pwc-archive/papers-with-abstracts huggingface dataset:
Discrete-Time Impulsive Adaptive Dynamic Programming
Authors: Qinglai Wei, Ruizhuo Song, Member, IEEE, Zehua Liao, Benkai Li, and Frank L. Lewis
Date: 2019-04-11 00:00:00
Proceeding: IEEE Transactions on Cybernetics 2019 4

Abstract—In this paper, a new iterative adaptive dynamic programming (ADP) algorithm is developed to solve optimal impulsive control problems for infinite horizon discrete-time nonlinear systems. Considering the constraint of the impulsive interval, in each iteration, the iterative impulsive value function under each possible impulsive interval is obtained, and then the iterative value function and iterative control law are achieved. A new convergence analysis method is developed which proves an iterative value function to converge to the optimum as the iteration index increases to infinity. The properties of the iterative control law are analyzed, and the detailed implementation of the optimal impulsive control law is presented. Finally, two simulation examples with comparisons are given to show the effectiveness of the developed method. Index Terms—Adaptive critic designs, adaptive dynamic programming (ADP), approximate dynamic programming, impulsive control, nonlinear systems, optimal control.
Integrating multi-label contrastive learning with dual adversarial graph neural networks for cross-modal retrieval
Authors: Dizhan Xue, Shengsheng Qian, Quan Fang, Changsheng Xu
Date: 2022-07-05 00:00:00
Proceeding: IEEE Transactions on Pattern Analysis and Machine Intelligence 2022 7
Tasks: Contrastive Learning, Cross-Modal Retrieval, Retrieval

With the growing amount of multimodal data, cross-modal retrieval has attracted more and more attention and become a hot research topic. To date, most of the existing techniques mainly convert multimodal data into a common representation space where similarities in semantics between samples can be easily measured across multiple modalities. However, these approaches may suffer from the following limitations: 1) They overcome the modality gap by introducing loss in the common representation space, which may not be sufficient to eliminate the heterogeneity of various modalities; 2) They treat labels as independent entities and ignore label relationships, which is not conducive to establishing semantic connections across multimodal data; 3) They ignore the non-binary values of label similarity in multi-label scenarios, which may lead to inefficient alignment of representation similarity with label similarity. To tackle these problems, in this article, we propose two models to learn discriminative and modality-invariant representations for cross-modal retrieval. First, the dual generative adversarial networks are built to project multimodal data into a common representation space. Second, to model label relation dependencies and develop inter-dependent classifiers, we employ multi-hop graph neural networks (consisting of Probabilistic GNN and Iterative GNN), where the layer aggregation mechanism is suggested for using propagation information of various hops. Third, we propose a novel soft multi-label contrastive loss for cross-modal retrieval, with the soft positive sampling probability, which can align the representation similarity and the label similarity. Additionally, to adapt to incomplete-modal learning, which can have wider applications, we propose a modal reconstruction mechanism to generate missing features. Extensive experiments on three widely used benchmark datasets, i.e., NUS-WIDE, MIRFlickr, and MS-COCO, show the superiority of our proposed method.
SynthoGestures: A Novel Framework for Synthetic Dynamic Hand Gesture Generation for Driving Scenarios
Authors: Amr Gomaa, Robin Zitt, Guillermo Reyes, Antonio Krüger
Date: 2023-09-08 00:00:00
Tasks: Gesture Generation, Gesture Recognition

Creating a diverse and comprehensive dataset of hand gestures for dynamic human-machine interfaces in the automotive domain can be challenging and time-consuming. To overcome this challenge, we propose using synthetic gesture datasets generated by virtual 3D models. Our framework utilizes Unreal Engine to synthesize realistic hand gestures, offering customization options and reducing the risk of overfitting. Multiple variants, including gesture speed, performance, and hand shape, are generated to improve generalizability. In addition, we simulate different camera locations and types, such as RGB, infrared, and depth cameras, without incurring additional time and cost to obtain these cameras. Experimental results demonstrate that our proposed framework, SynthoGestures (https://github.com/amrgomaaelhady/SynthoGestures), improves gesture recognition accuracy and can replace or augment real-hand datasets. By saving time and effort in the creation of the data set, our tool accelerates the development of gesture recognition systems for automotive applications.
Enhancing 6-DoF Object Pose Estimation through Multiple Modality Fusion: A Hybrid CNN Architecture with Cross-Layer and Cross-Modal Integration
Authors: Zihang Wang, Xueying Sun, Hao Wei, Qing Ma, Qiang Zhang
Date: 2023-09-06 00:00:00
Proceeding: Machines 2023 9
Tasks: 6D Pose Estimation, 6D Pose Estimation using RGBD, Autonomous Driving, Pose Estimation, Segmentation

Recently, applying the utilization of RGB-D data for robot perception tasks has garnered significant attention in domains like robotics and autonomous driving. However, a prominent challenge in this field lies in the substantial impact of feature robustness on both segmentation and pose estimation tasks. To tackle this challenge, we proposed a pioneering two-stage hybrid Convolutional Neural Network (CNN) architecture, which connects segmentation and pose estimation in tandem. Specifically, we developed Cross-Modal (CM) and Cross-Layer (CL) modules to exploit the complementary information from RGB and depth modalities, as well as the hierarchical features from diverse layers of the network. The CM and CL integration strategy significantly enhanced the segmentation accuracy by effectively capturing spatial and contextual information. Furthermore, we introduced the Convolutional Block Attention Module (CBAM), which dynamically recalibrated the feature maps, enabling the network to focus on informative regions and channels, thereby enhancing the overall performance of the pose estimation task. We conducted extensive experiments on benchmark datasets to evaluate the proposed method and achieved exceptional target pose estimation results, with an average accuracy of 94.5% using the ADD-S AUC metric and 97.6% of ADD-S smaller than 2 cm. These results demonstrate the superior performance of our proposed method.
Generalization Bounds: Perspectives from Information Theory and PAC-Bayes
Authors: Fredrik Hellström, Giuseppe Durisi, Benjamin Guedj, Maxim Raginsky
Date: 2023-09-08 00:00:00
Tasks: Generalization Bounds

A fundamental question in theoretical machine learning is generalization. Over the past decades, the PAC-Bayesian approach has been established as a flexible framework to address the generalization capabilities of machine learning algorithms, and design new ones. Recently, it has garnered increased interest due to its potential applicability for a variety of learning algorithms, including deep neural networks. In parallel, an information-theoretic view of generalization has developed, wherein the relation between generalization and various information measures has been established. This framework is intimately connected to the PAC-Bayesian approach, and a number of results have been independently discovered in both strands. In this monograph, we highlight this strong connection and present a unified treatment of PAC-Bayesian and information-theoretic generalization bounds. We present techniques and results that the two perspectives have in common, and discuss the approaches and interpretations that differ. In particular, we demonstrate how many proofs in the area share a modular structure, through which the underlying ideas can be intuited. We pay special attention to the conditional mutual information (CMI) framework; analytical studies of the information complexity of learning algorithms; and the application of the proposed methods to deep learning. This monograph is intended to provide a comprehensive introduction to information-theoretic generalization bounds and their connection to PAC-Bayes, serving as a foundation from which the most recent developments are accessible. It is aimed broadly towards researchers with an interest in generalization and theoretical machine learning.
FOR-instance: a UAV laser scanning benchmark dataset for semantic and instance segmentation of individual trees
Authors: Stefano Puliti, Grant Pearse, Peter Surový, Luke Wallace, Markus Hollaus, Maciej Wielgosz, Rasmus Astrup
Date: 2023-09-03 00:00:00
Tasks: Benchmarking, Instance Segmentation, Scene Segmentation, Segmentation, Semantic Segmentation

The FOR-instance dataset (available at https://doi.org/10.5281/zenodo.8287792) addresses the challenge of accurate individual tree segmentation from laser scanning data, crucial for understanding forest ecosystems and sustainable management. Despite the growing need for detailed tree data, automating segmentation and tracking scientific progress remains difficult. Existing methodologies often overfit small datasets and lack comparability, limiting their applicability. Amid the progress triggered by the emergence of deep learning methodologies, standardized benchmarking assumes paramount importance in these research domains. This data paper introduces a benchmarking dataset for dense airborne laser scanning data, aimed at advancing instance and semantic segmentation techniques and promoting progress in 3D forest scene segmentation. The FOR-instance dataset comprises five curated and ML-ready UAV-based laser scanning data collections from diverse global locations, representing various forest types. The laser scanning data were manually annotated into individual trees (instances) and different semantic classes (e.g. stem, woody branches, live branches, terrain, low vegetation). The dataset is divided into development and test subsets, enabling method advancement and evaluation, with specific guidelines for utilization. It supports instance and semantic segmentation, offering adaptability to deep learning frameworks and diverse segmentation strategies, while the inclusion of diameter at breast height data expands its utility to the measurement of a classic tree variable. In conclusion, the FOR-instance dataset contributes to filling a gap in the 3D forest research, enhancing the development and benchmarking of segmentation algorithms for dense airborne laser scanning data.
Beyond Static Datasets: A Deep Interaction Approach to LLM Evaluation
Authors: Jiatong Li, Rui Li, Qi Liu
Date: 2023-09-08 00:00:00
Tasks: Code Generation, Machine Translation

Large Language Models (LLMs) have made progress in various real-world tasks, which stimulates requirements for the evaluation of LLMs. Existing LLM evaluation methods are mainly supervised signal-based which depends on static datasets and cannot evaluate the ability of LLMs in dynamic real-world scenarios where deep interaction widely exists. Other LLM evaluation methods are human-based which are costly and time-consuming and are incapable of large-scale evaluation of LLMs. To address the issues above, we propose a novel Deep Interaction-based LLM-evaluation framework. In our proposed framework, LLMs' performances in real-world domains can be evaluated from their deep interaction with other LLMs in elaborately designed evaluation tasks. Furthermore, our proposed framework is a general evaluation method that can be applied to a host of real-world tasks such as machine translation and code generation. We demonstrate the effectiveness of our proposed method through extensive experiments on four elaborately designed evaluation tasks.
Active Learning for Classifying 2D Grid-Based Level Completability
Authors: Mahsa Bazzaz, Seth Cooper
Date: 2023-09-08 00:00:00
Tasks: Active Learning, speech-recognition, Speech Recognition

Determining the completability of levels generated by procedural generators such as machine learning models can be challenging, as it can involve the use of solver agents that often require a significant amount of time to analyze and solve levels. Active learning is not yet widely adopted in game evaluations, although it has been used successfully in natural language processing, image and speech recognition, and computer vision, where the availability of labeled data is limited or expensive. In this paper, we propose the use of active learning for learning level completability classification. Through an active learning approach, we train deep-learning models to classify the completability of generated levels for Super Mario Bros., Kid Icarus, and a Zelda-like game. We compare active learning for querying levels to label with completability against random queries. Our results show using an active learning approach to label levels results in better classifier performance with the same amount of labeled data.
Zero-Shot Robustification of Zero-Shot Models
Authors: Dyah Adila, Changho Shin, Linrong Cai, Frederic Sala
Date: 2023-09-08 00:00:00

Zero-shot inference is a powerful paradigm that enables the use of large pretrained models for downstream classification tasks without further training. However, these models are vulnerable to inherited biases that can impact their performance. The traditional solution is fine-tuning, but this undermines the key advantage of pretrained models, which is their ability to be used out-of-the-box. We propose RoboShot, a method that improves the robustness of pretrained model embeddings in a fully zero-shot fashion. First, we use language models (LMs) to obtain useful insights from task descriptions. These insights are embedded and used to remove harmful and boost useful components in embeddings -- without any supervision. Theoretically, we provide a simple and tractable model for biases in zero-shot embeddings and give a result characterizing under what conditions our approach can boost performance. Empirically, we evaluate RoboShot on nine image and NLP classification tasks and show an average improvement of 15.98% on worst group accuracy, with trivial decrease in overall accuracy over several zero-shot baselines. Additionally, we demonstrate that RoboShot is compatible with a variety of pretrained and language models and propose a way to further boost performance with a zero-shot adaptation variant.
Online Submodular Maximization via Online Convex Optimization
Authors: Tareq Si Salem, Gözde Özcan, Iasonas Nikolaou, Evimaria Terzi, Stratis Ioannidis
Date: 2023-09-08 00:00:00

We study monotone submodular maximization under general matroid constraints in the online setting. We prove that online optimization of a large class of submodular functions, namely, weighted threshold potential functions, reduces to online convex optimization (OCO). This is precisely because functions in this class admit a concave relaxation; as a result, OCO policies, coupled with an appropriate rounding scheme, can be used to achieve sublinear regret in the combinatorial setting. We show that our reduction extends to many different versions of the online learning problem, including the dynamic regret, bandit, and optimistic-learning settings.
Graph Neural Networks Use Graphs When They Shouldn't
Authors: Maya Bechler-Speicher, Ido Amos, Ran Gilad-Bachrach, Amir Globerson
Date: 2023-09-08 00:00:00
Tasks: Graph Classification

Predictions over graphs play a crucial role in various domains, including social networks and medicine. Graph Neural Networks (GNNs) have emerged as the dominant approach for learning on graph data. Although a graph-structure is provided as input to the GNN, in some cases the best solution can be obtained by ignoring it. While GNNs have the ability to ignore the graph- structure in such cases, it is not clear that they will. In this work, we show that GNNs actually tend to overfit the given graph-structure. Namely, they use it even when a better solution can be obtained by ignoring it. We analyze the implicit bias of gradient-descent learning of GNNs and prove that when the ground truth function does not use the graphs, GNNs are not guaranteed to learn a solution that ignores the graph, even with infinite data. We examine this phenomenon with respect to different graph distributions and find that regular graphs are more robust to this over-fitting. We also prove that within the family of regular graphs, GNNs are guaranteed to extrapolate when learning with gradient descent. Finally, based on our empirical and theoretical findings, we demonstrate on real-data how regular graphs can be leveraged to reduce graph overfitting and enhance performance.
Incremental Learning of Humanoid Robot Behavior from Natural Interaction and Large Language Models
Authors: Leonard Bärmann, Rainer Kartmann, Fabian Peller-Konrad, Jan Niehues, Alex Waibel, Tamim Asfour
Date: 2023-09-08 00:00:00
Tasks: Incremental Learning, Prompt Learning

Natural-language dialog is key for intuitive human-robot interaction. It can be used not only to express humans' intents, but also to communicate instructions for improvement if a robot does not understand a command correctly. Of great importance is to endow robots with the ability to learn from such interaction experience in an incremental way to allow them to improve their behaviors or avoid mistakes in the future. In this paper, we propose a system to achieve incremental learning of complex behavior from natural interaction, and demonstrate its implementation on a humanoid robot. Building on recent advances, we present a system that deploys Large Language Models (LLMs) for high-level orchestration of the robot's behavior, based on the idea of enabling the LLM to generate Python statements in an interactive console to invoke both robot perception and action. The interaction loop is closed by feeding back human instructions, environment observations, and execution results to the LLM, thus informing the generation of the next statement. Specifically, we introduce incremental prompt learning, which enables the system to interactively learn from its mistakes. For that purpose, the LLM can call another LLM responsible for code-level improvements of the current interaction based on human feedback. The improved interaction is then saved in the robot's memory, and thus retrieved on similar requests. We integrate the system in the robot cognitive architecture of the humanoid robot ARMAR-6 and evaluate our methods both quantitatively (in simulation) and qualitatively (in simulation and real-world) by demonstrating generalized incrementally-learned knowledge.
Federated Learning for Early Dropout Prediction on Healthy Ageing Applications
Authors: Christos Chrysanthos Nikolaidis, Vasileios Perifanis, Nikolaos Pavlidis, Pavlos S. Efraimidis
Date: 2023-09-08 00:00:00
Tasks: Federated Learning

The provision of social care applications is crucial for elderly people to improve their quality of life and enables operators to provide early interventions. Accurate predictions of user dropouts in healthy ageing applications are essential since they are directly related to individual health statuses. Machine Learning (ML) algorithms have enabled highly accurate predictions, outperforming traditional statistical methods that struggle to cope with individual patterns. However, ML requires a substantial amount of data for training, which is challenging due to the presence of personal identifiable information (PII) and the fragmentation posed by regulations. In this paper, we present a federated machine learning (FML) approach that minimizes privacy concerns and enables distributed training, without transferring individual data. We employ collaborative training by considering individuals and organizations under FML, which models both cross-device and cross-silo learning scenarios. Our approach is evaluated on a real-world dataset with non-independent and identically distributed (non-iid) data among clients, class imbalance and label ambiguity. Our results show that data selection and class imbalance handling techniques significantly improve the predictive accuracy of models trained under FML, demonstrating comparable or superior predictive performance than traditional ML models.
Navigating Out-of-Distribution Electricity Load Forecasting during COVID-19: Benchmarking energy load forecasting models without and with continual learning
Authors: Arian Prabowo, KaiXuan Chen, Hao Xue, Subbu Sethuvenkatraman, Flora D. Salim
Date: 2023-09-08 00:00:00
Tasks: Benchmarking, Continual Learning, Load Forecasting, Privacy Preserving

In traditional deep learning algorithms, one of the key assumptions is that the data distribution remains constant during both training and deployment. However, this assumption becomes problematic when faced with Out-of-Distribution periods, such as the COVID-19 lockdowns, where the data distribution significantly deviates from what the model has seen during training. This paper employs a two-fold strategy: utilizing continual learning techniques to update models with new data and harnessing human mobility data collected from privacy-preserving pedestrian counters located outside buildings. In contrast to online learning, which suffers from 'catastrophic forgetting' as newly acquired knowledge often erases prior information, continual learning offers a holistic approach by preserving past insights while integrating new data. This research applies FSNet, a powerful continual learning algorithm, to real-world data from 13 building complexes in Melbourne, Australia, a city which had the second longest total lockdown duration globally during the pandemic. Results underscore the crucial role of continual learning in accurate energy forecasting, particularly during Out-of-Distribution periods. Secondary data such as mobility and temperature provided ancillary support to the primary forecasting model. More importantly, while traditional methods struggled to adapt during lockdowns, models featuring at least online learning demonstrated resilience, with lockdown periods posing fewer challenges once armed with adaptive learning techniques. This study contributes valuable methodologies and insights to the ongoing effort to improve energy load forecasting during future Out-of-Distribution periods.
FIMO: A Challenge Formal Dataset for Automated Theorem Proving
Authors: Chengwu Liu, Jianhao Shen, Huajian Xin, Zhengying Liu, Ye Yuan, Haiming Wang, Wei Ju, Chuanyang Zheng, Yichun Yin, Lin Li, Ming Zhang, Qun Liu
Date: 2023-09-08 00:00:00
Tasks: Automated Theorem Proving

We present FIMO, an innovative dataset comprising formal mathematical problem statements sourced from the International Mathematical Olympiad (IMO) Shortlisted Problems. Designed to facilitate advanced automated theorem proving at the IMO level, FIMO is currently tailored for the Lean formal language. It comprises 149 formal problem statements, accompanied by both informal problem descriptions and their corresponding LaTeX-based informal proofs. Through initial experiments involving GPT-4, our findings underscore the existing limitations in current methodologies, indicating a substantial journey ahead before achieving satisfactory IMO-level automated theorem proving outcomes.