pwc-archive/papers-with-abstracts huggingface dataset:
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps
Authors: Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Dogar, Ken Goldberg
Date: 2022-10-13 00:00:00
Tasks: Friction, Object

We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently transported to a packing box using both single and multi-object grasps. Prior work considered frictionless multi-object grasping. In this paper, we introduce friction to increase the number of potential grasps for a given group of objects, and thus increase picks per hour. We train a neural network using real examples to plan robust multi-object grasps. In physical experiments, we find a 13.7% increase in success rate, a 1.6x increase in picks per hour, and a 6.3x decrease in grasp planning time compared to prior work on multi-object grasping. Compared to single-object grasping, we find a 3.1x increase in picks per hour.
Identification of quantum entanglement with Siamese convolutional neural networks and semi-supervised learning
Authors: Jarosław Pawłowski, Mateusz Krawczyk
Date: 2022-10-13 00:00:00

Quantum entanglement is a fundamental property commonly used in various quantum information protocols and algorithms. Nonetheless, the problem of identifying entanglement has still not reached a general solution for systems larger than $2\times3$. In this study, we use deep convolutional NNs, a type of supervised machine learning, to identify quantum entanglement for any bipartition in a 3-qubit system. We demonstrate that training the model on synthetically generated datasets of random density matrices excluding challenging positive-under-partial-transposition entangled states (PPTES), which cannot be identified (and correctly labeled) in general, leads to good model accuracy even for PPTES states, that were outside the training data. Our aim is to enhance the model's generalization on PPTES. By applying entanglement-preserving symmetry operations through a triple Siamese network trained in a semi-supervised manner, we improve the model's accuracy and ability to recognize PPTES. Moreover, by constructing an ensemble of Siamese models, even better generalization is observed, in analogy with the idea of finding separate types of entanglement witnesses for different classes of states.
Real-time Action Recognition for Fine-Grained Actions and The Hand Wash Dataset
Authors: Akash Nagaraj, Mukund Sood, Chetna Sureka, Gowri Srinivasa
Date: 2022-10-13 00:00:00
Tasks: Action Recognition, Fine-grained Action Recognition, Optical Flow Estimation

In this paper we present a three-stream algorithm for real-time action recognition and a new dataset of handwash videos, with the intent of aligning action recognition with real-world constraints to yield effective conclusions. A three-stream fusion algorithm is proposed, which runs both accurately and efficiently, in real-time even on low-powered systems such as a Raspberry Pi. The cornerstone of the proposed algorithm is the incorporation of both spatial and temporal information, as well as the information of the objects in a video while using an efficient architecture, and Optical Flow computation to achieve commendable results in real-time. The results achieved by this algorithm are benchmarked on the UCF-101 as well as the HMDB-51 datasets, achieving an accuracy of 92.7% and 64.9% respectively. An important point to note is that the algorithm is novel in the aspect that it is also able to learn the intricate differences between extremely similar actions, which would be difficult even for the human eye. Additionally, noticing a dearth in the number of datasets for the recognition of very similar or fine-grained actions, this paper also introduces a new dataset that is made publicly available, the Hand Wash Dataset with the intent of introducing a new benchmark for fine-grained action recognition tasks in the future.
A Concise Introduction to Reinforcement Learning in Robotics
Authors: Akash Nagaraj, Mukund Sood, Bhagya M Patil
Date: 2022-10-13 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Survey

One of the biggest hurdles robotics faces is the facet of sophisticated and hard-to-engineer behaviors. Reinforcement learning offers a set of tools, and a framework to address this problem. In parallel, the misgivings of robotics offer a solid testing ground and evaluation metric for advancements in reinforcement learning. The two disciplines go hand-in-hand, much like the fields of Mathematics and Physics. By means of this survey paper, we aim to invigorate links between the research communities of the two disciplines by focusing on the work done in reinforcement learning for locomotive and control aspects of robotics. Additionally, we aim to highlight not only the notable successes but also the key challenges of the application of Reinforcement Learning in Robotics. This paper aims to serve as a reference guide for researchers in reinforcement learning applied to the field of robotics. The literature survey is at a fairly introductory level, aimed at aspiring researchers. Appropriately, we have covered the most essential concepts required for research in the field of reinforcement learning, with robotics in mind. Through a thorough analysis of this problem, we are able to manifest how reinforcement learning could be applied profitably, and also focus on open-ended questions, as well as the potential for future research.
Behavior Cloned Transformers are Neurosymbolic Reasoners
Authors: Ruoyao Wang, Peter Jansen, Marc-Alexandre Côté, Prithviraj Ammanabrolu
Date: 2022-10-13 00:00:00
Tasks: Common Sense Reasoning

In this work, we explore techniques for augmenting interactive agents with information from symbolic modules, much like humans use tools like calculators and GPS systems to assist with arithmetic and navigation. We test our agent's abilities in text games -- challenging benchmarks for evaluating the multi-step reasoning abilities of game agents in grounded, language-based environments. Our experimental study indicates that injecting the actions from these symbolic modules into the action space of a behavior cloned transformer agent increases performance on four text game benchmarks that test arithmetic, navigation, sorting, and common sense reasoning by an average of 22%, allowing an agent to reach the highest possible performance on unseen games. This action injection technique is easily extended to new agents, environments, and symbolic modules.
A Relational Macrostate Theory Guides Artificial Intelligence to Learn Macro and Design Micro
Authors: Yanbo Zhang, Sara Imari Walker
Date: 2022-10-13 00:00:00

The high-dimesionality, non-linearity and emergent properties of complex systems pose a challenge to identifying general laws in the same manner that has been so successful in simpler physical systems. In Anderson's seminal work on why "more is different" he pointed to how emergent, macroscale patterns break symmetries of the underlying microscale laws. Yet, less recognized is that these large-scale, emergent patterns must also retain some symmetries of the microscale rules. Here we introduce a new, relational macrostate theory (RMT) that defines macrostates in terms of symmetries between two mutually predictive observations, and develop a machine learning architecture, MacroNet, that identifies macrostates. Using this framework, we show how macrostates can be identifed across systems ranging in complexity from the simplicity of the simple harmonic oscillator to the much more complex spatial patterning characteristic of Turing instabilities. Furthermore, we show how our framework can be used for the inverse design of microstates consistent with a given macroscopic property -- in Turing patterns this allows us to design underlying rule with a given specification of spatial patterning, and to identify which rule parameters most control these patterns. By demonstrating a general theory for how macroscopic properties emerge from conservation of symmetries in the mapping between observations, we provide a machine learning framework that allows a unified approach to identifying macrostates in systems from the simple to complex, and allows the design of new examples consistent with a given macroscopic property.
Predicting Fine-Tuning Performance with Probing
Authors: Zining Zhu, Soroosh Shahtalebi, Frank Rudzicz
Date: 2022-10-13 00:00:00

Large NLP models have recently shown impressive performance in language understanding tasks, typically evaluated by their fine-tuned performance. Alternatively, probing has received increasing attention as being a lightweight method for interpreting the intrinsic mechanisms of large NLP models. In probing, post-hoc classifiers are trained on "out-of-domain" datasets that diagnose specific abilities. While probing the language models has led to insightful findings, they appear disjointed from the development of models. This paper explores the utility of probing deep NLP models to extract a proxy signal widely used in model development -- the fine-tuning performance. We find that it is possible to use the accuracies of only three probing tests to predict the fine-tuning performance with errors $40\%$ - $80\%$ smaller than baselines. We further discuss possible avenues where probing can empower the development of deep NLP models.
Scientific Impact of Graph-Based Approaches in Deep Learning Studies -- A Bibliometric Comparison
Authors: Ilker Turker, Serhat Orkun Tan
Date: 2022-10-13 00:00:00
Tasks: Articles, Deep Learning

Applying graph-based approaches in deep learning receives more attention over time. This study presents statistical analysis on the use of graph-based approaches in deep learning and examines the scientific impact of the related articles. Processing the data obtained from the Web of Science database, metrics such as the type of the articles, funding availability, indexing type, annual average number of citations and the number of access were analyzed to quantitatively reveal the effects on the scientific audience. It's outlined that deep learning-based studies gained momentum after year 2013, and the rate of graph-based approaches in all deep learning studies increased linearly from 1% to 4% within the following 10 years. Conference publications scanned in the Conference Proceeding Citation Index (CPCI) on the graph-based approaches receive significantly more citations. The citation counts of the SCI-Expanded and Emerging SCI indexed publications of the two streams are close to each other. While the citation performances of the supported and unsupported publications of the two sides were similar, pure deep learning studies received more citations on the journal publication side and graph-based approaches received more citations on the conference side. Despite their similar performance in recent years, graph-based studies show twice more citation performance as they get older, compared to traditional approaches. Annual average citation performance per article for all deep learning studies is 11.051 in 2014, while it is 22.483 for graph-based studies. Also, despite receiving 16% more access, graph-based papers get almost the same overall citation over time with the pure counterpart. This is an indication that graph-based approaches need a greater bunch of attention to follow, while pure deep learning counterpart is relatively simpler to get inside.
LEAVES: Learning Views for Time-Series Data in Contrastive Learning
Authors: Han Yu, Huiyuan Yang, Akane Sano
Date: 2022-10-13 00:00:00
Tasks: Contrastive Learning, Data Augmentation, Self-Supervised Learning, Time Series, Time Series Analysis

Contrastive learning, a self-supervised learning method that can learn representations from unlabeled data, has been developed promisingly. Many methods of contrastive learning depend on data augmentation techniques, which generate different views from the original signal. However, tuning policies and hyper-parameters for more effective data augmentation methods in contrastive learning is often time and resource-consuming. Researchers have designed approaches to automatically generate new views for some input signals, especially on the image data. But the view-learning method is not well developed for time-series data. In this work, we propose a simple but effective module for automating view generation for time-series data in contrastive learning, named learning views for time-series data (LEAVES). The proposed module learns the hyper-parameters for augmentations using adversarial training in contrastive learning. We validate the effectiveness of the proposed method using multiple time-series datasets. The experiments demonstrate that the proposed method is more effective in finding reasonable views and performs downstream tasks better than the baselines, including manually tuned augmentation-based contrastive learning methods and SOTA methods.
FOON Creation and Traversal for Recipe Generation
Authors: Raj Patel
Date: 2022-10-13 00:00:00
Tasks: Recipe Generation, valid

Task competition by robots is still off from being completely dependable and usable. One way a robot may decipher information given to it and accomplish tasks is by utilizing FOON, which stands for functional object-oriented network. The network first needs to be created by having a human creates action nodes as well as input and output nodes in a .txt file. After the network is sizeable, utilization of this network allows for traversal of the network in a variety of ways such as choosing steps via iterative deepening searching by using the first seen valid option. Another mechanism is heuristics, such as choosing steps based on the highest success rate or lowest amount of input ingredients. Via any of these methods, a program can traverse the network given an output product, and derive the series of steps that need to be taken to produce the output.
Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
Authors: Jee-eun Lee, Jaemin Lee, Tirthankar Bandyopadhyay, Luis Sentis
Date: 2022-10-13 00:00:00

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system, which allows for robust extrapolation from fewer samples. Existing frameworks that represent all data in vector space fail to consider the structured information of the robot, such as leg symmetry, rotational symmetry, and physics invariance. As a result, these schemes require vast amounts of training data to learn the system's redundant elements because they are learned independently. Instead, we propose considering the geometric prior by representing the system in symmetrical object groups and designing neural network architecture to assess invariance and equivariance between the objects. Finally, we demonstrate the effectiveness of our approach by comparing the generalization to unseen data of the proposed model and the existing models. We also implement a controller of a climbing robot based on learned inverse dynamics models. The results show that our method generates accurate control inputs that help the robot reach the desired state while requiring less training data than existing methods.
Machine Learning vs. Deep Learning in 5G Networks -- A Comparison of Scientific Impact
Authors: Ilker Turker, Serhat Orkun Tan
Date: 2022-10-13 00:00:00

Introduction of fifth generation (5G) wireless network technology has matched the crucial need for high capacity and speed needs of the new generation mobile applications. Recent advances in Artificial Intelligence (AI) also empowered 5G cellular networks with two mainstreams as machine learning (ML) and deep learning (DL) techniques. Our study aims to uncover the differences in scientific impact for these two techniques by the means of statistical bibliometrics. The performed analysis includes citation performance with respect to indexing types, funding availability, journal or conference publishing options together with distributions of these metrics along years to evaluate the popularity trends in a detailed manner. Web of Science (WoS) database host 2245 papers for ML and 1407 papers for DL-related studies. DL studies, starting with 9% rate in 2013, has reached to 45% rate in 2022 among all DL and ML-related studies. Results related to scientific impact indicate that DL studies get slightly more average normalized citation (2.256) compared to ML studies (2.118) in 5G, while SCI-Expanded indexed papers in both sides tend to have similar citation performance (3.165 and 3.162 respectively). ML-related studies those are indexed in ESCI show twice citation performance compared to DL. Conference papers in DL domain and journal papers in ML domain are superior in scientific interest to their counterparts with minor differences. Highest citation performance for ML studies is achieved for year 2014, while this peak is observed for 2017 for DL studies. We can conclude that both publication and citation rate for DL-related papers tend to increase and outperform ML-based studies in 5G domain by the means of citation metrics.
Bootstrap Advantage Estimation for Policy Optimization in Reinforcement Learning
Authors: Md Masudur Rahman, Yexiang Xue
Date: 2022-10-13 00:00:00
Tasks: Data Augmentation, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

This paper proposes an advantage estimation approach based on data augmentation for policy optimization. Unlike using data augmentation on the input to learn value and policy function as existing methods use, our method uses data augmentation to compute a bootstrap advantage estimation. This Bootstrap Advantage Estimation (BAE) is then used for learning and updating the gradient of policy and value function. To demonstrate the effectiveness of our approach, we conducted experiments on several environments. These environments are from three benchmarks: Procgen, Deepmind Control, and Pybullet, which include both image and vector-based observations; discrete and continuous action spaces. We observe that our method reduces the policy and the value loss better than the Generalized advantage estimation (GAE) method and eventually improves cumulative return. Furthermore, our method performs better than two recently proposed data augmentation techniques (RAD and DRAC). Overall, our method performs better empirically than baselines in sample efficiency and generalization, where the agent is tested in unseen environments.
SHINE: SubHypergraph Inductive Neural nEtwork
Authors: Yuan Luo
Date: 2022-10-13 00:00:00

Hypergraph neural networks can model multi-way connections among nodes of the graphs, which are common in real-world applications such as genetic medicine. In particular, genetic pathways or gene sets encode molecular functions driven by multiple genes, naturally represented as hyperedges. Thus, hypergraph-guided embedding can capture functional relations in learned representations. Existing hypergraph neural network models often focus on node-level or graph-level inference. There is an unmet need in learning powerful representations of subgraphs of hypergraphs in real-world applications. For example, a cancer patient can be viewed as a subgraph of genes harboring mutations in the patient, while all the genes are connected by hyperedges that correspond to pathways representing specific molecular functions. For accurate inductive subgraph prediction, we propose SubHypergraph Inductive Neural nEtwork (SHINE). SHINE uses informative genetic pathways that encode molecular functions as hyperedges to connect genes as nodes. SHINE jointly optimizes the objectives of end-to-end subgraph classification and hypergraph nodes' similarity regularization. SHINE simultaneously learns representations for both genes and pathways using strongly dual attention message passing. The learned representations are aggregated via a subgraph attention layer and used to train a multilayer perceptron for inductive subgraph inferencing. We evaluated SHINE against a wide array of state-of-the-art (hyper)graph neural networks, XGBoost, NMF and polygenic risk score models, using large scale NGS and curated datasets. SHINE outperformed all comparison models significantly, and yielded interpretable disease models with functional insights.
The Hidden Uniform Cluster Prior in Self-Supervised Learning
Authors: Mahmoud Assran, Randall Balestriero, Quentin Duval, Florian Bordes, Ishan Misra, Piotr Bojanowski, Pascal Vincent, Michael Rabbat, Nicolas Ballas
Date: 2022-10-13 00:00:00
Tasks: Clustering, Representation Learning, Self-Supervised Learning

A successful paradigm in representation learning is to perform self-supervised pretraining using tasks based on mini-batch statistics (e.g., SimCLR, VICReg, SwAV, MSN). We show that in the formulation of all these methods is an overlooked prior to learn features that enable uniform clustering of the data. While this prior has led to remarkably semantic representations when pretraining on class-balanced data, such as ImageNet, we demonstrate that it can hamper performance when pretraining on class-imbalanced data. By moving away from conventional uniformity priors and instead preferring power-law distributed feature clusters, we show that one can improve the quality of the learned representations on real-world class-imbalanced datasets. To demonstrate this, we develop an extension of the Masked Siamese Networks (MSN) method to support the use of arbitrary features priors.
Object-Category Aware Reinforcement Learning
Authors: Qi Yi, Rui Zhang, Shaohui Peng, Jiaming Guo, Xing Hu, Zidong Du, Xishan Zhang, Qi Guo, Yunji Chen
Date: 2022-10-13 00:00:00
Tasks: Feature Engineering, Object, Object Discovery, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Object-oriented reinforcement learning (OORL) is a promising way to improve the sample efficiency and generalization ability over standard RL. Recent works that try to solve OORL tasks without additional feature engineering mainly focus on learning the object representations and then solving tasks via reasoning based on these object representations. However, none of these works tries to explicitly model the inherent similarity between different object instances of the same category. Objects of the same category should share similar functionalities; therefore, the category is the most critical property of an object. Following this insight, we propose a novel framework named Object-Category Aware Reinforcement Learning (OCARL), which utilizes the category information of objects to facilitate both perception and reasoning. OCARL consists of three parts: (1) Category-Aware Unsupervised Object Discovery (UOD), which discovers the objects as well as their corresponding categories; (2) Object-Category Aware Perception, which encodes the category information and is also robust to the incompleteness of (1) at the same time; (3) Object-Centric Modular Reasoning, which adopts multiple independent and object-category-specific networks when reasoning based on objects. Our experiments show that OCARL can improve both the sample efficiency and generalization in the OORL domain.