OpenRaiser/Intern-Atlas huggingface dataset:
Deep Reinforcement Learning for 2D Physics-Based Object Manipulation in Clutter
Venue: arXiv cs.RO 2023
Year: 2023

Deep Reinforcement Learning (DRL) is a quickly evolving research field rooted in operations research and behavioural psychology, with potential applications extending across various domains, including robotics. This thesis delineates the background of modern Reinforcement Learning (RL), starting with the framework constituted by the Markov decision processes, Markov properties, goals and rewards, agent-environment interactions, and policies. We explain the main types of algorithms commonly used in RL, including value-based, policy gradient, and actor-critic methods, with a special emphasis on DQN, A2C and PPO. We then give a short literature review on some widely adopted frameworks for implementing RL algorithms and environments. Subsequently, we present Bidimensional Gripper Environment (BGE), a virtual simulator based on the Pymunk physics engine we developed to analyse top-down bidimensional object manipulation. The methodology section frames our agent-environment interaction as a Markov decision process, such that we can apply our RL algorithms. We list various goal formulation strategies, including reward shaping and curriculum learning. We also employ different steps of observation preprocessing to reduce the computational workload required. In the experimental phase, we run through a series of scenarios of increasing difficulty. We start with a simple static scenario and then gradually increase the amount of stochasticity. Whenever the agents show difficulty in learning, we counteract by increasing the degree of reward shaping and curriculum learning. These experiments demonstrate the substantial limitations and pitfalls of model-free algorithms under changing dynamics. In conclusion, we present a summary of our findings and remarks. We then outline potential future work to improve our methodology and possibly expand to real-world systems.
The Evolution of DNS Security and Privacy
Venue: arXiv cs.CR 2023
Year: 2023

DNS, one of the fundamental protocols of the TCP/IP stack, has evolved over the years to protect against threats and attacks. This study examines the risks associated with DNS and explores recent advancements that contribute towards making the DNS ecosystem resilient against various attacks while safeguarding user privacy.
Evaluating The Accuracy of Classification Algorithms for Detecting Heart Disease Risk
Venue: arXiv cs.LG 2023
Year: 2023

The healthcare industry generates enormous amounts of complex clinical data that make the prediction of disease detection a complicated process. In medical informatics, making effective and efficient decisions is very important. Data Mining (DM) techniques are mainly used to identify and extract hidden patterns and interesting knowledge to diagnose and predict diseases in medical datasets. Nowadays, heart disease is considered one of the most important problems in the healthcare field. Therefore, early diagnosis leads to a reduction in deaths. DM techniques have proven highly effective for predicting and diagnosing heart diseases. This work utilizes the classification algorithms with a medical dataset of heart disease; namely, J48, Random Forest, and Naïve Bayes to discover the accuracy of their performance. We also examine the impact of the feature selection method. A comparative and analysis study was performed to determine the best technique using Waikato Environment for Knowledge Analysis (Weka) software, version 3.8.6. The performance of the utilized algorithms was evaluated using standard metrics such as accuracy, sensitivity and specificity. The importance of using classification techniques for heart disease diagnosis has been highlighted. We also reduced the number of attributes in the dataset, which showed a significant improvement in prediction accuracy. The results indicate that the best algorithm for predicting heart disease was Random Forest with an accuracy of 99.24%.
Low-Complexity Channel Estimation for Extremely Large-Scale MIMO in Near Field
Venue: arXiv cs.IT 2023
Year: 2023

The extremely large-scale massive multiple-input multiple-output (XL-MIMO) has the potential to achieve boosted spectral efficiency and refined spatial resolution for future wireless networks. However, channel estimation for XL-MIMO is challenging since the large number of antennas results in high computational complexity with the near-field effect. In this letter, we propose a low-complexity sequential angle-distance channel estimation (SADCE) method for near-field XL-MIMO systems equipped with uniformly planar arrays (UPA). Specifically, we first successfully decouple the angle and distance parameters, which allows us to devise a two-dimensional discrete Fourier transform (2D-DFT) method for angle parameters estimation. Then, a low-complexity distance estimation method is proposed with a closed-form solution. Compared with existing methods, the proposed method achieves significant performance gain with noticeably reduced computational complexity.Numerical results verify the superiority of the proposed near-field channel estimation algorithm.
Relational Deep Learning: Graph Representation Learning on Relational Databases
Venue: arXiv cs.LG 2023
Year: 2023

Much of the world's most valued data is stored in relational databases and data warehouses, where the data is organized into many tables connected by primary-foreign key relations. However, building machine learning models using this data is both challenging and time consuming. The core problem is that no machine learning method is capable of learning on multiple tables interconnected by primary-foreign key relations. Current methods can only learn from a single table, so the data must first be manually joined and aggregated into a single training table, the process known as feature engineering. Feature engineering is slow, error prone and leads to suboptimal models. Here we introduce an end-to-end deep representation learning approach to directly learn on data laid out across multiple tables. We name our approach Relational Deep Learning (RDL). The core idea is to view relational databases as a temporal, heterogeneous graph, with a node for each row in each table, and edges specified by primary-foreign key links. Message Passing Graph Neural Networks can then automatically learn across the graph to extract representations that leverage all input data, without any manual feature engineering. Relational Deep Learning leads to more accurate models that can be built much faster. To facilitate research in this area, we develop RelBench, a set of benchmark datasets and an implementation of Relational Deep Learning. The data covers a wide spectrum, from discussions on Stack Exchange to book reviews on the Amazon Product Catalog. Overall, we define a new research area that generalizes graph machine learning and broadens its applicability to a wide set of AI use cases.
Learning Thresholds with Latent Values and Censored Feedback
Venue: arXiv cs.LG 2023
Year: 2023

In this paper, we investigate a problem of actively learning threshold in latent space, where the unknown reward $g(γ, v)$ depends on the proposed threshold $γ$ and latent value $v$ and it can be $only$ achieved if the threshold is lower than or equal to the unknown latent value. This problem has broad applications in practical scenarios, e.g., reserve price optimization in online auctions, online task assignments in crowdsourcing, setting recruiting bars in hiring, etc. We first characterize the query complexity of learning a threshold with the expected reward at most $ε$ smaller than the optimum and prove that the number of queries needed can be infinitely large even when $g(γ, v)$ is monotone with respect to both $γ$ and $v$. On the positive side, we provide a tight query complexity $\tildeΘ(1/ε^3)$ when $g$ is monotone and the CDF of value distribution is Lipschitz. Moreover, we show a tight $\tildeΘ(1/ε^3)$ query complexity can be achieved as long as $g$ satisfies one-sided Lipschitzness, which provides a complete characterization for this problem. Finally, we extend this model to an online learning setting and demonstrate a tight $Θ(T^{2/3})$ regret bound using continuous-arm bandit techniques and the aforementioned query complexity results.
Reverse Engineering Deep ReLU Networks An Optimization-based Algorithm
Venue: arXiv cs.LG 2023
Year: 2023

Reverse engineering deep ReLU networks is a critical problem in understanding the complex behavior and interpretability of neural networks. In this research, we present a novel method for reconstructing deep ReLU networks by leveraging convex optimization techniques and a sampling-based approach. Our method begins by sampling points in the input space and querying the black box model to obtain the corresponding hyperplanes. We then define a convex optimization problem with carefully chosen constraints and conditions to guarantee its convexity. The objective function is designed to minimize the discrepancy between the reconstructed networks output and the target models output, subject to the constraints. We employ gradient descent to optimize the objective function, incorporating L1 or L2 regularization as needed to encourage sparse or smooth solutions. Our research contributes to the growing body of work on reverse engineering deep ReLU networks and paves the way for new advancements in neural network interpretability and security.
LLM4TDD: Best Practices for Test Driven Development Using Large Language Models
Venue: arXiv cs.SE 2023
Year: 2023

In today's society, we are becoming increasingly dependent on software systems. However, we also constantly witness the negative impacts of buggy software. Program synthesis aims to improve software correctness by automatically generating the program given an outline of the expected behavior. For decades, program synthesis has been an active research field, with recent approaches looking to incorporate Large Language Models to help generate code. This paper explores the concept of LLM4TDD, where we guide Large Language Models to generate code iteratively using a test-driven development methodology. We conduct an empirical evaluation using ChatGPT and coding problems from LeetCode to investigate the impact of different test, prompt and problem attributes on the efficacy of LLM4TDD.
Fine-Tuning InstructPix2Pix for Advanced Image Colorization
Venue: arXiv cs.CV 2023
Year: 2023

This paper presents a novel approach to human image colorization by fine-tuning the InstructPix2Pix model, which integrates a language model (GPT-3) with a text-to-image model (Stable Diffusion). Despite the original InstructPix2Pix model's proficiency in editing images based on textual instructions, it exhibits limitations in the focused domain of colorization. To address this, we fine-tuned the model using the IMDB-WIKI dataset, pairing black-and-white images with a diverse set of colorization prompts generated by ChatGPT. This paper contributes by (1) applying fine-tuning techniques to stable diffusion models specifically for colorization tasks, and (2) employing generative models to create varied conditioning prompts. After finetuning, our model outperforms the original InstructPix2Pix model on multiple metrics quantitatively, and we produce more realistically colored images qualitatively. The code for this project is provided on the GitHub Repository https://github.com/AllenAnZifeng/DeepLearning282.
An Overview of MLCommons Cloud Mask Benchmark: Related Research and Data
Venue: arXiv cs.DC 2023
Year: 2023

Cloud masking is a crucial task that is well-motivated for meteorology and its applications in environmental and atmospheric sciences. Its goal is, given satellite images, to accurately generate cloud masks that identify each pixel in image to contain either cloud or clear sky. In this paper, we summarize some of the ongoing research activities in cloud masking, with a focus on the research and benchmark currently conducted in MLCommons Science Working Group. This overview is produced with the hope that others will have an easier time getting started and collaborate on the activities related to MLCommons Cloud Mask Benchmark.
Hate Cannot Drive out Hate: Forecasting Conversation Incivility following Replies to Hate Speech
Venue: arXiv cs.CY 2023
Year: 2023

User-generated replies to hate speech are promising means to combat hatred, but questions about whether they can stop incivility in follow-up conversations linger. We argue that effective replies stop incivility from emerging in follow-up conversations - replies that elicit more incivility are counterproductive. This study introduces the task of predicting the incivility of conversations following replies to hate speech. We first propose a metric to measure conversation incivility based on the number of civil and uncivil comments as well as the unique authors involved in the discourse. Our metric approximates human judgments more accurately than previous metrics. We then use the metric to evaluate the outcomes of replies to hate speech. A linguistic analysis uncovers the differences in the language of replies that elicit follow-up conversations with high and low incivility. Experimental results show that forecasting incivility is challenging. We close with a qualitative analysis shedding light into the most common errors made by the best model.
RL Dreams: Policy Gradient Optimization for Score Distillation based 3D Generation
Venue: arXiv cs.CV 2023
Year: 2023

3D generation has rapidly accelerated in the past decade owing to the progress in the field of generative modeling. Score Distillation Sampling (SDS) based rendering has improved 3D asset generation to a great extent. Further, the recent work of Denoising Diffusion Policy Optimization (DDPO) demonstrates that the diffusion process is compatible with policy gradient methods and has been demonstrated to improve the 2D diffusion models using an aesthetic scoring function. We first show that this aesthetic scorer acts as a strong guide for a variety of SDS-based methods and demonstrates its effectiveness in text-to-3D synthesis. Further, we leverage the DDPO approach to improve the quality of the 3D rendering obtained from 2D diffusion models. Our approach, DDPO3D, employs the policy gradient method in tandem with aesthetic scoring. To the best of our knowledge, this is the first method that extends policy gradient methods to 3D score-based rendering and shows improvement across SDS-based methods such as DreamGaussian, which are currently driving research in text-to-3D synthesis. Our approach is compatible with score distillation-based methods, which would facilitate the integration of diverse reward functions into the generative process. Our project page can be accessed via https://ddpo3d.github.io.
Learn to Optimize Denoising Scores for 3D Generation: A Unified and Improved Diffusion Prior on NeRF and 3D Gaussian Splatting
Venue: arXiv cs.CV 2023
Year: 2023

We propose a unified framework aimed at enhancing the diffusion priors for 3D generation tasks. Despite the critical importance of these tasks, existing methodologies often struggle to generate high-caliber results. We begin by examining the inherent limitations in previous diffusion priors. We identify a divergence between the diffusion priors and the training procedures of diffusion models that substantially impairs the quality of 3D generation. To address this issue, we propose a novel, unified framework that iteratively optimizes both the 3D model and the diffusion prior. Leveraging the different learnable parameters of the diffusion prior, our approach offers multiple configurations, affording various trade-offs between performance and implementation complexity. Notably, our experimental results demonstrate that our method markedly surpasses existing techniques, establishing new state-of-the-art in the realm of text-to-3D generation. Furthermore, our approach exhibits impressive performance on both NeRF and the newly introduced 3D Gaussian Splatting backbones. Additionally, our framework yields insightful contributions to the understanding of recent score distillation methods, such as the VSD and DDS loss.
Thermodynamic Computing System for AI Applications
Venue: arXiv cs.ET 2023
Year: 2023

Recent breakthroughs in artificial intelligence (AI) algorithms have highlighted the need for novel computing hardware in order to truly unlock the potential for AI. Physics-based hardware, such as thermodynamic computing, has the potential to provide a fast, low-power means to accelerate AI primitives, especially generative AI and probabilistic AI. In this work, we present the first continuous-variable thermodynamic computer, which we call the stochastic processing unit (SPU). Our SPU is composed of RLC circuits, as unit cells, on a printed circuit board, with 8 unit cells that are all-to-all coupled via switched capacitances. It can be used for either sampling or linear algebra primitives, and we demonstrate Gaussian sampling and matrix inversion on our hardware. The latter represents the first thermodynamic linear algebra experiment. We also illustrate the applicability of the SPU to uncertainty quantification for neural network classification. We envision that this hardware, when scaled up in size, will have significant impact on accelerating various probabilistic AI applications.
Annotation-Free Group Robustness via Loss-Based Resampling
Venue: arXiv cs.CV 2023
Year: 2023

It is well-known that training neural networks for image classification with empirical risk minimization (ERM) makes them vulnerable to relying on spurious attributes instead of causal ones for prediction. Previously, deep feature re-weighting (DFR) has proposed retraining the last layer of a pre-trained network on balanced data concerning spurious attributes, making it robust to spurious correlation. However, spurious attribute annotations are not always available. In order to provide group robustness without such annotations, we propose a new method, called loss-based feature re-weighting (LFR), in which we infer a grouping of the data by evaluating an ERM-pre-trained model on a small left-out split of the training data. Then, a balanced number of samples is chosen by selecting high-loss samples from misclassified data points and low-loss samples from correctly-classified ones. Finally, we retrain the last layer on the selected balanced groups to make the model robust to spurious correlation. For a complete assessment, we evaluate LFR on various versions of Waterbirds and CelebA datasets with different spurious correlations, which is a novel technique for observing the model's performance in a wide range of spuriosity rates. While LFR is extremely fast and straightforward, it outperforms the previous methods that do not assume group label availability, as well as the DFR with group annotations provided, in cases of high spurious correlation in the training data.
Operationalizing Assurance Cases for Data Scientists: A Showcase of Concepts and Tooling in the Context of Test Data Quality for Machine Learning
Venue: arXiv cs.SE 2023
Year: 2023

Assurance Cases (ACs) are an established approach in safety engineering to argue quality claims in a structured way. In the context of quality assurance for Machine Learning (ML)-based software components, ACs are also being discussed and appear promising. Tools for operationalizing ACs do exist, yet mainly focus on supporting safety engineers on the system level. However, assuring the quality of an ML component within the system is commonly the responsibility of data scientists, who are usually less familiar with these tools. To address this gap, we propose a framework to support the operationalization of ACs for ML components based on technologies that data scientists use on a daily basis: Python and Jupyter Notebook. Our aim is to make the process of creating ML-related evidence in ACs more effective. Results from the application of the framework, documented through notebooks, can be integrated into existing AC tools. We illustrate the application of the framework on an example excerpt concerned with the quality of the test data.
Zoology: Measuring and Improving Recall in Efficient Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Attention-free language models that combine gating and convolutions are growing in popularity due to their efficiency and increasingly competitive performance. To better understand these architectures, we pretrain a suite of 17 attention and "gated-convolution" language models, finding that SoTA gated-convolution architectures still underperform attention by up to 2.1 perplexity points on the Pile. In fine-grained analysis, we find 82% of the gap is explained by each model's ability to recall information that is previously mentioned in-context, e.g. "Hakuna Matata means no worries Hakuna Matata it means no" $\rightarrow$ "??". On this task, termed "associative recall", we find that attention outperforms gated-convolutions by a large margin: a 70M parameter attention model outperforms a 1.4 billion parameter gated-convolution model on associative recall. This is surprising because prior work shows gated convolutions can perfectly solve synthetic tests for AR capability. To close the gap between synthetics and real language, we develop a new formalization of the task called multi-query associative recall (MQAR) that better reflects actual language. We perform an empirical and theoretical study of MQAR that elucidates differences in the parameter-efficiency of attention and gated-convolution recall. Informed by our analysis, we evaluate simple convolution-attention hybrids and show that hybrids with input-dependent sparse attention patterns can close 97.4% of the gap to attention, while maintaining sub-quadratic scaling. Our code is accessible at: https://github.com/HazyResearch/zoology.
SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation
Venue: arXiv cs.RO 2023
Year: 2023

We study the problem of hanging a wide range of grasped objects on diverse supporting items. Hanging objects is a ubiquitous task that is encountered in numerous aspects of our everyday lives. However, both the objects and supporting items can exhibit substantial variations in their shapes and structures, bringing two challenging issues: (1) determining the task-relevant geometric structures across different objects and supporting items, and (2) identifying a robust action sequence to accommodate the shape variations of supporting items. To this end, we propose Semantic Keypoint Trajectory (SKT), an object-agnostic representation that is highly versatile and applicable to various everyday objects. We also propose Shape-conditioned Trajectory Deformation Network (SCTDN), a model that learns to generate SKT by deforming a template trajectory based on the task-relevant geometric structure features of the supporting items. We conduct extensive experiments and demonstrate substantial improvements in our framework over existing robot hanging methods in the success rate and inference time. Finally, our simulation-trained framework shows promising hanging results in the real world. For videos and supplementary materials, please visit our project webpage: https://hcis-lab.github.io/SKT-Hang/.