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Chao Huang

Publications and source records attributed to Chao Huang.

At least 253 records · Page 14Linked to original sources
arXiv2023

Realistic Safety-critical Scenarios Search for Autonomous Driving System via Behavior Tree

The simulation-based testing of Autonomous Driving Systems (ADSs) has gained significant attention. However, current approaches often fall short of accurately assessing ADSs for two reasons: over-reliance on expert knowledge and the utilization of simplistic evaluation metrics. That leads to discrepancies between simulated scenarios and naturalistic driving environments. To address this, we propose the Matrix-Fuzzer, a behavior tree-based testing framework, to automatically generate realistic safety-critical test scenarios. Our approach involves the $log2BT$ method, which abstracts logged road-users' trajectories to behavior sequences. Furthermore, we vary the properties of behaviors from real-world driving distributions and then use an adaptive algorithm to explore the input space. Meanwhile, we design a general evaluation engine that guides the algorithm toward critical areas, thus reducing the generation of invalid scenarios. Our approach is demonstrated in our Matrix Simulator. The experimental results show that: (1) Our $log2BT$ achieves satisfactory trajectory reconstructions. (2) Our approach is able to find the most types of safety-critical scenarios, but only generating around 30% of the total scenarios compared with the baseline algorithm. Specifically, it improves the ratio of the critical violations to total scenarios and the ratio of the types to total scenarios by at least 10x and 5x, respectively, while reducing the ratio of the invalid scenarios to total scenarios by at least 58% in two case studies.

cs.RO↗
arXiv2023

Automated Spatio-Temporal Graph Contrastive Learning

Among various region embedding methods, graph-based region relation learning models stand out, owing to their strong structure representation ability for encoding spatial correlations with graph neural networks. Despite their effectiveness, several key challenges have not been well addressed in existing methods: i) Data noise and missing are ubiquitous in many spatio-temporal scenarios due to a variety of factors. ii) Input spatio-temporal data (e.g., mobility traces) usually exhibits distribution heterogeneity across space and time. In such cases, current methods are vulnerable to the quality of the generated region graphs, which may lead to suboptimal performance. In this paper, we tackle the above challenges by exploring the Automated Spatio-Temporal graph contrastive learning paradigm (AutoST) over the heterogeneous region graph generated from multi-view data sources. Our \model\ framework is built upon a heterogeneous graph neural architecture to capture the multi-view region dependencies with respect to POI semantics, mobility flow patterns and geographical positions. To improve the robustness of our GNN encoder against data noise and distribution issues, we design an automated spatio-temporal augmentation scheme with a parameterized contrastive view generator. AutoST can adapt to the spatio-temporal heterogeneous graph with multi-view semantics well preserved. Extensive experiments for three downstream spatio-temporal mining tasks on several real-world datasets demonstrate the significant performance gain achieved by our \model\ over a variety of baselines. The code is publicly available at https://github.com/HKUDS/AutoST.

cs.LG↗
arXiv2023

POLAR-Express: Efficient and Precise Formal Reachability Analysis of Neural-Network Controlled Systems

Neural networks (NNs) playing the role of controllers have demonstrated impressive empirical performances on challenging control problems. However, the potential adoption of NN controllers in real-life applications also gives rise to a growing concern over the safety of these neural-network controlled systems (NNCSs), especially when used in safety-critical applications. In this work, we present POLAR-Express, an efficient and precise formal reachability analysis tool for verifying the safety of NNCSs. POLAR-Express uses Taylor model arithmetic to propagate Taylor models (TMs) across a neural network layer-by-layer to compute an overapproximation of the neural-network function. It can be applied to analyze any feed-forward neural network with continuous activation functions. We also present a novel approach to propagate TMs more efficiently and precisely across ReLU activation functions. In addition, POLAR-Express provides parallel computation support for the layer-by-layer propagation of TMs, thus significantly improving the efficiency and scalability over its earlier prototype POLAR. Across the comparison with six other state-of-the-art tools on a diverse set of benchmarks, POLAR-Express achieves the best verification efficiency and tightness in the reachable set analysis.

eess.SY↗
arXiv2023

Quantifying the Impact of Label Noise on Federated Learning

Federated Learning (FL) is a distributed machine learning paradigm where clients collaboratively train a model using their local (human-generated) datasets. While existing studies focus on FL algorithm development to tackle data heterogeneity across clients, the important issue of data quality (e.g., label noise) in FL is overlooked. This paper aims to fill this gap by providing a quantitative study on the impact of label noise on FL. We derive an upper bound for the generalization error that is linear in the clients' label noise level. Then we conduct experiments on MNIST and CIFAR-10 datasets using various FL algorithms. Our empirical results show that the global model accuracy linearly decreases as the noise level increases, which is consistent with our theoretical analysis. We further find that label noise slows down the convergence of FL training, and the global model tends to overfit when the noise level is high.

cs.LG↗
arXiv2023

Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks, lack of systematic summary and research directions in the future. Here we propose a Survey of Surveys (SoS) for total technologies of AD and IVs that reviews the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. To our knowledge, this article is the first SoS with milestones in AD and IVs, which constitutes our complete research work together with two other technical surveys. We anticipate that this article will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.

cs.RO↗
arXiv2023

Modeling Population Movements under Uncertainty at the Border in Humanitarian Crises: A Situational Analysis Tool

Humanitarian agencies must be prepared to mobilize quickly in response to complex emergencies, and their effectiveness depends on their ability to identify, anticipate, and prepare for future needs. These are typically highly uncertain situations in which predictive modeling tools can be useful but challenging to build. To better understand the need for humanitarian support -- including shelter and assistance -- and strengthen contingency planning and protection efforts for displaced populations, we present a situational analysis tool to help anticipate the number of migrants and forcibly displaced persons that will cross a border in a humanitarian crisis. The tool consists of: (i) indicators of potential intent to move drawn from traditional and big data sources; (ii) predictive models for forecasting possible future movements; and (iii) a simulation of border crossings and shelter capacity requirements under different conditions. This tool has been specifically adapted to contingency planning in settings of high uncertainty, with an application to the Brazil-Venezuela border during the COVID-19 pandemic.

cs.CY↗
arXiv2023

DICNet: Deep Instance-Level Contrastive Network for Double Incomplete Multi-View Multi-Label Classification

In recent years, multi-view multi-label learning has aroused extensive research enthusiasm. However, multi-view multi-label data in the real world is commonly incomplete due to the uncertain factors of data collection and manual annotation, which means that not only multi-view features are often missing, and label completeness is also difficult to be satisfied. To deal with the double incomplete multi-view multi-label classification problem, we propose a deep instance-level contrastive network, namely DICNet. Different from conventional methods, our DICNet focuses on leveraging deep neural network to exploit the high-level semantic representations of samples rather than shallow-level features. First, we utilize the stacked autoencoders to build an end-to-end multi-view feature extraction framework to learn the view-specific representations of samples. Furthermore, in order to improve the consensus representation ability, we introduce an incomplete instance-level contrastive learning scheme to guide the encoders to better extract the consensus information of multiple views and use a multi-view weighted fusion module to enhance the discrimination of semantic features. Overall, our DICNet is adept in capturing consistent discriminative representations of multi-view multi-label data and avoiding the negative effects of missing views and missing labels. Extensive experiments performed on five datasets validate that our method outperforms other state-of-the-art methods.

cs.CV↗
arXiv2023

Egocentric Audio-Visual Object Localization

Humans naturally perceive surrounding scenes by unifying sound and sight in a first-person view. Likewise, machines are advanced to approach human intelligence by learning with multisensory inputs from an egocentric perspective. In this paper, we explore the challenging egocentric audio-visual object localization task and observe that 1) egomotion commonly exists in first-person recordings, even within a short duration; 2) The out-of-view sound components can be created while wearers shift their attention. To address the first problem, we propose a geometry-aware temporal aggregation module to handle the egomotion explicitly. The effect of egomotion is mitigated by estimating the temporal geometry transformation and exploiting it to update visual representations. Moreover, we propose a cascaded feature enhancement module to tackle the second issue. It improves cross-modal localization robustness by disentangling visually-indicated audio representation. During training, we take advantage of the naturally available audio-visual temporal synchronization as the ``free'' self-supervision to avoid costly labeling. We also annotate and create the Epic Sounding Object dataset for evaluation purposes. Extensive experiments show that our method achieves state-of-the-art localization performance in egocentric videos and can be generalized to diverse audio-visual scenes.

cs.CV↗
arXiv2023

Joint Differentiable Optimization and Verification for Certified Reinforcement Learning

In model-based reinforcement learning for safety-critical control systems, it is important to formally certify system properties (e.g., safety, stability) under the learned controller. However, as existing methods typically apply formal verification \emph{after} the controller has been learned, it is sometimes difficult to obtain any certificate, even after many iterations between learning and verification. To address this challenge, we propose a framework that jointly conducts reinforcement learning and formal verification by formulating and solving a novel bilevel optimization problem, which is differentiable by the gradients from the value function and certificates. Experiments on a variety of examples demonstrate the significant advantages of our framework over the model-based stochastic value gradient (SVG) method and the model-free proximal policy optimization (PPO) method in finding feasible controllers with barrier functions and Lyapunov functions that ensure system safety and stability.

cs.LG↗
arXiv2023

Graph-less Collaborative Filtering

Graph neural networks (GNNs) have shown the power in representation learning over graph-structured user-item interaction data for collaborative filtering (CF) task. However, with their inherently recursive message propagation among neighboring nodes, existing GNN-based CF models may generate indistinguishable and inaccurate user (item) representations due to the over-smoothing and noise effect with low-pass Laplacian smoothing operators. In addition, the recursive information propagation with the stacked aggregators in the entire graph structures may result in poor scalability in practical applications. Motivated by these limitations, we propose a simple and effective collaborative filtering model (SimRec) that marries the power of knowledge distillation and contrastive learning. In SimRec, adaptive transferring knowledge is enabled between the teacher GNN model and a lightweight student network, to not only preserve the global collaborative signals, but also address the over-smoothing issue with representation recalibration. Empirical results on public datasets show that SimRec archives better efficiency while maintaining superior recommendation performance compared with various strong baselines. Our implementations are publicly available at: https://github.com/HKUDS/SimRec.

cs.IR↗
arXiv2023

Automated Self-Supervised Learning for Recommendation

Graph neural networks (GNNs) have emerged as the state-of-the-art paradigm for collaborative filtering (CF). To improve the representation quality over limited labeled data, contrastive learning has attracted attention in recommendation and benefited graph-based CF model recently. However, the success of most contrastive methods heavily relies on manually generating effective contrastive views for heuristic-based data augmentation. This does not generalize across different datasets and downstream recommendation tasks, which is difficult to be adaptive for data augmentation and robust to noise perturbation. To fill this crucial gap, this work proposes a unified Automated Collaborative Filtering (AutoCF) to automatically perform data augmentation for recommendation. Specifically, we focus on the generative self-supervised learning framework with a learnable augmentation paradigm that benefits the automated distillation of important self-supervised signals. To enhance the representation discrimination ability, our masked graph autoencoder is designed to aggregate global information during the augmentation via reconstructing the masked subgraph structures. Experiments and ablation studies are performed on several public datasets for recommending products, venues, and locations. Results demonstrate the superiority of AutoCF against various baseline methods. We release the model implementation at https://github.com/HKUDS/AutoCF.

cs.IR↗
arXiv2023

Debiased Contrastive Learning for Sequential Recommendation

Current sequential recommender systems are proposed to tackle the dynamic user preference learning with various neural techniques, such as Transformer and Graph Neural Networks (GNNs). However, inference from the highly sparse user behavior data may hinder the representation ability of sequential pattern encoding. To address the label shortage issue, contrastive learning (CL) methods are proposed recently to perform data augmentation in two fashions: (i) randomly corrupting the sequence data (e.g. stochastic masking, reordering); (ii) aligning representations across pre-defined contrastive views. Although effective, we argue that current CL-based methods have limitations in addressing popularity bias and disentangling of user conformity and real interest. In this paper, we propose a new Debiased Contrastive learning paradigm for Recommendation (DCRec) that unifies sequential pattern encoding with global collaborative relation modeling through adaptive conformity-aware augmentation. This solution is designed to tackle the popularity bias issue in recommendation systems. Our debiased contrastive learning framework effectively captures both the patterns of item transitions within sequences and the dependencies between users across sequences. Our experiments on various real-world datasets have demonstrated that DCRec significantly outperforms state-of-the-art baselines, indicating its efficacy for recommendation. To facilitate reproducibility of our results, we make our implementation of DCRec publicly available at: https://github.com/HKUDS/DCRec.

cs.IR↗
arXiv2023

Disentangled Graph Social Recommendation

Social recommender systems have drawn a lot of attention in many online web services, because of the incorporation of social information between users in improving recommendation results. Despite the significant progress made by existing solutions, we argue that current methods fall short in two limitations: (1) Existing social-aware recommendation models only consider collaborative similarity between items, how to incorporate item-wise semantic relatedness is less explored in current recommendation paradigms. (2) Current social recommender systems neglect the entanglement of the latent factors over heterogeneous relations (e.g., social connections, user-item interactions). Learning the disentangled representations with relation heterogeneity poses great challenge for social recommendation. In this work, we design a Disentangled Graph Neural Network (DGNN) with the integration of latent memory units, which empowers DGNN to maintain factorized representations for heterogeneous types of user and item connections. Additionally, we devise new memory-augmented message propagation and aggregation schemes under the graph neural architecture, allowing us to recursively distill semantic relatedness into the representations of users and items in a fully automatic manner. Extensive experiments on three benchmark datasets verify the effectiveness of our model by achieving great improvement over state-of-the-art recommendation techniques. The source code is publicly available at: https://github.com/HKUDS/DGNN.

cs.IR↗
arXiv2023

Localized Sparse Incomplete Multi-view Clustering

Incomplete multi-view clustering, which aims to solve the clustering problem on the incomplete multi-view data with partial view missing, has received more and more attention in recent years. Although numerous methods have been developed, most of the methods either cannot flexibly handle the incomplete multi-view data with arbitrary missing views or do not consider the negative factor of information imbalance among views. Moreover, some methods do not fully explore the local structure of all incomplete views. To tackle these problems, this paper proposes a simple but effective method, named localized sparse incomplete multi-view clustering (LSIMVC). Different from the existing methods, LSIMVC intends to learn a sparse and structured consensus latent representation from the incomplete multi-view data by optimizing a sparse regularized and novel graph embedded multi-view matrix factorization model. Specifically, in such a novel model based on the matrix factorization, a l1 norm based sparse constraint is introduced to obtain the sparse low-dimensional individual representations and the sparse consensus representation. Moreover, a novel local graph embedding term is introduced to learn the structured consensus representation. Different from the existing works, our local graph embedding term aggregates the graph embedding task and consensus representation learning task into a concise term. Furthermore, to reduce the imbalance factor of incomplete multi-view learning, an adaptive weighted learning scheme is introduced to LSIMVC. Finally, an efficient optimization strategy is given to solve the optimization problem of our proposed model. Comprehensive experimental results performed on six incomplete multi-view databases verify that the performance of our LSIMVC is superior to the state-of-the-art IMC approaches. The code is available in https://github.com/justsmart/LSIMVC.

cs.CV↗
arXiv2023

Heterogeneous Graph Contrastive Learning for Recommendation

Graph Neural Networks (GNNs) have become powerful tools in modeling graph-structured data in recommender systems. However, real-life recommendation scenarios usually involve heterogeneous relationships (e.g., social-aware user influence, knowledge-aware item dependency) which contains fruitful information to enhance the user preference learning. In this paper, we study the problem of heterogeneous graph-enhanced relational learning for recommendation. Recently, contrastive self-supervised learning has become successful in recommendation. In light of this, we propose a Heterogeneous Graph Contrastive Learning (HGCL), which is able to incorporate heterogeneous relational semantics into the user-item interaction modeling with contrastive learning-enhanced knowledge transfer across different views. However, the influence of heterogeneous side information on interactions may vary by users and items. To move this idea forward, we enhance our heterogeneous graph contrastive learning with meta networks to allow the personalized knowledge transformer with adaptive contrastive augmentation. The experimental results on three real-world datasets demonstrate the superiority of HGCL over state-of-the-art recommendation methods. Through ablation study, key components in HGCL method are validated to benefit the recommendation performance improvement. The source code of the model implementation is available at the link https://github.com/HKUDS/HGCL.

cs.IR↗
arXiv2023

Multi-Behavior Graph Neural Networks for Recommender System

Recommender systems have been demonstrated to be effective to meet user's personalized interests for many online services (e.g., E-commerce and online advertising platforms). Recent years have witnessed the emerging success of many deep learning-based recommendation models for augmenting collaborative filtering architectures with various neural network architectures, such as multi-layer perceptron and autoencoder. However, the majority of them model the user-item relationship with single type of interaction, while overlooking the diversity of user behaviors on interacting with items, which can be click, add-to-cart, tag-as-favorite and purchase. Such various types of interaction behaviors have great potential in providing rich information for understanding the user preferences. In this paper, we pay special attention on user-item relationships with the exploration of multi-typed user behaviors. Technically, we contribute a new multi-behavior graph neural network (MBRec), which specially accounts for diverse interaction patterns as well as the underlying cross-type behavior inter-dependencies. In the MBRec framework, we develop a graph-structured learning framework to perform expressive modeling of high-order connectivity in behavior-aware user-item interaction graph. After that, a mutual relation encoder is proposed to adaptively uncover complex relational structures and make aggregations across layer-specific behavior representations. Through comprehensive evaluation on real-world datasets, the advantages of our MBRec method have been validated under different experimental settings. Further analysis verifies the positive effects of incorporating the multi-behavioral context into the recommendation paradigm. Additionally, the conducted case studies offer insights into the interpretability of user multi-behavior representations.

cs.IR↗
arXiv2023

Do We Really Need Graph Neural Networks for Traffic Forecasting?

Spatio-temporal graph neural networks (STGNN) have become the most popular solution to traffic forecasting. While successful, they rely on the message passing scheme of GNNs to establish spatial dependencies between nodes, and thus inevitably inherit GNNs' notorious inefficiency. Given these facts, in this paper, we propose an embarrassingly simple yet remarkably effective spatio-temporal learning approach, entitled SimST. Specifically, SimST approximates the efficacies of GNNs by two spatial learning techniques, which respectively model local and global spatial correlations. Moreover, SimST can be used alongside various temporal models and involves a tailored training strategy. We conduct experiments on five traffic benchmarks to assess the capability of SimST in terms of efficiency and effectiveness. Empirical results show that SimST improves the prediction throughput by up to 39 times compared to more sophisticated STGNNs while attaining comparable performance, which indicates that GNNs are not the only option for spatial modeling in traffic forecasting.

cs.LG↗
arXiv2022

POLAR: A Polynomial Arithmetic Framework for Verifying Neural-Network Controlled Systems

We present POLAR, a polynomial arithmetic-based framework for efficient bounded-time reachability analysis of neural-network controlled systems (NNCSs). Existing approaches that leverage the standard Taylor Model (TM) arithmetic for approximating the neural-network controller cannot deal with non-differentiable activation functions and suffer from rapid explosion of the remainder when propagating the TMs. POLAR overcomes these shortcomings by integrating TM arithmetic with \textbf{Bernstein B{é}zier Form} and \textbf{symbolic remainder}. The former enables TM propagation across non-differentiable activation functions and local refinement of TMs, and the latter reduces error accumulation in the TM remainder for linear mappings in the network. Experimental results show that POLAR significantly outperforms the current state-of-the-art tools in terms of both efficiency and tightness of the reachable set overapproximation. The source code can be found in https://github.com/ChaoHuang2018/POLAR_Tool

eess.SY↗