Reviewerly/exHarmony huggingface dataset:
Learning ABCs: Approximate Bijective Correspondence for isolating factors of variation with weak supervision

Representational learning forms the backbone of most deep learning applications, and the value of a learned representation is intimately tied to its information content regarding different factors of variation. Finding good representations depends on the nature of supervision and the learning algorithm. We propose a novel algorithm that utilizes a weak form of supervision where the data is partitioned into sets according to certain inactive (common) factors of variation which are invariant across elements of each set. Our key insight is that by seeking correspondence between elements of different sets, we learn strong representations that exclude the inactive factors of variation and isolate the active factors that vary within all sets. As a consequence of focusing on the active factors, our method can leverage a mix of set-supervised and wholly unsupervised data, which can even belong to a different domain. We tackle the challenging problem of synthetic-to-real object pose transfer, without pose annotations on anything, by isolating pose information which generalizes to the category level and across the synthetic/real domain gap. The method can also boost performance in supervised settings, by strengthening intermediate representations, as well as operate in practically attainable scenarios with set-supervised natural images, where quantity is limited and nuisance factors of variation are more plentiful.
Robust Learning-Based Trajectory Planning for Emerging Mobility Systems

In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time trajectories and leveraging Gaussian process regression, we learn the bounded confidence intervals for deviations from the nominal trajectories of CAVs online. Incorporating these confidence intervals, we reformulate the trajectory planning as a robust coordination problem, the solution of which guarantees that constraints in the system are satisfied in the presence of bounded deviations from the nominal trajectories. We demonstrate the effectiveness of our extended framework through a numerical simulation.
Distribution-free uncertainty quantification for classification under label shift

Trustworthy deployment of ML models requires a proper measure of uncertainty, especially in safety-critical applications. We focus on uncertainty quantification (UQ) for classification problems via two avenues -- prediction sets using conformal prediction and calibration of probabilistic predictors by post-hoc binning -- since these possess distribution-free guarantees for i.i.d. data. Two common ways of generalizing beyond the i.i.d. setting include handling covariate and label shift. Within the context of distribution-free UQ, the former has already received attention, but not the latter. It is known that label shift hurts prediction, and we first argue that it also hurts UQ, by showing degradation in coverage and calibration. Piggybacking on recent progress in addressing label shift (for better prediction), we examine the right way to achieve UQ by reweighting the aforementioned conformal and calibration procedures whenever some unlabeled data from the target distribution is available. We examine these techniques theoretically in a distribution-free framework and demonstrate their excellent practical performance.
IACN: Influence-aware and Attention-based Co-evolutionary Network for Recommendation

Recommending relevant items to users is a crucial task on online communities such as Reddit and Twitter. For recommendation system, representation learning presents a powerful technique that learns embeddings to represent user behaviors and capture item properties. However, learning embeddings on online communities is a challenging task because the user interest keep evolving. This evolution can be captured from 1) interaction between user and item, 2) influence from other users in the community. The existing dynamic embedding models only consider either of the factors to update user embeddings. However, at a given time, user interest evolves due to a combination of the two factors. To this end, we propose Influence-aware and Attention-based Co-evolutionary Network (IACN). Essentially, IACN consists of two key components: interaction modeling and influence modeling layer. The interaction modeling layer is responsible for updating the embedding of a user and an item when the user interacts with the item. The influence modeling layer captures the temporal excitation caused by interactions of other users. To integrate the signals obtained from the two layers, we design a novel fusion layer that effectively combines interaction-based and influence-based embeddings to predict final user embedding. Our model outperforms the existing state-of-the-art models from various domains.
Modeling Multi-Label Action Dependencies for Temporal Action Localization

Real-world videos contain many complex actions with inherent relationships between action classes. In this work, we propose an attention-based architecture that models these action relationships for the task of temporal action localization in untrimmed videos. As opposed to previous works that leverage video-level co-occurrence of actions, we distinguish the relationships between actions that occur at the same time-step and actions that occur at different time-steps (i.e. those which precede or follow each other). We define these distinct relationships as action dependencies. We propose to improve action localization performance by modeling these action dependencies in a novel attention-based Multi-Label Action Dependency (MLAD)layer. The MLAD layer consists of two branches: a Co-occurrence Dependency Branch and a Temporal Dependency Branch to model co-occurrence action dependencies and temporal action dependencies, respectively. We observe that existing metrics used for multi-label classification do not explicitly measure how well action dependencies are modeled, therefore, we propose novel metrics that consider both co-occurrence and temporal dependencies between action classes. Through empirical evaluation and extensive analysis, we show improved performance over state-of-the-art methods on multi-label action localization benchmarks(MultiTHUMOS and Charades) in terms of f-mAP and our proposed metric.
It's A Match! Gesture Generation Using Expressive Parameter Matching

Automatic gesture generation from speech generally relies on implicit modelling of the nondeterministic speech-gesture relationship and can result in averaged motion lacking defined form. Here, we propose a database-driven approach of selecting gestures based on specific motion characteristics that have been shown to be associated with the speech audio. We extend previous work that identified expressive parameters of gesture motion that can both be predicted from speech and are perceptually important for a good speech-gesture match, such as gesture velocity and finger extension. A perceptual study was performed to evaluate the appropriateness of the gestures selected with our method. We compare our method with two baseline selection methods. The first respects timing, the desired onset and duration of a gesture, but does not match gesture form in other ways. The second baseline additionally disregards the original gesture timing for selecting gestures. The gesture sequences from our method were rated as a significantly better match to the speech than gestures selected by either baseline method.
Gaussian processes meet NeuralODEs: A Bayesian framework for learning the dynamics of partially observed systems from scarce and noisy data

This paper presents a machine learning framework (GP-NODE) for Bayesian systems identification from partial, noisy and irregular observations of nonlinear dynamical systems. The proposed method takes advantage of recent developments in differentiable programming to propagate gradient information through ordinary differential equation solvers and perform Bayesian inference with respect to unknown model parameters using Hamiltonian Monte Carlo sampling and Gaussian Process priors over the observed system states. This allows us to exploit temporal correlations in the observed data, and efficiently infer posterior distributions over plausible models with quantified uncertainty. Moreover, the use of sparsity-promoting priors such as the Finnish Horseshoe for free model parameters enables the discovery of interpretable and parsimonious representations for the underlying latent dynamics. A series of numerical studies is presented to demonstrate the effectiveness of the proposed GP-NODE method including predator-prey systems, systems biology, and a 50-dimensional human motion dynamical system. Taken together, our findings put forth a novel, flexible and robust workflow for data-driven model discovery under uncertainty. All code and data accompanying this manuscript are available online at \url{https://github.com/PredictiveIntelligenceLab/GP-NODEs}.
Contextual Modal Types for Algebraic Effects and Handlers

Programming languages with algebraic effects often track the computations' effects using type-and-effect systems. In this paper, we propose to view an algebraic effect theory of a computation as a variable context; consequently, we propose to track algebraic effects of a computation with \emph{contextual modal types}. We develop ECMTT, a novel calculus which tracks algebraic effects by a contextualized variant of the modal $\Box$ (necessity) operator, that it inherits from Contextual Modal Type Theory (CMTT). Whereas type-and-effect systems add effect annotations on top of a prior programming language, the effect annotations in ECMTT are inherent to the language, as they are managed by programming constructs corresponding to the logical introduction and elimination forms for the $\Box$ modality. Thus, the type-and-effect system of ECMTT is actually just a type system. Our design obtains the properties of local soundness and completeness, and determines the operational semantics solely by $\beta$-reduction, as customary in other logic-based calculi. In this view, effect handlers arise naturally as a witness that one context (i.e., algebraic theory) can be reached from another, generalizing explicit substitutions from CMTT. To the best of our knowledge, ECMTT is the first system to relate algebraic effects to modal types. We also see it as a step towards providing a correspondence in the style of Curry and Howard that may transfer a number of results from the fields of modal logic and modal type theory to that of algebraic effects.
On positional representation of integer vectors

We show that any $m\times m$ matrix $M$ with integer entries and $\det M =\Delta \neq 0$ can be equipped by a finite digit set $\mathcal{D}\subset\mathbb{Z}^m$ such that any integer $m$-dimensional vector belongs to the set $$ {\rm Fin}_{\mathcal{D}}(M)= \Bigl\{\sum_{k\in I}M^k {d}_k : \emptyset\neq I \text{ finite subset of } \mathbb{Z} \text{ and } {d}_k \in \mathcal{D} \text{ for each } k \in I\Bigr\} \subset \bigcup\limits_{k\in \mathbb{N}} \frac{1}{\Delta^k}\mathbb{Z}^{m} \,. $$ We also characterize the matrices $M$ for which the sets $ {\rm Fin}_{\mathcal{D}}(M)$ and $ \bigcup\limits_{k\in \mathbb{N}} \frac{1}{\Delta^k}\mathbb{Z}^{m}$ coincide.
Critical Slowing Down Near Topological Transitions in Rate-Distortion Problems

In rate-distortion (RD) problems one seeks reduced representations of a source that meet a target distortion constraint. Such optimal representations undergo topological transitions at some critical rate values, when their cardinality or dimensionality change. We study the convergence time of the Arimoto-Blahut alternating projection algorithms, used to solve such problems, near those critical points, both for the rate-distortion and information bottleneck settings. We argue that they suffer from critical slowing down -- a diverging number of iterations for convergence -- near the critical points. This phenomenon can have theoretical and practical implications for both machine learning and data compression problems.
Decoding supercodes of Gabidulin codes and applications to cryptanalysis

This article discusses the decoding of Gabidulin codes and shows how to extend the usual decoder to any supercode of a Gabidulin code at the cost of a significant decrease of the decoding radius. Using this decoder, we provide polynomial time attacks on the rank-metric encryption schemes RAMESSES and LIGA.
On the effectiveness of adversarial training against common corruptions

The literature on robustness towards common corruptions shows no consensus on whether adversarial training can improve the performance in this setting. First, we show that, when used with an appropriately selected perturbation radius, $\ell_p$ adversarial training can serve as a strong baseline against common corruptions improving both accuracy and calibration. Then we explain why adversarial training performs better than data augmentation with simple Gaussian noise which has been observed to be a meaningful baseline on common corruptions. Related to this, we identify the $\sigma$-overfitting phenomenon when Gaussian augmentation overfits to a particular standard deviation used for training which has a significant detrimental effect on common corruption accuracy. We discuss how to alleviate this problem and then how to further enhance $\ell_p$ adversarial training by introducing an efficient relaxation of adversarial training with learned perceptual image patch similarity as the distance metric. Through experiments on CIFAR-10 and ImageNet-100, we show that our approach does not only improve the $\ell_p$ adversarial training baseline but also has cumulative gains with data augmentation methods such as AugMix, DeepAugment, ANT, and SIN, leading to state-of-the-art performance on common corruptions. The code of our experiments is publicly available at https://github.com/tml-epfl/adv-training-corruptions.
On the Just-In-Time Discovery of Profit-Generating Transactions in DeFi  Protocols

In this paper, we investigate two methods that allow us to automatically create profitable DeFi trades, one well-suited to arbitrage and the other applicable to more complicated settings. We first adopt the Bellman-Ford-Moore algorithm with DEFIPOSER-ARB and then create logical DeFi protocol models for a theorem prover in DEFIPOSER-SMT. While DEFIPOSER-ARB focuses on DeFi transactions that form a cycle and performs very well for arbitrage, DEFIPOSER-SMT can detect more complicated profitable transactions. We estimate that DEFIPOSER-ARB and DEFIPOSER-SMT can generate an average weekly revenue of 191.48ETH (76,592USD) and 72.44ETH (28,976USD) respectively, with the highest transaction revenue being 81.31ETH(32,524USD) and22.40ETH (8,960USD) respectively. We further show that DEFIPOSER-SMT finds the known economic bZx attack from February 2020, which yields 0.48M USD. Our forensic investigations show that this opportunity existed for 69 days and could have yielded more revenue if exploited one day earlier. Our evaluation spans 150 days, given 96 DeFi protocol actions, and 25 assets. Looking beyond the financial gains mentioned above, forks deteriorate the blockchain consensus security, as they increase the risks of double-spending and selfish mining. We explore the implications of DEFIPOSER-ARB and DEFIPOSER-SMT on blockchain consensus. Specifically, we show that the trades identified by our tools exceed the Ethereum block reward by up to 874x. Given optimal adversarial strategies provided by a Markov Decision Process (MDP), we quantify the value threshold at which a profitable transaction qualifies as Miner ExtractableValue (MEV) and would incentivize MEV-aware miners to fork the blockchain. For instance, we find that on Ethereum, a miner with a hash rate of 10% would fork the blockchain if an MEV opportunity exceeds 4x the block reward.
Worsening Perception: Real-time Degradation of Autonomous Vehicle Perception Performance for Simulation of Adverse Weather Conditions

Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and thus it is imperative to test the vehicle extensively in all conditions which it may experience. However, development of robust autonomous vehicle subsystems requires repeatable, controlled testing - while real weather is unpredictable and cannot be scheduled. Real-world testing in adverse conditions is an expensive and time-consuming task, often requiring access to specialist facilities. Simulation is commonly relied upon as a substitute, with increasingly visually realistic representations of the real-world being developed. In the context of the complete autonomous vehicle control pipeline, subsystems downstream of perception need to be tested with accurate recreations of the perception system output, rather than focusing on subjective visual realism of the input - whether in simulation or the real world. This study develops the untapped potential of a lightweight weather augmentation method in an autonomous racing vehicle - focusing not on visual accuracy, but rather the effect upon perception subsystem performance in real time. With minimal adjustment, the prototype developed in this study can replicate the effects of water droplets on the camera lens, and fading light conditions. This approach introduces a latency of less than 8 ms using compute hardware well suited to being carried in the vehicle - rendering it ideal for real-time implementation that can be run during experiments in simulation, and augmented reality testing in the real world.
Few-shot Learning for Slot Tagging with Attentive Relational Network

Metric-based learning is a well-known family of methods for few-shot learning, especially in computer vision. Recently, they have been used in many natural language processing applications but not for slot tagging. In this paper, we explore metric-based learning methods in the slot tagging task and propose a novel metric-based learning architecture - Attentive Relational Network. Our proposed method extends relation networks, making them more suitable for natural language processing applications in general, by leveraging pretrained contextual embeddings such as ELMO and BERT and by using attention mechanism. The results on SNIPS data show that our proposed method outperforms other state-of-the-art metric-based learning methods.
Coded Computing via Binary Linear Codes: Designs and Performance Limits

We consider the problem of coded distributed computing where a large linear computational job, such as a matrix multiplication, is divided into $k$ smaller tasks, encoded using an $(n,k)$ linear code, and performed over $n$ distributed nodes. The goal is to reduce the average execution time of the computational job. We provide a connection between the problem of characterizing the average execution time of a coded distributed computing system and the problem of analyzing the error probability of codes of length $n$ used over erasure channels. Accordingly, we present closed-form expressions for the execution time using binary random linear codes and the best execution time any linear-coded distributed computing system can achieve. It is also shown that there exist \textit{good} binary linear codes that not only attain (asymptotically) the best performance that any linear code (not necessarily binary) can achieve but also are numerically stable against the inevitable rounding errors in practice. We then develop a low-complexity algorithm for decoding Reed-Muller (RM) codes over erasure channels. Our decoder only involves additions, subtractions, {and inversion of relatively small matrices of dimensions at most $\log n+1$}, and enables coded computation over real-valued data. Extensive numerical analysis of the fundamental results as well as RM- and polar-coded computing schemes demonstrate the excellence of the RM-coded computation in achieving close-to-optimal performance while having a low-complexity decoding and explicit construction. The proposed framework in this paper enables efficient designs of distributed computing systems given the rich literature in the channel coding theory.
Distributional Formal Semantics

Natural language semantics has recently sought to combine the complementary strengths of formal and distributional approaches to meaning. More specifically, proposals have been put forward to augment formal semantic machinery with distributional meaning representations, thereby introducing the notion of semantic similarity into formal semantics, or to define distributional systems that aim to incorporate formal notions such as entailment and compositionality. However, given the fundamentally different 'representational currency' underlying formal and distributional approaches - models of the world versus linguistic co-occurrence - their unification has proven extremely difficult. Here, we define a Distributional Formal Semantics that integrates distributionality into a formal semantic system on the level of formal models. This approach offers probabilistic, distributed meaning representations that are also inherently compositional, and that naturally capture fundamental semantic notions such as quantification and entailment. Furthermore, we show how the probabilistic nature of these representations allows for probabilistic inference, and how the information-theoretic notion of "information" (measured in terms of Entropy and Surprisal) naturally follows from it. Finally, we illustrate how meaning representations can be derived incrementally from linguistic input using a recurrent neural network model, and how the resultant incremental semantic construction procedure intuitively captures key semantic phenomena, including negation, presupposition, and anaphoricity.
On Levenshtein Balls with Radius One

The rapid development of DNA storage has brought the deletion and insertion channel, once again, to the front line of research. When the number of deletions is equal to the number of insertions, the Fixed Length Levenshtein (FLL) metric is the right measure for the distance between two words of the same length. The size of a ball is one of the most fundamental parameters in any metric. The size of the ball with radius one in the FLL metric depends on the number of runs and the length of the alternating segments of the given word. In this work, we find the minimum, maximum, and average size of a ball with radius one, in the FLL metric. The related minimum and maximum sizes of a maximal anticode with diameter one are also calculated.
Obstacle Avoidance onboard MAVs using a FMCW RADAR

Micro Air Vehicles (MAVs) are increasingly being used for complex or hazardous tasks in enclosed and cluttered environments such as surveillance or search and rescue. With this comes the necessity for sensors that can operate in poor visibility conditions to facilitate with navigation and avoidance of objects or people. Radar sensors in particular can provide more robust sensing of the environment when traditional sensors such as cameras fail in the presence of dust, fog or smoke. While extensively used in autonomous driving, miniature FMCW radars on MAVs have been relatively unexplored. This study aims to investigate to what extent this sensor is of use in these environments by employing traditional signal processing such as multi-target tracking and velocity obstacles. The viability of the solution is evaluated with an implementation on board a MAV by running trial tests in an indoor environment containing obstacles and by comparison with a human pilot, demonstrating the potential for the sensor to provide a more robust sense and avoid function in fully autonomous MAVs.