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In autonomous driving, data augmentation is commonly used for improving 3D object detection. The most basic methods include insertion of copied objects and rotation and scaling of the entire training frame. Numerous variants have been developed as well. The existing methods, however, are considerably limited when compared to the variety of the real world possibilities. In this work, we develop a diversified and realistic augmentation method that can flexibly construct a whole-body object, freely locate and rotate the object, and apply self-occlusion and external-occlusion accordingly. To improve the diversity of the whole-body object construction, we develop an iterative method that stochastically combines multiple objects observed from the real world into a single object. Unlike the existing augmentation methods, the constructed objects can be randomly located and rotated in the training frame because proper occlusions can be reflected to the whole-body objects in the final step. Finally, proper self-occlusion at each local object level and external-occlusion at the global frame level are applied using the Hidden Point Removal~(HPR) algorithm that is computationally efficient. HPR is also used for adaptively controlling the point density of each object according to the object&#39;s distance from the LiDAR. Experiment results show that the proposed \textsc{DR.CPO} algorithm is data-efficient and model-agnostic without incurring any computational overhead. Also, \textsc{DR.CPO} can improve mAP performance by 2.08\% when compared to the best 3D detection result known for KITTI dataset.

AAAI 2023

Diversified and Realistic 3D Augmentation via Iterative Construction, Random Placement, and HPR Occlusion

vision for robotics & autonomous driving

3d computer vision

object detection

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-23 is the Thirty-Seventh AAAI Conference on Artificial Intelligence. The theme of this conference is to create collaborative bridges within and beyond AI. Like previous AAAI conferences, AAAI-23 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and two new activities: a Bridge Program and a Lab Program. Many of these activities are tailored to the theme of bridges and all are selected according to the highest standards, with additional programs for students and young researchers. 
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The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines.

In autonomous driving, data augmentation is commonly used for improving 3D object detection. The most basic methods include insertion of copied objects and rotation and scaling of the entire training frame. Numerous variants have been developed as well. The existing methods, however, are considerably limited when compared to the variety of the real world possibilities. In this work, we develop a diversified and realistic augmentation method that can flexibly construct a whole-body object, freely locate and rotate the object, and apply self-occlusion and external-occlusion accordingly. To improve the diversity of the whole-body object construction, we develop an iterative method that stochastically combines multiple objects observed from the real world into a single object. Unlike the existing augmentation methods, the constructed objects can be randomly located and rotated in the training frame because proper occlusions can be reflected to the whole-body objects in the final step. Finally, proper self-occlusion at each local object level and external-occlusion at the global frame level are applied using the Hidden Point Removal~(HPR) algorithm that is computationally efficient. HPR is also used for adaptively controlling the point density of each object according to the object's distance from the LiDAR. Experiment results show that the proposed \textsc{DR.CPO} algorithm is data-efficient and model-agnostic without incurring any computational overhead. Also, \textsc{DR.CPO} can improve mAP performance by 2.08\% when compared to the best 3D detection result known for KITTI dataset.

poster

Effective data imputation demands rich latent ``structure" discovery capabilities from ``plain" tabular data. Recent advances in graph neural networks-based data imputation solutions show their strong structure learning potential by directly translating tabular data as bipartite graphs. However, due to a lack of relations between samples, those solutions treat all samples equally which is against one important observation: ``similar sample should give more information about missing values."  This paper presents a novel Iterative graph Generation and Reconstruction framework for Missing data imputation(IGRM). Instead of treating all samples equally, we introduce the concept: ``friend networks" to represent different relations among samples.  To generate an accurate friend network with missing data, an end-to-end friend network reconstruction solution is designed to allow for continuous friend network optimization during imputation learning. The representation of the optimized friend network, in turn, is used to further optimize the data imputation process with differentiated message passing. Experiment results on eight benchmark datasets show that IGRM yields 39.13% lower mean absolute error compared with nine baselines and 9.04% lower than the second-best.

Data Imputation with Iterative Graph Reconstruction

The rise of AI methods to make predictions and decisions has led to a pressing need for more explainable artificial intelligence (XAI) methods. One common approach for XAI is to produce a post-hoc explanation, explaining why a black box ML model made a certain prediction. Formal approaches to post-hoc explanations provide succinct reasons for why a prediction was made, as well as why not another prediction was made. But these approaches assume that features are independent and uniformly distributed. While this means that “why” explanations are correct, they may be longer than required. It also means the “why not” explanations may be suspect as the counterexamples they rely on may not be meaningful. In this paper, we show how one can apply background knowledge to give more succinct “why” formal explanations, that are presumably easier to interpret by humans, and give more accurate “why not” explanations.  In addition, we show how to use existing rule induction techniques to efficiently extract background information from a dataset.

Eliminating The Impossible, Whatever Remains Must Be True: On Extracting and Applying Background Knowledge In The Context Of Formal Explanations

Constrained Reinforcement Learning (CRL) burgeons broad interest in recent years, which pursues maximizing long-term returns while constraining costs. Although CRL can be cast as a multi-objective optimization problem, it is still facing the key challenge that gradient-based Pareto optimization methods tend to stick to known Pareto-optimal solutions even when they yield poor returns (e.g., the safest self-driving car that never moves) or violate the constraints (e.g., the record-breaking racer that crashes the car). In this paper, we propose Gradient-adaptive Constrained Policy Optimization (GCPO for short), a novel Pareto optimization method for CRL with two adaptive gradient recalibration techniques. First, to find Pareto-optimal solutions with balanced performance over all targets, we propose gradient rebalancing which forces the agent to improve more on under-optimized objectives at every policy iteration. Second, to guarantee that the cost constraints are satisfied, we propose gradient perturbation that can temporarily sacrifice the returns for costs. Experiments on the SafetyGym benchmarks show that our method consistently outperforms previous CRL methods in reward while satisfying the constraints.

Gradient-Adaptive Pareto Optimization for Constrained Reinforcement Learning

Named entity recognition is a fundamental task in natural language processing. Based on the sequence labeling paradigm for flat named entity recognition, multiple methods have been developed to handle the nested structures. However, they either require fixed recognition order or introduce complex hypergraphs. To tackle this problem, we propose a novel model named Local Hypergraph Builder Network (LHBN) that builds multiple simpler local hypergraphs to capture named entities instead of a single complex full-size hypergraph. The proposed model has three main properties: (1) The named entities that share boundaries are captured in the same local hypergraph. (2) The boundary information is enhanced by building local hypergraphs. (3) The hypergraphs can be built bidirectionally to take advantage of the identification direction preference of different named entities. Experiments illustrate that our model outperforms previous state-of-the-art methods on four widely used nested named entity recognition datasets: ACE 2004, ACE 2005, GENIA, and TAC-KBP 2017.

Nested Named Entity Recognition as Building Local Hypergraphs

Existing multimodal conversation agents have shown impressive abilities to locate absolute positions or retrieve attributes in simple scenarios, but they fail to perform well when complex relative positions and information alignments are involved, which poses a bottleneck in response quality. In this paper, we propose a Situated Conversation Agent Pretrained with Multimodal Questions from Incremental Layout Graph (SPRING) with abilities of reasoning multi-hops spatial relations and connecting them with visual attributes in crowded situated scenarios. Specifically, we design two types of Multimodal Question Answering (MQA) tasks to pretrain the agent. All QA pairs utilized during pretraining are generated from novel Increment Layout Graphs (ILG). QA pair difficulty labels automatically annotated by ILG are used to promote MQA-based Curriculum Learning. Experimental results verify the SPRING's effectiveness, showing that it significantly outperforms state-of-the-art approaches on both SIMMC 1.0 and SIMMC 2.0 datasets. We release our code and data at https://github.com/LYX0501/SPRING.

Situated Conversation Agent Pretrained with Multimodal Questions from Incremental Layout Graph

We study critical systems that allocate scarce resources to satisfy basic needs, such as homeless services that provide housing. These systems often support communities disproportionately affected by systemic racial, gender, or other injustices, so it is crucial to design these systems with fairness considerations in mind. To address this problem, we propose a framework for evaluating fairness in contextual resource allocation systems that is inspired by fairness metrics in machine learning. This framework can be applied to evaluate the fairness properties of a historical policy, as well as to impose constraints in the design of new (counterfactual) allocation policies. Our work culminates with a set of incompatibility results that investigate the interplay between the different fairness metrics we propose. Notably, we demonstrate that: 1) fairness in allocation and fairness in outcomes are usually incompatible; 2) policies that prioritize based on a vulnerability score will usually result in unequal outcomes across groups, even if the score is perfectly calibrated; 3) policies using contextual information beyond what is needed to characterize baseline risk and treatment effects can be fairer in their outcomes than those using just baseline risk and treatment effects; and 4) policies using group status in addition to baseline risk and treatment effects are as fair as possible given all available information. Our framework can help guide the discussion among stakeholders in deciding which fairness metrics to impose when allocating scarce resources.

Fairness in Contextual Resource Allocation Systems: Metrics and Incompatibility Results

Our work targets at searching feasible adversarial perturbation to attack a classifier with  high-dimensional categorical inputs in a domain-agnostic setting.
This is intrinsically a NP-hard knapsack problem where the exploration space becomes explosively larger as the feature dimension increases. Without the help of domain knowledge, solving this problem via heuristic method, such as Branch-and-Bound, suffers from exponential complexity, yet can bring arbitrarily bad attack results. We address the challenge via the lens of multi-armed bandit based combinatorial search. Our proposed method, namely FEAT, treats modifying each categorical feature as pulling an arm in multi-armed bandit programming. Our objective is to achieve highly efficient and effective attack using an Orthogonal Matching Pursuit (OMP)-enhanced Upper Confidence Bound (UCB) exploration strategy. Our theoretical analysis bounding the regret gap of FEAT guarantees its practical attack performance. In empirical analysis, we compare FEAT with other state-of-the-art domain-agnostic attack methods over various real-world categorical data sets of different applications. Substantial experimental observations confirm the expected efficiency and attack effectiveness of FEAT applied in different application scenarios. Our work further hints the applicability of FEAT for assessing the adversarial vulnerability of classification systems with high-dimensional categorical inputs. 

Towards Efficient and Domain-Agnostic Evasion Attack with High-dimensional Categorical Inputs

For deep ordinal classification, learning a well-structured feature space specific to ordinal classification is helpful to properly capture the ordinal nature among classes. Intuitively, when Euclidean distance metric is used, an ideal ordinal layout in feature space would be that the sample clusters are arranged in class order along a straight line in space. However, enforcing samples to conform to a specific layout in the feature space is a challenging problem. To address this problem, in this paper, we propose a novel Constrained Proxies Learning (CPL) method, which can learn a proxy for each ordinal class and then adjusts the global layout of classes by constraining these proxies. Specifically, we propose two kinds of strategies: hard layout constraint and soft layout constraint. The hard layout constraint is realized by directly controlling the generation of proxies to force them to be placed in a strict linear layout or semicircular layout (i.e., two instantiations of strict ordinal layout). The soft layout constraint is realized by constraining that the proxy layout should always produce unimodal proxy-to-proxies similarity distribution for each proxy (i.e., to be a relaxed ordinal layout). Experiments show that the proposed CPL method outperforms previous deep ordinal classification methods under the same setting of feature extractor.

Controlling Class Layout for Deep Ordinal Classification via Constrained Proxies Learning

Sharing medical reports is essential for patient-centered care. A recent line of work has focused on automatically generating reports with NLP methods. However, different audiences have different purposes when writing/reading medical reports – for example, healthcare professionals care more about pathology, whereas patients are more concerned with the diagnosis ("Is there any abnormality?"). The expectation gap results in a common situation where patients find their medical reports to be ambiguous and therefore unsure about the next steps. In this work, we explore the audience expectation gap in healthcare and summarize common ambiguities that lead patients to be confused about their diagnosis into three categories: medical jargon, contradictory findings, and misleading grammatical errors. Based on our analysis, we define a disambiguation rewriting task to regenerate an input to be unambiguous while preserving information about the original content. We further propose a rewriting algorithm based on contrastive pretraining and perturbation-based rewriting. In addition, we create two datasets, OpenI-Annotated based on chest reports and VA-Annotated based on general medical reports, with available binary labels for ambiguity and abnormality presence annotated by radiology specialists. Experimental results on these datasets show that our proposed algorithm effectively rewrites input sentences in a less ambiguous way with high content fidelity. Our code and annotated data will be released to facilitate future research.

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