pwc-archive/papers-with-abstracts huggingface dataset:
Robot Behavior-Tree-Based Task Generation with Large Language Models
Authors: Yue Cao, C. S. George Lee
Date: 2023-02-24 00:00:00

Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for robot end-users, thus there is a need for investigating automatic behavior-tree-based task generation. Prior behavior-tree-based task generation approaches focus on fixed primitive tasks and lack generalizability to new task domains. To cope with this issue, we propose a novel behavior-tree-based task generation approach that utilizes state-of-the-art large language models. We propose a Phase-Step prompt design that enables a hierarchical-structured robot task generation and further integrate it with behavior-tree-embedding-based search to set up the appropriate prompt. In this way, we enable an automatic and cross-domain behavior-tree task generation. Our behavior-tree-based task generation approach does not require a set of pre-defined primitive tasks. End-users only need to describe an abstract desired task and our proposed approach can swiftly generate the corresponding behavior tree. A full-process case study is provided to demonstrate our proposed approach. An ablation study is conducted to evaluate the effectiveness of our Phase-Step prompts. Assessment on Phase-Step prompts and the limitation of large language models are presented and discussed.
Imputing Knowledge Tracing Data with Subject-Based Training via LSTM Variational Autoencoders Frameworks
Authors: Jia Tracy Shen, Dongwon Lee
Date: 2023-02-24 00:00:00
Tasks: Knowledge Tracing

The issue of missing data poses a great challenge on boosting performance and application of deep learning models in the {\em Knowledge Tracing} (KT) problem. However, there has been the lack of understanding on the issue in the literature. %are not sufficient studies tackling this problem. In this work, to address this challenge, we adopt a subject-based training method to split and impute data by student IDs instead of row number splitting which we call non-subject based training. The benefit of subject-based training can retain the complete sequence for each student and hence achieve efficient training. Further, we leverage two existing deep generative frameworks, namely variational Autoencoders (VAE) and Longitudinal Variational Autoencoders (LVAE) frameworks and build LSTM kernels into them to form LSTM-VAE and LSTM LVAE (noted as VAE and LVAE for simplicity) models to generate quality data. In LVAE, a Gaussian Process (GP) model is trained to disentangle the correlation between the subject (i.e., student) descriptor information (e.g., age, gender) and the latent space. The paper finally compare the model performance between training the original data and training the data imputed with generated data from non-subject based model VAE-NS and subject-based training models (i.e., VAE and LVAE). We demonstrate that the generated data from LSTM-VAE and LSTM-LVAE can boost the original model performance by about 50%. Moreover, the original model just needs 10% more student data to surpass the original performance if the prediction model is small and 50\% more data if the prediction model is large with our proposed frameworks.
MASS: Mobility-Aware Sensor Scheduling of Cooperative Perception for Connected Automated Driving
Authors: Yukuan Jia, Ruiqing Mao, Yuxuan Sun, Sheng Zhou, Zhisheng Niu
Date: 2023-02-25 00:00:00
Tasks: Scheduling

Timely and reliable environment perception is fundamental to safe and efficient automated driving. However, the perception of standalone intelligence inevitably suffers from occlusions. A new paradigm, Cooperative Perception (CP), comes to the rescue by sharing sensor data from another perspective, i.e., from a cooperative vehicle (CoV). Due to the limited communication bandwidth, it is essential to schedule the most beneficial CoV, considering both the viewpoints and communication quality. Existing methods rely on the exchange of meta-information, such as visibility maps, to predict the perception gains from nearby vehicles, which induces extra communication and processing overhead. In this paper, we propose a new approach, learning while scheduling, for distributed scheduling of CP. The solution enables CoVs to predict the perception gains using past observations, leveraging the temporal continuity of perception gains. Specifically, we design a mobility-aware sensor scheduling (MASS) algorithm based on the restless multi-armed bandit (RMAB) theory to maximize the expected average perception gain. An upper bound on the expected average learning regret is proved, which matches the lower bound of any online algorithm up to a logarithmic factor. Extensive simulations are carried out on realistic traffic traces. The results show that the proposed MASS algorithm achieves the best average perception gain and improves recall by up to 4.2 percentage points compared to other learning-based algorithms. Finally, a case study on a trace of LiDAR frames qualitatively demonstrates the superiority of adaptive exploration, the key element of the MASS algorithm.
Linking Streets in OpenStreetMap to Persons in Wikidata
Authors: Daria Gurtovoy, Simon Gottschalk
Date: 2023-02-24 00:00:00
Tasks: Knowledge Graphs

Geographic web sources such as OpenStreetMap (OSM) and knowledge graphs such as Wikidata are often unconnected. An example connection that can be established between these sources are links between streets in OSM to the persons in Wikidata they were named after. This paper presents StreetToPerson, an approach for connecting streets in OSM to persons in a knowledge graph based on relations in the knowledge graph and spatial dependencies. Our evaluation shows that we outperform existing approaches by 26 percentage points. In addition, we apply StreetToPerson on all OSM streets in Germany, for which we identify more than 180,000 links between streets and persons.
Generative Invertible Quantum Neural Networks
Authors: Armand Rousselot, Michael Spannowsky
Date: 2023-02-24 00:00:00

Invertible Neural Networks (INN) have become established tools for the simulation and generation of highly complex data. We propose a quantum-gate algorithm for a Quantum Invertible Neural Network (QINN) and apply it to the LHC data of jet-associated production of a Z-boson that decays into leptons, a standard candle process for particle collider precision measurements. We compare the QINN's performance for different loss functions and training scenarios. For this task, we find that a hybrid QINN matches the performance of a significantly larger purely classical INN in learning and generating complex data.
NoPPA: Non-Parametric Pairwise Attention Random Walk Model for Sentence Representation
Authors: Xuansheng Wu, Zhiyi Zhao, Ninghao Liu
Date: 2023-02-24 00:00:00
Tasks: Language Modeling, Language Modelling, Sentence, Sentence Embedding, Sentence-Embedding

We propose a novel non-parametric/un-trainable language model, named Non-Parametric Pairwise Attention Random Walk Model (NoPPA), to generate sentence embedding only with pre-trained word embedding and pre-counted word frequency. To the best we know, this study is the first successful attempt to break the constraint on bag-of-words assumption with a non-parametric attention mechanism. We evaluate our method on eight different downstream classification tasks. The experiment results show that NoPPA outperforms all kinds of bag-of-words-based methods in each dataset and provides a comparable or better performance than the state-of-the-art non-parametric methods on average. Furthermore, visualization supports that NoPPA can understand contextual topics, common phrases, and word causalities. Our model is available at https://github.com/JacksonWuxs/NoPPA.
Multi-Agent Reinforcement Learning with Common Policy for Antenna Tilt Optimization
Authors: Adriano Mendo, Jose Outes-Carnero, Yak Ng-Molina, Juan Ramiro-Moreno
Date: 2023-02-24 00:00:00
Tasks: Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning (RL)

This paper presents a method for optimizing wireless networks by adjusting cell parameters that affect both the performance of the cell being optimized and the surrounding cells. The method uses multiple reinforcement learning agents that share a common policy and take into account information from neighboring cells to determine the state and reward. In order to avoid impairing network performance during the initial stages of learning, agents are pre-trained in an earlier phase of offline learning. During this phase, an initial policy is obtained using feedback from a static network simulator and considering a wide variety of scenarios. Finally, agents can intelligently tune the cell parameters of a test network by suggesting small incremental changes, slowly guiding the network toward an optimal configuration. The agents propose optimal changes using the experience gained with the simulator in the pre-training phase, but they can also continue to learn from current network readings after each change. The results show how the proposed approach significantly improves the performance gains already provided by expert system-based methods when applied to remote antenna tilt optimization. The significant gains of this approach have truly been observed when compared with a similar method in which the state and reward do not incorporate information from neighboring cells.
Don't be fooled: label leakage in explanation methods and the importance of their quantitative evaluation
Authors: Neil Jethani, Adriel Saporta, Rajesh Ranganath
Date: 2023-02-24 00:00:00

Feature attribution methods identify which features of an input most influence a model's output. Most widely-used feature attribution methods (such as SHAP, LIME, and Grad-CAM) are "class-dependent" methods in that they generate a feature attribution vector as a function of class. In this work, we demonstrate that class-dependent methods can "leak" information about the selected class, making that class appear more likely than it is. Thus, an end user runs the risk of drawing false conclusions when interpreting an explanation generated by a class-dependent method. In contrast, we introduce "distribution-aware" methods, which favor explanations that keep the label's distribution close to its distribution given all features of the input. We introduce SHAP-KL and FastSHAP-KL, two baseline distribution-aware methods that compute Shapley values. Finally, we perform a comprehensive evaluation of seven class-dependent and three distribution-aware methods on three clinical datasets of different high-dimensional data types: images, biosignals, and text.
HULAT at SemEval-2023 Task 10: Data augmentation for pre-trained transformers applied to the detection of sexism in social media
Authors: Isabel Segura-Bedmar
Date: 2023-02-24 00:00:00
Tasks: Data Augmentation

This paper describes our participation in SemEval-2023 Task 10, whose goal is the detection of sexism in social media. We explore some of the most popular transformer models such as BERT, DistilBERT, RoBERTa, and XLNet. We also study different data augmentation techniques to increase the training dataset. During the development phase, our best results were obtained by using RoBERTa and data augmentation for tasks B and C. However, the use of synthetic data does not improve the results for task C. We participated in the three subtasks. Our approach still has much room for improvement, especially in the two fine-grained classifications. All our code is available in the repository https://github.com/isegura/hulat_edos.
Data Augmentation with GAN increases the Performance of Arrhythmia Classification for an Unbalanced Dataset
Authors: Okan Düzyel, Mehmet Kuntalp
Date: 2023-02-24 00:00:00
Tasks: Data Augmentation

Due to the data shortage problem, which is one of the major problems in the field of machine learning, the accuracy level of many applications remains well below the expected. It prevents researchers from producing new artificial intelligence-based systems with the available data. This problem can be solved by generating new synthetic data with augmentation methods. In this study, new ECG signals are produced using MIT-BIH Arrhythmia Database by using Generative Adversarial Neural Networks (GAN), which is a modern data augmentation method. These generated data are used for training a machine learning system and real ECG data for testing it. The obtained results show that this way the performance of the machine learning system is increased.
Dr ChatGPT, tell me what I want to hear: How prompt knowledge impacts health answer correctness
Authors: Guido Zuccon, Bevan Koopman
Date: 2023-02-23 00:00:00
Tasks: Question Answering

Generative pre-trained language models (GPLMs) like ChatGPT encode in the model's parameters knowledge the models observe during the pre-training phase. This knowledge is then used at inference to address the task specified by the user in their prompt. For example, for the question-answering task, the GPLMs leverage the knowledge and linguistic patterns learned at training to produce an answer to a user question. Aside from the knowledge encoded in the model itself, answers produced by GPLMs can also leverage knowledge provided in the prompts. For example, a GPLM can be integrated into a retrieve-then-generate paradigm where a search engine is used to retrieve documents relevant to the question; the content of the documents is then transferred to the GPLM via the prompt. In this paper we study the differences in answer correctness generated by ChatGPT when leveraging the model's knowledge alone vs. in combination with the prompt knowledge. We study this in the context of consumers seeking health advice from the model. Aside from measuring the effectiveness of ChatGPT in this context, we show that the knowledge passed in the prompt can overturn the knowledge encoded in the model and this is, in our experiments, to the detriment of answer correctness. This work has important implications for the development of more robust and transparent question-answering systems based on generative pre-trained language models.
An Independent Evaluation of ChatGPT on Mathematical Word Problems (MWP)
Authors: Paulo Shakarian, Abhinav Koyyalamudi, Noel Ngu, Lakshmivihari Mareedu
Date: 2023-02-23 00:00:00
Tasks: Language Modeling, Language Modelling, Large Language Model, Math

We study the performance of a commercially available large language model (LLM) known as ChatGPT on math word problems (MWPs) from the dataset DRAW-1K. To our knowledge, this is the first independent evaluation of ChatGPT. We found that ChatGPT's performance changes dramatically based on the requirement to show its work, failing 20% of the time when it provides work compared with 84% when it does not. Further several factors about MWPs relating to the number of unknowns and number of operations that lead to a higher probability of failure when compared with the prior, specifically noting (across all experiments) that the probability of failure increases linearly with the number of addition and subtraction operations. We also have released the dataset of ChatGPT's responses to the MWPs to support further work on the characterization of LLM performance and present baseline machine learning models to predict if ChatGPT can correctly answer an MWP. We have released a dataset comprised of ChatGPT's responses to support further research in this area.
Neural networks for learning personality traits from natural language
Authors: Giorgia Adorni
Date: 2023-02-23 00:00:00

Personality is considered one of the most influential research topics in psychology, as it predicts many consequential outcomes such as mental and physical health and explains human behaviour. With the widespread use of social networks as a means of communication, it is becoming increasingly important to develop models that can automatically and accurately read the essence of individuals based solely on their writing. In particular, the convergence of social and computer sciences has led researchers to develop automatic approaches for extracting and studying "hidden" information in textual data on the internet. The nature of this thesis project is highly experimental, and the motivation behind this work is to present detailed analyses on the topic, as currently there are no significant investigations of this kind. The objective is to identify an adequate semantic space that allows for defining the personality of the object to which a certain text refers. The starting point is a dictionary of adjectives that psychological literature defines as markers of the five major personality traits, or Big Five. In this work, we started with the implementation of fully-connected neural networks as a basis for understanding how simple deep learning models can provide information on hidden personality characteristics. Finally, we use a class of distributional algorithms invented in 2013 by Tomas Mikolov, which consists of using a convolutional neural network that learns the contexts of words in an unsupervised way. In this way, we construct an embedding that contains the semantic information on the text, obtaining a kind of "geometry of meaning" in which concepts are translated into linear relationships. With this last experiment, we hypothesize that an individual writing style is largely coupled with their personality traits.
LODE: Locally Conditioned Eikonal Implicit Scene Completion from Sparse LiDAR
Authors: Pengfei Li, Ruowen Zhao, Yongliang Shi, Hao Zhao, Jirui Yuan, Guyue Zhou, Ya-Qin Zhang
Date: 2023-02-27 00:00:00
Tasks: Autonomous Driving, Representation Learning

Scene completion refers to obtaining dense scene representation from an incomplete perception of complex 3D scenes. This helps robots detect multi-scale obstacles and analyse object occlusions in scenarios such as autonomous driving. Recent advances show that implicit representation learning can be leveraged for continuous scene completion and achieved through physical constraints like Eikonal equations. However, former Eikonal completion methods only demonstrate results on watertight meshes at a scale of tens of meshes. None of them are successfully done for non-watertight LiDAR point clouds of open large scenes at a scale of thousands of scenes. In this paper, we propose a novel Eikonal formulation that conditions the implicit representation on localized shape priors which function as dense boundary value constraints, and demonstrate it works on SemanticKITTI and SemanticPOSS. It can also be extended to semantic Eikonal scene completion with only small modifications to the network architecture. With extensive quantitative and qualitative results, we demonstrate the benefits and drawbacks of existing Eikonal methods, which naturally leads to the new locally conditioned formulation. Notably, we improve IoU from 31.7% to 51.2% on SemanticKITTI and from 40.5% to 48.7% on SemanticPOSS. We extensively ablate our methods and demonstrate that the proposed formulation is robust to a wide spectrum of implementation hyper-parameters. Codes and models are publicly available at https://github.com/AIR-DISCOVER/LODE.
Knowledge-enhanced Visual-Language Pre-training on Chest Radiology Images
Authors: Xiaoman Zhang, Chaoyi Wu, Ya zhang, Yanfeng Wang, Weidi Xie
Date: 2023-02-27 00:00:00
Tasks: Natural Language Understanding, Representation Learning

While multi-modal foundation models pre-trained on large-scale data have been successful in natural language understanding and vision recognition, their use in medical domains is still limited due to the fine-grained nature of medical tasks and the high demand for domain knowledge. To address this challenge, we propose a novel approach called Knowledge-enhanced Auto Diagnosis (KAD) which leverages existing medical domain knowledge to guide vision-language pre-training using paired chest X-rays and radiology reports. We evaluate KAD on {four} external X-ray datasets and demonstrate that its zero-shot performance is not only comparable to that of fully-supervised models, but also superior to the average of three expert radiologists for three (out of five) pathologies with statistical significance. Moreover, when few-shot annotation is available, KAD outperforms all existing approaches in fine-tuning settings, demonstrating its potential for application in different clinical scenarios.
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
Authors: Jingpei Lu, Fei Liu, Cedric Girerd, Michael C. Yip
Date: 2023-02-27 00:00:00
Tasks: parameter estimation, Pose Estimation, Robot Pose Estimation, State Estimation

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft robots, their shape, vision sensors are favorable because they are information-rich, easy to set up, and cost-effective. With recent advancements in computer vision, deep learning-based methods no longer require markers for identifying feature points on the robot. However, learning-based methods are data-hungry and hence not suitable for soft and prototyping robots, as building such bench-marking datasets is usually infeasible. In this work, we achieve image-based robot pose estimation and shape reconstruction from camera images. Our method requires no precise robot meshes, but rather utilizes a differentiable renderer and primitive shapes. It hence can be applied to robots for which CAD models might not be available or are crude. Our parameter estimation pipeline is fully differentiable. The robot shape and pose are estimated iteratively by back-propagating the image loss to update the parameters. We demonstrate that our method of using geometrical shape primitives can achieve high accuracy in shape reconstruction for a soft continuum robot and pose estimation for a robot manipulator.
Joint-MAE: 2D-3D Joint Masked Autoencoders for 3D Point Cloud Pre-training
Authors: Ziyu Guo, Renrui Zhang, Longtian Qiu, Xianzhi Li, Pheng-Ann Heng
Date: 2023-02-27 00:00:00
Tasks: Decoder, Point Cloud Pre-training, Representation Learning, Self-Supervised Learning

Masked Autoencoders (MAE) have shown promising performance in self-supervised learning for both 2D and 3D computer vision. However, existing MAE-style methods can only learn from the data of a single modality, i.e., either images or point clouds, which neglect the implicit semantic and geometric correlation between 2D and 3D. In this paper, we explore how the 2D modality can benefit 3D masked autoencoding, and propose Joint-MAE, a 2D-3D joint MAE framework for self-supervised 3D point cloud pre-training. Joint-MAE randomly masks an input 3D point cloud and its projected 2D images, and then reconstructs the masked information of the two modalities. For better cross-modal interaction, we construct our JointMAE by two hierarchical 2D-3D embedding modules, a joint encoder, and a joint decoder with modal-shared and model-specific decoders. On top of this, we further introduce two cross-modal strategies to boost the 3D representation learning, which are local-aligned attention mechanisms for 2D-3D semantic cues, and a cross-reconstruction loss for 2D-3D geometric constraints. By our pre-training paradigm, Joint-MAE achieves superior performance on multiple downstream tasks, e.g., 92.4% accuracy for linear SVM on ModelNet40 and 86.07% accuracy on the hardest split of ScanObjectNN.