pwc-archive/papers-with-abstracts huggingface dataset:
Speech to Reality: On-Demand Production using Natural Language, 3D Generative AI, and Discrete Robotic Assembly
Authors: Alexander Htet Kyaw, Se Hwan Jeon, Miana Smith, Neil Gershenfeld
Date: 2024-09-27 00:00:00

We present a system that transforms speech into physical objects using 3D generative AI and discrete robotic assembly. By leveraging natural language input, the system makes design and manufacturing more accessible to individuals without expertise in 3D modeling or robotic programming. While current generative AI models can produce a wide range of 3D digital assets, AI-generated meshes are not directly suitable for robotic fabrication and do not account for fabrication constraints. To address this, we contribute a workflow that integrates natural language processing, 3D generative AI, and discrete robotic assembly. The system automatically analyzes and modifies AI-generated geometry to meet physical constraints, such as component count, overhangs, and connectivity, and produces a feasible robotic assembly sequence and toolpath. The results are demonstrated through the assembly of various objects, ranging from chairs to shelves, which are prompted via speech and realized within 5 minutes using a robotic arm.
Robo-CSK-Organizer: Commonsense Knowledge to Organize Detected Objects for Multipurpose Robots
Authors: Rafael Hidalgo, Jesse Parron, Aparna S. Varde, Weitian Wang
Date: 2024-09-27 00:00:00
Tasks: Decision Making

This paper presents a system called Robo-CSK-Organizer that infuses commonsense knowledge from a classical knowledge based to enhance the context recognition capabilities of robots so as to facilitate the organization of detected objects by classifying them in a task-relevant manner. It is particularly useful in multipurpose robotics. Unlike systems relying solely on deep learning tools such as ChatGPT, the Robo-CSK-Organizer system stands out in multiple avenues as follows. It resolves ambiguities well, and maintains consistency in object placement. Moreover, it adapts to diverse task-based classifications. Furthermore, it contributes to explainable AI, hence helping to improve trust and human-robot collaboration. Controlled experiments performed in our work, simulating domestic robotics settings, make Robo-CSK-Organizer demonstrate superior performance while placing objects in contextually relevant locations. This work highlights the capacity of an AI-based system to conduct commonsense-guided decision-making in robotics closer to the thresholds of human cognition. Hence, Robo-CSK-Organizer makes positive impacts on AI and robotics.
Adaptive Learning of the Latent Space of Wasserstein Generative Adversarial Networks
Authors: Yixuan Qiu, Qingyi Gao, Xiao Wang
Date: 2024-09-27 00:00:00

Generative models based on latent variables, such as generative adversarial networks (GANs) and variational auto-encoders (VAEs), have gained lots of interests due to their impressive performance in many fields. However, many data such as natural images usually do not populate the ambient Euclidean space but instead reside in a lower-dimensional manifold. Thus an inappropriate choice of the latent dimension fails to uncover the structure of the data, possibly resulting in mismatch of latent representations and poor generative qualities. Towards addressing these problems, we propose a novel framework called the latent Wasserstein GAN (LWGAN) that fuses the Wasserstein auto-encoder and the Wasserstein GAN so that the intrinsic dimension of the data manifold can be adaptively learned by a modified informative latent distribution. We prove that there exist an encoder network and a generator network in such a way that the intrinsic dimension of the learned encoding distribution is equal to the dimension of the data manifold. We theoretically establish that our estimated intrinsic dimension is a consistent estimate of the true dimension of the data manifold. Meanwhile, we provide an upper bound on the generalization error of LWGAN, implying that we force the synthetic data distribution to be similar to the real data distribution from a population perspective. Comprehensive empirical experiments verify our framework and show that LWGAN is able to identify the correct intrinsic dimension under several scenarios, and simultaneously generate high-quality synthetic data by sampling from the learned latent distribution.
Multi-hypotheses Conditioned Point Cloud Diffusion for 3D Human Reconstruction from Occluded Images
Authors: Donghwan Kim, Tae-Kyun Kim
Date: 2024-09-27 00:00:00
Tasks: 3D Human Reconstruction, Denoising

3D human shape reconstruction under severe occlusion due to human-object or human-human interaction is a challenging problem. Parametric models i.e., SMPL(-X), which are based on the statistics across human shapes, can represent whole human body shapes but are limited to minimally-clothed human shapes. Implicit-function-based methods extract features from the parametric models to employ prior knowledge of human bodies and can capture geometric details such as clothing and hair. However, they often struggle to handle misaligned parametric models and inpaint occluded regions given a single RGB image. In this work, we propose a novel pipeline, MHCDIFF, Multi-hypotheses Conditioned Point Cloud Diffusion, composed of point cloud diffusion conditioned on probabilistic distributions for pixel-aligned detailed 3D human reconstruction under occlusion. Compared to previous implicit-function-based methods, the point cloud diffusion model can capture the global consistent features to generate the occluded regions, and the denoising process corrects the misaligned SMPL meshes. The core of MHCDIFF is extracting local features from multiple hypothesized SMPL(-X) meshes and aggregating the set of features to condition the diffusion model. In the experiments on CAPE and MultiHuman datasets, the proposed method outperforms various SOTA methods based on SMPL, implicit functions, point cloud diffusion, and their combined, under synthetic and real occlusions. Our code is publicly available at https://donghwankim0101.github.io/projects/mhcdiff/ .
Tracking Software Security Topics
Authors: Phong Minh Vu, Tung Thanh Nguyen
Date: 2024-09-27 00:00:00

Software security incidents occur everyday and thousands of software security reports are announced each month. Thus, it is difficult for software security researchers, engineers, and other stakeholders to follow software security topics of their interests in real-time. In this paper, we propose, SOSK, a novel tool for this problem. SOSK allows a user to import a collection of software security reports. It pre-processes and extracts the most important keywords from the textual description of the reports. Based on the similarity of embedding vectors of keywords, SOSK can expand and/or refine a keyword set from a much smaller set of user-provided keywords. Thus, SOSK allows users to define any topic of their interests and retrieve security reports relevant to that topic effectively. Our preliminary evaluation shows that SOSK can expand keywords and retrieve reports relevant to user requests.
A Generalized LLM-Augmented BIM Framework: Application to a Speech-to-BIM system
Authors: Ghang Lee, Suhyung Jang, Seokho Hyun
Date: 2024-09-26 00:00:00

Performing building information modeling (BIM) tasks is a complex process that imposes a steep learning curve and a heavy cognitive load due to the necessity of remembering sequences of numerous commands. With the rapid advancement of large language models (LLMs), it is foreseeable that BIM tasks, including querying and managing BIM data, 4D and 5D BIM, design compliance checking, or authoring a design, using written or spoken natural language (i.e., text-to-BIM or speech-to-BIM), will soon supplant traditional graphical user interfaces. This paper proposes a generalized LLM-augmented BIM framework to expedite the development of LLM-enhanced BIM applications by providing a step-by-step development process. The proposed framework consists of six steps: interpret-fill-match-structure-execute-check. The paper demonstrates the applicability of the proposed framework through implementing a speech-to-BIM application, NADIA-S (Natural-language-based Architectural Detailing through Interaction with Artificial Intelligence via Speech), using exterior wall detailing as an example.
Improving Agent Behaviors with RL Fine-tuning for Autonomous Driving
Authors: Zhenghao Peng, Wenjie Luo, Yiren Lu, Tianyi Shen, Cole Gulino, Ari Seff, Justin Fu
Date: 2024-09-26 00:00:00
Tasks: Autonomous Driving

A major challenge in autonomous vehicle research is modeling agent behaviors, which has critical applications including constructing realistic and reliable simulations for off-board evaluation and forecasting traffic agents motion for onboard planning. While supervised learning has shown success in modeling agents across various domains, these models can suffer from distribution shift when deployed at test-time. In this work, we improve the reliability of agent behaviors by closed-loop fine-tuning of behavior models with reinforcement learning. Our method demonstrates improved overall performance, as well as improved targeted metrics such as collision rate, on the Waymo Open Sim Agents challenge. Additionally, we present a novel policy evaluation benchmark to directly assess the ability of simulated agents to measure the quality of autonomous vehicle planners and demonstrate the effectiveness of our approach on this new benchmark.
DRL-STNet: Unsupervised Domain Adaptation for Cross-modality Medical Image Segmentation via Disentangled Representation Learning
Authors: Hui Lin, Florian Schiffers, Santiago López-Tapia, Neda Tavakoli, Daniel Kim, Aggelos K. Katsaggelos
Date: 2024-09-26 00:00:00
Tasks: Domain Adaptation, GPU, Image Segmentation, Medical Image Segmentation, Organ Segmentation, Representation Learning, Segmentation, Semantic Segmentation, Unsupervised Domain Adaptation

Unsupervised domain adaptation (UDA) is essential for medical image segmentation, especially in cross-modality data scenarios. UDA aims to transfer knowledge from a labeled source domain to an unlabeled target domain, thereby reducing the dependency on extensive manual annotations. This paper presents DRL-STNet, a novel framework for cross-modality medical image segmentation that leverages generative adversarial networks (GANs), disentangled representation learning (DRL), and self-training (ST). Our method leverages DRL within a GAN to translate images from the source to the target modality. Then, the segmentation model is initially trained with these translated images and corresponding source labels and then fine-tuned iteratively using a combination of synthetic and real images with pseudo-labels and real labels. The proposed framework exhibits superior performance in abdominal organ segmentation on the FLARE challenge dataset, surpassing state-of-the-art methods by 11.4% in the Dice similarity coefficient and by 13.1% in the Normalized Surface Dice metric, achieving scores of 74.21% and 80.69%, respectively. The average running time is 41 seconds, and the area under the GPU memory-time curve is 11,292 MB. These results indicate the potential of DRL-STNet for enhancing cross-modality medical image segmentation tasks.
AER-LLM: Ambiguity-aware Emotion Recognition Leveraging Large Language Models
Authors: Xin Hong, Yuan Gong, Vidhyasaharan Sethu, Ting Dang
Date: 2024-09-26 00:00:00
Tasks: Emotional Intelligence, Emotion Recognition, In-Context Learning

Recent advancements in Large Language Models (LLMs) have demonstrated great success in many Natural Language Processing (NLP) tasks. In addition to their cognitive intelligence, exploring their capabilities in emotional intelligence is also crucial, as it enables more natural and empathetic conversational AI. Recent studies have shown LLMs' capability in recognizing emotions, but they often focus on single emotion labels and overlook the complex and ambiguous nature of human emotions. This study is the first to address this gap by exploring the potential of LLMs in recognizing ambiguous emotions, leveraging their strong generalization capabilities and in-context learning. We design zero-shot and few-shot prompting and incorporate past dialogue as context information for ambiguous emotion recognition. Experiments conducted using three datasets indicate significant potential for LLMs in recognizing ambiguous emotions, and highlight the substantial benefits of including context information. Furthermore, our findings indicate that LLMs demonstrate a high degree of effectiveness in recognizing less ambiguous emotions and exhibit potential for identifying more ambiguous emotions, paralleling human perceptual capabilities.
A Fairness-Driven Method for Learning Human-Compatible Negotiation Strategies
Authors: Ryan Shea, Zhou Yu
Date: 2024-09-26 00:00:00
Tasks: Fairness, Language Modeling, Language Modelling

Despite recent advancements in AI and NLP, negotiation remains a difficult domain for AI agents. Traditional game theoretic approaches that have worked well for two-player zero-sum games struggle in the context of negotiation due to their inability to learn human-compatible strategies. On the other hand, approaches that only use human data tend to be domain-specific and lack the theoretical guarantees provided by strategies grounded in game theory. Motivated by the notion of fairness as a criterion for optimality in general sum games, we propose a negotiation framework called FDHC which incorporates fairness into both the reward design and search to learn human-compatible negotiation strategies. Our method includes a novel, RL+search technique called LGM-Zero which leverages a pre-trained language model to retrieve human-compatible offers from large action spaces. Our results show that our method is able to achieve more egalitarian negotiation outcomes and improve negotiation quality.
Input-Dependent Power Usage in GPUs
Authors: Theo Gregersen, Pratyush Patel, Esha Choukse
Date: 2024-09-26 00:00:00
Tasks: GPU

GPUs are known to be power-hungry, and due to the boom in artificial intelligence, they are currently the major contributors to the high power demands of upcoming datacenters. Most GPU usage in these popular workloads consist of large general matrix-matrix multiplications (GEMMs), which have therefore been optimized to achieve high utilization of hardware resources. In this work, we show that modifying the input data to GEMMs, while maintaining the matrix shapes and sizes can notably change the power consumption of these kernels. We experiment with four kinds of input variations: value distribution, bit similarity, placement, and sparsity, across different data types. Our findings indicate that these variations can change the GPU power usage during GEMM by almost 40%. We hypothesize that input-dependent power usage variations occur due to changes in the number of bit flips in the GPUs. We propose leveraging this property through compiler and scheduler optimizations to manage power and reduce energy consumption.
Development and Validation of a Dynamic-Template-Constrained Large Language Model for Generating Fully-Structured Radiology Reports
Authors: Chuang Niu, Parisa Kaviani, Qing Lyu, Mannudeep K. Kalra, Christopher T. Whitlow, Ge Wang
Date: 2024-09-26 00:00:00
Tasks: Descriptive, Language Modeling, Language Modelling, Large Language Model, Retrieval

Current LLMs for creating fully-structured reports face the challenges of formatting errors, content hallucinations, and privacy leakage issues when uploading data to external servers.We aim to develop an open-source, accurate LLM for creating fully-structured and standardized LCS reports from varying free-text reports across institutions and demonstrate its utility in automatic statistical analysis and individual lung nodule retrieval. With IRB approvals, our retrospective study included 5,442 de-identified LDCT LCS radiology reports from two institutions. We constructed two evaluation datasets by labeling 500 pairs of free-text and fully-structured radiology reports and one large-scale consecutive dataset from January 2021 to December 2023. Two radiologists created a standardized template for recording 27 lung nodule features on LCS. We designed a dynamic-template-constrained decoding method to enhance existing LLMs for creating fully-structured reports from free-text radiology reports. Using consecutive structured reports, we automated descriptive statistical analyses and a nodule retrieval prototype. Our best LLM for creating fully-structured reports achieved high performance on cross-institutional datasets with an F1 score of about 97%, with neither formatting errors nor content hallucinations. Our method consistently improved the best open-source LLMs by up to 10.42%, and outperformed GPT-4o by 17.19%. The automatically derived statistical distributions were consistent with prior findings regarding attenuation, location, size, stability, and Lung-RADS. The retrieval system with structured reports allowed flexible nodule-level search and complex statistical analysis. Our developed software is publicly available for local deployment and further research.
Embodied-RAG: General Non-parametric Embodied Memory for Retrieval and Generation
Authors: Quanting Xie, So Yeon Min, Pengliang Ji, Yue Yang, Tianyi Zhang, Kedi Xu, Aarav Bajaj, Ruslan Salakhutdinov, Matthew Johnson-Roberson, Yonatan Bisk
Date: 2024-09-26 00:00:00
Tasks: RAG, Retrieval, Retrieval-augmented Generation, Text Generation

There is no limit to how much a robot might explore and learn, but all of that knowledge needs to be searchable and actionable. Within language research, retrieval augmented generation (RAG) has become the workhorse of large-scale non-parametric knowledge; however, existing techniques do not directly transfer to the embodied domain, which is multimodal, where data is highly correlated, and perception requires abstraction. To address these challenges, we introduce Embodied-RAG, a framework that enhances the foundational model of an embodied agent with a non-parametric memory system capable of autonomously constructing hierarchical knowledge for both navigation and language generation. Embodied-RAG handles a full range of spatial and semantic resolutions across diverse environments and query types, whether for a specific object or a holistic description of ambiance. At its core, Embodied-RAG's memory is structured as a semantic forest, storing language descriptions at varying levels of detail. This hierarchical organization allows the system to efficiently generate context-sensitive outputs across different robotic platforms. We demonstrate that Embodied-RAG effectively bridges RAG to the robotics domain, successfully handling over 250 explanation and navigation queries across kilometer-level environments, highlighting its promise as a general-purpose non-parametric system for embodied agents.
Wavelet-Driven Generalizable Framework for Deepfake Face Forgery Detection
Authors: Lalith Bharadwaj Baru, Rohit Boddeda, Shilhora Akshay Patel, Sai Mohan Gajapaka
Date: 2024-09-26 00:00:00
Tasks: DeepFake Detection, Face Swapping, Image Manipulation

The evolution of digital image manipulation, particularly with the advancement of deep generative models, significantly challenges existing deepfake detection methods, especially when the origin of the deepfake is obscure. To tackle the increasing complexity of these forgeries, we propose \textbf{Wavelet-CLIP}, a deepfake detection framework that integrates wavelet transforms with features derived from the ViT-L/14 architecture, pre-trained in the CLIP fashion. Wavelet-CLIP utilizes Wavelet Transforms to deeply analyze both spatial and frequency features from images, thus enhancing the model's capability to detect sophisticated deepfakes. To verify the effectiveness of our approach, we conducted extensive evaluations against existing state-of-the-art methods for cross-dataset generalization and detection of unseen images generated by standard diffusion models. Our method showcases outstanding performance, achieving an average AUC of 0.749 for cross-data generalization and 0.893 for robustness against unseen deepfakes, outperforming all compared methods. The code can be reproduced from the repo: \url{https://github.com/lalithbharadwajbaru/Wavelet-CLIP}
SOAR: Self-supervision Optimized UAV Action Recognition with Efficient Object-Aware Pretraining
Authors: Ruiqi Xian, Xiyang Wu, Tianrui Guan, Xijun Wang, Boqing Gong, Dinesh Manocha
Date: 2024-09-26 00:00:00
Tasks: Action Recognition, Object, Self-Supervised Learning

We introduce SOAR, a novel Self-supervised pretraining algorithm for aerial footage captured by Unmanned Aerial Vehicles (UAVs). We incorporate human object knowledge throughout the pretraining process to enhance UAV video pretraining efficiency and downstream action recognition performance. This is in contrast to prior works that primarily incorporate object information during the fine-tuning stage. Specifically, we first propose a novel object-aware masking strategy designed to retain the visibility of certain patches related to objects throughout the pretraining phase. Second, we introduce an object-aware loss function that utilizes object information to adjust the reconstruction loss, preventing bias towards less informative background patches. In practice, SOAR with a vanilla ViT backbone, outperforms best UAV action recognition models, recording a 9.7% and 21.4% boost in top-1 accuracy on the NEC-Drone and UAV-Human datasets, while delivering an inference speed of 18.7ms per video, making it 2x to 5x faster. Additionally, SOAR obtains comparable accuracy to prior self-supervised learning (SSL) methods while requiring 87.5% less pretraining time and 25% less memory usage
Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation
Authors: Lipeng Zhuang, Shiyu Fan, Yingdong Ru, Florent Audonnet, Paul Henderson, Gerardo Aragon-Camarasa
Date: 2024-09-26 00:00:00
Tasks: Diversity

We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations of flattening and folding 44 unique garments across 8 categories, Flat'n'Fold surpasses prior datasets in size, scope, and diversity. Our dataset uniquely captures the entire manipulation process from crumpled to folded states, providing synchronized multi-view RGB-D images, point clouds, and action data, including hand or gripper positions and rotations. We quantify the dataset's diversity and complexity compared to existing benchmarks and show that our dataset features natural and diverse manipulations of real-world demonstrations of human and robot demonstrations in terms of visual and action information. To showcase Flat'n'Fold's utility, we establish new benchmarks for grasping point prediction and subtask decomposition. Our evaluation of state-of-the-art models on these tasks reveals significant room for improvement. This underscores Flat'n'Fold's potential to drive advances in robotic perception and manipulation of deformable objects. Our dataset can be downloaded at https://cvas-ug.github.io/flat-n-fold