pwc-archive/papers-with-abstracts huggingface dataset:
Stereo-based terrain traversability analysis using normal-based segmentation and superpixel surface analysis
Authors: Aras R. Dargazany
Date: 2019-07-16 00:00:00
Tasks: 3D Reconstruction, All, Image Segmentation, Semantic Segmentation

In this paper, an stereo-based traversability analysis approach for all terrains in off-road mobile robotics, e.g. Unmanned Ground Vehicles (UGVs) is proposed. This approach reformulates the problem of terrain traversability analysis into two main problems: (1) 3D terrain reconstruction and (2) terrain all surfaces detection and analysis. The proposed approach is using stereo camera for perception and 3D reconstruction of the terrain. In order to detect all the existing surfaces in the 3D reconstructed terrain as superpixel surfaces (i.e. segments), an image segmentation technique is applied using geometry-based features (pixel-based surface normals). Having detected all the surfaces, Superpixel Surface Traversability Analysis approach (SSTA) is applied on all of the detected surfaces (superpixel segments) in order to classify them based on their traversability index. The proposed SSTA approach is based on: (1) Superpixel surface normal and plane estimation, (2) Traversability analysis using superpixel surface planes. Having analyzed all the superpixel surfaces based on their traversability, these surfaces are finally classified into five main categories as following: traversable, semi-traversable, non-traversable, unknown and undecided.
A Quantum-inspired Algorithm for General Minimum Conical Hull Problems
Authors: Yuxuan Du, Min-Hsiu Hsieh, Tongliang Liu, DaCheng Tao
Date: 2019-07-16 00:00:00

A wide range of fundamental machine learning tasks that are addressed by the maximum a posteriori estimation can be reduced to a general minimum conical hull problem. The best-known solution to tackle general minimum conical hull problems is the divide-and-conquer anchoring learning scheme (DCA), whose runtime complexity is polynomial in size. However, big data is pushing these polynomial algorithms to their performance limits. In this paper, we propose a sublinear classical algorithm to tackle general minimum conical hull problems when the input has stored in a sample-based low-overhead data structure. The algorithm's runtime complexity is polynomial in the rank and polylogarithmic in size. The proposed algorithm achieves the exponential speedup over DCA and, therefore, provides advantages for high dimensional problems.
Graph Interpolating Activation Improves Both Natural and Robust Accuracies in Data-Efficient Deep Learning
Authors: Bao Wang, Stanley J. Osher
Date: 2019-07-16 00:00:00

Improving the accuracy and robustness of deep neural nets (DNNs) and adapting them to small training data are primary tasks in deep learning research. In this paper, we replace the output activation function of DNNs, typically the data-agnostic softmax function, with a graph Laplacian-based high dimensional interpolating function which, in the continuum limit, converges to the solution of a Laplace-Beltrami equation on a high dimensional manifold. Furthermore, we propose end-to-end training and testing algorithms for this new architecture. The proposed DNN with graph interpolating activation integrates the advantages of both deep learning and manifold learning. Compared to the conventional DNNs with the softmax function as output activation, the new framework demonstrates the following major advantages: First, it is better applicable to data-efficient learning in which we train high capacity DNNs without using a large number of training data. Second, it remarkably improves both natural accuracy on the clean images and robust accuracy on the adversarial images crafted by both white-box and black-box adversarial attacks. Third, it is a natural choice for semi-supervised learning. For reproducibility, the code is available at \url{https://github.com/BaoWangMath/DNN-DataDependentActivation}.
Instant Motion Tracking and Its Applications to Augmented Reality
Authors: Jianing Wei, Genzhi Ye, Tyler Mullen, Matthias Grundmann, Adel Ahmadyan, Tingbo Hou
Date: 2019-07-16 00:00:00

Augmented Reality (AR) brings immersive experiences to users. With recent advances in computer vision and mobile computing, AR has scaled across platforms, and has increased adoption in major products. One of the key challenges in enabling AR features is proper anchoring of the virtual content to the real world, a process referred to as tracking. In this paper, we present a system for motion tracking, which is capable of robustly tracking planar targets and performing relative-scale 6DoF tracking without calibration. Our system runs in real-time on mobile phones and has been deployed in multiple major products on hundreds of millions of devices.
Efficient Autonomy Validation in Simulation with Adaptive Stress Testing
Authors: Mark Koren, Mykel Kochenderfer
Date: 2019-07-16 00:00:00
Tasks: Deep Reinforcement Learning, Reinforcement Learning

During the development of autonomous systems such as driverless cars, it is important to characterize the scenarios that are most likely to result in failure. Adaptive Stress Testing (AST) provides a way to search for the most-likely failure scenario as a Markov decision process (MDP). Our previous work used a deep reinforcement learning (DRL) solver to identify likely failure scenarios. However, the solver's use of a feed-forward neural network with a discretized space of possible initial conditions poses two major problems. First, the system is not treated as a black box, in that it requires analyzing the internal state of the system, which leads to considerable implementation complexities. Second, in order to simulate realistic settings, a new instance of the solver needs to be run for each initial condition. Running a new solver for each initial condition not only significantly increases the computational complexity, but also disregards the underlying relationship between similar initial conditions. We provide a solution to both problems by employing a recurrent neural network that takes a set of initial conditions from a continuous space as input. This approach enables robust and efficient detection of failures because the solution generalizes across the entire space of initial conditions. By simulating an instance where an autonomous car drives while a pedestrian is crossing a road, we demonstrate the solver is now capable of finding solutions for problems that would have previously been intractable.
2nd Place Solution to the GQA Challenge 2019
Authors: Shijie Geng, Ji Zhang, Hang Zhang, Ahmed Elgammal, Dimitris N. Metaxas
Date: 2019-07-16 00:00:00
Tasks: Question Answering, Visual Question Answering, Visual Question Answering (VQA), Visual Reasoning

We present a simple method that achieves unexpectedly superior performance for Complex Reasoning involved Visual Question Answering. Our solution collects statistical features from high-frequency words of all the questions asked about an image and use them as accurate knowledge for answering further questions of the same image. We are fully aware that this setting is not ubiquitously applicable, and in a more common setting one should assume the questions are asked separately and they cannot be gathered to obtain a knowledge base. Nonetheless, we use this method as an evidence to demonstrate our observation that the bottleneck effect is more severe on the feature extraction part than it is on the knowledge reasoning part. We show significant gaps when using the same reasoning model with 1) ground-truth features; 2) statistical features; 3) detected features from completely learned detectors, and analyze what these gaps mean to researches on visual reasoning topics. Our model with the statistical features achieves the 2nd place in the GQA Challenge 2019.
Rethinking RGB-D Salient Object Detection: Models, Data Sets, and Large-Scale Benchmarks
Authors: Deng-Ping Fan, Zheng Lin, Jia-Xing Zhao, Yun Liu, Zhao Zhang, Qibin Hou, Menglong Zhu, Ming-Ming Cheng
Date: 2019-07-15 00:00:00
Tasks: GPU, Object, object-detection, Object Detection, RGB-D Salient Object Detection, RGB Salient Object Detection, Salient Object Detection

The use of RGB-D information for salient object detection has been extensively explored in recent years. However, relatively few efforts have been put towards modeling salient object detection in real-world human activity scenes with RGBD. In this work, we fill the gap by making the following contributions to RGB-D salient object detection. (1) We carefully collect a new SIP (salient person) dataset, which consists of ~1K high-resolution images that cover diverse real-world scenes from various viewpoints, poses, occlusions, illuminations, and backgrounds. (2) We conduct a large-scale (and, so far, the most comprehensive) benchmark comparing contemporary methods, which has long been missing in the field and can serve as a baseline for future research. We systematically summarize 32 popular models and evaluate 18 parts of 32 models on seven datasets containing a total of about 97K images. (3) We propose a simple general architecture, called Deep Depth-Depurator Network (D3Net). It consists of a depth depurator unit (DDU) and a three-stream feature learning module (FLM), which performs low-quality depth map filtering and cross-modal feature learning respectively. These components form a nested structure and are elaborately designed to be learned jointly. D3Net exceeds the performance of any prior contenders across all five metrics under consideration, thus serving as a strong model to advance research in this field. We also demonstrate that D3Net can be used to efficiently extract salient object masks from real scenes, enabling effective background changing application with a speed of 65fps on a single GPU. All the saliency maps, our new SIP dataset, the D3Net model, and the evaluation tools are publicly available at https://github.com/DengPingFan/D3NetBenchmark.
Improving 3D Object Detection for Pedestrians with Virtual Multi-View Synthesis Orientation Estimation
Authors: Jason Ku, Alex D. Pon, Sean Walsh, Steven L. Waslander
Date: 2019-07-15 00:00:00
Tasks: 3D Object Detection, Autonomous Driving, Depth Completion, object-detection, Object Detection

Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual Multi-View Synthesis module that can be adopted into 3D object detection methods to improve orientation estimation. The module uses a multi-step process to acquire the fine-grained semantic information required for accurate orientation estimation. First, the scene's point cloud is densified using a structure preserving depth completion algorithm and each point is colorized using its corresponding RGB pixel. Next, virtual cameras are placed around each object in the densified point cloud to generate novel viewpoints, which preserve the object's appearance. We show that this module greatly improves the orientation estimation on the challenging pedestrian class on the KITTI benchmark. When used with the open-source 3D detector AVOD-FPN, we outperform all other published methods on the pedestrian Orientation, 3D, and Bird's Eye View benchmarks.
Logic Conditionals, Supervenience, and Selection Tasks
Authors: Giovanni Sileno
Date: 2019-07-15 00:00:00

Principles of cognitive economy would require that concepts about objects, properties and relations should be introduced only if they simplify the conceptualisation of a domain. Unexpectedly, classic logic conditionals, specifying structures holding within elements of a formal conceptualisation, do not always satisfy this crucial principle. The paper argues that this requirement is captured by supervenience, hereby further identified as a property necessary for compression. The resulting theory suggests an alternative explanation of the empirical experiences observable in Wason's selection tasks, associating human performance with conditionals on the ability of dealing with compression, rather than with logic necessity.
Efficient Pipeline for Camera Trap Image Review
Authors: Sara Beery, Dan Morris, Siyu Yang
Date: 2019-07-15 00:00:00
Tasks: General Classification

Biologists all over the world use camera traps to monitor biodiversity and wildlife population density. The computer vision community has been making strides towards automating the species classification challenge in camera traps, but it has proven difficult to to apply models trained in one region to images collected in different geographic areas. In some cases, accuracy falls off catastrophically in new region, due to both changes in background and the presence of previously-unseen species. We propose a pipeline that takes advantage of a pre-trained general animal detector and a smaller set of labeled images to train a classification model that can efficiently achieve accurate results in a new region.
Subspace Determination through Local Intrinsic Dimensional Decomposition: Theory and Experimentation
Authors: Ruben Becker, Imane Hafnaoui, Michael E. Houle, Pan Li, Arthur Zimek
Date: 2019-07-15 00:00:00
Tasks: Clustering

Axis-aligned subspace clustering generally entails searching through enormous numbers of subspaces (feature combinations) and evaluation of cluster quality within each subspace. In this paper, we tackle the problem of identifying subsets of features with the most significant contribution to the formation of the local neighborhood surrounding a given data point. For each point, the recently-proposed Local Intrinsic Dimension (LID) model is used in identifying the axis directions along which features have the greatest local discriminability, or equivalently, the fewest number of components of LID that capture the local complexity of the data. In this paper, we develop an estimator of LID along axis projections, and provide preliminary evidence that this LID decomposition can indicate axis-aligned data subspaces that support the formation of clusters.
AugLabel: Exploiting Word Representations to Augment Labels for Face Attribute Classification
Authors: Binod Bhattarai, Rumeysa Bodur, Tae-Kyun Kim
Date: 2019-07-15 00:00:00
Tasks: Attribute, General Classification

Augmenting data in image space (eg. flipping, cropping etc) and activation space (eg. dropout) are being widely used to regularise deep neural networks and have been successfully applied on several computer vision tasks. Unlike previous works, which are mostly focused on doing augmentation in the aforementioned domains, we propose to do augmentation in label space. In this paper, we present a novel method to generate fixed dimensional labels with continuous values for images by exploiting the word2vec representations of the existing categorical labels. We then append these representations with existing categorical labels and train the model. We validated our idea on two challenging face attribute classification data sets viz. CelebA and LFWA. Our extensive experiments show that the augmented labels improve the performance of the competitive deep learning baseline and reduce the need of annotated real data up to 50%, while attaining a performance similar to the state-of-the-art methods.
Low-supervision urgency detection and transfer in short crisis messages
Authors: Mayank Kejriwal, Peilin Zhou
Date: 2019-07-15 00:00:00
Tasks: Humanitarian, Transfer Learning

Humanitarian disasters have been on the rise in recent years due to the effects of climate change and socio-political situations such as the refugee crisis. Technology can be used to best mobilize resources such as food and water in the event of a natural disaster, by semi-automatically flagging tweets and short messages as indicating an urgent need. The problem is challenging not just because of the sparseness of data in the immediate aftermath of a disaster, but because of the varying characteristics of disasters in developing countries (making it difficult to train just one system) and the noise and quirks in social media. In this paper, we present a robust, low-supervision social media urgency system that adapts to arbitrary crises by leveraging both labeled and unlabeled data in an ensemble setting. The system is also able to adapt to new crises where an unlabeled background corpus may not be available yet by utilizing a simple and effective transfer learning methodology. Experimentally, our transfer learning and low-supervision approaches are found to outperform viable baselines with high significance on myriad disaster datasets.
Real-time Hair Segmentation and Recoloring on Mobile GPUs
Authors: Andrei Tkachenka, Gregory Karpiak, Andrey Vakunov, Yury Kartynnik, Artsiom Ablavatski, Valentin Bazarevsky, Siargey Pisarchyk
Date: 2019-07-15 00:00:00
Tasks: Segmentation

We present a novel approach for neural network-based hair segmentation from a single camera input specifically designed for real-time, mobile application. Our relatively small neural network produces a high-quality hair segmentation mask that is well suited for AR effects, e.g. virtual hair recoloring. The proposed model achieves real-time inference speed on mobile GPUs (30-100+ FPS, depending on the device) with high accuracy. We also propose a very realistic hair recoloring scheme. Our method has been deployed in major AR application and is used by millions of users.
Padé Activation Units: End-to-end Learning of Flexible Activation Functions in Deep Networks
Authors: Alejandro Molina, Patrick Schramowski, Kristian Kersting
Date: 2019-07-15 00:00:00
Proceeding: ICLR 2020 1

The performance of deep network learning strongly depends on the choice of the non-linear activation function associated with each neuron. However, deciding on the best activation is non-trivial, and the choice depends on the architecture, hyper-parameters, and even on the dataset. Typically these activations are fixed by hand before training. Here, we demonstrate how to eliminate the reliance on first picking fixed activation functions by using flexible parametric rational functions instead. The resulting Pad\'e Activation Units (PAUs) can both approximate common activation functions and also learn new ones while providing compact representations. Our empirical evidence shows that end-to-end learning deep networks with PAUs can increase the predictive performance. Moreover, PAUs pave the way to approximations with provable robustness. https://github.com/ml-research/pau
Deep learning-based color holographic microscopy
Authors: Tairan Liu, Zhensong Wei, Yair Rivenson, Kevin De Haan, Yibo Zhang, Yichen Wu, Aydogan Ozcan
Date: 2019-07-15 00:00:00
Tasks: Deep Learning, Generative Adversarial Network, Image Reconstruction

We report a framework based on a generative adversarial network (GAN) that performs high-fidelity color image reconstruction using a single hologram of a sample that is illuminated simultaneously by light at three different wavelengths. The trained network learns to eliminate missing-phase-related artifacts, and generates an accurate color transformation for the reconstructed image. Our framework is experimentally demonstrated using lung and prostate tissue sections that are labeled with different histological stains. This framework is envisaged to be applicable to point-of-care histopathology, and presents a significant improvement in the throughput of coherent microscopy systems given that only a single hologram of the specimen is required for accurate color imaging.
Mutual Reinforcement Learning
Authors: Sayanti Roy, Emily Kieson, Charles Abramson, Christopher Crick
Date: 2019-07-15 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and effectiveness of a new approach called mutual reinforcement learning (MRL), where both humans and autonomous agents act as reinforcement learners in a skill transfer scenario over continuous communication and feedback. An autonomous agent initially acts as an instructor who can teach a novice human participant complex skills using the MRL strategy. While teaching skills in a physical (block-building) ($n=34$) or simulated (Tetris) environment ($n=31$), the expert tries to identify appropriate reward channels preferred by each individual and adapts itself accordingly using an exploration-exploitation strategy. These reward channel preferences can identify important behaviors of the human participants, because they may well exercise the same behaviors in similar situations later. In this way, skill transfer takes place between an expert system and a novice human operator. We divided the subject population into three groups and observed the skill transfer phenomenon, analyzing it with Simpson"s psychometric model. 5-point Likert scales were also used to identify the cognitive models of the human participants. We obtained a shared cognitive model which not only improves human cognition but enhances the robot's cognitive strategy to understand the mental model of its human partners while building a successful robot-human collaborative framework.
Real-time Facial Surface Geometry from Monocular Video on Mobile GPUs
Authors: Yury Kartynnik, Artsiom Ablavatski, Ivan Grishchenko, Matthias Grundmann
Date: 2019-07-15 00:00:00
Tasks: Face Reconstruction

We present an end-to-end neural network-based model for inferring an approximate 3D mesh representation of a human face from single camera input for AR applications. The relatively dense mesh model of 468 vertices is well-suited for face-based AR effects. The proposed model demonstrates super-realtime inference speed on mobile GPUs (100-1000+ FPS, depending on the device and model variant) and a high prediction quality that is comparable to the variance in manual annotations of the same image.
MaskPlus: Improving Mask Generation for Instance Segmentation
Authors: Shichao Xu, Shuyue Lan, Qi Zhu
Date: 2019-07-15 00:00:00
Tasks: Instance Segmentation, Segmentation, Semantic Segmentation

Instance segmentation is a promising yet challenging topic in computer vision. Recent approaches such as Mask R-CNN typically divide this problem into two parts -- a detection component and a mask generation branch, and mostly focus on the improvement of the detection part. In this paper, we present an approach that extends Mask R-CNN with five novel optimization techniques for improving the mask generation branch and reducing the conflicts between the mask branch and the detection component in training. These five techniques are independent to each other and can be flexibly utilized in building various instance segmentation architectures for increasing the overall accuracy. We demonstrate the effectiveness of our approach with tests on the COCO dataset.
PPO Dash: Improving Generalization in Deep Reinforcement Learning
Authors: Joe Booth
Date: 2019-07-15 00:00:00
Tasks: Deep Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Deep reinforcement learning is prone to overfitting, and traditional benchmarks such as Atari 2600 benchmark can exacerbate this problem. The Obstacle Tower Challenge addresses this by using randomized environments and separate seeds for training, validation, and test runs. This paper examines various improvements and best practices to the PPO algorithm using the Obstacle Tower Challenge to empirically study their impact with regards to generalization. Our experiments show that the combination provides state-of-the-art performance on the Obstacle Tower Challenge.