OpenRaiser/Intern-Atlas huggingface dataset:
Manipulation of Granular Materials by Learning Particle Interactions
Venue: arXiv cs.RO 2022
Year: 2022

Manipulation of granular materials such as sand or rice remains an unsolved problem due to challenges such as the difficulty of defining their configuration or modeling the materials and their particles interactions. Current approaches tend to simplify the material dynamics and omit the interactions between the particles. In this paper, we propose to use a graph-based representation to model the interaction dynamics of the material and rigid bodies manipulating it. This allows the planning of manipulation trajectories to reach a desired configuration of the material. We use a graph neural network (GNN) to model the particle interactions via message-passing. To plan manipulation trajectories, we propose to minimise the Wasserstein distance between a predicted distribution of granular particles and their desired configuration. We demonstrate that the proposed method is able to pour granular materials into the desired configuration both in simulated and real scenarios.
Feature Learning and Network Structure from Noisy Node Activity Data
Venue: arXiv cs.NI 2022
Year: 2022

In the studies of network structures, much attention has been devoted to developing approaches to reconstruct networks and predict missing links when edge-related information is given. However, such approaches are not applicable when we are only given noisy node activity data with missing values. This work presents an unsupervised learning framework to learn node vectors and construct networks from such node activity data. First, we design a scheme to generate random node sequences from node context sets, which are generated from node activity data. Then, a three-layer neural network is adopted training the node sequences to obtain node vectors, which allow us to construct networks and capture nodes with synergistic roles. Furthermore, we present an entropy-based approach to select the most meaningful neighbors for each node in the resulting network. Finally, the effectiveness of the method is validated through both synthetic and real data.
Recurrent Neural Network Training with Convex Loss and Regularization Functions by Extended Kalman Filtering
Venue: arXiv cs.LG 2022
Year: 2022

This paper investigates the use of extended Kalman filtering to train recurrent neural networks with rather general convex loss functions and regularization terms on the network parameters, including $\ell_1$-regularization. We show that the learning method is competitive with respect to stochastic gradient descent in a nonlinear system identification benchmark and in training a linear system with binary outputs. We also explore the use of the algorithm in data-driven nonlinear model predictive control and its relation with disturbance models for offset-free closed-loop tracking.
Compound Logics for Modification Problems
Venue: arXiv cs.DS 2022
Year: 2022

We introduce a novel model-theoretic framework inspired from graph modification and based on the interplay between model theory and algorithmic graph minors. The core of our framework is a new compound logic operating with two types of sentences, expressing graph modification: the modulator sentence, defining some property of the modified part of the graph, and the target sentence, defining some property of the resulting graph. In our framework, modulator sentences are in counting monadic second-order logic (CMSOL) and have models of bounded treewidth, while target sentences express first-order logic (FOL) properties along with minor-exclusion. Our logic captures problems that are not definable in first-order logic and, moreover, may have instances of unbounded treewidth. Also, it permits the modeling of wide families of problems involving vertex/edge removals, alternative modulator measures (such as elimination distance or $\mathcal{G}$-treewidth), multistage modifications, and various cut problems. Our main result is that, for this compound logic, model-checking can be done in quadratic time. All derived algorithms are constructive and this, as a byproduct, extends the constructibility horizon of the algorithmic applications of the Graph Minors theorem of Robertson and Seymour. The proposed logic can be seen as a general framework to capitalize on the potential of the irrelevant vertex technique. It gives a way to deal with problem instances of unbounded treewidth, for which Courcelle's theorem does not apply. The proof of our meta-theorem combines novel combinatorial results related to the Flat Wall theorem along with elements of the proof of Courcelle's theorem and Gaifman's theorem. We finally prove extensions where the target property is expressible in FOL+DP, i.e., the enhancement of FOL with disjoint-paths predicates.
LassoBench: A High-Dimensional Hyperparameter Optimization Benchmark Suite for Lasso
Venue: arXiv cs.LG 2022
Year: 2022

While Weighted Lasso sparse regression has appealing statistical guarantees that would entail a major real-world impact in finance, genomics, and brain imaging applications, it is typically scarcely adopted due to its complex high-dimensional space composed by thousands of hyperparameters. On the other hand, the latest progress with high-dimensional hyperparameter optimization (HD-HPO) methods for black-box functions demonstrates that high-dimensional applications can indeed be efficiently optimized. Despite this initial success, HD-HPO approaches are mostly applied to synthetic problems with a moderate number of dimensions, which limits its impact in scientific and engineering applications. We propose LassoBench, the first benchmark suite tailored for Weighted Lasso regression. LassoBench consists of benchmarks for both well-controlled synthetic setups (number of samples, noise level, ambient and effective dimensionalities, and multiple fidelities) and real-world datasets, which enables the use of many flavors of HPO algorithms to be studied and extended to the high-dimensional Lasso setting. We evaluate 6 state-of-the-art HPO methods and 3 Lasso baselines, and demonstrate that Bayesian optimization and evolutionary strategies can improve over the methods commonly used for sparse regression while highlighting limitations of these frameworks in very high-dimensional and noisy settings.
Large Scale Diverse Combinatorial Optimization: ESPN Fantasy Football Player Trades
Venue: arXiv cs.AI 2022
Year: 2022

Even skilled fantasy football managers can be disappointed by their mid-season rosters as some players inevitably fall short of draft day expectations. Team managers can quickly discover that their team has a low score ceiling even if they start their best active players. A novel and diverse combinatorial optimization system proposes high volume and unique player trades between complementary teams to balance trade fairness. Several algorithms create the valuation of each fantasy football player with an ensemble of computing models: Quantum Support Vector Classifier with Permutation Importance (QSVC-PI), Quantum Support Vector Classifier with Accumulated Local Effects (QSVC-ALE), Variational Quantum Circuit with Permutation Importance (VQC-PI), Hybrid Quantum Neural Network with Permutation Importance (HQNN-PI), eXtreme Gradient Boosting Classifier (XGB), and Subject Matter Expert (SME) rules. The valuation of each player is personalized based on league rules, roster, and selections. The cost of trading away a player is related to a team's roster, such as the depth at a position, slot count, and position importance. Teams are paired together for trading based on a cosine dissimilarity score so that teams can offset their strengths and weaknesses. A knapsack 0-1 algorithm computes outgoing players for each team. Postprocessors apply analytics and deep learning models to measure 6 different objective measures about each trade. Over the 2020 and 2021 National Football League (NFL) seasons, a group of 24 experts from IBM and ESPN evaluated trade quality through 10 Football Error Analysis Tool (FEAT) sessions. Our system started with 76.9% of high-quality trades and was deployed for the 2021 season with 97.3% of high-quality trades. To increase trade quantity, our quantum, classical, and rules-based computing have 100% trade uniqueness. We use Qiskit's quantum simulators throughout our work.
Exact Representation of Sparse Networks with Symmetric Nonnegative Embeddings
Venue: arXiv cs.LG 2022
Year: 2022

Many models for undirected graphs are based on factorizing the graph's adjacency matrix; these models find a vector representation of each node such that the predicted probability of a link between two nodes increases with the similarity (dot product) of their associated vectors. Recent work has shown that these models are unable to capture key structures in real-world graphs, particularly heterophilous structures, wherein links occur between dissimilar nodes. In contrast, a factorization with two vectors per node, based on logistic principal components analysis (LPCA), has been proven not only to represent such structures, but also to provide exact low-rank factorization of any graph with bounded max degree. However, this bound has limited applicability to real-world networks, which often have power law degree distributions with high max degree. Further, the LPCA model lacks interpretability since its asymmetric factorization does not reflect the undirectedness of the graph. We address these issues in two ways. First, we prove a new bound for the LPCA model in terms of arboricity rather than max degree; this greatly increases the bound's applicability to many sparse real-world networks. Second, we propose an alternative graph model whose factorization is symmetric and nonnegative, which allows for link predictions to be interpreted in terms of node clusters. We show that the bounds for exact representation in the LPCA model extend to our new model. On the empirical side, our model is optimized effectively on real-world graphs with gradient descent on a cross-entropy loss. We demonstrate its effectiveness on a variety of foundational tasks, such as community detection and link prediction.
Application of Machine Learning to Sleep Stage Classification
Venue: arXiv cs.LG 2022
Year: 2022

Sleep studies are imperative to recapitulate phenotypes associated with sleep loss and uncover mechanisms contributing to psychopathology. Most often, investigators manually classify the polysomnography into vigilance states, which is time-consuming, requires extensive training, and is prone to inter-scorer variability. While many works have successfully developed automated vigilance state classifiers based on multiple EEG channels, we aim to produce an automated and open-access classifier that can reliably predict vigilance state based on a single cortical electroencephalogram (EEG) from rodents to minimize the disadvantages that accompany tethering small animals via wires to computer programs. Approximately 427 hours of continuously monitored EEG, electromyogram (EMG), and activity were labeled by a domain expert out of 571 hours of total data. Here we evaluate the performance of various machine learning techniques on classifying 10-second epochs into one of three discrete classes: paradoxical, slow-wave, or wake. Our investigations include Decision Trees, Random Forests, Naive Bayes Classifiers, Logistic Regression Classifiers, and Artificial Neural Networks. These methodologies have achieved accuracies ranging from approximately 74% to approximately 96%. Most notably, the Random Forest and the ANN achieved remarkable accuracies of 95.78% and 93.31%, respectively. Here we have shown the potential of various machine learning classifiers to automatically, accurately, and reliably classify vigilance states based on a single EEG reading and a single EMG reading.
On the Impact of Temporal Representations on Metaphor Detection
Venue: arXiv cs.CL 2022
Year: 2022

State-of-the-art approaches for metaphor detection compare their literal - or core - meaning and their contextual meaning using metaphor classifiers based on neural networks. However, metaphorical expressions evolve over time due to various reasons, such as cultural and societal impact. Metaphorical expressions are known to co-evolve with language and literal word meanings, and even drive, to some extent, this evolution. This poses the question of whether different, possibly time-specific, representations of literal meanings may impact the metaphor detection task. To the best of our knowledge, this is the first study that examines the metaphor detection task with a detailed exploratory analysis where different temporal and static word embeddings are used to account for different representations of literal meanings. Our experimental analysis is based on three popular benchmarks used for metaphor detection and word embeddings extracted from different corpora and temporally aligned using different state-of-the-art approaches. The results suggest that the usage of different static word embedding methods does impact the metaphor detection task and some temporal word embeddings slightly outperform static methods. However, the results also suggest that temporal word embeddings may provide representations of the core meaning of the metaphor even too close to their contextual meaning, thus confusing the classifier. Overall, the interaction between temporal language evolution and metaphor detection appears tiny in the benchmark datasets used in our experiments. This suggests that future work for the computational analysis of this important linguistic phenomenon should first start by creating a new dataset where this interaction is better represented.
LiODOM: Adaptive Local Mapping for Robust LiDAR-Only Odometry
Venue: arXiv cs.RO 2022
Year: 2022

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization problem dependent on the correspondences established between the current point cloud and a map, whatever its scope, local or global. This paper proposes LiODOM, a novel LiDAR-only ODOmetry and Mapping approach for pose estimation and map-building, based on minimizing a loss function derived from a set of weighted point-to-line correspondences with a local map abstracted from the set of available point clouds. Furthermore, this work places a particular emphasis on map representation given its relevance for quick data association. To efficiently represent the environment, we propose a data structure that combined with a hashing scheme allows for fast access to any section of the map. LiODOM is validated by means of a set of experiments on public datasets, for which it compares favourably against other solutions. Its performance on-board an aerial platform is also reported.
Empirical analysis of representation learning and exploration in neural kernel bandits
Venue: arXiv cs.LG 2022
Year: 2022

Neural bandits have been shown to provide an efficient solution to practical sequential decision tasks that have nonlinear reward functions. The main contributor to that success is approximate Bayesian inference, which enables neural network (NN) training with uncertainty estimates. However, Bayesian NNs often suffer from a prohibitive computational overhead or operate on a subset of parameters. Alternatively, certain classes of infinite neural networks were shown to directly correspond to Gaussian processes (GP) with neural kernels (NK). NK-GPs provide accurate uncertainty estimates and can be trained faster than most Bayesian NNs. We propose to guide common bandit policies with NK distributions and show that NK bandits achieve state-of-the-art performance on nonlinear structured data. Moreover, we propose a framework for measuring independently the ability of a bandit algorithm to learn representations and explore, and use it to analyze the impact of NK distributions w.r.t.~those two aspects. We consider policies based on a GP and a Student's t-process (TP). Furthermore, we study practical considerations, such as training frequency and model partitioning. We believe our work will help better understand the impact of utilizing NKs in applied settings.
Towards Learning Generalizable Driving Policies from Restricted Latent Representations
Venue: arXiv cs.RO 2022
Year: 2022

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology and positioning of the neighboring vehicles makes this problem very challenging. It goes without saying that although scenario-specific driving policies for autonomous driving are promising and can improve transportation safety and efficiency, they are clearly not a universal scalable solution. Instead, we seek decision-making schemes and driving policies that can generalize to novel and unseen environments. In this work, we capitalize on the key idea that human drivers learn abstract representations of their surroundings that are fairly similar among various driving scenarios and environments. Through these representations, human drivers are able to quickly adapt to novel environments and drive in unseen conditions. Formally, through imposing an information bottleneck, we extract a latent representation that minimizes the \textit{distance} -- a quantification that we introduce to gauge the similarity among different driving configurations -- between driving scenarios. This latent space is then employed as the input to a Q-learning module to learn generalizable driving policies. Our experiments revealed that, using this latent representation can reduce the number of crashes to about half.
Generation of microbial colonies dataset with deep learning style transfer
Venue: arXiv cs.CV 2022
Year: 2022

We introduce an effective strategy to generate an annotated synthetic dataset of microbiological images of Petri dishes that can be used to train deep learning models in a fully supervised fashion. The developed generator employs traditional computer vision algorithms together with a neural style transfer method for data augmentation. We show that the method is able to synthesize a dataset of realistic looking images that can be used to train a neural network model capable of localising, segmenting, and classifying five different microbial species. Our method requires significantly fewer resources to obtain a useful dataset than collecting and labeling a whole large set of real images with annotations. We show that starting with only 100 real images, we can generate data to train a detector that achieves comparable results (detection mAP = 0.416, and counting MAE = 4.49) to the same detector but trained on a real, several dozen times bigger dataset (mAP = 0.520, MAE = 4.31), containing over 7k images. We prove the usefulness of the method in microbe detection and segmentation, but we expect that it is general and flexible and can also be applicable in other domains of science and industry to detect various objects.
A Presheaf Semantics for Quantified Temporal Logics
Venue: arXiv cs.LO 2022
Year: 2022

Temporal logics stands for a widely adopted family of formalisms for the verification of computational devices, enriching propositional logics by operators predicating on the step-wise behaviour of a system. Its quantified extensions allow to reason on the properties of the individual components of the system at hand. The expressiveness of the resulting logics poses problems in correctly identifying a semantics that exploit its features without resorting to the imposition of restrictions on the acceptable behaviours. In this paper we address this issue by means of counterpart models and relational presheaves.
On pseudo-absence generation and machine learning for locust breeding ground prediction in Africa
Venue: arXiv cs.LG 2022
Year: 2022

Desert locust outbreaks threaten the food security of a large part of Africa and have affected the livelihoods of millions of people over the years. Machine learning (ML) has been demonstrated as an effective approach to locust distribution modelling which could assist in early warning. ML requires a significant amount of labelled data to train. Most publicly available labelled data on locusts are presence-only data, where only the sightings of locusts being present at a location are recorded. Therefore, prior work using ML have resorted to pseudo-absence generation methods as a way to circumvent this issue. The most commonly used approach is to randomly sample points in a region of interest while ensuring that these sampled pseudo-absence points are at least a specific distance away from true presence points. In this paper, we compare this random sampling approach to more advanced pseudo-absence generation methods, such as environmental profiling and optimal background extent limitation, specifically for predicting desert locust breeding grounds in Africa. Interestingly, we find that for the algorithms we tested, namely logistic regression, gradient boosting, random forests and maximum entropy, all popular in prior work, the logistic model performed significantly better than the more sophisticated ensemble methods, both in terms of prediction accuracy and F1 score. Although background extent limitation combined with random sampling boosted performance for ensemble methods, for LR this was not the case, and instead, a significant improvement was obtained when using environmental profiling. In light of this, we conclude that a simpler ML approach such as logistic regression combined with more advanced pseudo-absence generation, specifically environmental profiling, can be a sensible and effective approach to predicting locust breeding grounds across Africa.
SMU: smooth activation function for deep networks using smoothing maximum technique
Venue: arXiv cs.LG 2022
Year: 2022

Deep learning researchers have a keen interest in proposing two new novel activation functions which can boost network performance. A good choice of activation function can have significant consequences in improving network performance. A handcrafted activation is the most common choice in neural network models. ReLU is the most common choice in the deep learning community due to its simplicity though ReLU has some serious drawbacks. In this paper, we have proposed a new novel activation function based on approximation of known activation functions like Leaky ReLU, and we call this function Smooth Maximum Unit (SMU). Replacing ReLU by SMU, we have got 6.22% improvement in the CIFAR100 dataset with the ShuffleNet V2 model.
Interactive Inverse Reinforcement Learning for Cooperative Games
Venue: arXiv cs.LG 2022
Year: 2022

We study the problem of designing autonomous agents that can learn to cooperate effectively with a potentially suboptimal partner while having no access to the joint reward function. This problem is modeled as a cooperative episodic two-agent Markov decision process. We assume control over only the first of the two agents in a Stackelberg formulation of the game, where the second agent is acting so as to maximise expected utility given the first agent's policy. How should the first agent act in order to learn the joint reward function as quickly as possible and so that the joint policy is as close to optimal as possible? We analyse how knowledge about the reward function can be gained in this interactive two-agent scenario. We show that when the learning agent's policies have a significant effect on the transition function, the reward function can be learned efficiently.