrates how our F-PCMCI can accurately and promptly reconstruct the causal model of a human-robot interaction scenario, which can then be leveraged to enhance the quality of the interaction.
Unveiling A Core Linguistic Region in Large Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Brain localization, which describes the association between specific regions of the brain and their corresponding functions, is widely accepted in the field of cognitive science as an objective fact. Today's large language models (LLMs) possess human-level linguistic competence and can execute complex tasks requiring abstract knowledge and reasoning. To deeply understand the inherent mechanisms of intelligence emergence in LLMs, this paper conducts an analogical research using brain localization as a prototype. We have discovered a core region in LLMs that corresponds to linguistic competence, accounting for approximately 1% of the total model parameters. This core region exhibits significant dimension dependency, and perturbations to even a single parameter on specific dimensions can lead to a loss of linguistic competence. Furthermore, we observe that an improvement in linguistic competence does not necessarily accompany an elevation in the model's knowledge level, which might imply the existence of regions of domain knowledge that are dissociated from the linguistic region. Overall, exploring the LLMs' functional regions provides insights into the foundation of their intelligence. In the future, we will continue to investigate knowledge regions within LLMs and the interactions between them.
Intuitive Multilingual Audio-Visual Speech Recognition with a Single-Trained Model
Venue: arXiv cs.MM 2023
Year: 2023

We present a novel approach to multilingual audio-visual speech recognition tasks by introducing a single model on a multilingual dataset. Motivated by a human cognitive system where humans can intuitively distinguish different languages without any conscious effort or guidance, we propose a model that can capture which language is given as an input speech by distinguishing the inherent similarities and differences between languages. To do so, we design a prompt fine-tuning technique into the largely pre-trained audio-visual representation model so that the network can recognize the language class as well as the speech with the corresponding language. Our work contributes to developing robust and efficient multilingual audio-visual speech recognition systems, reducing the need for language-specific models.
Predictive Maintenance Model Based on Anomaly Detection in Induction Motors: A Machine Learning Approach Using Real-Time IoT Data
Venue: arXiv cs.LG 2023
Year: 2023

With the support of Internet of Things (IoT) devices, it is possible to acquire data from degradation phenomena and design data-driven models to perform anomaly detection in industrial equipment. This approach not only identifies potential anomalies but can also serve as a first step toward building predictive maintenance policies. In this work, we demonstrate a novel anomaly detection system on induction motors used in pumps, compressors, fans, and other industrial machines. This work evaluates a combination of pre-processing techniques and machine learning (ML) models with a low computational cost. We use a combination of pre-processing techniques such as Fast Fourier Transform (FFT), Wavelet Transform (WT), and binning, which are well-known approaches for extracting features from raw data. We also aim to guarantee an optimal balance between multiple conflicting parameters, such as anomaly detection rate, false positive rate, and inference speed of the solution. To this end, multiobjective optimization and analysis are performed on the evaluated models. Pareto-optimal solutions are presented to select which models have the best results regarding classification metrics and computational effort. Differently from most works in this field that use publicly available datasets to validate their models, we propose an end-to-end solution combining low-cost and readily available IoT sensors. The approach is validated by acquiring a custom dataset from induction motors. Also, we fuse vibration, temperature, and noise data from these sensors as the input to the proposed ML model. Therefore, we aim to propose a methodology general enough to be applied in different industrial contexts in the future.
XTSC-Bench: Quantitative Benchmarking for Explainers on Time Series Classification
Venue: arXiv cs.LG 2023
Year: 2023

Despite the growing body of work on explainable machine learning in time series classification (TSC), it remains unclear how to evaluate different explainability methods. Resorting to qualitative assessment and user studies to evaluate explainers for TSC is difficult since humans have difficulties understanding the underlying information contained in time series data. Therefore, a systematic review and quantitative comparison of explanation methods to confirm their correctness becomes crucial. While steps to standardized evaluations were taken for tabular, image, and textual data, benchmarking explainability methods on time series is challenging due to a) traditional metrics not being directly applicable, b) implementation and adaption of traditional metrics for time series in the literature vary, and c) varying baseline implementations. This paper proposes XTSC-Bench, a benchmarking tool providing standardized datasets, models, and metrics for evaluating explanation methods on TSC. We analyze 3 perturbation-, 6 gradient- and 2 example-based explanation methods to TSC showing that improvements in the explainers' robustness and reliability are necessary, especially for multivariate data.