OpenRaiser/Intern-Atlas huggingface dataset:
Offline Reinforcement Learning for Autonomous Driving with Safety and Exploration Enhancement
Venue: arXiv cs.RO 2021
Year: 2021

Reinforcement learning (RL) is a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the environment and therefore may cause disastrous consequences such as collisions when testing in real-world traffic. Offline RL has recently emerged as a promising framework to learn effective policies from previously-collected, static datasets without the requirement of active interactions, making it especially appealing for autonomous driving applications. Despite promising, existing offline RL algorithms such as Batch-Constrained deep Q-learning (BCQ) generally lead to rather conservative policies with limited exploration efficiency. To address such issues, this paper presents an enhanced BCQ algorithm by employing a learnable parameter noise scheme in the perturbation model to increase the diversity of observed actions. In addition, a Lyapunov-based safety enhancement strategy is incorporated to constrain the explorable state space within a safe region. Experimental results in highway and parking traffic scenarios show that our approach outperforms the conventional RL method, as well as state-of-the-art offline RL algorithms.
Nuisance-Label Supervision: Robustness Improvement by Free Labels
Venue: arXiv cs.CV 2021
Year: 2021

In this paper, we present a Nuisance-label Supervision (NLS) module, which can make models more robust to nuisance factor variations. Nuisance factors are those irrelevant to a task, and an ideal model should be invariant to them. For example, an activity recognition model should perform consistently regardless of the change of clothes and background. But our experiments show existing models are far from this capability. So we explicitly supervise a model with nuisance labels to make extracted features less dependent on nuisance factors. Although the values of nuisance factors are rarely annotated, we demonstrate that besides existing annotations, nuisance labels can be acquired freely from data augmentation and synthetic data. Experiments show consistent improvement in robustness towards image corruption and appearance change in action recognition.
A Dual-Attention Neural Network for Pun Location and Using Pun-Gloss Pairs for Interpretation
Venue: arXiv cs.CL 2021
Year: 2021

Pun location is to identify the punning word (usually a word or a phrase that makes the text ambiguous) in a given short text, and pun interpretation is to find out two different meanings of the punning word. Most previous studies adopt limited word senses obtained by WSD(Word Sense Disambiguation) technique or pronunciation information in isolation to address pun location. For the task of pun interpretation, related work pays attention to various WSD algorithms. In this paper, a model called DANN (Dual-Attentive Neural Network) is proposed for pun location, effectively integrates word senses and pronunciation with context information to address two kinds of pun at the same time. Furthermore, we treat pun interpretation as a classification task and construct pungloss pairs as processing data to solve this task. Experiments on the two benchmark datasets show that our proposed methods achieve new state-of-the-art results. Our source code is available in the public code repository.
Rethinking Point Cloud Filtering: A Non-Local Position Based Approach
Venue: arXiv cs.CV 2021
Year: 2021

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based approach for feature-preserving point cloud filtering. Unlike normal based techniques, our method does not require the normal information. The core idea is to first design a similarity metric to search the non-local similar patches of a queried local patch. We then map the non-local similar patches into a canonical space and aggregate the non-local information. The aggregated outcome (i.e. coordinate) will be inversely mapped into the original space. Our method is simple yet effective. Extensive experiments validate our method, and show that it generally outperforms position based methods (deep learning and non-learning), and generates better or comparable outcomes to normal based techniques (deep learning and non-learning).
Resource Allocation for Simultaneous Wireless Information and Power Transfer Systems: A Tutorial Overview
Venue: arXiv cs.IT 2021
Year: 2021

Over the last decade, simultaneous wireless information and power transfer (SWIPT) has become a practical and promising solution for connecting and recharging battery-limited devices, thanks to significant advances in low-power electronics technology and wireless communications techniques. To realize the promised potentials, advanced resource allocation design plays a decisive role in revealing, understanding, and exploiting the intrinsic rate-energy tradeoff capitalizing on the dual use of radio frequency (RF) signals for wireless charging and communication. In this paper, we provide a comprehensive tutorial overview of SWIPT from the perspective of resource allocation design. The fundamental concepts, system architectures, and RF energy harvesting (EH) models are introduced. In particular, three commonly adopted EH models, namely the linear EH model, the nonlinear saturation EH model, and the nonlinear circuit-based EH model are characterized and discussed. Then, for a typical wireless system setup, we establish a generalized resource allocation design framework which subsumes conventional resource allocation design problems as special cases. Subsequently, we elaborate on relevant tools from optimization theory and exploit them for solving representative resource allocation design problems for SWIPT systems with and without perfect channel state information (CSI) available at the transmitter, respectively. The associated technical challenges and insights are also highlighted. Furthermore, we discuss several promising and exciting future research directions for resource allocation design for SWIPT systems intertwined with cutting-edge communication technologies, such as intelligent reflecting surfaces, unmanned aerial vehicles, mobile edge computing, federated learning, and machine learning.
An Empirical Investigation of Multi-bridge Multilingual NMT models
Venue: arXiv cs.CL 2021
Year: 2021

In this paper, we present an extensive investigation of multi-bridge, many-to-many multilingual NMT models (MB-M2M) ie., models trained on non-English language pairs in addition to English-centric language pairs. In addition to validating previous work which shows that MB-M2M models can overcome zeroshot translation problems, our analysis reveals the following results about multibridge models: (1) it is possible to extract a reasonable amount of parallel corpora between non-English languages for low-resource languages (2) with limited non-English centric data, MB-M2M models are competitive with or outperform pivot models, (3) MB-M2M models can outperform English-Any models and perform at par with Any-English models, so a single multilingual NMT system can serve all translation directions.
Improved Drug-target Interaction Prediction with Intermolecular Graph Transformer
Venue: arXiv cs.LG 2021
Year: 2021

The identification of active binding drugs for target proteins (termed as drug-target interaction prediction) is the key challenge in virtual screening, which plays an essential role in drug discovery. Although recent deep learning-based approaches achieved better performance than molecular docking, existing models often neglect certain aspects of the intermolecular information, hindering the performance of prediction. We recognize this problem and propose a novel approach named Intermolecular Graph Transformer (IGT) that employs a dedicated attention mechanism to model intermolecular information with a three-way Transformer-based architecture. IGT outperforms state-of-the-art approaches by 9.1% and 20.5% over the second best for binding activity and binding pose prediction respectively, and shows superior generalization ability to unseen receptor proteins. Furthermore, IGT exhibits promising drug screening ability against SARS-CoV-2 by identifying 83.1% active drugs that have been validated by wet-lab experiments with near-native predicted binding poses.
Privacy Impact Assessment: Comparing methodologies with a focus on practicality
Venue: arXiv cs.CR 2021
Year: 2021

Privacy and data protection have become more and more important in recent years since an increasing number of enterprises and startups are harvesting personal data as a part of their business model. One central requirement of the GDPR is the implementation of a data protection impact assessment for privacy critical systems. However, the law does not dictate or recommend the use of any particular framework. In this paper we compare different data protection impact assessment frameworks. We have developed a comparison and evaluation methodology and applied this to three popular impact assessment frameworks. The result of this comparison shows the weaknesses and strengths, but also clearly indicates that none of the tested frameworks fulfill all desired properties. Thus, the development of a new or improved data protection impact assessment framework is an important open issue for future work, especially for sector specific applications.
Ethics lines and Machine learning: a design and simulation of an Association Rules Algorithm for exploiting the data
Venue: arXiv cs.CY 2021
Year: 2021

Data mining techniques offer great opportunities for developing ethics lines, tools for communication, participation and innovation whose main aim is to ensure improvements and compliance with the values, conduct and commitments making up the code of ethics. The aim of this study is to suggest a process for exploiting the data generated by the data generated and collected from an ethics line by extracting rules of association and applying the Apriori algorithm. This makes it possible to identify anomalies and behaviour patterns requiring action to review, correct, promote or expand them, as appropriate. Finally, I offer a simulated application of the Apriori algorithm, supplying it with synthetic data to find out its potential, strengths and limitations.
RGB-D Image Inpainting Using Generative Adversarial Network with a Late Fusion Approach
Venue: arXiv cs.CV 2021
Year: 2021

Diminished reality is a technology that aims to remove objects from video images and fills in the missing region with plausible pixels. Most conventional methods utilize the different cameras that capture the same scene from different viewpoints to allow regions to be removed and restored. In this paper, we propose an RGB-D image inpainting method using generative adversarial network, which does not require multiple cameras. Recently, an RGB image inpainting method has achieved outstanding results by employing a generative adversarial network. However, RGB inpainting methods aim to restore only the texture of the missing region and, therefore, does not recover geometric information (i.e, 3D structure of the scene). We expand conventional image inpainting method to RGB-D image inpainting to jointly restore the texture and geometry of missing regions from a pair of RGB and depth images. Inspired by other tasks that use RGB and depth images (e.g., semantic segmentation and object detection), we propose late fusion approach that exploits the advantage of RGB and depth information each other. The experimental results verify the effectiveness of our proposed method.
Fundamental Limits of Combinatorial Multi-Access Caching
Venue: arXiv cs.IT 2021
Year: 2021

This work identifies the fundamental limits of Multi-Access Coded Caching (MACC) where each user is connected to multiple caches in a manner that follows a generalized combinatorial topology. This topology stands out as it allows for unprecedented coding gains, even with very modest cache resources. First, we extend the setting and the scheme presented by Muralidhar et al. to a much more general topology that supports both a much denser range of users and the coexistence of users connected to different numbers of caches, all while maintaining the astounding coding gains, here proven to be exactly optimal, associated with the combinatorial topology. This is achieved, for this generalized topology, with a novel information-theoretic converse that we present here, which establishes, together with the scheme, the exact optimal performance under the assumption of uncoded placement. We subsequently consider different connectivity ensembles, including the very general scenario of the entire ensemble of all possible network connectivities/topologies, where any user can be connected to any subset of caches arbitrarily. For these settings, we develop novel converse bounds on the optimal performance averaged over the ensemble's different connectivities, considering the additional realistic scenario that the connectivity at delivery time is entirely unknown during cache placement. This novel analysis of topological ensembles leaves open the possibility that currently-unknown topologies may yield even higher gains, a hypothesis that is part of the bigger question of which network topology yields the most caching gains.
Understanding Model Robustness to User-generated Noisy Texts
Venue: arXiv cs.CL 2021
Year: 2021

Sensitivity of deep-neural models to input noise is known to be a challenging problem. In NLP, model performance often deteriorates with naturally occurring noise, such as spelling errors. To mitigate this issue, models may leverage artificially noised data. However, the amount and type of generated noise has so far been determined arbitrarily. We therefore propose to model the errors statistically from grammatical-error-correction corpora. We present a thorough evaluation of several state-of-the-art NLP systems' robustness in multiple languages, with tasks including morpho-syntactic analysis, named entity recognition, neural machine translation, a subset of the GLUE benchmark and reading comprehension. We also compare two approaches to address the performance drop: a) training the NLP models with noised data generated by our framework; and b) reducing the input noise with external system for natural language correction. The code is released at https://github.com/ufal/kazitext.
Asymmetric Graph Representation Learning
Venue: arXiv cs.LG 2021
Year: 2021

Despite the enormous success of graph neural networks (GNNs), most existing GNNs can only be applicable to undirected graphs where relationships among connected nodes are two-way symmetric (i.e., information can be passed back and forth). However, there is a vast amount of applications where the information flow is asymmetric, leading to directed graphs where information can only be passed in one direction. For example, a directed edge indicates that the information can only be conveyed forwardly from the start node to the end node, but not backwardly. To accommodate such an asymmetric structure of directed graphs within the framework of GNNs, we propose a simple yet remarkably effective framework for directed graph analysis to incorporate such one-way information passing. We define an incoming embedding and an outgoing embedding for each node to model its sending and receiving features respectively. We further develop two steps in our directed GNN model with the first one to aggregate/update the incoming features of nodes and the second one to aggregate/update the outgoing features. By imposing the two roles for each node, the likelihood of a directed edge can be calculated based on the outgoing embedding of the start node and the incoming embedding of the end node. The log-likelihood of all edges plays a natural role of regularization for the proposed model, which can alleviate the over-smoothing problem of the deep GNNs. Extensive experiments on multiple real-world directed graphs demonstrate outstanding performances of the proposed model in both node-level and graph-level tasks.
DeepOrder: Deep Learning for Test Case Prioritization in Continuous Integration Testing
Venue: arXiv cs.SE 2021
Year: 2021

Continuous integration testing is an important step in the modern software engineering life cycle. Test prioritization is a method that can improve the efficiency of continuous integration testing by selecting test cases that can detect faults in the early stage of each cycle. As continuous integration testing produces voluminous test execution data, test history is a commonly used artifact in test prioritization. However, existing test prioritization techniques for continuous integration either cannot handle large test history or are optimized for using a limited number of historical test cycles. We show that such a limitation can decrease fault detection effectiveness of prioritized test suites. This work introduces DeepOrder, a deep learning-based model that works on the basis of regression machine learning. DeepOrder ranks test cases based on the historical record of test executions from any number of previous test cycles. DeepOrder learns failed test cases based on multiple factors including the duration and execution status of test cases. We experimentally show that deep neural networks, as a simple regression model, can be efficiently used for test case prioritization in continuous integration testing. DeepOrder is evaluated with respect to time-effectiveness and fault detection effectiveness in comparison with an industry practice and the state of the art approaches. The results show that DeepOrder outperforms the industry practice and state-of-the-art test prioritization approaches in terms of these two metrics.
Multi-objective Clustering: A Data-driven Analysis of MOCLE, MOCK and $Δ$-MOCK
Venue: arXiv cs.LG 2021
Year: 2021

We present a data-driven analysis of MOCK, $Δ$-MOCK, and MOCLE. These are three closely related approaches that use multi-objective optimization for crisp clustering. More specifically, based on a collection of 12 datasets presenting different proprieties, we investigate the performance of MOCLE and MOCK compared to the recently proposed $Δ$-MOCK. Besides performing a quantitative analysis identifying which method presents a good/poor performance with respect to another, we also conduct a more detailed analysis on why such a behavior happened. Indeed, the results of our analysis provide useful insights into the strengths and weaknesses of the methods investigated.
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
Venue: arXiv cs.RO 2021
Year: 2021

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the continuous robot kinematic model to minimize a cost function that involves the covariance matrix of the landmark states. We tackle the problem by separately obtaining an open-loop control sequence subject to deterministic dynamics by iterative Covariance Regulation (iCR) and a closed-loop feedback control under stochastic robot and covariance dynamics by Linear Quadratic Regulator (LQR). The proposed optimization method captures the coupling between localization and mapping in predicting uncertainty evolution and synthesizes highly informative sensing trajectories. We demonstrate its performance in active landmark-based SLAM using relative-position measurements with a limited field of view.
Learning Temporal 3D Human Pose Estimation with Pseudo-Labels
Venue: arXiv cs.CV 2021
Year: 2021

We present a simple, yet effective, approach for self-supervised 3D human pose estimation. Unlike the prior work, we explore the temporal information next to the multi-view self-supervision. During training, we rely on triangulating 2D body pose estimates of a multiple-view camera system. A temporal convolutional neural network is trained with the generated 3D ground-truth and the geometric multi-view consistency loss, imposing geometrical constraints on the predicted 3D body skeleton. During inference, our model receives a sequence of 2D body pose estimates from a single-view to predict the 3D body pose for each of them. An extensive evaluation shows that our method achieves state-of-the-art performance in the Human3.6M and MPI-INF-3DHP benchmarks. Our code and models are publicly available at \url{https://github.com/vru2020/TM_HPE/}.
Interactive Analysis of CNN Robustness
Venue: arXiv cs.CV 2021
Year: 2021

While convolutional neural networks (CNNs) have found wide adoption as state-of-the-art models for image-related tasks, their predictions are often highly sensitive to small input perturbations, which the human vision is robust against. This paper presents Perturber, a web-based application that allows users to instantaneously explore how CNN activations and predictions evolve when a 3D input scene is interactively perturbed. Perturber offers a large variety of scene modifications, such as camera controls, lighting and shading effects, background modifications, object morphing, as well as adversarial attacks, to facilitate the discovery of potential vulnerabilities. Fine-tuned model versions can be directly compared for qualitative evaluation of their robustness. Case studies with machine learning experts have shown that Perturber helps users to quickly generate hypotheses about model vulnerabilities and to qualitatively compare model behavior. Using quantitative analyses, we could replicate users' insights with other CNN architectures and input images, yielding new insights about the vulnerability of adversarially trained models.
Is Stance Detection Topic-Independent and Cross-topic Generalizable? -- A Reproduction Study
Venue: arXiv cs.CL 2021
Year: 2021

Cross-topic stance detection is the task to automatically detect stances (pro, against, or neutral) on unseen topics. We successfully reproduce state-of-the-art cross-topic stance detection work (Reimers et. al., 2019), and systematically analyze its reproducibility. Our attention then turns to the cross-topic aspect of this work, and the specificity of topics in terms of vocabulary and socio-cultural context. We ask: To what extent is stance detection topic-independent and generalizable across topics? We compare the model's performance on various unseen topics, and find topic (e.g. abortion, cloning), class (e.g. pro, con), and their interaction affecting the model's performance. We conclude that investigating performance on different topics, and addressing topic-specific vocabulary and context, is a future avenue for cross-topic stance detection.
Certified Patch Robustness via Smoothed Vision Transformers
Venue: arXiv cs.CV 2021
Year: 2021

Certified patch defenses can guarantee robustness of an image classifier to arbitrary changes within a bounded contiguous region. But, currently, this robustness comes at a cost of degraded standard accuracies and slower inference times. We demonstrate how using vision transformers enables significantly better certified patch robustness that is also more computationally efficient and does not incur a substantial drop in standard accuracy. These improvements stem from the inherent ability of the vision transformer to gracefully handle largely masked images. Our code is available at https://github.com/MadryLab/smoothed-vit.