Causality in distributed systems is a concept that has long been explored and numerous approaches have been made to use causality as a way to trace distributed system execution. Traditional approaches usually used system profiling and newer approaches profiled clocks of systems to detect failures and construct timelines that caused those failures. Since the advent of logical clocks, these profiles have become more and more accurate with ways to characterize concurrency and distributions, with accurate diagrams for message passing. Vector clocks addressed the shortcomings of using traditional logical clocks, by storing information about other processes in the system as well. Hybrid vector clocks are a novel approach to this concept where clocks need not store all the process information. Rather, we store information of processes within an acceptable skew of the focused process. This gives us an efficient way of profiling with substantially reduced costs to the system. Building on this idea, we propose the idea of building causal traces using information generated from the hybrid vector clock. The hybrid vector clock would provide us with a strong sense of concurrency and distribution, and we theorize that all the information generated from the clock is sufficient to develop a causal trace for debugging. We post-process and parse the clocks generated from an execution trace to develop a swimlane on a web interface, that traces the points of failure of a distributed system. We also provide an API to reuse this concept for any generic distributed system framework.
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Nonnegative tensor factorization (NTF) has become an important tool for feature extraction and part-based representation with preserved intrinsic structure information from nonnegative high-order data. However, the original NTF methods utilize Euclidean or Kullback-Leibler divergence as the loss function which treats each feature equally leading to the neglect of the side-information of features. To utilize correlation information of features and manifold information of samples, we introduce Wasserstein manifold nonnegative tensor factorization (WMNTF), which minimizes the Wasserstein distance between the distribution of input tensorial data and the distribution of reconstruction. Although some researches about Wasserstein distance have been proposed in nonnegative matrix factorization (NMF), they ignore the spatial structure information of higher-order data. We use Wasserstein distance (a.k.a Earth Mover's distance or Optimal Transport distance) as a metric and add a graph regularizer to a latent factor. Experimental results demonstrate the effectiveness of the proposed method compared with other NMF and NTF methods.
We challenge the perceived consensus that the application of deep learning to solve the automated driving planning task necessarily requires huge amounts of real-world data or highly realistic simulation. Focusing on a roundabout scenario, we show that this requirement can be relaxed in favour of targeted, simplistic simulated data. A benefit is that such data can be easily generated for critical scenarios that are typically underrepresented in realistic datasets. By applying vanilla behavioural cloning almost exclusively to lightweight simulated data, we achieve reliable and comfortable driving in a real-world test vehicle. We leverage an incremental development approach that includes regular in-vehicle testing to identify sim-to-real gaps, targeted data augmentation, and training scenario variations. In addition to a detailed description of the methodology, we share our lessons learned, touching upon scenario generation, simulation features, and evaluation metrics.
When deploying machine learning models in high-stakes robotics applications, the ability to detect unsafe situations is crucial. Early warning systems can provide alerts when an unsafe situation is imminent (in the absence of corrective action). To reliably improve safety, these warning systems should have a provable false negative rate; i.e. of the situations that are unsafe, fewer than $\epsilon$ will occur without an alert. In this work, we present a framework that combines a statistical inference technique known as conformal prediction with a simulator of robot/environment dynamics, in order to tune warning systems to provably achieve an $\epsilon$ false negative rate using as few as $1/\epsilon$ data points. We apply our framework to a driver warning system and a robotic grasping application, and empirically demonstrate guaranteed false negative rate while also observing low false detection (positive) rate.
Identifying constitutive parameters in engineering and biological materials, particularly those with intricate geometries and mechanical behaviors, remains a longstanding challenge. The recent advent of Physics-Informed Neural Networks (PINNs) offers promising solutions, but current frameworks are often limited to basic constitutive laws and encounter practical constraints when combined with experimental data. In this paper, we introduce a robust PINN-based framework designed to identify material parameters for soft materials, specifically those exhibiting complex constitutive behaviors, under large deformation in plane stress conditions. Distinctively, our model emphasizes training PINNs with multi-modal synthetic experimental datasets consisting of full-field deformation and loading history, ensuring algorithm robustness even with noisy data. Our results reveal that the PINNs framework can accurately identify constitutive parameters of the incompressible Arruda-Boyce model for samples with intricate geometries, maintaining an error below 5%, even with an experimental noise level of 5%. We believe our framework provides a robust modulus identification approach for complex solids, especially for those with geometrical and constitutive complexity.
The perfectly matched layers method is a well known truncation technique for its efficiency and convenience in numerical implementations of wave scattering problems in unbounded domains. In this paper, we study the convergence of the perfectly matched layers (PML) for wave scattering from a local perturbation of an open waveguide in the half space above the real line, where the refractive index is a function which is periodic along the axis of the waveguide and equals to one above a finite height. The problem is challenging due to the existence of guided waves, and a typical way to deal with the difficulty is to apply the limiting absorption principle. Based on the Floquet-Bloch transform and a curve deformation theory, the solution from the limiting absorption principle is rewritten as the integral of a coupled family of quasi-periodic problems with respect to the quasi-periodicity parameter on a particularly designed curve. By comparing the Dirichlet-to-Neumann maps on a straight line above the locally perturbed periodic layer, we finally show that the PML method converges exponentially with respect to the PML parameter. Finally, the numerical examples are shown to illustrate the theoretical results.
Importance sampling is a powerful tool for correcting the distributional mismatch in many statistical and machine learning problems, but in practice its performance is limited by the usage of simple proposals whose importance weights can be computed analytically. To address this limitation, Liu and Lee (2017) proposed a Black-Box Importance Sampling (BBIS) algorithm that computes the importance weights for arbitrary simulated samples by minimizing the kernelized Stein discrepancy. However, this requires knowing the score function of the target distribution, which is not easy to compute for many Bayesian problems. Hence, in this paper we propose another novel BBIS algorithm using minimum energy design, BBIS-MED, that requires only the unnormalized density function, which can be utilized as a post-processing step to improve the quality of Markov Chain Monte Carlo samples. We demonstrate the effectiveness and wide applicability of our proposed BBIS-MED algorithm on extensive simulations and a real-world Bayesian model calibration problem where the score function cannot be derived analytically.
We consider the problem of evaluating dynamic consistency in discrete time probabilistic filters that approximate stochastic system state densities with Gaussian mixtures. Dynamic consistency means that the estimated probability distributions correctly describe the actual uncertainties. As such, the problem of consistency testing naturally arises in applications with regards to estimator tuning and validation. However, due to the general complexity of the density functions involved, straightforward approaches for consistency testing of mixture-based estimators have remained challenging to define and implement. This paper derives a new exact result for Gaussian mixture consistency testing within the framework of normalized deviation squared (NDS) statistics. It is shown that NDS test statistics for generic multivariate Gaussian mixture models exactly follow mixtures of generalized chi-square distributions, for which efficient computational tools are available. The accuracy and utility of the resulting consistency tests are numerically demonstrated on static and dynamic mixture estimation examples.
Causality can be described in terms of a structural causal model (SCM) that carries information on the variables of interest and their mechanistic relations. For most processes of interest the underlying SCM will only be partially observable, thus causal inference tries to leverage any exposed information. Graph neural networks (GNN) as universal approximators on structured input pose a viable candidate for causal learning, suggesting a tighter integration with SCM. To this effect we present a theoretical analysis from first principles that establishes a novel connection between GNN and SCM while providing an extended view on general neural-causal models. We then establish a new model class for GNN-based causal inference that is necessary and sufficient for causal effect identification. Our empirical illustration on simulations and standard benchmarks validate our theoretical proofs.
Triple extraction is an essential task in information extraction for natural language processing and knowledge graph construction. In this paper, we revisit the end-to-end triple extraction task for sequence generation. Since generative triple extraction may struggle to capture long-term dependencies and generate unfaithful triples, we introduce a novel model, contrastive triple extraction with a generative transformer. Specifically, we introduce a single shared transformer module for encoder-decoder-based generation. To generate faithful results, we propose a novel triplet contrastive training object. Moreover, we introduce two mechanisms to further improve model performance (i.e., batch-wise dynamic attention-masking and triple-wise calibration). Experimental results on three datasets (i.e., NYT, WebNLG, and MIE) show that our approach achieves better performance than that of baselines.
It is important to detect anomalous inputs when deploying machine learning systems. The use of larger and more complex inputs in deep learning magnifies the difficulty of distinguishing between anomalous and in-distribution examples. At the same time, diverse image and text data are available in enormous quantities. We propose leveraging these data to improve deep anomaly detection by training anomaly detectors against an auxiliary dataset of outliers, an approach we call Outlier Exposure (OE). This enables anomaly detectors to generalize and detect unseen anomalies. In extensive experiments on natural language processing and small- and large-scale vision tasks, we find that Outlier Exposure significantly improves detection performance. We also observe that cutting-edge generative models trained on CIFAR-10 may assign higher likelihoods to SVHN images than to CIFAR-10 images; we use OE to mitigate this issue. We also analyze the flexibility and robustness of Outlier Exposure, and identify characteristics of the auxiliary dataset that improve performance.
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