pwc-archive/papers-with-abstracts huggingface dataset:
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators
Authors: Eric Rosen, Devesh K. Jha
Date: 2023-05-18 00:00:00
Tasks: Contact-rich Manipulation

We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research robot platforms (whose dynamics and constraints differ from industrial robot arms), or only address tasks where the robot's dynamics are not as important (e.g: pick and place tasks). We investigate the usage of commercially available VR interfaces for effectively teleoeprating industrial robot manipulators in a variety of contact-rich manipulation tasks. We find that applying standard practices for VR control of robot arms is challenging for industrial platforms because torque and velocity control is not exposed, and position control is mediated through a black-box controller. To mitigate these problems, we propose a simplified filtering approach to process command signals to enable operators to effectively teleoperate industrial robot arms with VR interfaces in dexterous manipulation tasks. We hope our findings will help robot practitioners implement and setup effective VR teleoperation interfaces for robot manipulators. The proposed method is demonstrated on a variety of contact-rich manipulation tasks which can also involve very precise movement of the robot during execution (videos can be found at https://www.youtube.com/watch?v=OhkCB9mOaBc)
Revisiting 16-bit Neural Network Training: A Practical Approach for Resource-Limited Learning
Authors: Juyoung Yun, Sol Choi, Francois Rameau, Byungkon Kang, Zhoulai Fu
Date: 2023-05-18 00:00:00
Tasks: Image Classification

With the increasing complexity of machine learning models, managing computational resources like memory and processing power has become a critical concern. Mixed precision techniques, which leverage different numerical precisions during model training and inference to optimize resource usage, have been widely adopted. However, access to hardware that supports lower precision formats (e.g., FP8 or FP4) remains limited, especially for practitioners with hardware constraints. For many with limited resources, the available options are restricted to using 32-bit, 16-bit, or a combination of the two. While it is commonly believed that 16-bit precision can achieve results comparable to full (32-bit) precision, this study is the first to systematically validate this assumption through both rigorous theoretical analysis and extensive empirical evaluation. Our theoretical formalization of floating-point errors and classification tolerance provides new insights into the conditions under which 16-bit precision can approximate 32-bit results. This study fills a critical gap, proving for the first time that standalone 16-bit precision neural networks match 32-bit and mixed-precision in accuracy while boosting computational speed. Given the widespread availability of 16-bit across GPUs, these findings are especially valuable for machine learning practitioners with limited hardware resources to make informed decisions.
A method for the ethical analysis of brain-inspired AI
Authors: Michele Farisco, Gianluca Baldassarre, Emilio Cartoni, Antonia Leach, Mihai A. Petrovici, Achim Rosemann, Arleen Salles, Bernd Stahl, Sacha J. van Albada
Date: 2023-05-18 00:00:00

Despite its successes, to date Artificial Intelligence (AI) is still characterized by a number of shortcomings with regards to different application domains and goals. These limitations are arguably both conceptual (e.g., related to underlying theoretical models, such as symbolic vs. connectionist), and operational (e.g., related to robustness and ability to generalize). Biologically inspired AI, and more specifically brain-inspired AI, promises to provide further biological aspects beyond those that are already traditionally included in AI, making it possible to assess and possibly overcome some of its present shortcomings. This article examines some conceptual, technical, and ethical issues raised by the development and use of brain-inspired AI. Against this background, the paper asks whether there is anything ethically unique about brain-inspired AI. The aim of the paper is to introduce a method that has a heuristic nature and that can be applied to identify and address the ethical issues arising from brain-inspired AI. The conclusion resulting from the application of this method is that, compared to traditional AI, brain-inspired AI raises new foundational ethical issues and some new practical ethical issues, and exacerbates some of the issues raised by traditional AI.
On the Off-Target Problem of Zero-Shot Multilingual Neural Machine Translation
Authors: Liang Chen, Shuming Ma, Dongdong Zhang, Furu Wei, Baobao Chang
Date: 2023-05-18 00:00:00
Tasks: Decoder, Machine Translation, Translation

While multilingual neural machine translation has achieved great success, it suffers from the off-target issue, where the translation is in the wrong language. This problem is more pronounced on zero-shot translation tasks. In this work, we find that failing in encoding discriminative target language signal will lead to off-target and a closer lexical distance (i.e., KL-divergence) between two languages' vocabularies is related with a higher off-target rate. We also find that solely isolating the vocab of different languages in the decoder can alleviate the problem. Motivated by the findings, we propose Language Aware Vocabulary Sharing (LAVS), a simple and effective algorithm to construct the multilingual vocabulary, that greatly alleviates the off-target problem of the translation model by increasing the KL-divergence between languages. We conduct experiments on a multilingual machine translation benchmark in 11 languages. Experiments show that the off-target rate for 90 translation tasks is reduced from 29\% to 8\%, while the overall BLEU score is improved by an average of 1.9 points without extra training cost or sacrificing the supervised directions' performance. We release the code at https://github.com/PKUnlp-icler/Off-Target-MNMT for reproduction.
Emergent Communication with Attention
Authors: Ryokan Ri, Ryo Ueda, Jason Naradowsky
Date: 2023-05-18 00:00:00

To develop computational agents that better communicate using their own emergent language, we endow the agents with an ability to focus their attention on particular concepts in the environment. Humans often understand an object or scene as a composite of concepts and those concepts are further mapped onto words. We implement this intuition as cross-modal attention mechanisms in Speaker and Listener agents in a referential game and show attention leads to more compositional and interpretable emergent language. We also demonstrate how attention aids in understanding the learned communication protocol by investigating the attention weights associated with each message symbol and the alignment of attention weights between Speaker and Listener agents. Overall, our results suggest that attention is a promising mechanism for developing more human-like emergent language.
Weakly-Supervised Visual-Textual Grounding with Semantic Prior Refinement
Authors: Davide Rigoni, Luca Parolari, Luciano Serafini, Alessandro Sperduti, Lamberto Ballan
Date: 2023-05-18 00:00:00
Tasks: Sentence

Using only image-sentence pairs, weakly-supervised visual-textual grounding aims to learn region-phrase correspondences of the respective entity mentions. Compared to the supervised approach, learning is more difficult since bounding boxes and textual phrases correspondences are unavailable. In light of this, we propose the Semantic Prior Refinement Model (SPRM), whose predictions are obtained by combining the output of two main modules. The first untrained module aims to return a rough alignment between textual phrases and bounding boxes. The second trained module is composed of two sub-components that refine the rough alignment to improve the accuracy of the final phrase-bounding box alignments. The model is trained to maximize the multimodal similarity between an image and a sentence, while minimizing the multimodal similarity of the same sentence and a new unrelated image, carefully selected to help the most during training. Our approach shows state-of-the-art results on two popular datasets, Flickr30k Entities and ReferIt, shining especially on ReferIt with a 9.6% absolute improvement. Moreover, thanks to the untrained component, it reaches competitive performances just using a small fraction of training examples.
A Generalist Dynamics Model for Control
Authors: Ingmar Schubert, Jingwei Zhang, Jake Bruce, Sarah Bechtle, Emilio Parisotto, Martin Riedmiller, Jost Tobias Springenberg, Arunkumar Byravan, Leonard Hasenclever, Nicolas Heess
Date: 2023-05-18 00:00:00
Tasks: model

We investigate the use of transformer sequence models as dynamics models (TDMs) for control. We find that TDMs exhibit strong generalization capabilities to unseen environments, both in a few-shot setting, where a generalist TDM is fine-tuned with small amounts of data from the target environment, and in a zero-shot setting, where a generalist TDM is applied to an unseen environment without any further training. Here, we demonstrate that generalizing system dynamics can work much better than generalizing optimal behavior directly as a policy. Additional results show that TDMs also perform well in a single-environment learning setting when compared to a number of baseline models. These properties make TDMs a promising ingredient for a foundation model of control.
RobustFair: Adversarial Evaluation through Fairness Confusion Directed Gradient Search
Authors: Xuran Li, Peng Wu, Kaixiang Dong, Zhen Zhang, Yanting Chen
Date: 2023-05-18 00:00:00
Tasks: Data Augmentation, Fairness, quantile regression

Deep neural networks (DNNs) often face challenges due to their vulnerability to various adversarial perturbations, including false perturbations that undermine prediction accuracy and biased perturbations that cause biased predictions for similar inputs. This paper introduces a novel approach, RobustFair, to evaluate the accurate fairness of DNNs when subjected to these false or biased perturbations. RobustFair employs the notion of the fairness confusion matrix induced in accurate fairness to identify the crucial input features for perturbations. This matrix categorizes predictions as true fair, true biased, false fair, and false biased, and the perturbations guided by it can produce a dual impact on instances and their similar counterparts to either undermine prediction accuracy (robustness) or cause biased predictions (individual fairness). RobustFair then infers the ground truth of these generated adversarial instances based on their loss function values approximated by the total derivative. To leverage the generated instances for trustworthiness improvement, RobustFair further proposes a data augmentation strategy to prioritize adversarial instances resembling the original training set, for data augmentation and model retraining. Notably, RobustFair excels at detecting intertwined issues of robustness and individual fairness, which are frequently overlooked in standard robustness and individual fairness evaluations. This capability empowers RobustFair to enhance both robustness and individual fairness evaluations by concurrently identifying defects in either domain. Empirical case studies and quantile regression analyses on benchmark datasets demonstrate the effectiveness of the fairness confusion matrix guided perturbation for false or biased adversarial instance generation.
Domain Adaptive Sim-to-Real Segmentation of Oropharyngeal Organs
Authors: Guankun Wang, Tian-Ao Ren, JIEWEN LAI, Long Bai, Hongliang Ren
Date: 2023-05-18 00:00:00
Tasks: Image Segmentation, Segmentation, Semantic Segmentation, Style Transfer

Video-assisted transoral tracheal intubation (TI) necessitates using an endoscope that helps the physician insert a tracheal tube into the glottis instead of the esophagus. The growing trend of robotic-assisted TI would require a medical robot to distinguish anatomical features like an experienced physician which can be imitated by utilizing supervised deep-learning techniques. However, the real datasets of oropharyngeal organs are often inaccessible due to limited open-source data and patient privacy. In this work, we propose a domain adaptive Sim-to-Real framework called IoU-Ranking Blend-ArtFlow (IRB-AF) for image segmentation of oropharyngeal organs. The framework includes an image blending strategy called IoU-Ranking Blend (IRB) and style-transfer method ArtFlow. Here, IRB alleviates the problem of poor segmentation performance caused by significant datasets domain differences; while ArtFlow is introduced to reduce the discrepancies between datasets further. A virtual oropharynx image dataset generated by the SOFA framework is used as the learning subject for semantic segmentation to deal with the limited availability of actual endoscopic images. We adapted IRB-AF with the state-of-the-art domain adaptive segmentation models. The results demonstrate the superior performance of our approach in further improving the segmentation accuracy and training stability.
Semantically Aligned Task Decomposition in Multi-Agent Reinforcement Learning
Authors: Wenhao Li, Dan Qiao, Baoxiang Wang, Xiangfeng Wang, Bo Jin, Hongyuan Zha
Date: 2023-05-18 00:00:00
Tasks: Decision Making, Diversity, Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Representation Learning, Task Planning

The difficulty of appropriately assigning credit is particularly heightened in cooperative MARL with sparse reward, due to the concurrent time and structural scales involved. Automatic subgoal generation (ASG) has recently emerged as a viable MARL approach inspired by utilizing subgoals in intrinsically motivated reinforcement learning. However, end-to-end learning of complex task planning from sparse rewards without prior knowledge, undoubtedly requires massive training samples. Moreover, the diversity-promoting nature of existing ASG methods can lead to the "over-representation" of subgoals, generating numerous spurious subgoals of limited relevance to the actual task reward and thus decreasing the sample efficiency of the algorithm. To address this problem and inspired by the disentangled representation learning, we propose a novel "disentangled" decision-making method, Semantically Aligned task decomposition in MARL (SAMA), that prompts pretrained language models with chain-of-thought that can suggest potential goals, provide suitable goal decomposition and subgoal allocation as well as self-reflection-based replanning. Additionally, SAMA incorporates language-grounded RL to train each agent's subgoal-conditioned policy. SAMA demonstrates considerable advantages in sample efficiency compared to state-of-the-art ASG methods, as evidenced by its performance on two challenging sparse-reward tasks, Overcooked and MiniRTS.
Quiver: Supporting GPUs for Low-Latency, High-Throughput GNN Serving with Workload Awareness
Authors: Zeyuan Tan, Xiulong Yuan, Congjie He, Man-Kit Sit, Guo Li, Xiaoze Liu, Baole Ai, Kai Zeng, Peter Pietzuch, Luo Mai
Date: 2023-05-18 00:00:00
Tasks: CPU, GPU, Graph Sampling

Systems for serving inference requests on graph neural networks (GNN) must combine low latency with high throughout, but they face irregular computation due to skew in the number of sampled graph nodes and aggregated GNN features. This makes it challenging to exploit GPUs effectively: using GPUs to sample only a few graph nodes yields lower performance than CPU-based sampling; and aggregating many features exhibits high data movement costs between GPUs and CPUs. Therefore, current GNN serving systems use CPUs for graph sampling and feature aggregation, limiting throughput. We describe Quiver, a distributed GPU-based GNN serving system with low-latency and high-throughput. Quiver's key idea is to exploit workload metrics for predicting the irregular computation of GNN requests, and governing the use of GPUs for graph sampling and feature aggregation: (1) for graph sampling, Quiver calculates the probabilistic sampled graph size, a metric that predicts the degree of parallelism in graph sampling. Quiver uses this metric to assign sampling tasks to GPUs only when the performance gains surpass CPU-based sampling; and (2) for feature aggregation, Quiver relies on the feature access probability to decide which features to partition and replicate across a distributed GPU NUMA topology. We show that Quiver achieves up to 35 times lower latency with an 8 times higher throughput compared to state-of-the-art GNN approaches (DGL and PyG).
Large Language Models can be Guided to Evade AI-Generated Text Detection
Authors: Ning Lu, Shengcai Liu, Rui He, Qi Wang, Yew-Soon Ong, Ke Tang
Date: 2023-05-18 00:00:00
Tasks: Question Answering, Text Detection

Large language models (LLMs) have shown remarkable performance in various tasks and have been extensively utilized by the public. However, the increasing concerns regarding the misuse of LLMs, such as plagiarism and spamming, have led to the development of multiple detectors, including fine-tuned classifiers and statistical methods. In this study, we equip LLMs with prompts, rather than relying on an external paraphraser, to evaluate the vulnerability of these detectors. We propose a novel Substitution-based In-Context example Optimization method (SICO) to automatically construct prompts for evading the detectors. SICO is cost-efficient as it requires only 40 human-written examples and a limited number of LLM inferences to generate a prompt. Moreover, once a task-specific prompt has been constructed, it can be universally used against a wide range of detectors. Extensive experiments across three real-world tasks demonstrate that SICO significantly outperforms the paraphraser baselines and enables GPT-3.5 to successfully evade six detectors, decreasing their AUC by 0.5 on average. Furthermore, a comprehensive human evaluation show that the SICO-generated text achieves human-level readability and task completion rates, while preserving high imperceptibility. Finally, we propose an ensemble approach to enhance the robustness of detectors against SICO attack. The code is publicly available at https://github.com/ColinLu50/Evade-GPT-Detector.
Non-deterministic approximation operators: ultimate operators, semi-equilibrium semantics and aggregates (full version)
Authors: Jesse Heyninck, Bart Bogaerts
Date: 2023-05-18 00:00:00

Approximation fixpoint theory (AFT) is an abstract and general algebraic framework for studying the semantics of non-monotonic logics. In recent work, AFT was generalized to non-deterministic operators, i.e.\ operators whose range are sets of elements rather than single elements. In this paper, we make three further contributions to non-deterministic AFT: (1) we define and study ultimate approximations of non-deterministic operators, (2) we give an algebraic formulation of the semi-equilibrium semantics by Amendola, et al., and (3) we generalize the characterisations of disjunctive logic programs to disjunctive logic programs with aggregates.
X-IQE: eXplainable Image Quality Evaluation for Text-to-Image Generation with Visual Large Language Models
Authors: Yixiong Chen, Li Liu, Chris Ding
Date: 2023-05-18 00:00:00
Tasks: Benchmarking, Image Generation, Text to Image Generation, Text-to-Image Generation

This paper introduces a novel explainable image quality evaluation approach called X-IQE, which leverages visual large language models (LLMs) to evaluate text-to-image generation methods by generating textual explanations. X-IQE utilizes a hierarchical Chain of Thought (CoT) to enable MiniGPT-4 to produce self-consistent, unbiased texts that are highly correlated with human evaluation. It offers several advantages, including the ability to distinguish between real and generated images, evaluate text-image alignment, and assess image aesthetics without requiring model training or fine-tuning. X-IQE is more cost-effective and efficient compared to human evaluation, while significantly enhancing the transparency and explainability of deep image quality evaluation models. We validate the effectiveness of our method as a benchmark using images generated by prevalent diffusion models. X-IQE demonstrates similar performance to state-of-the-art (SOTA) evaluation methods on COCO Caption, while overcoming the limitations of previous evaluation models on DrawBench, particularly in handling ambiguous generation prompts and text recognition in generated images. Project website: https://github.com/Schuture/Benchmarking-Awesome-Diffusion-Models
Uncertainty Quantification in Deep Neural Networks through Statistical Inference on Latent Space
Authors: Luigi Sbailò, Luca M. Ghiringhelli
Date: 2023-05-18 00:00:00
Tasks: Uncertainty Quantification

Uncertainty-quantification methods are applied to estimate the confidence of deep-neural-networks classifiers over their predictions. However, most widely used methods are known to be overconfident. We address this problem by developing an algorithm that exploits the latent-space representation of data points fed into the network, to assess the accuracy of their prediction. Using the latent-space representation generated by the fraction of training set that the network classifies correctly, we build a statistical model that is able to capture the likelihood of a given prediction. We show on a synthetic dataset that commonly used methods are mostly overconfident. Overconfidence occurs also for predictions made on data points that are outside the distribution that generated the training data. In contrast, our method can detect such out-of-distribution data points as inaccurately predicted, thus aiding in the automatic detection of outliers.
AIwriting: Relations Between Image Generation and Digital Writing
Authors: Scott Rettberg, Talan Memmott, Jill Walker Rettberg, Jason Nelson, Patrick Lichty
Date: 2023-05-18 00:00:00
Tasks: Image Generation, Text Generation, Text to Image Generation, Text-to-Image Generation

During 2022, both transformer-based AI text generation sys-tems such as GPT-3 and AI text-to-image generation systems such as DALL-E 2 and Stable Diffusion made exponential leaps forward and are unquestionably altering the fields of digital art and electronic literature. In this panel a group of electronic literature authors and theorists consider new oppor-tunities for human creativity presented by these systems and present new works have produced during the past year that specifically address these systems as environments for literary expressions that are translated through iterative interlocutive processes into visual representations. The premise that binds these presentations is that these systems and the works gener-ated must be considered from a literary perspective, as they originate in human writing. In works ranging from a visual memoir of the personal experience of a health crisis, to interac-tive web comics, to architectures based on abstract poetic language, to political satire, four artists explore the capabili-ties of these writing environments for new genres of literary artist practice, while a digital culture theorist considers the origins and effects of the particular training datasets of human language and images on which these new hybrid forms are based.