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Multimodal emotion recognition (MER) in practical scenarios is significantly challenged by the presence of missing or incomplete data across different modalities. To overcome these challenges, researchers have aimed to simulate incomplete conditions during the training phase to enhance the system's overall robustness. Traditional methods have often involved discarding data or substituting data segments with zero vectors to approximate these incompletenesses. However, such approaches neither accurately represent real-world conditions nor adequately address the issue of noisy data availability. For instance, a blurry image cannot be simply replaced with zero vectors, and still retain information. To tackle this issue and develop a more precise MER system, we introduce a novel noise-robust MER model that effectively learns robust multimodal joint representations from noisy data. This approach includes two pivotal components: firstly, a noise scheduler that adjusts the type and level of noise in the data to emulate various realistic incomplete situations. Secondly, a Variational AutoEncoder (VAE)-based module is employed to reconstruct these robust multimodal joint representations from the noisy inputs. Notably, the introduction of the noise scheduler enables the exploration of an entirely new type of incomplete data condition, which is impossible with existing methods. Extensive experimental evaluations on the benchmark datasets IEMOCAP and CMU-MOSEI demonstrate the effectiveness of the noise scheduler and the excellent performance of our proposed model.

Bimanual manipulation is a longstanding challenge in robotics due to the large number of degrees of freedom and the strict spatial and temporal synchronization required to generate meaningful behavior. Humans learn bimanual manipulation skills by watching other humans and by refining their abilities through play. In this work, we aim to enable robots to learn bimanual manipulation behaviors from human video demonstrations and fine-tune them through interaction. Inspired by seminal work in psychology and biomechanics, we propose modeling the interaction between two hands as a serial kinematic linkage -- as a screw motion, in particular, that we use to define a new action space for bimanual manipulation: screw actions. We introduce ScrewMimic, a framework that leverages this novel action representation to facilitate learning from human demonstration and self-supervised policy fine-tuning. Our experiments demonstrate that ScrewMimic is able to learn several complex bimanual behaviors from a single human video demonstration, and that it outperforms baselines that interpret demonstrations and fine-tune directly in the original space of motion of both arms. For more information and video results, //robin-lab.cs.utexas.edu/ScrewMimic/

Deep neural classifiers tend to rely on spurious correlations between spurious attributes of inputs and targets to make predictions, which could jeopardize their generalization capability. Training classifiers robust to spurious correlations typically relies on annotations of spurious correlations in data, which are often expensive to get. In this paper, we tackle an annotation-free setting and propose a self-guided spurious correlation mitigation framework. Our framework automatically constructs fine-grained training labels tailored for a classifier obtained with empirical risk minimization to improve its robustness against spurious correlations. The fine-grained training labels are formulated with different prediction behaviors of the classifier identified in a novel spuriousness embedding space. We construct the space with automatically detected conceptual attributes and a novel spuriousness metric which measures how likely a class-attribute correlation is exploited for predictions. We demonstrate that training the classifier to distinguish different prediction behaviors reduces its reliance on spurious correlations without knowing them a priori and outperforms prior methods on five real-world datasets.

Sharding enhances blockchain scalability by dividing the network into shards, each managing specific unspent transaction outputs or accounts. As an introduced new transaction type, cross-shard transactions pose a critical challenge to the security and efficiency of sharding blockchains. Currently, there is a lack of a generic sharding consensus pattern that achieves both security and low overhead. In this paper, we present Kronos, a secure sharding blockchain consensus achieving optimized overhead. In particular, we propose a new secure sharding consensus pattern, based on a buffer managed jointly by shard members. Valid transactions are transferred to the payee via the buffer, while invalid ones are rejected through happy or unhappy paths. Kronos is proved to achieve security with atomicity under malicious clients with optimal intra-shard overhead $kB$ ($k$ for involved shard number and $B$ for a Byzantine fault tolerance (BFT) cost). Besides, we propose secure cross-shard certification methods based on batch certification and reliable cross-shard transfer. The former combines hybrid trees or vector commitments, while the latter integrates erasure coding. Handling $b$ transactions, Kronos is proved to achieve reliability with low cross-shard overhead $O(n b \lambda)$ ($n$ for shard size and $\lambda$ for the security parameter). Notably, Kronos imposes no restrictions on BFT and does not rely on time assumptions, offering optional constructions in various modules. We implement Kronos using two prominent BFT protocols: asynchronous Speeding Dumbo and partial synchronous Hotstuff. Extensive experiments demonstrate Kronos scales the consensus nodes to thousands, achieving a substantial throughput of 320 ktx/sec with 2.0 sec latency. Compared with the past solutions, Kronos outperforms, achieving up to a 12* improvement in throughput and a 50% reduction in latency.

Contention resolution addresses the problem of coordinating access to a shared channel. Time proceeds in slots, and a packet transmission can be made in any slot. A packet is successfully sent if no other packet is also transmitted during that slot. If two or more packets are sent in the same slot, then none of these transmissions succeed. Listening during a slot gives ternary feedback, indicating if that slot had (0) silence, (1) a successful transmission, or (2+) noise. No other feedback is available. Packets are (adversarially) injected into the system over time. A packet departs the system once it is successful. The goal is to send all packets while optimizing throughput, which is roughly the fraction of successful slots. Most prior algorithms with constant throughput require a short feedback loop, in the sense that a packet's sending probability in slot t+1 is fully determined by its internal state at slot t and the channel feedback at slot t. An open question is whether these short feedback loops are necessary; that is, how often must listening and updating occur in order to achieve constant throughput? This question addresses energy efficiency, since both listening and sending consume significant energy. The channel can also suffer adversarial noise ("jamming"), which causes any listener to hear noise, even when no packets are sent. How does jamming affect our goal of long feedback loops/energy efficiency? Connecting these questions, we ask: what does a contention-resolution algorithm have to sacrifice to reduce channel accesses? Must we give up on constant throughput or robustness to noise? Here, we show that we need not concede anything. Suppose there are N packets and J jammed slots, where the input is determined by an adaptive adversary. We give an algorithm that, with high probability in N+J, has constant throughput and polylog(N+J) channel accesses per packet.

Data slice finding is an emerging technique for validating machine learning (ML) models by identifying and analyzing subgroups in a dataset that exhibit poor performance, often characterized by distinct feature sets or descriptive metadata. However, in the context of validating vision models involving unstructured image data, this approach faces significant challenges, including the laborious and costly requirement for additional metadata and the complex task of interpreting the root causes of underperformance. To address these challenges, we introduce AttributionScanner, an innovative human-in-the-loop Visual Analytics (VA) system, designed for metadata-free data slice finding. Our system identifies interpretable data slices that involve common model behaviors and visualizes these patterns through an Attribution Mosaic design. Our interactive interface provides straightforward guidance for users to detect, interpret, and annotate predominant model issues, such as spurious correlations (model biases) and mislabeled data, with minimal effort. Additionally, it employs a cutting-edge model regularization technique to mitigate the detected issues and enhance the model's performance. The efficacy of AttributionScanner is demonstrated through use cases involving two benchmark datasets, with qualitative and quantitative evaluations showcasing its substantial effectiveness in vision model validation, ultimately leading to more reliable and accurate models.

Surrogate neural network-based partial differential equation (PDE) solvers have the potential to solve PDEs in an accelerated manner, but they are largely limited to systems featuring fixed domain sizes, geometric layouts, and boundary conditions. We propose Specialized Neural Accelerator-Powered Domain Decomposition Methods (SNAP-DDM), a DDM-based approach to PDE solving in which subdomain problems containing arbitrary boundary conditions and geometric parameters are accurately solved using an ensemble of specialized neural operators. We tailor SNAP-DDM to 2D electromagnetics and fluidic flow problems and show how innovations in network architecture and loss function engineering can produce specialized surrogate subdomain solvers with near unity accuracy. We utilize these solvers with standard DDM algorithms to accurately solve freeform electromagnetics and fluids problems featuring a wide range of domain sizes.

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.

Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.

The accurate and interpretable prediction of future events in time-series data often requires the capturing of representative patterns (or referred to as states) underpinning the observed data. To this end, most existing studies focus on the representation and recognition of states, but ignore the changing transitional relations among them. In this paper, we present evolutionary state graph, a dynamic graph structure designed to systematically represent the evolving relations (edges) among states (nodes) along time. We conduct analysis on the dynamic graphs constructed from the time-series data and show that changes on the graph structures (e.g., edges connecting certain state nodes) can inform the occurrences of events (i.e., time-series fluctuation). Inspired by this, we propose a novel graph neural network model, Evolutionary State Graph Network (EvoNet), to encode the evolutionary state graph for accurate and interpretable time-series event prediction. Specifically, Evolutionary State Graph Network models both the node-level (state-to-state) and graph-level (segment-to-segment) propagation, and captures the node-graph (state-to-segment) interactions over time. Experimental results based on five real-world datasets show that our approach not only achieves clear improvements compared with 11 baselines, but also provides more insights towards explaining the results of event predictions.