pwc-archive/papers-with-abstracts huggingface dataset:
Everything that can be learned about a causal structure with latent variables by observational and interventional probing schemes
Authors: Marina Maciel Ansanelli, Elie Wolfe, Robert W. Spekkens
Date: 2024-07-01 00:00:00

What types of differences among causal structures with latent variables are impossible to distinguish by statistical data obtained by probing each visible variable? If the probing scheme is simply passive observation, then it is well-known that many different causal structures can realize the same joint probability distributions. Even for the simplest case of two visible variables, for instance, one cannot distinguish between one variable being a causal parent of the other and the two variables sharing a latent common cause. However, it is possible to distinguish between these two causal structures if we have recourse to more powerful probing schemes, such as the possibility of intervening on one of the variables and observing the other. Herein, we address the question of which causal structures remain indistinguishable even given the most informative types of probing schemes on the visible variables. We find that two causal structures remain indistinguishable if and only if they are both associated with the same mDAG structure (as defined by Evans (2016)). We also consider the question of when one causal structure dominates another in the sense that it can realize all of the joint probability distributions that can be realized by the other using a given probing scheme. (Equivalence of causal structures is the special case of mutual dominance.) Finally, we investigate to what extent one can weaken the probing schemes implemented on the visible variables and still have the same discrimination power as a maximally informative probing scheme.
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
Authors: Yixiao Wang, Yifei Zhang, Mingxiao Huo, Ran Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka
Date: 2024-07-01 00:00:00
Tasks: Continual Learning, Mixture-of-Experts

The increasing complexity of tasks in robotics demands efficient strategies for multitask and continual learning. Traditional models typically rely on a universal policy for all tasks, facing challenges such as high computational costs and catastrophic forgetting when learning new tasks. To address these issues, we introduce a sparse, reusable, and flexible policy, Sparse Diffusion Policy (SDP). By adopting Mixture of Experts (MoE) within a transformer-based diffusion policy, SDP selectively activates experts and skills, enabling efficient and task-specific learning without retraining the entire model. SDP not only reduces the burden of active parameters but also facilitates the seamless integration and reuse of experts across various tasks. Extensive experiments on diverse tasks in both simulations and real world show that SDP 1) excels in multitask scenarios with negligible increases in active parameters, 2) prevents forgetting in continual learning of new tasks, and 3) enables efficient task transfer, offering a promising solution for advanced robotic applications. Demos and codes can be found in https://forrest-110.github.io/sparse_diffusion_policy/.
On the Abuse and Detection of Polyglot Files
Authors: Luke Koch, Sean Oesch, Amul Chaulagain, Jared Dixon, Matthew Dixon, Mike Huettal, Amir Sadovnik, Cory Watson, Brian Weber, Jacob Hartman, Richard Patulski
Date: 2024-07-01 00:00:00
Tasks: Malware Detection

A polyglot is a file that is valid in two or more formats. Polyglot files pose a problem for malware detection systems that route files to format-specific detectors/signatures, as well as file upload and sanitization tools. In this work we found that existing file-format and embedded-file detection tools, even those developed specifically for polyglot files, fail to reliably detect polyglot files used in the wild, leaving organizations vulnerable to attack. To address this issue, we studied the use of polyglot files by malicious actors in the wild, finding $30$ polyglot samples and $15$ attack chains that leveraged polyglot files. In this report, we highlight two well-known APTs whose cyber attack chains relied on polyglot files to bypass detection mechanisms. Using knowledge from our survey of polyglot usage in the wild -- the first of its kind -- we created a novel data set based on adversary techniques. We then trained a machine learning detection solution, PolyConv, using this data set. PolyConv achieves a precision-recall area-under-curve score of $0.999$ with an F1 score of $99.20$% for polyglot detection and $99.47$% for file-format identification, significantly outperforming all other tools tested. We developed a content disarmament and reconstruction tool, ImSan, that successfully sanitized $100$% of the tested image-based polyglots, which were the most common type found via the survey. Our work provides concrete tools and suggestions to enable defenders to better defend themselves against polyglot files, as well as directions for future work to create more robust file specifications and methods of disarmament.
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
Authors: Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, Xiaolong Wang
Date: 2024-07-01 00:00:00
Tasks: Imitation Learning

Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and scalable data. To achieve this, we propose an immersive teleoperation system Open-TeleVision that allows operators to actively perceive the robot's surroundings in a stereoscopic manner. Additionally, the system mirrors the operator's arm and hand movements on the robot, creating an immersive experience as if the operator's mind is transmitted to a robot embodiment. We validate the effectiveness of our system by collecting data and training imitation learning policies on four long-horizon, precise tasks (Can Sorting, Can Insertion, Folding, and Unloading) for 2 different humanoid robots and deploy them in the real world. The system is open-sourced at: https://robot-tv.github.io/
Online Learning of Temporal Dependencies for Sustainable Foraging Problem
Authors: John Payne, Aishwaryaprajna, Peter R. Lewis
Date: 2024-07-01 00:00:00

The sustainable foraging problem is a dynamic environment testbed for exploring the forms of agent cognition in dealing with social dilemmas in a multi-agent setting. The agents need to resist the temptation of individual rewards through foraging and choose the collective long-term goal of sustainability. We investigate methods of online learning in Neuro-Evolution and Deep Recurrent Q-Networks to enable agents to attempt the problem one-shot as is often required by wicked social problems. We further explore if learning temporal dependencies with Long Short-Term Memory may be able to aid the agents in developing sustainable foraging strategies in the long term. It was found that the integration of Long Short-Term Memory assisted agents in developing sustainable strategies for a single agent, however failed to assist agents in managing the social dilemma that arises in the multi-agent scenario.
Pictures Of MIDI: Controlled Music Generation via Graphical Prompts for Image-Based Diffusion Inpainting
Authors: Scott H. Hawley
Date: 2024-07-01 00:00:00
Tasks: Diversity, Music Generation

Recent years have witnessed significant progress in generative models for music, featuring diverse architectures that balance output quality, diversity, speed, and user control. This study explores a user-friendly graphical interface enabling the drawing of masked regions for inpainting by an Hourglass Diffusion Transformer (HDiT) model trained on MIDI piano roll images. To enhance note generation in specified areas, masked regions can be "repainted" with extra noise. The non-latent HDiTs linear scaling with pixel count allows efficient generation in pixel space, providing intuitive and interpretable controls such as masking throughout the network and removing the need to operate in compressed latent spaces such as those provided by pretrained autoencoders. We demonstrate that, in addition to inpainting of melodies, accompaniment, and continuations, the use of repainting can help increase note density yielding musical structures closely matching user specifications such as rising, falling, or diverging melody and/or accompaniment, even when these lie outside the typical training data distribution. We achieve performance on par with prior results while operating at longer context windows, with no autoencoder, and can enable complex geometries for inpainting masks, increasing the options for machine-assisted composers to control the generated music.
Efficient Shallow Ritz Method For 1D Diffusion-Reaction Problems
Authors: Zhiqiang Cai, Anastassia Doktorova, Robert D. Falgout, César Herrera
Date: 2024-07-01 00:00:00

This paper studies the shallow Ritz method for solving one-dimensional diffusion-reaction problems. The method is capable of improving the order of approximation for non-smooth problems. By following a similar approach to the one presented in [9], we present a damped block Newton (dBN) method to achieve nearly optimal order of approximation. The dBN method optimizes the Ritz functional by alternating between the linear and non-linear parameters of the shallow ReLU neural network (NN). For diffusion-reaction problems, new difficulties arise: (1) for the linear parameters, the mass matrix is dense and even more ill-conditioned than the stiffness matrix, and (2) for the non-linear parameters, the Hessian matrix is dense and may be singular. This paper addresses these challenges, resulting in a dBN method with computational cost of ${\cal O}(n)$. The ideas presented for diffusion-reaction problems can also be applied to least-squares approximation problems. For both applications, starting with the non-linear parameters as a uniform partition, numerical experiments show that the dBN method moves the mesh points to nearly optimal locations.
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Authors: Jingyun Yang, Zi-ang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg
Date: 2024-07-01 00:00:00
Tasks: Imitation Learning, Robot Manipulation

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust, data-efficient, and generalizable approach for robot manipulation task learning. Our approach combines SIM(3)-equivariant neural network architectures with diffusion models. This ensures that our learned policies are invariant to changes in scale, rotation, and translation, enhancing their applicability to unseen environments while retaining the benefits of diffusion-based policy learning such as multi-modality and robustness. We show on a suite of 6 simulation tasks that our proposed method reduces the data requirements and improves generalization to novel scenarios. In the real world, with 10 variations of 6 mobile manipulation tasks, we show that our method can easily generalize to novel objects and scenes after learning from just 5 minutes of human demonstrations in each task.
Exploring FPGA designs for MX and beyond
Authors: Ebby Samson, Naveen Mellempudi, Wayne Luk, George A. Constantinides
Date: 2024-07-01 00:00:00
Tasks: Efficient Neural Network, Quantization

A number of companies recently worked together to release the new Open Compute Project MX standard for low-precision computation, aimed at efficient neural network implementation. In this paper, we describe and evaluate the first open-source FPGA implementation of the arithmetic defined in the standard. Our designs fully support all the standard's concrete formats for conversion into and out of MX formats and for the standard-defined arithmetic operations, as well as arbitrary fixed-point and floating-point formats. Certain elements of the standard are left as implementation-defined, and we present the first concrete FPGA-inspired choices for these elements, which we outline in the paper. Our library of optimized hardware components is available open source, and can be used to build larger systems. For this purpose, we also describe and release an open-source Pytorch library for quantization into the new standard, integrated with the Brevitas library so that the community can develop novel neural network designs quantized with MX formats in mind. We demonstrate the usability and efficacy of our libraries via the implementation of example neural networks such as ResNet-18 on the ImageNet ILSVRC12 dataset. Our testing shows that MX is very effective for formats such as INT5 or FP6 which are not natively supported on GPUs. This gives FPGAs an advantage as they have the flexibility to implement a custom datapath and take advantage of the smaller area footprints offered by these formats.
GAT-Steiner: Rectilinear Steiner Minimal Tree Prediction Using GNNs
Authors: Bugra Onal, Eren Dogan, Muhammad Hadir Khan, Matthew R. Guthaus
Date: 2024-07-01 00:00:00
Tasks: Graph Attention

The Rectilinear Steiner Minimum Tree (RSMT) problem is a fundamental problem in VLSI placement and routing and is known to be NP-hard. Traditional RSMT algorithms spend a significant amount of time on finding Steiner points to reduce the total wire length or use heuristics to approximate producing sub-optimal results. We show that Graph Neural Networks (GNNs) can be used to predict optimal Steiner points in RSMTs with high accuracy and can be parallelized on GPUs. In this paper, we propose GAT-Steiner, a graph attention network model that correctly predicts 99.846% of the nets in the ISPD19 benchmark with an average increase in wire length of only 0.480% on suboptimal wire length nets. On randomly generated benchmarks, GAT-Steiner correctly predicts 99.942% with an average increase in wire length of only 0.420% on suboptimal wire length nets.
POST: Email Archival, Processing and Flagging Stack for Incident Responders
Authors: Jeffrey Fairbanks
Date: 2024-07-01 00:00:00

Phishing is one of the main points of compromise, with email security and awareness being estimated at \$50-100B in 2022. There is great need for email forensics capability to quickly search for malicious content. A novel solution POST is proposed. POST is an API driven serverless email archival, processing, and flagging workflow for both large and small organizations that collects and parses all email, flags emails using state of the art Natural Language Processing and Machine Learning, allows full email searching on every aspect of an email, and provides a cost savings of up to 68.6%.
FairLay-ML: Intuitive Debugging of Fairness in Data-Driven Social-Critical Software
Authors: Normen Yu, Luciana Carreon, Gang Tan, Saeid Tizpaz-Niari
Date: 2024-07-01 00:00:00
Tasks: counterfactual, Fairness

Data-driven software solutions have significantly been used in critical domains with significant socio-economic, legal, and ethical implications. The rapid adoptions of data-driven solutions, however, pose major threats to the trustworthiness of automated decision-support software. A diminished understanding of the solution by the developer and historical/current biases in the data sets are primary challenges. To aid data-driven software developers and end-users, we present FairLay-ML, a debugging tool to test and explain the fairness implications of data-driven solutions. FairLay-ML visualizes the logic of datasets, trained models, and decisions for a given data point. In addition, it trains various models with varying fairness-accuracy trade-offs. Crucially, FairLay-ML incorporates counterfactual fairness testing that finds bugs beyond the development datasets. We conducted two studies through FairLay-ML that allowed us to measure false positives/negatives in prevalent counterfactual testing and understand the human perception of counterfactual test cases in a class survey. FairLay-ML and its benchmarks are publicly available at https://github.com/Pennswood/FairLay-ML. The live version of the tool is available at https://fairlayml-v2.streamlit.app/. We provide a video demo of the tool at https://youtu.be/wNI9UWkywVU?t=133.
RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing
Authors: Bo Ai, Stephen Tian, Haochen Shi, YiXuan Wang, Cheston Tan, Yunzhu Li, Jiajun Wu
Date: 2024-07-01 00:00:00
Tasks: Graph Neural Network, Model Predictive Control

Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile sensing for robotic manipulation by learning a neural, tactile-informed dynamics model. Our proposed framework, RoboPack, employs a recurrent graph neural network to estimate object states, including particles and object-level latent physics information, from historical visuo-tactile observations and to perform future state predictions. Our tactile-informed dynamics model, learned from real-world data, can solve downstream robotics tasks with model-predictive control. We demonstrate our approach on a real robot equipped with a compliant Soft-Bubble tactile sensor on non-prehensile manipulation and dense packing tasks, where the robot must infer the physics properties of objects from direct and indirect interactions. Trained on only an average of 30 minutes of real-world interaction data per task, our model can perform online adaptation and make touch-informed predictions. Through extensive evaluations in both long-horizon dynamics prediction and real-world manipulation, our method demonstrates superior effectiveness compared to previous learning-based and physics-based simulation systems.
Optimization of Retrieval-Augmented Generation Context with Outlier Detection
Authors: Vitaly Bulgakov
Date: 2024-07-01 00:00:00
Tasks: Language Modeling, Language Modelling, Large Language Model, Outlier Detection, Question Answering, Retrieval, Retrieval-augmented Generation

In this paper, we focus on methods to reduce the size and improve the quality of the prompt context required for question-answering systems. Attempts to increase the number of retrieved chunked documents and thereby enlarge the context related to the query can significantly complicate the processing and decrease the performance of a Large Language Model (LLM) when generating responses to queries. It is well known that a large set of documents retrieved from a database in response to a query may contain irrelevant information, which often leads to hallucinations in the resulting answers. Our goal is to select the most semantically relevant documents, treating the discarded ones as outliers. We propose and evaluate several methods for identifying outliers by creating features that utilize the distances of embedding vectors, retrieved from the vector database, to both the centroid and the query vectors. The methods were evaluated by comparing the similarities of the retrieved LLM responses to ground-truth answers obtained using the OpenAI GPT-4o model. It was found that the greatest improvements were achieved with increasing complexity of the questions and answers.
Superconstant Inapproximability of Decision Tree Learning
Authors: Caleb Koch, Carmen Strassle, Li-Yang Tan
Date: 2024-07-01 00:00:00
Tasks: LEMMA, PAC learning

We consider the task of properly PAC learning decision trees with queries. Recent work of Koch, Strassle, and Tan showed that the strictest version of this task, where the hypothesis tree $T$ is required to be optimally small, is NP-hard. Their work leaves open the question of whether the task remains intractable if $T$ is only required to be close to optimal, say within a factor of 2, rather than exactly optimal. We answer this affirmatively and show that the task indeed remains NP-hard even if $T$ is allowed to be within any constant factor of optimal. More generally, our result allows for a smooth tradeoff between the hardness assumption and the inapproximability factor. As Koch et al.'s techniques do not appear to be amenable to such a strengthening, we first recover their result with a new and simpler proof, which we couple with a new XOR lemma for decision trees. While there is a large body of work on XOR lemmas for decision trees, our setting necessitates parameters that are extremely sharp, and are not known to be attainable by existing XOR lemmas. Our work also carries new implications for the related problem of Decision Tree Minimization.
Optimizing Age of Information in Vehicular Edge Computing with Federated Graph Neural Network Multi-Agent Reinforcement Learning
Authors: Wenhua Wang, Qiong Wu, Pingyi Fan, Nan Cheng, Wen Chen, Jiangzhou Wang, Khaled B. Letaief
Date: 2024-07-01 00:00:00
Tasks: Deep Reinforcement Learning, Edge-computing, Federated Learning, Graph Neural Network, Multi-agent Reinforcement Learning

With the rapid development of intelligent vehicles and Intelligent Transport Systems (ITS), the sensors such as cameras and LiDAR installed on intelligent vehicles provides higher capacity of executing computation-intensive and delay-sensitive tasks, thereby raising deployment costs. To address this issue, Vehicular Edge Computing (VEC) has been proposed to process data through Road Side Units (RSUs) to support real-time applications. This paper focuses on the Age of Information (AoI) as a key metric for data freshness and explores task offloading issues for vehicles under RSU communication resource constraints. We adopt a Multi-agent Deep Reinforcement Learning (MADRL) approach, allowing vehicles to autonomously make optimal data offloading decisions. However, MADRL poses risks of vehicle information leakage during communication learning and centralized training. To mitigate this, we employ a Federated Learning (FL) framework that shares model parameters instead of raw data to protect the privacy of vehicle users. Building on this, we propose an innovative distributed federated learning framework combining Graph Neural Networks (GNN), named Federated Graph Neural Network Multi-Agent Reinforcement Learning (FGNN-MADRL), to optimize AoI across the system. For the first time, road scenarios are constructed as graph data structures, and a GNN-based federated learning framework is proposed, effectively combining distributed and centralized federated aggregation. Furthermore, we propose a new MADRL algorithm that simplifies decision making and enhances offloading efficiency, further reducing the decision complexity. Simulation results demonstrate the superiority of our proposed approach to other methods through simulations.
Beyond Throughput and Compression Ratios: Towards High End-to-end Utility of Gradient Compression
Authors: Wenchen Han, Shay Vargaftik, Michael Mitzenmacher, Brad Karp, Ran Ben Basat
Date: 2024-07-01 00:00:00
Tasks: Quantization

Gradient aggregation has long been identified as a major bottleneck in today's large-scale distributed machine learning training systems. One promising solution to mitigate such bottlenecks is gradient compression, directly reducing communicated gradient data volume. However, in practice, many gradient compression schemes do not achieve acceleration of the training process while also preserving accuracy. In this work, we identify common issues in previous gradient compression systems and evaluation methodologies. These include excessive computational overheads; incompatibility with all-reduce; and insufficient evaluation methods, such as not using an end-to-end metric or using a 32-bit baseline instead of the stronger 16-bit baseline. We revisit common compression approaches (sparsification, quantization, and low-rank decomposition) and demonstrate how considering the above issues can lead to minor but strategic design changes, resulting in notably better performance. Our goal is to raise awareness of the need for design and evaluation standards that naturally translate to the end-to-end utility of gradient compression.