pwc-archive/papers-with-abstracts huggingface dataset:
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning
Authors: Archit Sharma, Ahmed M. Ahmed, Rehaan Ahmad, Chelsea Finn
Date: 2023-03-02 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), State Estimation

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from autonomous interaction with minimal human supervision or oversight. Such robots could collect and train on much larger datasets, and thus learn more robust and performant policies. While reinforcement learning offers a framework for such autonomous learning via trial-and-error, practical realizations end up requiring extensive human supervision for reward function design and repeated resetting of the environment between episodes of interactions. In this work, we propose MEDAL++, a novel design for self-improving robotic systems: given a small set of expert demonstrations at the start, the robot autonomously practices the task by learning to both do and undo the task, simultaneously inferring the reward function from the demonstrations. The policy and reward function are learned end-to-end from high-dimensional visual inputs, bypassing the need for explicit state estimation or task-specific pre-training for visual encoders used in prior work. We first evaluate our proposed algorithm on a simulated non-episodic benchmark EARL, finding that MEDAL++ is both more data efficient and gets up to 30% better final performance compared to state-of-the-art vision-based methods. Our real-robot experiments show that MEDAL++ can be applied to manipulation problems in larger environments than those considered in prior work, and autonomous self-improvement can improve the success rate by 30-70% over behavior cloning on just the expert data. Code, training and evaluation videos along with a brief overview is available at: https://architsharma97.github.io/self-improving-robots/
Predicting Motion Plans for Articulating Everyday Objects
Authors: Arjun Gupta, Max E. Shepherd, Saurabh Gupta
Date: 2023-03-02 00:00:00
Tasks: Motion Planning, motion prediction

Mobile manipulation tasks such as opening a door, pulling open a drawer, or lifting a toilet lid require constrained motion of the end-effector under environmental and task constraints. This, coupled with partial information in novel environments, makes it challenging to employ classical motion planning approaches at test time. Our key insight is to cast it as a learning problem to leverage past experience of solving similar planning problems to directly predict motion plans for mobile manipulation tasks in novel situations at test time. To enable this, we develop a simulator, ArtObjSim, that simulates articulated objects placed in real scenes. We then introduce SeqIK+$\theta_0$, a fast and flexible representation for motion plans. Finally, we learn models that use SeqIK+$\theta_0$ to quickly predict motion plans for articulating novel objects at test time. Experimental evaluation shows improved speed and accuracy at generating motion plans than pure search-based methods and pure learning methods.
Do Machine Learning Models Learn Statistical Rules Inferred from Data?
Authors: Aaditya Naik, Yinjun Wu, Mayur Naik, Eric Wong
Date: 2023-03-02 00:00:00
Tasks: Common Sense Reasoning, Imputation, object-detection, Object Detection, Test-time Adaptation

Machine learning models can make critical errors that are easily hidden within vast amounts of data. Such errors often run counter to rules based on human intuition. However, rules based on human knowledge are challenging to scale or to even formalize. We thereby seek to infer statistical rules from the data and quantify the extent to which a model has learned them. We propose a framework SQRL that integrates logic-based methods with statistical inference to derive these rules from a model's training data without supervision. We further show how to adapt models at test time to reduce rule violations and produce more coherent predictions. SQRL generates up to 300K rules over datasets from vision, tabular, and language settings. We uncover up to 158K violations of those rules by state-of-the-art models for classification, object detection, and data imputation. Test-time adaptation reduces these violations by up to 68.7% with relative performance improvement up to 32%. SQRL is available at https://github.com/DebugML/sqrl.
3D generation on ImageNet
Authors: Ivan Skorokhodov, Aliaksandr Siarohin, Yinghao Xu, Jian Ren, Hsin-Ying Lee, Peter Wonka, Sergey Tulyakov
Date: 2023-03-02 00:00:00
Tasks: 3D Generation

Existing 3D-from-2D generators are typically designed for well-curated single-category datasets, where all the objects have (approximately) the same scale, 3D location, and orientation, and the camera always points to the center of the scene. This makes them inapplicable to diverse, in-the-wild datasets of non-alignable scenes rendered from arbitrary camera poses. In this work, we develop a 3D generator with Generic Priors (3DGP): a 3D synthesis framework with more general assumptions about the training data, and show that it scales to very challenging datasets, like ImageNet. Our model is based on three new ideas. First, we incorporate an inaccurate off-the-shelf depth estimator into 3D GAN training via a special depth adaptation module to handle the imprecision. Then, we create a flexible camera model and a regularization strategy for it to learn its distribution parameters during training. Finally, we extend the recent ideas of transferring knowledge from pre-trained classifiers into GANs for patch-wise trained models by employing a simple distillation-based technique on top of the discriminator. It achieves more stable training than the existing methods and speeds up the convergence by at least 40%. We explore our model on four datasets: SDIP Dogs 256x256, SDIP Elephants 256x256, LSUN Horses 256x256, and ImageNet 256x256, and demonstrate that 3DGP outperforms the recent state-of-the-art in terms of both texture and geometry quality. Code and visualizations: https://snap-research.github.io/3dgp.
iART: Learning from Demonstration for Assisted Robotic Therapy Using LSTM
Authors: Shrey Pareek, Thenkurussi Kesavadas
Date: 2023-03-02 00:00:00

In this paper, we present an intelligent Assistant for Robotic Therapy (iART), that provides robotic assistance during 3D trajectory tracking tasks. We propose a novel LSTM-based robot learning from demonstration (LfD) paradigm to mimic a therapist's assistance behavior. iART presents a trajectory agnostic LfD routine that can generalize learned behavior from a single trajectory to any 3D shape. Once the therapist's behavior has been learned, iART enables the patient to modify this behavior as per their preference. The system requires only a single demonstration of 2 minutes and exhibits a mean accuracy of 91.41% in predicting, and hence mimicking a therapist's assistance behavior. The system delivers stable assistance in realtime and successfully reproduces different types of assistance behaviors.
The Ladder in Chaos: A Simple and Effective Improvement to General DRL Algorithms by Policy Path Trimming and Boosting
Authors: Hongyao Tang, Min Zhang, Jianye Hao
Date: 2023-03-02 00:00:00
Tasks: MuJoCo, Reinforcement Learning (RL)

Knowing the learning dynamics of policy is significant to unveiling the mysteries of Reinforcement Learning (RL). It is especially crucial yet challenging to Deep RL, from which the remedies to notorious issues like sample inefficiency and learning instability could be obtained. In this paper, we study how the policy networks of typical DRL agents evolve during the learning process by empirically investigating several kinds of temporal change for each policy parameter. On typical MuJoCo and DeepMind Control Suite (DMC) benchmarks, we find common phenomena for TD3 and RAD agents: 1) the activity of policy network parameters is highly asymmetric and policy networks advance monotonically along very few major parameter directions; 2) severe detours occur in parameter update and harmonic-like changes are observed for all minor parameter directions. By performing a novel temporal SVD along policy learning path, the major and minor parameter directions are identified as the columns of right unitary matrix associated with dominant and insignificant singular values respectively. Driven by the discoveries above, we propose a simple and effective method, called Policy Path Trimming and Boosting (PPTB), as a general plug-in improvement to DRL algorithms. The key idea of PPTB is to periodically trim the policy learning path by canceling the policy updates in minor parameter directions, while boost the learning path by encouraging the advance in major directions. In experiments, we demonstrate the general and significant performance improvements brought by PPTB, when combined with TD3 and RAD in MuJoCo and DMC environments respectively.
DAVA: Disentangling Adversarial Variational Autoencoder
Authors: Benjamin Estermann, Roger Wattenhofer
Date: 2023-03-02 00:00:00
Tasks: Disentanglement

The use of well-disentangled representations offers many advantages for downstream tasks, e.g. an increased sample efficiency, or better interpretability. However, the quality of disentangled interpretations is often highly dependent on the choice of dataset-specific hyperparameters, in particular the regularization strength. To address this issue, we introduce DAVA, a novel training procedure for variational auto-encoders. DAVA completely alleviates the problem of hyperparameter selection. We compare DAVA to models with optimal hyperparameters. Without any hyperparameter tuning, DAVA is competitive on a diverse range of commonly used datasets. Underlying DAVA, we discover a necessary condition for unsupervised disentanglement, which we call PIPE. We demonstrate the ability of PIPE to positively predict the performance of downstream models in abstract reasoning. We also thoroughly investigate correlations with existing supervised and unsupervised metrics. The code is available at https://github.com/besterma/dava.
A Vision for Semantically Enriched Data Science
Authors: Udayan Khurana, Kavitha Srinivas, Sainyam Galhotra, Horst Samulowitz
Date: 2023-03-02 00:00:00
Tasks: Common Sense Reasoning, Data Augmentation, Model Selection

The recent efforts in automation of machine learning or data science has achieved success in various tasks such as hyper-parameter optimization or model selection. However, key areas such as utilizing domain knowledge and data semantics are areas where we have seen little automation. Data Scientists have long leveraged common sense reasoning and domain knowledge to understand and enrich data for building predictive models. In this paper we discuss important shortcomings of current data science and machine learning solutions. We then envision how leveraging "semantic" understanding and reasoning on data in combination with novel tools for data science automation can help with consistent and explainable data augmentation and transformation. Additionally, we discuss how semantics can assist data scientists in a new manner by helping with challenges related to trust, bias, and explainability in machine learning. Semantic annotation can also help better explore and organize large data sources.
PlaNet-ClothPick: Effective Fabric Flattening Based on Latent Dynamic Planning
Authors: Halid Abdulrahim Kadi, Kasim Terzic
Date: 2023-03-02 00:00:00
Tasks: State Space Models

Why do Recurrent State Space Models such as PlaNet fail at cloth manipulation tasks? Recent work has attributed this to the blurry prediction of the observation, which makes it difficult to plan directly in the latent space. This paper explores the reasons behind this by applying PlaNet in the pick-and-place fabric-flattening domain. We find that the sharp discontinuity of the transition function on the contour of the fabric makes it difficult to learn an accurate latent dynamic model, causing the MPC planner to produce pick actions slightly outside of the article. By limiting picking space on the cloth mask and training on specially engineered trajectories, our mesh-free PlaNet-ClothPick surpasses visual planning and policy learning methods on principal metrics in simulation, achieving similar performance as state-of-the-art mesh-based planning approaches. Notably, our model exhibits a faster action inference and requires fewer transitional model parameters than the state-of-the-art robotic systems in this domain. Other supplementary materials are available at: https://sites.google.com/view/planet-clothpick.
A Pathway Towards Responsible AI Generated Content
Authors: Chen Chen, Jie Fu, Lingjuan Lyu
Date: 2023-03-02 00:00:00
Tasks: Misinformation

AI Generated Content (AIGC) has received tremendous attention within the past few years, with content generated in the format of image, text, audio, video, etc. Meanwhile, AIGC has become a double-edged sword and recently received much criticism regarding its responsible usage. In this article, we focus on 8 main concerns that may hinder the healthy development and deployment of AIGC in practice, including risks from (1) privacy; (2) bias, toxicity, misinformation; (3) intellectual property (IP); (4) robustness; (5) open source and explanation; (6) technology abuse; (7) consent, credit, and compensation; (8) environment. Additionally, we provide insights into the promising directions for tackling these risks while constructing generative models, enabling AIGC to be used more responsibly to truly benefit society.
BIFRNet: A Brain-Inspired Feature Restoration DNN for Partially Occluded Image Recognition
Authors: Jiahong Zhang, Lihong Cao, Qiuxia Lai, Binyao Li, Yunxiao Qin
Date: 2023-03-02 00:00:00

The partially occluded image recognition (POIR) problem has been a challenge for artificial intelligence for a long time. A common strategy to handle the POIR problem is using the non-occluded features for classification. Unfortunately, this strategy will lose effectiveness when the image is severely occluded, since the visible parts can only provide limited information. Several studies in neuroscience reveal that feature restoration which fills in the occluded information and is called amodal completion is essential for human brains to recognize partially occluded images. However, feature restoration is commonly ignored by CNNs, which may be the reason why CNNs are ineffective for the POIR problem. Inspired by this, we propose a novel brain-inspired feature restoration network (BIFRNet) to solve the POIR problem. It mimics a ventral visual pathway to extract image features and a dorsal visual pathway to distinguish occluded and visible image regions. In addition, it also uses a knowledge module to store object prior knowledge and uses a completion module to restore occluded features based on visible features and prior knowledge. Thorough experiments on synthetic and real-world occluded image datasets show that BIFRNet outperforms the existing methods in solving the POIR problem. Especially for severely occluded images, BIRFRNet surpasses other methods by a large margin and is close to the human brain performance. Furthermore, the brain-inspired design makes BIFRNet more interpretable.
Reasoning-Based Software Testing
Authors: Luca Giamattei, Roberto Pietrantuono, Stefano Russo
Date: 2023-03-02 00:00:00
Tasks: Causal Discovery, software testing

With software systems becoming increasingly pervasive and autonomous, our ability to test for their quality is severely challenged. Many systems are called to operate in uncertain and highly-changing environment, not rarely required to make intelligent decisions by themselves. This easily results in an intractable state space to explore at testing time. The state-of-the-art techniques try to keep the pace, e.g., by augmenting the tester's intuition with some form of (explicit or implicit) learning from observations to search this space efficiently. For instance, they exploit historical data to drive the search (e.g., ML-driven testing) or the tests execution data itself (e.g., adaptive or search-based testing). Despite the indubitable advances, the need for smartening the search in such a huge space keeps to be pressing. We introduce Reasoning-Based Software Testing (RBST), a new way of thinking at the testing problem as a causal reasoning task. Compared to mere intuition-based or state-of-the-art learning-based strategies, we claim that causal reasoning more naturally emulates the process that a human would do to ''smartly" search the space. RBST aims to mimic and amplify, with the power of computation, this ability. The conceptual leap can pave the ground to a new trend of techniques, which can be variously instantiated from the proposed framework, by exploiting the numerous tools for causal discovery and inference. Preliminary results reported in this paper are promising.
Compensating for Sensing Failures via Delegation in Human-AI Hybrid Systems
Authors: Andrew Fuchs, Andrea Passarella, Marco Conti
Date: 2023-03-02 00:00:00
Tasks: Attribute, Decision Making, Reinforcement Learning (RL)

Given an increasing prevalence of intelligent systems capable of autonomous actions or augmenting human activities, it is important to consider scenarios in which the human, autonomous system, or both can exhibit failures as a result of one of several contributing factors (e.g. perception). Failures for either humans or autonomous agents can lead to simply a reduced performance level, or a failure can lead to something as severe as injury or death. For our topic, we consider the hybrid human-AI teaming case where a managing agent is tasked with identifying when to perform a delegation assignment and whether the human or autonomous system should gain control. In this context, the manager will estimate its best action based on the likelihood of either (human, autonomous) agent failure as a result of their sensing capabilities and possible deficiencies. We model how the environmental context can contribute to, or exacerbate, the sensing deficiencies. These contexts provide cases where the manager must learn to attribute capabilities to suitability for decision-making. As such, we demonstrate how a Reinforcement Learning (RL) manager can correct the context-delegation association and assist the hybrid team of agents in outperforming the behavior of any agent working in isolation.
Iterative Assessment and Improvement of DNN Operational Accuracy
Authors: Antonio Guerriero, Roberto Pietrantuono, Stefano Russo
Date: 2023-03-02 00:00:00

Deep Neural Networks (DNN) are nowadays largely adopted in many application domains thanks to their human-like, or even superhuman, performance in specific tasks. However, due to unpredictable/unconsidered operating conditions, unexpected failures show up on field, making the performance of a DNN in operation very different from the one estimated prior to release. In the life cycle of DNN systems, the assessment of accuracy is typically addressed in two ways: offline, via sampling of operational inputs, or online, via pseudo-oracles. The former is considered more expensive due to the need for manual labeling of the sampled inputs. The latter is automatic but less accurate. We believe that emerging iterative industrial-strength life cycle models for Machine Learning systems, like MLOps, offer the possibility to leverage inputs observed in operation not only to provide faithful estimates of a DNN accuracy, but also to improve it through remodeling/retraining actions. We propose DAIC (DNN Assessment and Improvement Cycle), an approach which combines ''low-cost'' online pseudo-oracles and ''high-cost'' offline sampling techniques to estimate and improve the operational accuracy of a DNN in the iterations of its life cycle. Preliminary results show the benefits of combining the two approaches and integrating them in the DNN life cycle.
Boosting Distributed Full-graph GNN Training with Asynchronous One-bit Communication
Authors: Meng Zhang, Qinghao Hu, Peng Sun, Yonggang Wen, Tianwei Zhang
Date: 2023-03-02 00:00:00
Tasks: GPU, Quantization

Training Graph Neural Networks (GNNs) on large graphs is challenging due to the conflict between the high memory demand and limited GPU memory. Recently, distributed full-graph GNN training has been widely adopted to tackle this problem. However, the substantial inter-GPU communication overhead can cause severe throughput degradation. Existing communication compression techniques mainly focus on traditional DNN training, whose bottleneck lies in synchronizing gradients and parameters. We find they do not work well in distributed GNN training as the barrier is the layer-wise communication of features during the forward pass & feature gradients during the backward pass. To this end, we propose an efficient distributed GNN training framework Sylvie, which employs one-bit quantization technique in GNNs and further pipelines the curtailed communication with computation to enormously shrink the overhead while maintaining the model quality. In detail, Sylvie provides a lightweight Low-bit Module to quantize the sent data and dequantize the received data back to full precision values in each layer. Additionally, we propose a Bounded Staleness Adaptor to control the introduced staleness to achieve further performance enhancement. We conduct theoretical convergence analysis and extensive experiments on various models & datasets to demonstrate Sylvie can considerably boost the training throughput by up to 28.1x.
Analyzing Effects of Fake Training Data on the Performance of Deep Learning Systems
Authors: Pratinav Seth, Akshat Bhandari, Kumud Lakara
Date: 2023-03-02 00:00:00
Tasks: Deep Learning

Deep learning models frequently suffer from various problems such as class imbalance and lack of robustness to distribution shift. It is often difficult to find data suitable for training beyond the available benchmarks. This is especially the case for computer vision models. However, with the advent of Generative Adversarial Networks (GANs), it is now possible to generate high-quality synthetic data. This synthetic data can be used to alleviate some of the challenges faced by deep learning models. In this work we present a detailed analysis of the effect of training computer vision models using different proportions of synthetic data along with real (organic) data. We analyze the effect that various quantities of synthetic data, when mixed with original data, can have on a model's robustness to out-of-distribution data and the general quality of predictions.