OpenRaiser/Intern-Atlas huggingface dataset:
Action-Quantized Offline Reinforcement Learning for Robotic Skill Learning
Venue: arXiv cs.AI 2023
Year: 2023

The offline reinforcement learning (RL) paradigm provides a general recipe to convert static behavior datasets into policies that can perform better than the policy that collected the data. While policy constraints, conservatism, and other methods for mitigating distributional shifts have made offline reinforcement learning more effective, the continuous action setting often necessitates various approximations for applying these techniques. Many of these challenges are greatly alleviated in discrete action settings, where offline RL constraints and regularizers can often be computed more precisely or even exactly. In this paper, we propose an adaptive scheme for action quantization. We use a VQ-VAE to learn state-conditioned action quantization, avoiding the exponential blowup that comes with naïve discretization of the action space. We show that several state-of-the-art offline RL methods such as IQL, CQL, and BRAC improve in performance on benchmarks when combined with our proposed discretization scheme. We further validate our approach on a set of challenging long-horizon complex robotic manipulation tasks in the Robomimic environment, where our discretized offline RL algorithms are able to improve upon their continuous counterparts by 2-3x. Our project page is at https://saqrl.github.io/
Investigating Uncertainty Calibration of Aligned Language Models under the Multiple-Choice Setting
Venue: arXiv cs.LG 2023
Year: 2023

Despite the significant progress made in practical applications of aligned language models (LMs), they tend to be overconfident in output answers compared to the corresponding pre-trained LMs. In this work, we systematically evaluate the impact of the alignment process on logit-based uncertainty calibration of LMs under the multiple-choice setting. We first conduct a thoughtful empirical study on how aligned LMs differ in calibration from their pre-trained counterparts. Experimental results reveal that there are two distinct uncertainties in LMs under the multiple-choice setting, which are responsible for the answer decision and the format preference of the LMs, respectively. Then, we investigate the role of these two uncertainties on aligned LM's calibration through fine-tuning in simple synthetic alignment schemes and conclude that one reason for aligned LMs' overconfidence is the conflation of these two types of uncertainty. Furthermore, we examine the utility of common post-hoc calibration methods for aligned LMs and propose an easy-to-implement and sample-efficient method to calibrate aligned LMs. We hope our findings could provide insights into the design of more reliable alignment processes for LMs.
DBDNet:Partial-to-Partial Point Cloud Registration with Dual Branches Decoupling
Venue: arXiv cs.CV 2023
Year: 2023

Point cloud registration plays a crucial role in various computer vision tasks, and usually demands the resolution of partial overlap registration in practice. Most existing methods perform a serial calculation of rotation and translation, while jointly predicting overlap during registration, this coupling tends to degenerate the registration performance. In this paper, we propose an effective registration method with dual branches decoupling for partial-to-partial registration, dubbed as DBDNet. Specifically, we introduce a dual branches structure to eliminate mutual interference error between rotation and translation by separately creating two individual correspondence matrices. For partial-to-partial registration, we consider overlap prediction as a preordering task before the registration procedure. Accordingly, we present an overlap predictor that benefits from explicit feature interaction, which is achieved by the powerful attention mechanism to accurately predict pointwise masks. Furthermore, we design a multi-resolution feature extraction network to capture both local and global patterns thus enhancing both overlap prediction and registration module. Experimental results on both synthetic and real datasets validate the effectiveness of our proposed method.
Unleashing the Power of Clippy in Real-World Rust Projects
Venue: arXiv cs.SE 2023
Year: 2023

Clippy lints are considered as essential tools for Rust developers, as they can be configured as gate-keeping rules for a Rust project during continuous integration. Despite their availability, little was known about practical application and cost-effectiveness of the lints in reducing code quality issues. In this study, we embark on a comprehensive analysis to unveil the true impact of Clippy lints in the Rust development landscape. The study is structured around three interrelated components, each contributing to the overall effectiveness of Clippy. Firstly, we conduct a comprehensive analysis of Clippy lints in all idiomatic crates-io Rust projects with an average warning density of 21/KLOC. The analysis identifies the most cost-effective lint fixes, offering valuable opportunities for optimizing code quality. Secondly, we actively engage Rust developers through a user survey to garner invaluable feedback on their experiences with Clippy. User insights shed light on two crucial concerns: the prevalence of false positives in warnings and the need for auto-fix support for most warnings. Thirdly, building upon these findings, we engineer three innovative automated refactoring techniques to effectively fix the four most frequent Clippy lints. As a result, the warning density in Rosetta benchmarks has significantly decreased from 195/KLOC to an impressive 18/KLOC, already lower than the average density of the crates-io Rust projects. These results demonstrate tangible benefit and impact of our efforts in enhancing the overall code quality and maintainability for Rust developers.
Min-max Decoding Error Probability Optimization in RIS-Aided Hybrid TDMA-NOMA Networks
Venue: arXiv cs.NI 2023
Year: 2023

One of the primary objectives for future wireless communication networks is to facilitate the provision of ultra-reliable and low-latency communication services while simultaneously ensuring the capability for vast connection. In order to achieve this objective, we examine a hybrid multi-access scheme inside the finite blocklength (FBL) regime. This system combines the benefits of non-orthogonal multiple access (NOMA) and time-division multiple access (TDMA) schemes with the aim of fulfilling the objectives of future wireless communication networks. In addition, a reconfigurable intelligent surface (RIS) is utilized to facilitate the establishment of the uplink transmission between the base station and mobile devices in situations when impediments impede their direct communication linkages. This paper aims to minimize the worst-case decoding-error probability for all mobile users by jointly optimizing power allocation, receiving beamforming, blocklength, RIS reflection, and user pairing. To deal with the coupled variables in the formulated mixed-integer non-convex optimization problem, we decompose it into three sub-problems, namely, 1) decoding order determination problem, 2) joint power allocation, receiving beamforming, RIS reflection, and blocklength optimization problem, and 3) optimal user pairing problem. Then, we provide the sequential convex approximation (SCA) and semidefinite relaxation (SDR)-based algorithms as potential solutions for iteratively addressing the deconstructed first two sub-problems at a fixed random user pairing. In addition, the Hungarian matching approach is employed to address the challenge of optimizing user pairing. In conclusion, we undertake a comprehensive simulation, which reveals the advantageous qualities of the proposed algorithm and its superior performance compared to existing benchmark methods.
Multi Task Consistency Guided Source-Free Test-Time Domain Adaptation Medical Image Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Source-free test-time adaptation for medical image segmentation aims to enhance the adaptability of segmentation models to diverse and previously unseen test sets of the target domain, which contributes to the generalizability and robustness of medical image segmentation models without access to the source domain. Ensuring consistency between target edges and paired inputs is crucial for test-time adaptation. To improve the performance of test-time domain adaptation, we propose a multi task consistency guided source-free test-time domain adaptation medical image segmentation method which ensures the consistency of the local boundary predictions and the global prototype representation. Specifically, we introduce a local boundary consistency constraint method that explores the relationship between tissue region segmentation and tissue boundary localization tasks. Additionally, we propose a global feature consistency constraint toto enhance the intra-class compactness. We conduct extensive experiments on the segmentation of benchmark fundus images. Compared to prediction directly by the source domain model, the segmentation Dice score is improved by 6.27\% and 0.96\% in RIM-ONE-r3 and Drishti GS datasets, respectively. Additionally, the results of experiments demonstrate that our proposed method outperforms existing competitive domain adaptation segmentation algorithms.
DCRNN: A Deep Cross approach based on RNN for Partial Parameter Sharing in Multi-task Learning
Venue: arXiv cs.IR 2023
Year: 2023

In recent years, DL has developed rapidly, and personalized services are exploring using DL algorithms to improve the performance of the recommendation system. For personalized services, a successful recommendation consists of two parts: attracting users to click the item and users being willing to consume the item. If both tasks need to be predicted at the same time, traditional recommendation systems generally train two independent models. This approach is cumbersome and does not effectively model the relationship between the two subtasks of "click-consumption". Therefore, in order to improve the success rate of recommendation and reduce computational costs, researchers are trying to model multi-task learning. At present, existing multi-task learning models generally adopt hard parameter sharing or soft parameter sharing architecture, but these two architectures each have certain problems. Therefore, in this work, we propose a novel recommendation model based on real recommendation scenarios, Deep Cross network based on RNN for partial parameter sharing (DCRNN). The model has three innovations: 1) It adopts the idea of cross network and uses RNN network to cross-process the features, thereby effectively improves the expressive ability of the model; 2) It innovatively proposes the structure of partial parameter sharing; 3) It can effectively capture the potential correlation between different tasks to optimize the efficiency and methods for learning different tasks.
CLARA: Multilingual Contrastive Learning for Audio Representation Acquisition
Venue: arXiv cs.SD 2023
Year: 2023

Multilingual speech processing requires understanding emotions, a task made difficult by limited labelled data. CLARA, minimizes reliance on labelled data, enhancing generalization across languages. It excels at fostering shared representations, aiding cross-lingual transfer of speech and emotions, even with little data. Our approach adeptly captures emotional nuances in speech, overcoming subjective assessment issues. Using a large multilingual audio corpus and self-supervised learning, CLARA develops speech representations enriched with emotions, advancing emotion-aware multilingual speech processing. Our method expands the data range using data augmentation, textual embedding for visual understanding, and transfers knowledge from high- to low-resource languages. CLARA demonstrates excellent performance in emotion recognition, language comprehension, and audio benchmarks, excelling in zero-shot and few-shot learning. It adapts to low-resource languages, marking progress in multilingual speech representation learning.
Classification Aggregation without Unanimity
Venue: arXiv cs.AI 2023
Year: 2023

A classification is a surjective mapping from a set of objects to a set of categories. A classification aggregation function aggregates every vector of classifications into a single one. We show that every citizen sovereign and independent classification aggregation function is essentially a dictatorship. This impossibility implies an earlier result of Maniquet and Mongin (2016), who show that every unanimous and independent classification aggregation function is a dictatorship. The relationship between the two impossibilities is reminiscent to the relationship between Wilson's and Arrow's impossibilities in preference aggregation. Moreover, while the Maniquet-Mongin impossibility rests on the existence of at least three categories, we propose an alternative proof technique that covers the case of two categories, except when the number of objects is also two. We also identify all independent and unanimous classification aggregation functions for the case of two categories and two objects.
Multistable Perception, False Consensus, and Information Complements
Venue: arXiv cs.GT 2023
Year: 2023

This paper presents a distributed communication model to investigate multistable perception, where a stimulus gives rise to multiple competing perceptual interpretations. We formalize stable perception as consensus achieved through components exchanging information. Our key finding is that relationships between components influence monostable versus multistable perceptions. When components contain substitute information about the prediction target, stimuli display monostability. With complementary information, multistability arises. We then analyze phenomena like order effects and switching costs. Finally, we provide two additional perspectives. An optimization perspective balances accuracy and communication costs, relating stability to local optima. A Prediction market perspective highlights the strategic behaviors of neural coordination and provides insights into phenomena like rivalry, inhibition, and mental disorders. The two perspectives demonstrate how relationships among components influence perception costs, and impact competition and coordination behaviors in neural dynamics.
Some derivations among Logarithmic Space Bounded Counting Classes
Venue: arXiv cs.CC 2023
Year: 2023

In this paper we show derivations among logarithmic space bounded counting classes based on closure properties of $\#L$ that leads us to the result that $NL=C_=L\subseteq PL$.
SHA-SCP: A UI Element Spatial Hierarchy Aware Smartphone User Click Behavior Prediction Method
Venue: arXiv cs.HC 2023
Year: 2023

Predicting user click behavior and making relevant recommendations based on the user's historical click behavior are critical to simplifying operations and improving user experience. Modeling UI elements is essential to user click behavior prediction, while the complexity and variety of the UI make it difficult to adequately capture the information of different scales. In addition, the lack of relevant datasets also presents difficulties for such studies. In response to these challenges, we construct a fine-grained smartphone usage behavior dataset containing 3,664,325 clicks of 100 users and propose a UI element spatial hierarchy aware smartphone user click behavior prediction method (SHA-SCP). SHA-SCP builds element groups by clustering the elements according to their spatial positions and uses attention mechanisms to perceive the UI at the element level and the element group level to fully capture the information of different scales. Experiments are conducted on the fine-grained smartphone usage behavior dataset, and the results show that our method outperforms the best baseline by an average of 10.52%, 11.34%, and 10.42% in Top-1 Accuracy, Top-3 Accuracy, and Top-5 Accuracy, respectively.
Spectral homogeneity cross frequencies can be a quality metric for the large-scale resting EEG preprocessing
Venue: arXiv cs.HC 2023
Year: 2023

The brain projects require the collection of massive electrophysiological data, aiming to the longitudinal, sectional, or populational neuroscience studies. Quality metrics automatically label the data after centralized preprocessing. However, although the waveforms-based metrics are partially useful, they may be unreliable by neglecting the spectral profiles. Here, we detected the phenomenon of parallel log spectra (PaLOS) that the scalp EEG power in the log scale were parallel to each other from 10% of 2549 HBN EEG. This phenomenon was reproduced in 8% of 412 PMDT EEG from 4 databases. We designed the PaLOS index (PaLOSi) to indicate this phenomenon by decomposing the cross-spectra at different frequencies into the common principal component spaces. We found that the PaLOS biophysically implied a prominently dominant dipole in the source space which was implausible for the resting EEG. And it may be practically resulted from excessive preprocessing. Compared with the 1966 normative EEG cross-spectra, the HBN and the PMDT EEG with PaLOS presented generally much higher electrode pairwise coherences and higher similarity of coherence-based network patterns, which went against the known frequency dependent characteristic of coherence networks. We suggest the PaLOSi should lay in the range of 0.4-0.7 for large resting EEG quality assurance.
Guaranteed, Predictable, Polynomial AGV Time-Pathing
Venue: arXiv cs.CE 2023
Year: 2023

In this paper we present a framework of key algorithms and data-structures for efficiently generating timetables for any number of AGVs from any given positioning on any given graph to accomplish any given demands as long as a few easily satisfiable assumptions are met. Our proposed algorithms provide guaranteed solutions in predictable polynomial running-times, which is fundamental to any real-time application. We also develop an improved geographic reservation algorithm that provides a substantial run-time improvement of the previously best-known algorithm from $O(nm)$ to $O(n)$.
Envisioning the Future of Cyber Security in Post-Quantum Era: A Survey on PQ Standardization, Applications, Challenges and Opportunities
Venue: arXiv cs.CR 2023
Year: 2023

The rise of quantum computers exposes vulnerabilities in current public key cryptographic protocols, necessitating the development of secure post-quantum (PQ) schemes. Hence, we conduct a comprehensive study on various PQ approaches, covering the constructional design, structural vulnerabilities, and offer security assessments, implementation evaluations, and a particular focus on side-channel attacks. We analyze global standardization processes, evaluate their metrics in relation to real-world applications, and primarily focus on standardized PQ schemes, selected additional signature competition candidates, and PQ-secure cutting-edge schemes beyond standardization. Finally, we present visions and potential future directions for a seamless transition to the PQ era.
Understanding Reward Ambiguity Through Optimal Transport Theory in Inverse Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

In inverse reinforcement learning (IRL), the central objective is to infer underlying reward functions from observed expert behaviors in a way that not only explains the given data but also generalizes to unseen scenarios. This ensures robustness against reward ambiguity where multiple reward functions can equally explain the same expert behaviors. While significant efforts have been made in addressing this issue, current methods often face challenges with high-dimensional problems and lack a geometric foundation. This paper harnesses the optimal transport (OT) theory to provide a fresh perspective on these challenges. By utilizing the Wasserstein distance from OT, we establish a geometric framework that allows for quantifying reward ambiguity and identifying a central representation or centroid of reward functions. These insights pave the way for robust IRL methodologies anchored in geometric interpretations, offering a structured approach to tackle reward ambiguity in high-dimensional settings.
Contributing Components of Metabolic Energy Models to Metabolic Cost Estimations in Gait
Venue: arXiv cs.LG 2023
Year: 2023

Objective: As metabolic cost is a primary factor influencing humans' gait, we want to deepen our understanding of metabolic energy expenditure models. Therefore, this paper identifies the parameters and input variables, such as muscle or joint states, that contribute to accurate metabolic cost estimations. Methods: We explored the parameters of four metabolic energy expenditure models in a Monte Carlo sensitivity analysis. Then, we analysed the model parameters by their calculated sensitivity indices, physiological context, and the resulting metabolic rates during the gait cycle. The parameter combination with the highest accuracy in the Monte Carlo simulations represented a quasi-optimized model. In the second step, we investigated the importance of input parameters and variables by analysing the accuracy of neural networks trained with different input features. Results: Power-related parameters were most influential in the sensitivity analysis and the neural network-based feature selection. We observed that the quasi-optimized models produced negative metabolic rates, contradicting muscle physiology. Neural network-based models showed promising abilities but have been unable to match the accuracy of traditional metabolic energy expenditure models. Conclusion: We showed that power-related metabolic energy expenditure model parameters and inputs are most influential during gait. Furthermore, our results suggest that neural network-based metabolic energy expenditure models are viable. However, bigger datasets are required to achieve better accuracy. Significance: As there is a need for more accurate metabolic energy expenditure models, we explored which musculoskeletal parameters are essential when developing a model to estimate metabolic energy.
Distributed Indexing Schemes for k-Dominant Skyline Analytics on Uncertain Edge-IoT Data
Venue: arXiv cs.DC 2023
Year: 2023

Skyline queries typically search a Pareto-optimal set from a given data set to solve the corresponding multiobjective optimization problem. As the number of criteria increases, the skyline presumes excessive data items, which yield a meaningless result. To address this curse of dimensionality, we proposed a k-dominant skyline in which the number of skyline members was reduced by relaxing the restriction on the number of dimensions, considering the uncertainty of data. Specifically, each data item was associated with a probability of appearance, which represented the probability of becoming a member of the k-dominant skyline. As data items appear continuously in data streams, the corresponding k-dominant skyline may vary with time. Therefore, an effective and rapid mechanism of updating the k-dominant skyline becomes crucial. Herein, we proposed two time-efficient schemes, Middle Indexing (MI) and All Indexing (AI), for k-dominant skyline in distributed edge-computing environments, where irrelevant data items can be effectively excluded from the compute to reduce the processing duration. Furthermore, the proposed schemes were validated with extensive experimental simulations. The experimental results demonstrated that the proposed MI and AI schemes reduced the computation time by approximately 13% and 56%, respectively, compared with the existing method.