pwc-archive/papers-with-abstracts huggingface dataset:
Robot-Enabled Machine Learning-Based Diagnosis of Gastric Cancer Polyps Using Partial Surface Tactile Imaging
Authors: Siddhartha Kapuria, Jeff Bonyun, Yash Kulkarni, Naruhiko Ikoma, Sandeep Chinchali, Farshid Alambeigi
Date: 2024-08-02 00:00:00

In this paper, to collectively address the existing limitations on endoscopic diagnosis of Advanced Gastric Cancer (AGC) Tumors, for the first time, we propose (i) utilization and evaluation of our recently developed Vision-based Tactile Sensor (VTS), and (ii) a complementary Machine Learning (ML) algorithm for classifying tumors using their textural features. Leveraging a seven DoF robotic manipulator and unique custom-designed and additively-manufactured realistic AGC tumor phantoms, we demonstrated the advantages of automated data collection using the VTS addressing the problem of data scarcity and biases encountered in traditional ML-based approaches. Our synthetic-data-trained ML model was successfully evaluated and compared with traditional ML models utilizing various statistical metrics even under mixed morphological characteristics and partial sensor contact.
Counterfactual Explanations for Medical Image Classification and Regression using Diffusion Autoencoder
Authors: Matan Atad, David Schinz, Hendrik Moeller, Robert Graf, Benedikt Wiestler, Daniel Rueckert, Nassir Navab, Jan S. Kirschke, Matthias Keicher
Date: 2024-08-02 00:00:00
Tasks: counterfactual, image-classification, Image Classification, Medical Image Classification, regression

Counterfactual explanations (CEs) aim to enhance the interpretability of machine learning models by illustrating how alterations in input features would affect the resulting predictions. Common CE approaches require an additional model and are typically constrained to binary counterfactuals. In contrast, we propose a novel method that operates directly on the latent space of a generative model, specifically a Diffusion Autoencoder (DAE). This approach offers inherent interpretability by enabling the generation of CEs and the continuous visualization of the model's internal representation across decision boundaries. Our method leverages the DAE's ability to encode images into a semantically rich latent space in an unsupervised manner, eliminating the need for labeled data or separate feature extraction models. We show that these latent representations are helpful for medical condition classification and the ordinal regression of severity pathologies, such as vertebral compression fractures (VCF) and diabetic retinopathy (DR). Beyond binary CEs, our method supports the visualization of ordinal CEs using a linear model, providing deeper insights into the model's decision-making process and enhancing interpretability. Experiments across various medical imaging datasets demonstrate the method's advantages in interpretability and versatility. The linear manifold of the DAE's latent space allows for meaningful interpolation and manipulation, making it a powerful tool for exploring medical image properties. Our code is available at https://doi.org/10.5281/zenodo.13859266.
Conformal Diffusion Models for Individual Treatment Effect Estimation and Inference
Authors: Hengrui Cai, Huaqing Jin, Lexin Li
Date: 2024-08-02 00:00:00

Estimating treatment effects from observational data is of central interest across numerous application domains. Individual treatment effect offers the most granular measure of treatment effect on an individual level, and is the most useful to facilitate personalized care. However, its estimation and inference remain underdeveloped due to several challenges. In this article, we propose a novel conformal diffusion model-based approach that addresses those intricate challenges. We integrate the highly flexible diffusion modeling, the model-free statistical inference paradigm of conformal inference, along with propensity score and covariate local approximation that tackle distributional shifts. We unbiasedly estimate the distributions of potential outcomes for individual treatment effect, construct an informative confidence interval, and establish rigorous theoretical guarantees. We demonstrate the competitive performance of the proposed method over existing solutions through extensive numerical studies.
CYBERSECEVAL 3: Advancing the Evaluation of Cybersecurity Risks and Capabilities in Large Language Models
Authors: Shengye Wan, Cyrus Nikolaidis, Daniel Song, David Molnar, James Crnkovich, Jayson Grace, Manish Bhatt, Sahana Chennabasappa, Spencer Whitman, Stephanie Ding, Vlad Ionescu, Yue Li, Joshua Saxe
Date: 2024-08-02 00:00:00

We are releasing a new suite of security benchmarks for LLMs, CYBERSECEVAL 3, to continue the conversation on empirically measuring LLM cybersecurity risks and capabilities. CYBERSECEVAL 3 assesses 8 different risks across two broad categories: risk to third parties, and risk to application developers and end users. Compared to previous work, we add new areas focused on offensive security capabilities: automated social engineering, scaling manual offensive cyber operations, and autonomous offensive cyber operations. In this paper we discuss applying these benchmarks to the Llama 3 models and a suite of contemporaneous state-of-the-art LLMs, enabling us to contextualize risks both with and without mitigations in place.
Deep Learning Meets OBIA: Tasks, Challenges, Strategies, and Perspectives
Authors: Lei Ma, Ziyun Yan, Mengmeng Li, Tao Liu, Liqin Tan, Xuan Wang, Weiqiang He, Ruikun Wang, Guangjun He, Heng Lu, Thomas Blaschke
Date: 2024-08-02 00:00:00
Tasks: Deep Learning

Deep learning has gained significant attention in remote sensing, especially in pixel- or patch-level applications. Despite initial attempts to integrate deep learning into object-based image analysis (OBIA), its full potential remains largely unexplored. In this article, as OBIA usage becomes more widespread, we conducted a comprehensive review and expansion of its task subdomains, with or without the integration of deep learning. Furthermore, we have identified and summarized five prevailing strategies to address the challenge of deep learning's limitations in directly processing unstructured object data within OBIA, and this review also recommends some important future research directions. Our goal with these endeavors is to inspire more exploration in this fascinating yet overlooked area and facilitate the integration of deep learning into OBIA processing workflows.
Positive-Unlabeled Constraint Learning for Inferring Nonlinear Continuous Constraints Functions from Expert Demonstrations
Authors: Baiyu Peng, Aude Billard
Date: 2024-08-03 00:00:00

Planning for diverse real-world robotic tasks necessitates to know and write all constraints. However, instances exist where these constraints are either unknown or challenging to specify accurately. A possible solution is to infer the unknown constraints from expert demonstration. This paper presents a novel two-step Positive-Unlabeled Constraint Learning (PUCL) algorithm to infer a continuous constraint function from demonstrations, without requiring prior knowledge of the true constraint parameterization or environmental model as existing works. We treat all data in demonstrations as positive (feasible) data, and learn a control policy to generate potentially infeasible trajectories, which serve as unlabeled data. The proposed two-step learning framework first identifies reliable infeasible data using a distance metric, and secondly learns a binary feasibility classifier (i.e., constraint function) from the feasible demonstrations and reliable infeasible data. The proposed method is flexible to learn complex-shaped constraint boundary and will not mistakenly classify demonstrations as infeasible as previous methods. The effectiveness of the proposed method is verified in four constrained environments, using a networked policy or a dynamical system policy. It successfully infers the continuous nonlinear constraints and outperforms other baseline methods in terms of constraint accuracy and policy safety. This work has been published in IEEE Robotics and Automation Letters (RA-L). Please refer to the final version at https://doi.org/10.1109/LRA.2024.3522756
A Comparative Analysis of Wealth Index Predictions in Africa between three Multi-Source Inference Models
Authors: Márton Karsai, János Kertész, Lisette Espín-Noboa
Date: 2024-08-03 00:00:00

Poverty map inference has become a critical focus of research, utilizing both traditional and modern techniques, ranging from regression models to convolutional neural networks applied to tabular data, satellite imagery, and networks. While much attention has been given to validating models during the training phase, the final predictions have received less scrutiny. In this study, we analyze the International Wealth Index (IWI) predicted by Lee and Braithwaite (2022) and Esp\'in-Noboa et al. (2023), alongside the Relative Wealth Index (RWI) inferred by Chi et al. (2022), across six Sub-Saharan African countries. Our analysis reveals trends and discrepancies in wealth predictions between these models. In particular, significant and unexpected discrepancies between the predictions of Lee and Braithwaite and Esp\'in-Noboa et al., even after accounting for differences in training data. In contrast, the shape of the wealth distributions predicted by Esp\'in-Noboa et al. and Chi et al. are more closely aligned, suggesting similar levels of skewness. These findings raise concerns about the validity of certain models and emphasize the importance of rigorous audits for wealth prediction algorithms used in policy-making. Continuous validation and refinement are essential to ensure the reliability of these models, particularly when they inform poverty alleviation strategies.
Coordinating Planning and Tracking in Layered Control Policies via Actor-Critic Learning
Authors: Fengjun Yang, Nikolai Matni
Date: 2024-08-03 00:00:00
Tasks: Reinforcement Learning (RL)

We propose a reinforcement learning (RL)-based algorithm to jointly train (1) a trajectory planner and (2) a tracking controller in a layered control architecture. Our algorithm arises naturally from a rewrite of the underlying optimal control problem that lends itself to an actor-critic learning approach. By explicitly learning a \textit{dual} network to coordinate the interaction between the planning and tracking layers, we demonstrate the ability to achieve an effective consensus between the two components, leading to an interpretable policy. We theoretically prove that our algorithm converges to the optimal dual network in the Linear Quadratic Regulator (LQR) setting and empirically validate its applicability to nonlinear systems through simulation experiments on a unicycle model.
Deep Reinforcement Learning for Dynamic Order Picking in Warehouse Operations
Authors: Sasan Mahmoudinazlou, Abhay Sobhanan, Hadi Charkhgard, Ali Eshragh, George Dunn
Date: 2024-08-03 00:00:00
Tasks: Benchmarking, Deep Reinforcement Learning, Management, reinforcement-learning

Order picking is a pivotal operation in warehouses that directly impacts overall efficiency and profitability. This study addresses the dynamic order picking problem, a significant concern in modern warehouse management, where real-time adaptation to fluctuating order arrivals and efficient picker routing are crucial. Traditional methods, which often depend on static optimization algorithms designed around fixed order sets for the picker routing, fall short in addressing the challenges of this dynamic environment. To overcome these challenges, we propose a Deep Reinforcement Learning (DRL) framework tailored for single-block warehouses equipped with an autonomous picking device. By dynamically optimizing picker routes, our approach significantly reduces order throughput times and unfulfilled orders, particularly under high order arrival rates. We benchmark our DRL model against established algorithms, utilizing instances generated based on standard practices in the order picking literature. Experimental results demonstrate the superiority of our DRL model over benchmark algorithms. For example, at a high order arrival rate of 0.09 (i.e., 9 orders per 100 units of time on average), our approach achieves an order fulfillment rate of approximately 98%, compared to the 82% fulfillment rate observed with benchmarking algorithms. We further investigate the integration of a hyperparameter in the reward function that allows for flexible balancing between distance traveled and order completion time. Finally, we demonstrate the robustness of our DRL model on out-of-sample test instances.
Real-time Hybrid System Identification with Online Deterministic Annealing
Authors: Christos Mavridis, Karl Henrik Johansson
Date: 2024-08-03 00:00:00
Tasks: Computational Efficiency

We introduce a real-time identification method for discrete-time state-dependent switching systems in both the input--output and state-space domains. In particular, we design a system of adaptive algorithms running in two timescales; a stochastic approximation algorithm implements an online deterministic annealing scheme at a slow timescale and estimates the mode-switching signal, and an recursive identification algorithm runs at a faster timescale and updates the parameters of the local models based on the estimate of the switching signal. We first focus on piece-wise affine systems and discuss identifiability conditions and convergence properties based on the theory of two-timescale stochastic approximation. In contrast to standard identification algorithms for switched systems, the proposed approach gradually estimates the number of modes and is appropriate for real-time system identification using sequential data acquisition. The progressive nature of the algorithm improves computational efficiency and provides real-time control over the performance-complexity trade-off. Finally, we address specific challenges that arise in the application of the proposed methodology in identification of more general switching systems. Simulation results validate the efficacy of the proposed methodology.
STDA: Spatio-Temporal Dual-Encoder Network Incorporating Driver Attention to Predict Driver Behaviors Under Safety-Critical Scenarios
Authors: Dongyang Xu, Yiran Luo, Tianle Lu, Qingfan Wang, Qing Zhou, Bingbing Nie
Date: 2024-08-03 00:00:00
Tasks: Autonomous Driving, Driver Attention Monitoring, Prediction

Accurate behavior prediction for vehicles is essential but challenging for autonomous driving. Most existing studies show satisfying performance under regular scenarios, but most neglected safety-critical scenarios. In this study, a spatio-temporal dual-encoder network named STDA for safety-critical scenarios was developed. Considering the exceptional capabilities of human drivers in terms of situational awareness and comprehending risks, driver attention was incorporated into STDA to facilitate swift identification of the critical regions, which is expected to improve both performance and interpretability. STDA contains four parts: the driver attention prediction module, which predicts driver attention; the fusion module designed to fuse the features between driver attention and raw images; the temporary encoder module used to enhance the capability to interpret dynamic scenes; and the behavior prediction module to predict the behavior. The experiment data are used to train and validate the model. The results show that STDA improves the G-mean from 0.659 to 0.719 when incorporating driver attention and adopting a temporal encoder module. In addition, extensive experimentation has been conducted to validate that the proposed module exhibits robust generalization capabilities and can be seamlessly integrated into other mainstream models.
Complexity of Minimizing Projected-Gradient-Dominated Functions with Stochastic First-order Oracles
Authors: Saeed Masiha, Saber Salehkaleybar, Niao He, Negar Kiyavash, Patrick Thiran
Date: 2024-08-03 00:00:00

This work investigates the performance limits of projected stochastic first-order methods for minimizing functions under the $(\alpha,\tau,\mathcal{X})$-projected-gradient-dominance property, that asserts the sub-optimality gap $F(\mathbf{x})-\min_{\mathbf{x}'\in \mathcal{X}}F(\mathbf{x}')$ is upper-bounded by $\tau\cdot\|\mathcal{G}_{\eta,\mathcal{X}}(\mathbf{x})\|^{\alpha}$ for some $\alpha\in[1,2)$ and $\tau>0$ and $\mathcal{G}_{\eta,\mathcal{X}}(\mathbf{x})$ is the projected-gradient mapping with $\eta>0$ as a parameter. For non-convex functions, we show that the complexity lower bound of querying a batch smooth first-order stochastic oracle to obtain an $\epsilon$-global-optimum point is $\Omega(\epsilon^{-{2}/{\alpha}})$. Furthermore, we show that a projected variance-reduced first-order algorithm can obtain the upper complexity bound of $\mathcal{O}(\epsilon^{-{2}/{\alpha}})$, matching the lower bound. For convex functions, we establish a complexity lower bound of $\Omega(\log(1/\epsilon)\cdot\epsilon^{-{2}/{\alpha}})$ for minimizing functions under a local version of gradient-dominance property, which also matches the upper complexity bound of accelerated stochastic subgradient methods.
Cost-constrained multi-label group feature selection using shadow features
Authors: Tomasz Klonecki, Paweł Teisseyre, Jaesung Lee
Date: 2024-08-03 00:00:00
Tasks: Diagnostic, feature selection, Multi-Label Classification, MUlTI-LABEL-ClASSIFICATION

We consider the problem of feature selection in multi-label classification, considering the costs assigned to groups of features. In this task, the goal is to select a subset of features that will be useful for predicting the label vector, but at the same time, the cost associated with the selected features will not exceed the assumed budget. Solving the problem is of great importance in medicine, where we may be interested in predicting various diseases based on groups of features. The groups may be associated with parameters obtained from a certain diagnostic test, such as a blood test. Because diagnostic test costs can be very high, considering cost information when selecting relevant features becomes crucial to reducing the cost of making predictions. We focus on the feature selection method based on information theory. The proposed method consists of two steps. First, we select features sequentially while maximizing conditional mutual information until the budget is exhausted. In the second step, we select additional cost-free features, i.e., those coming from groups that have already been used in previous steps. Limiting the number of added features is possible using the stop rule based on the concept of so-called shadow features, which are randomized counterparts of the original ones. In contrast to existing approaches based on penalized criteria, in our method, we avoid the need for computationally demanding optimization of the penalty parameter. Experiments conducted on the MIMIC medical database show the effectiveness of the method, especially when the assumed budget is limited.
Using Linearized Optimal Transport to Predict the Evolution of Stochastic Particle Systems
Authors: Nicholas Karris, Evangelos A. Nikitopoulos, Ioannis G. Kevrekidis, Seungjoon Lee, Alexander Cloninger
Date: 2024-08-03 00:00:00

We develop an Euler-type method to predict the evolution of a time-dependent probability measure without explicitly learning an operator that governs its evolution. We use linearized optimal transport theory to prove that the measure-valued analog of Euler's method is first-order accurate when the measure evolves ``smoothly.'' In applications of interest, however, the measure is an empirical distribution of a system of stochastic particles whose behavior is only accessible through an agent-based micro-scale simulation. In such cases, this empirical measure does not evolve smoothly because the individual particles move chaotically on short time scales. However, we can still perform our Euler-type method, and when the particles' collective distribution approximates a measure that \emph{does} evolve smoothly, we observe that the algorithm still accurately predicts this collective behavior over relatively large Euler steps. We specifically demonstrate the efficacy of our approach by showing that our algorithm vastly reduces the number of micro-scale steps needed to correctly approximate long-term behavior in two illustrative examples, reflected Brownian motion and a model of bacterial chemotaxis.
Meta-Posterior Consistency for the Bayesian Inference of Metastable System
Authors: Zachary P Adams, Sayan Mukherjee
Date: 2024-08-03 00:00:00
Tasks: Bayesian Inference, Time Series

The vast majority of the literature on learning dynamical systems or stochastic processes from time series has focused on stable or ergodic systems, for both Bayesian and frequentist inference procedures. However, most real-world systems are only metastable, that is, the dynamics appear to be stable on some time scale, but are in fact unstable over longer time scales. Consistency of inference for metastable systems may not be possible, but one can ask about metaconsistency: Do inference procedures converge when observations are taken over a large but finite time interval, but diverge on longer time scales? In this paper we introduce, discuss, and quantify metaconsistency in a Bayesian framework. We discuss how metaconsistency can be exploited to efficiently infer a model for a sub-system of a larger system, where inference on the global behavior may require much more data. We also discuss the relation between meta-consistency and the spectral properties of the model dynamical system in the case of uniformly ergodic diffusions.
Walk Wisely on Graph: Knowledge Graph Reasoning with Dual Agents via Efficient Guidance-Exploration
Authors: Zijian Wang, Bin Wang, Haifeng Jing, Huayu Li, Hongbo Dou
Date: 2024-08-03 00:00:00
Tasks: Hierarchical Reinforcement Learning, Knowledge Graphs

Recent years, multi-hop reasoning has been widely studied for knowledge graph (KG) reasoning due to its efficacy and interpretability. However, previous multi-hop reasoning approaches are subject to two primary shortcomings. First, agents struggle to learn effective and robust policies at the early phase due to sparse rewards. Second, these approaches often falter on specific datasets like sparse knowledge graphs, where agents are required to traverse lengthy reasoning paths. To address these problems, we propose a multi-hop reasoning model with dual agents based on hierarchical reinforcement learning (HRL), which is named FULORA. FULORA tackles the above reasoning challenges by eFficient GUidance-ExpLORAtion between dual agents. The high-level agent walks on the simplified knowledge graph to provide stage-wise hints for the low-level agent walking on the original knowledge graph. In this framework, the low-level agent optimizes a value function that balances two objectives: (1) maximizing return, and (2) integrating efficient guidance from the high-level agent. Experiments conducted on three real-word knowledge graph datasets demonstrate that FULORA outperforms RL-based baselines, especially in the case of long-distance reasoning.