pwc-archive/papers-with-abstracts huggingface dataset:
Constant-time Motion Planning with Anytime Refinement for Manipulation
Authors: Itamar Mishani, Hayden Feddock, Maxim Likhachev
Date: 2023-11-01 00:00:00
Tasks: Motion Planning

Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of obstacle avoidance and constraint satisfaction, often makes motion planning the bottleneck for achieving reliable and adaptable autonomy. Recently, a class of constant-time motion planners (CTMP) was introduced. These planners employ a preprocessing phase to compute data structures that enable online planning provably guarantee the ability to generate motion plans, potentially sub-optimal, within a user defined time bound. This framework has been demonstrated to be effective in a number of time-critical tasks. However, robotic systems often have more time allotted for planning than the online portion of CTMP requires, time that can be used to improve the solution. To this end, we propose an anytime refinement approach that works in combination with CTMP algorithms. Our proposed framework, as it operates as a constant time algorithm, rapidly generates an initial solution within a user-defined time threshold. Furthermore, functioning as an anytime algorithm, it iteratively refines the solution's quality within the allocated time budget. This enables our approach to strike a balance between guaranteed fast plan generation and the pursuit of optimization over time. We support our approach by elucidating its analytical properties, showing the convergence of the anytime component towards optimal solutions. Additionally, we provide empirical validation through simulation and real-world demonstrations on a 6 degree-of-freedom robot manipulator, applied to an assembly domain.
Beyond still images: Temporal features and input variance resilience
Authors: Amir Hosein Fadaei, Mohammad-Reza A. Dehaqani
Date: 2023-11-01 00:00:00
Tasks: Video Understanding

Traditionally, vision models have predominantly relied on spatial features extracted from static images, deviating from the continuous stream of spatiotemporal features processed by the brain in natural vision. While numerous video-understanding models have emerged, incorporating videos into image-understanding models with spatiotemporal features has been limited. Drawing inspiration from natural vision, which exhibits remarkable resilience to input changes, our research focuses on the development of a brain-inspired model for vision understanding trained with videos. Our findings demonstrate that models that train on videos instead of still images and include temporal features become more resilient to various alternations on input media.
Tipping Points of Evolving Epidemiological Networks: Machine Learning-Assisted, Data-Driven Effective Modeling
Authors: Nikolaos Evangelou, Tianqi Cui, Juan M. Bello-Rivas, Alexei Makeev, Ioannis G. Kevrekidis
Date: 2023-11-01 00:00:00

We study the tipping point collective dynamics of an adaptive susceptible-infected-susceptible (SIS) epidemiological network in a data-driven, machine learning-assisted manner. We identify a parameter-dependent effective stochastic differential equation (eSDE) in terms of physically meaningful coarse mean-field variables through a deep-learning ResNet architecture inspired by numerical stochastic integrators. We construct an approximate effective bifurcation diagram based on the identified drift term of the eSDE and contrast it with the mean-field SIS model bifurcation diagram. We observe a subcritical Hopf bifurcation in the evolving network's effective SIS dynamics, that causes the tipping point behavior; this takes the form of large amplitude collective oscillations that spontaneously -- yet rarely -- arise from the neighborhood of a (noisy) stationary state. We study the statistics of these rare events both through repeated brute force simulations and by using established mathematical/computational tools exploiting the right-hand-side of the identified SDE. We demonstrate that such a collective SDE can also be identified (and the rare events computations also performed) in terms of data-driven coarse observables, obtained here via manifold learning techniques, in particular Diffusion Maps. The workflow of our study is straightforwardly applicable to other complex dynamics problems exhibiting tipping point dynamics.
SAGE: Smart home Agent with Grounded Execution
Authors: Dmitriy Rivkin, Francois Hogan, Amal Feriani, Abhisek Konar, Adam Sigal, Steve Liu, Greg Dudek
Date: 2023-11-01 00:00:00
Tasks: Common Sense Reasoning, General Knowledge

The common sense reasoning abilities and vast general knowledge of Large Language Models (LLMs) make them a natural fit for interpreting user requests in a Smart Home assistant context. LLMs, however, lack specific knowledge about the user and their home limit their potential impact. SAGE (Smart Home Agent with Grounded Execution), overcomes these and other limitations by using a scheme in which a user request triggers an LLM-controlled sequence of discrete actions. These actions can be used to retrieve information, interact with the user, or manipulate device states. SAGE controls this process through a dynamically constructed tree of LLM prompts, which help it decide which action to take next, whether an action was successful, and when to terminate the process. The SAGE action set augments an LLM's capabilities to support some of the most critical requirements for a Smart Home assistant. These include: flexible and scalable user preference management ("is my team playing tonight?"), access to any smart device's full functionality without device-specific code via API reading "turn down the screen brightness on my dryer", persistent device state monitoring ("remind me to throw out the milk when I open the fridge"), natural device references using only a photo of the room ("turn on the light on the dresser"), and more. We introduce a benchmark of 50 new and challenging smart home tasks where SAGE achieves a 75% success rate, significantly outperforming existing LLM-enabled baselines (30% success rate).
Hand Gesture Classification on Praxis Dataset: Trading Accuracy for Expense
Authors: Rahat Islam, Kenneth Lai, Svetlana Yanushkevich
Date: 2023-11-01 00:00:00
Tasks: Gesture Recognition, Hand Gesture Recognition, Hand-Gesture Recognition

In this paper, we investigate hand gesture classifiers that rely upon the abstracted 'skeletal' data recorded using the RGB-Depth sensor. We focus on 'skeletal' data represented by the body joint coordinates, from the Praxis dataset. The PRAXIS dataset contains recordings of patients with cortical pathologies such as Alzheimer's disease, performing a Praxis test under the direction of a clinician. In this paper, we propose hand gesture classifiers that are more effective with the PRAXIS dataset than previously proposed models. Body joint data offers a compressed form of data that can be analyzed specifically for hand gesture recognition. Using a combination of windowing techniques with deep learning architecture such as a Recurrent Neural Network (RNN), we achieved an overall accuracy of 70.8% using only body joint data. In addition, we investigated a long-short-term-memory (LSTM) to extract and analyze the movement of the joints through time to recognize the hand gestures being performed and achieved a gesture recognition rate of 74.3% and 67.3% for static and dynamic gestures, respectively. The proposed approach contributed to the task of developing an automated, accurate, and inexpensive approach to diagnosing cortical pathologies for multiple healthcare applications.
Learning to Design and Use Tools for Robotic Manipulation
Authors: Ziang Liu, Stephen Tian, Michelle Guo, C. Karen Liu, Jiajun Wu
Date: 2023-11-01 00:00:00

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional capabilities through tool use. Recent techniques for jointly optimizing morphology and control via deep learning are effective at designing locomotion agents. But while outputting a single morphology makes sense for locomotion, manipulation involves a variety of strategies depending on the task goals at hand. A manipulation agent must be capable of rapidly prototyping specialized tools for different goals. Therefore, we propose learning a designer policy, rather than a single design. A designer policy is conditioned on task information and outputs a tool design that helps solve the task. A design-conditioned controller policy can then perform manipulation using these tools. In this work, we take a step towards this goal by introducing a reinforcement learning framework for jointly learning these policies. Through simulated manipulation tasks, we show that this framework is more sample efficient than prior methods in multi-goal or multi-variant settings, can perform zero-shot interpolation or fine-tuning to tackle previously unseen goals, and allows tradeoffs between the complexity of design and control policies under practical constraints. Finally, we deploy our learned policies onto a real robot. Please see our supplementary video and website at https://robotic-tool-design.github.io/ for visualizations.
Can Foundation Models Watch, Talk and Guide You Step by Step to Make a Cake?
Authors: Yuwei Bao, Keunwoo Peter Yu, Yichi Zhang, Shane Storks, Itamar Bar-Yossef, Alexander De La Iglesia, Megan Su, Xiao Lin Zheng, Joyce Chai
Date: 2023-11-01 00:00:00
Tasks: Decision Making

Despite tremendous advances in AI, it remains a significant challenge to develop interactive task guidance systems that can offer situated, personalized guidance and assist humans in various tasks. These systems need to have a sophisticated understanding of the user as well as the environment, and make timely accurate decisions on when and what to say. To address this issue, we created a new multimodal benchmark dataset, Watch, Talk and Guide (WTaG) based on natural interaction between a human user and a human instructor. We further proposed two tasks: User and Environment Understanding, and Instructor Decision Making. We leveraged several foundation models to study to what extent these models can be quickly adapted to perceptually enabled task guidance. Our quantitative, qualitative, and human evaluation results show that these models can demonstrate fair performances in some cases with no task-specific training, but a fast and reliable adaptation remains a significant challenge. Our benchmark and baselines will provide a stepping stone for future work on situated task guidance.
tmn at #SMM4H 2023: Comparing Text Preprocessing Techniques for Detecting Tweets Self-reporting a COVID-19 Diagnosis
Authors: Anna Glazkova
Date: 2023-11-01 00:00:00
Tasks: COVID-19 Diagnosis

The paper describes a system developed for Task 1 at SMM4H 2023. The goal of the task is to automatically distinguish tweets that self-report a COVID-19 diagnosis (for example, a positive test, clinical diagnosis, or hospitalization) from those that do not. We investigate the use of different techniques for preprocessing tweets using four transformer-based models. The ensemble of fine-tuned language models obtained an F1-score of 84.5%, which is 4.1% higher than the average value.
ZEETAD: Adapting Pretrained Vision-Language Model for Zero-Shot End-to-End Temporal Action Detection
Authors: Thinh Phan, Khoa Vo, Duy Le, Gianfranco Doretto, Donald Adjeroh, Ngan Le
Date: 2023-11-01 00:00:00
Tasks: Action Detection, Classification, Language Modeling, Language Modelling, Transfer Learning, Video Understanding

Temporal action detection (TAD) involves the localization and classification of action instances within untrimmed videos. While standard TAD follows fully supervised learning with closed-set setting on large training data, recent zero-shot TAD methods showcase the promising open-set setting by leveraging large-scale contrastive visual-language (ViL) pretrained models. However, existing zero-shot TAD methods have limitations on how to properly construct the strong relationship between two interdependent tasks of localization and classification and adapt ViL model to video understanding. In this work, we present ZEETAD, featuring two modules: dual-localization and zero-shot proposal classification. The former is a Transformer-based module that detects action events while selectively collecting crucial semantic embeddings for later recognition. The latter one, CLIP-based module, generates semantic embeddings from text and frame inputs for each temporal unit. Additionally, we enhance discriminative capability on unseen classes by minimally updating the frozen CLIP encoder with lightweight adapters. Extensive experiments on THUMOS14 and ActivityNet-1.3 datasets demonstrate our approach's superior performance in zero-shot TAD and effective knowledge transfer from ViL models to unseen action categories.
Investigating Relative Performance of Transfer and Meta Learning
Authors: Benji Alwis
Date: 2023-10-31 00:00:00
Tasks: Meta-Learning, Transfer Learning

Over the past decade, the field of machine learning has experienced remarkable advancements. While image recognition systems have achieved impressive levels of accuracy, they continue to rely on extensive training datasets. Additionally, a significant challenge has emerged in the form of poor out-of-distribution performance, which necessitates retraining neural networks when they encounter conditions that deviate from their training data. This limitation has notably contributed to the slow progress in self-driving car technology. These pressing issues have sparked considerable interest in methods that enable neural networks to learn effectively from limited data. This paper presents the outcomes of an extensive investigation designed to compare two distinct approaches, transfer learning and meta learning, as potential solutions to this problem. The overarching objective was to establish a robust criterion for selecting the most suitable method in diverse machine learning scenarios. Building upon prior research, I expanded the comparative analysis by introducing a new meta learning method into the investigation. Subsequently, I assessed whether the findings remained consistent under varying conditions. Finally, I delved into the impact of altering the size of the training dataset on the relative performance of these methods. This comprehensive exploration has yielded insights into the conditions favoring each approach, thereby facilitating the development of a criterion for selecting the most appropriate method in any given situation
Fraud Analytics Using Machine-learning & Engineering on Big Data (FAME) for Telecom
Authors: Sudarson Roy Pratihar, Subhadip Paul, Pranab Kumar Dash, Amartya Kumar Das
Date: 2023-10-31 00:00:00

Telecom industries lose globally 46.3 Billion USD due to fraud. Data mining and machine learning techniques (apart from rules oriented approach) have been used in past, but efficiency has been low as fraud pattern changes very rapidly. This paper presents an industrialized solution approach with self adaptive data mining technique and application of big data technologies to detect fraud and discover novel fraud patterns in accurate, efficient and cost effective manner. Solution has been successfully demonstrated to detect International Revenue Share Fraud with <5% false positive. More than 1 Terra Bytes of Call Detail Record from a reputed wholesale carrier and overseas telecom transit carrier has been used to conduct this study.
Idempotent Generative Network
Authors: Assaf Shocher, Amil Dravid, Yossi Gandelsman, Inbar Mosseri, Michael Rubinstein, Alexei A. Efros
Date: 2023-11-02 00:00:00

We propose a new approach for generative modeling based on training a neural network to be idempotent. An idempotent operator is one that can be applied sequentially without changing the result beyond the initial application, namely $f(f(z))=f(z)$. The proposed model $f$ is trained to map a source distribution (e.g, Gaussian noise) to a target distribution (e.g. realistic images) using the following objectives: (1) Instances from the target distribution should map to themselves, namely $f(x)=x$. We define the target manifold as the set of all instances that $f$ maps to themselves. (2) Instances that form the source distribution should map onto the defined target manifold. This is achieved by optimizing the idempotence term, $f(f(z))=f(z)$ which encourages the range of $f(z)$ to be on the target manifold. Under ideal assumptions such a process provably converges to the target distribution. This strategy results in a model capable of generating an output in one step, maintaining a consistent latent space, while also allowing sequential applications for refinement. Additionally, we find that by processing inputs from both target and source distributions, the model adeptly projects corrupted or modified data back to the target manifold. This work is a first step towards a ``global projector'' that enables projecting any input into a target data distribution.
Align Your Prompts: Test-Time Prompting with Distribution Alignment for Zero-Shot Generalization
Authors: Jameel Hassan, Hanan Gani, Noor Hussein, Muhammad Uzair Khattak, Muzammal Naseer, Fahad Shahbaz Khan, Salman Khan
Date: 2023-11-02 00:00:00
Proceeding: NeurIPS 2023 11
Tasks: Domain Generalization, Prompt Learning, Zero-shot Generalization

The promising zero-shot generalization of vision-language models such as CLIP has led to their adoption using prompt learning for numerous downstream tasks. Previous works have shown test-time prompt tuning using entropy minimization to adapt text prompts for unseen domains. While effective, this overlooks the key cause for performance degradation to unseen domains -- distribution shift. In this work, we explicitly handle this problem by aligning the out-of-distribution (OOD) test sample statistics to those of the source data using prompt tuning. We use a single test sample to adapt multi-modal prompts at test time by minimizing the feature distribution shift to bridge the gap in the test domain. Evaluating against the domain generalization benchmark, our method improves zero-shot top- 1 accuracy beyond existing prompt-learning techniques, with a 3.08% improvement over the baseline MaPLe. In cross-dataset generalization with unseen categories across 10 datasets, our method improves consistently across all datasets compared to the existing state-of-the-art. Our source code and models are available at https://jameelhassan.github.io/promptalign.
Detecting Deepfakes Without Seeing Any
Authors: Tal Reiss, Bar Cavia, Yedid Hoshen
Date: 2023-11-02 00:00:00
Tasks: DeepFake Detection, Face Swapping, Fact Checking, Fake News Detection

Deepfake attacks, malicious manipulation of media containing people, are a serious concern for society. Conventional deepfake detection methods train supervised classifiers to distinguish real media from previously encountered deepfakes. Such techniques can only detect deepfakes similar to those previously seen, but not zero-day (previously unseen) attack types. As current deepfake generation techniques are changing at a breathtaking pace, new attack types are proposed frequently, making this a major issue. Our main observations are that: i) in many effective deepfake attacks, the fake media must be accompanied by false facts i.e. claims about the identity, speech, motion, or appearance of the person. For instance, when impersonating Obama, the attacker explicitly or implicitly claims that the fake media show Obama; ii) current generative techniques cannot perfectly synthesize the false facts claimed by the attacker. We therefore introduce the concept of "fact checking", adapted from fake news detection, for detecting zero-day deepfake attacks. Fact checking verifies that the claimed facts (e.g. identity is Obama), agree with the observed media (e.g. is the face really Obama's?), and thus can differentiate between real and fake media. Consequently, we introduce FACTOR, a practical recipe for deepfake fact checking and demonstrate its power in critical attack settings: face swapping and audio-visual synthesis. Although it is training-free, relies exclusively on off-the-shelf features, is very easy to implement, and does not see any deepfakes, it achieves better than state-of-the-art accuracy.
UltraLiDAR: Learning Compact Representations for LiDAR Completion and Generation
Authors: Yuwen Xiong, Wei-Chiu Ma, Jingkang Wang, Raquel Urtasun
Date: 2023-11-02 00:00:00

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven framework for scene-level LiDAR completion, LiDAR generation, and LiDAR manipulation. The crux of UltraLiDAR is a compact, discrete representation that encodes the point cloud's geometric structure, is robust to noise, and is easy to manipulate. We show that by aligning the representation of a sparse point cloud to that of a dense point cloud, we can densify the sparse point clouds as if they were captured by a real high-density LiDAR, drastically reducing the cost. Furthermore, by learning a prior over the discrete codebook, we can generate diverse, realistic LiDAR point clouds for self-driving. We evaluate the effectiveness of UltraLiDAR on sparse-to-dense LiDAR completion and LiDAR generation. Experiments show that densifying real-world point clouds with our approach can significantly improve the performance of downstream perception systems. Compared to prior art on LiDAR generation, our approach generates much more realistic point clouds. According to A/B test, over 98.5\% of the time human participants prefer our results over those of previous methods.
CADSim: Robust and Scalable in-the-wild 3D Reconstruction for Controllable Sensor Simulation
Authors: Jingkang Wang, Sivabalan Manivasagam, Yun Chen, Ze Yang, Ioan Andrei Bârsan, Anqi Joyce Yang, Wei-Chiu Ma, Raquel Urtasun
Date: 2023-11-02 00:00:00
Tasks: 3D Reconstruction

Realistic simulation is key to enabling safe and scalable development of % self-driving vehicles. A core component is simulating the sensors so that the entire autonomy system can be tested in simulation. Sensor simulation involves modeling traffic participants, such as vehicles, with high quality appearance and articulated geometry, and rendering them in real time. The self-driving industry has typically employed artists to build these assets. However, this is expensive, slow, and may not reflect reality. Instead, reconstructing assets automatically from sensor data collected in the wild would provide a better path to generating a diverse and large set with good real-world coverage. Nevertheless, current reconstruction approaches struggle on in-the-wild sensor data, due to its sparsity and noise. To tackle these issues, we present CADSim, which combines part-aware object-class priors via a small set of CAD models with differentiable rendering to automatically reconstruct vehicle geometry, including articulated wheels, with high-quality appearance. Our experiments show our method recovers more accurate shapes from sparse data compared to existing approaches. Importantly, it also trains and renders efficiently. We demonstrate our reconstructed vehicles in several applications, including accurate testing of autonomy perception systems.