pwc-archive/papers-with-abstracts huggingface dataset:
TopSpark: A Timestep Optimization Methodology for Energy-Efficient Spiking Neural Networks on Autonomous Mobile Agents
Authors: Rachmad Vidya Wicaksana Putra, Muhammad Shafique
Date: 2023-03-03 00:00:00

Autonomous mobile agents require low-power/energy-efficient machine learning (ML) algorithms to complete their ML-based tasks while adapting to diverse environments, as mobile agents are usually powered by batteries. These requirements can be fulfilled by Spiking Neural Networks (SNNs) as they offer low power/energy processing due to their sparse computations and efficient online learning with bio-inspired learning mechanisms for adapting to different environments. Recent works studied that the energy consumption of SNNs can be optimized by reducing the computation time of each neuron for processing a sequence of spikes (timestep). However, state-of-the-art techniques rely on intensive design searches to determine fixed timestep settings for only inference, thereby hindering the SNNs from achieving further energy efficiency gains in both training and inference. These techniques also restrict the SNNs from performing efficient online learning at run time. Toward this, we propose TopSpark, a novel methodology that leverages adaptive timestep reduction to enable energy-efficient SNN processing in both training and inference, while keeping its accuracy close to the accuracy of SNNs without timestep reduction. The ideas of TopSpark include: analyzing the impact of different timesteps on the accuracy; identifying neuron parameters that have a significant impact on accuracy in different timesteps; employing parameter enhancements that make SNNs effectively perform learning and inference using less spiking activity; and developing a strategy to trade-off accuracy, latency, and energy to meet the design requirements. The results show that, TopSpark saves the SNN latency by 3.9x as well as energy consumption by 3.5x (training) and 3.3x (inference) on average, across different network sizes, learning rules, and workloads, while maintaining the accuracy within 2% of SNNs without timestep reduction.
Word-As-Image for Semantic Typography
Authors: Shir Iluz, Yael Vinker, Amir Hertz, Daniel Berio, Daniel Cohen-Or, Ariel Shamir
Date: 2023-03-03 00:00:00

A word-as-image is a semantic typography technique where a word illustration presents a visualization of the meaning of the word, while also preserving its readability. We present a method to create word-as-image illustrations automatically. This task is highly challenging as it requires semantic understanding of the word and a creative idea of where and how to depict these semantics in a visually pleasing and legible manner. We rely on the remarkable ability of recent large pretrained language-vision models to distill textual concepts visually. We target simple, concise, black-and-white designs that convey the semantics clearly. We deliberately do not change the color or texture of the letters and do not use embellishments. Our method optimizes the outline of each letter to convey the desired concept, guided by a pretrained Stable Diffusion model. We incorporate additional loss terms to ensure the legibility of the text and the preservation of the style of the font. We show high quality and engaging results on numerous examples and compare to alternative techniques.
Are All Point Clouds Suitable for Completion? Weakly Supervised Quality Evaluation Network for Point Cloud Completion
Authors: Jieqi Shi, Peiliang Li, Xiaozhi Chen, Shaojie Shen
Date: 2023-03-03 00:00:00
Tasks: All, Autonomous Driving, Point Cloud Completion

In the practical application of point cloud completion tasks, real data quality is usually much worse than the CAD datasets used for training. A small amount of noisy data will usually significantly impact the overall system's accuracy. In this paper, we propose a quality evaluation network to score the point clouds and help judge the quality of the point cloud before applying the completion model. We believe our scoring method can help researchers select more appropriate point clouds for subsequent completion and reconstruction and avoid manual parameter adjustment. Moreover, our evaluation model is fast and straightforward and can be directly inserted into any model's training or use process to facilitate the automatic selection and post-processing of point clouds. We propose a complete dataset construction and model evaluation method based on ShapeNet. We verify our network using detection and flow estimation tasks on KITTI, a real-world dataset for autonomous driving. The experimental results show that our model can effectively distinguish the quality of point clouds and help in practical tasks.
Hitachi at SemEval-2023 Task 3: Exploring Cross-lingual Multi-task Strategies for Genre and Framing Detection in Online News
Authors: Yuta Koreeda, Ken-ichi Yokote, Hiroaki Ozaki, Atsuki Yamaguchi, Masaya Tsunokake, Yasuhiro Sogawa
Date: 2023-03-03 00:00:00

This paper explains the participation of team Hitachi to SemEval-2023 Task 3 "Detecting the genre, the framing, and the persuasion techniques in online news in a multi-lingual setup.'' Based on the multilingual, multi-task nature of the task and the low-resource setting, we investigated different cross-lingual and multi-task strategies for training the pretrained language models. Through extensive experiments, we found that (a) cross-lingual/multi-task training, and (b) collecting an external balanced dataset, can benefit the genre and framing detection. We constructed ensemble models from the results and achieved the highest macro-averaged F1 scores in Italian and Russian genre categorization subtasks.
Exploiting Language Relatedness in Machine Translation Through Domain Adaptation Techniques
Authors: Amit Kumar, Rupjyoti Baruah, Ajay Pratap, Mayank Swarnkar, Anil Kumar Singh
Date: 2023-03-03 00:00:00
Tasks: Domain Adaptation, Language Modelling, Machine Translation, NMT, Sentence, Translation

One of the significant challenges of Machine Translation (MT) is the scarcity of large amounts of data, mainly parallel sentence aligned corpora. If the evaluation is as rigorous as resource-rich languages, both Neural Machine Translation (NMT) and Statistical Machine Translation (SMT) can produce good results with such large amounts of data. However, it is challenging to improve the quality of MT output for low resource languages, especially in NMT and SMT. In order to tackle the challenges faced by MT, we present a novel approach of using a scaled similarity score of sentences, especially for related languages based on a 5-gram KenLM language model with Kneser-ney smoothing technique for filtering in-domain data from out-of-domain corpora that boost the translation quality of MT. Furthermore, we employ other domain adaptation techniques such as multi-domain, fine-tuning and iterative back-translation approach to compare our novel approach on the Hindi-Nepali language pair for NMT and SMT. Our approach succeeds in increasing ~2 BLEU point on multi-domain approach, ~3 BLEU point on fine-tuning for NMT and ~2 BLEU point on iterative back-translation approach.
Approximating Energy Market Clearing and Bidding With Model-Based Reinforcement Learning
Authors: Thomas Wolgast, Astrid Nieße
Date: 2023-03-03 00:00:00
Tasks: Model-based Reinforcement Learning, Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Energy market rules should incentivize market participants to behave in a market and grid conform way. However, they can also provide incentives for undesired and unexpected strategies if the market design is flawed. Multi-agent Reinforcement learning (MARL) is a promising new approach to predicting the expected profit-maximizing behavior of energy market participants in simulation. However, reinforcement learning requires many interactions with the system to converge, and the power system environment often consists of extensive computations, e.g., optimal power flow (OPF) calculation for market clearing. To tackle this complexity, we provide a model of the energy market to a basic MARL algorithm in the form of a learned OPF approximation and explicit market rules. The learned OPF surrogate model makes an explicit solving of the OPF completely unnecessary. Our experiments demonstrate that the model additionally reduces training time by about one order of magnitude but at the cost of a slightly worse performance. Potential applications of our method are market design, more realistic modeling of market participants, and analysis of manipulative behavior.
Guarded Policy Optimization with Imperfect Online Demonstrations
Authors: Zhenghai Xue, Zhenghao Peng, Quanyi Li, Zhihan Liu, Bolei Zhou
Date: 2023-03-03 00:00:00
Tasks: continuous-control, Continuous Control, Efficient Exploration, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

The Teacher-Student Framework (TSF) is a reinforcement learning setting where a teacher agent guards the training of a student agent by intervening and providing online demonstrations. Assuming optimal, the teacher policy has the perfect timing and capability to intervene in the learning process of the student agent, providing safety guarantee and exploration guidance. Nevertheless, in many real-world settings it is expensive or even impossible to obtain a well-performing teacher policy. In this work, we relax the assumption of a well-performing teacher and develop a new method that can incorporate arbitrary teacher policies with modest or inferior performance. We instantiate an Off-Policy Reinforcement Learning algorithm, termed Teacher-Student Shared Control (TS2C), which incorporates teacher intervention based on trajectory-based value estimation. Theoretical analysis validates that the proposed TS2C algorithm attains efficient exploration and substantial safety guarantee without being affected by the teacher's own performance. Experiments on various continuous control tasks show that our method can exploit teacher policies at different performance levels while maintaining a low training cost. Moreover, the student policy surpasses the imperfect teacher policy in terms of higher accumulated reward in held-out testing environments. Code is available at https://metadriverse.github.io/TS2C.
AI-Empowered Hybrid MIMO Beamforming
Authors: Nir Shlezinger, Mengyuan Ma, Ortal Lavi, Nhan Thanh Nguyen, Yonina C. Eldar, Markku Juntti
Date: 2023-03-03 00:00:00

Hybrid multiple-input multiple-output (MIMO) is an attractive technology for realizing extreme massive MIMO systems envisioned for future wireless communications in a scalable and power-efficient manner. However, the fact that hybrid MIMO systems implement part of their beamforming in analog and part in digital makes the optimization of their beampattern notably more challenging compared with conventional fully digital MIMO. Consequently, recent years have witnessed a growing interest in using data-aided artificial intelligence (AI) tools for hybrid beamforming design. This article reviews candidate strategies to leverage data to improve real-time hybrid beamforming design. We discuss the architectural constraints and characterize the core challenges associated with hybrid beamforming optimization. We then present how these challenges are treated via conventional optimization, and identify different AI-aided design approaches. These can be roughly divided into purely data-driven deep learning models and different forms of deep unfolding techniques for combining AI with classical optimization.We provide a systematic comparative study between existing approaches including both numerical evaluations and qualitative measures. We conclude by presenting future research opportunities associated with the incorporation of AI in hybrid MIMO systems.
NovPhy: A Testbed for Physical Reasoning in Open-world Environments
Authors: Chathura Gamage, Vimukthini Pinto, Cheng Xue, Peng Zhang, Ekaterina Nikonova, Matthew Stephenson, Jochen Renz
Date: 2023-03-03 00:00:00

Due to the emergence of AI systems that interact with the physical environment, there is an increased interest in incorporating physical reasoning capabilities into those AI systems. But is it enough to only have physical reasoning capabilities to operate in a real physical environment? In the real world, we constantly face novel situations we have not encountered before. As humans, we are competent at successfully adapting to those situations. Similarly, an agent needs to have the ability to function under the impact of novelties in order to properly operate in an open-world physical environment. To facilitate the development of such AI systems, we propose a new testbed, NovPhy, that requires an agent to reason about physical scenarios in the presence of novelties and take actions accordingly. The testbed consists of tasks that require agents to detect and adapt to novelties in physical scenarios. To create tasks in the testbed, we develop eight novelties representing a diverse novelty space and apply them to five commonly encountered scenarios in a physical environment. According to our testbed design, we evaluate two capabilities of an agent: the performance on a novelty when it is applied to different physical scenarios and the performance on a physical scenario when different novelties are applied to it. We conduct a thorough evaluation with human players, learning agents, and heuristic agents. Our evaluation shows that humans' performance is far beyond the agents' performance. Some agents, even with good normal task performance, perform significantly worse when there is a novelty, and the agents that can adapt to novelties typically adapt slower than humans. We promote the development of intelligent agents capable of performing at the human level or above when operating in open-world physical environments. Testbed website: https://github.com/phy-q/novphy
Travel Demand Forecasting: A Fair AI Approach
Authors: Xiaojian Zhang, Qian Ke, Xilei Zhao
Date: 2023-03-03 00:00:00
Tasks: Decision Making, Demand Forecasting, Fairness, Prediction

Artificial Intelligence (AI) and machine learning have been increasingly adopted for travel demand forecasting. The AI-based travel demand forecasting models, though generate accurate predictions, may produce prediction biases and raise fairness issues. Using such biased models for decision-making may lead to transportation policies that exacerbate social inequalities. However, limited studies have been focused on addressing the fairness issues of these models. Therefore, in this study, we propose a novel methodology to develop fairness-aware, highly-accurate travel demand forecasting models. Particularly, the proposed methodology can enhance the fairness of AI models for multiple protected attributes (such as race and income) simultaneously. Specifically, we introduce a new fairness regularization term, which is explicitly designed to measure the correlation between prediction accuracy and multiple protected attributes, into the loss function of the travel demand forecasting model. We conduct two case studies to evaluate the performance of the proposed methodology using real-world ridesourcing-trip data in Chicago, IL and Austin, TX, respectively. Results highlight that our proposed methodology can effectively enhance fairness for multiple protected attributes while preserving prediction accuracy. Additionally, we have compared our methodology with three state-of-the-art methods that adopt the regularization term approach, and the results demonstrate that our approach significantly outperforms them in both preserving prediction accuracy and enhancing fairness. This study can provide transportation professionals with a new tool to achieve fair and accurate travel demand forecasting.
BO-Muse: A human expert and AI teaming framework for accelerated experimental design
Authors: Sunil Gupta, Alistair Shilton, Arun Kumar A V, Shannon Ryan, Majid Abdolshah, Hung Le, Santu Rana, Julian Berk, Mahad Rashid, Svetha Venkatesh
Date: 2023-03-03 00:00:00
Tasks: Experimental Design

In this paper we introduce BO-Muse, a new approach to human-AI teaming for the optimization of expensive black-box functions. Inspired by the intrinsic difficulty of extracting expert knowledge and distilling it back into AI models and by observations of human behavior in real-world experimental design, our algorithm lets the human expert take the lead in the experimental process. The human expert can use their domain expertise to its full potential, while the AI plays the role of a muse, injecting novelty and searching for areas of weakness to break the human out of over-exploitation induced by cognitive entrenchment. With mild assumptions, we show that our algorithm converges sub-linearly, at a rate faster than the AI or human alone. We validate our algorithm using synthetic data and with human experts performing real-world experiments.
Near Optimal Memory-Regret Tradeoff for Online Learning
Authors: Binghui Peng, Aviad Rubinstein
Date: 2023-03-03 00:00:00
Tasks: Learning Theory

In the experts problem, on each of $T$ days, an agent needs to follow the advice of one of $n$ ``experts''. After each day, the loss associated with each expert's advice is revealed. A fundamental result in learning theory says that the agent can achieve vanishing regret, i.e. their cumulative loss is within $o(T)$ of the cumulative loss of the best-in-hindsight expert. Can the agent perform well without sufficient space to remember all the experts? We extend a nascent line of research on this question in two directions: $\bullet$ We give a new algorithm against the oblivious adversary, improving over the memory-regret tradeoff obtained by [PZ23], and nearly matching the lower bound of [SWXZ22]. $\bullet$ We also consider an adaptive adversary who can observe past experts chosen by the agent. In this setting we give both a new algorithm and a novel lower bound, proving that roughly $\sqrt{n}$ memory is both necessary and sufficient for obtaining $o(T)$ regret.
Tile Networks: Learning Optimal Geometric Layout for Whole-page Recommendation
Authors: Shuai Xiao, Zaifan Jiang, Shuang Yang
Date: 2023-03-03 00:00:00
Tasks: Learning-To-Rank, reinforcement-learning, Reinforcement Learning (RL)

Finding optimal configurations in a geometric space is a key challenge in many technological disciplines. Current approaches either rely heavily on human domain expertise and are difficult to scale. In this paper we show it is possible to solve configuration optimization problems for whole-page recommendation using reinforcement learning. The proposed \textit{Tile Networks} is a neural architecture that optimizes 2D geometric configurations by arranging items on proper positions. Empirical results on real dataset demonstrate its superior performance compared to traditional learning to rank approaches and recent deep models.
RePreM: Representation Pre-training with Masked Model for Reinforcement Learning
Authors: Yuanying Cai, Chuheng Zhang, Wei Shen, Xuyun Zhang, Wenjie Ruan, Longbo Huang
Date: 2023-03-03 00:00:00
Tasks: Data Augmentation, Language Modeling, Language Modelling, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Transfer Learning

Inspired by the recent success of sequence modeling in RL and the use of masked language model for pre-training, we propose a masked model for pre-training in RL, RePreM (Representation Pre-training with Masked Model), which trains the encoder combined with transformer blocks to predict the masked states or actions in a trajectory. RePreM is simple but effective compared to existing representation pre-training methods in RL. It avoids algorithmic sophistication (such as data augmentation or estimating multiple models) with sequence modeling and generates a representation that captures long-term dynamics well. Empirically, we demonstrate the effectiveness of RePreM in various tasks, including dynamic prediction, transfer learning, and sample-efficient RL with both value-based and actor-critic methods. Moreover, we show that RePreM scales well with dataset size, dataset quality, and the scale of the encoder, which indicates its potential towards big RL models.
RIOT: Recursive Inertial Odometry Transformer for Localisation from Low-Cost IMU Measurements
Authors: James Brotchie, Wenchao Li, Andrew D. Greentree, Allison Kealy
Date: 2023-03-03 00:00:00
Tasks: Motion Estimation, Position, State Estimation

Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound errors, making straight integration for position intractable. Traditional mathematical approaches are reliant on prior system knowledge, geometric theories and are constrained by predefined dynamics. Recent advances in deep learning, that benefit from ever-increasing volumes of data and computational power, allow for data driven solutions that offer more comprehensive understanding. Existing deep inertial odometry solutions rely on estimating the latent states, such as velocity, or are dependant on fixed sensor positions and periodic motion patterns. In this work we propose taking the traditional state estimation recursive methodology and applying it in the deep learning domain. Our approach, which incorporates the true position priors in the training process, is trained on inertial measurements and ground truth displacement data, allowing recursion and to learn both motion characteristics and systemic error bias and drift. We present two end-to-end frameworks for pose invariant deep inertial odometry that utilise self-attention to capture both spatial features and long-range dependencies in inertial data. We evaluate our approaches against a custom 2-layer Gated Recurrent Unit, trained in the same manner on the same data, and tested each approach on a number of different users, devices and activities. Each network had a sequence length weighted relative trajectory error mean $\leq0.4594$m, highlighting the effectiveness of our learning process used in the development of the models.
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
Authors: Weiqiao Han, Ashkan Jasour, Brian Williams
Date: 2023-03-02 00:00:00
Tasks: Motion Planning

We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles. Obstacles can be of arbitrary shape, can deform, and can move. All uncertainties do not necessarily have Gaussian distribution. This general setting has been considered and solved in [1]. In addition to the assumptions above, in this paper, we consider long-term tasks, where the planning method in [1] would fail, as the uncertainty of the system states grows too large over a long time horizon. Unlike [1], we present a real-time online motion planning algorithm. We build discrete-time motion primitives and their corresponding continuous-time tubes offline, so that almost all system states of each motion primitive are guaranteed to stay inside the corresponding tube. We convert probabilistic safety constraints into a set of deterministic constraints called risk contours. During online execution, we verify the safety of the tubes against deterministic risk contours using sum-of-squares (SOS) programming. The provided SOS-based method verifies the safety of the tube in the presence of uncertain obstacles without the need for uncertainty samples and time discretization in real-time. By bounding the probability the system states staying inside the tube and bounding the probability of the tube colliding with obstacles, our approach guarantees bounded probability of system states colliding with obstacles. We demonstrate our approach on several long-term robotics tasks.