pwc-archive/papers-with-abstracts huggingface dataset:
Sleep Staging Based on Multi Scale Dual Attention Network
Authors: Huafeng Wang, Chonggang Lu, Qi Zhang, Zhimin Hu, Xiaodong Yuan, Pingshu Zhang, Wanquan Liu
Date: 2021-07-18 00:00:00
Tasks: EEG, Electroencephalogram (EEG), Sleep Staging

Sleep staging plays an important role on the diagnosis of sleep disorders. In general, experts classify sleep stages manually based on polysomnography (PSG), which is quite time-consuming. Meanwhile, the acquisition process of multiple signals is much complex, which can affect the subject's sleep. Therefore, the use of single-channel electroencephalogram (EEG) for automatic sleep staging has become a popular research topic. In the literature, a large number of sleep staging methods based on single-channel EEG have been proposed with promising results and achieve the preliminary automation of sleep staging. However, the performance for most of these methods in the N1 stage do not satisfy the needs of the diagnosis. In this paper, we propose a deep learning model multi scale dual attention network(MSDAN) based on raw EEG, which utilizes multi-scale convolution to extract features in different waveforms contained in the EEG signal, connects channel attention and spatial attention mechanisms in series to filter and highlight key information, and uses soft thresholding to remove redundant information. Experiments were conducted using two datasets with 5-fold cross-validation and hold-out validation method. The final average accuracy, overall accuracy, macro F1 score and Cohen's Kappa coefficient of the model reach 96.70%, 91.74%, 0.8231 and 0.8723 on the Sleep-EDF dataset, 96.14%, 90.35%, 0.7945 and 0.8284 on the Sleep-EDFx dataset. Significantly, our model performed superiorly in the N1 stage, with F1 scores of 54.41% and 52.79% on the two datasets respectively. The results show the superiority of our network over the existing methods, reaching a new state-of-the-art. In particular, the proposed method achieves excellent results in the N1 sleep stage compared to other methods.
Deep Open Snake Tracker for Vessel Tracing
Authors: Li Chen, Wenjin Liu, Niranjan Balu, Mahmud Mossa-Basha, Thomas S. Hatsukami, Jenq-Neng Hwang, Chun Yuan
Date: 2021-07-19 00:00:00

Vessel tracing by modeling vascular structures in 3D medical images with centerlines and radii can provide useful information for vascular health. Existing algorithms have been developed but there are certain persistent problems such as incomplete or inaccurate vessel tracing, especially in complicated vascular beds like the intracranial arteries. We propose here a deep learning based open curve active contour model (DOST) to trace vessels in 3D images. Initial curves were proposed from a centerline segmentation neural network. Then data-driven machine knowledge was used to predict the stretching direction and vessel radius of the initial curve, while the active contour model (as human knowledge) maintained smoothness and intensity fitness of curves. Finally, considering the nonloop topology of most vasculatures, individually traced vessels were connected into a tree topology by applying a minimum spanning tree algorithm on a global connection graph. We evaluated DOST on a Time-of-Flight (TOF) MRA intracranial artery dataset and demonstrated its superior performance over existing segmentation-based and tracking-based vessel tracing methods. In addition, DOST showed strong adaptability on different imaging modalities (CTA, MR T1 SPACE) and vascular beds (coronary arteries).
Playful Interactions for Representation Learning
Authors: Sarah Young, Jyothish Pari, Pieter Abbeel, Lerrel Pinto
Date: 2021-07-19 00:00:00
Tasks: Imitation Learning, Representation Learning

One of the key challenges in visual imitation learning is collecting large amounts of expert demonstrations for a given task. While methods for collecting human demonstrations are becoming easier with teleoperation methods and the use of low-cost assistive tools, we often still require 100-1000 demonstrations for every task to learn a visual representation and policy. To address this, we turn to an alternate form of data that does not require task-specific demonstrations -- play. Playing is a fundamental method children use to learn a set of skills and behaviors and visual representations in early learning. Importantly, play data is diverse, task-agnostic, and relatively cheap to obtain. In this work, we propose to use playful interactions in a self-supervised manner to learn visual representations for downstream tasks. We collect 2 hours of playful data in 19 diverse environments and use self-predictive learning to extract visual representations. Given these representations, we train policies using imitation learning for two downstream tasks: Pushing and Stacking. We demonstrate that our visual representations generalize better than standard behavior cloning and can achieve similar performance with only half the number of required demonstrations. Our representations, which are trained from scratch, compare favorably against ImageNet pretrained representations. Finally, we provide an experimental analysis on the effects of different pretraining modes on downstream task learning.
On the Veracity of Local, Model-agnostic Explanations in Audio Classification: Targeted Investigations with Adversarial Examples
Authors: Verena Praher, Katharina Prinz, Arthur Flexer, Gerhard Widmer
Date: 2021-07-19 00:00:00
Tasks: Audio Classification

Local explanation methods such as LIME have become popular in MIR as tools for generating post-hoc, model-agnostic explanations of a model's classification decisions. The basic idea is to identify a small set of human-understandable features of the classified example that are most influential on the classifier's prediction. These are then presented as an explanation. Evaluation of such explanations in publications often resorts to accepting what matches the expectation of a human without actually being able to verify if what the explanation shows is what really caused the model's prediction. This paper reports on targeted investigations where we try to get more insight into the actual veracity of LIME's explanations in an audio classification task. We deliberately design adversarial examples for the classifier, in a way that gives us knowledge about which parts of the input are potentially responsible for the model's (wrong) prediction. Asking LIME to explain the predictions for these adversaries permits us to study whether local explanations do indeed detect these regions of interest. We also look at whether LIME is more successful in finding perturbations that are more prominent and easily noticeable for a human. Our results suggest that LIME does not necessarily manage to identify the most relevant input features and hence it remains unclear whether explanations are useful or even misleading.
Just Train Twice: Improving Group Robustness without Training Group Information
Authors: Evan Zheran Liu, Behzad Haghgoo, Annie S. Chen, aditi raghunathan, Pang Wei Koh, Shiori Sagawa, Percy Liang, Chelsea Finn
Date: 2021-07-19 00:00:00
Tasks: image-classification, Image Classification, Out-of-Distribution Generalization

Standard training via empirical risk minimization (ERM) can produce models that achieve high accuracy on average but low accuracy on certain groups, especially in the presence of spurious correlations between the input and label. Prior approaches that achieve high worst-group accuracy, like group distributionally robust optimization (group DRO) require expensive group annotations for each training point, whereas approaches that do not use such group annotations typically achieve unsatisfactory worst-group accuracy. In this paper, we propose a simple two-stage approach, JTT, that first trains a standard ERM model for several epochs, and then trains a second model that upweights the training examples that the first model misclassified. Intuitively, this upweights examples from groups on which standard ERM models perform poorly, leading to improved worst-group performance. Averaged over four image classification and natural language processing tasks with spurious correlations, JTT closes 75% of the gap in worst-group accuracy between standard ERM and group DRO, while only requiring group annotations on a small validation set in order to tune hyperparameters.
Constraints Penalized Q-learning for Safe Offline Reinforcement Learning
Authors: Haoran Xu, Xianyuan Zhan, Xiangyu Zhu
Date: 2021-07-19 00:00:00
Tasks: Offline RL, Q-Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

We study the problem of safe offline reinforcement learning (RL), the goal is to learn a policy that maximizes long-term reward while satisfying safety constraints given only offline data, without further interaction with the environment. This problem is more appealing for real world RL applications, in which data collection is costly or dangerous. Enforcing constraint satisfaction is non-trivial, especially in offline settings, as there is a potential large discrepancy between the policy distribution and the data distribution, causing errors in estimating the value of safety constraints. We show that na\"ive approaches that combine techniques from safe RL and offline RL can only learn sub-optimal solutions. We thus develop a simple yet effective algorithm, Constraints Penalized Q-Learning (CPQ), to solve the problem. Our method admits the use of data generated by mixed behavior policies. We present a theoretical analysis and demonstrate empirically that our approach can learn robustly across a variety of benchmark control tasks, outperforming several baselines.
An Analysis of Reinforcement Learning for Malaria Control
Authors: Ndivhuwo Makondo, Arinze Lawrence Folarin, Simphiwe Nhlahla Zitha, Sekou Lionel Remy
Date: 2021-07-19 00:00:00
Tasks: Multi-Armed Bandits, OpenAI Gym, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Previous work on policy learning for Malaria control has often formulated the problem as an optimization problem assuming the objective function and the search space have a specific structure. The problem has been formulated as multi-armed bandits, contextual bandits and a Markov Decision Process in isolation. Furthermore, an emphasis is put on developing new algorithms specific to an instance of Malaria control, while ignoring a plethora of simpler and general algorithms in the literature. In this work, we formally study the formulation of Malaria control and present a comprehensive analysis of several formulations used in the literature. In addition, we implement and analyze several reinforcement learning algorithms in all formulations and compare them to black box optimization. In contrast to previous work, our results show that simple algorithms based on Upper Confidence Bounds are sufficient for learning good Malaria policies, and tend to outperform their more advanced counterparts on the malaria OpenAI Gym environment.
Hierarchical Few-Shot Imitation with Skill Transition Models
Authors: Kourosh Hakhamaneshi, Ruihan Zhao, Albert Zhan, Pieter Abbeel, Michael Laskin
Date: 2021-07-19 00:00:00
Proceeding: ICML Workshop URL 2021 7

A desirable property of autonomous agents is the ability to both solve long-horizon problems and generalize to unseen tasks. Recent advances in data-driven skill learning have shown that extracting behavioral priors from offline data can enable agents to solve challenging long-horizon tasks with reinforcement learning. However, generalization to tasks unseen during behavioral prior training remains an outstanding challenge. To this end, we present Few-shot Imitation with Skill Transition Models (FIST), an algorithm that extracts skills from offline data and utilizes them to generalize to unseen tasks given a few downstream demonstrations. FIST learns an inverse skill dynamics model, a distance function, and utilizes a semi-parametric approach for imitation. We show that FIST is capable of generalizing to new tasks and substantially outperforms prior baselines in navigation experiments requiring traversing unseen parts of a large maze and 7-DoF robotic arm experiments requiring manipulating previously unseen objects in a kitchen.
Decoupled Reinforcement Learning to Stabilise Intrinsically-Motivated Exploration
Authors: Lukas Schäfer, Filippos Christianos, Josiah P. Hanna, Stefano V. Albrecht
Date: 2021-07-19 00:00:00
Proceeding: ICML Workshop URL 2021 7
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Intrinsic rewards can improve exploration in reinforcement learning, but the exploration process may suffer from instability caused by non-stationary reward shaping and strong dependency on hyperparameters. In this work, we introduce Decoupled RL (DeRL) as a general framework which trains separate policies for intrinsically-motivated exploration and exploitation. Such decoupling allows DeRL to leverage the benefits of intrinsic rewards for exploration while demonstrating improved robustness and sample efficiency. We evaluate DeRL algorithms in two sparse-reward environments with multiple types of intrinsic rewards. Our results show that DeRL is more robust to varying scale and rate of decay of intrinsic rewards and converges to the same evaluation returns than intrinsically-motivated baselines in fewer interactions. Lastly, we discuss the challenge of distribution shift and show that divergence constraint regularisers can successfully minimise instability caused by divergence of exploration and exploitation policies.
T-RECS: A Simulation Tool to Study the Societal Impact of Recommender Systems
Authors: Eli Lucherini, Matthew Sun, Amy Winecoff, Arvind Narayanan
Date: 2021-07-19 00:00:00
Tasks: Friction, Recommendation Systems

Simulation has emerged as a popular method to study the long-term societal consequences of recommender systems. This approach allows researchers to specify their theoretical model explicitly and observe the evolution of system-level outcomes over time. However, performing simulation-based studies often requires researchers to build their own simulation environments from the ground up, which creates a high barrier to entry, introduces room for implementation error, and makes it difficult to disentangle whether observed outcomes are due to the model or the implementation. We introduce T-RECS, an open-sourced Python package designed for researchers to simulate recommendation systems and other types of sociotechnical systems in which an algorithm mediates the interactions between multiple stakeholders, such as users and content creators. To demonstrate the flexibility of T-RECS, we perform a replication of two prior simulation-based research on sociotechnical systems. We additionally show how T-RECS can be used to generate novel insights with minimal overhead. Our tool promotes reproducibility in this area of research, provides a unified language for simulating sociotechnical systems, and removes the friction of implementing simulations from scratch.
DHNet: Double MPEG-4 Compression Detection via Multiple DCT Histograms
Authors: Seung-Hun Nam, Wonhyuk Ahn, Myung-Joon Kwon, Jihyeon Kang, In-Jae Yu
Date: 2021-07-19 00:00:00
Tasks: Quantization

In this article, we aim to detect the double compression of MPEG-4, a universal video codec that is built into surveillance systems and shooting devices. Double compression is accompanied by various types of video manipulation, and its traces can be exploited to determine whether a video is a forgery. To this end, we present a neural network-based approach with discriminant features for capturing peculiar artifacts in the discrete cosine transform (DCT) domain caused by double MPEG-4 compression. By analyzing the intra-coding process of MPEG-4, which performs block-DCT-based quantization, we exploit multiple DCT histograms as features to focus on the statistical properties of DCT coefficients on multiresolution blocks. Furthermore, we improve detection performance using a vectorized feature of the quantization table on dense layers as auxiliary information. Compared with neural network-based approaches suitable for exploring subtle manipulations, the experimental results reveal that this work achieves high performance.
Multimodal Reward Shaping for Efficient Exploration in Reinforcement Learning
Authors: Mingqi Yuan, Mon-on Pun, Dong Wang, Yi Chen, Haojun Li
Date: 2021-07-19 00:00:00
Tasks: Deep Reinforcement Learning, Efficient Exploration, Fairness, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Maintaining the long-term exploration capability of the agent remains one of the critical challenges in deep reinforcement learning. A representative solution is to leverage reward shaping to provide intrinsic rewards for the agent to encourage exploration. However, most existing methods suffer from vanishing intrinsic rewards, which cannot provide sustainable exploration incentives. Moreover, they rely heavily on complex models and additional memory to record learning procedures, resulting in high computational complexity and low robustness. To tackle this problem, entropy-based methods are proposed to evaluate the global exploration performance, encouraging the agent to visit the state space more equitably. However, the sample complexity of estimating the state visitation entropy is prohibitive when handling environments with high-dimensional observations. In this paper, we introduce a novel metric entitled Jain's fairness index (JFI) to replace the entropy regularizer, which solves the exploration problem from a brand new perspective. In sharp contrast to the entropy regularizer, JFI is more computable and robust and can be easily applied generalized into arbitrary tasks. Furthermore, we leverage a variational auto-encoder (VAE) model to capture the life-long novelty of states, which is combined with the global JFI score to form multimodal intrinsic rewards. Finally, extensive simulation results demonstrate that our multimodal reward shaping (MMRS) method can achieve higher performance than other benchmark schemes.
Reasoning-Modulated Representations
Authors: Petar Veličković, Matko Bošnjak, Thomas Kipf, Alexander Lerchner, Raia Hadsell, Razvan Pascanu, Charles Blundell
Date: 2021-07-19 00:00:00
Tasks: Representation Learning, Self-Supervised Learning

Neural networks leverage robust internal representations in order to generalise. Learning them is difficult, and often requires a large training set that covers the data distribution densely. We study a common setting where our task is not purely opaque. Indeed, very often we may have access to information about the underlying system (e.g. that observations must obey certain laws of physics) that any "tabula rasa" neural network would need to re-learn from scratch, penalising performance. We incorporate this information into a pre-trained reasoning module, and investigate its role in shaping the discovered representations in diverse self-supervised learning settings from pixels. Our approach paves the way for a new class of representation learning, grounded in algorithmic priors.
Ab Initio Particle-based Object Manipulation
Authors: Siwei Chen, Xiao Ma, Yunfan Lu, David Hsu
Date: 2021-07-19 00:00:00
Tasks: Object, Robot Manipulation

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a particle-based object representation, in which each particle represents a point in the object, the local geometric, physical, and other features of the point, and also its relation with other particles. Like the model-based analytic approaches to manipulation, the particle representation enables the robot to reason about the object's geometry and dynamics in order to choose suitable manipulation actions. Like the data-driven approaches, the particle representation is learned online in real-time from visual sensor input, specifically, multi-view RGB images. The particle representation thus connects visual perception with robot control. Prompt combines the benefits of both model-based reasoning and data-driven learning. We show empirically that Prompt successfully handles a variety of everyday objects, some of which are transparent. It handles various manipulation tasks, including grasping, pushing, etc,. Our experiments also show that Prompt outperforms a state-of-the-art data-driven grasping method on the daily objects, even though it does not use any offline training data.
Exploring the efficacy of neural networks for trajectory compression and the inverse problem
Authors: Theodoros Ntakouris
Date: 2021-07-19 00:00:00

In this document, a neural network is employed in order to estimate the solution of the initial value problem in the context of non linear trajectories. Such trajectories can be subject to gravity, thrust, drag, centrifugal force, temperature, ambient air density and pressure. First, we generate a grid of trajectory points given a specified uniform density as a design parameter and then we investigate the performance of a neural network in a compression and inverse problem task: the network is trained to predict the initial conditions of the dynamics model we used in the simulation, given a target point in space. We investigate this as a regression task, with error propagation in consideration. For target points, up to a radius of 2 kilometers, the model is able to accurately predict the initial conditions of the trajectories, with sub-meter deviation. This simulation-based training process and novel real-world evaluation method is capable of computing trajectories of arbitrary dimensions.
Relative Localization of Mobile Robots with Multiple Ultra-WideBand Ranging Measurements
Authors: Zhiqiang Cao, Ran Liu, Chau Yuen, Achala Athukorala, Benny Kai Kiat Ng, Muraleetharan Mathanraj, U-Xuan Tan
Date: 2021-07-19 00:00:00
Tasks: Pose Tracking

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the environment is not possible. The traditional Ultra-WideBand (UWB)-based approach provides a good estimation of the distance between the robots, but obtaining the relative pose (including the displacement and orientation) remains challenging. We propose an approach to estimate the relative pose between a group of robots by equipping each robot with multiple UWB ranging nodes. We determine the pose between two robots by minimizing the residual error of the ranging measurements from all UWB nodes. To improve the localization accuracy, we propose to utilize the odometry constraints through a sliding window-based optimization. The optimized pose is then fused with the odometry in a particle filtering for pose tracking among a group of mobile robots. We have conducted extensive experiments to validate the effectiveness of the proposed approach.