pwc-archive/papers-with-abstracts huggingface dataset:
SHREC 2020 track: 6D Object Pose Estimation
Authors: Honglin Yuan, Remco C. Veltkamp, Georgios Albanis, Nikolaos Zioulis, Dimitrios Zarpalas, Petros Daras
Date: 2020-10-19 00:00:00
Tasks: 6D Pose Estimation, 6D Pose Estimation using RGB, Object, Pose Estimation, Retrieval, Visual Navigation

6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their appearances in captured images are affected by sensor noise, changing lighting conditions and occlusions between objects. Different pose estimation methods have different strengths and weaknesses, depending on feature representations and scene contents. At the same time, existing 3D datasets that are used for data-driven methods to estimate 6D poses have limited view angles and low resolution. To address these issues, we organize the Shape Retrieval Challenge benchmark on 6D pose estimation and create a physically accurate simulator that is able to generate photo-realistic color-and-depth image pairs with corresponding ground truth 6D poses. From captured color and depth images, we use this simulator to generate a 3D dataset which has 400 photo-realistic synthesized color-and-depth image pairs with various view angles for training, and another 100 captured and synthetic images for testing. Five research groups register in this track and two of them submitted their results. Data-driven methods are the current trend in 6D object pose estimation and our evaluation results show that approaches which fully exploit the color and geometric features are more robust for 6D pose estimation of reflective and texture-less objects and occlusion. This benchmark and comparative evaluation results have the potential to further enrich and boost the research of 6D object pose estimation and its applications.
Learning Latent Space Energy-Based Prior Model for Molecule Generation
Authors: Bo Pang, Tian Han, Ying Nian Wu
Date: 2020-10-19 00:00:00
Tasks: valid

Deep generative models have recently been applied to molecule design. If the molecules are encoded in linear SMILES strings, modeling becomes convenient. However, models relying on string representations tend to generate invalid samples and duplicates. Prior work addressed these issues by building models on chemically-valid fragments or explicitly enforcing chemical rules in the generation process. We argue that an expressive model is sufficient to implicitly and automatically learn the complicated chemical rules from the data, even if molecules are encoded in simple character-level SMILES strings. We propose to learn latent space energy-based prior model with SMILES representation for molecule modeling. Our experiments show that our method is able to generate molecules with validity and uniqueness competitive with state-of-the-art models. Interestingly, generated molecules have structural and chemical features whose distributions almost perfectly match those of the real molecules.
The efficacy of Neural Planning Metrics: A meta-analysis of PKL on nuScenes
Authors: Yiluan Guo, Holger Caesar, Oscar Beijbom, Jonah Philion, Sanja Fidler
Date: 2020-10-19 00:00:00
Tasks: Autonomous Driving, object-detection, Object Detection

A high-performing object detection system plays a crucial role in autonomous driving (AD). The performance, typically evaluated in terms of mean Average Precision, does not take into account orientation and distance of the actors in the scene, which are important for the safe AD. It also ignores environmental context. Recently, Philion et al. proposed a neural planning metric (PKL), based on the KL divergence of a planner's trajectory and the groundtruth route, to accommodate these requirements. In this paper, we use this neural planning metric to score all submissions of the nuScenes detection challenge and analyze the results. We find that while somewhat correlated with mAP, the PKL metric shows different behavior to increased traffic density, ego velocity, road curvature and intersections. Finally, we propose ideas to extend the neural planning metric.
A Framework to Learn with Interpretation
Authors: Jayneel Parekh, Pavlo Mozharovskyi, Florence d'Alché-Buc
Date: 2020-10-19 00:00:00
Proceeding: NeurIPS 2021 12
Tasks: Attribute, Decision Making

To tackle interpretability in deep learning, we present a novel framework to jointly learn a predictive model and its associated interpretation model. The interpreter provides both local and global interpretability about the predictive model in terms of human-understandable high level attribute functions, with minimal loss of accuracy. This is achieved by a dedicated architecture and well chosen regularization penalties. We seek for a small-size dictionary of high level attribute functions that take as inputs the outputs of selected hidden layers and whose outputs feed a linear classifier. We impose strong conciseness on the activation of attributes with an entropy-based criterion while enforcing fidelity to both inputs and outputs of the predictive model. A detailed pipeline to visualize the learnt features is also developed. Moreover, besides generating interpretable models by design, our approach can be specialized to provide post-hoc interpretations for a pre-trained neural network. We validate our approach against several state-of-the-art methods on multiple datasets and show its efficacy on both kinds of tasks.
SelfVoxeLO: Self-supervised LiDAR Odometry with Voxel-based Deep Neural Networks
Authors: Yan Xu, Zhaoyang Huang, Kwan-Yee Lin, Xinge Zhu, Jianping Shi, Hujun Bao, Guofeng Zhang, Hongsheng Li
Date: 2020-10-19 00:00:00
Tasks: Self-Supervised Learning

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures from the point clouds; 2) the needs for a large amount of labeled data for training limit the application scope of these methods. In this paper, we propose a self-supervised LiDAR odometry method, dubbed SelfVoxeLO, to tackle these two difficulties. Specifically, we propose a 3D convolution network to process the raw LiDAR data directly, which extracts features that better encode the 3D geometric patterns. To suit our network to self-supervised learning, we design several novel loss functions that utilize the inherent properties of LiDAR point clouds. Moreover, an uncertainty-aware mechanism is incorporated in the loss functions to alleviate the interference of moving objects/noises. We evaluate our method's performances on two large-scale datasets, i.e., KITTI and Apollo-SouthBay. Our method outperforms state-of-the-art unsupervised methods by 27%/32% in terms of translational/rotational errors on the KITTI dataset and also performs well on the Apollo-SouthBay dataset. By including more unlabelled training data, our method can further improve performance comparable to the supervised methods.
SMA-STN: Segmented Movement-Attending Spatiotemporal Network forMicro-Expression Recognition
Authors: Jiateng Liu, Wenming Zheng, Yuan Zong
Date: 2020-10-19 00:00:00
Tasks: Micro Expression Recognition, Micro-Expression Recognition

Correctly perceiving micro-expression is difficult since micro-expression is an involuntary, repressed, and subtle facial expression, and efficiently revealing the subtle movement changes and capturing the significant segments in a micro-expression sequence is the key to micro-expression recognition (MER). To handle the crucial issue, in this paper, we firstly propose a dynamic segmented sparse imaging module (DSSI) to compute dynamic images as local-global spatiotemporal descriptors under a unique sampling protocol, which reveals the subtle movement changes visually in an efficient way. Secondly, a segmented movement-attending spatiotemporal network (SMA-STN) is proposed to further unveil imperceptible small movement changes, which utilizes a spatiotemporal movement-attending module (STMA) to capture long-distance spatial relation for facial expression and weigh temporal segments. Besides, a deviation enhancement loss (DE-Loss) is embedded in the SMA-STN to enhance the robustness of SMA-STN to subtle movement changes in feature level. Extensive experiments on three widely used benchmarks, i.e., CASME II, SAMM, and SHIC, show that the proposed SMA-STN achieves better MER performance than other state-of-the-art methods, which proves that the proposed method is effective to handle the challenging MER problem.
Interpretable Machine Learning -- A Brief History, State-of-the-Art and Challenges
Authors: Christoph Molnar, Giuseppe Casalicchio, Bernd Bischl
Date: 2020-10-19 00:00:00
Tasks: BIG-bench Machine Learning, Causal Inference, Interpretable Machine Learning, Sensitivity

We present a brief history of the field of interpretable machine learning (IML), give an overview of state-of-the-art interpretation methods, and discuss challenges. Research in IML has boomed in recent years. As young as the field is, it has over 200 years old roots in regression modeling and rule-based machine learning, starting in the 1960s. Recently, many new IML methods have been proposed, many of them model-agnostic, but also interpretation techniques specific to deep learning and tree-based ensembles. IML methods either directly analyze model components, study sensitivity to input perturbations, or analyze local or global surrogate approximations of the ML model. The field approaches a state of readiness and stability, with many methods not only proposed in research, but also implemented in open-source software. But many important challenges remain for IML, such as dealing with dependent features, causal interpretation, and uncertainty estimation, which need to be resolved for its successful application to scientific problems. A further challenge is a missing rigorous definition of interpretability, which is accepted by the community. To address the challenges and advance the field, we urge to recall our roots of interpretable, data-driven modeling in statistics and (rule-based) ML, but also to consider other areas such as sensitivity analysis, causal inference, and the social sciences.
Causal Discovery using Compression-Complexity Measures
Authors: Pranay SY, Nithin Nagaraj
Date: 2020-10-19 00:00:00
Tasks: Causal Discovery, Causal Inference

Causal inference is one of the most fundamental problems across all domains of science. We address the problem of inferring a causal direction from two observed discrete symbolic sequences $X$ and $Y$. We present a framework which relies on lossless compressors for inferring context-free grammars (CFGs) from sequence pairs and quantifies the extent to which the grammar inferred from one sequence compresses the other sequence. We infer $X$ causes $Y$ if the grammar inferred from $X$ better compresses $Y$ than in the other direction. To put this notion to practice, we propose three models that use the Compression-Complexity Measures (CCMs) - Lempel-Ziv (LZ) complexity and Effort-To-Compress (ETC) to infer CFGs and discover causal directions without demanding temporal structures. We evaluate these models on synthetic and real-world benchmarks and empirically observe performances competitive with current state-of-the-art methods. Lastly, we present two unique applications of the proposed models for causal inference directly from pairs of genome sequences belonging to the SARS-CoV-2 virus. Using a large number of sequences, we show that our models capture directed causal information exchange between sequence pairs, presenting novel opportunities for addressing key issues such as contact-tracing, motif discovery, evolution of virulence and pathogenicity in future applications.
Semantic-Guided Inpainting Network for Complex Urban Scenes Manipulation
Authors: Pierfrancesco Ardino, Yahui Liu, Elisa Ricci, Bruno Lepri, Marco De Nadai
Date: 2020-10-19 00:00:00
Tasks: Decoder, Image Inpainting, Object, Semantic Segmentation

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering the performance of inpainting models. Conventional techniques often rely on structural information such as object contours in multi-stage approaches that generate unreliable results and boundaries. In this work, we propose a novel deep learning model to alter a complex urban scene by removing a user-specified portion of the image and coherently inserting a new object (e.g. car or pedestrian) in that scene. Inspired by recent works on image inpainting, our proposed method leverages the semantic segmentation to model the content and structure of the image, and learn the best shape and location of the object to insert. To generate reliable results, we design a new decoder block that combines the semantic segmentation and generation task to guide better the generation of new objects and scenes, which have to be semantically consistent with the image. Our experiments, conducted on two large-scale datasets of urban scenes (Cityscapes and Indian Driving), show that our proposed approach successfully address the problem of semantically-guided inpainting of complex urban scene.
Bayesian Inference for Optimal Transport with Stochastic Cost
Authors: Anton Mallasto, Markus Heinonen, Samuel Kaski
Date: 2020-10-19 00:00:00
Tasks: Bayesian Inference

In machine learning and computer vision, optimal transport has had significant success in learning generative models and defining metric distances between structured and stochastic data objects, that can be cast as probability measures. The key element of optimal transport is the so called lifting of an \emph{exact} cost (distance) function, defined on the sample space, to a cost (distance) between probability measures over the sample space. However, in many real life applications the cost is \emph{stochastic}: e.g., the unpredictable traffic flow affects the cost of transportation between a factory and an outlet. To take this stochasticity into account, we introduce a Bayesian framework for inferring the optimal transport plan distribution induced by the stochastic cost, allowing for a principled way to include prior information and to model the induced stochasticity on the transport plans. Additionally, we tailor an HMC method to sample from the resulting transport plan posterior distribution.
Body models in humans, animals, and robots: mechanisms and plasticity
Authors: Matej Hoffmann
Date: 2020-10-19 00:00:00

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed by machines to some extent - yet, as is so often the case, the artificial creatures are lagging behind. The key foundation is an internal representation of the body that the agent - human, animal, or robot - has developed. In the biological realm, evidence has been accumulated by diverse disciplines giving rise to the concepts of body image, body schema, and others. In robotics, a model of the robot is an indispensable component that enables to control the machine. In this article I compare the character of body representations in biology with their robotic counterparts and relate that to the differences in performance that we observe. I put forth a number of axes regarding the nature of such body models: fixed vs. plastic, amodal vs. modal, explicit vs. implicit, serial vs. parallel, modular vs. holistic, and centralized vs. distributed. An interesting trend emerges: on many of the axes, there is a sequence from robot body models, over body image, body schema, to the body representation in lower animals like the octopus. In some sense, robots have a lot in common with Ian Waterman - "the man who lost his body" - in that they rely on an explicit, veridical body model (body image taken to the extreme) and lack any implicit, multimodal representation (like the body schema) of their bodies. I will then detail how robots can inform the biological sciences dealing with body representations and finally, I will study which of the features of the "body in the brain" should be transferred to robots, giving rise to more adaptive and resilient, self-calibrating machines.
Multi-view Subspace Clustering Networks with Local and Global Graph Information
Authors: Qinghai Zheng, Jihua Zhu, Yuanyuan Ma, Zhongyu Li, Zhiqiang Tian
Date: 2020-10-19 00:00:00
Tasks: Clustering, Multi-view Subspace Clustering

This study investigates the problem of multi-view subspace clustering, the goal of which is to explore the underlying grouping structure of data collected from different fields or measurements. Since data do not always comply with the linear subspace models in many real-world applications, most existing multi-view subspace clustering methods that based on the shallow linear subspace models may fail in practice. Furthermore, underlying graph information of multi-view data is always ignored in most existing multi-view subspace clustering methods. To address aforementioned limitations, we proposed the novel multi-view subspace clustering networks with local and global graph information, termed MSCNLG, in this paper. Specifically, autoencoder networks are employed on multiple views to achieve latent smooth representations that are suitable for the linear assumption. Simultaneously, by integrating fused multi-view graph information into self-expressive layers, the proposed MSCNLG obtains the common shared multi-view subspace representation, which can be used to get clustering results by employing the standard spectral clustering algorithm. As an end-to-end trainable framework, the proposed method fully investigates the valuable information of multiple views. Comprehensive experiments on six benchmark datasets validate the effectiveness and superiority of the proposed MSCNLG.
Reduce and Reconstruct: ASR for Low-Resource Phonetic Languages
Authors: Anuj Diwan, Preethi Jyothi
Date: 2020-10-19 00:00:00
Tasks: Speech Recognition

This work presents a seemingly simple but effective technique to improve low-resource ASR systems for phonetic languages. By identifying sets of acoustically similar graphemes in these languages, we first reduce the output alphabet of the ASR system using linguistically meaningful reductions and then reconstruct the original alphabet using a standalone module. We demonstrate that this lessens the burden and improves the performance of low-resource end-to-end ASR systems (because only reduced-alphabet predictions are needed) and that it is possible to design a very simple but effective reconstruction module that recovers sequences in the original alphabet from sequences in the reduced alphabet. We present a finite state transducer-based reconstruction module that operates on the 1-best ASR hypothesis in the reduced alphabet. We demonstrate the efficacy of our proposed technique using ASR systems for two Indian languages, Gujarati and Telugu. With access to only 10 hrs of speech data, we obtain relative WER reductions of up to 7% compared to systems that do not use any reduction.
A Comprehensive Overview on 5G-and-Beyond Networks with UAVs: From Communications to Sensing and Intelligence
Authors: Qingqing Wu, Jie Xu, Yong Zeng, Derrick Wing Kwan Ng, Naofal Al-Dhahir, Robert Schober, A. Lee Swindlehurst
Date: 2020-10-19 00:00:00

Due to the advancements in cellular technologies and the dense deployment of cellular infrastructure, integrating unmanned aerial vehicles (UAVs) into the fifth-generation (5G) and beyond cellular networks is a promising solution to achieve safe UAV operation as well as enabling diversified applications with mission-specific payload data delivery. In particular, 5G networks need to support three typical usage scenarios, namely, enhanced mobile broadband (eMBB), ultra-reliable low-latency communications (URLLC), and massive machine-type communications (mMTC). On the one hand, UAVs can be leveraged as cost-effective aerial platforms to provide ground users with enhanced communication services by exploiting their high cruising altitude and controllable maneuverability in three-dimensional (3D) space. On the other hand, providing such communication services simultaneously for both UAV and ground users poses new challenges due to the need for ubiquitous 3D signal coverage as well as the strong air-ground network interference. Besides the requirement of high-performance wireless communications, the ability to support effective and efficient sensing as well as network intelligence is also essential for 5G-and-beyond 3D heterogeneous wireless networks with coexisting aerial and ground users. In this paper, we provide a comprehensive overview of the latest research efforts on integrating UAVs into cellular networks, with an emphasis on how to exploit advanced techniques (e.g., intelligent reflecting surface, short packet transmission, energy harvesting, joint communication and radar sensing, and edge intelligence) to meet the diversified service requirements of next-generation wireless systems. Moreover, we highlight important directions for further investigation in future work.
A Two-stage Unsupervised Approach for Low light Image Enhancement
Authors: Junjie Hu, Xiyue Guo, Junfeng Chen, Guanqi Liang, Fuqin Deng, Tin Lun Lam
Date: 2020-10-19 00:00:00
Tasks: Image Enhancement, Low-Light Image Enhancement, Simultaneous Localization and Mapping, Vocal Bursts Valence Prediction

As vision based perception methods are usually built on the normal light assumption, there will be a serious safety issue when deploying them into low light environments. Recently, deep learning based methods have been proposed to enhance low light images by penalizing the pixel-wise loss of low light and normal light images. However, most of them suffer from the following problems: 1) the need of pairs of low light and normal light images for training, 2) the poor performance for dark images, 3) the amplification of noise. To alleviate these problems, in this paper, we propose a two-stage unsupervised method that decomposes the low light image enhancement into a pre-enhancement and a post-refinement problem. In the first stage, we pre-enhance a low light image with a conventional Retinex based method. In the second stage, we use a refinement network learned with adversarial training for further improvement of the image quality. The experimental results show that our method outperforms previous methods on four benchmark datasets. In addition, we show that our method can significantly improve feature points matching and simultaneous localization and mapping in low light conditions.
BERTnesia: Investigating the capture and forgetting of knowledge in BERT
Authors: Jonas Wallat, Jaspreet Singh, Avishek Anand
Date: 2020-10-19 00:00:00
Tasks: Knowledge Base Completion, NER, Question Answering

Probing complex language models has recently revealed several insights into linguistic and semantic patterns found in the learned representations. In this paper, we probe BERT specifically to understand and measure the relational knowledge it captures. We utilize knowledge base completion tasks to probe every layer of pre-trained as well as fine-tuned BERT (ranking, question answering, NER). Our findings show that knowledge is not just contained in BERT's final layers. Intermediate layers contribute a significant amount (17-60%) to the total knowledge found. Probing intermediate layers also reveals how different types of knowledge emerge at varying rates. When BERT is fine-tuned, relational knowledge is forgotten but the extent of forgetting is impacted by the fine-tuning objective but not the size of the dataset. We found that ranking models forget the least and retain more knowledge in their final layer. We release our code on github to repeat the experiments.