pwc-archive/papers-with-abstracts huggingface dataset:
eWaSR -- an embedded-compute-ready maritime obstacle detection network
Authors: Matija Teršek, Lojze Žust, Matej Kristan
Date: 2023-04-21 00:00:00
Tasks: GPU

Maritime obstacle detection is critical for safe navigation of autonomous surface vehicles (ASVs). While the accuracy of image-based detection methods has advanced substantially, their computational and memory requirements prohibit deployment on embedded devices. In this paper we analyze the currently best-performing maritime obstacle detection network WaSR. Based on the analysis we then propose replacements for the most computationally intensive stages and propose its embedded-compute-ready variant eWaSR. In particular, the new design follows the most recent advancements of transformer-based lightweight networks. eWaSR achieves comparable detection results to state-of-the-art WaSR with only 0.52% F1 score performance drop and outperforms other state-of-the-art embedded-ready architectures by over 9.74% in F1 score. On a standard GPU, eWaSR runs 10x faster than the original WaSR (115 FPS vs 11 FPS). Tests on a real embedded device OAK-D show that, while WaSR cannot run due to memory restrictions, eWaSR runs comfortably at 5.5 FPS. This makes eWaSR the first practical embedded-compute-ready maritime obstacle detection network. The source code and trained eWaSR models are publicly available here: https://github.com/tersekmatija/eWaSR.
Spatial-Language Attention Policies for Efficient Robot Learning
Authors: Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk, Chris Paxton
Date: 2023-04-21 00:00:00
Tasks: Decision Making, Language Modelling, Large Language Model

Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans that involve moving around the environment must be robust to egocentric views and changes in the plane and angle of grasp. A further challenge is ensuring this is all true while still being able to learn skills efficiently from limited data. We propose Spatial-Language Attention Policies (SLAP) as a solution. SLAP uses three-dimensional tokens as the input representation to train a single multi-task, language-conditioned action prediction policy. Our method shows an 80% success rate in the real world across eight tasks with a single model, and a 47.5% success rate when unseen clutter and unseen object configurations are introduced, even with only a handful of examples per task. This represents an improvement of 30% over prior work (20% given unseen distractors and configurations). We see a 4x improvement over baseline in mobile manipulation setting. In addition, we show how SLAPs robustness allows us to execute Task Plans from open-vocabulary instructions using a large language model for multi-step mobile manipulation. For videos, see the website: https://robotslap.github.io
SSS3D: Fast Neural Architecture Search For Efficient Three-Dimensional Semantic Segmentation
Authors: Olivier Therrien, Marihan Amein, Zhuoran Xiong, Warren J. Gross, Brett H. Meyer
Date: 2023-04-21 00:00:00
Tasks: Neural Architecture Search, Scene Segmentation, Semantic Segmentation

We present SSS3D, a fast multi-objective NAS framework designed to find computationally efficient 3D semantic scene segmentation networks. It uses RandLA-Net, an off-the-shelf point-based network, as a super-network to enable weight sharing and reduce search time by 99.67% for single-stage searches. SSS3D has a complex search space composed of sampling and architectural parameters that can form 2.88 * 10^17 possible networks. To further reduce search time, SSS3D splits the complete search space and introduces a two-stage search that finds optimal subnetworks in 54% of the time required by single-stage searches.
Fast GraspNeXt: A Fast Self-Attention Neural Network Architecture for Multi-task Learning in Computer Vision Tasks for Robotic Grasping on the Edge
Authors: Alexander Wong, Yifan Wu, Saad Abbasi, Saeejith Nair, Yuhao Chen, Mohammad Javad Shafiee
Date: 2023-04-21 00:00:00
Tasks: Multi-Task Learning, Robotic Grasping

Multi-task learning has shown considerable promise for improving the performance of deep learning-driven vision systems for the purpose of robotic grasping. However, high architectural and computational complexity can result in poor suitability for deployment on embedded devices that are typically leveraged in robotic arms for real-world manufacturing and warehouse environments. As such, the design of highly efficient multi-task deep neural network architectures tailored for computer vision tasks for robotic grasping on the edge is highly desired for widespread adoption in manufacturing environments. Motivated by this, we propose Fast GraspNeXt, a fast self-attention neural network architecture tailored for embedded multi-task learning in computer vision tasks for robotic grasping. To build Fast GraspNeXt, we leverage a generative network architecture search strategy with a set of architectural constraints customized to achieve a strong balance between multi-task learning performance and embedded inference efficiency. Experimental results on the MetaGraspNet benchmark dataset show that the Fast GraspNeXt network design achieves the highest performance (average precision (AP), accuracy, and mean squared error (MSE)) across multiple computer vision tasks when compared to other efficient multi-task network architecture designs, while having only 17.8M parameters (about >5x smaller), 259 GFLOPs (as much as >5x lower) and as much as >3.15x faster on a NVIDIA Jetson TX2 embedded processor.
Combining Vision and Tactile Sensation for Video Prediction
Authors: Willow Mandil, Amir Ghalamzan-E
Date: 2023-04-21 00:00:00
Tasks: Prediction, Video Prediction

In this paper, we explore the impact of adding tactile sensation to video prediction models for physical robot interactions. Predicting the impact of robotic actions on the environment is a fundamental challenge in robotics. Current methods leverage visual and robot action data to generate video predictions over a given time period, which can then be used to adjust robot actions. However, humans rely on both visual and tactile feedback to develop and maintain a mental model of their physical surroundings. In this paper, we investigate the impact of integrating tactile feedback into video prediction models for physical robot interactions. We propose three multi-modal integration approaches and compare the performance of these tactile-enhanced video prediction models. Additionally, we introduce two new datasets of robot pushing that use a magnetic-based tactile sensor for unsupervised learning. The first dataset contains visually identical objects with different physical properties, while the second dataset mimics existing robot-pushing datasets of household object clusters. Our results demonstrate that incorporating tactile feedback into video prediction models improves scene prediction accuracy and enhances the agent's perception of physical interactions and understanding of cause-effect relationships during physical robot interactions.
Variance-Reduced Gradient Estimation via Noise-Reuse in Online Evolution Strategies
Authors: Oscar Li, James Harrison, Jascha Sohl-Dickstein, Virginia Smith, Luke Metz
Date: 2023-04-21 00:00:00
Proceeding: NeurIPS 2023 11

Unrolled computation graphs are prevalent throughout machine learning but present challenges to automatic differentiation (AD) gradient estimation methods when their loss functions exhibit extreme local sensitivtiy, discontinuity, or blackbox characteristics. In such scenarios, online evolution strategies methods are a more capable alternative, while being more parallelizable than vanilla evolution strategies (ES) by interleaving partial unrolls and gradient updates. In this work, we propose a general class of unbiased online evolution strategies methods. We analytically and empirically characterize the variance of this class of gradient estimators and identify the one with the least variance, which we term Noise-Reuse Evolution Strategies (NRES). Experimentally, we show NRES results in faster convergence than existing AD and ES methods in terms of wall-clock time and number of unroll steps across a variety of applications, including learning dynamical systems, meta-training learned optimizers, and reinforcement learning.
Task-Adaptive Pseudo Labeling for Transductive Meta-Learning
Authors: Sanghyuk Lee, SeungHyun Lee, Byung Cheol Song
Date: 2023-04-21 00:00:00
Tasks: Inductive Learning, Meta-Learning

Meta-learning performs adaptation through a limited amount of support set, which may cause a sample bias problem. To solve this problem, transductive meta-learning is getting more and more attention, going beyond the conventional inductive learning perspective. This paper proposes so-called task-adaptive pseudo labeling for transductive meta-learning. Specifically, pseudo labels for unlabeled query sets are generated from labeled support sets through label propagation. Pseudo labels enable to adopt the supervised setting as it is and also use the unlabeled query set in the adaptation process. As a result, the proposed method is able to deal with more examples in the adaptation process than inductive ones, which can result in better classification performance of the model. Note that the proposed method is the first approach of applying task adaptation to pseudo labeling. Experiments show that the proposed method outperforms the state-of-the-art (SOTA) technique in 5-way 1-shot few-shot classification.
Granular-ball computing: an efficient, robust, and interpretable adaptive multi-granularity representation and computation method
Authors: Shuyin Xia, Guoyin Wang, Xinbo Gao, Xiaoyu Lian
Date: 2023-04-21 00:00:00

Human cognition operates on a "Global-first" cognitive mechanism, prioritizing information processing based on coarse-grained details. This mechanism inherently possesses an adaptive multi-granularity description capacity, resulting in computational traits such as efficiency, robustness, and interpretability. The analysis pattern reliance on the finest granularity and single-granularity makes most existing computational methods less efficient, robust, and interpretable, which is an important reason for the current lack of interpretability in neural networks. Multi-granularity granular-ball computing employs granular-balls of varying sizes to daptively represent and envelop the sample space, facilitating learning based on these granular-balls. Given that the number of coarse-grained "granular-balls" is fewer than sample points, granular-ball computing proves more efficient. Moreover, the inherent coarse-grained nature of granular-balls reduces susceptibility to fine-grained sample disturbances, enhancing robustness. The multi-granularity construct of granular-balls generates topological structures and coarse-grained descriptions, naturally augmenting interpretability. Granular-ball computing has successfully ventured into diverse AI domains, fostering the development of innovative theoretical methods, including granular-ball classifiers, clustering techniques, neural networks, rough sets, and evolutionary computing. This has notably ameliorated the efficiency, noise robustness, and interpretability of traditional methods. Overall, granular-ball computing is a rare and innovative theoretical approach in AI that can adaptively and simultaneously enhance efficiency, robustness, and interpretability. This article delves into the main application landscapes for granular-ball computing, aiming to equip future researchers with references and insights to refine and expand this promising theory.
Performance of ChatGPT on the US Fundamentals of Engineering Exam: Comprehensive Assessment of Proficiency and Potential Implications for Professional Environmental Engineering Practice
Authors: Vinay Pursnani, Yusuf Sermet, Ibrahim Demir
Date: 2023-04-20 00:00:00

In recent years, advancements in artificial intelligence (AI) have led to the development of large language models like GPT-4, demonstrating potential applications in various fields, including education. This study investigates the feasibility and effectiveness of using ChatGPT, a GPT-4 based model, in achieving satisfactory performance on the Fundamentals of Engineering (FE) Environmental Exam. This study further shows a significant improvement in the model's accuracy when answering FE exam questions through noninvasive prompt modifications, substantiating the utility of prompt modification as a viable approach to enhance AI performance in educational contexts. Furthermore, the findings reflect remarkable improvements in mathematical capabilities across successive iterations of ChatGPT models, showcasing their potential in solving complex engineering problems. Our paper also explores future research directions, emphasizing the importance of addressing AI challenges in education, enhancing accessibility and inclusion for diverse student populations, and developing AI-resistant exam questions to maintain examination integrity. By evaluating the performance of ChatGPT in the context of the FE Environmental Exam, this study contributes valuable insights into the potential applications and limitations of large language models in educational settings. As AI continues to evolve, these findings offer a foundation for further research into the responsible and effective integration of AI models across various disciplines, ultimately optimizing the learning experience and improving student outcomes.
Diffusion-based Generative AI for Exploring Transition States from 2D Molecular Graphs
Authors: SeongHwan Kim, Jeheon Woo, Woo Youn Kim
Date: 2023-04-20 00:00:00

The exploration of transition state (TS) geometries is crucial for elucidating chemical reaction mechanisms and modeling their kinetics. Recently, machine learning (ML) models have shown remarkable performance for prediction of TS geometries. However, they require 3D conformations of reactants and products often with their appropriate orientations as input, which demands substantial efforts and computational cost. Here, we propose a generative approach based on the stochastic diffusion method, namely TSDiff, for prediction of TS geometries just from 2D molecular graphs. TSDiff outperformed the existing ML models with 3D geometries in terms of both accuracy and efficiency. Moreover, it enables to sample various TS conformations, because it learned the distribution of TS geometries for diverse reactions in training. Thus, TSDiff was able to find more favorable reaction pathways with lower barrier heights than those in the reference database. These results demonstrate that TSDiff shows promising potential for an efficient and reliable TS exploration.
Explainability in AI Policies: A Critical Review of Communications, Reports, Regulations, and Standards in the EU, US, and UK
Authors: Luca Nannini, Agathe Balayn, Adam Leon Smith
Date: 2023-04-20 00:00:00

Public attention towards explainability of artificial intelligence (AI) systems has been rising in recent years to offer methodologies for human oversight. This has translated into the proliferation of research outputs, such as from Explainable AI, to enhance transparency and control for system debugging and monitoring, and intelligibility of system process and output for user services. Yet, such outputs are difficult to adopt on a practical level due to a lack of a common regulatory baseline, and the contextual nature of explanations. Governmental policies are now attempting to tackle such exigence, however it remains unclear to what extent published communications, regulations, and standards adopt an informed perspective to support research, industry, and civil interests. In this study, we perform the first thematic and gap analysis of this plethora of policies and standards on explainability in the EU, US, and UK. Through a rigorous survey of policy documents, we first contribute an overview of governmental regulatory trajectories within AI explainability and its sociotechnical impacts. We find that policies are often informed by coarse notions and requirements for explanations. This might be due to the willingness to conciliate explanations foremost as a risk management tool for AI oversight, but also due to the lack of a consensus on what constitutes a valid algorithmic explanation, and how feasible the implementation and deployment of such explanations are across stakeholders of an organization. Informed by AI explainability research, we conduct a gap analysis of existing policies, leading us to formulate a set of recommendations on how to address explainability in regulations for AI systems, especially discussing the definition, feasibility, and usability of explanations, as well as allocating accountability to explanation providers.
ACROCPoLis: A Descriptive Framework for Making Sense of Fairness
Authors: Andrea Aler Tubella, Dimitri Coelho Mollo, Adam Dahlgren Lindström, Hannah Devinney, Virginia Dignum, Petter Ericson, Anna Jonsson, Timotheus Kampik, Tom Lenaerts, Julian Alfredo Mendez, Juan Carlos Nieves
Date: 2023-04-19 00:00:00
Tasks: Descriptive, Fairness

Fairness is central to the ethical and responsible development and use of AI systems, with a large number of frameworks and formal notions of algorithmic fairness being available. However, many of the fairness solutions proposed revolve around technical considerations and not the needs of and consequences for the most impacted communities. We therefore want to take the focus away from definitions and allow for the inclusion of societal and relational aspects to represent how the effects of AI systems impact and are experienced by individuals and social groups. In this paper, we do this by means of proposing the ACROCPoLis framework to represent allocation processes with a modeling emphasis on fairness aspects. The framework provides a shared vocabulary in which the factors relevant to fairness assessments for different situations and procedures are made explicit, as well as their interrelationships. This enables us to compare analogous situations, to highlight the differences in dissimilar situations, and to capture differing interpretations of the same situation by different stakeholders.
Multipar-T: Multiparty-Transformer for Capturing Contingent Behaviors in Group Conversations
Authors: Dong Won Lee, Yubin Kim, Rosalind Picard, Cynthia Breazeal, Hae Won Park
Date: 2023-04-19 00:00:00

As we move closer to real-world AI systems, AI agents must be able to deal with multiparty (group) conversations. Recognizing and interpreting multiparty behaviors is challenging, as the system must recognize individual behavioral cues, deal with the complexity of multiple streams of data from multiple people, and recognize the subtle contingent social exchanges that take place amongst group members. To tackle this challenge, we propose the Multiparty-Transformer (Multipar-T), a transformer model for multiparty behavior modeling. The core component of our proposed approach is the Crossperson Attention, which is specifically designed to detect contingent behavior between pairs of people. We verify the effectiveness of Multipar-T on a publicly available video-based group engagement detection benchmark, where it outperforms state-of-the-art approaches in average F-1 scores by 5.2% and individual class F-1 scores by up to 10.0%. Through qualitative analysis, we show that our Crossperson Attention module is able to discover contingent behavior.
Un jeu a debattre pour sensibiliser a l'Intelligence Artificielle dans le contexte de la pandemie de COVID-19
Authors: Carole Adam, Cédric Lauradoux
Date: 2023-04-19 00:00:00

Artificial Intelligence is more and more pervasive in our lives. Many important decisions are delegated to AI algorithms: accessing higher education, determining prison sentences, autonomously driving vehicles... Engineers and researchers are educated to this field, while the general population has very little knowledge about AI. As a result, they are very sensitive to the (more or less accurate) ideas disseminated by the media: an AI that is unbiased, infallible, and will either save the world or lead to its demise. We therefore believe, as highlighted by UNESCO, that it is essential to provide the population with a general understanding of AI algorithms, so that they can choose wisely whether to use them (or not). To this end, we propose a serious game in the form of a civic debate aiming at selecting an AI solution to control a pandemic. This game is targeted at high school students, it was first experimented during a science fair, and is now available freely.
Total-Recon: Deformable Scene Reconstruction for Embodied View Synthesis
Authors: Chonghyuk Song, Gengshan Yang, Kangle Deng, Jun-Yan Zhu, Deva Ramanan
Date: 2023-04-24 00:00:00
Proceeding: ICCV 2023 1

We explore the task of embodied view synthesis from monocular videos of deformable scenes. Given a minute-long RGBD video of people interacting with their pets, we render the scene from novel camera trajectories derived from the in-scene motion of actors: (1) egocentric cameras that simulate the point of view of a target actor and (2) 3rd-person cameras that follow the actor. Building such a system requires reconstructing the root-body and articulated motion of every actor, as well as a scene representation that supports free-viewpoint synthesis. Longer videos are more likely to capture the scene from diverse viewpoints (which helps reconstruction) but are also more likely to contain larger motions (which complicates reconstruction). To address these challenges, we present Total-Recon, the first method to photorealistically reconstruct deformable scenes from long monocular RGBD videos. Crucially, to scale to long videos, our method hierarchically decomposes the scene into the background and objects, whose motion is decomposed into carefully initialized root-body motion and local articulations. To quantify such "in-the-wild" reconstruction and view synthesis, we collect ground-truth data from a specialized stereo RGBD capture rig for 11 challenging videos, significantly outperforming prior methods. Our code, model, and data can be found at https://andrewsonga.github.io/totalrecon .
Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detection
Authors: Lue Fan, Yuxue Yang, Yiming Mao, Feng Wang, Yuntao Chen, Naiyan Wang, Zhaoxiang Zhang
Date: 2023-04-24 00:00:00
Proceeding: ICCV 2023 1
Tasks: 3D Object Detection, Object, object-detection, Object Detection

This paper aims for high-performance offline LiDAR-based 3D object detection. We first observe that experienced human annotators annotate objects from a track-centric perspective. They first label the objects with clear shapes in a track, and then leverage the temporal coherence to infer the annotations of obscure objects. Drawing inspiration from this, we propose a high-performance offline detector in a track-centric perspective instead of the conventional object-centric perspective. Our method features a bidirectional tracking module and a track-centric learning module. Such a design allows our detector to infer and refine a complete track once the object is detected at a certain moment. We refer to this characteristic as "onCe detecTed, neveR Lost" and name the proposed system CTRL. Extensive experiments demonstrate the remarkable performance of our method, surpassing the human-level annotating accuracy and the previous state-of-the-art methods in the highly competitive Waymo Open Dataset without model ensemble. The code will be made publicly available at https://github.com/tusen-ai/SST.