OpenRaiser/Intern-Atlas huggingface dataset:
Learning agile and dynamic motor skills for legged robots
Venue: arXiv cs.RO 2019
Year: 2019

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanship and promotes the natural evolution of a control policy. However, so far, reinforcement learning research for legged robots is mainly limited to simulation, and only few and comparably simple examples have been deployed on real systems. The primary reason is that training with real robots, particularly with dynamically balancing systems, is complicated and expensive. In the present work, we introduce a method for training a neural network policy in simulation and transferring it to a state-of-the-art legged system, thereby leveraging fast, automated, and cost-effective data generation schemes. The approach is applied to the ANYmal robot, a sophisticated medium-dog-sized quadrupedal system. Using policies trained in simulation, the quadrupedal machine achieves locomotion skills that go beyond what had been achieved with prior methods: ANYmal is capable of precisely and energy-efficiently following high-level body velocity commands, running faster than before, and recovering from falling even in complex configurations.
Fairness risk measures
Venue: arXiv cs.LG 2019
Year: 2019

Ensuring that classifiers are non-discriminatory or fair with respect to a sensitive feature (e.g., race or gender) is a topical problem. Progress in this task requires fixing a definition of fairness, and there have been several proposals in this regard over the past few years. Several of these, however, assume either binary sensitive features (thus precluding categorical or real-valued sensitive groups), or result in non-convex objectives (thus adversely affecting the optimisation landscape). In this paper, we propose a new definition of fairness that generalises some existing proposals, while allowing for generic sensitive features and resulting in a convex objective. The key idea is to enforce that the expected losses (or risks) across each subgroup induced by the sensitive feature are commensurate. We show how this relates to the rich literature on risk measures from mathematical finance. As a special case, this leads to a new convex fairness-aware objective based on minimising the conditional value at risk (CVaR).
Better accuracy with quantified privacy: representations learned via reconstructive adversarial network
Venue: arXiv cs.LG 2019
Year: 2019

The remarkable success of machine learning, especially deep learning, has produced a variety of cloud-based services for mobile users. Such services require an end user to send data to the service provider, which presents a serious challenge to end-user privacy. To address this concern, prior works either add noise to the data or send features extracted from the raw data. They struggle to balance between the utility and privacy because added noise reduces utility and raw data can be reconstructed from extracted features. This work represents a methodical departure from prior works: we balance between a measure of privacy and another of utility by leveraging adversarial learning to find a sweeter tradeoff. We design an encoder that optimizes against the reconstruction error (a measure of privacy), adversarially by a Decoder, and the inference accuracy (a measure of utility) by a Classifier. The result is RAN, a novel deep model with a new training algorithm that automatically extracts features for classification that are both private and useful. It turns out that adversarially forcing the extracted features to only conveys the intended information required by classification leads to an implicit regularization leading to better classification accuracy than the original model which completely ignores privacy. Thus, we achieve better privacy with better utility, a surprising possibility in machine learning! We conducted extensive experiments on five popular datasets over four training schemes, and demonstrate the superiority of RAN compared with existing alternatives.
Model-based Deep Reinforcement Learning for Dynamic Portfolio Optimization
Venue: arXiv cs.LG 2019
Year: 2019

Dynamic portfolio optimization is the process of sequentially allocating wealth to a collection of assets in some consecutive trading periods, based on investors' return-risk profile. Automating this process with machine learning remains a challenging problem. Here, we design a deep reinforcement learning (RL) architecture with an autonomous trading agent such that, investment decisions and actions are made periodically, based on a global objective, with autonomy. In particular, without relying on a purely model-free RL agent, we train our trading agent using a novel RL architecture consisting of an infused prediction module (IPM), a generative adversarial data augmentation module (DAM) and a behavior cloning module (BCM). Our model-based approach works with both on-policy or off-policy RL algorithms. We further design the back-testing and execution engine which interact with the RL agent in real time. Using historical {\em real} financial market data, we simulate trading with practical constraints, and demonstrate that our proposed model is robust, profitable and risk-sensitive, as compared to baseline trading strategies and model-free RL agents from prior work.
Which are the influential publications in the Web of Science subject categories over a long period of time? CRExplorer software used for big-data analyses in bibliometrics
Venue: arXiv cs.DL 2019
Year: 2019

What are the landmark papers in scientific disciplines? On whose shoulders does research in these fields stand? Which papers are indispensable for scientific progress? These are typical questions which are not only of interest for researchers (who frequently know the answers - or guess to know them), but also for the interested general public. Citation counts can be used to identify very useful papers, since they reflect the wisdom of the crowd; in this case, the scientists using the published results for their own research. In this study, we identified with recently developed methods for the program CRExplorer landmark publications in nearly all Web of Science subject categories (WoSSCs). These are publications which belong more frequently than other publications across the citing years to the top-per mill in their subject category. The results for three subject categories "Information Science and Library Science", "Computer Science, Information Systems", and "Computer Science, Software Engineering" are exemplarily discussed in more detail. The results for the other WoSSCs can be found online at http://crexplorer.net.
Fast, Sound and Effectively Complete Dynamic Race Prediction
Venue: arXiv cs.PL 2019
Year: 2019

Writing concurrent programs is highly error-prone due to the nondeterminism in interprocess communication. The most reliable indicators of errors in concurrency are data races, which are accesses to a shared resource that can be executed consecutively. We study the problem of predicting data races in lock-based concurrent programs. The input consists of a concurrent trace $t$, and the task is to determine all pairs of events of $t$ that constitute a data race. The problem lies at the heart of concurrent verification and has been extensively studied for over three decades. However, existing polynomial-time sound techniques are highly incomplete and can miss many simple races. In this work we develop M2: a new polynomial-time algorithm for this problem, which has no false positives. In addition, our algorithm is complete for input traces that consist of two processes, i.e., it provably detects all races in the trace. We also develop sufficient conditions for detecting completeness dynamically in cases of more than two processes. We make an experimental evaluation of our algorithm on a standard set of benchmarks taken from recent literature on the topic. Our tool soundly reports thousands of races and misses at most one race in the whole benchmark set. In addition, our technique detects all racy memory locations of the benchmark set. Finally, its running times are comparable, and often smaller than the theoretically fastest, yet highly incomplete, existing methods. To our knowledge, M2 is the first sound algorithm that achieves such a level of performance on both running time and completeness of the reported races.
Learning the Optimal Synchronization Rates in Distributed SDN Control Architectures
Venue: arXiv cs.NI 2019
Year: 2019

Since the early development of Software-Defined Network (SDN) technology, researchers have been concerned with the idea of physical distribution of the control plane to address scalability and reliability challenges of centralized designs. However, having multiple controllers managing the network while maintaining a "logically-centralized" network view brings additional challenges. One such challenge is how to coordinate the management decisions made by the controllers which is usually achieved by disseminating synchronization messages in a peer-to-peer manner. While there exist many architectures and protocols to ensure synchronized network views and drive coordination among controllers, there is no systematic methodology for deciding the optimal frequency (or rate) of message dissemination. In this paper, we fill this gap by introducing the SDN synchronization problem: how often to synchronize the network views for each controller pair. We consider two different objectives; first, the maximization of the number of controller pairs that are synchronized, and second, the maximization of the performance of applications of interest which may be affected by the synchronization rate. Using techniques from knapsack optimization and learning theory, we derive algorithms with provable performance guarantees for each objective. Evaluation results demonstrate significant benefits over baseline schemes that synchronize all controller pairs at equal rate.
Towards Interpretable Deep Neural Networks by Leveraging Adversarial Examples
Venue: arXiv cs.LG 2019
Year: 2019

Sometimes it is not enough for a DNN to produce an outcome. For example, in applications such as healthcare, users need to understand the rationale of the decisions. Therefore, it is imperative to develop algorithms to learn models with good interpretability (Doshi-Velez 2017). An important factor that leads to the lack of interpretability of DNNs is the ambiguity of neurons, where a neuron may fire for various unrelated concepts. This work aims to increase the interpretability of DNNs on the whole image space by reducing the ambiguity of neurons. In this paper, we make the following contributions: 1) We propose a metric to evaluate the consistency level of neurons in a network quantitatively. 2) We find that the learned features of neurons are ambiguous by leveraging adversarial examples. 3) We propose to improve the consistency of neurons on adversarial example subset by an adversarial training algorithm with a consistent loss.
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Venue: arXiv cs.RO 2019
Year: 2019

Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often driven by time-consuming experimental methods. As an alternative, we present a framework for systematically modeling, planning, and controlling legged microrobots. We develop a three-dimensional dynamic model of a 1.5 gram quadrupedal microrobot with complexity (e.g., number of degrees of freedom) similar to larger-scale legged robots. We then adapt a recently developed variational contact-implicit trajectory optimization method to generate feasible whole-body locomotion plans for this microrobot, and we demonstrate that these plans can be tracked with simple joint-space controllers. We plan and execute periodic gaits at multiple stride frequencies and on various surfaces. These gaits achieve high per-cycle velocities, including a maximum of 10.87 mm/cycle, which is 15% faster than previously measured velocities for this microrobot. Furthermore, we plan and execute a vertical jump of 9.96 mm, which is 78% of the microrobot's center-of-mass height. To the best of our knowledge, this is the first end-to-end demonstration of planning and tracking whole-body dynamic locomotion on a millimeter-scale legged microrobot.
Leveraging Data Driven Approaches to Quantify the Impact of Construction Projects on Urban Quality of Life
Venue: arXiv cs.CY 2019
Year: 2019

According to the World Bank, more than half of the world's population now lives in cities, creating burdens on the degraded city infrastructures and driving up the demand for new ones. Construction sites are abundant in already dense cities and have unavoidable impacts on surrounding environments and residents. However, such impacts were rarely quantified and made available to construction teams and local agencies to inform their planning decisions. A challenge in achieving this was the lack of availability of data that can provide insights about how urban residents respond to changes in their environment due to construction projects. Wider availability of data from city agencies nowadays provides opportunities for having such analysis possible. This paper provides the details of a generic data-driven approach that enables the analysis of impact of construction projects on quality of life in urban settings through the quantification of change on widely accepted quality of life indicators in cities. This paper also evaluated the approach using data from publicly construction projects' information and open city data portals from New York City. Historical 311 Service Requests along with 27 road reconstruction projects were used as testbeds. The results showed that 61% of the projects analyzed in this testbed experienced higher 311 requests after the commencement of construction, with main complaints of 'noise', 'air quality', and 'sewer' at the beginning of construction, and 'sanitation' and 'waste' towards the end. Prediction models, built using regression machine learning algorithms, achieved an R-Squared value of 0.67. The approach is capable of providing insights for government agencies and construction companies to take proactive actions based on expected complaint types through different phases of construction.
On Learning Meaningful Code Changes via Neural Machine Translation
Venue: arXiv cs.SE 2019
Year: 2019

Recent years have seen the rise of Deep Learning (DL) techniques applied to source code. Researchers have exploited DL to automate several development and maintenance tasks, such as writing commit messages, generating comments and detecting vulnerabilities among others. One of the long lasting dreams of applying DL to source code is the possibility to automate non-trivial coding activities. While some steps in this direction have been taken (e.g., learning how to fix bugs), there is still a glaring lack of empirical evidence on the types of code changes that can be learned and automatically applied by DL. Our goal is to make this first important step by quantitatively and qualitatively investigating the ability of a Neural Machine Translation (NMT) model to learn how to automatically apply code changes implemented by developers during pull requests. We train and experiment with the NMT model on a set of 236k pairs of code components before and after the implementation of the changes provided in the pull requests. We show that, when applied in a narrow enough context (i.e., small/medium-sized pairs of methods before/after the pull request changes), NMT can automatically replicate the changes implemented by developers during pull requests in up to 36% of the cases. Moreover, our qualitative analysis shows that the model is capable of learning and replicating a wide variety of meaningful code changes, especially refactorings and bug-fixing activities. Our results pave the way for novel research in the area of DL on code, such as the automatic learning and applications of refactoring.
DeepSZ: A Novel Framework to Compress Deep Neural Networks by Using Error-Bounded Lossy Compression
Venue: arXiv cs.CV 2019
Year: 2019

DNNs have been quickly and broadly exploited to improve the data analysis quality in many complex science and engineering applications. Today's DNNs are becoming deeper and wider because of increasing demand on the analysis quality and more and more complex applications to resolve. The wide and deep DNNs, however, require large amounts of resources, significantly restricting their utilization on resource-constrained systems. Although some network simplification methods have been proposed to address this issue, they suffer from either low compression ratios or high compression errors, which may introduce a costly retraining process for the target accuracy. In this paper, we propose DeepSZ: an accuracy-loss bounded neural network compression framework, which involves four key steps: network pruning, error bound assessment, optimization for error bound configuration, and compressed model generation, featuring a high compression ratio and low encoding time. The contribution is three-fold. (1) We develop an adaptive approach to select the feasible error bounds for each layer. (2) We build a model to estimate the overall loss of accuracy based on the accuracy degradation caused by individual decompressed layers. (3) We develop an efficient optimization algorithm to determine the best-fit configuration of error bounds in order to maximize the compression ratio under the user-set accuracy constraint. Experiments show that DeepSZ can compress AlexNet and VGG-16 on the ImageNet by a compression ratio of 46X and 116X, respectively, and compress LeNet-300-100 and LeNet-5 on the MNIST by a compression ratio of 57X and 56X, respectively, with only up to 0.3% loss of accuracy. Compared with other state-of-the-art methods, DeepSZ can improve the compression ratio by up to 1.43X, the DNN encoding performance by up to 4.0X (with four Nvidia Tesla V100 GPUs), and the decoding performance by up to 6.2X.
Language Model Pre-training for Hierarchical Document Representations
Venue: arXiv cs.CL 2019
Year: 2019

Hierarchical neural architectures are often used to capture long-distance dependencies and have been applied to many document-level tasks such as summarization, document segmentation, and sentiment analysis. However, effective usage of such a large context can be difficult to learn, especially in the case where there is limited labeled data available. Building on the recent success of language model pretraining methods for learning flat representations of text, we propose algorithms for pre-training hierarchical document representations from unlabeled data. Unlike prior work, which has focused on pre-training contextual token representations or context-independent {sentence/paragraph} representations, our hierarchical document representations include fixed-length sentence/paragraph representations which integrate contextual information from the entire documents. Experiments on document segmentation, document-level question answering, and extractive document summarization demonstrate the effectiveness of the proposed pre-training algorithms.
Stacking and stability
Venue: arXiv cs.LG 2019
Year: 2019

Stacking is a general approach for combining multiple models toward greater predictive accuracy. It has found various application across different domains, ensuing from its meta-learning nature. Our understanding, nevertheless, on how and why stacking works remains intuitive and lacking in theoretical insight. In this paper, we use the stability of learning algorithms as an elemental analysis framework suitable for addressing the issue. To this end, we analyze the hypothesis stability of stacking, bag-stacking, and dag-stacking and establish a connection between bag-stacking and weighted bagging. We show that the hypothesis stability of stacking is a product of the hypothesis stability of each of the base models and the combiner. Moreover, in bag-stacking and dag-stacking, the hypothesis stability depends on the sampling strategy used to generate the training set replicates. Our findings suggest that 1) subsampling and bootstrap sampling improve the stability of stacking, and 2) stacking improves the stability of both subbagging and bagging.
Human Pose Estimation using Motion Priors and Ensemble Models
Venue: arXiv cs.CV 2019
Year: 2019

Human pose estimation in images and videos is one of key technologies for realizing a variety of human activity recognition tasks (e.g., human-computer interaction, gesture recognition, surveillance, and video summarization). This paper presents two types of human pose estimation methodologies; 1) 3D human pose tracking using motion priors and 2) 2D human pose estimation with ensemble modeling.
Competitive Online Optimization under Inventory Constraints
Venue: arXiv cs.PF 2019
Year: 2019

This paper studies online optimization under inventory (budget) constraints. While online optimization is a well-studied topic, versions with inventory constraints have proven difficult. We consider a formulation of inventory-constrained optimization that is a generalization of the classic one-way trading problem and has a wide range of applications. We present a new algorithmic framework, \textsf{CR-Pursuit}, and prove that it achieves the minimal competitive ratio among all deterministic algorithms (up to a problem-dependent constant factor) for inventory-constrained online optimization. Our algorithm and its analysis not only simplify and unify the state-of-the-art results for the standard one-way trading problem, but they also establish novel bounds for generalizations including concave revenue functions. For example, for one-way trading with price elasticity, the \textsf{CR-Pursuit} algorithm achieves a competitive ratio that is within a small additive constant (i.e., 1/3) to the lower bound of $\ln θ+1$, where $θ$ is the ratio between the maximum and minimum base prices.
Credulous Acceptability, Poison Games and Modal Logic
Venue: arXiv cs.LO 2019
Year: 2019

The Poison Game is a two-player game played on a graph in which one player can influence which edges the other player is able to traverse. It operationalizes the notion of existence of credulously admissible sets in an argumentation framework or, in graph-theoretic terminology, the existence of non-trivial semi-kernels. We develop a modal logic (poison modal logic, PML) tailored to represent winning positions in such a game, thereby identifying the precise modal reasoning that underlies the notion of credulous admissibility in argumentation. We study model-theoretic and decidability properties of PML, and position it with respect to recently studied logics at the cross-road of modal logic, argumentation, and graph games.