pwc-archive/papers-with-abstracts huggingface dataset:
PathBench: A Benchmarking Platform for Classical and Learned Path Planning Algorithms
Authors: Alexandru-Iosif Toma, Hao-Ya Hsueh, Hussein Ali Jaafar, Riku Murai, Paul H. J. Kelly, Sajad Saeedi
Date: 2021-05-04 00:00:00
Tasks: Benchmarking

Path planning is a key component in mobile robotics. A wide range of path planning algorithms exist, but few attempts have been made to benchmark the algorithms holistically or unify their interface. Moreover, with the recent advances in deep neural networks, there is an urgent need to facilitate the development and benchmarking of such learning-based planning algorithms. This paper presents PathBench, a platform for developing, visualizing, training, testing, and benchmarking of existing and future, classical and learned 2D and 3D path planning algorithms, while offering support for Robot Oper-ating System (ROS). Many existing path planning algorithms are supported; e.g. A*, wavefront, rapidly-exploring random tree, value iteration networks, gated path planning networks; and integrating new algorithms is easy and clearly specified. We demonstrate the benchmarking capability of PathBench by comparing implemented classical and learned algorithms for metrics, such as path length, success rate, computational time and path deviation. These evaluations are done on built-in PathBench maps and external path planning environments from video games and real world databases. PathBench is open source.
Thinking Inside the Ball: Near-Optimal Minimization of the Maximal Loss
Authors: Yair Carmon, Arun Jambulapati, Yujia Jin, Aaron Sidford
Date: 2021-05-04 00:00:00

We characterize the complexity of minimizing $\max_{i\in[N]} f_i(x)$ for convex, Lipschitz functions $f_1,\ldots, f_N$. For non-smooth functions, existing methods require $O(N\epsilon^{-2})$ queries to a first-order oracle to compute an $\epsilon$-suboptimal point and $\tilde{O}(N\epsilon^{-1})$ queries if the $f_i$ are $O(1/\epsilon)$-smooth. We develop methods with improved complexity bounds of $\tilde{O}(N\epsilon^{-2/3} + \epsilon^{-8/3})$ in the non-smooth case and $\tilde{O}(N\epsilon^{-2/3} + \sqrt{N}\epsilon^{-1})$ in the $O(1/\epsilon)$-smooth case. Our methods consist of a recently proposed ball optimization oracle acceleration algorithm (which we refine) and a careful implementation of said oracle for the softmax function. We also prove an oracle complexity lower bound scaling as $\Omega(N\epsilon^{-2/3})$, showing that our dependence on $N$ is optimal up to polylogarithmic factors.
Real-time Face Mask Detection in Video Data
Authors: Yuchen Ding, Zichen Li, David Yastremsky
Date: 2021-05-05 00:00:00
Tasks: object-detection, Object Detection

In response to the ongoing COVID-19 pandemic, we present a robust deep learning pipeline that is capable of identifying correct and incorrect mask-wearing from real-time video streams. To accomplish this goal, we devised two separate approaches and evaluated their performance and run-time efficiency. The first approach leverages a pre-trained face detector in combination with a mask-wearing image classifier trained on a large-scale synthetic dataset. The second approach utilizes a state-of-the-art object detection network to perform localization and classification of faces in one shot, fine-tuned on a small set of labeled real-world images. The first pipeline achieved a test accuracy of 99.97% on the synthetic dataset and maintained 6 FPS running on video data. The second pipeline achieved a mAP(0.5) of 89% on real-world images while sustaining 52 FPS on video data. We have concluded that if a larger dataset with bounding-box labels can be curated, this task is best suited using object detection architectures such as YOLO and SSD due to their superior inference speed and satisfactory performance on key evaluation metrics.
Calibration of Human Driving Behavior and Preference Using Naturalistic Traffic Data
Authors: Qi Dai, Di Shen, Jinhong Wang, Suzhou Huang, Dimitar Filev
Date: 2021-05-05 00:00:00
Tasks: Autonomous Vehicles, Decision Making

Understanding human driving behaviors quantitatively is critical even in the era when connected and autonomous vehicles and smart infrastructure are becoming ever more prevalent. This is particularly so as that mixed traffic settings, where autonomous vehicles and human driven vehicles co-exist, are expected to persist for quite some time. Towards this end it is necessary that we have a comprehensive modeling framework for decision-making within which human driving preferences can be inferred statistically from observed driving behaviors in realistic and naturalistic traffic settings. Leveraging a recently proposed computational framework for smart vehicles in a smart world using multi-agent based simulation and optimization, we first recapitulate how the forward problem of driving decision-making is modeled as a state space model. We then show how the model can be inverted to estimate driver preferences from naturalistic traffic data using the standard Kalman filter technique. We explicitly illustrate our approach using the vehicle trajectory data from Sugiyama experiment that was originally meant to demonstrate how stop-and-go shockwave can arise spontaneously without bottlenecks. Not only the estimated state filter can fit the observed data well for each individual vehicle, the inferred utility functions can also re-produce quantitatively similar pattern of the observed collective behaviors. One distinct advantage of our approach is the drastically reduced computational burden. This is possible because our forward model treats driving decision process, which is intrinsically dynamic with multi-agent interactions, as a sequence of independent static optimization problems contingent on the state with a finite look ahead anticipation. Consequently we can practically sidestep solving an interacting dynamic inversion problem that would have been much more computationally demanding.
Curvatures of Stiefel manifolds with deformation metrics
Authors: Du Nguyen
Date: 2021-05-05 00:00:00

We compute curvatures of a family of tractable metrics on Stiefel manifolds, introduced recently by H{\"u}per, Markina and Silva Leite, which includes the well-known embedded and canonical metrics on Stiefel manifolds as special cases. The metrics could be identified with the Cheeger deformation metrics. We identify parameter values in the family to make a Stiefel manifold an Einstein manifold and show Stiefel manifolds always carry an Einstein metric. We analyze the sectional curvature range and identify the parameter range where the manifold has non-negative sectional curvature. We provide the exact sectional curvature range when the number of columns in a Stiefel matrix is $2$, and a conjectural range for other cases. We derive the formulas from two approaches, one from a global curvature formula derived in our recent work, another using curvature formulas for left-invariant metrics. The second approach leads to curvature formulas for Cheeger deformation metrics on normal homogeneous spaces.
CUAB: Convolutional Uncertainty Attention Block Enhanced the Chest X-ray Image Analysis
Authors: Chi-Shiang Wang, Fang-Yi Su, Tsung-Lu Michael Lee, Yi-Shan Tsai, Jung-Hsien Chiang
Date: 2021-05-05 00:00:00
Tasks: Image Segmentation, Medical Image Analysis, Medical Image Segmentation, object-detection, Object Detection, Segmentation, Semantic Segmentation

In recent years, convolutional neural networks (CNNs) have been successfully implemented to various image recognition applications, such as medical image analysis, object detection, and image segmentation. Many studies and applications have been working on improving the performance of CNN algorithms and models. The strategies that aim to improve the performance of CNNs can be grouped into three major approaches: (1) deeper and wider network architecture, (2) automatic architecture search, and (3) convolutional attention block. Unlike approaches (1) and (2), the convolutional attention block approach is more flexible with lower cost. It enhances the CNN performance by extracting more efficient features. However, the existing attention blocks focus on enhancing the significant features, which lose some potential features in the uncertainty information. Inspired by the test time augmentation and test-time dropout approaches, we developed a novel convolutional uncertainty attention block (CUAB) that can leverage the uncertainty information to improve CNN-based models. The proposed module discovers potential information from the uncertain regions on feature maps in computer vision tasks. It is a flexible functional attention block that can be applied to any position in the convolutional block in CNN models. We evaluated the CUAB with notable backbone models, ResNet and ResNeXt, on a medical image segmentation task. The CUAB achieved a dice score of 73% and 84% in pneumonia and pneumothorax segmentation, respectively, thereby outperforming the original model and other notable attention approaches. The results demonstrated that the CUAB can efficiently utilize the uncertainty information to improve the model performance.
Joint Registration and Segmentation via Multi-Task Learning for Adaptive Radiotherapy of Prostate Cancer
Authors: Mohamed S. Elmahdy, Laurens Beljaards, Sahar Yousefi, Hessam Sokooti, Fons Verbeek, U. A. van der Heide, Marius Staring
Date: 2021-05-05 00:00:00
Tasks: Image Registration, Medical Image Analysis, Medical Image Registration, Multi-Task Learning

Medical image registration and segmentation are two of the most frequent tasks in medical image analysis. As these tasks are complementary and correlated, it would be beneficial to apply them simultaneously in a joint manner. In this paper, we formulate registration and segmentation as a joint problem via a Multi-Task Learning (MTL) setting, allowing these tasks to leverage their strengths and mitigate their weaknesses through the sharing of beneficial information. We propose to merge these tasks not only on the loss level, but on the architectural level as well. We studied this approach in the context of adaptive image-guided radiotherapy for prostate cancer, where planning and follow-up CT images as well as their corresponding contours are available for training. The study involves two datasets from different manufacturers and institutes. The first dataset was divided into training (12 patients) and validation (6 patients), and was used to optimize and validate the methodology, while the second dataset (14 patients) was used as an independent test set. We carried out an extensive quantitative comparison between the quality of the automatically generated contours from different network architectures as well as loss weighting methods. Moreover, we evaluated the quality of the generated deformation vector field (DVF). We show that MTL algorithms outperform their Single-Task Learning (STL) counterparts and achieve better generalization on the independent test set. The best algorithm achieved a mean surface distance of $1.06 \pm 0.3$ mm, $1.27 \pm 0.4$ mm, $0.91 \pm 0.4$ mm, and $1.76 \pm 0.8$ mm on the validation set for the prostate, seminal vesicles, bladder, and rectum, respectively. The high accuracy of the proposed method combined with the fast inference speed, makes it a promising method for automatic re-contouring of follow-up scans for adaptive radiotherapy.
Two-Stage Stochastic Optimization via Primal-Dual Decomposition and Deep Unrolling
Authors: An Liu, Rui Yang, Tony Q. S. Quek, Min-Jian Zhao
Date: 2021-05-05 00:00:00
Tasks: Rolling Shutter Correction, Stochastic Optimization, Vocal Bursts Valence Prediction

We consider a two-stage stochastic optimization problem, in which a long-term optimization variable is coupled with a set of short-term optimization variables in both objective and constraint functions. Despite that two-stage stochastic optimization plays a critical role in various engineering and scientific applications, there still lack efficient algorithms, especially when the long-term and short-term variables are coupled in the constraints. To overcome the challenge caused by tightly coupled stochastic constraints, we first establish a two-stage primal-dual decomposition (PDD) method to decompose the two-stage problem into a long-term problem and a family of short-term subproblems. Then we propose a PDD-based stochastic successive convex approximation (PDD-SSCA) algorithmic framework to find KKT solutions for two-stage stochastic optimization problems. At each iteration, PDD-SSCA first runs a short-term sub-algorithm to find stationary points of the short-term subproblems associated with a mini-batch of the state samples. Then it constructs a convex surrogate for the long-term problem based on the deep unrolling of the short-term sub-algorithm and the back propagation method. Finally, the optimal solution of the convex surrogate problem is solved to generate the next iterate. We establish the almost sure convergence of PDD-SSCA and customize the algorithmic framework to solve two important application problems. Simulations show that PDD-SSCA can achieve superior performance over existing solutions.
MOS: Towards Scaling Out-of-distribution Detection for Large Semantic Space
Authors: Rui Huang, Yixuan Li
Date: 2021-05-05 00:00:00
Proceeding: CVPR 2021 1
Tasks: image-classification, Image Classification, Out-of-Distribution Detection

Detecting out-of-distribution (OOD) inputs is a central challenge for safely deploying machine learning models in the real world. Existing solutions are mainly driven by small datasets, with low resolution and very few class labels (e.g., CIFAR). As a result, OOD detection for large-scale image classification tasks remains largely unexplored. In this paper, we bridge this critical gap by proposing a group-based OOD detection framework, along with a novel OOD scoring function termed MOS. Our key idea is to decompose the large semantic space into smaller groups with similar concepts, which allows simplifying the decision boundaries between in- vs. out-of-distribution data for effective OOD detection. Our method scales substantially better for high-dimensional class space than previous approaches. We evaluate models trained on ImageNet against four carefully curated OOD datasets, spanning diverse semantics. MOS establishes state-of-the-art performance, reducing the average FPR95 by 14.33% while achieving 6x speedup in inference compared to the previous best method.
RepMLP: Re-parameterizing Convolutions into Fully-connected Layers for Image Recognition
Authors: Xiaohan Ding, Chunlong Xia, Xiangyu Zhang, Xiaojie Chu, Jungong Han, Guiguang Ding
Date: 2021-05-05 00:00:00
Tasks: Face Recognition, Image Classification, Semantic Segmentation

We propose RepMLP, a multi-layer-perceptron-style neural network building block for image recognition, which is composed of a series of fully-connected (FC) layers. Compared to convolutional layers, FC layers are more efficient, better at modeling the long-range dependencies and positional patterns, but worse at capturing the local structures, hence usually less favored for image recognition. We propose a structural re-parameterization technique that adds local prior into an FC to make it powerful for image recognition. Specifically, we construct convolutional layers inside a RepMLP during training and merge them into the FC for inference. On CIFAR, a simple pure-MLP model shows performance very close to CNN. By inserting RepMLP in traditional CNN, we improve ResNets by 1.8% accuracy on ImageNet, 2.9% for face recognition, and 2.3% mIoU on Cityscapes with lower FLOPs. Our intriguing findings highlight that combining the global representational capacity and positional perception of FC with the local prior of convolution can improve the performance of neural network with faster speed on both the tasks with translation invariance (e.g., semantic segmentation) and those with aligned images and positional patterns (e.g., face recognition). The code and models are available at https://github.com/DingXiaoH/RepMLP.
Exploring emotional prototypes in a high dimensional TTS latent space
Authors: Pol van Rijn, Silvan Mertes, Dominik Schiller, Peter M. C. Harrison, Pauline Larrouy-Maestri, Elisabeth André, Nori Jacoby
Date: 2021-05-05 00:00:00
Tasks: Vocal Bursts Intensity Prediction

Recent TTS systems are able to generate prosodically varied and realistic speech. However, it is unclear how this prosodic variation contributes to the perception of speakers' emotional states. Here we use the recent psychological paradigm 'Gibbs Sampling with People' to search the prosodic latent space in a trained GST Tacotron model to explore prototypes of emotional prosody. Participants are recruited online and collectively manipulate the latent space of the generative speech model in a sequentially adaptive way so that the stimulus presented to one group of participants is determined by the response of the previous groups. We demonstrate that (1) particular regions of the model's latent space are reliably associated with particular emotions, (2) the resulting emotional prototypes are well-recognized by a separate group of human raters, and (3) these emotional prototypes can be effectively transferred to new sentences. Collectively, these experiments demonstrate a novel approach to the understanding of emotional speech by providing a tool to explore the relation between the latent space of generative models and human semantics.
Using Synthetic Data to Enhance the Accuracy of Fingerprint-Based Localization: A Deep Learning Approach
Authors: Mohammad Nabati, Hojjat Navidan, Reza Shahbazian, Seyed Ali Ghorashi, David Windridge
Date: 2021-05-05 00:00:00

Human-centered data collection is typically costly and implicates issues of privacy. Various solutions have been proposed in the literature to reduce this cost, such as crowdsourced data collection, or the use of semi-supervised algorithms. However, semi-supervised algorithms require a source of unlabeled data, and crowd-sourcing methods require numbers of active participants. An alternative passive data collection modality is fingerprint-based localization. Such methods use received signal strength (RSS) or channel state information (CSI) in wireless sensor networks to localize users in indoor/outdoor environments. In this paper, we introduce a novel approach to reduce training data collection costs in fingerprint-based localization by using synthetic data. Generative adversarial networks (GANs) are used to learn the distribution of a limited sample of collected data and, following this, to produce synthetic data that can be used to augment the real collected data in order to increase overall positioning accuracy. Experimental results on a benchmark dataset show that by applying the proposed method and using a combination of 10% collected data and 90% synthetic data, we can obtain essentially similar positioning accuracy to that which would be obtained by using the full set of collected data. This means that by employing GAN-generated synthetic data, we can use 90% less real data, thereby reduce data-collection costs while achieving acceptable accuracy.
Novelty Detection and Analysis of Traffic Scenario Infrastructures in the Latent Space of a Vision Transformer-Based Triplet Autoencoder
Authors: Jonas Wurst, Lakshman Balasubramanian, Michael Botsch, Wolfgang Utschick
Date: 2021-05-05 00:00:00
Tasks: Autonomous Vehicles, Novelty Detection, Outlier Detection, Triplet

Detecting unknown and untested scenarios is crucial for scenario-based testing. Scenario-based testing is considered to be a possible approach to validate autonomous vehicles. A traffic scenario consists of multiple components, with infrastructure being one of it. In this work, a method to detect novel traffic scenarios based on their infrastructure images is presented. An autoencoder triplet network provides latent representations for infrastructure images which are used for outlier detection. The triplet training of the network is based on the connectivity graphs of the infrastructure. By using the proposed architecture, expert-knowledge is used to shape the latent space such that it incorporates a pre-defined similarity in the neighborhood relationships of an autoencoder. An ablation study on the architecture is highlighting the importance of the triplet autoencoder combination. The best performing architecture is based on vision transformers, a convolution-free attention-based network. The presented method outperforms other state-of-the-art outlier detection approaches.
Automated scoring of pre-REM sleep in mice with deep learning
Authors: Niklas Grieger, Justus T. C. Schwabedal, Stefanie Wendel, Yvonne Ritze, Stephan Bialonski
Date: 2021-05-05 00:00:00

Reliable automation of the labor-intensive manual task of scoring animal sleep can facilitate the analysis of long-term sleep studies. In recent years, deep-learning-based systems, which learn optimal features from the data, increased scoring accuracies for the classical sleep stages of Wake, REM, and Non-REM. Meanwhile, it has been recognized that the statistics of transitional stages such as pre-REM, found between Non-REM and REM, may hold additional insight into the physiology of sleep and are now under vivid investigation. We propose a classification system based on a simple neural network architecture that scores the classical stages as well as pre-REM sleep in mice. When restricted to the classical stages, the optimized network showed state-of-the-art classification performance with an out-of-sample F1 score of 0.95 in male C57BL/6J mice. When unrestricted, the network showed lower F1 scores on pre-REM (0.5) compared to the classical stages. The result is comparable to previous attempts to score transitional stages in other species such as transition sleep in rats or N1 sleep in humans. Nevertheless, we observed that the sequence of predictions including pre-REM typically transitioned from Non-REM to REM reflecting sleep dynamics observed by human scorers. Our findings provide further evidence for the difficulty of scoring transitional sleep stages, likely because such stages of sleep are under-represented in typical data sets or show large inter-scorer variability. We further provide our source code and an online platform to run predictions with our trained network.
FLEX: Extrinsic Parameters-free Multi-view 3D Human Motion Reconstruction
Authors: Brian Gordon, Sigal Raab, Guy Azov, Raja Giryes, Daniel Cohen-Or
Date: 2021-05-05 00:00:00
Tasks: 3D Human Pose Estimation

The increasing availability of video recordings made by multiple cameras has offered new means for mitigating occlusion and depth ambiguities in pose and motion reconstruction methods. Yet, multi-view algorithms strongly depend on camera parameters; particularly, the relative transformations between the cameras. Such a dependency becomes a hurdle once shifting to dynamic capture in uncontrolled settings. We introduce FLEX (Free muLti-view rEconstruXion), an end-to-end extrinsic parameter-free multi-view model. FLEX is extrinsic parameter-free (dubbed ep-free) in the sense that it does not require extrinsic camera parameters. Our key idea is that the 3D angles between skeletal parts, as well as bone lengths, are invariant to the camera position. Hence, learning 3D rotations and bone lengths rather than locations allows predicting common values for all camera views. Our network takes multiple video streams, learns fused deep features through a novel multi-view fusion layer, and reconstructs a single consistent skeleton with temporally coherent joint rotations. We demonstrate quantitative and qualitative results on three public datasets, and on synthetic multi-person video streams captured by dynamic cameras. We compare our model to state-of-the-art methods that are not ep-free and show that in the absence of camera parameters, we outperform them by a large margin while obtaining comparable results when camera parameters are available. Code, trained models, and other materials are available on our project page.