pwc-archive/papers-with-abstracts huggingface dataset:
Predicting the Future is like Completing a Painting!
Authors: Nadir Maaroufi, Mehdi Najib, Mohamed Bakhouya
Date: 2020-11-09 00:00:00
Tasks: Image Inpainting, Philosophy, Time Series, Time Series Analysis, Time Series Forecasting

This article is an introductory work towards a larger research framework relative to Scientific Prediction. It is a mixed between science and philosophy of science, therefore we can talk about Experimental Philosophy of Science. As a first result, we introduce a new forecasting method based on image completion, named Forecasting Method by Image Inpainting (FM2I). In fact, time series forecasting is transformed into fully images- and signal-based processing procedures. After transforming a time series data into its corresponding image, the problem of data forecasting becomes essentially a problem of image inpainting problem, i.e., completing missing data in the image. An extensive experimental evaluation is conducted using a large dataset proposed by the well-known M3-competition. Results show that FM2I represents an efficient and robust tool for time series forecasting. It has achieved prominent results in terms of accuracy and outperforms the best M3 forecasting methods.
Attentive Social Recommendation: Towards User And Item Diversities
Authors: Dongsheng Luo, Yuchen Bian, Xiang Zhang, Jun Huan
Date: 2020-11-09 00:00:00

Social recommendation system is to predict unobserved user-item rating values by taking advantage of user-user social relation and user-item ratings. However, user/item diversities in social recommendations are not well utilized in the literature. Especially, inter-factor (social and rating factors) relations and distinct rating values need taking into more consideration. In this paper, we propose an attentive social recommendation system (ASR) to address this issue from two aspects. First, in ASR, Rec-conv graph network layers are proposed to extract the social factor, user-rating and item-rated factors and then automatically assign contribution weights to aggregate these factors into the user/item embedding vectors. Second, a disentangling strategy is applied for diverse rating values. Extensive experiments on benchmarks demonstrate the effectiveness and advantages of our ASR.
What Did You Think Would Happen? Explaining Agent Behaviour Through Intended Outcomes
Authors: Herman Yau, Chris Russell, Simon Hadfield
Date: 2020-11-10 00:00:00
Proceeding: NeurIPS 2020 12
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

We present a novel form of explanation for Reinforcement Learning, based around the notion of intended outcome. These explanations describe the outcome an agent is trying to achieve by its actions. We provide a simple proof that general methods for post-hoc explanations of this nature are impossible in traditional reinforcement learning. Rather, the information needed for the explanations must be collected in conjunction with training the agent. We derive approaches designed to extract local explanations based on intention for several variants of Q-function approximation and prove consistency between the explanations and the Q-values learned. We demonstrate our method on multiple reinforcement learning problems, and provide code to help researchers introspecting their RL environments and algorithms.
Safety Verification of Neural Network Controlled Systems
Authors: Arthur Clavière, Eric Asselin, Christophe Garion, Claire Pagetti
Date: 2020-11-10 00:00:00

In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for the controller that can capture both simple and complex behaviours involving neural networks. Based on this model, we perform a reachability analysis that soundly approximates the reachable states of the overall system, allowing to achieve a formal proof of safety. To this end, we leverage both validated simulation to approximate the behaviour of the physical system and abstract interpretation to approximate the behaviour of the controller. We evaluate the applicability of our approach using a real-world use case. Moreover, we show that our approach can provide valuable information when the system cannot be proved totally safe.
Two-Sided Fairness in Non-Personalised Recommendations
Authors: Aadi Swadipto Mondal, Rakesh Bal, Sayan Sinha, Gourab K Patro
Date: 2020-11-10 00:00:00
Tasks: Articles, Fairness, Recommendation Systems, Vocal Bursts Valence Prediction

Recommender systems are one of the most widely used services on several online platforms to suggest potential items to the end-users. These services often use different machine learning techniques for which fairness is a concerning factor, especially when the downstream services have the ability to cause social ramifications. Thus, focusing on the non-personalised (global) recommendations in news media platforms (e.g., top-k trending topics on Twitter, top-k news on a news platform, etc.), we discuss on two specific fairness concerns together (traditionally studied separately)---user fairness and organisational fairness. While user fairness captures the idea of representing the choices of all the individual users in the case of global recommendations, organisational fairness tries to ensure politically/ideologically balanced recommendation sets. This makes user fairness a user-side requirement and organisational fairness a platform-side requirement. For user fairness, we test with methods from social choice theory, i.e., various voting rules known to better represent user choices in their results. Even in our application of voting rules to the recommendation setup, we observe high user satisfaction scores. Now for organisational fairness, we propose a bias metric which measures the aggregate ideological bias of a recommended set of items (articles). Analysing the results obtained from voting rule-based recommendation, we find that while the well-known voting rules are better from the user side, they show high bias values and clearly not suitable for organisational requirements of the platforms. Thus, there is a need to build an encompassing mechanism by cohesively bridging ideas of user fairness and organisational fairness. In this abstract paper, we intend to frame the elementary ideas along with the clear motivation behind the requirement of such a mechanism.
OnRAMP for Regulating AI in Medical Products
Authors: David Higgins
Date: 2020-10-09 00:00:00
Tasks: BIG-bench Machine Learning

Medical Artificial Intelligence (AI) involves the application of machine learning algorithms to biomedical datasets in order to improve medical practices. Products incorporating medical AI require certification before deployment in most jurisdictions. To date, clear pathways for regulating medical AI are still under development. Below the level of formal pathways lies the actual practice of developing a medical AI solution. This Perspective proposes best practice guidelines for development compatible with the production of a regulatory package which, regardless of the formal regulatory path, will form a core component of a certification process. The approach is predicated on a statistical risk perspective, typical of medical device regulators, and a deep understanding of machine learning methodologies. These guidelines will allow all parties to communicate more clearly in the development of a common Good Machine Learning Practice (GMLP), and thus lead to the enhanced development of both medical AI products and regulations.
DIPN: Deep Interaction Prediction Network with Application to Clutter Removal
Authors: Baichuan Huang, Shuai D. Han, Abdeslam Boularias, Jingjin Yu
Date: 2020-11-09 00:00:00
Tasks: ARC, Friction

We propose a Deep Interaction Prediction Network (DIPN) for learning to predict complex interactions that ensue as a robot end-effector pushes multiple objects, whose physical properties, including size, shape, mass, and friction coefficients may be unknown a priori. DIPN "imagines" the effect of a push action and generates an accurate synthetic image of the predicted outcome. DIPN is shown to be sample efficient when trained in simulation or with a real robotic system. The high accuracy of DIPN allows direct integration with a grasp network, yielding a robotic manipulation system capable of executing challenging clutter removal tasks while being trained in a fully self-supervised manner. The overall network demonstrates intelligent behavior in selecting proper actions between push and grasp for completing clutter removal tasks and significantly outperforms the previous state-of-the-art. Remarkably, DIPN achieves even better performance on the real robotic hardware system than in simulation. Videos, code, and experiments log are available at https://github.com/rutgers-arc-lab/dipn.
Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning
Authors: Zhiqian Qiao, Jeff Schneider, John M. Dolan
Date: 2020-11-09 00:00:00
Tasks: Autonomous Vehicles, Hierarchical Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human drivers find difficult. In this work, we propose a behavior planning structure based on reinforcement learning (RL) which is capable of performing autonomous vehicle behavior planning with a hierarchical structure in simulated urban environments. Application of the hierarchical structure allows the various layers of the behavior planning system to be satisfied. Our algorithms can perform better than heuristic-rule-based methods for elective decisions such as when to turn left between vehicles approaching from the opposite direction or possible lane-change when approaching an intersection due to lane blockage or delay in front of the ego car. Such behavior is hard to evaluate as correct or incorrect, but for some aggressive expert human drivers handle such scenarios effectively and quickly. On the other hand, compared to traditional RL methods, our algorithm is more sample-efficient, due to the use of a hybrid reward mechanism and heuristic exploration during the training process. The results also show that the proposed method converges to an optimal policy faster than traditional RL methods.
Safe Trajectory Planning Using Reinforcement Learning for Self Driving
Authors: Josiah Coad, Zhiqian Qiao, John M. Dolan
Date: 2020-11-09 00:00:00
Tasks: Imitation Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Trajectory Planning

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and search techniques have been applied to the problem of self-driving; but they do not fully address operations in environments with high-dimensional states and complex behaviors. Recently, imitation learning has been proposed for the task of self-driving; but it is labor-intensive to obtain enough training data. Reinforcement learning has been proposed as a way to directly control the car, but this has safety and comfort concerns. We propose using model-free reinforcement learning for the trajectory planning stage of self-driving and show that this approach allows us to operate the car in a more safe, general and comfortable manner, required for the task of self driving.
Trajectory Planning for Autonomous Vehicles Using Hierarchical Reinforcement Learning
Authors: Kaleb Ben Naveed, Zhiqian Qiao, John M. Dolan
Date: 2020-11-09 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Hierarchical Reinforcement Learning, Imitation Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Trajectory Planning

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem because of the high computational cost. Supervised learning methods such as Imitation Learning lack generalization and safety guarantees. To address these problems and in order to ensure a robust framework, we propose a Hierarchical Reinforcement Learning (HRL) structure combined with a Proportional-Integral-Derivative (PID) controller for trajectory planning. HRL helps divide the task of autonomous vehicle driving into sub-goals and supports the network to learn policies for both high-level options and low-level trajectory planner choices. The introduction of sub-goals decreases convergence time and enables the policies learned to be reused for other scenarios. In addition, the proposed planner is made robust by guaranteeing smooth trajectories and by handling the noisy perception system of the ego-car. The PID controller is used for tracking the waypoints, which ensures smooth trajectories and reduces jerk. The problem of incomplete observations is handled by using a Long-Short-Term-Memory (LSTM) layer in the network. Results from the high-fidelity CARLA simulator indicate that the proposed method reduces convergence time, generates smoother trajectories, and is able to handle dynamic surroundings and noisy observations.
An Analysis of Dataset Overlap on Winograd-Style Tasks
Authors: Ali Emami, Adam Trischler, Kaheer Suleman, Jackie Chi Kit Cheung
Date: 2020-11-09 00:00:00
Proceeding: COLING 2020 8
Tasks: Common Sense Reasoning

The Winograd Schema Challenge (WSC) and variants inspired by it have become important benchmarks for common-sense reasoning (CSR). Model performance on the WSC has quickly progressed from chance-level to near-human using neural language models trained on massive corpora. In this paper, we analyze the effects of varying degrees of overlap between these training corpora and the test instances in WSC-style tasks. We find that a large number of test instances overlap considerably with the corpora on which state-of-the-art models are (pre)trained, and that a significant drop in classification accuracy occurs when we evaluate models on instances with minimal overlap. Based on these results, we develop the KnowRef-60K dataset, which consists of over 60k pronoun disambiguation problems scraped from web data. KnowRef-60K is the largest corpus to date for WSC-style common-sense reasoning and exhibits a significantly lower proportion of overlaps with current pretraining corpora.
Lifelong Learning Without a Task Oracle
Authors: Amanda Rios, Laurent Itti
Date: 2020-11-09 00:00:00
Tasks: Continual Learning, Lifelong learning

Supervised deep neural networks are known to undergo a sharp decline in the accuracy of older tasks when new tasks are learned, termed "catastrophic forgetting". Many state-of-the-art solutions to continual learning rely on biasing and/or partitioning a model to accommodate successive tasks incrementally. However, these methods largely depend on the availability of a task-oracle to confer task identities to each test sample, without which the models are entirely unable to perform. To address this shortcoming, we propose and compare several candidate task-assigning mappers which require very little memory overhead: (1) Incremental unsupervised prototype assignment using either nearest means, Gaussian Mixture Models or fuzzy ART backbones; (2) Supervised incremental prototype assignment with fast fuzzy ARTMAP; (3) Shallow perceptron trained via a dynamic coreset. Our proposed model variants are trained either from pre-trained feature extractors or task-dependent feature embeddings of the main classifier network. We apply these pipeline variants to continual learning benchmarks, comprised of either sequences of several datasets or within one single dataset. Overall, these methods, despite their simplicity and compactness, perform very close to a ground truth oracle, especially in experiments of inter-dataset task assignment. Moreover, best-performing variants only impose an average cost of 1.7% parameter memory increase.
Modeling Trust in Human-Robot Interaction: A Survey
Authors: Zahra Rezaei Khavas, Reza Ahmadzadeh, Paul Robinette
Date: 2020-11-09 00:00:00
Tasks: Survey

As the autonomy and capabilities of robotic systems increase, they are expected to play the role of teammates rather than tools and interact with human collaborators in a more realistic manner, creating a more human-like relationship. Given the impact of trust observed in human-robot interaction (HRI), appropriate trust in robotic collaborators is one of the leading factors influencing the performance of human-robot interaction. Team performance can be diminished if people do not trust robots appropriately by disusing or misusing them based on limited experience. Therefore, trust in HRI needs to be calibrated properly, rather than maximized, to let the formation of an appropriate level of trust in human collaborators. For trust calibration in HRI, trust needs to be modeled first. There are many reviews on factors affecting trust in HRI, however, as there are no reviews concentrated on different trust models, in this paper, we review different techniques and methods for trust modeling in HRI. We also present a list of potential directions for further research and some challenges that need to be addressed in future work on human-robot trust modeling.
Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning
Authors: Shuijing Liu, Peixin Chang, Weihang Liang, Neeloy Chakraborty, Katherine Driggs-Campbell
Date: 2020-11-09 00:00:00
Tasks: Deep Reinforcement Learning, Motion Planning, reinforcement-learning, Reinforcement Learning (RL), Robot Navigation, Social Navigation

Safe and efficient navigation through human crowds is an essential capability for mobile robots. Previous work on robot crowd navigation assumes that the dynamics of all agents are known and well-defined. In addition, the performance of previous methods deteriorates in partially observable environments and environments with dense crowds. To tackle these problems, we propose decentralized structural-Recurrent Neural Network (DS-RNN), a novel network that reasons about spatial and temporal relationships for robot decision making in crowd navigation. We train our network with model-free deep reinforcement learning without any expert supervision. We demonstrate that our model outperforms previous methods in challenging crowd navigation scenarios. We successfully transfer the policy learned in the simulator to a real-world TurtleBot 2i. For more information, please visit the project website at https://sites.google.com/view/crowdnav-ds-rnn/home.
Multi-Agent Active Search using Realistic Depth-Aware Noise Model
Authors: Ramina Ghods, William J. Durkin, Jeff Schneider
Date: 2020-11-09 00:00:00
Tasks: object-detection, Object Detection, Thompson Sampling

The active search for objects of interest in an unknown environment has many robotics applications including search and rescue, detecting gas leaks or locating animal poachers. Existing algorithms often prioritize the location accuracy of objects of interest while other practical issues such as the reliability of object detection as a function of distance and lines of sight remain largely ignored. Additionally, in many active search scenarios, communication infrastructure may be unreliable or unestablished, making centralized control of multiple agents impractical. We present an algorithm called Noise-Aware Thompson Sampling (NATS) that addresses these issues for multiple ground-based robots performing active search considering two sources of sensory information from monocular optical imagery and depth maps. By utilizing Thompson Sampling, NATS allows for decentralized coordination among multiple agents. NATS also considers object detection uncertainty from depth as well as environmental occlusions and operates while remaining agnostic of the number of objects of interest. Using simulation results, we show that NATS significantly outperforms existing methods such as information-greedy policies or exhaustive search. We demonstrate the real-world viability of NATS using a pseudo-realistic environment created in the Unreal Engine 4 game development platform with the AirSim plugin.
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables
Authors: Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Huang Huang, Ken Goldberg
Date: 2020-11-10 00:00:00
Tasks: ARC, Self-Supervised Learning

We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a UR5 robot to perform these three tasks. The framework finds a 3D apex point for the robot arm, which, together with a task-specific trajectory function, defines an arcing motion that dynamically manipulates the cable to perform tasks with varying obstacle and target locations. The trajectory function computes minimum-jerk motions that are constrained to remain within joint limits and to travel through the 3D apex point by repeatedly solving quadratic programs to find the shortest and fastest feasible motion. We experiment with 5 physical cables with different thickness and mass and compare performance against two baselines in which a human chooses the apex point. Results suggest that a baseline with a fixed apex across the three tasks achieves respective success rates of 51.7%, 36.7%, and 15.0%, and a baseline with human-specified, task-specific apex points achieves 66.7%, 56.7%, and 15.0% success rate respectively, while the robot using the learned apex point can achieve success rates of 81.7% in vaulting, 65.0% in knocking, and 60.0% in weaving. Code, data, and supplementary materials are available at https: //sites.google.com/berkeley.edu/dynrope/home.
Social-STAGE: Spatio-Temporal Multi-Modal Future Trajectory Forecast
Authors: Srikanth Malla, Chiho Choi, Behzad Dariush
Date: 2020-11-10 00:00:00
Tasks: Diversity

This paper considers the problem of multi-modal future trajectory forecast with ranking. Here, multi-modality and ranking refer to the multiple plausible path predictions and the confidence in those predictions, respectively. We propose Social-STAGE, Social interaction-aware Spatio-Temporal multi-Attention Graph convolution network with novel Evaluation for multi-modality. Our main contributions include analysis and formulation of multi-modality with ranking using interaction and multi-attention, and introduction of new metrics to evaluate the diversity and associated confidence of multi-modal predictions. We evaluate our approach on existing public datasets ETH and UCY and show that the proposed algorithm outperforms the state of the arts on these datasets.