pwc-archive/papers-with-abstracts huggingface dataset:
Adaptive Low Light Enhancement via Joint Global-Local Illumination Adjustment
Authors: Haodian Wang, Yaqi Song
Date: 2025-04-01 00:00:00

Images captured under real-world low-light conditions face significant challenges due to uneven ambient lighting, making it difficult for existing end-to-end methods to enhance images with a large dynamic range to normal exposure levels. To address the above issue, we propose a novel brightness-adaptive enhancement framework designed to tackle the challenge of local exposure inconsistencies in real-world low-light images. Specifically, our proposed framework comprises two components: the Local Contrast Enhancement Network (LCEN) and the Global Illumination Guidance Network (GIGN). We introduce an early stopping mechanism in the LCEN and design a local discriminative module, which adaptively perceives the contrast of different areas in the image to control the premature termination of the enhancement process for patches with varying exposure levels. Additionally, within the GIGN, we design a global attention guidance module that effectively models global illumination by capturing long-range dependencies and contextual information within the image, which guides the local contrast enhancement network to significantly improve brightness across different regions. Finally, in order to coordinate the LCEN and GIGN, we design a novel training strategy to facilitate the training process. Experiments on multiple datasets demonstrate that our method achieves superior quantitative and qualitative results compared to state-of-the-art algorithms.
Cooper: A Library for Constrained Optimization in Deep Learning
Authors: Jose Gallego-Posada, Juan Ramirez, Meraj Hashemizadeh, Simon Lacoste-Julien
Date: 2025-04-01 00:00:00
Tasks: Deep Learning

Cooper is an open-source package for solving constrained optimization problems involving deep learning models. Cooper implements several Lagrangian-based first-order update schemes, making it easy to combine constrained optimization algorithms with high-level features of PyTorch such as automatic differentiation, and specialized deep learning architectures and optimizers. Although Cooper is specifically designed for deep learning applications where gradients are estimated based on mini-batches, it is suitable for general non-convex continuous constrained optimization. Cooper's source code is available at https://github.com/cooper-org/cooper.
A Unified Approach to Analysis and Design of Denoising Markov Models
Authors: Yinuo Ren, Grant M. Rotskoff, Lexing Ying
Date: 2025-04-02 00:00:00
Tasks: Denoising

Probabilistic generative models based on measure transport, such as diffusion and flow-based models, are often formulated in the language of Markovian stochastic dynamics, where the choice of the underlying process impacts both algorithmic design choices and theoretical analysis. In this paper, we aim to establish a rigorous mathematical foundation for denoising Markov models, a broad class of generative models that postulate a forward process transitioning from the target distribution to a simple, easy-to-sample distribution, alongside a backward process particularly constructed to enable efficient sampling in the reverse direction. Leveraging deep connections with nonequilibrium statistical mechanics and generalized Doob's $h$-transform, we propose a minimal set of assumptions that ensure: (1) explicit construction of the backward generator, (2) a unified variational objective directly minimizing the measure transport discrepancy, and (3) adaptations of the classical score-matching approach across diverse dynamics. Our framework unifies existing formulations of continuous and discrete diffusion models, identifies the most general form of denoising Markov models under certain regularity assumptions on forward generators, and provides a systematic recipe for designing denoising Markov models driven by arbitrary L\'evy-type processes. We illustrate the versatility and practical effectiveness of our approach through novel denoising Markov models employing geometric Brownian motion and jump processes as forward dynamics, highlighting the framework's potential flexibility and capability in modeling complex distributions.
A Robust Model-Based Approach for Continuous-Time Policy Evaluation with Unknown Lévy Process Dynamics
Authors: Qihao Ye, Xiaochuan Tian, Yuhua Zhu
Date: 2025-04-02 00:00:00

This paper develops a model-based framework for continuous-time policy evaluation (CTPE) in reinforcement learning, incorporating both Brownian and L\'evy noise to model stochastic dynamics influenced by rare and extreme events. Our approach formulates the policy evaluation problem as solving a partial integro-differential equation (PIDE) for the value function with unknown coefficients. A key challenge in this setting is accurately recovering the unknown coefficients in the stochastic dynamics, particularly when driven by L\'evy processes with heavy tail effects. To address this, we propose a robust numerical approach that effectively handles both unbiased and censored trajectory datasets. This method combines maximum likelihood estimation with an iterative tail correction mechanism, improving the stability and accuracy of coefficient recovery. Additionally, we establish a theoretical bound for the policy evaluation error based on coefficient recovery error. Through numerical experiments, we demonstrate the effectiveness and robustness of our method in recovering heavy-tailed L\'evy dynamics and verify the theoretical error analysis in policy evaluation.
Preconditioned Additive Gaussian Processes with Fourier Acceleration
Authors: Theresa Wagner, Tianshi Xu, Franziska Nestler, Yuanzhe Xi, Martin Stoll
Date: 2025-04-01 00:00:00
Tasks: Gaussian Processes

Gaussian processes (GPs) are crucial in machine learning for quantifying uncertainty in predictions. However, their associated covariance matrices, defined by kernel functions, are typically dense and large-scale, posing significant computational challenges. This paper introduces a matrix-free method that utilizes the Non-equispaced Fast Fourier Transform (NFFT) to achieve nearly linear complexity in the multiplication of kernel matrices and their derivatives with vectors for a predetermined accuracy level. To address high-dimensional problems, we propose an additive kernel approach. Each sub-kernel in this approach captures lower-order feature interactions, allowing for the efficient application of the NFFT method and potentially increasing accuracy across various real-world datasets. Additionally, we implement a preconditioning strategy that accelerates hyperparameter tuning, further improving the efficiency and effectiveness of GPs.
Analyzing homogenous and heterogeneous multi-server queues via neural networks
Authors: Eliran Sherzer
Date: 2025-04-01 00:00:00

In this paper, we use a machine learning approach to predict the stationary distributions of the number of customers in a single-staiton multi server system. We consider two systems, the first is $c$ homogeneous servers, namely the $GI/GI/c$ queue. The second is a two-heterogeneous server system, namely the $GI/GI_i/2$ queue. We train a neural network for these queueing models, using the first four inter-arrival and service time moments. We demonstrate empirically that using the fifth moment and beyond does not increase accuracy. Compared to existing methods, we show that in terms of the stationary distribution and the mean value of the number of customers in a $GI/GI/c$ queue, we are state-of-the-art. Further, we are the only ones to predict the stationary distribution of the number of customers in the system in a $GI/GI_i/2$ queue. We conduct a thorough performance evaluation to assert that our model is accurate. In most cases, we demonstrate that our error is less than 5\%. Finally, we show that making inferences is very fast, where 5000 inferences can be made in parallel within a fraction of a second.
Are We There Yet? A Measurement Study of Efficiency for LLM Applications on Mobile Devices
Authors: Xiao Yan, Yi Ding
Date: 2025-03-10 00:00:00
Tasks: CPU, GPU, Model Compression

Recent advancements in large language models (LLMs) have prompted interest in deploying these models on mobile devices to enable new applications without relying on cloud connectivity. However, the efficiency constraints of deploying LLMs on resource-limited devices present significant challenges. In this paper, we conduct a comprehensive measurement study to evaluate the efficiency tradeoffs between mobile-based, edge-based, and cloud-based deployments for LLM applications. We implement AutoLife-Lite, a simplified LLM-based application that analyzes smartphone sensor data to infer user location and activity contexts. Our experiments reveal that: (1) Only small-size LLMs (<4B parameters) can run successfully on powerful mobile devices, though they exhibit quality limitations compared to larger models; (2) Model compression is effective in lower the hardware requirement, but may lead to significant performance degradation; (3) The latency to run LLMs on mobile devices with meaningful output is significant (>30 seconds), while cloud services demonstrate better time efficiency (<10 seconds); (4) Edge deployments offer intermediate tradeoffs between latency and model capabilities, with different results on CPU-based and GPU-based settings. These findings provide valuable insights for system designers on the current limitations and future directions for on-device LLM applications.
From Code Generation to Software Testing: AI Copilot with Context-Based RAG
Authors: Yuchen Wang, Shangxin Guo, Chee Wei Tan
Date: 2025-04-02 00:00:00
Tasks: Chatbot, Code Generation, RAG, Retrieval-augmented Generation, software testing

The rapid pace of large-scale software development places increasing demands on traditional testing methodologies, often leading to bottlenecks in efficiency, accuracy, and coverage. We propose a novel perspective on software testing by positing bug detection and coding with fewer bugs as two interconnected problems that share a common goal, which is reducing bugs with limited resources. We extend our previous work on AI-assisted programming, which supports code auto-completion and chatbot-powered Q&A, to the realm of software testing. We introduce Copilot for Testing, an automated testing system that synchronizes bug detection with codebase updates, leveraging context-based Retrieval Augmented Generation (RAG) to enhance the capabilities of large language models (LLMs). Our evaluation demonstrates a 31.2% improvement in bug detection accuracy, a 12.6% increase in critical test coverage, and a 10.5% higher user acceptance rate, highlighting the transformative potential of AI-driven technologies in modern software development practices.
Assessing Code Understanding in LLMs
Authors: Cosimo Laneve, Alvise Spanò, Dalila Ressi, Sabina Rossi, Michele Bugliesi
Date: 2025-03-31 00:00:00

We present an empirical evaluation of Large Language Models in code understanding associated with non-trivial, semantic-preserving program transformations such as copy propagation or constant folding. Our findings show that LLMs fail to judge semantic equivalence in approximately 41\% of cases when no context is provided and in 29\% when given a simple generic context. To improve accuracy, we advocate integrating LLMs with code-optimization tools to enhance training and facilitate more robust program understanding.
Slot-Level Robotic Placement via Visual Imitation from Single Human Video
Authors: Dandan Shan, Kaichun Mo, Wei Yang, Yu-Wei Chao, David Fouhey, Dieter Fox, Arsalan Mousavian
Date: 2025-04-02 00:00:00
Tasks: Object

The majority of modern robot learning methods focus on learning a set of pre-defined tasks with limited or no generalization to new tasks. Extending the robot skillset to novel tasks involves gathering an extensive amount of training data for additional tasks. In this paper, we address the problem of teaching new tasks to robots using human demonstration videos for repetitive tasks (e.g., packing). This task requires understanding the human video to identify which object is being manipulated (the pick object) and where it is being placed (the placement slot). In addition, it needs to re-identify the pick object and the placement slots during inference along with the relative poses to enable robot execution of the task. To tackle this, we propose SLeRP, a modular system that leverages several advanced visual foundation models and a novel slot-level placement detector Slot-Net, eliminating the need for expensive video demonstrations for training. We evaluate our system using a new benchmark of real-world videos. The evaluation results show that SLeRP outperforms several baselines and can be deployed on a real robot.
Overcoming Deceptiveness in Fitness Optimization with Unsupervised Quality-Diversity
Authors: Lisa Coiffard, Paul Templier, Antoine Cully
Date: 2025-04-02 00:00:00
Tasks: Contrastive Learning, Diversity, Evolutionary Algorithms

Policy optimization seeks the best solution to a control problem according to an objective or fitness function, serving as a fundamental field of engineering and research with applications in robotics. Traditional optimization methods like reinforcement learning and evolutionary algorithms struggle with deceptive fitness landscapes, where following immediate improvements leads to suboptimal solutions. Quality-diversity (QD) algorithms offer a promising approach by maintaining diverse intermediate solutions as stepping stones for escaping local optima. However, QD algorithms require domain expertise to define hand-crafted features, limiting their applicability where characterizing solution diversity remains unclear. In this paper, we show that unsupervised QD algorithms - specifically the AURORA framework, which learns features from sensory data - efficiently solve deceptive optimization problems without domain expertise. By enhancing AURORA with contrastive learning and periodic extinction events, we propose AURORA-XCon, which outperforms all traditional optimization baselines and matches, in some cases even improving by up to 34%, the best QD baseline with domain-specific hand-crafted features. This work establishes a novel application of unsupervised QD algorithms, shifting their focus from discovering novel solutions toward traditional optimization and expanding their potential to domains where defining feature spaces poses challenges.
Ross3D: Reconstructive Visual Instruction Tuning with 3D-Awareness
Authors: Haochen Wang, Yucheng Zhao, Tiancai Wang, Haoqiang Fan, Xiangyu Zhang, Zhaoxiang Zhang
Date: 2025-04-02 00:00:00
Tasks: Scene Understanding

The rapid development of Large Multimodal Models (LMMs) for 2D images and videos has spurred efforts to adapt these models for interpreting 3D scenes. However, the absence of large-scale 3D vision-language datasets has posed a significant obstacle. To address this issue, typical approaches focus on injecting 3D awareness into 2D LMMs by designing 3D input-level scene representations. This work provides a new perspective. We introduce reconstructive visual instruction tuning with 3D-awareness (Ross3D), which integrates 3D-aware visual supervision into the training procedure. Specifically, it incorporates cross-view and global-view reconstruction. The former requires reconstructing masked views by aggregating overlapping information from other views. The latter aims to aggregate information from all available views to recover Bird's-Eye-View images, contributing to a comprehensive overview of the entire scene. Empirically, Ross3D achieves state-of-the-art performance across various 3D scene understanding benchmarks. More importantly, our semi-supervised experiments demonstrate significant potential in leveraging large amounts of unlabeled 3D vision-only data.
Corner-Grasp: Multi-Action Grasp Detection and Active Gripper Adaptation for Grasping in Cluttered Environments
Authors: Yeong Gwang Son, Seunghwan Um, Juyong Hong, Tat Hieu Bui, Hyouk Ryeol Choi
Date: 2025-04-02 00:00:00
Tasks: Robotic Grasping

Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target objects, inaccuracies in sensing, and potential collisions with the environment. In this work, we propose a method for effectively grasping in cluttered bin-picking environments where these challenges intersect. We utilize a multi-functional gripper that combines both suction and finger grasping to handle a wide range of objects. We also present an active gripper adaptation strategy to minimize collisions between the gripper hardware and the surrounding environment by actively leveraging the reciprocating suction cup and reconfigurable finger motion. To fully utilize the gripper's capabilities, we built a neural network that detects suction and finger grasp points from a single input RGB-D image. This network is trained using a larger-scale synthetic dataset generated from simulation. In addition to this, we propose an efficient approach to constructing a real-world dataset that facilitates grasp point detection on various objects with diverse characteristics. Experiment results show that the proposed method can grasp objects in cluttered bin-picking scenarios and prevent collisions with environmental constraints such as a corner of the bin. Our proposed method demonstrated its effectiveness in the 9th Robotic Grasping and Manipulation Competition (RGMC) held at ICRA 2024.
SOLAQUA: SINTEF Ocean Large Aquaculture Robotics Dataset
Authors: Sveinung Johan Ohrem, Bent Haugaløkken, Eleni Kelasidi
Date: 2025-04-02 00:00:00

This paper presents a dataset gathered with an underwater robot in a sea-based aquaculture setting. Data was gathered from an operational fish farm and includes data from sensors such as the Waterlinked A50 DVL, the Nortek Nucleus 1000 DVL, Sonardyne Micro Ranger 2 USBL, Sonoptix Mulitbeam Sonar, mono and stereo cameras, and vehicle sensor data such as power usage, IMU, pressure, temperature, and more. Data acquisition is performed during both manual and autonomous traversal of the net pen structure. The collected vision data is of undamaged nets with some fish and marine growth presence, and it is expected that both the research community and the aquaculture industry will benefit greatly from the utilization of the proposed SOLAQUA dataset.
Beyond Non-Expert Demonstrations: Outcome-Driven Action Constraint for Offline Reinforcement Learning
Authors: Ke Jiang, Wen Jiang, Yao Li, Xiaoyang Tan
Date: 2025-04-02 00:00:00
Tasks: MuJoCo, Uncertainty Quantification

We address the challenge of offline reinforcement learning using realistic data, specifically non-expert data collected through sub-optimal behavior policies. Under such circumstance, the learned policy must be safe enough to manage distribution shift while maintaining sufficient flexibility to deal with non-expert (bad) demonstrations from offline data.To tackle this issue, we introduce a novel method called Outcome-Driven Action Flexibility (ODAF), which seeks to reduce reliance on the empirical action distribution of the behavior policy, hence reducing the negative impact of those bad demonstrations.To be specific, a new conservative reward mechanism is developed to deal with distribution shift by evaluating actions according to whether their outcomes meet safety requirements - remaining within the state support area, rather than solely depending on the actions' likelihood based on offline data.Besides theoretical justification, we provide empirical evidence on widely used MuJoCo and various maze benchmarks, demonstrating that our ODAF method, implemented using uncertainty quantification techniques, effectively tolerates unseen transitions for improved "trajectory stitching," while enhancing the agent's ability to learn from realistic non-expert data.
Overlap-Aware Feature Learning for Robust Unsupervised Domain Adaptation for 3D Semantic Segmentation
Authors: Junjie Chen, Yuecong Xu, Haosheng Li, Kemi Ding
Date: 2025-04-02 00:00:00
Tasks: 3D Semantic Segmentation, Adversarial Attack, Autonomous Driving, Contrastive Learning, Domain Adaptation, Scene Understanding, Semantic Segmentation, Unsupervised Domain Adaptation

3D point cloud semantic segmentation (PCSS) is a cornerstone for environmental perception in robotic systems and autonomous driving, enabling precise scene understanding through point-wise classification. While unsupervised domain adaptation (UDA) mitigates label scarcity in PCSS, existing methods critically overlook the inherent vulnerability to real-world perturbations (e.g., snow, fog, rain) and adversarial distortions. This work first identifies two intrinsic limitations that undermine current PCSS-UDA robustness: (a) unsupervised features overlap from unaligned boundaries in shared-class regions and (b) feature structure erosion caused by domain-invariant learning that suppresses target-specific patterns. To address the proposed problems, we propose a tripartite framework consisting of: 1) a robustness evaluation model quantifying resilience against adversarial attack/corruption types through robustness metrics; 2) an invertible attention alignment module (IAAM) enabling bidirectional domain mapping while preserving discriminative structure via attention-guided overlap suppression; and 3) a contrastive memory bank with quality-aware contrastive learning that progressively refines pseudo-labels with feature quality for more discriminative representations. Extensive experiments on SynLiDAR-to-SemanticPOSS adaptation demonstrate a maximum mIoU improvement of 14.3\% under adversarial attack.
Proposition of Affordance-Driven Environment Recognition Framework Using Symbol Networks in Large Language Models
Authors: Kazuma Arii, Satoshi Kurihara
Date: 2025-04-02 00:00:00
Tasks: Common Sense Reasoning

In the quest to enable robots to coexist with humans, understanding dynamic situations and selecting appropriate actions based on common sense and affordances are essential. Conventional AI systems face challenges in applying affordance, as it represents implicit knowledge derived from common sense. However, large language models (LLMs) offer new opportunities due to their ability to process extensive human knowledge. This study proposes a method for automatic affordance acquisition by leveraging LLM outputs. The process involves generating text using LLMs, reconstructing the output into a symbol network using morphological and dependency analysis, and calculating affordances based on network distances. Experiments using ``apple'' as an example demonstrated the method's ability to extract context-dependent affordances with high explainability. The results suggest that the proposed symbol network, reconstructed from LLM outputs, enables robots to interpret affordances effectively, bridging the gap between symbolized data and human-like situational understanding.
LLM-mediated Dynamic Plan Generation with a Multi-Agent Approach
Authors: Reo Abe, Akifumi Ito, Kanata Takayasu, Satoshi Kurihara
Date: 2025-04-02 00:00:00
Tasks: Autonomous Vehicles, Language Modeling, Language Modelling, Large Language Model

Planning methods with high adaptability to dynamic environments are crucial for the development of autonomous and versatile robots. We propose a method for leveraging a large language model (GPT-4o) to automatically generate networks capable of adapting to dynamic environments. The proposed method collects environmental "status," representing conditions and goals, and uses them to generate agents. These agents are interconnected on the basis of specific conditions, resulting in networks that combine flexibility and generality. We conducted evaluation experiments to compare the networks automatically generated with the proposed method with manually constructed ones, confirming the comprehensiveness of the proposed method's networks and their higher generality. This research marks a significant advancement toward the development of versatile planning methods applicable to robotics, autonomous vehicles, smart systems, and other complex environments.