pwc-archive/papers-with-abstracts huggingface dataset:
Deep Reinforcement Learning Controller for 3D Path-following and Collision Avoidance by Autonomous Underwater Vehicles
Authors: Simen Theie Havenstrøm, Adil Rasheed, Omer San
Date: 2020-06-17 00:00:00
Tasks: Collision Avoidance, Decision Making, Deep Reinforcement Learning, Reinforcement Learning (RL)

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the physical system. However, in complex systems, such as autonomous underwater vehicles performing the dual objective of path-following and collision avoidance, decision making becomes non-trivial. We propose a solution using state-of-the-art Deep Reinforcement Learning (DRL) techniques, to develop autonomous agents capable of achieving this hybrid objective without having \`a priori knowledge about the goal or the environment. Our results demonstrate the viability of DRL in path-following and avoiding collisions toward achieving human-level decision making in autonomous vehicle systems within extreme obstacle configurations.
Optimizing Grouped Convolutions on Edge Devices
Authors: Perry Gibson, José Cano, Jack Turner, Elliot J. Crowley, Michael O'Boyle, Amos Storkey
Date: 2020-06-17 00:00:00

When deploying a deep neural network on constrained hardware, it is possible to replace the network's standard convolutions with grouped convolutions. This allows for substantial memory savings with minimal loss of accuracy. However, current implementations of grouped convolutions in modern deep learning frameworks are far from performing optimally in terms of speed. In this paper we propose Grouped Spatial Pack Convolutions (GSPC), a new implementation of grouped convolutions that outperforms existing solutions. We implement GSPC in TVM, which provides state-of-the-art performance on edge devices. We analyze a set of networks utilizing different types of grouped convolutions and evaluate their performance in terms of inference time on several edge devices. We observe that our new implementation scales well with the number of groups and provides the best inference times in all settings, improving the existing implementations of grouped convolutions in TVM, PyTorch and TensorFlow Lite by 3.4x, 8x and 4x on average respectively. Code is available at https://github.com/gecLAB/tvm-GSPC/
Categorical Normalizing Flows via Continuous Transformations
Authors: Phillip Lippe, Efstratios Gavves
Date: 2020-06-17 00:00:00
Proceeding: ICLR 2021 1
Tasks: Decoder, Inductive Bias, Variational Inference

Despite their popularity, to date, the application of normalizing flows on categorical data stays limited. The current practice of using dequantization to map discrete data to a continuous space is inapplicable as categorical data has no intrinsic order. Instead, categorical data have complex and latent relations that must be inferred, like the synonymy between words. In this paper, we investigate \emph{Categorical Normalizing Flows}, that is normalizing flows for categorical data. By casting the encoding of categorical data in continuous space as a variational inference problem, we jointly optimize the continuous representation and the model likelihood. Using a factorized decoder, we introduce an inductive bias to model any interactions in the normalizing flow. As a consequence, we do not only simplify the optimization compared to having a joint decoder, but also make it possible to scale up to a large number of categories that is currently impossible with discrete normalizing flows. Based on Categorical Normalizing Flows, we propose GraphCNF a permutation-invariant generative model on graphs. GraphCNF implements a three step approach modeling the nodes, edges and adjacency matrix stepwise to increase efficiency. On molecule generation, GraphCNF outperforms both one-shot and autoregressive flow-based state-of-the-art.
Sketch-Guided Scenery Image Outpainting
Authors: Yaxiong Wang, Yunchao Wei, Xueming Qian, Li Zhu, Yi Yang
Date: 2020-06-17 00:00:00
Tasks: Decoder, Image Outpainting

The outpainting results produced by existing approaches are often too random to meet users' requirement. In this work, we take the image outpainting one step forward by allowing users to harvest personal custom outpainting results using sketches as the guidance. To this end, we propose an encoder-decoder based network to conduct sketch-guided outpainting, where two alignment modules are adopted to impose the generated content to be realistic and consistent with the provided sketches. First, we apply a holistic alignment module to make the synthesized part be similar to the real one from the global view. Second, we reversely produce the sketches from the synthesized part and encourage them be consistent with the ground-truth ones using a sketch alignment module. In this way, the learned generator will be imposed to pay more attention to fine details and be sensitive to the guiding sketches. To our knowledge, this work is the first attempt to explore the challenging yet meaningful conditional scenery image outpainting. We conduct extensive experiments on two collected benchmarks to qualitatively and quantitatively validate the effectiveness of our approach compared with the other state-of-the-art generative models.
Reinforcement Learning with Uncertainty Estimation for Tactical Decision-Making in Intersections
Authors: Carl-Johan Hoel, Tommy Tram, Jonas Sjöberg
Date: 2020-06-17 00:00:00
Tasks: Autonomous Driving, Decision Making, reinforcement-learning, Reinforcement Learning (RL)

This paper investigates how a Bayesian reinforcement learning method can be used to create a tactical decision-making agent for autonomous driving in an intersection scenario, where the agent can estimate the confidence of its recommended actions. An ensemble of neural networks, with additional randomized prior functions (RPF), are trained by using a bootstrapped experience replay memory. The coefficient of variation in the estimated $Q$-values of the ensemble members is used to approximate the uncertainty, and a criterion that determines if the agent is sufficiently confident to make a particular decision is introduced. The performance of the ensemble RPF method is evaluated in an intersection scenario, and compared to a standard Deep Q-Network method. It is shown that the trained ensemble RPF agent can detect cases with high uncertainty, both in situations that are far from the training distribution, and in situations that seldom occur within the training distribution. In this study, the uncertainty information is used to choose safe actions in unknown situations, which removes all collisions from within the training distribution, and most collisions outside of the distribution.
Self-supervised Knowledge Distillation for Few-shot Learning
Authors: Jathushan Rajasegaran, Salman Khan, Munawar Hayat, Fahad Shahbaz Khan, Mubarak Shah
Date: 2020-06-17 00:00:00
Tasks: Few-Shot Image Classification, Few-Shot Learning, Knowledge Distillation, Meta-Learning, Metric Learning

Real-world contains an overwhelmingly large number of object classes, learning all of which at once is infeasible. Few shot learning is a promising learning paradigm due to its ability to learn out of order distributions quickly with only a few samples. Recent works [7, 41] show that simply learning a good feature embedding can outperform more sophisticated meta-learning and metric learning algorithms for few-shot learning. In this paper, we propose a simple approach to improve the representation capacity of deep neural networks for few-shot learning tasks. We follow a two-stage learning process: First, we train a neural network to maximize the entropy of the feature embedding, thus creating an optimal output manifold using a self-supervised auxiliary loss. In the second stage, we minimize the entropy on feature embedding by bringing self-supervised twins together, while constraining the manifold with student-teacher distillation. Our experiments show that, even in the first stage, self-supervision can outperform current state-of-the-art methods, with further gains achieved by our second stage distillation process. Our codes are available at: https://github.com/brjathu/SKD.
Neural Ordinary Differential Equation Control of Dynamics on Graphs
Authors: Thomas Asikis, Lucas Böttcher, Nino Antulov-Fantulin
Date: 2020-06-17 00:00:00
Tasks: Deep Reinforcement Learning, Reinforcement Learning (RL)

We study the ability of neural networks to calculate feedback control signals that steer trajectories of continuous time non-linear dynamical systems on graphs, which we represent with neural ordinary differential equations (neural ODEs). To do so, we present a neural-ODE control (NODEC) framework and find that it can learn feedback control signals that drive graph dynamical systems into desired target states. While we use loss functions that do not constrain the control energy, our results show, in accordance with related work, that NODEC produces low energy control signals. Finally, we evaluate the performance and versatility of NODEC against well-known feedback controllers and deep reinforcement learning. We use NODEC to generate feedback controls for systems of more than one thousand coupled, non-linear ODEs that represent epidemic processes and coupled oscillators.
Mitosis Detection Under Limited Annotation: A Joint Learning Approach
Authors: Pushpak Pati, Antonio Foncubierta-Rodriguez, Orcun Goksel, Maria Gabrani
Date: 2020-06-17 00:00:00
Tasks: Metric Learning, Mitosis Detection

Mitotic counting is a vital prognostic marker of tumor proliferation in breast cancer. Deep learning-based mitotic detection is on par with pathologists, but it requires large labeled data for training. We propose a deep classification framework for enhancing mitosis detection by leveraging class label information, via softmax loss, and spatial distribution information among samples, via distance metric learning. We also investigate strategies towards steadily providing informative samples to boost the learning. The efficacy of the proposed framework is established through evaluation on ICPR 2012 and AMIDA 2013 mitotic data. Our framework significantly improves the detection with small training data and achieves on par or superior performance compared to state-of-the-art methods for using the entire training data.
Improving unsupervised neural aspect extraction for online discussions using out-of-domain classification
Authors: Anton Alekseev, Elena Tutubalina, Valentin Malykh, Sergey Nikolenko
Date: 2020-06-17 00:00:00
Tasks: Articles, Aspect Extraction, domain classification, General Classification, Sentence

Deep learning architectures based on self-attention have recently achieved and surpassed state of the art results in the task of unsupervised aspect extraction and topic modeling. While models such as neural attention-based aspect extraction (ABAE) have been successfully applied to user-generated texts, they are less coherent when applied to traditional data sources such as news articles and newsgroup documents. In this work, we introduce a simple approach based on sentence filtering in order to improve topical aspects learned from newsgroups-based content without modifying the basic mechanism of ABAE. We train a probabilistic classifier to distinguish between out-of-domain texts (outer dataset) and in-domain texts (target dataset). Then, during data preparation we filter out sentences that have a low probability of being in-domain and train the neural model on the remaining sentences. The positive effect of sentence filtering on topic coherence is demonstrated in comparison to aspect extraction models trained on unfiltered texts.
Longitudinal Variational Autoencoder
Authors: Siddharth Ramchandran, Gleb Tikhonov, Kalle Kujanpää, Miika Koskinen, Harri Lähdesmäki
Date: 2020-06-17 00:00:00
Tasks: Imputation, Missing Values, Time Series Analysis

Longitudinal datasets measured repeatedly over time from individual subjects, arise in many biomedical, psychological, social, and other studies. A common approach to analyse high-dimensional data that contains missing values is to learn a low-dimensional representation using variational autoencoders (VAEs). However, standard VAEs assume that the learnt representations are i.i.d., and fail to capture the correlations between the data samples. We propose the Longitudinal VAE (L-VAE), that uses a multi-output additive Gaussian process (GP) prior to extend the VAE's capability to learn structured low-dimensional representations imposed by auxiliary covariate information, and derive a new KL divergence upper bound for such GPs. Our approach can simultaneously accommodate both time-varying shared and random effects, produce structured low-dimensional representations, disentangle effects of individual covariates or their interactions, and achieve highly accurate predictive performance. We compare our model against previous methods on synthetic as well as clinical datasets, and demonstrate the state-of-the-art performance in data imputation, reconstruction, and long-term prediction tasks.
Maximum Roaming Multi-Task Learning
Authors: Lucas Pascal, Pietro Michiardi, Xavier Bost, Benoit Huet, Maria A. Zuluaga
Date: 2020-06-17 00:00:00
Tasks: Inductive Bias, Multi-Task Learning

Multi-task learning has gained popularity due to the advantages it provides with respect to resource usage and performance. Nonetheless, the joint optimization of parameters with respect to multiple tasks remains an active research topic. Sub-partitioning the parameters between different tasks has proven to be an efficient way to relax the optimization constraints over the shared weights, may the partitions be disjoint or overlapping. However, one drawback of this approach is that it can weaken the inductive bias generally set up by the joint task optimization. In this work, we present a novel way to partition the parameter space without weakening the inductive bias. Specifically, we propose Maximum Roaming, a method inspired by dropout that randomly varies the parameter partitioning, while forcing them to visit as many tasks as possible at a regulated frequency, so that the network fully adapts to each update. We study the properties of our method through experiments on a variety of visual multi-task data sets. Experimental results suggest that the regularization brought by roaming has more impact on performance than usual partitioning optimization strategies. The overall method is flexible, easily applicable, provides superior regularization and consistently achieves improved performances compared to recent multi-task learning formulations.
Evaluation of 3D CNN Semantic Mapping for Rover Navigation
Authors: Sebastiano Chiodini, Luca Torresin, Marco Pertile, Stefano Debei
Date: 2020-06-17 00:00:00
Tasks: Decoder, Semantic Segmentation, Trajectory Planning

Terrain assessment is a key aspect for autonomous exploration rovers, surrounding environment recognition is required for multiple purposes, such as optimal trajectory planning and autonomous target identification. In this work we present a technique to generate accurate three-dimensional semantic maps for Martian environment. The algorithm uses as input a stereo image acquired by a camera mounted on a rover. Firstly, images are labeled with DeepLabv3+, which is an encoder-decoder Convolutional Neural Networl (CNN). Then, the labels obtained by the semantic segmentation are combined to stereo depth-maps in a Voxel representation. We evaluate our approach on the ESA Katwijk Beach Planetary Rover Dataset.
How isotropic kernels perform on simple invariants
Authors: Jonas Paccolat, Stefano Spigler, Matthieu Wyart
Date: 2020-06-17 00:00:00
Tasks: Binary Classification, regression

We investigate how the training curve of isotropic kernel methods depends on the symmetry of the task to be learned, in several settings. (i) We consider a regression task, where the target function is a Gaussian random field that depends only on $d_\parallel$ variables, fewer than the input dimension $d$. We compute the expected test error $\epsilon$ that follows $\epsilon\sim p^{-\beta}$ where $p$ is the size of the training set. We find that $\beta\sim 1/d$ independently of $d_\parallel$, supporting previous findings that the presence of invariants does not resolve the curse of dimensionality for kernel regression. (ii) Next we consider support-vector binary classification and introduce the stripe model where the data label depends on a single coordinate $y(\underline{x}) = y(x_1)$, corresponding to parallel decision boundaries separating labels of different signs, and consider that there is no margin at these interfaces. We argue and confirm numerically that for large bandwidth, $\beta = \frac{d-1+\xi}{3d-3+\xi}$, where $\xi\in (0,2)$ is the exponent characterizing the singularity of the kernel at the origin. This estimation improves classical bounds obtainable from Rademacher complexity. In this setting there is no curse of dimensionality since $\beta\rightarrow 1 / 3$ as $d\rightarrow\infty$. (iii) We confirm these findings for the spherical model for which $y(\underline{x}) = y(|\underline{x}|)$. (iv) In the stripe model, we show that if the data are compressed along their invariants by some factor $\lambda$ (an operation believed to take place in deep networks), the test error is reduced by a factor $\lambda^{-\frac{2(d-1)}{3d-3+\xi}}$.
SnapBoost: A Heterogeneous Boosting Machine
Authors: Thomas Parnell, Andreea Anghel, Malgorzata Lazuka, Nikolas Ioannou, Sebastian Kurella, Peshal Agarwal, Nikolaos Papandreou, Haralampos Pozidis
Date: 2020-06-17 00:00:00
Proceeding: NeurIPS 2020 12

Modern gradient boosting software frameworks, such as XGBoost and LightGBM, implement Newton descent in a functional space. At each boosting iteration, their goal is to find the base hypothesis, selected from some base hypothesis class, that is closest to the Newton descent direction in a Euclidean sense. Typically, the base hypothesis class is fixed to be all binary decision trees up to a given depth. In this work, we study a Heterogeneous Newton Boosting Machine (HNBM) in which the base hypothesis class may vary across boosting iterations. Specifically, at each boosting iteration, the base hypothesis class is chosen, from a fixed set of subclasses, by sampling from a probability distribution. We derive a global linear convergence rate for the HNBM under certain assumptions, and show that it agrees with existing rates for Newton's method when the Newton direction can be perfectly fitted by the base hypothesis at each boosting iteration. We then describe a particular realization of a HNBM, SnapBoost, that, at each boosting iteration, randomly selects between either a decision tree of variable depth or a linear regressor with random Fourier features. We describe how SnapBoost is implemented, with a focus on the training complexity. Finally, we present experimental results, using OpenML and Kaggle datasets, that show that SnapBoost is able to achieve better generalization loss than competing boosting frameworks, without taking significantly longer to tune.
Probabilistic orientation estimation with matrix Fisher distributions
Authors: D. Mohlin, G. Bianchi, J. Sullivan
Date: 2020-06-17 00:00:00
Proceeding: NeurIPS 2020 12

This paper focuses on estimating probability distributions over the set of 3D rotations ($SO(3)$) using deep neural networks. Learning to regress models to the set of rotations is inherently difficult due to differences in topology between $\mathbb{R}^N$ and $SO(3)$. We overcome this issue by using a neural network to output the parameters for a matrix Fisher distribution since these parameters are homeomorphic to $\mathbb{R}^9$. By using a negative log likelihood loss for this distribution we get a loss which is convex with respect to the network outputs. By optimizing this loss we improve state-of-the-art on several challenging applicable datasets, namely Pascal3D+, ModelNet10-$SO(3)$ and UPNA head pose.
Comparative Sentiment Analysis of App Reviews
Authors: Sakshi Ranjan, Subhankar Mishra
Date: 2020-06-17 00:00:00
Tasks: BIG-bench Machine Learning, Ensemble Learning, Sentiment Analysis, Sentiment Classification

Google app market captures the school of thought of users via ratings and text reviews. The critique's viewpoint regarding an app is proportional to their satisfaction level. Consequently, this helps other users to gain insights before downloading or purchasing the apps. The potential information from the reviews can't be extracted manually, due to its exponential growth. Sentiment analysis, by machine learning algorithms employing NLP, is used to explicitly uncover and interpret the emotions. This study aims to perform the sentiment classification of the app reviews and identify the university students' behavior towards the app market. We applied machine learning algorithms using the TF-IDF text representation scheme and the performance was evaluated on the ensemble learning method. Our model was trained on Google reviews and tested on students' reviews. SVM recorded the maximum accuracy(93.37\%), F-score(0.88) on tri-gram + TF-IDF scheme. Bagging enhanced the performance of LR and NB with accuracy of 87.80\% and 85.5\% respectively.
LRPD: Long Range 3D Pedestrian Detection Leveraging Specific Strengths of LiDAR and RGB
Authors: Michael Fürst, Oliver Wasenmüller, Didier Stricker
Date: 2020-06-17 00:00:00
Tasks: Autonomous Vehicles, Instance Segmentation, Pedestrian Detection, Position, Semantic Segmentation

While short range 3D pedestrian detection is sufficient for emergency breaking, long range detections are required for smooth breaking and gaining trust in autonomous vehicles. The current state-of-the-art on the KITTI benchmark performs suboptimal in detecting the position of pedestrians at long range. Thus, we propose an approach specifically targeting long range 3D pedestrian detection (LRPD), leveraging the density of RGB and the precision of LiDAR. Therefore, for proposals, RGB instance segmentation and LiDAR point based proposal generation are combined, followed by a second stage using both sensor modalities symmetrically. This leads to a significant improvement in mAP on long range compared to the current state-of-the art. The evaluation of our LRPD approach was done on the pedestrians from the KITTI benchmark.
Factuality Checking in News Headlines with Eye Tracking
Authors: Christian Hansen, Casper Hansen, Jakob Grue Simonsen, Birger Larsen, Stephen Alstrup, Christina Lioma
Date: 2020-06-17 00:00:00

We study whether it is possible to infer if a news headline is true or false using only the movement of the human eyes when reading news headlines. Our study with 55 participants who are eye-tracked when reading 108 news headlines (72 true, 36 false) shows that false headlines receive statistically significantly less visual attention than true headlines. We further build an ensemble learner that predicts news headline factuality using only eye-tracking measurements. Our model yields a mean AUC of 0.688 and is better at detecting false than true headlines. Through a model analysis, we find that eye-tracking 25 users when reading 3-6 headlines is sufficient for our ensemble learner.