pwc-archive/papers-with-abstracts huggingface dataset:
Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations
Authors: Rohan Pratap Singh, Iori Kumagai, Antonio Gabas, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
Date: 2022-07-27 00:00:00
Tasks: Object, Pose Estimation

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In this paper, we refer to this problem as instance-specific pose estimation: the robot is expected to estimate the pose with a high degree of accuracy in only a limited set of familiar scenarios. Minor changes in the scene, including variations in lighting conditions and background appearance, are acceptable but drastic alterations are not anticipated. To this end, we present a method to rapidly train and deploy a pipeline for estimating the continuous 6-DoF pose of an object from a single RGB image. The key idea is to leverage known camera poses and rigid body geometry to partially automate the generation of a large labeled dataset. The dataset, along with sufficient domain randomization, is then used to supervise the training of deep neural networks for predicting semantic keypoints. Experimentally, we demonstrate the convenience and effectiveness of our proposed method to accurately estimate object pose requiring only a very small amount of manual annotation for training.
ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization
Authors: Muhammad Zubair Irshad, Sergey Zakharov, Rares Ambrus, Thomas Kollar, Zsolt Kira, Adrien Gaidon
Date: 2022-07-27 00:00:00
Tasks: 3D Shape Reconstruction, 3D Shape Reconstruction From A Single 2D Image, 6D Pose Estimation, 6D Pose Estimation using RGBD, Neural Rendering, Object, Object Detection, Pose Estimation

Our method studies the complex task of object-centric 3D understanding from a single RGB-D observation. As it is an ill-posed problem, existing methods suffer from low performance for both 3D shape and 6D pose and size estimation in complex multi-object scenarios with occlusions. We present ShAPO, a method for joint multi-object detection, 3D textured reconstruction, 6D object pose and size estimation. Key to ShAPO is a single-shot pipeline to regress shape, appearance and pose latent codes along with the masks of each object instance, which is then further refined in a sparse-to-dense fashion. A novel disentangled shape and appearance database of priors is first learned to embed objects in their respective shape and appearance space. We also propose a novel, octree-based differentiable optimization step, allowing us to further improve object shape, pose and appearance simultaneously under the learned latent space, in an analysis-by-synthesis fashion. Our novel joint implicit textured object representation allows us to accurately identify and reconstruct novel unseen objects without having access to their 3D meshes. Through extensive experiments, we show that our method, trained on simulated indoor scenes, accurately regresses the shape, appearance and pose of novel objects in the real-world with minimal fine-tuning. Our method significantly out-performs all baselines on the NOCS dataset with an 8% absolute improvement in mAP for 6D pose estimation. Project page: https://zubair-irshad.github.io/projects/ShAPO.html
Convolutional Embedding Makes Hierarchical Vision Transformer Stronger
Authors: Cong Wang, Hongmin Xu, Xiong Zhang, Li Wang, Zhitong Zheng, Haifeng Liu
Date: 2022-07-27 00:00:00
Tasks: Inductive Bias

Vision Transformers (ViTs) have recently dominated a range of computer vision tasks, yet it suffers from low training data efficiency and inferior local semantic representation capability without appropriate inductive bias. Convolutional neural networks (CNNs) inherently capture regional-aware semantics, inspiring researchers to introduce CNNs back into the architecture of the ViTs to provide desirable inductive bias for ViTs. However, is the locality achieved by the micro-level CNNs embedded in ViTs good enough? In this paper, we investigate the problem by profoundly exploring how the macro architecture of the hybrid CNNs/ViTs enhances the performances of hierarchical ViTs. Particularly, we study the role of token embedding layers, alias convolutional embedding (CE), and systemically reveal how CE injects desirable inductive bias in ViTs. Besides, we apply the optimal CE configuration to 4 recently released state-of-the-art ViTs, effectively boosting the corresponding performances. Finally, a family of efficient hybrid CNNs/ViTs, dubbed CETNets, are released, which may serve as generic vision backbones. Specifically, CETNets achieve 84.9% Top-1 accuracy on ImageNet-1K (training from scratch), 48.6% box mAP on the COCO benchmark, and 51.6% mIoU on the ADE20K, substantially improving the performances of the corresponding state-of-the-art baselines.
Causal foundations of bias, disparity and fairness
Authors: V. A. Traag, L. Waltman
Date: 2022-07-27 00:00:00
Tasks: Fairness

The study of biases, such as gender or racial biases, is an important topic in the social and behavioural sciences. However, the literature does not always clearly define the concept. Definitions of bias are often ambiguous or not provided at all. To study biases in a precise manner, it is important to have a well-defined concept of bias. We propose to define bias as a direct causal effect that is unjustified. We propose to define the closely related concept of disparity as a direct or indirect causal effect that includes a bias. Our proposed definitions can be used to study biases and disparities in a more rigorous and systematic way. We compare our definitions of bias and disparity with various criteria of fairness introduced in the artificial intelligence literature. In addition, we discuss how our definitions relate to discrimination. We illustrate our definitions of bias and disparity in two case studies, focusing on gender bias in science and racial bias in police shootings. Our proposed definitions aim to contribute to a better appreciation of the causal intricacies of studies of biases and disparities. We hope that this will also promote an improved understanding of the policy implications of such studies.
Explain My Surprise: Learning Efficient Long-Term Memory by Predicting Uncertain Outcomes
Authors: Artyom Sorokin, Nazar Buzun, Leonid Pugachev, Mikhail Burtsev
Date: 2022-07-27 00:00:00

In many sequential tasks, a model needs to remember relevant events from the distant past to make correct predictions. Unfortunately, a straightforward application of gradient based training requires intermediate computations to be stored for every element of a sequence. This requires to store prohibitively large intermediate data if a sequence consists of thousands or even millions elements, and as a result, makes learning of very long-term dependencies infeasible. However, the majority of sequence elements can usually be predicted by taking into account only temporally local information. On the other hand, predictions affected by long-term dependencies are sparse and characterized by high uncertainty given only local information. We propose MemUP, a new training method that allows to learn long-term dependencies without backpropagating gradients through the whole sequence at a time. This method can potentially be applied to any recurrent architecture. LSTM network trained with MemUP performs better or comparable to baselines while requiring to store less intermediate data.
Using Deep Learning to Detecting Deepfakes
Authors: Jacob mallet, Rushit Dave, Naeem Seliya, Mounika Vanamala
Date: 2022-07-27 00:00:00
Tasks: DeepFake Detection, Deep Learning, Face Swapping, Misinformation

In the recent years, social media has grown to become a major source of information for many online users. This has given rise to the spread of misinformation through deepfakes. Deepfakes are videos or images that replace one persons face with another computer-generated face, often a more recognizable person in society. With the recent advances in technology, a person with little technological experience can generate these videos. This enables them to mimic a power figure in society, such as a president or celebrity, creating the potential danger of spreading misinformation and other nefarious uses of deepfakes. To combat this online threat, researchers have developed models that are designed to detect deepfakes. This study looks at various deepfake detection models that use deep learning algorithms to combat this looming threat. This survey focuses on providing a comprehensive overview of the current state of deepfake detection models and the unique approaches many researchers take to solving this problem. The benefits, limitations, and suggestions for future work will be thoroughly discussed throughout this paper.
Encoding Concepts in Graph Neural Networks
Authors: Lucie Charlotte Magister, Pietro Barbiero, Dmitry Kazhdan, Federico Siciliano, Gabriele Ciravegna, Fabrizio Silvestri, Mateja Jamnik, Pietro Lio
Date: 2022-07-27 00:00:00

The opaque reasoning of Graph Neural Networks induces a lack of human trust. Existing graph network explainers attempt to address this issue by providing post-hoc explanations, however, they fail to make the model itself more interpretable. To fill this gap, we introduce the Concept Encoder Module, the first differentiable concept-discovery approach for graph networks. The proposed approach makes graph networks explainable by design by first discovering graph concepts and then using these to solve the task. Our results demonstrate that this approach allows graph networks to: (i) attain model accuracy comparable with their equivalent vanilla versions, (ii) discover meaningful concepts that achieve high concept completeness and purity scores, (iii) provide high-quality concept-based logic explanations for their prediction, and (iv) support effective interventions at test time: these can increase human trust as well as significantly improve model performance.
Towards the Neuroevolution of Low-level Artificial General Intelligence
Authors: Sidney Pontes-Filho, Kristoffer Olsen, Anis Yazidi, Michael A. Riegler, Pål Halvorsen, Stefano Nichele
Date: 2022-07-27 00:00:00

In this work, we argue that the search for Artificial General Intelligence (AGI) should start from a much lower level than human-level intelligence. The circumstances of intelligent behavior in nature resulted from an organism interacting with its surrounding environment, which could change over time and exert pressure on the organism to allow for learning of new behaviors or environment models. Our hypothesis is that learning occurs through interpreting sensory feedback when an agent acts in an environment. For that to happen, a body and a reactive environment are needed. We evaluate a method to evolve a biologically-inspired artificial neural network that learns from environment reactions named Neuroevolution of Artificial General Intelligence (NAGI), a framework for low-level AGI. This method allows the evolutionary complexification of a randomly-initialized spiking neural network with adaptive synapses, which controls agents instantiated in mutable environments. Such a configuration allows us to benchmark the adaptivity and generality of the controllers. The chosen tasks in the mutable environments are food foraging, emulation of logic gates, and cart-pole balancing. The three tasks are successfully solved with rather small network topologies and therefore it opens up the possibility of experimenting with more complex tasks and scenarios where curriculum learning is beneficial.
Membership Inference Attacks via Adversarial Examples
Authors: Hamid Jalalzai, Elie Kadoche, Rémi Leluc, Vincent Plassier
Date: 2022-07-27 00:00:00

The raise of machine learning and deep learning led to significant improvement in several domains. This change is supported by both the dramatic rise in computation power and the collection of large datasets. Such massive datasets often include personal data which can represent a threat to privacy. Membership inference attacks are a novel direction of research which aims at recovering training data used by a learning algorithm. In this paper, we develop a mean to measure the leakage of training data leveraging a quantity appearing as a proxy of the total variation of a trained model near its training samples. We extend our work by providing a novel defense mechanism. Our contributions are supported by empirical evidence through convincing numerical experiments.
Abstracting Sketches through Simple Primitives
Authors: Stephan Alaniz, Massimiliano Mancini, Anjan Dutta, Diego Marcos, Zeynep Akata
Date: 2022-07-27 00:00:00
Tasks: Image Retrieval, Retrieval, Sketch-Based Image Retrieval, Sketch Recognition

Humans show high-level of abstraction capabilities in games that require quickly communicating object information. They decompose the message content into multiple parts and communicate them in an interpretable protocol. Toward equipping machines with such capabilities, we propose the Primitive-based Sketch Abstraction task where the goal is to represent sketches using a fixed set of drawing primitives under the influence of a budget. To solve this task, our Primitive-Matching Network (PMN), learns interpretable abstractions of a sketch in a self supervised manner. Specifically, PMN maps each stroke of a sketch to its most similar primitive in a given set, predicting an affine transformation that aligns the selected primitive to the target stroke. We learn this stroke-to-primitive mapping end-to-end with a distance-transform loss that is minimal when the original sketch is precisely reconstructed with the predicted primitives. Our PMN abstraction empirically achieves the highest performance on sketch recognition and sketch-based image retrieval given a communication budget, while at the same time being highly interpretable. This opens up new possibilities for sketch analysis, such as comparing sketches by extracting the most relevant primitives that define an object category. Code is available at https://github.com/ExplainableML/sketch-primitives.
Future Unruptured Intracranial Aneurysm Growth Prediction using Mesh Convolutional Neural Networks
Authors: Kimberley M. Timmins, Maarten J. Kamphuis, Iris N. Vos, Birgitta K. Velthuis, Irene C. van der Schaaf, Hugo J. Kuijf
Date: 2022-07-27 00:00:00
Tasks: Specificity

The growth of unruptured intracranial aneurysms (UIAs) is a predictor of rupture. Therefore, for further imaging surveillance and treatment planning, it is important to be able to predict if an UIA is likely to grow based on an initial baseline Time-of-Flight MRA (TOF-MRA). It is known that the size and shape of UIAs are predictors of aneurysm growth and/or rupture. We perform a feasibility study of using a mesh convolutional neural network for future UIA growth prediction from baseline TOF-MRAs. We include 151 TOF-MRAs, with 169 UIAs where 49 UIAs were classified as growing and 120 as stable, based on the clinical definition of growth (>1 mm increase in size in follow-up scan). UIAs were segmented from TOF-MRAs and meshes were automatically generated. We investigate the input of both UIA mesh only and region-of-interest (ROI) meshes including UIA and surrounding parent vessels. We develop a classification model to predict UIAs that will grow or remain stable. The model consisted of a mesh convolutional neural network including additional novel input edge features of shape index and curvedness which describe the surface topology. It was investigated if input edge mid-point co-ordinates influenced the model performance. The model with highest AUC (63.8%) for growth prediction was using UIA meshes with input edge mid-point co-ordinate features (average F1 score = 62.3%, accuracy = 66.9%, sensitivity = 57.3%, specificity = 70.8%). We present a future UIA growth prediction model based on a mesh convolutional neural network with promising results.
Safe and Robust Experience Sharing for Deterministic Policy Gradient Algorithms
Authors: Baturay Saglam, Dogan C. Cicek, Furkan B. Mutlu, Suleyman S. Kozat
Date: 2022-07-27 00:00:00
Tasks: continuous-control, Continuous Control, Deep Reinforcement Learning, OpenAI Gym, Reinforcement Learning (RL)

Learning in high dimensional continuous tasks is challenging, mainly when the experience replay memory is very limited. We introduce a simple yet effective experience sharing mechanism for deterministic policies in continuous action domains for the future off-policy deep reinforcement learning applications in which the allocated memory for the experience replay buffer is limited. To overcome the extrapolation error induced by learning from other agents' experiences, we facilitate our algorithm with a novel off-policy correction technique without any action probability estimates. We test the effectiveness of our method in challenging OpenAI Gym continuous control tasks and conclude that it can achieve a safe experience sharing across multiple agents and exhibits a robust performance when the replay memory is strictly limited.
Time Series Forecasting Models Copy the Past: How to Mitigate
Authors: Chrysoula Kosma, Giannis Nikolentzos, Nancy Xu, Michalis Vazirgiannis
Date: 2022-07-27 00:00:00
Tasks: Time Series, Time Series Analysis, Time Series Forecasting

Time series forecasting is at the core of important application domains posing significant challenges to machine learning algorithms. Recently neural network architectures have been widely applied to the problem of time series forecasting. Most of these models are trained by minimizing a loss function that measures predictions' deviation from the real values. Typical loss functions include mean squared error (MSE) and mean absolute error (MAE). In the presence of noise and uncertainty, neural network models tend to replicate the last observed value of the time series, thus limiting their applicability to real-world data. In this paper, we provide a formal definition of the above problem and we also give some examples of forecasts where the problem is observed. We also propose a regularization term penalizing the replication of previously seen values. We evaluate the proposed regularization term both on synthetic and real-world datasets. Our results indicate that the regularization term mitigates to some extent the aforementioned problem and gives rise to more robust models.
A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
Authors: Xiang Zhu, Shucheng Kang, Jianyu Chen
Date: 2022-07-27 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Robot Manipulation, Safe Reinforcement Learning

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL policy is imperfect during training or in unseen scenarios. In this paper, we propose a contact-safe reinforcement learning framework for contact-rich robot manipulation, which maintains safety in both the task space and joint space. When the RL policy causes unexpected collisions between the robot arm and the environment, our framework is able to immediately detect the collision and ensure the contact force to be small. Furthermore, the end-effector is enforced to perform contact-rich tasks compliantly, while keeping robust to external disturbances. We train the RL policy in simulation and transfer it to the real robot. Real world experiments on robot wiping tasks show that our method is able to keep the contact force small both in task space and joint space even when the policy is under unseen scenario with unexpected collision, while rejecting the disturbances on the main task.
Efficient Pix2Vox++ for 3D Cardiac Reconstruction from 2D echo views
Authors: David Stojanovski, Uxio Hermida, Marica Muffoletto, Pablo Lamata, Arian Beqiri, Alberto Gomez
Date: 2022-07-27 00:00:00
Tasks: 3D Reconstruction, Anatomy, Management

Accurate geometric quantification of the human heart is a key step in the diagnosis of numerous cardiac diseases, and in the management of cardiac patients. Ultrasound imaging is the primary modality for cardiac imaging, however acquisition requires high operator skill, and its interpretation and analysis is difficult due to artifacts. Reconstructing cardiac anatomy in 3D can enable discovery of new biomarkers and make imaging less dependent on operator expertise, however most ultrasound systems only have 2D imaging capabilities. We propose both a simple alteration to the Pix2Vox++ networks for a sizeable reduction in memory usage and computational complexity, and a pipeline to perform reconstruction of 3D anatomy from 2D standard cardiac views, effectively enabling 3D anatomical reconstruction from limited 2D data. We evaluate our pipeline using synthetically generated data achieving accurate 3D whole-heart reconstructions (peak intersection over union score > 0.88) from just two standard anatomical 2D views of the heart. We also show preliminary results using real echo images.
Rethinking Efficacy of Softmax for Lightweight Non-Local Neural Networks
Authors: Yooshin Cho, Youngsoo Kim, Hanbyel Cho, Jaesung Ahn, Hyeong Gwon Hong, Junmo Kim
Date: 2022-07-27 00:00:00

Non-local (NL) block is a popular module that demonstrates the capability to model global contexts. However, NL block generally has heavy computation and memory costs, so it is impractical to apply the block to high-resolution feature maps. In this paper, to investigate the efficacy of NL block, we empirically analyze if the magnitude and direction of input feature vectors properly affect the attention between vectors. The results show the inefficacy of softmax operation which is generally used to normalize the attention map of the NL block. Attention maps normalized with softmax operation highly rely upon magnitude of key vectors, and performance is degenerated if the magnitude information is removed. By replacing softmax operation with the scaling factor, we demonstrate improved performance on CIFAR-10, CIFAR-100, and Tiny-ImageNet. In Addition, our method shows robustness to embedding channel reduction and embedding weight initialization. Notably, our method makes multi-head attention employable without additional computational cost.
Emergent social NPC interactions in the Social NPCs Skyrim mod and beyond
Authors: Manuel Guimarães, Pedro A. Santos, Arnav Jhala
Date: 2022-07-27 00:00:00

This work presents an implementation of a social architecture model for authoring Non-Player Character (NPC) in open world games inspired in academic research on agentbased modeling. Believable NPC authoring is burdensome in terms of rich dialogue and responsive behaviors. We briefly present the characteristics and advantages of using a social agent architecture for this task and describe an implementation of a social agent architecture CiF-CK released as a mod Social NPCs for The Elder Scrolls V: Skyrim
Evolutionary Multiparty Distance Minimization
Authors: Zeneng She, Wenjian Luo, Xin Lin, Yatong Chang, Yuhui Shi
Date: 2022-07-27 00:00:00
Tasks: Multiobjective Optimization

In the field of evolutionary multiobjective optimization, the decision maker (DM) concerns conflicting objectives. In the real-world applications, there usually exist more than one DM and each DM concerns parts of these objectives. Multiparty multiobjective optimization problems (MPMOPs) are proposed to depict the MOP with multiple decision makers involved, where each party concerns about certain some objectives of all. However, in the evolutionary computation field, there is not much attention paid on MPMOPs. This paper constructs a series of MPMOPs based on distance minimization problems (DMPs), whose Pareto optimal solutions can be vividly visualized. To address MPMOPs, the new proposed algorithm OptMPNDS3 uses the multiparty initializing method to initialize the population and takes JADE2 operator to generate the offsprings. OptMPNDS3 is compared with OptAll, OptMPNDS and OptMPNDS2 on the problem suite. The result shows that OptMPNDS3 is strongly comparable to other algorithms