pwc-archive/papers-with-abstracts huggingface dataset:
Drive as You Speak: Enabling Human-Like Interaction with Large Language Models in Autonomous Vehicles
Authors: Can Cui, Yunsheng Ma, Xu Cao, Wenqian Ye, Ziran Wang
Date: 2023-09-19 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Decision Making

The future of autonomous vehicles lies in the convergence of human-centric design and advanced AI capabilities. Autonomous vehicles of the future will not only transport passengers but also interact and adapt to their desires, making the journey comfortable, efficient, and pleasant. In this paper, we present a novel framework that leverages Large Language Models (LLMs) to enhance autonomous vehicles' decision-making processes. By integrating LLMs' natural language capabilities and contextual understanding, specialized tools usage, synergizing reasoning, and acting with various modules on autonomous vehicles, this framework aims to seamlessly integrate the advanced language and reasoning capabilities of LLMs into autonomous vehicles. The proposed framework holds the potential to revolutionize the way autonomous vehicles operate, offering personalized assistance, continuous learning, and transparent decision-making, ultimately contributing to safer and more efficient autonomous driving technologies.
Multi-level feature fusion network combining attention mechanisms for polyp segmentation
Authors: Junzhuo Liu, Qiaosong Chen, Ye Zhang, Zhixiang Wang, Deng Xin, Jin Wang
Date: 2023-09-19 00:00:00
Tasks: Decoder, Medical Diagnosis, Segmentation

Clinically, automated polyp segmentation techniques have the potential to significantly improve the efficiency and accuracy of medical diagnosis, thereby reducing the risk of colorectal cancer in patients. Unfortunately, existing methods suffer from two significant weaknesses that can impact the accuracy of segmentation. Firstly, features extracted by encoders are not adequately filtered and utilized. Secondly, semantic conflicts and information redundancy caused by feature fusion are not attended to. To overcome these limitations, we propose a novel approach for polyp segmentation, named MLFF-Net, which leverages multi-level feature fusion and attention mechanisms. Specifically, MLFF-Net comprises three modules: Multi-scale Attention Module (MAM), High-level Feature Enhancement Module (HFEM), and Global Attention Module (GAM). Among these, MAM is used to extract multi-scale information and polyp details from the shallow output of the encoder. In HFEM, the deep features of the encoders complement each other by aggregation. Meanwhile, the attention mechanism redistributes the weight of the aggregated features, weakening the conflicting redundant parts and highlighting the information useful to the task. GAM combines features from the encoder and decoder features, as well as computes global dependencies to prevent receptive field locality. Experimental results on five public datasets show that the proposed method not only can segment multiple types of polyps but also has advantages over current state-of-the-art methods in both accuracy and generalization ability.
An Empirical Study of Attention Networks for Semantic Segmentation
Authors: Hao Guo, Hongbiao Si, Guilin Jiang, Wei zhang, Zhiyan Liu, Xuanyi Zhu, xulong Zhang, Yang Liu
Date: 2023-09-19 00:00:00
Tasks: Segmentation, Semantic Segmentation

Semantic segmentation is a vital problem in computer vision. Recently, a common solution to semantic segmentation is the end-to-end convolution neural network, which is much more accurate than traditional methods.Recently, the decoders based on attention achieve state-of-the-art (SOTA) performance on various datasets. But these networks always are compared with the mIoU of previous SOTA networks to prove their superiority and ignore their characteristics without considering the computation complexity and precision in various categories, which is essential for engineering applications. Besides, the methods to analyze the FLOPs and memory are not consistent between different networks, which makes the comparison hard to be utilized. What's more, various methods utilize attention in semantic segmentation, but the conclusion of these methods is lacking. This paper first conducts experiments to analyze their computation complexity and compare their performance. Then it summarizes suitable scenes for these networks and concludes key points that should be concerned when constructing an attention network. Last it points out some future directions of the attention network.
Safe POMDP Online Planning via Shielding
Authors: Shili Sheng, David Parker, Lu Feng
Date: 2023-09-19 00:00:00
Tasks: Autonomous Driving, Decision Making, Decision Making Under Uncertainty, Sequential Decision Making

Partially observable Markov decision processes (POMDPs) have been widely used in many robotic applications for sequential decision-making under uncertainty. POMDP online planning algorithms such as Partially Observable Monte-Carlo Planning (POMCP) can solve very large POMDPs with the goal of maximizing the expected return. But the resulting policies cannot provide safety guarantees which are imperative for real-world safety-critical tasks (e.g., autonomous driving). In this work, we consider safety requirements represented as almost-sure reach-avoid specifications (i.e., the probability to reach a set of goal states is one and the probability to reach a set of unsafe states is zero). We compute shields that restrict unsafe actions which would violate the almost-sure reach-avoid specifications. We then integrate these shields into the POMCP algorithm for safe POMDP online planning. We propose four distinct shielding methods, differing in how the shields are computed and integrated, including factored variants designed to improve scalability. Experimental results on a set of benchmark domains demonstrate that the proposed shielding methods successfully guarantee safety (unlike the baseline POMCP without shielding) on large POMDPs, with negligible impact on the runtime for online planning.
Towards Effective Semantic OOD Detection in Unseen Domains: A Domain Generalization Perspective
Authors: Haoliang Wang, Chen Zhao, Yunhui Guo, Kai Jiang, Feng Chen
Date: 2023-09-18 00:00:00
Tasks: Domain Generalization

Two prevalent types of distributional shifts in machine learning are the covariate shift (as observed across different domains) and the semantic shift (as seen across different classes). Traditional OOD detection techniques typically address only one of these shifts. However, real-world testing environments often present a combination of both covariate and semantic shifts. In this study, we introduce a novel problem, semantic OOD detection across domains, which simultaneously addresses both distributional shifts. To this end, we introduce two regularization strategies: domain generalization regularization, which ensures semantic invariance across domains to counteract the covariate shift, and OOD detection regularization, designed to enhance OOD detection capabilities against the semantic shift through energy bounding. Through rigorous testing on three standard domain generalization benchmarks, our proposed framework showcases its superiority over conventional domain generalization approaches in terms of OOD detection performance. Moreover, it holds its ground by maintaining comparable InD classification accuracy.
Stabilizing RLHF through Advantage Model and Selective Rehearsal
Authors: Baolin Peng, Linfeng Song, Ye Tian, Lifeng Jin, Haitao Mi, Dong Yu
Date: 2023-09-18 00:00:00
Tasks: model

Large Language Models (LLMs) have revolutionized natural language processing, yet aligning these models with human values and preferences using RLHF remains a significant challenge. This challenge is characterized by various instabilities, such as reward hacking and catastrophic forgetting. In this technical report, we propose two innovations to stabilize RLHF training: 1) Advantage Model, which directly models advantage score i.e., extra reward compared to the expected rewards and regulates score distributions across tasks to prevent reward hacking. 2) Selective Rehearsal, which mitigates catastrophic forgetting by strategically selecting data for PPO training and knowledge rehearsing. Our experimental analysis on public and proprietary datasets reveals that the proposed methods not only increase stability in RLHF training but also achieve higher reward scores and win rates.
Graph-enabled Reinforcement Learning for Time Series Forecasting with Adaptive Intelligence
Authors: Thanveer Shaik, Xiaohui Tao, Haoran Xie, Lin Li, Jianming Yong, Yuefeng Li
Date: 2023-09-18 00:00:00
Tasks: Bayesian Optimisation, Deep Learning, reinforcement-learning, Reinforcement Learning (RL), Time Series, Time Series Forecasting, Time Series Prediction, Weather Forecasting

Reinforcement learning is well known for its ability to model sequential tasks and learn latent data patterns adaptively. Deep learning models have been widely explored and adopted in regression and classification tasks. However, deep learning has its limitations such as the assumption of equally spaced and ordered data, and the lack of ability to incorporate graph structure in terms of time-series prediction. Graphical neural network (GNN) has the ability to overcome these challenges and capture the temporal dependencies in time-series data. In this study, we propose a novel approach for predicting time-series data using GNN and monitoring with Reinforcement Learning (RL). GNNs are able to explicitly incorporate the graph structure of the data into the model, allowing them to capture temporal dependencies in a more natural way. This approach allows for more accurate predictions in complex temporal structures, such as those found in healthcare, traffic and weather forecasting. We also fine-tune our GraphRL model using a Bayesian optimisation technique to further improve performance. The proposed framework outperforms the baseline models in time-series forecasting and monitoring. The contributions of this study include the introduction of a novel GraphRL framework for time-series prediction and the demonstration of the effectiveness of GNNs in comparison to traditional deep learning models such as RNNs and LSTMs. Overall, this study demonstrates the potential of GraphRL in providing accurate and efficient predictions in dynamic RL environments.
QoS-Aware Service Prediction and Orchestration in Cloud-Network Integrated Beyond 5G
Authors: Mohammad Farhoudi, Masoud Shokrnezhad, Tarik Taleb
Date: 2023-09-18 00:00:00

Novel applications such as the Metaverse have highlighted the potential of beyond 5G networks, which necessitate ultra-low latency communications and massive broadband connections. Moreover, the burgeoning demand for such services with ever-fluctuating users has engendered a need for heightened service continuity consideration in B5G. To enable these services, the edge-cloud paradigm is a potential solution to harness cloud capacity and effectively manage users in real time as they move across the network. However, edge-cloud networks confront a multitude of limitations, including networking and computing resources that must be collectively managed to unlock their full potential. This paper addresses the joint problem of service placement and resource allocation in a network-cloud integrated environment while considering capacity constraints, dynamic users, and end-to-end delays. We present a non-linear programming model that formulates the optimization problem with the aiming objective of minimizing overall cost while enhancing latency. Next, to address the problem, we introduce a DDQL-based technique using RNNs to predict user behavior, empowered by a water-filling-based algorithm for service placement. The proposed framework adeptly accommodates the dynamic nature of users, the placement of services that mandate ultra-low latency in B5G, and service continuity when users migrate from one location to another. Simulation results show that our solution provides timely responses that optimize the network's potential, offering a scalable and efficient placement.
Positive and Risky Message Assessment for Music Products
Authors: Yigeng Zhang, Mahsa Shafaei, Fabio A. González, Thamar Solorio
Date: 2023-09-18 00:00:00

In this work, we introduce a pioneering research challenge: evaluating positive and potentially harmful messages within music products. We initiate by setting a multi-faceted, multi-task benchmark for music content assessment. Subsequently, we introduce an efficient multi-task predictive model fortified with ordinality-enforcement to address this challenge. Our findings reveal that the proposed method not only significantly outperforms robust task-specific alternatives but also possesses the capability to assess multiple aspects simultaneously. Furthermore, through detailed case studies, where we employed Large Language Models (LLMs) as surrogates for content assessment, we provide valuable insights to inform and guide future research on this topic. The code for dataset creation and model implementation is publicly available at https://github.com/RiTUAL-UH/music-message-assessment.
Double Deep Q-Learning-based Path Selection and Service Placement for Latency-Sensitive Beyond 5G Applications
Authors: Masoud Shokrnezhad, Tarik Taleb, Patrizio Dazzi
Date: 2023-09-18 00:00:00
Tasks: Q-Learning

Nowadays, as the need for capacity continues to grow, entirely novel services are emerging. A solid cloud-network integrated infrastructure is necessary to supply these services in a real-time responsive, and scalable way. Due to their diverse characteristics and limited capacity, communication and computing resources must be collaboratively managed to unleash their full potential. Although several innovative methods have been proposed to orchestrate the resources, most ignored network resources or relaxed the network as a simple graph, focusing only on cloud resources. This paper fills the gap by studying the joint problem of communication and computing resource allocation, dubbed CCRA, including function placement and assignment, traffic prioritization, and path selection considering capacity constraints and quality requirements, to minimize total cost. We formulate the problem as a non-linear programming model and propose two approaches, dubbed B\&B-CCRA and WF-CCRA, based on the Branch \& Bound and Water-Filling algorithms to solve it when the system is fully known. Then, for partially known systems, a Double Deep Q-Learning (DDQL) architecture is designed. Numerical simulations show that B\&B-CCRA optimally solves the problem, whereas WF-CCRA delivers near-optimal solutions in a substantially shorter time. Furthermore, it is demonstrated that DDQL-CCRA obtains near-optimal solutions in the absence of request-specific information.
Self-Sustaining Multiple Access with Continual Deep Reinforcement Learning for Dynamic Metaverse Applications
Authors: Hamidreza Mazandarani, Masoud Shokrnezhad, Tarik Taleb, Richard Li
Date: 2023-09-18 00:00:00
Proceeding: IEEE MetaCom, Kyoto 2023 6
Tasks: Continual Learning, Deep Reinforcement Learning, Q-Learning

The Metaverse is a new paradigm that aims to create a virtual environment consisting of numerous worlds, each of which will offer a different set of services. To deal with such a dynamic and complex scenario, considering the stringent quality of service requirements aimed at the 6th generation of communication systems (6G), one potential approach is to adopt self-sustaining strategies, which can be realized by employing Adaptive Artificial Intelligence (Adaptive AI) where models are continually re-trained with new data and conditions. One aspect of self-sustainability is the management of multiple access to the frequency spectrum. Although several innovative methods have been proposed to address this challenge, mostly using Deep Reinforcement Learning (DRL), the problem of adapting agents to a non-stationary environment has not yet been precisely addressed. This paper fills in the gap in the current literature by investigating the problem of multiple access in multi-channel environments to maximize the throughput of the intelligent agent when the number of active User Equipments (UEs) may fluctuate over time. To solve the problem, a Double Deep Q-Learning (DDQL) technique empowered by Continual Learning (CL) is proposed to overcome the non-stationary situation, while the environment is unknown. Numerical simulations demonstrate that, compared to other well-known methods, the CL-DDQL algorithm achieves significantly higher throughputs with a considerably shorter convergence time in highly dynamic scenarios.
One ACT Play: Single Demonstration Behavior Cloning with Action Chunking Transformers
Authors: Abraham George, Amir Barati Farimani
Date: 2023-09-18 00:00:00
Tasks: Chunking

Learning from human demonstrations (behavior cloning) is a cornerstone of robot learning. However, most behavior cloning algorithms require a large number of demonstrations to learn a task, especially for general tasks that have a large variety of initial conditions. Humans, however, can learn to complete tasks, even complex ones, after only seeing one or two demonstrations. Our work seeks to emulate this ability, using behavior cloning to learn a task given only a single human demonstration. We achieve this goal by using linear transforms to augment the single demonstration, generating a set of trajectories for a wide range of initial conditions. With these demonstrations, we are able to train a behavior cloning agent to successfully complete three block manipulation tasks. Additionally, we developed a novel addition to the temporal ensembling method used by action chunking agents during inference. By incorporating the standard deviation of the action predictions into the ensembling method, our approach is more robust to unforeseen changes in the environment, resulting in significant performance improvements.
Asynchronous Perception-Action-Communication with Graph Neural Networks
Authors: Saurav Agarwal, Alejandro Ribeiro, Vijay Kumar
Date: 2023-09-18 00:00:00
Tasks: Computational Efficiency

Collaboration in large robot swarms to achieve a common global objective is a challenging problem in large environments due to limited sensing and communication capabilities. The robots must execute a Perception-Action-Communication (PAC) loop -- they perceive their local environment, communicate with other robots, and take actions in real time. A fundamental challenge in decentralized PAC systems is to decide what information to communicate with the neighboring robots and how to take actions while utilizing the information shared by the neighbors. Recently, this has been addressed using Graph Neural Networks (GNNs) for applications such as flocking and coverage control. Although conceptually, GNN policies are fully decentralized, the evaluation and deployment of such policies have primarily remained centralized or restrictively decentralized. Furthermore, existing frameworks assume sequential execution of perception and action inference, which is very restrictive in real-world applications. This paper proposes a framework for asynchronous PAC in robot swarms, where decentralized GNNs are used to compute navigation actions and generate messages for communication. In particular, we use aggregated GNNs, which enable the exchange of hidden layer information between robots for computational efficiency and decentralized inference of actions. Furthermore, the modules in the framework are asynchronous, allowing robots to perform sensing, extracting information, communication, action inference, and control execution at different frequencies. We demonstrate the effectiveness of GNNs executed in the proposed framework in navigating large robot swarms for collaborative coverage of large environments.
RadOnc-GPT: A Large Language Model for Radiation Oncology
Authors: Zhengliang Liu, Peilong Wang, Yiwei Li, Jason Holmes, Peng Shu, Lian Zhang, Chenbin Liu, Ninghao Liu, Dajiang Zhu, Xiang Li, Quanzheng Li, Samir H. Patel, Terence T. Sio, Tianming Liu, Wei Liu
Date: 2023-09-18 00:00:00
Tasks: Diagnostic, Language Modeling, Language Modelling, Large Language Model, Specificity

This paper presents RadOnc-GPT, a large language model specialized for radiation oncology through advanced tuning methods. RadOnc-GPT was finetuned on a large dataset of radiation oncology patient records from the Mayo Clinic in Arizona. The model employs instruction tuning on three key tasks - generating radiotherapy treatment regimens, determining optimal radiation modalities, and providing diagnostic descriptions/ICD codes based on patient diagnostic details. Evaluations conducted by comparing RadOnc-GPT outputs to general large language model outputs showed higher ROUGE scores in these three tasks. The study demonstrated the potential of using large language models fine-tuned using domain-specific knowledge like RadOnc-GPT to achieve transformational capabilities in highly specialized healthcare fields such as radiation oncology. However, our model's clinical relevance requires confirmation, and it specializes in only the aforementioned three specific tasks and lacks broader applicability. Furthermore, its evaluation through ROUGE scores might not reflect the true semantic and clinical accuracy - challenges we intend to address in future research.
Analysis of the Memorization and Generalization Capabilities of AI Agents: Are Continual Learners Robust?
Authors: Minsu Kim, Walid Saad
Date: 2023-09-18 00:00:00
Tasks: AI Agent, Autonomous Vehicles, Continual Learning, Memorization

In continual learning (CL), an AI agent (e.g., autonomous vehicles or robotics) learns from non-stationary data streams under dynamic environments. For the practical deployment of such applications, it is important to guarantee robustness to unseen environments while maintaining past experiences. In this paper, a novel CL framework is proposed to achieve robust generalization to dynamic environments while retaining past knowledge. The considered CL agent uses a capacity-limited memory to save previously observed environmental information to mitigate forgetting issues. Then, data points are sampled from the memory to estimate the distribution of risks over environmental change so as to obtain predictors that are robust with unseen changes. The generalization and memorization performance of the proposed framework are theoretically analyzed. This analysis showcases the tradeoff between memorization and generalization with the memory size. Experiments show that the proposed algorithm outperforms memory-based CL baselines across all environments while significantly improving the generalization performance on unseen target environments.
Human Gait Recognition using Deep Learning: A Comprehensive Review
Authors: Muhammad Imran Sharif, Mehwish Mehmood, Muhammad Irfan Sharif, Md Palash Uddin
Date: 2023-09-18 00:00:00
Tasks: Deep Learning, Face Recognition, Gait Recognition, Person Identification

Gait recognition (GR) is a growing biometric modality used for person identification from a distance through visual cameras. GR provides a secure and reliable alternative to fingerprint and face recognition, as it is harder to distinguish between false and authentic signals. Furthermore, its resistance to spoofing makes GR suitable for all types of environments. With the rise of deep learning, steadily improving strides have been made in GR technology with promising results in various contexts. As video surveillance becomes more prevalent, new obstacles arise, such as ensuring uniform performance evaluation across different protocols, reliable recognition despite shifting lighting conditions, fluctuations in gait patterns, and protecting privacy.This survey aims to give an overview of GR and analyze the environmental elements and complications that could affect it in comparison to other biometric recognition systems. The primary goal is to examine the existing deep learning (DL) techniques employed for human GR that may generate new research opportunities.