pwc-archive/papers-with-abstracts huggingface dataset:
Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features
Authors: Taekyung Kim, Hojin Lee, Wonsuk Lee
Date: 2022-07-16 00:00:00
Tasks: Autonomous Driving, Friction

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear and complex dynamics under various environments. On the other hand, neural network models have been widely employed in this domain, demonstrating powerful function approximation capabilities. However, these black-box learning strategies completely abandon the existing knowledge of well-known physics. In this paper, we seamlessly combine deep learning with a fully differentiable physics model to endow the neural network with available prior knowledge. The proposed model shows better generalization performance than the vanilla neural network model by a large margin. We also show that the latent features of our model can accurately represent lateral tire forces without the need for any additional training. Lastly, We develop a risk-aware model predictive controller using proprioceptive information derived from the latent features. We validate our idea in two autonomous driving tasks under unknown friction, outperforming the baseline control framework.
Mutual Adaptive Reasoning for Monocular 3D Multi-Person Pose Estimation
Authors: Juze Zhang, Jingya Wang, Ye Shi, Fei Gao, Lan Xu, Jingyi Yu
Date: 2022-07-16 00:00:00
Tasks: 3D Human Pose Estimation, 3D Multi-Person Pose Estimation, Depth Estimation, Multi-Person Pose Estimation, Pose Estimation, Representation Learning

Inter-person occlusion and depth ambiguity make estimating the 3D poses of monocular multiple persons as camera-centric coordinates a challenging problem. Typical top-down frameworks suffer from high computational redundancy with an additional detection stage. By contrast, the bottom-up methods enjoy low computational costs as they are less affected by the number of humans. However, most existing bottom-up methods treat camera-centric 3D human pose estimation as two unrelated subtasks: 2.5D pose estimation and camera-centric depth estimation. In this paper, we propose a unified model that leverages the mutual benefits of both these subtasks. Within the framework, a robust structured 2.5D pose estimation is designed to recognize inter-person occlusion based on depth relationships. Additionally, we develop an end-to-end geometry-aware depth reasoning method that exploits the mutual benefits of both 2.5D pose and camera-centric root depths. This method first uses 2.5D pose and geometry information to infer camera-centric root depths in a forward pass, and then exploits the root depths to further improve representation learning of 2.5D pose estimation in a backward pass. Further, we designed an adaptive fusion scheme that leverages both visual perception and body geometry to alleviate inherent depth ambiguity issues. Extensive experiments demonstrate the superiority of our proposed model over a wide range of bottom-up methods. Our accuracy is even competitive with top-down counterparts. Notably, our model runs much faster than existing bottom-up and top-down methods.
An Experimental Evaluation of Machine Learning Training on a Real Processing-in-Memory System
Authors: Juan Gómez-Luna, Yuxin Guo, Sylvan Brocard, Julien Legriel, Remy Cimadomo, Geraldo F. Oliveira, Gagandeep Singh, Onur Mutlu
Date: 2022-07-16 00:00:00
Tasks: Clustering, CPU, GPU, regression

Training machine learning (ML) algorithms is a computationally intensive process, which is frequently memory-bound due to repeatedly accessing large training datasets. As a result, processor-centric systems (e.g., CPU, GPU) suffer from costly data movement between memory units and processing units, which consumes large amounts of energy and execution cycles. Memory-centric computing systems, i.e., with processing-in-memory (PIM) capabilities, can alleviate this data movement bottleneck. Our goal is to understand the potential of modern general-purpose PIM architectures to accelerate ML training. To do so, we (1) implement several representative classic ML algorithms (namely, linear regression, logistic regression, decision tree, K-Means clustering) on a real-world general-purpose PIM architecture, (2) rigorously evaluate and characterize them in terms of accuracy, performance and scaling, and (3) compare to their counterpart implementations on CPU and GPU. Our evaluation on a real memory-centric computing system with more than 2500 PIM cores shows that general-purpose PIM architectures can greatly accelerate memory-bound ML workloads, when the necessary operations and datatypes are natively supported by PIM hardware. For example, our PIM implementation of decision tree is $27\times$ faster than a state-of-the-art CPU version on an 8-core Intel Xeon, and $1.34\times$ faster than a state-of-the-art GPU version on an NVIDIA A100. Our K-Means clustering on PIM is $2.8\times$ and $3.2\times$ than state-of-the-art CPU and GPU versions, respectively. To our knowledge, our work is the first one to evaluate ML training on a real-world PIM architecture. We conclude with key observations, takeaways, and recommendations that can inspire users of ML workloads, programmers of PIM architectures, and hardware designers & architects of future memory-centric computing systems.
On the Importance of Hyperparameters and Data Augmentation for Self-Supervised Learning
Authors: Diane Wagner, Fabio Ferreira, Danny Stoll, Robin Tibor Schirrmeister, Samuel Müller, Frank Hutter
Date: 2022-07-16 00:00:00
Tasks: Bayesian Optimization, Data Augmentation, Linear evaluation, Self-Supervised Learning

Self-Supervised Learning (SSL) has become a very active area of Deep Learning research where it is heavily used as a pre-training method for classification and other tasks. However, the rapid pace of advancements in this area comes at a price: training pipelines vary significantly across papers, which presents a potentially crucial confounding factor. Here, we show that, indeed, the choice of hyperparameters and data augmentation strategies can have a dramatic impact on performance. To shed light on these neglected factors and help maximize the power of SSL, we hyperparameterize these components and optimize them with Bayesian optimization, showing improvements across multiple datasets for the SimSiam SSL approach. Realizing the importance of data augmentations for SSL, we also introduce a new automated data augmentation algorithm, GroupAugment, which considers groups of augmentations and optimizes the sampling across groups. In contrast to algorithms designed for supervised learning, GroupAugment achieved consistently high linear evaluation accuracy across all datasets we considered. Overall, our results indicate the importance and likely underestimated role of data augmentation for SSL.
SenseFi: A Library and Benchmark on Deep-Learning-Empowered WiFi Human Sensing
Authors: Jianfei Yang, Xinyan Chen, Dazhuo Wang, Han Zou, Chris Xiaoxuan Lu, Sumei Sun, Lihua Xie
Date: 2022-07-16 00:00:00
Tasks: Activity Recognition, Deep Learning, Gesture Recognition, Human Activity Recognition

WiFi sensing has been evolving rapidly in recent years. Empowered by propagation models and deep learning methods, many challenging applications are realized such as WiFi-based human activity recognition and gesture recognition. However, in contrast to deep learning for visual recognition and natural language processing, no sufficiently comprehensive public benchmark exists. In this paper, we review the recent progress on deep learning enabled WiFi sensing, and then propose a benchmark, SenseFi, to study the effectiveness of various deep learning models for WiFi sensing. These advanced models are compared in terms of distinct sensing tasks, WiFi platforms, recognition accuracy, model size, computational complexity, feature transferability, and adaptability of unsupervised learning. It is also regarded as a tutorial for deep learning based WiFi sensing, starting from CSI hardware platform to sensing algorithms. The extensive experiments provide us with experiences in deep model design, learning strategy skills and training techniques for real-world applications. To the best of our knowledge, this is the first benchmark with an open-source library for deep learning in WiFi sensing research. The benchmark codes are available at https://github.com/xyanchen/WiFi-CSI-Sensing-Benchmark.
The Lottery Ticket Hypothesis for Self-attention in Convolutional Neural Network
Authors: Zhongzhan Huang, Senwei Liang, Mingfu Liang, wei he, Haizhao Yang, Liang Lin
Date: 2022-07-16 00:00:00
Tasks: Crowd Counting

Recently many plug-and-play self-attention modules (SAMs) are proposed to enhance the model generalization by exploiting the internal information of deep convolutional neural networks (CNNs). In general, previous works ignore where to plug in the SAMs since they connect the SAMs individually with each block of the entire CNN backbone for granted, leading to incremental computational cost and the number of parameters with the growth of network depth. However, we empirically find and verify some counterintuitive phenomena that: (a) Connecting the SAMs to all the blocks may not always bring the largest performance boost, and connecting to partial blocks would be even better; (b) Adding the SAMs to a CNN may not always bring a performance boost, and instead it may even harm the performance of the original CNN backbone. Therefore, we articulate and demonstrate the Lottery Ticket Hypothesis for Self-attention Networks: a full self-attention network contains a subnetwork with sparse self-attention connections that can (1) accelerate inference, (2) reduce extra parameter increment, and (3) maintain accuracy. In addition to the empirical evidence, this hypothesis is also supported by our theoretical evidence. Furthermore, we propose a simple yet effective reinforcement-learning-based method to search the ticket, i.e., the connection scheme that satisfies the three above-mentioned conditions. Extensive experiments on widely-used benchmark datasets and popular self-attention networks show the effectiveness of our method. Besides, our experiments illustrate that our searched ticket has the capacity of transferring to some vision tasks, e.g., crowd counting and segmentation.
Class-Incremental Lifelong Learning in Multi-Label Classification
Authors: Kaile Du, Linyan Li, Fan Lyu, Fuyuan Hu, Zhenping Xia, Fenglei Xu
Date: 2022-07-16 00:00:00
Tasks: Classification, Lifelong learning, Multi-Label Classification, MUlTI-LABEL-ClASSIFICATION

Existing class-incremental lifelong learning studies only the data is with single-label, which limits its adaptation to multi-label data. This paper studies Lifelong Multi-Label (LML) classification, which builds an online class-incremental classifier in a sequential multi-label classification data stream. Training on the data with Partial Labels in LML classification may result in more serious Catastrophic Forgetting in old classes. To solve the problem, the study proposes an Augmented Graph Convolutional Network (AGCN) with a built Augmented Correlation Matrix (ACM) across sequential partial-label tasks. The results of two benchmarks show that the method is effective for LML classification and reducing forgetting.
ChronosPerseus: Randomized Point-based Value Iteration with Importance Sampling for POSMDPs
Authors: Richard Kohar, François Rivest, Alain Gosselin
Date: 2022-07-16 00:00:00
Tasks: Decision Making

In reinforcement learning, agents have successfully used environments modeled with Markov decision processes (MDPs). However, in many problem domains, an agent may suffer from noisy observations or random times until its subsequent decision. While partially observable Markov decision processes (POMDPs) have dealt with noisy observations, they have yet to deal with the unknown time aspect. Of course, one could discretize the time, but this leads to Bellman's Curse of Dimensionality. To incorporate continuous sojourn-time distributions in the agent's decision making, we propose that partially observable semi-Markov decision processes (POSMDPs) can be helpful in this regard. We extend \citet{Spaan2005a} randomized point-based value iteration (PBVI) \textsc{Perseus} algorithm used for POMDP to POSMDP by incorporating continuous sojourn time distributions and using importance sampling to reduce the solver complexity. We call this new PBVI algorithm with importance sampling for POSMDPs -- \textsc{ChronosPerseus}. This further allows for compressed complex POMDPs requiring temporal state information by moving this information into state sojourn time of a POMSDP. The second insight is that keeping a set of sampled times and weighting it by its likelihood can be used in a single backup; this helps further reduce the algorithm complexity. The solver also works on episodic and non-episodic problems. We conclude our paper with two examples, an episodic bus problem and a non-episodic maintenance problem.
Autonomously Untangling Long Cables
Authors: Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Date: 2022-07-16 00:00:00
Tasks: Management

Cables are ubiquitous in many settings and it is often useful to untangle them. However, cables are prone to self-occlusions and knots, making them difficult to perceive and manipulate. The challenge increases with cable length: long cables require more complex slack management to facilitate observability and reachability. In this paper, we focus on autonomously untangling cables up to 3 meters in length using a bilateral robot. We develop RGBD perception and motion primitives to efficiently untangle long cables and novel gripper jaws specialized for this task. We present Sliding and Grasping for Tangle Manipulation (SGTM), an algorithm that composes these primitives to iteratively untangle cables with success rates of 67% on isolated overhand and figure-eight knots and 50% on more complex configurations. Supplementary material, visualizations, and videos can be found at https://sites.google.com/view/rss-2022-untangling/home.
CARBEN: Composite Adversarial Robustness Benchmark
Authors: Lei Hsiung, Yun-Yun Tsai, Pin-Yu Chen, Tsung-Yi Ho
Date: 2022-07-16 00:00:00
Tasks: Adversarial Attack, Adversarial Robustness

Prior literature on adversarial attack methods has mainly focused on attacking with and defending against a single threat model, e.g., perturbations bounded in Lp ball. However, multiple threat models can be combined into composite perturbations. One such approach, composite adversarial attack (CAA), not only expands the perturbable space of the image, but also may be overlooked by current modes of robustness evaluation. This paper demonstrates how CAA's attack order affects the resulting image, and provides real-time inferences of different models, which will facilitate users' configuration of the parameters of the attack level and their rapid evaluation of model prediction. A leaderboard to benchmark adversarial robustness against CAA is also introduced.
Segment-level Metric Learning for Few-shot Bioacoustic Event Detection
Authors: Haohe Liu, Xubo Liu, Xinhao Mei, Qiuqiang Kong, Wenwu Wang, Mark D. Plumbley
Date: 2022-07-15 00:00:00
Tasks: Event Detection, Few-Shot Learning, Metric Learning, Model Optimization

Few-shot bioacoustic event detection is a task that detects the occurrence time of a novel sound given a few examples. Previous methods employ metric learning to build a latent space with the labeled part of different sound classes, also known as positive events. In this study, we propose a segment-level few-shot learning framework that utilizes both the positive and negative events during model optimization. Training with negative events, which are larger in volume than positive events, can increase the generalization ability of the model. In addition, we use transductive inference on the validation set during training for better adaptation to novel classes. We conduct ablation studies on our proposed method with different setups on input features, training data, and hyper-parameters. Our final system achieves an F-measure of 62.73 on the DCASE 2022 challenge task 5 (DCASE2022-T5) validation set, outperforming the performance of the baseline prototypical network 34.02 by a large margin. Using the proposed method, our submitted system ranks 2nd in DCASE2022-T5. The code of this paper is fully open-sourced at https://github.com/haoheliu/DCASE_2022_Task_5.
Anomalous behaviour in loss-gradient based interpretability methods
Authors: Vinod Subramanian, Siddharth Gururani, Emmanouil Benetos, Mark Sandler
Date: 2022-07-15 00:00:00
Tasks: Decision Making

Loss-gradients are used to interpret the decision making process of deep learning models. In this work, we evaluate loss-gradient based attribution methods by occluding parts of the input and comparing the performance of the occluded input to the original input. We observe that the occluded input has better performance than the original across the test dataset under certain conditions. Similar behaviour is observed in sound and image recognition tasks. We explore different loss-gradient attribution methods, occlusion levels and replacement values to explain the phenomenon of performance improvement under occlusion.
Do Not Sleep on Traditional Machine Learning: Simple and Interpretable Techniques Are Competitive to Deep Learning for Sleep Scoring
Authors: Jeroen Van Der Donckt, Jonas Van Der Donckt, Emiel Deprost, Nicolas Vandenbussche, Michael Rademaker, Gilles Vandewiele, Sofie Van Hoecke
Date: 2022-07-15 00:00:00
Tasks: Automatic Sleep Stage Classification, BIG-bench Machine Learning, Deep Learning, Multimodal Sleep Stage Detection, Sleep Stage Detection, Sleep Staging

Over the last few years, research in automatic sleep scoring has mainly focused on developing increasingly complex deep learning architectures. However, recently these approaches achieved only marginal improvements, often at the expense of requiring more data and more expensive training procedures. Despite all these efforts and their satisfactory performance, automatic sleep staging solutions are not widely adopted in a clinical context yet. We argue that most deep learning solutions for sleep scoring are limited in their real-world applicability as they are hard to train, deploy, and reproduce. Moreover, these solutions lack interpretability and transparency, which are often key to increase adoption rates. In this work, we revisit the problem of sleep stage classification using classical machine learning. Results show that competitive performance can be achieved with a conventional machine learning pipeline consisting of preprocessing, feature extraction, and a simple machine learning model. In particular, we analyze the performance of a linear model and a non-linear (gradient boosting) model. Our approach surpasses state-of-the-art (that uses the same data) on two public datasets: Sleep-EDF SC-20 (MF1 0.810) and Sleep-EDF ST (MF1 0.795), while achieving competitive results on Sleep-EDF SC-78 (MF1 0.775) and MASS SS3 (MF1 0.817). We show that, for the sleep stage scoring task, the expressiveness of an engineered feature vector is on par with the internally learned representations of deep learning models. This observation opens the door to clinical adoption, as a representative feature vector allows to leverage both the interpretability and successful track record of traditional machine learning models.
Bootstrap State Representation using Style Transfer for Better Generalization in Deep Reinforcement Learning
Authors: Md Masudur Rahman, Yexiang Xue
Date: 2022-07-15 00:00:00
Tasks: Data Augmentation, Deep Reinforcement Learning, Reinforcement Learning (RL), Style Transfer

Deep Reinforcement Learning (RL) agents often overfit the training environment, leading to poor generalization performance. In this paper, we propose Thinker, a bootstrapping method to remove adversarial effects of confounding features from the observation in an unsupervised way, and thus, it improves RL agents' generalization. Thinker first clusters experience trajectories into several clusters. These trajectories are then bootstrapped by applying a style transfer generator, which translates the trajectories from one cluster's style to another while maintaining the content of the observations. The bootstrapped trajectories are then used for policy learning. Thinker has wide applicability among many RL settings. Experimental results reveal that Thinker leads to better generalization capability in the Procgen benchmark environments compared to base algorithms and several data augmentation techniques.
HOME: High-Order Mixed-Moment-based Embedding for Representation Learning
Authors: Chuang Niu, Ge Wang
Date: 2022-07-15 00:00:00
Tasks: Linear evaluation, Representation Learning, Self-Supervised Learning, Vocal Bursts Intensity Prediction

Minimum redundancy among different elements of an embedding in a latent space is a fundamental requirement or major preference in representation learning to capture intrinsic informational structures. Current self-supervised learning methods minimize a pair-wise covariance matrix to reduce the feature redundancy and produce promising results. However, such representation features of multiple variables may contain the redundancy among more than two feature variables that cannot be minimized via the pairwise regularization. Here we propose the High-Order Mixed-Moment-based Embedding (HOME) strategy to reduce the redundancy between any sets of feature variables, which is to our best knowledge the first attempt to utilize high-order statistics/information in this context. Multivariate mutual information is minimum if and only if multiple variables are mutually independent, which suggests the necessary conditions of factorized mixed moments among multiple variables. Based on these statistical and information theoretic principles, our general HOME framework is presented for self-supervised representation learning. Our initial experiments show that a simple version in the form of a three-order HOME scheme already significantly outperforms the current two-order baseline method (i.e., Barlow Twins) in terms of the linear evaluation on representation features.