pwc-archive/papers-with-abstracts huggingface dataset:
Robust Planning for Human-Robot Joint Tasks with Explicit Reasoning on Human Mental State
Authors: Anthony Favier, Shashank Shekhar, Rachid Alami
Date: 2022-10-17 00:00:00
Tasks: Task Planning

We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans for both agents' (shared) tasks. However, the robot knows that humans cannot be administered like artificial agents, so it emulates and predicts the human's decisions, actions, and reactions. Based on earlier approaches, we describe a novel approach to solve such problems, which models and uses execution-time observability conventions. Abstractly, this modeling is based on situation assessment, which helps our approach capture the evolution of individual agents' beliefs and anticipate belief divergences that arise in practice. It decides if and when belief alignment is needed and achieves it with communication. These changes improve the solver's performance: (a) communication is effectively used, and (b) robust for more realistic and challenging problems.
Probabilities of Causation: Role of Observational Data
Authors: Ang Li, Judea Pearl
Date: 2022-10-17 00:00:00
Tasks: Decision Making, valid

Probabilities of causation play a crucial role in modern decision-making. Pearl defined three binary probabilities of causation, the probability of necessity and sufficiency (PNS), the probability of sufficiency (PS), and the probability of necessity (PN). These probabilities were then bounded by Tian and Pearl using a combination of experimental and observational data. However, observational data are not always available in practice; in such a case, Tian and Pearl's Theorem provided valid but less effective bounds using pure experimental data. In this paper, we discuss the conditions that observational data are worth considering to improve the quality of the bounds. More specifically, we defined the expected improvement of the bounds by assuming the observational distributions are uniformly distributed on their feasible interval. We further applied the proposed theorems to the unit selection problem defined by Li and Pearl.
PTDE: Personalized Training with Distilled Execution for Multi-Agent Reinforcement Learning
Authors: Yiqun Chen, Hangyu Mao, Jiaxin Mao, Shiguang Wu, Tianle Zhang, Bin Zhang, Wei Yang, Hongxing Chang
Date: 2022-10-17 00:00:00
Tasks: Learning-To-Rank, Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning (RL), SMAC, SMAC+

Centralized Training with Decentralized Execution (CTDE) has emerged as a widely adopted paradigm in multi-agent reinforcement learning, emphasizing the utilization of global information for learning an enhanced joint $Q$-function or centralized critic. In contrast, our investigation delves into harnessing global information to directly enhance individual $Q$-functions or individual actors. Notably, we discover that applying identical global information universally across all agents proves insufficient for optimal performance. Consequently, we advocate for the customization of global information tailored to each agent, creating agent-personalized global information to bolster overall performance. Furthermore, we introduce a novel paradigm named Personalized Training with Distilled Execution (PTDE), wherein agent-personalized global information is distilled into the agent's local information. This distilled information is then utilized during decentralized execution, resulting in minimal performance degradation. PTDE can be seamlessly integrated with state-of-the-art algorithms, leading to notable performance enhancements across diverse benchmarks, including the SMAC benchmark, Google Research Football (GRF) benchmark, and Learning to Rank (LTR) task.
Differential Evolution based Dual Adversarial Camouflage: Fooling Human Eyes and Object Detectors
Authors: Jialiang Sun, Tingsong Jiang, Wen Yao, Donghua Wang, Xiaoqian Chen
Date: 2022-10-17 00:00:00
Tasks: Object

Recent studies reveal that deep neural network (DNN) based object detectors are vulnerable to adversarial attacks in the form of adding the perturbation to the images, leading to the wrong output of object detectors. Most current existing works focus on generating perturbed images, also called adversarial examples, to fool object detectors. Though the generated adversarial examples themselves can remain a certain naturalness, most of them can still be easily observed by human eyes, which limits their further application in the real world. To alleviate this problem, we propose a differential evolution based dual adversarial camouflage (DE_DAC) method, composed of two stages to fool human eyes and object detectors simultaneously. Specifically, we try to obtain the camouflage texture, which can be rendered over the surface of the object. In the first stage, we optimize the global texture to minimize the discrepancy between the rendered object and the scene images, making human eyes difficult to distinguish. In the second stage, we design three loss functions to optimize the local texture, making object detectors ineffective. In addition, we introduce the differential evolution algorithm to search for the near-optimal areas of the object to attack, improving the adversarial performance under certain attack area limitations. Besides, we also study the performance of adaptive DE_DAC, which can be adapted to the environment. Experiments show that our proposed method could obtain a good trade-off between the fooling human eyes and object detectors under multiple specific scenes and objects.
Reducing Collision Checking for Sampling-Based Motion Planning Using Graph Neural Networks
Authors: Chenning Yu, Sicun Gao
Date: 2022-10-17 00:00:00
Proceeding: NeurIPS 2021 9
Tasks: Motion Planning

Sampling-based motion planning is a popular approach in robotics for finding paths in continuous configuration spaces. Checking collision with obstacles is the major computational bottleneck in this process. We propose new learning-based methods for reducing collision checking to accelerate motion planning by training graph neural networks (GNNs) that perform path exploration and path smoothing. Given random geometric graphs (RGGs) generated from batch sampling, the path exploration component iteratively predicts collision-free edges to prioritize their exploration. The path smoothing component then optimizes paths obtained from the exploration stage. The methods benefit from the ability of GNNs of capturing geometric patterns from RGGs through batch sampling and generalize better to unseen environments. Experimental results show that the learned components can significantly reduce collision checking and improve overall planning efficiency in challenging high-dimensional motion planning tasks.
You Only Live Once: Single-Life Reinforcement Learning
Authors: Annie S. Chen, Archit Sharma, Sergey Levine, Chelsea Finn
Date: 2022-10-17 00:00:00
Tasks: continuous-control, Continuous Control, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Reinforcement learning algorithms are typically designed to learn a performant policy that can repeatedly and autonomously complete a task, usually starting from scratch. However, in many real-world situations, the goal might not be to learn a policy that can do the task repeatedly, but simply to perform a new task successfully once in a single trial. For example, imagine a disaster relief robot tasked with retrieving an item from a fallen building, where it cannot get direct supervision from humans. It must retrieve this object within one test-time trial, and must do so while tackling unknown obstacles, though it may leverage knowledge it has of the building before the disaster. We formalize this problem setting, which we call single-life reinforcement learning (SLRL), where an agent must complete a task within a single episode without interventions, utilizing its prior experience while contending with some form of novelty. SLRL provides a natural setting to study the challenge of autonomously adapting to unfamiliar situations, and we find that algorithms designed for standard episodic reinforcement learning often struggle to recover from out-of-distribution states in this setting. Motivated by this observation, we propose an algorithm, $Q$-weighted adversarial learning (QWALE), which employs a distribution matching strategy that leverages the agent's prior experience as guidance in novel situations. Our experiments on several single-life continuous control problems indicate that methods based on our distribution matching formulation are 20-60% more successful because they can more quickly recover from novel states.
Social Biases in Automatic Evaluation Metrics for NLG
Authors: Mingqi Gao, Xiaojun Wan
Date: 2022-10-17 00:00:00
Tasks: Sentence, Sentence Embeddings, Text Generation, Text Summarization, Word Embeddings

Many studies have revealed that word embeddings, language models, and models for specific downstream tasks in NLP are prone to social biases, especially gender bias. Recently these techniques have been gradually applied to automatic evaluation metrics for text generation. In the paper, we propose an evaluation method based on Word Embeddings Association Test (WEAT) and Sentence Embeddings Association Test (SEAT) to quantify social biases in evaluation metrics and discover that social biases are also widely present in some model-based automatic evaluation metrics. Moreover, we construct gender-swapped meta-evaluation datasets to explore the potential impact of gender bias in image caption and text summarization tasks. Results show that given gender-neutral references in the evaluation, model-based evaluation metrics may show a preference for the male hypothesis, and the performance of them, i.e. the correlation between evaluation metrics and human judgments, usually has more significant variation after gender swapping.
Test-Time Training for Graph Neural Networks
Authors: Yiqi Wang, Chaozhuo Li, Wei Jin, Rui Li, Jianan Zhao, Jiliang Tang, Xing Xie
Date: 2022-10-17 00:00:00
Tasks: Graph Classification, Self-Supervised Learning

Graph Neural Networks (GNNs) have made tremendous progress in the graph classification task. However, a performance gap between the training set and the test set has often been noticed. To bridge such gap, in this work we introduce the first test-time training framework for GNNs to enhance the model generalization capacity for the graph classification task. In particular, we design a novel test-time training strategy with self-supervised learning to adjust the GNN model for each test graph sample. Experiments on the benchmark datasets have demonstrated the effectiveness of the proposed framework, especially when there are distribution shifts between training set and test set. We have also conducted exploratory studies and theoretical analysis to gain deeper understandings on the rationality of the design of the proposed graph test time training framework (GT3).
Effective and Efficient Query-aware Snippet Extraction for Web Search
Authors: Jingwei Yi, Fangzhao Wu, Chuhan Wu, Xiaolong Huang, Binxing Jiao, Guangzhong Sun, Xing Xie
Date: 2022-10-17 00:00:00
Tasks: Sentence

Query-aware webpage snippet extraction is widely used in search engines to help users better understand the content of the returned webpages before clicking. Although important, it is very rarely studied. In this paper, we propose an effective query-aware webpage snippet extraction method named DeepQSE, aiming to select a few sentences which can best summarize the webpage content in the context of input query. DeepQSE first learns query-aware sentence representations for each sentence to capture the fine-grained relevance between query and sentence, and then learns document-aware query-sentence relevance representations for snippet extraction. Since the query and each sentence are jointly modeled in DeepQSE, its online inference may be slow. Thus, we further propose an efficient version of DeepQSE, named Efficient-DeepQSE, which can significantly improve the inference speed of DeepQSE without affecting its performance. The core idea of Efficient-DeepQSE is to decompose the query-aware snippet extraction task into two stages, i.e., a coarse-grained candidate sentence selection stage where sentence representations can be cached, and a fine-grained relevance modeling stage. Experiments on two real-world datasets validate the effectiveness and efficiency of our methods.
A GPU-specialized Inference Parameter Server for Large-Scale Deep Recommendation Models
Authors: Yingcan Wei, Matthias Langer, Fan Yu, Minseok Lee, Kingsley Liu, Jerry Shi, Joey Wang
Date: 2022-10-17 00:00:00
Tasks: CPU, GPU, Recommendation Systems, Retrieval

Recommendation systems are of crucial importance for a variety of modern apps and web services, such as news feeds, social networks, e-commerce, search, etc. To achieve peak prediction accuracy, modern recommendation models combine deep learning with terabyte-scale embedding tables to obtain a fine-grained representation of the underlying data. Traditional inference serving architectures require deploying the whole model to standalone servers, which is infeasible at such massive scale. In this paper, we provide insights into the intriguing and challenging inference domain of online recommendation systems. We propose the HugeCTR Hierarchical Parameter Server (HPS), an industry-leading distributed recommendation inference framework, that combines a high-performance GPU embedding cache with an hierarchical storage architecture, to realize low-latency retrieval of embeddings for online model inference tasks. Among other things, HPS features (1) a redundant hierarchical storage system, (2) a novel high-bandwidth cache to accelerate parallel embedding lookup on NVIDIA GPUs, (3) online training support and (4) light-weight APIs for easy integration into existing large-scale recommendation workflows. To demonstrate its capabilities, we conduct extensive studies using both synthetically engineered and public datasets. We show that our HPS can dramatically reduce end-to-end inference latency, achieving 5~62x speedup (depending on the batch size) over CPU baseline implementations for popular recommendation models. Through multi-GPU concurrent deployment, the HPS can also greatly increase the inference QPS.
Merlin HugeCTR: GPU-accelerated Recommender System Training and Inference
Authors: Joey Wang, Yingcan Wei, Minseok Lee, Matthias Langer, Fan Yu, Jie Liu, Alex Liu, Daniel Abel, Gems Guo, Jianbing Dong, Jerry Shi, Kunlun Li
Date: 2022-10-17 00:00:00
Tasks: CPU, GPU, Recommendation Systems, Retrieval

In this talk, we introduce Merlin HugeCTR. Merlin HugeCTR is an open source, GPU-accelerated integration framework for click-through rate estimation. It optimizes both training and inference, whilst enabling model training at scale with model-parallel embeddings and data-parallel neural networks. In particular, Merlin HugeCTR combines a high-performance GPU embedding cache with an hierarchical storage architecture, to realize low-latency retrieval of embeddings for online model inference tasks. In the MLPerf v1.0 DLRM model training benchmark, Merlin HugeCTR achieves a speedup of up to 24.6x on a single DGX A100 (8x A100) over PyTorch on 4x4-socket CPU nodes (4x4x28 cores). Merlin HugeCTR can also take advantage of multi-node environments to accelerate training even further. Since late 2021, Merlin HugeCTR additionally features a hierarchical parameter server (HPS) and supports deployment via the NVIDIA Triton server framework, to leverage the computational capabilities of GPUs for high-speed recommendation model inference. Using this HPS, Merlin HugeCTR users can achieve a 5~62x speedup (batch size dependent) for popular recommendation models over CPU baseline implementations, and dramatically reduce their end-to-end inference latency.
ReasonChainQA: Text-based Complex Question Answering with Explainable Evidence Chains
Authors: Minjun Zhu, Yixuan Weng, Shizhu He, Kang Liu, Jun Zhao
Date: 2022-10-17 00:00:00
Tasks: Answer Generation, Diversity, Question Answering, Retrieval

The ability of reasoning over evidence has received increasing attention in question answering (QA). Recently, natural language database (NLDB) conducts complex QA in knowledge base with textual evidences rather than structured representations, this task attracts a lot of attention because of the flexibility and richness of textual evidence. However, existing text-based complex question answering datasets fail to provide explicit reasoning process, while it's important for retrieval effectiveness and reasoning interpretability. Therefore, we present a benchmark \textbf{ReasonChainQA} with explanatory and explicit evidence chains. ReasonChainQA consists of two subtasks: answer generation and evidence chains extraction, it also contains higher diversity for multi-hop questions with varying depths, 12 reasoning types and 78 relations. To obtain high-quality textual evidences for answering complex question. Additional experiment on supervised and unsupervised retrieval fully indicates the significance of ReasonChainQA. Dataset and codes will be made publicly available upon accepted.
MCP: Self-supervised Pre-training for Personalized Chatbots with Multi-level Contrastive Sampling
Authors: Zhaoheng Huang, Zhicheng Dou, Yutao Zhu, Zhengyi Ma
Date: 2022-10-17 00:00:00
Tasks: Response Generation, Self-Supervised Learning

Personalized chatbots focus on endowing the chatbots with a consistent personality to behave like real users and further act as personal assistants. Previous studies have explored generating implicit user profiles from the user's dialogue history for building personalized chatbots. However, these studies only use the response generation loss to train the entire model, thus it is prone to suffer from the problem of data sparsity. Besides, they overemphasize the final generated response's quality while ignoring the correlations and fusions between the user's dialogue history, leading to rough data representations and performance degradation. To tackle these problems, we propose a self-supervised learning framework MCP for capturing better representations from users' dialogue history for personalized chatbots. Specifically, we apply contrastive sampling methods to leverage the supervised signals hidden in user dialog history, and generate the pre-training samples for enhancing the model. We design three pre-training tasks based on three types of contrastive pairs from user dialogue history, namely response pairs, sequence augmentation pairs, and user pairs. We pre-train the utterance encoder and the history encoder towards the contrastive objectives and use these pre-trained encoders for generating user profiles while personalized response generation. Experimental results on two real-world datasets show a significant improvement in our proposed model MCP compared with the existing methods.
Keep Me Updated! Memory Management in Long-term Conversations
Authors: Sanghwan Bae, Donghyun Kwak, Soyoung Kang, Min Young Lee, Sungdong Kim, Yuin Jeong, Hyeri Kim, Sang-Woo Lee, WooMyoung Park, Nako Sung
Date: 2022-10-17 00:00:00
Tasks: Management

Remembering important information from the past and continuing to talk about it in the present are crucial in long-term conversations. However, previous literature does not deal with cases where the memorized information is outdated, which may cause confusion in later conversations. To address this issue, we present a novel task and a corresponding dataset of memory management in long-term conversations, in which bots keep track of and bring up the latest information about users while conversing through multiple sessions. In order to support more precise and interpretable memory, we represent memory as unstructured text descriptions of key information and propose a new mechanism of memory management that selectively eliminates invalidated or redundant information. Experimental results show that our approach outperforms the baselines that leave the stored memory unchanged in terms of engagingness and humanness, with larger performance gap especially in the later sessions.
Risk-Sensitive Markov Decision Processes with Long-Run CVaR Criterion
Authors: Li Xia, Peter W. Glynn
Date: 2022-10-17 00:00:00
Tasks: Management, Sensitivity

CVaR (Conditional Value at Risk) is a risk metric widely used in finance. However, dynamically optimizing CVaR is difficult since it is not a standard Markov decision process (MDP) and the principle of dynamic programming fails. In this paper, we study the infinite-horizon discrete-time MDP with a long-run CVaR criterion, from the view of sensitivity-based optimization. By introducing a pseudo CVaR metric, we derive a CVaR difference formula which quantifies the difference of long-run CVaR under any two policies. The optimality of deterministic policies is derived. We obtain a so-called Bellman local optimality equation for CVaR, which is a necessary and sufficient condition for local optimal policies and only necessary for global optimal policies. A CVaR derivative formula is also derived for providing more sensitivity information. Then we develop a policy iteration type algorithm to efficiently optimize CVaR, which is shown to converge to local optima in the mixed policy space. We further discuss some extensions including the mean-CVaR optimization and the maximization of CVaR. Finally, we conduct numerical experiments relating to portfolio management to demonstrate the main results. Our work may shed light on dynamically optimizing CVaR from a sensitivity viewpoint.
PCGen: Point Cloud Generator for LiDAR Simulation
Authors: Chenqi Li, Yuan Ren, Bingbing Liu
Date: 2022-10-17 00:00:00
Tasks: 3D Reconstruction, object-detection, Object Detection

Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to complement real data, due to their scalability and high-fidelity compared to graphics engine based methods. Before simulation can be deployed in the real-world, two shortcomings need to be addressed. First, existing methods usually generate data which are more noisy and complete than the real point clouds, due to 3D reconstruction error and pure geometry-based raycasting method. Second, prior works on simulation for object detection focus solely on rigid objects, like cars, but VRUs, like pedestrians, are important road participants. To tackle the first challenge, we propose FPA raycasting and surrogate model raydrop. FPA enables the simulation of both point cloud coordinates and sensor features, while taking into account reconstruction noise. The ray-wise surrogate raydrop model mimics the physical properties of LiDAR's laser receiver to determine whether a simulated point would be recorded by a real LiDAR. With minimal training data, the surrogate model can generalize to different geographies and scenes, closing the domain gap between raycasted and real point clouds. To tackle the simulation of deformable VRU simulation, we employ SMPL dataset to provide a pedestrian simulation baseline and compare the domain gap between CAD and reconstructed objects. Applying our pipeline to perform novel sensor synthesis, results show that object detection models trained by simulation data can achieve similar result as the real data trained model.