Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number of redundant 3D Gaussian ellipsoids, leading to high memory and storage costs, and slow training speed. To address the limitation, we propose a compact 3D Gaussian Splatting SLAM system that reduces the number and the parameter size of Gaussian ellipsoids. A sliding window-based masking strategy is first proposed to reduce the redundant ellipsoids. Then we observe that the covariance matrix (geometry) of most 3D Gaussian ellipsoids are extremely similar, which motivates a novel geometry codebook to compress 3D Gaussian geometric attributes, i.e., the parameters. Robust and accurate pose estimation is achieved by a global bundle adjustment method with reprojection loss. Extensive experiments demonstrate that our method achieves faster training and rendering speed while maintaining the state-of-the-art (SOTA) quality of the scene representation.
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Deep learning technology has brought convenience and advanced developments but has become untrustworthy because of its sensitivity to inconspicuous perturbations (i.e., adversarial attacks). Attackers may utilize this sensitivity to manipulate predictions. To defend against such attacks, we have devised a proactive strategy for "attacking" the medias before it is attacked by the third party, so that when the protected medias are further attacked, the adversarial perturbations are automatically neutralized. This strategy, dubbed Fast Preemption, provides an efficient transferable preemptive defense by using different models for labeling inputs and learning crucial features. A forward-backward cascade learning algorithm is used to compute protective perturbations, starting with forward propagation optimization to achieve rapid convergence, followed by iterative backward propagation learning to alleviate overfitting. This strategy offers state-of-the-art transferability and protection across various systems. With the running of only three steps, our Fast Preemption framework outperforms benchmark training-time, test-time, and preemptive adversarial defenses. We have also devised the first to our knowledge effective white-box adaptive reversion attack and demonstrate that the protection added by our defense strategy is irreversible unless the backbone model, algorithm, and settings are fully compromised. This work provides a new direction to developing proactive defenses against adversarial attacks. The proposed methodology will be made available on GitHub.
We present a method to detect departures from business-justified workflows among support agents. Our goal is to assist auditors in identifying agent actions that cannot be explained by the activity within their surrounding context, where normal activity patterns are established from historical data. We apply our method to help audit millions of actions of over three thousand support agents. We collect logs from the tools used by support agents and construct a bipartite graph of Actions and Entities representing all the actions of the agents, as well as background information about entities. From this graph, we sample subgraphs rooted on security-significant actions taken by the agents. Each subgraph captures the relevant context of the root action in terms of other actions, entities and their relationships. We then prioritize the rooted-subgraphs for auditor review using feed-forward and graph neural networks, as well as nearest neighbors techniques. To alleviate the issue of scarce labeling data, we use contrastive learning and domain-specific data augmentations. Expert auditors label the top ranked subgraphs as ``worth auditing" or ``not worth auditing" based on the company's business policies. This system finds subgraphs that are worth auditing with high enough precision to be used in production.
Explainability methods are often challenging to evaluate and compare. With a multitude of explainers available, practitioners must often compare and select explainers based on quantitative evaluation metrics. One particular differentiator between explainers is the diversity of explanations for a given dataset; i.e. whether all explanations are identical, unique and uniformly distributed, or somewhere between these two extremes. In this work, we define a complexity measure for explainers, globalness, which enables deeper understanding of the distribution of explanations produced by feature attribution and feature selection methods for a given dataset. We establish the axiomatic properties that any such measure should possess and prove that our proposed measure, Wasserstein Globalness, meets these criteria. We validate the utility of Wasserstein Globalness using image, tabular, and synthetic datasets, empirically showing that it both facilitates meaningful comparison between explainers and improves the selection process for explainability methods.
Multivariate Item Response Theory (MIRT) is sought-after widely by applied researchers looking for interpretable (sparse) explanations underlying response patterns in questionnaire data. There is, however, an unmet demand for such sparsity discovery tools in practice. Our paper develops a Bayesian platform for binary and ordinal item MIRT which requires minimal tuning and scales well on large datasets due to its parallelizable features. Bayesian methodology for MIRT models has traditionally relied on MCMC simulation, which cannot only be slow in practice, but also often renders exact sparsity recovery impossible without additional thresholding. In this work, we develop a scalable Bayesian EM algorithm to estimate sparse factor loadings from mixed continuous, binary, and ordinal item responses. We address the seemingly insurmountable problem of unknown latent factor dimensionality with tools from Bayesian nonparametrics which enable estimating the number of factors. Rotations to sparsity through parameter expansion further enhance convergence and interpretability without identifiability constraints. In our simulation study, we show that our method reliably recovers both the factor dimensionality as well as the latent structure on high-dimensional synthetic data even for small samples. We demonstrate the practical usefulness of our approach on three datasets: an educational assessment dataset, a quality-of-life measurement dataset, and a bio-behavioral dataset. All demonstrations show that our tool yields interpretable estimates, facilitating interesting discoveries that might otherwise go unnoticed under a pure confirmatory factor analysis setting.
We describe a method, based on Jennifer Nado's proposal for classification procedures as targets of conceptual engineering, that implements such procedures by prompting a large language model. We apply this method, using data from the Wikidata knowledge graph, to evaluate stipulative definitions related to two paradigmatic conceptual engineering projects: the International Astronomical Union's redefinition of PLANET and Haslanger's ameliorative analysis of WOMAN. Our results show that classification procedures built using our approach can exhibit good classification performance and, through the generation of rationales for their classifications, can contribute to the identification of issues in either the definitions or the data against which they are being evaluated. We consider objections to this method, and discuss implications of this work for three aspects of theory and practice of conceptual engineering: the definition of its targets, empirical methods for their investigation, and their practical roles. The data and code used for our experiments, together with the experimental results, are available in a Github repository.
HIVE4MAT is a linked data interactive application for navigating ontologies of value to materials science. HIVE enables automatic indexing of textual resources with standardized terminology. This article presents the motivation underlying HIVE4MAT, explains the system architecture, reports on two evaluations, and discusses future plans.
Automated industries lead to high quality production, lower manufacturing cost and better utilization of human resources. Robotic manipulator arms have major role in the automation process. However, for complex manipulation tasks, hard coding efficient and safe trajectories is challenging and time consuming. Machine learning methods have the potential to learn such controllers based on expert demonstrations. Despite promising advances, better approaches must be developed to improve safety, reliability, and efficiency of ML methods in both training and deployment phases. This survey aims to review cutting edge technologies and recent trends on ML methods applied to real-world manipulation tasks. After reviewing the related background on ML, the rest of the paper is devoted to ML applications in different domains such as industry, healthcare, agriculture, space, military, and search and rescue. The paper is closed with important research directions for future works.
Graph Neural Networks (GNNs) have been successfully used in many problems involving graph-structured data, achieving state-of-the-art performance. GNNs typically employ a message-passing scheme, in which every node aggregates information from its neighbors using a permutation-invariant aggregation function. Standard well-examined choices such as the mean or sum aggregation functions have limited capabilities, as they are not able to capture interactions among neighbors. In this work, we formalize these interactions using an information-theoretic framework that notably includes synergistic information. Driven by this definition, we introduce the Graph Ordering Attention (GOAT) layer, a novel GNN component that captures interactions between nodes in a neighborhood. This is achieved by learning local node orderings via an attention mechanism and processing the ordered representations using a recurrent neural network aggregator. This design allows us to make use of a permutation-sensitive aggregator while maintaining the permutation-equivariance of the proposed GOAT layer. The GOAT model demonstrates its increased performance in modeling graph metrics that capture complex information, such as the betweenness centrality and the effective size of a node. In practical use-cases, its superior modeling capability is confirmed through its success in several real-world node classification benchmarks.
This paper shows that masked autoencoders (MAE) are scalable self-supervised learners for computer vision. Our MAE approach is simple: we mask random patches of the input image and reconstruct the missing pixels. It is based on two core designs. First, we develop an asymmetric encoder-decoder architecture, with an encoder that operates only on the visible subset of patches (without mask tokens), along with a lightweight decoder that reconstructs the original image from the latent representation and mask tokens. Second, we find that masking a high proportion of the input image, e.g., 75%, yields a nontrivial and meaningful self-supervisory task. Coupling these two designs enables us to train large models efficiently and effectively: we accelerate training (by 3x or more) and improve accuracy. Our scalable approach allows for learning high-capacity models that generalize well: e.g., a vanilla ViT-Huge model achieves the best accuracy (87.8%) among methods that use only ImageNet-1K data. Transfer performance in downstream tasks outperforms supervised pre-training and shows promising scaling behavior.
Link prediction for knowledge graphs is the task of predicting missing relationships between entities. Previous work on link prediction has focused on shallow, fast models which can scale to large knowledge graphs. However, these models learn less expressive features than deep, multi-layer models -- which potentially limits performance. In this work, we introduce ConvE, a multi-layer convolutional network model for link prediction, and report state-of-the-art results for several established datasets. We also show that the model is highly parameter efficient, yielding the same performance as DistMult and R-GCN with 8x and 17x fewer parameters. Analysis of our model suggests that it is particularly effective at modelling nodes with high indegree -- which are common in highly-connected, complex knowledge graphs such as Freebase and YAGO3. In addition, it has been noted that the WN18 and FB15k datasets suffer from test set leakage, due to inverse relations from the training set being present in the test set -- however, the extent of this issue has so far not been quantified. We find this problem to be severe: a simple rule-based model can achieve state-of-the-art results on both WN18 and FB15k. To ensure that models are evaluated on datasets where simply exploiting inverse relations cannot yield competitive results, we investigate and validate several commonly used datasets -- deriving robust variants where necessary. We then perform experiments on these robust datasets for our own and several previously proposed models, and find that ConvE achieves state-of-the-art Mean Reciprocal Rank across all datasets.
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