pwc-archive/papers-with-abstracts huggingface dataset:
Learning compositional models of robot skills for task and motion planning
Authors: Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Date: 2020-06-08 00:00:00
Tasks: Active Learning, Motion Planning, Task and Motion Planning

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive abilities in novel combinations and thus generalize across a wide variety of problems. In order to plan with primitive actions, we must have models of the actions: under what circumstances will executing this primitive successfully achieve some particular effect in the world? We use, and develop novel improvements on, state-of-the-art methods for active learning and sampling. We use Gaussian process methods for learning the constraints on skill effectiveness from small numbers of expensive-to-collect training examples. Additionally, we develop efficient adaptive sampling methods for generating a comprehensive and diverse sequence of continuous candidate control parameter values (such as pouring waypoints for a cup) during planning. These values become end-effector goals for traditional motion planners that then solve for a full robot motion that performs the skill. By using learning and planning methods in conjunction, we take advantage of the strengths of each and plan for a wide variety of complex dynamic manipulation tasks. We demonstrate our approach in an integrated system, combining traditional robotics primitives with our newly learned models using an efficient robot task and motion planner. We evaluate our approach both in simulation and in the real world through measuring the quality of the selected primitive actions. Finally, we apply our integrated system to a variety of long-horizon simulated and real-world manipulation problems.
A Comparative Study of U-Net Topologies for Background Removal in Histopathology Images
Authors: Abtin Riasatian, Maral Rasoolijaberi, Morteza Babaei, H. R. Tizhoosh
Date: 2020-06-08 00:00:00
Tasks: Specificity, whole slide images

During the last decade, the digitization of pathology has gained considerable momentum. Digital pathology offers many advantages including more efficient workflows, easier collaboration as well as a powerful venue for telepathology. At the same time, applying Computer-Aided Diagnosis (CAD) on Whole Slide Images (WSIs) has received substantial attention as a direct result of the digitization. The first step in any image analysis is to extract the tissue. Hence, background removal is an essential prerequisite for efficient and accurate results for many algorithms. In spite of the obvious discrimination for human operators, the identification of tissue regions in WSIs could be challenging for computers, mainly due to the existence of color variations and artifacts. Moreover, some cases such as alveolar tissue types, fatty tissues, and tissues with poor staining are difficult to detect. In this paper, we perform experiments on U-Net architecture with different network backbones (different topologies) to remove the background as well as artifacts from WSIs in order to extract the tissue regions. We compare a wide range of backbone networks including MobileNet, VGG16, EfficientNet-B3, ResNet50, ResNext101 and DenseNet121. We trained and evaluated the network on a manually labeled subset of The Cancer Genome Atlas (TCGA) Dataset. EfficientNet-B3 and MobileNet by almost 99% sensitivity and specificity reached the best results.
Global and Local Attention-Based Free-Form Image Inpainting
Authors: S. M. Nadim Uddin, Yong Ju Jung
Date: 2020-06-04 00:00:00
Proceeding: Sensors 2020 6
Tasks: Form, Image Inpainting

Deep-learning-based image inpainting methods have shown significant promise in both rectangular and irregular holes. However, the inpainting of irregular holes presents numerous challenges owing to uncertainties in their shapes and locations. When depending solely on convolutional neural network (CNN) or adversarial supervision, plausible inpainting results cannot be guaranteed because irregular holes need attention-based guidance for retrieving information for content generation. In this paper, we propose two new attention mechanisms, namely a mask pruning-based global attention module and a global and local attention module to obtain global dependency information and the local similarity information among the features for refined results. The proposed method is evaluated using state-of-the-art methods, and the experimental results show that our method outperforms the existing methods in both quantitative and qualitative measures.
Analog/Mixed-Signal Hardware Error Modeling for Deep Learning Inference
Authors: Angad S. Rekhi, Brian Zimmer, Nikola Nedovic, Ningxi Liu, Rangharajan Venkatesan, Miaorong Wang, Brucek Khailany, William J. Dally, C. Thomas Gray
Date: 2019-06-05 00:00:00
Proceeding: Design Automation Conference (DAC) 2019 6
Tasks: Deep Learning

Analog/mixed-signal (AMS) computation can be more energy efficient than digital approaches for deep learning inference, but incurs an accuracy penalty from precision loss. Prior AMS approaches focus on small networks/datasets, which can maintain accuracy even with 2b precision. We analyze applicability of AMS approaches to larger networks by proposing a generic AMS error model, implementing it in an existing training framework, and investigating its effect on ImageNet classification with ResNet-50. We demonstrate significant accuracy recovery by exposing the network to AMS error during retraining, and we show that batch normalization layers are responsible for this accuracy recovery. We also introduce an energy model to predict the requirements of high-accuracy AMS hardware running large networks and use it to show that for ADC-dominated designs, there is a direct tradeoff between energy efficiency and network accuracy. Our model predicts that achieving < 0.4% accuracy loss on ResNet-50 with AMS hardware requires a computation energy of at least ~300 fJ/MAC. Finally, we propose methods for improving the energy-accuracy tradeoff.
Ship Wake Detection in SAR Images via Sparse Regularization
Authors: Oktay Karakuş, Igor Rizaev, Alin Achim
Date: 2019-04-05 00:00:00

In order to analyse synthetic aperture radar (SAR) images of the sea surface, ship wake detection is essential for extracting information on the wake generating vessels. One possibility is to assume a linear model for wakes, in which case detection approaches are based on transforms such as Radon and Hough. These express the bright (dark) lines as peak (trough) points in the transform domain. In this paper, ship wake detection is posed as an inverse problem, which the associated cost function including a sparsity enforcing penalty, i.e. the generalized minimax concave (GMC) function. Despite being a non-convex regularizer, the GMC penalty enforces the overall cost function to be convex. The proposed solution is based on a Bayesian formulation, whereby the point estimates are recovered using maximum a posteriori (MAP) estimation. To quantify the performance of the proposed method, various types of SAR images are used, corresponding to TerraSAR-X, COSMO-SkyMed, Sentinel-1, and ALOS2. The performance of various priors in solving the proposed inverse problem is first studied by investigating the GMC along with the L1, Lp, nuclear and total variation (TV) norms. We show that the GMC achieves the best results and we subsequently study the merits of the corresponding method in comparison to two state-of-the-art approaches for ship wake detection. The results show that our proposed technique offers the best performance by achieving 80% success rate.
Borrowing From the Future: Addressing Double Sampling in Model-free Control
Authors: Yuhua Zhu, Zach Izzo, Lexing Ying
Date: 2020-06-11 00:00:00

In model-free reinforcement learning, the temporal difference method and its variants become unstable when combined with nonlinear function approximations. Bellman residual minimization with stochastic gradient descent (SGD) is more stable, but it suffers from the double sampling problem: given the current state, two independent samples for the next state are required, but often only one sample is available. Recently, the authors of [Zhu et al, 2020] introduced the borrowing from the future (BFF) algorithm to address this issue for the prediction problem. The main idea is to borrow extra randomness from the future to approximately re-sample the next state when the underlying dynamics of the problem are sufficiently smooth. This paper extends the BFF algorithm to action-value function based model-free control. We prove that BFF is close to unbiased SGD when the underlying dynamics vary slowly with respect to actions. We confirm our theoretical findings with numerical simulations.
Perceptually-motivated Environment-specific Speech Enhancement
Authors: Jiaqi Su, Adam Finkelstein, Zeyu Jin
Date: 2019-05-01 00:00:00
Proceeding: ICASSP 2019 5
Tasks: Speech Enhancement

This paper introduces a deep learning approach to enhance speech recordings made in a specific environment. A single neural network learns to ameliorate several types of recording artifacts, including noise, reverberation, and non-linear equalization. The method relies on a new perceptual loss function that combines adversarial loss with spectrogram features. Both subjective and objective evaluations show that the proposed approach improves on state-of-the-art baseline methods.
Learn to Steer through Deep Reinforcement Learning
Authors: Keyu Wu, Mahdi Abolfazli Esfahani, Shenghai Yuan, Han Wang
Date: 2018-10-27 00:00:00
Proceeding: Sensors 2018 10
Tasks: Deep Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

It is crucial for robots to autonomously steer in complex environments safely without colliding with any obstacles. Compared to conventional methods, deep reinforcement learning-based methods are able to learn from past experiences automatically and enhance the generalization capability to cope with unseen circumstances. Therefore, we propose an end-to-end deep reinforcement learning algorithm in this paper to improve the performance of autonomous steering in complex environments. By embedding a branching noisy dueling architecture, the proposed model is capable of deriving steering commands directly from raw depth images with high efficiency. Specifically, our learning-based approach extracts the feature representation from depth inputs through convolutional neural networks and maps it to both linear and angular velocity commands simultaneously through different streams of the network. Moreover, the training framework is also meticulously designed to improve the learning efficiency and effectiveness. It is worth noting that the developed system is readily transferable from virtual training scenarios to real-world deployment without any fine-tuning by utilizing depth images. The proposed method is evaluated and compared with a series of baseline methods in various virtual environments. Experimental results demonstrate the superiority of the proposed model in terms of average reward, learning efficiency, success rate as well as computational time. Moreover, a variety of real-world experiments are also conducted which reveal the high adaptability of our model to both static and dynamic obstacle-cluttered environments.
Computer Vision Based Distance Measurement System using Stereo Camera View
Authors: Emre DANDIL, Kerim Kürşat ÇEVİK
Date: 2019-11-13 00:00:00
Proceeding: IEEE 2019 11

In recent years, especially in industrial 
automation systems, in order for robots to understand their 
distances and positions according to the target, close to human 
vision, computer vision systems are needed. Computer vision 
close to human vision can only be created using stereo cameras. 
In this study, a computer vision system is developed using the 
stereo camera system for measuring object distances. In the 
study, first of all, for the distance measurement, the distance of 
the face images obtained from the stereo camera system to the 
screen is calculated. In measuring the distances of the face 
images to screen, the disparity maps are first extracted and the 
face region is detected. Afterwards, the distance measurements 
are performed on the obtained images in the stereo camera 
system on account of calculating the shifts between the frames. 
In the experimental studies, the actual distance values such as 
71, 74, 75, 79, 110, 125, and 115 of the face to the screen are 
measured as 70, 72, 73, 77, 97, 120, 132 cm by proposed system, 
respectively. When the experimental results are examined, we 
can say that the proposed computer vision system is successful 
in distance measurement using stereo camera view.
Uncertainty quantification using martingales for misspecified Gaussian processes
Authors: Willie Neiswanger, Aaditya Ramdas
Date: 2020-06-12 00:00:00
Tasks: Bayesian Optimization, Gaussian Processes, Uncertainty Quantification, valid

We address uncertainty quantification for Gaussian processes (GPs) under misspecified priors, with an eye towards Bayesian Optimization (BO). GPs are widely used in BO because they easily enable exploration based on posterior uncertainty bands. However, this convenience comes at the cost of robustness: a typical function encountered in practice is unlikely to have been drawn from the data scientist's prior, in which case uncertainty estimates can be misleading, and the resulting exploration can be suboptimal. We present a frequentist approach to GP/BO uncertainty quantification. We utilize the GP framework as a working model, but do not assume correctness of the prior. We instead construct a confidence sequence (CS) for the unknown function using martingale techniques. There is a necessary cost to achieving robustness: if the prior was correct, posterior GP bands are narrower than our CS. Nevertheless, when the prior is wrong, our CS is statistically valid and empirically outperforms standard GP methods, in terms of both coverage and utility for BO. Additionally, we demonstrate that powered likelihoods provide robustness against model misspecification.
Residual Force Control for Agile Human Behavior Imitation and Extended Motion Synthesis
Authors: Ye Yuan, Kris Kitani
Date: 2020-06-12 00:00:00
Proceeding: NeurIPS 2020 12
Tasks: Humanoid Control, Motion Synthesis

Reinforcement learning has shown great promise for synthesizing realistic human behaviors by learning humanoid control policies from motion capture data. However, it is still very challenging to reproduce sophisticated human skills like ballet dance, or to stably imitate long-term human behaviors with complex transitions. The main difficulty lies in the dynamics mismatch between the humanoid model and real humans. That is, motions of real humans may not be physically possible for the humanoid model. To overcome the dynamics mismatch, we propose a novel approach, residual force control (RFC), that augments a humanoid control policy by adding external residual forces into the action space. During training, the RFC-based policy learns to apply residual forces to the humanoid to compensate for the dynamics mismatch and better imitate the reference motion. Experiments on a wide range of dynamic motions demonstrate that our approach outperforms state-of-the-art methods in terms of convergence speed and the quality of learned motions. Notably, we showcase a physics-based virtual character empowered by RFC that can perform highly agile ballet dance moves such as pirouette, arabesque and jet\'e. Furthermore, we propose a dual-policy control framework, where a kinematic policy and an RFC-based policy work in tandem to synthesize multi-modal infinite-horizon human motions without any task guidance or user input. Our approach is the first humanoid control method that successfully learns from a large-scale human motion dataset (Human3.6M) and generates diverse long-term motions. Code and videos are available at https://www.ye-yuan.com/rfc.
Stochastic Gradient Langevin with Delayed Gradients
Authors: Vyacheslav Kungurtsev, Bapi Chatterjee, Dan Alistarh
Date: 2020-06-12 00:00:00
Tasks: Stochastic Optimization

Stochastic Gradient Langevin Dynamics (SGLD) ensures strong guarantees with regards to convergence in measure for sampling log-concave posterior distributions by adding noise to stochastic gradient iterates. Given the size of many practical problems, parallelizing across several asynchronously running processors is a popular strategy for reducing the end-to-end computation time of stochastic optimization algorithms. In this paper, we are the first to investigate the effect of asynchronous computation, in particular, the evaluation of stochastic Langevin gradients at delayed iterates, on the convergence in measure. For this, we exploit recent results modeling Langevin dynamics as solving a convex optimization problem on the space of measures. We show that the rate of convergence in measure is not significantly affected by the error caused by the delayed gradient information used for computation, suggesting significant potential for speedup in wall clock time. We confirm our theoretical results with numerical experiments on some practical problems.
Gaussian Processes on Graphs via Spectral Kernel Learning
Authors: Yin-Cong Zhi, Yin Cheng Ng, Xiaowen Dong
Date: 2020-06-12 00:00:00
Tasks: Gaussian Processes

We propose a graph spectrum-based Gaussian process for prediction of signals defined on nodes of the graph. The model is designed to capture various graph signal structures through a highly adaptive kernel that incorporates a flexible polynomial function in the graph spectral domain. Unlike most existing approaches, we propose to learn such a spectral kernel, where the polynomial setup enables learning without the need for eigen-decomposition of the graph Laplacian. In addition, this kernel has the interpretability of graph filtering achieved by a bespoke maximum likelihood learning algorithm that enforces the positivity of the spectrum. We demonstrate the interpretability of the model in synthetic experiments from which we show the various ground truth spectral filters can be accurately recovered, and the adaptability translates to superior performances in the prediction of real-world graph data of various characteristics.
AlgebraNets
Authors: Jordan Hoffmann, Simon Schmitt, Simon Osindero, Karen Simonyan, Erich Elsen
Date: 2020-06-12 00:00:00
Tasks: Computational Efficiency, image-classification, Image Classification, Language Modeling, Language Modelling

Neural networks have historically been built layerwise from the set of functions in ${f: \mathbb{R}^n \to \mathbb{R}^m }$, i.e. with activations and weights/parameters represented by real numbers, $\mathbb{R}$. Our work considers a richer set of objects for activations and weights, and undertakes a comprehensive study of alternative algebras as number representations by studying their performance on two challenging problems: large-scale image classification using the ImageNet dataset and language modeling using the enwiki8 and WikiText-103 datasets. We denote this broader class of models as AlgebraNets. Our findings indicate that the conclusions of prior work, which explored neural networks constructed from $\mathbb{C}$ (complex numbers) and $\mathbb{H}$ (quaternions) on smaller datasets, do not always transfer to these challenging settings. However, our results demonstrate that there are alternative algebras which deliver better parameter and computational efficiency compared with $\mathbb{R}$. We consider $\mathbb{C}$, $\mathbb{H}$, $M_{2}(\mathbb{R})$ (the set of $2\times2$ real-valued matrices), $M_{2}(\mathbb{C})$, $M_{3}(\mathbb{R})$ and $M_{4}(\mathbb{R})$. Additionally, we note that multiplication in these algebras has higher compute density than real multiplication, a useful property in situations with inherently limited parameter reuse such as auto-regressive inference and sparse neural networks. We therefore investigate how to induce sparsity within AlgebraNets. We hope that our strong results on large-scale, practical benchmarks will spur further exploration of these unconventional architectures which challenge the default choice of using real numbers for neural network weights and activations.
Comparing Natural Language Processing Techniques for Alzheimer's Dementia Prediction in Spontaneous Speech
Authors: Thomas Searle, Zina Ibrahim, Richard Dobson
Date: 2020-06-12 00:00:00
Tasks: Classification, Diagnostic, General Classification

Alzheimer's Dementia (AD) is an incurable, debilitating, and progressive neurodegenerative condition that affects cognitive function. Early diagnosis is important as therapeutics can delay progression and give those diagnosed vital time. Developing models that analyse spontaneous speech could eventually provide an efficient diagnostic modality for earlier diagnosis of AD. The Alzheimer's Dementia Recognition through Spontaneous Speech task offers acoustically pre-processed and balanced datasets for the classification and prediction of AD and associated phenotypes through the modelling of spontaneous speech. We exclusively analyse the supplied textual transcripts of the spontaneous speech dataset, building and comparing performance across numerous models for the classification of AD vs controls and the prediction of Mental Mini State Exam scores. We rigorously train and evaluate Support Vector Machines (SVMs), Gradient Boosting Decision Trees (GBDT), and Conditional Random Fields (CRFs) alongside deep learning Transformer based models. We find our top performing models to be a simple Term Frequency-Inverse Document Frequency (TF-IDF) vectoriser as input into a SVM model and a pre-trained Transformer based model `DistilBERT' when used as an embedding layer into simple linear models. We demonstrate test set scores of 0.81-0.82 across classification metrics and a RMSE of 4.58.
Implicit Bias of Gradient Descent for Mean Squared Error Regression with Two-Layer Wide Neural Networks
Authors: Hui Jin, Guido Montúfar
Date: 2020-06-12 00:00:00
Tasks: regression

We investigate gradient descent training of wide neural networks and the corresponding implicit bias in function space. For univariate regression, we show that the solution of training a width-$n$ shallow ReLU network is within $n^{- 1/2}$ of the function which fits the training data and whose difference from the initial function has the smallest 2-norm of the second derivative weighted by a curvature penalty that depends on the probability distribution that is used to initialize the network parameters. We compute the curvature penalty function explicitly for various common initialization procedures. For instance, asymmetric initialization with a uniform distribution yields a constant curvature penalty, and thence the solution function is the natural cubic spline interpolation of the training data. \hj{For stochastic gradient descent we obtain the same implicit bias result.} We obtain a similar result for different activation functions. For multivariate regression we show an analogous result, whereby the second derivative is replaced by the Radon transform of a fractional Laplacian. For initialization schemes that yield a constant penalty function, the solutions are polyharmonic splines. Moreover, we show that the training trajectories are captured by trajectories of smoothing splines with decreasing regularization strength.