pwc-archive/papers-with-abstracts huggingface dataset:
An Application of a Runtime Epistemic Probabilistic Event Calculus to Decision-making in e-Health Systems
Authors: Fabio Aurelio D'Asaro, Luca Raggioli, Salim Malek, Marco Grazioso, Silvia Rossi
Date: 2022-09-26 00:00:00
Tasks: Decision Making, Emotion Recognition, Head Pose Estimation, Pose Estimation

We present and discuss a runtime architecture that integrates sensorial data and classifiers with a logic-based decision-making system in the context of an e-Health system for the rehabilitation of children with neuromotor disorders. In this application, children perform a rehabilitation task in the form of games. The main aim of the system is to derive a set of parameters the child's current level of cognitive and behavioral performance (e.g., engagement, attention, task accuracy) from the available sensors and classifiers (e.g., eye trackers, motion sensors, emotion recognition techniques) and take decisions accordingly. These decisions are typically aimed at improving the child's performance by triggering appropriate re-engagement stimuli when their attention is low, by changing the game or making it more difficult when the child is losing interest in the task as it is too easy. Alongside state-of-the-art techniques for emotion recognition and head pose estimation, we use a runtime variant of a probabilistic and epistemic logic programming dialect of the Event Calculus, known as the Epistemic Probabilistic Event Calculus. In particular, the probabilistic component of this symbolic framework allows for a natural interface with the machine learning techniques. We overview the architecture and its components, and show some of its characteristics through a discussion of a running example and experiments. Under consideration for publication in Theory and Practice of Logic Programming (TPLP).
MonoGraspNet: 6-DoF Grasping with a Single RGB Image
Authors: Guangyao Zhai, Dianye Huang, Shun-Cheng Wu, HyunJun Jung, Yan Di, Fabian Manhardt, Federico Tombari, Nassir Navab, Benjamin Busam
Date: 2022-09-26 00:00:00
Tasks: Robotic Grasping

6-DoF robotic grasping is a long-lasting but unsolved problem. Recent methods utilize strong 3D networks to extract geometric grasping representations from depth sensors, demonstrating superior accuracy on common objects but perform unsatisfactorily on photometrically challenging objects, e.g., objects in transparent or reflective materials. The bottleneck lies in that the surface of these objects can not reflect back accurate depth due to the absorption or refraction of light. In this paper, in contrast to exploiting the inaccurate depth data, we propose the first RGB-only 6-DoF grasping pipeline called MonoGraspNet that utilizes stable 2D features to simultaneously handle arbitrary object grasping and overcome the problems induced by photometrically challenging objects. MonoGraspNet leverages keypoint heatmap and normal map to recover the 6-DoF grasping poses represented by our novel representation parameterized with 2D keypoints with corresponding depth, grasping direction, grasping width, and angle. Extensive experiments in real scenes demonstrate that our method can achieve competitive results in grasping common objects and surpass the depth-based competitor by a large margin in grasping photometrically challenging objects. To further stimulate robotic manipulation research, we additionally annotate and open-source a multi-view and multi-scene real-world grasping dataset, containing 120 objects of mixed photometric complexity with 20M accurate grasping labels.
Automated Urban Planning aware Spatial Hierarchies and Human Instructions
Authors: Dongjie Wang, Kunpeng Liu, Yanyong Huang, Leilei Sun, Bowen Du, Yanjie Fu
Date: 2022-09-26 00:00:00
Tasks: Decoder

Traditional urban planning demands urban experts to spend considerable time and effort producing an optimal urban plan under many architectural constraints. The remarkable imaginative ability of deep generative learning provides hope for renovating urban planning. While automated urban planners have been examined, they are constrained because of the following: 1) neglecting human requirements in urban planning; 2) omitting spatial hierarchies in urban planning, and 3) lacking numerous urban plan data samples. To overcome these limitations, we propose a novel, deep, human-instructed urban planner. In the preliminary work, we formulate it into an encoder-decoder paradigm. The encoder is to learn the information distribution of surrounding contexts, human instructions, and land-use configuration. The decoder is to reconstruct the land-use configuration and the associated urban functional zones. The reconstruction procedure will capture the spatial hierarchies between functional zones and spatial grids. Meanwhile, we introduce a variational Gaussian mechanism to mitigate the data sparsity issue. Even though early work has led to good results, the performance of generation is still unstable because the way spatial hierarchies are captured may lead to unclear optimization directions. In this journal version, we propose a cascading deep generative framework based on generative adversarial networks (GANs) to solve this problem, inspired by the workflow of urban experts. In particular, the purpose of the first GAN is to build urban functional zones based on information from human instructions and surrounding contexts. The second GAN will produce the land-use configuration based on the functional zones that have been constructed. Additionally, we provide a conditioning augmentation module to augment data samples. Finally, we conduct extensive experiments to validate the efficacy of our work.
FaRO 2: an Open Source, Configurable Smart City Framework for Real-Time Distributed Vision and Biometric Systems
Authors: Joel Brogan, Nell Barber, David Cornett, David Bolme
Date: 2022-09-26 00:00:00
Tasks: Federated Learning, Self-Driving Cars

Recent global growth in the interest of smart cities has led to trillions of dollars of investment toward research and development. These connected cities have the potential to create a symbiosis of technology and society and revolutionize the cost of living, safety, ecological sustainability, and quality of life of societies on a world-wide scale. Some key components of the smart city construct are connected smart grids, self-driving cars, federated learning systems, smart utilities, large-scale public transit, and proactive surveillance systems. While exciting in prospect, these technologies and their subsequent integration cannot be attempted without addressing the potential societal impacts of such a high degree of automation and data sharing. Additionally, the feasibility of coordinating so many disparate tasks will require a fast, extensible, unifying framework. To that end, we propose FaRO2, a completely reimagined successor to FaRO1, built from the ground up. FaRO2 affords all of the same functionality as its predecessor, serving as a unified biometric API harness that allows for seamless evaluation, deployment, and simple pipeline creation for heterogeneous biometric software. FaRO2 additionally provides a fully declarative capability for defining and coordinating custom machine learning and sensor pipelines, allowing the distribution of processes across otherwise incompatible hardware and networks. FaRO2 ultimately provides a way to quickly configure, hot-swap, and expand large coordinated or federated systems online without interruptions for maintenance. Because much of the data collected in a smart city contains Personally Identifying Information (PII), FaRO2 also provides built-in tools and layers to ensure secure and encrypted streaming, storage, and access of PII data across distributed systems.
The Efficacy of Self-Supervised Speech Models for Audio Representations
Authors: Tung-Yu Wu, Chen-An Li, Tzu-Han Lin, Tsu-Yuan Hsu, Hung-Yi Lee
Date: 2022-09-26 00:00:00
Tasks: Onset Detection, Pitch Classification, Representation Learning, Self-Supervised Learning, Speech Representation Learning

Self-supervised learning (SSL) speech models, which can serve as powerful upstream models to extract meaningful speech representations, have achieved unprecedented success in speech representation learning. However, their effectiveness on non-speech datasets is relatively less explored. In this work, we propose an ensemble framework, with a combination of ensemble techniques, to fuse SSL speech models' embeddings. Extensive experiments on speech and non-speech audio datasets are conducted to investigate the representation abilities of our ensemble method and its single constituent model. Ablation studies are carried out to evaluate the performances of different ensemble techniques, such as feature averaging and concatenation. All experiments are conducted during NeurIPS 2021 HEAR Challenge as a standard evaluation pipeline provided by competition officials. Results demonstrate SSL speech models' strong abilities on various non-speech tasks, while we also note that they fail to deal with fine-grained music tasks, such as pitch classification and note onset detection. In addition, feature ensemble is shown to have great potential on producing more holistic representations, as our proposed framework generally surpasses state-of-the-art SSL speech/audio models and has superior performance on various datasets compared with other teams in HEAR Challenge. Our code is available at https://github.com/tony10101105/HEAR-2021-NeurIPS-Challenge -- NTU-GURA.
Unraveling Key Elements Underlying Molecular Property Prediction: A Systematic Study
Authors: Jianyuan Deng, Zhibo Yang, Hehe Wang, Iwao Ojima, Dimitris Samaras, Fusheng Wang
Date: 2022-09-26 00:00:00
Tasks: Drug Discovery, Molecular Property Prediction, molecular representation, Prediction, Property Prediction, Representation Learning

Artificial intelligence (AI) has been widely applied in drug discovery with a major task as molecular property prediction. Despite booming techniques in molecular representation learning, key elements underlying molecular property prediction remain largely unexplored, which impedes further advancements in this field. Herein, we conduct an extensive evaluation of representative models using various representations on the MoleculeNet datasets, a suite of opioids-related datasets and two additional activity datasets from the literature. To investigate the predictive power in low-data and high-data space, a series of descriptors datasets of varying sizes are also assembled to evaluate the models. In total, we have trained 62,820 models, including 50,220 models on fixed representations, 4,200 models on SMILES sequences and 8,400 models on molecular graphs. Based on extensive experimentation and rigorous comparison, we show that representation learning models exhibit limited performance in molecular property prediction in most datasets. Besides, multiple key elements underlying molecular property prediction can affect the evaluation results. Furthermore, we show that activity cliffs can significantly impact model prediction. Finally, we explore into potential causes why representation learning models can fail and show that dataset size is essential for representation learning models to excel.
Activation Learning by Local Competitions
Authors: Hongchao Zhou
Date: 2022-09-26 00:00:00
Tasks: Adversarial Attack, Anomaly Detection, Image Generation

Despite its great success, backpropagation has certain limitations that necessitate the investigation of new learning methods. In this study, we present a biologically plausible local learning rule that improves upon Hebb's well-known proposal and discovers unsupervised features by local competitions among neurons. This simple learning rule enables the creation of a forward learning paradigm called activation learning, in which the output activation (sum of the squared output) of the neural network estimates the likelihood of the input patterns, or "learn more, activate more" in simpler terms. For classification on a few small classical datasets, activation learning performs comparably to backpropagation using a fully connected network, and outperforms backpropagation when there are fewer training samples or unpredictable disturbances. Additionally, the same trained network can be used for a variety of tasks, including image generation and completion. Activation learning also achieves state-of-the-art performance on several real-world datasets for anomaly detection. This new learning paradigm, which has the potential to unify supervised, unsupervised, and semi-supervised learning and is reasonably more resistant to adversarial attacks, deserves in-depth investigation.
Reward Learning using Structural Motifs in Inverse Reinforcement Learning
Authors: Raeid Saqur
Date: 2022-09-25 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

The Inverse Reinforcement Learning (\textit{IRL}) problem has seen rapid evolution in the past few years, with important applications in domains like robotics, cognition, and health. In this work, we explore the inefficacy of current IRL methods in learning an agent's reward function from expert trajectories depicting long-horizon, complex sequential tasks. We hypothesize that imbuing IRL models with structural motifs capturing underlying tasks can enable and enhance their performance. Subsequently, we propose a novel IRL method, SMIRL, that first learns the (approximate) structure of a task as a finite-state-automaton (FSA), then uses the structural motif to solve the IRL problem. We test our model on both discrete grid world and high-dimensional continuous domain environments. We empirically show that our proposed approach successfully learns all four complex tasks, where two foundational IRL baselines fail. Our model also outperforms the baselines in sample efficiency on a simpler toy task. We further show promising test results in a modified continuous domain on tasks with compositional reward functions.
Learning-Based Dimensionality Reduction for Computing Compact and Effective Local Feature Descriptors
Authors: Hao Dong, Xieyuanli Chen, Mihai Dusmanu, Viktor Larsson, Marc Pollefeys, Cyrill Stachniss
Date: 2022-09-27 00:00:00
Tasks: Dimensionality Reduction, Image Retrieval, Retrieval, Visual Localization

A distinctive representation of image patches in form of features is a key component of many computer vision and robotics tasks, such as image matching, image retrieval, and visual localization. State-of-the-art descriptors, from hand-crafted descriptors such as SIFT to learned ones such as HardNet, are usually high dimensional; 128 dimensions or even more. The higher the dimensionality, the larger the memory consumption and computational time for approaches using such descriptors. In this paper, we investigate multi-layer perceptrons (MLPs) to extract low-dimensional but high-quality descriptors. We thoroughly analyze our method in unsupervised, self-supervised, and supervised settings, and evaluate the dimensionality reduction results on four representative descriptors. We consider different applications, including visual localization, patch verification, image matching and retrieval. The experiments show that our lightweight MLPs achieve better dimensionality reduction than PCA. The lower-dimensional descriptors generated by our approach outperform the original higher-dimensional descriptors in downstream tasks, especially for the hand-crafted ones. The code will be available at https://github.com/PRBonn/descriptor-dr.
FreeSeg: Free Mask from Interpretable Contrastive Language-Image Pretraining for Semantic Segmentation
Authors: Yi Li, Huifeng Yao, Hualiang Wang, Xiaomeng Li
Date: 2022-09-27 00:00:00
Tasks: Retrieval, Segmentation, Semantic Segmentation, text similarity, Zero-Shot Semantic Segmentation

Fully supervised semantic segmentation learns from dense masks, which requires heavy annotation cost for closed set. In this paper, we use natural language as supervision without any pixel-level annotation for open world segmentation. We call the proposed framework as FreeSeg, where the mask is freely available from raw feature map of pretraining model. Compared with zero-shot or openset segmentation, FreeSeg doesn't require any annotated masks, and it widely predicts categories beyond class-agnostic unsupervised segmentation. Specifically, FreeSeg obtains free mask from Image-Text Similarity Map (ITSM) of Interpretable Contrastive Language-Image Pretraining (ICLIP). And our core improvements are the smoothed min pooling for dense ICLIP, with the partial label and pixel strategies for segmentation. Furthermore, FreeSeg is very straight forward without complex design like grouping, clustering or retrieval. Besides the simplicity, the performances of FreeSeg surpass previous state-of-the-art at large margins, e.g. 13.4% higher at mIoU on VOC dataset in the same settings.
StyleSwap: Style-Based Generator Empowers Robust Face Swapping
Authors: Zhiliang Xu, Hang Zhou, Zhibin Hong, Ziwei Liu, Jiaming Liu, Zhizhi Guo, Junyu Han, Jingtuo Liu, Errui Ding, Jingdong Wang
Date: 2022-09-27 00:00:00
Tasks: Face Swapping

Numerous attempts have been made to the task of person-agnostic face swapping given its wide applications. While existing methods mostly rely on tedious network and loss designs, they still struggle in the information balancing between the source and target faces, and tend to produce visible artifacts. In this work, we introduce a concise and effective framework named StyleSwap. Our core idea is to leverage a style-based generator to empower high-fidelity and robust face swapping, thus the generator's advantage can be adopted for optimizing identity similarity. We identify that with only minimal modifications, a StyleGAN2 architecture can successfully handle the desired information from both source and target. Additionally, inspired by the ToRGB layers, a Swapping-Driven Mask Branch is further devised to improve information blending. Furthermore, the advantage of StyleGAN inversion can be adopted. Particularly, a Swapping-Guided ID Inversion strategy is proposed to optimize identity similarity. Extensive experiments validate that our framework generates high-quality face swapping results that outperform state-of-the-art methods both qualitatively and quantitatively.
Motion Transformer with Global Intention Localization and Local Movement Refinement
Authors: Shaoshuai Shi, Li Jiang, Dengxin Dai, Bernt Schiele
Date: 2022-09-27 00:00:00
Tasks: motion prediction, Prediction, Trajectory Prediction

Predicting multimodal future behavior of traffic participants is essential for robotic vehicles to make safe decisions. Existing works explore to directly predict future trajectories based on latent features or utilize dense goal candidates to identify agent's destinations, where the former strategy converges slowly since all motion modes are derived from the same feature while the latter strategy has efficiency issue since its performance highly relies on the density of goal candidates. In this paper, we propose Motion TRansformer (MTR) framework that models motion prediction as the joint optimization of global intention localization and local movement refinement. Instead of using goal candidates, MTR incorporates spatial intention priors by adopting a small set of learnable motion query pairs. Each motion query pair takes charge of trajectory prediction and refinement for a specific motion mode, which stabilizes the training process and facilitates better multimodal predictions. Experiments show that MTR achieves state-of-the-art performance on both the marginal and joint motion prediction challenges, ranking 1st on the leaderboards of Waymo Open Motion Dataset. The source code is available at https://github.com/sshaoshuai/MTR.
CrossDTR: Cross-view and Depth-guided Transformers for 3D Object Detection
Authors: Ching-Yu Tseng, Yi-Rong Chen, Hsin-Ying Lee, Tsung-Han Wu, Wen-Chin Chen, Winston H. Hsu
Date: 2022-09-27 00:00:00
Tasks: 3D Object Detection, Autonomous Driving, Depth Estimation, Depth Prediction, Object, object-detection, Object Detection, Pedestrian Detection

To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth, existing multi-camera methods often generate multiple bounding boxes along a ray of depth direction for difficult small objects such as pedestrians, resulting in an extremely low recall. Furthermore, directly applying depth prediction modules to existing multi-camera methods, generally composed of large network architectures, cannot meet the real-time requirements of self-driving applications. To address these issues, we propose Cross-view and Depth-guided Transformers for 3D Object Detection, CrossDTR. First, our lightweight depth predictor is designed to produce precise object-wise sparse depth maps and low-dimensional depth embeddings without extra depth datasets during supervision. Second, a cross-view depth-guided transformer is developed to fuse the depth embeddings as well as image features from cameras of different views and generate 3D bounding boxes. Extensive experiments demonstrated that our method hugely surpassed existing multi-camera methods by 10 percent in pedestrian detection and about 3 percent in overall mAP and NDS metrics. Also, computational analyses showed that our method is 5 times faster than prior approaches. Our codes will be made publicly available at https://github.com/sty61010/CrossDTR.
Visual Object Tracking in First Person Vision
Authors: Matteo Dunnhofer, Antonino Furnari, Giovanni Maria Farinella, Christian Micheloni
Date: 2022-09-27 00:00:00
Tasks: Human-Object Interaction Detection, Object, Object Tracking, Visual Object Tracking, Visual Tracking

The understanding of human-object interactions is fundamental in First Person Vision (FPV). Visual tracking algorithms which follow the objects manipulated by the camera wearer can provide useful information to effectively model such interactions. In the last years, the computer vision community has significantly improved the performance of tracking algorithms for a large variety of target objects and scenarios. Despite a few previous attempts to exploit trackers in the FPV domain, a methodical analysis of the performance of state-of-the-art trackers is still missing. This research gap raises the question of whether current solutions can be used ``off-the-shelf'' or more domain-specific investigations should be carried out. This paper aims to provide answers to such questions. We present the first systematic investigation of single object tracking in FPV. Our study extensively analyses the performance of 42 algorithms including generic object trackers and baseline FPV-specific trackers. The analysis is carried out by focusing on different aspects of the FPV setting, introducing new performance measures, and in relation to FPV-specific tasks. The study is made possible through the introduction of TREK-150, a novel benchmark dataset composed of 150 densely annotated video sequences. Our results show that object tracking in FPV poses new challenges to current visual trackers. We highlight the factors causing such behavior and point out possible research directions. Despite their difficulties, we prove that trackers bring benefits to FPV downstream tasks requiring short-term object tracking. We expect that generic object tracking will gain popularity in FPV as new and FPV-specific methodologies are investigated.