pwc-archive/papers-with-abstracts huggingface dataset:
Benchmarking Zero-Shot Robustness of Multimodal Foundation Models: A Pilot Study
Authors: Chenguang Wang, Ruoxi Jia, Xin Liu, Dawn Song
Date: 2024-03-15 00:00:00
Tasks: Benchmarking

Pre-training image representations from the raw text about images enables zero-shot vision transfer to downstream tasks. Through pre-training on millions of samples collected from the internet, multimodal foundation models, such as CLIP, produce state-of-the-art zero-shot results that often reach competitiveness with fully supervised methods without the need for task-specific training. Besides the encouraging performance on classification accuracy, it is reported that these models close the robustness gap by matching the performance of supervised models trained on ImageNet under natural distribution shift. Because robustness is critical to real-world applications, especially safety-critical ones, in this paper, we present a comprehensive evaluation based on a large-scale robustness benchmark covering 7 natural, 3 synthetic distribution shifts, and 11 adversarial attacks. We use CLIP as a pilot study. We show that CLIP leads to a significant robustness drop compared to supervised ImageNet models on our benchmark, especially under synthetic distribution shift and adversarial attacks. Furthermore, data overlap analysis suggests that the observed robustness under natural distribution shifts could be attributed, at least in part, to data overlap. In summary, our evaluation shows a comprehensive evaluation of robustness is necessary; and there is a significant need to improve the robustness of zero-shot multimodal models.
Stimulate the Potential of Robots via Competition
Authors: Kangyao Huang, Di Guo, Xinyu Zhang, Xiangyang Ji, Huaping Liu
Date: 2024-03-15 00:00:00

It is common for us to feel pressure in a competition environment, which arises from the desire to obtain success comparing with other individuals or opponents. Although we might get anxious under the pressure, it could also be a drive for us to stimulate our potentials to the best in order to keep up with others. Inspired by this, we propose a competitive learning framework which is able to help individual robot to acquire knowledge from the competition, fully stimulating its dynamics potential in the race. Specifically, the competition information among competitors is introduced as the additional auxiliary signal to learn advantaged actions. We further build a Multiagent-Race environment, and extensive experiments are conducted, demonstrating that robots trained in competitive environments outperform ones that are trained with SoTA algorithms in single robot environment.
Can a GPT4-Powered AI Agent Be a Good Enough Performance Attribution Analyst?
Authors: Bruno de Melo, Jamiel Sheikh
Date: 2024-03-15 00:00:00
Tasks: AI Agent, Management, Prompt Engineering, Question Answering

Performance attribution analysis, defined as the process of explaining the drivers of the excess performance of an investment portfolio against a benchmark, stands as a significant feature of portfolio management and plays a crucial role in the investment decision-making process, particularly within the fund management industry. Rooted in a solid financial and mathematical framework, the importance and methodologies of this analytical technique are extensively documented across numerous academic research papers and books. The integration of large language models (LLMs) and AI agents marks a groundbreaking development in this field. These agents are designed to automate and enhance the performance attribution analysis by accurately calculating and analyzing portfolio performances against benchmarks. In this study, we introduce the application of an AI Agent for a variety of essential performance attribution tasks, including the analysis of performance drivers and utilizing LLMs as calculation engine for multi-level attribution analysis and question-answering (QA) tasks. Leveraging advanced prompt engineering techniques such as Chain-of-Thought (CoT) and Plan and Solve (PS), and employing a standard agent framework from LangChain, the research achieves promising results: it achieves accuracy rates exceeding 93% in analyzing performance drivers, attains 100% in multi-level attribution calculations, and surpasses 84% accuracy in QA exercises that simulate official examination standards. These findings affirm the impactful role of AI agents, prompt engineering and evaluation in advancing portfolio management processes, highlighting a significant development in the practical application and evaluation of Generative AI technologies within the domain.
Safety Cases: How to Justify the Safety of Advanced AI Systems
Authors: Joshua Clymer, Nick Gabrieli, David Krueger, Thomas Larsen
Date: 2024-03-15 00:00:00

As AI systems become more advanced, companies and regulators will make difficult decisions about whether it is safe to train and deploy them. To prepare for these decisions, we investigate how developers could make a 'safety case,' which is a structured rationale that AI systems are unlikely to cause a catastrophe. We propose a framework for organizing a safety case and discuss four categories of arguments to justify safety: total inability to cause a catastrophe, sufficiently strong control measures, trustworthiness despite capability to cause harm, and -- if AI systems become much more powerful -- deference to credible AI advisors. We evaluate concrete examples of arguments in each category and outline how arguments could be combined to justify that AI systems are safe to deploy.
Online Concurrent Multi-Robot Coverage Path Planning
Authors: Ratijit Mitra, Indranil Saha
Date: 2024-03-15 00:00:00

Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and the path execution interleave, meaning when the path planning occurs for robots with no paths, the robots with outstanding paths do not execute, and subsequently, when the robots with new or outstanding paths execute to reach respective goals, path planning does not occur for those robots yet to get new paths, leading to wastage of both the robotic and the computation resources. As a remedy, we propose a centralized algorithm that is not horizon-based. It plans paths at any time for a subset of robots with no paths, i.e., who have reached their previously assigned goals, while the rest execute their outstanding paths, thereby enabling concurrent planning and execution. We formally prove that the proposed algorithm ensures complete coverage of an unknown workspace and analyze its time complexity. To demonstrate scalability, we evaluate our algorithm to cover eight large $2$D grid benchmark workspaces with up to 512 aerial and ground robots, respectively. A comparison with a state-of-the-art horizon-based algorithm shows its superiority in completing the coverage with up to 1.6x speedup. For validation, we perform ROS + Gazebo simulations in six 2D grid benchmark workspaces with 10 quadcopters and TurtleBots, respectively. We also successfully conducted one outdoor experiment with three quadcopters and one indoor with two TurtleBots.
Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness
Authors: Aidan Curtis, George Matheos, Nishad Gothoskar, Vikash Mansinghka, Joshua Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Date: 2024-03-15 00:00:00
Tasks: Motion Planning, Task and Motion Planning

Integrated task and motion planning (TAMP) has proven to be a valuable approach to generalizable long-horizon robotic manipulation and navigation problems. However, the typical TAMP problem formulation assumes full observability and deterministic action effects. These assumptions limit the ability of the planner to gather information and make decisions that are risk-aware. We propose a strategy for TAMP with Uncertainty and Risk Awareness (TAMPURA) that is capable of efficiently solving long-horizon planning problems with initial-state and action outcome uncertainty, including problems that require information gathering and avoiding undesirable and irreversible outcomes. Our planner reasons under uncertainty at both the abstract task level and continuous controller level. Given a set of closed-loop goal-conditioned controllers operating in the primitive action space and a description of their preconditions and potential capabilities, we learn a high-level abstraction that can be solved efficiently and then refined to continuous actions for execution. We demonstrate our approach on several robotics problems where uncertainty is a crucial factor and show that reasoning under uncertainty in these problems outperforms previously proposed determinized planning, direct search, and reinforcement learning strategies. Lastly, we demonstrate our planner on two real-world robotics problems using recent advancements in probabilistic perception.
Data Ethics Emergency Drill: A Toolbox for Discussing Responsible AI for Industry Teams
Authors: Vanessa Aisyahsari Hanschke, Dylan Rees, Merve Alanyali, David Hopkinson, Paul Marshall
Date: 2024-03-15 00:00:00
Tasks: Ethics, Management

Researchers urge technology practitioners such as data scientists to consider the impacts and ethical implications of algorithmic decisions. However, unlike programming, statistics, and data management, discussion of ethical implications is rarely included in standard data science training. To begin to address this gap, we designed and tested a toolbox called the data ethics emergency drill (DEED) to help data science teams discuss and reflect on the ethical implications of their work. The DEED is a roleplay of a fictional ethical emergency scenario that is contextually situated in the team's specific workplace and applications. This paper outlines the DEED toolbox and describes three studies carried out with two different data science teams that iteratively shaped its design. Our findings show that practitioners can apply lessons learnt from the roleplay to real-life situations, and how the DEED opened up conversations around ethics and values.
AI-enhanced Collective Intelligence
Authors: HAO CUI, Taha Yasseri
Date: 2024-03-15 00:00:00
Tasks: Diversity

Current societal challenges exceed the capacity of humans operating either alone or collectively. As AI evolves, its role within human collectives will vary from an assistive tool to a participatory member. Humans and AI possess complementary capabilities that, together, can surpass the collective intelligence of either humans or AI in isolation. However, the interactions in human-AI systems are inherently complex, involving intricate processes and interdependencies. This review incorporates perspectives from complex network science to conceptualize a multilayer representation of human-AI collective intelligence, comprising cognition, physical, and information layers. Within this multilayer network, humans and AI agents exhibit varying characteristics; humans differ in diversity from surface-level to deep-level attributes, while AI agents range in degrees of functionality and anthropomorphism. We explore how agents' diversity and interactions influence the system's collective intelligence and analyze real-world instances of AI-enhanced collective intelligence. We conclude by considering potential challenges and future developments in this field.
NeuFlow: Real-time, High-accuracy Optical Flow Estimation on Robots Using Edge Devices
Authors: Zhiyong Zhang, Huaizu Jiang, Hanumant Singh
Date: 2024-03-15 00:00:00
Tasks: Activity Recognition, Edge-computing, Object Tracking, Optical Flow Estimation

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based optical flow methods have achieved high accuracy, they often come with heavy computation costs. In this paper, we propose a highly efficient optical flow architecture, called NeuFlow, that addresses both high accuracy and computational cost concerns. The architecture follows a global-to-local scheme. Given the features of the input images extracted at different spatial resolutions, global matching is employed to estimate an initial optical flow on the 1/16 resolution, capturing large displacement, which is then refined on the 1/8 resolution with lightweight CNN layers for better accuracy. We evaluate our approach on Jetson Orin Nano and RTX 2080 to demonstrate efficiency improvements across different computing platforms. We achieve a notable 10x-80x speedup compared to several state-of-the-art methods, while maintaining comparable accuracy. Our approach achieves around 30 FPS on edge computing platforms, which represents a significant breakthrough in deploying complex computer vision tasks such as SLAM on small robots like drones. The full training and evaluation code is available at https://github.com/neufieldrobotics/NeuFlow.
Gradient based Feature Attribution in Explainable AI: A Technical Review
Authors: Yongjie Wang, Tong Zhang, Xu Guo, Zhiqi Shen
Date: 2024-03-15 00:00:00
Tasks: Autonomous Driving

The surge in black-box AI models has prompted the need to explain the internal mechanism and justify their reliability, especially in high-stakes applications, such as healthcare and autonomous driving. Due to the lack of a rigorous definition of explainable AI (XAI), a plethora of research related to explainability, interpretability, and transparency has been developed to explain and analyze the model from various perspectives. Consequently, with an exhaustive list of papers, it becomes challenging to have a comprehensive overview of XAI research from all aspects. Considering the popularity of neural networks in AI research, we narrow our focus to a specific area of XAI research: gradient based explanations, which can be directly adopted for neural network models. In this review, we systematically explore gradient based explanation methods to date and introduce a novel taxonomy to categorize them into four distinct classes. Then, we present the essence of technique details in chronological order and underscore the evolution of algorithms. Next, we introduce both human and quantitative evaluations to measure algorithm performance. More importantly, we demonstrate the general challenges in XAI and specific challenges in gradient based explanations. We hope that this survey can help researchers understand state-of-the-art progress and their corresponding disadvantages, which could spark their interest in addressing these issues in future work.
Energy Correction Model in the Feature Space for Out-of-Distribution Detection
Authors: Marc Lafon, Clément Rambour, Nicolas Thome
Date: 2024-03-15 00:00:00
Tasks: Out-of-Distribution Detection, Out of Distribution (OOD) Detection

In this work, we study the out-of-distribution (OOD) detection problem through the use of the feature space of a pre-trained deep classifier. We show that learning the density of in-distribution (ID) features with an energy-based models (EBM) leads to competitive detection results. However, we found that the non-mixing of MCMC sampling during the EBM's training undermines its detection performance. To overcome this an energy-based correction of a mixture of class-conditional Gaussian distributions. We obtains favorable results when compared to a strong baseline like the KNN detector on the CIFAR-10/CIFAR-100 OOD detection benchmarks.
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy
Authors: Alison Bartsch, Arvind Car, Charlotte Avra, Amir Barati Farimani
Date: 2024-03-15 00:00:00
Tasks: Imitation Learning, State Estimation

Manipulating deformable objects remains a challenge within robotics due to the difficulties of state estimation, long-horizon planning, and predicting how the object will deform given an interaction. These challenges are the most pronounced with 3D deformable objects. We propose SculptDiff, a goal-conditioned diffusion-based imitation learning framework that works with point cloud state observations to directly learn clay sculpting policies for a variety of target shapes. To the best of our knowledge this is the first real-world method that successfully learns manipulation policies for 3D deformable objects. For sculpting videos and access to our dataset and hardware CAD models, see the project website: https://sites.google.com/andrew.cmu.edu/imitation-sculpting/home
BirdSet: A Large-Scale Dataset for Audio Classification in Avian Bioacoustics
Authors: Lukas Rauch, Raphael Schwinger, Moritz Wirth, René Heinrich, Denis Huseljic, Marek Herde, Jonas Lange, Stefan Kahl, Bernhard Sick, Sven Tomforde, Christoph Scholz
Date: 2024-03-15 00:00:00
Tasks: Audio Classification, Classification, Multi-Label Classification, MUlTI-LABEL-ClASSIFICATION, Self-Supervised Learning

Deep learning (DL) has greatly advanced audio classification, yet the field is limited by the scarcity of large-scale benchmark datasets that have propelled progress in other domains. While AudioSet is a pivotal step to bridge this gap as a universal-domain dataset, its restricted accessibility and limited range of evaluation use cases challenge its role as the sole resource. Therefore, we introduce BirdSet, a large-scale benchmark dataset for audio classification focusing on avian bioacoustics. BirdSet surpasses AudioSet with over 6,800 recording hours ($\uparrow\!17\%$) from nearly 10,000 classes ($\uparrow\!18\times$) for training and more than 400 hours ($\uparrow\!7\times$) across eight strongly labeled evaluation datasets. It serves as a versatile resource for use cases such as multi-label classification, covariate shift or self-supervised learning. We benchmark six well-known DL models in multi-label classification across three distinct training scenarios and outline further evaluation use cases in audio classification. We host our dataset on Hugging Face for easy accessibility and offer an extensive codebase to reproduce our results.
An Energy-Efficient Ensemble Approach for Mitigating Data Incompleteness in IoT Applications
Authors: Yousef AlShehri, Lakshmish Ramaswamy
Date: 2024-03-15 00:00:00

Machine Learning (ML) is becoming increasingly important for IoT-based applications. However, the dynamic and ad-hoc nature of many IoT ecosystems poses unique challenges to the efficacy of ML algorithms. One such challenge is data incompleteness, which is manifested as missing sensor readings. Many factors, including sensor failures and/or network disruption, can cause data incompleteness. Furthermore, most IoT systems are severely power-constrained. It is important that we build IoT-based ML systems that are robust against data incompleteness while simultaneously being energy efficient. This paper presents an empirical study of SECOE - a recent technique for alleviating data incompleteness in IoT - with respect to its energy bottlenecks. Towards addressing the energy bottlenecks of SECOE, we propose ENAMLE - a proactive, energy-aware technique for mitigating the impact of concurrent missing data. ENAMLE is unique in the sense that it builds an energy-aware ensemble of sub-models, each trained with a subset of sensors chosen carefully based on their correlations. Furthermore, at inference time, ENAMLE adaptively alters the number of the ensemble of models based on the amount of missing data rate and the energy-accuracy trade-off. ENAMLE's design includes several novel mechanisms for minimizing energy consumption while maintaining accuracy. We present extensive experimental studies on two distinct datasets that demonstrate the energy efficiency of ENAMLE and its ability to alleviate sensor failures.
Scalable Algorithms for Individual Preference Stable Clustering
Authors: Ron Mosenzon, Ali Vakilian
Date: 2024-03-15 00:00:00
Tasks: Clustering, Fairness

In this paper, we study the individual preference (IP) stability, which is an notion capturing individual fairness and stability in clustering. Within this setting, a clustering is $\alpha$-IP stable when each data point's average distance to its cluster is no more than $\alpha$ times its average distance to any other cluster. In this paper, we study the natural local search algorithm for IP stable clustering. Our analysis confirms a $O(\log n)$-IP stability guarantee for this algorithm, where $n$ denotes the number of points in the input. Furthermore, by refining the local search approach, we show it runs in an almost linear time, $\tilde{O}(nk)$.
Unsupervised Threat Hunting using Continuous Bag-of-Terms-and-Time (CBoTT)
Authors: Varol Kayhan, Shivendu Shivendu, Rouzbeh Behnia, Clinton Daniel, Manish Agrawal
Date: 2024-03-15 00:00:00

Threat hunting is sifting through system logs to detect malicious activities that might have bypassed existing security measures. It can be performed in several ways, one of which is based on detecting anomalies. We propose an unsupervised framework, called continuous bag-of-terms-and-time (CBoTT), and publish its application programming interface (API) to help researchers and cybersecurity analysts perform anomaly-based threat hunting among SIEM logs geared toward process auditing on endpoint devices. Analyses show that our framework consistently outperforms benchmark approaches. When logs are sorted by likelihood of being an anomaly (from most likely to least), our approach identifies anomalies at higher percentiles (between 1.82-6.46) while benchmark approaches identify the same anomalies at lower percentiles (between 3.25-80.92). This framework can be used by other researchers to conduct benchmark analyses and cybersecurity analysts to find anomalies in SIEM logs.
CDGP: Automatic Cloze Distractor Generation based on Pre-trained Language Model
Authors: Shang-Hsuan Chiang, Ssu-Cheng Wang, Yao-Chung Fan
Date: 2024-03-15 00:00:00
Tasks: Cloze Test, Distractor Generation, Language Modeling, Language Modelling

Manually designing cloze test consumes enormous time and efforts. The major challenge lies in wrong option (distractor) selection. Having carefully-design distractors improves the effectiveness of learner ability assessment. As a result, the idea of automatically generating cloze distractor is motivated. In this paper, we investigate cloze distractor generation by exploring the employment of pre-trained language models (PLMs) as an alternative for candidate distractor generation. Experiments show that the PLM-enhanced model brings a substantial performance improvement. Our best performing model advances the state-of-the-art result from 14.94 to 34.17 (NDCG@10 score). Our code and dataset is available at https://github.com/AndyChiangSH/CDGP.
KIF: A Wikidata-Based Framework for Integrating Heterogeneous Knowledge Sources
Authors: Guilherme Lima, João M. B. Rodrigues, Marcelo Machado, Elton Soares, Sandro R. Fiorini, Raphael Thiago, Leonardo G. Azevedo, Viviane T. da Silva, Renato Cerqueira
Date: 2024-03-15 00:00:00

We present a Wikidata-based framework, called KIF, for virtually integrating heterogeneous knowledge sources. KIF is written in Python and is released as open-source. It leverages Wikidata's data model and vocabulary plus user-defined mappings to construct a unified view of the underlying sources while keeping track of the context and provenance of their statements. The underlying sources can be triplestores, relational databases, CSV files, etc., which may or may not use the vocabulary and RDF encoding of Wikidata. The end result is a virtual knowledge base which behaves like an "extended Wikidata" and which can be queried using a simple but expressive pattern language, defined in terms of Wikidata's data model. In this paper, we present the design and implementation of KIF, discuss how we have used it to solve a real integration problem in the domain of chemistry (involving Wikidata, PubChem, and IBM CIRCA), and present experimental results on the performance and overhead of KIF