pwc-archive/papers-with-abstracts huggingface dataset:
Real-World Deployment of a Hierarchical Uncertainty-Aware Collaborative Multiagent Planning System
Authors: Martina Stadler Kurtz, Samuel Prentice, Yasmin Veys, Long Quang, Carlos Nieto-Granda, Michael Novitzky, Ethan Stump, Nicholas Roy
Date: 2024-04-26 00:00:00
Tasks: Navigate

We would like to enable a collaborative multiagent team to navigate at long length scales and under uncertainty in real-world environments. In practice, planning complexity scales with the number of agents in the team, with the length scale of the environment, and with environmental uncertainty. Enabling tractable planning requires developing abstract models that can represent complex, high-quality plans. However, such models often abstract away information needed to generate directly-executable plans for real-world agents in real-world environments, as planning in such detail, especially in the presence of real-world uncertainty, would be computationally intractable. In this paper, we describe the deployment of a planning system that used a hierarchy of planners to execute collaborative multiagent navigation tasks in real-world, unknown environments. By developing a planning system that was robust to failures at every level of the planning hierarchy, we enabled the team to complete collaborative navigation tasks, even in the presence of imperfect planning abstractions and real-world uncertainty. We deployed our approach on a Clearpath Husky-Jackal team navigating in a structured outdoor environment, and demonstrated that the system enabled the agents to successfully execute collaborative plans.
Spatial-frequency Dual-Domain Feature Fusion Network for Low-Light Remote Sensing Image Enhancement
Authors: Zishu Yao, Guodong Fan, Jinfu Fan, Min Gan, C. L. Philip Chen
Date: 2024-04-26 00:00:00
Tasks: Image Enhancement

Low-light remote sensing images generally feature high resolution and high spatial complexity, with continuously distributed surface features in space. This continuity in scenes leads to extensive long-range correlations in spatial domains within remote sensing images. Convolutional Neural Networks, which rely on local correlations for long-distance modeling, struggle to establish long-range correlations in such images. On the other hand, transformer-based methods that focus on global information face high computational complexities when processing high-resolution remote sensing images. From another perspective, Fourier transform can compute global information without introducing a large number of parameters, enabling the network to more efficiently capture the overall image structure and establish long-range correlations. Therefore, we propose a Dual-Domain Feature Fusion Network (DFFN) for low-light remote sensing image enhancement. Specifically, this challenging task of low-light enhancement is divided into two more manageable sub-tasks: the first phase learns amplitude information to restore image brightness, and the second phase learns phase information to refine details. To facilitate information exchange between the two phases, we designed an information fusion affine block that combines data from different phases and scales. Additionally, we have constructed two dark light remote sensing datasets to address the current lack of datasets in dark light remote sensing image enhancement. Extensive evaluations show that our method outperforms existing state-of-the-art methods. The code is available at https://github.com/iijjlk/DFFN.
M3BAT: Unsupervised Domain Adaptation for Multimodal Mobile Sensing with Multi-Branch Adversarial Training
Authors: Lakmal Meegahapola, Hamza Hassoune, Daniel Gatica-Perez
Date: 2024-04-26 00:00:00
Tasks: Domain Adaptation, Unsupervised Domain Adaptation

Over the years, multimodal mobile sensing has been used extensively for inferences regarding health and well being, behavior, and context. However, a significant challenge hindering the widespread deployment of such models in real world scenarios is the issue of distribution shift. This is the phenomenon where the distribution of data in the training set differs from the distribution of data in the real world, the deployment environment. While extensively explored in computer vision and natural language processing, and while prior research in mobile sensing briefly addresses this concern, current work primarily focuses on models dealing with a single modality of data, such as audio or accelerometer readings, and consequently, there is little research on unsupervised domain adaptation when dealing with multimodal sensor data. To address this gap, we did extensive experiments with domain adversarial neural networks (DANN) showing that they can effectively handle distribution shifts in multimodal sensor data. Moreover, we proposed a novel improvement over DANN, called M3BAT, unsupervised domain adaptation for multimodal mobile sensing with multi-branch adversarial training, to account for the multimodality of sensor data during domain adaptation with multiple branches. Through extensive experiments conducted on two multimodal mobile sensing datasets, three inference tasks, and 14 source-target domain pairs, including both regression and classification, we demonstrate that our approach performs effectively on unseen domains. Compared to directly deploying a model trained in the source domain to the target domain, the model shows performance increases up to 12% AUC (area under the receiver operating characteristics curves) on classification tasks, and up to 0.13 MAE (mean absolute error) on regression tasks.
How Could AI Support Design Education? A Study Across Fields Fuels Situating Analytics
Authors: Ajit Jain, Andruid Kerne, Hannah Fowler, Jinsil Seo, Galen Newman, Nic Lupfer, Aaron Perrine
Date: 2024-04-26 00:00:00

We use the process and findings from a case study of design educators' practices of assessment and feedback to fuel theorizing about how to make AI useful in service of human experience. We build on Suchman's theory of situated actions. We perform a qualitative study of 11 educators in 5 fields, who teach design processes situated in project-based learning contexts. Through qualitative data gathering and analysis, we derive codes: design process; assessment and feedback challenges; and computational support. We twice invoke creative cognition's family resemblance principle. First, to explain how design instructors already use assessment rubrics and second, to explain the analogous role for design creativity analytics: no particular trait is necessary or sufficient; each only tends to indicate good design work. Human teachers remain essential. We develop a set of situated design creativity analytics--Fluency, Flexibility, Visual Consistency, Multiscale Organization, and Legible Contrast--to support instructors' efforts, by providing on-demand, learning objectives-based assessment and feedback to students. We theorize a methodology, which we call situating analytics, firstly because making AI support living human activity depends on aligning what analytics measure with situated practices. Further, we realize that analytics can become most significant to users by situating them through interfaces that integrate them into the material contexts of their use. Here, this means situating design creativity analytics into actual design environments. Through the case study, we identify situating analytics as a methodology for explaining analytics to users, because the iterative process of alignment with practice has the potential to enable data scientists to derive analytics that make sense as part of and support situated human experiences.
Quantum Adjoint Convolutional Layers for Effective Data Representation
Authors: Ren-xin Zhao, Shi Wang, Yaonan Wang
Date: 2024-04-26 00:00:00

Quantum Convolutional Layer (QCL) is considered as one of the core of Quantum Convolutional Neural Networks (QCNNs) due to its efficient data feature extraction capability. However, the current principle of QCL is not as mathematically understandable as Classical Convolutional Layer (CCL) due to its black-box structure. Moreover, classical data mapping in many QCLs is inefficient. To this end, firstly, the Quantum Adjoint Convolution Operation (QACO) consisting of a quantum amplitude encoding and its inverse is theoretically shown to be equivalent to the quantum normalization of the convolution operation based on the Frobenius inner product while achieving an efficient characterization of the data. Subsequently, QACO is extended into a Quantum Adjoint Convolutional Layer (QACL) by Quantum Phase Estimation (QPE) to compute all Frobenius inner products in parallel. At last, comparative simulation experiments are carried out on PennyLane and TensorFlow platforms, mainly for the two cases of kernel fixed and unfixed in QACL. The results demonstrate that QACL with the insight of special quantum properties for the same images, provides higher training accuracy in MNIST and Fashion MNIST classification experiments, but sacrifices the learning performance to some extent. Predictably, our research lays the foundation for the development of efficient and interpretable quantum convolutional networks and also advances the field of quantum machine vision.
Assessing the Potential of AI for Spatially Sensitive Nature-Related Financial Risks
Authors: Steven Reece, Emma O donnell, Felicia Liu, Joanna Wolstenholme, Frida Arriaga, Giacomo Ascenzi, Richard Pywell
Date: 2024-04-26 00:00:00
Tasks: Time Series Analysis

There is growing recognition among financial institutions, financial regulators and policy makers of the importance of addressing nature-related risks and opportunities. Evaluating and assessing nature-related risks for financial institutions is challenging due to the large volume of heterogeneous data available on nature and the complexity of investment value chains and the various components' relationship to nature. The dual problem of scaling data analytics and analysing complex systems can be addressed using Artificial Intelligence (AI). We address issues such as plugging existing data gaps with discovered data, data estimation under uncertainty, time series analysis and (near) real-time updates. This report presents potential AI solutions for models of two distinct use cases, the Brazil Beef Supply Use Case and the Water Utility Use Case. Our two use cases cover a broad perspective within sustainable finance. The Brazilian cattle farming use case is an example of greening finance - integrating nature-related considerations into mainstream financial decision-making to transition investments away from sectors with poor historical track records and unsustainable operations. The deployment of nature-based solutions in the UK water utility use case is an example of financing green - driving investment to nature-positive outcomes. The two use cases also cover different sectors, geographies, financial assets and AI modelling techniques, providing an overview on how AI could be applied to different challenges relating to nature's integration into finance. This report is primarily aimed at financial institutions but is also of interest to ESG data providers, TNFD, systems modellers, and, of course, AI practitioners.
Similarity Equivariant Graph Neural Networks for Homogenization of Metamaterials
Authors: Fleur Hendriks, Vlado Menkovski, Martin Doškář, Marc G. D. Geers, Ondřej Rokoš
Date: 2024-04-26 00:00:00
Tasks: Graph Neural Network

Soft, porous mechanical metamaterials exhibit pattern transformations that may have important applications in soft robotics, sound reduction and biomedicine. To design these innovative materials, it is important to be able to simulate them accurately and quickly, in order to tune their mechanical properties. Since conventional simulations using the finite element method entail a high computational cost, in this article we aim to develop a machine learning-based approach that scales favorably to serve as a surrogate model. To ensure that the model is also able to handle various microstructures, including those not encountered during training, we include the microstructure as part of the network input. Therefore, we introduce a graph neural network that predicts global quantities (energy, stress stiffness) as well as the pattern transformations that occur (the kinematics). To make our model as accurate and data-efficient as possible, various symmetries are incorporated into the model. The starting point is an E(n)-equivariant graph neural network (which respects translation, rotation and reflection) that has periodic boundary conditions (i.e., it is in-/equivariant with respect to the choice of RVE), is scale in-/equivariant, can simulate large deformations, and can predict scalars, vectors as well as second and fourth order tensors (specifically energy, stress and stiffness). The incorporation of scale equivariance makes the model equivariant with respect to the similarities group, of which the Euclidean group E(n) is a subgroup. We show that this network is more accurate and data-efficient than graph neural networks with fewer symmetries. To create an efficient graph representation of the finite element discretization, we use only the internal geometrical hole boundaries from the finite element mesh to achieve a better speed-up and scaling with the mesh size.
From Multiple-Choice to Extractive QA: A Case Study for English and Arabic
Authors: Teresa Lynn, Malik H. Altakrori, Samar Mohamed Magdy, Rocktim Jyoti Das, Chenyang Lyu, Mohamed Nasr, Younes Samih, Kirill Chirkunov, Alham Fikri Aji, Preslav Nakov, Shantanu Godbole, Salim Roukos, Radu Florian, Nizar Habash
Date: 2024-04-26 00:00:00
Tasks: Belebele, Extractive Question-Answering, Machine Reading Comprehension, Multiple-choice, Multiple Choice Question Answering (MCQA), Question Answering, Reading Comprehension

The rapid evolution of Natural Language Processing (NLP) has favoured major languages such as English, leaving a significant gap for many others due to limited resources. This is especially evident in the context of data annotation, a task whose importance cannot be underestimated, but which is time-consuming and costly. Thus, any dataset for resource-poor languages is precious, in particular when it is task-specific. Here, we explore the feasibility of repurposing an existing multilingual dataset for a new NLP task: we repurpose a subset of the BELEBELE dataset (Bandarkar et al., 2023), which was designed for multiple-choice question answering (MCQA), to enable the more practical task of extractive QA (EQA) in the style of machine reading comprehension. We present annotation guidelines and a parallel EQA dataset for English and Modern Standard Arabic (MSA). We also present QA evaluation results for several monolingual and cross-lingual QA pairs including English, MSA, and five Arabic dialects. We aim to help others adapt our approach for the remaining 120 BELEBELE language variants, many of which are deemed under-resourced. We also provide a thorough analysis and share insights to deepen understanding of the challenges and opportunities in NLP task reformulation.
Introducing cosmosGPT: Monolingual Training for Turkish Language Models
Authors: H. Toprak Kesgin, M. Kaan Yuce, Eren Dogan, M. Egemen Uzun, Atahan Uz, H. Emre Seyrek, Ahmed Zeer, M. Fatih Amasyali
Date: 2024-04-26 00:00:00

The number of open source language models that can produce Turkish is increasing day by day, as in other languages. In order to create the basic versions of such models, the training of multilingual models is usually continued with Turkish corpora. The alternative is to train the model with only Turkish corpora. In this study, we first introduce the cosmosGPT models that we created with this alternative method. Then, we introduce new finetune datasets for basic language models to fulfill user requests and new evaluation datasets for measuring the capabilities of Turkish language models. Finally, a comprehensive comparison of the adapted Turkish language models on different capabilities is presented. The results show that the language models we built with the monolingual corpus have promising performance despite being about 10 times smaller than the others.
A Novel Spike Transformer Network for Depth Estimation from Event Cameras via Cross-modality Knowledge Distillation
Authors: Xin Zhang, Liangxiu Han, Tam Sobeih, Lianghao Han, Darren Dancey
Date: 2024-04-26 00:00:00
Tasks: Depth Estimation, Knowledge Distillation, Transfer Learning

Depth estimation is crucial for interpreting complex environments, especially in areas such as autonomous vehicle navigation and robotics. Nonetheless, obtaining accurate depth readings from event camera data remains a formidable challenge. Event cameras operate differently from traditional digital cameras, continuously capturing data and generating asynchronous binary spikes that encode time, location, and light intensity. Yet, the unique sampling mechanisms of event cameras render standard image based algorithms inadequate for processing spike data. This necessitates the development of innovative, spike-aware algorithms tailored for event cameras, a task compounded by the irregularity, continuity, noise, and spatial and temporal characteristics inherent in spiking data.Harnessing the strong generalization capabilities of transformer neural networks for spatiotemporal data, we propose a purely spike-driven spike transformer network for depth estimation from spiking camera data. To address performance limitations with Spiking Neural Networks (SNN), we introduce a novel single-stage cross-modality knowledge transfer framework leveraging knowledge from a large vision foundational model of artificial neural networks (ANN) (DINOv2) to enhance the performance of SNNs with limited data. Our experimental results on both synthetic and real datasets show substantial improvements over existing models, with notable gains in Absolute Relative and Square Relative errors (49% and 39.77% improvements over the benchmark model Spike-T, respectively). Besides accuracy, the proposed model also demonstrates reduced power consumptions, a critical factor for practical applications.
A Deep Dive into Effects of Structural Bias on CMA-ES Performance along Affine Trajectories
Authors: Niki van Stein, Sarah L. Thomson, Anna V. Kononova
Date: 2024-04-26 00:00:00
Tasks: Bias Detection

To guide the design of better iterative optimisation heuristics, it is imperative to understand how inherent structural biases within algorithm components affect the performance on a wide variety of search landscapes. This study explores the impact of structural bias in the modular Covariance Matrix Adaptation Evolution Strategy (modCMA), focusing on the roles of various modulars within the algorithm. Through an extensive investigation involving 435,456 configurations of modCMA, we identified key modules that significantly influence structural bias of various classes. Our analysis utilized the Deep-BIAS toolbox for structural bias detection and classification, complemented by SHAP analysis for quantifying module contributions. The performance of these configurations was tested on a sequence of affine-recombined functions, maintaining fixed optimum locations while gradually varying the landscape features. Our results demonstrate an interplay between module-induced structural bias and algorithm performance across different landscape characteristics.
Certified MaxSAT Preprocessing
Authors: Hannes Ihalainen, Andy Oertel, Yong Kiam Tan, Jeremias Berg, Matti Järvisalo, Jakob Nordström
Date: 2024-04-26 00:00:00

Building on the progress in Boolean satisfiability (SAT) solving over the last decades, maximum satisfiability (MaxSAT) has become a viable approach for solving NP-hard optimization problems, but ensuring correctness of MaxSAT solvers has remained an important concern. For SAT, this is largely a solved problem thanks to the use of proof logging, meaning that solvers emit machine-verifiable proofs of (un)satisfiability to certify correctness. However, for MaxSAT, proof logging solvers have started being developed only very recently. Moreover, these nascent efforts have only targeted the core solving process, ignoring the preprocessing phase where input problem instances can be substantially reformulated before being passed on to the solver proper. In this work, we demonstrate how pseudo-Boolean proof logging can be used to certify the correctness of a wide range of modern MaxSAT preprocessing techniques. By combining and extending the VeriPB and CakePB tools, we provide formally verified, end-to-end proof checking that the input and preprocessed output MaxSAT problem instances have the same optimal value. An extensive evaluation on applied MaxSAT benchmarks shows that our approach is feasible in practice.
Part-Guided 3D RL for Sim2Real Articulated Object Manipulation
Authors: Pengwei Xie, Rui Chen, Siang Chen, Yuzhe Qin, Fanbo Xiang, Tianyu Sun, Jing Xu, Guijin Wang, Hao Su
Date: 2024-04-26 00:00:00

Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide manipulation policies, which face challenges for novel instances in real-world scenarios. In this paper, we propose a novel part-guided 3D RL framework, which can learn to manipulate articulated objects without demonstrations. We combine the strengths of 2D segmentation and 3D RL to improve the efficiency of RL policy training. To improve the stability of the policy on real robots, we design a Frame-consistent Uncertainty-aware Sampling (FUS) strategy to get a condensed and hierarchical 3D representation. In addition, a single versatile RL policy can be trained on multiple articulated object manipulation tasks simultaneously in simulation and shows great generalizability to novel categories and instances. Experimental results demonstrate the effectiveness of our framework in both simulation and real-world settings. Our code is available at https://github.com/THU-VCLab/Part-Guided-3D-RL-for-Sim2Real-Articulated-Object-Manipulation.
Efficient Deterministic Renewable Energy Forecasting Guided by Multiple-Location Weather Data
Authors: Charalampos Symeonidis, Nikos Nikolaidis
Date: 2024-04-26 00:00:00
Tasks: Time Series, Time Series Forecasting

Electricity generated from renewable energy sources has been established as an efficient remedy for both energy shortages and the environmental pollution stemming from conventional energy production methods. Solar and wind power are two of the most dominant renewable energy sources. The accurate forecasting of the energy generation of those sources facilitates their integration into electric grids, by minimizing the negative impact of uncertainty regarding their management and operation. This paper proposes a novel methodology for deterministic wind and solar energy generation forecasting for multiple generation sites, utilizing multi-location weather forecasts. The method employs a U-shaped Temporal Convolutional Auto-Encoder (UTCAE) architecture for temporal processing of weather-related and energy-related time-series across each site. The Multi-sized Kernels convolutional Spatio-Temporal Attention (MKST-Attention), inspired by the multi-head scaled-dot product attention mechanism, is also proposed aiming to efficiently transfer temporal patterns from weather data to energy data, without a priori knowledge of the locations of the power stations and the locations of provided weather data. The conducted experimental evaluation on a day-ahead solar and wind energy forecasting scenario on five datasets demonstrated that the proposed method achieves top results, outperforming all competitive time-series forecasting state-of-the-art methods.