pwc-archive/papers-with-abstracts huggingface dataset:
Last-Mile Embodied Visual Navigation
Authors: Justin Wasserman, Karmesh Yadav, Girish Chowdhary, Abhinav Gupta, Unnat Jain
Date: 2022-11-21 00:00:00
Tasks: Visual Navigation

Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover the goal, i.e., search efficiently using learned priors. Once the goal is discovered, the agent must accurately calibrate the last-mile of navigation to the goal. As with any robust system, switches between exploratory goal discovery and exploitative last-mile navigation enable better recovery from errors. Following these intuitive guide rails, we propose SLING to improve the performance of existing image-goal navigation systems. Entirely complementing prior methods, we focus on last-mile navigation and leverage the underlying geometric structure of the problem with neural descriptors. With simple but effective switches, we can easily connect SLING with heuristic, reinforcement learning, and neural modular policies. On a standardized image-goal navigation benchmark (Hahn et al. 2021), we improve performance across policies, scenes, and episode complexity, raising the state-of-the-art from 45% to 55% success rate. Beyond photorealistic simulation, we conduct real-robot experiments in three physical scenes and find these improvements to transfer well to real environments.
Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes
Authors: Tao Chen, Megha Tippur, Siyang Wu, Vikash Kumar, Edward Adelson, Pulkit Agrawal
Date: 2022-11-21 00:00:00
Tasks: Object

In-hand object reorientation is necessary for performing many dexterous manipulation tasks, such as tool use in less structured environments that remain beyond the reach of current robots. Prior works built reorientation systems assuming one or many of the following: reorienting only specific objects with simple shapes, limited range of reorientation, slow or quasistatic manipulation, simulation-only results, the need for specialized and costly sensor suites, and other constraints which make the system infeasible for real-world deployment. We present a general object reorientation controller that does not make these assumptions. It uses readings from a single commodity depth camera to dynamically reorient complex and new object shapes by any rotation in real-time, with the median reorientation time being close to seven seconds. The controller is trained using reinforcement learning in simulation and evaluated in the real world on new object shapes not used for training, including the most challenging scenario of reorienting objects held in the air by a downward-facing hand that must counteract gravity during reorientation. Our hardware platform only uses open-source components that cost less than five thousand dollars. Although we demonstrate the ability to overcome assumptions in prior work, there is ample scope for improving absolute performance. For instance, the challenging duck-shaped object not used for training was dropped in 56 percent of the trials. When it was not dropped, our controller reoriented the object within 0.4 radians (23 degrees) 75 percent of the time. Videos are available at: https://taochenshh.github.io/projects/visual-dexterity.
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models
Authors: Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson
Date: 2022-11-21 00:00:00
Tasks: Imitation Learning

In recent years, much progress has been made in learning robotic manipulation policies that follow natural language instructions. Such methods typically learn from corpora of robot-language data that was either collected with specific tasks in mind or expensively re-labelled by humans with rich language descriptions in hindsight. Recently, large-scale pretrained vision-language models (VLMs) like CLIP or ViLD have been applied to robotics for learning representations and scene descriptors. Can these pretrained models serve as automatic labelers for robot data, effectively importing Internet-scale knowledge into existing datasets to make them useful even for tasks that are not reflected in their ground truth annotations? To accomplish this, we introduce Data-driven Instruction Augmentation for Language-conditioned control (DIAL): we utilize semi-supervised language labels leveraging the semantic understanding of CLIP to propagate knowledge onto large datasets of unlabelled demonstration data and then train language-conditioned policies on the augmented datasets. This method enables cheaper acquisition of useful language descriptions compared to expensive human labels, allowing for more efficient label coverage of large-scale datasets. We apply DIAL to a challenging real-world robotic manipulation domain where 96.5% of the 80,000 demonstrations do not contain crowd-sourced language annotations. DIAL enables imitation learning policies to acquire new capabilities and generalize to 60 novel instructions unseen in the original dataset.
Perceiver-VL: Efficient Vision-and-Language Modeling with Iterative Latent Attention
Authors: Zineng Tang, Jaemin Cho, Jie Lei, Mohit Bansal
Date: 2022-11-21 00:00:00
Tasks: Cross-Modal Retrieval, Language Modeling, Language Modelling, Retrieval

We present Perceiver-VL, a vision-and-language framework that efficiently handles high-dimensional multimodal inputs such as long videos and text. Powered by the iterative latent cross-attention of Perceiver, our framework scales with linear complexity, in contrast to the quadratic complexity of self-attention used in many state-of-the-art transformer-based models. To further improve the efficiency of our framework, we also study applying LayerDrop on cross-attention layers and introduce a mixed-stream architecture for cross-modal retrieval. We evaluate Perceiver-VL on diverse video-text and image-text benchmarks, where Perceiver-VL achieves the lowest GFLOPs and latency while maintaining competitive performance. In addition, we also provide comprehensive analyses of various aspects of our framework, including pretraining data, scalability of latent size and input size, dropping cross-attention layers at inference to reduce latency, modality aggregation strategy, positional encoding, and weight initialization strategy. Our code and checkpoints are available at: https://github.com/zinengtang/Perceiver_VL
Explaining Random Forests using Bipolar Argumentation and Markov Networks (Technical Report)
Authors: Nico Potyka, Xiang Yin, Francesca Toni
Date: 2022-11-21 00:00:00
Tasks: Decision Making

Random forests are decision tree ensembles that can be used to solve a variety of machine learning problems. However, as the number of trees and their individual size can be large, their decision making process is often incomprehensible. In order to reason about the decision process, we propose representing it as an argumentation problem. We generalize sufficient and necessary argumentative explanations using a Markov network encoding, discuss the relevance of these explanations and establish relationships to families of abductive explanations from the literature. As the complexity of the explanation problems is high, we discuss a probabilistic approximation algorithm and present first experimental results.
Disentangled Representation Learning
Authors: Xin Wang, Hong Chen, Si'ao Tang, Zihao Wu, Wenwu Zhu
Date: 2022-11-21 00:00:00
Tasks: Representation Learning

Disentangled Representation Learning (DRL) aims to learn a model capable of identifying and disentangling the underlying factors hidden in the observable data in representation form. The process of separating underlying factors of variation into variables with semantic meaning benefits in learning explainable representations of data, which imitates the meaningful understanding process of humans when observing an object or relation. As a general learning strategy, DRL has demonstrated its power in improving the model explainability, controlability, robustness, as well as generalization capacity in a wide range of scenarios such as computer vision, natural language processing, and data mining. In this article, we comprehensively investigate DRL from various aspects including motivations, definitions, methodologies, evaluations, applications, and model designs. We first present two well-recognized definitions, i.e., Intuitive Definition and Group Theory Definition for disentangled representation learning. We further categorize the methodologies for DRL into four groups from the following perspectives, the model type, representation structure, supervision signal, and independence assumption. We also analyze principles to design different DRL models that may benefit different tasks in practical applications. Finally, we point out challenges in DRL as well as potential research directions deserving future investigations. We believe this work may provide insights for promoting the DRL research in the community.
Mean Shift Mask Transformer for Unseen Object Instance Segmentation
Authors: Yangxiao Lu, Yuqiao Chen, Nicholas Ruozzi, Yu Xiang
Date: 2022-11-21 00:00:00
Tasks: Clustering, Image Segmentation, Instance Segmentation, Object, Robot Manipulation, Segmentation, Semantic Segmentation, Unseen Object Instance Segmentation

Segmenting unseen objects from images is a critical perception skill that a robot needs to acquire. In robot manipulation, it can facilitate a robot to grasp and manipulate unseen objects. Mean shift clustering is a widely used method for image segmentation tasks. However, the traditional mean shift clustering algorithm is not differentiable, making it difficult to integrate it into an end-to-end neural network training framework. In this work, we propose the Mean Shift Mask Transformer (MSMFormer), a new transformer architecture that simulates the von Mises-Fisher (vMF) mean shift clustering algorithm, allowing for the joint training and inference of both the feature extractor and the clustering. Its central component is a hypersphere attention mechanism, which updates object queries on a hypersphere. To illustrate the effectiveness of our method, we apply MSMFormer to unseen object instance segmentation. Our experiments show that MSMFormer achieves competitive performance compared to state-of-the-art methods for unseen object instance segmentation. The project page, appendix, video, and code are available at https://irvlutd.github.io/MSMFormer
Shape, Pose, and Appearance from a Single Image via Bootstrapped Radiance Field Inversion
Authors: Dario Pavllo, David Joseph Tan, Marie-Julie Rakotosaona, Federico Tombari
Date: 2022-11-21 00:00:00
Proceeding: CVPR 2023 1
Tasks: 3D Reconstruction, NeRF, Pose Estimation

Neural Radiance Fields (NeRF) coupled with GANs represent a promising direction in the area of 3D reconstruction from a single view, owing to their ability to efficiently model arbitrary topologies. Recent work in this area, however, has mostly focused on synthetic datasets where exact ground-truth poses are known, and has overlooked pose estimation, which is important for certain downstream applications such as augmented reality (AR) and robotics. We introduce a principled end-to-end reconstruction framework for natural images, where accurate ground-truth poses are not available. Our approach recovers an SDF-parameterized 3D shape, pose, and appearance from a single image of an object, without exploiting multiple views during training. More specifically, we leverage an unconditional 3D-aware generator, to which we apply a hybrid inversion scheme where a model produces a first guess of the solution which is then refined via optimization. Our framework can de-render an image in as few as 10 steps, enabling its use in practical scenarios. We demonstrate state-of-the-art results on a variety of real and synthetic benchmarks.
Neural Meta-Symbolic Reasoning and Learning
Authors: Zihan Ye, Hikaru Shindo, Devendra Singh Dhami, Kristian Kersting
Date: 2022-11-21 00:00:00

Deep neural learning uses an increasing amount of computation and data to solve very specific problems. By stark contrast, human minds solve a wide range of problems using a fixed amount of computation and limited experience. One ability that seems crucial to this kind of general intelligence is meta-reasoning, i.e., our ability to reason about reasoning. To make deep learning do more from less, we propose the first neural meta-symbolic system (NEMESYS) for reasoning and learning: meta programming using differentiable forward-chaining reasoning in first-order logic. Differentiable meta programming naturally allows NEMESYS to reason and learn several tasks efficiently. This is different from performing object-level deep reasoning and learning, which refers in some way to entities external to the system. In contrast, NEMESYS enables self-introspection, lifting from object- to meta-level reasoning and vice versa. In our extensive experiments, we demonstrate that NEMESYS can solve different kinds of tasks by adapting the meta-level programs without modifying the internal reasoning system. Moreover, we show that NEMESYS can learn meta-level programs given examples. This is difficult, if not impossible, for standard differentiable logic programming
Implicit Training of Energy Model for Structure Prediction
Authors: Shiv Shankar, Vihari Piratla
Date: 2022-11-21 00:00:00
Tasks: Prediction

Most deep learning research has focused on developing new model and training procedures. On the other hand the training objective has usually been restricted to combinations of standard losses. When the objective aligns well with the evaluation metric, this is not a major issue. However when dealing with complex structured outputs, the ideal objective can be hard to optimize and the efficacy of usual objectives as a proxy for the true objective can be questionable. In this work, we argue that the existing inference network based structure prediction methods ( Tu and Gimpel 2018; Tu, Pang, and Gimpel 2020) are indirectly learning to optimize a dynamic loss objective parameterized by the energy model. We then explore using implicit-gradient based technique to learn the corresponding dynamic objectives. Our experiments show that implicitly learning a dynamic loss landscape is an effective method for improving model performance in structure prediction.
Guided Depth Super-Resolution by Deep Anisotropic Diffusion
Authors: Nando Metzger, Rodrigo Caye Daudt, Konrad Schindler
Date: 2022-11-21 00:00:00
Proceeding: CVPR 2023 1
Tasks: Super-Resolution

Performing super-resolution of a depth image using the guidance from an RGB image is a problem that concerns several fields, such as robotics, medical imaging, and remote sensing. While deep learning methods have achieved good results in this problem, recent work highlighted the value of combining modern methods with more formal frameworks. In this work, we propose a novel approach which combines guided anisotropic diffusion with a deep convolutional network and advances the state of the art for guided depth super-resolution. The edge transferring/enhancing properties of the diffusion are boosted by the contextual reasoning capabilities of modern networks, and a strict adjustment step guarantees perfect adherence to the source image. We achieve unprecedented results in three commonly used benchmarks for guided depth super-resolution. The performance gain compared to other methods is the largest at larger scales, such as x32 scaling. Code (https://github.com/prs-eth/Diffusion-Super-Resolution) for the proposed method is available to promote reproducibility of our results.
Bursting the Burden Bubble? An Assessment of Sharma et al.'s Counterfactual-based Fairness Metric
Authors: Yochem van Rosmalen, Florian van der Steen, Sebastiaan Jans, Daan van der Weijden
Date: 2022-11-21 00:00:00
Tasks: Attribute, counterfactual, Fairness

Machine learning has seen an increase in negative publicity in recent years, due to biased, unfair, and uninterpretable models. There is a rising interest in making machine learning models more fair for unprivileged communities, such as women or people of color. Metrics are needed to evaluate the fairness of a model. A novel metric for evaluating fairness between groups is Burden, which uses counterfactuals to approximate the average distance of negatively classified individuals in a group to the decision boundary of the model. The goal of this study is to compare Burden to statistical parity, a well-known fairness metric, and discover Burden's advantages and disadvantages. We do this by calculating the Burden and statistical parity of a sensitive attribute in three datasets: two synthetic datasets are created to display differences between the two metrics, and one real-world dataset is used. We show that Burden can show unfairness where statistical parity can not, and that the two metrics can even disagree on which group is treated unfairly. We conclude that Burden is a valuable metric, but does not replace statistical parity: it rather is valuable to use both.
Deanthropomorphising NLP: Can a Language Model Be Conscious?
Authors: Matthew Shardlow, Piotr Przybyła
Date: 2022-11-21 00:00:00
Tasks: Language Modeling, Language Modelling, Large Language Model, model

This work is intended as a voice in the discussion over previous claims that a pretrained large language model (LLM) based on the Transformer model architecture can be sentient. Such claims have been made concerning the LaMDA model and also concerning the current wave of LLM-powered chatbots, such as ChatGPT. This claim, if confirmed, would have serious ramifications in the Natural Language Processing (NLP) community due to wide-spread use of similar models. However, here we take the position that such a large language model cannot be sentient, or conscious, and that LaMDA in particular exhibits no advances over other similar models that would qualify it. We justify this by analysing the Transformer architecture through Integrated Information Theory of consciousness. We see the claims of sentience as part of a wider tendency to use anthropomorphic language in NLP reporting. Regardless of the veracity of the claims, we consider this an opportune moment to take stock of progress in language modelling and consider the ethical implications of the task. In order to make this work helpful for readers outside the NLP community, we also present the necessary background in language modelling.
Applications of statistical causal inference in software engineering
Authors: Julien Siebert
Date: 2022-11-21 00:00:00
Tasks: Causal Inference

This paper reviews existing work in software engineering that applies statistical causal inference methods. These methods aim at estimating causal effects from observational data. The review covers 32 papers published between 2010 and 2022. Our results show that the application of statistical causal inference methods is relatively recent and that the corresponding research community remains relatively fragmented.
Background-Mixed Augmentation for Weakly Supervised Change Detection
Authors: Rui Huang, Ruofei Wang, Qing Guo, Jieda Wei, Yuxiang Zhang, Wei Fan, Yang Liu
Date: 2022-11-21 00:00:00
Tasks: Change Detection, Data Augmentation, Management

Change detection (CD) is to decouple object changes (i.e., object missing or appearing) from background changes (i.e., environment variations) like light and season variations in two images captured in the same scene over a long time span, presenting critical applications in disaster management, urban development, etc. In particular, the endless patterns of background changes require detectors to have a high generalization against unseen environment variations, making this task significantly challenging. Recent deep learning-based methods develop novel network architectures or optimization strategies with paired-training examples, which do not handle the generalization issue explicitly and require huge manual pixel-level annotation efforts. In this work, for the first attempt in the CD community, we study the generalization issue of CD from the perspective of data augmentation and develop a novel weakly supervised training algorithm that only needs image-level labels. Different from general augmentation techniques for classification, we propose the background-mixed augmentation that is specifically designed for change detection by augmenting examples under the guidance of a set of background-changing images and letting deep CD models see diverse environment variations. Moreover, we propose the augmented & real data consistency loss that encourages the generalization increase significantly. Our method as a general framework can enhance a wide range of existing deep learning-based detectors. We conduct extensive experiments in two public datasets and enhance four state-of-the-art methods, demonstrating the advantages of our method. We release the code at https://github.com/tsingqguo/bgmix.
Motor Imagery Decoding Using Ensemble Curriculum Learning and Collaborative Training
Authors: Georgios Zoumpourlis, Ioannis Patras
Date: 2022-11-21 00:00:00
Tasks: Anatomy, Domain Generalization, EEG, Electroencephalogram (EEG), Motor Imagery, Motor Imagery Decoding (left-hand vs right-hand)

In this work, we study the problem of cross-subject motor imagery (MI) decoding from electroencephalography (EEG) data. Multi-subject EEG datasets present several kinds of domain shifts due to various inter-individual differences (e.g. brain anatomy, personality and cognitive profile). These domain shifts render multi-subject training a challenging task and also impede robust cross-subject generalization. Inspired by the importance of domain generalization techniques for tackling such issues, we propose a two-stage model ensemble architecture built with multiple feature extractors (first stage) and a shared classifier (second stage), which we train end-to-end with two novel loss terms. The first loss applies curriculum learning, forcing each feature extractor to specialize to a subset of the training subjects and promoting feature diversity. The second loss is an intra-ensemble distillation objective that allows collaborative exchange of knowledge between the models of the ensemble. We compare our method against several state-of-the-art techniques, conducting subject-independent experiments on two large MI datasets, namely PhysioNet and OpenBMI. Our algorithm outperforms all of the methods in both 5-fold cross-validation and leave-one-subject-out evaluation settings, using a substantially lower number of trainable parameters. We demonstrate that our model ensembling approach combining the powers of curriculum learning and collaborative training, leads to high learning capacity and robust performance. Our work addresses the issue of domain shifts in multi-subject EEG datasets, paving the way for calibration-free brain-computer interfaces. We make our code publicly available at: https://github.com/gzoumpourlis/Ensemble-MI