Certified Robustness to Word Substitution Ranking Attack for Neural Ranking Models

Neural ranking models (NRMs) have achieved promising results in information retrieval. NRMs have also been shown to be vulnerable to adversarial examples. A typical Word Substitution Ranking Attack (WSRA) against NRMs was proposed recently, in which an attacker promotes a target document in rankings by adding human-imperceptible perturbations to its text. This raises concerns when deploying NRMs in real-world applications. Therefore, it is important to develop techniques that defend against such attacks for NRMs. In empirical defenses adversarial examples are found during training and used to augment the training set. However, such methods offer no theoretical guarantee on the models' robustness and may eventually be broken by other sophisticated WSRAs. To escape this arms race, rigorous and provable certified defense methods for NRMs are needed. To this end, we first define the \textit{Certified Top-$K$ Robustness} for ranking models since users mainly care about the top ranked results in real-world scenarios. A ranking model is said to be Certified Top-$K$ Robust on a ranked list when it is guaranteed to keep documents that are out of the top $K$ away from the top $K$ under any attack. Then, we introduce a Certified Defense method, named CertDR, to achieve certified top-$K$ robustness against WSRA, based on the idea of randomized smoothing. Specifically, we first construct a smoothed ranker by applying random word substitutions on the documents, and then leverage the ranking property jointly with the statistical property of the ensemble to provably certify top-$K$ robustness. Extensive experiments on two representative web search datasets demonstrate that CertDR can significantly outperform state-of-the-art empirical defense methods for ranking models.

Data-Driven Compressed Sensing for Massive Wireless Access

The central challenge in massive machine-type communications (mMTC) is to connect a large number of uncoordinated devices through a limited spectrum. The typical mMTC communication pattern is sporadic, with short packets. This could be exploited in grant-free random access in which the activity detection, channel estimation, and data recovery are formulated as a sparse recovery problem and solved via compressed sensing algorithms. This approach results in new challenges in terms of high computational complexity and latency. We present how data-driven methods can be applied in grant-free random access and demonstrate the performance gains. Variations of neural networks for the problem are discussed, as well as future challenges and potential directions.

Robust Data-Driven 3-D Shape Servoing of Unmodeled Continuum Robots Using FBG Sensors in Unstructured Environments

In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are crucial for continuum robots to perform the tasks autonomously in surgical interventions. However, owing to the nonlinear properties of continuum robots, one main difficulty lies in the modeling of them, especially for soft robots with variable stiffness. To address this problem, we propose a new robust adaptive controller by leveraging FBG shape feedback and neural networks (NNs) that can online estimate the unknown model of continuum robot and accounts for unexpected disturbances together with NN approximation errors, which exhibits an adaptive behavior to the unmodeled system without priori data exploration. Based on a new composite adaptation algorithm, the asymptotic convergences of the closed-loop system with NNs learning parameters have been proven by Lyapunov theory. To validate the proposed method, we present a comprehensive experimental study by using two continuum robots both integrated with multi-core FBGs, including a robotic-assisted colonoscope and multi-section extensible soft manipulators. The results demonstrate the feasibility, adaptability, and superiority of our controller in various unstructured environments as well as phantom experiments.

MMKGR: Multi-hop Multi-modal Knowledge Graph Reasoning

Multi-modal knowledge graphs (MKGs) include not only the relation triplets, but also related multi-modal auxiliary data (i.e., texts and images), which enhance the diversity of knowledge. However, the natural incompleteness has significantly hindered the applications of MKGs. To tackle the problem, existing studies employ the embedding-based reasoning models to infer the missing knowledge after fusing the multi-modal features. However, the reasoning performance of these methods is limited due to the following problems: (1) ineffective fusion of multi-modal auxiliary features; (2) lack of complex reasoning ability as well as inability to conduct the multi-hop reasoning which is able to infer more missing knowledge. To overcome these problems, we propose a novel model entitled MMKGR (Multi-hop Multi-modal Knowledge Graph Reasoning). Specifically, the model contains the following two components: (1) a unified gate-attention network which is designed to generate effective multi-modal complementary features through sufficient attention interaction and noise reduction; (2) a complementary feature-aware reinforcement learning method which is proposed to predict missing elements by performing the multi-hop reasoning process, based on the features obtained in component (1). The experimental results demonstrate that MMKGR outperforms the state-of-the-art approaches in the MKG reasoning task.

Disconnected Emerging Knowledge Graph Oriented Inductive Link Prediction

Inductive link prediction (ILP) is to predict links for unseen entities in emerging knowledge graphs (KGs), considering the evolving nature of KGs. A more challenging scenario is that emerging KGs consist of only unseen entities, called as disconnected emerging KGs (DEKGs). Existing studies for DEKGs only focus on predicting enclosing links, i.e., predicting links inside the emerging KG. The bridging links, which carry the evolutionary information from the original KG to DEKG, have not been investigated by previous work so far. To fill in the gap, we propose a novel model entitled DEKG-ILP (Disconnected Emerging Knowledge Graph Oriented Inductive Link Prediction) that consists of the following two components. (1) The module CLRM (Contrastive Learning-based Relation-specific Feature Modeling) is developed to extract global relation-based semantic features that are shared between original KGs and DEKGs with a novel sampling strategy. (2) The module GSM (GNN-based Subgraph Modeling) is proposed to extract the local subgraph topological information around each link in KGs. The extensive experiments conducted on several benchmark datasets demonstrate that DEKG-ILP has obvious performance improvements compared with state-of-the-art methods for both enclosing and bridging link prediction. The source code is available online.

Batch-Size Independent Regret Bounds for Combinatorial Semi-Bandits with Probabilistically Triggered Arms or Independent Arms

In this paper, we study the combinatorial semi-bandits (CMAB) and focus on reducing the dependency of the batch-size $K$ in the regret bound, where $K$ is the total number of arms that can be pulled or triggered in each round. First, for the setting of CMAB with probabilistically triggered arms (CMAB-T), we discover a novel (directional) triggering probability and variance modulated (TPVM) condition that can replace the previously-used smoothness condition for various applications, such as cascading bandits, online network exploration and online influence maximization. Under this new condition, we propose a BCUCB-T algorithm with variance-aware confidence intervals and conduct regret analysis which reduces the $O(K)$ factor to $O(\log K)$ or $O(\log^2 K)$ in the regret bound, significantly improving the regret bounds for the above applications. Second, for the setting of non-triggering CMAB with independent arms, we propose a SESCB algorithm which leverages on the non-triggering version of the TPVM condition and completely removes the dependency on $K$ in the leading regret. As a valuable by-product, the regret analysis used in this paper can improve several existing results by a factor of $O(\log K)$. Finally, experimental evaluations show our superior performance compared with benchmark algorithms in different applications.

A Hierarchical Interactive Network for Joint Span-based Aspect-Sentiment Analysis

Recently, some span-based methods have achieved encouraging performances for joint aspect-sentiment analysis, which first extract aspects (aspect extraction) by detecting aspect boundaries and then classify the span-level sentiments (sentiment classification). However, most existing approaches either sequentially extract task-specific features, leading to insufficient feature interactions, or they encode aspect features and sentiment features in a parallel manner, implying that feature representation in each task is largely independent of each other except for input sharing. Both of them ignore the internal correlations between the aspect extraction and sentiment classification. To solve this problem, we novelly propose a hierarchical interactive network (HI-ASA) to model two-way interactions between two tasks appropriately, where the hierarchical interactions involve two steps: shallow-level interaction and deep-level interaction. First, we utilize cross-stitch mechanism to combine the different task-specific features selectively as the input to ensure proper two-way interactions. Second, the mutual information technique is applied to mutually constrain learning between two tasks in the output layer, thus the aspect input and the sentiment input are capable of encoding features of the other task via backpropagation. Extensive experiments on three real-world datasets demonstrate HI-ASA's superiority over baselines.

Provable Adaptivity in Adam

Adaptive Moment Estimation (Adam) optimizer is widely used in deep learning tasks because of its fast convergence properties. However, the convergence of Adam is still not well understood. In particular, the existing analysis of Adam cannot clearly demonstrate the advantage of Adam over SGD. We attribute this theoretical embarrassment to $L$-smooth condition (i.e., assuming the gradient is globally Lipschitz continuous with constant $L$) adopted by literature, which has been pointed out to often fail in practical neural networks. To tackle this embarrassment, we analyze the convergence of Adam under a relaxed condition called $(L_0,L_1)$ smoothness condition, which allows the gradient Lipschitz constant to change with the local gradient norm. $(L_0,L_1)$ is strictly weaker than $L$-smooth condition and it has been empirically verified to hold for practical deep neural networks. Under the $(L_0,L_1)$ smoothness condition, we establish the convergence for Adam with practical hyperparameters. Specifically, we argue that Adam can adapt to the local smoothness condition, justifying the \emph{adaptivity} of Adam. In contrast, SGD can be arbitrarily slow under this condition. Our result might shed light on the benefit of adaptive gradient methods over non-adaptive ones.

Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology

We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of transformations along any loops. The major technical contribution of this paper is a linear method for the elimination of errors, using only solving a Poisson equation. We demonstrate the consistency of our method from Hodge-Helmhotz decomposition theorem and experiments on multiple RGBD datasets of real-world scenes. The experimental results also demonstrate that our global registration method runs quickly and provides accurate reconstructions.

D2-TPred: Discontinuous Dependency for Trajectory Prediction under Traffic Lights

A profound understanding of inter-agent relationships and motion behaviors is important to achieve high-quality planning when navigating in complex scenarios, especially at urban traffic intersections. We present a trajectory prediction approach with respect to traffic lights, D2-TPred, which uses a spatial dynamic interaction graph (SDG) and a behavior dependency graph (BDG) to handle the problem of discontinuous dependency in the spatial-temporal space. Specifically, the SDG is used to capture spatial interactions by reconstructing sub-graphs for different agents with dynamic and changeable characteristics during each frame. The BDG is used to infer motion tendency by modeling the implicit dependency of the current state on priors behaviors, especially the discontinuous motions corresponding to acceleration, deceleration, or turning direction. Moreover, we present a new dataset for vehicle trajectory prediction under traffic lights called VTP-TL. Our experimental results show that our model achieves more than {20.45% and 20.78% }improvement in terms of ADE and FDE, respectively, on VTP-TL as compared to other trajectory prediction algorithms. The dataset and code are available at: https://github.com/VTP-TL/D2-TPred.