OpenRaiser/Intern-Atlas huggingface dataset:
Inclined Quadrotor Landing using Deep Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

Landing a quadrotor on an inclined surface is a challenging maneuver. The final state of any inclined landing trajectory is not an equilibrium, which precludes the use of most conventional control methods. We propose a deep reinforcement learning approach to design an autonomous landing controller for inclined surfaces. Using the proximal policy optimization (PPO) algorithm with sparse rewards and a tailored curriculum learning approach, an inclined landing policy can be trained in simulation in less than 90 minutes on a standard laptop. The policy then directly runs on a real Crazyflie 2.1 quadrotor and successfully performs real inclined landings in a flying arena. A single policy evaluation takes approximately 2.5\,ms, which makes it suitable for a future embedded implementation on the quadrotor.
Bolt-Dumbo Transformer: Asynchronous Consensus As Fast As the Pipelined BFT
Venue: arXiv cs.CR 2022
Year: 2022

An urgent demand of deploying BFT consensus over the Internet is raised for implementing blockchain services. The deterministic (partial) synchronous protocols can be simple and fast in good network conditions, but are subject to denial-of-service when synchrony assumption fails. Asynchronous protocols, on the contrary, are robust against the adversarial network, but are substantially more complicated and slower for the inherent use of randomness. Facing the issues, optimistic asynchronous atomic broadcast ( Kursawe-Shoup, 2002; Ramasamy-Cachin, 2005) was proposed to improve the normal-case performance of the slow asynchronous consensus. They run a deterministic fastlane if the network condition remains good, and can fall back to a fully asynchronous protocol via a pace-synchronization mechanism if the fastlane fails. Unfortunately, existing pace-synchronization directly uses a heavy tool of asynchronous multi-valued validated Byzantine agreement (MVBA). We present Bolt-Dumbo Transformer (BDT), a generic framework for practical optimistic asynchronous atomic broadcast. At the core of BDT, we set forth a new fastlane abstraction that is simple and fast, while preparing honest parties to gracefully face potential fastlane failures caused by malicious leader or bad network. This enables a highly efficient pace-synchronization to handle fallback. The resulting design reduces a cumbersome MVBA to a variant of the conceptually simplest binary agreement only. Besides detailed security analyses, we also give concrete instantiations of our framework and implement them. Extensive experiments demonstrate that BDT can enjoy both the low latency of deterministic protocols (e.g. 2-chain version of HotStuff) and the robustness of state-of-the-art asynchronous protocols in practice.
PredRNN: A Recurrent Neural Network for Spatiotemporal Predictive Learning
Venue: arXiv cs.LG 2022
Year: 2022

The predictive learning of spatiotemporal sequences aims to generate future images by learning from the historical context, where the visual dynamics are believed to have modular structures that can be learned with compositional subsystems. This paper models these structures by presenting PredRNN, a new recurrent network, in which a pair of memory cells are explicitly decoupled, operate in nearly independent transition manners, and finally form unified representations of the complex environment. Concretely, besides the original memory cell of LSTM, this network is featured by a zigzag memory flow that propagates in both bottom-up and top-down directions across all layers, enabling the learned visual dynamics at different levels of RNNs to communicate. It also leverages a memory decoupling loss to keep the memory cells from learning redundant features. We further propose a new curriculum learning strategy to force PredRNN to learn long-term dynamics from context frames, which can be generalized to most sequence-to-sequence models. We provide detailed ablation studies to verify the effectiveness of each component. Our approach is shown to obtain highly competitive results on five datasets for both action-free and action-conditioned predictive learning scenarios.
Computing Parameterized Invariants of Parameterized Petri Nets
Venue: arXiv cs.DC 2022
Year: 2022

A fundamental advantage of Petri net models is the possibility to automatically compute useful system invariants from the syntax of the net. Classical techniques used for this are place invariants, P-components, siphons or traps. Recently, Bozga et al. have presented a novel technique for the \emph{parameterized} verification of safety properties of systems with a ring or array architecture. They show that the statement \enquote{for every instance of the parameterized Petri net, all markings satisfying the linear invariants associated to all the P-components, siphons and traps of the instance are safe} can be encoded in \acs{WS1S} and checked using tools like MONA. However, while the technique certifies that this infinite set of linear invariants extracted from P-components, siphons or traps are strong enough to prove safety, it does not return an explanation of this fact understandable by humans. We present a CEGAR loop that constructs a \emph{finite} set of \emph{parameterized} P-components, siphons or traps, whose infinitely many instances are strong enough to prove safety. For this we design parameterization procedures for different architectures.
Multiple Access Channel Resolvability Codes from Source Resolvability Codes
Venue: arXiv cs.IT 2022
Year: 2022

We show that the problem of code construction for multiple access channel (MAC) resolvability can be reduced to the simpler problem of code construction for source resolvability. Specifically, we propose a MAC resolvability code construction that relies on a combination of multiple source resolvability codes, used in a black-box manner, and leverages randomness recycling implemented via distributed hashing and block-Markov coding. Since explicit source resolvability codes are known, our results also yield the first explicit coding schemes that achieve the entire MAC resolvability region for any discrete memoryless multiple-access channel with binary input alphabets.
AutoTune: Controller Tuning for High-Speed Flight
Venue: arXiv cs.RO 2022
Year: 2022

Due to noisy actuation and external disturbances, tuning controllers for high-speed flight is very challenging. In this paper, we ask the following questions: How sensitive are controllers to tuning when tracking high-speed maneuvers? What algorithms can we use to automatically tune them? To answer the first question, we study the relationship between parameters and performance and find out that the faster the maneuver, the more sensitive a controller becomes to its parameters. To answer the second question, we review existing methods for controller tuning and discover that prior works often perform poorly on the task of high-speed flight. Therefore, we propose AutoTune, a sampling-based tuning algorithm specifically tailored to high-speed flight. In contrast to previous work, our algorithm does not assume any prior knowledge of the drone or its optimization function and can deal with the multi-modal characteristics of the parameters' optimization space. We thoroughly evaluate AutoTune both in simulation and in the physical world. In our experiments, we outperform existing tuning algorithms by up to 90% in trajectory completion. The resulting controllers are tested in the AirSim Game of Drones competition, where we outperform the winner by up to 25% in lap-time. Finally, we show that AutoTune improves tracking error when flying a physical platform with respect to parameters tuned by a human expert.
Toward Compact Deep Neural Networks via Energy-Aware Pruning
Venue: arXiv cs.CV 2022
Year: 2022

Despite the remarkable performance, modern deep neural networks are inevitably accompanied by a significant amount of computational cost for learning and deployment, which may be incompatible with their usage on edge devices. Recent efforts to reduce these overheads involve pruning and decomposing the parameters of various layers without performance deterioration. Inspired by several decomposition studies, in this paper, we propose a novel energy-aware pruning method that quantifies the importance of each filter in the network using nuclear-norm (NN). Proposed energy-aware pruning leads to state-of-the-art performance for Top-1 accuracy, FLOPs, and parameter reduction across a wide range of scenarios with multiple network architectures on CIFAR-10 and ImageNet after fine-grained classification tasks. On toy experiment, without fine-tuning, we can visually observe that NN has a minute change in decision boundaries across classes and outperforms the previous popular criteria. We achieve competitive results with 40.4/49.8% of FLOPs and 45.9/52.9% of parameter reduction with 94.13/94.61% in the Top-1 accuracy with ResNet-56/110 on CIFAR-10, respectively. In addition, our observations are consistent for a variety of different pruning setting in terms of data size as well as data quality which can be emphasized in the stability of the acceleration and compression with negligible accuracy loss.
The Shape of Learning Curves: a Review
Venue: arXiv cs.LG 2022
Year: 2022

Learning curves provide insight into the dependence of a learner's generalization performance on the training set size. This important tool can be used for model selection, to predict the effect of more training data, and to reduce the computational complexity of model training and hyperparameter tuning. This review recounts the origins of the term, provides a formal definition of the learning curve, and briefly covers basics such as its estimation. Our main contribution is a comprehensive overview of the literature regarding the shape of learning curves. We discuss empirical and theoretical evidence that supports well-behaved curves that often have the shape of a power law or an exponential. We consider the learning curves of Gaussian processes, the complex shapes they can display, and the factors influencing them. We draw specific attention to examples of learning curves that are ill-behaved, showing worse learning performance with more training data. To wrap up, we point out various open problems that warrant deeper empirical and theoretical investigation. All in all, our review underscores that learning curves are surprisingly diverse and no universal model can be identified.
Joint Resource Allocation and Cache Placement for Location-Aware Multi-User Mobile Edge Computing
Venue: arXiv cs.IT 2022
Year: 2022

With the growing demand for latency-critical and computation-intensive Internet of Things (IoT) services, the IoT-oriented network architecture, mobile edge computing (MEC), has emerged as a promising technique to reinforce the computation capability of the resource-constrained IoT devices. To exploit the cloud-like functions at the network edge, service caching has been implemented to reuse the computation task input/output data, thus effectively reducing the delay incurred by data retransmissions and repeated execution of the same task. In a multi-user cache-assisted MEC system, users' preferences for different types of services, possibly dependent on their locations, play an important role in joint design of communication, computation and service caching. In this paper, we consider multiple representative locations, where users at the same location share the same preference profile for a given set of services. Specifically, by exploiting the location-aware users' preference profiles, we propose joint optimization of the binary cache placement, the edge computation resource and the bandwidth allocation to minimize the expected sum-energy consumption, subject to the bandwidth and the computation limitations as well as the service latency constraints. To effectively solve the mixed-integer non-convex problem, we propose a deep learning (DL)-based offline cache placement scheme using a novel stochastic quantization based discrete-action generation method. The proposed hybrid learning framework advocates both benefits from the model-free DL approach and the model-based optimization. The simulations verify that the proposed DL-based scheme saves roughly 33% and 6.69% of energy consumption compared with the greedy caching and the popular caching, respectively, while achieving up to 99.01% of the optimal performance.
ScanMix: Learning from Severe Label Noise via Semantic Clustering and Semi-Supervised Learning
Venue: arXiv cs.CV 2022
Year: 2022

We propose a new training algorithm, ScanMix, that explores semantic clustering and semi-supervised learning (SSL) to allow superior robustness to severe label noise and competitive robustness to non-severe label noise problems, in comparison to the state of the art (SOTA) methods. ScanMix is based on the expectation maximisation framework, where the E-step estimates the latent variable to cluster the training images based on their appearance and classification results, and the M-step optimises the SSL classification and learns effective feature representations via semantic clustering. We present a theoretical result that shows the correctness and convergence of ScanMix, and an empirical result that shows that ScanMix has SOTA results on CIFAR-10/-100 (with symmetric, asymmetric and semantic label noise), Red Mini-ImageNet (from the Controlled Noisy Web Labels), Clothing1M and WebVision. In all benchmarks with severe label noise, our results are competitive to the current SOTA.
Polarization Guided Specular Reflection Separation
Venue: arXiv cs.CV 2022
Year: 2022

Since specular reflection often exists in the real captured images and causes deviation between the recorded color and intrinsic color, specular reflection separation can bring advantages to multiple applications that require consistent object surface appearance. However, due to the color of an object is significantly influenced by the color of the illumination, the existing researches still suffer from the near-duplicate challenge, that is, the separation becomes unstable when the illumination color is close to the surface color. In this paper, we derive a polarization guided model to incorporate the polarization information into a designed iteration optimization separation strategy to separate the specular reflection. Based on the analysis of polarization, we propose a polarization guided model to generate a polarization chromaticity image, which is able to reveal the geometrical profile of the input image in complex scenarios, such as diversity of illumination. The polarization chromaticity image can accurately cluster the pixels with similar diffuse color. We further use the specular separation of all these clusters as an implicit prior to ensure that the diffuse components will not be mistakenly separated as the specular components. With the polarization guided model, we reformulate the specular reflection separation into a unified optimization function which can be solved by the ADMM strategy. The specular reflection will be detected and separated jointly by RGB and polarimetric information. Both qualitative and quantitative experimental results have shown that our method can faithfully separate the specular reflection, especially in some challenging scenarios.
Computationally Efficient Learning of Statistical Manifolds
Venue: arXiv cs.LG 2022
Year: 2022

Analyzing high-dimensional data with manifold learning algorithms often requires searching for the nearest neighbors of all observations. This presents a computational bottleneck in statistical manifold learning when observations of probability distributions rather than vector-valued variables are available or when data size is large. We resolve this problem by proposing a new method for approximation in statistical manifold learning. The novelty of our approximation is the strongly consistent distance estimators based on independent and identically distributed samples from probability distributions. By exploiting the connection between Hellinger/total variation distance for discrete distributions and the L2/L1 norm, we demonstrate that the proposed distance estimators, combined with approximate nearest neighbor searching, could largely improve the computational efficiency with little to no loss in the accuracy of manifold embedding. The result is robust to different manifold learning algorithms and different approximate nearest neighbor algorithms. The proposed method is applied to learning statistical manifolds of electricity usage. This application demonstrates how underlying structures in high dimensional data, including anomalies, can be visualized and identified, in a way that is scalable to large datasets.
Big Data for Traffic Estimation and Prediction: A Survey of Data and Tools
Venue: arXiv cs.LG 2022
Year: 2022

Big data has been used widely in many areas including the transportation industry. Using various data sources, traffic states can be well estimated and further predicted for improving the overall operation efficiency. Combined with this trend, this study presents an up-to-date survey of open data and big data tools used for traffic estimation and prediction. Different data types are categorized and the off-the-shelf tools are introduced. To further promote the use of big data for traffic estimation and prediction tasks, challenges and future directions are given for future studies.
Learning Accurate Business Process Simulation Models from Event Logs via Automated Process Discovery and Deep Learning
Venue: arXiv cs.AI 2022
Year: 2022

Business process simulation is a well-known approach to estimate the impact of changes to a process with respect to time and cost measures -- a practice known as what-if process analysis. The usefulness of such estimations hinges on the accuracy of the underlying simulation model. Data-Driven Simulation (DDS) methods leverage process mining techniques to learn process simulation models from event logs. Empirical studies have shown that, while DDS models adequately capture the observed sequences of activities and their frequencies, they fail to accurately capture the temporal dynamics of real-life processes. In contrast, generative Deep Learning (DL) models are better able to capture such temporal dynamics. The drawback of DL models is that users cannot alter them for what-if analysis due to their black-box nature. This paper presents a hybrid approach to learn process simulation models from event logs wherein a (stochastic) process model is extracted via DDS techniques, and then combined with a DL model to generate timestamped event sequences. An experimental evaluation shows that the resulting hybrid simulation models match the temporal accuracy of pure DL models, while partially retaining the what-if analysis capability of DDS approaches.
Convergence of Finite Memory Q-Learning for POMDPs and Near Optimality of Learned Policies under Filter Stability
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, for POMDPs, we provide the convergence of a Q learning algorithm for control policies using a finite history of past observations and control actions, and, consequentially, we establish near optimality of such limit Q functions under explicit filter stability conditions. We present explicit error bounds relating the approximation error to the length of the finite history window. We establish the convergence of such Q-learning iterations under mild ergodicity assumptions on the state process during the exploration phase. We further show that the limit fixed point equation gives an optimal solution for an approximate belief-MDP. We then provide bounds on the performance of the policy obtained using the limit Q values compared to the performance of the optimal policy for the POMDP, where we also present explicit conditions using recent results on filter stability in controlled POMDPs. While there exist many experimental results, (i) the rigorous asymptotic convergence (to an approximate MDP value function) for such finite-memory Q-learning algorithms, and (ii) the near optimality with an explicit rate of convergence (in the memory size) are results that are new to the literature, to our knowledge.
Are Neural Language Models Good Plagiarists? A Benchmark for Neural Paraphrase Detection
Venue: arXiv cs.CL 2022
Year: 2022

The rise of language models such as BERT allows for high-quality text paraphrasing. This is a problem to academic integrity, as it is difficult to differentiate between original and machine-generated content. We propose a benchmark consisting of paraphrased articles using recent language models relying on the Transformer architecture. Our contribution fosters future research of paraphrase detection systems as it offers a large collection of aligned original and paraphrased documents, a study regarding its structure, classification experiments with state-of-the-art systems, and we make our findings publicly available.
SCHeMa: Scheduling Scientific Containers on a Cluster of Heterogeneous Machines
Venue: arXiv cs.DC 2022
Year: 2022

In the era of data-driven science, conducting computational experiments that involve analysing large datasets using heterogeneous computational clusters, is part of the everyday routine for many scientists. Moreover, to ensure the credibility of their results, it is very important for these analyses to be easily reproducible by other researchers. Although various technologies, that could facilitate the work of scientists in this direction, have been introduced in the recent years, there is still a lack of open source platforms that combine them to this end. In this work, we describe and demonstrate SCHeMa, an open-source platform that facilitates the execution and reproducibility of computational analysis on heterogeneous clusters, leveraging containerization, experiment packaging, workflow management, and machine learning technologies.
USB: Universal-Scale Object Detection Benchmark
Venue: arXiv cs.CV 2022
Year: 2022

Benchmarks, such as COCO, play a crucial role in object detection. However, existing benchmarks are insufficient in scale variation, and their protocols are inadequate for fair comparison. In this paper, we introduce the Universal-Scale object detection Benchmark (USB). USB has variations in object scales and image domains by incorporating COCO with the recently proposed Waymo Open Dataset and Manga109-s dataset. To enable fair comparison and inclusive research, we propose training and evaluation protocols. They have multiple divisions for training epochs and evaluation image resolutions, like weight classes in sports, and compatibility across training protocols, like the backward compatibility of the Universal Serial Bus. Specifically, we request participants to report results with not only higher protocols (longer training) but also lower protocols (shorter training). Using the proposed benchmark and protocols, we conducted extensive experiments using 15 methods and found weaknesses of existing COCO-biased methods. The code is available at https://github.com/shinya7y/UniverseNet .