pwc-archive/papers-with-abstracts huggingface dataset:
Imitation and Supervised Learning of Compliance for Robotic Assembly
Authors: Devesh K. Jha, Diego Romeres, William Yerazunis, Daniel Nikovski
Date: 2021-11-20 00:00:00
Tasks: Industrial Robots, Position

We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided through demonstration by an expert teacher. This can be used to learn a suitable representation of the skill that can be generalized to novel positions of one of the parts involved in the assembly, for example the hole in a peg-in-hole (PiH) insertion task. Under the expectation that this novel position might not be entirely accurately estimated by a vision or other sensing system, the robot will need to further modify the generated trajectory in response to force readings measured by means of a force-torque (F/T) sensor mounted at the wrist of the robot or another suitable location. Under the assumption of constant velocity of traversing the reference trajectory during assembly, we propose a novel accommodation force controller that allows the robot to safely explore different contact configurations. The data collected using this controller is used to train a Gaussian process model to predict the misalignment in the position of the peg with respect to the target hole. We show that the proposed learning-based approach can correct various contact configurations caused by misalignment between the assembled parts in a PiH task, achieving high success rate during insertion. We show results using an industrial manipulator arm, and demonstrate that the proposed method can perform adaptive insertion using force feedback from the trained machine learning models.
Inter-Domain Fusion for Enhanced Intrusion Detection in Power Systems: An Evidence Theoretic and Meta-Heuristic Approach
Authors: Abhijeet Sahu, Katherine Davis
Date: 2021-11-20 00:00:00
Tasks: feature selection, Intrusion Detection

False alerts due to misconfigured/ compromised IDS in ICS networks can lead to severe economic and operational damage. To solve this problem, research has focused on leveraging deep learning techniques that help reduce false alerts. However, a shortcoming is that these works often require or implicitly assume the physical and cyber sensors to be trustworthy. Implicit trust of data is a major problem with using artificial intelligence or machine learning for CPS security, because during critical attack detection time they are more at risk, with greater likelihood and impact, of also being compromised. To address this shortcoming, the problem is reframed on how to make good decisions given uncertainty. Then, the decision is detection, and the uncertainty includes whether the data used for ML-based IDS is compromised. Thus, this work presents an approach for reducing false alerts in CPS power systems by dealing uncertainty without the knowledge of prior distribution of alerts. Specifically, an evidence theoretic based approach leveraging Dempster Shafer combination rules are proposed for reducing false alerts. A multi-hypothesis mass function model is designed that leverages probability scores obtained from various supervised-learning classifiers. Using this model, a location-cum-domain based fusion framework is proposed and evaluated with different combination rules, that fuse multiple evidence from inter-domain and intra-domain sensors. The approach is demonstrated in a cyber-physical power system testbed with Man-In-The-Middle attack emulation in a large-scale synthetic electric grid. For evaluating the performance, plausibility, belief, pignistic, etc. metrics as decision functions are considered. To improve the performance, a multi-objective based genetic algorithm is proposed for feature selection considering the decision metrics as the fitness function.
PatchCensor: Patch Robustness Certification for Transformers via Exhaustive Testing
Authors: Yuheng Huang, Lei Ma, Yuanchun Li
Date: 2021-11-19 00:00:00

Vision Transformer (ViT) is known to be highly nonlinear like other classical neural networks and could be easily fooled by both natural and adversarial patch perturbations. This limitation could pose a threat to the deployment of ViT in the real industrial environment, especially in safety-critical scenarios. In this work, we propose PatchCensor, aiming to certify the patch robustness of ViT by applying exhaustive testing. We try to provide a provable guarantee by considering the worst patch attack scenarios. Unlike empirical defenses against adversarial patches that may be adaptively breached, certified robust approaches can provide a certified accuracy against arbitrary attacks under certain conditions. However, existing robustness certifications are mostly based on robust training, which often requires substantial training efforts and the sacrifice of model performance on normal samples. To bridge the gap, PatchCensor seeks to improve the robustness of the whole system by detecting abnormal inputs instead of training a robust model and asking it to give reliable results for every input, which may inevitably compromise accuracy. Specifically, each input is tested by voting over multiple inferences with different mutated attention masks, where at least one inference is guaranteed to exclude the abnormal patch. This can be seen as complete-coverage testing, which could provide a statistical guarantee on inference at the test time. Our comprehensive evaluation demonstrates that PatchCensor is able to achieve high certified accuracy (e.g. 67.1% on ImageNet for 2%-pixel adversarial patches), significantly outperforming state-of-the-art techniques while achieving similar clean accuracy (81.8% on ImageNet). Meanwhile, our technique also supports flexible configurations to handle different adversarial patch sizes (up to 25%) by simply changing the masking strategy.
MURAL: An Unsupervised Random Forest-Based Embedding for Electronic Health Record Data
Authors: Michal Gerasimiuk, Dennis Shung, Alexander Tong, Adrian Stanley, Michael Schultz, Jeffrey Ngu, Loren Laine, Guy Wolf, Smita Krishnaswamy
Date: 2021-11-19 00:00:00
Tasks: Diagnostic, Dimensionality Reduction

A major challenge in embedding or visualizing clinical patient data is the heterogeneity of variable types including continuous lab values, categorical diagnostic codes, as well as missing or incomplete data. In particular, in EHR data, some variables are {\em missing not at random (MNAR)} but deliberately not collected and thus are a source of information. For example, lab tests may be deemed necessary for some patients on the basis of suspected diagnosis, but not for others. Here we present the MURAL forest -- an unsupervised random forest for representing data with disparate variable types (e.g., categorical, continuous, MNAR). MURAL forests consist of a set of decision trees where node-splitting variables are chosen at random, such that the marginal entropy of all other variables is minimized by the split. This allows us to also split on MNAR variables and discrete variables in a way that is consistent with the continuous variables. The end goal is to learn the MURAL embedding of patients using average tree distances between those patients. These distances can be fed to nonlinear dimensionality reduction method like PHATE to derive visualizable embeddings. While such methods are ubiquitous in continuous-valued datasets (like single cell RNA-sequencing) they have not been used extensively in mixed variable data. We showcase the use of our method on one artificial and two clinical datasets. We show that using our approach, we can visualize and classify data more accurately than competing approaches. Finally, we show that MURAL can also be used to compare cohorts of patients via the recently proposed tree-sliced Wasserstein distances.
Data Excellence for AI: Why Should You Care
Authors: Lora Aroyo, Matthew Lease, Praveen Paritosh, Mike Schaekermann
Date: 2021-11-19 00:00:00

The efficacy of machine learning (ML) models depends on both algorithms and data. Training data defines what we want our models to learn, and testing data provides the means by which their empirical progress is measured. Benchmark datasets define the entire world within which models exist and operate, yet research continues to focus on critiquing and improving the algorithmic aspect of the models rather than critiquing and improving the data with which our models operate. If "data is the new oil," we are still missing work on the refineries by which the data itself could be optimized for more effective use.
Machine Learning-Based Soft Sensors for Vacuum Distillation Unit
Authors: Kamil Oster, Stefan Güttel, Lu Chen, Jonathan L. Shapiro, Megan Jobson
Date: 2021-11-19 00:00:00
Tasks: BIG-bench Machine Learning, Chemical Process

Product quality assessment in the petroleum processing industry can be difficult and time-consuming, e.g. due to a manual collection of liquid samples from the plant and subsequent chemical laboratory analysis of the samples. The product quality is an important property that informs whether the products of the process are within the specifications. In particular, the delays caused by sample processing (collection, laboratory measurements, results analysis, reporting) can lead to detrimental economic effects. One of the strategies to deal with this problem is soft sensors. Soft sensors are a collection of models that can be used to predict and forecast some infrequently measured properties (such as laboratory measurements of petroleum products) based on more frequent measurements of quantities like temperature, pressure and flow rate provided by physical sensors. Soft sensors short-cut the pathway to obtain relevant information about the product quality, often providing measurements as frequently as every minute. One of the applications of soft sensors is for the real-time optimization of a chemical process by a targeted adaptation of operating parameters. Models used for soft sensors can have various forms, however, among the most common are those based on artificial neural networks (ANNs). While soft sensors can deal with some of the issues in the refinery processes, their development and deployment can pose other challenges that are addressed in this paper. Firstly, it is important to enhance the quality of both sets of data (laboratory measurements and physical sensors) in a data pre-processing stage (as described in Methodology section). Secondly, once the data sets are pre-processed, different models need to be tested against prediction error and the model's interpretability. In this work, we present a framework for soft sensor development from raw data to ready-to-use models.
Action Recognition with Domain Invariant Features of Skeleton Image
Authors: Han Chen, Yifan Jiang, Hanseok Ko
Date: 2021-11-19 00:00:00
Tasks: Action Recognition, Skeleton Based Action Recognition

Due to the fast processing-speed and robustness it can achieve, skeleton-based action recognition has recently received the attention of the computer vision community. The recent Convolutional Neural Network (CNN)-based methods have shown commendable performance in learning spatio-temporal representations for skeleton sequence, which use skeleton image as input to a CNN. Since the CNN-based methods mainly encoding the temporal and skeleton joints simply as rows and columns, respectively, the latent correlation related to all joints may be lost caused by the 2D convolution. To solve this problem, we propose a novel CNN-based method with adversarial training for action recognition. We introduce a two-level domain adversarial learning to align the features of skeleton images from different view angles or subjects, respectively, thus further improve the generalization. We evaluated our proposed method on NTU RGB+D. It achieves competitive results compared with state-of-the-art methods and 2.4$\%$, 1.9$\%$ accuracy gain than the baseline for cross-subject and cross-view.
Finding Useful Predictions by Meta-gradient Descent to Improve Decision-making
Authors: Alex Kearney, Anna Koop, Johannes Günther, Patrick M. Pilarski
Date: 2021-11-18 00:00:00
Tasks: Decision Making

In computational reinforcement learning, a growing body of work seeks to express an agent's model of the world through predictions about future sensations. In this manuscript we focus on predictions expressed as General Value Functions: temporally extended estimates of the accumulation of a future signal. One challenge is determining from the infinitely many predictions that the agent could possibly make which might support decision-making. In this work, we contribute a meta-gradient descent method by which an agent can directly specify what predictions it learns, independent of designer instruction. To that end, we introduce a partially observable domain suited to this investigation. We then demonstrate that through interaction with the environment an agent can independently select predictions that resolve the partial-observability, resulting in performance similar to expertly chosen value functions. By learning, rather than manually specifying these predictions, we enable the agent to identify useful predictions in a self-supervised manner, taking a step towards truly autonomous systems.
GCR: Gradient Coreset Based Replay Buffer Selection For Continual Learning
Authors: Rishabh Tiwari, KrishnaTeja Killamsetty, Rishabh Iyer, Pradeep Shenoy
Date: 2021-11-18 00:00:00
Proceeding: CVPR 2022 1
Tasks: Continual Learning

Continual learning (CL) aims to develop techniques by which a single model adapts to an increasing number of tasks encountered sequentially, thereby potentially leveraging learnings across tasks in a resource-efficient manner. A major challenge for CL systems is catastrophic forgetting, where earlier tasks are forgotten while learning a new task. To address this, replay-based CL approaches maintain and repeatedly retrain on a small buffer of data selected across encountered tasks. We propose Gradient Coreset Replay (GCR), a novel strategy for replay buffer selection and update using a carefully designed optimization criterion. Specifically, we select and maintain a "coreset" that closely approximates the gradient of all the data seen so far with respect to current model parameters, and discuss key strategies needed for its effective application to the continual learning setting. We show significant gains (2%-4% absolute) over the state-of-the-art in the well-studied offline continual learning setting. Our findings also effectively transfer to online / streaming CL settings, showing upto 5% gains over existing approaches. Finally, we demonstrate the value of supervised contrastive loss for continual learning, which yields a cumulative gain of up to 5% accuracy when combined with our subset selection strategy.
Self-Supervised Class Incremental Learning
Authors: Zixuan Ni, Siliang Tang, Yueting Zhuang
Date: 2021-11-18 00:00:00
Tasks: class-incremental learning, Class Incremental Learning, Data Augmentation, Incremental Learning, Linear evaluation, Representation Learning

Existing Class Incremental Learning (CIL) methods are based on a supervised classification framework sensitive to data labels. When updating them based on the new class data, they suffer from catastrophic forgetting: the model cannot discern old class data clearly from the new. In this paper, we explore the performance of Self-Supervised representation learning in Class Incremental Learning (SSCIL) for the first time, which discards data labels and the model's classifiers. To comprehensively discuss the difference in performance between supervised and self-supervised methods in CIL, we set up three different class incremental schemes: Random Class Scheme, Semantic Class Scheme, and Cluster Scheme, to simulate various class incremental learning scenarios. Besides, we propose Linear Evaluation Protocol (LEP) and Generalization Evaluation Protocol (GEP) to metric the model's representation classification ability and generalization in CIL. Our experiments (on ImageNet-100 and ImageNet) show that SSCIL has better anti-forgetting ability and robustness than supervised strategies in CIL. To understand what alleviates the catastrophic forgetting in SSCIL, we study the major components of SSCIL and conclude that (1) the composition of different data augmentation improves the quality of the model's representation and the \textit{Grayscale} operation reduces the system noise of data augmentation in SSCIL. (2) the projector, like a buffer, reduces unnecessary parameter updates of the model in SSCIL and increases the robustness of the model. Although the performance of SSCIL is significantly higher than supervised methods in CIL, there is still an apparent gap with joint learning. Our exploration gives a baseline of self-supervised class incremental learning on large-scale datasets and contributes some forward strategies for mitigating the catastrophic forgetting in CIL.
Improved Sample Complexity Bounds for Branch-and-Cut
Authors: Maria-Florina Balcan, Siddharth Prasad, Tuomas Sandholm, Ellen Vitercik
Date: 2021-11-18 00:00:00

Branch-and-cut is the most widely used algorithm for solving integer programs, employed by commercial solvers like CPLEX and Gurobi. Branch-and-cut has a wide variety of tunable parameters that have a huge impact on the size of the search tree that it builds, but are challenging to tune by hand. An increasingly popular approach is to use machine learning to tune these parameters: using a training set of integer programs from the application domain at hand, the goal is to find a configuration with strong predicted performance on future, unseen integer programs from the same domain. If the training set is too small, a configuration may have good performance over the training set but poor performance on future integer programs. In this paper, we prove sample complexity guarantees for this procedure, which bound how large the training set should be to ensure that for any configuration, its average performance over the training set is close to its expected future performance. Our guarantees apply to parameters that control the most important aspects of branch-and-cut: node selection, branching constraint selection, and cutting plane selection, and are sharper and more general than those found in prior research.
Towards Integrative Multi-Modal Personal Health Navigation Systems: Framework and Application
Authors: Nitish Nag, Hyungik Oh, Mengfan Tang, Mingshu Shi, Ramesh Jain
Date: 2021-11-16 00:00:00

It is well understood that an individual's health trajectory is influenced by choices made in each moment, such as from lifestyle or medical decisions. With the advent of modern sensing technologies, individuals have more data and information about themselves than any other time in history. How can we use this data to make the best decisions to keep the health state optimal? We propose a generalized Personal Health Navigation (PHN) framework. PHN takes individuals towards their personal health goals through a system which perpetually digests data streams, estimates current health status, computes the best route through intermediate states utilizing personal models, and guides the best inputs that carry a user towards their goal. In addition to describing the general framework, we test the PHN system in two experiments within the field of cardiology. First, we prospectively test a knowledge-infused cardiovascular PHN system with a pilot clinical trial of 41 users. Second, we build a data-driven personalized model on cardiovascular exercise response variability on a smartwatch data-set of 33,269 real-world users. We conclude with critical challenges in health computing for PHN systems that require deep future investigation.
Towards Tokenized Human Dynamics Representation
Authors: Kenneth Li, Xiao Sun, Zhirong Wu, Fangyun Wei, Stephen Lin
Date: 2021-11-22 00:00:00
Tasks: Action Segmentation, Action Understanding, Genre classification, Human Dynamics, Representation Learning

For human action understanding, a popular research direction is to analyze short video clips with unambiguous semantic content, such as jumping and drinking. However, methods for understanding short semantic actions cannot be directly translated to long human dynamics such as dancing, where it becomes challenging even to label the human movements semantically. Meanwhile, the natural language processing (NLP) community has made progress in solving a similar challenge of annotation scarcity by large-scale pre-training, which improves several downstream tasks with one model. In this work, we study how to segment and cluster videos into recurring temporal patterns in a self-supervised way, namely acton discovery, the main roadblock towards video tokenization. We propose a two-stage framework that first obtains a frame-wise representation by contrasting two augmented views of video frames conditioned on their temporal context. The frame-wise representations across a collection of videos are then clustered by K-means. Actons are then automatically extracted by forming a continuous motion sequence from frames within the same cluster. We evaluate the frame-wise representation learning step by Kendall's Tau and the lexicon building step by normalized mutual information and language entropy. We also study three applications of this tokenization: genre classification, action segmentation, and action composition. On the AIST++ and PKU-MMD datasets, actons bring significant performance improvements compared to several baselines.
RedCaps: web-curated image-text data created by the people, for the people
Authors: Karan Desai, Gaurav Kaul, Zubin Aysola, Justin Johnson
Date: 2021-11-22 00:00:00

Large datasets of paired images and text have become increasingly popular for learning generic representations for vision and vision-and-language tasks. Such datasets have been built by querying search engines or collecting HTML alt-text -- since web data is noisy, they require complex filtering pipelines to maintain quality. We explore alternate data sources to collect high quality data with minimal filtering. We introduce RedCaps -- a large-scale dataset of 12M image-text pairs collected from Reddit. Images and captions from Reddit depict and describe a wide variety of objects and scenes. We collect data from a manually curated set of subreddits, which give coarse image labels and allow us to steer the dataset composition without labeling individual instances. We show that captioning models trained on RedCaps produce rich and varied captions preferred by humans, and learn visual representations that transfer to many downstream tasks.