pwc-archive/papers-with-abstracts huggingface dataset:
Pedestrian Emergence Estimation and Occlusion-Aware Risk Assessment for Urban Autonomous Driving
Authors: Mert Koc, Ekim Yurtsever, Keith Redmill, Umit Ozguner
Date: 2021-07-06 00:00:00
Tasks: Autonomous Driving

Avoiding unseen or partially occluded vulnerable road users (VRUs) is a major challenge for fully autonomous driving in urban scenes. However, occlusion-aware risk assessment systems have not been widely studied. Here, we propose a pedestrian emergence estimation and occlusion-aware risk assessment system for urban autonomous driving. First, the proposed system utilizes available contextual information, such as visible cars and pedestrians, to estimate pedestrian emergence probabilities in occluded regions. These probabilities are then used in a risk assessment framework, and incorporated into a longitudinal motion controller. The proposed controller is tested against several baseline controllers that recapitulate some commonly observed driving styles. The simulated test scenarios include randomly placed parked cars and pedestrians, most of whom are occluded from the ego vehicle's view and emerges randomly. The proposed controller outperformed the baselines in terms of safety and comfort measures.
A visual introduction to Gaussian Belief Propagation
Authors: Joseph Ortiz, Talfan Evans, Andrew J. Davison
Date: 2021-07-05 00:00:00

In this article, we present a visual introduction to Gaussian Belief Propagation (GBP), an approximate probabilistic inference algorithm that operates by passing messages between the nodes of arbitrarily structured factor graphs. A special case of loopy belief propagation, GBP updates rely only on local information and will converge independently of the message schedule. Our key argument is that, given recent trends in computing hardware, GBP has the right computational properties to act as a scalable distributed probabilistic inference framework for future machine learning systems.
Knowledge Modelling and Active Learning in Manufacturing
Authors: Jože M. Rožanec, Inna Novalija, d Patrik Zajec, Klemen Kenda, Dunja Mladenić
Date: 2021-07-05 00:00:00
Tasks: Active Learning, Friction, Knowledge Graphs

The increasing digitalization of the manufacturing domain requires adequate knowledge modeling to capture relevant information. Ontologies and Knowledge Graphs provide means to model and relate a wide range of concepts, problems, and configurations. Both can be used to generate new knowledge through deductive inference and identify missing knowledge. While digitalization increases the amount of data available, much data is not labeled and cannot be directly used to train supervised machine learning models. Active learning can be used to identify the most informative data instances for which to obtain users' feedback, reduce friction, and maximize knowledge acquisition. By combining semantic technologies and active learning, multiple use cases in the manufacturing domain can be addressed taking advantage of the available knowledge and data.
A Review of Explainable Artificial Intelligence in Manufacturing
Authors: Georgios Sofianidis, Jože M. Rožanec, Dunja Mladenić, Dimosthenis Kyriazis
Date: 2021-07-05 00:00:00
Tasks: Decision Making, Explainable artificial intelligence, Explainable Artificial Intelligence (XAI), reinforcement-learning, Reinforcement Learning (RL)

The implementation of Artificial Intelligence (AI) systems in the manufacturing domain enables higher production efficiency, outstanding performance, and safer operations, leveraging powerful tools such as deep learning and reinforcement learning techniques. Despite the high accuracy of these models, they are mostly considered black boxes: they are unintelligible to the human. Opaqueness affects trust in the system, a factor that is critical in the context of decision-making. We present an overview of Explainable Artificial Intelligence (XAI) techniques as a means of boosting the transparency of models. We analyze different metrics to evaluate these techniques and describe several application scenarios in the manufacturing domain.
Dueling Bandits with Adversarial Sleeping
Authors: Aadirupa Saha, Pierre Gaillard
Date: 2021-07-05 00:00:00
Proceeding: NeurIPS 2021 12
Tasks: Management, Multi-Armed Bandits

We introduce the problem of sleeping dueling bandits with stochastic preferences and adversarial availabilities (DB-SPAA). In almost all dueling bandit applications, the decision space often changes over time; eg, retail store management, online shopping, restaurant recommendation, search engine optimization, etc. Surprisingly, this `sleeping aspect' of dueling bandits has never been studied in the literature. Like dueling bandits, the goal is to compete with the best arm by sequentially querying the preference feedback of item pairs. The non-triviality however results due to the non-stationary item spaces that allow any arbitrary subsets items to go unavailable every round. The goal is to find an optimal `no-regret' policy that can identify the best available item at each round, as opposed to the standard `fixed best-arm regret objective' of dueling bandits. We first derive an instance-specific lower bound for DB-SPAA $\Omega( \sum_{i =1}^{K-1}\sum_{j=i+1}^K \frac{\log T}{\Delta(i,j)})$, where $K$ is the number of items and $\Delta(i,j)$ is the gap between items $i$ and $j$. This indicates that the sleeping problem with preference feedback is inherently more difficult than that for classical multi-armed bandits (MAB). We then propose two algorithms, with near optimal regret guarantees. Our results are corroborated empirically.
VolNet: Estimating Human Body Part Volumes from a Single RGB Image
Authors: Fabian Leinen, Vittorio Cozzolino, Torsten Schön
Date: 2021-07-05 00:00:00
Tasks: 3D Pose Estimation, 3D Volumetric Reconstruction, Human Body Volume Estimation, Pose Estimation, Segmentation

Human body volume estimation from a single RGB image is a challenging problem despite minimal attention from the research community. However VolNet, an architecture leveraging 2D and 3D pose estimation, body part segmentation and volume regression extracted from a single 2D RGB image combined with the subject's body height can be used to estimate the total body volume. VolNet is designed to predict the 2D and 3D pose as well as the body part segmentation in intermediate tasks. We generated a synthetic, large-scale dataset of photo-realistic images of human bodies with a wide range of body shapes and realistic poses called SURREALvols. By using Volnet and combining multiple stacked hourglass networks together with ResNeXt, our model correctly predicted the volume in ~82% of cases with a 10% tolerance threshold. This is a considerable improvement compared to state-of-the-art solutions such as BodyNet with only a ~38% success rate.
Vision Xformers: Efficient Attention for Image Classification
Authors: Pranav Jeevan, Amit Sethi
Date: 2021-07-05 00:00:00
Tasks: Classification, GPU, image-classification, Image Classification, Inductive Bias, Position

Although transformers have become the neural architectures of choice for natural language processing, they require orders of magnitude more training data, GPU memory, and computations in order to compete with convolutional neural networks for computer vision. The attention mechanism of transformers scales quadratically with the length of the input sequence, and unrolled images have long sequence lengths. Plus, transformers lack an inductive bias that is appropriate for images. We tested three modifications to vision transformer (ViT) architectures that address these shortcomings. Firstly, we alleviate the quadratic bottleneck by using linear attention mechanisms, called X-formers (such that, X in {Performer, Linformer, Nystr\"omformer}), thereby creating Vision X-formers (ViXs). This resulted in up to a seven times reduction in the GPU memory requirement. We also compared their performance with FNet and multi-layer perceptron mixers, which further reduced the GPU memory requirement. Secondly, we introduced an inductive bias for images by replacing the initial linear embedding layer by convolutional layers in ViX, which significantly increased classification accuracy without increasing the model size. Thirdly, we replaced the learnable 1D position embeddings in ViT with Rotary Position Embedding (RoPE), which increases the classification accuracy for the same model size. We believe that incorporating such changes can democratize transformers by making them accessible to those with limited data and computing resources.
Meta-learning Amidst Heterogeneity and Ambiguity
Authors: Kyeongryeol Go, Seyoung Yun
Date: 2021-07-05 00:00:00
Tasks: Meta-Learning, regression

Meta-learning aims to learn a model that can handle multiple tasks generated from an unknown but shared distribution. However, typical meta-learning algorithms have assumed the tasks to be similar such that a single meta-learner is sufficient to aggregate the variations in all aspects. In addition, there has been less consideration on uncertainty when limited information is given as context. In this paper, we devise a novel meta-learning framework, called Meta-learning Amidst Heterogeneity and Ambiguity (MAHA), that outperforms previous works in terms of prediction based on its ability on task identification. By extensively conducting several experiments in regression and classification, we demonstrate the validity of our model, which turns out to be robust to both task heterogeneity and ambiguity.
An Evolutionary Algorithm for Task Scheduling in Crowdsourced Software Development
Authors: Razieh Saremi, Hardik Yagnik, Julian Togelius, Ye Yang, Guenther Ruhe
Date: 2021-07-05 00:00:00
Tasks: Scheduling

The complexity of software tasks and the uncertainty of crowd developer behaviors make it challenging to plan crowdsourced software development (CSD) projects. In a competitive crowdsourcing marketplace, competition for shared worker resources from multiple simultaneously open tasks adds another layer of uncertainty to the potential outcomes of software crowdsourcing. These factors lead to the need for supporting CSD managers with automated scheduling to improve the visibility and predictability of crowdsourcing processes and outcomes. To that end, this paper proposes an evolutionary algorithm-based task scheduling method for crowdsourced software development. The proposed evolutionary scheduling method uses a multiobjective genetic algorithm to recommend an optimal task start date. The method uses three fitness functions, based on project duration, task similarity, and task failure prediction, respectively. The task failure fitness function uses a neural network to predict the probability of task failure with respect to a specific task start date. The proposed method then recommends the best tasks start dates for the project as a whole and each individual task so as to achieve the lowest project failure ratio. Experimental results on 4 projects demonstrate that the proposed method has the potential to reduce project duration by a factor of 33-78%.
Agents that Listen: High-Throughput Reinforcement Learning with Multiple Sensory Systems
Authors: Shashank Hegde, Anssi Kanervisto, Aleksei Petrenko
Date: 2021-07-05 00:00:00
Tasks: Game of Doom, reinforcement-learning, Reinforcement Learning (RL), Vocal Bursts Intensity Prediction

Humans and other intelligent animals evolved highly sophisticated perception systems that combine multiple sensory modalities. On the other hand, state-of-the-art artificial agents rely mostly on visual inputs or structured low-dimensional observations provided by instrumented environments. Learning to act based on combined visual and auditory inputs is still a new topic of research that has not been explored beyond simple scenarios. To facilitate progress in this area we introduce a new version of VizDoom simulator to create a highly efficient learning environment that provides raw audio observations. We study the performance of different model architectures in a series of tasks that require the agent to recognize sounds and execute instructions given in natural language. Finally, we train our agent to play the full game of Doom and find that it can consistently defeat a traditional vision-based adversary. We are currently in the process of merging the augmented simulator with the main ViZDoom code repository. Video demonstrations and experiment code can be found at https://sites.google.com/view/sound-rl.
Depth-supervised NeRF: Fewer Views and Faster Training for Free
Authors: Kangle Deng, Andrew Liu, Jun-Yan Zhu, Deva Ramanan
Date: 2021-07-06 00:00:00
Proceeding: CVPR 2022 1
Tasks: NeRF, RGB-D Reconstruction

A commonly observed failure mode of Neural Radiance Field (NeRF) is fitting incorrect geometries when given an insufficient number of input views. One potential reason is that standard volumetric rendering does not enforce the constraint that most of a scene's geometry consist of empty space and opaque surfaces. We formalize the above assumption through DS-NeRF (Depth-supervised Neural Radiance Fields), a loss for learning radiance fields that takes advantage of readily-available depth supervision. We leverage the fact that current NeRF pipelines require images with known camera poses that are typically estimated by running structure-from-motion (SFM). Crucially, SFM also produces sparse 3D points that can be used as "free" depth supervision during training: we add a loss to encourage the distribution of a ray's terminating depth matches a given 3D keypoint, incorporating depth uncertainty. DS-NeRF can render better images given fewer training views while training 2-3x faster. Further, we show that our loss is compatible with other recently proposed NeRF methods, demonstrating that depth is a cheap and easily digestible supervisory signal. And finally, we find that DS-NeRF can support other types of depth supervision such as scanned depth sensors and RGB-D reconstruction outputs.
iPOKE: Poking a Still Image for Controlled Stochastic Video Synthesis
Authors: Andreas Blattmann, Timo Milbich, Michael Dorkenwald, Björn Ommer
Date: 2021-07-06 00:00:00
Proceeding: ICCV 2021 10
Tasks: Object

How would a static scene react to a local poke? What are the effects on other parts of an object if you could locally push it? There will be distinctive movement, despite evident variations caused by the stochastic nature of our world. These outcomes are governed by the characteristic kinematics of objects that dictate their overall motion caused by a local interaction. Conversely, the movement of an object provides crucial information about its underlying distinctive kinematics and the interdependencies between its parts. This two-way relation motivates learning a bijective mapping between object kinematics and plausible future image sequences. Therefore, we propose iPOKE -- invertible Prediction of Object Kinematics -- that, conditioned on an initial frame and a local poke, allows to sample object kinematics and establishes a one-to-one correspondence to the corresponding plausible videos, thereby providing a controlled stochastic video synthesis. In contrast to previous works, we do not generate arbitrary realistic videos, but provide efficient control of movements, while still capturing the stochastic nature of our environment and the diversity of plausible outcomes it entails. Moreover, our approach can transfer kinematics onto novel object instances and is not confined to particular object classes. Our project page is available at https://bit.ly/3dJN4Lf.
Anomaly Detection using Edge Computing in Video Surveillance System: Review
Authors: Devashree R. Patrikar, Mayur Rajram Parate
Date: 2021-07-06 00:00:00
Tasks: Anomaly Detection, Edge-computing, Event Detection

The current concept of Smart Cities influences urban planners and researchers to provide modern, secured and sustainable infrastructure and give a decent quality of life to its residents. To fulfill this need video surveillance cameras have been deployed to enhance the safety and well-being of the citizens. Despite technical developments in modern science, abnormal event detection in surveillance video systems is challenging and requires exhaustive human efforts. In this paper, we surveyed various methodologies developed to detect anomalies in intelligent video surveillance. Firstly, we revisit the surveys on anomaly detection in the last decade. We then present a systematic categorization of methodologies developed for ease of understanding. Considering the notion of anomaly depends on context, we identify different objects-of-interest and publicly available datasets in anomaly detection. Since anomaly detection is considered a time-critical application of computer vision, our emphasis is on anomaly detection using edge devices and approaches explicitly designed for them. Further, we discuss the challenges and opportunities involved in anomaly detection at the edge.
Predicate correlation learning for scene graph generation
Authors: Leitian Tao, Li Mi, Nannan Li, Xianhang Cheng, Yaosi Hu, Zhenzhong Chen
Date: 2021-07-06 00:00:00
Tasks: Graph Generation, Scene Graph Generation

For a typical Scene Graph Generation (SGG) method, there is often a large gap in the performance of the predicates' head classes and tail classes. This phenomenon is mainly caused by the semantic overlap between different predicates as well as the long-tailed data distribution. In this paper, a Predicate Correlation Learning (PCL) method for SGG is proposed to address the above two problems by taking the correlation between predicates into consideration. To describe the semantic overlap between strong-correlated predicate classes, a Predicate Correlation Matrix (PCM) is defined to quantify the relationship between predicate pairs, which is dynamically updated to remove the matrix's long-tailed bias. In addition, PCM is integrated into a Predicate Correlation Loss function ($L_{PC}$) to reduce discouraging gradients of unannotated classes. The proposed method is evaluated on Visual Genome benchmark, where the performance of the tail classes is significantly improved when built on the existing methods.
Unsupervised learning of MRI tissue properties using MRI physics models
Authors: Divya Varadarajan, Katherine L. Bouman, Andre van der Kouwe, Bruce Fischl, Adrian V. Dalca
Date: 2021-07-06 00:00:00

In neuroimaging, MRI tissue properties characterize underlying neurobiology, provide quantitative biomarkers for neurological disease detection and analysis, and can be used to synthesize arbitrary MRI contrasts. Estimating tissue properties from a single scan session using a protocol available on all clinical scanners promises to reduce scan time and cost, enable quantitative analysis in routine clinical scans and provide scan-independent biomarkers of disease. However, existing tissue properties estimation methods - most often $\mathbf{T_1}$ relaxation, $\mathbf{T_2^*}$ relaxation, and proton density ($\mathbf{PD}$) - require data from multiple scan sessions and cannot estimate all properties from a single clinically available MRI protocol such as the multiecho MRI scan. In addition, the widespread use of non-standard acquisition parameters across clinical imaging sites require estimation methods that can generalize across varying scanner parameters. However, existing learning methods are acquisition protocol specific and cannot estimate from heterogenous clinical data from different imaging sites. In this work we propose an unsupervised deep-learning strategy that employs MRI physics to estimate all three tissue properties from a single multiecho MRI scan session, and generalizes across varying acquisition parameters. The proposed strategy optimizes accurate synthesis of new MRI contrasts from estimated latent tissue properties, enabling unsupervised training, we also employ random acquisition parameters during training to achieve acquisition generalization. We provide the first demonstration of estimating all tissue properties from a single multiecho scan session. We demonstrate improved accuracy and generalizability for tissue property estimation and MRI synthesis.
Spatiotemporal Fusion in Remote Sensing
Authors: Hessah Albanwan, Rongjun Qin
Date: 2021-07-06 00:00:00

Remote sensing images and techniques are powerful tools to investigate earth surface. Data quality is the key to enhance remote sensing applications and obtaining a clear and noise-free set of data is very difficult in most situations due to the varying acquisition (e.g., atmosphere and season), sensor, and platform (e.g., satellite angles and sensor characteristics) conditions. With the increasing development of satellites, nowadays Terabytes of remote sensing images can be acquired every day. Therefore, information and data fusion can be particularly important in the remote sensing community. The fusion integrates data from various sources acquired asynchronously for information extraction, analysis, and quality improvement. In this chapter, we aim to discuss the theory of spatiotemporal fusion by investigating previous works, in addition to describing the basic concepts and some of its applications by summarizing our prior and ongoing works.
Real-time Pose Estimation from Images for Multiple Humanoid Robots
Authors: Arash Amini, Hafez Farazi, Sven Behnke
Date: 2021-07-06 00:00:00
Tasks: Pose Estimation

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these models are usually designed for human images, one needs to adapt existing models to work on other creatures, including robots. This paper examines different state-of-the-art pose estimation models and proposes a lightweight model that can work in real-time on humanoid robots in the RoboCup Humanoid League environment. Additionally, we present a novel dataset called the HumanoidRobotPose dataset. The results of this work have the potential to enable many advanced behaviors for soccer-playing robots.
Attention-based Adversarial Appearance Learning of Augmented Pedestrians
Authors: Kevin Strauss, Artem Savkin, Federico Tombari
Date: 2021-07-06 00:00:00
Tasks: Autonomous Driving

Synthetic data became already an essential component of machine learning-based perception in the field of autonomous driving. Yet it still cannot replace real data completely due to the sim2real domain shift. In this work, we propose a method that leverages the advantages of the augmentation process and adversarial training to synthesize realistic data for the pedestrian recognition task. Our approach utilizes an attention mechanism driven by an adversarial loss to learn domain discrepancies and improve sim2real adaptation. Our experiments confirm that the proposed adaptation method is robust to such discrepancies and reveals both visual realism and semantic consistency. Furthermore, we evaluate our data generation pipeline on the task of pedestrian recognition and demonstrate that generated data resemble properties of the real domain.
COVID-19 Pneumonia Severity Prediction using Hybrid Convolution-Attention Neural Architectures
Authors: Nam Nguyen, J. Morris Chang
Date: 2021-07-06 00:00:00
Tasks: severity prediction

This study proposed a novel framework for COVID-19 severity prediction, which is a combination of data-centric and model-centric approaches. First, we propose a data-centric pre-training for extremely scare data scenarios of the investigating dataset. Second, we propose two hybrid convolution-attention neural architectures that leverage the self-attention from the Transformer and the Dense Associative Memory (Modern Hopfield networks). Our proposed approach achieves significant improvement from the conventional baseline approach. The best model from our proposed approach achieves $R^2 = 0.85 \pm 0.05$ and Pearson correlation coefficient $\rho = 0.92 \pm 0.02$ in geographic extend and $R^2 = 0.72 \pm 0.09, \rho = 0.85\pm 0.06$ in opacity prediction.