pwc-archive/papers-with-abstracts huggingface dataset:
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments
Authors: Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath
Date: 2021-09-13 00:00:00
Tasks: Autonomous Navigation, Trajectory Planning

Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimension by crouching in order to travel underneath height-constrained regions. There are few mobile robots that are capable of handling such a challenge, and bipedal robots provide a solution. However, as bipedal robots have nonlinear and hybrid dynamics, trajectory planning while ensuring dynamic feasibility and safety on these robots is challenging. This paper presents an end-to-end autonomous navigation framework which leverages three layers of planners and a variable walking height controller to enable bipedal robots to safely explore height-constrained environments. A vertically-actuated Spring-Loaded Inverted Pendulum (vSLIP) model is introduced to capture the robot's coupled dynamics of planar walking and vertical walking height. This reduced-order model is utilized to optimize for long-term and short-term safe trajectory plans. A variable walking height controller is leveraged to enable the bipedal robot to maintain stable periodic walking gaits while following the planned trajectory. The entire framework is tested and experimentally validated using a bipedal robot Cassie. This demonstrates reliable autonomy to drive the robot to safely avoid obstacles while walking to the goal location in various kinds of height-constrained cluttered environments.
Mitigating Language-Dependent Ethnic Bias in BERT
Authors: Jaimeen Ahn, Alice Oh
Date: 2021-09-13 00:00:00
Proceeding: EMNLP 2021 11
Tasks: Word Alignment

BERT and other large-scale language models (LMs) contain gender and racial bias. They also exhibit other dimensions of social bias, most of which have not been studied in depth, and some of which vary depending on the language. In this paper, we study ethnic bias and how it varies across languages by analyzing and mitigating ethnic bias in monolingual BERT for English, German, Spanish, Korean, Turkish, and Chinese. To observe and quantify ethnic bias, we develop a novel metric called Categorical Bias score. Then we propose two methods for mitigation; first using a multilingual model, and second using contextual word alignment of two monolingual models. We compare our proposed methods with monolingual BERT and show that these methods effectively alleviate the ethnic bias. Which of the two methods works better depends on the amount of NLP resources available for that language. We additionally experiment with Arabic and Greek to verify that our proposed methods work for a wider variety of languages.
Raise a Child in Large Language Model: Towards Effective and Generalizable Fine-tuning
Authors: Runxin Xu, Fuli Luo, Zhiyuan Zhang, Chuanqi Tan, Baobao Chang, Songfang Huang, Fei Huang
Date: 2021-09-13 00:00:00
Proceeding: EMNLP 2021 11
Tasks: Language Modeling, Language Modelling, Large Language Model

Recent pretrained language models extend from millions to billions of parameters. Thus the need to fine-tune an extremely large pretrained model with a limited training corpus arises in various downstream tasks. In this paper, we propose a straightforward yet effective fine-tuning technique, Child-Tuning, which updates a subset of parameters (called child network) of large pretrained models via strategically masking out the gradients of the non-child network during the backward process. Experiments on various downstream tasks in GLUE benchmark show that Child-Tuning consistently outperforms the vanilla fine-tuning by 1.5~8.6 average score among four different pretrained models, and surpasses the prior fine-tuning techniques by 0.6~1.3 points. Furthermore, empirical results on domain transfer and task transfer show that Child-Tuning can obtain better generalization performance by large margins.
Reinforcement Learning for Load-balanced Parallel Particle Tracing
Authors: Jiayi Xu, Hanqi Guo, Han-Wei Shen, Mukund Raj, Skylar W. Wurster, Tom Peterka
Date: 2021-09-13 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

We explore an online reinforcement learning (RL) paradigm to dynamically optimize parallel particle tracing performance in distributed-memory systems. Our method combines three novel components: (1) a work donation algorithm, (2) a high-order workload estimation model, and (3) a communication cost model. First, we design an RL-based work donation algorithm. Our algorithm monitors workloads of processes and creates RL agents to donate data blocks and particles from high-workload processes to low-workload processes to minimize program execution time. The agents learn the donation strategy on the fly based on reward and cost functions designed to consider processes' workload changes and data transfer costs of donation actions. Second, we propose a workload estimation model, helping RL agents estimate the workload distribution of processes in future computations. Third, we design a communication cost model that considers both block and particle data exchange costs, helping RL agents make effective decisions with minimized communication costs. We demonstrate that our algorithm adapts to different flow behaviors in large-scale fluid dynamics, ocean, and weather simulation data. Our algorithm improves parallel particle tracing performance in terms of parallel efficiency, load balance, and costs of I/O and communication for evaluations with up to 16,384 processors.
On the Impact of Spurious Correlation for Out-of-distribution Detection
Authors: Yifei Ming, Hang Yin, Yixuan Li
Date: 2021-09-12 00:00:00
Tasks: Out-of-Distribution Detection, Out of Distribution (OOD) Detection

Modern neural networks can assign high confidence to inputs drawn from outside the training distribution, posing threats to models in real-world deployments. While much research attention has been placed on designing new out-of-distribution (OOD) detection methods, the precise definition of OOD is often left in vagueness and falls short of the desired notion of OOD in reality. In this paper, we present a new formalization and model the data shifts by taking into account both the invariant and environmental (spurious) features. Under such formalization, we systematically investigate how spurious correlation in the training set impacts OOD detection. Our results suggest that the detection performance is severely worsened when the correlation between spurious features and labels is increased in the training set. We further show insights on detection methods that are more effective in reducing the impact of spurious correlation and provide theoretical analysis on why reliance on environmental features leads to high OOD detection error. Our work aims to facilitate a better understanding of OOD samples and their formalization, as well as the exploration of methods that enhance OOD detection.
Generating Datasets of 3D Garments with Sewing Patterns
Authors: Maria Korosteleva, Sung-Hee Lee
Date: 2021-09-12 00:00:00

Garments are ubiquitous in both real and many of the virtual worlds. They are highly deformable objects, exhibit an immense variety of designs and shapes, and yet, most garments are created from a set of regularly shaped flat pieces. Exploration of garment structure presents a peculiar case for an object structure estimation task and might prove useful for downstream tasks of neural 3D garment modeling and reconstruction by providing strong prior on garment shapes. To facilitate research in these directions, we propose a method for generating large synthetic datasets of 3D garment designs and their sewing patterns. Our method consists of a flexible description structure for specifying parametric sewing pattern templates and the automatic generation pipeline to produce garment 3D models with little-to-none manual intervention. To add realism, the pipeline additionally creates corrupted versions of the final meshes that imitate artifacts of 3D scanning. With this pipeline, we created the first large-scale synthetic dataset of 3D garment models with their sewing patterns. The dataset contains more than 20000 garment design variations produced from 19 different base types. Seven of these garment types are specifically designed to target evaluation of the generalization across garment sewing pattern topologies.
AdViCE: Aggregated Visual Counterfactual Explanations for Machine Learning Model Validation
Authors: Oscar Gomez, Steffen Holter, Jun Yuan, Enrico Bertini
Date: 2021-09-12 00:00:00
Tasks: BIG-bench Machine Learning, counterfactual, Decision Making

Rapid improvements in the performance of machine learning models have pushed them to the forefront of data-driven decision-making. Meanwhile, the increased integration of these models into various application domains has further highlighted the need for greater interpretability and transparency. To identify problems such as bias, overfitting, and incorrect correlations, data scientists require tools that explain the mechanisms with which these model decisions are made. In this paper we introduce AdViCE, a visual analytics tool that aims to guide users in black-box model debugging and validation. The solution rests on two main visual user interface innovations: (1) an interactive visualization design that enables the comparison of decisions on user-defined data subsets; (2) an algorithm and visual design to compute and visualize counterfactual explanations - explanations that depict model outcomes when data features are perturbed from their original values. We provide a demonstration of the tool through a use case that showcases the capabilities and potential limitations of the proposed approach.
Nimber-Preserving Reductions and Homomorphic Sprague-Grundy Game Encodings
Authors: Kyle Burke, Matthew Ferland, ShangHua Teng
Date: 2021-09-12 00:00:00

The concept of nimbers--a.k.a. Grundy-values or nim-values--is fundamental to combinatorial game theory. Nimbers provide a complete characterization of strategic interactions among impartial games in their disjunctive sums as well as the winnability. In this paper, we initiate a study of nimber-preserving reductions among impartial games. These reductions enhance the winnability-preserving reductions in traditional computational characterizations of combinatorial games. We prove that Generalized Geography is complete for the natural class, $\cal{I}^P$ , of polynomially-short impartial rulesets under nimber-preserving reductions, a property we refer to as Sprague-Grundy-complete. In contrast, we also show that not every PSPACE-complete ruleset in $\cal{I}^P$ is Sprague-Grundy-complete for $\cal{I}^P$ . By considering every impartial game as an encoding of its nimber, our technical result establishes the following striking cryptography-inspired homomorphic theorem: Despite the PSPACE-completeness of nimber computation for $\cal{I}^P$ , there exists a polynomial-time algorithm to construct, for any pair of games $G_1$, $G_2$ of $\cal{I}^P$ , a prime game (i.e. a game that cannot be written as a sum) $H$ of $\cal{I}^P$ , satisfying: nimber($H$) = nimber($G_1$) $\oplus$ nimber($G_2$).
SphereFace Revived: Unifying Hyperspherical Face Recognition
Authors: Weiyang Liu, Yandong Wen, Bhiksha Raj, Rita Singh, Adrian Weller
Date: 2021-09-12 00:00:00
Tasks: Face Recognition

This paper addresses the deep face recognition problem under an open-set protocol, where ideal face features are expected to have smaller maximal intra-class distance than minimal inter-class distance under a suitably chosen metric space. To this end, hyperspherical face recognition, as a promising line of research, has attracted increasing attention and gradually become a major focus in face recognition research. As one of the earliest works in hyperspherical face recognition, SphereFace explicitly proposed to learn face embeddings with large inter-class angular margin. However, SphereFace still suffers from severe training instability which limits its application in practice. In order to address this problem, we introduce a unified framework to understand large angular margin in hyperspherical face recognition. Under this framework, we extend the study of SphereFace and propose an improved variant with substantially better training stability -- SphereFace-R. Specifically, we propose two novel ways to implement the multiplicative margin, and study SphereFace-R under three different feature normalization schemes (no feature normalization, hard feature normalization and soft feature normalization). We also propose an implementation strategy -- "characteristic gradient detachment" -- to stabilize training. Extensive experiments on SphereFace-R show that it is consistently better than or competitive with state-of-the-art methods.
Unsupervised Domain Adaptive Learning via Synthetic Data for Person Re-identification
Authors: Qi Wang, Sikai Bai, Junyu Gao, Yuan Yuan, Xuelong Li
Date: 2021-09-12 00:00:00
Tasks: Domain Adaptation, Person Re-Identification, Unsupervised Domain Adaptation

Person re-identification (re-ID) has gained more and more attention due to its widespread applications in intelligent video surveillance. Unfortunately, the mainstream deep learning methods still need a large quantity of labeled data to train models, and annotating data is an expensive work in real-world scenarios. In addition, due to domain gaps between different datasets, the performance is dramatically decreased when re-ID models pre-trained on label-rich datasets (source domain) are directly applied to other unlabeled datasets (target domain). In this paper, we attempt to remedy these problems from two aspects, namely data and methodology. Firstly, we develop a data collector to automatically generate synthetic re-ID samples in a computer game, and construct a data labeler to simultaneously annotate them, which free humans from heavy data collections and annotations. Based on them, we build two synthetic person re-ID datasets with different scales, "GSPR" and "mini-GSPR" datasets. Secondly, we propose a synthesis-based multi-domain collaborative refinement (SMCR) network, which contains a synthetic pretraining module and two collaborative-refinement modules to implement sufficient learning for the valuable knowledge from multiple domains. Extensive experiments show that our proposed framework obtains significant performance improvements over the state-of-the-art methods on multiple unsupervised domain adaptation tasks of person re-ID.
An Unsupervised Deep-Learning Method for Fingerprint Classification: the CCAE Network and the Hybrid Clustering Strategy
Authors: Yue-Jie Hou, Zai-Xin Xie, Jian-Hu, Yao-Shen, Chi-Chun Zhou
Date: 2021-09-12 00:00:00

The fingerprint classification is an important and effective method to quicken the process and improve the accuracy in the fingerprint matching process. Conventional supervised methods need a large amount of pre-labeled data and thus consume immense human resources. In this paper, we propose a new and efficient unsupervised deep learning method that can extract fingerprint features and classify fingerprint patterns automatically. In this approach, a new model named constraint convolutional auto-encoder (CCAE) is used to extract fingerprint features and a hybrid clustering strategy is applied to obtain the final clusters. A set of experiments in the NIST-DB4 dataset shows that the proposed unsupervised method exhibits the efficient performance on fingerprint classification. For example, the CCAE achieves an accuracy of 97.3% on only 1000 unlabeled fingerprints in the NIST-DB4.
TEASEL: A Transformer-Based Speech-Prefixed Language Model
Authors: Mehdi Arjmand, Mohammad Javad Dousti, Hadi Moradi
Date: 2021-09-12 00:00:00
Tasks: Language Modeling, Language Modelling, Multimodal Sentiment Analysis, Self-Supervised Learning, Sentiment Analysis

Multimodal language analysis is a burgeoning field of NLP that aims to simultaneously model a speaker's words, acoustical annotations, and facial expressions. In this area, lexicon features usually outperform other modalities because they are pre-trained on large corpora via Transformer-based models. Despite their strong performance, training a new self-supervised learning (SSL) Transformer on any modality is not usually attainable due to insufficient data, which is the case in multimodal language learning. This work proposes a Transformer-Based Speech-Prefixed Language Model called TEASEL to approach the mentioned constraints without training a complete Transformer model. TEASEL model includes speech modality as a dynamic prefix besides the textual modality compared to a conventional language model. This method exploits a conventional pre-trained language model as a cross-modal Transformer model. We evaluated TEASEL for the multimodal sentiment analysis task defined by CMU-MOSI dataset. Extensive experiments show that our model outperforms unimodal baseline language models by 4% and outperforms the current multimodal state-of-the-art (SoTA) model by 1% in F1-score. Additionally, our proposed method is 72% smaller than the SoTA model.
HyAR: Addressing Discrete-Continuous Action Reinforcement Learning via Hybrid Action Representation
Authors: Boyan Li, Hongyao Tang, Yan Zheng, Jianye Hao, Pengyi Li, Zhen Wang, Zhaopeng Meng, Li Wang
Date: 2021-09-12 00:00:00
Proceeding: ICLR 2022 4
Tasks: reinforcement-learning, Reinforcement Learning (RL)

Discrete-continuous hybrid action space is a natural setting in many practical problems, such as robot control and game AI. However, most previous Reinforcement Learning (RL) works only demonstrate the success in controlling with either discrete or continuous action space, while seldom take into account the hybrid action space. One naive way to address hybrid action RL is to convert the hybrid action space into a unified homogeneous action space by discretization or continualization, so that conventional RL algorithms can be applied. However, this ignores the underlying structure of hybrid action space and also induces the scalability issue and additional approximation difficulties, thus leading to degenerated results. In this paper, we propose Hybrid Action Representation (HyAR) to learn a compact and decodable latent representation space for the original hybrid action space. HyAR constructs the latent space and embeds the dependence between discrete action and continuous parameter via an embedding table and conditional Variantional Auto-Encoder (VAE). To further improve the effectiveness, the action representation is trained to be semantically smooth through unsupervised environmental dynamics prediction. Finally, the agent then learns its policy with conventional DRL algorithms in the learned representation space and interacts with the environment by decoding the hybrid action embeddings to the original action space. We evaluate HyAR in a variety of environments with discrete-continuous action space. The results demonstrate the superiority of HyAR when compared with previous baselines, especially for high-dimensional action spaces.
Illuminating Diverse Neural Cellular Automata for Level Generation
Authors: Sam Earle, Justin Snider, Matthew C. Fontaine, Stefanos Nikolaidis, Julian Togelius
Date: 2021-09-12 00:00:00
Tasks: Diversity, Sokoban

We present a method of generating diverse collections of neural cellular automata (NCA) to design video game levels. While NCAs have so far only been trained via supervised learning, we present a quality diversity (QD) approach to generating a collection of NCA level generators. By framing the problem as a QD problem, our approach can train diverse level generators, whose output levels vary based on aesthetic or functional criteria. To efficiently generate NCAs, we train generators via Covariance Matrix Adaptation MAP-Elites (CMA-ME), a quality diversity algorithm which specializes in continuous search spaces. We apply our new method to generate level generators for several 2D tile-based games: a maze game, Sokoban, and Zelda. Our results show that CMA-ME can generate small NCAs that are diverse yet capable, often satisfying complex solvability criteria for deterministic agents. We compare against a Compositional Pattern-Producing Network (CPPN) baseline trained to produce diverse collections of generators and show that the NCA representation yields a better exploration of level-space.
ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesis
Authors: Kailin Li, Lixin Yang, Xinyu Zhan, Jun Lv, Wenqiang Xu, Jiefeng Li, Cewu Lu
Date: 2021-09-12 00:00:00
Proceeding: CVPR 2022 1
Tasks: 3D Hand Pose Estimation, hand-object pose, Object, Pose Estimation, valid

Estimating the articulated 3D hand-object pose from a single RGB image is a highly ambiguous and challenging problem, requiring large-scale datasets that contain diverse hand poses, object types, and camera viewpoints. Most real-world datasets lack these diversities. In contrast, data synthesis can easily ensure those diversities separately. However, constructing both valid and diverse hand-object interactions and efficiently learning from the vast synthetic data is still challenging. To address the above issues, we propose ArtiBoost, a lightweight online data enhancement method. ArtiBoost can cover diverse hand-object poses and camera viewpoints through sampling in a Composited hand-object Configuration and Viewpoint space (CCV-space) and can adaptively enrich the current hard-discernable items by loss-feedback and sample re-weighting. ArtiBoost alternatively performs data exploration and synthesis within a learning pipeline, and those synthetic data are blended into real-world source data for training. We apply ArtiBoost on a simple learning baseline network and witness the performance boost on several hand-object benchmarks. Our models and code are available at https://github.com/lixiny/ArtiBoost.
A Socially Aware Reinforcement Learning Agent for The Single Track Road Problem
Authors: Ido Shapira, Amos Azaria
Date: 2021-09-12 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning (RL)

We present the single track road problem. In this problem two agents face each-other at opposite positions of a road that can only have one agent pass at a time. We focus on the scenario in which one agent is human, while the other is an autonomous agent. We run experiments with human subjects in a simple grid domain, which simulates the single track road problem. We show that when data is limited, building an accurate human model is very challenging, and that a reinforcement learning agent, which is based on this data, does not perform well in practice. However, we show that an agent that tries to maximize a linear combination of the human's utility and its own utility, achieves a high score, and significantly outperforms other baselines, including an agent that tries to maximize only its own utility.