Out-of-distribution (OOD) detection is a crucial part of deploying machine learning models safely. It has been extensively studied with a plethora of methods developed in the literature. This problem is tackled with an OOD score computation, however, previous methods compute the OOD scores with limited usage of the in-distribution dataset. For instance, the OOD scores are computed with information from a small portion of the in-distribution data. Furthermore, these methods encode images with a neural image encoder. The robustness of these methods is rarely checked with respect to image encoders of different training methods and architectures. In this work, we introduce the diffusion process into the OOD task. The diffusion model integrates information on the whole training set into the predicted noise vectors. What's more, we deduce a closed-form solution for the noise vector (stable point). Then the noise vector is converted into our OOD score, we test both the deep model predicted noise vector and the closed-form noise vector on the OOD benchmarks \cite{openood}. Our method outperforms previous OOD methods across all types of image encoders (Table. \ref{main}). A $3.5\%$ performance gain is achieved with the MAE-based image encoder. Moreover, we studied the robustness of OOD methods by applying different types of image encoders. Some OOD methods failed to generalize well when switching image encoders from ResNet to Vision Transformers, our method performs exhibits good robustness with all the image encoders.
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LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper presents RELEAD, a LiDAR-centric solution designed to address scan-matching degradation. Our method enables degeneracy-free point cloud registration by solving constrained ESIKF updates in the front end and incorporates multisensor constraints, even when dealing with outlier measurements, through graph optimization based on Graduated Non-Convexity (GNC). Additionally, we propose a robust Incremental Fixed Lag Smoother (rIFL) for efficient GNC-based optimization. RELEAD has undergone extensive evaluation in degenerate scenarios and has outperformed existing state-of-the-art LiDAR-Inertial odometry and LiDAR-Visual-Inertial odometry methods.
Binary code similarity detection (BCSD) is a fundamental technique for various application. Many BCSD solutions have been proposed recently, which mostly are embedding-based, but have shown limited accuracy and efficiency especially when the volume of target binaries to search is large. To address this issue, we propose a cost-effective BCSD framework, CEBin, which fuses embedding-based and comparison-based approaches to significantly improve accuracy while minimizing overheads. Specifically, CEBin utilizes a refined embedding-based approach to extract features of target code, which efficiently narrows down the scope of candidate similar code and boosts performance. Then, it utilizes a comparison-based approach that performs a pairwise comparison on the candidates to capture more nuanced and complex relationships, which greatly improves the accuracy of similarity detection. By bridging the gap between embedding-based and comparison-based approaches, CEBin is able to provide an effective and efficient solution for detecting similar code (including vulnerable ones) in large-scale software ecosystems. Experimental results on three well-known datasets demonstrate the superiority of CEBin over existing state-of-the-art (SOTA) baselines. To further evaluate the usefulness of BCSD in real world, we construct a large-scale benchmark of vulnerability, offering the first precise evaluation scheme to assess BCSD methods for the 1-day vulnerability detection task. CEBin could identify the similar function from millions of candidate functions in just a few seconds and achieves an impressive recall rate of $85.46\%$ on this more practical but challenging task, which are several order of magnitudes faster and $4.07\times$ better than the best SOTA baseline. Our code is available at //github.com/Hustcw/CEBin.
Offline learning has become widely used due to its ability to derive effective policies from offline datasets gathered by expert demonstrators without interacting with the environment directly. Recent research has explored various ways to enhance offline learning efficiency by considering the characteristics (e.g., expertise level or multiple demonstrators) of the dataset. However, a different approach is necessary in the context of zero-sum games, where outcomes vary significantly based on the strategy of the opponent. In this study, we introduce a novel approach that uses unsupervised learning techniques to estimate the exploited level of each trajectory from the offline dataset of zero-sum games made by diverse demonstrators. Subsequently, we incorporate the estimated exploited level into the offline learning to maximize the influence of the dominant strategy. Our method enables interpretable exploited level estimation in multiple zero-sum games and effectively identifies dominant strategy data. Also, our exploited level augmented offline learning significantly enhances the original offline learning algorithms including imitation learning and offline reinforcement learning for zero-sum games.
Deep learning models have become popular in the analysis of tabular data, as they address the limitations of decision trees and enable valuable applications like semi-supervised learning, online learning, and transfer learning. However, these deep-learning approaches often encounter a trade-off. On one hand, they can be computationally expensive when dealing with large-scale or high-dimensional datasets. On the other hand, they may lack interpretability and may not be suitable for small-scale datasets. In this study, we propose a novel interpretable neural network called Neural Classification and Regression Tree (NCART) to overcome these challenges. NCART is a modified version of Residual Networks that replaces fully-connected layers with multiple differentiable oblivious decision trees. By integrating decision trees into the architecture, NCART maintains its interpretability while benefiting from the end-to-end capabilities of neural networks. The simplicity of the NCART architecture makes it well-suited for datasets of varying sizes and reduces computational costs compared to state-of-the-art deep learning models. Extensive numerical experiments demonstrate the superior performance of NCART compared to existing deep learning models, establishing it as a strong competitor to tree-based models.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
Deep learning has shown great potential for modeling the physical dynamics of complex particle systems such as fluids (in Lagrangian descriptions). Existing approaches, however, require the supervision of consecutive particle properties, including positions and velocities. In this paper, we consider a partially observable scenario known as fluid dynamics grounding, that is, inferring the state transitions and interactions within the fluid particle systems from sequential visual observations of the fluid surface. We propose a differentiable two-stage network named NeuroFluid. Our approach consists of (i) a particle-driven neural renderer, which involves fluid physical properties into the volume rendering function, and (ii) a particle transition model optimized to reduce the differences between the rendered and the observed images. NeuroFluid provides the first solution to unsupervised learning of particle-based fluid dynamics by training these two models jointly. It is shown to reasonably estimate the underlying physics of fluids with different initial shapes, viscosity, and densities. It is a potential alternative approach to understanding complex fluid mechanics, such as turbulence, that are difficult to model using traditional methods of mathematical physics.
Out-of-distribution (OOD) detection is critical to ensuring the reliability and safety of machine learning systems. For instance, in autonomous driving, we would like the driving system to issue an alert and hand over the control to humans when it detects unusual scenes or objects that it has never seen before and cannot make a safe decision. This problem first emerged in 2017 and since then has received increasing attention from the research community, leading to a plethora of methods developed, ranging from classification-based to density-based to distance-based ones. Meanwhile, several other problems are closely related to OOD detection in terms of motivation and methodology. These include anomaly detection (AD), novelty detection (ND), open set recognition (OSR), and outlier detection (OD). Despite having different definitions and problem settings, these problems often confuse readers and practitioners, and as a result, some existing studies misuse terms. In this survey, we first present a generic framework called generalized OOD detection, which encompasses the five aforementioned problems, i.e., AD, ND, OSR, OOD detection, and OD. Under our framework, these five problems can be seen as special cases or sub-tasks, and are easier to distinguish. Then, we conduct a thorough review of each of the five areas by summarizing their recent technical developments. We conclude this survey with open challenges and potential research directions.
There recently has been a surge of interest in developing a new class of deep learning (DL) architectures that integrate an explicit time dimension as a fundamental building block of learning and representation mechanisms. In turn, many recent results show that topological descriptors of the observed data, encoding information on the shape of the dataset in a topological space at different scales, that is, persistent homology of the data, may contain important complementary information, improving both performance and robustness of DL. As convergence of these two emerging ideas, we propose to enhance DL architectures with the most salient time-conditioned topological information of the data and introduce the concept of zigzag persistence into time-aware graph convolutional networks (GCNs). Zigzag persistence provides a systematic and mathematically rigorous framework to track the most important topological features of the observed data that tend to manifest themselves over time. To integrate the extracted time-conditioned topological descriptors into DL, we develop a new topological summary, zigzag persistence image, and derive its theoretical stability guarantees. We validate the new GCNs with a time-aware zigzag topological layer (Z-GCNETs), in application to traffic forecasting and Ethereum blockchain price prediction. Our results indicate that Z-GCNET outperforms 13 state-of-the-art methods on 4 time series datasets.
Exploration-exploitation is a powerful and practical tool in multi-agent learning (MAL), however, its effects are far from understood. To make progress in this direction, we study a smooth analogue of Q-learning. We start by showing that our learning model has strong theoretical justification as an optimal model for studying exploration-exploitation. Specifically, we prove that smooth Q-learning has bounded regret in arbitrary games for a cost model that explicitly captures the balance between game and exploration costs and that it always converges to the set of quantal-response equilibria (QRE), the standard solution concept for games under bounded rationality, in weighted potential games with heterogeneous learning agents. In our main task, we then turn to measure the effect of exploration in collective system performance. We characterize the geometry of the QRE surface in low-dimensional MAL systems and link our findings with catastrophe (bifurcation) theory. In particular, as the exploration hyperparameter evolves over-time, the system undergoes phase transitions where the number and stability of equilibria can change radically given an infinitesimal change to the exploration parameter. Based on this, we provide a formal theoretical treatment of how tuning the exploration parameter can provably lead to equilibrium selection with both positive as well as negative (and potentially unbounded) effects to system performance.
Few sample learning (FSL) is significant and challenging in the field of machine learning. The capability of learning and generalizing from very few samples successfully is a noticeable demarcation separating artificial intelligence and human intelligence since humans can readily establish their cognition to novelty from just a single or a handful of examples whereas machine learning algorithms typically entail hundreds or thousands of supervised samples to guarantee generalization ability. Despite the long history dated back to the early 2000s and the widespread attention in recent years with booming deep learning technologies, little surveys or reviews for FSL are available until now. In this context, we extensively review 200+ papers of FSL spanning from the 2000s to 2019 and provide a timely and comprehensive survey for FSL. In this survey, we review the evolution history as well as the current progress on FSL, categorize FSL approaches into the generative model based and discriminative model based kinds in principle, and emphasize particularly on the meta learning based FSL approaches. We also summarize several recently emerging extensional topics of FSL and review the latest advances on these topics. Furthermore, we highlight the important FSL applications covering many research hotspots in computer vision, natural language processing, audio and speech, reinforcement learning and robotic, data analysis, etc. Finally, we conclude the survey with a discussion on promising trends in the hope of providing guidance and insights to follow-up researches.
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