pwc-archive/papers-with-abstracts huggingface dataset:
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research
Authors: Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg
Date: 2022-04-21 00:00:00
Tasks: Benchmarking, Diversity, Imitation Learning

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution of control policies on physical robots, we present the first systematic benchmarking of fabric manipulation algorithms on physical hardware. We develop 4 novel learning-based algorithms that model expert actions, keypoints, reward functions, and dynamic motions, and we compare these against 4 learning-free and inverse dynamics algorithms on the task of folding a crumpled T-shirt with a single robot arm. The entire lifecycle of data collection, model training, and policy evaluation is performed remotely without physical access to the robot workcell. Results suggest a new algorithm combining imitation learning with analytic methods achieves 84% of human-level performance on the folding task. See https://sites.google.com/berkeley.edu/cloudfolding for all data, code, models, and supplemental material.
Revisiting Gaussian mixture critics in off-policy reinforcement learning: a sample-based approach
Authors: Bobak Shahriari, Abbas Abdolmaleki, Arunkumar Byravan, Abe Friesen, SiQi Liu, Jost Tobias Springenberg, Nicolas Heess, Matt Hoffman, Martin Riedmiller
Date: 2022-04-21 00:00:00
Tasks: continuous-control, Continuous Control, reinforcement-learning, Reinforcement Learning (RL)

Actor-critic algorithms that make use of distributional policy evaluation have frequently been shown to outperform their non-distributional counterparts on many challenging control tasks. Examples of this behavior include the D4PG and DMPO algorithms as compared to DDPG and MPO, respectively [Barth-Maron et al., 2018; Hoffman et al., 2020]. However, both agents rely on the C51 critic for value estimation.One major drawback of the C51 approach is its requirement of prior knowledge about the minimum andmaximum values a policy can attain as well as the number of bins used, which fixes the resolution ofthe distributional estimate. While the DeepMind control suite of tasks utilizes standardized rewards and episode lengths, thus enabling the entire suite to be solved with a single setting of these hyperparameters, this is often not the case. This paper revisits a natural alternative that removes this requirement, namelya mixture of Gaussians, and a simple sample-based loss function to train it in an off-policy regime. We empirically evaluate its performance on a broad range of continuous control tasks and demonstrate that it eliminates the need for these distributional hyperparameters and achieves state-of-the-art performance on a variety of challenging tasks (e.g. the humanoid, dog, quadruped, and manipulator domains). Finallywe provide an implementation in the Acme agent repository.
Handling Imbalanced Classification Problems With Support Vector Machines via Evolutionary Bilevel Optimization
Authors: Alejandro Rosales-Pérez, Salvador García, Francisco Herrera
Date: 2022-04-21 00:00:00
Tasks: Bilevel Optimization, Binary Classification, Classification, imbalanced classification

Support vector machines (SVMs) are popular learning algorithms to deal with binary classification problems. They traditionally assume equal misclassification costs for each class; however, real-world problems may have an uneven class distribution. This article introduces EBCS-SVM: evolutionary bilevel cost-sensitive SVMs. EBCS-SVM handles imbalanced classification problems by simultaneously learning the support vectors and optimizing the SVM hyperparameters, which comprise the kernel parameter and misclassification costs. The resulting optimization problem is a bilevel problem, where the lower level determines the support vectors and the upper level the hyperparameters. This optimization problem is solved using an evolutionary algorithm (EA) at the upper level and sequential minimal optimization (SMO) at the lower level. These two methods work in a nested fashion, that is, the optimal support vectors help guide the search of the hyperparameters, and the lower level is initialized based on previous successful solutions. The proposed method is assessed using 70 datasets of imbalanced classification and compared with several state-of-the-art methods. The experimental results, supported by a Bayesian test, provided evidence of the effectiveness of EBCS-SVM when working with highly imbalanced datasets.
Learning spatiotemporal features from incomplete data for traffic flow prediction using hybrid deep neural networks
Authors: Mehdi Mehdipour Ghazi, Amin Ramezani, Mehdi Siahi, Mostafa Mehdipour Ghazi
Date: 2022-04-21 00:00:00
Tasks: Imputation, Missing Values, Traffic Prediction

Urban traffic flow prediction using data-driven models can play an important role in route planning and preventing congestion on highways. These methods utilize data collected from traffic recording stations at different timestamps to predict the future status of traffic. Hence, data collection, transmission, storage, and extraction techniques can have a significant impact on the performance of the traffic flow model. On the other hand, a comprehensive database can provide the opportunity for using complex, yet reliable predictive models such as deep learning methods. However, most of these methods have difficulties in handling missing values and outliers. This study focuses on hybrid deep neural networks to predict traffic flow in the California Freeway Performance Measurement System (PeMS) with missing values. The proposed networks are based on a combination of recurrent neural networks (RNNs) to consider the temporal dependencies in the data recorded in each station and convolutional neural networks (CNNs) to take the spatial correlations in the adjacent stations into account. Various architecture configurations with series and parallel connections are considered based on RNNs and CNNs, and several prevalent data imputation techniques are used to examine the robustness of the hybrid networks to missing values. A comprehensive analysis performed on two different datasets from PeMS indicates that the proposed series-parallel hybrid network with the mean imputation technique achieves the lowest error in predicting the traffic flow and is robust to missing values up until 21% missing ratio in both complete and incomplete training data scenarios when applied to an incomplete test data.
Features of Explainability: How users understand counterfactual and causal explanations for categorical and continuous features in XAI
Authors: Greta Warren, Mark T Keane, Ruth M J Byrne
Date: 2022-04-21 00:00:00
Tasks: counterfactual, Explainable Artificial Intelligence (XAI)

Counterfactual explanations are increasingly used to address interpretability, recourse, and bias in AI decisions. However, we do not know how well counterfactual explanations help users to understand a systems decisions, since no large scale user studies have compared their efficacy to other sorts of explanations such as causal explanations (which have a longer track record of use in rule based and decision tree models). It is also unknown whether counterfactual explanations are equally effective for categorical as for continuous features, although current methods assume they do. Hence, in a controlled user study with 127 volunteer participants, we tested the effects of counterfactual and causal explanations on the objective accuracy of users predictions of the decisions made by a simple AI system, and participants subjective judgments of satisfaction and trust in the explanations. We discovered a dissociation between objective and subjective measures: counterfactual explanations elicit higher accuracy of predictions than no-explanation control descriptions but no higher accuracy than causal explanations, yet counterfactual explanations elicit greater satisfaction and trust than causal explanations. We also found that users understand explanations referring to categorical features more readily than those referring to continuous features. We discuss the implications of these findings for current and future counterfactual methods in XAI.
Working memory inspired hierarchical video decomposition with transformative representations
Authors: Binjie Qin, Haohao Mao, Ruipeng Zhang, Yueqi Zhu, Song Ding, Xu Chen
Date: 2022-04-21 00:00:00
Tasks: Computational Efficiency, Retrieval, Rolling Shutter Correction

Video decomposition is very important to extract moving foreground objects from complex backgrounds in computer vision, machine learning, and medical imaging, e.g., extracting moving contrast-filled vessels from the complex and noisy backgrounds of X-ray coronary angiography (XCA). However, the challenges caused by dynamic backgrounds, overlapping heterogeneous environments and complex noises still exist in video decomposition. To solve these problems, this study is the first to introduce a flexible visual working memory model in video decomposition tasks to provide interpretable and high-performance hierarchical deep architecture, integrating the transformative representations between sensory and control layers from the perspective of visual and cognitive neuroscience. Specifically, robust PCA unrolling networks acting as a structure-regularized sensor layer decompose XCA into sparse/low-rank structured representations to separate moving contrast-filled vessels from noisy and complex backgrounds. Then, patch recurrent convolutional LSTM networks with a backprojection module embody unstructured random representations of the control layer in working memory, recurrently projecting spatiotemporally decomposed nonlocal patches into orthogonal subspaces for heterogeneous vessel retrieval and interference suppression. This video decomposition deep architecture effectively restores the heterogeneous profiles of intensity and the geometries of moving objects against the complex background interferences. Experiments show that the proposed method significantly outperforms state-of-the-art methods in accurate moving contrast-filled vessel extraction with excellent flexibility and computational efficiency.
R2-Trans:Fine-Grained Visual Categorization with Redundancy Reduction
Authors: Yu Wang, Shuo Ye, Shujian Yu, Xinge You
Date: 2022-04-21 00:00:00
Tasks: Fine-Grained Visual Categorization

Fine-grained visual categorization (FGVC) aims to discriminate similar subcategories, whose main challenge is the large intraclass diversities and subtle inter-class differences. Existing FGVC methods usually select discriminant regions found by a trained model, which is prone to neglect other potential discriminant information. On the other hand, the massive interactions between the sequence of image patches in ViT make the resulting class-token contain lots of redundant information, which may also impacts FGVC performance. In this paper, we present a novel approach for FGVC, which can simultaneously make use of partial yet sufficient discriminative information in environmental cues and also compress the redundant information in class-token with respect to the target. Specifically, our model calculates the ratio of high-weight regions in a batch, adaptively adjusts the masking threshold and achieves moderate extraction of background information in the input space. Moreover, we also use the Information Bottleneck~(IB) approach to guide our network to learn a minimum sufficient representations in the feature space. Experimental results on three widely-used benchmark datasets verify that our approach can achieve outperforming performance than other state-of-the-art approaches and baseline models.
Resilient robot teams: a review integrating decentralised control, change-detection, and learning
Authors: David M. Bossens, Sarvapali Ramchurn, Danesh Tarapore
Date: 2022-04-21 00:00:00
Tasks: Change Detection, Fault Detection, Multi-agent Reinforcement Learning, Reinforcement Learning (RL)

Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent findings: Exogenous fault detection methods can provide a generic detection or a specific diagnosis with a recovery solution. Robot teams can perform active and distributed sensing for detecting changes in the environment, including identifying and tracking dynamic anomalies, as well as collaboratively mapping dynamic environments. Resilient methods for decentralised control have been developed in learning perception-action-communication loops, multi-agent reinforcement learning, embodied evolution, offline evolution with online adaptation, explicit task allocation, and stigmergy in swarm robotics. Summary: Remaining challenges for resilient robot teams are integrating change-detection and trial-and-error learning methods, obtaining reliable performance evaluations under constrained evaluation time, improving the safety of resilient robot teams, theoretical results demonstrating rapid adaptation to given environmental perturbations, and designing realistic and compelling case studies.
DropMessage: Unifying Random Dropping for Graph Neural Networks
Authors: Taoran Fang, Zhiqing Xiao, Chunping Wang, Jiarong Xu, Xuan Yang, Yang Yang
Date: 2022-04-21 00:00:00
Tasks: Graph Representation Learning, Representation Learning

Graph Neural Networks (GNNs) are powerful tools for graph representation learning. Despite their rapid development, GNNs also face some challenges, such as over-fitting, over-smoothing, and non-robustness. Previous works indicate that these problems can be alleviated by random dropping methods, which integrate augmented data into models by randomly masking parts of the input. However, some open problems of random dropping on GNNs remain to be solved. First, it is challenging to find a universal method that are suitable for all cases considering the divergence of different datasets and models. Second, augmented data introduced to GNNs causes the incomplete coverage of parameters and unstable training process. Third, there is no theoretical analysis on the effectiveness of random dropping methods on GNNs. In this paper, we propose a novel random dropping method called DropMessage, which performs dropping operations directly on the propagated messages during the message-passing process. More importantly, we find that DropMessage provides a unified framework for most existing random dropping methods, based on which we give theoretical analysis of their effectiveness. Furthermore, we elaborate the superiority of DropMessage: it stabilizes the training process by reducing sample variance; it keeps information diversity from the perspective of information theory, enabling it become a theoretical upper bound of other methods. To evaluate our proposed method, we conduct experiments that aims for multiple tasks on five public datasets and two industrial datasets with various backbone models. The experimental results show that DropMessage has the advantages of both effectiveness and generalization, and can significantly alleviate the problems mentioned above.
Standing on the Shoulders of Giant Frozen Language Models
Authors: Yoav Levine, Itay Dalmedigos, Ori Ram, Yoel Zeldes, Daniel Jannai, Dor Muhlgay, Yoni Osin, Opher Lieber, Barak Lenz, Shai Shalev-Shwartz, Amnon Shashua, Kevin Leyton-Brown, Yoav Shoham
Date: 2022-04-21 00:00:00

Huge pretrained language models (LMs) have demonstrated surprisingly good zero-shot capabilities on a wide variety of tasks. This gives rise to the appealing vision of a single, versatile model with a wide range of functionalities across disparate applications. However, current leading techniques for leveraging a "frozen" LM -- i.e., leaving its weights untouched -- still often underperform fine-tuning approaches which modify these weights in a task-dependent way. Those, in turn, suffer forgetfulness and compromise versatility, suggesting a tradeoff between performance and versatility. The main message of this paper is that current frozen-model techniques such as prompt tuning are only the tip of the iceberg, and more powerful methods for leveraging frozen LMs can do just as well as fine tuning in challenging domains without sacrificing the underlying model's versatility. To demonstrate this, we introduce three novel methods for leveraging frozen models: input-dependent prompt tuning, frozen readers, and recursive LMs, each of which vastly improves on current frozen-model approaches. Indeed, some of our methods even outperform fine-tuning approaches in domains currently dominated by the latter. The computational cost of each method is higher than that of existing frozen model methods, but still negligible relative to a single pass through a huge frozen LM. Each of these methods constitutes a meaningful contribution in its own right, but by presenting these contributions together we aim to convince the reader of a broader message that goes beyond the details of any given method: that frozen models have untapped potential and that fine-tuning is often unnecessary.
Path-Specific Objectives for Safer Agent Incentives
Authors: Sebastian Farquhar, Ryan Carey, Tom Everitt
Date: 2022-04-21 00:00:00

We present a general framework for training safe agents whose naive incentives are unsafe. As an example, manipulative or deceptive behaviour can improve rewards but should be avoided. Most approaches fail here: agents maximize expected return by any means necessary. We formally describe settings with 'delicate' parts of the state which should not be used as a means to an end. We then train agents to maximize the causal effect of actions on the expected return which is not mediated by the delicate parts of state, using Causal Influence Diagram analysis. The resulting agents have no incentive to control the delicate state. We further show how our framework unifies and generalizes existing proposals.
MedFACT: Modeling Medical Feature Correlations in Patient Health Representation Learning via Feature Clustering
Authors: Xinyu Ma, Xu Chu, Yasha Wang, Hailong Yu, Liantao Ma, Wen Tang, Junfeng Zhao
Date: 2022-04-21 00:00:00
Tasks: Clustering, Representation Learning

In healthcare prediction tasks, it is essential to exploit the correlations between medical features and learn better patient health representations. Existing methods try to estimate feature correlations only from data, or increase the quality of estimation by introducing task-specific medical knowledge. However, such methods either are difficult to estimate the feature correlations due to insufficient training samples, or cannot be generalized to other tasks due to reliance on specific knowledge. There are medical research revealing that not all the medical features are strongly correlated. Thus, to address the issues, we expect to group up strongly correlated features and learn feature correlations in a group-wise manner to reduce the learning complexity without losing generality. In this paper, we propose a general patient health representation learning framework MedFACT. We estimate correlations via measuring similarity between temporal patterns of medical features with kernel methods, and cluster features with strong correlations into groups. The feature group is further formulated as a correlation graph, and we employ graph convolutional networks to conduct group-wise feature interactions for better representation learning. Experiments on two real-world datasets demonstrate the superiority of MedFACT. The discovered medical findings are also confirmed by literature, providing valuable medical insights and explanations.
Revisiting initial sets in abstract argumentation
Authors: Matthias Thimm
Date: 2022-04-21 00:00:00
Tasks: Abstract Argumentation

We revisit the notion of initial sets by Xu and Cayrol, i.e., non-empty minimal admissible sets in abstract argumentation frameworks. Initial sets are a simple concept for analysing conflicts in an abstract argumentation framework and to explain why certain arguments can be accepted. We contribute with new insights on the structure of initial sets and devise a simple non-deterministic construction principle for any admissible set, based on iterative selection of initial sets of the original framework and its induced reducts. In particular, we characterise many existing admissibility-based semantics via this construction principle, thus providing a constructive explanation on the structure of extensions. We also investigate certain problems related to initial sets with respect to their computational complexity.
Using consumer feedback from location-based services in PoI recommender systems for people with autism
Authors: Noemi Mauro, Liliana Ardissono, Stefano Cocomazzi, Federica Cena
Date: 2022-04-21 00:00:00
Tasks: Recommendation Systems, Retrieval

When suggesting Points of Interest (PoIs) to people with autism spectrum disorders, we must take into account that they have idiosyncratic sensory aversions to noise, brightness and other features that influence the way they perceive places. Therefore, recommender systems must deal with these aspects. However, the retrieval of sensory data about PoIs is a real challenge because most geographical information servers fail to provide this data. Moreover, ad-hoc crowdsourcing campaigns do not guarantee to cover large geographical areas and lack sustainability. Thus, we investigate the extraction of sensory data about places from the consumer feedback collected by location-based services, on which people spontaneously post reviews from all over the world. Specifically, we propose a model for the extraction of sensory data from the reviews about PoIs, and its integration in recommender systems to predict item ratings by considering both user preferences and compatibility information. We tested our approach with autistic and neurotypical people by integrating it into diverse recommendation algorithms. For the test, we used a dataset built in a crowdsourcing campaign and another one extracted from TripAdvisor reviews. The results show that the algorithms obtain the highest accuracy and ranking capability when using TripAdvisor data. Moreover, by jointly using these two datasets, the algorithms further improve their performance. These results encourage the use of consumer feedback as a reliable source of information about places in the development of inclusive recommender systems.
Planning for Temporally Extended Goals in Pure-Past Linear Temporal Logic: A Polynomial Reduction to Standard Planning
Authors: Giuseppe De Giacomo, Marco Favorito, Francesco Fuggitti
Date: 2022-04-21 00:00:00
Tasks: Translation

We study temporally extended goals expressed in Pure-Past LTL (PPLTL). PPLTL is particularly interesting for expressing goals since it allows to express sophisticated tasks as in the Formal Methods literature, while the worst-case computational complexity of Planning in both deterministic and nondeterministic domains (FOND) remains the same as for classical reachability goals. However, while the theory of planning for PPLTL goals is well understood, practical tools have not been specifically investigated. In this paper, we make a significant leap forward in the construction of actual tools to handle PPLTL goals. We devise a technique to polynomially translate planning for PPLTL goals into standard planning. We show the formal correctness of the translation, its complexity, and its practical effectiveness through some comparative experiments. As a result, our translation enables state-of-the-art tools, such as FD or MyND, to handle PPLTL goals seamlessly, maintaining the impressive performances they have for classical reachability goals.