OpenRaiser/Intern-Atlas huggingface dataset:
Abstract Demonstrations and Adaptive Exploration for Efficient and Stable Multi-step Sparse Reward Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

Although Deep Reinforcement Learning (DRL) has been popular in many disciplines including robotics, state-of-the-art DRL algorithms still struggle to learn long-horizon, multi-step and sparse reward tasks, such as stacking several blocks given only a task-completion reward signal. To improve learning efficiency for such tasks, this paper proposes a DRL exploration technique, termed A^2, which integrates two components inspired by human experiences: Abstract demonstrations and Adaptive exploration. A^2 starts by decomposing a complex task into subtasks, and then provides the correct orders of subtasks to learn. During training, the agent explores the environment adaptively, acting more deterministically for well-mastered subtasks and more stochastically for ill-learnt subtasks. Ablation and comparative experiments are conducted on several grid-world tasks and three robotic manipulation tasks. We demonstrate that A^2 can aid popular DRL algorithms (DQN, DDPG, and SAC) to learn more efficiently and stably in these environments.
Proposed Consistent Exception Handling for the BLAS and LAPACK
Venue: arXiv cs.MS 2022
Year: 2022

Numerical exceptions, which may be caused by overflow, operations like division by 0 or sqrt(-1), or convergence failures, are unavoidable in many cases, in particular when software is used on unforeseen and difficult inputs. As more aspects of society become automated, e.g., self-driving cars, health monitors, and cyber-physical systems more generally, it is becoming increasingly important to design software that is resilient to exceptions, and that responds to them in a consistent way. Consistency is needed to allow users to build higher-level software that is also resilient and consistent (and so on recursively). In this paper we explore the design space of consistent exception handling for the widely used BLAS and LAPACK linear algebra libraries, pointing out a variety of instances of inconsistent exception handling in the current versions, and propose a new design that balances consistency, complexity, ease of use, and performance. Some compromises are needed, because there are preexisting inconsistencies that are outside our control, including in or between existing vendor BLAS implementations, different programming languages, and even compilers for the same programming language. And user requests from our surveys are quite diverse. We also propose our design as a possible model for other numerical software, and welcome comments on our design choices.
A Massively-Parallel 3D Simulator for Soft and Hybrid Robots
Venue: arXiv cs.RO 2022
Year: 2022

Simulation is an important step in robotics for creating control policies and testing various physical parameters. Soft robotics is a field that presents unique physical challenges for simulating its subjects due to the nonlinearity of deformable material components along with other innovative, and often complex, physical properties. Because of the computational cost of simulating soft and heterogeneous objects with traditional techniques, rigid robotics simulators are not well suited to simulating soft robots. Thus, many engineers must build their own one-off simulators tailored to their system, or use existing simulators with reduced performance. In order to facilitate the development of this exciting technology, this work presents an interactive-speed, accurate, and versatile simulator for a variety of types of soft robots. Cronos, our open-source 3D simulation engine, parallelizes a mass-spring model for ultra-fast performance on both deformable and rigid objects. Our approach is applicable to a wide array of nonlinear material configurations, including high deformability, volumetric actuation, or heterogenous stiffness. This versatility provides the ability to mix materials and geometric components freely within a single robot simulation. By exploiting the flexibility and scalability of nonlinear Hookean mass-spring systems, this framework simulates soft and rigid objects via a highly parallel model for near real-time speed. We describe an efficient GPU CUDA implementation, which we demonstrate to achieve computation of over 1 billion elements per second on consumer-grade GPU cards. Dynamic physical accuracy of the system is validated by comparing results to Euler-Bernoulli beam theory, natural frequency predictions, and empirical data of a soft structure under large deformation.
On Regularity Lemma and Barriers in Streaming and Dynamic Matching
Venue: arXiv cs.DS 2022
Year: 2022

We present a new approach for finding matchings in dense graphs by building on Szemerédi's celebrated Regularity Lemma. This allows us to obtain non-trivial albeit slight improvements over longstanding bounds for matchings in streaming and dynamic graphs. In particular, we establish the following results for $n$-vertex graphs: * A deterministic single-pass streaming algorithm that finds a $(1-o(1))$-approximate matching in $o(n^2)$ bits of space. This constitutes the first single-pass algorithm for this problem in sublinear space that improves over the $\frac{1}{2}$-approximation of the greedy algorithm. * A randomized fully dynamic algorithm that with high probability maintains a $(1-o(1))$-approximate matching in $o(n)$ worst-case update time per each edge insertion or deletion. The algorithm works even against an adaptive adversary. This is the first $o(n)$ update-time dynamic algorithm with approximation guarantee arbitrarily close to one. Given the use of regularity lemma, the improvement obtained by our algorithms over trivial bounds is only by some $(\log^*{n})^{Θ(1)}$ factor. Nevertheless, in each case, they show that the ``right'' answer to the problem is not what is dictated by the previous bounds. Finally, in the streaming model, we also present a randomized $(1-o(1))$-approximation algorithm whose space can be upper bounded by the density of certain Ruzsa-Szemerédi (RS) graphs. While RS graphs by now have been used extensively to prove streaming lower bounds, ours is the first to use them as an upper bound tool for designing improved streaming algorithms.
Alterfactual Explanations -- The Relevance of Irrelevance for Explaining AI Systems
Venue: arXiv cs.AI 2022
Year: 2022

Explanation mechanisms from the field of Counterfactual Thinking are a widely-used paradigm for Explainable Artificial Intelligence (XAI), as they follow a natural way of reasoning that humans are familiar with. However, all common approaches from this field are based on communicating information about features or characteristics that are especially important for an AI's decision. We argue that in order to fully understand a decision, not only knowledge about relevant features is needed, but that the awareness of irrelevant information also highly contributes to the creation of a user's mental model of an AI system. Therefore, we introduce a new way of explaining AI systems. Our approach, which we call Alterfactual Explanations, is based on showing an alternative reality where irrelevant features of an AI's input are altered. By doing so, the user directly sees which characteristics of the input data can change arbitrarily without influencing the AI's decision. We evaluate our approach in an extensive user study, revealing that it is able to significantly contribute to the participants' understanding of an AI. We show that alterfactual explanations are suited to convey an understanding of different aspects of the AI's reasoning than established counterfactual explanation methods.
P4TE: PISA Switch Based Traffic Engineering in Fat-Tree Data Center Networks
Venue: arXiv cs.NI 2022
Year: 2022

This work presents P4TE, an in-band traffic monitoring, load-aware packet forwarding, and flow rate controlling mechanism for traffic engineering in fat-tree topology-based data center networks using PISA switches. It achieves sub-RTT reaction time to change in network conditions, improved flow completion time, and balanced link utilization. Unlike the classical probe-based monitoring approach, P4TE uses an in-band monitoring approach to identify traffic events in the data plane. Based on these events, it re-adjusts the priorities of the paths. It uses a heuristic-based load-aware forwarding path selection mechanism to respond to changing network conditions and control the flow rate by sending feedback to the end hosts. It is implementable on emerging v1model.p4 architecture-based programmable switches and capable of maintaining the line-rate performance. Our evaluation shows that P4TE uses a small amount of resources in the PISA pipeline and achieves an improved flow completion time than ECMP and HULA.
Det6D: A Ground-Aware Full-Pose 3D Object Detector for Improving Terrain Robustness
Venue: arXiv cs.CV 2022
Year: 2022

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods suffer from performance degradation in this case due to difficulty correctly detecting objects on sloped terrain. In this work, we propose Det6D, the first full-degree-of-freedom 3D object detector without spatial and postural limitations, to improve terrain robustness. We choose the point-based framework by founding their capability of detecting objects in the entire spatial range. To predict full-degree poses, including pitch and roll, we design a ground-aware orientation branch that leverages the local ground constraints. Given the difficulty of long-tail non-flat scene data collection and 6D pose annotation, we present Slope-Aug, a data augmentation method for synthesizing non-flat terrain from existing datasets recorded in flat scenes. Experiments on various datasets demonstrate the effectiveness and robustness of our method in different terrains. We further conducted an extended experiment to explore how the network predicts the two extra poses. The proposed modules are plug-and-play for existing point-based frameworks. The code is available at https://github.com/HITSZ-NRSL/De6D.
Formalising the Krull Topology in Lean
Venue: arXiv cs.LO 2022
Year: 2022

The Galois group of an infinite Galois extension has a natural topology, called the Krull topology, which has the important property of being profinite. It is impossible to talk about Galois representations, and hence the Langlands Program, without first defining the Krull topology. We explain our formalisation of this topology, and our proof that it is profinite, in the Lean 3 theorem prover.
An Efficient Method for Face Quality Assessment on the Edge
Venue: arXiv cs.CV 2022
Year: 2022

Face recognition applications in practice are composed of two main steps: face detection and feature extraction. In a sole vision-based solution, the first step generates multiple detection for a single identity by ingesting a camera stream. A practical approach on edge devices should prioritize these detection of identities according to their conformity to recognition. In this perspective, we propose a face quality score regression by just appending a single layer to a face landmark detection network. With almost no additional cost, face quality scores are obtained by training this single layer to regress recognition scores with surveillance like augmentations. We implemented the proposed approach on edge GPUs with all face detection pipeline steps, including detection, tracking, and alignment. Comprehensive experiments show the proposed approach's efficiency through comparison with SOTA face quality regression models on different data sets and real-life scenarios.
TestSelector: Automatic Test Suite Selection for Student Projects -- Extended Version
Venue: arXiv cs.LO 2022
Year: 2022

Computer Science course instructors routinely have to create comprehensive test suites to assess programming assignments. The creation of such test suites is typically not trivial as it involves selecting a limited number of tests from a set of (semi-)randomly generated ones. Manual strategies for test selection do not scale when considering large testing inputs needed, for instance, for the assessment of algorithms exercises. To facilitate this process, we present TestSelector, a new framework for automatic selection of optimal test suites for student projects. The key advantage of TestSelector over existing approaches is that it is easily extensible with arbitrarily complex code coverage measures, not requiring these measures to be encoded into the logic of an exact constraint solver. We demonstrate the flexibility of TestSelector by extending it with support for a range of classical code coverage measures and using it to select test suites for a number of real-world algorithms projects, further showing that the selected test suites outperform randomly selected ones in finding bugs in students' code.
Knowledge distillation with a class-aware loss for endoscopic disease detection
Venue: arXiv cs.CV 2022
Year: 2022

Prevalence of gastrointestinal (GI) cancer is growing alarmingly every year leading to a substantial increase in the mortality rate. Endoscopic detection is providing crucial diagnostic support, however, subtle lesions in upper and lower GI are quite hard to detect and cause considerable missed detection. In this work, we leverage deep learning to develop a framework to improve the localization of difficult to detect lesions and minimize the missed detection rate. We propose an end to end student-teacher learning setup where class probabilities of a trained teacher model on one class with larger dataset are used to penalize multi-class student network. Our model achieves higher performance in terms of mean average precision (mAP) on both endoscopic disease detection (EDD2020) challenge and Kvasir-SEG datasets. Additionally, we show that using such learning paradigm, our model is generalizable to unseen test set giving higher APs for clinically crucial neoplastic and polyp categories
Pandora Box Problem with Nonobligatory Inspection: Hardness and Approximation Scheme
Venue: arXiv cs.DS 2022
Year: 2022

Weitzman (1979) introduced the Pandora Box problem as a model for sequential search with inspection costs, and gave an elegant index-based policy that attains provably optimal expected payoff. In various scenarios, the searching agent may select an option without making a costly inspection. The variant of the Pandora box problem with non-obligatory inspection has attracted interest from both economics and algorithms researchers. Various simple algorithms have proved suboptimal, with the best known 0.8-approximation algorithm due to Guha et al. (2008). No hardness result for the problem was known. In this work, we show that it is NP-hard to compute an optimal policy for Pandora's problem with nonobligatory inspection. We also give a polynomial-time approximation scheme (PTAS) that computes policies with an expected payoff at least $(1 - ε)$-fraction of the optimal, for arbitrarily small $ε> 0$. On the side, we show the decision version of the problem to be in NP.
QuoteKG: A Multilingual Knowledge Graph of Quotes
Venue: arXiv cs.CL 2022
Year: 2022

Quotes of public figures can mark turning points in history. A quote can explain its originator's actions, foreshadowing political or personal decisions and revealing character traits. Impactful quotes cross language barriers and influence the general population's reaction to specific stances, always facing the risk of being misattributed or taken out of context. The provision of a cross-lingual knowledge graph of quotes that establishes the authenticity of quotes and their contexts is of great importance to allow the exploration of the lives of important people as well as topics from the perspective of what was actually said. In this paper, we present QuoteKG, the first multilingual knowledge graph of quotes. We propose the QuoteKG creation pipeline that extracts quotes from Wikiquote, a free and collaboratively created collection of quotes in many languages, and aligns different mentions of the same quote. QuoteKG includes nearly one million quotes in $55$ languages, said by more than $69,000$ people of public interest across a wide range of topics. QuoteKG is publicly available and can be accessed via a SPARQL endpoint.
Roadmap Towards Responsible AI in Crisis Resilience Management
Venue: arXiv cs.SI 2022
Year: 2022

Novel data sensing and AI technologies are finding practical use in the analysis of crisis resilience, revealing the need to consider how responsible artificial intelligence (AI) practices can mitigate harmful outcomes and protect vulnerable populations. In this paper, we present a responsible AI roadmap that is embedded in the Crisis Information Management Circle. This roadmap includes six propositions to highlight and address important challenges and considerations specifically related to responsible AI for crisis resilience management. We cover a wide spectrum of interwoven challenges and considerations pertaining to the responsible collection, analysis, sharing, and use of information such as equity, fairness, biases, explainability and transparency, accountability, privacy and security, inter-organizational coordination, and public engagement. Through examining issues around AI systems for crisis resilience management, we dissect the inherent complexities of information management and decision-making in crises and highlight the urgency of responsible AI research and practice. The ideas laid out in this paper are the first attempt in establishing a roadmap for researchers, practitioners, developers, emergency managers, humanitarian organizations, and public officials to address important considerations for responsible AI pertaining to crisis resilience management.
GenText: Unsupervised Artistic Text Generation via Decoupled Font and Texture Manipulation
Venue: arXiv cs.CV 2022
Year: 2022

Automatic artistic text generation is an emerging topic which receives increasing attention due to its wide applications. The artistic text can be divided into three components, content, font, and texture, respectively. Existing artistic text generation models usually focus on manipulating one aspect of the above components, which is a sub-optimal solution for controllable general artistic text generation. To remedy this issue, we propose a novel approach, namely GenText, to achieve general artistic text style transfer by separably migrating the font and texture styles from the different source images to the target images in an unsupervised manner. Specifically, our current work incorporates three different stages, stylization, destylization, and font transfer, respectively, into a unified platform with a single powerful encoder network and two separate style generator networks, one for font transfer, the other for stylization and destylization. The destylization stage first extracts the font style of the font reference image, then the font transfer stage generates the target content with the desired font style. Finally, the stylization stage renders the resulted font image with respect to the texture style in the reference image. Moreover, considering the difficult data acquisition of paired artistic text images, our model is designed under the unsupervised setting, where all stages can be effectively optimized from unpaired data. Qualitative and quantitative results are performed on artistic text benchmarks, which demonstrate the superior performance of our proposed model. The code with models will become publicly available in the future.
Duplicate Detection as a Service
Venue: arXiv cs.DB 2022
Year: 2022

Completeness of a knowledge graph is an important quality dimension and factor on how well an application that makes use of it performs. Completeness can be improved by performing knowledge enrichment. Duplicate detection aims to find identity links between the instances of knowledge graphs and is a fundamental subtask of knowledge enrichment. Current solutions to the problem require expert knowledge of the tool and the knowledge graph they are applied to. Users might not have this expert knowledge. We present our service-based approach to the duplicate detection task that provides an easy-to-use no-code solution that is still competitive with the state-of-the-art and has recently been adopted in an industrial context. The evaluation will be based on several frequently used test scenarios.
Careful Autonomous Agents in Environments With Multiple Common Resources
Venue: arXiv cs.LO 2022
Year: 2022

Careful rational synthesis was defined in (Condurache et al. 2021) as a quantitative extension of Fisman et al.'s rational synthesis (Fisman et al. 2010), as a model of multi-agent systems in which agents are interacting in a graph arena in a turn-based fashion. There is one common resource, and each action may decrease or increase the resource. Each agent has a temporal qualitative objective and wants to maintain the value of the resource positive. One must find a Nash equilibrium. This problem is decidable. In more practical settings, the verification of the critical properties of multi-agent systems calls for models with many resources. Indeed, agents and robots consume and produce more than one type of resource: electric energy, fuel, raw material, manufactured goods, etc. We thus explore the problem of careful rational synthesis with several resources. We show that the problem is undecidable. We then propose a variant with bounded resources, motivated by the observation that in practical settings, the storage of resources is limited. We show that the problem becomes decidable, and is no harder than controller synthesis with Linear-time Temporal Logic objectives.
Learning Sequence Representations by Non-local Recurrent Neural Memory
Venue: arXiv cs.CV 2022
Year: 2022

The key challenge of sequence representation learning is to capture the long-range temporal dependencies. Typical methods for supervised sequence representation learning are built upon recurrent neural networks to capture temporal dependencies. One potential limitation of these methods is that they only model one-order information interactions explicitly between adjacent time steps in a sequence, hence the high-order interactions between nonadjacent time steps are not fully exploited. It greatly limits the capability of modeling the long-range temporal dependencies since the temporal features learned by one-order interactions cannot be maintained for a long term due to temporal information dilution and gradient vanishing. To tackle this limitation, we propose the Non-local Recurrent Neural Memory (NRNM) for supervised sequence representation learning, which performs non-local operations \MR{by means of self-attention mechanism} to learn full-order interactions within a sliding temporal memory block and models global interactions between memory blocks in a gated recurrent manner. Consequently, our model is able to capture long-range dependencies. Besides, the latent high-level features contained in high-order interactions can be distilled by our model. We validate the effectiveness and generalization of our NRNM on three types of sequence applications across different modalities, including sequence classification, step-wise sequential prediction and sequence similarity learning. Our model compares favorably against other state-of-the-art methods specifically designed for each of these sequence applications.