pwc-archive/papers-with-abstracts huggingface dataset:
Interactive Joint Planning for Autonomous Vehicles
Authors: Yuxiao Chen, Sushant Veer, Peter Karkus, Marco Pavone
Date: 2023-10-27 00:00:00
Tasks: Autonomous Vehicles, Model Predictive Control, Motion Planning, Prediction, Trajectory Prediction

In highly interactive driving scenarios, the actions of one agent greatly influences those of its neighbors. Planning safe motions for autonomous vehicles in such interactive environments, therefore, requires reasoning about the impact of the ego's intended motion plan on nearby agents' behavior. Deep-learning-based models have recently achieved great success in trajectory prediction and many models in the literature allow for ego-conditioned prediction. However, leveraging ego-conditioned prediction remains challenging in downstream planning due to the complex nature of neural networks, limiting the planner structure to simple ones, e.g., sampling-based planner. Despite their ability to generate fine-grained high-quality motion plans, it is difficult for gradient-based planning algorithms, such as model predictive control (MPC), to leverage ego-conditioned prediction due to their iterative nature and need for gradient. We present Interactive Joint Planning (IJP) that bridges MPC with learned prediction models in a computationally scalable manner to provide us the best of both the worlds. In particular, IJP jointly optimizes over the behavior of the ego and the surrounding agents and leverages deep-learned prediction models as prediction priors that the join trajectory optimization tries to stay close to. Furthermore, by leveraging homotopy classes, our joint optimizer searches over diverse motion plans to avoid getting stuck at local minima. Closed-loop simulation result shows that IJP significantly outperforms the baselines that are either without joint optimization or running sampling-based planning.
Image Clustering Conditioned on Text Criteria
Authors: Sehyun Kwon, Jaeseung Park, Minkyu Kim, Jaewoong Cho, Ernest K. Ryu, Kangwook Lee
Date: 2023-10-27 00:00:00
Tasks: Clustering, Image Clustering

Classical clustering methods do not provide users with direct control of the clustering results, and the clustering results may not be consistent with the relevant criterion that a user has in mind. In this work, we present a new methodology for performing image clustering based on user-specified text criteria by leveraging modern vision-language models and large language models. We call our method Image Clustering Conditioned on Text Criteria (IC|TC), and it represents a different paradigm of image clustering. IC|TC requires a minimal and practical degree of human intervention and grants the user significant control over the clustering results in return. Our experiments show that IC|TC can effectively cluster images with various criteria, such as human action, physical location, or the person's mood, while significantly outperforming baselines.
Moments for Perceptive Narration Analysis Through the Emotional Attachment of Audience to Discourse and Story
Authors: Gary Bruins, Ergun Akleman
Date: 2023-10-27 00:00:00

In this work, our goal is to develop a theoretical framework that can eventually be used for analyzing the effectiveness of visual stories such as feature films to comic books. To develop this theoretical framework, we introduce a new story element called moments. Our conjecture is that any linear story such as the story of a feature film can be decomposed into a set of moments that follow each other. Moments are defined as the perception of the actions, interactions, and expressions of all characters or a single character during a given time period. We categorize the moments into two major types: story moments and discourse moments. Each type of moment can further be classified into three types, which we call universal storytelling moments. We believe these universal moments foster or deteriorate the emotional attachment of the audience to a particular character or the story. We present a methodology to catalog the occurrences of these universal moments as they are found in the story. The cataloged moments can be represented using curves or color strips. Therefore, we can visualize a character's journey through the story as either a 3D curve or a color strip. We also demonstrated that both story and discourse moments can be transformed into one lump-sum attraction parameter. The attraction parameter in time provides a function that can be plotted graphically onto a timeline illustrating changes in the emotional attachment of audience to a character or the story. By inspecting these functions the story analyst can analytically decipher the moments in the story where the attachment is being established, maintained, strengthened, or conversely where it is languishing.
A Review of the Evidence for Existential Risk from AI via Misaligned Power-Seeking
Authors: Rose Hadshar
Date: 2023-10-27 00:00:00

Rapid advancements in artificial intelligence (AI) have sparked growing concerns among experts, policymakers, and world leaders regarding the potential for increasingly advanced AI systems to pose existential risks. This paper reviews the evidence for existential risks from AI via misalignment, where AI systems develop goals misaligned with human values, and power-seeking, where misaligned AIs actively seek power. The review examines empirical findings, conceptual arguments and expert opinion relating to specification gaming, goal misgeneralization, and power-seeking. The current state of the evidence is found to be concerning but inconclusive regarding the existence of extreme forms of misaligned power-seeking. Strong empirical evidence of specification gaming combined with strong conceptual evidence for power-seeking make it difficult to dismiss the possibility of existential risk from misaligned power-seeking. On the other hand, to date there are no public empirical examples of misaligned power-seeking in AI systems, and so arguments that future systems will pose an existential risk remain somewhat speculative. Given the current state of the evidence, it is hard to be extremely confident either that misaligned power-seeking poses a large existential risk, or that it poses no existential risk. The fact that we cannot confidently rule out existential risk from AI via misaligned power-seeking is cause for serious concern.
Fine-Tuning Language Models Using Formal Methods Feedback
Authors: Yunhao Yang, Neel P. Bhatt, Tyler Ingebrand, William Ward, Steven Carr, Zhangyang Wang, Ufuk Topcu
Date: 2023-10-27 00:00:00
Tasks: Autonomous Driving

Although pre-trained language models encode generic knowledge beneficial for planning and control, they may fail to generate appropriate control policies for domain-specific tasks. Existing fine-tuning methods use human feedback to address this limitation, however, sourcing human feedback is labor intensive and costly. We present a fully automated approach to fine-tune pre-trained language models for applications in autonomous systems, bridging the gap between generic knowledge and domain-specific requirements while reducing cost. The method synthesizes automaton-based controllers from pre-trained models guided by natural language task descriptions. These controllers are verifiable against independently provided specifications within a world model, which can be abstract or obtained from a high-fidelity simulator. Controllers with high compliance with the desired specifications receive higher ranks, guiding the iterative fine-tuning process. We provide quantitative evidences, primarily in autonomous driving, to demonstrate the method's effectiveness across multiple tasks. The results indicate an improvement in percentage of specifications satisfied by the controller from 60% to 90%.
Davidsonian Scene Graph: Improving Reliability in Fine-grained Evaluation for Text-to-Image Generation
Authors: Jaemin Cho, Yushi Hu, Roopal Garg, Peter Anderson, Ranjay Krishna, Jason Baldridge, Mohit Bansal, Jordi Pont-Tuset, Su Wang
Date: 2023-10-27 00:00:00
Tasks: Image Generation, Question Answering, Question Generation, Question-Generation, Text to Image Generation, Text-to-Image Generation, Visual Question Answering, Visual Question Answering (VQA)

Evaluating text-to-image models is notoriously difficult. A strong recent approach for assessing text-image faithfulness is based on QG/A (question generation and answering), which uses pre-trained foundational models to automatically generate a set of questions and answers from the prompt, and output images are scored based on whether these answers extracted with a visual question answering model are consistent with the prompt-based answers. This kind of evaluation is naturally dependent on the quality of the underlying QG and VQA models. We identify and address several reliability challenges in existing QG/A work: (a) QG questions should respect the prompt (avoiding hallucinations, duplications, and omissions) and (b) VQA answers should be consistent (not asserting that there is no motorcycle in an image while also claiming the motorcycle is blue). We address these issues with Davidsonian Scene Graph (DSG), an empirically grounded evaluation framework inspired by formal semantics, which is adaptable to any QG/A frameworks. DSG produces atomic and unique questions organized in dependency graphs, which (i) ensure appropriate semantic coverage and (ii) sidestep inconsistent answers. With extensive experimentation and human evaluation on a range of model configurations (LLM, VQA, and T2I), we empirically demonstrate that DSG addresses the challenges noted above. Finally, we present DSG-1k, an open-sourced evaluation benchmark that includes 1,060 prompts, covering a wide range of fine-grained semantic categories with a balanced distribution. We release the DSG-1k prompts and the corresponding DSG questions.
Alignment and Outer Shell Isotropy for Hyperbolic Graph Contrastive Learning
Authors: Yifei Zhang, Hao Zhu, Jiahong Liu, Piotr Koniusz, Irwin King
Date: 2023-10-27 00:00:00
Tasks: Contrastive Learning, Graph Embedding, Self-Supervised Learning

Learning good self-supervised graph representations that are beneficial to downstream tasks is challenging. Among a variety of methods, contrastive learning enjoys competitive performance. The embeddings of contrastive learning are arranged on a hypersphere that enables the Cosine distance measurement in the Euclidean space. However, the underlying structure of many domains such as graphs exhibits highly non-Euclidean latent geometry. To this end, we propose a novel contrastive learning framework to learn high-quality graph embedding. Specifically, we design the alignment metric that effectively captures the hierarchical data-invariant information, as well as we propose a substitute of uniformity metric to prevent the so-called dimensional collapse. We show that in the hyperbolic space one has to address the leaf- and height-level uniformity which are related to properties of trees, whereas in the ambient space of the hyperbolic manifold, these notions translate into imposing an isotropic ring density towards boundaries of Poincar\'e ball. This ring density can be easily imposed by promoting the isotropic feature distribution on the tangent space of manifold. In the experiments, we demonstrate the efficacy of our proposed method across different hyperbolic graph embedding techniques in both supervised and self-supervised learning settings.
Is Scaling Learned Optimizers Worth It? Evaluating The Value of VeLO's 4000 TPU Months
Authors: Fady Rezk, Antreas Antoniou, Henry Gouk, Timothy Hospedales
Date: 2023-10-27 00:00:00

We analyze VeLO (versatile learned optimizer), the largest scale attempt to train a general purpose "foundational" optimizer to date. VeLO was trained on thousands of machine learning tasks using over 4000 TPU months with the goal of producing an optimizer capable of generalizing to new problems while being hyperparameter free, and outperforming industry standards such as Adam. We independently evaluate VeLO on the MLCommons optimizer benchmark suite. We find that, contrary to initial claims: (1) VeLO has a critical hyperparameter that needs problem-specific tuning, (2) VeLO does not necessarily outperform competitors in quality of solution found, and (3) VeLO is not faster than competing optimizers at reducing the training loss. These observations call into question VeLO's generality and the value of the investment in training it.
Personas as a Way to Model Truthfulness in Language Models
Authors: Nitish Joshi, Javier Rando, Abulhair Saparov, Najoung Kim, He He
Date: 2023-10-27 00:00:00

Large language models (LLMs) are trained on vast amounts of text from the internet, which contains both factual and misleading information about the world. While unintuitive from a classic view of LMs, recent work has shown that the truth value of a statement can be elicited from the model's representations. This paper presents an explanation for why LMs appear to know the truth despite not being trained with truth labels. We hypothesize that the pretraining data is generated by groups of (un)truthful agents whose outputs share common features, and they form a (un)truthful persona. By training on this data, LMs can infer and represent the persona in its activation space. This allows the model to separate truth from falsehoods and controls the truthfulness of its generation. We show evidence for the persona hypothesis via two observations: (1) we can probe whether a model's answer will be truthful before it is generated; (2) finetuning a model on a set of facts improves its truthfulness on unseen topics. Next, using arithmetics as a synthetic environment, we show that structures of the pretraining data are crucial for the model to infer the truthful persona. Overall, our findings suggest that models can exploit hierarchical structures in the data to learn abstract concepts like truthfulness.
Improving Intrinsic Exploration by Creating Stationary Objectives
Authors: Roger Creus Castanyer, Joshua Romoff, Glen Berseth
Date: 2023-10-27 00:00:00

Exploration bonuses in reinforcement learning guide long-horizon exploration by defining custom intrinsic objectives. Several exploration objectives like count-based bonuses, pseudo-counts, and state-entropy maximization are non-stationary and hence are difficult to optimize for the agent. While this issue is generally known, it is usually omitted and solutions remain under-explored. The key contribution of our work lies in transforming the original non-stationary rewards into stationary rewards through an augmented state representation. For this purpose, we introduce the Stationary Objectives For Exploration (SOFE) framework. SOFE requires identifying sufficient statistics for different exploration bonuses and finding an efficient encoding of these statistics to use as input to a deep network. SOFE is based on proposing state augmentations that expand the state space but hold the promise of simplifying the optimization of the agent's objective. We show that SOFE improves the performance of several exploration objectives, including count-based bonuses, pseudo-counts, and state-entropy maximization. Moreover, SOFE outperforms prior methods that attempt to stabilize the optimization of intrinsic objectives. We demonstrate the efficacy of SOFE in hard-exploration problems, including sparse-reward tasks, pixel-based observations, 3D navigation, and procedurally generated environments.
Ask more, know better: Reinforce-Learned Prompt Questions for Decision Making with Large Language Models
Authors: Xue Yan, Yan Song, Xinyu Cui, Filippos Christianos, Haifeng Zhang, David Henry Mguni, Jun Wang
Date: 2023-10-27 00:00:00
Tasks: Decision Making

Large language models (LLMs) demonstrate their promise in tackling complicated practical challenges by combining action-based policies with chain of thought (CoT) reasoning. Having high-quality prompts on hand, however, is vital to the framework's effectiveness. Currently, these prompts are handcrafted utilising extensive human labor, resulting in CoT policies that frequently fail to generalise. Human intervention is also required to develop grounding functions that ensure low-level controllers appropriately process CoT reasoning. In this paper, we propose a comprehensive training framework for complex task-solving, incorporating human prior knowledge into the learning of action policies. To that purpose, we offer a new leader-follower bilevel framework that is capable of learning to ask relevant questions (prompts) and subsequently undertaking reasoning to guide the learning of actions. The prompt policy is employed to make introspective revisions based on historical findings, leading the CoT process to consider the anticipated goals and generate outputs that lead to decisive, high-performing actions. The action policy subsequently learns to comprehend and integrate the CoT outputs to take actions. Our empirical data reveal that our framework outperforms leading methods in $5$ decision-making tasks such as Overcooked and FourRoom.
OpinSummEval: Revisiting Automated Evaluation for Opinion Summarization
Authors: Yuchen Shen, Xiaojun Wan
Date: 2023-10-27 00:00:00
Tasks: Opinion Summarization

Opinion summarization sets itself apart from other types of summarization tasks due to its distinctive focus on aspects and sentiments. Although certain automated evaluation methods like ROUGE have gained popularity, we have found them to be unreliable measures for assessing the quality of opinion summaries. In this paper, we present OpinSummEval, a dataset comprising human judgments and outputs from 14 opinion summarization models. We further explore the correlation between 24 automatic metrics and human ratings across four dimensions. Our findings indicate that metrics based on neural networks generally outperform non-neural ones. However, even metrics built on powerful backbones, such as BART and GPT-3/3.5, do not consistently correlate well across all dimensions, highlighting the need for advancements in automated evaluation methods for opinion summarization. The code and data are publicly available at https://github.com/A-Chicharito-S/OpinSummEval/tree/main.
Towards a Unified Conversational Recommendation System: Multi-task Learning via Contextualized Knowledge Distillation
Authors: Yeongseo Jung, Eunseo Jung, Lei Chen
Date: 2023-10-27 00:00:00
Tasks: Conversational Recommendation, Diversity, Knowledge Distillation, Multi-Task Learning

In Conversational Recommendation System (CRS), an agent is asked to recommend a set of items to users within natural language conversations. To address the need for both conversational capability and personalized recommendations, prior works have utilized separate recommendation and dialogue modules. However, such approach inevitably results in a discrepancy between recommendation results and generated responses. To bridge the gap, we propose a multi-task learning for a unified CRS, where a single model jointly learns both tasks via Contextualized Knowledge Distillation (ConKD). We introduce two versions of ConKD: hard gate and soft gate. The former selectively gates between two task-specific teachers, while the latter integrates knowledge from both teachers. Our gates are computed on-the-fly in a context-specific manner, facilitating flexible integration of relevant knowledge. Extensive experiments demonstrate that our single model significantly improves recommendation performance while enhancing fluency, and achieves comparable results in terms of diversity.
er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds
Authors: Ayoub Raji, Danilo Caporale, Francesco Gatti, Andrea Giove, Micaela Verucchi, Davide Malatesta, Nicola Musiu, Alessandro Toschi, Silviu Roberto Popitanu, Fabio Bagni, Massimiliano Bosi, Alexander Liniger, Marko Bertogna, Daniele Morra, Francesco Amerotti, Luca Bartoli, Federico Martello, Riccardo Porta
Date: 2023-10-27 00:00:00
Tasks: Autonomous Racing

The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars. This paper presents the complete software architecture used by team TII EuroRacing (TII-ER), covering all the modules needed to avoid static obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h). In addition to the most common modules related to perception, planning, and control, we discuss the approaches used for vehicle dynamics modelling, simulation, telemetry, and safety. Overall results and the performance of each module are described, as well as the lessons learned during the first two events of the competition on oval tracks, where the team placed respectively second and third.
Detrimental Contexts in Open-Domain Question Answering
Authors: Philhoon Oh, James Thorne
Date: 2023-10-27 00:00:00
Tasks: Open-Domain Question Answering, Question Answering, Retrieval

For knowledge intensive NLP tasks, it has been widely accepted that accessing more information is a contributing factor to improvements in the model's end-to-end performance. However, counter-intuitively, too much context can have a negative impact on the model when evaluated on common question answering (QA) datasets. In this paper, we analyze how passages can have a detrimental effect on retrieve-then-read architectures used in question answering. Our empirical evidence indicates that the current read architecture does not fully leverage the retrieved passages and significantly degrades its performance when using the whole passages compared to utilizing subsets of them. Our findings demonstrate that model accuracy can be improved by 10% on two popular QA datasets by filtering out detrimental passages. Additionally, these outcomes are attained by utilizing existing retrieval methods without further training or data. We further highlight the challenges associated with identifying the detrimental passages. First, even with the correct context, the model can make an incorrect prediction, posing a challenge in determining which passages are most influential. Second, evaluation typically considers lexical matching, which is not robust to variations of correct answers. Despite these limitations, our experimental results underscore the pivotal role of identifying and removing these detrimental passages for the context-efficient retrieve-then-read pipeline. Code and data are available at https://github.com/xfactlab/emnlp2023-damaging-retrieval
Knowledge Corpus Error in Question Answering
Authors: Yejoon Lee, Philhoon Oh, James Thorne
Date: 2023-10-27 00:00:00
Tasks: Open-Domain Question Answering, Question Answering, Retrieval

Recent works in open-domain question answering (QA) have explored generating context passages from large language models (LLMs), replacing the traditional retrieval step in the QA pipeline. However, it is not well understood why generated passages can be more effective than retrieved ones. This study revisits the conventional formulation of QA and introduces the concept of knowledge corpus error. This error arises when the knowledge corpus used for retrieval is only a subset of the entire string space, potentially excluding more helpful passages that exist outside the corpus. LLMs may mitigate this shortcoming by generating passages in a larger space. We come up with an experiment of paraphrasing human-annotated gold context using LLMs to observe knowledge corpus error empirically. Our results across three QA benchmarks reveal an increased performance (10% - 13%) when using paraphrased passage, indicating a signal for the existence of knowledge corpus error. Our code is available at https://github.com/xfactlab/emnlp2023-knowledge-corpus-error