When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of black-box learned components in the modern robot autonomy stack. Therefore, coping with OOD data is an important challenge on the path towards trustworthy learning-enabled open-world autonomy. In this paper, we aim to demystify the topic of OOD data and its associated challenges in the context of data-driven robotic systems, drawing connections to emerging paradigms in the ML community that study the effect of OOD data on learned models in isolation. We argue that as roboticists, we should reason about the overall system-level competence of a robot as it performs tasks in OOD conditions. We highlight key research questions around this system-level view of OOD problems to guide future research toward safe and reliable learning-enabled autonomy.

点设置分类旨在建立一个表示学习模型，该模型区分点设置数据的空间和分类配置。此问题是在许多应用领域，如免疫学和微生物生态学的社会重要性。由于不同类别的点之间的相互作用并不总是平等，因此这个问题是具有挑战性的;结果，表示学习模型必须选择性地学习最相关的多分类关系。相关工程有限（1）学习不同多分类关系的重要性，特别是对于高阶相互作用，（2）并不完全利用超出只测量相对距离或应用前馈的点的空间分布神经网络坐标。为了克服这些限制，我们利用动态图形卷积神经网络（DGCNN）架构来设计新的多类别DGCNN（MC-DGCNN），为多分类点设置分类提供位置表示和点对注意层。 MC-DGCNN具有识别每个点对的分类重要性，并将其扩展到N-Way空间关系，同时仍然保留DGCNN（例如，差异性）的所有属性和益处。实验结果表明，该拟议的架构是在计算上有效的，显着优于现实世界数据集上的当前深度学习架构。

当在高风险机器人应用程序中部署机器学习模型时，检测不安全情况的能力至关重要。当迫在眉睫的情况下（在没有纠正措施的情况下），预警系统可以提供警报。为了可靠地提高安全性，这些警告系统应具有可证明的假负率；即，在没有警报的情况下，将发生不安全的情况，少于$ \ epsilon $。在这项工作中，我们提出了一个框架，将一种统计推理技术与机器人/环境动力学的模拟器相结合，以调整警告系统，以实现$ \ epsilon $ false的负率，使用$ 1//$ 1/\ epsilon $数据点。我们将框架应用于驾驶员警告系统和机器人抓握应用程序，并在经验上证明了错误的负率，同时也观察到较低的虚假检测（正）率。

概率分类器输出置信信心得分随着他们的预测，并且应该校准这些置信分数，即，它们应该反映预测的可靠性。最小化标准度量的置信度分数，例如预期的校准误差（ECE）准确地测量整个人口平均值的可靠性。然而，通常不可能测量单独预测的可靠性。在这项工作中，我们提出了本地校准误差（LCE），以跨越平均值和各个可靠性之间的间隙。对于每个单独的预测，LCE测量一组类似预测的平均可靠性，其中通过预先训练的特征空间上的内核函数和通过预测模型信仰的融合方案来量化相似性。我们从理论上显示了LCE可以从数据估计，并经验地发现它显示出比ECE可以检测到更细粒度的错误级别模式。我们的关键结果是一种新颖的局部重新校准方法，以改善个人预测的置信度分数并减少LCE。实验，我们表明我们的重新校准方法产生更准确的置信度分数，从而提高了具有图像和表格数据的分类任务的下游公平性和决策。

Weakly-supervised object localization aims to indicate the category as well as the scope of an object in an image given only the image-level labels. Most of the existing works are based on Class Activation Mapping (CAM) and endeavor to enlarge the discriminative area inside the activation map to perceive the whole object, yet ignore the co-occurrence confounder of the object and context (e.g., fish and water), which makes the model inspection hard to distinguish object boundaries. Besides, the use of CAM also brings a dilemma problem that the classification and localization always suffer from a performance gap and can not reach their highest accuracy simultaneously. In this paper, we propose a casual knowledge distillation method, dubbed KD-CI-CAM, to address these two under-explored issues in one go. More specifically, we tackle the co-occurrence context confounder problem via causal intervention (CI), which explores the causalities among image features, contexts, and categories to eliminate the biased object-context entanglement in the class activation maps. Based on the de-biased object feature, we additionally propose a multi-teacher causal distillation framework to balance the absorption of classification knowledge and localization knowledge during model training. Extensive experiments on several benchmarks demonstrate the effectiveness of KD-CI-CAM in learning clear object boundaries from confounding contexts and addressing the dilemma problem between classification and localization performance.

In this paper, a semantic communication framework for image transmission is developed. In the investigated framework, a set of servers cooperatively transmit images to a set of users utilizing semantic communication techniques. To evaluate the performance of studied semantic communication system, a multimodal metric is proposed to measure the correlation between the extracted semantic information and the original image. To meet the ISS requirement of each user, each server must jointly determine the semantic information to be transmitted and the resource blocks (RBs) used for semantic information transmission. We formulate this problem as an optimization problem aiming to minimize each server's transmission latency while reaching the ISS requirement. To solve this problem, a value decomposition based entropy-maximized multi-agent reinforcement learning (RL) is proposed, which enables servers to coordinate for training and execute RB allocation in a distributed manner to approach to a globally optimal performance with less training iterations. Compared to traditional multi-agent RL, the proposed RL improves the valuable action exploration of servers and the probability of finding a globally optimal RB allocation policy based on local observation. Simulation results show that the proposed algorithm can reduce the transmission delay by up to 16.1% compared to traditional multi-agent RL.

New architecture GPUs like A100 are now equipped with multi-instance GPU (MIG) technology, which allows the GPU to be partitioned into multiple small, isolated instances. This technology provides more flexibility for users to support both deep learning training and inference workloads, but efficiently utilizing it can still be challenging. The vision of this paper is to provide a more comprehensive and practical benchmark study for MIG in order to eliminate the need for tedious manual benchmarking and tuning efforts. To achieve this vision, the paper presents MIGPerf, an open-source tool that streamlines the benchmark study for MIG. Using MIGPerf, the authors conduct a series of experiments, including deep learning training and inference characterization on MIG, GPU sharing characterization, and framework compatibility with MIG. The results of these experiments provide new insights and guidance for users to effectively employ MIG, and lay the foundation for further research on the orchestration of hybrid training and inference workloads on MIGs. The code and results are released on https://github.com/MLSysOps/MIGProfiler. This work is still in progress and more results will be published soon.

With the development of technology and sharing economy, Airbnb as a famous short-term rental platform, has become the first choice for many young people to select. The issue of Airbnb's pricing has always been a problem worth studying. While the previous studies achieve promising results, there are exists deficiencies to solve. Such as, (1) the feature attributes of rental are not rich enough; (2) the research on rental text information is not deep enough; (3) there are few studies on predicting the rental price combined with the point of interest(POI) around the house. To address the above challenges, we proposes a multi-source information embedding(MSIE) model to predict the rental price of Airbnb. Specifically, we first selects the statistical feature to embed the original rental data. Secondly, we generates the word feature vector and emotional score combination of three different text information to form the text feature embedding. Thirdly, we uses the points of interest(POI) around the rental house information generates a variety of spatial network graphs, and learns the embedding of the network to obtain the spatial feature embedding. Finally, this paper combines the three modules into multi source rental representations, and uses the constructed fully connected neural network to predict the price. The analysis of the experimental results shows the effectiveness of our proposed model.

Domain adaptive detection aims to improve the generalization of detectors on target domain. To reduce discrepancy in feature distributions between two domains, recent approaches achieve domain adaption through feature alignment in different granularities via adversarial learning. However, they neglect the relationship between multiple granularities and different features in alignment, degrading detection. Addressing this, we introduce a unified multi-granularity alignment (MGA)-based detection framework for domain-invariant feature learning. The key is to encode the dependencies across different granularities including pixel-, instance-, and category-levels simultaneously to align two domains. Specifically, based on pixel-level features, we first develop an omni-scale gated fusion (OSGF) module to aggregate discriminative representations of instances with scale-aware convolutions, leading to robust multi-scale detection. Besides, we introduce multi-granularity discriminators to identify where, either source or target domains, different granularities of samples come from. Note that, MGA not only leverages instance discriminability in different categories but also exploits category consistency between two domains for detection. Furthermore, we present an adaptive exponential moving average (AEMA) strategy that explores model assessments for model update to improve pseudo labels and alleviate local misalignment problem, boosting detection robustness. Extensive experiments on multiple domain adaption scenarios validate the superiority of MGA over other approaches on FCOS and Faster R-CNN detectors. Code will be released at https://github.com/tiankongzhang/MGA.

Although deep learning has made remarkable progress in processing various types of data such as images, text and speech, they are known to be susceptible to adversarial perturbations: perturbations specifically designed and added to the input to make the target model produce erroneous output. Most of the existing studies on generating adversarial perturbations attempt to perturb the entire input indiscriminately. In this paper, we propose ExploreADV, a general and flexible adversarial attack system that is capable of modeling regional and imperceptible attacks, allowing users to explore various kinds of adversarial examples as needed. We adapt and combine two existing boundary attack methods, DeepFool and Brendel\&Bethge Attack, and propose a mask-constrained adversarial attack system, which generates minimal adversarial perturbations under the pixel-level constraints, namely ``mask-constraints''. We study different ways of generating such mask-constraints considering the variance and importance of the input features, and show that our adversarial attack system offers users good flexibility to focus on sub-regions of inputs, explore imperceptible perturbations and understand the vulnerability of pixels/regions to adversarial attacks. We demonstrate our system to be effective based on extensive experiments and user study.