pwc-archive/papers-with-abstracts huggingface dataset:
KoMA: Knowledge-driven Multi-agent Framework for Autonomous Driving with Large Language Models
Authors: Kemou Jiang, Xuan Cai, Zhiyong Cui, Aoyong Li, Yilong Ren, Haiyang Yu, Hao Yang, Daocheng Fu, Licheng Wen, Pinlong Cai
Date: 2024-07-19 00:00:00
Tasks: Autonomous Driving

Large language models (LLMs) as autonomous agents offer a novel avenue for tackling real-world challenges through a knowledge-driven manner. These LLM-enhanced methodologies excel in generalization and interpretability. However, the complexity of driving tasks often necessitates the collaboration of multiple, heterogeneous agents, underscoring the need for such LLM-driven agents to engage in cooperative knowledge sharing and cognitive synergy. Despite the promise of LLMs, current applications predominantly center around single agent scenarios. To broaden the horizons of knowledge-driven strategies and bolster the generalization capabilities of autonomous agents, we propose the KoMA framework consisting of multi-agent interaction, multi-step planning, shared-memory, and ranking-based reflection modules to enhance multi-agents' decision-making in complex driving scenarios. Based on the framework's generated text descriptions of driving scenarios, the multi-agent interaction module enables LLM agents to analyze and infer the intentions of surrounding vehicles, akin to human cognition. The multi-step planning module enables LLM agents to analyze and obtain final action decisions layer by layer to ensure consistent goals for short-term action decisions. The shared memory module can accumulate collective experience to make superior decisions, and the ranking-based reflection module can evaluate and improve agent behavior with the aim of enhancing driving safety and efficiency. The KoMA framework not only enhances the robustness and adaptability of autonomous driving agents but also significantly elevates their generalization capabilities across diverse scenarios. Empirical results demonstrate the superiority of our approach over traditional methods, particularly in its ability to handle complex, unpredictable driving environments without extensive retraining.
Words2Contact: Identifying Support Contacts from Verbal Instructions Using Foundation Models
Authors: Dionis Totsila, Quentin Rouxel, Jean-Baptiste Mouret, Serena Ivaldi
Date: 2024-07-19 00:00:00

This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for language-assisted teleoperation and human-robot cooperation, where human operators can instruct the robots where to place their support contacts before whole-body reaching or manipulation using natural language. Words2Contact transforms the verbal instructions of a human operator into contact placement predictions; it also deals with iterative corrections, until the human is satisfied with the contact location identified in the robot's field of view. We benchmark state-of-the-art LLMs and VLMs for size and performance in contact prediction. We demonstrate the effectiveness of the iterative correction process, showing that users, even naive, quickly learn how to instruct the system to obtain accurate locations. Finally, we validate Words2Contact in real-world experiments with the Talos humanoid robot, instructed by human operators to place support contacts on different locations and surfaces to avoid falling when reaching for distant objects.
The Cardinality of Identifying Code Sets for Soccer Ball Graph with Application to Remote Sensing
Authors: Anna L. D. Latour, Arunabha Sen, Kaustav Basu, Chenyang Zhou, Kuldeep S. Meel
Date: 2024-07-19 00:00:00

In the context of satellite monitoring of the earth, we can assume that the surface of the earth is divided into a set of regions. We assume that the impact of a big social/environmental event spills into neighboring regions. Using Identifying Code Sets (ICSes), we can deploy sensors in such a way that the region in which an event takes place can be uniquely identified, even with fewer sensors than regions. As Earth is almost a sphere, we use a soccer ball as a model. We construct a Soccer Ball Graph (SBG), and provide human-oriented, analytical proofs that 1) the SBG has at least 26 ICSes of cardinality ten, implying that there are at least 26 different ways to deploy ten satellites to monitor the Earth and 2) that the cardinality of the minimum Identifying Code Set (MICS) for the SBG is at least nine. We then provide a machine-oriented formal proof that the cardinality of the MICS for the SBG is in fact ten, meaning that one must deploy at least ten satellites to monitor the Earth in the SBG model. We also provide machine-oriented proof that there are exactly 26 ICSes of cardinality ten for the SBG.
A3Rank: Augmentation Alignment Analysis for Prioritizing Overconfident Failing Samples for Deep Learning Models
Authors: Zhengyuan Wei, Haipeng Wang, Qilin Zhou, W. K. Chan
Date: 2024-07-19 00:00:00

Sharpening deep learning models by training them with examples close to the decision boundary is a well-known best practice. Nonetheless, these models are still error-prone in producing predictions. In practice, the inference of the deep learning models in many application systems is guarded by a rejector, such as a confidence-based rejector, to filter out samples with insufficient prediction confidence. Such confidence-based rejectors cannot effectively guard against failing samples with high confidence. Existing test case prioritization techniques effectively distinguish confusing samples from confident samples to identify failing samples among the confusing ones, yet prioritizing the failing ones high among many confident ones is challenging. In this paper, we propose $A^3$Rank, a novel test case prioritization technique with augmentation alignment analysis, to address this problem. $A^3$Rank generates augmented versions of each test case and assesses the extent of the prediction result for the test case misaligned with these of the augmented versions and vice versa. Our experiment shows that $A^3$Rank can effectively rank failing samples escaping from the checking of confidence-based rejectors, which significantly outperforms the peer techniques by 163.63\% in the detection ratio of top-ranked samples. We also provide a framework to construct a detector devoted to augmenting these rejectors to defend these failing samples, and our detector can achieve a significantly higher defense success rate.
People use fast, goal-directed simulation to reason about novel games
Authors: Cedegao E. Zhang, Katherine M. Collins, Lionel Wong, Mauricio Barba, Adrian Weller, Joshua B. Tenenbaum
Date: 2024-07-19 00:00:00
Tasks: Board Games

People can evaluate features of problems and their potential solutions well before we can effectively solve them. When considering a game we have never played, for instance, we might infer whether it is likely to be challenging, fair, or fun simply from hearing the game rules, prior to deciding whether to invest time in learning the game or trying to play it well. Many studies of game play have focused on optimality and expertise, characterizing how people and computational models play based on moderate to extensive search and after playing a game dozens (if not thousands or millions) of times. Here, we study how people reason about a range of simple but novel Connect-N style board games. We ask people to judge how fair and how fun the games are from very little experience: just thinking about the game for a minute or so, before they have ever actually played with anyone else, and we propose a resource-limited model that captures their judgments using only a small number of partial game simulations and almost no look-ahead search.
Integrated Push-and-Pull Update Model for Goal-Oriented Effective Communication
Authors: Pouya Agheli, Nikolaos Pappas, Petar Popovski, Marios Kountouris
Date: 2024-07-19 00:00:00

This paper studies decision-making for goal-oriented effective communication. We consider an end-to-end status update system where a sensing agent (SA) observes a source, generates and transmits updates to an actuation agent (AA), while the AA takes actions to accomplish a goal at the endpoint. We integrate the push- and pull-based update communication models to obtain a push-and-pull model, which allows the transmission controller at the SA to decide to push an update to the AA and the query controller at the AA to pull updates by raising queries at specific time instances. To gauge effectiveness, we utilize a grade of effectiveness (GoE) metric incorporating updates' freshness, usefulness, and timeliness of actions as qualitative attributes. We then derive effect-aware policies to maximize the expected discounted sum of updates' effectiveness subject to induced costs. The effect-aware policy at the SA considers the potential effectiveness of communicated updates at the endpoint, while at the AA, it accounts for the probabilistic evolution of the source and importance of generated updates. Our results show the proposed push-and-pull model outperforms models solely based on push- or pull-based updates both in terms of efficiency and effectiveness. Additionally, using effect-aware policies at both agents enhances effectiveness compared to periodic and/or probabilistic effect-agnostic policies at either or both agents.
LLAssist: Simple Tools for Automating Literature Review Using Large Language Models
Authors: Christoforus Yoga Haryanto
Date: 2024-07-19 00:00:00
Tasks: Articles

This paper introduces LLAssist, an open-source tool designed to streamline literature reviews in academic research. In an era of exponential growth in scientific publications, researchers face mounting challenges in efficiently processing vast volumes of literature. LLAssist addresses this issue by leveraging Large Language Models (LLMs) and Natural Language Processing (NLP) techniques to automate key aspects of the review process. Specifically, it extracts important information from research articles and evaluates their relevance to user-defined research questions. The goal of LLAssist is to significantly reduce the time and effort required for comprehensive literature reviews, allowing researchers to focus more on analyzing and synthesizing information rather than on initial screening tasks. By automating parts of the literature review workflow, LLAssist aims to help researchers manage the growing volume of academic publications more efficiently.
Optimizing Agricultural Order Fulfillment Systems: A Hybrid Tree Search Approach
Authors: Pranay Thangeda, Hoda Helmi, Melkior Ornik
Date: 2024-07-19 00:00:00
Tasks: Navigate, Scheduling

Efficient order fulfillment is vital in the agricultural industry, particularly due to the seasonal nature of seed supply chains. This paper addresses the challenge of optimizing seed orders fulfillment in a centralized warehouse where orders are processed in waves, taking into account the unpredictable arrival of seed stocks and strict order deadlines. We model the wave scheduling problem as a Markov decision process and propose an adaptive hybrid tree search algorithm that combines Monte Carlo tree search with domain-specific knowledge to efficiently navigate the complex, dynamic environment of seed distribution. By leveraging historical data and stochastic modeling, our method enables forecast-informed scheduling decisions that balance immediate requirements with long-term operational efficiency. The key idea is that we can augment Monte Carlo tree search algorithm with problem-specific side information that dynamically reduces the number of candidate actions at each decision step to handle the large state and action spaces that render traditional solution methods computationally intractable. Extensive simulations with realistic parameters-including a diverse range of products, a high volume of orders, and authentic seasonal durations-demonstrate that the proposed approach significantly outperforms existing industry standard methods.
Assurance of AI Systems From a Dependability Perspective
Authors: Robin Bloomfield, John Rushby
Date: 2024-07-18 00:00:00
Tasks: Ethics

We outline the principles of classical assurance for computer-based systems that pose significant risks. We then consider application of these principles to systems that employ Artificial Intelligence (AI) and Machine Learning (ML). A key element in this "dependability" perspective is a requirement to have near-complete understanding of the behavior of critical components, and this is considered infeasible for AI and ML. Hence the dependability perspective aims to minimize trust in AI and ML elements by using "defense in depth" with a hierarchy of less complex systems, some of which may be highly assured conventionally engineered components, to "guard" them. This may be contrasted with the "trustworthy" perspective that seeks to apply assurance to the AI and ML elements themselves. In cyber-physical and many other systems, it is difficult to provide guards that do not depend on AI and ML to perceive their environment (e.g., other vehicles sharing the road with a self-driving car), so both perspectives are needed and there is a continuum or spectrum between them. We focus on architectures toward the dependability end of the continuum and invite others to consider additional points along the spectrum. For guards that require perception using AI and ML, we examine ways to minimize the trust placed in these elements; they include diversity, defense in depth, explanations, and micro-ODDs. We also examine methods to enforce acceptable behavior, given a model of the world. These include classical cyber-physical calculations and envelopes, and normative rules based on overarching principles, constitutions, ethics, or reputation. We apply our perspective to autonomous systems, AI systems for specific functions, generic AI such as Large Language Models, and to Artificial General Intelligence (AGI), and we propose current best practice and an agenda for research.
Report on the Conference on Ethical and Responsible Design in the National AI Institutes: A Summary of Challenges
Authors: Sherri Lynn Conklin, Sue Bae, Gaurav Sett, Michael Hoffmann, Justin B. Biddle
Date: 2024-07-18 00:00:00
Tasks: Ethics

In May 2023, the Georgia Tech Ethics, Technology, and Human Interaction Center organized the Conference on Ethical and Responsible Design in the National AI Institutes. Representatives from the National AI Research Institutes that had been established as of January 2023 were invited to attend; researchers representing 14 Institutes attended and participated. The conference focused on three questions: What are the main challenges that the National AI Institutes are facing with regard to the responsible design of AI systems? What are promising lines of inquiry to address these challenges? What are possible points of collaboration? Over the course of the conference, a revised version of the first question became a focal point: What are the challenges that the Institutes face in identifying ethical and responsible design practices and in implementing them in the AI development process? This document summarizes the challenges that representatives from the Institutes in attendance highlighted.
LinSATNet: The Positive Linear Satisfiability Neural Networks
Authors: Runzhong Wang, Yunhao Zhang, Ziao Guo, Tianyi Chen, Xiaokang Yang, Junchi Yan
Date: 2024-07-18 00:00:00
Tasks: Graph Matching

Encoding constraints into neural networks is attractive. This paper studies how to introduce the popular positive linear satisfiability to neural networks. We propose the first differentiable satisfiability layer based on an extension of the classic Sinkhorn algorithm for jointly encoding multiple sets of marginal distributions. We further theoretically characterize the convergence property of the Sinkhorn algorithm for multiple marginals. In contrast to the sequential decision e.g.\ reinforcement learning-based solvers, we showcase our technique in solving constrained (specifically satisfiability) problems by one-shot neural networks, including i) a neural routing solver learned without supervision of optimal solutions; ii) a partial graph matching network handling graphs with unmatchable outliers on both sides; iii) a predictive network for financial portfolios with continuous constraints. To our knowledge, there exists no one-shot neural solver for these scenarios when they are formulated as satisfiability problems. Source code is available at https://github.com/Thinklab-SJTU/LinSATNet
A review of handcrafted and deep radiomics in neurological diseases: transitioning from oncology to clinical neuroimaging
Authors: Elizaveta Lavrova, Henry C. Woodruff, Hamza Khan, Eric Salmon, Philippe Lambin, Christophe Phillips
Date: 2024-07-18 00:00:00
Tasks: Decision Making, Diagnostic, Image Harmonization

Medical imaging technologies have undergone extensive development, enabling non-invasive visualization of clinical information. The traditional review of medical images by clinicians remains subjective, time-consuming, and prone to human error. With the recent availability of medical imaging data, quantification have become important goals in the field. Radiomics, a methodology aimed at extracting quantitative information from imaging data, has emerged as a promising approach to uncover hidden biological information and support decision-making in clinical practice. This paper presents a review of the radiomic pipeline from the clinical neuroimaging perspective, providing a detailed overview of each step with practical advice. It discusses the application of handcrafted and deep radiomics in neuroimaging, stratified by neurological diagnosis. Although radiomics shows great potential for increasing diagnostic precision and improving treatment quality in neurology, several limitations hinder its clinical implementation. Addressing these challenges requires collaborative efforts, advancements in image harmonization methods, and the establishment of reproducible and standardized pipelines with transparent reporting. By overcoming these obstacles, radiomics can significantly impact clinical neurology and enhance patient care.
Revisiting Attention for Multivariate Time Series Forecasting
Authors: Haixiang Wu
Date: 2024-07-18 00:00:00
Tasks: Multivariate Time Series Forecasting, Time Series, Time Series Forecasting

Current Transformer methods for Multivariate Time-Series Forecasting (MTSF) are all based on the conventional attention mechanism. They involve sequence embedding and performing a linear projection of Q, K, and V, and then computing attention within this latent space. We have never delved into the attention mechanism to explore whether such a mapping space is optimal for MTSF. To investigate this issue, this study first proposes Frequency Spectrum attention (FSatten), a novel attention mechanism based on the frequency domain space. It employs the Fourier transform for embedding and introduces Multi-head Spectrum Scaling (MSS) to replace the conventional linear mapping of Q and K. FSatten can accurately capture the periodic dependencies between sequences and outperform the conventional attention without changing mainstream architectures. We further design a more general method dubbed Scaled Orthogonal attention (SOatten). We propose an orthogonal embedding and a Head-Coupling Convolution (HCC) based on the neighboring similarity bias to guide the model in learning comprehensive dependency patterns. Experiments show that FSatten and SOatten surpass the SOTA which uses conventional attention, making it a good alternative as a basic attention mechanism for MTSF. The codes and log files will be released at: https://github.com/Joeland4/FSatten-SOatten.
Continual Learning for Adaptable Car-Following in Dynamic Traffic Environments
Authors: Xianda Chen, PakHin Tiu, Xu Han, Junjie Chen, Yuanfei Wu, Xinhu Zheng, Meixin Zhu
Date: 2024-07-17 00:00:00
Tasks: Autonomous Driving, Continual Learning

The continual evolution of autonomous driving technology requires car-following models that can adapt to diverse and dynamic traffic environments. Traditional learning-based models often suffer from performance degradation when encountering unseen traffic patterns due to a lack of continual learning capabilities. This paper proposes a novel car-following model based on continual learning that addresses this limitation. Our framework incorporates Elastic Weight Consolidation (EWC) and Memory Aware Synapses (MAS) techniques to mitigate catastrophic forgetting and enable the model to learn incrementally from new traffic data streams. We evaluate the performance of the proposed model on the Waymo and Lyft datasets which encompass various traffic scenarios. The results demonstrate that the continual learning techniques significantly outperform the baseline model, achieving 0\% collision rates across all traffic conditions. This research contributes to the advancement of autonomous driving technology by fostering the development of more robust and adaptable car-following models.
Enhancing Layout Hotspot Detection Efficiency with YOLOv8 and PCA-Guided Augmentation
Authors: Dongyang Wu, Siyang Wang, Mehdi Kamal, Massoud Pedram
Date: 2024-07-19 00:00:00
Tasks: object-detection, Object Detection

In this paper, we present a YOLO-based framework for layout hotspot detection, aiming to enhance the efficiency and performance of the design rule checking (DRC) process. Our approach leverages the YOLOv8 vision model to detect multiple hotspots within each layout image, even when dealing with large layout image sizes. Additionally, to enhance pattern-matching effectiveness, we introduce a novel approach to augment the layout image using information extracted through Principal Component Analysis (PCA). The core of our proposed method is an algorithm that utilizes PCA to extract valuable auxiliary information from the layout image. This extracted information is then incorporated into the layout image as an additional color channel. This augmentation significantly improves the accuracy of multi-hotspot detection while reducing the false alarm rate of the object detection algorithm. We evaluate the effectiveness of our framework using four datasets generated from layouts found in the ICCAD-2019 benchmark dataset. The results demonstrate that our framework achieves a precision (recall) of approximately 83% (86%) while maintaining a false alarm rate of less than 7.4\%. Also, the studies show that the proposed augmentation approach could improve the detection ability of never-seen-before (NSB) hotspots by about 10%.