pwc-archive/papers-with-abstracts huggingface dataset:
Transferable and Adaptable Driving Behavior Prediction
Authors: Letian Wang, Yeping Hu, Liting Sun, Wei Zhan, Masayoshi Tomizuka, Changliu Liu
Date: 2022-02-10 00:00:00
Tasks: Autonomous Vehicles, Prediction, Trajectory Prediction

While autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient, transferable, and adaptable driving capability. By mimicking humans' cognition model and semantic understanding during driving, we propose HATN, a hierarchical framework to generate high-quality, transferable, and adaptable predictions for driving behaviors in multi-agent dense-traffic environments. Our hierarchical method consists of a high-level intention identification policy and a low-level trajectory generation policy. We introduce a novel semantic sub-task definition and generic state representation for each sub-task. With these techniques, the hierarchical framework is transferable across different driving scenarios. Besides, our model is able to capture variations of driving behaviors among individuals and scenarios by an online adaptation module. We demonstrate our algorithms in the task of trajectory prediction for real traffic data at intersections and roundabouts from the INTERACTION dataset. Through extensive numerical studies, it is evident that our method significantly outperformed other methods in terms of prediction accuracy, transferability, and adaptability. Pushing the state-of-the-art performance by a considerable margin, we also provide a cognitive view of understanding the driving behavior behind such improvement. We highlight that in the future, more research attention and effort are deserved for transferability and adaptability. It is not only due to the promising performance elevation of prediction and planning algorithms, but more fundamentally, they are crucial for the scalable and general deployment of autonomous vehicles.
Help Me Explore: Minimal Social Interventions for Graph-Based Autotelic Agents
Authors: Ahmed Akakzia, Olivier Serris, Olivier Sigaud, Cédric Colas
Date: 2022-02-10 00:00:00

In the quest for autonomous agents learning open-ended repertoires of skills, most works take a Piagetian perspective: learning trajectories are the results of interactions between developmental agents and their physical environment. The Vygotskian perspective, on the other hand, emphasizes the centrality of the socio-cultural environment: higher cognitive functions emerge from transmissions of socio-cultural processes internalized by the agent. This paper argues that both perspectives could be coupled within the learning of autotelic agents to foster their skill acquisition. To this end, we make two contributions: 1) a novel social interaction protocol called Help Me Explore (HME), where autotelic agents can benefit from both individual and socially guided exploration. In social episodes, a social partner suggests goals at the frontier of the learning agent knowledge. In autotelic episodes, agents can either learn to master their own discovered goals or autonomously rehearse failed social goals; 2) GANGSTR, a graph-based autotelic agent for manipulation domains capable of decomposing goals into sequences of intermediate sub-goals. We show that when learning within HME, GANGSTR overcomes its individual learning limits by mastering the most complex configurations (e.g. stacks of 5 blocks) with only few social interventions.
Unaligned but Safe -- Formally Compensating Performance Limitations for Imprecise 2D Object Detection
Authors: Tobias Schuster, Emmanouil Seferis, Simon Burton, Chih-Hong Cheng
Date: 2022-02-10 00:00:00
Tasks: 2D Object Detection, object-detection, Object Detection

In this paper, we consider the imperfection within machine learning-based 2D object detection and its impact on safety. We address a special sub-type of performance limitations: the prediction bounding box cannot be perfectly aligned with the ground truth, but the computed Intersection-over-Union metric is always larger than a given threshold. Under such type of performance limitation, we formally prove the minimum required bounding box enlargement factor to cover the ground truth. We then demonstrate that the factor can be mathematically adjusted to a smaller value, provided that the motion planner takes a fixed-length buffer in making its decisions. Finally, observing the difference between an empirically measured enlargement factor and our formally derived worst-case enlargement factor offers an interesting connection between the quantitative evidence (demonstrated by statistics) and the qualitative evidence (demonstrated by worst-case analysis).
Two-Stage Deep Anomaly Detection with Heterogeneous Time Series Data
Authors: Kyeong-Joong Jeong, Jin-Duk Park, Kyusoon Hwang, Seong-Lyun Kim, Won-Yong Shin
Date: 2022-02-10 00:00:00
Tasks: Anomaly Detection, Time Series, Time Series Analysis, Vocal Bursts Valence Prediction

We introduce a data-driven anomaly detection framework using a manufacturing dataset collected from a factory assembly line. Given heterogeneous time series data consisting of operation cycle signals and sensor signals, we aim at discovering abnormal events. Motivated by our empirical findings that conventional single-stage benchmark approaches may not exhibit satisfactory performance under our challenging circumstances, we propose a two-stage deep anomaly detection (TDAD) framework in which two different unsupervised learning models are adopted depending on types of signals. In Stage I, we select anomaly candidates by using a model trained by operation cycle signals; in Stage II, we finally detect abnormal events out of the candidates by using another model, which is suitable for taking advantage of temporal continuity, trained by sensor signals. A distinguishable feature of our framework is that operation cycle signals are exploited first to find likely anomalous points, whereas sensor signals are leveraged to filter out unlikely anomalous points afterward. Our experiments comprehensively demonstrate the superiority over single-stage benchmark approaches, the model-agnostic property, and the robustness to difficult situations.
Complexity of Arithmetic in Warded Datalog+-
Authors: Lucas Berent, Markus Nissl, Emanuel Sallinger
Date: 2022-02-10 00:00:00
Tasks: Descriptive, Knowledge Graphs, Open-Ended Question Answering

Warded Datalog+- extends the logic-based language Datalog with existential quantifiers in rule heads. Existential rules are needed for advanced reasoning tasks, e.g., ontological reasoning. The theoretical efficiency guarantees of Warded Datalog+- do not cover extensions crucial for data analytics, such as arithmetic. Moreover, despite the significance of arithmetic for common data analytic scenarios, no decidable fragment of any Datalog+- language extended with arithmetic has been identified. We close this gap by defining a new language that extends Warded Datalog+- with arithmetic and prove its P-completeness. Furthermore, we present an efficient reasoning algorithm for our newly defined language and prove descriptive complexity results for a recently introduced Datalog fragment with integer arithmetic, thereby closing an open question. We lay the theoretical foundation for highly expressive Datalog+- languages that combine the power of advanced recursive rules and arithmetic while guaranteeing efficient reasoning algorithms for applications in modern AI systems, such as Knowledge Graphs.
AA-TransUNet: Attention Augmented TransUNet For Nowcasting Tasks
Authors: Yimin Yang, Siamak Mehrkanoon
Date: 2022-02-10 00:00:00

Data driven modeling based approaches have recently gained a lot of attention in many challenging meteorological applications including weather element forecasting. This paper introduces a novel data-driven predictive model based on TransUNet for precipitation nowcasting task. The TransUNet model which combines the Transformer and U-Net models has been previously successfully applied in medical segmentation tasks. Here, TransUNet is used as a core model and is further equipped with Convolutional Block Attention Modules (CBAM) and Depthwise-separable Convolution (DSC). The proposed Attention Augmented TransUNet (AA-TransUNet) model is evaluated on two distinct datasets: the Dutch precipitation map dataset and the French cloud cover dataset. The obtained results show that the proposed model outperforms other examined models on both tested datasets. Furthermore, the uncertainty analysis of the proposed AA-TransUNet is provided to give additional insights on its predictions.
Needs-aware Artificial Intelligence: AI that 'serves [human] needs'
Authors: Ryan Watkins, Soheil Human
Date: 2022-02-10 00:00:00

By defining the current limits (and thereby the frontiers), many boundaries are shaping, and will continue to shape, the future of Artificial Intelligence (AI). We push on these boundaries in order to make further progress into what were yesterday's frontiers. They are both pliable and resilient - always creating new boundaries of what AI can (or should) achieve. Among these are technical boundaries (such as processing capacity), psychological boundaries (such as human trust in AI systems), ethical boundaries (such as with AI weapons), and conceptual boundaries (such as the AI people can imagine). It is within this final category while it can play a fundamental role in all other boundaries} that we find the construct of needs and the limitations that our current concept of need places on the future AI.
D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints
Authors: Moshe Shienman, Vadim Indelman
Date: 2022-02-10 00:00:00

Unresolved data association in ambiguous and perceptually aliased environments leads to multi-modal hypotheses on both the robot's and the environment state. To avoid catastrophic results, when operating in such ambiguous environments, it is crucial to reason about data association within Belief Space Planning (BSP). However, explicitly considering all possible data associations, the number of hypotheses grows exponentially with the planning horizon and determining the optimal action sequence quickly becomes intractable. Moreover, with hard budget constraints where some non-negligible hypotheses must be pruned, achieving performance guarantees is crucial. In this work we present a computationally efficient novel approach that utilizes only a distilled subset of hypotheses to solve BSP problems while reasoning about data association. Furthermore, to provide performance guarantees, we derive error bounds with respect to the optimal solution. We then demonstrate our approach in an extremely aliased environment, where we manage to significantly reduce computation time without compromising on the quality of the solution.
Interpretable pipelines with evolutionarily optimized modules for RL tasks with visual inputs
Authors: Leonardo Lucio Custode, Giovanni Iacca
Date: 2022-02-10 00:00:00
Tasks: Decision Making, Evolutionary Algorithms, Explainable Artificial Intelligence (XAI), reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

The importance of explainability in AI has become a pressing concern, for which several explainable AI (XAI) approaches have been recently proposed. However, most of the available XAI techniques are post-hoc methods, which however may be only partially reliable, as they do not reflect exactly the state of the original models. Thus, a more direct way for achieving XAI is through interpretable (also called glass-box) models. These models have been shown to obtain comparable (and, in some cases, better) performance with respect to black-boxes models in various tasks such as classification and reinforcement learning. However, they struggle when working with raw data, especially when the input dimensionality increases and the raw inputs alone do not give valuable insights on the decision-making process. Here, we propose to use end-to-end pipelines composed of multiple interpretable models co-optimized by means of evolutionary algorithms, that allows us to decompose the decision-making process into two parts: computing high-level features from raw data, and reasoning on the extracted high-level features. We test our approach in reinforcement learning environments from the Atari benchmark, where we obtain comparable results (with respect to black-box approaches) in settings without stochastic frame-skipping, while performance degrades in frame-skipping settings.
Collaborative Filtering with Attribution Alignment for Review-based Non-overlapped Cross Domain Recommendation
Authors: Weiming Liu, Xiaolin Zheng, Mengling Hu, Chaochao Chen
Date: 2022-02-10 00:00:00
Tasks: Collaborative Filtering, Recommendation Systems

Cross-Domain Recommendation (CDR) has been popularly studied to utilize different domain knowledge to solve the data sparsity and cold-start problem in recommender systems. In this paper, we focus on the Review-based Non-overlapped Recommendation (RNCDR) problem. The problem is commonly-existed and challenging due to two main aspects, i.e, there are only positive user-item ratings on the target domain and there is no overlapped user across different domains. Most previous CDR approaches cannot solve the RNCDR problem well, since (1) they cannot effectively combine review with other information (e.g., ID or ratings) to obtain expressive user or item embedding, (2) they cannot reduce the domain discrepancy on users and items. To fill this gap, we propose Collaborative Filtering with Attribution Alignment model (CFAA), a cross-domain recommendation framework for the RNCDR problem. CFAA includes two main modules, i.e., rating prediction module and embedding attribution alignment module. The former aims to jointly mine review, one-hot ID, and multi-hot historical ratings to generate expressive user and item embeddings. The later includes vertical attribution alignment and horizontal attribution alignment, tending to reduce the discrepancy based on multiple perspectives. Our empirical study on Douban and Amazon datasets demonstrates that CFAA significantly outperforms the state-of-the-art models under the RNCDR setting.
Investigating Explainability of Generative AI for Code through Scenario-based Design
Authors: Jiao Sun, Q. Vera Liao, Michael Muller, Mayank Agarwal, Stephanie Houde, Kartik Talamadupula, Justin D. Weisz
Date: 2022-02-10 00:00:00
Tasks: Code Translation, Explainable Artificial Intelligence (XAI)

What does it mean for a generative AI model to be explainable? The emergent discipline of explainable AI (XAI) has made great strides in helping people understand discriminative models. Less attention has been paid to generative models that produce artifacts, rather than decisions, as output. Meanwhile, generative AI (GenAI) technologies are maturing and being applied to application domains such as software engineering. Using scenario-based design and question-driven XAI design approaches, we explore users' explainability needs for GenAI in three software engineering use cases: natural language to code, code translation, and code auto-completion. We conducted 9 workshops with 43 software engineers in which real examples from state-of-the-art generative AI models were used to elicit users' explainability needs. Drawing from prior work, we also propose 4 types of XAI features for GenAI for code and gathered additional design ideas from participants. Our work explores explainability needs for GenAI for code and demonstrates how human-centered approaches can drive the technical development of XAI in novel domains.
Case-based reasoning for rare events prediction on strategic sites
Authors: Vincent Vidal, Marie-Caroline Corbineau, Tugdual Ceillier
Date: 2022-02-10 00:00:00
Tasks: Irregular Time Series, Prediction, Time Series, Time Series Analysis

Satellite imagery is now widely used in the defense sector for monitoring locations of interest. Although the increasing amount of data enables pattern identification and therefore prediction, carrying this task manually is hardly feasible. We hereby propose a cased-based reasoning approach for automatic prediction of rare events on strategic sites. This method allows direct incorporation of expert knowledge, and is adapted to irregular time series and small-size datasets. Experiments are carried out on two use-cases using real satellite images: the prediction of submarines arrivals and departures from a naval base, and the forecasting of imminent rocket launches on two space bases. The proposed method significantly outperforms a random selection of reference cases on these challenging applications, showing its strong potential.
Improving performance of aircraft detection in satellite imagery while limiting the labelling effort: Hybrid active learning
Authors: Julie Imbert, Gohar Dashyan, Alex Goupilleau, Tugdual Ceillier, Marie-Caroline Corbineau
Date: 2022-02-10 00:00:00
Tasks: Active Learning, Diversity, Earth Observation

The earth observation industry provides satellite imagery with high spatial resolution and short revisit time. To allow efficient operational employment of these images, automating certain tasks has become necessary. In the defense domain, aircraft detection on satellite imagery is a valuable tool for analysts. Obtaining high performance detectors on such a task can only be achieved by leveraging deep learning and thus us-ing a large amount of labeled data. To obtain labels of a high enough quality, the knowledge of military experts is needed.We propose a hybrid clustering active learning method to select the most relevant data to label, thus limiting the amount of data required and further improving the performances. It combines diversity- and uncertainty-based active learning selection methods. For aircraft detection by segmentation, we show that this method can provide better or competitive results compared to other active learning methods.
TaxoEnrich: Self-Supervised Taxonomy Completion via Structure-Semantic Representations
Authors: Minhao Jiang, Xiangchen Song, Jieyu Zhang, Jiawei Han
Date: 2022-02-10 00:00:00
Tasks: Position

Taxonomies are fundamental to many real-world applications in various domains, serving as structural representations of knowledge. To deal with the increasing volume of new concepts needed to be organized as taxonomies, researchers turn to automatically completion of an existing taxonomy with new concepts. In this paper, we propose TaxoEnrich, a new taxonomy completion framework, which effectively leverages both semantic features and structural information in the existing taxonomy and offers a better representation of candidate position to boost the performance of taxonomy completion. Specifically, TaxoEnrich consists of four components: (1) taxonomy-contextualized embedding which incorporates both semantic meanings of concept and taxonomic relations based on powerful pretrained language models; (2) a taxonomy-aware sequential encoder which learns candidate position representations by encoding the structural information of taxonomy; (3) a query-aware sibling encoder which adaptively aggregates candidate siblings to augment candidate position representations based on their importance to the query-position matching; (4) a query-position matching model which extends existing work with our new candidate position representations. Extensive experiments on four large real-world datasets from different domains show that \TaxoEnrich achieves the best performance among all evaluation metrics and outperforms previous state-of-the-art methods by a large margin.
Memory-based gaze prediction in deep imitation learning for robot manipulation
Authors: Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi
Date: 2022-02-10 00:00:00
Tasks: Gaze Estimation, Gaze Prediction, Imitation Learning, Robot Manipulation

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control based on the states at the current time step. However, future robots will also be required to solve tasks utilizing their memory obtained by experience in complicated environments (e.g., when the robot is asked to find a previously used object on a shelf). In such a situation, simple deep imitation learning may fail because of distractions caused by complicated environments. We propose that gaze prediction from sequential visual input enables the robot to perform a manipulation task that requires memory. The proposed algorithm uses a Transformer-based self-attention architecture for the gaze estimation based on sequential data to implement memory. The proposed method was evaluated with a real robot multi-object manipulation task that requires memory of the previous states.
Distilling Hypernymy Relations from Language Models: On the Effectiveness of Zero-Shot Taxonomy Induction
Authors: Devansh Jain, Luis Espinosa Anke
Date: 2022-02-10 00:00:00
Proceeding: *SEM (NAACL) 2022 7
Tasks: Sentence

In this paper, we analyze zero-shot taxonomy learning methods which are based on distilling knowledge from language models via prompting and sentence scoring. We show that, despite their simplicity, these methods outperform some supervised strategies and are competitive with the current state-of-the-art under adequate conditions. We also show that statistical and linguistic properties of prompts dictate downstream performance.
Understanding Value Decomposition Algorithms in Deep Cooperative Multi-Agent Reinforcement Learning
Authors: Zehao Dou, Jakub Grudzien Kuba, Yaodong Yang
Date: 2022-02-10 00:00:00
Tasks: Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning (RL)

Value function decomposition is becoming a popular rule of thumb for scaling up multi-agent reinforcement learning (MARL) in cooperative games. For such a decomposition rule to hold, the assumption of the individual-global max (IGM) principle must be made; that is, the local maxima on the decomposed value function per every agent must amount to the global maximum on the joint value function. This principle, however, does not have to hold in general. As a result, the applicability of value decomposition algorithms is concealed and their corresponding convergence properties remain unknown. In this paper, we make the first effort to answer these questions. Specifically, we introduce the set of cooperative games in which the value decomposition methods find their validity, which is referred as decomposable games. In decomposable games, we theoretically prove that applying the multi-agent fitted Q-Iteration algorithm (MA-FQI) will lead to an optimal Q-function. In non-decomposable games, the estimated Q-function by MA-FQI can still converge to the optimum under the circumstance that the Q-function needs projecting into the decomposable function space at each iteration. In both settings, we consider value function representations by practical deep neural networks and derive their corresponding convergence rates. To summarize, our results, for the first time, offer theoretical insights for MARL practitioners in terms of when value decomposition algorithms converge and why they perform well.