pwc-archive/papers-with-abstracts huggingface dataset:
Learning to Utilize Shaping Rewards: A New Approach of Reward Shaping
Authors: Yujing Hu, Weixun Wang, Hangtian Jia, Yixiang Wang, Yingfeng Chen, Jianye Hao, Feng Wu, Changjie Fan
Date: 2020-11-05 00:00:00
Proceeding: NeurIPS 2020 12
Tasks: MuJoCo, Reinforcement Learning (RL)

Reward shaping is an effective technique for incorporating domain knowledge into reinforcement learning (RL). Existing approaches such as potential-based reward shaping normally make full use of a given shaping reward function. However, since the transformation of human knowledge into numeric reward values is often imperfect due to reasons such as human cognitive bias, completely utilizing the shaping reward function may fail to improve the performance of RL algorithms. In this paper, we consider the problem of adaptively utilizing a given shaping reward function. We formulate the utilization of shaping rewards as a bi-level optimization problem, where the lower level is to optimize policy using the shaping rewards and the upper level is to optimize a parameterized shaping weight function for true reward maximization. We formally derive the gradient of the expected true reward with respect to the shaping weight function parameters and accordingly propose three learning algorithms based on different assumptions. Experiments in sparse-reward cartpole and MuJoCo environments show that our algorithms can fully exploit beneficial shaping rewards, and meanwhile ignore unbeneficial shaping rewards or even transform them into beneficial ones.
Deep Active Learning with Augmentation-based Consistency Estimation
Authors: SeulGi Hong, Heonjin Ha, Junmo Kim, Min-Kook Choi
Date: 2020-11-05 00:00:00
Tasks: Active Learning, Data Augmentation, image-classification, Image Classification, Learning Theory

In active learning, the focus is mainly on the selection strategy of unlabeled data for enhancing the generalization capability of the next learning cycle. For this, various uncertainty measurement methods have been proposed. On the other hand, with the advent of data augmentation metrics as the regularizer on general deep learning, we notice that there can be a mutual influence between the method of unlabeled data selection and the data augmentation-based regularization techniques in active learning scenarios. Through various experiments, we confirmed that consistency-based regularization from analytical learning theory could affect the generalization capability of the classifier in combination with the existing uncertainty measurement method. By this fact, we propose a methodology to improve generalization ability, by applying data augmentation-based techniques to an active learning scenario. For the data augmentation-based regularization loss, we redefined cutout (co) and cutmix (cm) strategies as quantitative metrics and applied at both model training and unlabeled data selection steps. We have shown that the augmentation-based regularizer can lead to improved performance on the training step of active learning, while that same approach can be effectively combined with the uncertainty measurement metrics proposed so far. We used datasets such as FashionMNIST, CIFAR10, CIFAR100, and STL10 to verify the performance of the proposed active learning technique for multiple image classification tasks. Our experiments show consistent performance gains for each dataset and budget scenario.
Adversarial Context Aware Network Embeddings for Textual Networks
Authors: Tony Gracious, Ambedkar Dukkipati
Date: 2020-11-05 00:00:00
Tasks: Node Classification, Representation Learning

Representation learning of textual networks poses a significant challenge as it involves capturing amalgamated information from two modalities: (i) underlying network structure, and (ii) node textual attributes. For this, most existing approaches learn embeddings of text and network structure by enforcing embeddings of connected nodes to be similar. Then for achieving a modality fusion they use the similarities between text embedding of a node with the structure embedding of its connected node and vice versa. This implies that these approaches require edge information for learning embeddings and they cannot learn embeddings of unseen nodes. In this paper we propose an approach that achieves both modality fusion and the capability to learn embeddings of unseen nodes. The main feature of our model is that it uses an adversarial mechanism between text embedding based discriminator, and structure embedding based generator to learn efficient representations. Then for learning embeddings of unseen nodes, we use the supervision provided by the text embedding based discriminator. In addition this, we propose a novel architecture for learning text embedding that can combine both mutual attention and topological attention mechanism, which give more flexible text embeddings. Through extensive experiments on real-world datasets, we demonstrate that our model makes substantial gains over several state-of-the-art benchmarks. In comparison with previous state-of-the-art, it gives up to 7% improvement in performance in predicting links among nodes seen in the training and up to 12% improvement in performance in predicting links involving nodes not seen in training. Further, in the node classification task, it gives up to 2% improvement in performance.
Restless-UCB, an Efficient and Low-complexity Algorithm for Online Restless Bandits
Authors: Siwei Wang, Longbo Huang, John C. S. Lui
Date: 2020-11-05 00:00:00
Proceeding: NeurIPS 2020 12

We study the online restless bandit problem, where the state of each arm evolves according to a Markov chain, and the reward of pulling an arm depends on both the pulled arm and the current state of the corresponding Markov chain. In this paper, we propose Restless-UCB, a learning policy that follows the explore-then-commit framework. In Restless-UCB, we present a novel method to construct offline instances, which only requires $O(N)$ time-complexity ($N$ is the number of arms) and is exponentially better than the complexity of existing learning policy. We also prove that Restless-UCB achieves a regret upper bound of $\tilde{O}((N+M^3)T^{2\over 3})$, where $M$ is the Markov chain state space size and $T$ is the time horizon. Compared to existing algorithms, our result eliminates the exponential factor (in $M,N$) in the regret upper bound, due to a novel exploitation of the sparsity in transitions in general restless bandit problems. As a result, our analysis technique can also be adopted to tighten the regret bounds of existing algorithms. Finally, we conduct experiments based on real-world dataset, to compare the Restless-UCB policy with state-of-the-art benchmarks. Our results show that Restless-UCB outperforms existing algorithms in regret, and significantly reduces the running time.
Compositional Scalable Object SLAM
Authors: Akash Sharma, Wei Dong, Michael Kaess
Date: 2020-11-05 00:00:00
Tasks: Object, Object SLAM, Simultaneous Localization and Mapping

We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by recognizable objects, we show that a compositional scalable object mapping formulation is amenable to a robust SLAM solution for drift-free large scale indoor reconstruction. To achieve this, we propose a novel semantically assisted data association strategy that obtains unambiguous persistent object landmarks, and a 2.5D compositional rendering method that enables reliable frame-to-model RGB-D tracking. Consequently, we deliver an optimized online implementation that can run at near frame rate with a single graphics card, and provide a comprehensive evaluation against state of the art baselines. An open source implementation will be provided at https://placeholder.
Utilizing Every Image Object for Semi-supervised Phrase Grounding
Authors: Haidong Zhu, Arka Sadhu, Zhaoheng Zheng, Ram Nevatia
Date: 2020-11-05 00:00:00
Tasks: Phrase Grounding, Referring Expression

Phrase grounding models localize an object in the image given a referring expression. The annotated language queries available during training are limited, which also limits the variations of language combinations that a model can see during training. In this paper, we study the case applying objects without labeled queries for training the semi-supervised phrase grounding. We propose to use learned location and subject embedding predictors (LSEP) to generate the corresponding language embeddings for objects lacking annotated queries in the training set. With the assistance of the detector, we also apply LSEP to train a grounding model on images without any annotation. We evaluate our method based on MAttNet on three public datasets: RefCOCO, RefCOCO+, and RefCOCOg. We show that our predictors allow the grounding system to learn from the objects without labeled queries and improve accuracy by 34.9\% relatively with the detection results.
Unsupervised Learning for Asynchronous Resource Allocation in Ad-hoc Wireless Networks
Authors: Zhiyang Wang, Mark Eisen, Alejandro Ribeiro
Date: 2020-11-05 00:00:00

We consider optimal resource allocation problems under asynchronous wireless network setting. Without explicit model knowledge, we design an unsupervised learning method based on Aggregation Graph Neural Networks (Agg-GNNs). Depending on the localized aggregated information structure on each network node, the method can be learned globally and asynchronously while implemented locally. We capture the asynchrony by modeling the activation pattern as a characteristic of each node and train a policy-based resource allocation method. We also propose a permutation invariance property which indicates the transferability of the trained Agg-GNN. We finally verify our strategy by numerical simulations compared with baseline methods.
Towards Disentangling Latent Space for Unsupervised Semantic Face Editing
Authors: Kanglin Liu, Gaofeng Cao, Fei Zhou, Bozhi Liu, Jiang Duan, Guoping Qiu
Date: 2020-11-05 00:00:00
Tasks: Attribute, Image Generation

Facial attributes in StyleGAN generated images are entangled in the latent space which makes it very difficult to independently control a specific attribute without affecting the others. Supervised attribute editing requires annotated training data which is difficult to obtain and limits the editable attributes to those with labels. Therefore, unsupervised attribute editing in an disentangled latent space is key to performing neat and versatile semantic face editing. In this paper, we present a new technique termed Structure-Texture Independent Architecture with Weight Decomposition and Orthogonal Regularization (STIA-WO) to disentangle the latent space for unsupervised semantic face editing. By applying STIA-WO to GAN, we have developed a StyleGAN termed STGAN-WO which performs weight decomposition through utilizing the style vector to construct a fully controllable weight matrix to regulate image synthesis, and employs orthogonal regularization to ensure each entry of the style vector only controls one independent feature matrix. To further disentangle the facial attributes, STGAN-WO introduces a structure-texture independent architecture which utilizes two independently and identically distributed (i.i.d.) latent vectors to control the synthesis of the texture and structure components in a disentangled way. Unsupervised semantic editing is achieved by moving the latent code in the coarse layers along its orthogonal directions to change texture related attributes or changing the latent code in the fine layers to manipulate structure related ones. We present experimental results which show that our new STGAN-WO can achieve better attribute editing than state of the art methods.
GPR-based Model Reconstruction System for Underground Utilities Using GPRNet
Authors: Jinglun Feng, Liang Yang, Ejup Hoxha, Diar Sanakov, Stanislav Sotnikov, Jizhong Xiao
Date: 2020-11-05 00:00:00
Tasks: 3D Reconstruction, GPR

Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) instruments to detect and locate underground objects (i.e., rebars, utility pipes). Many previous researches focus on GPR image-based feature detection only, and none can process sparse GPR measurements to successfully reconstruct a very fine and detailed 3D model of underground objects for better visualization. To address this problem, this paper presents a novel robotic system to collect GPR data, localize the underground utilities, and reconstruct the underground objects' dense point cloud model. This system is composed of three modules: 1) visual-inertial-based GPR data collection module, which tags the GPR measurements with positioning information provided by an omnidirectional robot; 2) a deep neural network (DNN) migration module to interpret the raw GPR B-scan image into a cross-section of object model; 3) a DNN-based 3D reconstruction module, i.e., GPRNet, to generate underground utility model with the fine 3D point cloud. In this paper, both the quantitative and qualitative experiment results verify our method that can generate a dense and complete point cloud model of pipe-shaped utilities based on a sparse input, i.e., GPR raw data incompleteness and various noise. The experiment results on synthetic data and field test data further support the effectiveness of our approach.
Lets Play Music: Audio-driven Performance Video Generation
Authors: Hao Zhu, Yi Li, Feixia Zhu, Aihua Zheng, Ran He
Date: 2020-11-05 00:00:00
Tasks: Video Generation

We propose a new task named Audio-driven Per-formance Video Generation (APVG), which aims to synthesizethe video of a person playing a certain instrument guided bya given music audio clip. It is a challenging task to gener-ate the high-dimensional temporal consistent videos from low-dimensional audio modality. In this paper, we propose a multi-staged framework to achieve this new task to generate realisticand synchronized performance video from given music. Firstly,we provide both global appearance and local spatial informationby generating the coarse videos and keypoints of body and handsfrom a given music respectively. Then, we propose to transformthe generated keypoints to heatmap via a differentiable spacetransformer, since the heatmap offers more spatial informationbut is harder to generate directly from audio. Finally, wepropose a Structured Temporal UNet (STU) to extract bothintra-frame structured information and inter-frame temporalconsistency. They are obtained via graph-based structure module,and CNN-GRU based high-level temporal module respectively forfinal video generation. Comprehensive experiments validate theeffectiveness of our proposed framework.
A multi-level approach with visual information for encrypted H.265/HEVC videos
Authors: Wenying Wen, Rongxin Tu, Yushu Zhang, Yuming Fang, Yong Yang
Date: 2020-11-05 00:00:00

High-efficiency video coding (HEVC) encryption has been proposed to encrypt syntax elements for the purpose of video encryption. To achieve high video security, to the best of our knowledge, almost all of the existing HEVC encryption algorithms mainly encrypt the whole video, such that the user without permissions cannot obtain any viewable information. However, these encryption algorithms cannot meet the needs of customers who need part of the information but not the full information in the video. In many cases, such as professional paid videos or video meetings, users would like to observe some visible information in the encrypted video of the original video to satisfy their requirements in daily life. Aiming at this demand, this paper proposes a multi-level encryption scheme that is composed of lightweight encryption, medium encryption and heavyweight encryption, where each encryption level can obtain a different amount of visual information. It is found that both encrypting the luma intraprediction model (IPM) and scrambling the syntax element of the DCT coefficient sign can achieve the performance of a distorted video in which there is still residual visual information, while encrypting both of them can implement the intensity of encryption and one cannot gain any visual information. The experimental results meet our expectations appropriately, indicating that there is a different amount of visual information in each encryption level. Meanwhile, users can flexibly choose the encryption level according to their various requirements.
Harnessing Distribution Ratio Estimators for Learning Agents with Quality and Diversity
Authors: Tanmay Gangwani, Jian Peng, Yuan Zhou
Date: 2020-11-05 00:00:00
Tasks: Diversity, Off-policy evaluation

Quality-Diversity (QD) is a concept from Neuroevolution with some intriguing applications to Reinforcement Learning. It facilitates learning a population of agents where each member is optimized to simultaneously accumulate high task-returns and exhibit behavioral diversity compared to other members. In this paper, we build on a recent kernel-based method for training a QD policy ensemble with Stein variational gradient descent. With kernels based on $f$-divergence between the stationary distributions of policies, we convert the problem to that of efficient estimation of the ratio of these stationary distributions. We then study various distribution ratio estimators used previously for off-policy evaluation and imitation and re-purpose them to compute the gradients for policies in an ensemble such that the resultant population is diverse and of high-quality.
Improving Event Duration Prediction via Time-aware Pre-training
Authors: Zonglin Yang, Xinya Du, Alexander Rush, Claire Cardie
Date: 2020-11-05 00:00:00
Proceeding: Findings of the Association for Computational Linguistics 2020
Tasks: Prediction, World Knowledge

End-to-end models in NLP rarely encode external world knowledge about length of time. We introduce two effective models for duration prediction, which incorporate external knowledge by reading temporal-related news sentences (time-aware pre-training). Specifically, one model predicts the range/unit where the duration value falls in (R-pred); and the other predicts the exact duration value E-pred. Our best model -- E-pred, substantially outperforms previous work, and captures duration information more accurately than R-pred. We also demonstrate our models are capable of duration prediction in the unsupervised setting, outperforming the baselines.
Learning a Decentralized Multi-arm Motion Planner
Authors: Huy Ha, Jingxi Xu, Shuran Song
Date: 2020-11-05 00:00:00
Tasks: Motion Planning, Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whose runtimes often scale exponentially with team size, and thus, fail to handle dynamic environments with open-loop control. In this paper, we tackle this problem with multi-agent reinforcement learning, where a decentralized policy is trained to control one robot arm in the multi-arm system to reach its target end-effector pose given observations of its workspace state and target end-effector pose. The policy is trained using Soft Actor-Critic with expert demonstrations from a sampling-based motion planning algorithm (i.e., BiRRT). By leveraging classical planning algorithms, we can improve the learning efficiency of the reinforcement learning algorithm while retaining the fast inference time of neural networks. The resulting policy scales sub-linearly and can be deployed on multi-arm systems with variable team sizes. Thanks to the closed-loop and decentralized formulation, our approach generalizes to 5-10 multi-arm systems and dynamic moving targets (>90% success rate for a 10-arm system), despite being trained on only 1-4 arm planning tasks with static targets. Code and data links can be found at https://multiarm.cs.columbia.edu.
Transforming Facial Weight of Real Images by Editing Latent Space of StyleGAN
Authors: V N S Rama Krishna Pinnimty, Matt Zhao, Palakorn Achananuparp, Ee-Peng Lim
Date: 2020-11-05 00:00:00
Tasks: Attribute

We present an invert-and-edit framework to automatically transform facial weight of an input face image to look thinner or heavier by leveraging semantic facial attributes encoded in the latent space of Generative Adversarial Networks (GANs). Using a pre-trained StyleGAN as the underlying generator, we first employ an optimization-based embedding method to invert the input image into the StyleGAN latent space. Then, we identify the facial-weight attribute direction in the latent space via supervised learning and edit the inverted latent code by moving it positively or negatively along the extracted feature axis. Our framework is empirically shown to produce high-quality and realistic facial-weight transformations without requiring training GANs with a large amount of labeled face images from scratch. Ultimately, our framework can be utilized as part of an intervention to motivate individuals to make healthier food choices by visualizing the future impacts of their behavior on appearance.
Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding
Authors: Ethan K. Gordon, Sumegh Roychowdhury, Tapomayukh Bhattacharjee, Kevin Jamieson, Siddhartha S. Srinivasa
Date: 2020-11-05 00:00:00

Autonomous robot-assisted feeding requires the ability to acquire a wide variety of food items. However, it is impossible for such a system to be trained on all types of food in existence. Therefore, a key challenge is choosing a manipulation strategy for a previously unseen food item. Previous work showed that the problem can be represented as a linear bandit with visual context. However, food has a wide variety of multi-modal properties relevant to manipulation that can be hard to distinguish visually. Our key insight is that we can leverage the haptic context we collect during and after manipulation (i.e., "post hoc") to learn some of these properties and more quickly adapt our visual model to previously unseen food. In general, we propose a modified linear contextual bandit framework augmented with post hoc context observed after action selection to empirically increase learning speed and reduce cumulative regret. Experiments on synthetic data demonstrate that this effect is more pronounced when the dimensionality of the context is large relative to the post hoc context or when the post hoc context model is particularly easy to learn. Finally, we apply this framework to the bite acquisition problem and demonstrate the acquisition of 8 previously unseen types of food with 21% fewer failures across 64 attempts.