Fairness in Learning: Classic and Contextual Bandits

Abstract:
We introduce the study of fairness in multi-armed bandit problems. Our fairness definition can be interpreted as demanding that given a pool of applicants (say, for college admission or mortgages), a worse applicant is never favored over a better one, despite a learning algorithm's uncertainty over the true payoffs. We prove results of two types.
First, in the important special case of the classic stochastic bandits problem (i.e., in which there are no contexts), we provide a provably fair algorithm based on "chained" confidence intervals, and provide a cumulative regret bound with a cubic dependence on the number of arms. We further show that any fair algorithm must have such a dependence. When combined with regret bounds for standard non-fair algorithms such as UCB, this proves a strong separation between fair and unfair learning, which extends to the general contextual case.
In the general contextual case, we prove a tight connection between fairness and the KWIK (Knows What It Knows) learning model: a KWIK algorithm for a class of functions can be transformed into a provably fair contextual bandit algorithm, and conversely any fair contextual bandit algorithm can be transformed into a KWIK learning algorithm. This tight connection allows us to provide a provably fair algorithm for the linear contextual bandit problem with a polynomial dependence on the dimension, and to show (for a different class of functions) a worst-case exponential gap in regret between fair and non-fair learning algorithms

Counterfactual Fairness

Abstract: Machine learning can impact people with legal or ethical consequences when it is used to automate decisions in areas such as insurance, lending, hiring, and predictive policing. In many of these scenarios, previous decisions have been made that are unfairly biased against certain subpopulations, for example those of a particular race, gender, or sexual orientation. Since this past data may be biased, machine learning predictors must account for this to avoid perpetuating or creating discriminatory practices. In this paper, we develop a framework for modeling fairness using tools from causal inference. Our definition of counterfactual fairness captures the intuition that a decision is fair towards an individual if it is the same in (a) the actual world and (b) a counterfactual world where the individual belonged to a different demographic group. We demonstrate our framework on a real-world problem of fair prediction of success in law school.

Fairness Without Demographics in Repeated Loss Minimization

Abstract: Machine learning models (e.g., speech recognizers) are usually trained to minimize average loss, which results in representation disparity---minority groups (e.g., non-native speakers) contribute less to the training objective and thus tend to suffer higher loss. Worse, as model accuracy affects user retention, a minority group can shrink over time. In this paper, we first show that the status quo of empirical risk minimization (ERM) amplifies representation disparity over time, which can even make initially fair models unfair. To mitigate this, we develop an approach based on distributionally robust optimization (DRO), which minimizes the worst case risk over all distributions close to the empirical distribution. We prove that this approach controls the risk of the minority group at each time step, in the spirit of Rawlsian distributive justice, while remaining oblivious to the identity of the groups. We demonstrate that DRO prevents disparity amplification on examples where ERM fails, and show improvements in minority group user satisfaction in a real-world text autocomplete task.

Unleashing Linear Optimizers for Group-Fair Learning and Optimization

Abstract: Most systems and learning algorithms optimize average performance or average loss–one reason being computational complexity. However, many objectives of practical interest are more complex than simply average loss. This arises, for example, when balancing performance or loss with fairness across people. We prove that, from a computational perspective, optimizing arbitrary objectives that take into account performance over a small number of groups is not significantly harder to optimize than average performance. Our main result is a polynomial-time reduction that uses a linear optimizer to optimize an arbitrary (Lipschitz continuous) function of performance over a (constant) number of possibly-overlapping groups. This includes fairness objectives over small numbers of groups, and we further point out that other existing notions of fairness such as individual fairness can be cast as convex optimization and hence more standard convex techniques can be used. Beyond learning, our approach applies to multi-objective optimization, more generally.

Predict Responsibly: Improving Fairness and Accuracy by Learning to Defer

Abstract: In many machine learning applications, there are multiple decision-makers involved, both automated and human. The interaction between these agents often goes unaddressed in algorithmic development. In this work, we explore a simple version of this interaction with a two-stage framework containing an automated model and an external decision-maker. The model can choose to say "Pass", and pass the decision downstream, as explored in rejection learning. We extend this concept by proposing "learning to defer", which generalizes rejection learning by considering the effect of other agents in the decision-making process. We propose a learning algorithm which accounts for potential biases held by external decision-makers in a system. Experiments demonstrate that learning to defer can make systems not only more accurate but also less biased. Even when working with inconsistent or biased users, we show that deferring models still greatly improve the accuracy and/or fairness of the entire system.

Blind Justice: Fairness with Encrypted Sensitive Attributes

Abstract: Recent work has explored how to train machine learning models which do not discriminate against any subgroup of the population as determined by sensitive attributes such as gender or race. To avoid disparate treatment, sensitive attributes should not be considered. On the other hand, in order to avoid disparate impact, sensitive attributes must be examined, e.g., in order to learn a fair model, or to check if a given model is fair. We introduce methods from secure multi-party computation which allow us to avoid both. By encrypting sensitive attributes, we show how an outcome-based fair model may be learned, checked, or have its outputs verified and held to account, without users revealing their sensitive attributes.

Software Engineering for Fairness: A Case Study with Hyperparameter Optimization

Abstract: We assert that it is the ethical duty of software engineers to strive to reduce software discrimination. This paper discusses how that might be done. This is an important topic since machine learning software is increasingly being used to make decisions that affect people's lives. Potentially, the application of that software will result in fairer decisions because (unlike humans) machine learning software is not biased. However, recent results show that the software within many data mining packages exhibits "group discrimination"; i.e. their decisions are inappropriately affected by "protected attributes"(e.g., race, gender, age, etc.). There has been much prior work on validating the fairness of machine-learning models (by recognizing when such software discrimination exists). But after detection, comes mitigation. What steps can ethical software engineers take to reduce discrimination in the software they produce? This paper shows that making \textit{fairness} as a goal during hyperparameter optimization can (a) preserve the predictive power of a model learned from a data miner while also (b) generates fairer results. To the best of our knowledge, this is the first application of hyperparameter optimization as a tool for software engineers to generate fairer software.

Active Fairness in Algorithmic Decision Making

Abstract: Society increasingly relies on machine learning models for automated decision making. Yet, efficiency gains from automation have come paired with concern for algorithmic discrimination that can systematize inequality. Recent work has proposed optimal post-processing methods that randomize classification decisions for a fraction of individuals, in order to achieve fairness measures related to parity in errors and calibration. These methods, however, have raised concern due to the information inefficiency, intra-group unfairness, and Pareto sub-optimality they entail. The present work proposes an alternative active framework for fair classification, where, in deployment, a decision-maker adaptively acquires information according to the needs of different groups or individuals, towards balancing disparities in classification performance. We propose two such methods, where information collection is adapted to group- and individual-level needs respectively. We show on real-world datasets that these can achieve: 1) calibration and single error parity (e.g., equal opportunity); and 2) parity in both false positive and false negative rates (i.e., equal odds). Moreover, we show that by leveraging their additional degree of freedom, active approaches can substantially outperform randomization-based classifiers previously considered optimal, while avoiding limitations such as intra-group unfairness.

Path-Specific Counterfactual Fairness

Abstract: We consider the problem of learning fair decision systems in complex scenarios in which a sensitive attribute might affect the decision along both fair and unfair pathways. We introduce a causal approach to disregard effects along unfair pathways that simplifies and generalizes previous literature. Our method corrects observations adversely affected by the sensitive attribute, and uses these to form a decision. This avoids disregarding fair information, and does not require an often intractable computation of the path-specific effect. We leverage recent developments in deep learning and approximate inference to achieve a solution that is widely applicable to complex, non-linear scenarios.

Fairness Through Causal Awareness: Learning Latent-Variable Models for Biased Data

Abstract: How do we learn from biased data? Historical datasets often reflect historical prejudices; sensitive or protected attributes may affect the observed treatments and outcomes. Classification algorithms tasked with predicting outcomes accurately from these datasets tend to replicate these biases. We advocate a causal modeling approach to learning from biased data, exploring the relationship between fair classification and intervention. We propose a causal model in which the sensitive attribute confounds both the treatment and the outcome. Building on prior work in deep learning and generative modeling, we describe how to learn the parameters of this causal model from observational data alone, even in the presence of unobserved confounders. We show experimentally that fairness-aware causal modeling provides better estimates of the causal effects between the sensitive attribute, the treatment, and the outcome. We further present evidence that estimating these causal effects can help learn policies that are both more accurate and fair, when presented with a historically biased dataset.

Learning Fairness-aware Relational Structures

Abstract: The development of fair machine learning models that effectively avert bias and discrimination is an important problem that has garnered attention in recent years. The necessity of encoding complex relational dependencies among the features and variables for competent predictions require the development of fair, yet expressive relational models. In this work, we introduce Fair-A3SL, a fairness-aware structure learning algorithm for learning relational structures, which incorporates fairness measures while learning relational graphical model structures. Our approach is versatile in being able to encode a wide range of fairness metrics such as statistical parity difference, overestimation, equalized odds, and equal opportunity, including recently proposed relational fairness measures. While existing approaches employ the fairness measures on pre-determined model structures post prediction, Fair-A3SL directly learns the structure while optimizing for the fairness measures and hence is able to remove any structural bias in the model. We demonstrate the effectiveness of our learned model structures when compared with the state-of-the-art fairness models quantitatively and qualitatively on datasets representing three different modeling scenarios: i) a relational dataset, ii) a recidivism prediction dataset widely used in studying discrimination, and iii) a recommender systems dataset. Our results show that Fair-A3SL can learn fair, yet interpretable and expressive structures capable of making accurate predictions.

Ensuring Fairness Beyond the Training Data

Abstract: We initiate the study of fair classifiers that are robust to perturbations in the training distribution. Despite recent progress, the literature on fairness has largely ignored the design of fair and robust classifiers. In this work, we develop classifiers that are fair not only with respect to the training distribution, but also for a class of distributions that are weighted perturbations of the training samples. We formulate a min-max objective function whose goal is to minimize a distributionally robust training loss, and at the same time, find a classifier that is fair with respect to a class of distributions. We first reduce this problem to finding a fair classifier that is robust with respect to the class of distributions. Based on online learning algorithm, we develop an iterative algorithm that provably converges to such a fair and robust solution. Experiments on standard machine learning fairness datasets suggest that, compared to the state-of-the-art fair classifiers, our classifier retains fairness guarantees and test accuracy for a large class of perturbations on the test set. Furthermore, our experiments show that there is an inherent trade-off between fairness robustness and accuracy of such classifiers.

FairNN- Conjoint Learning of Fair Representations for Fair Decisions

Abstract: In this paper, we propose FairNN a neural network that performs joint feature representation and classification for fairness-aware learning. Our approach optimizes a multi-objective loss function in which (a) learns a fair representation by suppressing protected attributes (b) maintains the information content by minimizing a reconstruction loss and (c) allows for solving a classification task in a fair manner by minimizing the classification error and respecting the equalized odds-based fairness regularized. Our experiments on a variety of datasets demonstrate that such a joint approach is superior to separate treatment of unfairness in representation learning or supervised learning. Additionally, our regularizers can be adaptively weighted to balance the different components of the loss function, thus allowing for a very general framework for conjoint fair representation learning and decision making.

Minimax Pareto Fairness: A Multi Objective Perspective

Abstract: In this work we formulate and formally characterize group fairness as a multi-objective optimization problem, where each sensitive group risk is a separate objective. We propose a fairness criterion where a classifier achieves minimax risk and is Pareto-efficient w.r.t. all groups, avoiding unnecessary harm, and can lead to the best zero-gap model if policy dictates so. We provide a simple optimization algorithm compatible with deep neural networks to satisfy these constraints. Since our method does not require test-time access to sensitive attributes, it can be applied to reduce worst-case classification errors between outcomes in unbalanced classification problems. We test the proposed methodology on real case-studies of predicting income, ICU patient mortality, skin lesions classification, and assessing credit risk, demonstrating how our framework compares favorably to other approaches.

FairFed: Enabling Group Fairness in Federated Learning

Abstract: Training ML models which are fair across different demographic groups is of critical importance due to the increased integration of ML in crucial decision-making scenarios such as healthcare and recruitment. Federated learning has been viewed as a promising solution for collaboratively training machine learning models among multiple parties while maintaining the privacy of their local data. However, federated learning also poses new challenges in mitigating the potential bias against certain populations (e.g., demographic groups), as this typically requires centralized access to the sensitive information (e.g., race, gender) of each datapoint. Motivated by the importance and challenges of group fairness in federated learning, in this work, we propose FairFed, a novel algorithm for fairness-aware aggregation to enhance group fairness in federated learning. Our proposed approach is server-side and agnostic to the applied local debiasing thus allowing for flexible use of different local debiasing methods across clients. We evaluate FairFed empirically versus common baselines for fair ML and federated learning, and demonstrate that it provides fairer models particularly under highly heterogeneous data distributions across clients. We also demonstrate the benefits of FairFed in scenarios involving naturally distributed real-life data collected from different geographical locations or departments within an organization.

Fair Classification with Group-Dependent Label Noise

Abstract: This work examines how to train fair classifiers in settings where training labels are corrupted with random noise, and where the error rates of corruption depend both on the label class and on the membership function for a protected subgroup. Heterogeneous label noise models systematic biases towards particular groups when generating annotations. We begin by presenting analytical results which show that naively imposing parity constraints on demographic disparity measures, without accounting for heterogeneous and group-dependent error rates, can decrease both the accuracy and the fairness of the resulting classifier. Our experiments demonstrate these issues arise in practice as well. We address these problems by performing empirical risk minimization with carefully defined surrogate loss functions and surrogate constraints that help avoid the pitfalls introduced by heterogeneous label noise. We provide both theoretical and empirical justifications for the efficacy of our methods. We view our results as an important example of how imposing fairness on biased data sets without proper care can do at least as much harm as it does good.

FaiR-N: Fair and Robust Neural Networks for Structured Data

Abstract: Fairness in machine learning is crucial when individuals are subject to automated decisions made by models in high-stake domains. Organizations that employ these models may also need to satisfy regulations that promote responsible and ethical A.I. While fairness metrics relying on comparing model error rates across subpopulations have been widely investigated for the detection and mitigation of bias, fairness in terms of the equalized ability to achieve recourse for different protected attribute groups has been relatively unexplored. We present a novel formulation for training neural networks that considers the distance of data points to the decision boundary such that the new objective: (1) reduces the average distance to the decision boundary between two groups for individuals subject to a negative outcome in each group, i.e. the network is more fair with respect to the ability to obtain recourse, and (2) increases the average distance of data points to the boundary to promote adversarial robustness. We demonstrate that training with this loss yields more fair and robust neural networks with similar accuracies to models trained without it. Moreover, we qualitatively motivate and empirically show that reducing recourse disparity across groups also improves fairness measures that rely on error rates. To the best of our knowledge, this is the first time that recourse capabilities across groups are considered to train fairer neural networks, and a relation between error rates based fairness and recourse based fairness is investigated.

Promoting Fairness through Hyperparameter Optimization

Abstract: Considerable research effort has been guided towards algorithmic fairness but real-world adoption of bias reduction techniques is still scarce. Existing methods are either metric- or model-specific, require access to sensitive attributes at inference time, or carry high development or deployment costs. This work explores the unfairness that emerges when optimizing ML models solely for predictive performance, and how to mitigate it with a simple and easily deployed intervention: fairness-aware hyperparameter optimization (HO). We propose and evaluate fairness-aware variants of three popular HO algorithms: Fair Random Search, Fair TPE, and Fairband. We validate our approach on a real-world bank account opening fraud case-study, as well as on three datasets from the fairness literature. Results show that, without extra training cost, it is feasible to find models with 111% mean fairness increase and just 6% decrease in performance when compared with fairness-blind HO.

Fair Bayesian Optimization

Abstract: Given the increasing importance of machine learning (ML) in our lives, several algorithmic fairness techniques have been proposed to mitigate biases in the outcomes of the ML models. However, most of these techniques are specialized to cater to a single family of ML models and a specific definition of fairness, limiting their adaptibility in practice. We introduce a general constrained Bayesian optimization (BO) framework to optimize the performance of any ML model while enforcing one or multiple fairness constraints. BO is a model-agnostic optimization method that has been successfully applied to automatically tune the hyperparameters of ML models. We apply BO with fairness constraints to a range of popular models, including random forests, gradient boosting, and neural networks, showing that we can obtain accurate and fair solutions by acting solely on the hyperparameters. We also show empirically that our approach is competitive with specialized techniques that enforce model-specific fairness constraints, and outperforms preprocessing methods that learn fair representations of the input data. Moreover, our method can be used in synergy with such specialized fairness techniques to tune their hyperparameters. Finally, we study the relationship between fairness and the hyperparameters selected by BO. We observe a correlation between regularization and unbiased models, explaining why acting on the hyperparameters leads to ML models that generalize well and are fair.

FairBatch: Batch Selection for Model Fairness

Abstract: Training a fair machine learning model is essential to prevent demographic disparity. Existing techniques for improving model fairness require broad changes in either data preprocessing or model training, rendering themselves difficult-to-adopt for potentially already complex machine learning systems. We address this problem via the lens of bilevel optimization. While keeping the standard training algorithm as an inner optimizer, we incorporate an outer optimizer so as to equip the inner problem with an additional functionality: Adaptively selecting minibatch sizes for the purpose of improving model fairness. Our batch selection algorithm, which we call FairBatch, implements this optimization and supports prominent fairness measures: equal opportunity, equalized odds, and demographic parity. FairBatch comes with a significant implementation benefit -- it does not require any modification to data preprocessing or model training. For instance, a single-line change of PyTorch code for replacing batch selection part of model training suffices to employ FairBatch. Our experiments conducted both on synthetic and benchmark real data demonstrate that FairBatch can provide such functionalities while achieving comparable (or even greater) performances against the state of the arts. Furthermore, FairBatch can readily improve fairness of any pre-trained model simply via fine-tuning. It is also compatible with existing batch selection techniques intended for different purposes, such as faster convergence, thus gracefully achieving multiple purposes.

How fair can we go in machine learning? Assessing the boundaries of fairness in decision trees

Abstract: Fair machine learning works have been focusing on the development of equitable algorithms that address discrimination of certain groups. Yet, many of these fairness-aware approaches aim to obtain a unique solution to the problem, which leads to a poor understanding of the statistical limits of bias mitigation interventions. We present the first methodology that allows to explore those limits within a multi-objective framework that seeks to optimize any measure of accuracy and fairness and provides a Pareto front with the best feasible solutions. In this work, we focus our study on decision tree classifiers since they are widely accepted in machine learning, are easy to interpret and can deal with non-numerical information naturally. We conclude experimentally that our method can optimize decision tree models by being fairer with a small cost of the classification error. We believe that our contribution will help stakeholders of sociotechnical systems to assess how far they can go being fair and accurate, thus serving in the support of enhanced decision making where machine learning is used.

Mitigating Algorithmic Bias with Limited Annotations

Abstract: Existing work on fairness modeling commonly assumes that sensitive attributes for all instances are fully available, which may not be true in many real-world applications due to the high cost of acquiring sensitive information. When sensitive attributes are not disclosed or available, it is needed to manually annotate a small part of the training data to mitigate bias. However, the skewed distribution across different sensitive groups preserves the skewness of the original dataset in the annotated subset, which leads to non-optimal bias mitigation. To tackle this challenge, we propose Active Penalization Of Discrimination (APOD), an interactive framework to guide the limited annotations towards maximally eliminating the effect of algorithmic bias. The proposed APOD integrates discrimination penalization with active instance selection to efficiently utilize the limited annotation budget, and it is theoretically proved to be capable of bounding the algorithmic bias. According to the evaluation on five benchmark datasets, APOD outperforms the state-of-the-arts baseline methods under the limited annotation budget, and shows comparable performance to fully annotated bias mitigation, which demonstrates that APOD could benefit real-world applications when sensitive information is limited.

Learning to Teach Fairness-aware Deep Multi-task Learning

Abstract: Fairness-aware learning mainly focuses on single task learning (STL). The fairness implications of multi-task learning (MTL) have only recently been considered and a seminal approach has been proposed that considers the fairness-accuracy trade-off for each task and the performance trade-off among different tasks. Instead of a rigid fairness-accuracy trade-off formulation, we propose a flexible approach that learns how to be fair in a MTL setting by selecting which objective (accuracy or fairness) to optimize at each step. We introduce the L2T-FMT algorithm that is a teacher-student network trained collaboratively; the student learns to solve the fair MTL problem while the teacher instructs the student to learn from either accuracy or fairness, depending on what is harder to learn for each task. Moreover, this dynamic selection of which objective to use at each step for each task reduces the number of trade-off weights from 2T to T, where T is the number of tasks. Our experiments on three real datasets show that L2T-FMT improves on both fairness (12-19%) and accuracy (up to 2%) over state-of-the-art approaches.

FairGrad: Fairness Aware Gradient Descent

Abstract: We address the problem of group fairness in classification, where the objective is to learn models that do not unjustly discriminate against subgroups of the population. Most existing approaches are limited to simple binary tasks or involve difficult to implement training mechanisms which reduces their practical applicability. In this paper, we propose FairGrad, a method to enforce fairness based on a re-weighting scheme that iteratively learns group specific weights based on whether they are advantaged or not. FairGrad is easy to implement, accommodates various standard fairness definitions, and comes with minimal overhead. Furthermore, we show that it is competitive with standard baselines over various datasets including ones used in natural language processing and computer vision. FairGrad is available as a PyPI package at - https://pypi.org/project/fairgrad

Adaptive Fairness-Aware Online Meta-Learning for Changing Environments

Abstract: The fairness-aware online learning framework has arisen as a powerful tool for the continual lifelong learning setting. The goal for the learner is to sequentially learn new tasks where they come one after another over time and the learner ensures the statistic parity of the new coming task across different protected sub-populations (e.g. race and gender). A major drawback of existing methods is that they make heavy use of the i.i.d assumption for data and hence provide static regret analysis for the framework. However, low static regret cannot imply a good performance in changing environments where tasks are sampled from heterogeneous distributions. To address the fairness-aware online learning problem in changing environments, in this paper, we first construct a novel regret metric FairSAR by adding long-term fairness constraints onto a strongly adapted loss regret. Furthermore, to determine a good model parameter at each round, we propose a novel adaptive fairness-aware online meta-learning algorithm, namely FairSAOML, which is able to adapt to changing environments in both bias control and model precision. The problem is formulated in the form of a bi-level convex-concave optimization with respect to the model's primal and dual parameters that are associated with the model's accuracy and fairness, respectively. The theoretic analysis provides sub-linear upper bounds for both loss regret and violation of cumulative fairness constraints. Our experimental evaluation on different real-world datasets with settings of changing environments suggests that the proposed FairSAOML significantly outperforms alternatives based on the best prior online learning approaches.

Fairness-aware Configuration of Machine Learning Libraries

Abstract: This paper investigates the parameter space of machine learning (ML) algorithms in aggravating or mitigating fairness bugs. Data-driven software is increasingly applied in social-critical applications where ensuring fairness is of paramount importance. The existing approaches focus on addressing fairness bugs by either modifying the input dataset or modifying the learning algorithms. On the other hand, the selection of hyperparameters, which provide finer controls of ML algorithms, may enable a less intrusive approach to influence the fairness. Can hyperparameters amplify or suppress discrimination present in the input dataset? How can we help programmers in detecting, understanding, and exploiting the role of hyperparameters to improve the fairness? We design three search-based software testing algorithms to un-cover the precision-fairness frontier of the hyperparameter space. We complement these algorithms with statistical debugging to explain the role of these parameters in improving fairness. We implement the proposed approaches in the tool Parfait-ML (PARameter FAIrness Testing for ML Libraries) and show its effectiveness and utility over five mature ML algorithms as used in six social-critical applications. In these applications, our approach successfully iden-tified hyperparameters that significantly improve (vis-a-vis the state-of-the-art techniques) the fairness without sacrificing precision. Surprisingly, for some algorithms (e.g., random forest), our approach showed that certain configuration of hyperparameters (e.g., restricting the search space of attributes) can amplify biases across applications. Upon further investigation, we found intuitive explanations of these phenomena, and the results corroborate simi-lar observations from the literature.

FETA: Fairness Enforced Verifying, Training, and Predicting Algorithms for Neural Networks

Abstract: Algorithmic decision making driven by neural networks has become very prominent in applications that directly affect people's quality of life. In this paper, we study the problem of verifying, training, and guaranteeing individual fairness of neural network models. A popular approach for enforcing fairness is to translate a fairness notion into constraints over the parameters of the model. However, such a translation does not always guarantee fair predictions of the trained neural network model. To address this challenge, we develop a counterexample-guided post-processing technique to provably enforce fairness constraints at prediction time. Contrary to prior work that enforces fairness only on points around test or train data, we are able to enforce and guarantee fairness on all points in the input domain. Additionally, we propose an in-processing technique to use fairness as an inductive bias by iteratively incorporating fairness counterexamples in the learning process. We have implemented these techniques in a tool called FETA. Empirical evaluation on real-world datasets indicates that FETA is not only able to guarantee fairness on-the-fly at prediction time but also is able to train accurate models exhibiting a much higher degree of individual fairness.

Fair and Green Hyperparameter Optimization via Multi-objective and Multiple Information Source Bayesian Optimization

Abstract: There is a consensus that focusing only on accuracy in searching for optimal machine learning models ampliﬁes biases contained in the data, leading to unfair predictions and decision sup-ports. Recently, multi-objective hyperparameter optimization has been proposed to search for machine learning models which offer equally Pareto-efﬁcient trade-offs between accuracy and fairness. Although these approaches proved to be more versatile than fairness-aware machine learning algorithms – which optimize accuracy constrained to some threshold on fairness – they could dras-tically increase the energy consumption in the case of large datasets. In this paper we propose FanG-HPO, a Fair and Green Hyperparameter Optimization (HPO) approach based on both multi-objective and multiple information source Bayesian optimization. FanG-HPO uses subsets of the large dataset (aka information sources) to obtain cheap approximations of both accuracy and fairness, and multi-objective Bayesian Optimization to efﬁciently identify Pareto-efﬁcient machine learning models. Experiments consider two benchmark (fairness) datasets and two machine learning algorithms (XGBoost and Multi-Layer Perceptron), and provide an assessment of FanG-HPO against both fairness-aware machine learning algorithms and hyperparameter optimization via a multi-objective single-source optimization algorithm in BoTorch, a state-of-the-art platform for Bayesian Optimization.

Fair Active Learning

Abstract: Machine learning (ML) is increasingly being used in high-stakes applications impacting society. Therefore, it is of critical importance that ML models do not propagate discrimination. Collecting accurate labeled data in societal applications is challenging and costly. Active learning is a promising approach to build an accurate classifier by interactively querying an oracle within a labeling budget. We design algorithms for fair active learning that carefully selects data points to be labeled so as to balance model accuracy and fairness. We demonstrate the effectiveness and efficiency of our proposed algorithms over widely used benchmark datasets using demographic parity and equalized odds notions of fairness.

Don’t Throw it Away! The Utility of Unlabeled Data in Fair Decision Making

Abstract: Decision making algorithms, in practice, are often trained on data that exhibits a variety of biases. Decision-makers often aim to take decisions based on some ground-truth target that is assumed or expected to be unbiased, i.e., equally distributed across socially salient groups. In many practical settings, the ground-truth cannot be directly observed, and instead, we have to rely on a biased proxy measure of the ground-truth, i.e., biased labels, in the data. In addition, data is often selectively labeled, i.e., even the biased labels are only observed for a small fraction of the data that received a positive decision. To overcome label and selection biases, recent work proposes to learn stochastic, exploring decision policies via i) online training of new policies at each time-step and ii) enforcing fairness as a constraint on performance. However, the existing approach uses only labeled data, disregarding a large amount of unlabeled data, and thereby suffers from high instability and variance in the learned decision policies at different times. In this paper, we propose a novel method based on a variational autoencoder for practical fair decision-making. Our method learns an unbiased data representation leveraging both labeled and unlabeled data and uses the representations to learn a policy in an online process. Using synthetic data, we empirically validate that our method converges to the optimal (fair) policy according to the ground-truth with low variance. In real-world experiments, we further show that our training approach not only offers a more stable learning process but also yields policies with higher fairness as well as utility than previous approaches.

Accurate Fairness: Improving Individual Fairness without Trading Accuracy

Abstract: Accuracy and individual fairness are both crucial for trustworthy machine learning, but these two aspects are often incompatible with each other so that enhancing one aspect may sacrifice the other inevitably with side effects of true bias or false fairness. We propose in this paper a new fairness criterion, accurate fairness, to align individual fairness with accuracy. Informally, it requires the treatments of an individual and the individual's similar counterparts to conform to a uniform target, i.e., the ground truth of the individual. We prove that accurate fairness also implies typical group fairness criteria over a union of similar sub-populations. We then present a Siamese fairness in-processing approach to minimize the accuracy and fairness losses of a machine learning model under the accurate fairness constraints. To the best of our knowledge, this is the first time that a Siamese approach is adapted for bias mitigation. We also propose fairness confusion matrix-based metrics, fair-precision, fair-recall, and fair-F1 score, to quantify a trade-off between accuracy and individual fairness. Comparative case studies with popular fairness datasets show that our Siamese fairness approach can achieve on average 1.02%-8.78% higher individual fairness (in terms of fairness through awareness) and 8.38%-13.69% higher accuracy, as well as 10.09%-20.57% higher true fair rate, and 5.43%-10.01% higher fair-F1 score, than the state-of-the-art bias mitigation techniques. This demonstrates that our Siamese fairness approach can indeed improve individual fairness without trading accuracy. Finally, the accurate fairness criterion and Siamese fairness approach are applied to mitigate the possible service discrimination with a real Ctrip dataset, by on average fairly serving 112.33% more customers (specifically, 81.29% more customers in an accurately fair way) than baseline models.

Publications on In-processing bias mitigation methods - Part 3.

This section presents in-processing methods; methods that mitigate bias during the training procedure of the algorithm.
Overall, we found a total of 212 publications (see Table {{table:38a2956a-c6e9-42f7-95fe-af5c57c12ab5}} , Table {{table:b633b6fe-7eca-4afe-ad49-c232fdbfb407}}  and Table {{table:230c770c-06fe-4fc5-bda4-aa3dea7f5982}}  for more details) that apply in-processing methods.
For more details on in-processing methods, we refer to the survey by Wan et al. {{cite:f28e61b}}, which provides information on 38 in-processing approaches developed for various ML tasks.


Dynamic Stripes: Exploiting the Dynamic Precision Requirements of Activation Values in Neural Networks

Abstract: Stripes is a Deep Neural Network (DNN) accelerator that uses bit-serial computation to offer performance that is proportional to the fixed-point precision of the activation values. The fixed-point precisions are determined a priori using profiling and are selected at a per layer granularity. This paper presents Dynamic Stripes, an extension to Stripes that detects precision variance at runtime and at a finer granularity. This extra level of precision reduction increases performance by 41% over Stripes.

BISMO: A Scalable Bit-Serial Matrix Multiplication Overlay for Reconfigurable Computing

Abstract: Matrix-matrix multiplication is a key computational kernel for numerous applications in science and engineering, with ample parallelism and data locality that lends itself well to high-performance implementations. Many matrix multiplication-dependent applications can use reduced-precision integer or fixed-point representations to increase their performance and energy efficiency while still offering adequate quality of results. However, precision requirements may vary between different application phases or depend on input data, rendering constant-precision solutions ineffective. We present BISMO, a vectorized bit-serial matrix multiplication overlay for reconfigurable computing. BISMO utilizes the excellent binary-operation performance of FPGAs to offer a matrix multiplication performance that scales with required precision and parallelism. We characterize the resource usage and performance of BISMO across a range of parameters to build a hardware cost model, and demonstrate a peak performance of 6.5 TOPS on the Xilinx PYNQ-Z1 board.

Bit Fusion: Bit-Level Dynamically Composable Architecture for Accelerating Deep Neural Networks

Abstract: Fully realizing the potential of acceleration for Deep Neural Networks (DNNs) requires understanding and leveraging algorithmic properties. This paper builds upon the algorithmic insight that bitwidth of operations in DNNs can be reduced without compromising their classification accuracy. However, to prevent accuracy loss, the bitwidth varies significantly across DNNs and it may even be adjusted for each layer. Thus, a fixed-bitwidth accelerator would either offer limited benefits to accommodate the worst-case bitwidth requirements, or lead to a degradation in final accuracy. To alleviate these deficiencies, this work introduces dynamic bit-level fusion/decomposition as a new dimension in the design of DNN accelerators. We explore this dimension by designing Bit Fusion, a bit-flexible accelerator, that constitutes an array of bit-level processing elements that dynamically fuse to match the bitwidth of individual DNN layers. This flexibility in the architecture enables minimizing the computation and the communication at the finest granularity possible with no loss in accuracy. We evaluate the benefits of BitFusion using eight real-world feed-forward and recurrent DNNs. The proposed microarchitecture is implemented in Verilog and synthesized in 45 nm technology. Using the synthesis results and cycle accurate simulation, we compare the benefits of Bit Fusion to two state-of-the-art DNN accelerators, Eyeriss and Stripes. In the same area, frequency, and process technology, BitFusion offers 3.9x speedup and 5.1x energy savings over Eyeriss. Compared to Stripes, BitFusion provides 2.6x speedup and 3.9x energy reduction at 45 nm node when BitFusion area and frequency are set to those of Stripes. Scaling to GPU technology node of 16 nm, BitFusion almost matches the performance of a 250-Watt Titan Xp, which uses 8-bit vector instructions, while BitFusion merely consumes 895 milliwatts of power.

Loom: Exploiting Weight and Activation Precisions to Accelerate Convolutional Neural Networks

Abstract: Loom (LM), a hardware inference accelerator for Convolutional Neural Networks (CNNs) is presented. In LM every bit of data precision that can be saved translates to proportional performance gains. For both weights and activations LM exploits profile-derived per layer precisions. However, at runtime LM further trims activation precisions at a much smaller than a layer granularity. On average, across several image classification CNNs and for a configuration that can perform the equivalent of 128 16b × 16b multiply-accumulate operations per cycle LM outperforms a state-of-the-art bit-parallel accelerator [3] by 3.19 × without any loss in accuracy while being 2.59 × more energy efficient. LM can trade-off accuracy for additional improvements in execution performance and energy efficiency and compares favorably to an accelerator that targeted only activation precisions.

Hardware accelerators that support variable bitlength activations “A” and weights “W”.

Reducing bitlength yields benefits for data storage and computation for commodity CPUs and GPUs and specialized accelerators (see Table {{table:fb2fe256-dc4a-470f-8128-94de52979423}} ):


Deep Mutual Learning

Abstract: Model distillation is an effective and widely used technique to transfer knowledge from a teacher to a student network. The typical application is to transfer from a powerful large network or ensemble to a small network, in order to meet the low-memory or fast execution requirements. In this paper, we present a deep mutual learning (DML) strategy. Different from the one-way transfer between a static pre-defined teacher and a student in model distillation, with DML, an ensemble of students learn collaboratively and teach each other throughout the training process. Our experiments show that a variety of network architectures benefit from mutual learning and achieve compelling results on both category and instance recognition tasks. Surprisingly, it is revealed that no prior powerful teacher network is necessary - mutual learning of a collection of simple student networks works, and moreover outperforms distillation from a more powerful yet static teacher.

Collaborative Learning for Deep Neural Networks

Abstract: We introduce collaborative learning in which multiple classifier heads of the same network are simultaneously trained on the same training data to improve generalization and robustness to label noise with no extra inference cost. It acquires the strengths from auxiliary training, multi-task learning and knowledge distillation. There are two important mechanisms involved in collaborative learning. First, the consensus of multiple views from different classifier heads on the same example provides supplementary information as well as regularization to each classifier, thereby improving generalization. Second, intermediate-level representation (ILR) sharing with backpropagation rescaling aggregates the gradient flows from all heads, which not only reduces training computational complexity, but also facilitates supervision to the shared layers. The empirical results on CIFAR and ImageNet datasets demonstrate that deep neural networks learned as a group in a collaborative way significantly reduce the generalization error and increase the robustness to label noise.

Knowledge Distillation by On-the-Fly Native Ensemble

Abstract: Knowledge distillation is effective to train small and generalisable network models for meeting the low-memory and fast running requirements. Existing offline distillation methods rely on a strong pre-trained teacher, which enables favourable knowledge discovery and transfer but requires a complex two-phase training procedure. Online counterparts address this limitation at the price of lacking a highcapacity teacher. In this work, we present an On-the-fly Native Ensemble (ONE) strategy for one-stage online distillation. Specifically, ONE trains only a single multi-branch network while simultaneously establishing a strong teacher on-the- fly to enhance the learning of target network. Extensive evaluations show that ONE improves the generalisation performance a variety of deep neural networks more significantly than alternative methods on four image classification dataset: CIFAR10, CIFAR100, SVHN, and ImageNet, whilst having the computational efficiency advantages.

Online Knowledge Distillation with Diverse Peers

Abstract: Distillation is an effective knowledge-transfer technique that uses predicted distributions of a powerful teacher model as soft targets to train a less-parameterized student model. A pre-trained high capacity teacher, however, is not always available. Recently proposed online variants use the aggregated intermediate predictions of multiple student models as targets to train each student model. Although group-derived targets give a good recipe for teacher-free distillation, group members are homogenized quickly with simple aggregation functions, leading to early saturated solutions. In this work, we propose Online Knowledge Distillation with Diverse peers (OKDDip), which performs two-level distillation during training with multiple auxiliary peers and one group leader. In the first-level distillation, each auxiliary peer holds an individual set of aggregation weights generated with an attention-based mechanism to derive its own targets from predictions of other auxiliary peers. Learning from distinct target distributions helps to boost peer diversity for effectiveness of group-based distillation. The second-level distillation is performed to transfer the knowledge in the ensemble of auxiliary peers further to the group leader, i.e., the model used for inference. Experimental results show that the proposed framework consistently gives better performance than state-of-the-art approaches without sacrificing training or inference complexity, demonstrating the effectiveness of the proposed two-level distillation framework.

Feature-map-level Online Adversarial Knowledge Distillation

Abstract: Feature maps contain rich information about image intensity and spatial correlation. However, previous online knowledge distillation methods only utilize the class probabilities. Thus in this paper, we propose an online knowledge distillation method that transfers not only the knowledge of the class probabilities but also that of the feature map using the adversarial training framework. We train multiple networks simultaneously by employing discriminators to distinguish the feature map distributions of different networks. Each network has its corresponding discriminator which discriminates the feature map from its own as fake while classifying that of the other network as real. By training a network to fool the corresponding discriminator, it can learn the other network's feature map distribution. We show that our method performs better than the conventional direct alignment method such as L1 and is more suitable for online distillation. Also, we propose a novel cyclic learning scheme for training more than two networks together. We have applied our method to various network architectures on the classification task and discovered a significant improvement of performance especially in the case of training a pair of a small network and a large one.

Peer Collaborative Learning for Online Knowledge Distillation

Abstract: Traditional knowledge distillation uses a two-stage training strategy to transfer knowledge from a high-capacity teacher model to a compact student model, which relies heavily on the pre-trained teacher. Recent online knowledge distillation alleviates this limitation by collaborative learning, mutual learning and online ensembling, following a one-stage end-to-end training fashion. However, collaborative learning and mutual learning fail to construct an online high-capacity teacher, whilst online ensembling ignores the collaboration among branches and its logit summation impedes the further optimisation of the ensemble teacher. In this work, we propose a novel Peer Collaborative Learning method for online knowledge distillation, which integrates online ensembling and network collaboration into a unified framework. Specifically, given a target network, we construct a multi-branch network for training, in which each branch is called a peer. We perform random augmentation multiple times on the inputs to peers and assemble feature representations outputted from peers with an additional classifier as the peer ensemble teacher. This helps to transfer knowledge from a high-capacity teacher to peers, and in turn further optimises the ensemble teacher. Meanwhile, we employ the temporal mean model of each peer as the peer mean teacher to collaboratively transfer knowledge among peers, which helps each peer to learn richer knowledge and facilitates to optimise a more stable model with better generalisation. Extensive experiments on CIFAR-10, CIFAR-100 and ImageNet show that the proposed method significantly improves the generalisation of various backbone networks and outperforms the state-of-the-art methods.

Feature Fusion for Online Mutual Knowledge Distillation

Abstract: We propose a learning framework named Feature Fusion Learning (FFL) that efficiently trains a powerful classifier through a fusion module which combines the feature maps generated from parallel neural networks and generates meaningful feature maps. Specifically, we train a number of parallel neural networks as sub-networks, then we combine the feature maps from each sub-network using a fusion module to create a more meaningful feature map. The fused feature map is passed into the fused classifier for overall classification. Unlike existing feature fusion methods, in our framework, an ensemble of sub-network classifiers transfers its knowledge to the fused classifier and then the fused classifier delivers its knowledge back to each subnetwork, mutually teaching one another in an online-knowledge distillation manner. This mutually teaching system not only improves the performance of the fused classifier but also obtains performance gain in each sub-network. Moreover, our model is more beneficial than other alternative methods because different types of network can be used for each sub-network. We have performed a variety of experiments on multiple datasets such as CIFAR-10, CIFAR-100 and ImageNet and proved that our method is more effective than other alternative methods in terms of performances of both sub-networks and the fused classifier, and the aspect of generating meaningful feature maps. The code is available at this link11https://github.com/Jangho-Kim/FFL-pytorch

Mutual Contrastive Learning for Visual Representation Learning

Abstract: We present a collaborative learning method called Mutual Contrastive Learning (MCL) for general visual representation learning. The core idea of MCL is to perform mutual interaction and transfer of contrastive distributions among a cohort of networks. A crucial component of MCL is Interactive Contrastive Learning (ICL). Compared with vanilla contrastive learning, ICL can aggregate cross-network embedding information and maximize the lower bound to the mutual information between two networks. This enables each network to learn extra contrastive knowledge from others, leading to better feature representations for visual recognition tasks. We emphasize that the resulting MCL is conceptually simple yet empirically powerful. It is a generic framework that can be applied to both supervised and self-supervised representation learning. Experimental results on image classification and transfer learning to object detection show that MCL can lead to consistent performance gains, demonstrating that MCL can guide the network to generate better feature representations. Code is available at https://github.com/winycg/MCL.

Knowledge Distillation Using Hierarchical Self-Supervision Augmented Distribution

Abstract: Knowledge distillation (KD) is an effective framework that aims to transfer meaningful information from a large teacher to a smaller student. Generally, KD often involves how to define and transfer knowledge. Previous KD methods often focus on mining various forms of knowledge, for example, feature maps and refined information. However, the knowledge is derived from the primary supervised task, and thus, is highly task-specific. Motivated by the recent success of self-supervised representation learning, we propose an auxiliary self-supervision augmented task to guide networks to learn more meaningful features. Therefore, we can derive soft self-supervision augmented distributions as richer dark knowledge from this task for KD. Unlike previous knowledge, this distribution encodes joint knowledge from supervised and self-supervised feature learning. Beyond knowledge exploration, we propose to append several auxiliary branches at various hidden layers, to fully take advantage of hierarchical feature maps. Each auxiliary branch is guided to learn self-supervision augmented tasks and distill this distribution from teacher to student. Overall, we call our KD method a hierarchical self-supervision augmented KD (HSSAKD). Experiments on standard image classification show that both offline and online HSSAKD achieves state-of-the-art performance in the field of KD. Further transfer experiments on object detection further verify that HSSAKD can guide the network to learn better features. The code is available at https://github.com/winycg/HSAKD.

Top-1 accuracy(%) of various online KD methods for CIFAR-100 {{cite:e477b2e}} classification. The compared works are sorted according to the published time. The network is selected as ResNet-32 {{cite:881121f}}. All results are referred to the original papers.

Online KD aims to train a group of student networks simultaneously from scratch and transfer knowledge from each other during the training phase. Unlike offline KD, online KD is an end-to-end optimization process and does not need an explicit pre-trained teacher network in advance. According to the knowledge type, the current online KD is mainly divided into response-based, feature-based, and relation-based approaches, as illustrated in Fig. {{figure:57572d07-8375-46fb-ae19-c89283dcf7a0}} . We provide an empirical study of various online KD approaches in Table {{table:518a8aa9-3f85-4c28-a63a-e9d34a3cc008}} .


A Modern Approach to IP Protection and Trojan Prevention: Split Manufacturing for 3D ICs and Obfuscation of Vertical Interconnects

Abstract: Split manufacturing (SM) and layout camouflaging (LC) are two promising techniques to obscure integrated circuits (ICs) from malicious entities during and after manufacturing. While both techniques enable protecting the intellectual property (IP) of ICs, SM can further mitigate the insertion of hardware Trojans (HTs). In this paper, we strive for the “best of both worlds,” that is we seek to combine the individual strengths of SM and LC. By jointly extending SM and LC techniques toward 3D integration, an up-and-coming paradigm based on stacking and interconnecting of multiple chips, we establish a modern approach to hardware security. Toward that end, we develop a security-driven CAD and manufacturing flow for 3D ICs in two variations, one for IP protection and one for HT prevention. Essential concepts of that flow are (i) “3D splitting” of the netlist to protect, (ii) obfuscation of the vertical interconnects (i.e., the wiring between stacked chips), and (iii) for HT prevention, a security-driven synthesis stage. We conduct comprehensive experiments on DRC-clean layouts of multi-million-gate DARPA and OpenCores designs (and others). Strengthened by extensive security analysis for both IP protection and HT prevention, we argue that entering the third dimension is eminent for effective and efficient hardware security.

On mitigation of side-channel attacks in 3D ICs: Decorrelating thermal patterns from power and activity

Abstract: Various side-channel attacks (SCAs) on ICs have been successfully demonstrated and also mitigated to some degree. In the context of 3D ICs, however, prior art has mainly focused on efficient implementations of classical SCA countermeasures. That is, SCAs tailored for up-and-coming 3D ICs have been overlooked so far. In this paper, we conduct such a novel study and focus on one of the most accessible and critical side channels: thermal leakage of activity and power patterns. We address the thermal leakage in 3D ICs early on during floorplanning, along with tailored extensions for power and thermal management. Our key idea is to carefully exploit the specifics of material and structural properties in 3D ICs, thereby decorrelating the thermal behaviour from underlying power and activity patterns. Most importantly, we discuss powerful SCAs and demonstrate how our open-source tool helps to mitigate them.

2.5D Root of Trust: Secure System-Level Integration of Untrusted Chiplets

Abstract: For the first time, we leverage the 2.5D interposer technology to establish system-level security in the face of hardware- and software-centric adversaries. More specifically, we integrate chiplets (i.e., third-party hard intellectual property of complex functionality, like microprocessors) using a security-enforcing interposer. Such hardware organization provides a robust 2.5D root of trust for trustworthy, yet powerful and flexible, computation systems. The security paradigms for our scheme, employed firmly by design and construction, are: 1) stringent physical separation of trusted from untrusted components and 2) runtime monitoring. The system-level activities of all untrusted commodity chiplets are checked continuously against security policiesvia physically separated security features. Aside from the security promises, the good economics of outsourced supply chains are still maintained; the system vendor is free to procure chiplets from the open market, while only producing the interposer and assembling the 2.5D system oneself. We showcase our scheme using the Cortex-M0 core and the AHB-Lite bus by ARM, building a secure 64-core system with shared memories. We evaluate our scheme through hardware simulation, considering different threat scenarios. Finally, we devise a physical-design flow for 2.5D systems, based on commercial-grade design tools, to demonstrate and evaluate our 2.5D root of trust.

Selected Works Leveraging 2.5D/3D Integration for the Benefit of Hardware Security

The main benefits provided by 3D and 2.5D integration to advance hardware security are
(i) the physical separation of components,
be it across interconnects, active devices, or both, and
(ii) the physical enclosure of components, to shield them from
adversarial activities in the field.
In Table {{table:1f9874ad-5475-44c2-b468-7f182d3e277c}} , I summarize selected
works; I discuss these and others in some detail next.
Note that other papers have reviewed the benefits and fallacies for hardware security arising by 3D and 2.5D
integration as well, e.g., see {{cite:2434012}}, {{cite:eb6025c}}, {{cite:e7f1b5e}}.


2D pretrained detectors, the largest dataset

Annotating Object Instances with a Polygon-RNN

Abstract: We propose an approach for semi-automatic annotation of object instances. While most current methods treat object segmentation as a pixel-labeling problem, we here cast it as a polygon prediction task, mimicking how most current datasets have been annotated. In particular, our approach takes as input an image crop and sequentially produces vertices of the polygon outlining the object. This allows a human annotator to interfere at any time and correct a vertex if needed, producing as accurate segmentation as desired by the annotator. We show that our approach speeds up the annotation process by a factor of 4.7 across all classes in Cityscapes, while achieving 78:4% agreement in IoU with original ground-truth, matching the typical agreement between human annotators. For cars, our speed-up factor is 7.3 for an agreement of 82:2%. We further show generalization capabilities of our approach to unseen datasets.

Fast Interactive Object Annotation with Curve-GCN

Abstract: Manually labeling objects by tracing their boundaries is a laborious process. In Polygon-RNN++ the authors proposed Polygon-RNN that produces polygonal annotations in a recurrent manner using a CNN-RNN architecture, allowing interactive correction via humans-in-the-loop. We propose a new framework that alleviates the sequential nature of Polygon-RNN, by predicting all vertices simultaneously using a Graph Convolutional Network (GCN). Our model is trained end-to-end. It supports object annotation by either polygons or splines, facilitating labeling efficiency for both line-based and curved objects. We show that Curve-GCN outperforms all existing approaches in automatic mode, including the powerful PSP-DeepLab and is significantly more efficient in interactive mode than Polygon-RNN++. Our model runs at 29.3ms in automatic, and 2.6ms in interactive mode, making it 10x and 100x faster than Polygon-RNN++.

BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning

Abstract: Datasets drive vision progress, yet existing driving datasets are impoverished in terms of visual content and supported tasks to study multitask learning for autonomous driving. Researchers are usually constrained to study a small set of problems on one dataset, while real-world computer vision applications require performing tasks of various complexities. We construct BDD100K, the largest driving video dataset with 100K videos and 10 tasks to evaluate the exciting progress of image recognition algorithms on autonomous driving. The dataset possesses geographic, environmental, and weather diversity, which is useful for training models that are less likely to be surprised by new conditions. Based on this diverse dataset, we build a benchmark for heterogeneous multitask learning and study how to solve the tasks together. Our experiments show that special training strategies are needed for existing models to perform such heterogeneous tasks. BDD100K opens the door for future studies in this important venue.

Leveraging Pre-Trained 3D Object Detection Models for Fast Ground Truth Generation

Abstract: Training 3D object detectors for autonomous driving has been limited to small datasets due to the effort required to generate annotations. Reducing both task complexity and the amount of task switching done by annotators is key to reducing the effort and time required to generate 3D bounding box annotations. This paper introduces a novel ground truth generation method that combines human supervision with pre-trained neural networks to generate per-instance 3D point cloud segmentation, 3D bounding boxes, and class annotations. The annotators provide object anchor clicks which behave as a seed to generate instance segmentation results in 3D. The points belonging to each instance are then used to regress object centroids, bounding box dimensions, and object orientation. Our proposed annotation scheme requires 30x lower human annotation time. We use the KITTI 3D object detection dataset [1] to evaluate the efficiency and the quality of our annotation scheme. We also test the the proposed scheme on previously unseen data from the Autonomoose self-driving vehicle to demonstrate generalization capabilities of the network.

Deep Active Learning for Efficient Training of a LiDAR 3D Object Detector

Abstract: Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming, especially when dealing with 3D LiDAR points or radar data. Active learning has the potential to minimize human annotation efforts while maximizing the object detector's performance. In this work, we propose an active learning method to train a LiDAR 3D object detector with the least amount of labeled training data necessary. The detector leverages 2D region proposals generated from the RGB images to reduce the search space of objects and speed up the learning process. Experiments show that our proposed method works under different uncertainty estimations and query functions, and can save up to 60% of the labeling efforts while reaching the same network performance.

Autolabeling 3D Objects with Differentiable Rendering of SDF Shape Priors

Abstract: We present an automatic annotation pipeline to recover 9D cuboids and 3D shapes from pre-trained off-the-shelf 2D detectors and sparse LIDAR data. Our autolabeling method solves an ill-posed inverse problem by considering learned shape priors and optimizing geometric and physical parameters. To address this challenging problem, we apply a novel differentiable shape renderer to signed distance fields (SDF), leveraged together with normalized object coordinate spaces (NOCS). Initially trained on synthetic data to predict shape and coordinates, our method uses these predictions for projective and geometric alignment over real samples. Moreover, we also propose a curriculum learning strategy, iteratively retraining on samples of increasing difficulty in subsequent self-improving annotation rounds. Our experiments on the KITTI3D dataset show that we can recover a substantial amount of accurate cuboids, and that these autolabels can be used to train 3D vehicle detectors with state-of-the-art results.

A few published works for accelerating annotation procedure. Compared to them, our FLAVA focuses on the complex 3D interaction involved in the annotation of LiDAR-based point clouds. It serves as a systematic pipeline to provide accurate labels for 3D detection and tracking.

Quantitative Analysis   Since there is no open source tool with similar functions, we supplemented the functions of {{cite:78fc8f7}} so that it can have theoretically complete functions in 3D annotation. We regard it as the baseline of FLAVA. On this basis, we add functions in turn, so that the whole process and functions gradually approach our method. It can be seen from Table {{table:7dcc90fe-a979-4282-a1bd-a403515720d8}}  and {{table:bb09b7e1-2ab7-4193-922a-1b1b93486e83}}  that although it takes the longest time, 31.1s, to annotate each instance in the baseline, its label quality of both 3D and bird-view 2D boxes is poorest under multiple metrics of IoU and average precision.


Efficient Jacobian-Based Inverse Kinematics with Sim-to-Real Transfer of Soft Robots by Learning

Abstract: This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address this challenge, we employ neural networks to learn both the mapping function of forward kinematics and also the Jacobian of this function. As a result, Jacobian-based iteration can be applied to solve the IK problem. A sim-to-real training transfer strategy is conducted to make this approach more practical. We first generate a large number of samples in a simulation environment for learning both the kinematic and the Jacobian networks of a soft robot design. Thereafter, a sim-to-real layer of differentiable neurons is employed to map the results of simulation to the physical hardware, where this sim-to-real layer can be learned from a very limited number of training samples generated on the hardware. The effectiveness of our approach has been verified on pneumatic-driven soft robots for path following and interactive positioning.

Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator

Abstract: Recently soft robotics has rapidly become a novel and promising area of research with many designs and applications due to their flexible and compliant structure. However, it is more difficult to derive the nonlinear dynamic model of such soft robots. The differential kinematics and dynamics of the soft manipulator can be formulated as a set of highly nonlinear partial differential equations (PDEs) via the classic Cosserat rod theory. In this work, we propose a discrete modeling technique named piecewise linear strain (PLS) to solve the PDEs of Cosserat-based models, based on which the associated analytic models are deduced. To validate the accuracy of the proposed Cosserat model, the static model of the conical cantilever rod under gravity as a simple example is simulated by using different discretization methods. Results indicate that PLS Cosserat model is comparable to the mechanical deformation behavior of real-world soft manipulator. Finally, a parameters identification scheme for this model is established, and the simulation as well as experimental validation demonstrate that using this method can identify the model physical parameters with high accuracy.

Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation

Abstract: We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow measurements captured by the distal camera is composed with any Jacobian estimation or kinematic model to compensate for these effects. By utilizing domain knowledge to define the structure of this matrix, fewer parameters need to be estimated and a stable controller can be guaranteed. The algorithm is tested on a custom robotic catheter and convergence is shown both empirically and theoretically.

Position Control of Cable-Driven Robotic Soft Arm Based on Deep Reinforcement Learning

Abstract: The cable-driven soft arm is mostly made of soft material; it is difficult to control because of the material characteristics, so the traditional robot arm modeling and control methods cannot be directly applied to the soft robot arm. In this paper, we combine the data-driven modeling method with the reinforcement learning control method to realize the position control task of robotic soft arm, the method of control strategy based on deep Q learning. In order to solve slow convergence and unstable effect in the process of simulation and migration when deep reinforcement learning is applied to the actual robot control task, a control strategy learning method is designed, which is based on the experimental data, to establish a simulation environment for control strategy training, and then applied to the real environment. Finally, it is proved by experiment that the method can effectively complete the control of the soft robot arm, which has better robustness than the traditional method.

Towards Safe Control of Continuum Manipulator Using Shielded Multiagent Reinforcement Learning

Abstract: Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject to external interaction, potentially leading to poor control performance. In this letter, we investigate the feasibility of adopting a model-free multiagent reinforcement learning (RL), namely multiagent deep Q network (MADQN), to control a 2-degree of freedom (DoF) cable-driven continuum surgical manipulator. The control of the robot is formulated as a one-DoF, one agent problem in the MADQN framework to improve the learning efficiency. Combined with a shielding scheme that enables dynamic variation of the action set boundary, MADQN leads to efficient and importantly safer control of the robot. Shielded MADQN enabled the robot to perform point and trajectory tracking with submillimeter root mean square errors under external loads, soft obstacles, and rigid collision, which are common interaction scenarios encountered by surgical manipulators. The controller was further proven to be effective in a miniature continuum robot with high structural nonlinearitiy, achieving trajectory tracking with submillimeter accuracy under external payload.

Summary of Papers after 2019

This review summarizes the data models applied in soft robot modeling and control.
The Jacobian model is an initial viable choice due to its simple structure and success in rigid robot control. Such a method models soft robots with strong assumptions, which are the linear relationships, but can obtain a high control frequency.
Some scholars also try to build analytical models based on the physical structure of soft robots and from the view of control systems. These models provide a deep understanding of soft robot modeling, but complex models are unsuitable for control.
Statistical models are utilized to extract motion features from a moderate amount of data and cope with properties like nonlinearity and hysteresis. They summarize the characteristic of data without the requirement of physical knowledge, and some models can be applied for modeling and control simultaneously.
With the development of NN, it has been proven that NN is an effective tool for modeling and control since it contains various structures, some of which are able to process sequential data. However, in most cases, it requires a large amount of data and can only be trained offline, owing to its learning strategy, network structure, and parameter number.
Recently, RL has been a popular choice for soft robot control, and it can achieve some high-level and complicated tasks without modeling. Following these benefits, RL requires a huge amount of data, a realistic exploring environment, and a long training time. The summary of these model categories is shown in Table {{table:3cc0ab89-aeab-4368-a91d-1cbab088cd64}} . The papers on these data models published after 2019 are summarized in Table {{table:a4da7a72-0ce8-472c-a330-d645d88b9e61}} .


CoAID: COVID-19 Healthcare Misinformation Dataset

Abstract: As the COVID-19 virus quickly spreads around the world, unfortunately, misinformation related to COVID-19 also gets created and spreads like wild fire. Such misinformation has caused confusion among people, disruptions in society, and even deadly consequences in health problems. To be able to understand, detect, and mitigate such COVID-19 misinformation, therefore, has not only deep intellectual values but also huge societal impacts. To help researchers combat COVID-19 health misinformation, therefore, we present CoAID (Covid-19 heAlthcare mIsinformation Dataset), with diverse COVID-19 healthcare misinformation, including fake news on websites and social platforms, along with users' social engagement about such news. CoAID includes 4,251 news, 296,000 related user engagements, 926 social platform posts about COVID-19, and ground truth labels. The dataset is available at: this https URL.

COVIDLies: Detecting COVID-19 Misinformation on Social Media

Abstract: The ongoing pandemic has heightened the need for developing tools to ﬂag COVID-19-related misinformation on the internet, specifically on social media such as Twitter. However, due to novel language and the rapid change of information, existing misinformation detection datasets are not effective for evaluating systems designed to detect misin-formation on this topic. Misinformation detection can be divided into two sub-tasks: (i) retrieval of misconceptions relevant to posts being checked for veracity, and (ii) stance detection to identify whether the posts Agree , Dis-agree , or express No Stance towards the retrieved misconceptions. To facilitate research on this task, we release C OVID L IES 1 , a dataset of 6761 expert-annotated tweets to evaluate the performance of misinformation detection systems on 86 different pieces of COVID-19 related misinformation. We evaluate existing NLP systems on this dataset, providing initial benchmarks and identifying key challenges for future models to improve upon.

The Role of the Crowd in Countering Misinformation: A Case Study of the COVID-19 Infodemic

Abstract: Fact checking by professionals is viewed as a vital defense in the fight against misinformation. While fact checking is important and its impact has been significant, fact checks could have limited visibility and may not reach the intended audience, such as those deeply embedded in polarized communities. Concerned citizens (i.e., the crowd), who are users of the platforms where misinformation appears, can play a crucial role in disseminating fact-checking information and in countering the spread of misinformation. To explore if this is the case, we conduct a data-driven study of misinformation on the Twitter platform, focusing on tweets related to the COVID-19 pandemic, analyzing the spread of misinformation, professional fact checks, and the crowds response to popular misleading claims about COVID-19.In this work, we curate a dataset of false claims and statements that seek to challenge or refute them. We train a classifier to create a novel dataset of 155,468 COVID-19-related tweets, containing 33,237 false claims and 33,413 refuting arguments. Our findings show that professional fact-checking tweets have limited volume and reach. In contrast, we observe that the surge in misinformation tweets results in a quick response and a corresponding increase in tweets that refute such misinformation. More importantly, we find contrasting differences in the way the crowd refutes tweets, some tweets appear to be opinions, while others contain concrete evidence, such as a link to a reputed source. Our work provides insights into how misinformation is organically countered in social platforms by some of their users and the role they play in amplifying professional fact checks. These insights could lead to development of tools and mechanisms that can empower concerned citizens in combating misinformation. The code and data can be found in this link.1

Fake News Detection Datasets.

Studies present that there are many English datasets and few Chinese ones of long-text fake news detection {{cite:002e0b9}}.
Table {{table:0f7be50a-1019-450a-9b76-25e0c59fc348}}  shows some fake news datasets related to COVID-19 . CoAID is an English dataset released by Cui and Lee containing 926 social media posts from different sources, and they classified them as fake or true {{cite:c07f56f}}. Hossain released COVIDLies dataset containing 6,761 tweets, and they annotated them into agree, disagree, or no Stance manually {{cite:451be4c}}. Cheng et al.  {{cite:f650fd2}} collect rumors from various sources, including news sites, Fact-Checked websites, and Twitter; they get 6,834 posts and manually label them as true, false, or unverified. In addition, a dataset that includes 155,468 tweets is released by Micallef et al. and are classified into misinformation, counter misinformation, or irrelevant {{cite:058e30a}}.
Targeting Chinese datasets, CHECKED collects 344 fake posts and 1,760 real posts with their reposts and comments on Weibo from December 2019 to August 2020. It has a class-unbalanced problem because it has much less fake news than real news. To the best of our knowledge, no existing works focus on the problem of fully detecting long-text COVID-19 fake news.


vulnerabilities analysis on physical layer

Software-Defined Radio GNSS Instrumentation for Spoofing Mitigation: A Review and a Case Study

Abstract: Recently, several global navigation satellite systems (GNSS) emerged following the transformative technology impact of the first GNSS—U.S. global positioning system (GPS). The power level of GNSS signals as measured at earth’s surface is below the noise floor and is consequently vulnerable against interference. Spoofers are smart GNSS-like interferers, which mislead the receivers into generating false position and time information. While many spoofing mitigation techniques exist, spoofers are continually evolving, producing a cycle of new spoofing attacks and counter-measures against them. Thus, upgradability of receivers becomes an important advantage for maintaining their immunity against spoofing. Software-defined radio implementations of a GPS receiver address such flexibility but are challenged by demanding computational requirements of both GNSS signal processing and spoofing mitigation. Therefore, this paper reviews reported SDRs in the context of instrumentation capabilities for both conventional and spoofing mitigation modes. This separation is necessitated by significantly increased computational loads when in spoofing domain. This is demonstrated by a case study budget analysis.

LTE PHY layer vulnerability analysis and testing using open-source SDR tools

Abstract: This paper provides a methodology to study the PHY layer vulnerability of wireless protocols in hostile radio environments. Our approach is based on testing the vulnerabilities of a system by analyzing the individual subsystems. By targeting an individual subsystem or a combination of subsystems at a time, we can infer the weakest part and revise it to improve the overall system performance. We apply our methodology to 4G LTE downlink by considering each control channel as a subsystem. We also develop open-source software enabling research and education using software-defined radios. We present experimental results with open-source LTE systems and shows how the different subsystems behave under targeted interference. The analysis for the LTE downlink shows that the synchronization signals (PSS/SSS) are very resilient to interference, whereas the downlink pilots or Cell-Specific Reference signals (CRS) are the most susceptible to a synchronized protocol-aware interferer. We also analyze the severity of control channel attacks for different LTE configurations. Our methodology and tools allow rapid evaluation of the PHY layer reliability in harsh signaling environments, which is an asset to improve current standards and develop new and robust wireless protocols.

Cases of attacks, vulnerabilities, or cybersecurity analysis with SDR technology

Table {{table:14fa2ac8-fcab-4259-a6c2-b0cd97a05b62}}  presents a compendium of cases where SDR technology has been used to perform cybersecurity analyses on wireless technologies such as GSM, LTE, DECT, RFID, ACARS, ADS-B, LoRa, BLE, IEEE 802.11, IEEE 802.15.4, NFC or on communication systems with drones and vehicles; some of them are part of the wireless ecosystem of the Internet of things.The table specifies the type of SDR radio platform used and the type of attack or vulnerability implemented.

The variety of SDR platforms is increasingly wide, as seen in table {{table:d1cacf09-7cf6-4be1-bc01-8d2091d92f15}} , which has allowed to democratize knowledge in software-defined radio technology. Table {{table:14fa2ac8-fcab-4259-a6c2-b0cd97a05b62}}  shows various implementation cases of wireless attacks using software-defined radio technology.The most commonly used radio platforms for this purpose are the USRP. Among the most common implementations are: spoofing, Eavesdropping, side channel, jamming, replay. The implementation of pentesting tools that show the potential of SDR technology for the development of cybersecurity tools was identified as well.


What type of model is it? This includes basic model architecture details, such as whether it is a Naive Bayes classifier, a Convolutional Neural Network, etc. This is likely to be particularly relevant for software and model developers, as well as individuals knowledgeable about machine learning, to highlight what kinds of assumptions are encoded in the system.

For all models and algorithms, An analysis of the complexity (time, space, sample size) of any algorithm.

Model Cards for Model Reporting

Abstract: Trained machine learning models are increasingly used to perform high-impact tasks in areas such as law enforcement, medicine, education, and employment. In order to clarify the intended use cases of machine learning models and minimize their usage in contexts for which they are not well suited, we recommend that released models be accompanied by documentation detailing their performance characteristics. In this paper, we propose a framework that we call model cards, to encourage such transparent model reporting. Model cards are short documents accompanying trained machine learning models that provide benchmarked evaluation in a variety of conditions, such as across different cultural, demographic, or phenotypic groups (e.g., race, geographic location, sex, Fitzpatrick skin type) and intersectional groups (e.g., age and race, or sex and Fitzpatrick skin type) that are relevant to the intended application domains. Model cards also disclose the context in which models are intended to be used, details of the performance evaluation procedures, and other relevant information. While we focus primarily on human-centered machine learning models in the application fields of computer vision and natural language processing, this framework can be used to document any trained machine learning model. To solidify the concept, we provide cards for two supervised models: One trained to detect smiling faces in images, and one trained to detect toxic comments in text. We propose model cards as a step towards the responsible democratization of machine learning and related AI technology, increasing transparency into how well AI technology works. We hope this work encourages those releasing trained machine learning models to accompany model releases with similar detailed evaluation numbers and other relevant documentation.

Improving Reproducibility in Machine Learning Research (A Report from the NeurIPS 2019 Reproducibility Program)

Abstract: One of the challenges in machine learning research is to ensure that presented and published results are sound and reliable. Reproducibility, that is obtaining similar results as presented in a paper or talk, using the same code and data (when available), is a necessary step to verify the reliability of research findings. Reproducibility is also an important step to promote open and accessible research, thereby allowing the scientific community to quickly integrate new findings and convert ideas to practice. Reproducibility also promotes the use of robust experimental workflows, which potentially reduce unintentional errors. In 2019, the Neural Information Processing Systems (NeurIPS) conference, the premier international conference for research in machine learning, introduced a reproducibility program, designed to improve the standards across the community for how we conduct, communicate, and evaluate machine learning research. The program contained three components: a code submission policy, a community-wide reproducibility challenge, and the inclusion of the Machine Learning Reproducibility checklist as part of the paper submission process. In this paper, we describe each of these components, how it was deployed, as well as what we were able to learn from this initiative.

Recommendation for methods. The first and second columns summarize what to describe; the third is where the description is likely to be provided (i.e. in metadata (M), the platform(P), or the scientific material, paper, report etc. (S)); the fourth column includes the guidelines from which the recommendation comes

We have grouped the alike recommendations from distinct guidelines together. One single recommendation can have more than one supporting source. Hence, an effort was made to balance deduplication of redundant recommendations and the use of original recommendation phrasing.
As the result of our work, the three tables, Experiment (Table {{table:d3d7f3ea-8d1c-401e-ac5a-698445874c41}} ), Method (Table {{table:660556f5-cc1b-4857-9fd0-b314bfc34027}} ) and Data (Table {{table:8932374c-82d4-473c-a331-d79b39d804d2}} ), report the recommendations for each of the considered categories.

Machine learning – specialising the requirements

In the next subsection we analyse the reproducibility issues and solutions specific to deep learning, whereas the next two subsections review how reproducibility is considered in biomedical and technical applications of machine learning.
Upon these analysis we attempt to extend some of the guidelines listed in Table {{table:d3d7f3ea-8d1c-401e-ac5a-698445874c41}}
and Table {{table:660556f5-cc1b-4857-9fd0-b314bfc34027}}  providing aspects specific to either DL methods or some application areas.
We relate these extended guidelines to the tools and software platforms that might be of interest to DL researchers pursuing better reproducibility in their projects.