pwc-archive/papers-with-abstracts huggingface dataset:
A Survey on Datasets for Decision-making of Autonomous Vehicle
Authors: Yuning Wang, Zeyu Han, Yining Xing, Shaobing Xu, Jianqiang Wang
Date: 2023-06-29 00:00:00
Tasks: Autonomous Vehicles, Decision Making, Survey

Autonomous vehicles (AV) are expected to reshape future transportation systems, and decision-making is one of the critical modules toward high-level automated driving. To overcome those complicated scenarios that rule-based methods could not cope with well, data-driven decision-making approaches have aroused more and more focus. The datasets to be used in developing data-driven methods dramatically influences the performance of decision-making, hence it is necessary to have a comprehensive insight into the existing datasets. From the aspects of collection sources, driving data can be divided into vehicle, environment, and driver related data. This study compares the state-of-the-art datasets of these three categories and summarizes their features including sensors used, annotation, and driving scenarios. Based on the characteristics of the datasets, this survey also concludes the potential applications of datasets on various aspects of AV decision-making, assisting researchers to find appropriate ones to support their own research. The future trends of AV dataset development are summarized.
M3Act: Learning from Synthetic Human Group Activities
Authors: Che-Jui Chang, Danrui Li, Deep Patel, Parth Goel, Honglu Zhou, Seonghyeon Moon, Samuel S. Sohn, Sejong Yoon, Vladimir Pavlovic, Mubbasir Kapadia
Date: 2023-06-29 00:00:00
Tasks: Activity Recognition, Group Activity Recognition, Instance Segmentation, Person Recognition, Pose Tracking, Semantic Segmentation, Unity

The study of complex human interactions and group activities has become a focal point in human-centric computer vision. However, progress in related tasks is often hindered by the challenges of obtaining large-scale labeled datasets from real-world scenarios. To address the limitation, we introduce M3Act, a synthetic data generator for multi-view multi-group multi-person human atomic actions and group activities. Powered by Unity Engine, M3Act features multiple semantic groups, highly diverse and photorealistic images, and a comprehensive set of annotations, which facilitates the learning of human-centered tasks across single-person, multi-person, and multi-group conditions. We demonstrate the advantages of M3Act across three core experiments. The results suggest our synthetic dataset can significantly improve the performance of several downstream methods and replace real-world datasets to reduce cost. Notably, M3Act improves the state-of-the-art MOTRv2 on DanceTrack dataset, leading to a hop on the leaderboard from 10th to 2nd place. Moreover, M3Act opens new research for controllable 3D group activity generation. We define multiple metrics and propose a competitive baseline for the novel task. Our code and data are available at our project page: http://cjerry1243.github.io/M3Act.
DialoGPS: Dialogue Path Sampling in Continuous Semantic Space for Data Augmentation in Multi-Turn Conversations
Authors: Ang Lv, Jinpeng Li, Yuhan Chen, Xing Gao, Ji Zhang, Rui Yan
Date: 2023-06-29 00:00:00
Tasks: Data Augmentation, Dialogue Generation, Semantic Similarity, Semantic Textual Similarity

In open-domain dialogue generation tasks, contexts and responses in most datasets are one-to-one mapped, violating an important many-to-many characteristic: a context leads to various responses, and a response answers multiple contexts. Without such patterns, models poorly generalize and prefer responding safely. Many attempts have been made in either multi-turn settings from a one-to-many perspective or in a many-to-many perspective but limited to single-turn settings. The major challenge to many-to-many augment multi-turn dialogues is that discretely replacing each turn with semantic similarity breaks fragile context coherence. In this paper, we propose DialoGue Path Sampling (DialoGPS) method in continuous semantic space, the first many-to-many augmentation method for multi-turn dialogues. Specifically, we map a dialogue to our extended Brownian Bridge, a special Gaussian process. We sample latent variables to form coherent dialogue paths in the continuous space. A dialogue path corresponds to a new multi-turn dialogue and is used as augmented training data. We show the effect of DialoGPS with both automatic and human evaluation.
Eigensubspace of Temporal-Difference Dynamics and How It Improves Value Approximation in Reinforcement Learning
Authors: Qiang He, Tianyi Zhou, Meng Fang, Setareh Maghsudi
Date: 2023-06-29 00:00:00
Tasks: Deep Reinforcement Learning, Reinforcement Learning (RL)

We propose a novel value approximation method, namely Eigensubspace Regularized Critic (ERC) for deep reinforcement learning (RL). ERC is motivated by an analysis of the dynamics of Q-value approximation error in the Temporal-Difference (TD) method, which follows a path defined by the 1-eigensubspace of the transition kernel associated with the Markov Decision Process (MDP). It reveals a fundamental property of TD learning that has remained unused in previous deep RL approaches. In ERC, we propose a regularizer that guides the approximation error tending towards the 1-eigensubspace, resulting in a more efficient and stable path of value approximation. Moreover, we theoretically prove the convergence of the ERC method. Besides, theoretical analysis and experiments demonstrate that ERC effectively reduces the variance of value functions. Among 26 tasks in the DMControl benchmark, ERC outperforms state-of-the-art methods for 20. Besides, it shows significant advantages in Q-value approximation and variance reduction. Our code is available at https://sites.google.com/view/erc-ecml23/.
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
Authors: Anthony Francis, Claudia Pérez-D'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, Hao-Tien Lewis Chiang, Michael Everett, Sehoon Ha, Justin Hart, Jonathan P. How, Haresh Karnan, Tsang-Wei Edward Lee, Luis J. Manso, Reuth Mirksy, Sören Pirk, Phani Teja Singamaneni, Peter Stone, Ada V. Taylor, Peter Trautman, Nathan Tsoi, Marynel Vázquez, Xuesu Xiao, Peng Xu, Naoki Yokoyama, Alexander Toshev, Roberto Martín-Martín
Date: 2023-06-29 00:00:00
Tasks: Benchmarking, Robot Navigation, Social Navigation

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms that tackle social navigation remains hard because it involves not just robotic agents moving in static environments but also dynamic human agents and their perceptions of the appropriateness of robot behavior. In contrast, clear, repeatable, and accessible benchmarks have accelerated progress in fields like computer vision, natural language processing and traditional robot navigation by enabling researchers to fairly compare algorithms, revealing limitations of existing solutions and illuminating promising new directions. We believe the same approach can benefit social navigation. In this paper, we pave the road towards common, widely accessible, and repeatable benchmarking criteria to evaluate social robot navigation. Our contributions include (a) a definition of a socially navigating robot as one that respects the principles of safety, comfort, legibility, politeness, social competency, agent understanding, proactivity, and responsiveness to context, (b) guidelines for the use of metrics, development of scenarios, benchmarks, datasets, and simulators to evaluate social navigation, and (c) a design of a social navigation metrics framework to make it easier to compare results from different simulators, robots and datasets.
GraMMaR: Ground-aware Motion Model for 3D Human Motion Reconstruction
Authors: Sihan Ma, Qiong Cao, Hongwei Yi, Jing Zhang, DaCheng Tao
Date: 2023-06-29 00:00:00

Demystifying complex human-ground interactions is essential for accurate and realistic 3D human motion reconstruction from RGB videos, as it ensures consistency between the humans and the ground plane. Prior methods have modeled human-ground interactions either implicitly or in a sparse manner, often resulting in unrealistic and incorrect motions when faced with noise and uncertainty. In contrast, our approach explicitly represents these interactions in a dense and continuous manner. To this end, we propose a novel Ground-aware Motion Model for 3D Human Motion Reconstruction, named GraMMaR, which jointly learns the distribution of transitions in both pose and interaction between every joint and ground plane at each time step of a motion sequence. It is trained to explicitly promote consistency between the motion and distance change towards the ground. After training, we establish a joint optimization strategy that utilizes GraMMaR as a dual-prior, regularizing the optimization towards the space of plausible ground-aware motions. This leads to realistic and coherent motion reconstruction, irrespective of the assumed or learned ground plane. Through extensive evaluation on the AMASS and AIST++ datasets, our model demonstrates good generalization and discriminating abilities in challenging cases including complex and ambiguous human-ground interactions. The code will be available at https://github.com/xymsh/GraMMaR.
Multi-Scenario Ranking with Adaptive Feature Learning
Authors: Yu Tian, Bofang Li, Si Chen, Xubin Li, Hongbo Deng, Jian Xu, Bo Zheng, Qian Wang, Chenliang Li
Date: 2023-06-29 00:00:00
Tasks: Retrieval, Transfer Learning

Recently, Multi-Scenario Learning (MSL) is widely used in recommendation and retrieval systems in the industry because it facilitates transfer learning from different scenarios, mitigating data sparsity and reducing maintenance cost. These efforts produce different MSL paradigms by searching more optimal network structure, such as Auxiliary Network, Expert Network, and Multi-Tower Network. It is intuitive that different scenarios could hold their specific characteristics, activating the user's intents quite differently. In other words, different kinds of auxiliary features would bear varying importance under different scenarios. With more discriminative feature representations refined in a scenario-aware manner, better ranking performance could be easily obtained without expensive search for the optimal network structure. Unfortunately, this simple idea is mainly overlooked but much desired in real-world systems.Further analysis also validates the rationality of adaptive feature learning under a multi-scenario scheme. Moreover, our A/B test results on the Alibaba search advertising platform also demonstrate that Maria is superior in production environments.
Evaluating Paraphrastic Robustness in Textual Entailment Models
Authors: Dhruv Verma, Yash Kumar Lal, Shreyashee Sinha, Benjamin Van Durme, Adam Poliak
Date: 2023-06-29 00:00:00
Tasks: Natural Language Inference, RTE

We present PaRTE, a collection of 1,126 pairs of Recognizing Textual Entailment (RTE) examples to evaluate whether models are robust to paraphrasing. We posit that if RTE models understand language, their predictions should be consistent across inputs that share the same meaning. We use the evaluation set to determine if RTE models' predictions change when examples are paraphrased. In our experiments, contemporary models change their predictions on 8-16\% of paraphrased examples, indicating that there is still room for improvement.
Answer Mining from a Pool of Images: Towards Retrieval-Based Visual Question Answering
Authors: Abhirama Subramanyam Penamakuri, Manish Gupta, Mithun Das Gupta, Anand Mishra
Date: 2023-06-29 00:00:00
Tasks: Answer Generation, Question Answering, Retrieval, Visual Question Answering, Visual Question Answering (VQA)

We study visual question answering in a setting where the answer has to be mined from a pool of relevant and irrelevant images given as a context. For such a setting, a model must first retrieve relevant images from the pool and answer the question from these retrieved images. We refer to this problem as retrieval-based visual question answering (or RETVQA in short). The RETVQA is distinctively different and more challenging than the traditionally-studied Visual Question Answering (VQA), where a given question has to be answered with a single relevant image in context. Towards solving the RETVQA task, we propose a unified Multi Image BART (MI-BART) that takes a question and retrieved images using our relevance encoder for free-form fluent answer generation. Further, we introduce the largest dataset in this space, namely RETVQA, which has the following salient features: multi-image and retrieval requirement for VQA, metadata-independent questions over a pool of heterogeneous images, expecting a mix of classification-oriented and open-ended generative answers. Our proposed framework achieves an accuracy of 76.5% and a fluency of 79.3% on the proposed dataset, namely RETVQA and also outperforms state-of-the-art methods by 4.9% and 11.8% on the image segment of the publicly available WebQA dataset on the accuracy and fluency metrics, respectively.
NNQS-Transformer: an Efficient and Scalable Neural Network Quantum States Approach for Ab initio Quantum Chemistry
Authors: Yangjun Wu, Chu Guo, Yi Fan, Pengyu Zhou, Honghui Shang
Date: 2023-06-29 00:00:00
Tasks: Variational Monte Carlo

Neural network quantum state (NNQS) has emerged as a promising candidate for quantum many-body problems, but its practical applications are often hindered by the high cost of sampling and local energy calculation. We develop a high-performance NNQS method for \textit{ab initio} electronic structure calculations. The major innovations include: (1) A transformer based architecture as the quantum wave function ansatz; (2) A data-centric parallelization scheme for the variational Monte Carlo (VMC) algorithm which preserves data locality and well adapts for different computing architectures; (3) A parallel batch sampling strategy which reduces the sampling cost and achieves good load balance; (4) A parallel local energy evaluation scheme which is both memory and computationally efficient; (5) Study of real chemical systems demonstrates both the superior accuracy of our method compared to state-of-the-art and the strong and weak scalability for large molecular systems with up to $120$ spin orbitals.
Elastically-Constrained Meta-Learner for Federated Learning
Authors: Peng Lan, Donglai Chen, Chong Xie, Keshu Chen, Jinyuan He, Juntao Zhang, Yonghong Chen, Yan Xu
Date: 2023-06-29 00:00:00
Tasks: Federated Learning, Meta-Learning

Federated learning is an approach to collaboratively training machine learning models for multiple parties that prohibit data sharing. One of the challenges in federated learning is non-IID data between clients, as a single model can not fit the data distribution for all clients. Meta-learning, such as Per-FedAvg, is introduced to cope with the challenge. Meta-learning learns shared initial parameters for all clients. Each client employs gradient descent to adapt the initialization to local data distributions quickly to realize model personalization. However, due to non-convex loss function and randomness of sampling update, meta-learning approaches have unstable goals in local adaptation for the same client. This fluctuation in different adaptation directions hinders the convergence in meta-learning. To overcome this challenge, we use the historical local adapted model to restrict the direction of the inner loop and propose an elastic-constrained method. As a result, the current round inner loop keeps historical goals and adapts to better solutions. Experiments show our method boosts meta-learning convergence and improves personalization without additional calculation and communication. Our method achieved SOTA on all metrics in three public datasets.
Rapid-INR: Storage Efficient CPU-free DNN Training Using Implicit Neural Representation
Authors: Hanqiu Chen, Hang Yang, Stephen Fitzmeyer, Cong Hao
Date: 2023-06-29 00:00:00
Tasks: CPU, GPU, image-classification, Image Classification, Image Compression, Quantization

Implicit Neural Representation (INR) is an innovative approach for representing complex shapes or objects without explicitly defining their geometry or surface structure. Instead, INR represents objects as continuous functions. Previous research has demonstrated the effectiveness of using neural networks as INR for image compression, showcasing comparable performance to traditional methods such as JPEG. However, INR holds potential for various applications beyond image compression. This paper introduces Rapid-INR, a novel approach that utilizes INR for encoding and compressing images, thereby accelerating neural network training in computer vision tasks. Our methodology involves storing the whole dataset directly in INR format on a GPU, mitigating the significant data communication overhead between the CPU and GPU during training. Additionally, the decoding process from INR to RGB format is highly parallelized and executed on-the-fly. To further enhance compression, we propose iterative and dynamic pruning, as well as layer-wise quantization, building upon previous work. We evaluate our framework on the image classification task, utilizing the ResNet-18 backbone network and three commonly used datasets with varying image sizes. Rapid-INR reduces memory consumption to only about 5% of the original dataset size in RGB format and achieves a maximum 6$\times$ speedup over the PyTorch training pipeline, as well as a maximum 1.2x speedup over the DALI training pipeline, with only a marginal decrease in accuracy. Importantly, Rapid-INR can be readily applied to other computer vision tasks and backbone networks with reasonable engineering efforts. Our implementation code is publicly available at https://github.com/sharc-lab/Rapid-INR.
Neural Polarizer: A Lightweight and Effective Backdoor Defense via Purifying Poisoned Features
Date: 2023-06-29 00:00:00
Proceeding: NeurIPS 2023 11
Tasks: backdoor defense

Recent studies have demonstrated the susceptibility of deep neural networks to backdoor attacks. Given a backdoored model, its prediction of a poisoned sample with trigger will be dominated by the trigger information, though trigger information and benign information coexist. Inspired by the mechanism of the optical polarizer that a polarizer could pass light waves with particular polarizations while filtering light waves with other polarizations, we propose a novel backdoor defense method by inserting a learnable neural polarizer into the backdoored model as an intermediate layer, in order to purify the poisoned sample via filtering trigger information while maintaining benign information. The neural polarizer is instantiated as one lightweight linear transformation layer, which is learned through solving a well designed bi-level optimization problem, based on a limited clean dataset. Compared to other fine-tuning-based defense methods which often adjust all parameters of the backdoored model, the proposed method only needs to learn one additional layer, such that it is more efficient and requires less clean data. Extensive experiments demonstrate the effectiveness and efficiency of our method in removing backdoors across various neural network architectures and datasets, especially in the case of very limited clean data.
SRL: Scaling Distributed Reinforcement Learning to Over Ten Thousand Cores
Authors: Zhiyu Mei, Wei Fu, Jiaxuan Gao, Guangju Wang, Huanchen Zhang, Yi Wu
Date: 2023-06-29 00:00:00
Tasks: CPU, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

The ever-growing complexity of reinforcement learning (RL) tasks demands a distributed system to efficiently generate and process a massive amount of data. However, existing open-source libraries suffer from various limitations, which impede their practical use in challenging scenarios where large-scale training is necessary. In this paper, we present a novel abstraction on the dataflows of RL training, which unifies diverse RL training applications into a general framework. Following this abstraction, we develop a scalable, efficient, and extensible distributed RL system called ReaLlyScalableRL, which allows efficient and massively parallelized training and easy development of customized algorithms. Our evaluation shows that SRL outperforms existing academic libraries, reaching at most 21x higher training throughput in a distributed setting. On learning performance, beyond performing and scaling well on common RL benchmarks with different RL algorithms, SRL can reproduce the same solution in the challenging hide-and-seek environment as reported by OpenAI with up to 5x speedup in wall-clock time. Notably, SRL is the first in the academic community to perform RL experiments at a large scale with over 15k CPU cores. SRL source code is available at: https://github.com/openpsi-project/srl .
Game Level Blending using a Learned Level Representation
Authors: Venkata Sai Revanth Atmakuri, Seth Cooper, Matthew Guzdial
Date: 2023-06-29 00:00:00

Game level blending via machine learning, the process of combining features of game levels to create unique and novel game levels using Procedural Content Generation via Machine Learning (PCGML) techniques, has gained increasing popularity in recent years. However, many existing techniques rely on human-annotated level representations, which limits game level blending to a limited number of annotated games. Even with annotated games, researchers often need to author an additional shared representation to make blending possible. In this paper, we present a novel approach to game level blending that employs Clustering-based Tile Embeddings (CTE), a learned level representation technique that can serve as a level representation for unannotated games and a unified level representation across games without the need for human annotation. CTE represents game level tiles as a continuous vector representation, unifying their visual, contextual, and behavioral information. We apply this approach to two classic Nintendo games, Lode Runner and The Legend of Zelda. We run an evaluation comparing the CTE representation to a common, human-annotated representation in the blending task and find that CTE has comparable or better performance without the need for human annotation.
NaturalInversion: Data-Free Image Synthesis Improving Real-World Consistency
Authors: Yujin Kim, Dogyun Park, Dohee Kim, Suhyun Kim
Date: 2023-06-29 00:00:00
Tasks: Image Generation, Knowledge Distillation

We introduce NaturalInversion, a novel model inversion-based method to synthesize images that agrees well with the original data distribution without using real data. In NaturalInversion, we propose: (1) a Feature Transfer Pyramid which uses enhanced image prior of the original data by combining the multi-scale feature maps extracted from the pre-trained classifier, (2) a one-to-one approach generative model where only one batch of images are synthesized by one generator to bring the non-linearity to optimization and to ease the overall optimizing process, (3) learnable Adaptive Channel Scaling parameters which are end-to-end trained to scale the output image channel to utilize the original image prior further. With our NaturalInversion, we synthesize images from classifiers trained on CIFAR-10/100 and show that our images are more consistent with original data distribution than prior works by visualization and additional analysis. Furthermore, our synthesized images outperform prior works on various applications such as knowledge distillation and pruning, demonstrating the effectiveness of our proposed method.