pwc-archive/papers-with-abstracts huggingface dataset:
gradSLAM: Automagically differentiable SLAM
Authors: Krishna Murthy Jatavallabhula, Soroush Saryazdi, Ganesh Iyer, Liam Paull
Date: 2019-10-23 00:00:00
Tasks: Open-Ended Question Answering, Representation Learning, Simultaneous Localization and Mapping

Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor inputs into a distribution over the state(s) of the robot and the environment. If this transformation (SLAM) were expressible as a differentiable function, we could leverage task-based error signals to learn representations that optimize task performance. However, several components of a typical dense SLAM system are non-differentiable. In this work, we propose gradSLAM, a methodology for posing SLAM systems as differentiable computational graphs, which unifies gradient-based learning and SLAM. We propose differentiable trust-region optimizers, surface measurement and fusion schemes, and raycasting, without sacrificing accuracy. This amalgamation of dense SLAM with computational graphs enables us to backprop all the way from 3D maps to 2D pixels, opening up new possibilities in gradient-based learning for SLAM. TL;DR: We leverage the power of automatic differentiation frameworks to make dense SLAM differentiable.
A practical two-stage training strategy for multi-stream end-to-end speech recognition
Authors: Ruizhi Li, Gregory Sell, Xiaofei Wang, Shinji Watanabe, Hynek Hermansky
Date: 2019-10-23 00:00:00
Tasks: Automatic Speech Recognition, Automatic Speech Recognition (ASR), speech-recognition, Speech Recognition

The multi-stream paradigm of audio processing, in which several sources are simultaneously considered, has been an active research area for information fusion. Our previous study offered a promising direction within end-to-end automatic speech recognition, where parallel encoders aim to capture diverse information followed by a stream-level fusion based on attention mechanisms to combine the different views. However, with an increasing number of streams resulting in an increasing number of encoders, the previous approach could require substantial memory and massive amounts of parallel data for joint training. In this work, we propose a practical two-stage training scheme. Stage-1 is to train a Universal Feature Extractor (UFE), where encoder outputs are produced from a single-stream model trained with all data. Stage-2 formulates a multi-stream scheme intending to solely train the attention fusion module using the UFE features and pretrained components from Stage-1. Experiments have been conducted on two datasets, DIRHA and AMI, as a multi-stream scenario. Compared with our previous method, this strategy achieves relative word error rate reductions of 8.2--32.4%, while consistently outperforming several conventional combination methods.
Efficient Dynamic WFST Decoding for Personalized Language Models
Authors: Jun Liu, Jiedan Zhu, Vishal Kathuria, Fuchun Peng
Date: 2019-10-23 00:00:00
Tasks: Decoder, Language Modeling, Language Modelling, speech-recognition, Speech Recognition

We propose a two-layer cache mechanism to speed up dynamic WFST decoding with personalized language models. The first layer is a public cache that stores most of the static part of the graph. This is shared globally among all users. A second layer is a private cache that caches the graph that represents the personalized language model, which is only shared by the utterances from a particular user. We also propose two simple yet effective pre-initialization methods, one based on breadth-first search, and another based on a data-driven exploration of decoder states using previous utterances. Experiments with a calling speech recognition task using a personalized contact list demonstrate that the proposed public cache reduces decoding time by factor of three compared to decoding without pre-initialization. Using the private cache provides additional efficiency gains, reducing the decoding time by a factor of five.
Accelerated Primal-Dual Algorithms for Distributed Smooth Convex Optimization over Networks
Authors: Jinming Xu, Ye Tian, Ying Sun, Gesualdo Scutari
Date: 2019-10-23 00:00:00
Tasks: Distributed Optimization

This paper proposes a novel family of primal-dual-based distributed algorithms for smooth, convex, multi-agent optimization over networks that uses only gradient information and gossip communications. The algorithms can also employ acceleration on the computation and communications. We provide a unified analysis of their convergence rate, measured in terms of the Bregman distance associated to the saddle point reformation of the distributed optimization problem. When acceleration is employed, the rate is shown to be optimal, in the sense that it matches (under the proposed metric) existing complexity lower bounds of distributed algorithms applicable to such a class of problem and using only gradient information and gossip communications. Preliminary numerical results on distributed least-square regression problems show that the proposed algorithm compares favorably on existing distributed schemes.
Instance-Based Model Adaptation For Direct Speech Translation
Authors: Mattia Antonino Di Gangi, Viet-Nhat Nguyen, Matteo Negri, Marco Turchi
Date: 2019-10-23 00:00:00
Tasks: Domain Adaptation, Speech-to-Text, Speech-to-Text Translation, Translation

Despite recent technology advancements, the effectiveness of neural approaches to end-to-end speech-to-text translation is still limited by the paucity of publicly available training corpora. We tackle this limitation with a method to improve data exploitation and boost the system's performance at inference time. Our approach allows us to customize "on the fly" an existing model to each incoming translation request. At its core, it exploits an instance selection procedure to retrieve, from a given pool of data, a small set of samples similar to the input query in terms of latent properties of its audio signal. The retrieved samples are then used for an instance-specific fine-tuning of the model. We evaluate our approach in three different scenarios. In all data conditions (different languages, in/out-of-domain adaptation), our instance-based adaptation yields coherent performance gains over static models.
Deep learning guided Android malware and anomaly detection
Authors: Nikola Milosevic, Junfan Huang
Date: 2019-10-23 00:00:00
Tasks: Anomaly Detection, CPU, Decoder, Deep Learning, Malware Analysis

In the past decade, the cyber-crime related to mobile devices has increased. Mobile devices, especially the ones running on Android operating system are particularly interesting to malware creators, as the users often keep the biggest amount of personal information on their mobile devices, such as their contacts, social media profiles, emails, and bank accounts. Both dynamic and static malware analysis is necessary to prevent and detect malware, as both techniques have their benefits and shortcomings. In this paper, we propose a deep learning technique that relies on LSTM and encoder-decoder neural network architectures for dynamic malware analysis based on CPU, memory and battery usage. The proposed system is able to detect and notify users about anomalies in system that is likely consequence of malware behaviour. The method was implemented as a part of OWASP Seraphimdroids anti-malware mechanism and notifies users about anomalies on their devices. The method proved to perform with an F1-score of 79.2%.
Accurate 6D Object Pose Estimation by Pose Conditioned Mesh Reconstruction
Authors: Pedro Castro, Anil Armagan, Tae-Kyun Kim
Date: 2019-10-23 00:00:00
Tasks: 6D Pose Estimation using RGB, Object, Pose Estimation

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's distinct topological information i.e. 3D dense meshes in the pose estimation model, with an automated process and prior to any post-processing refinement stage. In order to achieve this, we propose a learning framework in which a Graph Convolutional Neural Network reconstructs a pose conditioned 3D mesh of the object. A robust estimation of the allocentric orientation is recovered by computing, in a differentiable manner, the Procrustes' alignment between the canonical and reconstructed dense 3D meshes. 6D egocentric pose is then lifted using additional mask and 2D centroid projection estimations. Our method is capable of self validating its pose estimation by measuring the quality of the reconstructed mesh, which is invaluable in real life applications. In our experiments on the LINEMOD, OCCLUSION and YCB-Video benchmarks, the proposed method outperforms state-of-the-arts.
Breast Anatomy Enriched Tumor Saliency Estimation
Authors: Fei Xu, Yingtao Zhang, Min Xian, H. D. Cheng, Boyu Zhang, Jianrui Ding, Chunping Ning, Ying Wang
Date: 2019-10-23 00:00:00
Tasks: Anatomy, Saliency Prediction

Breast cancer investigation is of great significance, and developing tumor detection methodologies is a critical need. However, it is a challenging task for breast ultrasound due to the complicated breast structure and poor quality of the images. In this paper, we propose a novel tumor saliency estimation model guided by enriched breast anatomy knowledge to localize the tumor. Firstly, the breast anatomy layers are generated by a deep neural network. Then we refine the layers by integrating a non-semantic breast anatomy model to solve the problems of incomplete mammary layers. Meanwhile, a new background map generation method weighted by the semantic probability and spatial distance is proposed to improve the performance. The experiment demonstrates that the proposed method with the new background map outperforms four state-of-the-art TSE models with increasing 10% of F_meansure on the BUS public dataset.
Occlusions for Effective Data Augmentation in Image Classification
Authors: Ruth Fong, Andrea Vedaldi
Date: 2019-10-23 00:00:00
Tasks: Classification, Data Augmentation, General Classification, image-classification, Image Classification

Deep networks for visual recognition are known to leverage "easy to recognise" portions of objects such as faces and distinctive texture patterns. The lack of a holistic understanding of objects may increase fragility and overfitting. In recent years, several papers have proposed to address this issue by means of occlusions as a form of data augmentation. However, successes have been limited to tasks such as weak localization and model interpretation, but no benefit was demonstrated on image classification on large-scale datasets. In this paper, we show that, by using a simple technique based on batch augmentation, occlusions as data augmentation can result in better performance on ImageNet for high-capacity models (e.g., ResNet50). We also show that varying amounts of occlusions used during training can be used to study the robustness of different neural network architectures.
Learning Deep Parameterized Skills from Demonstration for Re-targetable Visuomotor Control
Authors: Jonathan Chang, Nishanth Kumar, Sean Hastings, Aaron Gokaslan, Diego Romeres, Devesh Jha, Daniel Nikovski, George Konidaris, Stefanie Tellex
Date: 2019-10-23 00:00:00

Robots need to learn skills that can not only generalize across similar problems but also be directed to a specific goal. Previous methods either train a new skill for every different goal or do not infer the specific target in the presence of multiple goals from visual data. We introduce an end-to-end method that represents targetable visuomotor skills as a goal-parameterized neural network policy. By training on an informative subset of available goals with the associated target parameters, we are able to learn a policy that can zero-shot generalize to previously unseen goals. We evaluate our method in a representative 2D simulation of a button-grid and on both button-pressing and peg-insertion tasks on two different physical arms. We demonstrate that our model trained on 33% of the possible goals is able to generalize to more than 90% of the targets in the scene for both simulation and robot experiments. We also successfully learn a mapping from target pixel coordinates to a robot policy to complete a specified goal.
Speaker Adaptive Training using Model Agnostic Meta-Learning
Authors: Ondřej Klejch, Joachim Fainberg, Peter Bell, Steve Renals
Date: 2019-10-23 00:00:00
Tasks: Meta-Learning, model

Speaker adaptive training (SAT) of neural network acoustic models learns models in a way that makes them more suitable for adaptation to test conditions. Conventionally, model-based speaker adaptive training is performed by having a set of speaker dependent parameters that are jointly optimised with speaker independent parameters in order to remove speaker variation. However, this does not scale well if all neural network weights are to be adapted to the speaker. In this paper we formulate speaker adaptive training as a meta-learning task, in which an adaptation process using gradient descent is encoded directly into the training of the model. We compare our approach with test-only adaptation of a standard baseline model and a SAT-LHUC model with a learned speaker adaptation schedule and demonstrate that the meta-learning approach achieves comparable results.
SalGaze: Personalizing Gaze Estimation Using Visual Saliency
Authors: Zhuoqing Chang, Matias Di Martino, Qiang Qiu, Steven Espinosa, Guillermo Sapiro
Date: 2019-10-23 00:00:00
Tasks: Gaze Estimation

Traditional gaze estimation methods typically require explicit user calibration to achieve high accuracy. This process is cumbersome and recalibration is often required when there are changes in factors such as illumination and pose. To address this challenge, we introduce SalGaze, a framework that utilizes saliency information in the visual content to transparently adapt the gaze estimation algorithm to the user without explicit user calibration. We design an algorithm to transform a saliency map into a differentiable loss map that can be used for the optimization of CNN-based models. SalGaze is also able to greatly augment standard point calibration data with implicit video saliency calibration data using a unified framework. We show accuracy improvements over 24% using our technique on existing methods.
Sample Complexity of Reinforcement Learning using Linearly Combined Model Ensembles
Authors: Aditya Modi, Nan Jiang, Ambuj Tewari, Satinder Singh
Date: 2019-10-23 00:00:00
Tasks: Model Selection, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Reinforcement learning (RL) methods have been shown to be capable of learning intelligent behavior in rich domains. However, this has largely been done in simulated domains without adequate focus on the process of building the simulator. In this paper, we consider a setting where we have access to an ensemble of pre-trained and possibly inaccurate simulators (models). We approximate the real environment using a state-dependent linear combination of the ensemble, where the coefficients are determined by the given state features and some unknown parameters. Our proposed algorithm provably learns a near-optimal policy with a sample complexity polynomial in the number of unknown parameters, and incurs no dependence on the size of the state (or action) space. As an extension, we also consider the more challenging problem of model selection, where the state features are unknown and can be chosen from a large candidate set. We provide exponential lower bounds that illustrate the fundamental hardness of this problem, and develop a provably efficient algorithm under additional natural assumptions.
Sparse Orthogonal Variational Inference for Gaussian Processes
Authors: Jiaxin Shi, Michalis K. Titsias, andriy mnih
Date: 2019-10-23 00:00:00
Proceeding: pproximateinference AABI Symposium 2019 12
Tasks: Gaussian Processes, Multi-class Classification, regression, Variational Inference

We introduce a new interpretation of sparse variational approximations for Gaussian processes using inducing points, which can lead to more scalable algorithms than previous methods. It is based on decomposing a Gaussian process as a sum of two independent processes: one spanned by a finite basis of inducing points and the other capturing the remaining variation. We show that this formulation recovers existing approximations and at the same time allows to obtain tighter lower bounds on the marginal likelihood and new stochastic variational inference algorithms. We demonstrate the efficiency of these algorithms in several Gaussian process models ranging from standard regression to multi-class classification using (deep) convolutional Gaussian processes and report state-of-the-art results on CIFAR-10 among purely GP-based models.
Neural Execution of Graph Algorithms
Authors: Petar Veličković, Rex Ying, Matilde Padovano, Raia Hadsell, Charles Blundell
Date: 2019-10-23 00:00:00
Proceeding: ICLR 2020 1

Graph Neural Networks (GNNs) are a powerful representational tool for solving problems on graph-structured inputs. In almost all cases so far, however, they have been applied to directly recovering a final solution from raw inputs, without explicit guidance on how to structure their problem-solving. Here, instead, we focus on learning in the space of algorithms: we train several state-of-the-art GNN architectures to imitate individual steps of classical graph algorithms, parallel (breadth-first search, Bellman-Ford) as well as sequential (Prim's algorithm). As graph algorithms usually rely on making discrete decisions within neighbourhoods, we hypothesise that maximisation-based message passing neural networks are best-suited for such objectives, and validate this claim empirically. We also demonstrate how learning in the space of algorithms can yield new opportunities for positive transfer between tasks---showing how learning a shortest-path algorithm can be substantially improved when simultaneously learning a reachability algorithm.
Optimistic Distributionally Robust Optimization for Nonparametric Likelihood Approximation
Authors: Viet Anh Nguyen, Soroosh Shafieezadeh-Abadeh, Man-Chung Yue, Daniel Kuhn, Wolfram Wiesemann
Date: 2019-10-23 00:00:00
Proceeding: NeurIPS 2019 12

The likelihood function is a fundamental component in Bayesian statistics. However, evaluating the likelihood of an observation is computationally intractable in many applications. In this paper, we propose a non-parametric approximation of the likelihood that identifies a probability measure which lies in the neighborhood of the nominal measure and that maximizes the probability of observing the given sample point. We show that when the neighborhood is constructed by the Kullback-Leibler divergence, by moment conditions or by the Wasserstein distance, then our \textit{optimistic likelihood} can be determined through the solution of a convex optimization problem, and it admits an analytical expression in particular cases. We also show that the posterior inference problem with our optimistic likelihood approximation enjoys strong theoretical performance guarantees, and it performs competitively in a probabilistic classification task.
Autoencoding with a Classifier System
Authors: Richard J. Preen, Stewart W. Wilson, Larry Bull
Date: 2019-10-23 00:00:00
Tasks: Decoder, Dimensionality Reduction, Reinforcement Learning

Autoencoders are data-specific compression algorithms learned automatically from examples. The predominant approach has been to construct single large global models that cover the domain. However, training and evaluating models of increasing size comes at the price of additional time and computational cost. Conditional computation, sparsity, and model pruning techniques can reduce these costs while maintaining performance. Learning classifier systems (LCS) are a framework for adaptively subdividing input spaces into an ensemble of simpler local approximations that together cover the domain. LCS perform conditional computation through the use of a population of individual gating/guarding components, each associated with a local approximation. This article explores the use of an LCS to adaptively decompose the input domain into a collection of small autoencoders where local solutions of different complexity may emerge. In addition to benefits in convergence time and computational cost, it is shown possible to reduce code size as well as the resulting decoder computational cost when compared with the global model equivalent.
Event-scheduling algorithms with Kalikow decomposition for simulating potentially infinite neuronal networks
Authors: Tien Cuong Phi, Alexandre Muzy, Patricia Reynaud-Bouret
Date: 2019-10-23 00:00:00
Tasks: Point Processes, Scheduling

Event-scheduling algorithms can compute in continuous time the next occurrence of points (as events) of a counting process based on their current conditional intensity. In particular event-scheduling algorithms can be adapted to perform the simulation of finite neuronal networks activity. These algorithms are based on Ogata's thinning strategy \cite{Oga81}, which always needs to simulate the whole network to access the behaviour of one particular neuron of the network. On the other hand, for discrete time models, theoretical algorithms based on Kalikow decomposition can pick at random influencing neurons and perform a perfect simulation (meaning without approximations) of the behaviour of one given neuron embedded in an infinite network, at every time step. These algorithms are currently not computationally tractable in continuous time. To solve this problem, an event-scheduling algorithm with Kalikow decomposition is proposed here for the sequential simulation of point processes neuronal models satisfying this decomposition. This new algorithm is applied to infinite neuronal networks whose finite time simulation is a prerequisite to realistic brain modeling.
Tropical Cyclone Track Forecasting using Fused Deep Learning from Aligned Reanalysis Data
Authors: Sophie Giffard-Roisin, Mo Yang, Guillaume Charpiat, Christina Kumler-Bonfanti, Balázs Kégl, Claire Monteleoni
Date: 2019-10-23 00:00:00
Tasks: Tropical Cyclone Track Forecasting

The forecast of tropical cyclone trajectories is crucial for the protection of people and property. Although forecast dynamical models can provide high-precision short-term forecasts, they are computationally demanding, and current statistical forecasting models have much room for improvement given that the database of past hurricanes is constantly growing. Machine learning methods, that can capture non-linearities and complex relations, have only been scarcely tested for this application. We propose a neural network model fusing past trajectory data and reanalysis atmospheric images (wind and pressure 3D fields). We use a moving frame of reference that follows the storm center for the 24h tracking forecast. The network is trained to estimate the longitude and latitude displacement of tropical cyclones and depressions from a large database from both hemispheres (more than 3000 storms since 1979, sampled at a 6 hour frequency). The advantage of the fused network is demonstrated and a comparison with current forecast models shows that deep learning methods could provide a valuable and complementary prediction. Moreover, our method can give a forecast for a new storm in a few seconds, which is an important asset for real-time forecasts compared to traditional forecasts.