arXiv subjects

Kai Gao

Publications and source records attributed to Kai Gao.

At least 55 records · Page 3Linked to original sources

arXiv2023

Characterizing Deep Learning Package Supply Chains in PyPI: Domains, Clusters, and Disengagement

Deep learning (DL) package supply chains (SCs) are critical for DL frameworks to remain competitive. However, vital knowledge on the nature of DL package SCs is still lacking. In this paper, we explore the domains, clusters, and disengagement of packages in two representative PyPI DL package SCs to bridge this knowledge gap. We analyze the metadata of nearly six million PyPI package distributions and construct version-sensitive SCs for two popular DL frameworks: TensorFlow and PyTorch. We find that popular packages (measured by the number of monthly downloads) in the two SCs cover 34 domains belonging to eight categories. Applications, Infrastructure, and Sciences categories account for over 85% of popular packages in either SC and TensorFlow and PyTorch SC have developed specializations on Infrastructure and Applications packages respectively. We employ the Leiden community detection algorithm and detect 131 and 100 clusters in the two SCs. The clusters mainly exhibit four shapes: Arrow, Star, Tree, and Forest with increasing dependency complexity. Most clusters are Arrow or Star, but Tree and Forest clusters account for most packages (Tensorflow SC: 70%, PyTorch SC: 90%). We identify three groups of reasons why packages disengage from the SC (i.e., remove the DL framework and its dependents from their installation dependencies): dependency issues, functional improvements, and ease of installation. The most common disengagement reason in the two SCs are different. Our study provides rich implications on the maintenance and dependency management practices of PyPI DL SCs.

cs.SE↗

arXiv2023

A Clustering Framework for Unsupervised and Semi-supervised New Intent Discovery

New intent discovery is of great value to natural language processing, allowing for a better understanding of user needs and providing friendly services. However, most existing methods struggle to capture the complicated semantics of discrete text representations when limited or no prior knowledge of labeled data is available. To tackle this problem, we propose a novel clustering framework, USNID, for unsupervised and semi-supervised new intent discovery, which has three key technologies. First, it fully utilizes unsupervised or semi-supervised data to mine shallow semantic similarity relations and provide well-initialized representations for clustering. Second, it designs a centroid-guided clustering mechanism to address the issue of cluster allocation inconsistency and provide high-quality self-supervised targets for representation learning. Third, it captures high-level semantics in unsupervised or semi-supervised data to discover fine-grained intent-wise clusters by optimizing both cluster-level and instance-level objectives. We also propose an effective method for estimating the cluster number in open-world scenarios without knowing the number of new intents beforehand. USNID performs exceptionally well on several benchmark intent datasets, achieving new state-of-the-art results in unsupervised and semi-supervised new intent discovery and demonstrating robust performance with different cluster numbers.

cs.CL↗

arXiv2023

Understanding and Remediating Open-Source License Incompatibilities in the PyPI Ecosystem

The reuse and distribution of open-source software must be in compliance with its accompanying open-source license. In modern packaging ecosystems, maintaining such compliance is challenging because a package may have a complex multi-layered dependency graph with many packages, any of which may have an incompatible license. Although prior research finds that license incompatibilities are prevalent, empirical evidence is still scarce in some modern packaging ecosystems (e.g., PyPI). It also remains unclear how developers remediate the license incompatibilities in the dependency graphs of their packages (including direct and transitive dependencies), let alone any automated approaches. To bridge this gap, we conduct a large-scale empirical study of license incompatibilities and their remediation practices in the PyPI ecosystem. We find that 7.27% of the PyPI package releases have license incompatibilities and 61.3% of them are caused by transitive dependencies, causing challenges in their remediation; for remediation, developers can apply one of the five strategies: migration, removal, pinning versions, changing their own licenses, and negotiation. Inspired by our findings, we propose SILENCE, an SMT-solver-based approach to recommend license incompatibility remediations with minimal costs in package dependency graph. Our evaluation shows that the remediations proposed by SILENCE can match 19 historical real-world cases (except for migrations not covered by an existing knowledge base) and have been accepted by five popular PyPI packages whose developers were previously unaware of their license incompatibilities.

cs.SE↗

arXiv2023

Effectively Rearranging Heterogeneous Objects on Cluttered Tabletops

Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been given to the planning for sequentially manipulating such objects. In this work, we examine the long-horizon sequential rearrangement of heterogeneous objects in a tabletop setting, addressing not just generating feasible plans but near-optimal ones. Toward that end, and building on previous methods, including combinatorial algorithms and Monte Carlo tree search-based solutions, we develop state-of-the-art solvers for optimizing two practical objective functions considering key object properties such as size and weight. Thorough simulation studies show that our methods provide significant advantages in handling challenging heterogeneous object rearrangement problems, especially in cluttered settings. Real robot experiments further demonstrate and confirm these advantages. Source code and evaluation data associated with this research will be available at https://github.com/arc-l/TRLB upon the publication of this manuscript.

cs.RO↗

arXiv2023

Optimal and Stable Multi-Layer Object Rearrangement on a Tabletop

Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first algorithmic study on optimally solving the problem of Multi-layer Object Rearrangement on a Tabletop (MORT), in which one object may be relocated at a time, and an object can only be moved if other objects do not block its top surface. In addition, any intermediate structure during the reconfiguration process must be physically stable, i.e., it should stand without external support. To tackle the dual challenges of untangling the dependencies between objects and ensuring structural stability, we develop an algorithm that interleaves the computation of the optimal rearrangement plan and structural stability checking. Using a carefully constructed integer linear programming (ILP) model, our algorithm, Stability-aware Integer Programming-based Planner (SIPP), readily scales to optimally solve complex rearrangement problems of 3D structures with over 60 building blocks, with solution quality significantly outperforming natural greedy best-first approaches. Upon the publication of the manuscript, source code and data will be available at https://github.com/arc-l/mort/

cs.RO↗

arXiv2023

Understanding the Impact of Heatwave on Urban Heat Island in Greater Sydney: Temporal Surface Energy Budget Change with Land Types

The impact of heatwaves (HWs) on urban heat island (UHI) is a contentious topic with contradictory research findings. A comprehensive understanding of the response of urban and rural areas to HWs, considering the underlying cause of surface energy budget changes, remains elusive. This study attempts to address this gap by investigating a 2020 HW event in the Greater Sydney Area using the Advanced Weather Research and Forecasting (WRF) model. Findings indicate that the HW intensifies the nighttime surface UHI by approximately 4°C. An analysis of surface energy budgets reveals that urban areas store more heat during the HW due to receiving more solar radiation and less evapotranspiration compared to rural areas. The maximum heat storage flux in urban during the HW can be around 200 W/m2 higher than that during post-HW. The stored heat is released at nightime, raising the air temperature in the urban areas. Forests and savannas have relatively lower storage heat fluxes due to high transpiration and albedo, and the maximum heat storage flux is only around 50 W/m2 higher than that during post-HW. In contrast, a negative synergistic effect is detected between the 2-m UHI and HW. This may be because other meteorological conditions including wind have substantial impacts on the air temperature pattern. The strong hot and dry winds coming from the west and the proximity of tall buildings to the coast diminish the sea breeze coming from the east, resulting in a higher air temperature in the western urban district. Meanwhile, the western forest area also experiences higher temperatures due to the westward winds. In addition, changes in wind direction alter the temperature distribution in the northern rural region. Based on the present study, urban climate simulation data and associated findings can be used to develop urban heat mitigation strategies for UHI during HW.

physics.ao-ph↗

arXiv2023

Deep Contrastive One-Class Time Series Anomaly Detection

The accumulation of time-series data and the absence of labels make time-series Anomaly Detection (AD) a self-supervised deep learning task. Single-normality-assumption-based methods, which reveal only a certain aspect of the whole normality, are incapable of tasks involved with a large number of anomalies. Specifically, Contrastive Learning (CL) methods distance negative pairs, many of which consist of both normal samples, thus reducing the AD performance. Existing multi-normality-assumption-based methods are usually two-staged, firstly pre-training through certain tasks whose target may differ from AD, limiting their performance. To overcome the shortcomings, a deep Contrastive One-Class Anomaly detection method of time series (COCA) is proposed by authors, following the normality assumptions of CL and one-class classification. It treats the original and reconstructed representations as the positive pair of negative-sample-free CL, namely "sequence contrast". Next, invariance terms and variance terms compose a contrastive one-class loss function in which the loss of the assumptions is optimized by invariance terms simultaneously and the "hypersphere collapse" is prevented by variance terms. In addition, extensive experiments on two real-world time-series datasets show the superior performance of the proposed method achieves state-of-the-art.

cs.LG↗

arXiv2023

Minimizing Running Buffers for Tabletop Object Rearrangement: Complexity, Fast Algorithms, and Applications

For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to some buffer space may be necessary. This raises the natural question of how many simultaneous storage spaces, or "running buffers", are required so that certain classes of tabletop rearrangement problems are feasible. In this work, we examine the problem for both labeled and unlabeled settings. On the structural side, we observe that finding the minimum number of running buffers (MRB) can be carried out on a dependency graph abstracted from a problem instance, and show that computing MRB is NP-hard. We then prove that under both labeled and unlabeled settings, even for uniform cylindrical objects, the number of required running buffers may grow unbounded as the number of objects to be rearranged increases. We further show that the bound for the unlabeled case is tight. On the algorithmic side, we develop effective exact algorithms for finding MRB for both labeled and unlabeled tabletop rearrangement problems, scalable to over a hundred objects under very high object density. More importantly, our algorithms also compute a sequence witnessing the computed MRB that can be used for solving object rearrangement tasks. Employing these algorithms, empirical evaluations reveal that random labeled and unlabeled instances, which more closely mimics real-world setups, generally have fairly small MRBs. Using real robot experiments, we demonstrate that the running buffer abstraction leads to state-of-the-art solutions for in-place rearrangement of many objects in tight, bounded workspace.

cs.RO↗

arXiv2023

On the Utility of Buffers in Pick-n-Swap Based Lattice Rearrangement

We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick-n-swap manipulation primitives. In this problem, objects stored randomly in a lattice are to be sorted using a robot arm with k>=1 swap spaces or buffers, capable of holding up to k objects on its end-effector simultaneously. On the structural side, we show that the addition of each new buffer brings diminishing returns in saving the end-effector travel distance while holding the total number of pick-n-swap operations at the minimum. This is due to an interesting recursive cycle structure in random m-permutation, where the largest cycle covers over 60% of objects. On the algorithmic side, we propose fast algorithms for 1D and 2D lattice rearrangement problems that can effectively use multiple buffers to boost solution optimality. Numerical experiments demonstrate the efficiency and scalability of our methods, as well as confirm the diminishing return structure as more buffers are employed.

cs.RO↗

arXiv2022

A Self-Adjusting Fusion Representation Learning Model for Unaligned Text-Audio Sequences

Inter-modal interaction plays an indispensable role in multimodal sentiment analysis. Due to different modalities sequences are usually non-alignment, how to integrate relevant information of each modality to learn fusion representations has been one of the central challenges in multimodal learning. In this paper, a Self-Adjusting Fusion Representation Learning Model (SA-FRLM) is proposed to learn robust crossmodal fusion representations directly from the unaligned text and audio sequences. Different from previous works, our model not only makes full use of the interaction between different modalities but also maximizes the protection of the unimodal characteristics. Specifically, we first employ a crossmodal alignment module to project different modalities features to the same dimension. The crossmodal collaboration attention is then adopted to model the inter-modal interaction between text and audio sequences and initialize the fusion representations. After that, as the core unit of the SA-FRLM, the crossmodal adjustment transformer is proposed to protect original unimodal characteristics. It can dynamically adapt the fusion representations by using single modal streams. We evaluate our approach on the public multimodal sentiment analysis datasets CMU-MOSI and CMU-MOSEI. The experiment results show that our model has significantly improved the performance of all the metrics on the unaligned text-audio sequences.

cs.CL↗

arXiv2022

Lazy Rearrangement Planning in Confined Spaces

Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require many motion planning and collision checking calls, which are computationally expensive. In addition, the arrangement space grows exponentially with the number of objects. To address these issues, this work introduces a lazy evaluation framework with a local monotone solver and a global planner. Monotone instances are those that can be solved by moving each object at most once. A key insight is that reachability constraints at the grasps for objects' starts and goals can quickly reveal dependencies between objects without having to execute expensive motion planning queries. Given that, the local solver builds lazily a search tree that respects these reachability constraints without verifying that the arm paths are collision free. It only collision checks when a promising solution is found. If a monotone solution is not found, the non-monotone planner loads the lazy search tree and explores ways to move objects to intermediate locations from where monotone solutions to the goal can be found. Results show that the proposed framework can solve difficult instances in confined spaces with up to 16 objects, which state-of-the-art methods fail to solve. It also solves problems faster than alternatives, when the alternatives find a solution. It also achieves high-quality solutions, i.e., only 1.8 additional actions on average are needed for non-monotone instances.

cs.RO↗

arXiv2022

Make Acoustic and Visual Cues Matter: CH-SIMS v2.0 Dataset and AV-Mixup Consistent Module

Multimodal sentiment analysis (MSA), which supposes to improve text-based sentiment analysis with associated acoustic and visual modalities, is an emerging research area due to its potential applications in Human-Computer Interaction (HCI). However, the existing researches observe that the acoustic and visual modalities contribute much less than the textual modality, termed as text-predominant. Under such circumstances, in this work, we emphasize making non-verbal cues matter for the MSA task. Firstly, from the resource perspective, we present the CH-SIMS v2.0 dataset, an extension and enhancement of the CH-SIMS. Compared with the original dataset, the CH-SIMS v2.0 doubles its size with another 2121 refined video segments with both unimodal and multimodal annotations and collects 10161 unlabelled raw video segments with rich acoustic and visual emotion-bearing context to highlight non-verbal cues for sentiment prediction. Secondly, from the model perspective, benefiting from the unimodal annotations and the unsupervised data in the CH-SIMS v2.0, the Acoustic Visual Mixup Consistent (AV-MC) framework is proposed. The designed modality mixup module can be regarded as an augmentation, which mixes the acoustic and visual modalities from different videos. Through drawing unobserved multimodal context along with the text, the model can learn to be aware of different non-verbal contexts for sentiment prediction. Our evaluations demonstrate that both CH-SIMS v2.0 and AV-MC framework enables further research for discovering emotion-bearing acoustic and visual cues and paves the path to interpretable end-to-end HCI applications for real-world scenarios.

cs.MM↗

arXiv2022

Continual Machine Reading Comprehension via Uncertainty-aware Fixed Memory and Adversarial Domain Adaptation

Continual Machine Reading Comprehension aims to incrementally learn from a continuous data stream across time without access the previous seen data, which is crucial for the development of real-world MRC systems. However, it is a great challenge to learn a new domain incrementally without catastrophically forgetting previous knowledge. In this paper, MA-MRC, a continual MRC model with uncertainty-aware fixed Memory and Adversarial domain adaptation, is proposed. In MA-MRC, a fixed size memory stores a small number of samples in previous domain data along with an uncertainty-aware updating strategy when new domain data arrives. For incremental learning, MA-MRC not only keeps a stable understanding by learning both memory and new domain data, but also makes full use of the domain adaptation relationship between them by adversarial learning strategy. The experimental results show that MA-MRC is superior to strong baselines and has a substantial incremental learning ability without catastrophically forgetting under two different continual MRC settings.

cs.CL↗

arXiv2022

Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. In working with two arms in a large workspace, some objects must be handed off between the robots, which further complicates the planning process. For the challenging dual-arm tabletop rearrangement problem, we develop effective task planning algorithms for scheduling the pick-n-place sequence that can be properly distributed between the two arms. We show that, even without using a sophisticated motion planner, our method achieves significant time savings in comparison to greedy approaches and naive parallelization of single-robot plans.

cs.RO↗

arXiv2022

Consistent Representation Learning for Continual Relation Extraction

Continual relation extraction (CRE) aims to continuously train a model on data with new relations while avoiding forgetting old ones. Some previous work has proved that storing a few typical samples of old relations and replaying them when learning new relations can effectively avoid forgetting. However, these memory-based methods tend to overfit the memory samples and perform poorly on imbalanced datasets. To solve these challenges, a consistent representation learning method is proposed, which maintains the stability of the relation embedding by adopting contrastive learning and knowledge distillation when replaying memory. Specifically, supervised contrastive learning based on a memory bank is first used to train each new task so that the model can effectively learn the relation representation. Then, contrastive replay is conducted of the samples in memory and makes the model retain the knowledge of historical relations through memory knowledge distillation to prevent the catastrophic forgetting of the old task. The proposed method can better learn consistent representations to alleviate forgetting effectively. Extensive experiments on FewRel and TACRED datasets show that our method significantly outperforms state-of-the-art baselines and yield strong robustness on the imbalanced dataset.

cs.CL↗

arXiv2022

On Minimizing the Number of Running Buffers for Tabletop Rearrangement

For tabletop rearrangement problems with overhand grasps, storage space outside the tabletop workspace, or buffers, can temporarily hold objects which greatly facilitates the resolution of a given rearrangement task. This brings forth the natural question of how many running buffers are required so that certain classes of tabletop rearrangement problems are feasible. In this work, we examine the problem for both the labeled (where each object has a specific goal pose) and the unlabeled (where goal poses of objects are interchangeable) settings. On the structural side, we observe that finding the minimum number of running buffers (MRB) can be carried out on a dependency graph abstracted from a problem instance, and show that computing MRB on dependency graphs is NP-hard. We then prove that under both labeled and unlabeled settings, even for uniform cylindrical objects, the number of required running buffers may grow unbounded as the number of objects to be rearranged increases; we further show that the bound for the unlabeled case is tight. On the algorithmic side, we develop highly effective algorithms for finding MRB for both labeled and unlabeled tabletop rearrangement problems, scalable to over a hundred objects under very high object density. Employing these algorithms, empirical evaluations show that random labeled and unlabeled instances, which more closely mimics real-world setups, have much smaller MRBs.

cs.RO↗

arXiv2022

Demystifying Software Release Note Issues on GitHub

Release notes (RNs) summarize main changes between two consecutive software versions and serve as a central source of information when users upgrade software. While producing high quality RNs can be hard and poses a variety of challenges to developers, a comprehensive empirical understanding of these challenges is still lacking. In this paper, we bridge this knowledge gap by manually analyzing 1,731 latest GitHub issues to build a comprehensive taxonomy of RN issues with four dimensions: Content, Presentation, Accessibility, and Production. Among these issues, nearly half (48.47%) of them focus on Production; Content, Accessibility, and Presentation take 25.61%, 17.65%, and 8.27%, respectively. We find that: 1) RN producers are more likely to miss information than to include incorrect information, especially for breaking changes; 2) improper layout may bury important information and confuse users; 3) many users find RNs inaccessible due to link deterioration, lack of notification, and obfuscate RN locations; 4) automating and regulating RN production remains challenging despite the great needs of RN producers. Our taxonomy not only pictures a roadmap to improve RN production in practice but also reveals interesting future research directions for automating RN production.

cs.SE↗

arXiv2022

M-SENA: An Integrated Platform for Multimodal Sentiment Analysis

M-SENA is an open-sourced platform for Multimodal Sentiment Analysis. It aims to facilitate advanced research by providing flexible toolkits, reliable benchmarks, and intuitive demonstrations. The platform features a fully modular video sentiment analysis framework consisting of data management, feature extraction, model training, and result analysis modules. In this paper, we first illustrate the overall architecture of the M-SENA platform and then introduce features of the core modules. Reliable baseline results of different modality features and MSA benchmarks are also reported. Moreover, we use model evaluation and analysis tools provided by M-SENA to present intermediate representation visualization, on-the-fly instance test, and generalization ability test results. The source code of the platform is publicly available at https://github.com/thuiar/M-SENA.

cs.AI↗