Building compositional explanations requires models to combine two or more facts that, together, describe why the answer to a question is correct. Typically, these "multi-hop" explanations are evaluated relative to one (or a small number of) gold explanations. In this work, we show these evaluations substantially underestimate model performance, both in terms of the relevance of included facts, as well as the completeness of model-generated explanations, because models regularly discover and produce valid explanations that are different than gold explanations. To address this, we construct a large corpus of 126k domain-expert (science teacher) relevance ratings that augment a corpus of explanations to standardized science exam questions, discovering 80k additional relevant facts not rated as gold. We build three strong models based on different methodologies (generation, ranking, and schemas), and empirically show that while expert-augmented ratings provide better estimates of explanation quality, both original (gold) and expert-augmented automatic evaluations still substantially underestimate performance by up to 36% when compared with full manual expert judgements, with different models being disproportionately affected. This poses a significant methodological challenge to accurately evaluating explanations produced by compositional reasoning models.
Many existing works have made great strides towards reducing racial bias in face recognition. However, most of these methods attempt to rectify bias that manifests in models during training instead of directly addressing a major source of the bias, the dataset itself. Exceptions to this are BUPT-Balancedface/RFW and Fairface, but these works assume that primarily training on a single race or not racially balancing the dataset are inherently disadvantageous. We demonstrate that these assumptions are not necessarily valid. In our experiments, training on only African faces induced less bias than training on a balanced distribution of faces and distributions skewed to include more African faces produced more equitable models. We additionally notice that adding more images of existing identities to a dataset in place of adding new identities can lead to accuracy boosts across racial categories. Our code is available at https://github.com/j-alex-hanson/rethinking-race-face-datasets.
Geopositioning and tracking a moving boat at sea is a very challenging problem, requiring boat detection, matching and estimating its GPS location from imagery with no common features. The problem can be stated as follows: given imagery from a camera mounted on a moving platform with known GPS location as the only valid sensor, we predict the geoposition of a target boat visible in images. Our solution uses recent ML algorithms, the camera-scene geometry and Bayesian filtering. The proposed pipeline first detects and tracks the target boat's location in the image with the strategy of tracking by detection. This image location is then converted to geoposition to the local sea coordinates referenced to the camera GPS location using plane projective geometry. Finally, target boat local coordinates are transformed to global GPS coordinates to estimate the geoposition. To achieve a smooth geotrajectory, we apply unscented Kalman filter (UKF) which implicitly overcomes small detection errors in the early stages of the pipeline. We tested the performance of our approach using GPS ground truth and show the accuracy and speed of the estimated geopositions. Our code is publicly available at https://github.com/JianliWei1995/AI-Track-at-Sea.
This paper presents VORRT-COLREGs, a hybrid technique that combines velocity obstacles (VO) and rapidly-exploring random trees (RRT) to generate safe trajectories for autonomous surface vessels (ASVs) while following nautical rules of the road. RRT generates a set of way points and the velocity obstacles method ensures safe travel between way points. We also ensure that the actions of ASVs do not violate maritime collision guidelines. Earlier work has used RRT and VO separately to generate paths for ASVs. However, RRT does not handle highly dynamic situations well and and VO seems most suitable as a local path planner. Combining both approaches, VORRT-COLREGs is a global path planner that uses a joint forward simulation to ensure that generated paths remain valid and collision free as the situation changes. Experiments were conducted in different types of collision scenarios and with different numbers of ASVs. Results show that VORRT-COLREGS generated collision regulations (COLREGs) complaint paths in open ocean scenarios. Furthermore, VORRT-COLREGS successfully generated compliant paths within traffic separation schemes. These results show the applicability of our technique for generating paths for ASVs in different collision scenarios. To the best of our knowledge, this is the first work that combines velocity obstacles and RRT to produce safe and COLREGs complaint path for ASVs.
Motivated by scenarios where data is used for diverse prediction tasks, we study whether fair representation can be used to guarantee fairness for unknown tasks and for multiple fairness notions simultaneously. We consider seven group fairness notions that cover the concepts of independence, separation, and calibration. Against the backdrop of the fairness impossibility results, we explore approximate fairness. We prove that, although fair representation might not guarantee fairness for all prediction tasks, it does guarantee fairness for an important subset of tasks -- the tasks for which the representation is discriminative. Specifically, all seven group fairness notions are linearly controlled by fairness and discriminativeness of the representation. When an incompatibility exists between different fairness notions, fair and discriminative representation hits the sweet spot that approximately satisfies all notions. Motivated by our theoretical findings, we propose to learn both fair and discriminative representations using pretext loss which self-supervises learning, and Maximum Mean Discrepancy as a fair regularizer. Experiments on tabular, image, and face datasets show that using the learned representation, downstream predictions that we are unaware of when learning the representation indeed become fairer for seven group fairness notions, and the fairness guarantees computed from our theoretical results are all valid.
In the analysis of observational data in social sciences and businesses, it is difficult to obtain a "(quasi) single-source dataset" in which the variables of interest are simultaneously observed. Instead, multiple-source datasets are typically acquired for different individuals or units. Various methods have been proposed to investigate the relationship between the variables in each dataset, e.g., matching and latent variable modeling. It is necessary to utilize these datasets as a single-source dataset with missing variables. Existing methods assume that the datasets to be integrated are acquired from the same population or that the sampling depends on covariates. This assumption is referred to as missing at random (MAR) in terms of missingness. However, as will been shown in application studies, it is likely that this assumption does not hold in actual data analysis and the results obtained may be biased. We propose a data fusion method that does not assume that datasets are homogenous. We use a Gaussian process latent variable model for non-MAR missing data. This model assumes that the variables of concern and the probability of being missing depend on latent variables. A simulation study and real-world data analysis show that the proposed method with a missing-data mechanism and the latent Gaussian process yields valid estimates, whereas an existing method provides severely biased estimates. This is the first study in which non-random assignment to datasets is considered and resolved under resonable assumptions in data fusion problem.
In a recent paper Juodis and Reese (2022) (JR) show that the application of the CD test proposed by Pesaran (2004) to residuals from panels with latent factors results in over-rejection. They propose a randomized test statistic to correct for over-rejection, and add a screening component to achieve power. This paper considers the same problem but from a different perspective, and shows that the standard CD test remains valid if the latent factors are weak in the sense the strength is less than half. In the case where latent factors are strong, we propose a bias-corrected version, CD*, which is shown to be asymptotically standard normal under the null of error cross-sectional independence and have power against network type alternatives. This result is shown to hold for pure latent factor models as well as for panel regression models with latent factors. The case where the errors are serially correlated is also considered. Small sample properties of the CD* test are investigated by Monte Carlo experiments and are shown to have the correct size for strong and weak factors as well as for Gaussian and non-Gaussian errors. In contrast, it is found that JR's test tends to over-reject in the case of panels with non-Gaussian errors, and has low power against spatial network alternatives. In an empirical application, using the CD* test, it is shown that there remains spatial error dependence in a panel data model for real house price changes across 377 Metropolitan Statistical Areas in the U.S., even after the effects of latent factors are filtered out.
A machine intelligence pipeline usually consists of six components: problem, representation, model, loss, optimizer and metric. Researchers have worked hard trying to automate many components of the pipeline. However, one key component of the pipeline--problem definition--is still left mostly unexplored in terms of automation. Usually, it requires extensive efforts from domain experts to identify, define and formulate important problems in an area. However, automatically discovering research or application problems for an area is beneficial since it helps to identify valid and potentially important problems hidden in data that are unknown to domain experts, expand the scope of tasks that we can do in an area, and even inspire completely new findings. This paper describes Problem Learning, which aims at learning to discover and define valid and ethical problems from data or from the machine's interaction with the environment. We formalize problem learning as the identification of valid and ethical problems in a problem space and introduce several possible approaches to problem learning. In a broader sense, problem learning is an approach towards the free will of intelligent machines. Currently, machines are still limited to solving the problems defined by humans, without the ability or flexibility to freely explore various possible problems that are even unknown to humans. Though many machine learning techniques have been developed and integrated into intelligent systems, they still focus on the means rather than the purpose in that machines are still solving human defined problems. However, proposing good problems is sometimes even more important than solving problems, because a good problem can help to inspire new ideas and gain deeper understandings. The paper also discusses the ethical implications of problem learning under the background of Responsible AI.
In this paper we develop valid inference for high-dimensional time series. We extend the desparsified lasso to a time series setting under Near-Epoch Dependence (NED) assumptions allowing for non-Gaussian, serially correlated and heteroskedastic processes, where the number of regressors can possibly grow faster than the time dimension. We first derive an error bound under weak sparsity, which, coupled with the NED assumption, means this inequality can also be applied to the (inherently misspecified) nodewise regressions performed in the desparsified lasso. This allows us to establish the uniform asymptotic normality of the desparsified lasso under general conditions, including for inference on parameters of increasing dimensions. Additionally, we show consistency of a long-run variance estimator, thus providing a complete set of tools for performing inference in high-dimensional linear time series models. Finally, we perform a simulation exercise to demonstrate the small sample properties of the desparsified lasso in common time series settings.
We investigate the complexity of the reachability problem for (deep) neural networks: does it compute valid output given some valid input? It was recently claimed that the problem is NP-complete for general neural networks and conjunctive input/output specifications. We repair some flaws in the original upper and lower bound proofs. We then show that NP-hardness already holds for restricted classes of simple specifications and neural networks with just one layer, as well as neural networks with minimal requirements on the occurring parameters.
Technology-assisted review (TAR) workflows based on iterative active learning are widely used in document review applications. Most stopping rules for one-phase TAR workflows lack valid statistical guarantees, which has discouraged their use in some legal contexts. Drawing on the theory of quantile estimation, we provide the first broadly applicable and statistically valid sample-based stopping rules for one-phase TAR. We further show theoretically and empirically that overshooting a recall target, which has been treated as innocuous or desirable in past evaluations of stopping rules, is a major source of excess cost in one-phase TAR workflows. Counterintuitively, incurring a larger sampling cost to reduce excess recall leads to lower total cost in almost all scenarios.
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem down into two parts: (1) finding physically valid locations for the objects and (2) determining if those poses satisfy learned, high-level semantic relationships. We build our models and training from the ground up to be tightly integrated with our proposed planning algorithm for semantic placement of unknown objects. We train our models purely in simulation, with no fine-tuning needed for use in the real world. Our approach enables motion planning for semantic rearrangement of unknown objects in scenes with varying geometry from only RGB-D sensing. Our experiments through a set of simulated ablations demonstrate that using a relational classifier alone is not sufficient for reliable planning. We further demonstrate the ability of our planner to generate and execute diverse manipulation plans through a set of real-world experiments with a variety of objects.
We propose Parallelised Diffeomorphic Sampling-based Motion Planning (PDMP). PDMP is a novel parallelised framework that uses bijective and differentiable mappings, or diffeomorphisms, to transform sampling distributions of sampling-based motion planners, in a manner akin to normalising flows. Unlike normalising flow models which use invertible neural network structures to represent these diffeomorphisms, we develop them from gradient information of desired costs, and encode desirable behaviour, such as obstacle avoidance. These transformed sampling distributions can then be used for sampling-based motion planning. A particular example is when we wish to imbue the sampling distribution with knowledge of the environment geometry, such that drawn samples are less prone to be in collisions. To this end, we propose to learn a continuous occupancy representation from environment occupancy data, such that gradients of the representation defines a valid diffeomorphism and is amenable to fast parallel evaluation. We use this to "morph" the sampling distribution to draw far fewer collision-prone samples. PDMP is able to leverage gradient information of costs, to inject specifications, in a manner similar to optimisation-based motion planning methods, but relies on drawing from a sampling distribution, retaining the tendency to find more global solutions, thereby bridging the gap between trajectory optimisation and sampling-based planning methods.
This paper proposes a practical method for the definition of communication modes when antennas operate in the near-field region, by realizing ad-hoc beams exploiting the focusing capability of large antennas. The beamspace modeling proposed to define the communication modes is then exploited to derive expressions for their number (i.e., the degrees of freedom) in a generic setup, beyond the traditional paraxial scenario, together with closed-form definitions for the basis set at the transmitting and receiving antennas for several cases of interest, such as for the communication between a large antenna and a small antenna. Numerical results show that quasi-optimal communication can be obtained starting from focusing functions. This translates into the possibility of a significant enhancement of the channel capacity even in line-of-sight channel condition, without the need of implementing optimal but complex phase/amplitude profiles on transmitting/receiving antennas as well as resorting to intensive numerical solutions. Traditional results valid under paraxial approximation are revised in light of the proposed modeling, showing that similar conclusions can be obtained from different perspectives.
In S&P '21, Jia et al. proposed a new concept/mechanism named proof-of-learning (PoL), which allows a prover to demonstrate ownership of a machine learning model by proving integrity of the training procedure. It guarantees that an adversary cannot construct a valid proof with less cost (in both computation and storage) than that made by the prover in generating the proof. A PoL proof includes a set of intermediate models recorded during training, together with the corresponding data points used to obtain each recorded model. Jia et al. claimed that an adversary merely knowing the final model and training dataset cannot efficiently find a set of intermediate models with correct data points. In this paper, however, we show that PoL is vulnerable to ``adversarial examples''! Specifically, in a similar way as optimizing an adversarial example, we could make an arbitrarily-chosen data point ``generate'' a given model, hence efficiently generating intermediate models with correct data points. We demonstrate, both theoretically and empirically, that we are able to generate a valid proof with significantly less cost than generating a proof by the prover.
Knowing the causal structure of a system is of fundamental interest in many areas of science and can aid the design of prediction algorithms that work well under manipulations to the system. The causal structure becomes identifiable from the observational distribution under certain restrictions. To learn the structure from data, score-based methods evaluate different graphs according to the quality of their fits. However, for large, continuous, and nonlinear models, these rely on heuristic optimization approaches with no general guarantees of recovering the true causal structure. In this paper, we consider structure learning of directed trees. We propose a fast and scalable method based on Chu-Liu-Edmonds' algorithm we call causal additive trees (CAT). For the case of Gaussian errors, we prove consistency in an asymptotic regime with a vanishing identifiability gap. We also introduce two methods for testing substructure hypotheses with asymptotic family-wise error rate control that is valid post-selection and in unidentified settings. Furthermore, we study the identifiability gap, which quantifies how much better the true causal model fits the observational distribution, and prove that it is lower bounded by local properties of the causal model. Simulation studies demonstrate the favorable performance of CAT compared to competing structure learning methods.
Recent progress in stochastic motion prediction, i.e., predicting multiple possible future human motions given a single past pose sequence, has led to producing truly diverse future motions and even providing control over the motion of some body parts. However, to achieve this, the state-of-the-art method requires learning several mappings for diversity and a dedicated model for controllable motion prediction. In this paper, we introduce a unified deep generative network for both diverse and controllable motion prediction. To this end, we leverage the intuition that realistic human motions consist of smooth sequences of valid poses, and that, given limited data, learning a pose prior is much more tractable than a motion one. We therefore design a generator that predicts the motion of different body parts sequentially, and introduce a normalizing flow based pose prior, together with a joint angle loss, to achieve motion realism.Our experiments on two standard benchmark datasets, Human3.6M and HumanEva-I, demonstrate that our approach outperforms the state-of-the-art baselines in terms of both sample diversity and accuracy. The code is available at https://github.com/wei-mao-2019/gsps
Fingerprint is an important biological feature of human body, which contains abundant gender information. At present, the academic research of fingerprint gender characteristics is generally at the level of understanding, while the standardization research is quite limited. In this work, we propose a more robust method, Dense Dilated Convolution ResNet (DDC-ResNet) to extract valid gender information from fingerprints. By replacing the normal convolution operations with the atrous convolution in the backbone, prior knowledge is provided to keep the edge details and the global reception field can be extended. We explored the results in 3 ways: 1) The efficiency of the DDC-ResNet. 6 typical methods of automatic feature extraction coupling with 9 mainstream classifiers are evaluated in our dataset with fair implementation details. Experimental results demonstrate that the combination of our approach outperforms other combinations in terms of average accuracy and separate-gender accuracy. It reaches 96.5% for average and 0.9752 (males)/0.9548 (females) for separate-gender accuracy. 2) The effect of fingers. It is found that the best performance of classifying gender with separate fingers is achieved by the right ring finger. 3) The effect of specific features. Based on the observations of the concentrations of fingerprints visualized by our approach, it can be inferred that loops and whorls (level 1), bifurcations (level 2), as well as line shapes (level 3) are connected with gender. Finally, we will open source the dataset that contains 6000 fingerprint images
This workshop is the fourth issue of a series of workshops on automatic extraction of socio-political events from news, organized by the Emerging Market Welfare Project, with the support of the Joint Research Centre of the European Commission and with contributions from many other prominent scholars in this field. The purpose of this series of workshops is to foster research and development of reliable, valid, robust, and practical solutions for automatically detecting descriptions of socio-political events, such as protests, riots, wars and armed conflicts, in text streams. This year workshop contributors make use of the state-of-the-art NLP technologies, such as Deep Learning, Word Embeddings and Transformers and cover a wide range of topics from text classification to news bias detection. Around 40 teams have registered and 15 teams contributed to three tasks that are i) multilingual protest news detection, ii) fine-grained classification of socio-political events, and iii) discovering Black Lives Matter protest events. The workshop also highlights two keynote and four invited talks about various aspects of creating event data sets and multi- and cross-lingual machine learning in few- and zero-shot settings.
Language models (LMs) pre-trained on massive amounts of text, in particular bidirectional encoder representations from Transformers (BERT), generative pre-training (GPT), and GPT-2, have become a key technology for many natural language processing tasks. In this paper, we present results using fine-tuned GPT, GPT-2, and their combination for automatic speech recognition (ASR). Unlike unidirectional LM GPT and GPT-2, BERT is bidirectional whose direct product of the output probabilities is no longer a valid language prior probability. A conversion method is proposed to compute the correct language prior probability based on bidirectional LM outputs in a mathematically exact way. Experimental results on the widely used AMI and Switchboard ASR tasks showed that the combination of the fine-tuned GPT and GPT-2 outperformed the combination of three neural LMs with different architectures trained from scratch on the in-domain text by up to a 12% relative word error rate reduction (WERR). Furthermore, on the AMI corpus, the proposed conversion for language prior probabilities enables BERT to obtain an extra 3% relative WERR, and the combination of BERT, GPT and GPT-2 results in further improvements.