OpenRaiser/Intern-Atlas huggingface dataset:
Age-of-Information with Information Source Diversity in an Energy Harvesting System
Venue: arXiv cs.IT 2021
Year: 2021

Age of information (AoI) is one of the key performance metrics for Internet of things (IoT) systems. Timely status updates are essential for many IoT applications; however, they are subject to strict constraints related on the available energy and unreliability of underlying information sources. Hence, the scheduling of status updates must be carefully planned to preserve energy, but at the same time, it may happen that when a status update is needed, there is no reliable up-to-date information content to refresh. As a solution to overcome these unpredictabilities, one can employ multiple sources that track the same signal of interest, but with different energy costs and reliabilities, which we call information source diversity. We consider an energy-harvesting monitoring node equipped with a finite-size battery and collecting status updates from multiple heterogeneous information sources. We investigate the policies that minimize the average AoI, and evaluate the role of information source diversity on the system performance. To do so, we formulate the problem as a Markov decision process (MDP). The optimal policy represents the scheduling of actions, such as an update from one of the sources or remaining idle, based on the current energy level and the AoI at the monitoring node. We analyze the structure of the optimal solution for different cost/AoI distribution combinations, and compare the performance of the optimal policy with an aggressive strategy that transmits whenever possible.
Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads
Venue: arXiv cs.RO 2021
Year: 2021

Transporting suspended payloads is challenging for autonomous aerial vehicles because the payload can cause significant and unpredictable changes to the robot's dynamics. These changes can lead to suboptimal flight performance or even catastrophic failure. Although adaptive control and learning-based methods can in principle adapt to changes in these hybrid robot-payload systems, rapid mid-flight adaptation to payloads that have a priori unknown physical properties remains an open problem. We propose a meta-learning approach that "learns how to learn" models of altered dynamics within seconds of post-connection flight data. Our experiments demonstrate that our online adaptation approach outperforms non-adaptive methods on a series of challenging suspended payload transportation tasks. Videos and other supplemental material are available on our website: https://sites.google.com/view/meta-rl-for-flight
Hybrid Combining of Directional Antennas for Periodic Broadcast V2V Communication
Venue: arXiv cs.IT 2021
Year: 2021

A hybrid analog-digital combiner for broadcast vehicular communication is proposed. It has an analog part that does not require any channel state information or feedback from the receiver, and a digital part that uses maximal ratio combining (MRC). We focus on designing the analog part of the combiner to optimize the received signal strength along all azimuth angles for robust periodic vehicle-to-vehicle (V2V) communication, in a scenario of one dominant component between the communicating vehicles (e.g., highway scenario). We show that the parameters of a previously suggested fully analog combiner solves the optimization problem of the analog part of the proposed hybrid combiner. Assuming $L$ directional antennas with uniform angular separation together with the special case of a two-port receiver, we show that it is optimal to combine groups of $\lceil L/2\rceil$ and $\lfloor L/2\rfloor$ antennas in analog domain and feed the output of each group to one digital port. This is shown to be optimal under a sufficient condition on the sidelobes level of the directional antenna. Moreover, we derive a performance bound for the hybrid combiner to guide the choice of antennas needed to meet the reliability requirements of the V2V communication links.
Leveraging Planar Regularities for Point Line Visual-Inertial Odometry
Venue: arXiv cs.CV 2021
Year: 2021

With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse points can further model the environment topology and produce dense mapping. To improve the accuracy of 3D mesh generation and localization, we propose a tightly-coupled monocular VIO system, PLP-VIO, which exploits point features and line features as well as plane regularities. The co-planarity constraints are used to leverage additional structure information for the more accurate estimation of 3D points and spatial lines in state estimator. To detect plane and 3D mesh robustly, we combine both the line features with point features in the detection method. The effectiveness of the proposed method is verified on both synthetic data and public datasets and is compared with other state-of-the-art algorithms.
Cross-Domain Structure Preserving Projection for Heterogeneous Domain Adaptation
Venue: arXiv cs.LG 2021
Year: 2021

Heterogeneous Domain Adaptation (HDA) addresses the transfer learning problems where data from the source and target domains are of different modalities (e.g., texts and images) or feature dimensions (e.g., features extracted with different methods). It is useful for multi-modal data analysis. Traditional domain adaptation algorithms assume that the representations of source and target samples reside in the same feature space, hence are likely to fail in solving the heterogeneous domain adaptation problem. Contemporary state-of-the-art HDA approaches are usually composed of complex optimization objectives for favourable performance and are therefore computationally expensive and less generalizable. To address these issues, we propose a novel Cross-Domain Structure Preserving Projection (CDSPP) algorithm for HDA. As an extension of the classic LPP to heterogeneous domains, CDSPP aims to learn domain-specific projections to map sample features from source and target domains into a common subspace such that the class consistency is preserved and data distributions are sufficiently aligned. CDSPP is simple and has deterministic solutions by solving a generalized eigenvalue problem. It is naturally suitable for supervised HDA but has also been extended for semi-supervised HDA where the unlabelled target domain samples are available. Extensive experiments have been conducted on commonly used benchmark datasets (i.e. Office-Caltech, Multilingual Reuters Collection, NUS-WIDE-ImageNet) for HDA as well as the Office-Home dataset firstly introduced for HDA by ourselves due to its significantly larger number of classes than the existing ones (65 vs 10, 6 and 8). The experimental results of both supervised and semi-supervised HDA demonstrate the superior performance of our proposed method against contemporary state-of-the-art methods.
MATE: A Model-based Algorithm Tuning Engine
Venue: arXiv cs.NE 2021
Year: 2021

In this paper, we introduce a Model-based Algorithm Turning Engine, namely MATE, where the parameters of an algorithm are represented as expressions of the features of a target optimisation problem. In contrast to most static (feature-independent) algorithm tuning engines such as irace and SPOT, our approach aims to derive the best parameter configuration of a given algorithm for a specific problem, exploiting the relationships between the algorithm parameters and the features of the problem. We formulate the problem of finding the relationships between the parameters and the problem features as a symbolic regression problem and we use genetic programming to extract these expressions. For the evaluation, we apply our approach to configuration of the (1+1) EA and RLS algorithms for the OneMax, LeadingOnes, BinValue and Jump optimisation problems, where the theoretically optimal algorithm parameters to the problems are available as functions of the features of the problems. Our study shows that the found relationships typically comply with known theoretical results, thus demonstrating a new opportunity to consider model-based parameter tuning as an effective alternative to the static algorithm tuning engines.
The Gutenberg Dialogue Dataset
Venue: arXiv cs.CL 2021
Year: 2021

Large datasets are essential for neural modeling of many NLP tasks. Current publicly available open-domain dialogue datasets offer a trade-off between quality (e.g., DailyDialog) and size (e.g., Opensubtitles). We narrow this gap by building a high-quality dataset of 14.8M utterances in English, and smaller datasets in German, Dutch, Spanish, Portuguese, Italian, and Hungarian. We extract and process dialogues from public-domain books made available by Project Gutenberg. We describe our dialogue extraction pipeline, analyze the effects of the various heuristics used, and present an error analysis of extracted dialogues. Finally, we conduct experiments showing that better response quality can be achieved in zero-shot and finetuning settings by training on our data than on the larger but much noisier Opensubtitles dataset. Our open-source pipeline (https://github.com/ricsinaruto/gutenberg-dialog) can be extended to further languages with little additional effort. Researchers can also build their versions of existing datasets by adjusting various trade-off parameters. We also built a web demo for interacting with our models: https://ricsinaruto.github.io/chatbot.html.
"Call me sexist, but...": Revisiting Sexism Detection Using Psychological Scales and Adversarial Samples
Venue: arXiv cs.CY 2021
Year: 2021

Research has focused on automated methods to effectively detect sexism online. Although overt sexism seems easy to spot, its subtle forms and manifold expressions are not. In this paper, we outline the different dimensions of sexism by grounding them in their implementation in psychological scales. From the scales, we derive a codebook for sexism in social media, which we use to annotate existing and novel datasets, surfacing their limitations in breadth and validity with respect to the construct of sexism. Next, we leverage the annotated datasets to generate adversarial examples, and test the reliability of sexism detection methods. Results indicate that current machine learning models pick up on a very narrow set of linguistic markers of sexism and do not generalize well to out-of-domain examples. Yet, including diverse data and adversarial examples at training time results in models that generalize better and that are more robust to artifacts of data collection. By providing a scale-based codebook and insights regarding the shortcomings of the state-of-the-art, we hope to contribute to the development of better and broader models for sexism detection, including reflections on theory-driven approaches to data collection.
UXLA: A Robust Unsupervised Data Augmentation Framework for Zero-Resource Cross-Lingual NLP
Venue: arXiv cs.CL 2021
Year: 2021

Transfer learning has yielded state-of-the-art (SoTA) results in many supervised NLP tasks. However, annotated data for every target task in every target language is rare, especially for low-resource languages. We propose UXLA, a novel unsupervised data augmentation framework for zero-resource transfer learning scenarios. In particular, UXLA aims to solve cross-lingual adaptation problems from a source language task distribution to an unknown target language task distribution, assuming no training label in the target language. At its core, UXLA performs simultaneous self-training with data augmentation and unsupervised sample selection. To show its effectiveness, we conduct extensive experiments on three diverse zero-resource cross-lingual transfer tasks. UXLA achieves SoTA results in all the tasks, outperforming the baselines by a good margin. With an in-depth framework dissection, we demonstrate the cumulative contributions of different components to its success.
Hybrid Active/Passive Wireless Network Aided by Intelligent Reflecting Surface: System Modeling and Performance Analysis
Venue: arXiv cs.IT 2021
Year: 2021

Intelligent reflecting surface (IRS) is a new and promising paradigm to substantially improve the spectral and energy efficiency of wireless networks, by constructing favorable communication channels via tuning massive low-cost passive reflecting elements. Despite recent advances in the link-level performance optimization for various IRS-aided wireless systems, it still remains an open problem whether the large-scale deployment of IRSs in wireless networks can be a cost-effective solution to achieve their sustainable capacity growth in the future. To address this problem, we study in this paper a new hybrid wireless network comprising both active base stations (BSs) and passive IRSs, and characterize its achievable spatial throughput in the downlink as well as other pertinent key performance metrics averaged over both channel fading and random locations of the deployed BSs/IRSs therein based on stochastic geometry. Compared to prior works on characterizing the performance of wireless networks with active BSs only, our analysis needs to derive the power distributions of both the signal and interference reflected by distributed IRSs in the network under spatially correlated channels, which exhibit channel hardening effects when the number of IRS elements becomes large. Extensive numerical results are presented to validate our analysis and demonstrate the effectiveness of deploying distributed IRSs in enhancing the hybrid network throughput against the conventional network without IRS, which significantly boosts the signal power but results in only marginally increased interference in the network. Moreover, it is unveiled that there exists an optimal IRS/BS density ratio that maximizes the hybrid network throughput subject to a total deployment cost given their individual costs, while the conventional network without IRS is generally suboptimal in terms of throughput per unit cost.
A Doubly Regularized Linear Discriminant Analysis Classifier with Automatic Parameter Selection
Venue: arXiv cs.LG 2021
Year: 2021

Linear discriminant analysis (LDA) based classifiers tend to falter in many practical settings where the training data size is smaller than, or comparable to, the number of features. As a remedy, different regularized LDA (RLDA) methods have been proposed. These methods may still perform poorly depending on the size and quality of the available training data. In particular, the test data deviation from the training data model, for example, due to noise contamination, can cause severe performance degradation. Moreover, these methods commit further to the Gaussian assumption (upon which LDA is established) to tune their regularization parameters, which may compromise accuracy when dealing with real data. To address these issues, we propose a doubly regularized LDA classifier that we denote as R2LDA. In the proposed R2LDA approach, the RLDA score function is converted into an inner product of two vectors. By substituting the expressions of the regularized estimators of these vectors, we obtain the R2LDA score function that involves two regularization parameters. To set the values of these parameters, we adopt three existing regularization techniques; the constrained perturbation regularization approach (COPRA), the bounded perturbation regularization (BPR) algorithm, and the generalized cross-validation (GCV) method. These methods are used to tune the regularization parameters based on linear estimation models, with the sample covariance matrix's square root being the linear operator. Results obtained from both synthetic and real data demonstrate the consistency and effectiveness of the proposed R2LDA approach, especially in scenarios involving test data contaminated with noise that is not observed during the training phase.
Fast algorithms for general spin systems on bipartite expanders
Venue: arXiv cs.DS 2021
Year: 2021

A spin system is a framework in which the vertices of a graph are assigned spins from a finite set. The interactions between neighbouring spins give rise to weights, so a spin assignment can also be viewed as a weighted graph homomorphism. The problem of approximating the partition function (the aggregate weight of spin assignments) or of sampling from the resulting probability distribution is typically intractable for general graphs. In this work, we consider arbitrary spin systems on bipartite expander $Δ$-regular graphs, including the canonical class of bipartite random $Δ$-regular graphs. We develop fast approximate sampling and counting algorithms for general spin systems whenever the degree and the spectral gap of the graph are sufficiently large. Our approach generalises the techniques of Jenseen et al. and Chen et al. by showing that typical configurations on bipartite expanders correspond to "bicliques" of the spin system; then, using suitable polymer models, we show how to sample such configurations and approximate the partition function in $\tilde{O}(n^2)$ time, where $n$ is the size of the graph.
Linguistic Resources for Bhojpuri, Magahi and Maithili: Statistics about them, their Similarity Estimates, and Baselines for Three Applications
Venue: arXiv cs.CL 2021
Year: 2021

Corpus preparation for low-resource languages and for development of human language technology to analyze or computationally process them is a laborious task, primarily due to the unavailability of expert linguists who are native speakers of these languages and also due to the time and resources required. Bhojpuri, Magahi, and Maithili, languages of the Purvanchal region of India (in the north-eastern parts), are low-resource languages belonging to the Indo-Aryan (or Indic) family. They are closely related to Hindi, which is a relatively high-resource language, which is why we compare with Hindi. We collected corpora for these three languages from various sources and cleaned them to the extent possible, without changing the data in them. The text belongs to different domains and genres. We calculated some basic statistical measures for these corpora at character, word, syllable, and morpheme levels. These corpora were also annotated with parts-of-speech (POS) and chunk tags. The basic statistical measures were both absolute and relative and were exptected to indicate of linguistic properties such as morphological, lexical, phonological, and syntactic complexities (or richness). The results were compared with a standard Hindi corpus. For most of the measures, we tried to the corpus size the same across the languages to avoid the effect of corpus size, but in some cases it turned out that using the full corpus was better, even if sizes were very different. Although the results are not very clear, we try to draw some conclusions about the languages and the corpora. For POS tagging and chunking, the BIS tagset was used to manually annotate the data. The POS tagged data sizes are 16067, 14669 and 12310 sentences, respectively, for Bhojpuri, Magahi and Maithili. The sizes for chunking are 9695 and 1954 sentences for Bhojpuri and Maithili, respectively.
Graph-based State Representation for Deep Reinforcement Learning
Venue: arXiv cs.LG 2021
Year: 2021

Deep RL approaches build much of their success on the ability of the deep neural network to generate useful internal representations. Nevertheless, they suffer from a high sample-complexity and starting with a good input representation can have a significant impact on the performance. In this paper, we exploit the fact that the underlying Markov decision process (MDP) represents a graph, which enables us to incorporate the topological information for effective state representation learning. Motivated by the recent success of node representations for several graph analytical tasks we specifically investigate the capability of node representation learning methods to effectively encode the topology of the underlying MDP in Deep RL. To this end we perform a comparative analysis of several models chosen from 4 different classes of representation learning algorithms for policy learning in grid-world navigation tasks, which are representative of a large class of RL problems. We find that all embedding methods outperform the commonly used matrix representation of grid-world environments in all of the studied cases. Moreoever, graph convolution based methods are outperformed by simpler random walk based methods and graph linear autoencoders.
Teaching Cameras to Feel: Estimating Tactile Physical Properties of Surfaces From Images
Venue: arXiv cs.CV 2021
Year: 2021

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual information. We aim to build a model that learns the complex mapping between visual information and tactile physical properties. We construct a first of its kind image-tactile dataset with over 400 multiview image sequences and the corresponding tactile properties. A total of fifteen tactile physical properties across categories including friction, compliance, adhesion, texture, and thermal conductance are measured and then estimated by our models. We develop a cross-modal framework comprised of an adversarial objective and a novel visuo-tactile joint classification loss. Additionally, we develop a neural architecture search framework capable of selecting optimal combinations of viewing angles for estimating a given physical property.
Zero-shot Neural Passage Retrieval via Domain-targeted Synthetic Question Generation
Venue: arXiv cs.IR 2021
Year: 2021

A major obstacle to the wide-spread adoption of neural retrieval models is that they require large supervised training sets to surpass traditional term-based techniques, which are constructed from raw corpora. In this paper, we propose an approach to zero-shot learning for passage retrieval that uses synthetic question generation to close this gap. The question generation system is trained on general domain data, but is applied to documents in the targeted domain. This allows us to create arbitrarily large, yet noisy, question-passage relevance pairs that are domain specific. Furthermore, when this is coupled with a simple hybrid term-neural model, first-stage retrieval performance can be improved further. Empirically, we show that this is an effective strategy for building neural passage retrieval models in the absence of large training corpora. Depending on the domain, this technique can even approach the accuracy of supervised models.
Twin-width I: tractable FO model checking
Venue: arXiv cs.DS 2021
Year: 2021

Inspired by a width invariant defined on permutations by Guillemot and Marx [SODA '14], we introduce the notion of twin-width on graphs and on matrices. Proper minor-closed classes, bounded rank-width graphs, map graphs, $K_t$-free unit $d$-dimensional ball graphs, posets with antichains of bounded size, and proper subclasses of dimension-2 posets all have bounded twin-width. On all these classes (except map graphs without geometric embedding) we show how to compute in polynomial time a sequence of $d$-contractions, witness that the twin-width is at most $d$. We show that FO model checking, that is deciding if a given first-order formula $ϕ$ evaluates to true for a given binary structure $G$ on a domain $D$, is FPT in $|ϕ|$ on classes of bounded twin-width, provided the witness is given. More precisely, being given a $d$-contraction sequence for $G$, our algorithm runs in time $f(d,|ϕ|) \cdot |D|$ where $f$ is a computable but non-elementary function. We also prove that bounded twin-width is preserved by FO interpretations and transductions (allowing operations such as squaring or complementing a graph). This unifies and significantly extends the knowledge on fixed-parameter tractability of FO model checking on non-monotone classes, such as the FPT algorithm on bounded-width posets by Gajarský et al. [FOCS '15].