pwc-archive/papers-with-abstracts huggingface dataset:
Continuous Risk Measures for Driving Support
Authors: Julian Eggert, Tim Puphal
Date: 2023-03-14 00:00:00
Tasks: Survival Analysis

In this paper, we compare three different model-based risk measures by evaluating their stengths and weaknesses qualitatively and testing them quantitatively on a set of real longitudinal and intersection scenarios. We start with the traditional heuristic Time-To-Collision (TTC), which we extend towards 2D operation and non-crash cases to retrieve the Time-To-Closest-Encounter (TTCE). The second risk measure models position uncertainty with a Gaussian distribution and uses spatial occupancy probabilities for collision risks. We then derive a novel risk measure based on the statistics of sparse critical events and so-called survival conditions. The resulting survival analysis shows to have an earlier detection time of crashes and less false positive detections in near-crash and non-crash cases supported by its solid theoretical grounding. It can be seen as a generalization of TTCE and the Gaussian method which is suitable for the validation of ADAS and AD.
Multi-agent Attention Actor-Critic Algorithm for Load Balancing in Cellular Networks
Authors: Jikun Kang, Di wu, Ju Wang, Ekram Hossain, Xue Liu, Gregory Dudek
Date: 2023-03-14 00:00:00

In cellular networks, User Equipment (UE) handoff from one Base Station (BS) to another, giving rise to the load balancing problem among the BSs. To address this problem, BSs can work collaboratively to deliver a smooth migration (or handoff) and satisfy the UEs' service requirements. This paper formulates the load balancing problem as a Markov game and proposes a Robust Multi-agent Attention Actor-Critic (Robust-MA3C) algorithm that can facilitate collaboration among the BSs (i.e., agents). In particular, to solve the Markov game and find a Nash equilibrium policy, we embrace the idea of adopting a nature agent to model the system uncertainty. Moreover, we utilize the self-attention mechanism, which encourages high-performance BSs to assist low-performance BSs. In addition, we consider two types of schemes, which can facilitate load balancing for both active UEs and idle UEs. We carry out extensive evaluations by simulations, and simulation results illustrate that, compared to the state-of-the-art MARL methods, Robust-\ours~scheme can improve the overall performance by up to 45%.
FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback
Authors: Jialiang Zhao, Maria Bauza, Edward H. Adelson
Date: 2023-03-14 00:00:00
Tasks: 3D Reconstruction, Object Localization, Pose Estimation

In this paper, we address the problem of using visuo-tactile feedback for 6-DoF localization and 3D reconstruction of unknown in-hand objects. We propose FingerSLAM, a closed-loop factor graph-based pose estimator that combines local tactile sensing at finger-tip and global vision sensing from a wrist-mount camera. FingerSLAM is constructed with two constituent pose estimators: a multi-pass refined tactile-based pose estimator that captures movements from detailed local textures, and a single-pass vision-based pose estimator that predicts from a global view of the object. We also design a loop closure mechanism that actively matches current vision and tactile images to previously stored key-frames to reduce accumulated error. FingerSLAM incorporates the two sensing modalities of tactile and vision, as well as the loop closure mechanism with a factor graph-based optimization framework. Such a framework produces an optimized pose estimation solution that is more accurate than the standalone estimators. The estimated poses are then used to reconstruct the shape of the unknown object incrementally by stitching the local point clouds recovered from tactile images. We train our system on real-world data collected with 20 objects. We demonstrate reliable visuo-tactile pose estimation and shape reconstruction through quantitative and qualitative real-world evaluations on 6 objects that are unseen during training.
Automatic summarisation of Instagram social network posts Combining semantic and statistical approaches
Authors: Kazem Taghandiki, Mohammad Hassan Ahmadi, Elnaz Rezaei Ehsan
Date: 2023-03-14 00:00:00
Tasks: Articles

The proliferation of data and text documents such as articles, web pages, books, social network posts, etc. on the Internet has created a fundamental challenge in various fields of text processing under the title of "automatic text summarisation". Manual processing and summarisation of large volumes of textual data is a very difficult, expensive, time-consuming and impossible process for human users. Text summarisation systems are divided into extractive and abstract categories. In the extractive summarisation method, the final summary of a text document is extracted from the important sentences of the same document without any modification. In this method, it is possible to repeat a series of sentences and to interfere with pronouns. However, in the abstract summarisation method, the final summary of a textual document is extracted from the meaning and significance of the sentences and words of the same document or other documents. Many of the works carried out have used extraction methods or abstracts to summarise the collection of web documents, each of which has advantages and disadvantages in the results obtained in terms of similarity or size. In this work, a crawler has been developed to extract popular text posts from the Instagram social network with appropriate preprocessing, and a set of extraction and abstraction algorithms have been combined to show how each of the abstraction algorithms can be used. Observations made on 820 popular text posts on the social network Instagram show the accuracy (80%) of the proposed system.
On the Connection between Concept Drift and Uncertainty in Industrial Artificial Intelligence
Authors: Jesus L. Lobo, Ibai Laña, Eneko Osaba, Javier Del Ser
Date: 2023-03-14 00:00:00

AI-based digital twins are at the leading edge of the Industry 4.0 revolution, which are technologically empowered by the Internet of Things and real-time data analysis. Information collected from industrial assets is produced in a continuous fashion, yielding data streams that must be processed under stringent timing constraints. Such data streams are usually subject to non-stationary phenomena, causing that the data distribution of the streams may change, and thus the knowledge captured by models used for data analysis may become obsolete (leading to the so-called concept drift effect). The early detection of the change (drift) is crucial for updating the model's knowledge, which is challenging especially in scenarios where the ground truth associated to the stream data is not readily available. Among many other techniques, the estimation of the model's confidence has been timidly suggested in a few studies as a criterion for detecting drifts in unsupervised settings. The goal of this manuscript is to confirm and expose solidly the connection between the model's confidence in its output and the presence of a concept drift, showcasing it experimentally and advocating for a major consideration of uncertainty estimation in comparative studies to be reported in the future.
Text-to-image Diffusion Models in Generative AI: A Survey
Authors: Chenshuang Zhang, Chaoning Zhang, Mengchun Zhang, In So Kweon, Junmo Kim
Date: 2023-03-14 00:00:00
Tasks: Image Generation, Survey, text-guided-generation, text-guided-image-editing, Text to Image Generation, Text-to-Image Generation

This survey reviews the progress of diffusion models in generating images from text, ~\textit{i.e.} text-to-image diffusion models. As a self-contained work, this survey starts with a brief introduction of how diffusion models work for image synthesis, followed by the background for text-conditioned image synthesis. Based on that, we present an organized review of pioneering methods and their improvements on text-to-image generation. We further summarize applications beyond image generation, such as text-guided generation for various modalities like videos, and text-guided image editing. Beyond the progress made so far, we discuss existing challenges and promising future directions.
Multiparticle Kalman filter for object localization in symmetric environments
Authors: Roman Korkin, Ivan Oseledets, Aleksandr Katrutsa
Date: 2023-03-14 00:00:00
Tasks: Object Localization

This study considers the object localization problem and proposes a novel multiparticle Kalman filter to solve it in complex and symmetric environments. Two well-known classes of filtering algorithms to solve the localization problem are Kalman filter-based methods and particle filter-based methods. We consider these classes, demonstrate their complementary properties, and propose a novel filtering algorithm that takes the best from two classes. We evaluate the multiparticle Kalman filter in symmetric and noisy environments. Such environments are especially challenging for both classes of classical methods. We compare the proposed approach with the particle filter since only this method is feasible if the initial state is unknown. In the considered challenging environments, our method outperforms the particle filter in terms of both localization error and runtime.
Predicting the Geolocation of Tweets Using transformer models on Customized Data
Authors: Kateryna Lutsai, Christoph H. Lampert
Date: 2023-03-14 00:00:00
Tasks: geo-localization

This research is aimed to solve the tweet/user geolocation prediction task and provide a flexible methodology for the geotagging of textual big data. The suggested approach implements neural networks for natural language processing (NLP) to estimate the location as coordinate pairs (longitude, latitude) and two-dimensional Gaussian Mixture Models (GMMs). The scope of proposed models has been finetuned on a Twitter dataset using pretrained Bidirectional Encoder Representations from Transformers (BERT) as base models. Performance metrics show a median error of fewer than 30 km on a worldwide-level, and fewer than 15 km on the US-level datasets for the models trained and evaluated on text features of tweets' content and metadata context. Our source code and data are available at https://github.com/K4TEL/geo-twitter.git
You Can Ground Earlier than See: An Effective and Efficient Pipeline for Temporal Sentence Grounding in Compressed Videos
Authors: Xiang Fang, Daizong Liu, Pan Zhou, Guoshun Nan
Date: 2023-03-14 00:00:00
Proceeding: CVPR 2023 1
Tasks: Sentence, Temporal Sentence Grounding

Given an untrimmed video, temporal sentence grounding (TSG) aims to locate a target moment semantically according to a sentence query. Although previous respectable works have made decent success, they only focus on high-level visual features extracted from the consecutive decoded frames and fail to handle the compressed videos for query modelling, suffering from insufficient representation capability and significant computational complexity during training and testing. In this paper, we pose a new setting, compressed-domain TSG, which directly utilizes compressed videos rather than fully-decompressed frames as the visual input. To handle the raw video bit-stream input, we propose a novel Three-branch Compressed-domain Spatial-temporal Fusion (TCSF) framework, which extracts and aggregates three kinds of low-level visual features (I-frame, motion vector and residual features) for effective and efficient grounding. Particularly, instead of encoding the whole decoded frames like previous works, we capture the appearance representation by only learning the I-frame feature to reduce delay or latency. Besides, we explore the motion information not only by learning the motion vector feature, but also by exploring the relations of neighboring frames via the residual feature. In this way, a three-branch spatial-temporal attention layer with an adaptive motion-appearance fusion module is further designed to extract and aggregate both appearance and motion information for the final grounding. Experiments on three challenging datasets shows that our TCSF achieves better performance than other state-of-the-art methods with lower complexity.
Sample-efficient Adversarial Imitation Learning
Authors: Dahuin Jung, Hyungyu Lee, Sungroh Yoon
Date: 2023-03-14 00:00:00
Tasks: Decision Making, Imitation Learning, MuJoCo, Representation Learning, Self-Supervised Learning, Sequential Decision Making

Imitation learning, in which learning is performed by demonstration, has been studied and advanced for sequential decision-making tasks in which a reward function is not predefined. However, imitation learning methods still require numerous expert demonstration samples to successfully imitate an expert's behavior. To improve sample efficiency, we utilize self-supervised representation learning, which can generate vast training signals from the given data. In this study, we propose a self-supervised representation-based adversarial imitation learning method to learn state and action representations that are robust to diverse distortions and temporally predictive, on non-image control tasks. In particular, in comparison with existing self-supervised learning methods for tabular data, we propose a different corruption method for state and action representations that is robust to diverse distortions. We theoretically and empirically observe that making an informative feature manifold with less sample complexity significantly improves the performance of imitation learning. The proposed method shows a 39% relative improvement over existing adversarial imitation learning methods on MuJoCo in a setting limited to 100 expert state-action pairs. Moreover, we conduct comprehensive ablations and additional experiments using demonstrations with varying optimality to provide insights into a range of factors.
Emergent Bio-Functional Similarities in a Cortical-Spike-Train-Decoding Spiking Neural Network Facilitate Predictions of Neural Computation
Authors: Tengjun Liu, Yansong Chua, Yiwei Zhang, Yuxiao Ning, Pengfu Liu, Guihua Wan, Zijun Wan, Shaomin Zhang, Weidong Chen
Date: 2023-03-14 00:00:00

Despite its better bio-plausibility, goal-driven spiking neural network (SNN) has not achieved applicable performance for classifying biological spike trains, and showed little bio-functional similarities compared to traditional artificial neural networks. In this study, we proposed the motorSRNN, a recurrent SNN topologically inspired by the neural motor circuit of primates. By employing the motorSRNN in decoding spike trains from the primary motor cortex of monkeys, we achieved a good balance between classification accuracy and energy consumption. The motorSRNN communicated with the input by capturing and cultivating more cosine-tuning, an essential property of neurons in the motor cortex, and maintained its stability during training. Such training-induced cultivation and persistency of cosine-tuning was also observed in our monkeys. Moreover, the motorSRNN produced additional bio-functional similarities at the single-neuron, population, and circuit levels, demonstrating biological authenticity. Thereby, ablation studies on motorSRNN have suggested long-term stable feedback synapses contribute to the training-induced cultivation in the motor cortex. Besides these novel findings and predictions, we offer a new framework for building authentic models of neural computation.
Implant Global and Local Hierarchy Information to Sequence based Code Representation Models
Authors: Kechi Zhang, Zhuo Li, Zhi Jin, Ge Li
Date: 2023-03-14 00:00:00

Source code representation with deep learning techniques is an important research field. There have been many studies that learn sequential or structural information for code representation. But sequence-based models and non-sequence-models both have their limitations. Researchers attempt to incorporate structural information to sequence-based models, but they only mine part of token-level hierarchical structure information. In this paper, we analyze how the complete hierarchical structure influences the tokens in code sequences and abstract this influence as a property of code tokens called hierarchical embedding. The hierarchical embedding is further divided into statement-level global hierarchy and token-level local hierarchy. Furthermore, we propose the Hierarchy Transformer (HiT), a simple but effective sequence model to incorporate the complete hierarchical embeddings of source code into a Transformer model. We demonstrate the effectiveness of hierarchical embedding on learning code structure with an experiment on variable scope detection task. Further evaluation shows that HiT outperforms SOTA baseline models and show stable training efficiency on three source code-related tasks involving classification and generation tasks across 8 different datasets.
ICICLE: Interpretable Class Incremental Continual Learning
Authors: Dawid Rymarczyk, Joost Van de Weijer, Bartosz Zieliński, Bartłomiej Twardowski
Date: 2023-03-14 00:00:00
Proceeding: ICCV 2023 1
Tasks: class-incremental learning, Class Incremental Learning, Continual Learning, Exemplar-Free, Incremental Learning, Transfer Learning

Continual learning enables incremental learning of new tasks without forgetting those previously learned, resulting in positive knowledge transfer that can enhance performance on both new and old tasks. However, continual learning poses new challenges for interpretability, as the rationale behind model predictions may change over time, leading to interpretability concept drift. We address this problem by proposing Interpretable Class-InCremental LEarning (ICICLE), an exemplar-free approach that adopts a prototypical part-based approach. It consists of three crucial novelties: interpretability regularization that distills previously learned concepts while preserving user-friendly positive reasoning; proximity-based prototype initialization strategy dedicated to the fine-grained setting; and task-recency bias compensation devoted to prototypical parts. Our experimental results demonstrate that ICICLE reduces the interpretability concept drift and outperforms the existing exemplar-free methods of common class-incremental learning when applied to concept-based models.
Robot Grasping and Manipulation: A Prospective
Authors: Claudio Zito
Date: 2023-03-14 00:00:00

``A simple handshake would give them away''. This is how Anthony Hopkins' fictional character, Dr Robert Ford, summarises a particular flaw of the 2016 science-fiction \emph{Westworld}'s hosts. In the storyline, Westworld is a futuristic theme park and the hosts are autonomous robots engineered to be indistinguishable from the human guests, except for their hands that have not been perfected yet. In another classic science-fiction saga, scientists unlock the secrets of full synthetic intelligence, Skynet, by reverse engineering a futuristic hand. In both storylines, reality inspires fiction on one crucial point: designing hands and reproducing robust and reliable manipulation actions is one of the biggest challenges in robotics. Solving this problem would lead us to a new, improved era of autonomy. A century ago, the third industrial revolution brought robots into the assembly lines, changing our way of working forever. The next revolution has already started by bringing us artificial intelligence (AI) assistants, enhancing our quality of life in our jobs and everyday lives--even combating worldwide pandemics.
OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNav
Authors: Karmesh Yadav, Arjun Majumdar, Ram Ramrakhya, Naoki Yokoyama, Alexei Baevski, Zsolt Kira, Oleksandr Maksymets, Dhruv Batra
Date: 2023-03-14 00:00:00
Tasks: object-detection, Object Detection, Self-Supervised Learning, Social Navigation, Visual Navigation

We present a single neural network architecture composed of task-agnostic components (ViTs, convolutions, and LSTMs) that achieves state-of-art results on both the ImageNav ("go to location in <this picture>") and ObjectNav ("find a chair") tasks without any task-specific modules like object detection, segmentation, mapping, or planning modules. Such general-purpose methods offer advantages of simplicity in design, positive scaling with available compute, and versatile applicability to multiple tasks. Our work builds upon the recent success of self-supervised learning (SSL) for pre-training vision transformers (ViT). However, while the training recipes for convolutional networks are mature and robust, the recipes for ViTs are contingent and brittle, and in the case of ViTs for visual navigation, yet to be fully discovered. Specifically, we find that vanilla ViTs do not outperform ResNets on visual navigation. We propose the use of a compression layer operating over ViT patch representations to preserve spatial information along with policy training improvements. These improvements allow us to demonstrate positive scaling laws for the first time in visual navigation tasks. Consequently, our model advances state-of-the-art performance on ImageNav from 54.2% to 82.0% success and performs competitively against concurrent state-of-art on ObjectNav with success rate of 64.0% vs. 65.0%. Overall, this work does not present a fundamentally new approach, but rather recommendations for training a general-purpose architecture that achieves state-of-art performance today and could serve as a strong baseline for future methods.
GANN: Graph Alignment Neural Network for Semi-Supervised Learning
Authors: Linxuan Song, Wenxuan Tu, Sihang Zhou, Xinwang Liu, En Zhu
Date: 2023-03-14 00:00:00
Tasks: Attribute, Node Classification

Graph neural networks (GNNs) have been widely investigated in the field of semi-supervised graph machine learning. Most methods fail to exploit adequate graph information when labeled data is limited, leading to the problem of oversmoothing. To overcome this issue, we propose the Graph Alignment Neural Network (GANN), a simple and effective graph neural architecture. A unique learning algorithm with three alignment rules is proposed to thoroughly explore hidden information for insufficient labels. Firstly, to better investigate attribute specifics, we suggest the feature alignment rule to align the inner product of both the attribute and embedding matrices. Secondly, to properly utilize the higher-order neighbor information, we propose the cluster center alignment rule, which involves aligning the inner product of the cluster center matrix with the unit matrix. Finally, to get reliable prediction results with few labels, we establish the minimum entropy alignment rule by lining up the prediction probability matrix with its sharpened result. Extensive studies on graph benchmark datasets demonstrate that GANN can achieve considerable benefits in semi-supervised node classification and outperform state-of-the-art competitors.
Can neural networks do arithmetic? A survey on the elementary numerical skills of state-of-the-art deep learning models
Authors: Alberto Testolin
Date: 2023-03-14 00:00:00
Tasks: Automated Theorem Proving, Deep Learning, Numerical Integration

Creating learning models that can exhibit sophisticated reasoning skills is one of the greatest challenges in deep learning research, and mathematics is rapidly becoming one of the target domains for assessing scientific progress in this direction. In the past few years there has been an explosion of neural network architectures, data sets, and benchmarks specifically designed to tackle mathematical problems, reporting notable success in disparate fields such as automated theorem proving, numerical integration, and discovery of new conjectures or matrix multiplication algorithms. However, despite these impressive achievements it is still unclear whether deep learning models possess an elementary understanding of quantities and symbolic numbers. In this survey we critically examine the recent literature, concluding that even state-of-the-art architectures often fall short when probed with relatively simple tasks designed to test basic numerical and arithmetic knowledge.