pwc-archive/papers-with-abstracts huggingface dataset:
DQ-GAT: Towards Safe and Efficient Autonomous Driving with Deep Q-Learning and Graph Attention Networks
Authors: Peide Cai, Hengli Wang, Yuxiang Sun, Ming Liu
Date: 2021-08-11 00:00:00
Tasks: Autonomous Driving, Deep Reinforcement Learning, Graph Attention, Imitation Learning, Q-Learning

Autonomous driving in multi-agent dynamic traffic scenarios is challenging: the behaviors of road users are uncertain and are hard to model explicitly, and the ego-vehicle should apply complicated negotiation skills with them, such as yielding, merging and taking turns, to achieve both safe and efficient driving in various settings. Traditional planning methods are largely rule-based and scale poorly in these complex dynamic scenarios, often leading to reactive or even overly conservative behaviors. Therefore, they require tedious human efforts to maintain workability. Recently, deep learning-based methods have shown promising results with better generalization capability but less hand engineering efforts. However, they are either implemented with supervised imitation learning (IL), which suffers from dataset bias and distribution mismatch issues, or are trained with deep reinforcement learning (DRL) but focus on one specific traffic scenario. In this work, we propose DQ-GAT to achieve scalable and proactive autonomous driving, where graph attention-based networks are used to implicitly model interactions, and deep Q-learning is employed to train the network end-to-end in an unsupervised manner. Extensive experiments in a high-fidelity driving simulator show that our method achieves higher success rates than previous learning-based methods and a traditional rule-based method, and better trades off safety and efficiency in both seen and unseen scenarios. Moreover, qualitative results on a trajectory dataset indicate that our learned policy can be transferred to the real world for practical applications with real-time speeds. Demonstration videos are available at https://caipeide.github.io/dq-gat/.
Frequency-based tension assessment of an inclined cable with complex boundary conditions using the PSO algorithm
Authors: Wen-ming Zhang, Zhi-Wei Wang, Dan-dian Feng, Zhao Liu
Date: 2021-08-11 00:00:00

The frequency-based method is the most commonly used method for measuring cable tension. However, the calculation formulas for the conventional frequency-based method are generally based on the ideally hinged or fixed boundary conditions without a comprehensive consideration of the inclination angle, sag-extensibility, and flexural stiffness of cables, leading to a significant error in cable tension identification. This study aimed to propose a frequency-based method of cable tension identification considering the complex boundary conditions at the two ends of cables using the particle swarm optimization (PSO) algorithm. First, the refined stay cable model was established considering the inclination angle, flexural stiffness, and sag-extensibility, as well as the rotational constraint stiffness and lateral support stiffness for the unknown boundaries of cables. The vibration mode equation of the stay cable model was discretized and solved using the finite difference method. Then, a multiparameter identification method based on the PSO algorithm was proposed. This method was able to identify the tension, flexural stiffness, axial stiffness, boundary rotational constraint stiffness, and boundary lateral support stiffness according to the measured multiorder frequencies in a synchronous manner. The feasibility and accuracy of this method were validated through numerical cases. Finally, the proposed approach was applied to the tension identification of the anchor span strands of a suspension bridge (Jindong Bridge) in China. The results of cable tension identification using the proposed method and the existing methods discussed in previous studies were compared with the on-site pressure ring measurement results. The comparison showed that the proposed approach had a high accuracy in cable tension identification.
VisEvent: Reliable Object Tracking via Collaboration of Frame and Event Flows
Authors: Xiao Wang, Jianing Li, Lin Zhu, Zhipeng Zhang, Zhe Chen, Xin Li, YaoWei Wang, Yonghong Tian, Feng Wu
Date: 2021-08-11 00:00:00
Tasks: Object Tracking

Different from visible cameras which record intensity images frame by frame, the biologically inspired event camera produces a stream of asynchronous and sparse events with much lower latency. In practice, visible cameras can better perceive texture details and slow motion, while event cameras can be free from motion blurs and have a larger dynamic range which enables them to work well under fast motion and low illumination. Therefore, the two sensors can cooperate with each other to achieve more reliable object tracking. In this work, we propose a large-scale Visible-Event benchmark (termed VisEvent) due to the lack of a realistic and scaled dataset for this task. Our dataset consists of 820 video pairs captured under low illumination, high speed, and background clutter scenarios, and it is divided into a training and a testing subset, each of which contains 500 and 320 videos, respectively. Based on VisEvent, we transform the event flows into event images and construct more than 30 baseline methods by extending current single-modality trackers into dual-modality versions. More importantly, we further build a simple but effective tracking algorithm by proposing a cross-modality transformer, to achieve more effective feature fusion between visible and event data. Extensive experiments on the proposed VisEvent dataset, FE108, COESOT, and two simulated datasets (i.e., OTB-DVS and VOT-DVS), validated the effectiveness of our model. The dataset and source code have been released on: \url{https://github.com/wangxiao5791509/VisEvent_SOT_Benchmark}.
Robust Feature Learning on Long-Duration Sounds for Acoustic Scene Classification
Authors: Yuzhong Wu, Tan Lee
Date: 2021-08-11 00:00:00
Tasks: Acoustic Scene Classification, Scene Classification

Acoustic scene classification (ASC) aims to identify the type of scene (environment) in which a given audio signal is recorded. The log-mel feature and convolutional neural network (CNN) have recently become the most popular time-frequency (TF) feature representation and classifier in ASC. An audio signal recorded in a scene may include various sounds overlapping in time and frequency. The previous study suggests that separately considering the long-duration sounds and short-duration sounds in CNN may improve ASC accuracy. This study addresses the problem of the generalization ability of acoustic scene classifiers. In practice, acoustic scene signals' characteristics may be affected by various factors, such as the choice of recording devices and the change of recording locations. When an established ASC system predicts scene classes on audios recorded in unseen scenarios, its accuracy may drop significantly. The long-duration sounds not only contain domain-independent acoustic scene information, but also contain channel information determined by the recording conditions, which is prone to over-fitting. For a more robust ASC system, We propose a robust feature learning (RFL) framework to train the CNN. The RFL framework down-weights CNN learning specifically on long-duration sounds. The proposed method is to train an auxiliary classifier with only long-duration sound information as input. The auxiliary classifier is trained with an auxiliary loss function that assigns less learning weight to poorly classified examples than the standard cross-entropy loss. The experimental results show that the proposed RFL framework can obtain a more robust acoustic scene classifier towards unseen devices and cities.
Adaptive Multi-Resolution Attention with Linear Complexity
Authors: Yao Zhang, Yunpu Ma, Thomas Seidl, Volker Tresp
Date: 2021-08-10 00:00:00

Transformers have improved the state-of-the-art across numerous tasks in sequence modeling. Besides the quadratic computational and memory complexity w.r.t the sequence length, the self-attention mechanism only processes information at the same scale, i.e., all attention heads are in the same resolution, resulting in the limited power of the Transformer. To remedy this, we propose a novel and efficient structure named Adaptive Multi-Resolution Attention (AdaMRA for short), which scales linearly to sequence length in terms of time and space. Specifically, we leverage a multi-resolution multi-head attention mechanism, enabling attention heads to capture long-range contextual information in a coarse-to-fine fashion. Moreover, to capture the potential relations between query representation and clues of different attention granularities, we leave the decision of which resolution of attention to use to query, which further improves the model's capacity compared to vanilla Transformer. In an effort to reduce complexity, we adopt kernel attention without degrading the performance. Extensive experiments on several benchmarks demonstrate the effectiveness and efficiency of our model by achieving a state-of-the-art performance-efficiency-memory trade-off. To facilitate AdaMRA utilization by the scientific community, the code implementation will be made publicly available.
Knowledge-Based Stable Roommates Problem: A Real-World Application
Authors: Muge Fidan, Esra Erdem
Date: 2021-08-10 00:00:00
Tasks: Fairness

The Stable Roommates problem with Ties and Incomplete lists (SRTI) is a matching problem characterized by the preferences of agents over other agents as roommates, where the preferences may have ties or be incomplete. SRTI asks for a matching that is stable and, sometimes, optimizes a domain-independent fairness criterion (e.g., Egalitarian). However, in real-world applications (e.g., assigning students as roommates at a dormitory), we usually consider a variety of domain-specific criteria depending on preferences over the habits and desires of the agents. With this motivation, we introduce a knowledge-based method to SRTI considering domain-specific knowledge, and investigate its real-world application for assigning students as roommates at a university dormitory. This paper is under consideration for acceptance in Theory and Practice of Logic Programming (TPLP).
BERTHop: An Effective Vision-and-Language Model for Chest X-ray Disease Diagnosis
Authors: Masoud Monajatipoor, Mozhdeh Rouhsedaghat, Liunian Harold Li, Aichi Chien, C. -C. Jay Kuo, Fabien Scalzo, Kai-Wei Chang
Date: 2021-08-10 00:00:00
Tasks: Language Modeling, Language Modelling, Question Answering, Visual Question Answering, Visual Question Answering (VQA)

Vision-and-language(V&L) models take image and text as input and learn to capture the associations between them. Prior studies show that pre-trained V&L models can significantly improve the model performance for downstream tasks such as Visual Question Answering (VQA). However, V&L models are less effective when applied in the medical domain (e.g., on X-ray images and clinical notes) due to the domain gap. In this paper, we investigate the challenges of applying pre-trained V&L models in medical applications. In particular, we identify that the visual representation in general V&L models is not suitable for processing medical data. To overcome this limitation, we propose BERTHop, a transformer-based model based on PixelHop++ and VisualBERT, for better capturing the associations between the two modalities. Experiments on the OpenI dataset, a commonly used thoracic disease diagnosis benchmark, show that BERTHop achieves an average Area Under the Curve (AUC) of 98.12% which is 1.62% higher than state-of-the-art (SOTA) while it is trained on a 9 times smaller dataset.
Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completion
Authors: Alessandro Suglia, Qiaozi Gao, Jesse Thomason, Govind Thattai, Gaurav Sukhatme
Date: 2021-08-10 00:00:00
Tasks: Navigate, Object

Language-guided robots performing home and office tasks must navigate in and interact with the world. Grounding language instructions against visual observations and actions to take in an environment is an open challenge. We present Embodied BERT (EmBERT), a transformer-based model which can attend to high-dimensional, multi-modal inputs across long temporal horizons for language-conditioned task completion. Additionally, we bridge the gap between successful object-centric navigation models used for non-interactive agents and the language-guided visual task completion benchmark, ALFRED, by introducing object navigation targets for EmBERT training. We achieve competitive performance on the ALFRED benchmark, and EmBERT marks the first transformer-based model to successfully handle the long-horizon, dense, multi-modal histories of ALFRED, and the first ALFRED model to utilize object-centric navigation targets.
AuraSense: Robot Collision Avoidance by Full Surface Proximity Detection
Authors: Xiaoran Fan, Riley Simmons-Edler, Daewon Lee, Larry Jackel, Richard Howard, Daniel Lee
Date: 2021-08-10 00:00:00
Tasks: Collision Avoidance

Perceiving obstacles and avoiding collisions is fundamental to the safe operation of a robot system, particularly when the robot must operate in highly dynamic human environments. Proximity detection using on-robot sensors can be used to avoid or mitigate impending collisions. However, existing proximity sensing methods are orientation and placement dependent, resulting in blind spots even with large numbers of sensors. In this paper, we introduce the phenomenon of the Leaky Surface Wave (LSW), a novel sensing modality, and present AuraSense, a proximity detection system using the LSW. AuraSense is the first system to realize no-dead-spot proximity sensing for robot arms. It requires only a single pair of piezoelectric transducers, and can easily be applied to off-the-shelf robots with minimal modifications. We further introduce a set of signal processing techniques and a lightweight neural network to address the unique challenges in using the LSW for proximity sensing. Finally, we demonstrate a prototype system consisting of a single piezoelectric element pair on a robot manipulator, which validates our design. We conducted several micro benchmark experiments and performed more than 2000 on-robot proximity detection trials with various potential robot arm materials, colliding objects, approach patterns, and robot movement patterns. AuraSense achieves 100% and 95.3% true positive proximity detection rates when the arm approaches static and mobile obstacles respectively, with a true negative rate over 99%, showing the real-world viability of this system.
Matching Algorithms for Blood Donation
Authors: Duncan C McElfresh, Christian Kroer, Sergey Pupyrev, Eric Sodomka, Karthik Sankararaman, Zack Chauvin, Neil Dexter, John P Dickerson
Date: 2021-08-10 00:00:00

Global demand for donated blood far exceeds supply, and unmet need is greatest in low- and middle-income countries; experts suggest that large-scale coordination is necessary to alleviate demand. Using the Facebook Blood Donation tool, we conduct the first large-scale algorithmic matching of blood donors with donation opportunities. While measuring actual donation rates remains a challenge, we measure donor action (e.g., making a donation appointment) as a proxy for actual donation. We develop automated policies for matching donors with donation opportunities, based on an online matching model. We provide theoretical guarantees for these policies, both regarding the number of expected donations and the equitable treatment of blood recipients. In simulations, a simple matching strategy increases the number of donations by 5-10%; a pilot experiment with real donors shows a 5% relative increase in donor action rate (from 3.7% to 3.9%). When scaled to the global Blood Donation tool user base, this corresponds to an increase of around one hundred thousand users taking action toward donation. Further, observing donor action on a social network can shed light onto donor behavior and response to incentives. Our initial findings align with several observations made in the medical and social science literature regarding donor behavior.
Attention-like feature explanation for tabular data
Authors: Andrei V. Konstantinov, Lev V. Utkin
Date: 2021-08-10 00:00:00

A new method for local and global explanation of the machine learning black-box model predictions by tabular data is proposed. It is implemented as a system called AFEX (Attention-like Feature EXplanation) and consisting of two main parts. The first part is a set of the one-feature neural subnetworks which aim to get a specific representation for every feature in the form of a basis of shape functions. The subnetworks use shortcut connections with trainable parameters to improve the network performance. The second part of AFEX produces shape functions of features as the weighted sum of the basis shape functions where weights are computed by using an attention-like mechanism. AFEX identifies pairwise interactions between features based on pairwise multiplications of shape functions corresponding to different features. A modification of AFEX with incorporating an additional surrogate model which approximates the black-box model is proposed. AFEX is trained end-to-end on a whole dataset only once such that it does not require to train neural networks again in the explanation stage. Numerical experiments with synthetic and real data illustrate AFEX.
Self-supervised Consensus Representation Learning for Attributed Graph
Authors: Changshu Liu, Liangjian Wen, Zhao Kang, Guangchun Luo, Ling Tian
Date: 2021-08-10 00:00:00
Tasks: Graph Representation Learning, Node Classification, Representation Learning, Self-Supervised Learning

Attempting to fully exploit the rich information of topological structure and node features for attributed graph, we introduce self-supervised learning mechanism to graph representation learning and propose a novel Self-supervised Consensus Representation Learning (SCRL) framework. In contrast to most existing works that only explore one graph, our proposed SCRL method treats graph from two perspectives: topology graph and feature graph. We argue that their embeddings should share some common information, which could serve as a supervisory signal. Specifically, we construct the feature graph of node features via k-nearest neighbor algorithm. Then graph convolutional network (GCN) encoders extract features from two graphs respectively. Self-supervised loss is designed to maximize the agreement of the embeddings of the same node in the topology graph and the feature graph. Extensive experiments on real citation networks and social networks demonstrate the superiority of our proposed SCRL over the state-of-the-art methods on semi-supervised node classification task. Meanwhile, compared with its main competitors, SCRL is rather efficient.
Intelligence as information processing: brains, swarms, and computers
Authors: Carlos Gershenson
Date: 2021-08-09 00:00:00
Tasks: Artificial Life

There is no agreed definition of intelligence, so it is problematic to simply ask whether brains, swarms, computers, or other systems are intelligent or not. To compare the potential intelligence exhibited by different cognitive systems, I use the common approach used by artificial intelligence and artificial life: Instead of studying the substrate of systems, let us focus on their organization. This organization can be measured with information. Thus, I apply an informationist epistemology to describe cognitive systems, including brains and computers. This allows me to frame the usefulness and limitations of the brain-computer analogy in different contexts. I also use this perspective to discuss the evolution and ecology of intelligence.
Two is a crowd: tracking relations in videos
Authors: Artem Moskalev, Ivan Sosnovik, Arnold Smeulders
Date: 2021-08-11 00:00:00
Tasks: Object, Relation, Vocal Bursts Valence Prediction

Tracking multiple objects individually differs from tracking groups of related objects. When an object is a part of the group, its trajectory depends on the trajectories of the other group members. Most of the current state-of-the-art trackers follow the approach of tracking each object independently, with the mechanism to handle the overlapping trajectories where necessary. Such an approach does not take inter-object relations into account, which may cause unreliable tracking for the members of the groups, especially in crowded scenarios, where individual cues become unreliable due to occlusions. To overcome these limitations and to extend such trackers to crowded scenes, we propose a plug-in Relation Encoding Module (REM). REM encodes relations between tracked objects by running a message passing over a corresponding spatio-temporal graph, computing relation embeddings for the tracked objects. Our experiments on MOT17 and MOT20 demonstrate that the baseline tracker improves its results after a simple extension with REM. The proposed module allows for tracking severely or even fully occluded objects by utilizing relational cues.
Towards Interpretable Deep Networks for Monocular Depth Estimation
Authors: Zunzhi You, Yi-Hsuan Tsai, Wei-Chen Chiu, Guanbin Li
Date: 2021-08-11 00:00:00
Proceeding: ICCV 2021 10
Tasks: Depth Estimation, Monocular Depth Estimation

Deep networks for Monocular Depth Estimation (MDE) have achieved promising performance recently and it is of great importance to further understand the interpretability of these networks. Existing methods attempt to provide posthoc explanations by investigating visual cues, which may not explore the internal representations learned by deep networks. In this paper, we find that some hidden units of the network are selective to certain ranges of depth, and thus such behavior can be served as a way to interpret the internal representations. Based on our observations, we quantify the interpretability of a deep MDE network by the depth selectivity of its hidden units. Moreover, we then propose a method to train interpretable MDE deep networks without changing their original architectures, by assigning a depth range for each unit to select. Experimental results demonstrate that our method is able to enhance the interpretability of deep MDE networks by largely improving the depth selectivity of their units, while not harming or even improving the depth estimation accuracy. We further provide a comprehensive analysis to show the reliability of selective units, the applicability of our method on different layers, models, and datasets, and a demonstration on analysis of model error. Source code and models are available at https://github.com/youzunzhi/InterpretableMDE .
A Better Loss for Visual-Textual Grounding
Authors: Davide Rigoni, Luciano Serafini, Alessandro Sperduti
Date: 2021-08-11 00:00:00
Tasks: Sentence, Visual Grounding

Given a textual phrase and an image, the visual grounding problem is the task of locating the content of the image referenced by the sentence. It is a challenging task that has several real-world applications in human-computer interaction, image-text reference resolution, and video-text reference resolution. In the last years, several works have addressed this problem by proposing more and more large and complex models that try to capture visual-textual dependencies better than before. These models are typically constituted by two main components that focus on how to learn useful multi-modal features for grounding and how to improve the predicted bounding box of the visual mention, respectively. Finding the right learning balance between these two sub-tasks is not easy, and the current models are not necessarily optimal with respect to this issue. In this work, we propose a loss function based on bounding boxes classes probabilities that: (i) improves the bounding boxes selection; (ii) improves the bounding boxes coordinates prediction. Our model, although using a simple multi-modal feature fusion component, is able to achieve a higher accuracy than state-of-the-art models on two widely adopted datasets, reaching a better learning balance between the two sub-tasks mentioned above.