pwc-archive/papers-with-abstracts huggingface dataset:
PoserNet: Refining Relative Camera Poses Exploiting Object Detections
Authors: Matteo Taiana, Matteo Toso, Stuart James, Alessio Del Bue
Date: 2022-07-19 00:00:00
Tasks: Graph Neural Network, Object, Pose Estimation

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation problem rather than explicit semantic object detections. We propose Pose Refiner Network (PoserNet) a light-weight Graph Neural Network to refine the approximate pair-wise relative camera poses. PoserNet exploits associations between the objectness regions - concisely expressed as bounding boxes - across multiple views to globally refine sparsely connected view graphs. We evaluate on the 7-Scenes dataset across varied sizes of graphs and show how this process can be beneficial to optimisation-based Motion Averaging algorithms improving the median error on the rotation by 62 degrees with respect to the initial estimates obtained based on bounding boxes. Code and data are available at https://github.com/IIT-PAVIS/PoserNet.
ShapeCrafter: A Recursive Text-Conditioned 3D Shape Generation Model
Authors: Rao Fu, Xiao Zhan, YiWen Chen, Daniel Ritchie, Srinath Sridhar
Date: 2022-07-19 00:00:00
Tasks: 3D Shape Generation

We present ShapeCrafter, a neural network for recursive text-conditioned 3D shape generation. Existing methods to generate text-conditioned 3D shapes consume an entire text prompt to generate a 3D shape in a single step. However, humans tend to describe shapes recursively-we may start with an initial description and progressively add details based on intermediate results. To capture this recursive process, we introduce a method to generate a 3D shape distribution, conditioned on an initial phrase, that gradually evolves as more phrases are added. Since existing datasets are insufficient for training this approach, we present Text2Shape++, a large dataset of 369K shape-text pairs that supports recursive shape generation. To capture local details that are often used to refine shape descriptions, we build on top of vector-quantized deep implicit functions that generate a distribution of high-quality shapes. Results show that our method can generate shapes consistent with text descriptions, and shapes evolve gradually as more phrases are added. Our method supports shape editing, extrapolation, and can enable new applications in human-machine collaboration for creative design.
Audio Input Generates Continuous Frames to Synthesize Facial Video Using Generative Adiversarial Networks
Authors: Hanhaodi Zhang
Date: 2022-07-18 00:00:00

This paper presents a simple method for speech videos generation based on audio: given a piece of audio, we can generate a video of the target face speaking this audio. We propose Generative Adversarial Networks (GAN) with cut speech audio input as condition and use Convolutional Gate Recurrent Unit (GRU) in generator and discriminator. Our model is trained by exploiting the short audio and the frames in this duration. For training, we cut the audio and extract the face in the corresponding frames. We designed a simple encoder and compare the generated frames using GAN with and without GRU. We use GRU for temporally coherent frames and the results show that short audio can produce relatively realistic output results.
Romanus: Robust Task Offloading in Modular Multi-Sensor Autonomous Driving Systems
Authors: Luke Chen, Mohanad Odema, Mohammad Abdullah Al Faruque
Date: 2022-07-18 00:00:00
Tasks: Autonomous Driving, Deep Reinforcement Learning, Edge-computing, object-detection, Object Detection

Due to the high performance and safety requirements of self-driving applications, the complexity of modern autonomous driving systems (ADS) has been growing, instigating the need for more sophisticated hardware which could add to the energy footprint of the ADS platform. Addressing this, edge computing is poised to encompass self-driving applications, enabling the compute-intensive autonomy-related tasks to be offloaded for processing at compute-capable edge servers. Nonetheless, the intricate hardware architecture of ADS platforms, in addition to the stringent robustness demands, set forth complications for task offloading which are unique to autonomous driving. Hence, we present $ROMANUS$, a methodology for robust and efficient task offloading for modular ADS platforms with multi-sensor processing pipelines. Our methodology entails two phases: (i) the introduction of efficient offloading points along the execution path of the involved deep learning models, and (ii) the implementation of a runtime solution based on Deep Reinforcement Learning to adapt the operating mode according to variations in the perceived road scene complexity, network connectivity, and server load. Experiments on the object detection use case demonstrated that our approach is 14.99% more energy-efficient than pure local execution while achieving a 77.06% reduction in risky behavior from a robust-agnostic offloading baseline.
FLAIR: Federated Learning Annotated Image Repository
Authors: Congzheng Song, Filip Granqvist, Kunal Talwar
Date: 2022-07-18 00:00:00
Tasks: Federated Learning, Multi-Label Classification, MUlTI-LABEL-ClASSIFICATION

Cross-device federated learning is an emerging machine learning (ML) paradigm where a large population of devices collectively train an ML model while the data remains on the devices. This research field has a unique set of practical challenges, and to systematically make advances, new datasets curated to be compatible with this paradigm are needed. Existing federated learning benchmarks in the image domain do not accurately capture the scale and heterogeneity of many real-world use cases. We introduce FLAIR, a challenging large-scale annotated image dataset for multi-label classification suitable for federated learning. FLAIR has 429,078 images from 51,414 Flickr users and captures many of the intricacies typically encountered in federated learning, such as heterogeneous user data and a long-tailed label distribution. We implement multiple baselines in different learning setups for different tasks on this dataset. We believe FLAIR can serve as a challenging benchmark for advancing the state-of-the art in federated learning. Dataset access and the code for the benchmark are available at \url{https://github.com/apple/ml-flair}.
Prior Knowledge Guided Unsupervised Domain Adaptation
Authors: Tao Sun, Cheng Lu, Haibin Ling
Date: 2022-07-18 00:00:00
Tasks: Domain Adaptation, Unsupervised Domain Adaptation

The waive of labels in the target domain makes Unsupervised Domain Adaptation (UDA) an attractive technique in many real-world applications, though it also brings great challenges as model adaptation becomes harder without labeled target data. In this paper, we address this issue by seeking compensation from target domain prior knowledge, which is often (partially) available in practice, e.g., from human expertise. This leads to a novel yet practical setting where in addition to the training data, some prior knowledge about the target class distribution are available. We term the setting as Knowledge-guided Unsupervised Domain Adaptation (KUDA). In particular, we consider two specific types of prior knowledge about the class distribution in the target domain: Unary Bound that describes the lower and upper bounds of individual class probabilities, and Binary Relationship that describes the relations between two class probabilities. We propose a general rectification module that uses such prior knowledge to refine model generated pseudo labels. The module is formulated as a Zero-One Programming problem derived from the prior knowledge and a smooth regularizer. It can be easily plugged into self-training based UDA methods, and we combine it with two state-of-the-art methods, SHOT and DINE. Empirical results on four benchmarks confirm that the rectification module clearly improves the quality of pseudo labels, which in turn benefits the self-training stage. With the guidance from prior knowledge, the performances of both methods are substantially boosted. We expect our work to inspire further investigations in integrating prior knowledge in UDA. Code is available at https://github.com/tsun/KUDA.
Easy Batch Normalization
Authors: Arip Asadulaev, Alexander Panfilov, Andrey Filchenkov
Date: 2022-07-18 00:00:00
Tasks: Object Recognition

It was shown that adversarial examples improve object recognition. But what about their opposite side, easy examples? Easy examples are samples that the machine learning model classifies correctly with high confidence. In our paper, we are making the first step toward exploring the potential benefits of using easy examples in the training procedure of neural networks. We propose to use an auxiliary batch normalization for easy examples for the standard and robust accuracy improvement.
Multi-step domain adaptation by adversarial attack to $\mathcal{H} Δ\mathcal{H}$-divergence
Authors: Arip Asadulaev, Alexander Panfilov, Andrey Filchenkov
Date: 2022-07-18 00:00:00
Tasks: Adversarial Attack, Domain Adaptation, Unsupervised Domain Adaptation

Adversarial examples are transferable between different models. In our paper, we propose to use this property for multi-step domain adaptation. In unsupervised domain adaptation settings, we demonstrate that replacing the source domain with adversarial examples to $\mathcal{H} \Delta \mathcal{H}$-divergence can improve source classifier accuracy on the target domain. Our method can be connected to most domain adaptation techniques. We conducted a range of experiments and achieved improvement in accuracy on Digits and Office-Home datasets.
Indoor Localization for Personalized Ambient Assisted Living of Multiple Users in Multi-Floor Smart Environments
Authors: Nirmalya Thakur, Chia Y. Han
Date: 2022-07-19 00:00:00
Tasks: Indoor Localization

This paper presents a multifunctional interdisciplinary framework that makes four scientific contributions towards the development of personalized ambient assisted living, with a specific focus to address the different and dynamic needs of the diverse aging population in the future of smart living environments. First, it presents a probabilistic reasoning-based mathematical approach to model all possible forms of user interactions for any activity arising from the user diversity of multiple users in such environments. Second, it presents a system that uses this approach with a machine learning method to model individual user profiles and user-specific user interactions for detecting the dynamic indoor location of each specific user. Third, to address the need to develop highly accurate indoor localization systems for increased trust, reliance, and seamless user acceptance, the framework introduces a novel methodology where two boosting approaches Gradient Boosting and the AdaBoost algorithm are integrated and used on a decision tree-based learning model to perform indoor localization. Fourth, the framework introduces two novel functionalities to provide semantic context to indoor localization in terms of detecting each user's floor-specific location as well as tracking whether a specific user was located inside or outside a given spatial region in a multi-floor-based indoor setting. These novel functionalities of the proposed framework were tested on a dataset of localization-related Big Data collected from 18 different users who navigated in 3 buildings consisting of 5 floors and 254 indoor spatial regions. The results show that this approach of indoor localization for personalized AAL that models each specific user always achieves higher accuracy as compared to the traditional approach of modeling an average user.
A Multi-Stage Framework for the 2022 Multi-Structure Segmentation for Renal Cancer Treatment
Authors: Yusheng Liu, Zhongchen Zhao, Lisheng Wang
Date: 2022-07-19 00:00:00

Three-dimensional (3D) kidney parsing on computed tomography angiography (CTA) images is of great clinical significance. Automatic segmentation of kidney, renal tumor, renal vein and renal artery benefits a lot on surgery-based renal cancer treatment. In this paper, we propose a new nnhra-unet network, and use a multi-stage framework which is based on it to segment the multi-structure of kidney and participate in the KiPA2022 challenge.
Towards Trustworthy Healthcare AI: Attention-Based Feature Learning for COVID-19 Screening With Chest Radiography
Authors: Kai Ma, Pengcheng Xi, Karim Habashy, Ashkan Ebadi, Stéphane Tremblay, Alexander Wong
Date: 2022-07-19 00:00:00
Tasks: Representation Learning

Building AI models with trustworthiness is important especially in regulated areas such as healthcare. In tackling COVID-19, previous work uses convolutional neural networks as the backbone architecture, which has shown to be prone to over-caution and overconfidence in making decisions, rendering them less trustworthy -- a crucial flaw in the context of medical imaging. In this study, we propose a feature learning approach using Vision Transformers, which use an attention-based mechanism, and examine the representation learning capability of Transformers as a new backbone architecture for medical imaging. Through the task of classifying COVID-19 chest radiographs, we investigate into whether generalization capabilities benefit solely from Vision Transformers' architectural advances. Quantitative and qualitative evaluations are conducted on the trustworthiness of the models, through the use of "trust score" computation and a visual explainability technique. We conclude that the attention-based feature learning approach is promising in building trustworthy deep learning models for healthcare.
Self-Supervised Interactive Object Segmentation Through a Singulation-and-Grasping Approach
Authors: Houjian Yu, Changhyun Choi
Date: 2022-07-19 00:00:00
Tasks: Instance Segmentation, Interactive Segmentation, Optical Flow Estimation, Segmentation, Semantic Segmentation, Transfer Learning

Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label for further fine-tuning to improve the segmentation model performance, while avoiding the time-consuming process of manually labeling a dataset. The Singulation-and-Grasping (SaG) policy is trained through end-to-end reinforcement learning. Given a cluttered pile of objects, our approach chooses pushing and grasping motions to break the clutter and conducts object-agnostic grasping for which the SaG policy takes as input the visual observations and imperfect segmentation. We decompose the problem into three subtasks: (1) the object singulation subtask aims to separate the objects from each other, which creates more space that alleviates the difficulty of (2) the collision-free grasping subtask; (3) the mask generation subtask to obtain the self-labeled ground truth masks by using an optical flow-based binary classifier and motion cue post-processing for transfer learning. Our system achieves 70% singulation success rate in simulated cluttered scenes. The interactive segmentation of our system achieves 87.8%, 73.9%, and 69.3% average precision for toy blocks, YCB objects in simulation and real-world novel objects, respectively, which outperforms several baselines.
Uncertainty in Contrastive Learning: On the Predictability of Downstream Performance
Authors: Shervin Ardeshir, Navid Azizan
Date: 2022-07-19 00:00:00
Tasks: Contrastive Learning, Decision Making

The superior performance of some of today's state-of-the-art deep learning models is to some extent owed to extensive (self-)supervised contrastive pretraining on large-scale datasets. In contrastive learning, the network is presented with pairs of positive (similar) and negative (dissimilar) datapoints and is trained to find an embedding vector for each datapoint, i.e., a representation, which can be further fine-tuned for various downstream tasks. In order to safely deploy these models in critical decision-making systems, it is crucial to equip them with a measure of their uncertainty or reliability. However, due to the pairwise nature of training a contrastive model, and the lack of absolute labels on the output (an abstract embedding vector), adapting conventional uncertainty estimation techniques to such models is non-trivial. In this work, we study whether the uncertainty of such a representation can be quantified for a single datapoint in a meaningful way. In other words, we explore if the downstream performance on a given datapoint is predictable, directly from its pre-trained embedding. We show that this goal can be achieved by directly estimating the distribution of the training data in the embedding space and accounting for the local consistency of the representations. Our experiments show that this notion of uncertainty for an embedding vector often strongly correlates with its downstream accuracy.
Image Synthesis with Disentangled Attributes for Chest X-Ray Nodule Augmentation and Detection
Authors: Zhenrong Shen, Xi Ouyang, Bin Xiao, Jie-Zhi Cheng, Qian Wang, Dinggang Shen
Date: 2022-07-19 00:00:00
Tasks: Attribute, Data Augmentation, Image Generation, Lung Nodule Detection

Lung nodule detection in chest X-ray (CXR) images is common to early screening of lung cancers. Deep-learning-based Computer-Assisted Diagnosis (CAD) systems can support radiologists for nodule screening in CXR. However, it requires large-scale and diverse medical data with high-quality annotations to train such robust and accurate CADs. To alleviate the limited availability of such datasets, lung nodule synthesis methods are proposed for the sake of data augmentation. Nevertheless, previous methods lack the ability to generate nodules that are realistic with the size attribute desired by the detector. To address this issue, we introduce a novel lung nodule synthesis framework in this paper, which decomposes nodule attributes into three main aspects including shape, size, and texture, respectively. A GAN-based Shape Generator firstly models nodule shapes by generating diverse shape masks. The following Size Modulation then enables quantitative control on the diameters of the generated nodule shapes in pixel-level granularity. A coarse-to-fine gated convolutional Texture Generator finally synthesizes visually plausible nodule textures conditioned on the modulated shape masks. Moreover, we propose to synthesize nodule CXR images by controlling the disentangled nodule attributes for data augmentation, in order to better compensate for the nodules that are easily missed in the detection task. Our experiments demonstrate the enhanced image quality, diversity, and controllability of the proposed lung nodule synthesis framework. We also validate the effectiveness of our data augmentation on greatly improving nodule detection performance.
SphereFed: Hyperspherical Federated Learning
Authors: Xin Dong, Sai Qian Zhang, Ang Li, H. T. Kung
Date: 2022-07-19 00:00:00
Tasks: Federated Learning

Federated Learning aims at training a global model from multiple decentralized devices (i.e. clients) without exchanging their private local data. A key challenge is the handling of non-i.i.d. (independent identically distributed) data across multiple clients that may induce disparities of their local features. We introduce the Hyperspherical Federated Learning (SphereFed) framework to address the non-i.i.d. issue by constraining learned representations of data points to be on a unit hypersphere shared by clients. Specifically, all clients learn their local representations by minimizing the loss with respect to a fixed classifier whose weights span the unit hypersphere. After federated training in improving the global model, this classifier is further calibrated with a closed-form solution by minimizing a mean squared loss. We show that the calibration solution can be computed efficiently and distributedly without direct access of local data. Extensive experiments indicate that our SphereFed approach is able to improve the accuracy of multiple existing federated learning algorithms by a considerable margin (up to 6% on challenging datasets) with enhanced computation and communication efficiency across datasets and model architectures.
Theseus: A Library for Differentiable Nonlinear Optimization
Authors: Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam
Date: 2022-07-19 00:00:00
Tasks: GPU

We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured learning in robotics and vision. Existing DNLS implementations are application specific and do not always incorporate many ingredients important for efficiency. Theseus is application-agnostic, as we illustrate with several example applications that are built using the same underlying differentiable components, such as second-order optimizers, standard costs functions, and Lie groups. For efficiency, Theseus incorporates support for sparse solvers, automatic vectorization, batching, GPU acceleration, and gradient computation with implicit differentiation and direct loss minimization. We do extensive performance evaluation in a set of applications, demonstrating significant efficiency gains and better scalability when these features are incorporated. Project page: https://sites.google.com/view/theseus-ai
Human-to-Robot Imitation in the Wild
Authors: Shikhar Bahl, Abhinav Gupta, Deepak Pathak
Date: 2022-07-19 00:00:00

We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to lab settings. Meanwhile, there has been a lot of success in processing passive, unstructured human data. We propose tackling this problem via an efficient one-shot robot learning algorithm, centered around learning from a third-person perspective. We call our method WHIRL: In-the-Wild Human Imitating Robot Learning. WHIRL extracts a prior over the intent of the human demonstrator, using it to initialize our agent's policy. We introduce an efficient real-world policy learning scheme that improves using interactions. Our key contributions are a simple sampling-based policy optimization approach, a novel objective function for aligning human and robot videos as well as an exploration method to boost sample efficiency. We show one-shot generalization and success in real-world settings, including 20 different manipulation tasks in the wild. Videos and talk at https://human2robot.github.io