pwc-archive/papers-with-abstracts huggingface dataset:
Reinforcement Learning-Based Bionic Reflex Control for Anthropomorphic Robotic Grasping exploiting Domain Randomization
Authors: Hirakjyoti Basumatary, Daksh Adhar, Atharva Shrawge, Prathamesh Kanbaskar, Shyamanta M. Hazarika
Date: 2023-12-08 00:00:00
Tasks: Reinforcement Learning (RL), Robotic Grasping

Achieving human-level dexterity in robotic grasping remains a challenging endeavor. Robotic hands frequently encounter slippage and deformation during object manipulation, issues rarely encountered by humans due to their sensory receptors, experiential learning, and motor memory. The emulation of the human grasping reflex within robotic hands is referred to as the ``bionic reflex". Past endeavors in the realm of bionic reflex control predominantly relied on model-based and supervised learning approaches, necessitating human intervention during thresholding and labeling tasks. In this study, we introduce an innovative bionic reflex control pipeline, leveraging reinforcement learning (RL); thereby eliminating the need for human intervention during control design. Our proposed bionic reflex controller has been designed and tested on an anthropomorphic hand, manipulating deformable objects in the PyBullet physics simulator, incorporating domain randomization (DR) for enhanced Sim2Real transferability. Our findings underscore the promise of RL as a potent tool for advancing bionic reflex control within anthropomorphic robotic hands. We anticipate that this autonomous, RL-based bionic reflex controller will catalyze the development of dependable and highly efficient robotic and prosthetic hands, revolutionizing human-robot interaction and assistive technologies.
A Negative Result on Gradient Matching for Selective Backprop
Authors: Lukas Balles, Cedric Archambeau, Giovanni Zappella
Date: 2023-12-08 00:00:00

With increasing scale in model and dataset size, the training of deep neural networks becomes a massive computational burden. One approach to speed up the training process is Selective Backprop. For this approach, we perform a forward pass to obtain a loss value for each data point in a minibatch. The backward pass is then restricted to a subset of that minibatch, prioritizing high-loss examples. We build on this approach, but seek to improve the subset selection mechanism by choosing the (weighted) subset which best matches the mean gradient over the entire minibatch. We use the gradients w.r.t. the model's last layer as a cheap proxy, resulting in virtually no overhead in addition to the forward pass. At the same time, for our experiments we add a simple random selection baseline which has been absent from prior work. Surprisingly, we find that both the loss-based as well as the gradient-matching strategy fail to consistently outperform the random baseline.
Vision-based Learning for Drones: A Survey
Authors: Jiaping Xiao, Rangya Zhang, Yuhang Zhang, Mir Feroskhan
Date: 2023-12-08 00:00:00
Tasks: Decision Making, Survey

Drones as advanced cyber-physical systems are undergoing a transformative shift with the advent of vision-based learning, a field that is rapidly gaining prominence due to its profound impact on drone autonomy and functionality. Different from existing task-specific surveys, this review offers a comprehensive overview of vision-based learning in drones, emphasizing its pivotal role in enhancing their operational capabilities under various scenarios. We start by elucidating the fundamental principles of vision-based learning, highlighting how it significantly improves drones' visual perception and decision-making processes. We then categorize vision-based control methods into indirect, semi-direct, and end-to-end approaches from the perception-control perspective. We further explore various applications of vision-based drones with learning capabilities, ranging from single-agent systems to more complex multi-agent and heterogeneous system scenarios, and underscore the challenges and innovations characterizing each area. Finally, we explore open questions and potential solutions, paving the way for ongoing research and development in this dynamic and rapidly evolving field. With growing large language models (LLMs) and embodied intelligence, vision-based learning for drones provides a promising but challenging road towards artificial general intelligence (AGI) in 3D physical world.
Beyond Transduction: A Survey on Inductive, Few Shot, and Zero Shot Link Prediction in Knowledge Graphs
Authors: Nicolas Hubert, Pierre Monnin, Heiko Paulheim
Date: 2023-12-08 00:00:00
Tasks: Knowledge Graphs, Link Prediction

Knowledge graphs (KGs) comprise entities interconnected by relations of different semantic meanings. KGs are being used in a wide range of applications. However, they inherently suffer from incompleteness, i.e. entities or facts about entities are missing. Consequently, a larger body of works focuses on the completion of missing information in KGs, which is commonly referred to as link prediction (LP). This task has traditionally and extensively been studied in the transductive setting, where all entities and relations in the testing set are observed during training. Recently, several works have tackled the LP task under more challenging settings, where entities and relations in the test set may be unobserved during training, or appear in only a few facts. These works are known as inductive, few-shot, and zero-shot link prediction. In this work, we conduct a systematic review of existing works in this area. A thorough analysis leads us to point out the undesirable existence of diverging terminologies and task definitions for the aforementioned settings, which further limits the possibility of comparison between recent works. We consequently aim at dissecting each setting thoroughly, attempting to reveal its intrinsic characteristics. A unifying nomenclature is ultimately proposed to refer to each of them in a simple and consistent manner.
Out of Context: How important is Local Context in Neural Program Repair?
Authors: Julian Aron Prenner, Romain Robbes
Date: 2023-12-08 00:00:00
Tasks: Program Repair

Deep learning source code models have been applied very successfully to the problem of automated program repair. One of the standing issues is the small input window of current models which often cannot fully fit the context code required for a bug fix (e.g., method or class declarations of a project). Instead, input is often restricted to the local context, that is, the lines below and above the bug location. In this work we study the importance of this local context on repair success: how much local context is needed?; is context before or after the bug location more important? how is local context tied to the bug type? To answer these questions we train and evaluate Transformer models in many different local context configurations on three datasets and two programming languages. Our results indicate that overall repair success increases with the size of the local context (albeit not for all bug types) and confirm the common practice that roughly 50-60% of the input window should be used for context leading the bug. Our results are not only relevant for researchers working on Transformer-based APR tools but also for benchmark and dataset creators who must decide what and how much context to include in their datasets.
MIMIR: Masked Image Modeling for Mutual Information-based Adversarial Robustness
Authors: Xiaoyun Xu, Shujian Yu, Zhuoran Liu, Stjepan Picek
Date: 2023-12-08 00:00:00
Tasks: Adversarial Robustness

Vision Transformers (ViTs) achieve excellent performance in various tasks, but they are also vulnerable to adversarial attacks. Building robust ViTs is highly dependent on dedicated Adversarial Training (AT) strategies. However, current ViTs' adversarial training only employs well-established training approaches from convolutional neural network (CNN) training, where pre-training provides the basis for AT fine-tuning with the additional help of tailored data augmentations. In this paper, we take a closer look at the adversarial robustness of ViTs by providing a novel theoretical Mutual Information (MI) analysis in its autoencoder-based self-supervised pre-training. Specifically, we show that MI between the adversarial example and its latent representation in ViT-based autoencoders should be constrained by utilizing the MI bounds. Based on this finding, we propose a masked autoencoder-based pre-training method, MIMIR, that employs an MI penalty to facilitate the adversarial training of ViTs. Extensive experiments show that MIMIR outperforms state-of-the-art adversarially trained ViTs on benchmark datasets with higher natural and robust accuracy, indicating that ViTs can substantially benefit from exploiting MI. In addition, we consider two adaptive attacks by assuming that the adversary is aware of the MIMIR design, which further verifies the provided robustness.
Benchmarking and Analysis of Unsupervised Object Segmentation from Real-world Single Images
Authors: Yafei Yang, Bo Yang
Date: 2023-12-08 00:00:00
Tasks: Benchmarking, Object, Semantic Segmentation, Unsupervised Object Segmentation

In this paper, we study the problem of unsupervised object segmentation from single images. We do not introduce a new algorithm, but systematically investigate the effectiveness of existing unsupervised models on challenging real-world images. We first introduce seven complexity factors to quantitatively measure the distributions of background and foreground object biases in appearance and geometry for datasets with human annotations. With the aid of these factors, we empirically find that, not surprisingly, existing unsupervised models fail to segment generic objects in real-world images, although they can easily achieve excellent performance on numerous simple synthetic datasets, due to the vast gap in objectness biases between synthetic and real images. By conducting extensive experiments on multiple groups of ablated real-world datasets, we ultimately find that the key factors underlying the failure of existing unsupervised models on real-world images are the challenging distributions of background and foreground object biases in appearance and geometry. Because of this, the inductive biases introduced in existing unsupervised models can hardly capture the diverse object distributions. Our research results suggest that future work should exploit more explicit objectness biases in the network design.
The ICL Consistency Test
Authors: Lucas Weber, Elia Bruni, Dieuwke Hupkes
Date: 2023-12-08 00:00:00
Tasks: In-Context Learning, Natural Language Inference

Just like the previous generation of task-tuned models, large language models (LLMs) that are adapted to tasks via prompt-based methods like in-context-learning (ICL) perform well in some setups but not in others. This lack of consistency in prompt-based learning hints at a lack of robust generalisation. We here introduce the ICL consistency test -- a contribution to the GenBench collaborative benchmark task (CBT) -- which evaluates how consistent a model makes predictions across many different setups while using the same data. The test is based on different established natural language inference tasks. We provide preprocessed data constituting 96 different 'setups' and a metric that estimates model consistency across these setups. The metric is provided on a fine-grained level to understand what properties of a setup render predictions unstable and on an aggregated level to compare overall model consistency. We conduct an empirical analysis of eight state-of-the-art models, and our consistency metric reveals how all tested LLMs lack robust generalisation.
Canaries and Whistles: Resilient Drone Communication Networks with (or without) Deep Reinforcement Learning
Authors: Chris Hicks, Vasilios Mavroudis, Myles Foley, Thomas Davies, Kate Highnam, Tim Watson
Date: 2023-12-08 00:00:00
Tasks: Deep Reinforcement Learning, reinforcement-learning, Reinforcement Learning

Communication networks able to withstand hostile environments are critically important for disaster relief operations. In this paper, we consider a challenging scenario where drones have been compromised in the supply chain, during their manufacture, and harbour malicious software capable of wide-ranging and infectious disruption. We investigate multi-agent deep reinforcement learning as a tool for learning defensive strategies that maximise communications bandwidth despite continual adversarial interference. Using a public challenge for learning network resilience strategies, we propose a state-of-the-art expert technique and study its superiority over deep reinforcement learning agents. Correspondingly, we identify three specific methods for improving the performance of our learning-based agents: (1) ensuring each observation contains the necessary information, (2) using expert agents to provide a curriculum for learning, and (3) paying close attention to reward. We apply our methods and present a new mixed strategy enabling expert and learning-based agents to work together and improve on all prior results.
Operationalizing Assurance Cases for Data Scientists: A Showcase of Concepts and Tooling in the Context of Test Data Quality for Machine Learning
Authors: Lisa Jöckel, Michael Kläs, Janek Groß, Pascal Gerber, Markus Scholz, Jonathan Eberle, Marc Teschner, Daniel Seifert, Richard Hawkins, John Molloy, Jens Ottnad
Date: 2023-12-08 00:00:00

Assurance Cases (ACs) are an established approach in safety engineering to argue quality claims in a structured way. In the context of quality assurance for Machine Learning (ML)-based software components, ACs are also being discussed and appear promising. Tools for operationalizing ACs do exist, yet mainly focus on supporting safety engineers on the system level. However, assuring the quality of an ML component within the system is commonly the responsibility of data scientists, who are usually less familiar with these tools. To address this gap, we propose a framework to support the operationalization of ACs for ML components based on technologies that data scientists use on a daily basis: Python and Jupyter Notebook. Our aim is to make the process of creating ML-related evidence in ACs more effective. Results from the application of the framework, documented through notebooks, can be integrated into existing AC tools. We illustrate the application of the framework on an example excerpt concerned with the quality of the test data.
EE-LLM: Large-Scale Training and Inference of Early-Exit Large Language Models with 3D Parallelism
Authors: Yanxi Chen, Xuchen Pan, Yaliang Li, Bolin Ding, Jingren Zhou
Date: 2023-12-08 00:00:00

We present EE-LLM, a framework for large-scale training and inference of early-exit large language models (LLMs). While recent works have shown preliminary evidence for the efficacy of early exiting in accelerating LLM inference, EE-LLM makes a foundational step towards scaling up early-exit LLMs by supporting their training and inference with massive 3D parallelism. Built upon Megatron-LM, EE-LLM implements a variety of algorithmic innovations and performance optimizations tailored to early exiting, including a lightweight method that facilitates backpropagation for the early-exit training objective with pipeline parallelism, techniques of leveraging idle resources in the original pipeline schedule for computation related to early-exit layers, and two approaches of early-exit inference that are compatible with KV caching for autoregressive generation. Our analytical and empirical study shows that EE-LLM achieves great training efficiency with negligible computational overhead compared to standard LLM training, as well as outstanding inference speedup without compromising output quality. To facilitate further research and adoption, we release EE-LLM at https://github.com/pan-x-c/EE-LLM.
SA-Attack: Improving Adversarial Transferability of Vision-Language Pre-training Models via Self-Augmentation
Authors: Bangyan He, Xiaojun Jia, Siyuan Liang, Tianrui Lou, Yang Liu, Xiaochun Cao
Date: 2023-12-08 00:00:00
Tasks: Data Augmentation, Diversity

Current Visual-Language Pre-training (VLP) models are vulnerable to adversarial examples. These adversarial examples present substantial security risks to VLP models, as they can leverage inherent weaknesses in the models, resulting in incorrect predictions. In contrast to white-box adversarial attacks, transfer attacks (where the adversary crafts adversarial examples on a white-box model to fool another black-box model) are more reflective of real-world scenarios, thus making them more meaningful for research. By summarizing and analyzing existing research, we identified two factors that can influence the efficacy of transfer attacks on VLP models: inter-modal interaction and data diversity. Based on these insights, we propose a self-augment-based transfer attack method, termed SA-Attack. Specifically, during the generation of adversarial images and adversarial texts, we apply different data augmentation methods to the image modality and text modality, respectively, with the aim of improving the adversarial transferability of the generated adversarial images and texts. Experiments conducted on the FLickr30K and COCO datasets have validated the effectiveness of our method. Our code will be available after this paper is accepted.
BELT: Old-School Backdoor Attacks can Evade the State-of-the-Art Defense with Backdoor Exclusivity Lifting
Authors: Huming Qiu, Junjie Sun, Mi Zhang, Xudong Pan, Min Yang
Date: 2023-12-08 00:00:00

Deep neural networks (DNNs) are susceptible to backdoor attacks, where malicious functionality is embedded to allow attackers to trigger incorrect classifications. Old-school backdoor attacks use strong trigger features that can easily be learned by victim models. Despite robustness against input variation, the robustness however increases the likelihood of unintentional trigger activations. This leaves traces to existing defenses, which find approximate replacements for the original triggers that can activate the backdoor without being identical to the original trigger via, e.g., reverse engineering and sample overlay. In this paper, we propose and investigate a new characteristic of backdoor attacks, namely, backdoor exclusivity, which measures the ability of backdoor triggers to remain effective in the presence of input variation. Building upon the concept of backdoor exclusivity, we propose Backdoor Exclusivity LifTing (BELT), a novel technique which suppresses the association between the backdoor and fuzzy triggers to enhance backdoor exclusivity for defense evasion. Extensive evaluation on three popular backdoor benchmarks validate, our approach substantially enhances the stealthiness of four old-school backdoor attacks, which, after backdoor exclusivity lifting, is able to evade seven state-of-the-art backdoor countermeasures, at almost no cost of the attack success rate and normal utility. For example, one of the earliest backdoor attacks BadNet, enhanced by BELT, evades most of the state-of-the-art defenses including ABS and MOTH which would otherwise recognize the backdoored model.
KwaiAgents: Generalized Information-seeking Agent System with Large Language Models
Authors: Haojie Pan, Zepeng Zhai, Hao Yuan, Yaojia LV, Ruiji Fu, Ming Liu, Zhongyuan Wang, Bing Qin
Date: 2023-12-08 00:00:00

Driven by curiosity, humans have continually sought to explore and understand the world around them, leading to the invention of various tools to satiate this inquisitiveness. Despite not having the capacity to process and memorize vast amounts of information in their brains, humans excel in critical thinking, planning, reflection, and harnessing available tools to interact with and interpret the world, enabling them to find answers efficiently. The recent advancements in large language models (LLMs) suggest that machines might also possess the aforementioned human-like capabilities, allowing them to exhibit powerful abilities even with a constrained parameter count. In this paper, we introduce KwaiAgents, a generalized information-seeking agent system based on LLMs. Within KwaiAgents, we propose an agent system that employs LLMs as its cognitive core, which is capable of understanding a user's query, behavior guidelines, and referencing external documents. The agent can also update and retrieve information from its internal memory, plan and execute actions using a time-aware search-browse toolkit, and ultimately provide a comprehensive response. We further investigate the system's performance when powered by LLMs less advanced than GPT-4, and introduce the Meta-Agent Tuning (MAT) framework, designed to ensure even an open-sourced 7B or 13B model performs well among many agent systems. We exploit both benchmark and human evaluations to systematically validate these capabilities. Extensive experiments show the superiority of our agent system compared to other autonomous agents and highlight the enhanced generalized agent-abilities of our fine-tuned LLMs.
Classification of Human- and AI-Generated Texts for English, French, German, and Spanish
Authors: Kristina Schaaff, Tim Schlippe, Lorenz Mindner
Date: 2023-12-08 00:00:00

In this paper we analyze features to classify human- and AI-generated text for English, French, German and Spanish and compare them across languages. We investigate two scenarios: (1) The detection of text generated by AI from scratch, and (2) the detection of text rephrased by AI. For training and testing the classifiers in this multilingual setting, we created a new text corpus covering 10 topics for each language. For the detection of AI-generated text, the combination of all proposed features performs best, indicating that our features are portable to other related languages: The F1-scores are close with 99% for Spanish, 98% for English, 97% for German and 95% for French. For the detection of AI-rephrased text, the systems with all features outperform systems with other features in many cases, but using only document features performs best for German (72%) and Spanish (86%) and only text vector features leads to best results for English (78%).
Predictive Chemistry Augmented with Text Retrieval
Authors: Yujie Qian, Zhening Li, Zhengkai Tu, Connor W. Coley, Regina Barzilay
Date: 2023-12-08 00:00:00
Tasks: molecular representation, Retrieval, Retrosynthesis, Text Retrieval

This paper focuses on using natural language descriptions to enhance predictive models in the chemistry field. Conventionally, chemoinformatics models are trained with extensive structured data manually extracted from the literature. In this paper, we introduce TextReact, a novel method that directly augments predictive chemistry with texts retrieved from the literature. TextReact retrieves text descriptions relevant for a given chemical reaction, and then aligns them with the molecular representation of the reaction. This alignment is enhanced via an auxiliary masked LM objective incorporated in the predictor training. We empirically validate the framework on two chemistry tasks: reaction condition recommendation and one-step retrosynthesis. By leveraging text retrieval, TextReact significantly outperforms state-of-the-art chemoinformatics models trained solely on molecular data.