OpenRaiser/Intern-Atlas huggingface dataset:
On Graph Uncertainty Principle and Eigenvector Delocalization
Venue: arXiv cs.IT 2023
Year: 2023

Uncertainty principles present an important theoretical tool in signal processing, as they provide limits on the time-frequency concentration of a signal. In many real-world applications the signal domain has a complicated irregular structure that can be described by a graph. In this paper, we focus on the global uncertainty principle on graphs and propose new connections between the uncertainty bound for graph signals and graph eigenvectors delocalization. We also derive uncertainty bounds for random $d$-regular graphs and provide numerically efficient upper and lower approximations for the uncertainty bound on an arbitrary graph.
On the Promise and Pitfalls of Optimizing Embodied Carbon
Venue: arXiv cs.DC 2023
Year: 2023

To halt further climate change, computing, along with the rest of society, must reduce, and eventually eliminate, its carbon emissions. Recently, many researchers have focused on estimating and optimizing computing's \emph{embodied carbon}, i.e., from manufacturing computing infrastructure, in addition to its \emph{operational carbon}, i.e., from executing computations, primarily because the former is much larger than the latter but has received less research attention. Focusing attention on embodied carbon is important because it can incentivize i) operators to increase their infrastructure's efficiency and lifetime and ii) downstream suppliers to reduce their own operational carbon, which represents upstream companies' embodied carbon. Yet, as we discuss, focusing attention on embodied carbon may also introduce harmful incentives, e.g., by significantly overstating real carbon reductions and complicating the incentives for directly optimizing operational carbon. This position paper's purpose is to mitigate such harmful incentives by highlighting both the promise and potential pitfalls of optimizing embodied carbon.
Randomized vs. Deterministic Separation in Time-Space Tradeoffs of Multi-Output Functions
Venue: arXiv cs.CC 2023
Year: 2023

We prove the first polynomial separation between randomized and deterministic time-space tradeoffs of multi-output functions. In particular, we present a total function that on the input of $n$ elements in $[n]$, outputs $O(n)$ elements, such that: (1) There exists a randomized oblivious algorithm with space $O(\log n)$, time $O(n\log n)$ and one-way access to randomness, that computes the function with probability $1-O(1/n)$; (2) Any deterministic oblivious branching program with space $S$ and time $T$ that computes the function must satisfy $T^2S\geqΩ(n^{2.5}/\log n)$. This implies that logspace randomized algorithms for multi-output functions cannot be black-box derandomized without an $\widetildeΩ(n^{1/4})$ overhead in time. Since previously all the polynomial time-space tradeoffs of multi-output functions are proved via the Borodin-Cook method, which is a probabilistic method that inherently gives the same lower bound for randomized and deterministic branching programs, our lower bound proof is intrinsically different from previous works. We also examine other natural candidates for proving such separations, and show that any polynomial separation for these problems would resolve the long-standing open problem of proving $n^{1+Ω(1)}$ time lower bound for decision problems with $\mathrm{polylog}(n)$ space.
Easing Color Shifts in Score-Based Diffusion Models
Venue: arXiv cs.LG 2023
Year: 2023

Generated images of score-based models can suffer from errors in their spatial means, an effect, referred to as a color shift, which grows for larger images. This paper investigates a previously-introduced approach to mitigate color shifts in score-based diffusion models. We quantify the performance of a nonlinear bypass connection in the score network, designed to process the spatial mean of the input and to predict the mean of the score function. We show that this network architecture substantially improves the resulting quality of the generated images, and that this improvement is approximately independent of the size of the generated images. As a result, this modified architecture offers a simple solution for the color shift problem across image sizes. We additionally discuss the origin of color shifts in an idealized setting in order to motivate the approach.
What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery
Venue: arXiv cs.RO 2023
Year: 2023

Training control policies in simulation is more appealing than on real robots directly, as it allows for exploring diverse states in an efficient manner. Yet, robot simulators inevitably exhibit disparities from the real-world \rebut{dynamics}, yielding inaccuracies that manifest as the dynamical simulation-to-reality (sim-to-real) gap. Existing literature has proposed to close this gap by actively modifying specific simulator parameters to align the simulated data with real-world observations. However, the set of tunable parameters is usually manually selected to reduce the search space in a case-by-case manner, which is hard to scale up for complex systems and requires extensive domain knowledge. To address the scalability issue and automate the parameter-tuning process, we introduce COMPASS, which aligns the simulator with the real world by discovering the causal relationship between the environment parameters and the sim-to-real gap. Concretely, our method learns a differentiable mapping from the environment parameters to the differences between simulated and real-world robot-object trajectories. This mapping is governed by a simultaneously learned causal graph to help prune the search space of parameters, provide better interpretability, and improve generalization on unseen parameters. We perform experiments to achieve both sim-to-sim and sim-to-real transfer, and show that our method has significant improvements in trajectory alignment and task success rate over strong baselines in several challenging manipulation tasks.
GraSS: Contrastive Learning with Gradient Guided Sampling Strategy for Remote Sensing Image Semantic Segmentation
Venue: arXiv cs.LG 2023
Year: 2023

Self-supervised contrastive learning (SSCL) has achieved significant milestones in remote sensing image (RSI) understanding. Its essence lies in designing an unsupervised instance discrimination pretext task to extract image features from a large number of unlabeled images that are beneficial for downstream tasks. However, existing instance discrimination based SSCL suffer from two limitations when applied to the RSI semantic segmentation task: 1) Positive sample confounding issue; 2) Feature adaptation bias. It introduces a feature adaptation bias when applied to semantic segmentation tasks that require pixel-level or object-level features. In this study, We observed that the discrimination information can be mapped to specific regions in RSI through the gradient of unsupervised contrastive loss, these specific regions tend to contain singular ground objects. Based on this, we propose contrastive learning with Gradient guided Sampling Strategy (GraSS) for RSI semantic segmentation. GraSS consists of two stages: Instance Discrimination warm-up (ID warm-up) and Gradient guided Sampling contrastive training (GS training). The ID warm-up aims to provide initial discrimination information to the contrastive loss gradients. The GS training stage aims to utilize the discrimination information contained in the contrastive loss gradients and adaptively select regions in RSI patches that contain more singular ground objects, in order to construct new positive and negative samples. Experimental results on three open datasets demonstrate that GraSS effectively enhances the performance of SSCL in high-resolution RSI semantic segmentation. Compared to seven baseline methods from five different types of SSCL, GraSS achieves an average improvement of 1.57\% and a maximum improvement of 3.58\% in terms of mean intersection over the union. The source code is available at https://github.com/GeoX-Lab/GraSS
On information captured by neural networks: connections with memorization and generalization
Venue: arXiv cs.LG 2023
Year: 2023

Despite the popularity and success of deep learning, there is limited understanding of when, how, and why neural networks generalize to unseen examples. Since learning can be seen as extracting information from data, we formally study information captured by neural networks during training. Specifically, we start with viewing learning in presence of noisy labels from an information-theoretic perspective and derive a learning algorithm that limits label noise information in weights. We then define a notion of unique information that an individual sample provides to the training of a deep network, shedding some light on the behavior of neural networks on examples that are atypical, ambiguous, or belong to underrepresented subpopulations. We relate example informativeness to generalization by deriving nonvacuous generalization gap bounds. Finally, by studying knowledge distillation, we highlight the important role of data and label complexity in generalization. Overall, our findings contribute to a deeper understanding of the mechanisms underlying neural network generalization.
Reducing Redundant Work in Jump Point Search
Venue: arXiv cs.RO 2023
Year: 2023

JPS (Jump Point Search) is a state-of-the-art optimal algorithm for online grid-based pathfinding. Widely used in games and other navigation scenarios, JPS nevertheless can exhibit pathological behaviours which are not well studied: (i) it may repeatedly scan the same area of the map to find successors; (ii) it may generate and expand suboptimal search nodes. In this work, we examine the source of these pathological behaviours, show how they can occur in practice, and propose a purely online approach, called Constrained JPS (CJPS), to tackle them efficiently. Experimental results show that CJPS has low overheads and is often faster than JPS in dynamically changing grid environments: by up to 7x in large game maps and up to 14x in pathological scenarios.
NIPD: A Federated Learning Person Detection Benchmark Based on Real-World Non-IID Data
Venue: arXiv cs.CV 2023
Year: 2023

Federated learning (FL), a privacy-preserving distributed machine learning, has been rapidly applied in wireless communication networks. FL enables Internet of Things (IoT) clients to obtain well-trained models while preventing privacy leakage. Person detection can be deployed on edge devices with limited computing power if combined with FL to process the video data directly at the edge. However, due to the different hardware and deployment scenarios of different cameras, the data collected by the camera present non-independent and identically distributed (non-IID), and the global model derived from FL aggregation is less effective. Meanwhile, existing research lacks public data set for real-world FL object detection, which is not conducive to studying the non-IID problem on IoT cameras. Therefore, we open source a non-IID IoT person detection (NIPD) data set, which is collected from five different cameras. To our knowledge, this is the first true device-based non-IID person detection data set. Based on this data set, we explain how to establish a FL experimental platform and provide a benchmark for non-IID person detection. NIPD is expected to promote the application of FL and the security of smart city.
Angle Sensitive Pixels for Lensless Imaging on Spherical Sensors
Venue: arXiv cs.CV 2023
Year: 2023

We propose OrbCam, a lensless architecture for imaging with spherical sensors. Prior work in lensless imager techniques have focused largely on using planar sensors; for such designs, it is important to use a modulation element, e.g. amplitude or phase masks, to construct a invertible imaging system. In contrast, we show that the diversity of pixel orientations on a curved surface is sufficient to improve the conditioning of the mapping between the scene and the sensor. Hence, when imaging on a spherical sensor, all pixels can have the same angular response function such that the lensless imager is comprised of pixels that are identical to each other and differ only in their orientations. We provide the computational tools for the design of the angular response of the pixels in a spherical sensor that leads to well-conditioned and noise-robust measurements. We validate our design in both simulation and a lab prototype. The implications of our design is that the lensless imaging can be enabled easily for curved and flexible surfaces thereby opening up a new set of application domains.
Disentangled Variational Auto-encoder Enhanced by Counterfactual Data for Debiasing Recommendation
Venue: arXiv cs.IR 2023
Year: 2023

Recommender system always suffers from various recommendation biases, seriously hindering its development. In this light, a series of debias methods have been proposed in the recommender system, especially for two most common biases, i.e., popularity bias and amplified subjective bias. However, exsisting debias methods usually concentrate on correcting a single bias. Such single-functionality debiases neglect the bias-coupling issue in which the recommended items are collectively attributed to multiple biases. Besides, previous work cannot tackle the lacking supervised signals brought by sparse data, yet which has become a commonplace in the recommender system. In this work, we introduce a disentangled debias variational auto-encoder framework(DB-VAE) to address the single-functionality issue as well as a counterfactual data enhancement method to mitigate the adverse effect due to the data sparsity. In specific, DB-VAE first extracts two types of extreme items only affected by a single bias based on the collier theory, which are respectively employed to learn the latent representation of corresponding biases, thereby realizing the bias decoupling. In this way, the exact unbiased user representation can be learned by these decoupled bias representations. Furthermore, the data generation module employs Pearl's framework to produce massive counterfactual data, making up the lacking supervised signals due to the sparse data. Extensive experiments on three real-world datasets demonstrate the effectiveness of our proposed model. Besides, the counterfactual data can further improve DB-VAE, especially on the dataset with low sparsity.
Fast Recognition of birds in offshore wind farms based on an improved deep learning model
Venue: arXiv cs.CV 2023
Year: 2023

The safety of wind turbines is a prerequisite for the stable operation of offshore wind farms. However, bird damage poses a direct threat to the safe operation of wind turbines and wind turbine blades. In addition, millions of birds are killed by wind turbines every year. In order to protect the ecological environment and maintain the safe operation of offshore wind turbines, and to address the problem of the low detection capability of current target detection algorithms in low-light environments such as at night, this paper proposes a method to improve the network performance by integrating the CBAM attention mechanism and the RetinexNet network into YOLOv5. First, the training set images are fed into the YOLOv5 network with integrated CBAM attention module for training, and the optimal weight model is stored. Then, low-light images are enhanced and denoised using Decom-Net and Enhance-Net, and the accuracy is tested on the optimal weight model. In addition, the k-means++ clustering algorithm is used to optimise the anchor box selection method, which solves the problem of unstable initial centroids and achieves better clustering results. Experimental results show that the accuracy of this model in bird detection tasks can reach 87.40%, an increase of 21.25%. The model can detect birds near wind turbines in real time and shows strong stability in night, rainy and shaky conditions, proving that the model can ensure the safe and stable operation of wind turbines.
Retrospective: RAIDR: Retention-Aware Intelligent DRAM Refresh
Venue: arXiv cs.AR 2023
Year: 2023

Dynamic Random Access Memory (DRAM) is the prevalent memory technology used to build main memory systems of almost all computers. A fundamental shortcoming of DRAM is the need to refresh memory cells to keep stored data intact. DRAM refresh consumes energy and degrades performance. It is also a technology scaling challenge as its negative effects become worse as DRAM cell size reduces and DRAM chip capacity increases. Our ISCA 2012 paper, RAIDR, examines the DRAM refresh problem from a modern computing systems perspective, demonstrating its projected impact on systems with higher-capacity DRAM chips expected to be manufactured in the future. It proposes and evaluates a simple and low-cost solution that greatly reduces the performance & energy overheads of refresh by exploiting variation in data retention times across DRAM rows. The key idea is to group the DRAM rows into bins in terms of their minimum data retention times, store the bins in low-cost Bloom filters, and refresh rows in different bins at different rates. Evaluations in our paper (and later works) show that the idea greatly improves performance & energy efficiency and its benefits increase with DRAM chip capacity. The paper embodies an approach we have termed system-DRAM co-design. This short retrospective provides a brief analysis of our RAIDR paper and its impact. We briefly describe the mindset and circumstances that led to our focus on the DRAM refresh problem and RAIDR's development, discuss later works that provided improved analyses and solutions, and make some educated guesses on what the future may bring on the DRAM refresh problem (and more generally in DRAM technology scaling).
Real-World Performance of Autonomously Reporting Normal Chest Radiographs in NHS Trusts Using a Deep-Learning Algorithm on the GP Pathway
Venue: arXiv cs.CV 2023
Year: 2023

AIM To analyse the performance of a deep-learning (DL) algorithm currently deployed as diagnostic decision support software in two NHS Trusts used to identify normal chest x-rays in active clinical pathways. MATERIALS AND METHODS A DL algorithm has been deployed in Somerset NHS Foundation Trust (SFT) since December 2022, and at Calderdale & Huddersfield NHS Foundation Trust (CHFT) since March 2023. The algorithm was developed and trained prior to deployment, and is used to assign abnormality scores to each GP-requested chest x-ray (CXR). The algorithm classifies a subset of examinations with the lowest abnormality scores as High Confidence Normal (HCN), and displays this result to the Trust. This two-site study includes 4,654 CXR continuous examinations processed by the algorithm over a six-week period. RESULTS When classifying 20.0% of assessed examinations (930) as HCN, the model classified exams with a negative predictive value (NPV) of 0.96. There were 0.77% of examinations (36) classified incorrectly as HCN, with none of the abnormalities considered clinically significant by auditing radiologists. The DL software maintained fast levels of service to clinicians, with results returned to Trusts in a mean time of 7.1 seconds. CONCLUSION The DL algorithm performs with a low rate of error and is highly effective as an automated diagnostic decision support tool, used to autonomously report a subset of CXRs as normal with high confidence. Removing 20% of all CXRs reduces workload for reporters and allows radiology departments to focus resources elsewhere.
Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics
Venue: arXiv cs.RO 2023
Year: 2023

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we introduce a novel approach called rotational obstacle avoidance method (ROAM) for adapting the initial dynamics when the workspace is partially occluded by obstacles. ROAM presents a closed-form solution that effectively avoids star-shaped obstacles in spaces of arbitrary dimensions by rotating the initial dynamics towards the tangent space. The algorithm enables navigation within obstacle hulls and can be customized to actively move away from surfaces, while guaranteeing the presence of only a single saddle point on the boundary of each obstacle. We introduce a sequence of mappings to extend the approach for general nonlinear dynamics. Moreover, ROAM extends its capabilities to handle multi-obstacle environments and provides the ability to constrain dynamics within a safe tube. By utilizing weighted vector-tree summation, we successfully navigate around general concave obstacles represented as a tree-of-stars. Through experimental evaluation, ROAM demonstrates superior performance in terms of minimizing occurrences of local minima and maintaining similarity to the initial dynamics, outperforming existing approaches in multi-obstacle simulations. The proposed method is highly reactive, owing to its simplicity, and can be applied effectively in dynamic environments. This was demonstrated during the collision-free navigation of a 7 degree-of-freedom robot arm around dynamic obstacles
SkillNet-X: A Multilingual Multitask Model with Sparsely Activated Skills
Venue: arXiv cs.CL 2023
Year: 2023

Traditional multitask learning methods basically can only exploit common knowledge in task- or language-wise, which lose either cross-language or cross-task knowledge. This paper proposes a general multilingual multitask model, named SkillNet-X, which enables a single model to tackle many different tasks from different languages. To this end, we define several language-specific skills and task-specific skills, each of which corresponds to a skill module. SkillNet-X sparsely activates parts of the skill modules which are relevant either to the target task or the target language. Acting as knowledge transit hubs, skill modules are capable of absorbing task-related knowledge and language-related knowledge consecutively. Based on Transformer, we modify the multi-head attention layer and the feed forward network layer to accommodate skill modules. We evaluate SkillNet-X on eleven natural language understanding datasets in four languages. Results show that SkillNet-X performs better than task-specific baselines and two multitask learning baselines (i.e., dense joint model and Mixture-of-Experts model). Furthermore, skill pre-training further improves the performance of SkillNet-X on almost all datasets. To investigate the generalization of our model, we conduct experiments on two new tasks and find that SkillNet-X significantly outperforms baselines.