pwc-archive/papers-with-abstracts huggingface dataset:
A Learning Convolutional Neural Network Approach for Network Robustness Prediction
Authors: Yang Lou, Ruizi Wu, Junli Li, Lin Wang, Xiang Li, Guanrong Chen
Date: 2022-03-20 00:00:00
Tasks: Prediction

Network robustness is critical for various societal and industrial networks again malicious attacks. In particular, connectivity robustness and controllability robustness reflect how well a networked system can maintain its connectedness and controllability against destructive attacks, which can be quantified by a sequence of values that record the remaining connectivity and controllability of the network after a sequence of node- or edge-removal attacks. Traditionally, robustness is determined by attack simulations, which are computationally very time-consuming or even practically infeasible. In this paper, an improved method for network robustness prediction is developed based on learning feature representation using convolutional neural network (LFR-CNN). In this scheme, higher-dimensional network data are compressed to lower-dimensional representations, and then passed to a CNN to perform robustness prediction. Extensive experimental studies on both synthetic and real-world networks, both directed and undirected, demonstrate that 1) the proposed LFR-CNN performs better than other two state-of-the-art prediction methods, with significantly lower prediction errors; 2) LFR-CNN is insensitive to the variation of the network size, which significantly extends its applicability; 3) although LFR-CNN needs more time to perform feature learning, it can achieve accurate prediction faster than attack simulations; 4) LFR-CNN not only can accurately predict network robustness, but also provides a good indicator for connectivity robustness, better than the classical spectral measures.
Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation
Authors: David Vainshtein, Kiril Solovey, Oren Salzman
Date: 2022-03-20 00:00:00
Tasks: Multi-Agent Path Finding

Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. Typical approaches for MAPF consider the locations of obstacles as being fixed, which limits their effectiveness in automated warehouses, where obstacles (representing pods or shelves) can be moved out of the way by agents (representing robots) to relieve bottlenecks and introduce shorter routes. In this work we initiate the study of MAPF with movable obstacles. In particular, we introduce a new extension of MAPF, which we call Terraforming MAPF (tMAPF), where some agents are responsible for moving obstacles to clear the way for other agents. Solving tMAPF is extremely challenging as it requires reasoning not only about collisions between agents, but also where and when obstacles should be moved. We present extensions of two state-of-the-art algorithms, CBS and PBS, in order to tackle tMAPF, and demonstrate that they can consistently outperform the best solution possible under a static-obstacle setting.
End-to-End Video Text Spotting with Transformer
Authors: Weijia Wu, Yuanqiang Cai, Chunhua Shen, Debing Zhang, Ying Fu, Hong Zhou, Ping Luo
Date: 2022-03-20 00:00:00
Tasks: Text Detection, Text Spotting

Recent video text spotting methods usually require the three-staged pipeline, i.e., detecting text in individual images, recognizing localized text, tracking text streams with post-processing to generate final results. These methods typically follow the tracking-by-match paradigm and develop sophisticated pipelines. In this paper, rooted in Transformer sequence modeling, we propose a simple, but effective end-to-end video text DEtection, Tracking, and Recognition framework (TransDETR). TransDETR mainly includes two advantages: 1) Different from the explicit match paradigm in the adjacent frame, TransDETR tracks and recognizes each text implicitly by the different query termed text query over long-range temporal sequence (more than 7 frames). 2) TransDETR is the first end-to-end trainable video text spotting framework, which simultaneously addresses the three sub-tasks (e.g., text detection, tracking, recognition). Extensive experiments in four video text datasets (i.e.,ICDAR2013 Video, ICDAR2015 Video, Minetto, and YouTube Video Text) are conducted to demonstrate that TransDETR achieves state-of-the-art performance with up to around 8.0% improvements on video text spotting tasks. The code of TransDETR can be found at https://github.com/weijiawu/TransDETR.
Recognising the importance of preference change: A call for a coordinated multidisciplinary research effort in the age of AI
Authors: Matija Franklin, Hal Ashton, Rebecca Gorman, Stuart Armstrong
Date: 2022-03-20 00:00:00
Tasks: Diversity, Recommendation Systems

As artificial intelligence becomes more powerful and a ubiquitous presence in daily life, it is imperative to understand and manage the impact of AI systems on our lives and decisions. Modern ML systems often change user behavior (e.g. personalized recommender systems learn user preferences to deliver recommendations that change online behavior). An externality of behavior change is preference change. This article argues for the establishment of a multidisciplinary endeavor focused on understanding how AI systems change preference: Preference Science. We operationalize preference to incorporate concepts from various disciplines, outlining the importance of meta-preferences and preference-change preferences, and proposing a preliminary framework for how preferences change. We draw a distinction between preference change, permissible preference change, and outright preference manipulation. A diversity of disciplines contribute unique insights to this framework.
Attention Aided CSI Wireless Localization
Authors: Artan Salihu, Stefan Schwarz, Markus Rupp
Date: 2022-03-20 00:00:00
Tasks: Representation Learning

Deep neural networks (DNNs) have become a popular approach for wireless localization based on channel state information (CSI). A common practice is to use the raw CSI in the input and allow the network to learn relevant channel representations for mapping to location information. However, various works show that raw CSI can be very sensitive to system impairments and small changes in the environment. On the contrary, hand-designing features may hinder the limits of channel representation learning of the DNN. In this work, we propose attention-based CSI for robust feature learning. We evaluate the performance of attended features in centralized and distributed massive MIMO systems for ray-tracing channels in two non-stationary railway track environments. By comparison to a base DNN, our approach provides exceptional performance.
Inferring Articulated Rigid Body Dynamics from RGBD Video
Authors: Eric Heiden, Ziang Liu, Vibhav Vineet, Erwin Coumans, Gaurav S. Sukhatme
Date: 2022-03-20 00:00:00
Tasks: Contact mechanics, Inverse Rendering

Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to obtain. Despite recent progress, significant human effort is needed to configure simulators to accurately reproduce real-world behavior. We introduce a pipeline that combines inverse rendering with differentiable simulation to create digital twins of real-world articulated mechanisms from depth or RGB videos. Our approach automatically discovers joint types and estimates their kinematic parameters, while the dynamic properties of the overall mechanism are tuned to attain physically accurate simulations. Control policies optimized in our derived simulation transfer successfully back to the original system, as we demonstrate on a simulated system. Further, our approach accurately reconstructs the kinematic tree of an articulated mechanism being manipulated by a robot, and highly nonlinear dynamics of a real-world coupled pendulum mechanism. Website: https://eric-heiden.github.io/video2sim
Hierarchical Inductive Transfer for Continual Dialogue Learning
Authors: Shaoxiong Feng, Xuancheng Ren, Kan Li, Xu sun
Date: 2022-03-20 00:00:00
Proceeding: Findings (ACL) 2022 5
Tasks: General Knowledge

Pre-trained models have achieved excellent performance on the dialogue task. However, for the continual increase of online chit-chat scenarios, directly fine-tuning these models for each of the new tasks not only explodes the capacity of the dialogue system on the embedded devices but also causes knowledge forgetting on pre-trained models and knowledge interference among diverse dialogue tasks. In this work, we propose a hierarchical inductive transfer framework to learn and deploy the dialogue skills continually and efficiently. First, we introduce the adapter module into pre-trained models for learning new dialogue tasks. As the only trainable module, it is beneficial for the dialogue system on the embedded devices to acquire new dialogue skills with negligible additional parameters. Then, for alleviating knowledge interference between tasks yet benefiting the regularization between them, we further design hierarchical inductive transfer that enables new tasks to use general knowledge in the base adapter without being misled by diverse knowledge in task-specific adapters. Empirical evaluation and analysis indicate that our framework obtains comparable performance under deployment-friendly model capacity.
Exploiting Cross Domain Acoustic-to-articulatory Inverted Features For Disordered Speech Recognition
Authors: Shujie Hu, Shansong Liu, Xurong Xie, Mengzhe Geng, Tianzi Wang, Shoukang Hu, Mingyu Cui, Xunying Liu, Helen Meng
Date: 2022-03-19 00:00:00
Tasks: Automatic Speech Recognition, Automatic Speech Recognition (ASR), Data Augmentation, speech-recognition, Speech Recognition

Articulatory features are inherently invariant to acoustic signal distortion and have been successfully incorporated into automatic speech recognition (ASR) systems for normal speech. Their practical application to disordered speech recognition is often limited by the difficulty in collecting such specialist data from impaired speakers. This paper presents a cross-domain acoustic-to-articulatory (A2A) inversion approach that utilizes the parallel acoustic-articulatory data of the 15-hour TORGO corpus in model training before being cross-domain adapted to the 102.7-hour UASpeech corpus and to produce articulatory features. Mixture density networks based neural A2A inversion models were used. A cross-domain feature adaptation network was also used to reduce the acoustic mismatch between the TORGO and UASpeech data. On both tasks, incorporating the A2A generated articulatory features consistently outperformed the baseline hybrid DNN/TDNN, CTC and Conformer based end-to-end systems constructed using acoustic features only. The best multi-modal system incorporating video modality and the cross-domain articulatory features as well as data augmentation and learning hidden unit contributions (LHUC) speaker adaptation produced the lowest published word error rate (WER) of 24.82% on the 16 dysarthric speakers of the benchmark UASpeech task.
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
Authors: Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
Date: 2022-03-19 00:00:00
Tasks: Bayesian Inference, Dataset Generation

Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and dataset generation. Moreover, differentiable simulators can enable gradient-based optimization, which is invaluable for calibrating simulation parameters and optimizing controllers. In this work, we present DiSECt: the first differentiable simulator for cutting soft materials. The simulator augments the finite element method (FEM) with a continuous contact model based on signed distance fields (SDF), as well as a continuous damage model that inserts springs on opposite sides of the cutting plane and allows them to weaken until zero stiffness, enabling crack formation. Through various experiments, we evaluate the performance of the simulator. We first show that the simulator can be calibrated to match resultant forces and deformation fields from a state-of-the-art commercial solver and real-world cutting datasets, with generality across cutting velocities and object instances. We then show that Bayesian inference can be performed efficiently by leveraging the differentiability of the simulator, estimating posteriors over hundreds of parameters in a fraction of the time of derivative-free methods. Next, we illustrate that control parameters in the simulation can be optimized to minimize cutting forces via lateral slicing motions. Finally, we conduct experiments on a real robot arm equipped with a slicing knife to infer simulation parameters from force measurements. By optimizing the slicing motion of the knife, we show on fruit cutting scenarios that the average knife force can be reduced by more than 40% compared to a vertical cutting motion. We publish code and additional materials on our project website at https://diff-cutting-sim.github.io.
FaiRR: Faithful and Robust Deductive Reasoning over Natural Language
Authors: Soumya Sanyal, Harman Singh, Xiang Ren
Date: 2022-03-19 00:00:00
Proceeding: ACL 2022 5
Tasks: Fact Selection, Logical Reasoning

Transformers have been shown to be able to perform deductive reasoning on a logical rulebase containing rules and statements written in natural language. Recent works show that such models can also produce the reasoning steps (i.e., the proof graph) that emulate the model's logical reasoning process. Currently, these black-box models generate both the proof graph and intermediate inferences within the same model and thus may be unfaithful. In this work, we frame the deductive logical reasoning task by defining three modular components: rule selection, fact selection, and knowledge composition. The rule and fact selection steps select the candidate rule and facts to be used and then the knowledge composition combines them to generate new inferences. This ensures model faithfulness by assured causal relation from the proof step to the inference reasoning. To test our framework, we propose FaiRR (Faithful and Robust Reasoner) where the above three components are independently modeled by transformers. We observe that FaiRR is robust to novel language perturbations, and is faster at inference than previous works on existing reasoning datasets. Additionally, in contrast to black-box generative models, the errors made by FaiRR are more interpretable due to the modular approach.
Representation-Agnostic Shape Fields
Authors: Xiaoyang Huang, Jiancheng Yang, Yanjun Wang, Ziyu Chen, Linguo Li, Teng Li, Bingbing Ni, Wenjun Zhang
Date: 2022-03-19 00:00:00
Proceeding: ICLR 2022 4
Tasks: Deep Learning

3D shape analysis has been widely explored in the era of deep learning. Numerous models have been developed for various 3D data representation formats, e.g., MeshCNN for meshes, PointNet for point clouds and VoxNet for voxels. In this study, we present Representation-Agnostic Shape Fields (RASF), a generalizable and computation-efficient shape embedding module for 3D deep learning. RASF is implemented with a learnable 3D grid with multiple channels to store local geometry. Based on RASF, shape embeddings for various 3D shape representations (point clouds, meshes and voxels) are retrieved by coordinate indexing. While there are multiple ways to optimize the learnable parameters of RASF, we provide two effective schemes among all in this paper for RASF pre-training: shape reconstruction and normal estimation. Once trained, RASF becomes a plug-and-play performance booster with negligible cost. Extensive experiments on diverse 3D representation formats, networks and applications, validate the universal effectiveness of the proposed RASF. Code and pre-trained models are publicly available https://github.com/seanywang0408/RASF
Learning Morphological Feature Perturbations for Calibrated Semi-Supervised Segmentation
Authors: Mou-Cheng Xu, Yu-Kun Zhou, Chen Jin, Stefano B Blumberg, Frederick J Wilson, Marius deGroot, Daniel C. Alexander, Neil P. Oxtoby, Joseph Jacob
Date: 2022-03-19 00:00:00
Tasks: Decoder, Segmentation

We propose MisMatch, a novel consistency-driven semi-supervised segmentation framework which produces predictions that are invariant to learnt feature perturbations. MisMatch consists of an encoder and a two-head decoders. One decoder learns positive attention to the foreground regions of interest (RoI) on unlabelled images thereby generating dilated features. The other decoder learns negative attention to the foreground on the same unlabelled images thereby generating eroded features. We then apply a consistency regularisation on the paired predictions. MisMatch outperforms state-of-the-art semi-supervised methods on a CT-based pulmonary vessel segmentation task and a MRI-based brain tumour segmentation task. In addition, we show that the effectiveness of MisMatch comes from better model calibration than its supervised learning counterpart.
Analysis and Adaptation of YOLOv4 for Object Detection in Aerial Images
Authors: Aryaman Singh Samyal, Akshatha K R, Soham Hans, Karunakar A K, Satish Shenoy B
Date: 2022-03-18 00:00:00
Tasks: GPU, Object, object-detection, Object Detection, Object Detection In Aerial Images, Transfer Learning

The recent and rapid growth in Unmanned Aerial Vehicles (UAVs) deployment for various computer vision tasks has paved the path for numerous opportunities to make them more effective and valuable. Object detection in aerial images is challenging due to variations in appearance, pose, and scale. Autonomous aerial flight systems with their inherited limited memory and computational power demand accurate and computationally efficient detection algorithms for real-time applications. Our work shows the adaptation of the popular YOLOv4 framework for predicting the objects and their locations in aerial images with high accuracy and inference speed. We utilized transfer learning for faster convergence of the model on the VisDrone DET aerial object detection dataset. The trained model resulted in a mean average precision (mAP) of 45.64% with an inference speed reaching 8.7 FPS on the Tesla K80 GPU and was highly accurate in detecting truncated and occluded objects. We experimentally evaluated the impact of varying network resolution sizes and training epochs on the performance. A comparative study with several contemporary aerial object detectors proved that YOLOv4 performed better, implying a more suitable detection algorithm to incorporate on aerial platforms.
Privacy-Preserving Reinforcement Learning Beyond Expectation
Authors: Arezoo Rajabi, Bhaskar Ramasubramanian, Abdullah Al Maruf, Radha Poovendran
Date: 2022-03-18 00:00:00
Tasks: Decision Making, Privacy Preserving, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Cyber and cyber-physical systems equipped with machine learning algorithms such as autonomous cars share environments with humans. In such a setting, it is important to align system (or agent) behaviors with the preferences of one or more human users. We consider the case when an agent has to learn behaviors in an unknown environment. Our goal is to capture two defining characteristics of humans: i) a tendency to assess and quantify risk, and ii) a desire to keep decision making hidden from external parties. We incorporate cumulative prospect theory (CPT) into the objective of a reinforcement learning (RL) problem for the former. For the latter, we use differential privacy. We design an algorithm to enable an RL agent to learn policies to maximize a CPT-based objective in a privacy-preserving manner and establish guarantees on the privacy of value functions learned by the algorithm when rewards are sufficiently close. This is accomplished through adding a calibrated noise using a Gaussian process mechanism at each step. Through empirical evaluations, we highlight a privacy-utility tradeoff and demonstrate that the RL agent is able to learn behaviors that are aligned with that of a human user in the same environment in a privacy-preserving manner
A Closer Look at Knowledge Distillation with Features, Logits, and Gradients
Authors: Yen-Chang Hsu, James Smith, Yilin Shen, Zsolt Kira, Hongxia Jin
Date: 2022-03-18 00:00:00
Tasks: Incremental Learning, Knowledge Distillation, Model Compression, Transfer Learning

Knowledge distillation (KD) is a substantial strategy for transferring learned knowledge from one neural network model to another. A vast number of methods have been developed for this strategy. While most method designs a more efficient way to facilitate knowledge transfer, less attention has been put on comparing the effect of knowledge sources such as features, logits, and gradients. This work provides a new perspective to motivate a set of knowledge distillation strategies by approximating the classical KL-divergence criteria with different knowledge sources, making a systematic comparison possible in model compression and incremental learning. Our analysis indicates that logits are generally a more efficient knowledge source and suggests that having sufficient feature dimensions is crucial for the model design, providing a practical guideline for effective KD-based transfer learning.
Infinite-Horizon Reach-Avoid Zero-Sum Games via Deep Reinforcement Learning
Authors: Jingqi Li, Donggun Lee, Somayeh Sojoudi, Claire J. Tomlin
Date: 2022-03-18 00:00:00
Tasks: Deep Reinforcement Learning, Q-Learning, reinforcement-learning, Reinforcement Learning (RL)

In this paper, we consider the infinite-horizon reach-avoid zero-sum game problem, where the goal is to find a set in the state space, referred to as the reach-avoid set, such that the system starting at a state therein could be controlled to reach a given target set without violating constraints under the worst-case disturbance. We address this problem by designing a new value function with a contracting Bellman backup, where the super-zero level set, i.e., the set of states where the value function is evaluated to be non-negative, recovers the reach-avoid set. Building upon this, we prove that the proposed method can be adapted to compute the viability kernel, or the set of states which could be controlled to satisfy given constraints, and the backward reachable set, or the set of states that could be driven towards a given target set. Finally, we propose to alleviate the curse of dimensionality issue in high-dimensional problems by extending Conservative Q-Learning, a deep reinforcement learning technique, to learn a value function such that the super-zero level set of the learned value function serves as a (conservative) approximation to the reach-avoid set. Our theoretical and empirical results suggest that the proposed method could learn reliably the reach-avoid set and the optimal control policy even with neural network approximation.