Multi-agent cooperative perception is an increasingly popular topic in the field of autonomous driving, where roadside LiDARs play an essential role. However, how to optimize the placement of roadside LiDARs is a crucial but often overlooked problem. This paper proposes an approach to optimize the placement of roadside LiDARs by selecting optimized positions within the scene for better perception performance. To efficiently obtain the best combination of locations, a greedy algorithm based on perceptual gain is proposed, which selects the location that can maximize the perceptual gain sequentially. We define perceptual gain as the increased perceptual capability when a new LiDAR is placed. To obtain the perception capability, we propose a perception predictor that learns to evaluate LiDAR placement using only a single point cloud frame. A dataset named Roadside-Opt is created using the CARLA simulator to facilitate research on the roadside LiDAR placement problem.
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Many domains now leverage the benefits of Machine Learning (ML), which promises solutions that can autonomously learn to solve complex tasks by training over some data. Unfortunately, in cyberthreat detection, high-quality data is hard to come by. Moreover, for some specific applications of ML, such data must be labeled by human operators. Many works "assume" that labeling is tough/challenging/costly in cyberthreat detection, thereby proposing solutions to address such a hurdle. Yet, we found no work that specifically addresses the process of labeling 'from the viewpoint of ML security practitioners'. This is a problem: to this date, it is still mostly unknown how labeling is done in practice -- thereby preventing one from pinpointing "what is needed" in the real world. In this paper, we take the first step to build a bridge between academic research and security practice in the context of data labeling. First, we reach out to five subject matter experts and carry out open interviews to identify pain points in their labeling routines. Then, by using our findings as a scaffold, we conduct a user study with 13 practitioners from large security companies, and ask detailed questions on subjects such as active learning, costs of labeling, and revision of labels. Finally, we perform proof-of-concept experiments addressing labeling-related aspects in cyberthreat detection that are sometimes overlooked in research. Altogether, our contributions and recommendations serve as a stepping stone to future endeavors aimed at improving the quality and robustness of ML-driven security systems. We release our resources.
Optimization problems involving minimization of a rank-one convex function over constraints modeling restrictions on the support of the decision variables emerge in various machine learning applications. These problems are often modeled with indicator variables for identifying the support of the continuous variables. In this paper we investigate compact extended formulations for such problems through perspective reformulation techniques. In contrast to the majority of previous work that relies on support function arguments and disjunctive programming techniques to provide convex hull results, we propose a constructive approach that exploits a hidden conic structure induced by perspective functions. To this end, we first establish a convex hull result for a general conic mixed-binary set in which each conic constraint involves a linear function of independent continuous variables and a set of binary variables. We then demonstrate that extended representations of sets associated with epigraphs of rank-one convex functions over constraints modeling indicator relations naturally admit such a conic representation. This enables us to systematically give perspective formulations for the convex hull descriptions of these sets with nonlinear separable or non-separable objective functions, sign constraints on continuous variables, and combinatorial constraints on indicator variables. We illustrate the efficacy of our results on sparse nonnegative logistic regression problems.
We propose a theory for matrix completion that goes beyond the low-rank structure commonly considered in the literature and applies to general matrices of low description complexity. Specifically, complexity of the sets of matrices encompassed by the theory is measured in terms of Hausdorff and upper Minkowski dimensions. Our goal is the characterization of the number of linear measurements, with an emphasis on rank-$1$ measurements, needed for the existence of an algorithm that yields reconstruction, either perfect, with probability 1, or with arbitrarily small probability of error, depending on the setup. Concretely, we show that matrices taken from a set $\mathcal{U}$ such that $\mathcal{U}-\mathcal{U}$ has Hausdorff dimension $s$ can be recovered from $k>s$ measurements, and random matrices supported on a set $\mathcal{U}$ of Hausdorff dimension $s$ can be recovered with probability 1 from $k>s$ measurements. What is more, we establish the existence of recovery mappings that are robust against additive perturbations or noise in the measurements. Concretely, we show that there are $\beta$-H\"older continuous mappings recovering matrices taken from a set of upper Minkowski dimension $s$ from $k>2s/(1-\beta)$ measurements and, with arbitrarily small probability of error, random matrices supported on a set of upper Minkowski dimension $s$ from $k>s/(1-\beta)$ measurements. The numerous concrete examples we consider include low-rank matrices, sparse matrices, QR decompositions with sparse R-components, and matrices of fractal nature.
Fault detection and diagnosis of electrical motors are of utmost importance in ensuring the safe and reliable operation of several industrial systems. Detection and diagnosis of faults at the incipient stage allows corrective actions to be taken in order to reduce the severity of faults. The existing data-driven deep learning approaches for machine fault diagnosis rely extensively on huge amounts of labeled samples, where annotations are expensive and time-consuming. However, a major portion of unlabeled condition monitoring data is not exploited in the training process. To overcome this limitation, we propose a foundational model-based Active Learning framework that utilizes less amount of labeled samples, which are most informative and harnesses a large amount of available unlabeled data by effectively combining Active Learning and Contrastive Self-Supervised Learning techniques. It consists of a transformer network-based backbone model trained using an advanced nearest-neighbor contrastive self-supervised learning method. This approach empowers the backbone to learn improved representations of samples derived from raw, unlabeled vibration data. Subsequently, the backbone can undergo fine-tuning to address a range of downstream tasks, both within the same machines and across different machines. The effectiveness of the proposed methodology has been assessed through the fine-tuning of the backbone for multiple target tasks using three distinct machine-bearing fault datasets. The experimental evaluation demonstrates a superior performance as compared to existing state-of-the-art fault diagnosis methods with less amount of labeled data.
EHR audit logs are a highly granular stream of events that capture clinician activities, and is a significant area of interest for research in characterizing clinician workflow on the electronic health record (EHR). Existing techniques to measure the complexity of workflow through EHR audit logs (audit logs) involve time- or frequency-based cross-sectional aggregations that are unable to capture the full complexity of a EHR session. We briefly evaluate the usage of transformer-based tabular language model (tabular LM) in measuring the entropy or disorderedness of action sequences within workflow and release the evaluated models publicly.
The convergence of deterministic policy gradient under the Hadamard parameterization is studied in the tabular setting and the linear convergence of the algorithm is established. To this end, we first show that the error decreases at an $O(\frac{1}{k})$ rate for all the iterations. Based on this result, we further show that the algorithm has a faster local linear convergence rate after $k_0$ iterations, where $k_0$ is a constant that only depends on the MDP problem and the initialization. To show the local linear convergence of the algorithm, we have indeed established the contraction of the sub-optimal probability $b_s^k$ (i.e., the probability of the output policy $\pi^k$ on non-optimal actions) when $k\ge k_0$.
The allure of aesthetic appeal in images captivates our senses, yet the underlying intricacies of aesthetic preferences remain elusive. In this study, we pioneer a novel perspective by utilizing machine learning models that focus on aesthetic attributes known to influence preferences. Through a data mining approach, our models process these attributes as inputs to predict the aesthetic scores of images. Moreover, to delve deeper and obtain interpretable explanations regarding the factors driving aesthetic preferences, we utilize the popular Explainable AI (XAI) technique known as SHapley Additive exPlanations (SHAP). Our methodology involves employing various machine learning models, including Random Forest, XGBoost, Support Vector Regression, and Multilayer Perceptron, to compare their performances in accurately predicting aesthetic scores, and consistently observing results in conjunction with SHAP. We conduct experiments on three image aesthetic benchmarks, providing insights into the roles of attributes and their interactions. Ultimately, our study aims to shed light on the complex nature of aesthetic preferences in images through machine learning and provides a deeper understanding of the attributes that influence aesthetic judgements.
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.
The dominating NLP paradigm of training a strong neural predictor to perform one task on a specific dataset has led to state-of-the-art performance in a variety of applications (eg. sentiment classification, span-prediction based question answering or machine translation). However, it builds upon the assumption that the data distribution is stationary, ie. that the data is sampled from a fixed distribution both at training and test time. This way of training is inconsistent with how we as humans are able to learn from and operate within a constantly changing stream of information. Moreover, it is ill-adapted to real-world use cases where the data distribution is expected to shift over the course of a model's lifetime. The first goal of this thesis is to characterize the different forms this shift can take in the context of natural language processing, and propose benchmarks and evaluation metrics to measure its effect on current deep learning architectures. We then proceed to take steps to mitigate the effect of distributional shift on NLP models. To this end, we develop methods based on parametric reformulations of the distributionally robust optimization framework. Empirically, we demonstrate that these approaches yield more robust models as demonstrated on a selection of realistic problems. In the third and final part of this thesis, we explore ways of efficiently adapting existing models to new domains or tasks. Our contribution to this topic takes inspiration from information geometry to derive a new gradient update rule which alleviate catastrophic forgetting issues during adaptation.
Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.
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