pwc-archive/papers-with-abstracts huggingface dataset:
Predictive Planner for Autonomous Driving with Consistency Models
Authors: Anjian Li, Sangjae Bae, David Isele, Ryne Beeson, Faizan M. Tariq
Date: 2025-02-12 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Navigate, Trajectory Prediction

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While recent diffusion-based generative models have shown promise in multi-agent trajectory generation, their slow sampling is less suitable for high-frequency planning tasks. In this paper, we leverage the consistency model to build a predictive planner that samples from a joint distribution of ego and surrounding agents, conditioned on the ego vehicle's navigational goal. Trained on real-world human driving datasets, our consistency model generates higher-quality trajectories with fewer sampling steps than standard diffusion models, making it more suitable for real-time deployment. To enforce multiple planning constraints simultaneously on the ego trajectory, a novel online guided sampling approach inspired by the Alternating Direction Method of Multipliers (ADMM) is introduced. Evaluated on the Waymo Open Motion Dataset (WOMD), our method enables proactive behavior such as nudging and yielding, and also demonstrates smoother, safer, and more efficient trajectories and satisfaction of multiple constraints under a limited computational budget.
TranSplat: Surface Embedding-guided 3D Gaussian Splatting for Transparent Object Manipulation
Authors: Jeongyun Kim, Jeongho Noh, Dong-Guw Lee, Ayoung Kim
Date: 2025-02-11 00:00:00
Tasks: Depth Completion, Transparent objects

Transparent object manipulation remains a sig- nificant challenge in robotics due to the difficulty of acquiring accurate and dense depth measurements. Conventional depth sensors often fail with transparent objects, resulting in in- complete or erroneous depth data. Existing depth completion methods struggle with interframe consistency and incorrectly model transparent objects as Lambertian surfaces, leading to poor depth reconstruction. To address these challenges, we propose TranSplat, a surface embedding-guided 3D Gaussian Splatting method tailored for transparent objects. TranSplat uses a latent diffusion model to generate surface embeddings that provide consistent and continuous representations, making it robust to changes in viewpoint and lighting. By integrating these surface embeddings with input RGB images, TranSplat effectively captures the complexities of transparent surfaces, enhancing the splatting of 3D Gaussians and improving depth completion. Evaluations on synthetic and real-world transpar- ent object benchmarks, as well as robot grasping tasks, show that TranSplat achieves accurate and dense depth completion, demonstrating its effectiveness in practical applications. We open-source synthetic dataset and model: https://github. com/jeongyun0609/TranSplat
Optimal Actuator Attacks on Autonomous Vehicles Using Reinforcement Learning
Authors: Pengyu Wang, Jialu Li, Ling Shi
Date: 2025-02-11 00:00:00
Tasks: Autonomous Vehicles, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

With the increasing prevalence of autonomous vehicles (AVs), their vulnerability to various types of attacks has grown, presenting significant security challenges. In this paper, we propose a reinforcement learning (RL)-based approach for designing optimal stealthy integrity attacks on AV actuators. We also analyze the limitations of state-of-the-art RL-based secure controllers developed to counter such attacks. Through extensive simulation experiments, we demonstrate the effectiveness and efficiency of our proposed method.
RoboBERT: An End-to-end Multimodal Robotic Manipulation Model
Authors: Sicheng Wang, Sheng Liu, Weiheng Wang, Jianhua Shan, Bin Fang
Date: 2025-02-11 00:00:00
Tasks: Data Augmentation

Embodied intelligence seamlessly integrates vision, language, and action.~However, most multimodal robotic models rely on massive fine-tuning, incurring high time and hardware costs.~To address this, we introduce RoboBERT, an end-to-end multimodal manipulation model built around a novel two-stage training paradigm.~In the first stage, we freeze most of the vision encoder and train with a single "standard" instruction phrasing, allowing the model to focus on stable policy learning via a CNN-based diffusion policy.~In the second stage, we unfreeze all modules and inject diverse natural language variants, rapidly aligning varied instructions to the already-learned policy without destabilizing performance.~We further employ systematic data augmentations to enhance robustness against visual perturbations.~Without relying on auxiliary datasets, RoboBERT achieves new state-of-the-art (SOTA) mean episode lengths of 4.52 on the CALVIN ABCD-D benchmark and 3.79 on the ABC-D benchmark using only language-labeled expert demonstrations and a comparatively lightweight architecture.Real-robot trials on a 6-DOF manipulator confirm higher success rates than comparable methods trained on identical data.These results demonstrate that our data-augmentation-enhanced two-stage training paradigm delivers efficient, scalable, and broadly applicable performance for multimodal robotic systems.
Motion Forecasting for Autonomous Vehicles: A Survey
Authors: Jianxin Shi, Jinhao Chen, Yuandong Wang, Li Sun, Chunyang Liu, Wei Xiong, Tianyu Wo
Date: 2025-02-10 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Decision Making, Motion Forecasting, Self-Supervised Learning, Survey

In recent years, the field of autonomous driving has attracted increasingly significant public interest. Accurately forecasting the future behavior of various traffic participants is essential for the decision-making of Autonomous Vehicles (AVs). In this paper, we focus on both scenario-based and perception-based motion forecasting for AVs. We propose a formal problem formulation for motion forecasting and summarize the main challenges confronting this area of research. We also detail representative datasets and evaluation metrics pertinent to this field. Furthermore, this study classifies recent research into two main categories: supervised learning and self-supervised learning, reflecting the evolving paradigms in both scenario-based and perception-based motion forecasting. In the context of supervised learning, we thoroughly examine and analyze each key element of the methodology. For self-supervised learning, we summarize commonly adopted techniques. The paper concludes and discusses potential research directions, aiming to propel progress in this vital area of AV technology.
Knowledge-data fusion dominated vehicle platoon dynamics modeling and analysis: A physics-encoded deep learning approach
Authors: Hao Lyu, Yanyong Guo, Pan Liu, Shuo Feng, Weilin Ren, Quansheng Yue
Date: 2025-02-09 00:00:00

Recently, artificial intelligence (AI)-enabled nonlinear vehicle platoon dynamics modeling plays a crucial role in predicting and optimizing the interactions between vehicles. Existing efforts lack the extraction and capture of vehicle behavior interaction features at the platoon scale. More importantly, maintaining high modeling accuracy without losing physical analyzability remains to be solved. To this end, this paper proposes a novel physics-encoded deep learning network, named PeMTFLN, to model the nonlinear vehicle platoon dynamics. Specifically, an analyzable parameters encoded computational graph (APeCG) is designed to guide the platoon to respond to the driving behavior of the lead vehicle while ensuring local stability. Besides, a multi-scale trajectory feature learning network (MTFLN) is constructed to capture platoon following patterns and infer the physical parameters required for APeCG from trajectory data. The human-driven vehicle trajectory datasets (HIGHSIM) were used to train the proposed PeMTFLN. The trajectories prediction experiments show that PeMTFLN exhibits superior compared to the baseline models in terms of predictive accuracy in speed and gap. The stability analysis result shows that the physical parameters in APeCG is able to reproduce the platoon stability in real-world condition. In simulation experiments, PeMTFLN performs low inference error in platoon trajectories generation. Moreover, PeMTFLN also accurately reproduces ground-truth safety statistics. The code of proposed PeMTFLN is open source.
TokenSynth: A Token-based Neural Synthesizer for Instrument Cloning and Text-to-Instrument
Authors: KyungSu Kim, Junghyun Koo, Sungho Lee, Haesun Joung, Kyogu Lee
Date: 2025-02-13 00:00:00
Tasks: Audio Generation, Decoder, Music Generation, Text-to-Music Generation, text-to-speech, Text to Speech

Recent advancements in neural audio codecs have enabled the use of tokenized audio representations in various audio generation tasks, such as text-to-speech, text-to-audio, and text-to-music generation. Leveraging this approach, we propose TokenSynth, a novel neural synthesizer that utilizes a decoder-only transformer to generate desired audio tokens from MIDI tokens and CLAP (Contrastive Language-Audio Pretraining) embedding, which has timbre-related information. Our model is capable of performing instrument cloning, text-to-instrument synthesis, and text-guided timbre manipulation without any fine-tuning. This flexibility enables diverse sound design and intuitive timbre control. We evaluated the quality of the synthesized audio, the timbral similarity between synthesized and target audio/text, and synthesis accuracy (i.e., how accurately it follows the input MIDI) using objective measures. TokenSynth demonstrates the potential of leveraging advanced neural audio codecs and transformers to create powerful and versatile neural synthesizers. The source code, model weights, and audio demos are available at: https://github.com/KyungsuKim42/tokensynth
Decision Tree Based Wrappers for Hearing Loss
Authors: Miguel Rabuge, Nuno Lourenço
Date: 2025-02-12 00:00:00
Tasks: Feature Engineering, feature selection

Audiology entities are using Machine Learning (ML) models to guide their screening towards people at risk. Feature Engineering (FE) focuses on optimizing data for ML models, with evolutionary methods being effective in feature selection and construction tasks. This work aims to benchmark an evolutionary FE wrapper, using models based on decision trees as proxies. The FEDORA framework is applied to a Hearing Loss (HL) dataset, being able to reduce data dimensionality and statistically maintain baseline performance. Compared to traditional methods, FEDORA demonstrates superior performance, with a maximum balanced accuracy of 76.2%, using 57 features. The framework also generated an individual that achieved 72.8% balanced accuracy using a single feature.
Sparse wavefield reconstruction and denoising with boostlets
Authors: Elias Zea, Marco Laudato, Joakim andén
Date: 2025-02-12 00:00:00
Tasks: Denoising

Boostlets are spatiotemporal functions that decompose nondispersive wavefields into a collection of localized waveforms parametrized by dilations, hyperbolic rotations, and translations. We study the sparsity properties of boostlets and find that the resulting decompositions are significantly sparser than those of other state-of-the-art representation systems, such as wavelets and shearlets. This translates into improved denoising performance when hard-thresholding the boostlet coefficients. The results suggest that boostlets offer a natural framework for sparsely decomposing wavefields in unified space-time.
Hookpad Aria: A Copilot for Songwriters
Authors: Chris Donahue, Shih-Lun Wu, Yewon Kim, Dave Carlton, Ryan Miyakawa, John Thickstun
Date: 2025-02-12 00:00:00

We present Hookpad Aria, a generative AI system designed to assist musicians in writing Western pop songs. Our system is seamlessly integrated into Hookpad, a web-based editor designed for the composition of lead sheets: symbolic music scores that describe melody and harmony. Hookpad Aria has numerous generation capabilities designed to assist users in non-sequential composition workflows, including: (1) generating left-to-right continuations of existing material, (2) filling in missing spans in the middle of existing material, and (3) generating harmony from melody and vice versa. Hookpad Aria is also a scalable data flywheel for music co-creation -- since its release in March 2024, Aria has generated 318k suggestions for 3k users who have accepted 74k into their songs. More information about Hookpad Aria is available at https://www.hooktheory.com/hookpad/aria
Metamorphic Testing for Pose Estimation Systems
Authors: Matias Duran, Thomas Laurent, Ellen Rushe, Anthony Ventresque
Date: 2025-02-13 00:00:00
Tasks: Pose Estimation, Sports Analytics

Pose estimation systems are used in a variety of fields, from sports analytics to livestock care. Given their potential impact, it is paramount to systematically test their behaviour and potential for failure. This is a complex task due to the oracle problem and the high cost of manual labelling necessary to build ground truth keypoints. This problem is exacerbated by the fact that different applications require systems to focus on different subjects (e.g., human versus animal) or landmarks (e.g., only extremities versus whole body and face), which makes labelled test data rarely reusable. To combat these problems we propose MET-POSE, a metamorphic testing framework for pose estimation systems that bypasses the need for manual annotation while assessing the performance of these systems under different circumstances. MET-POSE thus allows users of pose estimation systems to assess the systems in conditions that more closely relate to their application without having to label an ad-hoc test dataset or rely only on available datasets, which may not be adapted to their application domain. While we define MET-POSE in general terms, we also present a non-exhaustive list of metamorphic rules that represent common challenges in computer vision applications, as well as a specific way to evaluate these rules. We then experimentally show the effectiveness of MET-POSE by applying it to Mediapipe Holistic, a state of the art human pose estimation system, with the FLIC and PHOENIX datasets. With these experiments, we outline numerous ways in which the outputs of MET-POSE can uncover faults in pose estimation systems at a similar or higher rate than classic testing using hand labelled data, and show that users can tailor the rule set they use to the faults and level of accuracy relevant to their application.
CLOVER: A Test Case Generation Benchmark with Coverage, Long-Context, and Verification
Authors: Jiacheng Xu, Bo Pang, Jin Qu, Hiroaki Hayashi, Caiming Xiong, Yingbo Zhou
Date: 2025-02-12 00:00:00
Tasks: 16k, 4k, software testing

Software testing is a critical aspect of software development, yet generating test cases remains a routine task for engineers. This paper presents a benchmark, CLOVER, to evaluate models' capabilities in generating and completing test cases under specific conditions. Spanning from simple assertion completions to writing test cases that cover specific code blocks across multiple files, these tasks are based on 12 python repositories, analyzing 845 problems with context lengths ranging from 4k to 128k tokens. Utilizing code testing frameworks, we propose a method to construct retrieval contexts using coverage information. While models exhibit comparable performance with short contexts, notable differences emerge with 16k contexts. Notably, models like GPT-4o and Claude 3.5 can effectively leverage relevant snippets; however, all models score below 35\% on the complex Task III, even with the oracle context provided, underscoring the benchmark's significance and the potential for model improvement. The benchmark is containerized for code execution across tasks, and we will release the code, data, and construction methodologies.
From PowerPoint UI Sketches to Web-Based Applications: Pattern-Driven Code Generation for GIS Dashboard Development Using Knowledge-Augmented LLMs, Context-Aware Visual Prompting, and the React Framework
Authors: Haowen Xu, Xiao-Ying Yu
Date: 2025-02-12 00:00:00
Tasks: Code Generation, RAG, Retrieval-augmented Generation, Visual Prompting

Developing web-based GIS applications, commonly known as CyberGIS dashboards, for querying and visualizing GIS data in environmental research often demands repetitive and resource-intensive efforts. While Generative AI offers automation potential for code generation, it struggles with complex scientific applications due to challenges in integrating domain knowledge, software engineering principles, and UI design best practices. This paper introduces a knowledge-augmented code generation framework that retrieves software engineering best practices, domain expertise, and advanced technology stacks from a specialized knowledge base to enhance Generative Pre-trained Transformers (GPT) for front-end development. The framework automates the creation of GIS-based web applications (e.g., dashboards, interfaces) from user-defined UI wireframes sketched in tools like PowerPoint or Adobe Illustrator. A novel Context-Aware Visual Prompting method, implemented in Python, extracts layouts and interface features from these wireframes to guide code generation. Our approach leverages Large Language Models (LLMs) to generate front-end code by integrating structured reasoning, software engineering principles, and domain knowledge, drawing inspiration from Chain-of-Thought (CoT) prompting and Retrieval-Augmented Generation (RAG). A case study demonstrates the framework's capability to generate a modular, maintainable web platform hosting multiple dashboards for visualizing environmental and energy data (e.g., time-series, shapefiles, rasters) from user-sketched wireframes. By employing a knowledge-driven approach, the framework produces scalable, industry-standard front-end code using design patterns such as Model-View-ViewModel (MVVM) and frameworks like React. This significantly reduces manual effort in design and coding, pioneering an automated and efficient method for developing smart city software.
Improving Existing Optimization Algorithms with LLMs
Authors: Camilo Chacón Sartori, Christian Blum
Date: 2025-02-12 00:00:00
Tasks: Combinatorial Optimization

The integration of Large Language Models (LLMs) into optimization has created a powerful synergy, opening exciting research opportunities. This paper investigates how LLMs can enhance existing optimization algorithms. Using their pre-trained knowledge, we demonstrate their ability to propose innovative heuristic variations and implementation strategies. To evaluate this, we applied a non-trivial optimization algorithm, Construct, Merge, Solve and Adapt (CMSA) -- a hybrid metaheuristic for combinatorial optimization problems that incorporates a heuristic in the solution construction phase. Our results show that an alternative heuristic proposed by GPT-4o outperforms the expert-designed heuristic of CMSA, with the performance gap widening on larger and denser graphs. Project URL: https://imp-opt-algo-llms.surge.sh/
Generative AI and Empirical Software Engineering: A Paradigm Shift
Authors: Christoph Treude, Margaret-Anne Storey
Date: 2025-02-12 00:00:00

The widespread adoption of generative AI in software engineering marks a paradigm shift, offering new opportunities to design and utilize software engineering tools while influencing both developers and the artifacts they create. Traditional empirical methods in software engineering, including quantitative, qualitative, and mixed-method approaches, are well established. However, this paradigm shift introduces novel data types and redefines many concepts in the software engineering process. The roles of developers, users, agents, and researchers increasingly overlap, blurring the distinctions between these social and technical actors within the field. This paper examines how integrating AI into software engineering challenges traditional research paradigms. It focuses on the research phenomena that we investigate, the methods and theories that we employ, the data we analyze, and the threats to validity that emerge in this new context. Through this exploration, our goal is to understand how AI adoption disrupts established software development practices that creates new opportunities for empirical software engineering research.
From Hazard Identification to Controller Design: Proactive and LLM-Supported Safety Engineering for ML-Powered Systems
Authors: Yining Hong, Christopher S. Timperley, Christian Kästner
Date: 2025-02-11 00:00:00

Machine learning (ML) components are increasingly integrated into software products, yet their complexity and inherent uncertainty often lead to unintended and hazardous consequences, both for individuals and society at large. Despite these risks, practitioners seldom adopt proactive approaches to anticipate and mitigate hazards before they occur. Traditional safety engineering approaches, such as Failure Mode and Effects Analysis (FMEA) and System Theoretic Process Analysis (STPA), offer systematic frameworks for early risk identification but are rarely adopted. This position paper advocates for integrating hazard analysis into the development of any ML-powered software product and calls for greater support to make this process accessible to developers. By using large language models (LLMs) to partially automate a modified STPA process with human oversight at critical steps, we expect to address two key challenges: the heavy dependency on highly experienced safety engineering experts, and the time-consuming, labor-intensive nature of traditional hazard analysis, which often impedes its integration into real-world development workflows. We illustrate our approach with a running example, demonstrating that many seemingly unanticipated issues can, in fact, be anticipated.
Bridging LLM-Generated Code and Requirements: Reverse Generation technique and SBC Metric for Developer Insights
Authors: Ahilan Ayyachamy Nadar Ponnusamy
Date: 2025-02-11 00:00:00
Tasks: Code Generation, Semantic Similarity, Semantic Textual Similarity, Text Generation

The rise of Large Language Models (LLMs) in software engineering, particularly in code generation, has garnered significant attention. However, assessing the quality of AI-generated code remains a challenge due to the inherent complexity of programming tasks and the lack of robust evaluation metrics that align well with human judgment. Traditional token-based metrics such as BLEU and ROUGE, while commonly used in natural language processing, exhibit weak correlations with human assessments in code intelligence and verification tasks. Furthermore, these metrics are primarily research focused and are not designed for seamless integration into the software development lifecycle, limiting their practical utility for developers seeking to improve code quality and security. AI-assisted coding has been shown to be more beneficial for senior developers, as they possess the expertise to critically evaluate the generated code for correctness, completeness, and compliance. In contrast, junior developers may struggle to identify hallucinations, missing functionality, or incorrect logic in AI-generated code. To bridge this gap, This paper introduces a novel scoring mechanism called the SBC score, which is based on a reverse generation technique that leverages the natural language generation capabilities of LLMs. Unlike direct code analysis, our approach reconstructs system requirements from AI-generated code and compares them with the original specifications to quantify accuracy. The SBC score combines semantic similarity, BLEU, and completeness analysis, providing actionable insights to developers by highlighting missing features and hallucinations. Our code and datasets are available on GitHub