pwc-archive/papers-with-abstracts huggingface dataset:
Learning 3D Part Assembly from a Single Image
Authors: Yichen Li, Kaichun Mo, Lin Shao, Minhyuk Sung, Leonidas Guibas
Date: 2020-03-21 00:00:00
Proceeding: ECCV 2020 8
Tasks: Motion Planning, Pose Prediction

Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes to task specification, the space of possibilities remains underexplored. Towards this end, we introduce a novel problem, single-image-guided 3D part assembly, along with a learningbased solution. We study this problem in the setting of furniture assembly from a given complete set of parts and a single image depicting the entire assembled object. Multiple challenges exist in this setting, including handling ambiguity among parts (e.g., slats in a chair back and leg stretchers) and 3D pose prediction for parts and part subassemblies, whether visible or occluded. We address these issues by proposing a two-module pipeline that leverages strong 2D-3D correspondences and assembly-oriented graph message-passing to infer part relationships. In experiments with a PartNet-based synthetic benchmark, we demonstrate the effectiveness of our framework as compared with three baseline approaches.
Adaptive Informative Path Planning with Multimodal Sensing
Authors: Shushman Choudhury, Nate Gruver, Mykel J. Kochenderfer
Date: 2020-03-21 00:00:00

Adaptive Informative Path Planning (AIPP) problems model an agent tasked with obtaining information subject to resource constraints in unknown, partially observable environments. Existing work on AIPP has focused on representing observations about the world as a result of agent movement. We formulate the more general setting where the agent may choose between different sensors at the cost of some energy, in addition to traversing the environment to gather information. We call this problem AIPPMS (MS for Multimodal Sensing). AIPPMS requires reasoning jointly about the effects of sensing and movement in terms of both energy expended and information gained. We frame AIPPMS as a Partially Observable Markov Decision Process (POMDP) and solve it with online planning. Our approach is based on the Partially Observable Monte Carlo Planning framework with modifications to ensure constraint feasibility and a heuristic rollout policy tailored for AIPPMS. We evaluate our method on two domains: a simulated search-and-rescue scenario and a challenging extension to the classic RockSample problem. We find that our approach outperforms a classic AIPP algorithm that is modified for AIPPMS, as well as online planning using a random rollout policy.
BoostTree and BoostForest for Ensemble Learning
Authors: Changming Zhao, Dongrui Wu, Jian Huang, Ye Yuan, Hai-Tao Zhang, Ruimin Peng, Zhenhua Shi
Date: 2020-03-21 00:00:00
Tasks: Diversity, Ensemble Learning, General Classification, regression

Bootstrap aggregating (Bagging) and boosting are two popular ensemble learning approaches, which combine multiple base learners to generate a composite model for more accurate and more reliable performance. They have been widely used in biology, engineering, healthcare, etc. This paper proposes BoostForest, which is an ensemble learning approach using BoostTree as base learners and can be used for both classification and regression. BoostTree constructs a tree model by gradient boosting. It increases the randomness (diversity) by drawing the cut-points randomly at node splitting. BoostForest further increases the randomness by bootstrapping the training data in constructing different BoostTrees. BoostForest generally outperformed four classical ensemble learning approaches (Random Forest, Extra-Trees, XGBoost and LightGBM) on 35 classification and regression datasets. Remarkably, BoostForest tunes its parameters by simply sampling them randomly from a parameter pool, which can be easily specified, and its ensemble learning framework can also be used to combine many other base learners.
Variational Inference with Parameter Learning Applied to Vehicle Trajectory Estimation
Authors: Jeremy N. Wong, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
Date: 2020-03-21 00:00:00
Tasks: State Estimation, Variational Inference

We present parameter learning in a Gaussian variational inference setting using only noisy measurements (i.e., no groundtruth). This is demonstrated in the context of vehicle trajectory estimation, although the method we propose is general. The paper extends the Exactly Sparse Gaussian Variational Inference (ESGVI) framework, which has previously been used for large-scale nonlinear batch state estimation. Our contribution is to additionally learn parameters of our system models (which may be difficult to choose in practice) within the ESGVI framework. In this paper, we learn the covariances for the motion and sensor models used within vehicle trajectory estimation. Specifically, we learn the parameters of a white-noise-on-acceleration motion model and the parameters of an Inverse-Wishart prior over measurement covariances for our sensor model. We demonstrate our technique using a 36~km dataset consisting of a car using lidar to localize against a high-definition map; we learn the parameters on a training section of the data and then show that we achieve high-quality state estimates on a test section, even in the presence of outliers. Lastly, we show that our framework can be used to solve pose graph optimization even with many false loop closures.
A new regret analysis for Adam-type algorithms
Authors: Ahmet Alacaoglu, Yura Malitsky, Panayotis Mertikopoulos, Volkan Cevher
Date: 2020-03-21 00:00:00
Proceeding: ICML 2020 1
Tasks: Vocal Bursts Type Prediction

In this paper, we focus on a theory-practice gap for Adam and its variants (AMSgrad, AdamNC, etc.). In practice, these algorithms are used with a constant first-order moment parameter $\beta_{1}$ (typically between $0.9$ and $0.99$). In theory, regret guarantees for online convex optimization require a rapidly decaying $\beta_{1}\to0$ schedule. We show that this is an artifact of the standard analysis and propose a novel framework that allows us to derive optimal, data-dependent regret bounds with a constant $\beta_{1}$, without further assumptions. We also demonstrate the flexibility of our analysis on a wide range of different algorithms and settings.
Video-based Person Re-Identification using Gated Convolutional Recurrent Neural Networks
Authors: Yang Feng, Yu Wang, Jiebo Luo
Date: 2020-03-21 00:00:00
Tasks: Optical Flow Estimation, Person Re-Identification, Video-Based Person Re-Identification

Deep neural networks have been successfully applied to solving the video-based person re-identification problem with impressive results reported. The existing networks for person re-id are designed to extract discriminative features that preserve the identity information. Usually, whole video frames are fed into the neural networks and all the regions in a frame are equally treated. This may be a suboptimal choice because many regions, e.g., background regions in the video, are not related to the person. Furthermore, the person of interest may be occluded by another person or something else. These unrelated regions may hinder person re-identification. In this paper, we introduce a novel gating mechanism to deep neural networks. Our gating mechanism will learn which regions are helpful for person re-identification and let these regions pass the gate. The unrelated background regions or occluding regions are filtered out by the gate. In each frame, the color channels and optical flow channels provide quite different information. To better leverage such information, we generate one gate using the color channels and another gate using the optical flow channels. These two gates are combined to provide a more reliable gate with a novel fusion method. Experimental results on two major datasets demonstrate the performance improvements due to the proposed gating mechanism.
Understanding the Power and Limitations of Teaching with Imperfect Knowledge
Authors: Rati Devidze, Farnam Mansouri, Luis Haug, Yuxin Chen, Adish Singla
Date: 2020-03-21 00:00:00

Machine teaching studies the interaction between a teacher and a student/learner where the teacher selects training examples for the learner to learn a specific task. The typical assumption is that the teacher has perfect knowledge of the task---this knowledge comprises knowing the desired learning target, having the exact task representation used by the learner, and knowing the parameters capturing the learning dynamics of the learner. Inspired by real-world applications of machine teaching in education, we consider the setting where teacher's knowledge is limited and noisy, and the key research question we study is the following: When does a teacher succeed or fail in effectively teaching a learner using its imperfect knowledge? We answer this question by showing connections to how imperfect knowledge affects the teacher's solution of the corresponding machine teaching problem when constructing optimal teaching sets. Our results have important implications for designing robust teaching algorithms for real-world applications.
Robust Out-of-distribution Detection for Neural Networks
Authors: Jiefeng Chen, Yixuan Li, Xi Wu, YIngyu Liang, Somesh Jha
Date: 2020-03-21 00:00:00
Proceeding: AAAI Workshop AdvML 2022 2
Tasks: Out-of-Distribution Detection, Out of Distribution (OOD) Detection

Detecting out-of-distribution (OOD) inputs is critical for safely deploying deep learning models in the real world. Existing approaches for detecting OOD examples work well when evaluated on benign in-distribution and OOD samples. However, in this paper, we show that existing detection mechanisms can be extremely brittle when evaluating on in-distribution and OOD inputs with minimal adversarial perturbations which don't change their semantics. Formally, we extensively study the problem of Robust Out-of-Distribution Detection on common OOD detection approaches, and show that state-of-the-art OOD detectors can be easily fooled by adding small perturbations to the in-distribution and OOD inputs. To counteract these threats, we propose an effective algorithm called ALOE, which performs robust training by exposing the model to both adversarially crafted inlier and outlier examples. Our method can be flexibly combined with, and render existing methods robust. On common benchmark datasets, we show that ALOE substantially improves the robustness of state-of-the-art OOD detection, with 58.4% AUROC improvement on CIFAR-10 and 46.59% improvement on CIFAR-100.
Accelerating Deep Reinforcement Learning With the Aid of Partial Model: Energy-Efficient Predictive Video Streaming
Authors: Dong Liu, Jianyu Zhao, Chenyang Yang, Lajos Hanzo
Date: 2020-03-21 00:00:00
Tasks: Deep Reinforcement Learning, Reinforcement Learning

Predictive power allocation is conceived for energy-efficient video streaming over mobile networks using deep reinforcement learning. The goal is to minimize the accumulated energy consumption of each base station over a complete video streaming session under the constraint that avoids video playback interruptions. To handle the continuous state and action spaces, we resort to deep deterministic policy gradient (DDPG) algorithm for solving the formulated problem. In contrast to previous predictive power allocation policies that first predict future information with historical data and then optimize the power allocation based on the predicted information, the proposed policy operates in an on-line and end-to-end manner. By judiciously designing the action and state that only depend on slowly-varying average channel gains, we reduce the signaling overhead between the edge server and the base stations, and make it easier to learn a good policy. To further avoid playback interruption throughout the learning process and improve the convergence speed, we exploit the partially known model of the system dynamics by integrating the concepts of safety layer, post-decision state, and virtual experiences into the basic DDPG algorithm. Our simulation results show that the proposed policies converge to the optimal policy that is derived based on perfect large-scale channel prediction and outperform the first-predict-then-optimize policy in the presence of prediction errors. By harnessing the partially known model, the convergence speed can be dramatically improved.
RF Sensing for Continuous Monitoring of Human Activities for Home Consumer Applications
Authors: Moeness G. Amin, Arun Ravisankar, Ronny G. Guendel
Date: 2020-03-21 00:00:00
Tasks: Medical Diagnosis, Translation

Radar for indoor monitoring is an emerging area of research and development, covering and supporting different health and wellbeing applications of smart homes, assisted living, and medical diagnosis. We report on a successful RF sensing system for home monitoring applications. The system recognizes Activities of Daily Living(ADL) and detects unique motion characteristics, using data processing and training algorithms. We also examine the challenges of continuously monitoring various human activities which can be categorized into translation motions (active mode) and in-place motions (resting mode). We use the range-map, offered by a range-Doppler radar, to obtain the transition time between these two categories, characterized by changing and constant range values, respectively. This is achieved using the Radon transform that identifies straight lines of different slopes in the range-map image. Over the in-place motion time intervals, where activities have insignificant or negligible range swath, power threshold of the radar return micro-Doppler signatures,which is employed to define the time-spans of individual activities with insignificant or negligible range swath. Finding both the transition times and the time-spans of the different motions leads to improved classifications, as it avoids decisions rendered over time windows covering mixed activities.
Large-scale Ontological Reasoning via Datalog
Authors: Mario Alviano, Marco Manna
Date: 2020-03-21 00:00:00

Reasoning over OWL 2 is a very expensive task in general, and therefore the W3C identified tractable profiles exhibiting good computational properties. Ontological reasoning for many fragments of OWL 2 can be reduced to the evaluation of Datalog queries. This paper surveys some of these compilations, and in particular the one addressing queries over Horn-$\mathcal{SHIQ}$ knowledge bases and its implementation in DLV2 enanched by a new version of the Magic Sets algorithm.
PyCARL: A PyNN Interface for Hardware-Software Co-Simulation of Spiking Neural Network
Authors: Adarsha Balaji, Prathyusha Adiraju, Hirak J. Kashyap, Anup Das, Jeffrey L. Krichmar, Nikil D. Dutt, Francky Catthoor
Date: 2020-03-21 00:00:00
Tasks: BIG-bench Machine Learning, GPU

We present PyCARL, a PyNN-based common Python programming interface for hardware-software co-simulation of spiking neural network (SNN). Through PyCARL, we make the following two key contributions. First, we provide an interface of PyNN to CARLsim, a computationally-efficient, GPU-accelerated and biophysically-detailed SNN simulator. PyCARL facilitates joint development of machine learning models and code sharing between CARLsim and PyNN users, promoting an integrated and larger neuromorphic community. Second, we integrate cycle-accurate models of state-of-the-art neuromorphic hardware such as TrueNorth, Loihi, and DynapSE in PyCARL, to accurately model hardware latencies that delay spikes between communicating neurons and degrade performance. PyCARL allows users to analyze and optimize the performance difference between software-only simulation and hardware-software co-simulation of their machine learning models. We show that system designers can also use PyCARL to perform design-space exploration early in the product development stage, facilitating faster time-to-deployment of neuromorphic products. We evaluate the memory usage and simulation time of PyCARL using functionality tests, synthetic SNNs, and realistic applications. Our results demonstrate that for large SNNs, PyCARL does not lead to any significant overhead compared to CARLsim. We also use PyCARL to analyze these SNNs for a state-of-the-art neuromorphic hardware and demonstrate a significant performance deviation from software-only simulations. PyCARL allows to evaluate and minimize such differences early during model development.
Cross-modal Deep Face Normals with Deactivable Skip Connections
Authors: Victoria Fernandez Abrevaya, Adnane Boukhayma, Philip H. S. Torr, Edmond Boyer
Date: 2020-03-21 00:00:00
Proceeding: CVPR 2020 6
Tasks: 3D Face Reconstruction, Decoder

We present an approach for estimating surface normals from in-the-wild color images of faces. While data-driven strategies have been proposed for single face images, limited available ground truth data makes this problem difficult. To alleviate this issue, we propose a method that can leverage all available image and normal data, whether paired or not, thanks to a novel cross-modal learning architecture. In particular, we enable additional training with single modality data, either color or normal, by using two encoder-decoder networks with a shared latent space. The proposed architecture also enables face details to be transferred between the image and normal domains, given paired data, through skip connections between the image encoder and normal decoder. Core to our approach is a novel module that we call deactivable skip connections, which allows integrating both the auto-encoded and image-to-normal branches within the same architecture that can be trained end-to-end. This allows learning of a rich latent space that can accurately capture the normal information. We compare against state-of-the-art methods and show that our approach can achieve significant improvements, both quantitative and qualitative, with natural face images.
Multi-Task Learning Enhanced Single Image De-Raining
Authors: Yulong Fan, Rong Chen, Bo Li
Date: 2020-03-21 00:00:00
Tasks: Multi-Task Learning, Rain Removal

Rain removal in images is an important task in computer vision filed and attracting attentions of more and more people. In this paper, we address a non-trivial issue of removing visual effect of rain streak from a single image. Differing from existing work, our method combines various semantic constraint task in a proposed multi-task regression model for rain removal. These tasks reinforce the model's capabilities from the content, edge-aware, and local texture similarity respectively. To further improve the performance of multi-task learning, we also present two simple but powerful dynamic weighting algorithms. The proposed multi-task enhanced network (MENET) is a powerful convolutional neural network based on U-Net for rain removal research, with a specific focus on utilize multiple tasks constraints and exploit the synergy among them to facilitate the model's rain removal capacity. It is noteworthy that the adaptive weighting scheme has further resulted in improved network capability. We conduct several experiments on synthetic and real rain images, and achieve superior rain removal performance over several selected state-of-the-art (SOTA) approaches. The overall effect of our method is impressive, even in the decomposition of heavy rain and rain streak accumulation.The source code and some results can be found at:https://github.com/SumiHui/MENET.
Geometrically Mappable Image Features
Authors: Janine Thoma, Danda Pani Paudel, Ajad Chhatkuli, Luc van Gool
Date: 2020-03-21 00:00:00
Tasks: Image Retrieval, Retrieval

Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning. Features that uniquely describe the visual contents of images have a wide range of applications, including image retrieval and understanding. In this work, we propose a method that learns image features targeted for image-retrieval-based localization. Retrieval-based localization has several benefits, such as easy maintenance and quick computation. However, the state-of-the-art features only provide visual similarity scores which do not explicitly reveal the geometric distance between query and retrieved images. Knowing this distance is highly desirable for accurate localization, especially when the reference images are sparsely distributed in the scene. Therefore, we propose a novel loss function for learning image features which are both visually representative and geometrically relatable. This is achieved by guiding the learning process such that the feature and geometric distances between images are directly proportional. In our experiments we show that our features not only offer significantly better localization accuracy, but also allow to estimate the trajectory of a query sequence in absence of the reference images.
Probabilistic Dual Network Architecture Search on Graphs
Authors: Yiren Zhao, Duo Wang, Xitong Gao, Robert Mullins, Pietro Lio, Mateja Jamnik
Date: 2020-03-21 00:00:00

We present the first differentiable Network Architecture Search (NAS) for Graph Neural Networks (GNNs). GNNs show promising performance on a wide range of tasks, but require a large amount of architecture engineering. First, graphs are inherently a non-Euclidean and sophisticated data structure, leading to poor adaptivity of GNN architectures across different datasets. Second, a typical graph block contains numerous different components, such as aggregation and attention, generating a large combinatorial search space. To counter these problems, we propose a Probabilistic Dual Network Architecture Search (PDNAS) framework for GNNs. PDNAS not only optimises the operations within a single graph block (micro-architecture), but also considers how these blocks should be connected to each other (macro-architecture). The dual architecture (micro- and marco-architectures) optimisation allows PDNAS to find deeper GNNs on diverse datasets with better performance compared to other graph NAS methods. Moreover, we use a fully gradient-based search approach to update architectural parameters, making it the first differentiable graph NAS method. PDNAS outperforms existing hand-designed GNNs and NAS results, for example, on the PPI dataset, PDNAS beats its best competitors by 1.67 and 0.17 in F1 scores.
On Information Plane Analyses of Neural Network Classifiers -- A Review
Authors: Bernhard C. Geiger
Date: 2020-03-21 00:00:00
Tasks: Information Plane, Mutual Information Estimation

We review the current literature concerned with information plane analyses of neural network classifiers. While the underlying information bottleneck theory and the claim that information-theoretic compression is causally linked to generalization are plausible, empirical evidence was found to be both supporting and conflicting. We review this evidence together with a detailed analysis of how the respective information quantities were estimated. Our survey suggests that compression visualized in information planes is not necessarily information-theoretic, but is rather often compatible with geometric compression of the latent representations. This insight gives the information plane a renewed justification. Aside from this, we shed light on the problem of estimating mutual information in deterministic neural networks and its consequences. Specifically, we argue that even in feed-forward neural networks the data processing inequality need not hold for estimates of mutual information. Similarly, while a fitting phase, in which the mutual information between the latent representation and the target increases, is necessary (but not sufficient) for good classification performance, depending on the specifics of mutual information estimation such a fitting phase need not be visible in the information plane.