pwc-archive/papers-with-abstracts huggingface dataset:
DRL-Based Trajectory Tracking for Motion-Related Modules in Autonomous Driving
Authors: Yinda Xu, Lidong Yu
Date: 2023-08-30 00:00:00
Tasks: Autonomous Driving, Deep Reinforcement Learning, Representation Learning

Autonomous driving systems are always built on motion-related modules such as the planner and the controller. An accurate and robust trajectory tracking method is indispensable for these motion-related modules as a primitive routine. Current methods often make strong assumptions about the model such as the context and the dynamics, which are not robust enough to deal with the changing scenarios in a real-world system. In this paper, we propose a Deep Reinforcement Learning (DRL)-based trajectory tracking method for the motion-related modules in autonomous driving systems. The representation learning ability of DL and the exploration nature of RL bring strong robustness and improve accuracy. Meanwhile, it enhances versatility by running the trajectory tracking in a model-free and data-driven manner. Through extensive experiments, we demonstrate both the efficiency and effectiveness of our method compared to current methods. Code and documentation are released to facilitate both further research and industrial deployment.
FPTQ: Fine-grained Post-Training Quantization for Large Language Models
Authors: Qingyuan Li, Yifan Zhang, Liang Li, Peng Yao, Bo Zhang, Xiangxiang Chu, Yerui Sun, Li Du, Yuchen Xie
Date: 2023-08-30 00:00:00
Tasks: Quantization

In the era of large-scale language models, the substantial parameter size poses significant challenges for deployment. Being a prevalent compression technique, quantization has emerged as the mainstream practice to tackle this issue, which is mainly centered on two recipes W8A8 and W4A16 (i.e. weights and activations in such bit widths). In this study, we propose a novel W4A8 post-training quantization method for the available open-sourced LLMs, which combines the advantages of both two recipes. Therefore, we can leverage the benefit in the I/O utilization of 4-bit weight quantization and the acceleration due to 8-bit matrix computation. Nevertheless, the W4A8 faces notorious performance degradation. As a remedy, we involve layerwise activation quantization strategies which feature a novel logarithmic equalization for most intractable layers, and we combine them with fine-grained weight quantization. Without whistles and bells, we eliminate the necessity for further fine-tuning and obtain the state-of-the-art W4A8 quantized performance on BLOOM, LLaMA, and LLaMA-2 on standard benchmarks. We confirm that the W4A8 quantization is achievable for the deployment of large language models, fostering their wide-spreading real-world applications.
Vision-Based Traffic Accident Detection and Anticipation: A Survey
Authors: Jianwu Fang, iahuan Qiao, Jianru Xue, Zhengguo Li
Date: 2023-08-30 00:00:00
Tasks: Survey, Traffic Accident Detection

Traffic accident detection and anticipation is an obstinate road safety problem and painstaking efforts have been devoted. With the rapid growth of video data, Vision-based Traffic Accident Detection and Anticipation (named Vision-TAD and Vision-TAA) become the last one-mile problem for safe driving and surveillance safety. However, the long-tailed, unbalanced, highly dynamic, complex, and uncertain properties of traffic accidents form the Out-of-Distribution (OOD) feature for Vision-TAD and Vision-TAA. Current AI development may focus on these OOD but important problems. What has been done for Vision-TAD and Vision-TAA? What direction we should focus on in the future for this problem? A comprehensive survey is important. We present the first survey on Vision-TAD in the deep learning era and the first-ever survey for Vision-TAA. The pros and cons of each research prototype are discussed in detail during the investigation. In addition, we also provide a critical review of 31 publicly available benchmarks and related evaluation metrics. Through this survey, we want to spawn new insights and open possible trends for Vision-TAD and Vision-TAA tasks.
RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation
Authors: Mel Vecerik, Carl Doersch, Yi Yang, Todor Davchev, Yusuf Aytar, Guangyao Zhou, Raia Hadsell, Lourdes Agapito, Jon Scholz
Date: 2023-08-30 00:00:00
Tasks: Point Tracking, Robot Manipulation

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the data-efficiency to do so in an amount of time that enables practical use. In this work we explore dense tracking as a representational vehicle to allow faster and more general learning from demonstration. Our approach utilizes Track-Any-Point (TAP) models to isolate the relevant motion in a demonstration, and parameterize a low-level controller to reproduce this motion across changes in the scene configuration. We show this results in robust robot policies that can solve complex object-arrangement tasks such as shape-matching, stacking, and even full path-following tasks such as applying glue and sticking objects together, all from demonstrations that can be collected in minutes.
Iterative Reward Shaping using Human Feedback for Correcting Reward Misspecification
Authors: Jasmina Gajcin, James McCarthy, Rahul Nair, Radu Marinescu, Elizabeth Daly, Ivana Dusparic
Date: 2023-08-30 00:00:00
Tasks: Reinforcement Learning (RL)

A well-defined reward function is crucial for successful training of an reinforcement learning (RL) agent. However, defining a suitable reward function is a notoriously challenging task, especially in complex, multi-objective environments. Developers often have to resort to starting with an initial, potentially misspecified reward function, and iteratively adjusting its parameters, based on observed learned behavior. In this work, we aim to automate this process by proposing ITERS, an iterative reward shaping approach using human feedback for mitigating the effects of a misspecified reward function. Our approach allows the user to provide trajectory-level feedback on agent's behavior during training, which can be integrated as a reward shaping signal in the following training iteration. We also allow the user to provide explanations of their feedback, which are used to augment the feedback and reduce user effort and feedback frequency. We evaluate ITERS in three environments and show that it can successfully correct misspecified reward functions.
Review of Parameter Tuning Methods for Nature-Inspired Algorithms
Authors: Geethu Joy, Christian Huyck, Xin-She Yang
Date: 2023-08-30 00:00:00

Almost all optimization algorithms have algorithm-dependent parameters, and the setting of such parameter values can largely influence the behaviour of the algorithm under consideration. Thus, proper parameter tuning should be carried out to ensure the algorithm used for optimization may perform well and can be sufficiently robust for solving different types of optimization problems. This chapter reviews some of the main methods for parameter tuning and then highlights the important issues concerning the latest development in parameter tuning. A few open problems are also discussed with some recommendations for future research.
WALL-E: Embodied Robotic WAiter Load Lifting with Large Language Model
Authors: Tianyu Wang, YiFan Li, Haitao Lin, xiangyang xue, Yanwei Fu
Date: 2023-08-30 00:00:00
Tasks: Language Modeling, Language Modelling, Large Language Model, Object, Robotic Grasping, Visual Grounding

Enabling robots to understand language instructions and react accordingly to visual perception has been a long-standing goal in the robotics research community. Achieving this goal requires cutting-edge advances in natural language processing, computer vision, and robotics engineering. Thus, this paper mainly investigates the potential of integrating the most recent Large Language Models (LLMs) and existing visual grounding and robotic grasping system to enhance the effectiveness of the human-robot interaction. We introduce the WALL-E (Embodied Robotic WAiter load lifting with Large Language model) as an example of this integration. The system utilizes the LLM of ChatGPT to summarize the preference object of the users as a target instruction via the multi-round interactive dialogue. The target instruction is then forwarded to a visual grounding system for object pose and size estimation, following which the robot grasps the object accordingly. We deploy this LLM-empowered system on the physical robot to provide a more user-friendly interface for the instruction-guided grasping task. The further experimental results on various real-world scenarios demonstrated the feasibility and efficacy of our proposed framework. See the project website at: https://star-uu-wang.github.io/WALL-E/
IDVT: Interest-aware Denoising and View-guided Tuning for Social Recommendation
Authors: Dezhao Yang, Jianghong Ma, Shanshan Feng, Haijun Zhang, Zhao Zhang
Date: 2023-08-30 00:00:00
Tasks: Contrastive Learning, Denoising, Recommendation Systems

In the information age, recommendation systems are vital for efficiently filtering information and identifying user preferences. Online social platforms have enriched these systems by providing valuable auxiliary information. Socially connected users are assumed to share similar preferences, enhancing recommendation accuracy and addressing cold start issues. However, empirical findings challenge the assumption, revealing that certain social connections can actually harm system performance. Our statistical analysis indicates a significant amount of noise in the social network, where many socially connected users do not share common interests. To address this issue, we propose an innovative \underline{I}nterest-aware \underline{D}enoising and \underline{V}iew-guided \underline{T}uning (IDVT) method for the social recommendation. The first ID part effectively denoises social connections. Specifically, the denoising process considers both social network structure and user interaction interests in a global view. Moreover, in this global view, we also integrate denoised social information (social domain) into the propagation of the user-item interactions (collaborative domain) and aggregate user representations from two domains using a gating mechanism. To tackle potential user interest loss and enhance model robustness within the global view, our second VT part introduces two additional views (local view and dropout-enhanced view) for fine-tuning user representations in the global view through contrastive learning. Extensive evaluations on real-world datasets with varying noise ratios demonstrate the superiority of IDVT over state-of-the-art social recommendation methods.
Cyclophobic Reinforcement Learning
Authors: Stefan Sylvius Wagner, Peter Arndt, Jan Robine, Stefan Harmeling
Date: 2023-08-30 00:00:00
Tasks: Inductive Bias, reinforcement-learning, Reinforcement Learning

In environments with sparse rewards, finding a good inductive bias for exploration is crucial to the agent's success. However, there are two competing goals: novelty search and systematic exploration. While existing approaches such as curiosity-driven exploration find novelty, they sometimes do not systematically explore the whole state space, akin to depth-first-search vs breadth-first-search. In this paper, we propose a new intrinsic reward that is cyclophobic, i.e., it does not reward novelty, but punishes redundancy by avoiding cycles. Augmenting the cyclophobic intrinsic reward with a sequence of hierarchical representations based on the agent's cropped observations we are able to achieve excellent results in the MiniGrid and MiniHack environments. Both are particularly hard, as they require complex interactions with different objects in order to be solved. Detailed comparisons with previous approaches and thorough ablation studies show that our newly proposed cyclophobic reinforcement learning is more sample efficient than other state of the art methods in a variety of tasks.
Is the U.S. Legal System Ready for AI's Challenges to Human Values?
Authors: Inyoung Cheong, Aylin Caliskan, Tadayoshi Kohno
Date: 2023-08-30 00:00:00
Tasks: Diversity

Our interdisciplinary study investigates how effectively U.S. laws confront the challenges posed by Generative AI to human values. Through an analysis of diverse hypothetical scenarios crafted during an expert workshop, we have identified notable gaps and uncertainties within the existing legal framework regarding the protection of fundamental values, such as privacy, autonomy, dignity, diversity, equity, and physical/mental well-being. Constitutional and civil rights, it appears, may not provide sufficient protection against AI-generated discriminatory outputs. Furthermore, even if we exclude the liability shield provided by Section 230, proving causation for defamation and product liability claims is a challenging endeavor due to the intricate and opaque nature of AI systems. To address the unique and unforeseeable threats posed by Generative AI, we advocate for legal frameworks that evolve to recognize new threats and provide proactive, auditable guidelines to industry stakeholders. Addressing these issues requires deep interdisciplinary collaborations to identify harms, values, and mitigation strategies.
Thermodynamic Computing via Autonomous Quantum Thermal Machines
Authors: Patryk Lipka-Bartosik, Martí Perarnau-Llobet, Nicolas Brunner
Date: 2023-08-30 00:00:00

We develop a physics-based model for classical computation based on autonomous quantum thermal machines. These machines consist of few interacting quantum bits (qubits) connected to several environments at different temperatures. Heat flows through the machine are here exploited for computing. The process starts by setting the temperatures of the environments according to the logical input. The machine evolves, eventually reaching a non-equilibrium steady state, from which the output of the computation can be determined via the temperature of an auxilliary finite-size reservoir. Such a machine, which we term a ``thermodynamic neuron'', can implement any linearly-separable function, and we discuss explicitly the cases of NOT, 3-MAJORITY and NOR gates. In turn, we show that a network of thermodynamic neurons can perform any desired function. We discuss the close connection between our model and artificial neurons (perceptrons), and argue that our model provides an alternative physics-based analogue implementation of neural networks, and more generally a platform for thermodynamic computing.
Explainable Answer-set Programming
Authors: Tobias Geibinger
Date: 2023-08-30 00:00:00

The interest in explainability in artificial intelligence (AI) is growing vastly due to the near ubiquitous state of AI in our lives and the increasing complexity of AI systems. Answer-set Programming (ASP) is used in many areas, among them are industrial optimisation, knowledge management or life sciences, and thus of great interest in the context of explainability. To ensure the successful application of ASP as a problem-solving paradigm in the future, it is thus crucial to investigate explanations for ASP solutions. Such an explanation generally tries to give an answer to the question of why something is, respectively is not, part of the decision produced or solution to the formulated problem. Although several explanation approaches for ASP exist, almost all of them lack support for certain language features that are used in practice. Most notably, this encompasses the various ASP extensions that have been developed in the recent years to enable reasoning over theories, external computations, or neural networks. This project aims to fill some of these gaps and contribute to the state of the art in explainable ASP. We tackle this by extending the language support of existing approaches but also by the development of novel explanation formalisms, like contrastive explanations.
Beyond Traditional Neural Networks: Toward adding Reasoning and Learning Capabilities through Computational Logic Techniques
Authors: Andrea Rafanelli
Date: 2023-08-30 00:00:00

Deep Learning (DL) models have become popular for solving complex problems, but they have limitations such as the need for high-quality training data, lack of transparency, and robustness issues. Neuro-Symbolic AI has emerged as a promising approach combining the strengths of neural networks and symbolic reasoning. Symbolic knowledge injection (SKI) techniques are a popular method to incorporate symbolic knowledge into sub-symbolic systems. This work proposes solutions to improve the knowledge injection process and integrate elements of ML and logic into multi-agent systems (MAS).
An xAI Approach for Data-to-Text Processing with ASP
Authors: Alessandro Dal Palù, Agostino Dovier, Andrea Formisano
Date: 2023-08-30 00:00:00
Tasks: Descriptive

The generation of natural language text from data series gained renewed interest among AI research goals. Not surprisingly, the few proposals in the state of the art are based on training some system, in order to produce a text that describes and that is coherent to the data provided as input. Main challenges of such approaches are the proper identification of "what" to say (the key descriptive elements to be addressed in the data) and "how" to say: the correspondence and accuracy between data and text, the presence of contradictions/redundancy in the text, the control of the amount of synthesis. This paper presents a framework that is compliant with xAI requirements. In particular we model ASP/Python programs that enable an explicit control of accuracy errors and amount of synthesis, with proven optimal solutions. The text description is hierarchically organized, in a top-down structure where text is enriched with further details, according to logic rules. The generation of natural language descriptions' structure is also managed by logic rules.
Nemo: First Glimpse of a New Rule Engine
Authors: Alex Ivliev, Stefan Ellmauthaler, Lukas Gerlach, Maximilian Marx, Matthias Meißner, Simon Meusel, Markus Krötzsch
Date: 2023-08-30 00:00:00
Tasks: Knowledge Graphs

This system demonstration presents Nemo, a new logic programming engine with a focus on reliability and performance. Nemo is built for data-centric analytic computations, modelled in a fully declarative Datalog dialect. Its scalability for these tasks matches or exceeds that of leading Datalog systems. We demonstrate uses in reasoning with knowledge graphs and ontologies with 10^5 to 10^8 input facts, all on a laptop. Nemo is written in Rust and available as a free and open source tool.
Assessing Drivers' Situation Awareness in Semi-Autonomous Vehicles: ASP based Characterisations of Driving Dynamics for Modelling Scene Interpretation and Projection
Authors: Jakob Suchan, Jan-Patrick Osterloh
Date: 2023-08-30 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles

Semi-autonomous driving, as it is already available today and will eventually become even more accessible, implies the need for driver and automation system to reliably work together in order to ensure safe driving. A particular challenge in this endeavour are situations in which the vehicle's automation is no longer able to drive and is thus requesting the human to take over. In these situations the driver has to quickly build awareness for the traffic situation to be able to take over control and safely drive the car. Within this context we present a software and hardware framework to asses how aware the driver is about the situation and to provide human-centred assistance to help in building situation awareness. The framework is developed as a modular system within the Robot Operating System (ROS) with modules for sensing the environment and the driver state, modelling the driver's situation awareness, and for guiding the driver's attention using specialized Human Machine Interfaces (HMIs). A particular focus of this paper is on an Answer Set Programming (ASP) based approach for modelling and reasoning about the driver's interpretation and projection of the scene. This is based on scene data, as well as eye-tracking data reflecting the scene elements observed by the driver. We present the overall application and discuss the role of semantic reasoning and modelling cognitive functions based on logic programming in such applications. Furthermore we present the ASP approach for interpretation and projection of the driver's situation awareness and its integration within the overall system in the context of a real-world use-case in simulated as well as in real driving.
A Logic Programming Approach to Global Logistics in a Co-Design Environment
Authors: Emmanuelle Dietz, Tobias Philipp, Gerrit Schramm, Andreas Zindel
Date: 2023-08-30 00:00:00

In a co-design environment changes need to be integrated quickly and in an automated manner. This paper considers the challenge of creating and optimizing a global logistics system for the construction of a passenger aircraft within a co-design approach with respect to key performance indicators (like cost, time or resilience). The product in question is an aircraft, comprised of multiple components, manufactured at multiple sites worldwide. The goal is to find an optimal way to build the aircraft taking into consideration the requirements for its industrial system. The main motivation for approaching this challenge is to develop the industrial system in tandem with the product and making it more resilient against unforeseen events, reducing the risks of bottlenecks in the supply chain. This risk reduction ensures continued efficiency and operational success. To address this challenging and complex task we have chosen Answer Set Programming (ASP) as the modeling language, formalizing the relevant requirements of the investigated industrial system. The approach presented in this paper covers three main aspects: the extraction of the relevant information from a knowledge graph, the translation into logic programs and the computation of existing configurations guided by optimization criteria. Finally we visualize the results for an effortless evaluation of these models. Internal results seem promising and yielded several new research questions for future improvements of the discussed use case.
Understanding ProbLog as Probabilistic Argumentation
Authors: Francesca Toni, Nico Potyka, Markus Ulbricht, Pietro Totis
Date: 2023-08-30 00:00:00
Tasks: Abstract Argumentation

ProbLog is a popular probabilistic logic programming language/tool, widely used for applications requiring to deal with inherent uncertainties in structured domains. In this paper we study connections between ProbLog and a variant of another well-known formalism combining symbolic reasoning and reasoning under uncertainty, i.e. probabilistic argumentation. Specifically, we show that ProbLog is an instance of a form of Probabilistic Abstract Argumentation (PAA) that builds upon Assumption-Based Argumentation (ABA). The connections pave the way towards equipping ProbLog with alternative semantics, inherited from PAA/PABA, as well as obtaining novel argumentation semantics for PAA/PABA, leveraging on prior connections between ProbLog and argumentation. Further, the connections pave the way towards novel forms of argumentative explanations for ProbLog's outputs.