pwc-archive/papers-with-abstracts huggingface dataset:
Conformer: Local Features Coupling Global Representations for Visual Recognition
Authors: Zhiliang Peng, Wei Huang, Shanzhi Gu, Lingxi Xie, YaoWei Wang, Jianbin Jiao, Qixiang Ye
Date: 2021-05-09 00:00:00
Proceeding: ICCV 2021 10
Tasks: Image Classification, Instance Segmentation, object-detection, Object Detection, Representation Learning, Semantic Segmentation

Within Convolutional Neural Network (CNN), the convolution operations are good at extracting local features but experience difficulty to capture global representations. Within visual transformer, the cascaded self-attention modules can capture long-distance feature dependencies but unfortunately deteriorate local feature details. In this paper, we propose a hybrid network structure, termed Conformer, to take advantage of convolutional operations and self-attention mechanisms for enhanced representation learning. Conformer roots in the Feature Coupling Unit (FCU), which fuses local features and global representations under different resolutions in an interactive fashion. Conformer adopts a concurrent structure so that local features and global representations are retained to the maximum extent. Experiments show that Conformer, under the comparable parameter complexity, outperforms the visual transformer (DeiT-B) by 2.3% on ImageNet. On MSCOCO, it outperforms ResNet-101 by 3.7% and 3.6% mAPs for object detection and instance segmentation, respectively, demonstrating the great potential to be a general backbone network. Code is available at https://github.com/pengzhiliang/Conformer.
Improving Fairness of AI Systems with Lossless De-biasing
Authors: Yan Zhou, Murat Kantarcioglu, Chris Clifton
Date: 2021-05-10 00:00:00
Tasks: Fairness

In today's society, AI systems are increasingly used to make critical decisions such as credit scoring and patient triage. However, great convenience brought by AI systems comes with troubling prevalence of bias against underrepresented groups. Mitigating bias in AI systems to increase overall fairness has emerged as an important challenge. Existing studies on mitigating bias in AI systems focus on eliminating sensitive demographic information embedded in data. Given the temporal and contextual complexity of conceptualizing fairness, lossy treatment of demographic information may contribute to an unnecessary trade-off between accuracy and fairness, especially when demographic attributes and class labels are correlated. In this paper, we present an information-lossless de-biasing technique that targets the scarcity of data in the disadvantaged group. Unlike the existing work, we demonstrate, both theoretically and empirically, that oversampling underrepresented groups can not only mitigate algorithmic bias in AI systems that consistently predict a favorable outcome for a certain group, but improve overall accuracy by mitigating class imbalance within data that leads to a bias towards the majority class. We demonstrate the effectiveness of our technique on real datasets using a variety of fairness metrics.
Towards Benchmarking the Utility of Explanations for Model Debugging
Authors: Maximilian Idahl, Lijun Lyu, Ujwal Gadiraju, Avishek Anand
Date: 2021-05-10 00:00:00
Proceeding: NAACL (TrustNLP) 2021 6
Tasks: Benchmarking

Post-hoc explanation methods are an important class of approaches that help understand the rationale underlying a trained model's decision. But how useful are they for an end-user towards accomplishing a given task? In this vision paper, we argue the need for a benchmark to facilitate evaluations of the utility of post-hoc explanation methods. As a first step to this end, we enumerate desirable properties that such a benchmark should possess for the task of debugging text classifiers. Additionally, we highlight that such a benchmark facilitates not only assessing the effectiveness of explanations but also their efficiency.
Graph Feature Gating Networks
Authors: Wei Jin, Xiaorui Liu, Yao Ma, Tyler Derr, Charu Aggarwal, Jiliang Tang
Date: 2021-05-10 00:00:00
Tasks: Denoising

Graph neural networks (GNNs) have received tremendous attention due to their power in learning effective representations for graphs. Most GNNs follow a message-passing scheme where the node representations are updated by aggregating and transforming the information from the neighborhood. Meanwhile, they adopt the same strategy in aggregating the information from different feature dimensions. However, suggested by social dimension theory and spectral embedding, there are potential benefits to treat the dimensions differently during the aggregation process. In this work, we investigate to enable heterogeneous contributions of feature dimensions in GNNs. In particular, we propose a general graph feature gating network (GFGN) based on the graph signal denoising problem and then correspondingly introduce three graph filters under GFGN to allow different levels of contributions from feature dimensions. Extensive experiments on various real-world datasets demonstrate the effectiveness and robustness of the proposed frameworks.
Towards Robust One-shot Task Execution using Knowledge Graph Embeddings
Authors: Angel Daruna, Lakshmi Nair, Weiyu Liu, Sonia Chernova
Date: 2021-05-10 00:00:00
Tasks: Knowledge Graph Embeddings

Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoing challenge in robotics. We address the problem of one-shot task execution, in which a robot must generalize a single demonstration or prototypical example of a task plan to a new execution environment. Our approach integrates task plans with domain knowledge to infer task plan constituents for new execution environments. Our experimental evaluations show that our knowledge representation makes more relevant generalizations that result in significantly higher success rates over tested baselines. We validated the approach on a physical platform, which resulted in the successful generalization of initial task plans to 38 of 50 execution environments with errors resulting from autonomous robot operation included.
Self-Guided Curriculum Learning for Neural Machine Translation
Authors: Lei Zhou, Liang Ding, Kevin Duh, Shinji Watanabe, Ryohei Sasano, Koichi Takeda
Date: 2021-05-10 00:00:00
Proceeding: ACL (IWSLT) 2021 8
Tasks: Machine Translation, NMT, Sentence, Translation

In the field of machine learning, the well-trained model is assumed to be able to recover the training labels, i.e. the synthetic labels predicted by the model should be as close to the ground-truth labels as possible. Inspired by this, we propose a self-guided curriculum strategy to encourage the learning of neural machine translation (NMT) models to follow the above recovery criterion, where we cast the recovery degree of each training example as its learning difficulty. Specifically, we adopt the sentence level BLEU score as the proxy of recovery degree. Different from existing curricula relying on linguistic prior knowledge or third-party language models, our chosen learning difficulty is more suitable to measure the degree of knowledge mastery of the NMT models. Experiments on translation benchmarks, including WMT14 English$\Rightarrow$German and WMT17 Chinese$\Rightarrow$English, demonstrate that our approach can consistently improve translation performance against strong baseline Transformer.
Safety of the Intended Driving Behavior Using Rulebooks
Authors: Anne Collin, Artur Bilka, Scott Pendleton, Radboud Duintjer Tebbens
Date: 2021-05-10 00:00:00
Tasks: Autonomous Vehicles, Navigate

Autonomous Vehicles (AVs) are complex systems that drive in uncertain environments and potentially navigate unforeseeable situations. Safety of these systems requires not only an absence of malfunctions but also high performance of functions in many different scenarios. The ISO/PAS 21448 [1] guidance recommends a process to ensure the Safety of the Intended Functionality (SOTIF) for road vehicles. This process starts with a functional specification that fully describes the intended functionality and further includes the verification and validation that the AV meets this specification. For the path planning function, defining the correct sequence of control actions for each vehicle in all potential driving situations is intractable. In this paper, the authors provide a link between the Rulebooks framework, presented by [2], and the SOTIF process. We establish that Rulebooks provide a functional description of the path planning task in an AV and discuss the potential usage of the method for verification and validation.
SCTN: Sparse Convolution-Transformer Network for Scene Flow Estimation
Authors: Bing Li, Cheng Zheng, Silvio Giancola, Bernard Ghanem
Date: 2021-05-10 00:00:00
Tasks: Scene Flow Estimation

We propose a novel scene flow estimation approach to capture and infer 3D motions from point clouds. Estimating 3D motions for point clouds is challenging, since a point cloud is unordered and its density is significantly non-uniform. Such unstructured data poses difficulties in matching corresponding points between point clouds, leading to inaccurate flow estimation. We propose a novel architecture named Sparse Convolution-Transformer Network (SCTN) that equips the sparse convolution with the transformer. Specifically, by leveraging the sparse convolution, SCTN transfers irregular point cloud into locally consistent flow features for estimating continuous and consistent motions within an object/local object part. We further propose to explicitly learn point relations using a point transformer module, different from exiting methods. We show that the learned relation-based contextual information is rich and helpful for matching corresponding points, benefiting scene flow estimation. In addition, a novel loss function is proposed to adaptively encourage flow consistency according to feature similarity. Extensive experiments demonstrate that our proposed approach achieves a new state of the art in scene flow estimation. Our approach achieves an error of 0.038 and 0.037 (EPE3D) on FlyingThings3D and KITTI Scene Flow respectively, which significantly outperforms previous methods by large margins.
Stability Constrained Mobile Manipulation Planning on Rough Terrain
Authors: Jiazhi Song, Inna Sharf
Date: 2021-05-10 00:00:00
Tasks: Computational Efficiency, Trajectory Planning

This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero Moment Point (ZMP) stability measure are presented as theoretical background. Then, a sampling-based quasi-static planning algorithm modified for stability guarantee and traction optimization in continuous dynamic motion is presented along with a mathematical proof. The robot's quasi-static path is then used as an initial guess to warm-start a nonlinear optimal control solver which may otherwise have difficulties finding a solution to the stability-constrained formulation efficiently. The performance and computational efficiency of the framework are demonstrated through an application to a simulated timber harvesting mobile manipulator machine working on varying terrain. The results demonstrate feasibility of online trajectory planning on varying terrain while satisfying the dynamic stability constraint.
Recent Advances in Deep Learning Based Dialogue Systems: A Systematic Survey
Authors: Jinjie Ni, Tom Young, Vlad Pandelea, Fuzhao Xue, Erik Cambria
Date: 2021-05-10 00:00:00
Tasks: Information Retrieval, Question Answering

Dialogue systems are a popular natural language processing (NLP) task as it is promising in real-life applications. It is also a complicated task since many NLP tasks deserving study are involved. As a result, a multitude of novel works on this task are carried out, and most of them are deep learning based due to the outstanding performance. In this survey, we mainly focus on the deep learning based dialogue systems. We comprehensively review state-of-the-art research outcomes in dialogue systems and analyze them from two angles: model type and system type. Specifically, from the angle of model type, we discuss the principles, characteristics, and applications of different models that are widely used in dialogue systems. This will help researchers acquaint these models and see how they are applied in state-of-the-art frameworks, which is rather helpful when designing a new dialogue system. From the angle of system type, we discuss task-oriented and open-domain dialogue systems as two streams of research, providing insight into the hot topics related. Furthermore, we comprehensively review the evaluation methods and datasets for dialogue systems to pave the way for future research. Finally, some possible research trends are identified based on the recent research outcomes. To the best of our knowledge, this survey is the most comprehensive and up-to-date one at present for deep learning based dialogue systems, extensively covering the popular techniques. We speculate that this work is a good starting point for academics who are new to the dialogue systems or those who want to quickly grasp up-to-date techniques in this area.
Exploring open-ended gameplay features with Micro RollerCoaster Tycoon
Authors: Michael Cerny Green, Victoria Yen, Sam Earle, Dipika Rajesh, Maria Edwards, L. B. Soros
Date: 2021-05-10 00:00:00
Tasks: Diversity, Evolutionary Algorithms, Game Design

This paper introduces MicroRCT, a novel open source simulator inspired by the theme park sandbox game RollerCoaster Tycoon. The goal in MicroRCT is to place rides and shops in an amusement park to maximize profit earned from park guests. Thus, the challenges for game AI include both selecting high-earning attractions and placing them in locations that are convenient to guests. In this paper, the MAP-Elites algorithm is used to generate a diversity of park layouts, exploring two theoretical questions about evolutionary algorithms and game design: 1) Is there a benefit to starting from a minimal starting point for evolution and complexifying incrementally? and 2) What are the effects of resource limitations on creativity and optimization? Results indicate that building from scratch with no costs results in the widest diversity of high-performing designs.
Do Concept Bottleneck Models Learn as Intended?
Authors: Andrei Margeloiu, Matthew Ashman, Umang Bhatt, Yanzhi Chen, Mateja Jamnik, Adrian Weller
Date: 2021-05-10 00:00:00

Concept bottleneck models map from raw inputs to concepts, and then from concepts to targets. Such models aim to incorporate pre-specified, high-level concepts into the learning procedure, and have been motivated to meet three desiderata: interpretability, predictability, and intervenability. However, we find that concept bottleneck models struggle to meet these goals. Using post hoc interpretability methods, we demonstrate that concepts do not correspond to anything semantically meaningful in input space, thus calling into question the usefulness of concept bottleneck models in their current form.
Neuroscience-inspired perception-action in robotics: applying active inference for state estimation, control and self-perception
Authors: Pablo Lanillos, Marcel van Gerven
Date: 2021-05-10 00:00:00
Tasks: Industrial Robots, State Estimation

Unlike robots, humans learn, adapt and perceive their bodies by interacting with the world. Discovering how the brain represents the body and generates actions is of major importance for robotics and artificial intelligence. Here we discuss how neuroscience findings open up opportunities to improve current estimation and control algorithms in robotics. In particular, how active inference, a mathematical formulation of how the brain resists a natural tendency to disorder, provides a unified recipe to potentially solve some of the major challenges in robotics, such as adaptation, robustness, flexibility, generalization and safe interaction. This paper summarizes some experiments and lessons learned from developing such a computational model on real embodied platforms, i.e., humanoid and industrial robots. Finally, we showcase the limitations and challenges that we are still facing to give robots human-like perception
Expressing and Exploiting the Common Subgoal Structure of Classical Planning Domains Using Sketches: Extended Version
Authors: Dominik Drexler, Jendrik Seipp, Hector Geffner
Date: 2021-05-10 00:00:00

Width-based planning methods deal with conjunctive goals by decomposing problems into subproblems of low width. Algorithms like SIW thus fail when the goal is not easily serializable in this way or when some of the subproblems have a high width. In this work, we address these limitations by using a simple but powerful language for expressing finer problem decompositions introduced recently by Bonet and Geffner, called policy sketches. A policy sketch over a set of Boolean and numerical features is a set of sketch rules that express how the values of these features are supposed to change. Like general policies, policy sketches are domain general, but unlike policies, the changes captured by sketch rules do not need to be achieved in a single step. We show that many planning domains that cannot be solved by SIW are provably solvable in low polynomial time with the SIW_R algorithm, the version of SIW that employs user-provided policy sketches. Policy sketches are thus shown to be a powerful language for expressing domain-specific knowledge in a simple and compact way and a convenient alternative to languages such as HTNs or temporal logics. Furthermore, they make it easy to express general problem decompositions and prove key properties of them like their width and complexity.
In-Hindsight Quantization Range Estimation for Quantized Training
Authors: Marios Fournarakis, Markus Nagel
Date: 2021-05-10 00:00:00
Tasks: image-classification, Image Classification, Quantization

Quantization techniques applied to the inference of deep neural networks have enabled fast and efficient execution on resource-constraint devices. The success of quantization during inference has motivated the academic community to explore fully quantized training, i.e. quantizing back-propagation as well. However, effective gradient quantization is still an open problem. Gradients are unbounded and their distribution changes significantly during training, which leads to the need for dynamic quantization. As we show, dynamic quantization can lead to significant memory overhead and additional data traffic slowing down training. We propose a simple alternative to dynamic quantization, in-hindsight range estimation, that uses the quantization ranges estimated on previous iterations to quantize the present. Our approach enables fast static quantization of gradients and activations while requiring only minimal hardware support from the neural network accelerator to keep track of output statistics in an online fashion. It is intended as a drop-in replacement for estimating quantization ranges and can be used in conjunction with other advances in quantized training. We compare our method to existing methods for range estimation from the quantized training literature and demonstrate its effectiveness with a range of architectures, including MobileNetV2, on image classification benchmarks (Tiny ImageNet & ImageNet).
Inter-GPS: Interpretable Geometry Problem Solving with Formal Language and Symbolic Reasoning
Authors: Pan Lu, Ran Gong, Shibiao Jiang, Liang Qiu, Siyuan Huang, Xiaodan Liang, Song-Chun Zhu
Date: 2021-05-10 00:00:00
Proceeding: ACL 2021 5
Tasks: Arithmetic Reasoning, Geometry Problem Solving, Mathematical Question Answering, Mathematical Reasoning, Question Answering, Scene Parsing, Semantic Parsing, Visual Question Answering (VQA), Visual Reasoning

Geometry problem solving has attracted much attention in the NLP community recently. The task is challenging as it requires abstract problem understanding and symbolic reasoning with axiomatic knowledge. However, current datasets are either small in scale or not publicly available. Thus, we construct a new large-scale benchmark, Geometry3K, consisting of 3,002 geometry problems with dense annotation in formal language. We further propose a novel geometry solving approach with formal language and symbolic reasoning, called Interpretable Geometry Problem Solver (Inter-GPS). Inter-GPS first parses the problem text and diagram into formal language automatically via rule-based text parsing and neural object detecting, respectively. Unlike implicit learning in existing methods, Inter-GPS incorporates theorem knowledge as conditional rules and performs symbolic reasoning step by step. Also, a theorem predictor is designed to infer the theorem application sequence fed to the symbolic solver for the more efficient and reasonable searching path. Extensive experiments on the Geometry3K and GEOS datasets demonstrate that Inter-GPS achieves significant improvements over existing methods. The project with code and data is available at https://lupantech.github.io/inter-gps.
CREPO: An Open Repository to Benchmark Credal Network Algorithms
Authors: Rafael Cabañas, Alessandro Antonucci
Date: 2021-05-10 00:00:00
Tasks: Benchmarking

Credal networks are a popular class of imprecise probabilistic graphical models obtained as a Bayesian network generalization based on, so-called credal, sets of probability mass functions. A Java library called CREMA has been recently released to model, process and query credal networks. Despite the NP-hardness of the (exact) task, a number of algorithms is available to approximate credal network inferences. In this paper we present CREPO, an open repository of synthetic credal networks, provided together with the exact results of inference tasks on these models. A Python tool is also delivered to load these data and interact with CREMA, thus making extremely easy to evaluate and compare existing and novel inference algorithms. To demonstrate such benchmarking scheme, we propose an approximate heuristic to be used inside variable elimination schemes to keep a bound on the maximum number of vertices generated during the combination step. A CREPO-based validation against approximate procedures based on linearization and exact techniques performed in CREMA is finally discussed.
Unsupervised Human Pose Estimation through Transforming Shape Templates
Authors: Luca Schmidtke, Athanasios Vlontzos, Simon Ellershaw, Anna Lukens, Tomoki Arichi, Bernhard Kainz
Date: 2021-05-10 00:00:00
Proceeding: CVPR 2021 1
Tasks: Pose Estimation, Template Matching, Unsupervised Human Pose Estimation

Human pose estimation is a major computer vision problem with applications ranging from augmented reality and video capture to surveillance and movement tracking. In the medical context, the latter may be an important biomarker for neurological impairments in infants. Whilst many methods exist, their application has been limited by the need for well annotated large datasets and the inability to generalize to humans of different shapes and body compositions, e.g. children and infants. In this paper we present a novel method for learning pose estimators for human adults and infants in an unsupervised fashion. We approach this as a learnable template matching problem facilitated by deep feature extractors. Human-interpretable landmarks are estimated by transforming a template consisting of predefined body parts that are characterized by 2D Gaussian distributions. Enforcing a connectivity prior guides our model to meaningful human shape representations. We demonstrate the effectiveness of our approach on two different datasets including adults and infants.