pwc-archive/papers-with-abstracts huggingface dataset:
Controversy Detection: a Text and Graph Neural Network Based Approach
Authors: Samy Benslimane, Jérome Azé, Sandra Bringay, Maximilien Servajean, Caroline Mollevi
Date: 2021-12-03 00:00:00
Tasks: Graph Classification, Graph Embedding, Graph Neural Network, Graph Representation Learning, Representation Learning

Controversial content refers to any content that attracts both positive and negative feedback. Its automatic identification, especially on social media, is a challenging task as it should be done on a large number of continuously evolving posts, covering a large variety of topics. Most of the existing approaches rely on the graph structure of a topic-discussion and/or the content of messages. This paper proposes a controversy detection approach based on both graph structure of a discussion and text features. Our proposed approach relies on Graph Neural Network (gnn) to encode the graph representation (including its texts) in an embedding vector before performing a graph classification task. The latter will classify the post as controversial or not. Two controversy detection strategies are proposed. The first one is based on a hierarchical graph representation learning. Graph user nodes are embedded hierarchically and iteratively to compute the whole graph embedding vector. The second one is based on the attention mechanism, which allows each user node to give more or less importance to its neighbors when computing node embeddings. We conduct experiments to evaluate our approach using different real-world datasets. Conducted experiments show the positive impact of combining textual features and structural information in terms of performance.
Evaluation and comparison of SEA torque controllers in a unified framework
Authors: Wolfgang Rampeltshammer, Arvid Keemink, Menno Sytsma, Edwin van Asseldonk, Herman van der Kooij
Date: 2022-01-03 00:00:00

Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers, both in the torque response as well as interaction behavior with its the environment. To differentiate state of the art torque controllers, this work is introducing a unifying theoretical and experimental framework that compares controllers based on their torque transfer behavior, their apparent impedance behavior, and especially the passivity of the apparent impedance, i.e. their interaction stability, as well as their sensitivity to sensor noise. We compare classical SEA control approaches such as cascaded PID controllers and full state feedback controllers with advanced controllers using disturbance observers, acceleration feedback and adaptation rules. Simulations and experiments demonstrate the trade-off between stable interactions, high bandwidths and low noise levels. Based on these tradeoffs, an application specific controller can be designed and tuned, based on desired interaction with the respective environment.
Towards a Principled Learning Rate Adaptation for Natural Evolution Strategies
Authors: Masahiro Nomura, Isao Ono
Date: 2021-11-22 00:00:00

Natural Evolution Strategies (NES) is a promising framework for black-box continuous optimization problems. NES optimizes the parameters of a probability distribution based on the estimated natural gradient, and one of the key parameters affecting the performance is the learning rate. We argue that from the viewpoint of the natural gradient method, the learning rate should be determined according to the estimation accuracy of the natural gradient. To do so, we propose a new learning rate adaptation mechanism for NES. The proposed mechanism makes it possible to set a high learning rate for problems that are relatively easy to optimize, which results in speeding up the search. On the other hand, in problems that are difficult to optimize (e.g., multimodal functions), the proposed mechanism makes it possible to set a conservative learning rate when the estimation accuracy of the natural gradient seems to be low, which results in the robust and stable search. The experimental evaluations on unimodal and multimodal functions demonstrate that the proposed mechanism works properly depending on a search situation and is effective over the existing method, i.e., using the fixed learning rate.
Risk-Bounded Control with Kalman Filtering and Stochastic Barrier Functions
Authors: Shakiba Yaghoubi, Georgios Fainekos, Tomoya Yamaguchi, Danil Prokhorov, Bardh Hoxha
Date: 2021-12-30 00:00:00

In this paper, we study Stochastic Control Barrier Functions (SCBFs) to enable the design of probabilistic safe real-time controllers in presence of uncertainties and based on noisy measurements. Our goal is to design controllers that bound the probability of a system failure in finite-time to a given desired value. To that end, we first estimate the system states from the noisy measurements using an Extended Kalman filter, and compute confidence intervals on the filtering errors. Then, we account for filtering errors and derive sufficient conditions on the control input based on the estimated states to bound the probability that the real states of the system enter an unsafe region within a finite time interval. We show that these sufficient conditions are linear constraints on the control input, and, hence, they can be used in tractable optimization problems to achieve safety, in addition to other properties like reachability, and stability. Our approach is evaluated using a simulation of a lane-changing scenario on a highway with dense traffic.
Learning Linear Complementarity Systems
Authors: Wanxin Jin, Alp Aydinoglu, Mathew Halm, Michael Posa
Date: 2021-12-25 00:00:00

This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear complementarity systems (LCSs). We propose a violation-based loss which enables efficient learning of the LCS parameterization, without prior knowledge of the hybrid mode boundaries, using gradient-based methods. The proposed violation-based loss incorporates both dynamics prediction loss and a novel complementarity - violation loss. We show several properties attained by this loss formulation, including its differentiability, the efficient computation of first- and second-order derivatives, and its relationship to the traditional prediction loss, which strictly enforces complementarity. We apply this violation-based loss formulation to learn LCSs with tens of thousands of (potentially stiff) hybrid modes. The results demonstrate a state-of-the-art ability to identify piecewise-affine dynamics, outperforming methods which must differentiate through non-smooth linear complementarity problems.
Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Control
Authors: Santiago Sanchez-Escalonilla, Rodolfo Reyes-Baez, Bayu Jayawardhana
Date: 2021-12-24 00:00:00

In this work we exploit the universal approximation property of Neural Networks (NNs) to design interconnection and damping assignment (IDA) passivity-based control (PBC) schemes for fully-actuated mechanical systems in the port-Hamiltonian (pH) framework. To that end, we transform the IDA-PBC method into a supervised learning problem that solves the partial differential matching equations, and fulfills equilibrium assignment and Lyapunov stability conditions. A main consequence of this, is that the output of the learning algorithm has a clear control-theoretic interpretation in terms of passivity and Lyapunov stability. The proposed control design methodology is validated for mechanical systems of one and two degrees-of-freedom via numerical simulations.
Towards Disturbance-Free Visual Mobile Manipulation
Authors: Tianwei Ni, Kiana Ehsani, Luca Weihs, Jordi Salvador
Date: 2021-12-17 00:00:00
Tasks: Collision Avoidance, Deep Reinforcement Learning, Knowledge Distillation, Visual Navigation

Deep reinforcement learning has shown promising results on an abundance of robotic tasks in simulation, including visual navigation and manipulation. Prior work generally aims to build embodied agents that solve their assigned tasks as quickly as possible, while largely ignoring the problems caused by collision with objects during interaction. This lack of prioritization is understandable: there is no inherent cost in breaking virtual objects. As a result, "well-trained" agents frequently collide with objects before achieving their primary goals, a behavior that would be catastrophic in the real world. In this paper, we study the problem of training agents to complete the task of visual mobile manipulation in the ManipulaTHOR environment while avoiding unnecessary collision (disturbance) with objects. We formulate disturbance avoidance as a penalty term in the reward function, but find that directly training with such penalized rewards often results in agents being unable to escape poor local optima. Instead, we propose a two-stage training curriculum where an agent is first allowed to freely explore and build basic competencies without penalization, after which a disturbance penalty is introduced to refine the agent's behavior. Results on testing scenes show that our curriculum not only avoids these poor local optima, but also leads to 10% absolute gains in success rate without disturbance, compared to our state-of-the-art baselines. Moreover, our curriculum is significantly more performant than a safe RL algorithm that casts collision avoidance as a constraint. Finally, we propose a novel disturbance-prediction auxiliary task that accelerates learning.
Cluster Stability Selection
Authors: Gregory Faletto, Jacob Bien
Date: 2022-01-03 00:00:00
Tasks: feature selection

Stability selection (Meinshausen and Buhlmann, 2010) makes any feature selection method more stable by returning only those features that are consistently selected across many subsamples. We prove (in what is, to our knowledge, the first result of its kind) that for data containing highly correlated proxies for an important latent variable, the lasso typically selects one proxy, yet stability selection with the lasso can fail to select any proxy, leading to worse predictive performance than the lasso alone. We introduce cluster stability selection, which exploits the practitioner's knowledge that highly correlated clusters exist in the data, resulting in better feature rankings than stability selection in this setting. We consider several feature-combination approaches, including taking a weighted average of the features in each important cluster where weights are determined by the frequency with which cluster members are selected, which we show leads to better predictive models than previous proposals. We present generalizations of theoretical guarantees from Meinshausen and Buhlmann (2010) and Shah and Samworth (2012) to show that cluster stability selection retains the same guarantees. In summary, cluster stability selection enjoys the best of both worlds, yielding a sparse selected set that is both stable and has good predictive performance.
A General Framework for Treatment Effect Estimation in Semi-Supervised and High Dimensional Settings
Authors: Abhishek Chakrabortty, Guorong Dai
Date: 2022-01-03 00:00:00
Tasks: Causal Inference

In this article, we aim to provide a general and complete understanding of semi-supervised (SS) causal inference for treatment effects. Specifically, we consider two such estimands: (a) the average treatment effect and (b) the quantile treatment effect, as prototype cases, in an SS setting, characterized by two available data sets: (i) a labeled data set of size $n$, providing observations for a response and a set of high dimensional covariates, as well as a binary treatment indicator; and (ii) an unlabeled data set of size $N$, much larger than $n$, but without the response observed. Using these two data sets, we develop a family of SS estimators which are ensured to be: (1) more robust and (2) more efficient than their supervised counterparts based on the labeled data set only. Beyond the 'standard' double robustness results (in terms of consistency) that can be achieved by supervised methods as well, we further establish root-n consistency and asymptotic normality of our SS estimators whenever the propensity score in the model is correctly specified, without requiring specific forms of the nuisance functions involved. Such an improvement of robustness arises from the use of the massive unlabeled data, so it is generally not attainable in a purely supervised setting. In addition, our estimators are shown to be semi-parametrically efficient as long as all the nuisance functions are correctly specified. Moreover, as an illustration of the nuisance estimators, we consider inverse-probability-weighting type kernel smoothing estimators involving unknown covariate transformation mechanisms, and establish in high dimensional scenarios novel results on their uniform convergence rates, which should be of independent interest. Numerical results on both simulated and real data validate the advantage of our methods over their supervised counterparts with respect to both robustness and efficiency.
Personalized Lane Change Decision Algorithm Using Deep Reinforcement Learning Approach
Authors: Daofei Li, Ao Liu
Date: 2021-12-17 00:00:00
Tasks: Deep Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

To develop driving automation technologies for human, a human-centered methodology should be adopted for ensured safety and satisfactory user experience. Automated lane change decision in dense highway traffic is challenging, especially when considering the personalized preferences of different drivers. To fulfill human driver centered decision algorithm development, we carry out driver-in-the-loop experiments on a 6-Degree-of-Freedom driving simulator. Based on the analysis of the lane change data by drivers of three specific styles,personalization indicators are selected to describe the driver preferences in lane change decision. Then a deep reinforcement learning (RL) approach is applied to design human-like agents for automated lane change decision, with refined reward and loss functions to capture the driver preferences.The trained RL agents and benchmark agents are tested in a two-lane highway driving scenario, and by comparing the agents with the specific drivers at the same initial states of lane change, the statistics show that the proposed algorithm can guarantee higher consistency of lane change decision preferences. The driver personalization indicators and the proposed RL-based lane change decision algorithm are promising to contribute in automated lane change system developing.
Benchmarking Safe Deep Reinforcement Learning in Aquatic Navigation
Authors: Enrico Marchesini, Davide Corsi, Alessandro Farinelli
Date: 2021-12-16 00:00:00
Tasks: Benchmarking, Deep Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Safe Reinforcement Learning

We propose a novel benchmark environment for Safe Reinforcement Learning focusing on aquatic navigation. Aquatic navigation is an extremely challenging task due to the non-stationary environment and the uncertainties of the robotic platform, hence it is crucial to consider the safety aspect of the problem, by analyzing the behavior of the trained network to avoid dangerous situations (e.g., collisions). To this end, we consider a value-based and policy-gradient Deep Reinforcement Learning (DRL) and we propose a crossover-based strategy that combines gradient-based and gradient-free DRL to improve sample-efficiency. Moreover, we propose a verification strategy based on interval analysis that checks the behavior of the trained models over a set of desired properties. Our results show that the crossover-based training outperforms prior DRL approaches, while our verification allows us to quantify the number of configurations that violate the behaviors that are described by the properties. Crucially, this will serve as a benchmark for future research in this domain of applications.
Global convergence of optimized adaptive importance samplers
Authors: Ömer Deniz Akyildiz
Date: 2022-01-02 00:00:00
Tasks: global-optimization

We analyze the optimized adaptive importance sampler (OAIS) for performing Monte Carlo integration with general proposals. We leverage a classical result which shows that the bias and the mean-squared error (MSE) of the importance sampling scales with the $\chi^2$-divergence between the target and the proposal and develop a scheme which performs global optimization of $\chi^2$-divergence. While it is known that this quantity is convex for exponential family proposals, the case of the general proposals has been an open problem. We close this gap by utilizing the nonasymptotic bounds for stochastic gradient Langevin dynamics (SGLD) for the global optimization of $\chi^2$-divergence and derive nonasymptotic bounds for the MSE by leveraging recent results from non-convex optimization literature. The resulting AIS schemes have explicit theoretical guarantees that are uniform-in-time.
Kernel Two-Sample Tests in High Dimension: Interplay Between Moment Discrepancy and Dimension-and-Sample Orders
Authors: Jian Yan, Xianyang Zhang
Date: 2021-12-31 00:00:00

Motivated by the increasing use of kernel-based metrics for high-dimensional and large-scale data, we study the asymptotic behavior of kernel two-sample tests when the dimension and sample sizes both diverge to infinity. We focus on the maximum mean discrepancy (MMD) using isotropic kernel, including MMD with the Gaussian kernel and the Laplace kernel, and the energy distance as special cases. We derive asymptotic expansions of the kernel two-sample statistics, based on which we establish the central limit theorem (CLT) under both the null hypothesis and the local and fixed alternatives. The new non-null CLT results allow us to perform asymptotic exact power analysis, which reveals a delicate interplay between the moment discrepancy that can be detected by the kernel two-sample tests and the dimension-and-sample orders. The asymptotic theory is further corroborated through numerical studies.
Modelling matrix time series via a tensor CP-decomposition
Authors: Jinyuan Chang, Jing He, Lin Yang, Qiwei Yao
Date: 2021-12-31 00:00:00
Tasks: Dimensionality Reduction, Time Series, Time Series Analysis

We consider to model matrix time series based on a tensor CP-decomposition. Instead of using an iterative algorithm which is the standard practice for estimating CP-decompositions, we propose a new and one-pass estimation procedure based on a generalized eigenanalysis constructed from the serial dependence structure of the underlying process. To overcome the intricacy of solving a rank-reduced generalized eigenequation, we propose a further refined approach which projects it into a lower-dimensional full-ranked eigenequation. This refined method improves significantly the finite-sample performance of the estimation. The asymptotic theory has been established under a general setting without the stationarity. It shows, for example, that all the component coefficient vectors in the CP-decomposition are estimated consistently with certain convergence rates. The proposed model and the estimation method are also illustrated with both simulated and real data; showing effective dimension-reduction in modelling and forecasting matrix time series.
Towards the global vision of engagement of Generation Z at the workplace: Mathematical modeling
Authors: Radosław A. Kycia, Agnieszka Niemczynowicz, Joanna Nieżurawska-Zając
Date: 2021-12-31 00:00:00
Tasks: Clustering

Correlation and cluster analyses (k-Means, Gaussian Mixture Models) were performed on Generation Z engagement surveys at the workplace. The clustering indicates relations between various factors that describe the engagement of employees. The most noticeable factors are a clear statement about the responsibilities at work, and challenging work. These factors are essential in practice. The results of this paper can be used in preparing better motivational systems aimed at Generation Z employees.
Random cohort effects and age groups dependency structure for mortality modelling and forecasting: Mixed-effects time-series model approach
Authors: Ka Kin Lam, Bo wang
Date: 2021-12-31 00:00:00
Tasks: Time Series, Time Series Analysis

There have been significant efforts devoted to solving the longevity risk given that a continuous growth in population ageing has become a severe issue for many developed countries over the past few decades. The Cairns-Blake-Dowd (CBD) model, which incorporates cohort effects parameters in its parsimonious design, is one of the most well-known approaches for mortality modelling at higher ages and longevity risk. This article proposes a novel mixed-effects time-series approach for mortality modelling and forecasting with considerations of age groups dependence and random cohort effects parameters. The proposed model can disclose more mortality data information and provide a natural quantification of the model parameters uncertainties with no pre-specified constraint required for estimating the cohort effects parameters. The abilities of the proposed approach are demonstrated through two applications with empirical male and female mortality data. The proposed approach shows remarkable improvements in terms of forecast accuracy compared to the CBD model in the short-, mid-and long-term forecasting using mortality data of several developed countries in the numerical examples.
Time varying regression with hidden linear dynamics
Authors: Ali Jadbabaie, Horia Mania, Devavrat Shah, Suvrit Sra
Date: 2021-12-29 00:00:00
Tasks: regression

We revisit a model for time-varying linear regression that assumes the unknown parameters evolve according to a linear dynamical system. Counterintuitively, we show that when the underlying dynamics are stable the parameters of this model can be estimated from data by combining just two ordinary least squares estimates. We offer a finite sample guarantee on the estimation error of our method and discuss certain advantages it has over Expectation-Maximization (EM), which is the main approach proposed by prior work.
Cooperative learning for multiview analysis
Authors: Daisy Yi Ding, Shuangning Li, Balasubramanian Narasimhan, Robert Tibshirani
Date: 2021-12-23 00:00:00

We propose a new method for supervised learning with multiple sets of features ("views"). The multiview problem is especially important in biology and medicine, where "-omics" data such as genomics, proteomics and radiomics are measured on a common set of samples. Cooperative learning combines the usual squared error loss of predictions with an "agreement" penalty to encourage the predictions from different data views to agree. By varying the weight of the agreement penalty, we get a continuum of solutions that include the well-known early and late fusion approaches. Cooperative learning chooses the degree of agreement (or fusion) in an adaptive manner, using a validation set or cross-validation to estimate test set prediction error. One version of our fitting procedure is modular, where one can choose different fitting mechanisms (e.g. lasso, random forests, boosting, neural networks) appropriate for different data views. In the setting of cooperative regularized linear regression, the method combines the lasso penalty with the agreement penalty, yielding feature sparsity. The method can be especially powerful when the different data views share some underlying relationship in their signals that can be exploited to boost the signals. We show that cooperative learning achieves higher predictive accuracy on simulated data and a real multiomics example of labor onset prediction. Leveraging aligned signals and allowing flexible fitting mechanisms for different modalities, cooperative learning offers a powerful approach to multiomics data fusion.