pwc-archive/papers-with-abstracts huggingface dataset:
Learning Robotic Manipulation through Visual Planning and Acting
Authors: Angelina Wang, Thanard Kurutach, Kara Liu, Pieter Abbeel, Aviv Tamar
Date: 2019-05-11 00:00:00
Tasks: Visual Tracking

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in both domestic and industrial domains, the objects of interest can be soft, or deformable, and hard to model analytically. For such cases, we posit that a data-driven modelling approach is more suitable. In recent years, progress in deep generative models has produced methods that learn to `imagine' plausible images from data. Building on the recent Causal InfoGAN generative model, in this work we learn to imagine goal-directed object manipulation directly from raw image data of self-supervised interaction of the robot with the object. After learning, given a goal observation of the system, our model can generate an imagined plan -- a sequence of images that transition the object into the desired goal. To execute the plan, we use it as a reference trajectory to track with a visual servoing controller, which we also learn from the data as an inverse dynamics model. In a simulated manipulation task, we show that separating the problem into visual planning and visual tracking control is more sample efficient and more interpretable than alternative data-driven approaches. We further demonstrate our approach on learning to imagine and execute in 3 environments, the final of which is deformable rope manipulation on a PR2 robot.
Language-Conditioned Graph Networks for Relational Reasoning
Authors: Ronghang Hu, Anna Rohrbach, Trevor Darrell, Kate Saenko
Date: 2019-05-10 00:00:00
Proceeding: ICCV 2019 10
Tasks: Object, Referring Expression Comprehension, Relational Reasoning, Visual Question Answering (VQA)

Solving grounded language tasks often requires reasoning about relationships between objects in the context of a given task. For example, to answer the question "What color is the mug on the plate?" we must check the color of the specific mug that satisfies the "on" relationship with respect to the plate. Recent work has proposed various methods capable of complex relational reasoning. However, most of their power is in the inference structure, while the scene is represented with simple local appearance features. In this paper, we take an alternate approach and build contextualized representations for objects in a visual scene to support relational reasoning. We propose a general framework of Language-Conditioned Graph Networks (LCGN), where each node represents an object, and is described by a context-aware representation from related objects through iterative message passing conditioned on the textual input. E.g., conditioning on the "on" relationship to the plate, the object "mug" gathers messages from the object "plate" to update its representation to "mug on the plate", which can be easily consumed by a simple classifier for answer prediction. We experimentally show that our LCGN approach effectively supports relational reasoning and improves performance across several tasks and datasets. Our code is available at http://ronghanghu.com/lcgn.
PAC Statistical Model Checking for Markov Decision Processes and Stochastic Games
Authors: Pranav Ashok, Jan Křetínský, Maximilian Weininger
Date: 2019-05-10 00:00:00

Statistical model checking (SMC) is a technique for analysis of probabilistic systems that may be (partially) unknown. We present an SMC algorithm for (unbounded) reachability yielding probably approximately correct (PAC) guarantees on the results. We consider both the setting (i) with no knowledge of the transition function (with the only quantity required a bound on the minimum transition probability) and (ii) with knowledge of the topology of the underlying graph. On the one hand, it is the first algorithm for stochastic games. On the other hand, it is the first practical algorithm even for Markov decision processes. Compared to previous approaches where PAC guarantees require running times longer than the age of universe even for systems with a handful of states, our algorithm often yields reasonably precise results within minutes, not requiring the knowledge of mixing time or the topology of the whole model.
Few-Shot Learning with Embedded Class Models and Shot-Free Meta Training
Authors: Avinash Ravichandran, Rahul Bhotika, Stefano Soatto
Date: 2019-05-10 00:00:00
Proceeding: ICCV 2019 10
Tasks: Few-Shot Learning, Metric Learning

We propose a method for learning embeddings for few-shot learning that is suitable for use with any number of ways and any number of shots (shot-free). Rather than fixing the class prototypes to be the Euclidean average of sample embeddings, we allow them to live in a higher-dimensional space (embedded class models) and learn the prototypes along with the model parameters. The class representation function is defined implicitly, which allows us to deal with a variable number of shots per each class with a simple constant-size architecture. The class embedding encompasses metric learning, that facilitates adding new classes without crowding the class representation space. Despite being general and not tuned to the benchmark, our approach achieves state-of-the-art performance on the standard few-shot benchmark datasets.
Prediction and outlier detection in classification problems
Authors: Leying Guan, Rob Tibshirani
Date: 2019-05-10 00:00:00
Tasks: Classification, Conformal Prediction, General Classification, Multi-class Classification, Outlier Detection, Prediction

We consider the multi-class classification problem when the training data and the out-of-sample test data may have different distributions and propose a method called BCOPS (balanced and conformal optimized prediction sets). BCOPS constructs a prediction set $C(x)$ as a subset of class labels, possibly empty. It tries to optimize the out-of-sample performance, aiming to include the correct class as often as possible, but also detecting outliers $x$, for which the method returns no prediction (corresponding to $C(x)$ equal to the empty set). The proposed method combines supervised-learning algorithms with the method of conformal prediction to minimize a misclassification loss averaged over the out-of-sample distribution. The constructed prediction sets have a finite-sample coverage guarantee without distributional assumptions. We also propose a method to estimate the outlier detection rate of a given method. We prove asymptotic consistency and optimality of our proposals under suitable assumptions and illustrate our methods on real data examples.
Enabling Explainable Fusion in Deep Learning with Fuzzy Integral Neural Networks
Authors: Muhammad Aminul Islam, Derek T. Anderson, Anthony J. Pinar, Timothy C. Havens, Grant Scott, James M. Keller
Date: 2019-05-10 00:00:00
Tasks: Decision Making, Explainable Artificial Intelligence (XAI)

Information fusion is an essential part of numerous engineering systems and biological functions, e.g., human cognition. Fusion occurs at many levels, ranging from the low-level combination of signals to the high-level aggregation of heterogeneous decision-making processes. While the last decade has witnessed an explosion of research in deep learning, fusion in neural networks has not observed the same revolution. Specifically, most neural fusion approaches are ad hoc, are not understood, are distributed versus localized, and/or explainability is low (if present at all). Herein, we prove that the fuzzy Choquet integral (ChI), a powerful nonlinear aggregation function, can be represented as a multi-layer network, referred to hereafter as ChIMP. We also put forth an improved ChIMP (iChIMP) that leads to a stochastic gradient descent-based optimization in light of the exponential number of ChI inequality constraints. An additional benefit of ChIMP/iChIMP is that it enables eXplainable AI (XAI). Synthetic validation experiments are provided and iChIMP is applied to the fusion of a set of heterogeneous architecture deep models in remote sensing. We show an improvement in model accuracy and our previously established XAI indices shed light on the quality of our data, model, and its decisions.
Large-Scale Spectrum Occupancy Learning via Tensor Decomposition and LSTM Networks
Authors: Mohsen Joneidi, Ismail Alkhouri, Nazanin Rahnavard
Date: 2019-05-10 00:00:00
Tasks: Computational Efficiency, Prediction, Tensor Decomposition, Time Series, Time Series Analysis, Time Series Prediction

A new paradigm for large-scale spectrum occupancy learning based on long short-term memory (LSTM) recurrent neural networks is proposed. Studies have shown that spectrum usage is a highly correlated time series. Moreover, there is a correlation for occupancy of spectrum between different frequency channels. Therefore, revealing all these correlations using learning and prediction of one-dimensional time series is not a trivial task. In this paper, we introduce a new framework for representing the spectrum measurements in a tensor format. Next, a time-series prediction method based on CANDECOMP/PARFAC (CP) tensor decomposition and LSTM recurrent neural networks is proposed. The proposed method is computationally efficient and is able to capture different types of correlation within the measured spectrum. Moreover, it is robust against noise and missing entries of sensed spectrum. The superiority of the proposed method is evaluated over a large-scale synthetic dataset in terms of prediction accuracy and computational efficiency.
Multi-Pass Q-Networks for Deep Reinforcement Learning with Parameterised Action Spaces
Authors: Craig J. Bester, Steven D. James, George D. Konidaris
Date: 2019-05-10 00:00:00
Tasks: Control with Prametrised Actions, Deep Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Parameterised actions in reinforcement learning are composed of discrete actions with continuous action-parameters. This provides a framework for solving complex domains that require combining high-level actions with flexible control. The recent P-DQN algorithm extends deep Q-networks to learn over such action spaces. However, it treats all action-parameters as a single joint input to the Q-network, invalidating its theoretical foundations. We analyse the issues with this approach and propose a novel method, multi-pass deep Q-networks, or MP-DQN, to address them. We empirically demonstrate that MP-DQN significantly outperforms P-DQN and other previous algorithms in terms of data efficiency and converged policy performance on the Platform, Robot Soccer Goal, and Half Field Offense domains.
Ink removal from histopathology whole slide images by combining classification, detection and image generation models
Authors: Sharib Ali, Nasullah Khalid Alham, Clare Verrill, Jens Rittscher
Date: 2019-05-10 00:00:00
Tasks: General Classification, Image Generation, whole slide images

Histopathology slides are routinely marked by pathologists using permanent ink markers that should not be removed as they form part of the medical record. Often tumour regions are marked up for the purpose of highlighting features or other downstream processing such an gene sequencing. Once digitised there is no established method for removing this information from the whole slide images limiting its usability in research and study. Removal of marker ink from these high-resolution whole slide images is non-trivial and complex problem as they contaminate different regions and in an inconsistent manner. We propose an efficient pipeline using convolution neural networks that results in ink-free images without compromising information and image resolution. Our pipeline includes a sequential classical convolution neural network for accurate classification of contaminated image tiles, a fast region detector and a domain adaptive cycle consistent adversarial generative model for restoration of foreground pixels. Both quantitative and qualitative results on four different whole slide images show that our approach yields visually coherent ink-free whole slide images.
Efficient video indexing for monitoring disease activity and progression in the upper gastrointestinal tract
Authors: Sharib Ali, Jens Rittscher
Date: 2019-05-10 00:00:00
Tasks: Image Retrieval, Retrieval, Video Compression, Video Retrieval

Endoscopy is a routine imaging technique used for both diagnosis and minimally invasive surgical treatment. While the endoscopy video contains a wealth of information, tools to capture this information for the purpose of clinical reporting are rather poor. In date, endoscopists do not have any access to tools that enable them to browse the video data in an efficient and user friendly manner. Fast and reliable video retrieval methods could for example, allow them to review data from previous exams and therefore improve their ability to monitor disease progression. Deep learning provides new avenues of compressing and indexing video in an extremely efficient manner. In this study, we propose to use an autoencoder for efficient video compression and fast retrieval of video images. To boost the accuracy of video image retrieval and to address data variability like multi-modality and view-point changes, we propose the integration of a Siamese network. We demonstrate that our approach is competitive in retrieving images from 3 large scale videos of 3 different patients obtained against the query samples of their previous diagnosis. Quantitative validation shows that the combined approach yield an overall improvement of 5% and 8% over classical and variational autoencoders, respectively.
Digital Passport: A Novel Technological Strategy for Intellectual Property Protection of Convolutional Neural Networks
Authors: Lixin Fan, KamWoh Ng, Chee Seng Chan
Date: 2019-05-10 00:00:00
Tasks: General Classification, valid

In order to prevent deep neural networks from being infringed by unauthorized parties, we propose a generic solution which embeds a designated digital passport into a network, and subsequently, either paralyzes the network functionalities for unauthorized usages or maintain its functionalities in the presence of a verified passport. Such a desired network behavior is successfully demonstrated in a number of implementation schemes, which provide reliable, preventive and timely protections against tens of thousands of fake-passport deceptions. Extensive experiments also show that the deep neural network performance under unauthorized usages deteriorate significantly (e.g. with 33% to 82% reductions of CIFAR10 classification accuracies), while networks endorsed with valid passports remain intact.
Active embedding search via noisy paired comparisons
Authors: Gregory H. Canal, Andrew K. Massimino, Mark A. Davenport, Christopher J. Rozell
Date: 2019-05-10 00:00:00
Tasks: Recommendation Systems

Suppose that we wish to estimate a user's preference vector $w$ from paired comparisons of the form "does user $w$ prefer item $p$ or item $q$?," where both the user and items are embedded in a low-dimensional Euclidean space with distances that reflect user and item similarities. Such observations arise in numerous settings, including psychometrics and psychology experiments, search tasks, advertising, and recommender systems. In such tasks, queries can be extremely costly and subject to varying levels of response noise; thus, we aim to actively choose pairs that are most informative given the results of previous comparisons. We provide new theoretical insights into the benefits and challenges of greedy information maximization in this setting, and develop two novel strategies that maximize lower bounds on information gain and are simpler to analyze and compute respectively. We use simulated responses from a real-world dataset to validate our strategies through their similar performance to greedy information maximization, and their superior preference estimation over state-of-the-art selection methods as well as random queries.
FastDraw: Addressing the Long Tail of Lane Detection by Adapting a Sequential Prediction Network
Authors: Jonah Philion
Date: 2019-05-10 00:00:00
Proceeding: CVPR 2019 6
Tasks: Autonomous Vehicles, Lane Detection, Style Transfer

The search for predictive models that generalize to the long tail of sensor inputs is the central difficulty when developing data-driven models for autonomous vehicles. In this paper, we use lane detection to study modeling and training techniques that yield better performance on real world test drives. On the modeling side, we introduce a novel fully convolutional model of lane detection that learns to decode lane structures instead of delegating structure inference to post-processing. In contrast to previous works, our convolutional decoder is able to represent an arbitrary number of lanes per image, preserves the polyline representation of lanes without reducing lanes to polynomials, and draws lanes iteratively without requiring the computational and temporal complexity of recurrent neural networks. Because our model includes an estimate of the joint distribution of neighboring pixels belonging to the same lane, our formulation includes a natural and computationally cheap definition of uncertainty. On the training side, we demonstrate a simple yet effective approach to adapt the model to new environments using unsupervised style transfer. By training FastDraw to make predictions of lane structure that are invariant to low-level stylistic differences between images, we achieve strong performance at test time in weather and lighting conditions that deviate substantially from those of the annotated datasets that are publicly available. We quantitatively evaluate our approach on the CVPR 2017 Tusimple lane marking challenge, difficult CULane datasets, and a small labeled dataset of our own and achieve competitive accuracy while running at 90 FPS.
Solving Irregular and Data-enriched Differential Equations using Deep Neural Networks
Authors: Craig Michoski, Milos Milosavljevic, Todd Oliver, David Hatch
Date: 2019-05-10 00:00:00

Recent work has introduced a simple numerical method for solving partial differential equations (PDEs) with deep neural networks (DNNs). This paper reviews and extends the method while applying it to analyze one of the most fundamental features in numerical PDEs and nonlinear analysis: irregular solutions. First, the Sod shock tube solution to compressible Euler equations is discussed, analyzed, and then compared to conventional finite element and finite volume methods. These methods are extended to consider performance improvements and simultaneous parameter space exploration. Next, a shock solution to compressible magnetohydrodynamics (MHD) is solved for, and used in a scenario where experimental data is utilized to enhance a PDE system that is \emph{a priori} insufficient to validate against the observed/experimental data. This is accomplished by enriching the model PDE system with source terms and using supervised training on synthetic experimental data. The resulting DNN framework for PDEs seems to demonstrate almost fantastical ease of system prototyping, natural integration of large data sets (be they synthetic or experimental), all while simultaneously enabling single-pass exploration of the entire parameter space.
Multiclass Language Identification using Deep Learning on Spectral Images of Audio Signals
Authors: Shauna Revay, Matthew Teschke
Date: 2019-05-10 00:00:00
Tasks: Classification, General Classification, Language Identification, Multi-class Classification

The first step in any voice recognition software is to determine what language a speaker is using, and ideally this process would be automated. The technique described in this paper, language identification for audio spectrograms (LIFAS), uses spectrograms generated from audio signals as inputs to a convolutional neural network (CNN) to be used for language identification. LIFAS requires minimal pre-processing on the audio signals as the spectrograms are generated during each batch as they are input to the network during training. LIFAS utilizes deep learning tools that are shown to be successful on image processing tasks and applies it to audio signal classification. LIFAS performs binary language classification with an accuracy of 97\%, and multi-class classification with six languages at an accuracy of 89\% on 3.75 second audio clips.
Learning in structured MDPs with convex cost functions: Improved regret bounds for inventory management
Authors: Shipra Agrawal, Randy Jia
Date: 2019-05-10 00:00:00
Tasks: Management

We consider a stochastic inventory control problem under censored demands, lost sales, and positive lead times. This is a fundamental problem in inventory management, with significant literature establishing near-optimality of a simple class of policies called ``base-stock policies'' for the underlying Markov Decision Process (MDP), as well as convexity of long run average-cost under those policies. We consider the relatively less studied problem of designing a learning algorithm for this problem when the underlying demand distribution is unknown. The goal is to bound regret of the algorithm when compared to the best base-stock policy. We utilize the convexity properties and a newly derived bound on bias of base-stock policies to establish a connection to stochastic convex bandit optimization. Our main contribution is a learning algorithm with a regret bound of $\tilde{O}(L\sqrt{T}+D)$ for the inventory control problem. Here $L$ is the fixed and known lead time, and $D$ is an unknown parameter of the demand distribution described roughly as the number of time steps needed to generate enough demand for depleting one unit of inventory. Notably, even though the state space of the underlying MDP is continuous and $L$-dimensional, our regret bounds depend linearly on $L$. Our results significantly improve the previously best known regret bounds for this problem where the dependence on $L$ was exponential and many further assumptions on demand distribution were required. The techniques presented here may be of independent interest for other settings that involve large structured MDPs but with convex cost functions.
Dynamically Expanded CNN Array for Video Coding
Authors: Everett Fall, Kai-Wei Chang, Liang-Gee Chen
Date: 2019-05-10 00:00:00
Tasks: Computational Efficiency

Video coding is a critical step in all popular methods of streaming video. Marked progress has been made in video quality, compression, and computational efficiency. Recently, there has been an interest in finding ways to apply techniques form the fast-progressing field of machine learning to further improve video coding. We present a method that uses convolutional neural networks to help refine the output of various standard coding methods. The novelty of our approach is to train multiple different sets of network parameters, with each set corresponding to a specific, short segment of video. The array of network parameter sets expands dynamically to match a video of any length. We show that our method can improve the quality and compression efficiency of standard video codecs.