OpenRaiser/Intern-Atlas huggingface dataset:
The MiniPile Challenge for Data-Efficient Language Models
Venue: arXiv cs.CL 2023
Year: 2023

The ever-growing diversity of pre-training text corpora has equipped language models with generalization capabilities across various downstream tasks. However, such diverse datasets are often too large for academic budgets; hence, most research on Transformer architectures, training procedures, optimizers, etc. gets conducted on smaller, homogeneous datasets. To this end, we present The MiniPile Challenge, where one pre-trains a language model on a diverse text corpus containing at most 1M documents. MiniPile is a 6GB subset of the deduplicated 825GB The Pile corpus. To curate MiniPile, we perform a simple, three-step data filtering process: we (1) infer embeddings for all documents of the Pile, (2) cluster the embedding space using $k$-means, and (3) filter out low-quality clusters. To verify MiniPile's suitability for language model pre-training, we use it to pre-train a BERT and T5 model, yielding a performance drop of only $1.9\%$/$2.5\%$ on the GLUE and SNI benchmarks compared to the original pre-trained checkpoints trained on $2.6$x/$745$x the amount of data. MiniPile is available at https://huggingface.co/datasets/JeanKaddour/minipile.
RadarFormer: Lightweight and Accurate Real-Time Radar Object Detection Model
Venue: arXiv cs.CV 2023
Year: 2023

The performance of perception systems developed for autonomous driving vehicles has seen significant improvements over the last few years. This improvement was associated with the increasing use of LiDAR sensors and point cloud data to facilitate the task of object detection and recognition in autonomous driving. However, LiDAR and camera systems show deteriorating performances when used in unfavorable conditions like dusty and rainy weather. Radars on the other hand operate on relatively longer wavelengths which allows for much more robust measurements in these conditions. Despite that, radar-centric data sets do not get a lot of attention in the development of deep learning techniques for radar perception. In this work, we consider the radar object detection problem, in which the radar frequency data is the only input into the detection framework. We further investigate the challenges of using radar-only data in deep learning models. We propose a transformers-based model, named RadarFormer, that utilizes state-of-the-art developments in vision deep learning. Our model also introduces a channel-chirp-time merging module that reduces the size and complexity of our models by more than 10 times without compromising accuracy. Comprehensive experiments on the CRUW radar dataset demonstrate the advantages of the proposed method. Our RadarFormer performs favorably against the state-of-the-art methods while being 2x faster during inference and requiring only one-tenth of their model parameters. The code associated with this paper is available at https://github.com/YahiDar/RadarFormer.
Fast and Straggler-Tolerant Distributed SGD with Reduced Computation Load
Venue: arXiv cs.DC 2023
Year: 2023

In distributed machine learning, a central node outsources computationally expensive calculations to external worker nodes. The properties of optimization procedures like stochastic gradient descent (SGD) can be leveraged to mitigate the effect of unresponsive or slow workers called stragglers, that otherwise degrade the benefit of outsourcing the computation. This can be done by only waiting for a subset of the workers to finish their computation at each iteration of the algorithm. Previous works proposed to adapt the number of workers to wait for as the algorithm evolves to optimize the speed of convergence. In contrast, we model the communication and computation times using independent random variables. Considering this model, we construct a novel scheme that adapts both the number of workers and the computation load throughout the run-time of the algorithm. Consequently, we improve the convergence speed of distributed SGD while significantly reducing the computation load, at the expense of a slight increase in communication load.
Deep Continuum Deformation Coordination and Optimization with Safety Guarantees
Venue: arXiv cs.MA 2023
Year: 2023

In this paper, we develop and present a novel strategy for safe coordination of a large-scale multi-agent team with ``\textit{local deformation}" capabilities. Multi-agent coordination is defined by our proposed method as a multi-layer deformation problem specified as a Deep Neural Network (DNN) optimization problem. The proposed DNN consists of $p$ hidden layers, each of which contains artificial neurons representing unique agents. Furthermore, based on the desired positions of the agents of hidden layer $k$ ($k=1,\cdots,p-1$), the desired deformation of the agents of hidden layer $k + 1$ is planned. In contrast to the available neural network learning problems, our proposed neural network optimization receives time-invariant reference positions of the boundary agents as inputs and trains the weights based on the desired trajectory of the agent team configuration, where the weights are constrained by certain lower and upper bounds to ensure inter-agent collision avoidance. We simulate and provide the results of a large-scale quadcopter team coordination tracking a desired elliptical trajectory to validate the proposed approach.
pgmpy: A Python Toolkit for Bayesian Networks
Venue: arXiv cs.LG 2023
Year: 2023

Bayesian Networks (BNs) are used in various fields for modeling, prediction, and decision making. pgmpy is a python package that provides a collection of algorithms and tools to work with BNs and related models. It implements algorithms for structure learning, parameter estimation, approximate and exact inference, causal inference, and simulations. These implementations focus on modularity and easy extensibility to allow users to quickly modify/add to existing algorithms, or to implement new algorithms for different use cases. pgmpy is released under the MIT License; the source code is available at: https://github.com/pgmpy/pgmpy, and the documentation at: https://pgmpy.org.
Classification of US Supreme Court Cases using BERT-Based Techniques
Venue: arXiv cs.CL 2023
Year: 2023

Models based on bidirectional encoder representations from transformers (BERT) produce state of the art (SOTA) results on many natural language processing (NLP) tasks such as named entity recognition (NER), part-of-speech (POS) tagging etc. An interesting phenomenon occurs when classifying long documents such as those from the US supreme court where BERT-based models can be considered difficult to use on a first-pass or out-of-the-box basis. In this paper, we experiment with several BERT-based classification techniques for US supreme court decisions or supreme court database (SCDB) and compare them with the previous SOTA results. We then compare our results specifically with SOTA models for long documents. We compare our results for two classification tasks: (1) a broad classification task with 15 categories and (2) a fine-grained classification task with 279 categories. Our best result produces an accuracy of 80\% on the 15 broad categories and 60\% on the fine-grained 279 categories which marks an improvement of 8\% and 28\% respectively from previously reported SOTA results.
An Ethereum-compatible blockchain that explicates and ensures design-level safety properties for smart contracts
Venue: arXiv cs.CR 2023
Year: 2023

Smart contracts are crucial elements of decentralized technologies, but they face significant obstacles to trustworthiness due to security bugs and trapdoors. To address the core issue, we propose a technology that enables programmers to focus on design-level properties rather than specific low-level attack patterns. Our proposed technology, called Theorem-Carrying-Transaction (TCT), combines the benefits of runtime checking and symbolic proof. Under the TCT protocol, every transaction must carry a theorem that proves its adherence to the safety properties in the invoked contracts, and the blockchain checks the proof before executing the transaction. The unique design of TCT ensures that the theorems are provable and checkable in an efficient manner. We believe that TCT holds a great promise for enabling provably secure smart contracts in the future. As such, we call for collaboration toward this vision.
Impossibility of Characterizing Distribution Learning -- a simple solution to a long-standing problem
Venue: arXiv cs.LG 2023
Year: 2023

We consider the long-standing question of finding a parameter of a class of probability distributions that characterizes its PAC learnability. We provide a rather surprising answer - no such parameter exists. Our techniques allow us to show similar results for several general notions of characterizing learnability and for several learning tasks. We show that there is no notion of dimension that characterizes the sample complexity of learning distribution classes. We then consider the weaker requirement of only characterizing learnability (rather than the quantitative sample complexity function). We propose some natural requirements for such a characterization and go on to show that there exists no characterization of learnability that satisfies these requirements for classes of distributions. Furthermore, we show that our results hold for various other learning problems. In particular, we show that there is no notion of dimension characterizing (or characterization of learnability) for any of the tasks: classification learning for distribution classes, learning of binary classifications w.r.t. a restricted set of marginal distributions, and learnability of classes of real-valued functions with continuous losses.
Option-Driven Design: Context, Tradeoffs, and Considerations for Accessibility
Venue: arXiv cs.HC 2023
Year: 2023

In Option-Driven Design, users must interact with options and settings for systems to adapt to their needs. This approach places the burden on both the user and the system to make the interaction between user and system fit. The user must know and find which options they need and then adjust them. In addition, the system must be capable of robust change, similar to system change in ability-based design. In this micro-paper I outline the context for option-driven design, followed by several design negotiations, tradeoffs, and suggestions worth considering with this approach.
NeAI: A Pre-convoluted Representation for Plug-and-Play Neural Ambient Illumination
Venue: arXiv cs.CV 2023
Year: 2023

Recent advances in implicit neural representation have demonstrated the ability to recover detailed geometry and material from multi-view images. However, the use of simplified lighting models such as environment maps to represent non-distant illumination, or using a network to fit indirect light modeling without a solid basis, can lead to an undesirable decomposition between lighting and material. To address this, we propose a fully differentiable framework named neural ambient illumination (NeAI) that uses Neural Radiance Fields (NeRF) as a lighting model to handle complex lighting in a physically based way. Together with integral lobe encoding for roughness-adaptive specular lobe and leveraging the pre-convoluted background for accurate decomposition, the proposed method represents a significant step towards integrating physically based rendering into the NeRF representation. The experiments demonstrate the superior performance of novel-view rendering compared to previous works, and the capability to re-render objects under arbitrary NeRF-style environments opens up exciting possibilities for bridging the gap between virtual and real-world scenes. The project and supplementary materials are available at https://yiyuzhuang.github.io/NeAI/.
A Systematic Literature Review of User Trust in AI-Enabled Systems: An HCI Perspective
Venue: arXiv cs.HC 2023
Year: 2023

User trust in Artificial Intelligence (AI) enabled systems has been increasingly recognized and proven as a key element to fostering adoption. It has been suggested that AI-enabled systems must go beyond technical-centric approaches and towards embracing a more human centric approach, a core principle of the human-computer interaction (HCI) field. This review aims to provide an overview of the user trust definitions, influencing factors, and measurement methods from 23 empirical studies to gather insight for future technical and design strategies, research, and initiatives to calibrate the user AI relationship. The findings confirm that there is more than one way to define trust. Selecting the most appropriate trust definition to depict user trust in a specific context should be the focus instead of comparing definitions. User trust in AI-enabled systems is found to be influenced by three main themes, namely socio-ethical considerations, technical and design features, and user characteristics. User characteristics dominate the findings, reinforcing the importance of user involvement from development through to monitoring of AI enabled systems. In conclusion, user trust needs to be addressed directly in every context where AI-enabled systems are being used or discussed. In addition, calibrating the user-AI relationship requires finding the optimal balance that works for not only the user but also the system.
Deep Unrestricted Document Image Rectification
Venue: arXiv cs.CV 2023
Year: 2023

In recent years, tremendous efforts have been made on document image rectification, but existing advanced algorithms are limited to processing restricted document images, i.e., the input images must incorporate a complete document. Once the captured image merely involves a local text region, its rectification quality is degraded and unsatisfactory. Our previously proposed DocTr, a transformer-assisted network for document image rectification, also suffers from this limitation. In this work, we present DocTr++, a novel unified framework for document image rectification, without any restrictions on the input distorted images. Our major technical improvements can be concluded in three aspects. Firstly, we upgrade the original architecture by adopting a hierarchical encoder-decoder structure for multi-scale representation extraction and parsing. Secondly, we reformulate the pixel-wise mapping relationship between the unrestricted distorted document images and the distortion-free counterparts. The obtained data is used to train our DocTr++ for unrestricted document image rectification. Thirdly, we contribute a real-world test set and metrics applicable for evaluating the rectification quality. To our best knowledge, this is the first learning-based method for the rectification of unrestricted document images. Extensive experiments are conducted, and the results demonstrate the effectiveness and superiority of our method. We hope our DocTr++ will serve as a strong baseline for generic document image rectification, prompting the further advancement and application of learning-based algorithms. The source code and the proposed dataset are publicly available at https://github.com/fh2019ustc/DocTr-Plus.
Self-Supervised 3D Action Representation Learning with Skeleton Cloud Colorization
Venue: arXiv cs.CV 2023
Year: 2023

3D Skeleton-based human action recognition has attracted increasing attention in recent years. Most of the existing work focuses on supervised learning which requires a large number of labeled action sequences that are often expensive and time-consuming to annotate. In this paper, we address self-supervised 3D action representation learning for skeleton-based action recognition. We investigate self-supervised representation learning and design a novel skeleton cloud colorization technique that is capable of learning spatial and temporal skeleton representations from unlabeled skeleton sequence data. We represent a skeleton action sequence as a 3D skeleton cloud and colorize each point in the cloud according to its temporal and spatial orders in the original (unannotated) skeleton sequence. Leveraging the colorized skeleton point cloud, we design an auto-encoder framework that can learn spatial-temporal features from the artificial color labels of skeleton joints effectively. Specifically, we design a two-steam pretraining network that leverages fine-grained and coarse-grained colorization to learn multi-scale spatial-temporal features. In addition, we design a Masked Skeleton Cloud Repainting task that can pretrain the designed auto-encoder framework to learn informative representations. We evaluate our skeleton cloud colorization approach with linear classifiers trained under different configurations, including unsupervised, semi-supervised, fully-supervised, and transfer learning settings. Extensive experiments on NTU RGB+D, NTU RGB+D 120, PKU-MMD, NW-UCLA, and UWA3D datasets show that the proposed method outperforms existing unsupervised and semi-supervised 3D action recognition methods by large margins and achieves competitive performance in supervised 3D action recognition as well.
Modal-graph 3D shape servoing of deformable objects with raw point clouds
Venue: arXiv cs.RO 2023
Year: 2023

Deformable object manipulation (DOM) with point clouds has great potential as non-rigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is challenging due to: the unknown point-wise correspondences and the noisy partial observability of raw point clouds; the modeling difficulties of the relationship between point clouds and robot motions. To tackle these challenges, this paper introduces a novel modal-graph framework for the model-free shape servoing of deformable objects with raw point clouds. Unlike the existing works studying the object's geometry structure, our method builds a low-frequency deformation structure for the DOM system, which is robust to the measurement irregularities. The built modal representation and graph structure enable us to directly extract low-dimensional deformation features from raw point clouds. Such extraction requires no extra point processing of registrations, refinements, and occlusion removal. Moreover, to shape the object using the extracted features, we design an adaptive robust controller which is proved to be input-to-state stable (ISS) without offline learning or identifying both the physical and geometric object models. Extensive simulations and experiments are conducted to validate the effectiveness of our method for linear, planar, tubular, and solid objects under different settings.
Transfer to a Low-Resource Language via Close Relatives: The Case Study on Faroese
Venue: arXiv cs.CL 2023
Year: 2023

Multilingual language models have pushed state-of-the-art in cross-lingual NLP transfer. The majority of zero-shot cross-lingual transfer, however, use one and the same massively multilingual transformer (e.g., mBERT or XLM-R) to transfer to all target languages, irrespective of their typological, etymological, and phylogenetic relations to other languages. In particular, readily available data and models of resource-rich sibling languages are often ignored. In this work, we empirically show, in a case study for Faroese -- a low-resource language from a high-resource language family -- that by leveraging the phylogenetic information and departing from the 'one-size-fits-all' paradigm, one can improve cross-lingual transfer to low-resource languages. In particular, we leverage abundant resources of other Scandinavian languages (i.e., Danish, Norwegian, Swedish, and Icelandic) for the benefit of Faroese. Our evaluation results show that we can substantially improve the transfer performance to Faroese by exploiting data and models of closely-related high-resource languages. Further, we release a new web corpus of Faroese and Faroese datasets for named entity recognition (NER), semantic text similarity (STS), and new language models trained on all Scandinavian languages.
BadVFL: Backdoor Attacks in Vertical Federated Learning
Venue: arXiv cs.LG 2023
Year: 2023

Federated learning (FL) enables multiple parties to collaboratively train a machine learning model without sharing their data; rather, they train their own model locally and send updates to a central server for aggregation. Depending on how the data is distributed among the participants, FL can be classified into Horizontal (HFL) and Vertical (VFL). In VFL, the participants share the same set of training instances but only host a different and non-overlapping subset of the whole feature space. Whereas in HFL, each participant shares the same set of features while the training set is split into locally owned training data subsets. VFL is increasingly used in applications like financial fraud detection; nonetheless, very little work has analyzed its security. In this paper, we focus on robustness in VFL, in particular, on backdoor attacks, whereby an adversary attempts to manipulate the aggregate model during the training process to trigger misclassifications. Performing backdoor attacks in VFL is more challenging than in HFL, as the adversary i) does not have access to the labels during training and ii) cannot change the labels as she only has access to the feature embeddings. We present a first-of-its-kind clean-label backdoor attack in VFL, which consists of two phases: a label inference and a backdoor phase. We demonstrate the effectiveness of the attack on three different datasets, investigate the factors involved in its success, and discuss countermeasures to mitigate its impact.
Soft-Output Deep Neural Network-Based Decoding
Venue: arXiv cs.IT 2023
Year: 2023

Deep neural network (DNN)-based channel decoding is widely considered in the literature. The existing solutions are investigated for the case of hard output, i.e. when the decoder returns the estimated information word. At the same time, soft-output decoding is of critical importance for iterative receivers and decoders. In this paper, we focus on the soft-output DNN-based decoding problem. We start with the syndrome-based approach proposed by Bennatan et al. (2018) and modify it to provide soft output in the AWGN channel. The new decoder can be considered as an approximation of the MAP decoder with smaller computation complexity. We discuss various regularization functions for joint DNN-MAP training and compare the resulting distributions for [64, 45] BCH code. Finally, to demonstrate the soft-output quality we consider the turbo-product code with [64, 45] BCH codes as row and column codes. We show that the resulting DNN-based scheme is very close to the MAP-based performance and significantly outperforms the solution based on the Chase decoder. We come to the conclusion that the new method is prospective for the challenging problem of DNN-based decoding of long codes consisting of short component codes.
Autonomous Systems: Autonomous Systems: Indoor Drone Navigation
Venue: arXiv cs.RO 2023
Year: 2023

Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs offers flexibility, cost savings, and reduced risk. The system creates a simulated quadcopter capable of autonomously travelling in an indoor environment using the gazebo simulation tool and the ros navigation system framework known as Navigaation2. While Nav2 has successfully shown the functioning of autonomous navigation in terrestrial robots and vehicles, the same hasn't been accomplished with unmanned aerial vehicles and still has to be done. The goal is to use the slam toolbox for ROS and the Nav2 navigation system framework to construct a simulated drone that can move autonomously in an indoor (gps-less) environment.