pwc-archive/papers-with-abstracts huggingface dataset:
Unsupervised UAV 3D Trajectories Estimation with Sparse Point Clouds
Authors: Hanfang Liang, Yizhuo Yang, Jinming Hu, Jianfei Yang, Fen Liu, Shenghai Yuan
Date: 2024-12-17 00:00:00

Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection method using spatial-temporal sequence processing to fuse multiple LiDAR scans for accurate UAV tracking in real-world scenarios. Our approach segments point clouds into foreground and background, analyzes spatial-temporal data, and employs a scoring mechanism to enhance detection accuracy. Tested on a public dataset, our solution placed 4th in the CVPR 2024 UG2+ Challenge, demonstrating its practical effectiveness. We plan to open-source all designs, code, and sample data for the research community github.com/lianghanfang/UnLiDAR-UAV-Est.
Lifting Scheme-Based Implicit Disentanglement of Emotion-Related Facial Dynamics in the Wild
Authors: Xingjian Wang, Li Chai
Date: 2024-12-17 00:00:00
Tasks: Disentanglement, Dynamic Facial Expression Recognition, Facial Expression Recognition

In-the-wild dynamic facial expression recognition (DFER) encounters a significant challenge in recognizing emotion-related expressions, which are often temporally and spatially diluted by emotion-irrelevant expressions and global context. Most prior DFER methods directly utilize coupled spatiotemporal representations that may incorporate weakly relevant features with emotion-irrelevant context bias. Several DFER methods highlight dynamic information for DFER, but following explicit guidance that may be vulnerable to irrelevant motion. In this paper, we propose a novel Implicit Facial Dynamics Disentanglement framework (IFDD). Through expanding wavelet lifting scheme to fully learnable framework, IFDD disentangles emotion-related dynamic information from emotion-irrelevant global context in an implicit manner, i.e., without exploit operations and external guidance. The disentanglement process contains two stages. The first is Inter-frame Static-dynamic Splitting Module (ISSM) for rough disentanglement estimation, which explores inter-frame correlation to generate content-aware splitting indexes on-the-fly. We utilize these indexes to split frame features into two groups, one with greater global similarity, and the other with more unique dynamic features. The second stage is Lifting-based Aggregation-Disentanglement Module (LADM) for further refinement. LADM first aggregates two groups of features from ISSM to obtain fine-grained global context features by an updater, and then disentangles emotion-related facial dynamic features from the global context by a predictor. Extensive experiments on in-the-wild datasets have demonstrated that IFDD outperforms prior supervised DFER methods with higher recognition accuracy and comparable efficiency. Code is available at https://github.com/CyberPegasus/IFDD.
Continuous Patient Monitoring with AI: Real-Time Analysis of Video in Hospital Care Settings
Authors: Paolo Gabriel, Peter Rehani, Tyler Troy, Tiffany Wyatt, Michael Choma, Narinder Singh
Date: 2024-12-17 00:00:00
Tasks: object-detection, Object Detection

This study introduces an AI-driven platform for continuous and passive patient monitoring in hospital settings, developed by LookDeep Health. Leveraging advanced computer vision, the platform provides real-time insights into patient behavior and interactions through video analysis, securely storing inference results in the cloud for retrospective evaluation. The dataset, compiled in collaboration with 11 hospital partners, encompasses over 300 high-risk fall patients and over 1,000 days of inference, enabling applications such as fall detection and safety monitoring for vulnerable patient populations. To foster innovation and reproducibility, an anonymized subset of this dataset is publicly available. The AI system detects key components in hospital rooms, including individual presence and role, furniture location, motion magnitude, and boundary crossings. Performance evaluation demonstrates strong accuracy in object detection (macro F1-score = 0.92) and patient-role classification (F1-score = 0.98), as well as reliable trend analysis for the "patient alone" metric (mean logistic regression accuracy = 0.82 \pm 0.15). These capabilities enable automated detection of patient isolation, wandering, or unsupervised movement-key indicators for fall risk and other adverse events. This work establishes benchmarks for validating AI-driven patient monitoring systems, highlighting the platform's potential to enhance patient safety and care by providing continuous, data-driven insights into patient behavior and interactions.
Adopting Explainable-AI to investigate the impact of urban morphology design on energy and environmental performance in dry-arid climates
Authors: Pegah Eshraghi, Riccardo Talami, Arman Nikkhah Dehnavi, Maedeh Mirdamadi, Zahra-Sadat Zomorodian
Date: 2024-12-13 00:00:00

In rapidly urbanizing regions, designing climate-responsive urban forms is crucial for sustainable development, especially in dry arid-climates where urban morphology has a significant impact on energy consumption and environmental performance. This study advances urban morphology evaluation by combining Urban Building Energy Modeling (UBEM) with machine learning methods (ML) and Explainable AI techniques, specifically Shapley Additive Explanations (SHAP). Using Tehran's dense urban landscape as a case study, this research assesses and ranks the impact of 30 morphology parameters at the urban block level on key energy metrics (cooling, heating, and lighting demand) and environmental performance (sunlight exposure, photovoltaic generation, and Sky View Factor). Among seven ML algorithms evaluated, the XGBoost model was the most effective predictor, achieving high accuracy (R2: 0.92) and a training time of 3.64 seconds. Findings reveal that building shape, window-to-wall ratio, and commercial ratio are the most critical parameters affecting energy efficiency, while the heights and distances of neighboring buildings strongly influence cooling demand and solar access. By evaluating urban blocks with varied densities and configurations, this study offers generalizable insights applicable to other dry-arid regions. Moreover, the integration of UBEM and Explainable AI offers a scalable, data-driven framework for developing climate-responsive urban designs adaptable to high-density environments worldwide.
ExBody2: Advanced Expressive Humanoid Whole-Body Control
Authors: Mazeyu Ji, Xuanbin Peng, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, Xiaolong Wang
Date: 2024-12-17 00:00:00

This paper tackles the challenge of enabling real-world humanoid robots to perform expressive and dynamic whole-body motions while maintaining overall stability and robustness. We propose Advanced Expressive Whole-Body Control (Exbody2), a method for producing whole-body tracking controllers that are trained on both human motion capture and simulated data and then transferred to the real world. We introduce a technique for decoupling the velocity tracking of the entire body from tracking body landmarks. We use a teacher policy to produce intermediate data that better conforms to the robot's kinematics and to automatically filter away infeasible whole-body motions. This two-step approach enabled us to produce a student policy that can be deployed on the robot that can walk, crouch, and dance. We also provide insight into the trade-off between versatility and the tracking performance on specific motions. We observed significant improvement of tracking performance after fine-tuning on a small amount of data, at the expense of the others.
Proposer-Agent-Evaluator(PAE): Autonomous Skill Discovery For Foundation Model Internet Agents
Authors: Yifei Zhou, Qianlan Yang, Kaixiang Lin, Min Bai, Xiong Zhou, Yu-Xiong Wang, Sergey Levine, Erran Li
Date: 2024-12-17 00:00:00

The vision of a broadly capable and goal-directed agent, such as an Internet-browsing agent in the digital world and a household humanoid in the physical world, has rapidly advanced, thanks to the generalization capability of foundation models. Such a generalist agent needs to have a large and diverse skill repertoire, such as finding directions between two travel locations and buying specific items from the Internet. If each skill needs to be specified manually through a fixed set of human-annotated instructions, the agent's skill repertoire will necessarily be limited due to the quantity and diversity of human-annotated instructions. In this work, we address this challenge by proposing Proposer-Agent-Evaluator, an effective learning system that enables foundation model agents to autonomously discover and practice skills in the wild. At the heart of PAE is a context-aware task proposer that autonomously proposes tasks for the agent to practice with context information of the environment such as user demos or even just the name of the website itself for Internet-browsing agents. Then, the agent policy attempts those tasks with thoughts and actual grounded operations in the real world with resulting trajectories evaluated by an autonomous VLM-based success evaluator. The success evaluation serves as the reward signal for the agent to refine its policies through RL. We validate PAE on challenging vision-based web navigation, using both real-world and self-hosted websites from WebVoyager and WebArena.To the best of our knowledge, this work represents the first effective learning system to apply autonomous task proposal with RL for agents that generalizes real-world human-annotated benchmarks with SOTA performances. Our open-source checkpoints and code can be found in https://yanqval.github.io/PAE/
Tilted Quantile Gradient Updates for Quantile-Constrained Reinforcement Learning
Authors: Chenglin Li, Guangchun Ruan, Hua Geng
Date: 2024-12-17 00:00:00
Tasks: Form, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Safe Reinforcement Learning

Safe reinforcement learning (RL) is a popular and versatile paradigm to learn reward-maximizing policies with safety guarantees. Previous works tend to express the safety constraints in an expectation form due to the ease of implementation, but this turns out to be ineffective in maintaining safety constraints with high probability. To this end, we move to the quantile-constrained RL that enables a higher level of safety without any expectation-form approximations. We directly estimate the quantile gradients through sampling and provide the theoretical proofs of convergence. Then a tilted update strategy for quantile gradients is implemented to compensate the asymmetric distributional density, with a direct benefit of return performance. Experiments demonstrate that the proposed model fully meets safety requirements (quantile constraints) while outperforming the state-of-the-art benchmarks with higher return.
SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents
Authors: Sheng Yin, Xianghe Pang, Yuanzhuo Ding, Menglan Chen, Yutong Bi, Yichen Xiong, Wenhao Huang, Zhen Xiang, Jing Shao, Siheng Chen
Date: 2024-12-17 00:00:00
Tasks: Task Planning

With the integration of large language models (LLMs), embodied agents have strong capabilities to understand and plan complicated natural language instructions. However, a foreseeable issue is that those embodied agents can also flawlessly execute some hazardous tasks, potentially causing damages in the real world. Existing benchmarks predominantly overlook critical safety risks, focusing solely on planning performance, while a few evaluate LLMs' safety awareness only on non-interactive image-text data. To address this gap, we present SafeAgentBench-the first benchmark for safety-aware task planning of embodied LLM agents in interactive simulation environments. SafeAgentBench includes: (1) an executable, diverse, and high-quality dataset of 750 tasks, rigorously curated to cover 10 potential hazards and 3 task types; (2) SafeAgentEnv, a universal embodied environment with a low-level controller, supporting multi-agent execution with 17 high-level actions for 8 state-of-the-art baselines; and (3) reliable evaluation methods from both execution and semantic perspectives. Experimental results show that, although agents based on different design frameworks exhibit substantial differences in task success rates, their overall safety awareness remains weak. The most safety-conscious baseline achieves only a 10\% rejection rate for detailed hazardous tasks. Moreover, simply replacing the LLM driving the agent does not lead to notable improvements in safety awareness. More details and code are available at https://github.com/shengyin1224/SafeAgentBench.
ORFormer: Occlusion-Robust Transformer for Accurate Facial Landmark Detection
Authors: Jui-Che Chiang, Hou-Ning Hu, Bo-Syuan Hou, Chia-Yu Tseng, Yu-Lun Liu, Min-Hung Chen, Yen-Yu Lin
Date: 2024-12-17 00:00:00
Tasks: Facial Landmark Detection

Although facial landmark detection (FLD) has gained significant progress, existing FLD methods still suffer from performance drops on partially non-visible faces, such as faces with occlusions or under extreme lighting conditions or poses. To address this issue, we introduce ORFormer, a novel transformer-based method that can detect non-visible regions and recover their missing features from visible parts. Specifically, ORFormer associates each image patch token with one additional learnable token called the messenger token. The messenger token aggregates features from all but its patch. This way, the consensus between a patch and other patches can be assessed by referring to the similarity between its regular and messenger embeddings, enabling non-visible region identification. Our method then recovers occluded patches with features aggregated by the messenger tokens. Leveraging the recovered features, ORFormer compiles high-quality heatmaps for the downstream FLD task. Extensive experiments show that our method generates heatmaps resilient to partial occlusions. By integrating the resultant heatmaps into existing FLD methods, our method performs favorably against the state of the arts on challenging datasets such as WFLW and COFW.
SWAN: SGD with Normalization and Whitening Enables Stateless LLM Training
Authors: Chao Ma, Wenbo Gong, Meyer Scetbon, Edward Meeds
Date: 2024-12-17 00:00:00
Tasks: Computational Efficiency, Language Modeling, Language Modelling

Adaptive optimizers such as Adam (Kingma & Ba, 2015) have been central to the success of large language models. However, they often require to maintain optimizer states throughout training, which can result in memory requirements several times greater than the model footprint. This overhead imposes constraints on scalability and computational efficiency. Stochastic Gradient Descent (SGD), in contrast, is a stateless optimizer, as it does not track state variables during training. Consequently, it achieves optimal memory efficiency. However, its capability in LLM training is limited (Zhao et al., 2024b). In this work, we show that pre-processing SGD in a stateless manner can achieve the same performance as the Adam optimizer for LLM training, while drastically reducing the memory cost. Specifically, we propose to pre-process the instantaneous stochastic gradients using normalization and whitening. We show that normalization stabilizes gradient distributions, and whitening counteracts the local curvature of the loss landscape. This results in SWAN (SGD with Whitening And Normalization), a stochastic optimizer that eliminates the need to store any optimizer states. Empirically, SWAN has the same memory footprint as SGD, achieving $\approx 50\%$ reduction on total end-to-end memory compared to Adam. In language modeling tasks, SWAN demonstrates comparable or even better performance than Adam: when pre-training the LLaMA model with 350M and 1.3B parameters, SWAN achieves a 2x speedup by reaching the same evaluation perplexity using half as many tokens.
Are Your LLMs Capable of Stable Reasoning?
Authors: Junnan Liu, Hongwei Liu, Linchen Xiao, Ziyi Wang, Kuikun Liu, Songyang Gao, Wenwei Zhang, Songyang Zhang, Kai Chen
Date: 2024-12-17 00:00:00

The rapid advancement of Large Language Models (LLMs) has demonstrated remarkable progress in complex reasoning tasks. However, a significant discrepancy persists between benchmark performances and real-world applications. We identify this gap as primarily stemming from current evaluation protocols and metrics, which inadequately capture the full spectrum of LLM capabilities, particularly in complex reasoning tasks where both accuracy and consistency are crucial. This work makes two key contributions. First, we introduce G-Pass@k, a novel evaluation metric that provides a continuous assessment of model performance across multiple sampling attempts, quantifying both the model's peak performance potential and its stability. Second, we present LiveMathBench, a dynamic benchmark comprising challenging, contemporary mathematical problems designed to minimize data leakage risks during evaluation. Through extensive experiments using G-Pass@k on state-of-the-art LLMs with LiveMathBench, we provide comprehensive insights into both their maximum capabilities and operational consistency. Our findings reveal substantial room for improvement in LLMs' "realistic" reasoning capabilities, highlighting the need for more robust evaluation methods. The benchmark and detailed results are available at: https://github.com/open-compass/GPassK.
Agnosticism About Artificial Consciousness
Authors: Tom McClelland
Date: 2024-12-17 00:00:00

Could an AI have conscious experiences? Any answer to this question should conform to Evidentialism - that is, it should be based not on intuition, dogma or speculation but on solid scientific evidence. I argue that such evidence is hard to come by and that the only justifiable stance on the prospects of artificial consciousness is agnosticism. In the current debate, the main division is between biological views that are sceptical of artificial consciousness and functional views that are sympathetic to it. I argue that both camps make the same mistake of over-estimating what the evidence tells us. Scientific insights into consciousness have been achieved through the study of conscious organisms. Although this has enabled cautious assessments of consciousness in various creatures, extending this to AI faces serious obstacles. AI thus presents consciousness researchers with a dilemma: either reach a verdict on artificial consciousness but violate Evidentialism; or respect Evidentialism but offer no verdict on the prospects of artificial consciousness. The dominant trend in the literature has been to take the first option while purporting to follow the scientific evidence. I argue that if we truly follow the evidence, we must take the second option and adopt agnosticism.
Previous Knowledge Utilization In Online Anytime Belief Space Planning
Authors: Michael Novitsky, Moran Barenboim, Vadim Indelman
Date: 2024-12-17 00:00:00
Tasks: Decision Making

Online planning under uncertainty remains a critical challenge in robotics and autonomous systems. While tree search techniques are commonly employed to construct partial future trajectories within computational constraints, most existing methods discard information from previous planning sessions considering continuous spaces. This study presents a novel, computationally efficient approach that leverages historical planning data in current decision-making processes. We provide theoretical foundations for our information reuse strategy and introduce an algorithm based on Monte Carlo Tree Search (MCTS) that implements this approach. Experimental results demonstrate that our method significantly reduces computation time while maintaining high performance levels. Our findings suggest that integrating historical planning information can substantially improve the efficiency of online decision-making in uncertain environments, paving the way for more responsive and adaptive autonomous systems.
Equity in the Use of ChatGPT for the Classroom: A Comparison of the Accuracy and Precision of ChatGPT 3.5 vs. ChatGPT4 with Respect to Statistics and Data Science Exams
Authors: Monnie McGee, Bivin Sadler
Date: 2024-12-17 00:00:00

A college education historically has been seen as method of moving upward with regards to income brackets and social status. Indeed, many colleges recognize this connection and seek to enroll talented low income students. While these students might have their education, books, room, and board paid; there are other items that they might be expected to use that are not part of most college scholarship packages. One of those items that has recently surfaced is access to generative AI platforms. The most popular of these platforms is ChatGPT, and it has a paid version (ChatGPT4) and a free version (ChatGPT3.5). We seek to explore differences in the free and paid versions in the context of homework questions and data analyses as might be seen in a typical introductory statistics course. We determine the extent to which students who cannot afford newer and faster versions of generative AI programs would be disadvantaged in terms of writing such projects and learning these methods.
AI PERSONA: Towards Life-long Personalization of LLMs
Authors: Tiannan Wang, Meiling Tao, Ruoyu Fang, Huilin Wang, Shuai Wang, Yuchen Eleanor Jiang, Wangchunshu Zhou
Date: 2024-12-17 00:00:00
Tasks: Benchmarking

In this work, we introduce the task of life-long personalization of large language models. While recent mainstream efforts in the LLM community mainly focus on scaling data and compute for improved capabilities of LLMs, we argue that it is also very important to enable LLM systems, or language agents, to continuously adapt to the diverse and ever-changing profiles of every distinct user and provide up-to-date personalized assistance. We provide a clear task formulation and introduce a simple, general, effective, and scalable framework for life-long personalization of LLM systems and language agents. To facilitate future research on LLM personalization, we also introduce methods to synthesize realistic benchmarks and robust evaluation metrics. We will release all codes and data for building and benchmarking life-long personalized LLM systems.
LMUnit: Fine-grained Evaluation with Natural Language Unit Tests
Authors: Jon Saad-Falcon, Rajan Vivek, William Berrios, Nandita Shankar Naik, Matija Franklin, Bertie Vidgen, Amanpreet Singh, Douwe Kiela, Shikib Mehri
Date: 2024-12-17 00:00:00
Tasks: Language Model Evaluation, Language Modeling, Language Modelling

As language models become integral to critical workflows, assessing their behavior remains a fundamental challenge -- human evaluation is costly and noisy, while automated metrics provide only coarse, difficult-to-interpret signals. We introduce natural language unit tests, a paradigm that decomposes response quality into explicit, testable criteria, along with a unified scoring model, LMUnit, which combines multi-objective training across preferences, direct ratings, and natural language rationales. Through controlled human studies, we show this paradigm significantly improves inter-annotator agreement and enables more effective LLM development workflows. LMUnit achieves state-of-the-art performance on evaluation benchmarks (FLASK, BigGenBench) and competitive results on RewardBench. These results validate both our proposed paradigm and scoring model, suggesting a promising path forward for language model evaluation and development.