pwc-archive/papers-with-abstracts huggingface dataset:
Approximation Guarantees for the Non-Dominated Sorting Genetic Algorithm II (NSGA-II)
Authors: Weijie Zheng, Benjamin Doerr
Date: 2022-03-05 00:00:00
Tasks: Mathematical Proofs

Recent theoretical works have shown that the NSGA-II efficiently computes the full Pareto front when the population size is large enough. In this work, we study how well it approximates the Pareto front when the population size is smaller. For the OneMinMax benchmark, we point out situations in which the parents and offspring cover well the Pareto front, but the next population has large gaps on the Pareto front. Our mathematical proofs suggest as reason for this undesirable behavior that the NSGA-II in the selection stage computes the crowding distance once and then removes individuals with smallest crowding distance without considering that a removal increases the crowding distance of some individuals. We then analyze two variants not prone to this problem. For the NSGA-II that updates the crowding distance after each removal (Kukkonen and Deb (2006)) and the steady-state NSGA-II (Nebro and Durillo (2009)), we prove that the gaps in the Pareto front are never more than a small constant factor larger than the theoretical minimum. This is the first mathematical work on the approximation ability of the NSGA-II and the first runtime analysis for the steady-state NSGA-II. Experiments also show the superior approximation ability of the two NSGA-II variants.
The Proof is in the Pudding: Using Automated Theorem Proving to Generate Cooking Recipes
Authors: Louis Mahon, Carl Vogel
Date: 2022-03-05 00:00:00
Tasks: Automated Theorem Proving, Text Generation

This paper presents FASTFOOD, a rule-based Natural Language Generation Program for cooking recipes. Recipes are generated by using an Automated Theorem Proving procedure to select the ingredients and instructions, with ingredients corresponding to axioms and instructions to implications. FASTFOOD also contains a temporal optimization module which can rearrange the recipe to make it more time-efficient for the user, e.g. the recipe specifies to chop the vegetables while the rice is boiling. The system is described in detail, using a framework which divides Natural Language Generation into 4 phases: content production, content selection, content organisation and content realisation. A comparison is then made with similar existing systems and techniques.
Just Rank: Rethinking Evaluation with Word and Sentence Similarities
Authors: Bin Wang, C. -C. Jay Kuo, Haizhou Li
Date: 2022-03-05 00:00:00
Proceeding: ACL 2022 5
Tasks: Benchmarking, Semantic Similarity, Semantic Textual Similarity, Sentence, Sentence Embedding, Sentence-Embedding, Sentence Embeddings, Sentence Similarity

Word and sentence embeddings are useful feature representations in natural language processing. However, intrinsic evaluation for embeddings lags far behind, and there has been no significant update since the past decade. Word and sentence similarity tasks have become the de facto evaluation method. It leads models to overfit to such evaluations, negatively impacting embedding models' development. This paper first points out the problems using semantic similarity as the gold standard for word and sentence embedding evaluations. Further, we propose a new intrinsic evaluation method called EvalRank, which shows a much stronger correlation with downstream tasks. Extensive experiments are conducted based on 60+ models and popular datasets to certify our judgments. Finally, the practical evaluation toolkit is released for future benchmarking purposes.
Ensemble Knowledge Guided Sub-network Search and Fine-tuning for Filter Pruning
Authors: SeungHyun Lee, Byung Cheol Song
Date: 2022-03-05 00:00:00
Tasks: GPU, Knowledge Distillation

Conventional NAS-based pruning algorithms aim to find the sub-network with the best validation performance. However, validation performance does not successfully represent test performance, i.e., potential performance. Also, although fine-tuning the pruned network to restore the performance drop is an inevitable process, few studies have handled this issue. This paper provides a novel Ensemble Knowledge Guidance (EKG) to solve both problems at once. First, we experimentally prove that the fluctuation of loss landscape can be an effective metric to evaluate the potential performance. In order to search a sub-network with the smoothest loss landscape at a low cost, we employ EKG as a search reward. EKG utilized for the following search iteration is composed of the ensemble knowledge of interim sub-networks, i.e., the by-products of the sub-network evaluation. Next, we reuse EKG to provide a gentle and informative guidance to the pruned network while fine-tuning the pruned network. Since EKG is implemented as a memory bank in both phases, it requires a negligible cost. For example, when pruning and training ResNet-50, just 315 GPU hours are required to remove around 45.04% of FLOPS without any performance degradation, which can operate even on a low-spec workstation. the implemented code is available at https://github.com/sseung0703/EKG.
Acceleration of Federated Learning with Alleviated Forgetting in Local Training
Authors: Chencheng Xu, Zhiwei Hong, Minlie Huang, Tao Jiang
Date: 2022-03-05 00:00:00
Proceeding: ICLR 2022 4
Tasks: Distributed Optimization, Federated Learning

Federated learning (FL) enables distributed optimization of machine learning models while protecting privacy by independently training local models on each client and then aggregating parameters on a central server, thereby producing an effective global model. Although a variety of FL algorithms have been proposed, their training efficiency remains low when the data are not independently and identically distributed (non-i.i.d.) across different clients. We observe that the slow convergence rates of the existing methods are (at least partially) caused by the catastrophic forgetting issue during the local training stage on each individual client, which leads to a large increase in the loss function concerning the previous training data at the other clients. Here, we propose FedReg, an algorithm to accelerate FL with alleviated knowledge forgetting in the local training stage by regularizing locally trained parameters with the loss on generated pseudo data, which encode the knowledge of previous training data learned by the global model. Our comprehensive experiments demonstrate that FedReg not only significantly improves the convergence rate of FL, especially when the neural network architecture is deep and the clients' data are extremely non-i.i.d., but is also able to protect privacy better in classification problems and more robust against gradient inversion attacks. The code is available at: https://github.com/Zoesgithub/FedReg.
Safe Reinforcement Learning for Legged Locomotion
Authors: Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
Date: 2022-03-05 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Safe Reinforcement Learning

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of applying model-free reinforcement learning in real world is safety. In this paper, we propose a safe reinforcement learning framework that switches between a safe recovery policy that prevents the robot from entering unsafe states, and a learner policy that is optimized to complete the task. The safe recovery policy takes over the control when the learner policy violates safety constraints, and hands over the control back when there are no future safety violations. We design the safe recovery policy so that it ensures safety of legged locomotion while minimally intervening in the learning process. Furthermore, we theoretically analyze the proposed framework and provide an upper bound on the task performance. We verify the proposed framework in four locomotion tasks on a simulated and real quadrupedal robot: efficient gait, catwalk, two-leg balance, and pacing. On average, our method achieves 48.6% fewer falls and comparable or better rewards than the baseline methods in simulation. When deployed it on real-world quadruped robot, our training pipeline enables 34% improvement in energy efficiency for the efficient gait, 40.9% narrower of the feet placement in the catwalk, and two times more jumping duration in the two-leg balance. Our method achieves less than five falls over the duration of 115 minutes of hardware time.
Important Object Identification with Semi-Supervised Learning for Autonomous Driving
Authors: Jiachen Li, Haiming Gang, Hengbo Ma, Masayoshi Tomizuka, Chiho Choi
Date: 2022-03-05 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Binary Classification, Decision Making, Motion Planning, Navigate, Relational Reasoning, Trajectory Prediction

Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments. Most existing approaches attempt to employ attention mechanisms to learn importance weights associated with each object indirectly via various tasks (e.g., trajectory prediction), which do not enforce direct supervision on the importance estimation. In contrast, we tackle this task in an explicit way and formulate it as a binary classification ("important" or "unimportant") problem. We propose a novel approach for important object identification in egocentric driving scenarios with relational reasoning on the objects in the scene. Besides, since human annotations are limited and expensive to obtain, we present a semi-supervised learning pipeline to enable the model to learn from unlimited unlabeled data. Moreover, we propose to leverage the auxiliary tasks of ego vehicle behavior prediction to further improve the accuracy of importance estimation. The proposed approach is evaluated on a public egocentric driving dataset (H3D) collected in complex traffic scenarios. A detailed ablative study is conducted to demonstrate the effectiveness of each model component and the training strategy. Our approach also outperforms rule-based baselines by a large margin.
Scaling R-GCN Training with Graph Summarization
Authors: Alessandro Generale, Till Blume, Michael Cochez
Date: 2022-03-05 00:00:00
Tasks: Knowledge Graphs

Training of Relational Graph Convolutional Networks (R-GCN) is a memory intense task. The amount of gradient information that needs to be stored during training for real-world graphs is often too large for the amount of memory available on most GPUs. In this work, we experiment with the use of graph summarization techniques to compress the graph and hence reduce the amount of memory needed. After training the R-GCN on the graph summary, we transfer the weights back to the original graph and attempt to perform inference on it. We obtain reasonable results on the AIFB, MUTAG and AM datasets. Our experiments show that training on the graph summary can yield a comparable or higher accuracy to training on the original graphs.Furthermore, if we take the time to compute the summary out of the equation, we observe that the smaller graph representations obtained with graph summarization methods reduces the computational overhead. However, further experiments are needed to evaluate additional graph summary models and whether our findings also holds true for very large graphs.
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
Authors: Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres
Date: 2022-03-05 00:00:00

This paper presents a chance-constrained formulation for robust trajectory optimization during manipulation. In particular, we present a chance-constrained optimization for Stochastic Discrete-time Linear Complementarity Systems (SDLCS). To solve the optimization problem, we formulate Mixed-Integer Quadratic Programming with Chance Constraints (MIQPCC). In our formulation, we explicitly consider joint chance constraints for complementarity as well as states to capture the stochastic evolution of dynamics. We evaluate robustness of our optimized trajectories in simulation on several systems. The proposed approach outperforms some recent approaches for robust trajectory optimization for SDLCS.
Show Me What and Tell Me How: Video Synthesis via Multimodal Conditioning
Authors: Ligong Han, Jian Ren, Hsin-Ying Lee, Francesco Barbieri, Kyle Olszewski, Shervin Minaee, Dimitris Metaxas, Sergey Tulyakov
Date: 2022-03-04 00:00:00
Proceeding: CVPR 2022 1
Tasks: Self-Learning, Text Augmentation, Video Generation

Most methods for conditional video synthesis use a single modality as the condition. This comes with major limitations. For example, it is problematic for a model conditioned on an image to generate a specific motion trajectory desired by the user since there is no means to provide motion information. Conversely, language information can describe the desired motion, while not precisely defining the content of the video. This work presents a multimodal video generation framework that benefits from text and images provided jointly or separately. We leverage the recent progress in quantized representations for videos and apply a bidirectional transformer with multiple modalities as inputs to predict a discrete video representation. To improve video quality and consistency, we propose a new video token trained with self-learning and an improved mask-prediction algorithm for sampling video tokens. We introduce text augmentation to improve the robustness of the textual representation and diversity of generated videos. Our framework can incorporate various visual modalities, such as segmentation masks, drawings, and partially occluded images. It can generate much longer sequences than the one used for training. In addition, our model can extract visual information as suggested by the text prompt, e.g., "an object in image one is moving northeast", and generate corresponding videos. We run evaluations on three public datasets and a newly collected dataset labeled with facial attributes, achieving state-of-the-art generation results on all four.
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
Authors: Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath
Date: 2022-03-04 00:00:00
Tasks: Bayesian Optimization, valid

In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipedal robots. We leverage BO to learn the control parameters used in the HZD-based controller. The learning process is firstly deployed in simulation to optimize different control parameters for a large repertoire of gaits. Next, to tackle the discrepancy between the simulation and the real world, the learning process is applied on the physical robot to learn for corrections to the control parameters learned in simulation while also respecting a safety constraint for gait stability. This method empowers an efficient sim-to-real transition with a small number of samples in the real world, and does not require a valid controller to initialize the training in simulation. Our proposed learning framework is experimentally deployed and validated on a bipedal robot Cassie to perform versatile locomotion skills with improved performance on smoothness of walking gaits and reduction of steady-state tracking errors.
Building 3D Generative Models from Minimal Data
Authors: Skylar Sutherland, Bernhard Egger, Joshua Tenenbaum
Date: 2022-03-04 00:00:00
Tasks: Face Recognition, Gaussian Processes

We propose a method for constructing generative models of 3D objects from a single 3D mesh and improving them through unsupervised low-shot learning from 2D images. Our method produces a 3D morphable model that represents shape and albedo in terms of Gaussian processes. Whereas previous approaches have typically built 3D morphable models from multiple high-quality 3D scans through principal component analysis, we build 3D morphable models from a single scan or template. As we demonstrate in the face domain, these models can be used to infer 3D reconstructions from 2D data (inverse graphics) or 3D data (registration). Specifically, we show that our approach can be used to perform face recognition using only a single 3D template (one scan total, not one per person). We extend our model to a preliminary unsupervised learning framework that enables the learning of the distribution of 3D faces using one 3D template and a small number of 2D images. This approach could also provide a model for the origins of face perception in human infants, who appear to start with an innate face template and subsequently develop a flexible system for perceiving the 3D structure of any novel face from experience with only 2D images of a relatively small number of familiar faces.
BoostMIS: Boosting Medical Image Semi-supervised Learning with Adaptive Pseudo Labeling and Informative Active Annotation
Authors: Wenqiao Zhang, Lei Zhu, James Hallinan, Andrew Makmur, Shengyu Zhang, Qingpeng Cai, Beng Chin Ooi
Date: 2022-03-04 00:00:00
Proceeding: CVPR 2022 1
Tasks: Active Learning

In this paper, we propose a novel semi-supervised learning (SSL) framework named BoostMIS that combines adaptive pseudo labeling and informative active annotation to unleash the potential of medical image SSL models: (1) BoostMIS can adaptively leverage the cluster assumption and consistency regularization of the unlabeled data according to the current learning status. This strategy can adaptively generate one-hot "hard" labels converted from task model predictions for better task model training. (2) For the unselected unlabeled images with low confidence, we introduce an Active learning (AL) algorithm to find the informative samples as the annotation candidates by exploiting virtual adversarial perturbation and model's density-aware entropy. These informative candidates are subsequently fed into the next training cycle for better SSL label propagation. Notably, the adaptive pseudo-labeling and informative active annotation form a learning closed-loop that are mutually collaborative to boost medical image SSL. To verify the effectiveness of the proposed method, we collected a metastatic epidural spinal cord compression (MESCC) dataset that aims to optimize MESCC diagnosis and classification for improved specialist referral and treatment. We conducted an extensive experimental study of BoostMIS on MESCC and another public dataset COVIDx. The experimental results verify our framework's effectiveness and generalisability for different medical image datasets with a significant improvement over various state-of-the-art methods.
Targeted Data Poisoning Attack on News Recommendation System by Content Perturbation
Authors: Xudong Zhang, Zan Wang, Jingke Zhao, Lanjun Wang
Date: 2022-03-04 00:00:00
Tasks: Data Poisoning, News Recommendation, Recommendation Systems

News Recommendation System(NRS) has become a fundamental technology to many online news services. Meanwhile, several studies show that recommendation systems(RS) are vulnerable to data poisoning attacks, and the attackers have the ability to mislead the system to perform as their desires. A widely studied attack approach, injecting fake users, can be applied on the NRS when the NRS is treated the same as the other systems whose items are fixed. However, in the NRS, as each item (i.e. news) is more informative, we propose a novel approach to poison the NRS, which is to perturb contents of some browsed news that results in the manipulation of the rank of the target news. Intuitively, an attack is useless if it is highly likely to be caught, i.e., exposed. To address this, we introduce a notion of the exposure risk and propose a novel problem of attacking a history news dataset by means of perturbations where the goal is to maximize the manipulation of the target news rank while keeping the risk of exposure under a given budget. We design a reinforcement learning framework, called TDP-CP, which contains a two-stage hierarchical model to reduce the searching space. Meanwhile, influence estimation is also applied to save the time on retraining the NRS for rewards. We test the performance of TDP-CP under three NRSs and on different target news. Our experiments show that TDP-CP can increase the rank of the target news successfully with a limited exposure budget.
ZippyPoint: Fast Interest Point Detection, Description, and Matching through Mixed Precision Discretization
Authors: Menelaos Kanakis, Simon Maurer, Matteo Spallanzani, Ajad Chhatkuli, Luc van Gool
Date: 2022-03-07 00:00:00
Tasks: Homography Estimation, Interest Point Detection, Quantization, Visual Localization

Efficient detection and description of geometric regions in images is a prerequisite in visual systems for localization and mapping. Such systems still rely on traditional hand-crafted methods for efficient generation of lightweight descriptors, a common limitation of the more powerful neural network models that come with high compute and specific hardware requirements. In this paper, we focus on the adaptations required by detection and description neural networks to enable their use in computationally limited platforms such as robots, mobile, and augmented reality devices. To that end, we investigate and adapt network quantization techniques to accelerate inference and enable its use on compute limited platforms. In addition, we revisit common practices in descriptor quantization and propose the use of a binary descriptor normalization layer, enabling the generation of distinctive binary descriptors with a constant number of ones. ZippyPoint, our efficient quantized network with binary descriptors, improves the network runtime speed, the descriptor matching speed, and the 3D model size, by at least an order of magnitude when compared to full-precision counterparts. These improvements come at a minor performance degradation as evaluated on the tasks of homography estimation, visual localization, and map-free visual relocalization. Code and models are available at https://github.com/menelaoskanakis/ZippyPoint.
DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection
Authors: Hao Zhang, Feng Li, Shilong Liu, Lei Zhang, Hang Su, Jun Zhu, Lionel M. Ni, Heung-Yeung Shum
Date: 2022-03-07 00:00:00
Tasks: Object Detection, Real-Time Object Detection

We present DINO (\textbf{D}ETR with \textbf{I}mproved de\textbf{N}oising anch\textbf{O}r boxes), a state-of-the-art end-to-end object detector. % in this paper. DINO improves over previous DETR-like models in performance and efficiency by using a contrastive way for denoising training, a mixed query selection method for anchor initialization, and a look forward twice scheme for box prediction. DINO achieves $49.4$AP in $12$ epochs and $51.3$AP in $24$ epochs on COCO with a ResNet-50 backbone and multi-scale features, yielding a significant improvement of $\textbf{+6.0}$\textbf{AP} and $\textbf{+2.7}$\textbf{AP}, respectively, compared to DN-DETR, the previous best DETR-like model. DINO scales well in both model size and data size. Without bells and whistles, after pre-training on the Objects365 dataset with a SwinL backbone, DINO obtains the best results on both COCO \texttt{val2017} ($\textbf{63.2}$\textbf{AP}) and \texttt{test-dev} (\textbf{$\textbf{63.3}$AP}). Compared to other models on the leaderboard, DINO significantly reduces its model size and pre-training data size while achieving better results. Our code will be available at \url{https://github.com/IDEACVR/DINO}.