pwc-archive/papers-with-abstracts huggingface dataset:
Partial End-to-end Reinforcement Learning for Robustness Against Modelling Error in Autonomous Racing
Authors: Andrew Murdoch, Johannes Cornelius Schoeman, Hendrik Willem Jordaan
Date: 2023-12-11 00:00:00
Tasks: Autonomous Racing, Imitation Learning, Reinforcement Learning (RL)

In this paper, we address the issue of increasing the performance of reinforcement learning (RL) solutions for autonomous racing cars when navigating under conditions where practical vehicle modelling errors (commonly known as \emph{model mismatches}) are present. To address this challenge, we propose a partial end-to-end algorithm that decouples the planning and control tasks. Within this framework, an RL agent generates a trajectory comprising a path and velocity, which is subsequently tracked using a pure pursuit steering controller and a proportional velocity controller, respectively. In contrast, many current learning-based (i.e., reinforcement and imitation learning) algorithms utilise an end-to-end approach whereby a deep neural network directly maps from sensor data to control commands. By leveraging the robustness of a classical controller, our partial end-to-end driving algorithm exhibits better robustness towards model mismatches than standard end-to-end algorithms.
DiT-Head: High-Resolution Talking Head Synthesis using Diffusion Transformers
Authors: Aaron Mir, Eduardo Alonso, Esther Mondragón
Date: 2023-12-11 00:00:00
Tasks: Denoising

We propose a novel talking head synthesis pipeline called "DiT-Head", which is based on diffusion transformers and uses audio as a condition to drive the denoising process of a diffusion model. Our method is scalable and can generalise to multiple identities while producing high-quality results. We train and evaluate our proposed approach and compare it against existing methods of talking head synthesis. We show that our model can compete with these methods in terms of visual quality and lip-sync accuracy. Our results highlight the potential of our proposed approach to be used for a wide range of applications, including virtual assistants, entertainment, and education. For a video demonstration of the results and our user study, please refer to our supplementary material.
NVFi: Neural Velocity Fields for 3D Physics Learning from Dynamic Videos
Authors: Jinxi Li, Ziyang Song, Bo Yang
Date: 2023-12-11 00:00:00
Proceeding: NeurIPS 2023 11
Tasks: Novel View Synthesis

In this paper, we aim to model 3D scene dynamics from multi-view videos. Unlike the majority of existing works which usually focus on the common task of novel view synthesis within the training time period, we propose to simultaneously learn the geometry, appearance, and physical velocity of 3D scenes only from video frames, such that multiple desirable applications can be supported, including future frame extrapolation, unsupervised 3D semantic scene decomposition, and dynamic motion transfer. Our method consists of three major components, 1) the keyframe dynamic radiance field, 2) the interframe velocity field, and 3) a joint keyframe and interframe optimization module which is the core of our framework to effectively train both networks. To validate our method, we further introduce two dynamic 3D datasets: 1) Dynamic Object dataset, and 2) Dynamic Indoor Scene dataset. We conduct extensive experiments on multiple datasets, demonstrating the superior performance of our method over all baselines, particularly in the critical tasks of future frame extrapolation and unsupervised 3D semantic scene decomposition.
ManiPose: Manifold-Constrained Multi-Hypothesis 3D Human Pose Estimation
Authors: Cédric Rommel, Victor Letzelter, Nermin Samet, Renaud Marlet, Matthieu Cord, Patrick Pérez, Eduardo Valle
Date: 2023-12-11 00:00:00
Tasks: 3D Human Pose Estimation, Monocular 3D Human Pose Estimation, Pose Estimation, regression

We propose ManiPose, a manifold-constrained multi-hypothesis model for human-pose 2D-to-3D lifting. We provide theoretical and empirical evidence that, due to the depth ambiguity inherent to monocular 3D human pose estimation, traditional regression models suffer from pose-topology consistency issues, which standard evaluation metrics (MPJPE, P-MPJPE and PCK) fail to assess. ManiPose addresses depth ambiguity by proposing multiple candidate 3D poses for each 2D input, each with its estimated plausibility. Unlike previous multi-hypothesis approaches, ManiPose forgoes generative models, greatly facilitating its training and usage. By constraining the outputs to lie on the human pose manifold, ManiPose guarantees the consistency of all hypothetical poses, in contrast to previous works. We showcase the performance of ManiPose on real-world datasets, where it outperforms state-of-the-art models in pose consistency by a large margin while being very competitive on the MPJPE metric.
BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Driving
Authors: Haicheng Liao, Zhenning Li, Huanming Shen, Wenxuan Zeng, Dongping Liao, Guofa Li, Shengbo Eben Li, Chengzhong Xu
Date: 2023-12-11 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Decision Making, Trajectory Prediction

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model (BAT) that incorporates insights and findings from traffic psychology, human behavior, and decision-making. Our model consists of behavior-aware, interaction-aware, priority-aware, and position-aware modules that perceive and understand the underlying interactions and account for uncertainty and variability in prediction, enabling higher-level learning and flexibility without rigid categorization of driving behavior. Importantly, this approach eliminates the need for manual labeling in the training process and addresses the challenges of non-continuous behavior labeling and the selection of appropriate time windows. We evaluate BAT's performance across the Next Generation Simulation (NGSIM), Highway Drone (HighD), Roundabout Drone (RounD), and Macao Connected Autonomous Driving (MoCAD) datasets, showcasing its superiority over prevailing state-of-the-art (SOTA) benchmarks in terms of prediction accuracy and efficiency. Remarkably, even when trained on reduced portions of the training data (25%), our model outperforms most of the baselines, demonstrating its robustness and efficiency in predicting vehicle trajectories, and the potential to reduce the amount of data required to train autonomous vehicles, especially in corner cases. In conclusion, the behavior-aware model represents a significant advancement in the development of autonomous vehicles capable of predicting trajectories with the same level of proficiency as human drivers. The project page is available at https://github.com/Petrichor625/BATraj-Behavior-aware-Model.
MMICT: Boosting Multi-Modal Fine-Tuning with In-Context Examples
Authors: Tao Chen, Enwei Zhang, Yuting Gao, Ke Li, Xing Sun, Yan Zhang, Hui Li, Rongrong Ji
Date: 2023-12-11 00:00:00
Tasks: In-Context Learning

Although In-Context Learning (ICL) brings remarkable performance gains to Large Language Models (LLMs), the improvements remain lower than fine-tuning on downstream tasks. This paper introduces Multi-Modal In-Context Tuning (MMICT), a novel multi-modal fine-tuning paradigm that boosts multi-modal fine-tuning by fully leveraging the promising ICL capability of multi-modal LLMs (MM-LLMs). We propose the Multi-Modal Hub (M-Hub), a unified module that captures various multi-modal features according to different inputs and objectives. Based on M-Hub, MMICT enables MM-LLMs to learn from in-context visual-guided textual features and subsequently generate outputs conditioned on the textual-guided visual features. Moreover, leveraging the flexibility of M-Hub, we design a variety of in-context demonstrations. Extensive experiments on a diverse range of downstream multi-modal tasks demonstrate that MMICT significantly outperforms traditional fine-tuning strategy and the vanilla ICT method that directly takes the concatenation of all information from different modalities as input. Our implementation is available at: https://github.com/KDEGroup/MMICT.
FOSS: A Self-Learned Doctor for Query Optimizer
Authors: Kai Zhong, Luming Sun, Tao Ji, Cuiping Li, Hong Chen
Date: 2023-12-11 00:00:00
Tasks: Deep Reinforcement Learning

Various works have utilized deep learning to address the query optimization problem in database system. They either learn to construct plans from scratch in a bottom-up manner or steer the plan generation behavior of traditional optimizer using hints. While these methods have achieved some success, they face challenges in either low training efficiency or limited plan search space. To address these challenges, we introduce FOSS, a novel framework for query optimization based on deep reinforcement learning. FOSS initiates optimization from the original plan generated by a traditional optimizer and incrementally refines suboptimal nodes of the plan through a sequence of actions. Additionally, we devise an asymmetric advantage model to evaluate the advantage between two plans. We integrate it with a traditional optimizer to form a simulated environment. Leveraging this simulated environment, FOSS can bootstrap itself to rapidly generate a large amount of high-quality simulated experiences. FOSS then learns from these experiences to improve its optimization capability. We evaluate the performance of FOSS on Join Order Benchmark, TPC-DS, and Stack Overflow. The experimental results demonstrate that FOSS outperforms the state-of-the-art methods in terms of latency performance. Compared to PostgreSQL, FOSS achieves speedup ranging from 1.15x to 8.33x in total latency across different benchmarks.
Detecting Contextual Network Anomalies with Graph Neural Networks
Authors: Hamid Latif-Martínez, José Suárez-Varela, Albert Cabellos-Aparicio, Pere Barlet-Ros
Date: 2023-12-11 00:00:00
Tasks: Anomaly Detection, Contextual Anomaly Detection

Detecting anomalies on network traffic is a complex task due to the massive amount of traffic flows in today's networks, as well as the highly-dynamic nature of traffic over time. In this paper, we propose the use of Graph Neural Networks (GNN) for network traffic anomaly detection. We formulate the problem as contextual anomaly detection on network traffic measurements, and propose a custom GNN-based solution that detects traffic anomalies on origin-destination flows. In our evaluation, we use real-world data from Abilene (6 months), and make a comparison with other widely used methods for the same task (PCA, EWMA, RNN). The results show that the anomalies detected by our solution are quite complementary to those captured by the baselines (with a max. of 36.33% overlapping anomalies for PCA). Moreover, we manually inspect the anomalies detected by our method, and find that a large portion of them can be visually validated by a network expert (64% with high confidence, 18% with mid confidence, 18% normal traffic). Lastly, we analyze the characteristics of the anomalies through two paradigmatic cases that are quite representative of the bulk of anomalies.
BoschAI @ Causal News Corpus 2023: Robust Cause-Effect Span Extraction using Multi-Layer Sequence Tagging and Data Augmentation
Authors: Timo Pierre Schrader, Simon Razniewski, Lukas Lange, Annemarie Friedrich
Date: 2023-12-11 00:00:00
Tasks: Data Augmentation, Event Causality Identification

Understanding causality is a core aspect of intelligence. The Event Causality Identification with Causal News Corpus Shared Task addresses two aspects of this challenge: Subtask 1 aims at detecting causal relationships in texts, and Subtask 2 requires identifying signal words and the spans that refer to the cause or effect, respectively. Our system, which is based on pre-trained transformers, stacked sequence tagging, and synthetic data augmentation, ranks third in Subtask 1 and wins Subtask 2 with an F1 score of 72.8, corresponding to a margin of 13 pp. to the second-best system.
Vehicle Lane Change Prediction based on Knowledge Graph Embeddings and Bayesian Inference
Authors: M. Manzour, A. Ballardini, R. Izquierdo, M. A. Sotelo
Date: 2023-12-11 00:00:00
Tasks: Bayesian Inference, Knowledge Graph Embeddings, Knowledge Graphs

Prediction of vehicle lane change maneuvers has gained a lot of momentum in the last few years. Some recent works focus on predicting a vehicle's intention by predicting its trajectory first. This is not enough, as it ignores the context of the scene and the state of the surrounding vehicles (as they might be risky to the target vehicle). Other works assessed the risk made by the surrounding vehicles only by considering their existence around the target vehicle, or by considering the distance and relative velocities between them and the target vehicle as two separate numerical features. In this work, we propose a solution that leverages Knowledge Graphs (KGs) to anticipate lane changes based on linguistic contextual information in a way that goes well beyond the capabilities of current perception systems. Our solution takes the Time To Collision (TTC) with surrounding vehicles as input to assess the risk on the target vehicle. Moreover, our KG is trained on the HighD dataset using the TransE model to obtain the Knowledge Graph Embeddings (KGE). Then, we apply Bayesian inference on top of the KG using the embeddings learned during training. Finally, the model can predict lane changes two seconds ahead with 97.95% f1-score, which surpassed the state of the art, and three seconds before changing lanes with 93.60% f1-score.
Navigating Open Set Scenarios for Skeleton-based Action Recognition
Authors: Kunyu Peng, Cheng Yin, Junwei Zheng, Ruiping Liu, David Schneider, Jiaming Zhang, Kailun Yang, M. Saquib Sarfraz, Rainer Stiefelhagen, Alina Roitberg
Date: 2023-12-11 00:00:00
Tasks: Action Recognition, Activity Recognition, cross-modal alignment, Novelty Detection, Open Set Action Recognition, Open Set Learning, Out-of-Distribution Detection, Skeleton Based Action Recognition

In real-world scenarios, human actions often fall outside the distribution of training data, making it crucial for models to recognize known actions and reject unknown ones. However, using pure skeleton data in such open-set conditions poses challenges due to the lack of visual background cues and the distinct sparse structure of body pose sequences. In this paper, we tackle the unexplored Open-Set Skeleton-based Action Recognition (OS-SAR) task and formalize the benchmark on three skeleton-based datasets. We assess the performance of seven established open-set approaches on our task and identify their limits and critical generalization issues when dealing with skeleton information. To address these challenges, we propose a distance-based cross-modality ensemble method that leverages the cross-modal alignment of skeleton joints, bones, and velocities to achieve superior open-set recognition performance. We refer to the key idea as CrossMax - an approach that utilizes a novel cross-modality mean max discrepancy suppression mechanism to align latent spaces during training and a cross-modality distance-based logits refinement method during testing. CrossMax outperforms existing approaches and consistently yields state-of-the-art results across all datasets and backbones. The benchmark, code, and models will be released at https://github.com/KPeng9510/OS-SAR.
DMS*: Minimizing Makespan for Multi-Agent Combinatorial Path Finding
Authors: Zhongqiang Ren, Anushtup Nandy, Sivakumar Rathinam, Howie Choset
Date: 2023-12-11 00:00:00

Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial to goal locations, while visiting a set of intermediate target locations in the middle of the paths. MCPF is challenging as it involves both planning collision-free paths for multiple agents and target sequencing, i.e., solving traveling salesman problems to assign targets to and find the visiting order for the agents. Recent work develops methods to address MCPF while minimizing the sum of individual arrival times at goals. Such a problem formulation may result in paths with different arrival times and lead to a long makespan, the maximum arrival time, among the agents. This paper proposes a min-max variant of MCPF, denoted as MCPF-max, that minimizes the makespan of the agents. While the existing methods (such as MS*) for MCPF can be adapted to solve MCPF-max, we further develop two new techniques based on MS* to defer the expensive target sequencing during planning to expedite the overall computation. We analyze the properties of the resulting algorithm Deferred MS* (DMS*), and test DMS* with up to 20 agents and 80 targets. We demonstrate the use of DMS* on differential-drive robots.
Attribute Annotation and Bias Evaluation in Visual Datasets for Autonomous Driving
Authors: David Fernández Llorca, Pedro Frau, Ignacio Parra, Rubén Izquierdo, Emilia Gómez
Date: 2023-12-11 00:00:00
Tasks: Attribute, Autonomous Driving, Autonomous Vehicles, Fairness, vehicle detection

This paper addresses the often overlooked issue of fairness in the autonomous driving domain, particularly in vision-based perception and prediction systems, which play a pivotal role in the overall functioning of Autonomous Vehicles (AVs). We focus our analysis on biases present in some of the most commonly used visual datasets for training person and vehicle detection systems. We introduce an annotation methodology and a specialised annotation tool, both designed to annotate protected attributes of agents in visual datasets. We validate our methodology through an inter-rater agreement analysis and provide the distribution of attributes across all datasets. These include annotations for the attributes age, sex, skin tone, group, and means of transport for more than 90K people, as well as vehicle type, colour, and car type for over 50K vehicles. Generally, diversity is very low for most attributes, with some groups, such as children, wheelchair users, or personal mobility vehicle users, being extremely underrepresented in the analysed datasets. The study contributes significantly to efforts to consider fairness in the evaluation of perception and prediction systems for AVs. This paper follows reproducibility principles. The annotation tool, scripts and the annotated attributes can be accessed publicly at https://github.com/ec-jrc/humaint_annotator.
A Meta-Level Learning Algorithm for Sequential Hyper-Parameter Space Reduction in AutoML
Authors: Giorgos Borboudakis, Paulos Charonyktakis, Konstantinos Paraschakis, Ioannis Tsamardinos
Date: 2023-12-11 00:00:00
Tasks: AutoML, feature selection, Imputation

AutoML platforms have numerous options for the algorithms to try for each step of the analysis, i.e., different possible algorithms for imputation, transformations, feature selection, and modelling. Finding the optimal combination of algorithms and hyper-parameter values is computationally expensive, as the number of combinations to explore leads to an exponential explosion of the space. In this paper, we present the Sequential Hyper-parameter Space Reduction (SHSR) algorithm that reduces the space for an AutoML tool with negligible drop in its predictive performance. SHSR is a meta-level learning algorithm that analyzes past runs of an AutoML tool on several datasets and learns which hyper-parameter values to filter out from consideration on a new dataset to analyze. SHSR is evaluated on 284 classification and 375 regression problems, showing an approximate 30% reduction in execution time with a performance drop of less than 0.1%.
Progressive Multi-Modality Learning for Inverse Protein Folding
Authors: Jiangbin Zheng, Stan Z. Li
Date: 2023-12-11 00:00:00
Tasks: cross-modal alignment, Data Augmentation, Language Modeling, Language Modelling, Protein Design, Protein Folding, Transfer Learning

While deep generative models show promise for learning inverse protein folding directly from data, the lack of publicly available structure-sequence pairings limits their generalization. Previous improvements and data augmentation efforts to overcome this bottleneck have been insufficient. To further address this challenge, we propose a novel protein design paradigm called MMDesign, which leverages multi-modality transfer learning. To our knowledge, MMDesign is the first framework that combines a pretrained structural module with a pretrained contextual module, using an auto-encoder (AE) based language model to incorporate prior protein semantic knowledge. Experimental results, only training with the small dataset, demonstrate that MMDesign consistently outperforms baselines on various public benchmarks. To further assess the biological plausibility, we present systematic quantitative analysis techniques that provide interpretability and reveal more about the laws of protein design.
Mobile Edge Computing and AI Enabled Web3 Metaverse over 6G Wireless Communications: A Deep Reinforcement Learning Approach
Authors: Wenhan Yu, Terence Jie Chua, Jun Zhao
Date: 2023-12-11 00:00:00
Tasks: Deep Reinforcement Learning, Edge-computing

The Metaverse is gaining attention among academics as maturing technologies empower the promises and envisagements of a multi-purpose, integrated virtual environment. An interactive and immersive socialization experience between people is one of the promises of the Metaverse. In spite of the rapid advancements in current technologies, the computation required for a smooth, seamless and immersive socialization experience in the Metaverse is overbearing, and the accumulated user experience is essential to be considered. The computation burden calls for computation offloading, where the integration of virtual and physical world scenes is offloaded to an edge server. This paper introduces a novel Quality-of-Service (QoS) model for the accumulated experience in multi-user socialization on a multichannel wireless network. This QoS model utilizes deep reinforcement learning approaches to find the near-optimal channel resource allocation. Comprehensive experiments demonstrate that the adoption of the QoS model enhances the overall socialization experience.
Compensation Sampling for Improved Convergence in Diffusion Models
Authors: Hui Lu, Albert Ali Salah, Ronald Poppe
Date: 2023-12-11 00:00:00
Tasks: Denoising, Facial Inpainting, Image Generation

Diffusion models achieve remarkable quality in image generation, but at a cost. Iterative denoising requires many time steps to produce high fidelity images. We argue that the denoising process is crucially limited by an accumulation of the reconstruction error due to an initial inaccurate reconstruction of the target data. This leads to lower quality outputs, and slower convergence. To address this issue, we propose compensation sampling to guide the generation towards the target domain. We introduce a compensation term, implemented as a U-Net, which adds negligible computation overhead during training and, optionally, inference. Our approach is flexible and we demonstrate its application in unconditional generation, face inpainting, and face de-occlusion using benchmark datasets CIFAR-10, CelebA, CelebA-HQ, FFHQ-256, and FSG. Our approach consistently yields state-of-the-art results in terms of image quality, while accelerating the denoising process to converge during training by up to an order of magnitude.