pwc-archive/papers-with-abstracts huggingface dataset:
Adversarial Objects Against LiDAR-Based Autonomous Driving Systems
Authors: Yulong Cao, Chaowei Xiao, Dawei Yang, Jing Fang, Ruigang Yang, Mingyan Liu, Bo Li
Date: 2019-07-11 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles

Deep neural networks (DNNs) are found to be vulnerable against adversarial examples, which are carefully crafted inputs with a small magnitude of perturbation aiming to induce arbitrarily incorrect predictions. Recent studies show that adversarial examples can pose a threat to real-world security-critical applications: a "physical adversarial Stop Sign" can be synthesized such that the autonomous driving cars will misrecognize it as others (e.g., a speed limit sign). However, these image-space adversarial examples cannot easily alter 3D scans of widely equipped LiDAR or radar on autonomous vehicles. In this paper, we reveal the potential vulnerabilities of LiDAR-based autonomous driving detection systems, by proposing an optimization based approach LiDAR-Adv to generate adversarial objects that can evade the LiDAR-based detection system under various conditions. We first show the vulnerabilities using a blackbox evolution-based algorithm, and then explore how much a strong adversary can do, using our gradient-based approach LiDAR-Adv. We test the generated adversarial objects on the Baidu Apollo autonomous driving platform and show that such physical systems are indeed vulnerable to the proposed attacks. We also 3D-print our adversarial objects and perform physical experiments to illustrate that such vulnerability exists in the real world. Please find more visualizations and results on the anonymous website: https://sites.google.com/view/lidar-adv.
Learning to learn with quantum neural networks via classical neural networks
Authors: Guillaume Verdon, Michael Broughton, Jarrod R. McClean, Kevin J. Sung, Ryan Babbush, Zhang Jiang, Hartmut Neven, Masoud Mohseni
Date: 2019-07-11 00:00:00
Tasks: Meta-Learning

Quantum Neural Networks (QNNs) are a promising variational learning paradigm with applications to near-term quantum processors, however they still face some significant challenges. One such challenge is finding good parameter initialization heuristics that ensure rapid and consistent convergence to local minima of the parameterized quantum circuit landscape. In this work, we train classical neural networks to assist in the quantum learning process, also know as meta-learning, to rapidly find approximate optima in the parameter landscape for several classes of quantum variational algorithms. Specifically, we train classical recurrent neural networks to find approximately optimal parameters within a small number of queries of the cost function for the Quantum Approximate Optimization Algorithm (QAOA) for MaxCut, QAOA for Sherrington-Kirkpatrick Ising model, and for a Variational Quantum Eigensolver for the Hubbard model. By initializing other optimizers at parameter values suggested by the classical neural network, we demonstrate a significant improvement in the total number of optimization iterations required to reach a given accuracy. We further demonstrate that the optimization strategies learned by the neural network generalize well across a range of problem instance sizes. This opens up the possibility of training on small, classically simulatable problem instances, in order to initialize larger, classically intractably simulatable problem instances on quantum devices, thereby significantly reducing the number of required quantum-classical optimization iterations.
Change point detection for graphical models in the presence of missing values
Authors: Malte Londschien, Solt Kovács, Peter Bühlmann
Date: 2019-07-11 00:00:00
Tasks: Change Point Detection, Imputation, Missing Values, Model Selection, Time Series, Time Series Analysis

We propose estimation methods for change points in high-dimensional covariance structures with an emphasis on challenging scenarios with missing values. We advocate three imputation like methods and investigate their implications on common losses used for change point detection. We also discuss how model selection methods have to be adapted to the setting of incomplete data. The methods are compared in a simulation study and applied to a time series from an environmental monitoring system. An implementation of our proposals within the R-package hdcd is available via the Supplementary materials.
Incrementalizing RASA's Open-Source Natural Language Understanding Pipeline
Authors: Andrew Rafla, Casey Kennington
Date: 2019-07-11 00:00:00
Tasks: Intent Recognition, Natural Language Understanding, Spoken Dialogue Systems

As spoken dialogue systems and chatbots are gaining more widespread adoption, commercial and open-sourced services for natural language understanding are emerging. In this paper, we explain how we altered the open-source RASA natural language understanding pipeline to process incrementally (i.e., word-by-word), following the incremental unit framework proposed by Schlangen and Skantze. To do so, we altered existing RASA components to process incrementally, and added an update-incremental intent recognition model as a component to RASA. Our evaluations on the Snips dataset show that our changes allow RASA to function as an effective incremental natural language understanding service.
Computational Concentration of Measure: Optimal Bounds, Reductions, and More
Authors: Omid Etesami, Saeed Mahloujifar, Mohammad Mahmoody
Date: 2019-07-11 00:00:00
Tasks: Open-Ended Question Answering

Product measures of dimension $n$ are known to be concentrated in Hamming distance: for any set $S$ in the product space of probability $\epsilon$, a random point in the space, with probability $1-\delta$, has a neighbor in $S$ that is different from the original point in only $O(\sqrt{n\ln(1/(\epsilon\delta))})$ coordinates. We obtain the tight computational version of this result, showing how given a random point and access to an $S$-membership oracle, we can find such a close point in polynomial time. This resolves an open question of [Mahloujifar and Mahmoody, ALT 2019]. As corollaries, we obtain polynomial-time poisoning and (in certain settings) evasion attacks against learning algorithms when the original vulnerabilities have any cryptographically non-negligible probability. We call our algorithm MUCIO ("MUltiplicative Conditional Influence Optimizer") since proceeding through the coordinates, it decides to change each coordinate of the given point based on a multiplicative version of the influence of that coordinate, where influence is computed conditioned on previously updated coordinates. We also define a new notion of algorithmic reduction between computational concentration of measure in different metric probability spaces. As an application, we get computational concentration of measure for high-dimensional Gaussian distributions under the $\ell_1$ metric. We prove several extensions to the results above: (1) Our computational concentration result is also true when the Hamming distance is weighted. (2) We obtain an algorithmic version of concentration around mean, more specifically, McDiarmid's inequality. (3) Our result generalizes to discrete random processes, and this leads to new tampering algorithms for collective coin tossing protocols. (4) We prove exponential lower bounds on the average running time of non-adaptive query algorithms.
Reward Advancement: Transforming Policy under Maximum Causal Entropy Principle
Authors: Guojun Wu, Yanhua Li, Zhenming Liu, Jie Bao, Yu Zheng, Jieping Ye, Jun Luo
Date: 2019-07-11 00:00:00
Tasks: Decision Making, Sequential Decision Making

Many real-world human behaviors can be characterized as a sequential decision making processes, such as urban travelers choices of transport modes and routes (Wu et al. 2017). Differing from choices controlled by machines, which in general follows perfect rationality to adopt the policy with the highest reward, studies have revealed that human agents make sub-optimal decisions under bounded rationality (Tao, Rohde, and Corcoran 2014). Such behaviors can be modeled using maximum causal entropy (MCE) principle (Ziebart 2010). In this paper, we define and investigate a general reward trans-formation problem (namely, reward advancement): Recovering the range of additional reward functions that transform the agent's policy from original policy to a predefined target policy under MCE principle. We show that given an MDP and a target policy, there are infinite many additional reward functions that can achieve the desired policy transformation. Moreover, we propose an algorithm to further extract the additional rewards with minimum "cost" to implement the policy transformation.
Provably Efficient Reinforcement Learning with Linear Function Approximation
Authors: Chi Jin, Zhuoran Yang, Zhaoran Wang, Michael. I. Jordan
Date: 2019-07-11 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Modern Reinforcement Learning (RL) is commonly applied to practical problems with an enormous number of states, where function approximation must be deployed to approximate either the value function or the policy. The introduction of function approximation raises a fundamental set of challenges involving computational and statistical efficiency, especially given the need to manage the exploration/exploitation tradeoff. As a result, a core RL question remains open: how can we design provably efficient RL algorithms that incorporate function approximation? This question persists even in a basic setting with linear dynamics and linear rewards, for which only linear function approximation is needed. This paper presents the first provable RL algorithm with both polynomial runtime and polynomial sample complexity in this linear setting, without requiring a "simulator" or additional assumptions. Concretely, we prove that an optimistic modification of Least-Squares Value Iteration (LSVI)---a classical algorithm frequently studied in the linear setting---achieves $\tilde{\mathcal{O}}(\sqrt{d^3H^3T})$ regret, where $d$ is the ambient dimension of feature space, $H$ is the length of each episode, and $T$ is the total number of steps. Importantly, such regret is independent of the number of states and actions.
Single Image Super-Resolution via CNN Architectures and TV-TV Minimization
Authors: Marija Vella, João F. C. Mota
Date: 2019-07-11 00:00:00
Tasks: Image Super-Resolution, SSIM, Super-Resolution

Super-resolution (SR) is a technique that allows increasing the resolution of a given image. Having applications in many areas, from medical imaging to consumer electronics, several SR methods have been proposed. Currently, the best performing methods are based on convolutional neural networks (CNNs) and require extensive datasets for training. However, at test time, they fail to impose consistency between the super-resolved image and the given low-resolution image, a property that classic reconstruction-based algorithms naturally enforce in spite of having poorer performance. Motivated by this observation, we propose a new framework that joins both approaches and produces images with superior quality than any of the prior methods. Although our framework requires additional computation, our experiments on Set5, Set14, and BSD100 show that it systematically produces images with better peak signal to noise ratio (PSNR) and structural similarity (SSIM) than the current state-of-the-art CNN architectures for SR.
Quantum and Classical Algorithms for Approximate Submodular Function Minimization
Authors: Yassine Hamoudi, Patrick Rebentrost, Ansis Rosmanis, Miklos Santha
Date: 2019-07-11 00:00:00

Submodular functions are set functions mapping every subset of some ground set of size $n$ into the real numbers and satisfying the diminishing returns property. Submodular minimization is an important field in discrete optimization theory due to its relevance for various branches of mathematics, computer science and economics. The currently fastest strongly polynomial algorithm for exact minimization [LSW15] runs in time $\widetilde{O}(n^3 \cdot \mathrm{EO} + n^4)$ where $\mathrm{EO}$ denotes the cost to evaluate the function on any set. For functions with range $[-1,1]$, the best $\epsilon$-additive approximation algorithm [CLSW17] runs in time $\widetilde{O}(n^{5/3}/\epsilon^{2} \cdot \mathrm{EO})$. In this paper we present a classical and a quantum algorithm for approximate submodular minimization. Our classical result improves on the algorithm of [CLSW17] and runs in time $\widetilde{O}(n^{3/2}/\epsilon^2 \cdot \mathrm{EO})$. Our quantum algorithm is, up to our knowledge, the first attempt to use quantum computing for submodular optimization. The algorithm runs in time $\widetilde{O}(n^{5/4}/\epsilon^{5/2} \cdot \log(1/\epsilon) \cdot \mathrm{EO})$. The main ingredient of the quantum result is a new method for sampling with high probability $T$ independent elements from any discrete probability distribution of support size $n$ in time $O(\sqrt{Tn})$. Previous quantum algorithms for this problem were of complexity $O(T\sqrt{n})$.
Monocular 3D Sway Tracking for Assessing Postural Instability in Cerebral Hypoperfusion During Quiet Standing
Authors: Robert Amelard, Kevin R Murray, Eric T Hedge, Taylor W Cleworth, Mamiko Noguchi, Andrew Laing, Richard L Hughson
Date: 2019-07-11 00:00:00

Postural instability is prevalent in aging and neurodegenerative disease, decreasing quality of life and independence. Quantitatively monitoring balance control is important for assessing treatment efficacy and rehabilitation progress. However, existing technologies for assessing postural sway are complex and expensive, limiting their widespread utility. Here, we propose a monocular imaging system capable of assessing sub-millimeter 3D sway dynamics during quiet standing. Two anatomical targets with known feature geometries were placed on the lumbar and shoulder. Upper and lower trunk 3D kinematic motion was automatically assessed from a set of 2D frames through geometric feature tracking and an inverse motion model. Sway was tracked in 3D and compared between control and hypoperfusion conditions in 14 healthy young adults. The proposed system demonstrated high agreement with a commercial motion capture system (error $1.5 \times 10^{-4}~\text{mm}$, [$-0.52$, $0.52$]). Between-condition differences in sway dynamics were observed in anterior-posterior sway during early and mid stance, and medial-lateral sway during mid stance commensurate with decreased cerebral perfusion, followed by recovered sway dynamics during late stance with cerebral perfusion recovery. This inexpensive single-camera system enables quantitative 3D sway monitoring for assessing neuromuscular balance control in weakly constrained environments.
Online Inference and Detection of Curbs in Partially Occluded Scenes with Sparse LIDAR
Authors: Tarlan Suleymanov, Lars Kunze, Paul Newman
Date: 2019-07-11 00:00:00
Tasks: Autonomous Vehicles, Motion Planning

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban environments (in particular in comparison to other elements of the road such as traffic signs and road markings). These difficulties arise from occlusions by other traffic participants as well as changing lighting and/or weather conditions. Moreover, road boundaries have various shapes, colours and structures while motion planning algorithms require accurate and precise metric information in real-time to generate their plans. In this paper, we present a real-time LIDAR-based approach for accurate curb detection around the vehicle (360 degree). Our approach deals with both occlusions from traffic and changing environmental conditions. To this end, we project 3D LIDAR pointcloud data into 2D bird's-eye view images (akin to Inverse Perspective Mapping). These images are then processed by trained deep networks to infer both visible and occluded road boundaries. Finally, a post-processing step filters detected curb segments and tracks them over time. Experimental results demonstrate the effectiveness of the proposed approach on real-world driving data. Hence, we believe that our LIDAR-based approach provides an efficient and effective way to detect visible and occluded curbs around the vehicles in challenging driving scenarios.
Performance Boundary Identification for the Evaluation of Automated Vehicles using Gaussian Process Classification
Authors: Felix Batsch, Alireza Daneshkhah, Madeline Cheah, Stratis Kanarachos, Anthony Baxendale
Date: 2019-07-11 00:00:00
Tasks: Classification, General Classification

Safety is an essential aspect in the facilitation of automated vehicle deployment. Current testing practices are not enough, and going beyond them leads to infeasible testing requirements, such as needing to drive billions of kilometres on public roads. Automated vehicles are exposed to an indefinite number of scenarios. Handling of the most challenging scenarios should be tested, which leads to the question of how such corner cases can be determined. We propose an approach to identify the performance boundary, where these corner cases are located, using Gaussian Process Classification. We also demonstrate the classification on an exemplary traffic jam approach scenario, showing that it is feasible and would lead to more efficient testing practices.
Warfarin dose estimation on multiple datasets with automated hyperparameter optimisation and a novel software framework
Authors: Gianluca Truda, Patrick Marais
Date: 2019-07-11 00:00:00
Tasks: Imputation

Warfarin is an effective preventative treatment for arterial and venous thromboembolism, but requires individualised dosing due to its narrow therapeutic range and high individual variation. Many machine learning techniques have been demonstrated in this domain. This study evaluated the accuracy of the most promising algorithms on the International Warfarin Pharmacogenetics Consortium dataset and a novel clinical dataset of South African patients. Support vectors and linear regression were amongst the top performers in both datasets and performed comparably to recent stacked ensemble approaches, whilst neural networks were one of the worst performers in both datasets. We also introduced genetic programming to automatically optimise model architectures and hyperparameters without human guidance. Remarkably, the generated models were found to match the performance of the best models hand-crafted by human experts. Finally, we present a novel software framework (Warfit-learn) for warfarin dosing research. It leverages the most successful techniques in preprocessing, imputation, and parallel evaluation, with the goal of accelerating research and making results in this domain more reproducible.
Three algorithms for solving high-dimensional fully-coupled FBSDEs through deep learning
Authors: Shaolin Ji, Shige Peng, Ying Peng, Xichuan Zhang
Date: 2019-07-11 00:00:00
Tasks: Deep Learning

Recently, the deep learning method has been used for solving forward-backward stochastic differential equations (FBSDEs) and parabolic partial differential equations (PDEs). It has good accuracy and performance for high-dimensional problems. In this paper, we mainly solve fully coupled FBSDEs through deep learning and provide three algorithms. Several numerical results show remarkable performance especially for high-dimensional cases.
Low-rank matrix completion and denoising under Poisson noise
Authors: Andrew D. McRae, Mark A. Davenport
Date: 2019-07-11 00:00:00
Tasks: Denoising, Low-Rank Matrix Completion, Matrix Completion

This paper considers the problem of estimating a low-rank matrix from the observation of all or a subset of its entries in the presence of Poisson noise. When we observe all entries, this is a problem of matrix denoising; when we observe only a subset of the entries, this is a problem of matrix completion. In both cases, we exploit an assumption that the underlying matrix is low-rank. Specifically, we analyze several estimators, including a constrained nuclear-norm minimization program, nuclear-norm regularized least squares, and a nonconvex constrained low-rank optimization problem. We show that for all three estimators, with high probability, we have an upper error bound (in the Frobenius norm error metric) that depends on the matrix rank, the fraction of the elements observed, and maximal row and column sums of the true matrix. We furthermore show that the above results are minimax optimal (within a universal constant) in classes of matrices with low rank and bounded row and column sums. We also extend these results to handle the case of matrix multinomial denoising and completion.
Time2Vec: Learning a Vector Representation of Time
Authors: Seyed Mehran Kazemi, Rishab Goel, Sepehr Eghbali, Janahan Ramanan, Jaspreet Sahota, Sanjay Thakur, Stella Wu, Cathal Smyth, Pascal Poupart, Marcus Brubaker
Date: 2019-07-11 00:00:00

Time is an important feature in many applications involving events that occur synchronously and/or asynchronously. To effectively consume time information, recent studies have focused on designing new architectures. In this paper, we take an orthogonal but complementary approach by providing a model-agnostic vector representation for time, called Time2Vec, that can be easily imported into many existing and future architectures and improve their performances. We show on a range of models and problems that replacing the notion of time with its Time2Vec representation improves the performance of the final model.
Adaptive Deep Learning for High-Dimensional Hamilton-Jacobi-Bellman Equations
Authors: Tenavi Nakamura-Zimmerer, Qi Gong, Wei Kang
Date: 2019-07-11 00:00:00
Tasks: Deep Learning, valid, Vocal Bursts Intensity Prediction

Computing optimal feedback controls for nonlinear systems generally requires solving Hamilton-Jacobi-Bellman (HJB) equations, which are notoriously difficult when the state dimension is large. Existing strategies for high-dimensional problems often rely on specific, restrictive problem structures, or are valid only locally around some nominal trajectory. In this paper, we propose a data-driven method to approximate semi-global solutions to HJB equations for general high-dimensional nonlinear systems and compute candidate optimal feedback controls in real-time. To accomplish this, we model solutions to HJB equations with neural networks (NNs) trained on data generated without discretizing the state space. Training is made more effective and data-efficient by leveraging the known physics of the problem and using the partially-trained NN to aid in adaptive data generation. We demonstrate the effectiveness of our method by learning solutions to HJB equations corresponding to the attitude control of a six-dimensional nonlinear rigid body, and nonlinear systems of dimension up to 30 arising from the stabilization of a Burgers'-type partial differential equation. The trained NNs are then used for real-time feedback control of these systems.