pwc-archive/papers-with-abstracts huggingface dataset:
Oscillation Reduction for Knuckle Cranes
Authors: Michele Ambrosino, Brent Thierens, Arnaud Dawans, Emanuele Garone
Date: 2021-03-03 00:00:00

Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of the crane. Such boom cranes are commonly called knuckle boom cranes. Due to their underactuated properties, it is fairly challenging to control knuckle boom cranes. To the best of our knowledge, only a few techniques are present in the literature to control this type of cranes using approximate models of the crane. In this paper we present for the first time a complete mathematical model for this crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. One of the main challenges to control this system is how to reduce the oscillations in an effective way. In this paper we propose a nonlinear control based on energy considerations capable of guiding the crane to desired sets points while effectively reducing load oscillations. The corresponding stability and convergence analysis is proved using the LaSalle's invariance principle. Simulation results are provided to demonstrate the effectiveness and feasibility of the proposed method.
Stochastic Cutting Planes for Data-Driven Optimization
Authors: Dimitris Bertsimas, Michael Lingzhi Li
Date: 2021-03-03 00:00:00

We introduce a stochastic version of the cutting-plane method for a large class of data-driven Mixed-Integer Nonlinear Optimization (MINLO) problems. We show that under very weak assumptions the stochastic algorithm is able to converge to an $\epsilon$-optimal solution with high probability. Numerical experiments on several problems show that stochastic cutting planes is able to deliver a multiple order-of-magnitude speedup compared to the standard cutting-plane method. We further experimentally explore the lower limits of sampling for stochastic cutting planes and show that for many problems, a sampling size of $O(\sqrt[3]{n})$ appears to be sufficient for high quality solutions.
Domain Generalization: A Survey
Authors: Kaiyang Zhou, Ziwei Liu, Yu Qiao, Tao Xiang, Chen Change Loy
Date: 2021-03-03 00:00:00
Tasks: Action Recognition, Data Augmentation, Domain Adaptation, Domain Generalization, Ensemble Learning, Meta-Learning, Object Recognition, Person Re-Identification, speech-recognition, Speech Recognition, Survey, Transfer Learning

Generalization to out-of-distribution (OOD) data is a capability natural to humans yet challenging for machines to reproduce. This is because most learning algorithms strongly rely on the i.i.d.~assumption on source/target data, which is often violated in practice due to domain shift. Domain generalization (DG) aims to achieve OOD generalization by using only source data for model learning. Over the last ten years, research in DG has made great progress, leading to a broad spectrum of methodologies, e.g., those based on domain alignment, meta-learning, data augmentation, or ensemble learning, to name a few; DG has also been studied in various application areas including computer vision, speech recognition, natural language processing, medical imaging, and reinforcement learning. In this paper, for the first time a comprehensive literature review in DG is provided to summarize the developments over the past decade. Specifically, we first cover the background by formally defining DG and relating it to other relevant fields like domain adaptation and transfer learning. Then, we conduct a thorough review into existing methods and theories. Finally, we conclude this survey with insights and discussions on future research directions.
Vanishing Twin GAN: How training a weak Generative Adversarial Network can improve semi-supervised image classification
Authors: Saman Motamed, Farzad Khalvati
Date: 2021-03-03 00:00:00
Tasks: Classification, General Classification, Generative Adversarial Network, image-classification, Image Classification, Semi-Supervised Image Classification

Generative Adversarial Networks can learn the mapping of random noise to realistic images in a semi-supervised framework. This mapping ability can be used for semi-supervised image classification to detect images of an unknown class where there is no training data to be used for supervised classification. However, if the unknown class shares similar characteristics to the known class(es), GANs can learn to generalize and generate images that look like both classes. This generalization ability can hinder the classification performance. In this work, we propose the Vanishing Twin GAN. By training a weak GAN and using its generated output image parallel to the regular GAN, the Vanishing Twin training improves semi-supervised image classification where image similarity can hurt classification tasks.
Non-local Channel Aggregation Network for Single Image Rain Removal
Authors: Zhipeng Su, Yixiong Zhang, Xiao-Ping Zhang, Feng Qi
Date: 2021-03-03 00:00:00
Tasks: Rain Removal

Rain streaks showing in images or videos would severely degrade the performance of computer vision applications. Thus, it is of vital importance to remove rain streaks and facilitate our vision systems. While recent convolutinal neural network based methods have shown promising results in single image rain removal (SIRR), they fail to effectively capture long-range location dependencies or aggregate convolutional channel information simultaneously. However, as SIRR is a highly illposed problem, these spatial and channel information are very important clues to solve SIRR. First, spatial information could help our model to understand the image context by gathering long-range dependency location information hidden in the image. Second, aggregating channels could help our model to concentrate on channels more related to image background instead of rain streaks. In this paper, we propose a non-local channel aggregation network (NCANet) to address the SIRR problem. NCANet models 2D rainy images as sequences of vectors in three directions, namely vertical direction, transverse direction and channel direction. Recurrently aggregating information from all three directions enables our model to capture the long-range dependencies in both channels and spaitials locations. Extensive experiments on both heavy and light rain image data sets demonstrate the effectiveness of the proposed NCANet model.
DeepFN: Towards Generalizable Facial Action Unit Recognition with Deep Face Normalization
Authors: Javier Hernandez, Daniel McDuff, Ognjen, Rudovic, Alberto Fung, Mary Czerwinski
Date: 2021-03-03 00:00:00
Tasks: Action Recognition, Denoising, Facial Action Unit Detection, Image Captioning

Facial action unit recognition has many applications from market research to psychotherapy and from image captioning to entertainment. Despite its recent progress, deployment of these models has been impeded due to their limited generalization to unseen people and demographics. This work conducts an in-depth analysis of performance across several dimensions: individuals(40 subjects), genders (male and female), skin types (darker and lighter), and databases (BP4D and DISFA). To help suppress the variance in data, we use the notion of self-supervised denoising autoencoders to design a method for deep face normalization(DeepFN) that transfers facial expressions of different people onto a common facial template which is then used to train and evaluate facial action recognition models. We show that person-independent models yield significantly lower performance (55% average F1 and accuracy across 40 subjects) than person-dependent models (60.3%), leading to a generalization gap of 5.3%. However, normalizing the data with the newly introduced DeepFN significantly increased the performance of person-independent models (59.6%), effectively reducing the gap. Similarly, we observed generalization gaps when considering gender (2.4%), skin type (5.3%), and dataset (9.4%), which were significantly reduced with the use of DeepFN. These findings represent an important step towards the creation of more generalizable facial action unit recognition systems.
Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation
Authors: Hemang Chawla, Arnav Varma, Elahe Arani, Bahram Zonooz
Date: 2021-03-03 00:00:00
Tasks: Autonomous Driving, Depth Estimation, Monocular Depth Estimation, Scene Understanding

Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously copresent global positioning systems (GPS), we tackle this challenge by proposing a dynamically-weighted GPS-to-Scale (g2s) loss to complement the appearance-based losses. We emphasize that the GPS is needed only during the multimodal training, and not at inference. The relative distance between frames captured through the GPS provides a scale signal that is independent of the camera setup and scene distribution, resulting in richer learned feature representations. Through extensive evaluation on multiple datasets, we demonstrate scale-consistent and -aware depth estimation during inference, improving the performance even when training with low-frequency GPS data.
Regularizing towards Causal Invariance: Linear Models with Proxies
Authors: Michael Oberst, Nikolaj Thams, Jonas Peters, David Sontag
Date: 2021-03-03 00:00:00

We propose a method for learning linear models whose predictive performance is robust to causal interventions on unobserved variables, when noisy proxies of those variables are available. Our approach takes the form of a regularization term that trades off between in-distribution performance and robustness to interventions. Under the assumption of a linear structural causal model, we show that a single proxy can be used to create estimators that are prediction optimal under interventions of bounded strength. This strength depends on the magnitude of the measurement noise in the proxy, which is, in general, not identifiable. In the case of two proxy variables, we propose a modified estimator that is prediction optimal under interventions up to a known strength. We further show how to extend these estimators to scenarios where additional information about the "test time" intervention is available during training. We evaluate our theoretical findings in synthetic experiments and using real data of hourly pollution levels across several cities in China.
Non-Blockingness Verification of Bounded Petri Nets Using Basis Reachability Graphs -- An Extended Version With Benchmarks
Authors: Chao Gu, Ziyue Ma, Zhiwu Li, Alessandro Giua
Date: 2021-03-03 00:00:00

In this paper, we study the problem of non-blockingness verification by tapping into the basis reachability graph (BRG). Non-blockingness is a property that ensures that all pre-specified tasks can be completed, which is a mandatory requirement during the system design stage. In this paper we develop a condition of transition partition of a given net such that the corresponding conflict-increase BRG contains sufficient information on verifying non-blockingness of its corresponding Petri net. Thanks to the compactness of the BRG, our approach possesses practical efficiency since the exhaustive enumeration of the state space can be avoided. In particular, our method does not require that the net is deadlock-free.
Arthroscopic Multi-Spectral Scene Segmentation Using Deep Learning
Authors: Shahnewaz Ali, Dr. Yaqub Jonmohamadi, Yu Takeda, Jonathan Roberts, Ross Crawford, Cameron Brown, Dr. Ajay K. Pandey
Date: 2021-03-03 00:00:00
Tasks: Deep Learning, Scene Segmentation

Knee arthroscopy is a minimally invasive surgical (MIS) procedure which is performed to treat knee-joint ailment. Lack of visual information of the surgical site obtained from miniaturized cameras make this surgical procedure more complex. Knee cavity is a very confined space; therefore, surgical scenes are captured at close proximity. Insignificant context of knee atlas often makes them unrecognizable as a consequence unintentional tissue damage often occurred and shows a long learning curve to train new surgeons. Automatic context awareness through labeling of the surgical site can be an alternative to mitigate these drawbacks. However, from the previous studies, it is confirmed that the surgical site exhibits several limitations, among others, lack of discriminative contextual information such as texture and features which drastically limits this vision task. Additionally, poor imaging conditions and lack of accurate ground-truth labels are also limiting the accuracy. To mitigate these limitations of knee arthroscopy, in this work we proposed a scene segmentation method that successfully segments multi structures.
User Preferential Tour Recommendation Based on POI-Embedding Methods
Authors: Ngai Lam Ho, Kwan Hui Lim
Date: 2021-03-03 00:00:00

Tour itinerary planning and recommendation are challenging tasks for tourists in unfamiliar countries. Many tour recommenders only consider broad POI categories and do not align well with users' preferences and other locational constraints. We propose an algorithm to recommend personalized tours using POI-embedding methods, which provides a finer representation of POI types. Our recommendation algorithm will generate a sequence of POIs that optimizes time and locational constraints, as well as user's preferences based on past trajectories from similar tourists. Our tour recommendation algorithm is modelled as a word embedding model in natural language processing, coupled with an iterative algorithm for generating itineraries that satisfies time constraints. Using a Flickr dataset of 4 cities, preliminary experimental results show that our algorithm is able to recommend a relevant and accurate itinerary, based on measures of recall, precision and F1-scores.
University of Copenhagen Participation in TREC Health Misinformation Track 2020
Authors: Lucas Chaves Lima, Dustin Brandon Wright, Isabelle Augenstein, Maria Maistro
Date: 2021-03-03 00:00:00
Tasks: Language Modeling, Language Modelling, Misinformation, Stance Detection

In this paper, we describe our participation in the TREC Health Misinformation Track 2020. We submitted $11$ runs to the Total Recall Task and 13 runs to the Ad Hoc task. Our approach consists of 3 steps: (1) we create an initial run with BM25 and RM3; (2) we estimate credibility and misinformation scores for the documents in the initial run; (3) we merge the relevance, credibility and misinformation scores to re-rank documents in the initial run. To estimate credibility scores, we implement a classifier which exploits features based on the content and the popularity of a document. To compute the misinformation score, we apply a stance detection approach with a pretrained Transformer language model. Finally, we use different approaches to merge scores: weighted average, the distance among score vectors and rank fusion.
A System Level Approach to Tube-based Model Predictive Control
Authors: Jerome Sieber, Samir Bennani, Melanie N. Zeilinger
Date: 2021-03-03 00:00:00
Tasks: Model Predictive Control

Robust tube-based model predictive control (MPC) methods address constraint satisfaction by leveraging an a priori determined tube controller in the prediction to tighten the constraints. This paper presents a system level tube-MPC (SLTMPC) method derived from the system level parameterization (SLP), which allows optimization over the tube controller online when solving the MPC problem, which can significantly reduce conservativeness. We derive the SLTMPC method by establishing an equivalence relation between a class of robust MPC methods and the SLP. Finally, we show that the SLTMPC formulation naturally arises from an extended SLP formulation and show its merits in a numerical example.
Sparsity Aware Normalization for GANs
Authors: Idan Kligvasser, Tomer Michaeli
Date: 2021-03-03 00:00:00
Tasks: Image-to-Image Translation, Translation

Generative adversarial networks (GANs) are known to benefit from regularization or normalization of their critic (discriminator) network during training. In this paper, we analyze the popular spectral normalization scheme, find a significant drawback and introduce sparsity aware normalization (SAN), a new alternative approach for stabilizing GAN training. As opposed to other normalization methods, our approach explicitly accounts for the sparse nature of the feature maps in convolutional networks with ReLU activations. We illustrate the effectiveness of our method through extensive experiments with a variety of network architectures. As we show, sparsity is particularly dominant in critics used for image-to-image translation settings. In these cases our approach improves upon existing methods, in less training epochs and with smaller capacity networks, while requiring practically no computational overhead.
Modeling and control of 5-DoF boom crane
Authors: Michele Ambrosino, Marc Berneman, Gianluca Carbone, Rémi Crépin, Arnaud Dawans, Emanuele Garone
Date: 2021-03-03 00:00:00

Automation of cranes can have a direct impact on the productivity of construction projects. In this paper, we focus on the control of one of the most used cranes, the boom crane. Tower cranes and overhead cranes have been widely studied in the literature, whereas the control of boom cranes has been investigated only by a few works. Typically, these works make use of simple models making use of a large number of simplifying assumptions (e.g. fixed length cable, assuming certain dynamics are uncoupled, etc.) A first result of this paper is to present a fairly complete nonlinear dynamic model of a boom crane taking into account all coupling dynamics and where the only simplifying assumption is that the cable is considered as rigid. The boom crane involves pitching and rotational movements, which generate complicated centrifugal forces, and consequently, equations of motion highly nonlinear. On the basis of this model, a control law has been developed able to perform position control of the crane while actively damping the oscillations of the load. The effectiveness of the approach has been tested in simulation with realistic physical parameters and tested in the presence of wind disturbances.
OpenPifPaf: Composite Fields for Semantic Keypoint Detection and Spatio-Temporal Association
Authors: Sven Kreiss, Lorenzo Bertoni, Alexandre Alahi
Date: 2021-03-03 00:00:00
Tasks: Car Pose Estimation, Keypoint Detection, Multi-Person Pose Estimation, Pose Estimation, Self-Driving Cars

Many image-based perception tasks can be formulated as detecting, associating and tracking semantic keypoints, e.g., human body pose estimation and tracking. In this work, we present a general framework that jointly detects and forms spatio-temporal keypoint associations in a single stage, making this the first real-time pose detection and tracking algorithm. We present a generic neural network architecture that uses Composite Fields to detect and construct a spatio-temporal pose which is a single, connected graph whose nodes are the semantic keypoints (e.g., a person's body joints) in multiple frames. For the temporal associations, we introduce the Temporal Composite Association Field (TCAF) which requires an extended network architecture and training method beyond previous Composite Fields. Our experiments show competitive accuracy while being an order of magnitude faster on multiple publicly available datasets such as COCO, CrowdPose and the PoseTrack 2017 and 2018 datasets. We also show that our method generalizes to any class of semantic keypoints such as car and animal parts to provide a holistic perception framework that is well suited for urban mobility such as self-driving cars and delivery robots.
Deep Adaptive Design: Amortizing Sequential Bayesian Experimental Design
Authors: Adam Foster, Desi R. Ivanova, Ilyas Malik, Tom Rainforth
Date: 2021-03-03 00:00:00
Tasks: Experimental Design

We introduce Deep Adaptive Design (DAD), a method for amortizing the cost of adaptive Bayesian experimental design that allows experiments to be run in real-time. Traditional sequential Bayesian optimal experimental design approaches require substantial computation at each stage of the experiment. This makes them unsuitable for most real-world applications, where decisions must typically be made quickly. DAD addresses this restriction by learning an amortized design network upfront and then using this to rapidly run (multiple) adaptive experiments at deployment time. This network represents a design policy which takes as input the data from previous steps, and outputs the next design using a single forward pass; these design decisions can be made in milliseconds during the live experiment. To train the network, we introduce contrastive information bounds that are suitable objectives for the sequential setting, and propose a customized network architecture that exploits key symmetries. We demonstrate that DAD successfully amortizes the process of experimental design, outperforming alternative strategies on a number of problems.
Dynamic Fusion Module Evolves Drivable Area and Road Anomaly Detection: A Benchmark and Algorithms
Authors: Hengli Wang, Rui Fan, Yuxiang Sun, Ming Liu
Date: 2021-03-03 00:00:00
Tasks: Anomaly Detection, Self-Driving Cars, Semantic Segmentation

Joint detection of drivable areas and road anomalies is very important for mobile robots. Recently, many semantic segmentation approaches based on convolutional neural networks (CNNs) have been proposed for pixel-wise drivable area and road anomaly detection. In addition, some benchmark datasets, such as KITTI and Cityscapes, have been widely used. However, the existing benchmarks are mostly designed for self-driving cars. There lacks a benchmark for ground mobile robots, such as robotic wheelchairs. Therefore, in this paper, we first build a drivable area and road anomaly detection benchmark for ground mobile robots, evaluating the existing state-of-the-art single-modal and data-fusion semantic segmentation CNNs using six modalities of visual features. Furthermore, we propose a novel module, referred to as the dynamic fusion module (DFM), which can be easily deployed in existing data-fusion networks to fuse different types of visual features effectively and efficiently. The experimental results show that the transformed disparity image is the most informative visual feature and the proposed DFM-RTFNet outperforms the state-of-the-arts. Additionally, our DFM-RTFNet achieves competitive performance on the KITTI road benchmark. Our benchmark is publicly available at https://sites.google.com/view/gmrb.
Land Cover Mapping in Limited Labels Scenario: A Survey
Authors: Rahul Ghosh, Xiaowei Jia, Vipin Kumar
Date: 2021-03-03 00:00:00
Tasks: BIG-bench Machine Learning, Survey

Land cover mapping is essential for monitoring global environmental change and managing natural resources. Unfortunately, traditional classification models are plagued by limited training data available in existing land cover products and data heterogeneity over space and time. In this survey, we provide a structured and comprehensive overview of challenges in land cover mapping and machine learning methods used to address these problems. We also discuss the gaps and opportunities that exist for advancing research in this promising direction.