OpenRaiser/Intern-Atlas huggingface dataset:
System Architecture and Communication Infrastructure for the RoboVaaS project
Venue: arXiv cs.RO 2022
Year: 2022

Current advancements in waterborne autonomous systems, together with the development of cloud-based service-oriented architectures and the recent availability of low-cost underwater acoustic modems and long-range above water wireless devices, enabled the development of new applications to support ships and port activities. Unmanned Surface Vehicle (USV) can, for instance, be used to perform bathymetry and environmental data collection tasks to ensure under-keel clearance and to monitor the quality of the water. Similarly, Remotely Operated Vehicles (ROVs) can be deployed to inspect ship hulls and typical port infrastructure elements, such as quay and sheet pilling walls. In this paper we present the complete system deployed for the small-scale demonstrations of the Robotic Vessels as-a-Service (RoboVaaS) project, which introduces an on-demand service-based cloud system that dispatches Unmanned Vehicles (UVs) capable of performing the required service either autonomously or piloted. These vessels are able to interact with sensors deployed in the port and with the shore station through an integrated underwater and above water network. The developed system has been validated through sea trials and showcased through an underwater sensor data collection service. The results of the test presented in this paper provide a proof-of-concept of the system design and indicate its technical feasibility. It also shows the need for further developments for a mature technology allowing on-demand robotic maritime assistance services in real operational scenarios.
Sparse Temporal Spanners with Low Stretch
Venue: arXiv cs.DS 2022
Year: 2022

A temporal graph is an undirected graph $G=(V,E)$ along with a function that assigns a time-label to each edge in $E$. A path in $G$ with non-decreasing time-labels is called temporal path and the distance from $u$ to $v$ is the minimum length (i.e., the number of edges) of a temporal path from $u$ to $v$. A temporal $α$-spanner of $G$ is a (temporal) subgraph $H$ that preserves the distances between any pair of vertices in $V$, up to a multiplicative stretch factor of $α$. The size of $H$ is the number of its edges. In this work we study the size-stretch trade-offs of temporal spanners. We show that temporal cliques always admit a temporal $(2k-1)-$spanner with $\tilde{O}(kn^{1+\frac{1}{k}})$ edges, where $k>1$ is an integer parameter of choice. Choosing $k=\lfloor\log n\rfloor$, we obtain a temporal $O(\log n)$-spanner with $\tilde{O}(n)$ edges that has almost the same size (up to logarithmic factors) as the temporal spanner in [Casteigts et al., JCSS 2021] which only preserves temporal connectivity. We then consider general temporal graphs. Since $Ω(n^2)$ edges might be needed by any connectivity-preserving temporal subgraph [Axiotis et al., ICALP'16], we focus on approximating distances from a single source. We show that $\tilde{O}(n/\log(1+\varepsilon))$ edges suffice to obtain a stretch of $(1+\varepsilon)$, for any small $\varepsilon>0$. This result is essentially tight since there are temporal graphs for which any temporal subgraph preserving exact distances from a single-source must use $Ω(n^2)$ edges. We extend our analysis to prove an upper bound of $\tilde{O}(n^2/β)$ on the size of any temporal $β$-additive spanner, which is tight up to polylogarithmic factors. Finally, we investigate how the lifetime of $G$, i.e., the number of its distinct time-labels, affects the trade-off between the size and the stretch of a temporal spanner.
Dynamic Multi-objective Ensemble of Acquisition Functions in Batch Bayesian Optimization
Venue: arXiv cs.NE 2022
Year: 2022

Bayesian optimization (BO) is a typical approach to solve expensive optimization problems. In each iteration of BO, a Gaussian process(GP) model is trained using the previously evaluated solutions; then next candidate solutions for expensive evaluation are recommended by maximizing a cheaply-evaluated acquisition function on the trained surrogate model. The acquisition function plays a crucial role in the optimization process. However, each acquisition function has its own strengths and weaknesses, and no single acquisition function can consistently outperform the others on all kinds of problems. To better leverage the advantages of different acquisition functions, we propose a new method for batch BO. In each iteration, three acquisition functions are dynamically selected from a set based on their current and historical performance to form a multi-objective optimization problem (MOP). Using an evolutionary multi-objective algorithm to optimize such a MOP, a set of non-dominated solutions can be obtained. To select batch candidate solutions, we rank these non-dominated solutions into several layers according to their relative performance on the three acquisition functions. The empirical results show that the proposed method is competitive with the state-of-the-art methods on different problems.
Multi-User Linearly-Separable Distributed Computing
Venue: arXiv cs.IT 2022
Year: 2022

In this work, we explore the problem of multi-user linearly-separable distributed computation, where $N$ servers help compute the desired functions (jobs) of $K$ users, and where each desired function can be written as a linear combination of up to $L$ (generally non-linear) subtasks (or sub-functions). Each server computes some of the subtasks, communicates a function of its computed outputs to some of the users, and then each user collects its received data to recover its desired function. We explore the computation and communication relationship between how many servers compute each subtask vs. how much data each user receives. For a matrix $\mathbf{F}$ representing the linearly-separable form of the set of requested functions, our problem becomes equivalent to the open problem of sparse matrix factorization $\mathbf{F} = \mathbf{D}\mathbf{E}$ over finite fields, where a sparse decoding matrix $\mathbf{D}$ and encoding matrix $\mathbf{E}$ imply reduced communication and computation costs respectively. This paper establishes a novel relationship between our distributed computing problem, matrix factorization, syndrome decoding and covering codes. To reduce the computation cost, the above $\mathbf{D}$ is drawn from covering codes or from a here-introduced class of so-called `partial covering' codes, whose study here yields computation cost results that we present.
Variational Causal Dynamics: Discovering Modular World Models from Interventions
Venue: arXiv cs.LG 2022
Year: 2022

Latent world models allow agents to reason about complex environments with high-dimensional observations. However, adapting to new environments and effectively leveraging previous knowledge remain significant challenges. We present variational causal dynamics (VCD), a structured world model that exploits the invariance of causal mechanisms across environments to achieve fast and modular adaptation. By causally factorising a transition model, VCD is able to identify reusable components across different environments. This is achieved by combining causal discovery and variational inference to learn a latent representation and transition model jointly in an unsupervised manner. Specifically, we optimise the evidence lower bound jointly over a representation model and a transition model structured as a causal graphical model. In evaluations on simulated environments with state and image observations, we show that VCD is able to successfully identify causal variables, and to discover consistent causal structures across different environments. Moreover, given a small number of observations in a previously unseen, intervened environment, VCD is able to identify the sparse changes in the dynamics and to adapt efficiently. In doing so, VCD significantly extends the capabilities of the current state-of-the-art in latent world models while also comparing favourably in terms of prediction accuracy.
Cold Posteriors through PAC-Bayes
Venue: arXiv cs.LG 2022
Year: 2022

We investigate the cold posterior effect through the lens of PAC-Bayes generalization bounds. We argue that in the non-asymptotic setting, when the number of training samples is (relatively) small, discussions of the cold posterior effect should take into account that approximate Bayesian inference does not readily provide guarantees of performance on out-of-sample data. Instead, out-of-sample error is better described through a generalization bound. In this context, we explore the connections between the ELBO objective from variational inference and the PAC-Bayes objectives. We note that, while the ELBO and PAC-Bayes objectives are similar, the latter objectives naturally contain a temperature parameter $λ$ which is not restricted to be $λ=1$. For both regression and classification tasks, in the case of isotropic Laplace approximations to the posterior, we show how this PAC-Bayesian interpretation of the temperature parameter captures the cold posterior effect.
Vulnerability Prioritization: An Offensive Security Approach
Venue: arXiv cs.CR 2022
Year: 2022

Organizations struggle to handle sheer number of vulnerabilities in their cloud environments. The de facto methodology used for prioritizing vulnerabilities is to use Common Vulnerability Scoring System (CVSS). However, CVSS has inherent limitations that makes it not ideal for prioritization. In this work, we propose a new way of prioritizing vulnerabilities. Our approach is inspired by how offensive security practitioners perform penetration testing. We evaluate our approach with a real world case study for a large client, and the accuracy of machine learning to automate the process end to end.
Towards Unsupervised Content Disentanglement in Sentence Representations via Syntactic Roles
Venue: arXiv cs.CL 2022
Year: 2022

Linking neural representations to linguistic factors is crucial in order to build and analyze NLP models interpretable by humans. Among these factors, syntactic roles (e.g. subjects, direct objects,$\dots$) and their realizations are essential markers since they can be understood as a decomposition of predicative structures and thus the meaning of sentences. Starting from a deep probabilistic generative model with attention, we measure the interaction between latent variables and realizations of syntactic roles and show that it is possible to obtain, without supervision, representations of sentences where different syntactic roles correspond to clearly identified different latent variables. The probabilistic model we propose is an Attention-Driven Variational Autoencoder (ADVAE). Drawing inspiration from Transformer-based machine translation models, ADVAEs enable the analysis of the interactions between latent variables and input tokens through attention. We also develop an evaluation protocol to measure disentanglement with regard to the realizations of syntactic roles. This protocol is based on attention maxima for the encoder and on latent variable perturbations for the decoder. Our experiments on raw English text from the SNLI dataset show that $\textit{i)}$ disentanglement of syntactic roles can be induced without supervision, $\textit{ii)}$ ADVAE separates syntactic roles better than classical sequence VAEs and Transformer VAEs, $\textit{iii)}$ realizations of syntactic roles can be separately modified in sentences by mere intervention on the associated latent variables. Our work constitutes a first step towards unsupervised controllable content generation. The code for our work is publicly available.
Facke: a Survey on Generative Models for Face Swapping
Venue: arXiv cs.CV 2022
Year: 2022

In this work, we investigate into the performance of mainstream neural generative models on the very task of swapping faces. We have experimented on CVAE, CGAN, CVAE-GAN, and conditioned diffusion models. Existing finely trained models have already managed to produce fake faces (Facke) indistinguishable to the naked eye as well as achieve high objective metrics. We perform a comparison among them and analyze their pros and cons. Furthermore, we proposed some promising tricks though they do not apply to this task.
Constant-Factor Approximation Algorithms for Socially Fair $k$-Clustering
Venue: arXiv cs.DS 2022
Year: 2022

We study approximation algorithms for the socially fair $(\ell_p, k)$-clustering problem with $m$ groups, whose special cases include the socially fair $k$-median ($p=1$) and socially fair $k$-means ($p=2$) problems. We present (1) a polynomial-time $(5+2\sqrt{6})^p$-approximation with at most $k+m$ centers (2) a $(5+2\sqrt{6}+ε)^p$-approximation with $k$ centers in time $n^{2^{O(p)}\cdot m^2}$, and (3) a $(15+6\sqrt{6})^p$ approximation with $k$ centers in time $k^{m}\cdot\text{poly}(n)$. The first result is obtained via a refinement of the iterative rounding method using a sequence of linear programs. The latter two results are obtained by converting a solution with up to $k+m$ centers to one with $k$ centers using sparsification methods for (2) and via an exhaustive search for (3). We also compare the performance of our algorithms with existing bicriteria algorithms as well as exactly $k$ center approximation algorithms on benchmark datasets, and find that our algorithms also outperform existing methods in practice.
Few-shot Long-Tailed Bird Audio Recognition
Venue: arXiv cs.SD 2022
Year: 2022

It is easier to hear birds than see them. However, they still play an essential role in nature and are excellent indicators of deteriorating environmental quality and pollution. Recent advances in Deep Neural Networks allow us to process audio data to detect and classify birds. This technology can assist researchers in monitoring bird populations and biodiversity. We propose a sound detection and classification pipeline to analyze complex soundscape recordings and identify birdcalls in the background. Our method learns from weak labels and few data and acoustically recognizes the bird species. Our solution achieved 18th place of 807 teams at the BirdCLEF 2022 Challenge hosted on Kaggle.
Latent Policies for Adversarial Imitation Learning
Venue: arXiv cs.LG 2022
Year: 2022

This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a reward defined by the discriminator output to optimize a policy generator for the agent. This generative adversarial training approach is very powerful but depends on a delicate balance between the discriminator and the generator training. In high-dimensional problems, the discriminator training may easily overfit or exploit associations with task-irrelevant features for transition classification. A key insight of this work is that performing imitation learning in a suitable latent task space makes the training process stable, even in challenging high-dimensional problems. We use an action encoder-decoder model to obtain a low-dimensional latent action space and train a LAtent Policy using Adversarial imitation Learning (LAPAL). The encoder-decoder model can be trained offline from state-action pairs to obtain a task-agnostic latent action representation or online, simultaneously with the discriminator and generator training, to obtain a task-aware latent action representation. We demonstrate that LAPAL training is stable, with near-monotonic performance improvement, and achieves expert performance in most locomotion and manipulation tasks, while a GAIL baseline converges slower and does not achieve expert performance in high-dimensional environments.
GODEL: Large-Scale Pre-Training for Goal-Directed Dialog
Venue: arXiv cs.CL 2022
Year: 2022

We introduce GODEL (Grounded Open Dialogue Language Model), a large pre-trained language model for dialog. In contrast with earlier models such as DialoGPT, GODEL leverages a new phase of grounded pre-training designed to better support adapting GODEL to a wide range of downstream dialog tasks that require information external to the current conversation (e.g., a database or document) to produce good responses. Experiments against an array of benchmarks that encompass task-oriented dialog, conversational QA, and grounded open-domain dialog show that GODEL outperforms state-of-the-art pre-trained dialog models in few-shot fine-tuning setups, in terms of both human and automatic evaluation. A novel feature of our evaluation methodology is the introduction of a notion of utility that assesses the usefulness of responses (extrinsic evaluation) in addition to their communicative features (intrinsic evaluation). We show that extrinsic evaluation offers improved inter-annotator agreement and correlation with automated metrics. Code and data processing scripts are publicly available.
From Spot 2.0 to Spot 2.10: What's New?
Venue: arXiv cs.LO 2022
Year: 2022

Spot is a C ++ 17 library for LTL and $ω$-automata manipulation, with command-line utilities, and Python bindings. This paper summarizes its evolution over the past six years, since the release of Spot 2.0, which was the first version to support $ω$-automata with arbitrary acceptance conditions, and the last version presented at a conference. Since then, Spot has been extended with several features such as acceptance transformations, alternating automata, games, LTL synthesis, and more. We also shed some lights on the data-structure used to store automata.
Joint Coding of URLLC and eMBB in Wyner's Soft-Handoff Network in the Finite Blocklength Regime
Venue: arXiv cs.IT 2022
Year: 2022

Wyner's soft-handoff network is considered where transmitters simultaneously send messages of enhanced mobile broadband (eMBB) and ultra-reliable low-latency communication (URLLC) services. Due to the low-latency requirements, the URLLC messages are transmitted over fewer channel uses compared to the eMBB messages. To improve the reliability of the URLLC transmissions, we propose a coding scheme with finite blocklength codewords that exploits dirty-paper coding (DPC) to precancel the interference from eMBB transmissions. Rigorous bounds are derived for the error probabilities of eMBB and URLLC transmissions achieved by our scheme. Numerical results illustrate that they are lower than for standard time-sharing.
The ArtBench Dataset: Benchmarking Generative Models with Artworks
Venue: arXiv cs.CV 2022
Year: 2022

We introduce ArtBench-10, the first class-balanced, high-quality, cleanly annotated, and standardized dataset for benchmarking artwork generation. It comprises 60,000 images of artwork from 10 distinctive artistic styles, with 5,000 training images and 1,000 testing images per style. ArtBench-10 has several advantages over previous artwork datasets. Firstly, it is class-balanced while most previous artwork datasets suffer from the long tail class distributions. Secondly, the images are of high quality with clean annotations. Thirdly, ArtBench-10 is created with standardized data collection, annotation, filtering, and preprocessing procedures. We provide three versions of the dataset with different resolutions ($32\times32$, $256\times256$, and original image size), formatted in a way that is easy to be incorporated by popular machine learning frameworks. We also conduct extensive benchmarking experiments using representative image synthesis models with ArtBench-10 and present in-depth analysis. The dataset is available at https://github.com/liaopeiyuan/artbench under a Fair Use license.
FINGER: Fast Inference for Graph-based Approximate Nearest Neighbor Search
Venue: arXiv cs.LG 2022
Year: 2022

Approximate K-Nearest Neighbor Search (AKNNS) has now become ubiquitous in modern applications, for example, as a fast search procedure with two tower deep learning models. Graph-based methods for AKNNS in particular have received great attention due to their superior performance. These methods rely on greedy graph search to traverse the data points as embedding vectors in a database. Under this greedy search scheme, we make a key observation: many distance computations do not influence search updates so these computations can be approximated without hurting performance. As a result, we propose FINGER, a fast inference method to achieve efficient graph search. FINGER approximates the distance function by estimating angles between neighboring residual vectors with low-rank bases and distribution matching. The approximated distance can be used to bypass unnecessary computations, which leads to faster searches. Empirically, accelerating a popular graph-based method named HNSW by FINGER is shown to outperform existing graph-based methods by 20%-60% across different benchmark datasets.
Shilling Black-box Recommender Systems by Learning to Generate Fake User Profiles
Venue: arXiv cs.IR 2022
Year: 2022

Due to the pivotal role of Recommender Systems (RS) in guiding customers towards the purchase, there is a natural motivation for unscrupulous parties to spoof RS for profits. In this paper, we study Shilling Attack where an adversarial party injects a number of fake user profiles for improper purposes. Conventional Shilling Attack approaches lack attack transferability (i.e., attacks are not effective on some victim RS models) and/or attack invisibility (i.e., injected profiles can be easily detected). To overcome these issues, we present Leg-UP, a novel attack model based on the Generative Adversarial Network. Leg-UP learns user behavior patterns from real users in the sampled ``templates'' and constructs fake user profiles. To simulate real users, the generator in Leg-UP directly outputs discrete ratings. To enhance attack transferability, the parameters of the generator are optimized by maximizing the attack performance on a surrogate RS model. To improve attack invisibility, Leg-UP adopts a discriminator to guide the generator to generate undetectable fake user profiles. Experiments on benchmarks have shown that Leg-UP exceeds state-of-the-art Shilling Attack methods on a wide range of victim RS models. The source code of our work is available at: https://github.com/XMUDM/ShillingAttack.
A Novel Algorithm for Exact Concave Hull Extraction
Venue: arXiv cs.CG 2022
Year: 2022

Region extraction is necessary in a wide range of applications, from object detection in autonomous driving to analysis of subcellular morphology in cell biology. There exist two main approaches: convex hull extraction, for which exact and efficient algorithms exist and concave hulls, which are better at capturing real-world shapes but do not have a single solution. Especially in the context of a uniform grid, concave hull algorithms are largely approximate, sacrificing region integrity for spatial and temporal efficiency. In this study, we present a novel algorithm that can provide vertex-minimized concave hulls with maximal (i.e. pixel-perfect) resolution and is tunable for speed-efficiency tradeoffs. Our method provides advantages in multiple downstream applications including data compression, retrieval, visualization, and analysis. To demonstrate the practical utility of our approach, we focus on image compression. We demonstrate significant improvements through context-dependent compression on disparate regions within a single image (entropy encoding for noisy and predictive encoding for the structured regions). We show that these improvements range from biomedical images to natural images. Beyond image compression, our algorithm can be applied more broadly to aid in a wide range of practical applications for data retrieval, visualization, and analysis.