JohnVitz/NLP_Assignment_3_part_3 · Datasets at Hugging Face

1708.05884

Teaching UAVs to Race: End-to-End Regression of Agile Controls in Simulation

Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of training data. In this paper, we train a deep neural network to predict UAV controls from raw image data for the task of autonomous UAV racing in a photo-realistic simulation. Training is done through imitation learning with data augmentation to allow for the correction of navigation mistakes. Extensive experiments demonstrate that our trained network (when sufficient data augmentation is used) outperforms state-of-the-art methods and flies more consistently than many human pilots. Additionally, we show that our optimized network architecture can run in real-time on embedded hardware, allowing for efficient on-board processing critical for real-world deployment. From a broader perspective, our results underline the importance of extensive data augmentation techniques to improve robustness in end-to-end learning setups.

false

true

false

79,218

2109.03756

Diagnostics-Guided Explanation Generation

Explanations shed light on a machine learning model's rationales and can aid in identifying deficiencies in its reasoning process. Explanation generation models are typically trained in a supervised way given human explanations. When such annotations are not available, explanations are often selected as those portions of the input that maximise a downstream task's performance, which corresponds to optimising an explanation's Faithfulness to a given model. Faithfulness is one of several so-called diagnostic properties, which prior work has identified as useful for gauging the quality of an explanation without requiring annotations. Other diagnostic properties are Data Consistency, which measures how similar explanations are for similar input instances, and Confidence Indication, which shows whether the explanation reflects the confidence of the model. In this work, we show how to directly optimise for these diagnostic properties when training a model to generate sentence-level explanations, which markedly improves explanation quality, agreement with human rationales, and downstream task performance on three complex reasoning tasks.

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true

false

254,157

1502.00416

Towards a solid solution of real-time fire and flame detection

Although the object detection and recognition has received growing attention for decades, a robust fire and flame detection method is rarely explored. This paper presents an empirical study, towards a general and solid approach to fast detect fire and flame in videos, with the applications in video surveillance and event retrieval. Our system consists of three cascaded steps: (1) candidate regions proposing by a background model, (2) fire region classifying with color-texture features and a dictionary of visual words, and (3) temporal verifying. The experimental evaluation and analysis are done for each step. We believe that it is a useful service to both academic research and real-world application. In addition, we release the software of the proposed system with the source code, as well as a public benchmark and data set, including 64 video clips covered both indoor and outdoor scenes under different conditions. We achieve an 82% Recall with 93% Precision on the data set, and greatly improve the performance by state-of-the-arts methods.

false

true

false

39,825

2308.04224

Will your Doorbell Camera still recognize you as you grow old

Robust authentication for low-power consumer devices such as doorbell cameras poses a valuable and unique challenge. This work explores the effect of age and aging on the performance of facial authentication methods. Two public age datasets, AgeDB and Morph-II have been used as baselines in this work. A photo-realistic age transformation method has been employed to augment a set of high-quality facial images with various age effects. Then the effect of these synthetic aging data on the high-performance deep-learning-based face recognition model is quantified by using various metrics including Receiver Operating Characteristic (ROC) curves and match score distributions. Experimental results demonstrate that long-term age effects are still a significant challenge for the state-of-the-art facial authentication method.

false

true

false

384,334

2502.09663

DiffEx: Explaining a Classifier with Diffusion Models to Identify Microscopic Cellular Variations

In recent years, deep learning models have been extensively applied to biological data across various modalities. Discriminative deep learning models have excelled at classifying images into categories (e.g., healthy versus diseased, treated versus untreated). However, these models are often perceived as black boxes due to their complexity and lack of interpretability, limiting their application in real-world biological contexts. In biological research, explainability is essential: understanding classifier decisions and identifying subtle differences between conditions are critical for elucidating the effects of treatments, disease progression, and biological processes. To address this challenge, we propose DiffEx, a method for generating visually interpretable attributes to explain classifiers and identify microscopic cellular variations between different conditions. We demonstrate the effectiveness of DiffEx in explaining classifiers trained on natural and biological images. Furthermore, we use DiffEx to uncover phenotypic differences within microscopy datasets. By offering insights into cellular variations through classifier explanations, DiffEx has the potential to advance the understanding of diseases and aid drug discovery by identifying novel biomarkers.

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false

true

false

true

false

533,548

1810.09503

Properties of a Generalized Divergence Related to Tsallis Relative Entropy

In this paper, we investigate the partition inequality, joint convexity, and Pinsker's inequality, for a divergence that generalizes the Tsallis Relative Entropy and Kullback-Leibler divergence. The generalized divergence is defined in terms of a deformed exponential function, which replaces the Tsallis $q$-exponential. We also constructed a family of probability distributions related to the generalized divergence. We found necessary and sufficient conditions for the partition inequality to be satisfied. A sufficient condition for the joint convexity was established. We proved that the generalized divergence satisfies the partition inequality, and is jointly convex, if, and only if, it coincides with the Tsallis relative entropy. As an application of partition inequality, a criterion for the Pinsker's inequality was found.

false

true

false

111,069

2102.04449

Concentrated Document Topic Model

We propose a Concentrated Document Topic Model(CDTM) for unsupervised text classification, which is able to produce a concentrated and sparse document topic distribution. In particular, an exponential entropy penalty is imposed on the document topic distribution. Documents that have diverse topic distributions are penalized more, while those having concentrated topics are penalized less. We apply the model to the benchmark NIPS dataset and observe more coherent topics and more concentrated and sparse document-topic distributions than Latent Dirichlet Allocation(LDA).

false

true

false

219,119

2003.12168

Adversarial System Variant Approximation to Quantify Process Model Generalization

In process mining, process models are extracted from event logs using process discovery algorithms and are commonly assessed using multiple quality dimensions. While the metrics that measure the relationship of an extracted process model to its event log are well-studied, quantifying the level by which a process model can describe the unobserved behavior of its underlying system falls short in the literature. In this paper, a novel deep learning-based methodology called Adversarial System Variant Approximation (AVATAR) is proposed to overcome this issue. Sequence Generative Adversarial Networks are trained on the variants contained in an event log with the intention to approximate the underlying variant distribution of the system behavior. Unobserved realistic variants are sampled either directly from the Sequence Generative Adversarial Network or by leveraging the Metropolis-Hastings algorithm. The degree by which a process model relates to its underlying unknown system behavior is then quantified based on the realistic observed and estimated unobserved variants using established process model quality metrics. Significant performance improvements in revealing realistic unobserved variants are demonstrated in a controlled experiment on 15 ground truth systems. Additionally, the proposed methodology is experimentally tested and evaluated to quantify the generalization of 60 discovered process models with respect to their systems.

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true

false

true

false

169,833

1501.03796

The Fast Convergence of Incremental PCA

We consider a situation in which we see samples in $\mathbb{R}^d$ drawn i.i.d. from some distribution with mean zero and unknown covariance A. We wish to compute the top eigenvector of A in an incremental fashion - with an algorithm that maintains an estimate of the top eigenvector in O(d) space, and incrementally adjusts the estimate with each new data point that arrives. Two classical such schemes are due to Krasulina (1969) and Oja (1983). We give finite-sample convergence rates for both.

false

true

false

39,298

1607.05302

Environmental Information Improves Robotic Search Performance

We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false positives, false negatives and environmental uncertainty. We consider the case that the performance of a search sensor is dependent on the environment (e.g., clutter density), and therefore sensor performance is better in some locations than in others. We specifically consider applications where environmental information can be acquired either by a separate vehicle or by the same vehicle that performs the search task. Our main contribution in this study is to formally derive a decision-theoretic cost function to compute the locations where the environmental information should be acquired. For the cases where computing the optimal locations to sample the environment is computationally expensive, we offer an approximation approach that yields provable near-optimal paths. We show that our decision-theoretic cost function outperforms the information-maximization approach, which is often employed in similar applications.

false

true

false

58,734

2303.14218

Curricular Contrastive Regularization for Physics-aware Single Image Dehazing

Considering the ill-posed nature, contrastive regularization has been developed for single image dehazing, introducing the information from negative images as a lower bound. However, the contrastive samples are nonconsensual, as the negatives are usually represented distantly from the clear (i.e., positive) image, leaving the solution space still under-constricted. Moreover, the interpretability of deep dehazing models is underexplored towards the physics of the hazing process. In this paper, we propose a novel curricular contrastive regularization targeted at a consensual contrastive space as opposed to a non-consensual one. Our negatives, which provide better lower-bound constraints, can be assembled from 1) the hazy image, and 2) corresponding restorations by other existing methods. Further, due to the different similarities between the embeddings of the clear image and negatives, the learning difficulty of the multiple components is intrinsically imbalanced. To tackle this issue, we customize a curriculum learning strategy to reweight the importance of different negatives. In addition, to improve the interpretability in the feature space, we build a physics-aware dual-branch unit according to the atmospheric scattering model. With the unit, as well as curricular contrastive regularization, we establish our dehazing network, named C2PNet. Extensive experiments demonstrate that our C2PNet significantly outperforms state-of-the-art methods, with extreme PSNR boosts of 3.94dB and 1.50dB, respectively, on SOTS-indoor and SOTS-outdoor datasets.

false

true

false

353,988

2307.04608

Learning Interpretable Heuristics for WalkSAT

Local search algorithms are well-known methods for solving large, hard instances of the satisfiability problem (SAT). The performance of these algorithms crucially depends on heuristics for setting noise parameters and scoring variables. The optimal setting for these heuristics varies for different instance distributions. In this paper, we present an approach for learning effective variable scoring functions and noise parameters by using reinforcement learning. We consider satisfiability problems from different instance distributions and learn specialized heuristics for each of them. Our experimental results show improvements with respect to both a WalkSAT baseline and another local search learned heuristic.

false

true

false

378,463

1808.05322

Decision-Making with Belief Functions: a Review

Approaches to decision-making under uncertainty in the belief function framework are reviewed. Most methods are shown to blend criteria for decision under ignorance with the maximum expected utility principle of Bayesian decision theory. A distinction is made between methods that construct a complete preference relation among acts, and those that allow incomparability of some acts due to lack of information. Methods developed in the imprecise probability framework are applicable in the Dempster-Shafer context and are also reviewed. Shafer's constructive decision theory, which substitutes the notion of goal for that of utility, is described and contrasted with other approaches. The paper ends by pointing out the need to carry out deeper investigation of fundamental issues related to decision-making with belief functions and to assess the descriptive, normative and prescriptive values of the different approaches.

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false

105,322

2412.16442

Iterative Feature Exclusion Ranking for Deep Tabular Learning

Tabular data is a common format for storing information in rows and columns to represent data entries and their features. Although deep neural networks have become the main approach for modeling a wide range of domains including computer vision and NLP, many of them are not well-suited for tabular data. Recently, a few deep learning models have been proposed for deep tabular learning, featuring an internal feature selection mechanism with end-to-end gradient-based optimization. However, their feature selection mechanisms are unidimensional, and hence fail to account for the contextual dependence of feature importance, potentially overlooking crucial interactions that govern complex tasks. In addition, they overlook the bias of high-impact features and the risk associated with the limitations of attention generalization. To address this limitation, this study proposes a novel iterative feature exclusion module that enhances the feature importance ranking in tabular data. The proposed module iteratively excludes each feature from the input data and computes the attention scores, which represent the impact of the features on the prediction. By aggregating the attention scores from each iteration, the proposed module generates a refined representation of feature importance that captures both global and local interactions between features. The effectiveness of the proposed module is evaluated on four public datasets. The results demonstrate that the proposed module consistently outperforms state-of-the-art methods and baseline models in feature ranking and classification tasks. The code is publicly available at https://github.com/abaraka2020/Iterative-Feature-Exclusion-Ranking-Module and https://github.com/mohalim/IFENet

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true

false

519,515

2407.09428

The Transmission Value of Energy Storage and Fundamental Limitations

This study addresses the transmission value of energy storage in electric grids. The inherent connection between storage and transmission infrastructure is captured from a "cumulative energy" perspective, which enables the reformulating of the conventional optimization problem by employing line power flow as the decision variable. The study also establishes the theoretical limitations of both storage and transmission lines that can be replaced by each other, providing explicit closed-form expressions for the minimum capacity needed. As a key departure from conventional practice in which transmission lines are designed according to the peak power delivery needs, with sufficient storage capacity, the transmission line capacity can be designed based on the average power delivery needs. The models of this paper only rely on a few basic assumptions, paving the way for understanding future storage as a transmission asset market design. Numerical experiments based on 2-bus, modified RTS 24-bus, RTS-GMLC, and Texas synthetic power systems illustrate the results.

false

true

false

472,566

1909.01251

Avoiding Resentment Via Monotonic Fairness

Classifiers that achieve demographic balance by explicitly using protected attributes such as race or gender are often politically or culturally controversial due to their lack of individual fairness, i.e. individuals with similar qualifications will receive different outcomes. Individually and group fair decision criteria can produce counter-intuitive results, e.g. that the optimal constrained boundary may reject intuitively better candidates due to demographic imbalance in similar candidates. Both approaches can be seen as introducing individual resentment, where some individuals would have received a better outcome if they either belonged to a different demographic class and had the same qualifications, or if they remained in the same class but had objectively worse qualifications (e.g. lower test scores). We show that both forms of resentment can be avoided by using monotonically constrained machine learning models to create individually fair, demographically balanced classifiers.

false

true

false

true

false

143,858

1910.00765

SharPer: Sharding Permissioned Blockchains Over Network Clusters

Scalability is one of the main roadblocks to business adoption of blockchain systems. Despite recent intensive research on using sharding techniques to enhance the scalability of blockchain systems, existing solutions do not efficiently address cross-shard transactions. In this paper, we introduce SharPer, a permissioned blockchain system that improves scalability by clustering (partitioning) the nodes and assigning different data shards to different clusters where each data shard is replicated on the nodes of a cluster. SharPer supports both intra-shard and cross-shard transactions and processes intra-shard transactions of different clusters as well as cross-shard transactions with non-overlapping clusters simultaneously. In SharPer, the blockchain ledger is formed as a directed acyclic graph where each cluster maintains only a view of the ledger. SharPer also incorporates a flattened protocol to establish consensus among clusters on the order of cross-shard transactions. The experimental results reveal the efficiency of SharPer in terms of performance and scalability especially in workloads with a low percentage of cross-shard transactions.

false

true

147,764

2212.10455

MULTI3NLU++: A Multilingual, Multi-Intent, Multi-Domain Dataset for Natural Language Understanding in Task-Oriented Dialogue

Task-oriented dialogue (TOD) systems have been widely deployed in many industries as they deliver more efficient customer support. These systems are typically constructed for a single domain or language and do not generalise well beyond this. To support work on Natural Language Understanding (NLU) in TOD across multiple languages and domains simultaneously, we constructed MULTI3NLU++, a multilingual, multi-intent, multi-domain dataset. MULTI3NLU++ extends the English only NLU++ dataset to include manual translations into a range of high, medium, and low resource languages (Spanish, Marathi, Turkish and Amharic), in two domains (BANKING and HOTELS). Because of its multi-intent property, MULTI3NLU++ represents complex and natural user goals, and therefore allows us to measure the realistic performance of TOD systems in a varied set of the world's languages. We use MULTI3NLU++ to benchmark state-of-the-art multilingual models for the NLU tasks of intent detection and slot labelling for TOD systems in the multilingual setting. The results demonstrate the challenging nature of the dataset, particularly in the low-resource language setting, offering ample room for future experimentation in multi-domain multilingual TOD setups.

false

true

false

337,473

1808.07905

Optimal Energy-Efficient Policies for Data Centers through Sensitivity-Based Optimization

In this paper, we propose a novel dynamic decision method by applying the sensitivity-based optimization theory to find the optimal energy-efficient policy of a data center with two groups of heterogeneous servers. Servers in Group 1 always work at high energy consumption, while servers in Group 2 may either work at high energy consumption or sleep at low energy consumption. An energy-efficient control policy determines the switch between work and sleep states of servers in Group 2 in a dynamic way. Since servers in Group 1 are always working with high priority to jobs, a transfer rule is proposed to migrate the jobs in Group 2 to idle servers in Group 1. To find the optimal energy-efficient policy, we set up a policy-based Poisson equation, and provide explicit expressions for its unique solution of performance potentials by means of the RG-factorization. Based on this, we characterize monotonicity and optimality of the long-run average profit with respect to the policies under different service prices. We prove that the bang-bang control is always optimal for this optimization problem, i.e., we should either keep all servers sleep or turn on the servers such that the number of working servers equals that of waiting jobs in Group 2. As an easy adoption of policy forms, we further study the threshold-type policy and obtain a necessary condition of the optimal threshold policy. We hope the methodology and results derived in this paper can shed light to the study of more general energy-efficient data centers.

false

true

false

105,830

1709.01648

Boosting Deep Learning Risk Prediction with Generative Adversarial Networks for Electronic Health Records

The rapid growth of Electronic Health Records (EHRs), as well as the accompanied opportunities in Data-Driven Healthcare (DDH), has been attracting widespread interests and attentions. Recent progress in the design and applications of deep learning methods has shown promising results and is forcing massive changes in healthcare academia and industry, but most of these methods rely on massive labeled data. In this work, we propose a general deep learning framework which is able to boost risk prediction performance with limited EHR data. Our model takes a modified generative adversarial network namely ehrGAN, which can provide plausible labeled EHR data by mimicking real patient records, to augment the training dataset in a semi-supervised learning manner. We use this generative model together with a convolutional neural network (CNN) based prediction model to improve the onset prediction performance. Experiments on two real healthcare datasets demonstrate that our proposed framework produces realistic data samples and achieves significant improvements on classification tasks with the generated data over several stat-of-the-art baselines.

false

true

false

80,123

2211.03856

User Engagement and the Toxicity of Tweets

Twitter is one of the most popular online micro-blogging and social networking platforms. This platform allows individuals to freely express opinions and interact with others regardless of geographic barriers. However, with the good that online platforms offer, also comes the bad. Twitter and other social networking platforms have created new spaces for incivility. With the growing interest on the consequences of uncivil behavior online, understanding how a toxic comment impacts online interactions is imperative. We analyze a random sample of more than 85,300 Twitter conversations to examine differences between toxic and non-toxic conversations and the relationship between toxicity and user engagement. We find that toxic conversations, those with at least one toxic tweet, are longer but have fewer individual users contributing to the dialogue compared to the non-toxic conversations. However, within toxic conversations, toxicity is positively associated with more individual Twitter users participating in conversations. This suggests that overall, more visible conversations are more likely to include toxic replies. Additionally, we examine the sequencing of toxic tweets and its impact on conversations. Toxic tweets often occur as the main tweet or as the first reply, and lead to greater overall conversation toxicity. We also find a relationship between the toxicity of the first reply to a toxic tweet and the toxicity of the conversation, such that whether the first reply is toxic or non-toxic sets the stage for the overall toxicity of the conversation, following the idea that hate can beget hate.

false

true

false

true

false

329,056

2203.08199

(Re)Politicizing Digital Well-Being: Beyond User Engagements

The psychological costs of the attention economy are often considered through the binary of harmful design and healthy use, with digital well-being chiefly characterised as a matter of personal responsibility. This article adopts an interdisciplinary approach to highlight the empirical, ideological, and political limits of embedding this individualised perspective in computational discourses and designs of digital well-being measurement. We will reveal well-being to be a culturally specific and environmentally conditioned concept and will problematize user engagement as a universal proxy for well-being. Instead, the contributing factors of user well-being will be located in environing social, cultural, and political conditions far beyond the control of individual users alone. In doing so, we hope to reinvigorate the issue of digital well-being measurement as a nexus point of political concern, through which multiple disciplines can study experiences of digital ill as symptomatic of wider social inequalities and (capitalist) relations of power.

true

false

true

false

true

false

285,706

2407.04806

Training Guarantees of Neural Network Classification Two-Sample Tests by Kernel Analysis

We construct and analyze a neural network two-sample test to determine whether two datasets came from the same distribution (null hypothesis) or not (alternative hypothesis). We perform time-analysis on a neural tangent kernel (NTK) two-sample test. In particular, we derive the theoretical minimum training time needed to ensure the NTK two-sample test detects a deviation-level between the datasets. Similarly, we derive the theoretical maximum training time before the NTK two-sample test detects a deviation-level. By approximating the neural network dynamics with the NTK dynamics, we extend this time-analysis to the realistic neural network two-sample test generated from time-varying training dynamics and finite training samples. A similar extension is done for the neural network two-sample test generated from time-varying training dynamics but trained on the population. To give statistical guarantees, we show that the statistical power associated with the neural network two-sample test goes to 1 as the neural network training samples and test evaluation samples go to infinity. Additionally, we prove that the training times needed to detect the same deviation-level in the null and alternative hypothesis scenarios are well-separated. Finally, we run some experiments showcasing a two-layer neural network two-sample test on a hard two-sample test problem and plot a heatmap of the statistical power of the two-sample test in relation to training time and network complexity.

false

true

false

470,700

2203.08954

BPE vs. Morphological Segmentation: A Case Study on Machine Translation of Four Polysynthetic Languages

Morphologically-rich polysynthetic languages present a challenge for NLP systems due to data sparsity, and a common strategy to handle this issue is to apply subword segmentation. We investigate a wide variety of supervised and unsupervised morphological segmentation methods for four polysynthetic languages: Nahuatl, Raramuri, Shipibo-Konibo, and Wixarika. Then, we compare the morphologically inspired segmentation methods against Byte-Pair Encodings (BPEs) as inputs for machine translation (MT) when translating to and from Spanish. We show that for all language pairs except for Nahuatl, an unsupervised morphological segmentation algorithm outperforms BPEs consistently and that, although supervised methods achieve better segmentation scores, they under-perform in MT challenges. Finally, we contribute two new morphological segmentation datasets for Raramuri and Shipibo-Konibo, and a parallel corpus for Raramuri--Spanish.

false

true

false

true

false

285,968

2305.19426

ScoNe: Benchmarking Negation Reasoning in Language Models With Fine-Tuning and In-Context Learning

A number of recent benchmarks seek to assess how well models handle natural language negation. However, these benchmarks lack the controlled example paradigms that would allow us to infer whether a model had learned how negation morphemes semantically scope. To fill these analytical gaps, we present the Scoped Negation NLI (ScoNe-NLI) benchmark, which contains contrast sets of six examples with up to two negations where either zero, one, or both negative morphemes affect the NLI label. We use ScoNe-NLI to assess fine-tuning and in-context learning strategies. We find that RoBERTa and DeBERTa models solve ScoNe-NLI after many shot fine-tuning. For in-context learning, we test InstructGPT models and find that most prompt strategies are not successful, including those using step-by-step reasoning. To better understand this result, we extend ScoNe with ScoNe-NLG, a sentence completion test set that embeds negation reasoning in short narratives. Here, InstructGPT is successful, which reveals the model can correctly reason about negation, but struggles to do so on prompt-adapted NLI examples outside of its core pretraining regime.

false

true

false

true

false

369,519

1906.09072

Evolution Attack On Neural Networks

Many studies have been done to prove the vulnerability of neural networks to adversarial example. A trained and well-behaved model can be fooled by a visually imperceptible perturbation, i.e., an originally correctly classified image could be misclassified after a slight perturbation. In this paper, we propose a black-box strategy to attack such networks using an evolution algorithm. First, we formalize the generation of an adversarial example into the optimization problem of perturbations that represent the noise added to an original image at each pixel. To solve this optimization problem in a black-box way, we find that an evolution algorithm perfectly meets our requirement since it can work without any gradient information. Therefore, we test various evolution algorithms, including a simple genetic algorithm, a parameter-exploring policy gradient, an OpenAI evolution strategy, and a covariance matrix adaptive evolution strategy. Experimental results show that a covariance matrix adaptive evolution Strategy performs best in this optimization problem. Additionally, we also perform several experiments to explore the effect of different regularizations on improving the quality of an adversarial example.

false

true

false

136,055

2309.11978

Kuramoto model, phase synchronisation and the network's core

In this note we show that for the Kuramoto model defined in a simple undirected graph it is possible to decide which nodes form the core of the network. The set of core-nodes is defined by its relevance to the phase synchronisation process.

false

true

false

393,612

2007.10610

Word Representation for Rhythms

This paper proposes a word representation strategy for rhythm patterns. Using 1034 pieces of Nottingham Dataset, a rhythm word dictionary whose size is 450 (without control tokens) is generated. BERT model is created to explore syntactic potentials of rhythm words. Our model is able to find overall music structures and cluster different meters. In a larger scheme, a think mode - music as language - is proposed for systematic considerations.

false

true

false

true

false

188,323

1712.04893

Performance Analysis of Approximate Message Passing for Distributed Compressed Sensing

Bayesian approximate message passing (BAMP) is an efficient method in compressed sensing that is nearly optimal in the minimum mean squared error (MMSE) sense. Bayesian approximate message passing (BAMP) performs joint recovery of multiple vectors with identical support and accounts for correlations in the signal of interest and in the noise. In this paper, we show how to reduce the complexity of vector BAMP via a simple joint decorrelation diagonalization) transform of the signal and noise vectors, which also facilitates the subsequent performance analysis. We prove that BAMP and the corresponding state evolution (SE) are equivariant with respect to the joint decorrelation transform and preserve diagonality of the residual noise covariance for the Bernoulli-Gauss (BG) prior. We use these results to analyze the dynamics and the mean squared error (MSE) performance of BAMP via the replica method, and thereby understand the impact of signal correlation and number of jointly sparse signals.

false

true

false

true

86,666

2306.15171

Reducing the gap between streaming and non-streaming Transducer-based ASR by adaptive two-stage knowledge distillation

Transducer is one of the mainstream frameworks for streaming speech recognition. There is a performance gap between the streaming and non-streaming transducer models due to limited context. To reduce this gap, an effective way is to ensure that their hidden and output distributions are consistent, which can be achieved by hierarchical knowledge distillation. However, it is difficult to ensure the distribution consistency simultaneously because the learning of the output distribution depends on the hidden one. In this paper, we propose an adaptive two-stage knowledge distillation method consisting of hidden layer learning and output layer learning. In the former stage, we learn hidden representation with full context by applying mean square error loss function. In the latter stage, we design a power transformation based adaptive smoothness method to learn stable output distribution. It achieved 19\% relative reduction in word error rate, and a faster response for the first token compared with the original streaming model in LibriSpeech corpus.

false

true

false

375,937

1905.08318

DeepCABAC: Context-adaptive binary arithmetic coding for deep neural network compression

We present DeepCABAC, a novel context-adaptive binary arithmetic coder for compressing deep neural networks. It quantizes each weight parameter by minimizing a weighted rate-distortion function, which implicitly takes the impact of quantization on to the accuracy of the network into account. Subsequently, it compresses the quantized values into a bitstream representation with minimal redundancies. We show that DeepCABAC is able to reach very high compression ratios across a wide set of different network architectures and datasets. For instance, we are able to compress by x63.6 the VGG16 ImageNet model with no loss of accuracy, thus being able to represent the entire network with merely 8.7MB.

false

true

false

true

false

true

false

131,446

2209.14757

Speeding Up Action Recognition Using Dynamic Accumulation of Residuals in Compressed Domain

With the widespread use of installed cameras, video-based monitoring approaches have seized considerable attention for different purposes like assisted living. Temporal redundancy and the sheer size of raw videos are the two most common problematic issues related to video processing algorithms. Most of the existing methods mainly focused on increasing accuracy by exploring consecutive frames, which is laborious and cannot be considered for real-time applications. Since videos are mostly stored and transmitted in compressed format, these kinds of videos are available on many devices. Compressed videos contain a multitude of beneficial information, such as motion vectors and quantized coefficients. Proper use of this available information can greatly improve the video understanding methods' performance. This paper presents an approach for using residual data, available in compressed videos directly, which can be obtained by a light partially decoding procedure. In addition, a method for accumulating similar residuals is proposed, which dramatically reduces the number of processed frames for action recognition. Applying neural networks exclusively for accumulated residuals in the compressed domain accelerates performance, while the classification results are highly competitive with raw video approaches.

false

true

false

320,341

2306.05550

Bias Against 93 Stigmatized Groups in Masked Language Models and Downstream Sentiment Classification Tasks

The rapid deployment of artificial intelligence (AI) models demands a thorough investigation of biases and risks inherent in these models to understand their impact on individuals and society. This study extends the focus of bias evaluation in extant work by examining bias against social stigmas on a large scale. It focuses on 93 stigmatized groups in the United States, including a wide range of conditions related to disease, disability, drug use, mental illness, religion, sexuality, socioeconomic status, and other relevant factors. We investigate bias against these groups in English pre-trained Masked Language Models (MLMs) and their downstream sentiment classification tasks. To evaluate the presence of bias against 93 stigmatized conditions, we identify 29 non-stigmatized conditions to conduct a comparative analysis. Building upon a psychology scale of social rejection, the Social Distance Scale, we prompt six MLMs: RoBERTa-base, RoBERTa-large, XLNet-large, BERTweet-base, BERTweet-large, and DistilBERT. We use human annotations to analyze the predicted words from these models, with which we measure the extent of bias against stigmatized groups. When prompts include stigmatized conditions, the probability of MLMs predicting negative words is approximately 20 percent higher than when prompts have non-stigmatized conditions. In the sentiment classification tasks, when sentences include stigmatized conditions related to diseases, disability, education, and mental illness, they are more likely to be classified as negative. We also observe a strong correlation between bias in MLMs and their downstream sentiment classifiers (r =0.79). The evidence indicates that MLMs and their downstream sentiment classification tasks exhibit biases against socially stigmatized groups.

false

true

false

true

false

true

false

true

false

372,238

2407.00634

Tarsier: Recipes for Training and Evaluating Large Video Description Models

Generating fine-grained video descriptions is a fundamental challenge in video understanding. In this work, we introduce Tarsier, a family of large-scale video-language models designed to generate high-quality video descriptions. Tarsier employs CLIP-ViT to encode frames separately and then uses an LLM to model temporal relationships. Despite its simple architecture, we demonstrate that with a meticulously designed two-stage training procedure, the Tarsier models exhibit substantially stronger video description capabilities than any existing open-source model, showing a $+51.4\%$ advantage in human side-by-side evaluation over the strongest model. Additionally, they are comparable to state-of-the-art proprietary models, with a $+12.3\%$ advantage against GPT-4V and a $-6.7\%$ disadvantage against Gemini 1.5 Pro. When upgraded to Tarsier2 by building upon SigLIP and Qwen2-7B, it further improves significantly with a $+4.8\%$ advantage against GPT-4o. Besides video description, Tarsier proves to be a versatile generalist model, achieving new state-of-the-art results across nine public benchmarks, including multi-choice VQA, open-ended VQA, and zero-shot video captioning. Our second contribution is the introduction of a new benchmark -- DREAM-1K (https://tarsier-vlm.github.io/) for evaluating video description models, consisting of a new challenging dataset featuring videos from diverse sources and varying complexity, along with an automatic method specifically designed to assess the quality of fine-grained video descriptions. We make our models and evaluation benchmark publicly available at https://github.com/bytedance/tarsier.

false

true

false

true

false

468,946

2405.06995

Benchmarking Cross-Domain Audio-Visual Deception Detection

Automated deception detection is crucial for assisting humans in accurately assessing truthfulness and identifying deceptive behavior. Conventional contact-based techniques, like polygraph devices, rely on physiological signals to determine the authenticity of an individual's statements. Nevertheless, recent developments in automated deception detection have demonstrated that multimodal features derived from both audio and video modalities may outperform human observers on publicly available datasets. Despite these positive findings, the generalizability of existing audio-visual deception detection approaches across different scenarios remains largely unexplored. To close this gap, we present the first cross-domain audio-visual deception detection benchmark, that enables us to assess how well these methods generalize for use in real-world scenarios. We used widely adopted audio and visual features and different architectures for benchmarking, comparing single-to-single and multi-to-single domain generalization performance. To further exploit the impacts using data from multiple source domains for training, we investigate three types of domain sampling strategies, including domain-simultaneous, domain-alternating, and domain-by-domain for multi-to-single domain generalization evaluation. We also propose an algorithm to enhance the generalization performance by maximizing the gradient inner products between modality encoders, named ``MM-IDGM". Furthermore, we proposed the Attention-Mixer fusion method to improve performance, and we believe that this new cross-domain benchmark will facilitate future research in audio-visual deception detection.

false

true

false

true

false

true

453,537

2405.06665

Enhancing Language Models for Financial Relation Extraction with Named Entities and Part-of-Speech

The Financial Relation Extraction (FinRE) task involves identifying the entities and their relation, given a piece of financial statement/text. To solve this FinRE problem, we propose a simple but effective strategy that improves the performance of pre-trained language models by augmenting them with Named Entity Recognition (NER) and Part-Of-Speech (POS), as well as different approaches to combine these information. Experiments on a financial relations dataset show promising results and highlights the benefits of incorporating NER and POS in existing models. Our dataset and codes are available at https://github.com/kwanhui/FinRelExtract.

false

true

false

true

false

453,382

2207.10454

Temporal and Spatial Online Integrated Calibration for Camera and LiDAR

While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated to online sensors data fusion. The temporal and spatial calibration technologies are facing the challenges of lack of relevance and real-time. In this paper, we introduce the pose estimation model and environmental robust line features extraction to improve the relevance of data fusion and instant online ability of correction. Dynamic targets eliminating aims to seek optimal policy considering the correspondence of point cloud matching between adjacent moments. The searching optimization process aims to provide accurate parameters with both computation accuracy and efficiency. To demonstrate the benefits of this method, we evaluate it on the KITTI benchmark with ground truth value. In online experiments, our approach improves the accuracy by 38.5\% than the soft synchronization method in temporal calibration. While in spatial calibration, our approach automatically corrects disturbance errors within 0.4 second and achieves an accuracy of 0.3-degree. This work can promote the research and application of sensor fusion.

false

true

false

309,273

2307.09014

Exploring acceptance of autonomous vehicle policies using KeyBERT and SNA: Targeting engineering students

This study aims to explore user acceptance of Autonomous Vehicle (AV) policies with improved text-mining methods. Recently, South Korean policymakers have viewed Autonomous Driving Car (ADC) and Autonomous Driving Robot (ADR) as next-generation means of transportation that will reduce the cost of transporting passengers and goods. They support the construction of V2I and V2V communication infrastructures for ADC and recognize that ADR is equivalent to pedestrians to promote its deployment into sidewalks. To fill the gap where end-user acceptance of these policies is not well considered, this study applied two text-mining methods to the comments of graduate students in the fields of Industrial, Mechanical, and Electronics-Electrical-Computer. One is the Co-occurrence Network Analysis (CNA) based on TF-IWF and Dice coefficient, and the other is the Contextual Semantic Network Analysis (C-SNA) based on both KeyBERT, which extracts keywords that contextually represent the comments, and double cosine similarity. The reason for comparing these approaches is to balance interest not only in the implications for the AV policies but also in the need to apply quality text mining to this research domain. Significantly, the limitation of frequency-based text mining, which does not reflect textual context, and the trade-off of adjusting thresholds in Semantic Network Analysis (SNA) were considered. As the results of comparing the two approaches, the C-SNA provided the information necessary to understand users' voices using fewer nodes and features than the CNA. The users who pre-emptively understood the AV policies based on their engineering literacy and the given texts revealed potential risks of the AV accident policies. This study adds suggestions to manage these risks to support the successful deployment of AVs on public roads.

false

true

false

true

false

380,025

2001.01687

A Supervised Modified Hebbian Learning Method On Feed-forward Neural Networks

In this paper, we present a new supervised learning algorithm that is based on the Hebbian learning algorithm in an attempt to offer a substitute for back propagation along with the gradient descent for a more biologically plausible method. The best performance for the algorithm was achieved when it was run on a feed-forward neural network with the MNIST handwritten digits data set reaching an accuracy of 70.4% on the test data set and 71.48% on the validation data set.

false

true

false

true

false

159,552

2301.00911

Detecting Information Relays in Deep Neural Networks

Deep learning of artificial neural networks (ANNs) is creating highly functional processes that are, unfortunately, nearly as hard to interpret as their biological counterparts. Identification of functional modules in natural brains plays an important role in cognitive and neuroscience alike, and can be carried out using a wide range of technologies such as fMRI, EEG/ERP, MEG, or calcium imaging. However, we do not have such robust methods at our disposal when it comes to understanding functional modules in artificial neural networks. Ideally, understanding which parts of an artificial neural network perform what function might help us to address a number of vexing problems in ANN research, such as catastrophic forgetting and overfitting. Furthermore, revealing a network's modularity could improve our trust in them by making these black boxes more transparent. Here, we introduce a new information-theoretic concept that proves useful in understanding and analyzing a network's functional modularity: the relay information $I_R$. The relay information measures how much information groups of neurons that participate in a particular function (modules) relay from inputs to outputs. Combined with a greedy search algorithm, relay information can be used to identify computational modules in neural networks. We also show that the functionality of modules correlates with the amount of relay information they carry.

false

true

false

true

false

true

false

339,063

1509.04846

New self-dual additive $\mathbb{F}_4$-codes constructed from circulant graphs

In order to construct quantum $[[n,0,d]]$ codes for $(n,d)=(56,15)$, $(57,15)$, $(58,16)$, $(63,16)$, $(67,17)$, $(70,18)$, $(71,18)$, $(79,19)$, $(83,20)$, $(87,20)$, $(89,21)$, $(95,20)$, we construct self-dual additive $\mathbb{F}_4$-codes of length $n$ and minimum weight $d$ from circulant graphs. The quantum codes with these parameters are constructed for the first time.

false

true

false

46,978

1207.5072

Distributed Supervisory Control of Discrete-Event Systems with Communication Delay

This paper identifies a property of delay-robustness in distributed supervisory control of discrete-event systems (DES) with communication delays. In previous work a distributed supervisory control problem has been investigated on the assumption that inter-agent communications take place with negligible delay. From an applications viewpoint it is desirable to relax this constraint and identify communicating distributed controllers which are delay-robust, namely logically equivalent to their delay-free counterparts. For this we introduce inter-agent channels modeled as 2-state automata, compute the overall system behavior, and present an effective computational test for delay-robustness. From the test it typically results that the given delay-free distributed control is delay-robust with respect to certain communicated events, but not for all, thus distinguishing events which are not delay-critical from those that are. The approach is illustrated by a workcell model with three communicating agents.

false

true

false

true

false

17,693

2009.14434

Efficient, Decentralized, and Collaborative Multi-Robot Exploration using Optimal Transport Theory

An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the efficiency indicates how a team of robots (agents) cover the domain reflecting the corresponding priority map (or degrees of importance) in the domain. The decentralized exploration implies that each agent carries out their exploration task independently in the absence of any supervisory agent/computer. When an agent encounters another agent within a communication range, each agent receives the information about which areas are already covered by other agents, yielding a collaborative exploration. The OT theory is employed to quantify the difference between the distribution formed by the robot trajectories and the given reference spatial distribution indicating the priority. A computationally feasible way is developed to measure the performance of the proposed exploration scheme. Further, the formal algorithm is provided for the efficient, decentralized, and collaborative exploration plan. Simulation results are presented to validate the proposed methods.

false

true

false

true

false

198,028

2311.00506

Experimental Validation of a Grid-Aware Optimal Control of Hybrid AC/DC Microgrids

This paper presents the experimental validation of a grid-aware real-time control method for hybrid AC/DC microgrids. The optimal control is leveraged by the voltage sensitivity coefficients (SC) that are computed analytically using the close-form expression proposed in the authors' previous work. The SCs are based on the unified power flow model for hybrid AC/DC grids that accounts for the AC grid, DC grid, and the Interfacing Converters (IC), which can operate in different control modes, e.g. voltage or power control. The SCs are used to express the grid constraints in the optimal control problem in a fully linear way and, therefore, allow for second- to subsecond control actions. The validation of the model is performed on the hybrid AC/DC grid, available at the EPFL. The network consists of 18 AC nodes, 8 DC nodes, and 4 converters to interface the AC and DC network. The network hosts multiple controllable and uncontrollable resources. The SC-based optimal control is validated in a generic experiment. It is shown that the real-time control is able to control the ICs optimally to redirect power through the DC grid, to avoid grid constraint violations while providing reactive power support to the upper layer AC grid. Furthermore, the computational time of the optimal control is analysed to validate its application in critical real-time applications.

false

true

false

404,678

2410.18116

Reconstruction with prior support information and non-Gaussian constraints

In this study, we introduce a novel model, termed the Weighted Basis Pursuit Dequantization ($\omega$-BPDQ$_p$), which incorporates prior support information by assigning weights on the $\ell_1$ norm in the $\ell_1$ minimization process and replaces the $\ell_2$ norm with the $\ell_p$ norm in the constraint. This adjustment addresses cases where noise deviates from a Gaussian distribution, such as quantized errors, which are common in practice. We demonstrate that Restricted Isometry Property (RIP$_{p,q}$) and Weighted Robust Null Space Property ($\omega$-RNSP$_{p,q}$) ensure stable and robust reconstruction within $\omega$-BPDQ$_p$, with the added observation that standard Gaussian random matrices satisfy these properties with high probability. Moreover, we establish a relationship between RIP$_{p,q}$ and $\omega$-RNSP$_{p,q}$ that RIP$_{p,q}$ implies $\omega$-RNSP$_{p,q}$. Additionally, numerical experiments confirm that the incorporation of weights and the non-Gaussian constraint results in improved reconstruction quality.

false

true

false

501,759

2406.03697

Superpoint Gaussian Splatting for Real-Time High-Fidelity Dynamic Scene Reconstruction

Rendering novel view images in dynamic scenes is a crucial yet challenging task. Current methods mainly utilize NeRF-based methods to represent the static scene and an additional time-variant MLP to model scene deformations, resulting in relatively low rendering quality as well as slow inference speed. To tackle these challenges, we propose a novel framework named Superpoint Gaussian Splatting (SP-GS). Specifically, our framework first employs explicit 3D Gaussians to reconstruct the scene and then clusters Gaussians with similar properties (e.g., rotation, translation, and location) into superpoints. Empowered by these superpoints, our method manages to extend 3D Gaussian splatting to dynamic scenes with only a slight increase in computational expense. Apart from achieving state-of-the-art visual quality and real-time rendering under high resolutions, the superpoint representation provides a stronger manipulation capability. Extensive experiments demonstrate the practicality and effectiveness of our approach on both synthetic and real-world datasets. Please see our project page at https://dnvtmf.github.io/SP_GS.github.io.

false

true

false

461,344

2202.02110

New Inner and Outer Bounds for Gaussian Broadcast Channels with Heterogeneous Blocklength Constraints

We investigate novel inner and outer bounds on the rate region of a 2-user Gaussian broadcast channel with finite, heterogeneous blocklength constraints (HB-GBC). In particular, we introduce a new, modified Sato-type outer bound that can be applied in the finite blocklength regime and which does not require the same marginal property. We then develop and analyze composite shell codes, which are suitable for the HB-GBC. Especially, to achieve a lower decoding latency for the user with a shorter blocklength constraint when successive interference cancellation is used, we derive the number of symbols needed to successfully early decode the other user's message. We numerically compare our derived outer bound to the best known achievable rate regions. Numerical results show that the new early decoding performance in terms of latency reduction is significantly improved compared to the state of the art, and it performs very close to the asymptotic limit.

false

true

false

278,700

1802.03544

To the problem of "The Instrumental complex for ontological engineering purpose" software system design

The given work describes methodological principles of design instrumental complex of ontological purpose. Instrumental complex intends for the implementation of the integrated information technologies automated build of domain ontologies. Results focus on enhancing the effectiveness of the automatic analysis and understanding of natural-language texts, building of knowledge description of subject areas (primarily in the area of science and technology) and for interdisciplinary research in conjunction with the solution of complex problems.

false

true

false

true

90,001

2102.04727

Fashion Focus: Multi-modal Retrieval System for Video Commodity Localization in E-commerce

Nowadays, live-stream and short video shopping in E-commerce have grown exponentially. However, the sellers are required to manually match images of the selling products to the timestamp of exhibition in the untrimmed video, resulting in a complicated process. To solve the problem, we present an innovative demonstration of multi-modal retrieval system called "Fashion Focus", which enables to exactly localize the product images in the online video as the focuses. Different modality contributes to the community localization, including visual content, linguistic features and interaction context are jointly investigated via presented multi-modal learning. Our system employs two procedures for analysis, including video content structuring and multi-modal retrieval, to automatically achieve accurate video-to-shop matching. Fashion Focus presents a unified framework that can orientate the consumers towards relevant product exhibitions during watching videos and help the sellers to effectively deliver the products over search and recommendation.

false

true

false

219,208

2405.20947

OR-Bench: An Over-Refusal Benchmark for Large Language Models

Large Language Models (LLMs) require careful safety alignment to prevent malicious outputs. While significant research focuses on mitigating harmful content generation, the enhanced safety often come with the side effect of over-refusal, where LLMs may reject innocuous prompts and become less helpful. Although the issue of over-refusal has been empirically observed, a systematic measurement is challenging due to the difficulty of crafting prompts that appear harmful but are benign. This study proposes a novel method for automatically generating large-scale sets of "seemingly toxic prompts" (benign prompts likely rejected by LLMs). Leveraging this technique, we introduce OR-Bench, the first large-scale over-refusal benchmark. OR-Bench comprises 80,000 seemingly toxic prompts across 10 common rejection categories, a subset of around 1,000 hard prompts that are challenging even for state-of-the-art LLMs, and an additional 600 toxic prompts to prevent indiscriminate responses. We then conduct a comprehensive study to measure the over-refusal of 25 popular LLMs across 8 model families. Our datasets are available at https://huggingface.co/datasets/bench-llm/or-bench and the demo can be found at https://huggingface.co/spaces/bench-llm/or-bench. We hope this benchmark can help the community develop better safety aligned models.

false

true

false

true

false

459,580

2108.10290

Cross-Quality LFW: A Database for Analyzing Cross-Resolution Image Face Recognition in Unconstrained Environments

Real-world face recognition applications often deal with suboptimal image quality or resolution due to different capturing conditions such as various subject-to-camera distances, poor camera settings, or motion blur. This characteristic has an unignorable effect on performance. Recent cross-resolution face recognition approaches used simple, arbitrary, and unrealistic down- and up-scaling techniques to measure robustness against real-world edge-cases in image quality. Thus, we propose a new standardized benchmark dataset and evaluation protocol derived from the famous Labeled Faces in the Wild (LFW). In contrast to previous derivatives, which focus on pose, age, similarity, and adversarial attacks, our Cross-Quality Labeled Faces in the Wild (XQLFW) maximizes the quality difference. It contains only more realistic synthetically degraded images when necessary. Our proposed dataset is then used to further investigate the influence of image quality on several state-of-the-art approaches. With XQLFW, we show that these models perform differently in cross-quality cases, and hence, the generalizing capability is not accurately predicted by their performance on LFW. Additionally, we report baseline accuracy with recent deep learning models explicitly trained for cross-resolution applications and evaluate the susceptibility to image quality. To encourage further research in cross-resolution face recognition and incite the assessment of image quality robustness, we publish the database and code for evaluation.

false

true

false

251,856

2312.06657

Learning Naturally Aggregated Appearance for Efficient 3D Editing

Neural radiance fields, which represent a 3D scene as a color field and a density field, have demonstrated great progress in novel view synthesis yet are unfavorable for editing due to the implicitness. This work studies the task of efficient 3D editing, where we focus on editing speed and user interactivity. To this end, we propose to learn the color field as an explicit 2D appearance aggregation, also called canonical image, with which users can easily customize their 3D editing via 2D image processing. We complement the canonical image with a projection field that maps 3D points onto 2D pixels for texture query. This field is initialized with a pseudo canonical camera model and optimized with offset regularity to ensure the naturalness of the canonical image. Extensive experiments on different datasets suggest that our representation, dubbed AGAP, well supports various ways of 3D editing (e.g., stylization, instance segmentation, and interactive drawing). Our approach demonstrates remarkable efficiency by being at least 20 times faster per edit compared to existing NeRF-based editing methods. Project page is available at https://felixcheng97.github.io/AGAP/.

false

true

false

414,617

2501.19032

Error Slice Discovery via Manifold Compactness

Despite the great performance of deep learning models in many areas, they still make mistakes and underperform on certain subsets of data, i.e. error slices. Given a trained model, it is important to identify its semantically coherent error slices that are easy to interpret, which is referred to as the error slice discovery problem. However, there is no proper metric of slice coherence without relying on extra information like predefined slice labels. Current evaluation of slice coherence requires access to predefined slices formulated by metadata like attributes or subclasses. Its validity heavily relies on the quality and abundance of metadata, where some possible patterns could be ignored. Besides, current algorithms cannot directly incorporate the constraint of coherence into their optimization objective due to the absence of an explicit coherence metric, which could potentially hinder their effectiveness. In this paper, we propose manifold compactness, a coherence metric without reliance on extra information by incorporating the data geometry property into its design, and experiments on typical datasets empirically validate the rationality of the metric. Then we develop Manifold Compactness based error Slice Discovery (MCSD), a novel algorithm that directly treats risk and coherence as the optimization objective, and is flexible to be applied to models of various tasks. Extensive experiments on the benchmark and case studies on other typical datasets demonstrate the superiority of MCSD.

false

true

false

528,970

2205.09956

Structured Attention Composition for Temporal Action Localization

Temporal action localization aims at localizing action instances from untrimmed videos. Existing works have designed various effective modules to precisely localize action instances based on appearance and motion features. However, by treating these two kinds of features with equal importance, previous works cannot take full advantage of each modality feature, making the learned model still sub-optimal. To tackle this issue, we make an early effort to study temporal action localization from the perspective of multi-modality feature learning, based on the observation that different actions exhibit specific preferences to appearance or motion modality. Specifically, we build a novel structured attention composition module. Unlike conventional attention, the proposed module would not infer frame attention and modality attention independently. Instead, by casting the relationship between the modality attention and the frame attention as an attention assignment process, the structured attention composition module learns to encode the frame-modality structure and uses it to regularize the inferred frame attention and modality attention, respectively, upon the optimal transport theory. The final frame-modality attention is obtained by the composition of the two individual attentions. The proposed structured attention composition module can be deployed as a plug-and-play module into existing action localization frameworks. Extensive experiments on two widely used benchmarks show that the proposed structured attention composition consistently improves four state-of-the-art temporal action localization methods and builds new state-of-the-art performance on THUMOS14. Code is availabel at https://github.com/VividLe/Structured-Attention-Composition.

false

true

false

297,488

2407.15184

Decoding Multilingual Moral Preferences: Unveiling LLM's Biases Through the Moral Machine Experiment

Large language models (LLMs) increasingly find their way into the most diverse areas of our everyday lives. They indirectly influence people's decisions or opinions through their daily use. Therefore, understanding how and which moral judgements these LLMs make is crucial. However, morality is not universal and depends on the cultural background. This raises the question of whether these cultural preferences are also reflected in LLMs when prompted in different languages or whether moral decision-making is consistent across different languages. So far, most research has focused on investigating the inherent values of LLMs in English. While a few works conduct multilingual analyses of moral bias in LLMs in a multilingual setting, these analyses do not go beyond atomic actions. To the best of our knowledge, a multilingual analysis of moral bias in dilemmas has not yet been conducted. To address this, our paper builds on the moral machine experiment (MME) to investigate the moral preferences of five LLMs, Falcon, Gemini, Llama, GPT, and MPT, in a multilingual setting and compares them with the preferences collected from humans belonging to different cultures. To accomplish this, we generate 6500 scenarios of the MME and prompt the models in ten languages on which action to take. Our analysis reveals that all LLMs inhibit different moral biases to some degree and that they not only differ from the human preferences but also across multiple languages within the models themselves. Moreover, we find that almost all models, particularly Llama 3, divert greatly from human values and, for instance, prefer saving fewer people over saving more.

false

true

false

true

false

true

false

475,066

2003.04315

LIMEADE: From AI Explanations to Advice Taking

Research in human-centered AI has shown the benefits of systems that can explain their predictions. Methods that allow an AI to take advice from humans in response to explanations are similarly useful. While both capabilities are well-developed for transparent learning models (e.g., linear models and GA$^2$Ms), and recent techniques (e.g., LIME and SHAP) can generate explanations for opaque models, little attention has been given to advice methods for opaque models. This paper introduces LIMEADE, the first general framework that translates both positive and negative advice (expressed using high-level vocabulary such as that employed by post-hoc explanations) into an update to an arbitrary, underlying opaque model. We demonstrate the generality of our approach with case studies on seventy real-world models across two broad domains: image classification and text recommendation. We show our method improves accuracy compared to a rigorous baseline on the image classification domains. For the text modality, we apply our framework to a neural recommender system for scientific papers on a public website; our user study shows that our framework leads to significantly higher perceived user control, trust, and satisfaction.

false

true

false

167,526

2204.05235

Data Splits and Metrics for Method Benchmarking on Surgical Action Triplet Datasets

In addition to generating data and annotations, devising sensible data splitting strategies and evaluation metrics is essential for the creation of a benchmark dataset. This practice ensures consensus on the usage of the data, homogeneous assessment, and uniform comparison of research methods on the dataset. This study focuses on CholecT50, which is a 50 video surgical dataset that formalizes surgical activities as triplets of <instrument, verb, target>. In this paper, we introduce the standard splits for the CholecT50 and CholecT45 datasets and show how they compare with existing use of the dataset. CholecT45 is the first public release of 45 videos of CholecT50 dataset. We also develop a metrics library, ivtmetrics, for model evaluation on surgical triplets. Furthermore, we conduct a benchmark study by reproducing baseline methods in the most predominantly used deep learning frameworks (PyTorch and TensorFlow) to evaluate them using the proposed data splits and metrics and release them publicly to support future research. The proposed data splits and evaluation metrics will enable global tracking of research progress on the dataset and facilitate optimal model selection for further deployment.

false

true

false

290,969

2010.15436

Affordance-Aware Handovers with Human Arm Mobility Constraints

Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness of handovers, their findings are limited to users without arm mobility impairments and to specific objects. Therefore, current state-of-the-art approaches are unable to hand over novel objects to receivers with different arm mobility capacities. We propose a method that generalises handover behaviours to previously unseen objects, subject to the constraint of a user's arm mobility levels and the task context. We propose a heuristic-guided hierarchically optimised cost whose optimisation adapts object configurations for receivers with low arm mobility. This also ensures that the robot grasps consider the context of the user's upcoming task, i.e., the usage of the object. To understand preferences over handover configurations, we report on the findings of an online study, wherein we presented different handover methods, including ours, to $259$ users with different levels of arm mobility. We find that people's preferences over handover methods are correlated to their arm mobility capacities. We encapsulate these preferences in a statistical relational model (SRL) that is able to reason about the most suitable handover configuration given a receiver's arm mobility and upcoming task. Using our SRL model, we obtained an average handover accuracy of $90.8\%$ when generalising handovers to novel objects.

false

true

false

203,771

2011.14124

Human-Agent Cooperation in Bridge Bidding

We introduce a human-compatible reinforcement-learning approach to a cooperative game, making use of a third-party hand-coded human-compatible bot to generate initial training data and to perform initial evaluation. Our learning approach consists of imitation learning, search, and policy iteration. Our trained agents achieve a new state-of-the-art for bridge bidding in three settings: an agent playing in partnership with a copy of itself; an agent partnering a pre-existing bot; and an agent partnering a human player.

false

true

false

208,675

2402.12846

ConVQG: Contrastive Visual Question Generation with Multimodal Guidance

Asking questions about visual environments is a crucial way for intelligent agents to understand rich multi-faceted scenes, raising the importance of Visual Question Generation (VQG) systems. Apart from being grounded to the image, existing VQG systems can use textual constraints, such as expected answers or knowledge triplets, to generate focused questions. These constraints allow VQG systems to specify the question content or leverage external commonsense knowledge that can not be obtained from the image content only. However, generating focused questions using textual constraints while enforcing a high relevance to the image content remains a challenge, as VQG systems often ignore one or both forms of grounding. In this work, we propose Contrastive Visual Question Generation (ConVQG), a method using a dual contrastive objective to discriminate questions generated using both modalities from those based on a single one. Experiments on both knowledge-aware and standard VQG benchmarks demonstrate that ConVQG outperforms the state-of-the-art methods and generates image-grounded, text-guided, and knowledge-rich questions. Our human evaluation results also show preference for ConVQG questions compared to non-contrastive baselines.

false

true

false

true

false

431,018

2308.05547

Enhancing AUV Autonomy With Model Predictive Path Integral Control

Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission successfully, a control system capable of adapting to changing environmental conditions is required. Furthermore, to ensure the robotic platform's safe operation, the onboard controller should be able to operate under certain constraints. In this work, we investigate the feasibility of Model Predictive Path Integral Control (MPPI) for the control of an AUV. We utilise a non-linear model of the AUV to propagate the samples of the MPPI, which allow us to compute the control action in real time. We provide a detailed evaluation of the effect of the main hyperparameters on the performance of the MPPI controller. Furthermore, we compared the performance of the proposed method with a classical PID and Cascade PID approach, demonstrating the superiority of our proposed controller. Finally, we present results where environmental constraints are added and show how MPPI can handle them by simply incorporating those constraints in the cost function.

false

true

false

true

false

384,828

2206.11260

Few-shot Long-Tailed Bird Audio Recognition

It is easier to hear birds than see them. However, they still play an essential role in nature and are excellent indicators of deteriorating environmental quality and pollution. Recent advances in Deep Neural Networks allow us to process audio data to detect and classify birds. This technology can assist researchers in monitoring bird populations and biodiversity. We propose a sound detection and classification pipeline to analyze complex soundscape recordings and identify birdcalls in the background. Our method learns from weak labels and few data and acoustically recognizes the bird species. Our solution achieved 18th place of 807 teams at the BirdCLEF 2022 Challenge hosted on Kaggle.

false

true

false

true

false

true

false

304,217

1908.02590

Audio-visual Speech Enhancement Using Conditional Variational Auto-Encoders

Variational auto-encoders (VAEs) are deep generative latent variable models that can be used for learning the distribution of complex data. VAEs have been successfully used to learn a probabilistic prior over speech signals, which is then used to perform speech enhancement. One advantage of this generative approach is that it does not require pairs of clean and noisy speech signals at training. In this paper, we propose audio-visual variants of VAEs for single-channel and speaker-independent speech enhancement. We develop a conditional VAE (CVAE) where the audio speech generative process is conditioned on visual information of the lip region. At test time, the audio-visual speech generative model is combined with a noise model based on nonnegative matrix factorization, and speech enhancement relies on a Monte Carlo expectation-maximization algorithm. Experiments are conducted with the recently published NTCD-TIMIT dataset as well as the GRID corpus. The results confirm that the proposed audio-visual CVAE effectively fuses audio and visual information, and it improves the speech enhancement performance compared with the audio-only VAE model, especially when the speech signal is highly corrupted by noise. We also show that the proposed unsupervised audio-visual speech enhancement approach outperforms a state-of-the-art supervised deep learning method.

false

true

false

true

false

141,044

1612.01103

Robust nonparametric nearest neighbor random process clustering

We consider the problem of clustering noisy finite-length observations of stationary ergodic random processes according to their generative models without prior knowledge of the model statistics and the number of generative models. Two algorithms, both using the $L^1$-distance between estimated power spectral densities (PSDs) as a measure of dissimilarity, are analyzed. The first one, termed nearest neighbor process clustering (NNPC), relies on partitioning the nearest neighbor graph of the observations via spectral clustering. The second algorithm, simply referred to as $k$-means (KM), consists of a single $k$-means iteration with farthest point initialization and was considered before in the literature, albeit with a different dissimilarity measure. We prove that both algorithms succeed with high probability in the presence of noise and missing entries, and even when the generative process PSDs overlap significantly, all provided that the observation length is sufficiently large. Our results quantify the tradeoff between the overlap of the generative process PSDs, the observation length, the fraction of missing entries, and the noise variance. Finally, we provide extensive numerical results for synthetic and real data and find that NNPC outperforms state-of-the-art algorithms in human motion sequence clustering.

false

true

false

true

false

65,018

1307.2136

Near-Optimal Encoding for Sigma-Delta Quantization of Finite Frame Expansions

In this paper we investigate encoding the bit-stream resulting from coarse Sigma-Delta quantization of finite frame expansions (i.e., overdetermined representations) of vectors. We show that for a wide range of finite-frames, including random frames and piecewise smooth frames, there exists a simple encoding algorithm ---acting only on the Sigma-Delta bit stream--- and an associated decoding algorithm that together yield an approximation error which decays exponentially in the number of bits used. The encoding strategy consists of applying a discrete random operator to the Sigma-Delta bit stream and assigning a binary codeword to the result. The reconstruction procedure is essentially linear and equivalent to solving a least squares minimization problem.

false

true

false

25,696

2107.00376

PlanSys2: A Planning System Framework for ROS2

Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state machines are not enough. This paper contains a description of the ROS2 Planning System (PlanSys2 in short), a framework for symbolic planning that incorporates novel approaches for execution on robots working in demanding environments. PlanSys2 aims to be the reference task planning framework in ROS2, the latest version of the {\em de facto} standard in robotics software development. Among its main features, it can be highlighted the optimized execution, based on Behavior Trees, of plans through a new actions auction protocol and its multi-robot planning capabilities. It already has a small but growing community of users and developers, and this document is a summary of the design and capabilities of this project.

false

true

false

true

false

244,144

1808.06729

You Shall Know the Most Frequent Sense by the Company it Keeps

Identification of the most frequent sense of a polysemous word is an important semantic task. We introduce two concepts that can benefit MFS detection: companions, which are the most frequently co-occurring words, and the most frequent translation in a bitext. We present two novel methods that incorporate these new concepts, and show that they advance the state of the art on MFS detection.

false

true

false

105,591

2108.08253

Learned holographic light transport

Computer-Generated Holography (CGH) algorithms often fall short in matching simulations with results from a physical holographic display. Our work addresses this mismatch by learning the holographic light transport in holographic displays. Using a camera and a holographic display, we capture the image reconstructions of optimized holograms that rely on ideal simulations to generate a dataset. Inspired by the ideal simulations, we learn a complex-valued convolution kernel that can propagate given holograms to captured photographs in our dataset. Our method can dramatically improve simulation accuracy and image quality in holographic displays while paving the way for physically informed learning approaches.

false

true

false

true

251,193

2406.11599

Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization

With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly calibration process in any natural environment, this paper introduces Galibr, a fully automatic targetless LiDAR-camera extrinsic calibration tool designed for ground vehicle platforms in any natural setting. The method utilizes the ground planes and edge information from both LiDAR and camera inputs, streamlining the calibration process. It encompasses two main steps: an initial pose estimation algorithm based on ground planes (GP-init), and a refinement phase through edge extraction and matching. Our approach significantly enhances calibration performance, primarily attributed to our novel initial pose estimation method, as demonstrated in unstructured natural environments, including on the KITTI dataset and the KAIST quadruped dataset.

false

true

false

true

false

464,960

1403.4060

Quantum codes from affine variety codes and their subfield-subcodes

We use affine variety codes and their subfield-subcodes for obtaining quantum stabilizer codes via the CSS code construction. With this procedure, we get codes with good parameters and a code whose parameters exceed the CSS quantum Gilbert-Varshamov bound given by Feng and Ma.

false

true

false

31,622

2112.05665

Deep Odometry Systems on Edge with EKF-LoRa Backend for Real-Time Positioning in Adverse Environment

Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from cumulative drifting errors over time. Thanks to the increasing computational power of edge devices, we propose a novel ubiquitous positioning solution by integrating state-of-the-art deep odometry models on edge with an EKF (Extended Kalman Filter)-LoRa backend. We carefully compare and select three sensor modalities, i.e., an Inertial Measurement Unit (IMU), a millimetre-wave (mmWave) radar, and a thermal infrared camera, and realise their deep odometry inference engines which runs in real-time. A pipeline of deploying deep odometry considering accuracy, complexity, and edge platform is proposed. We design a LoRa link for positional data backhaul and projecting aggregated positions of deep odometry into the global frame. We find that a simple EKF based fusion module is sufficient for generic positioning calibration with over 34% accuracy gains against any standalone deep odometry system. Extensive tests in different environments validate the efficiency and efficacy of our proposed positioning system.

false

true

false

true

false

270,917

2001.02529

The importance of phase in complex compressive sensing

We consider the question of estimating a real low-complexity signal (such as a sparse vector or a low-rank matrix) from the phase of complex random measurements. We show that in this "phase-only compressive sensing" (PO-CS) scenario, we can perfectly recover such a signal with high probability and up to global unknown amplitude if the sensing matrix is a complex Gaussian random matrix and if the number of measurements is large compared to the complexity level of the signal space. Our approach proceeds by recasting the (non-linear) PO-CS scheme as a linear compressive sensing model built from a signal normalization constraint, and a phase-consistency constraint imposing any signal estimate to match the observed phases in the measurement domain. Practically, stable and robust signal direction estimation is achieved from any "instance optimal" algorithm of the compressive sensing literature (such as basis pursuit denoising). This is ensured by proving that the matrix associated with this equivalent linear model satisfies with high probability the restricted isometry property under the above condition on the number of measurements. We finally observe experimentally that robust signal direction recovery is reached at about twice the number of measurements needed for signal recovery in compressive sensing.

false

true

false

159,761

2305.03787

Navigating Surveillance Capitalism: A Critical Analysis through philosophical perspectives in Computer Ethics

Surveillance capitalism is a concept that describes the practice of collecting and analyzing massive amounts of user data for the purpose of targeted advertising and other forms of monetization. The phenomenon has become increasingly prevalent in recent years, with tech companies like Google and Facebook using users' personal information to deliver personalized content and advertisements. Another example of surveillance capitalism is the use of military technology to collect and analyze data for national security purposes. In this context, surveillance capitalism involves the use of technologies like facial recognition and social media monitoring to gather information on individuals and groups deemed to be potential threats to national security. This information is then used to inform military operations and decision-making. This paper wants to analyze in a critical way the phenomenon of surveillance capitalism, proposed under two different ethical framework perspectives. Utilitarianism, a consequentialist ethical theory that judges actions based on their ability to bring about the greatest amount of happiness or pleasure for the greatest number of people, and Kantian deontology, a non-consequentialist ethical theory that emphasizes the importance of individual autonomy, freedom, and dignity. On one side, the utilitarian framework enlightens how Information Technology (IT) and the features provided offer, at first sight, all the positive perceptions to the majority of people, happiness, entertainment, and pleasure. On the other side, the Kantian deontology framework mostly focuses on the aspect of freedom and free will of the individual. This topic is particularly related to the concession of permissions to access data in change of services and the degree of influence that manipulation performed by surveillance capitalism can generate.

true

false

true

false

362,508

2011.04745

Rate Splitting, Superposition Coding and Binning for Groupcasting over the Broadcast Channel: A General Framework

A general inner bound is given for the discrete memoryless broadcast channel with an arbitrary number of users and general message sets, a setting that accounts for the most general form of concurrent groupcasting, with messages intended for any set of subsets of receivers. Achievability is based on superposition coding and rate-splitting without and with binning, where each receiver jointly decodes both its desired messages as well as the partial interference assigned to it via rate-splitting. The proof of achievability builds on the techniques for the description and analysis of superposition coding recently developed by the authors for the multiple-access channel with general messages as well as a new recursive mutual covering lemma for the analysis of the more general achievable scheme with binning.

false

true

false

205,668

2303.13102

Keypoint-Guided Optimal Transport

Existing Optimal Transport (OT) methods mainly derive the optimal transport plan/matching under the criterion of transport cost/distance minimization, which may cause incorrect matching in some cases. In many applications, annotating a few matched keypoints across domains is reasonable or even effortless in annotation burden. It is valuable to investigate how to leverage the annotated keypoints to guide the correct matching in OT. In this paper, we propose a novel KeyPoint-Guided model by ReLation preservation (KPG-RL) that searches for the optimal matching (i.e., transport plan) guided by the keypoints in OT. To impose the keypoints in OT, first, we propose a mask-based constraint of the transport plan that preserves the matching of keypoint pairs. Second, we propose to preserve the relation of each data point to the keypoints to guide the matching. The proposed KPG-RL model can be solved by Sinkhorn's algorithm and is applicable even when distributions are supported in different spaces. We further utilize the relation preservation constraint in the Kantorovich Problem and Gromov-Wasserstein model to impose the guidance of keypoints in them. Meanwhile, the proposed KPG-RL model is extended to the partial OT setting. Moreover, we deduce the dual formulation of the KPG-RL model, which is solved using deep learning techniques. Based on the learned transport plan from dual KPG-RL, we propose a novel manifold barycentric projection to transport source data to the target domain. As applications, we apply the proposed KPG-RL model to the heterogeneous domain adaptation and image-to-image translation. Experiments verified the effectiveness of the proposed approach.

false

true

false

true

false

353,549

2101.11310

Adversarial Stylometry in the Wild: Transferable Lexical Substitution Attacks on Author Profiling

Written language contains stylistic cues that can be exploited to automatically infer a variety of potentially sensitive author information. Adversarial stylometry intends to attack such models by rewriting an author's text. Our research proposes several components to facilitate deployment of these adversarial attacks in the wild, where neither data nor target models are accessible. We introduce a transformer-based extension of a lexical replacement attack, and show it achieves high transferability when trained on a weakly labeled corpus -- decreasing target model performance below chance. While not completely inconspicuous, our more successful attacks also prove notably less detectable by humans. Our framework therefore provides a promising direction for future privacy-preserving adversarial attacks.

false

true

false

true

false

217,233

2209.04007

FedDAR: Federated Domain-Aware Representation Learning

Cross-silo Federated learning (FL) has become a promising tool in machine learning applications for healthcare. It allows hospitals/institutions to train models with sufficient data while the data is kept private. To make sure the FL model is robust when facing heterogeneous data among FL clients, most efforts focus on personalizing models for clients. However, the latent relationships between clients' data are ignored. In this work, we focus on a special non-iid FL problem, called Domain-mixed FL, where each client's data distribution is assumed to be a mixture of several predefined domains. Recognizing the diversity of domains and the similarity within domains, we propose a novel method, FedDAR, which learns a domain shared representation and domain-wise personalized prediction heads in a decoupled manner. For simplified linear regression settings, we have theoretically proved that FedDAR enjoys a linear convergence rate. For general settings, we have performed intensive empirical studies on both synthetic and real-world medical datasets which demonstrate its superiority over prior FL methods.

false

true

false

316,657

2309.11274

Machine Learning Data Suitability and Performance Testing Using Fault Injection Testing Framework

Creating resilient machine learning (ML) systems has become necessary to ensure production-ready ML systems that acquire user confidence seamlessly. The quality of the input data and the model highly influence the successful end-to-end testing in data-sensitive systems. However, the testing approaches of input data are not as systematic and are few compared to model testing. To address this gap, this paper presents the Fault Injection for Undesirable Learning in input Data (FIUL-Data) testing framework that tests the resilience of ML models to multiple intentionally-triggered data faults. Data mutators explore vulnerabilities of ML systems against the effects of different fault injections. The proposed framework is designed based on three main ideas: The mutators are not random; one data mutator is applied at an instance of time, and the selected ML models are optimized beforehand. This paper evaluates the FIUL-Data framework using data from analytical chemistry, comprising retention time measurements of anti-sense oligonucleotide. Empirical evaluation is carried out in a two-step process in which the responses of selected ML models to data mutation are analyzed individually and then compared with each other. The results show that the FIUL-Data framework allows the evaluation of the resilience of ML models. In most experiments cases, ML models show higher resilience at larger training datasets, where gradient boost performed better than support vector regression in smaller training sets. Overall, the mean squared error metric is useful in evaluating the resilience of models due to its higher sensitivity to data mutation.

false

true

false

393,344

2003.01033

On robot compliance. A cerebellar control approach

The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The spiking cerebellar controller provides torque commands allowing for accurate and coordinated arm movements. To compute these output motor commands, the spiking cerebellar controller receives the robot's sensorial signals, the robot's goal behavior, and an instructive signal. These input signals are translated into a set of evolving spiking patterns representing univocally a specific system state at every point of time. Spike-timing-dependent plasticity (STDP) is then supported, allowing for building adaptive control. The spiking cerebellar controller continuously adapts the torque commands provided to the robot from experience as STDP is deployed. Adaptive torque commands, in turn, help the spiking cerebellar controller to cope with built-in elastic elements within the robot's actuators mimicking human muscles (inherently elastic). We propose a natural integration of a bio inspired control scheme, based on the cerebellum, with a compliant robot. We prove that our compliant approach outperforms the accuracy of the default factory-installed position control in a set of tasks used for addressing cerebellar motor behavior: controlling six degrees of freedom (DoF) in smooth movements, fast ballistic movements, and unstructured scenario compliant movements.

false

true

false

true

false

true

false

166,523

2410.14012

LLMs are Biased Teachers: Evaluating LLM Bias in Personalized Education

With the increasing adoption of large language models (LLMs) in education, concerns about inherent biases in these models have gained prominence. We evaluate LLMs for bias in the personalized educational setting, specifically focusing on the models' roles as "teachers." We reveal significant biases in how models generate and select educational content tailored to different demographic groups, including race, ethnicity, sex, gender, disability status, income, and national origin. We introduce and apply two bias score metrics--Mean Absolute Bias (MAB) and Maximum Difference Bias (MDB)--to analyze 9 open and closed state-of-the-art LLMs. Our experiments, which utilize over 17,000 educational explanations across multiple difficulty levels and topics, uncover that models potentially harm student learning by both perpetuating harmful stereotypes and reversing them. We find that bias is similar for all frontier models, with the highest MAB along income levels while MDB is highest relative to both income and disability status. For both metrics, we find the lowest bias exists for sex/gender and race/ethnicity.

false

true

false

true

false

499,814

2012.06701

Noise-Robust End-to-End Quantum Control using Deep Autoregressive Policy Networks

Variational quantum eigensolvers have recently received increased attention, as they enable the use of quantum computing devices to find solutions to complex problems, such as the ground energy and ground state of strongly-correlated quantum many-body systems. In many applications, it is the optimization of both continuous and discrete parameters that poses a formidable challenge. Using reinforcement learning (RL), we present a hybrid policy gradient algorithm capable of simultaneously optimizing continuous and discrete degrees of freedom in an uncertainty-resilient way. The hybrid policy is modeled by a deep autoregressive neural network to capture causality. We employ the algorithm to prepare the ground state of the nonintegrable quantum Ising model in a unitary process, parametrized by a generalized quantum approximate optimization ansatz: the RL agent solves the discrete combinatorial problem of constructing the optimal sequences of unitaries out of a predefined set and, at the same time, it optimizes the continuous durations for which these unitaries are applied. We demonstrate the noise-robust features of the agent by considering three sources of uncertainty: classical and quantum measurement noise, and errors in the control unitary durations. Our work exhibits the beneficial synergy between reinforcement learning and quantum control.

false

true

false

211,189

2412.11080

Deep Spectral Clustering via Joint Spectral Embedding and Kmeans

Spectral clustering is a popular clustering method. It first maps data into the spectral embedding space and then uses Kmeans to find clusters. However, the two decoupled steps prohibit joint optimization for the optimal solution. In addition, it needs to construct the similarity graph for samples, which suffers from the curse of dimensionality when the data are high-dimensional. To address these two challenges, we introduce \textbf{D}eep \textbf{S}pectral \textbf{C}lustering (\textbf{DSC}), which consists of two main modules: the spectral embedding module and the greedy Kmeans module. The former module learns to efficiently embed raw samples into the spectral embedding space using deep neural networks and power iteration. The latter module improves the cluster structures of Kmeans on the learned spectral embeddings by a greedy optimization strategy, which iteratively reveals the direction of the worst cluster structures and optimizes embeddings in this direction. To jointly optimize spectral embeddings and clustering, we seamlessly integrate the two modules and optimize them in an end-to-end manner. Experimental results on seven real-world datasets demonstrate that DSC achieves state-of-the-art clustering performance.

false

true

false

true

false

517,247

1302.6812

Abstracting Probabilistic Actions

This paper discusses the problem of abstracting conditional probabilistic actions. We identify two distinct types of abstraction: intra-action abstraction and inter-action abstraction. We define what it means for the abstraction of an action to be correct and then derive two methods of intra-action abstraction and two methods of inter-action abstraction which are correct according to this criterion. We illustrate the developed techniques by applying them to actions described with the temporal action representation used in the DRIPS decision-theoretic planner and we describe how the planner uses abstraction to reduce the complexity of planning.

false

true

false

22,442

2008.03462

PAN: Towards Fast Action Recognition via Learning Persistence of Appearance

Efficiently modeling dynamic motion information in videos is crucial for action recognition task. Most state-of-the-art methods heavily rely on dense optical flow as motion representation. Although combining optical flow with RGB frames as input can achieve excellent recognition performance, the optical flow extraction is very time-consuming. This undoubtably will count against real-time action recognition. In this paper, we shed light on fast action recognition by lifting the reliance on optical flow. Our motivation lies in the observation that small displacements of motion boundaries are the most critical ingredients for distinguishing actions, so we design a novel motion cue called Persistence of Appearance (PA). In contrast to optical flow, our PA focuses more on distilling the motion information at boundaries. Also, it is more efficient by only accumulating pixel-wise differences in feature space, instead of using exhaustive patch-wise search of all the possible motion vectors. Our PA is over 1000x faster (8196fps vs. 8fps) than conventional optical flow in terms of motion modeling speed. To further aggregate the short-term dynamics in PA to long-term dynamics, we also devise a global temporal fusion strategy called Various-timescale Aggregation Pooling (VAP) that can adaptively model long-range temporal relationships across various timescales. We finally incorporate the proposed PA and VAP to form a unified framework called Persistent Appearance Network (PAN) with strong temporal modeling ability. Extensive experiments on six challenging action recognition benchmarks verify that our PAN outperforms recent state-of-the-art methods at low FLOPs. Codes and models are available at: https://github.com/zhang-can/PAN-PyTorch.

false

true

false

190,911

2106.05608

Thompson Sampling with a Mixture Prior

We study Thompson sampling (TS) in online decision making, where the uncertain environment is sampled from a mixture distribution. This is relevant in multi-task learning, where a learning agent faces different classes of problems. We incorporate this structure in a natural way by initializing TS with a mixture prior, and call the resulting algorithm MixTS. To analyze MixTS, we develop a novel and general proof technique for analyzing the concentration of mixture distributions. We use it to prove Bayes regret bounds for MixTS in both linear bandits and finite-horizon reinforcement learning. Our bounds capture the structure of the prior, depend on the number of mixture components and their widths. We also demonstrate the empirical effectiveness of MixTS in synthetic and real-world experiments.

false

true

false

true

false

240,161

1612.07828

Learning from Simulated and Unsupervised Images through Adversarial Training

With recent progress in graphics, it has become more tractable to train models on synthetic images, potentially avoiding the need for expensive annotations. However, learning from synthetic images may not achieve the desired performance due to a gap between synthetic and real image distributions. To reduce this gap, we propose Simulated+Unsupervised (S+U) learning, where the task is to learn a model to improve the realism of a simulator's output using unlabeled real data, while preserving the annotation information from the simulator. We develop a method for S+U learning that uses an adversarial network similar to Generative Adversarial Networks (GANs), but with synthetic images as inputs instead of random vectors. We make several key modifications to the standard GAN algorithm to preserve annotations, avoid artifacts, and stabilize training: (i) a 'self-regularization' term, (ii) a local adversarial loss, and (iii) updating the discriminator using a history of refined images. We show that this enables generation of highly realistic images, which we demonstrate both qualitatively and with a user study. We quantitatively evaluate the generated images by training models for gaze estimation and hand pose estimation. We show a significant improvement over using synthetic images, and achieve state-of-the-art results on the MPIIGaze dataset without any labeled real data.

false

true

false

true

false

true

false

65,987

2402.19464

Curiosity-driven Red-teaming for Large Language Models

Large language models (LLMs) hold great potential for many natural language applications but risk generating incorrect or toxic content. To probe when an LLM generates unwanted content, the current paradigm is to recruit a \textit{red team} of human testers to design input prompts (i.e., test cases) that elicit undesirable responses from LLMs. However, relying solely on human testers is expensive and time-consuming. Recent works automate red teaming by training a separate red team LLM with reinforcement learning (RL) to generate test cases that maximize the chance of eliciting undesirable responses from the target LLM. However, current RL methods are only able to generate a small number of effective test cases resulting in a low coverage of the span of prompts that elicit undesirable responses from the target LLM. To overcome this limitation, we draw a connection between the problem of increasing the coverage of generated test cases and the well-studied approach of curiosity-driven exploration that optimizes for novelty. Our method of curiosity-driven red teaming (CRT) achieves greater coverage of test cases while mantaining or increasing their effectiveness compared to existing methods. Our method, CRT successfully provokes toxic responses from LLaMA2 model that has been heavily fine-tuned using human preferences to avoid toxic outputs. Code is available at \url{https://github.com/Improbable-AI/curiosity_redteam}

false

true

false

true

false

true

false

433,812

2404.09317

Characterizing Soft-Error Resiliency in Arm's Ethos-U55 Embedded Machine Learning Accelerator

As Neural Processing Units (NPU) or accelerators are increasingly deployed in a variety of applications including safety critical applications such as autonomous vehicle, and medical imaging, it is critical to understand the fault-tolerance nature of the NPUs. We present a reliability study of Arm's Ethos-U55, an important industrial-scale NPU being utilised in embedded and IoT applications. We perform large scale RTL-level fault injections to characterize Ethos-U55 against the Automotive Safety Integrity Level D (ASIL-D) resiliency standard commonly used for safety-critical applications such as autonomous vehicles. We show that, under soft errors, all four configurations of the NPU fall short of the required level of resiliency for a variety of neural networks running on the NPU. We show that it is possible to meet the ASIL-D level resiliency without resorting to conventional strategies like Dual Core Lock Step (DCLS) that has an area overhead of 100%. We achieve so through selective protection, where hardware structures are selectively protected (e.g., duplicated, hardened) based on their sensitivity to soft errors and their silicon areas. To identify the optimal configuration that minimizes the area overhead while meeting the ASIL-D standard, the main challenge is the large search space associated with the time-consuming RTL simulation. To address this challenge, we present a statistical analysis tool that is validated against Arm silicon and that allows us to quickly navigate hundreds of billions of fault sites without exhaustive RTL fault injections. We show that by carefully duplicating a small fraction of the functional blocks and hardening the Flops in other blocks meets the ASIL-D safety standard while introducing an area overhead of only 38%.

false

true

false

true

446,623

2308.08075

Hydrodynamics of bubble flow through a porous medium with applications to packed bed reactors

Gas-liquid flows through packed bed reactors (PBRs) are challenging to predict due to the tortuous flow paths that fluid interfaces must traverse. Experiments at the International Space Station showed that bubble and pulse flows are predominately observed under microgravity conditions, while the trickle and spray flows observed under terrestrial conditions are not present in microgravity. To understand the physics behind the former experiments, we simulate bubble flow through a PBR for different packing-particle-diameter-based Weber numbers and under different gravity conditions. We demonstrate different pore-scale mechanisms, such as capillary entrapment, buoyancy entrapment, and inertia-induced bubble displacement. Then, we perform a quantitative analysis by introducing new dynamic scales, dependent upon the evolving gas-liquid interfacial area, to understand the dynamic trade-offs between the inertia, capillary, and buoyancy forces on a bubble passing through a PBR. This analysis leads us to define new dimensionless Weber-like numbers that delineate bubble entrapment from bubble displacement.

false

true

false

385,755

1803.06076

Renewable Energy Integration in Distribution System -- Synchrophasor Sensor based Big Data Analysis, Visualization, and System Operation

Due to the large volume of heterogeneous data provided by both the customer and the grid side, a big data visualization platform is built to discover the hidden useful knowledge for smart grid (SG) operation, control and situation awareness. An open source cluster computing framework based on Apache Spark is considering to discover the hidden knowledge of the bag-data. And the data is transmitted with a Open System Interconnection (OSI) model to the data visualization platform in a high-speed communication architecture. Google Earth and global geographic information system (GIS) are used to design the visualization platform and realize the result with the test bench. The alternating direction method of multipliers (ADMM) is used to compute the optimal power flow in distributed manner. The proposed network reconfiguration is solved in parallel manner with the limited switches and the strong computing capability. Further more, a multi-timescale operation approach is modeled with a three-phase distributed system, which consists the hourly scheduling at substation level and the minutes power flow operation at feeder level. The system cost with renewable generation is minimized at the substation level. The given error distribution model of renewable generation is simulated with a chance constraint, and the derived deterministic form is modeled with Gaussian mixture model (GMM) with genetic algorithm-based expectationmaximization (GAEM). The system cost is further reduced with the OPF in real-time (RT) scheduling. The semidefinite programming (SDP) is used to relax the nonconvexity of the three-phase unbalanced distribution system into a convex problem, which make sure to achieve the global optimal result. In the parallel manner, the ADMM is realizing getting the results in a short time.

false

true

false

92,766

1404.2872

TreQ-CG: Clustering Accelerates High-Throughput Sequencing Read Mapping

As high-throughput sequencers become standard equipment outside of sequencing centers, there is an increasing need for efficient methods for pre-processing and primary analysis. While a vast literature proposes methods for HTS data analysis, we argue that significant improvements can still be gained by exploiting expensive pre-processing steps which can be amortized with savings from later stages. We propose a method to accelerate and improve read mapping based on an initial clustering of possibly billions of high-throughput sequencing reads, yielding clusters of high stringency and a high degree of overlap. This clustering improves on the state-of-the-art in running time for small datasets and, for the first time, makes clustering high-coverage human libraries feasible. Given the efficiently computed clusters, only one representative read from each cluster needs to be mapped using a traditional readmapper such as BWA, instead of individually mapping all reads. On human reads, all processing steps, including clustering and mapping, only require 11%-59% of the time for individually mapping all reads, achieving speed-ups for all readmappers, while minimally affecting mapping quality. This accelerates a highly sensitive readmapper such as Stampy to be competitive with a fast readmapper such as BWA on unclustered reads.

false

true

false

32,244

2408.10163

Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves

This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance collaboration with USVs for following and landing tasks under such challenging conditions. The main contribution of our system is the novel mathematical USV model, describing the movement of the USV in 6 degrees of freedom on a wavy water surface, which is used to estimate and predict USV states. The estimator fuses data from multiple global and onboard sensors, ensuring accurate USV state estimation. The predictor computes future USV states using the novel mathematical USV model and the last estimated states. The estimated and predicted USV states are forwarded into a trajectory planner that generates a UAV trajectory for following the USV or landing on its deck, even in harsh environmental conditions. The proposed approach was verified in numerous simulations and deployed to the real world, where the UAV was able to follow the USV and land on its deck repeatedly.

false

true

false

481,744

cs/0509097

Iterative Algebraic Soft-Decision List Decoding of Reed-Solomon Codes

In this paper, we present an iterative soft-decision decoding algorithm for Reed-Solomon codes offering both complexity and performance advantages over previously known decoding algorithms. Our algorithm is a list decoding algorithm which combines two powerful soft decision decoding techniques which were previously regarded in the literature as competitive, namely, the Koetter-Vardy algebraic soft-decision decoding algorithm and belief-propagation based on adaptive parity check matrices, recently proposed by Jiang and Narayanan. Building on the Jiang-Narayanan algorithm, we present a belief-propagation based algorithm with a significant reduction in computational complexity. We introduce the concept of using a belief-propagation based decoder to enhance the soft-input information prior to decoding with an algebraic soft-decision decoder. Our algorithm can also be viewed as an interpolation multiplicity assignment scheme for algebraic soft-decision decoding of Reed-Solomon codes.

false

true

false

538,991

2410.21164

Differentially Private Learned Indexes

In this paper, we address the problem of efficiently answering predicate queries on encrypted databases, those secured by Trusted Execution Environments (TEEs), which enable untrusted providers to process encrypted user data without revealing its contents. A common strategy in modern databases to accelerate predicate queries is the use of indexes, which map attribute values (keys) to their corresponding positions in a sorted data array. This allows for fast lookup and retrieval of data subsets that satisfy specific predicates. Unfortunately, indexes cannot be directly applied to encrypted databases due to strong data dependent leakages. Recent approaches apply differential privacy (DP) to construct noisy indexes that enable faster access to encrypted data while maintaining provable privacy guarantees. However, these methods often suffer from large storage costs, with index sizes typically scaling linearly with the key space. To address this challenge, we propose leveraging learned indexes, a trending technique that repurposes machine learning models as indexing structures, to build more compact DP indexes.

false

true

false

true

false

true

false

503,117

2309.05113

Personalized Search Via Neural Contextual Semantic Relevance Ranking

Existing neural relevance models do not give enough consideration for query and item context information which diversifies the search results to adapt for personal preference. To bridge this gap, this paper presents a neural learning framework to personalize document ranking results by leveraging the signals to capture how the document fits into users' context. In particular, it models the relationships between document content and user query context using both lexical representations and semantic embeddings such that the user's intent can be better understood by data enrichment of personalized query context information. Extensive experiments performed on the search dataset, demonstrate the effectiveness of the proposed method.

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true

false

390,963

2006.04707

Principles to Practices for Responsible AI: Closing the Gap

Companies have considered adoption of various high-level artificial intelligence (AI) principles for responsible AI, but there is less clarity on how to implement these principles as organizational practices. This paper reviews the principles-to-practices gap. We outline five explanations for this gap ranging from a disciplinary divide to an overabundance of tools. In turn, we argue that an impact assessment framework which is broad, operationalizable, flexible, iterative, guided, and participatory is a promising approach to close the principles-to-practices gap. Finally, to help practitioners with applying these recommendations, we review a case study of AI's use in forest ecosystem restoration, demonstrating how an impact assessment framework can translate into effective and responsible AI practices.

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true

false

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false

180,790

2502.07143

Ask Patients with Patience: Enabling LLMs for Human-Centric Medical Dialogue with Grounded Reasoning

Accurate and efficient diagnosis in online medical consultations remains a challenge for current large language models. These models often rely on single-turn interactions and lack the ability to refine their predictions through follow-up questions. Additionally, their responses frequently contain complex medical terminology, making them less accessible to non-medical users and creating barriers to effective communication. In this paper, we introduce Ask Patients with Patience (APP), the first multi-turn dialogue that enables LLMs to iteratively refine diagnoses based on grounded reasoning. By integrating medical guidelines and entropy minimization, APP improves both diagnostic accuracy and efficiency. Furthermore, it features human-centric communication that bridges the gap between user comprehension and medical terminology, significantly enhancing user accessibility and engagement. We evaluated APP using a subset of the ReMeDi dataset, comparing it with single-turn and traditional multi-turn LLM baselines. APP achieved higher similarity scores in diagnosis predictions, demonstrating better alignment with ground truth diagnoses. Entropy analysis showed that APP reduces diagnostic uncertainty more rapidly across iterations, increasing confidence in its predictions. APP also excels in user accessibility and empathy, further bridging the gap between complex medical language and user understanding. Code will be released at: https://github.com/SuperMedIntel/AskPatients.

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true

false

532,444

0810.1186

On-the-fly Macros

We present a domain-independent algorithm that computes macros in a novel way. Our algorithm computes macros "on-the-fly" for a given set of states and does not require previously learned or inferred information, nor prior domain knowledge. The algorithm is used to define new domain-independent tractable classes of classical planning that are proved to include \emph{Blocksworld-arm} and \emph{Towers of Hanoi}.

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true

false

2,459

1706.05104

Personal Food Computer: A new device for controlled-environment agriculture

Due to their interdisciplinary nature, devices for controlled-environment agriculture have the possibility to turn into ideal tools not only to conduct research on plant phenology but also to create curricula in a wide range of disciplines. Controlled-environment devices are increasing their functionalities as well as improving their accessibility. Traditionally, building one of these devices from scratch implies knowledge in fields such as mechanical engineering, digital electronics, programming, and energy management. However, the requirements of an effective controlled environment device for personal use brings new constraints and challenges. This paper presents the OpenAg Personal Food Computer (PFC); a low cost desktop size platform, which not only targets plant phenology researchers but also hobbyists, makers, and teachers from elementary to high-school levels (K-12). The PFC is completely open-source and it is intended to become a tool that can be used for collective data sharing and plant growth analysis. Thanks to its modular design, the PFC can be used in a large spectrum of activities.

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true

75,452

2502.07205

VINP: Variational Bayesian Inference with Neural Speech Prior for Joint ASR-Effective Speech Dereverberation and Blind RIR Identification

Reverberant speech, denoting the speech signal degraded by the process of reverberation, contains crucial knowledge of both anechoic source speech and room impulse response (RIR). This work proposes a variational Bayesian inference (VBI) framework with neural speech prior (VINP) for joint speech dereverberation and blind RIR identification. In VINP, a probabilistic signal model is constructed in the time-frequency (T-F) domain based on convolution transfer function (CTF) approximation. For the first time, we propose using an arbitrary discriminative dereverberation deep neural network (DNN) to predict the prior distribution of anechoic speech within a probabilistic model. By integrating both reverberant speech and the anechoic speech prior, VINP yields the maximum a posteriori (MAP) and maximum likelihood (ML) estimations of the anechoic speech spectrum and CTF filter, respectively. After simple transformations, the waveforms of anechoic speech and RIR are estimated. Moreover, VINP is effective for automatic speech recognition (ASR) systems, which sets it apart from most deep learning (DL)-based single-channel dereverberation approaches. Experiments on single-channel speech dereverberation demonstrate that VINP reaches an advanced level in most metrics related to human perception and displays unquestionable state-of-the-art (SOTA) performance in ASR-related metrics. For blind RIR identification, experiments indicate that VINP attains the SOTA level in blind estimation of reverberation time at 60 dB (RT60) and direct-to-reverberation ratio (DRR). Codes and audio samples are available online.

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532,483