pwc-archive/papers-with-abstracts huggingface dataset:
Online Deep Reinforcement Learning for Autonomous UAV Navigation and Exploration of Outdoor Environments
Authors: Bruna G. Maciel-Pearson, Letizia Marchegiani, Samet Akcay, Amir Atapour-Abarghouei, James Garforth, Toby P. Breckon
Date: 2019-12-11 00:00:00
Tasks: Deep Reinforcement Learning, Navigate, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

With the rapidly growing expansion in the use of UAVs, the ability to autonomously navigate in varying environments and weather conditions remains a highly desirable but as-of-yet unsolved challenge. In this work, we use Deep Reinforcement Learning to continuously improve the learning and understanding of a UAV agent while exploring a partially observable environment, which simulates the challenges faced in a real-life scenario. Our innovative approach uses a double state-input strategy that combines the acquired knowledge from the raw image and a map containing positional information. This positional data aids the network understanding of where the UAV has been and how far it is from the target position, while the feature map from the current scene highlights cluttered areas that are to be avoided. Our approach is extensively tested using variants of Deep Q-Network adapted to cope with double state input data. Further, we demonstrate that by altering the reward and the Q-value function, the agent is capable of consistently outperforming the adapted Deep Q-Network, Double Deep Q- Network and Deep Recurrent Q-Network. Our results demonstrate that our proposed Extended Double Deep Q-Network (EDDQN) approach is capable of navigating through multiple unseen environments and under severe weather conditions.
Biases for Emergent Communication in Multi-agent Reinforcement Learning
Authors: Tom Eccles, Yoram Bachrach, Guy Lever, Angeliki Lazaridou, Thore Graepel
Date: 2019-12-11 00:00:00
Proceeding: NeurIPS 2019 12
Tasks: Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

We study the problem of emergent communication, in which language arises because speakers and listeners must communicate information in order to solve tasks. In temporally extended reinforcement learning domains, it has proved hard to learn such communication without centralized training of agents, due in part to a difficult joint exploration problem. We introduce inductive biases for positive signalling and positive listening, which ease this problem. In a simple one-step environment, we demonstrate how these biases ease the learning problem. We also apply our methods to a more extended environment, showing that agents with these inductive biases achieve better performance, and analyse the resulting communication protocols.
Linear Mode Connectivity and the Lottery Ticket Hypothesis
Authors: Jonathan Frankle, Gintare Karolina Dziugaite, Daniel M. Roy, Michael Carbin
Date: 2019-12-11 00:00:00
Proceeding: ICML 2020 1
Tasks: Linear Mode Connectivity

We study whether a neural network optimizes to the same, linearly connected minimum under different samples of SGD noise (e.g., random data order and augmentation). We find that standard vision models become stable to SGD noise in this way early in training. From then on, the outcome of optimization is determined to a linearly connected region. We use this technique to study iterative magnitude pruning (IMP), the procedure used by work on the lottery ticket hypothesis to identify subnetworks that could have trained in isolation to full accuracy. We find that these subnetworks only reach full accuracy when they are stable to SGD noise, which either occurs at initialization for small-scale settings (MNIST) or early in training for large-scale settings (ResNet-50 and Inception-v3 on ImageNet).
Gabor Layers Enhance Network Robustness
Authors: Juan C. Pérez, Motasem Alfarra, Guillaume Jeanneret, Adel Bibi, Ali Thabet, Bernard Ghanem, Pablo Arbeláez
Date: 2019-12-11 00:00:00
Proceeding: ECCV 2020 8

We revisit the benefits of merging classical vision concepts with deep learning models. In particular, we explore the effect on robustness against adversarial attacks of replacing the first layers of various deep architectures with Gabor layers, i.e. convolutional layers with filters that are based on learnable Gabor parameters. We observe that architectures enhanced with Gabor layers gain a consistent boost in robustness over regular models and preserve high generalizing test performance, even though these layers come at a negligible increase in the number of parameters. We then exploit the closed form expression of Gabor filters to derive an expression for a Lipschitz constant of such filters, and harness this theoretical result to develop a regularizer we use during training to further enhance network robustness. We conduct extensive experiments with various architectures (LeNet, AlexNet, VGG16 and WideResNet) on several datasets (MNIST, SVHN, CIFAR10 and CIFAR100) and demonstrate large empirical robustness gains. Furthermore, we experimentally show how our regularizer provides consistent robustness improvements.
VIBE: Video Inference for Human Body Pose and Shape Estimation
Authors: Muhammed Kocabas, Nikos Athanasiou, Michael J. Black
Date: 2019-12-11 00:00:00
Proceeding: CVPR 2020 6
Tasks: 3D Human Pose Estimation, 3D Pose Estimation, 3D Shape Reconstruction, Monocular 3D Human Pose Estimation, Pose Estimation

Human motion is fundamental to understanding behavior. Despite progress on single-image 3D pose and shape estimation, existing video-based state-of-the-art methods fail to produce accurate and natural motion sequences due to a lack of ground-truth 3D motion data for training. To address this problem, we propose Video Inference for Body Pose and Shape Estimation (VIBE), which makes use of an existing large-scale motion capture dataset (AMASS) together with unpaired, in-the-wild, 2D keypoint annotations. Our key novelty is an adversarial learning framework that leverages AMASS to discriminate between real human motions and those produced by our temporal pose and shape regression networks. We define a temporal network architecture and show that adversarial training, at the sequence level, produces kinematically plausible motion sequences without in-the-wild ground-truth 3D labels. We perform extensive experimentation to analyze the importance of motion and demonstrate the effectiveness of VIBE on challenging 3D pose estimation datasets, achieving state-of-the-art performance. Code and pretrained models are available at https://github.com/mkocabas/VIBE.
deepsing: Generating Sentiment-aware Visual Stories using Cross-modal Music Translation
Authors: Nikolaos Passalis, Stavros Doropoulos
Date: 2019-12-11 00:00:00
Tasks: Deep Learning, Translation

In this paper we propose a deep learning method for performing attributed-based music-to-image translation. The proposed method is applied for synthesizing visual stories according to the sentiment expressed by songs. The generated images aim to induce the same feelings to the viewers, as the original song does, reinforcing the primary aim of music, i.e., communicating feelings. The process of music-to-image translation poses unique challenges, mainly due to the unstable mapping between the different modalities involved in this process. In this paper, we employ a trainable cross-modal translation method to overcome this limitation, leading to the first, to the best of our knowledge, deep learning method for generating sentiment-aware visual stories. Various aspects of the proposed method are extensively evaluated and discussed using different songs.
Bayesian Variational Autoencoders for Unsupervised Out-of-Distribution Detection
Authors: Erik Daxberger, José Miguel Hernández-Lobato
Date: 2019-12-11 00:00:00
Tasks: Decoder, Out-of-Distribution Detection

Despite their successes, deep neural networks may make unreliable predictions when faced with test data drawn from a distribution different to that of the training data, constituting a major problem for AI safety. While this has recently motivated the development of methods to detect such out-of-distribution (OoD) inputs, a robust solution is still lacking. We propose a new probabilistic, unsupervised approach to this problem based on a Bayesian variational autoencoder model, which estimates a full posterior distribution over the decoder parameters using stochastic gradient Markov chain Monte Carlo, instead of fitting a point estimate. We describe how information-theoretic measures based on this posterior can then be used to detect OoD inputs both in input space and in the model's latent space. We empirically demonstrate the effectiveness of our proposed approach.
A recipe for creating ideal hybrid memristive-CMOS neuromorphic computing systems
Authors: Elisabetta Chicca, Giacomo Indiveri
Date: 2019-12-11 00:00:00
Tasks: Edge-computing

The development of memristive device technologies has reached a level of maturity to enable the design of complex and large-scale hybrid memristive-CMOS neural processing systems. These systems offer promising solutions for implementing novel in-memory computing architectures for machine learning and data analysis problems. We argue that they are also ideal building blocks for the integration in neuromorphic electronic circuits suitable for ultra-low power brain-inspired sensory processing systems, therefore leading to the innovative solutions for always-on edge-computing and Internet-of-Things (IoT) applications. Here we present a recipe for creating such systems based on design strategies and computing principles inspired by those used in mammalian brains. We enumerate the specifications and properties of memristive devices required to support always-on learning in neuromorphic computing systems and to minimize their power consumption. Finally, we discuss in what cases such neuromorphic systems can complement conventional processing ones and highlight the importance of exploiting the physics of both the memristive devices and of the CMOS circuits interfaced to them.
CineFilter: Unsupervised Filtering for Real Time Autonomous Camera Systems
Authors: Sudheer Achary, K L Bhanu Moorthy, Syed Ashar Javed, Nikita Shravan, Vineet Gandhi, Anoop Namboodiri
Date: 2019-12-11 00:00:00
Tasks: Decoder

Autonomous camera systems are often subjected to an optimization/filtering operation to smoothen and stabilize the rough trajectory estimates. Most common filtering techniques do reduce the irregularities in data; however, they fail to mimic the behavior of a human cameraman. Global filtering methods modeling human camera operators have been successful; however, they are limited to offline settings. In this paper, we propose two online filtering methods called Cinefilters, which produce smooth camera trajectories that are motivated by cinematographic principles. The first filter (CineConvex) uses a sliding window-based convex optimization formulation, and the second (CineCNN) is a CNN based encoder-decoder model. We evaluate the proposed filters in two different settings, namely a basketball dataset and a stage performance dataset. Our models outperform previous methods and baselines on both quantitative and qualitative metrics. The CineConvex and CineCNN filters operate at about 250fps and 1000fps, respectively, with a minor latency (half a second), making them apt for a variety of real-time applications.
Discriminative Dimension Reduction based on Mutual Information
Authors: Orod Razeghi, Guoping Qiu
Date: 2019-12-11 00:00:00
Tasks: Classification, Dimensionality Reduction, General Classification, subspace methods

The "curse of dimensionality" is a well-known problem in pattern recognition. A widely used approach to tackling the problem is a group of subspace methods, where the original features are projected onto a new space. The lower dimensional subspace is then used to approximate the original features for classification. However, most subspace methods were not originally developed for classification. We believe that direct adoption of these subspace methods for pattern classification should not be considered best practice. In this paper, we present a new information theory based algorithm for selecting subspaces, which can always result in superior performance over conventional methods. This paper makes the following main contributions: i) it improves a common practice widely used by practitioners in the field of pattern recognition, ii) it develops an information theory based technique for systematically selecting the subspaces that are discriminative and therefore are suitable for pattern recognition/classification purposes, iii) it presents extensive experimental results on a variety of computer vision and pattern recognition tasks to illustrate that the subspaces selected based on maximum mutual information criterion will always enhance performance regardless of the classification techniques used.
Large-scale Kernel Methods and Applications to Lifelong Robot Learning
Authors: Raffaello Camoriano
Date: 2019-12-11 00:00:00
Tasks: Lifelong learning

As the size and richness of available datasets grow larger, the opportunities for solving increasingly challenging problems with algorithms learning directly from data grow at the same pace. Consequently, the capability of learning algorithms to work with large amounts of data has become a crucial scientific and technological challenge for their practical applicability. Hence, it is no surprise that large-scale learning is currently drawing plenty of research effort in the machine learning research community. In this thesis, we focus on kernel methods, a theoretically sound and effective class of learning algorithms yielding nonparametric estimators. Kernel methods, in their classical formulations, are accurate and efficient on datasets of limited size, but do not scale up in a cost-effective manner. Recent research has shown that approximate learning algorithms, for instance random subsampling methods like Nystr\"om and random features, with time-memory-accuracy trade-off mechanisms are more scalable alternatives. In this thesis, we provide analyses of the generalization properties and computational requirements of several types of such approximation schemes. In particular, we expose the tight relationship between statistics and computations, with the goal of tailoring the accuracy of the learning process to the available computational resources. Our results are supported by experimental evidence on large-scale datasets and numerical simulations. We also study how large-scale learning can be applied to enable accurate, efficient, and reactive lifelong learning for robotics. In particular, we propose algorithms allowing robots to learn continuously from experience and adapt to changes in their operational environment. The proposed methods are validated on the iCub humanoid robot in addition to other benchmarks.
A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set
Authors: Clemens Eppner, Arsalan Mousavian, Dieter Fox
Date: 2019-12-11 00:00:00

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often overlooked question is how to generate the grasps that make up these data sets. In this paper, we review, classify, and compare different grasp sampling strategies. Our evaluation is based on a fine-grained discretization of SE(3) and uses physics-based simulation to evaluate the quality and robustness of the corresponding parallel-jaw grasps. Specifically, we consider more than 1 billion grasps for each of the 21 objects from the YCB data set. This dense data set lets us evaluate existing sampling schemes w.r.t. their bias and efficiency. Our experiments show that some popular sampling schemes contain significant bias and do not cover all possible ways an object can be grasped.
Simultaneous Detection and Removal of Dynamic Objects in Multi-view Images
Authors: Gagan Kanojia, Shanmuganathan Raman
Date: 2019-12-11 00:00:00

Consider a set of images of a scene consisting of moving objects captured using a hand-held camera. In this work, we propose an algorithm which takes this set of multi-view images as input, detects the dynamic objects present in the scene, and replaces them with the static regions which are being occluded by them. The proposed algorithm scans the reference image in the row-major order at the pixel level and classifies each pixel as static or dynamic. During the scan, when a pixel is classified as dynamic, the proposed algorithm replaces that pixel value with the corresponding pixel value of the static region which is being occluded by that dynamic region. We show that we achieve artifact-free removal of dynamic objects in multi-view images of several real-world scenes. To the best of our knowledge, we propose the first method which simultaneously detects and removes the dynamic objects present in multi-view images.
Peek Inside the Closed World: Evaluating Autoencoder-Based Detection of DDoS to Cloud
Authors: Hang Guo, Xun Fan, Anh Cao, Geoff Outhred, John Heidemann
Date: 2019-12-11 00:00:00
Tasks: Anomaly Detection, counterfactual, Counterfactual Explanation

Machine-learning-based anomaly detection (ML-based AD) has been successful at detecting DDoS events in the lab. However published evaluations of ML-based AD have used only limited data and provided minimal insight into why it works. To address limited evaluation against real-world data, we apply autoencoder, an existing ML-AD model, to 57 DDoS attack events captured at 5 cloud IPs from a major cloud provider. We show that our models detect nearly all malicious flows for 2 of the 4 cloud IPs under attack (at least 99.99%) and detect most malicious flows (94.75% and 91.37%) for the remaining 2 IPs. Our models also maintain near-zero false positives on benign flows to all 5 IPs. Our primary contribution is to improve our understanding for why ML-based AD works on some malicious flows but not others. We interpret our detection results with feature attribution and counterfactual explanation. We show that our models are better at detecting malicious flows with anomalies on allow-listed features (those with only a few benign values) than flows with anomalies on deny-listed features (those with mostly benign values) because our models are more likely to learn correct normality for allow-listed features. We then show that our models are better at detecting malicious flows with anomalies on unordered features (that have no ordering among their values) than flows with anomalies on ordered features because even with incomplete normality, our models could still detect anomalies on unordered feature with high recall. Lastly, we summarize the implications of what we learn on applying autoencoder-based AD in production: training with noisy real-world data is possible, autoencoder can reliably detect real-world anomalies on well-represented unordered features and combinations of autoencoder-based AD and heuristic-based filters can help both.
Object Recognition with Human in the Loop Intelligent Frameworks
Authors: Orod Razeghi, Guoping Qiu
Date: 2019-12-11 00:00:00
Tasks: Object, Object Recognition

Classifiers embedded within human in the loop visual object recognition frameworks commonly utilise two sources of information: one derived directly from the imagery data of an object, and the other obtained interactively from user interactions. These computer vision frameworks exploit human high-level cognitive power to tackle particularly difficult visual object recognition tasks. In this paper, we present innovative techniques to combine the two sources of information intelligently for the purpose of improving recognition accuracy. We firstly employ standard algorithms to build two classifiers for the two sources independently, and subsequently fuse the outputs from these classifiers to make a conclusive decision. The two fusion techniques proposed are: i) a modified naive Bayes algorithm that adaptively selects an individual classifier's output or combines both to produce a definite answer, and ii) a neural network based algorithm which feeds the outputs of the two classifiers to a 4-layer feedforward network to generate a final output. We present extensive experimental results on 4 challenging visual recognition tasks to illustrate that the new intelligent techniques consistently outperform traditional approaches to fusing the two sources of information.
Representation of Federated Learning via Worst-Case Robust Optimization Theory
Authors: Saeedeh Parsaeefard, Iman Tabrizian, Alberto Leon Garcia
Date: 2019-12-11 00:00:00
Tasks: Federated Learning

Federated learning (FL) is a distributed learning approach where a set of end-user devices participate in the learning process by acting on their isolated local data sets. Here, we process local data sets of users where worst-case optimization theory is used to reformulate the FL problem where the impact of local data sets in training phase is considered as an uncertain function bounded in a closed uncertainty region. This representation allows us to compare the performance of FL with its centralized counterpart, and to replace the uncertain function with a concept of protection functions leading to more tractable formulation. The latter supports applying a regularization factor in each user cost function in FL to reach a better performance. We evaluated our model using the MNIST data set versus the protection function parameters, e.g., regularization factors.
Neural Voice Puppetry: Audio-driven Facial Reenactment
Authors: Justus Thies, Mohamed Elgharib, Ayush Tewari, Christian Theobalt, Matthias Nießner
Date: 2019-12-11 00:00:00
Proceeding: ECCV 2020 8
Tasks: Face Model, Neural Rendering, Talking Face Generation, Talking Head Generation, text-to-speech, Text to Speech

We present Neural Voice Puppetry, a novel approach for audio-driven facial video synthesis. Given an audio sequence of a source person or digital assistant, we generate a photo-realistic output video of a target person that is in sync with the audio of the source input. This audio-driven facial reenactment is driven by a deep neural network that employs a latent 3D face model space. Through the underlying 3D representation, the model inherently learns temporal stability while we leverage neural rendering to generate photo-realistic output frames. Our approach generalizes across different people, allowing us to synthesize videos of a target actor with the voice of any unknown source actor or even synthetic voices that can be generated utilizing standard text-to-speech approaches. Neural Voice Puppetry has a variety of use-cases, including audio-driven video avatars, video dubbing, and text-driven video synthesis of a talking head. We demonstrate the capabilities of our method in a series of audio- and text-based puppetry examples, including comparisons to state-of-the-art techniques and a user study.
Information-Theoretic Performance Limitations of Feedback Control: Underlying Entropic Laws and Generic $\mathcal{L}_{p}$ Bounds
Authors: Song Fang, Quanyan Zhu
Date: 2019-12-11 00:00:00

In this paper, we utilize information theory to study the fundamental performance limitations of generic feedback systems, where both the controller and the plant may be any causal functions/mappings while the disturbance can be with any distributions. More specifically, we obtain fundamental $\mathcal{L}_p$ bounds on the control error, which are shown to be completely characterized by the conditional entropy of the disturbance, based upon the entropic laws that are inherent in any feedback systems. We also discuss the generality and implications (in, e.g., fundamental limits of learning-based control) of the obtained bounds.