Object detection is a crucial component of autonomous driving, and many detection applications have been developed to address this task. These applications often rely on backbone architectures, which extract representation features from inputs to perform the object detection task. The quality of the features extracted by the backbone architecture can have a significant impact on the overall detection performance. Many researchers have focused on developing new and improved backbone architectures to enhance the efficiency and accuracy of object detection applications. While these backbone architectures have shown state-of-the-art performance on generic object detection datasets like MS-COCO and PASCAL-VOC, evaluating their performance under an autonomous driving environment has not been previously explored. To address this, our study evaluates three well-known autonomous vehicle datasets, namely KITTI, NuScenes, and BDD, to compare the performance of different backbone architectures on object detection tasks.
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Discovering causal relationship using multivariate functional data has received a significant amount of attention very recently. In this article, we introduce a functional linear structural equation model for causal structure learning when the underlying graph involving the multivariate functions may have cycles. To enhance interpretability, our model involves a low-dimensional causal embedded space such that all the relevant causal information in the multivariate functional data is preserved in this lower-dimensional subspace. We prove that the proposed model is causally identifiable under standard assumptions that are often made in the causal discovery literature. To carry out inference of our model, we develop a fully Bayesian framework with suitable prior specifications and uncertainty quantification through posterior summaries. We illustrate the superior performance of our method over existing methods in terms of causal graph estimation through extensive simulation studies. We also demonstrate the proposed method using a brain EEG dataset.
A model is considered well-calibrated when its probability estimate aligns with the actual likelihood of the output being correct. Calibrating language models (LMs) is crucial, as it plays a vital role in detecting and mitigating hallucinations, a common issue of LMs, as well as building more trustworthy models. Yet, popular neural model calibration techniques are not well-suited for LMs due to their lack of flexibility in discerning answer correctness and their high computational costs. For instance, post-processing methods like temperature scaling are often unable to reorder the candidate generations. Moreover, training-based methods require finetuning the entire model, which is impractical due to the increasing sizes of modern LMs. In this paper, we present LitCab, a lightweight calibration mechanism consisting of a single linear layer taking the input text representation and manipulateing the LM output logits. LitCab improves model calibration by only adding < 2% of the original model parameters. For evaluation, we construct CaT, a benchmark consisting of 7 text generation tasks, covering responses ranging from short phrases to paragraphs. We test LitCab with Llama2-7B, where it improves calibration across all tasks, by reducing the average ECE score by 20%. We further conduct a comprehensive evaluation with 7 popular open-sourced LMs from GPT and LLaMA families, yielding the following key findings: (1) Larger models within the same family exhibit better calibration on tasks with short generation tasks, but not necessarily for longer ones. (2) GPT-family models show superior calibration compared to LLaMA, Llama2 and Vicuna models despite having much fewer parameters. (3) Finetuning pretrained model (e.g., LLaMA) with samples of limited purpose (e.g., conversations) may lead to worse calibration, highlighting the importance of finetuning setups for calibrating LMs.
The asymmetrical retrieval setting is a well suited solution for resource constrained applications such as face recognition and image retrieval. In this setting, a large model is used for indexing the gallery while a lightweight model is used for querying. The key principle in such systems is ensuring that both models share the same embedding space. Most methods in this domain are based on knowledge distillation. While useful, they suffer from several drawbacks: they are upper-bounded by the performance of the single best model found and cannot be extended to use an ensemble of models in a straightforward manner. In this paper we present an approach that does not rely on knowledge distillation, rather it utilizes embedding transformation models. This allows the use of N independently trained and diverse gallery models (e.g., trained on different datasets or having a different architecture) and a single query model. As a result, we improve the overall accuracy beyond that of any single model while maintaining a low computational budget for querying. Additionally, we propose a gallery image rejection method that utilizes the diversity between multiple transformed embeddings to estimate the uncertainty of gallery images.
Gaussian processes are a powerful framework for quantifying uncertainty and for sequential decision-making but are limited by the requirement of solving linear systems. In general, this has a cubic cost in dataset size and is sensitive to conditioning. We explore stochastic gradient algorithms as a computationally efficient method of approximately solving these linear systems: we develop low-variance optimization objectives for sampling from the posterior and extend these to inducing points. Counterintuitively, stochastic gradient descent often produces accurate predictions, even in cases where it does not converge quickly to the optimum. We explain this through a spectral characterization of the implicit bias from non-convergence. We show that stochastic gradient descent produces predictive distributions close to the true posterior both in regions with sufficient data coverage, and in regions sufficiently far away from the data. Experimentally, stochastic gradient descent achieves state-of-the-art performance on sufficiently large-scale or ill-conditioned regression tasks. Its uncertainty estimates match the performance of significantly more expensive baselines on a large-scale Bayesian~optimization~task.
When clustering devices at the edge, inter-node latency poses a significant challenge that directly impacts the application performance. In this paper, we experimentally examine the impact that inter-node latency has on application performance by measuring the throughput of an distributed serverless application in a real world testbed. We deploy Knative over a Kubernetes cluster of nodes and emulate networking delay between them to compare the performance of applications when deployed over a single-site versus multiple distributed computing sites. The results show that multi-site edge networks achieve half the throughput compared to a deployment hosted at a single site under low processing times conditions, whereas the throughput performance significantly improves otherwise.
Membership inference attacks (MIA) can reveal whether a particular data point was part of the training dataset, potentially exposing sensitive information about individuals. This article explores the fundamental statistical limitations associated with MIAs on machine learning models. More precisely, we first derive the statistical quantity that governs the effectiveness and success of such attacks. Then, we investigate several situations for which we provide bounds on this quantity of interest. This allows us to infer the accuracy of potential attacks as a function of the number of samples and other structural parameters of learning models, which in some cases can be directly estimated from the dataset.
As artificial intelligence (AI) models continue to scale up, they are becoming more capable and integrated into various forms of decision-making systems. For models involved in moral decision-making, also known as artificial moral agents (AMA), interpretability provides a way to trust and understand the agent's internal reasoning mechanisms for effective use and error correction. In this paper, we provide an overview of this rapidly-evolving sub-field of AI interpretability, introduce the concept of the Minimum Level of Interpretability (MLI) and recommend an MLI for various types of agents, to aid their safe deployment in real-world settings.
Graph neural networks (GNNs) have been demonstrated to be a powerful algorithmic model in broad application fields for their effectiveness in learning over graphs. To scale GNN training up for large-scale and ever-growing graphs, the most promising solution is distributed training which distributes the workload of training across multiple computing nodes. However, the workflows, computational patterns, communication patterns, and optimization techniques of distributed GNN training remain preliminarily understood. In this paper, we provide a comprehensive survey of distributed GNN training by investigating various optimization techniques used in distributed GNN training. First, distributed GNN training is classified into several categories according to their workflows. In addition, their computational patterns and communication patterns, as well as the optimization techniques proposed by recent work are introduced. Second, the software frameworks and hardware platforms of distributed GNN training are also introduced for a deeper understanding. Third, distributed GNN training is compared with distributed training of deep neural networks, emphasizing the uniqueness of distributed GNN training. Finally, interesting issues and opportunities in this field are discussed.
Neural machine translation (NMT) is a deep learning based approach for machine translation, which yields the state-of-the-art translation performance in scenarios where large-scale parallel corpora are available. Although the high-quality and domain-specific translation is crucial in the real world, domain-specific corpora are usually scarce or nonexistent, and thus vanilla NMT performs poorly in such scenarios. Domain adaptation that leverages both out-of-domain parallel corpora as well as monolingual corpora for in-domain translation, is very important for domain-specific translation. In this paper, we give a comprehensive survey of the state-of-the-art domain adaptation techniques for NMT.
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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