pwc-archive/papers-with-abstracts huggingface dataset:
P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Driving
Authors: Qiao Sun, Xin Huang, Brian C. Williams, Hang Zhao
Date: 2022-11-03 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Motion Planning, motion prediction, Open-Ended Question Answering, Prediction

Motion prediction is crucial in enabling safe motion planning for autonomous vehicles in interactive scenarios. It allows the planner to identify potential conflicts with other traffic agents and generate safe plans. Existing motion predictors often focus on reducing prediction errors, yet it remains an open question on how well they help identify the conflicts for the planner. In this paper, we evaluate state-of-the-art predictors through novel conflict-related metrics, such as the success rate of identifying conflicts. Surprisingly, the predictors suffer from a low success rate and thus lead to a large percentage of collisions when we test the prediction-planning system in an interactive simulator. To fill the gap, we propose a simple but effective alternative that combines a physics-based trajectory generator and a learning-based relation predictor to identify conflicts and infer conflict relations. We demonstrate that our predictor, P4P, achieves superior performance over existing learning-based predictors in realistic interactive driving scenarios from Waymo Open Motion Dataset.
Meta-PDE: Learning to Solve PDEs Quickly Without a Mesh
Authors: Tian Qin, Alex Beatson, Deniz Oktay, Nick McGreivy, Ryan P. Adams
Date: 2022-11-03 00:00:00
Tasks: Meta-Learning

Partial differential equations (PDEs) are often computationally challenging to solve, and in many settings many related PDEs must be be solved either at every timestep or for a variety of candidate boundary conditions, parameters, or geometric domains. We present a meta-learning based method which learns to rapidly solve problems from a distribution of related PDEs. We use meta-learning (MAML and LEAP) to identify initializations for a neural network representation of the PDE solution such that a residual of the PDE can be quickly minimized on a novel task. We apply our meta-solving approach to a nonlinear Poisson's equation, 1D Burgers' equation, and hyperelasticity equations with varying parameters, geometries, and boundary conditions. The resulting Meta-PDE method finds qualitatively accurate solutions to most problems within a few gradient steps; for the nonlinear Poisson and hyper-elasticity equation this results in an intermediate accuracy approximation up to an order of magnitude faster than a baseline finite element analysis (FEA) solver with equivalent accuracy. In comparison to other learned solvers and surrogate models, this meta-learning approach can be trained without supervision from expensive ground-truth data, does not require a mesh, and can even be used when the geometry and topology varies between tasks.
nerf2nerf: Pairwise Registration of Neural Radiance Fields
Authors: Lily Goli, Daniel Rebain, Sara Sabour, Animesh Garg, Andrea Tagliasacchi
Date: 2022-11-03 00:00:00
Tasks: NeRF

We introduce a technique for pairwise registration of neural fields that extends classical optimization-based local registration (i.e. ICP) to operate on Neural Radiance Fields (NeRF) -- neural 3D scene representations trained from collections of calibrated images. NeRF does not decompose illumination and color, so to make registration invariant to illumination, we introduce the concept of a ''surface field'' -- a field distilled from a pre-trained NeRF model that measures the likelihood of a point being on the surface of an object. We then cast nerf2nerf registration as a robust optimization that iteratively seeks a rigid transformation that aligns the surface fields of the two scenes. We evaluate the effectiveness of our technique by introducing a dataset of pre-trained NeRF scenes -- our synthetic scenes enable quantitative evaluations and comparisons to classical registration techniques, while our real scenes demonstrate the validity of our technique in real-world scenarios. Additional results available at: https://nerf2nerf.github.io
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Authors: Zhutian Yang, Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Kaelbling, Dieter Fox
Date: 2022-11-03 00:00:00
Tasks: Motion Planning, Task and Motion Planning, Zero-shot Generalization

We present a learning-enabled Task and Motion Planning (TAMP) algorithm for solving mobile manipulation problems in environments with many articulated and movable obstacles. Our idea is to bias the search procedure of a traditional TAMP planner with a learned plan feasibility predictor. The core of our algorithm is PIGINet, a novel Transformer-based learning method that takes in a task plan, the goal, and the initial state, and predicts the probability of finding motion trajectories associated with the task plan. We integrate PIGINet within a TAMP planner that generates a diverse set of high-level task plans, sorts them by their predicted likelihood of feasibility, and refines them in that order. We evaluate the runtime of our TAMP algorithm on seven families of kitchen rearrangement problems, comparing its performance to that of non-learning baselines. Our experiments show that PIGINet substantially improves planning efficiency, cutting down runtime by 80% on problems with small state spaces and 10%-50% on larger ones, after being trained on only 150-600 problems. Finally, it also achieves zero-shot generalization to problems with unseen object categories thanks to its visual encoding of objects. Project page https://piginet.github.io/.
FedTP: Federated Learning by Transformer Personalization
Authors: Hongxia Li, Zhongyi Cai, Jingya Wang, Jiangnan Tang, Weiping Ding, Chin-Teng Lin, Ye Shi
Date: 2022-11-03 00:00:00
Tasks: Federated Learning, Personalized Federated Learning, Privacy Preserving

Federated learning is an emerging learning paradigm where multiple clients collaboratively train a machine learning model in a privacy-preserving manner. Personalized federated learning extends this paradigm to overcome heterogeneity across clients by learning personalized models. Recently, there have been some initial attempts to apply Transformers to federated learning. However, the impacts of federated learning algorithms on self-attention have not yet been studied. This paper investigates this relationship and reveals that federated averaging algorithms actually have a negative impact on self-attention where there is data heterogeneity. These impacts limit the capabilities of the Transformer model in federated learning settings. Based on this, we propose FedTP, a novel Transformer-based federated learning framework that learns personalized self-attention for each client while aggregating the other parameters among the clients. Instead of using a vanilla personalization mechanism that maintains personalized self-attention layers of each client locally, we develop a learn-to-personalize mechanism to further encourage the cooperation among clients and to increase the scablability and generalization of FedTP. Specifically, the learn-to-personalize is realized by learning a hypernetwork on the server that outputs the personalized projection matrices of self-attention layers to generate client-wise queries, keys and values. Furthermore, we present the generalization bound for FedTP with the learn-to-personalize mechanism. Notably, FedTP offers a convenient environment for performing a range of image and language tasks using the same federated network architecture - all of which benefit from Transformer personalization. Extensive experiments verify that FedTP with the learn-to-personalize mechanism yields state-of-the-art performance in non-IID scenarios. Our code is available online.
Fine-Tuning Language Models via Epistemic Neural Networks
Authors: Ian Osband, Seyed Mohammad Asghari, Benjamin Van Roy, Nat McAleese, John Aslanides, Geoffrey Irving
Date: 2022-11-03 00:00:00
Tasks: Active Learning, Language Modeling, Language Modelling

Language models often pre-train on large unsupervised text corpora, then fine-tune on additional task-specific data. However, typical fine-tuning schemes do not prioritize the examples that they tune on. We show that, if you can prioritize informative training data, you can achieve better performance while using fewer labels. To do this we augment a language model with an epinet: a small additional network that helps to estimate model uncertainty and forms an \textit{epistemic neural network} (ENN). ENNs are neural networks that can know what they don't know. Using an epinet to prioritize uncertain data, we can fine-tune BERT on GLUE tasks to the same performance while using 2x less data than training without prioritization. We also investigate performance in synthetic neural network generative models designed to build understanding. In each setting, using an epinet outperforms heuristic active learning schemes.
The ProfessionAl Go annotation datasEt (PAGE)
Authors: Yifan Gao, Danni Zhang, Haoyue Li
Date: 2022-11-03 00:00:00
Tasks: Game of Go

The game of Go has been highly under-researched due to the lack of game records and analysis tools. In recent years, the increasing number of professional competitions and the advent of AlphaZero-based algorithms provide an excellent opportunity for analyzing human Go games on a large scale. In this paper, we present the ProfessionAl Go annotation datasEt (PAGE), containing 98,525 games played by 2,007 professional players and spans over 70 years. The dataset includes rich AI analysis results for each move. Moreover, PAGE provides detailed metadata for every player and game after manual cleaning and labeling. Beyond the preliminary analysis of the dataset, we provide sample tasks that benefit from our dataset to demonstrate the potential application of PAGE in multiple research directions. To the best of our knowledge, PAGE is the first dataset with extensive annotation in the game of Go. This work is an extended version of [1] where we perform a more detailed description, analysis, and application.
Crime Prediction using Machine Learning with a Novel Crime Dataset
Authors: Faisal Tareque Shohan, Abu Ubaida Akash, Muhammad Ibrahim, Mohammad Shafiul Alam
Date: 2022-11-03 00:00:00
Tasks: Articles, Crime Prediction

Crime is an unlawful act that carries legal repercussions. Bangladesh has a high crime rate due to poverty, population growth, and many other socio-economic issues. For law enforcement agencies, understanding crime patterns is essential for preventing future criminal activity. For this purpose, these agencies need structured crime database. This paper introduces a novel crime dataset that contains temporal, geographic, weather, and demographic data about 6574 crime incidents of Bangladesh. We manually gather crime news articles of a seven year time span from a daily newspaper archive. We extract basic features from these raw text. Using these basic features, we then consult standard service-providers of geo-location and weather data in order to garner these information related to the collected crime incidents. Furthermore, we collect demographic information from Bangladesh National Census data. All these information are combined that results in a standard machine learning dataset. Together, 36 features are engineered for the crime prediction task. Five supervised machine learning classification algorithms are then evaluated on this newly built dataset and satisfactory results are achieved. We also conduct exploratory analysis on various aspects the dataset. This dataset is expected to serve as the foundation for crime incidence prediction systems for Bangladesh and other countries. The findings of this study will help law enforcement agencies to forecast and contain crime as well as to ensure optimal resource allocation for crime patrol and prevention.
INGREX: An Interactive Explanation Framework for Graph Neural Networks
Authors: Tien-Cuong Bui, Van-Duc Le, Wen-Syan Li, Sang Kyun Cha
Date: 2022-11-03 00:00:00

Graph Neural Networks (GNNs) are widely used in many modern applications, necessitating explanations for their decisions. However, the complexity of GNNs makes it difficult to explain predictions. Even though several methods have been proposed lately, they can only provide simple and static explanations, which are difficult for users to understand in many scenarios. Therefore, we introduce INGREX, an interactive explanation framework for GNNs designed to aid users in comprehending model predictions. Our framework is implemented based on multiple explanation algorithms and advanced libraries. We demonstrate our framework in three scenarios covering common demands for GNN explanations to present its effectiveness and helpfulness.
Reliable Malware Analysis and Detection using Topology Data Analysis
Authors: Lionel Nganyewou Tidjon, Foutse khomh
Date: 2022-11-03 00:00:00
Tasks: Intrusion Detection, Malware Analysis, Malware Detection

Increasingly, malwares are becoming complex and they are spreading on networks targeting different infrastructures and personal-end devices to collect, modify, and destroy victim information. Malware behaviors are polymorphic, metamorphic, persistent, able to hide to bypass detectors and adapt to new environments, and even leverage machine learning techniques to better damage targets. Thus, it makes them difficult to analyze and detect with traditional endpoint detection and response, intrusion detection and prevention systems. To defend against malwares, recent work has proposed different techniques based on signatures and machine learning. In this paper, we propose to use an algebraic topological approach called topological-based data analysis (TDA) to efficiently analyze and detect complex malware patterns. Next, we compare the different TDA techniques (i.e., persistence homology, tomato, TDA Mapper) and existing techniques (i.e., PCA, UMAP, t-SNE) using different classifiers including random forest, decision tree, xgboost, and lightgbm. We also propose some recommendations to deploy the best-identified models for malware detection at scale. Results show that TDA Mapper (combined with PCA) is better for clustering and for identifying hidden relationships between malware clusters compared to PCA. Persistent diagrams are better to identify overlapping malware clusters with low execution time compared to UMAP and t-SNE. For malware detection, malware analysts can use Random Forest and Decision Tree with t-SNE and Persistent Diagram to achieve better performance and robustness on noised data.
Fair and Optimal Classification via Post-Processing
Authors: Ruicheng Xian, Lang Yin, Han Zhao
Date: 2022-11-03 00:00:00
Tasks: Attribute, Classification, Decision Making, Fairness, General Classification

To mitigate the bias exhibited by machine learning models, fairness criteria can be integrated into the training process to ensure fair treatment across all demographics, but it often comes at the expense of model performance. Understanding such tradeoffs, therefore, underlies the design of fair algorithms. To this end, this paper provides a complete characterization of the inherent tradeoff of demographic parity on classification problems, under the most general multi-group, multi-class, and noisy setting. Specifically, we show that the minimum error rate achievable by randomized and attribute-aware fair classifiers is given by the optimal value of a Wasserstein-barycenter problem. On the practical side, our findings lead to a simple post-processing algorithm that derives fair classifiers from score functions, which yields the optimal fair classifier when the score is Bayes optimal. We provide suboptimality analysis and sample complexity for our algorithm, and demonstrate its effectiveness on benchmark datasets.
Sensor Control for Information Gain in Dynamic, Sparse and Partially Observed Environments
Authors: J. Brian Burns, Aravind Sundaresan, Pedro Sequeira, Vidyasagar Sadhu
Date: 2022-11-03 00:00:00
Tasks: Reinforcement Learning (RL)

We present an approach for autonomous sensor control for information gathering under partially observable, dynamic and sparsely sampled environments that maximizes information about entities present in that space. We describe our approach for the task of Radio-Frequency (RF) spectrum monitoring, where the goal is to search for and track unknown, dynamic signals in the environment. To this end, we extend the Deep Anticipatory Network (DAN) Reinforcement Learning (RL) framework by (1) improving exploration in sparse, non-stationary environments using a novel information gain reward, and (2) scaling up the control space and enabling the monitoring of complex, dynamic activity patterns using hybrid convolutional-recurrent neural layers. We also extend this problem to situations in which sampling from the intended RF spectrum/field is limited and propose a model-based version of the original RL algorithm that fine-tunes the controller via a model that is iteratively improved from the limited field sampling. Results in simulated RF environments of differing complexity show that our system outperforms the standard DAN architecture and is more flexible and robust than baseline expert-designed agents. We also show that it is adaptable to non-stationary emission environments.
SLICER: Learning universal audio representations using low-resource self-supervised pre-training
Authors: Ashish Seth, Sreyan Ghosh, S. Umesh, Dinesh Manocha
Date: 2022-11-02 00:00:00
Tasks: Audio Classification, Clustering, Contrastive Learning, Representation Learning, Self-Supervised Learning, Speech Representation Learning

We present a new Self-Supervised Learning (SSL) approach to pre-train encoders on unlabeled audio data that reduces the need for large amounts of labeled data for audio and speech classification. Our primary aim is to learn audio representations that can generalize across a large variety of speech and non-speech tasks in a low-resource un-labeled audio pre-training setting. Inspired by the recent success of clustering and contrasting learning paradigms for SSL-based speech representation learning, we propose SLICER (Symmetrical Learning of Instance and Cluster-level Efficient Representations), which brings together the best of both clustering and contrasting learning paradigms. We use a symmetric loss between latent representations from student and teacher encoders and simultaneously solve instance and cluster-level contrastive learning tasks. We obtain cluster representations online by just projecting the input spectrogram into an output subspace with dimensions equal to the number of clusters. In addition, we propose a novel mel-spectrogram augmentation procedure, k-mix, based on mixup, which does not require labels and aids unsupervised representation learning for audio. Overall, SLICER achieves state-of-the-art results on the LAPE Benchmark \cite{9868132}, significantly outperforming DeLoRes-M and other prior approaches, which are pre-trained on $10\times$ larger of unsupervised data. We will make all our codes available on GitHub.
MAST: Multiscale Audio Spectrogram Transformers
Authors: Sreyan Ghosh, Ashish Seth, S. Umesh, Dinesh Manocha
Date: 2022-11-02 00:00:00
Tasks: Audio Classification, Keyword Spotting, Self-Supervised Learning

We present Multiscale Audio Spectrogram Transformer (MAST) for audio classification, which brings the concept of multiscale feature hierarchies to the Audio Spectrogram Transformer (AST). Given an input audio spectrogram, we first patchify and project it into an initial temporal resolution and embedding dimension, post which the multiple stages in MAST progressively expand the embedding dimension while reducing the temporal resolution of the input. We use a pyramid structure that allows early layers of MAST operating at a high temporal resolution but low embedding space to model simple low-level acoustic information and deeper temporally coarse layers to model high-level acoustic information with high-dimensional embeddings. We also extend our approach to present a new Self-Supervised Learning (SSL) method called SS-MAST, which calculates a symmetric contrastive loss between latent representations from a student and a teacher encoder, leveraging patch-drop, a novel audio augmentation approach that we introduce. In practice, MAST significantly outperforms AST by an average accuracy of 3.4% across 8 speech and non-speech tasks from the LAPE Benchmark, achieving state-of-the-art results on keyword spotting in Speech Commands. Additionally, our proposed SS-MAST achieves an absolute average improvement of 2.6% over the previously proposed SSAST.
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity
Authors: Wenxuan Zhou, David Held
Date: 2022-11-02 00:00:00
Tasks: Friction, Object, Reinforcement Learning (RL)

A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity usually has careful assumptions about contacts which impose restrictions on robot design, robot motions, and the variations of the physical parameters. In this work, we develop a system based on reinforcement learning (RL) to address these limitations. We study the task of "Occluded Grasping" which aims to grasp the object in configurations that are initially occluded; the robot needs to move the object into a configuration from which these grasps can be achieved. We present a system with model-free RL that successfully achieves this task using a simple gripper with extrinsic dexterity. The policy learns emergent behaviors of pushing the object against the wall to rotate and then grasp it without additional reward terms on extrinsic dexterity. We discuss important components of the system including the design of the RL problem, multi-grasp training and selection, and policy generalization with automatic curriculum. Most importantly, the policy trained in simulation is zero-shot transferred to a physical robot. It demonstrates dynamic and contact-rich motions with a simple gripper that generalizes across objects with various size, density, surface friction, and shape with a 78% success rate. Videos can be found at https://sites.google.com/view/grasp-ungraspable/.
Max Markov Chain
Authors: Yu Zhang, Mitchell Bucklew
Date: 2022-11-02 00:00:00

In this paper, we introduce Max Markov Chain (MMC), a novel representation for a useful subset of High-order Markov Chains (HMCs) with sparse correlations among the states. MMC is parsimony while retaining the expressiveness of HMCs. Even though parameter optimization is generally intractable as with HMC approximate models, it has an analytical solution, better sample efficiency, and the desired spatial and computational advantages over HMCs and approximate HMCs. Simultaneously, efficient approximate solutions exist for this type of chains as we show empirically, which allow MMCs to scale to large domains where HMCs and approximate HMCs would struggle to perform. We compare MMC with HMC, first-order Markov chain, and an approximate HMC model in synthetic domains with various data types to demonstrate that MMC is a valuable alternative for modeling stochastic processes and has many potential applications.