A Unified Framework for Fair Spectral Clustering With Effective Graph Learning

We consider the problem of spectral clustering under group fairness constraints, where samples from each sensitive group are approximately proportionally represented in each cluster. Traditional fair spectral clustering (FSC) methods consist of two consecutive stages, i.e., performing fair spectral embedding on a given graph and conducting $k$means to obtain discrete cluster labels. However, in practice, the graph is usually unknown, and we need to construct the underlying graph from potentially noisy data, the quality of which inevitably affects subsequent fair clustering performance. Furthermore, performing FSC through separate steps breaks the connections among these steps, leading to suboptimal results. To this end, we first theoretically analyze the effect of the constructed graph on FSC. Motivated by the analysis, we propose a novel graph construction method with a node-adaptive graph filter to learn graphs from noisy data. Then, all independent stages of conventional FSC are integrated into a single objective function, forming an end-to-end framework that inputs raw data and outputs discrete cluster labels. An algorithm is developed to jointly and alternately update the variables in each stage. Finally, we conduct extensive experiments on synthetic, benchmark, and real data, which show that our model is superior to state-of-the-art fair clustering methods.

Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion

Contact-rich manipulation tasks often exhibit a large sim-to-real gap. For instance, industrial assembly tasks frequently involve tight insertions where the clearance is less than \(0.1\) mm and can even be negative when dealing with a deformable receptacle. This narrow clearance leads to complex contact dynamics that are difficult to model accurately in simulation, making it challenging to transfer simulation-learned policies to real-world robots. In this paper, we propose a novel framework for robustly learning manipulation skills for real-world tasks using only the simulated data. Our framework consists of two main components: the ``Force Planner'' and the ``Gain Tuner''. The Force Planner is responsible for planning both the robot motion and desired contact forces, while the Gain Tuner dynamically adjusts the compliance control gains to accurately track the desired contact forces during task execution. The key insight of this work is that by adaptively adjusting the robot's compliance control gains during task execution, we can modulate contact forces in the new environment, thereby generating trajectories similar to those trained in simulation and narrows the sim-to-real gap. Experimental results show that our method, trained in simulation on a generic square peg-and-hole task, can generalize to a variety of real-world insertion tasks involving narrow or even negative clearances, all without requiring any fine-tuning.

On the Opportunities of Green Computing: A Survey

Artificial Intelligence (AI) has achieved significant advancements in technology and research with the development over several decades, and is widely used in many areas including computing vision, natural language processing, time-series analysis, speech synthesis, etc. During the age of deep learning, especially with the arise of Large Language Models, a large majority of researchers' attention is paid on pursuing new state-of-the-art (SOTA) results, resulting in ever increasing of model size and computational complexity. The needs for high computing power brings higher carbon emission and undermines research fairness by preventing small or medium-sized research institutions and companies with limited funding in participating in research. To tackle the challenges of computing resources and environmental impact of AI, Green Computing has become a hot research topic. In this survey, we give a systematic overview of the technologies used in Green Computing. We propose the framework of Green Computing and devide it into four key components: (1) Measures of Greenness, (2) Energy-Efficient AI, (3) Energy-Efficient Computing Systems and (4) AI Use Cases for Sustainability. For each components, we discuss the research progress made and the commonly used techniques to optimize the AI efficiency. We conclude that this new research direction has the potential to address the conflicts between resource constraints and AI development. We encourage more researchers to put attention on this direction and make AI more environmental friendly.

Contrast Everything: A Hierarchical Contrastive Framework for Medical Time-Series

Contrastive representation learning is crucial in medical time series analysis as it alleviates dependency on labor-intensive, domain-specific, and scarce expert annotations. However, existing contrastive learning methods primarily focus on one single data level, which fails to fully exploit the intricate nature of medical time series. To address this issue, we present COMET, an innovative hierarchical framework that leverages data consistencies at all inherent levels in medical time series. Our meticulously designed model systematically captures data consistency from four potential levels: observation, sample, trial, and patient levels. By developing contrastive loss at multiple levels, we can learn effective representations that preserve comprehensive data consistency, maximizing information utilization in a self-supervised manner. We conduct experiments in the challenging patient-independent setting. We compare COMET against six baselines using three diverse datasets, which include ECG signals for myocardial infarction and EEG signals for Alzheimer's and Parkinson's diseases. The results demonstrate that COMET consistently outperforms all baselines, particularly in setup with 10% and 1% labeled data fractions across all datasets. These results underscore the significant impact of our framework in advancing contrastive representation learning techniques for medical time series. The source code is available at https://github.com/DL4mHealth/COMET.

DyExplainer: Explainable Dynamic Graph Neural Networks

Graph Neural Networks (GNNs) resurge as a trending research subject owing to their impressive ability to capture representations from graph-structured data. However, the black-box nature of GNNs presents a significant challenge in terms of comprehending and trusting these models, thereby limiting their practical applications in mission-critical scenarios. Although there has been substantial progress in the field of explaining GNNs in recent years, the majority of these studies are centered on static graphs, leaving the explanation of dynamic GNNs largely unexplored. Dynamic GNNs, with their ever-evolving graph structures, pose a unique challenge and require additional efforts to effectively capture temporal dependencies and structural relationships. To address this challenge, we present DyExplainer, a novel approach to explaining dynamic GNNs on the fly. DyExplainer trains a dynamic GNN backbone to extract representations of the graph at each snapshot, while simultaneously exploring structural relationships and temporal dependencies through a sparse attention technique. To preserve the desired properties of the explanation, such as structural consistency and temporal continuity, we augment our approach with contrastive learning techniques to provide priori-guided regularization. To model longer-term temporal dependencies, we develop a buffer-based live-updating scheme for training. The results of our extensive experiments on various datasets demonstrate the superiority of DyExplainer, not only providing faithful explainability of the model predictions but also significantly improving the model prediction accuracy, as evidenced in the link prediction task.

Lost in Translation: When GPT-4V(ision) Can't See Eye to Eye with Text. A Vision-Language-Consistency Analysis of VLLMs and Beyond

Recent advancements in multimodal techniques open exciting possibilities for models excelling in diverse tasks involving text, audio, and image processing. Models like GPT-4V, blending computer vision and language modeling, excel in complex text and image tasks. Numerous prior research endeavors have diligently examined the performance of these Vision Large Language Models (VLLMs) across tasks like object detection, image captioning and others. However, these analyses often focus on evaluating the performance of each modality in isolation, lacking insights into their cross-modal interactions. Specifically, questions concerning whether these vision-language models execute vision and language tasks consistently or independently have remained unanswered. In this study, we draw inspiration from recent investigations into multilingualism and conduct a comprehensive analysis of model's cross-modal interactions. We introduce a systematic framework that quantifies the capability disparities between different modalities in the multi-modal setting and provide a set of datasets designed for these evaluations. Our findings reveal that models like GPT-4V tend to perform consistently modalities when the tasks are relatively simple. However, the trustworthiness of results derived from the vision modality diminishes as the tasks become more challenging. Expanding on our findings, we introduce "Vision Description Prompting," a method that effectively improves performance in challenging vision-related tasks.