Reviewerly/exHarmony huggingface dataset:
RRT Guided Model Predictive Path Integral Method

This work presents an optimal sampling-based method to solve the real-time motion planning problem in static and dynamic environments, exploiting the Rapid-exploring Random Trees (RRT) algorithm and the Model Predictive Path Integral (MPPI) algorithm. The RRT algorithm provides a nominal mean value of the random control distribution in the MPPI algorithm, resulting in satisfactory control performance in static and dynamic environments without a need for fine parameter tuning. We also discuss the importance of choosing the right mean of the MPPI algorithm, which balances exploration and optimality gap, given a fixed sample size. In particular, a sufficiently large mean is required to explore the state space enough, and a sufficiently small mean is required to guarantee that the samples reconstruct the optimal controls. The proposed methodology automates the procedure of choosing the right mean by incorporating the RRT algorithm. The simulations demonstrate that the proposed algorithm can solve the motion planning problem in real-time for static or dynamic environments.
Adaptive Computation with Elastic Input Sequence

Humans have the ability to adapt the type of information they use, the procedure they employ, and the amount of time they spend when solving problems. However, most standard neural networks have a fixed function type and computation budget regardless of the sample's nature or difficulty. Adaptivity is a powerful paradigm as it not only imbues practitioners with flexibility pertaining to the downstream usage of these models but can also serve as a powerful inductive bias for solving certain challenging classes of problems. In this work, we introduce a new approach called AdaTape, which allows for dynamic computation in neural networks through adaptive tape tokens. AdaTape utilizes an elastic input sequence by equipping an architecture with a dynamic read-and-write tape. Specifically, we adaptively generate input sequences using tape tokens obtained from a tape bank which can be either trainable or derived from input data. We examine the challenges and requirements to obtain dynamic sequence content and length, and propose the Adaptive Tape Reading (ATR) algorithm to achieve both goals. Through extensive experiments on image recognition tasks, we show that AdaTape can achieve better performance while maintaining the computational cost. To facilitate further research, we have released code at https://github.com/google-research/scenic.
Alignment with human representations supports robust few-shot learning

Should we care whether AI systems have representations of the world that are similar to those of humans? We provide an information-theoretic analysis that suggests that there should be a U-shaped relationship between the degree of representational alignment with humans and performance on few-shot learning tasks. We confirm this prediction empirically, finding such a relationship in an analysis of the performance of 491 computer vision models. We also show that highly-aligned models are more robust to both natural adversarial attacks and domain shifts. Our results suggest that human-alignment is often a sufficient, but not necessary, condition for models to make effective use of limited data, be robust, and generalize well.
Prompt-Based Editing for Text Style Transfer

Prompting approaches have been recently explored in text style transfer, where a textual prompt is used to query a pretrained language model to generate style-transferred texts word by word in an autoregressive manner. However, such a generation process is less controllable and early prediction errors may affect future word predictions. In this paper, we present a prompt-based editing approach for text style transfer. Specifically, we prompt a pretrained language model for style classification and use the classification probability to compute a style score. Then, we perform discrete search with word-level editing to maximize a comprehensive scoring function for the style-transfer task. In this way, we transform a prompt-based generation problem into a classification one, which is a training-free process and more controllable than the autoregressive generation of sentences. In our experiments, we performed both automatic and human evaluation on three style-transfer benchmark datasets, and show that our approach largely outperforms the state-of-the-art systems that have 20 times more parameters. Additional empirical analyses further demonstrate the effectiveness of our approach.
Semantic Adversarial Attacks on Face Recognition through Significant Attributes

Face recognition is known to be vulnerable to adversarial face images. Existing works craft face adversarial images by indiscriminately changing a single attribute without being aware of the intrinsic attributes of the images. To this end, we propose a new Semantic Adversarial Attack called SAA-StarGAN that tampers with the significant facial attributes for each image. We predict the most significant attributes by applying the cosine similarity or probability score. The probability score method is based on training a Face Verification model for an attribute prediction task to obtain a class probability score for each attribute. The prediction process will help craft adversarial face images more easily and efficiently, as well as improve the adversarial transferability. Then, we change the most significant facial attributes, with either one or more of the facial attributes for impersonation and dodging attacks in white-box and black-box settings. Experimental results show that our method could generate diverse and realistic adversarial face images meanwhile avoid affecting human perception of the face recognition. SAA-StarGAN achieves an 80.5% attack success rate against black-box models, outperforming existing methods by 35.5% under the impersonation attack. Concerning the black-box setting, SAA-StarGAN achieves high attack success rates on various models. The experiments confirm that predicting the most important attributes significantly affects the success of adversarial attacks in both white-box and black-box settings and could enhance the transferability of the crafted adversarial examples.
Characterizing and Detecting WebAssembly Runtime Bugs

WebAssembly (abbreviated WASM) has emerged as a promising language of the Web and also been used for a wide spectrum of software applications such as mobile applications and desktop applications. These applications, named as WASM applications, commonly run in WASM runtimes. Bugs in WASM runtimes are frequently reported by developers and cause the crash of WASM applications. However, these bugs have not been well studied. To fill in the knowledge gap, we present a systematic study to characterize and detect bugs in WASM runtimes. We first harvest a dataset of 311 real-world bugs from hundreds of related posts on GitHub. Based on the collected high-quality bug reports, we distill 31 bug categories of WASM runtimes and summarize their common fix strategies. Furthermore, we develop a pattern-based bug detection framework to automatically detect bugs in WASM runtimes. We apply the detection framework to five popular WASM runtimes and successfully uncover 53 bugs that have never been reported previously, among which 14 have been confirmed and 6 have been fixed by runtime developers.
Decentralized Entropic Optimal Transport for Privacy-preserving Distributed Distribution Comparison

Privacy-preserving distributed distribution comparison measures the distance between the distributions whose data are scattered across different agents in a distributed system and cannot be shared among the agents. In this study, we propose a novel decentralized entropic optimal transport (EOT) method, which provides a privacy-preserving and communication-efficient solution to this problem with theoretical guarantees. In particular, we design a mini-batch randomized block-coordinate descent (MRBCD) scheme to optimize the decentralized EOT distance in its dual form. The dual variables are scattered across different agents and updated locally and iteratively with limited communications among partial agents. The kernel matrix involved in the gradients of the dual variables is estimated by a distributed kernel approximation method, and each agent only needs to approximate and store a sub-kernel matrix by one-shot communication and without sharing raw data. We analyze our method's communication complexity and provide a theoretical bound for the approximation error caused by the convergence error, the approximated kernel, and the mismatch between the storage and communication protocols. Experiments on synthetic data and real-world distributed domain adaptation tasks demonstrate the effectiveness of our method.
HAT-GAE: Self-Supervised Graph Auto-encoders with Hierarchical Adaptive Masking and Trainable Corruption

Self-supervised auto-encoders have emerged as a successful framework for representation learning in computer vision and natural language processing in recent years, However, their application to graph data has been met with limited performance due to the non-Euclidean and complex structure of graphs in comparison to images or text, as well as the limitations of conventional auto-encoder architectures. In this paper, we investigate factors impacting the performance of auto-encoders on graph data and propose a novel auto-encoder model for graph representation learning. Our model incorporates a hierarchical adaptive masking mechanism to incrementally increase the difficulty of training in order to mimic the process of human cognitive learning, and a trainable corruption scheme to enhance the robustness of learned representations. Through extensive experimentation on ten benchmark datasets, we demonstrate the superiority of our proposed method over state-of-the-art graph representation learning models.
TIDo: Source-free Task Incremental Learning in Non-stationary Environments

This work presents an incremental learning approach for autonomous agents to learn new tasks in a non-stationary environment. Updating a DNN model-based agent to learn new target tasks requires us to store past training data and needs a large labeled target task dataset. Few-shot task incremental learning methods overcome the limitation of labeled target datasets by adapting trained models to learn private target classes using a few labeled representatives and a large unlabeled target dataset. However, the methods assume that the source and target tasks are stationary. We propose a one-shot task incremental learning approach that can adapt to non-stationary source and target tasks. Our approach minimizes adversarial discrepancy between the model's feature space and incoming incremental data to learn an updated hypothesis. We also use distillation loss to reduce catastrophic forgetting of previously learned tasks. Finally, we use Gaussian prototypes to generate exemplar instances eliminating the need to store past training data. Unlike current work in task incremental learning, our model can learn both source and target task updates incrementally. We evaluate our method on various problem settings for incremental object detection and disease prediction model update. We evaluate our approach by measuring the performance of shared class and target private class prediction. Our results show that our approach achieved improved performance compared to existing state-of-the-art task incremental learning methods.
Selecting Models based on the Risk of Damage Caused by Adversarial Attacks

Regulation, legal liabilities, and societal concerns challenge the adoption of AI in safety and security-critical applications. One of the key concerns is that adversaries can cause harm by manipulating model predictions without being detected. Regulation hence demands an assessment of the risk of damage caused by adversaries. Yet, there is no method to translate this high-level demand into actionable metrics that quantify the risk of damage. In this article, we propose a method to model and statistically estimate the probability of damage arising from adversarial attacks. We show that our proposed estimator is statistically consistent and unbiased. In experiments, we demonstrate that the estimation results of our method have a clear and actionable interpretation and outperform conventional metrics. We then show how operators can use the estimation results to reliably select the model with the lowest risk.
Beyond Exponentially Fast Mixing in Average-Reward Reinforcement Learning via Multi-Level Monte Carlo Actor-Critic

Many existing reinforcement learning (RL) methods employ stochastic gradient iteration on the back end, whose stability hinges upon a hypothesis that the data-generating process mixes exponentially fast with a rate parameter that appears in the step-size selection. Unfortunately, this assumption is violated for large state spaces or settings with sparse rewards, and the mixing time is unknown, making the step size inoperable. In this work, we propose an RL methodology attuned to the mixing time by employing a multi-level Monte Carlo estimator for the critic, the actor, and the average reward embedded within an actor-critic (AC) algorithm. This method, which we call \textbf{M}ulti-level \textbf{A}ctor-\textbf{C}ritic (MAC), is developed especially for infinite-horizon average-reward settings and neither relies on oracle knowledge of the mixing time in its parameter selection nor assumes its exponential decay; it, therefore, is readily applicable to applications with slower mixing times. Nonetheless, it achieves a convergence rate comparable to the state-of-the-art AC algorithms. We experimentally show that these alleviated restrictions on the technical conditions required for stability translate to superior performance in practice for RL problems with sparse rewards.
Neural Relation Graph: A Unified Framework for Identifying Label Noise and Outlier Data

Diagnosing and cleaning data is a crucial step for building robust machine learning systems. However, identifying problems within large-scale datasets with real-world distributions is challenging due to the presence of complex issues such as label errors, under-representation, and outliers. In this paper, we propose a unified approach for identifying the problematic data by utilizing a largely ignored source of information: a relational structure of data in the feature-embedded space. To this end, we present scalable and effective algorithms for detecting label errors and outlier data based on the relational graph structure of data. We further introduce a visualization tool that provides contextual information of a data point in the feature-embedded space, serving as an effective tool for interactively diagnosing data. We evaluate the label error and outlier/out-of-distribution (OOD) detection performances of our approach on the large-scale image, speech, and language domain tasks, including ImageNet, ESC-50, and SST2. Our approach achieves state-of-the-art detection performance on all tasks considered and demonstrates its effectiveness in debugging large-scale real-world datasets across various domains. We release codes at https://github.com/snu-mllab/Neural-Relation-Graph.
FedRC: Tackling Diverse Distribution Shifts Challenge in Federated Learning by Robust Clustering

Federated Learning (FL) is a machine learning paradigm that safeguards privacy by retaining client data on edge devices. However, optimizing FL in practice can be challenging due to the diverse and heterogeneous nature of the learning system. Though recent research has focused on improving the optimization of FL when distribution shifts occur among clients, ensuring global performance when multiple types of distribution shifts occur simultaneously among clients -- such as feature distribution shift, label distribution shift, and concept shift -- remain under-explored. In this paper, we identify the learning challenges posed by the simultaneous occurrence of diverse distribution shifts and propose a clustering principle to overcome these challenges. Through our research, we find that existing methods failed to address the clustering principle. Therefore, we propose a novel clustering algorithm framework, dubbed as FedRC, which adheres to our proposed clustering principle by incorporating a bi-level optimization problem and a novel objective function. Extensive experiments demonstrate that FedRC significantly outperforms other SOTA cluster-based FL methods. Our code will be publicly available.
Preserving Fairness in AI under Domain Shift

Existing algorithms for ensuring fairness in AI use a single-shot training strategy, where an AI model is trained on an annotated training dataset with sensitive attributes and then fielded for utilization. This training strategy is effective in problems with stationary distributions, where both training and testing data are drawn from the same distribution. However, it is vulnerable with respect to distributional shifts in the input space that may occur after the initial training phase. As a result, the time-dependent nature of data can introduce biases into the model predictions. Model retraining from scratch using a new annotated dataset is a naive solution that is expensive and time-consuming. We develop an algorithm to adapt a fair model to remain fair under domain shift using solely new unannotated data points. We recast this learning setting as an unsupervised domain adaptation problem. Our algorithm is based on updating the model such that the internal representation of data remains unbiased despite distributional shifts in the input space. We provide extensive empirical validation on three widely employed fairness datasets to demonstrate the effectiveness of our algorithm.
Large-scale Data Modelling in Hive and Distributed Query Processing using MapReduce and Tez

Huge amounts of data being generated continuously by digitally interconnected systems of humans, organizations and machines. Data comes in variety of formats including structured, unstructured and semi-structured, what makes it impossible to apply the same standard approaches, techniques and algorithms to manage and process this data. Fortunately, the enterprise level distributed platform named Hadoop Ecosystem exists. This paper explores Apache Hive component that provides full stack data managements functionality in terms of Data Definition, Data Manipulation and Data Processing. Hive is a data warehouse system, which works with structured data stored in tables. Since, Hive works on top the Hadoop HDSFS, it benefits from extraordinary feature of HDFS including Fault Tolerance, Reliability, High Availability, Scalability, etc. In addition, Hive can take advantage of distributed computing power of the cluster through assigning jobs to MapReduce, Tez and Spark engines to run complex queries. The paper is focused on studying of Hive Data Model and analysis of processing performance done by MapReduce and Tez.
EMP-EVAL: A Framework for Measuring Empathy in Open Domain Dialogues

Measuring empathy in conversation can be challenging, as empathy is a complex and multifaceted psychological construct that involves both cognitive and emotional components. Human evaluations can be subjective, leading to inconsistent results. Therefore, there is a need for an automatic method for measuring empathy that reduces the need for human evaluations. In this paper, we proposed a novel approach EMP-EVAL, a simple yet effective automatic empathy evaluation method. The proposed technique takes the influence of Emotion, Cognitive and Emotional empathy. To the best knowledge, our work is the first to systematically measure empathy without the human-annotated provided scores. Experimental results demonstrate that our metrics can correlate with human preference, achieving comparable results with human judgments.
Stochastic Wasserstein Gradient Flows using Streaming Data with an Application in Predictive Maintenance

We study estimation problems in safety-critical applications with streaming data. Since estimation problems can be posed as optimization problems in the probability space, we devise a stochastic projected Wasserstein gradient flow that keeps track of the belief of the estimated quantity and can consume samples from online data. We show the convergence properties of our algorithm. Our analysis combines recent advances in the Wasserstein space and its differential structure with more classical stochastic gradient descent. We apply our methodology for predictive maintenance of safety-critical processes: Our approach is shown to lead to superior performance when compared to classical least squares, enabling, among others, improved robustness for decision-making.
Mitigating Adversarial Effects of False Data Injection Attacks in Power Grid

Deep Neural Networks have proven to be highly accurate at a variety of tasks in recent years. The benefits of Deep Neural Networks have also been embraced in power grids to detect False Data Injection Attacks (FDIA) while conducting critical tasks like state estimation. However, the vulnerabilities of DNNs along with the distinct infrastructure of cyber-physical-system (CPS) can favor the attackers to bypass the detection mechanism. Moreover, the divergent nature of CPS engenders limitations to the conventional defense mechanisms for False Data Injection Attacks. In this paper, we propose a DNN framework with additional layer which utilizes randomization to mitigate the adversarial effect by padding the inputs. The primary advantage of our method is when deployed to a DNN model it has trivial impact on the models performance even with larger padding sizes. We demonstrate the favorable outcome of the framework through simulation using the IEEE 14-bus, 30-bus, 118-bus and 300-bus systems. Furthermore to justify the framework we select attack techniques that generate subtle adversarial examples that can bypass the detection mechanism effortlessly.
Optimization of Deep Neural Networks Using DAPP (DNN Acceleration Using Ping-Pong) Approach

Abstract: Deep Neural Networks (DNNs) are one of the leading classification algorithms. Deep Learning has achieved remarkable milestones such as Google-Net and Alpha-Go. They have shown promising results in pattern recognition for images and text, language translation, sound recognition, and many more. DNN has been widely accepted and also employed for pattern matching and image recognition. All these applications are possible as these networks emulate functioning of human brain and hence name “Neural” Network.However, to provide competent results, these millions of neurons in neural networks needs to be trained. For which billions of operations are to be carried out. Training of these many neurons and with these many operations is a time-consuming affair. Hence choice of network and its parameter play an important role both in providing accurate trained network and time taken for training. If the network is deep and has plethora of neurons, the time taken is considerably high as training works sequentially on batches of dataset using Sequential Back-propagation Algorithm.To accelerate the training there are many hardware solutions like use of GPU, FPGA and ASICs. However because of popularity of DNN there is increase in demand in mobile and IoT platform devices. These are resource constrained devices, where power and size of these device, restricts usage and implementation of deep NN (Neural Network).Simulation of DAPP is done on MNIST and CIFAR-10 datasets using System-C. Additionally, this technique has been adapted for multi-core architectures. The design shows a reduction in time by 38% for 3 layers of CNN and 92% for 10 layers of CNN, while maintaining the accuracy of networks. This generic methodology has been implemented for Vanilla RNN and LSTM networks. An improvement of 38% for Vanilla RNN and 40% for LSTM has been demonstrated by this methodology.