The planning problem constitutes a fundamental aspect of the autonomous driving framework. Recent strides in representation learning have empowered vehicles to comprehend their surrounding environments, thereby facilitating the integration of learning-based planning strategies. Among these approaches, Imitation Learning stands out due to its notable training efficiency. However, traditional Imitation Learning methodologies encounter challenges associated with the co-variate shift phenomenon. We propose Learn from Mistakes (LfM) as a remedy to address this issue. The essence of LfM lies in deploying a pre-trained planner across diverse scenarios. Instances where the planner deviates from its immediate objectives, such as maintaining a safe distance from obstacles or adhering to traffic rules, are flagged as mistakes. The environments corresponding to these mistakes are categorized as out-of-distribution states and compiled into a new dataset termed closed-loop mistakes dataset. Notably, the absence of expert annotations for the closed-loop data precludes the applicability of standard imitation learning approaches. To facilitate learning from the closed-loop mistakes, we introduce Validity Learning, a weakly supervised method, which aims to discern valid trajectories within the current environmental context. Experimental evaluations conducted on the InD and Nuplan datasets reveal substantial enhancements in closed-loop metrics such as Progress and Collision Rate, underscoring the effectiveness of the proposed methodology.
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The need for more transparent face recognition (FR), along with other visual-based decision-making systems has recently attracted more attention in research, society, and industry. The reasons why two face images are matched or not matched by a deep learning-based face recognition system are not obvious due to the high number of parameters and the complexity of the models. However, it is important for users, operators, and developers to ensure trust and accountability of the system and to analyze drawbacks such as biased behavior. While many previous works use spatial semantic maps to highlight the regions that have a significant influence on the decision of the face recognition system, frequency components which are also considered by CNNs, are neglected. In this work, we take a step forward and investigate explainable face recognition in the unexplored frequency domain. This makes this work the first to propose explainability of verification-based decisions in the frequency domain, thus explaining the relative influence of the frequency components of each input toward the obtained outcome. To achieve this, we manipulate face images in the spatial frequency domain and investigate the impact on verification outcomes. In extensive quantitative experiments, along with investigating two special scenarios cases, cross-resolution FR and morphing attacks (the latter in supplementary material), we observe the applicability of our proposed frequency-based explanations.
The ongoing research scenario for automatic speech recognition (ASR) envisions a clear division between end-to-end approaches and classic modular systems. Even though a high-level comparison between the two approaches in terms of their requirements and (dis)advantages is commonly addressed, a closer comparison under similar conditions is not readily available in the literature. In this work, we present a comparison focused on the label topology and training criterion. We compare two discriminative alignment models with hidden Markov model (HMM) and connectionist temporal classification topology, and two first-order label context ASR models utilizing factored HMM and strictly monotonic recurrent neural network transducer, respectively. We use different measurements for the evaluation of the alignment quality, and compare word error rate and real time factor of our best systems. Experiments are conducted on the LibriSpeech 960h and Switchboard 300h tasks.
Visual validation of regression models in scatterplots is a common practice for assessing model quality, yet its efficacy remains unquantified. We conducted two empirical experiments to investigate individuals' ability to visually validate linear regression models (linear trends) and to examine the impact of common visualization designs on validation quality. The first experiment showed that the level of accuracy for visual estimation of slope (i.e., fitting a line to data) is higher than for visual validation of slope (i.e., accepting a shown line). Notably, we found bias toward slopes that are "too steep" in both cases. This lead to novel insights that participants naturally assessed regression with orthogonal distances between the points and the line (i.e., ODR regression) rather than the common vertical distances (OLS regression). In the second experiment, we investigated whether incorporating common designs for regression visualization (error lines, bounding boxes, and confidence intervals) would improve visual validation. Even though error lines reduced validation bias, results failed to show the desired improvements in accuracy for any design. Overall, our findings suggest caution in using visual model validation for linear trends in scatterplots.
We consider the problem of transferring a temporal action segmentation system initially designed for exocentric (fixed) cameras to an egocentric scenario, where wearable cameras capture video data. The conventional supervised approach requires the collection and labeling of a new set of egocentric videos to adapt the model, which is costly and time-consuming. Instead, we propose a novel methodology which performs the adaptation leveraging existing labeled exocentric videos and a new set of unlabeled, synchronized exocentric-egocentric video pairs, for which temporal action segmentation annotations do not need to be collected. We implement the proposed methodology with an approach based on knowledge distillation, which we investigate both at the feature and Temporal Action Segmentation model level. Experiments on Assembly101 and EgoExo4D demonstrate the effectiveness of the proposed method against classic unsupervised domain adaptation and temporal alignment approaches. Without bells and whistles, our best model performs on par with supervised approaches trained on labeled egocentric data, without ever seeing a single egocentric label, achieving a +15.99 improvement in the edit score (28.59 vs 12.60) on the Assembly101 dataset compared to a baseline model trained solely on exocentric data. In similar settings, our method also improves edit score by +3.32 on the challenging EgoExo4D benchmark. Code is available here: //github.com/fpv-iplab/synchronization-is-all-you-need.
Recent advancements in large language models (LLMs) have facilitated the development of chatbots with sophisticated conversational capabilities. However, LLMs exhibit frequent inaccurate responses to queries, hindering applications in educational settings. In this paper, we investigate the effectiveness of integrating a knowledge base (KB) with LLM intelligent tutors to increase response reliability. To achieve this, we design a scaleable KB that affords educational supervisors seamless integration of lesson curricula, which is automatically processed by the intelligent tutoring system. We then detail an evaluation, where student participants were presented with questions about the artificial intelligence curriculum to respond to. GPT-4 intelligent tutors with varying hierarchies of KB access and human domain experts then assessed these responses. Lastly, students cross-examined the intelligent tutors' responses to the domain experts' and ranked their various pedagogical abilities. Results suggest that, although these intelligent tutors still demonstrate a lower accuracy compared to domain experts, the accuracy of the intelligent tutors increases when access to a KB is granted. We also observe that the intelligent tutors with KB access exhibit better pedagogical abilities to speak like a teacher and understand students than those of domain experts, while their ability to help students remains lagging behind domain experts.
We present PutnamBench, a new multilingual benchmark for evaluating the ability of neural theorem-provers to solve competition mathematics problems. PutnamBench consists of 1697 hand-constructed formalizations of 640 theorems sourced from the William Lowell Putnam Mathematical Competition, the premier undergraduate-level mathematics competition in North America. All the theorems have formalizations in Lean 4 and Isabelle; a substantial subset also has Coq formalizations. Proving the theorems requires significant problem-solving ability and proficiency in a broad range of topics taught in undergraduate mathematics courses. We use PutnamBench to evaluate several established neural and symbolic theorem-provers. These approaches can only solve a handful of the PutnamBench problems, establishing the benchmark as a difficult open challenge for research on neural theorem-proving. PutnamBench is available at //github.com/trishullab/PutnamBench.
In many consumer virtual reality (VR) applications, users embody predefined characters that offer minimal customization options, frequently emphasizing storytelling over user choice. We explore whether matching a user's physical characteristics, specifically ethnicity and gender, with their virtual self-avatar affects their sense of embodiment in VR. We conducted a 2 x 2 within-subjects experiment (n=32) with a diverse user population to explore the impact of matching or not matching a user's self-avatar to their ethnicity and gender on their sense of embodiment. Our results indicate that matching the ethnicity of the user and their self-avatar significantly enhances sense of embodiment regardless of gender, extending across various aspects, including appearance, response, and ownership. We also found that matching gender significantly enhanced ownership, suggesting that this aspect is influenced by matching both ethnicity and gender. Interestingly, we found that matching ethnicity specifically affects self-location while matching gender specifically affects one's body ownership.
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess the impact of FDI attacks, benchmark attack detector performance, and validate the effectiveness of mitigation/reconfiguration strategies in single-UAV and UAV swarm operations. Our Mixed Reality framework leverages high-fidelity simulations of Gazebo and a Motion Capture system to emulate proprioceptive (e.g., GNSS) and exteroceptive (e.g., camera) sensor measurements in real-time. We propose an empirical approach to faithfully recreate signal characteristics such as latency and noise in these measurements. Finally, we illustrate the efficacy of our proposed framework through a Mixed Reality experiment consisting of an emulated GNSS attack on an actual UAV, which (i) demonstrates the impact of false data injection attacks on GNSS measurements and (ii) validates a mitigation strategy utilizing a distributed camera network developed in our previous work. Our open-source implementation is available at \href{//github.com/CogniPilot/mixed\_sense}{\texttt{//github.com/CogniPilot/mixed\_sense}}
Retrieval-augmented Generation (RAG) systems have been actively studied and deployed across various industries to query on domain-specific knowledge base. However, evaluating these systems presents unique challenges due to the scarcity of domain-specific queries and corresponding ground truths, as well as a lack of systematic approaches to diagnosing the cause of failure cases -- whether they stem from knowledge deficits or issues related to system robustness. To address these challenges, we introduce GRAMMAR (GRounded And Modular Methodology for Assessment of RAG), an evaluation framework comprising two key elements: 1) a data generation process that leverages relational databases and LLMs to efficiently produce scalable query-answer pairs for evaluation. This method facilitates the separation of query logic from linguistic variations, enabling the testing of hypotheses related to non-robust textual forms; and 2) an evaluation framework that differentiates knowledge gaps from robustness and enables the identification of defective modules. Our empirical results underscore the limitations of current reference-free evaluation approaches and the reliability of GRAMMAR to accurately identify model vulnerabilities. For implementation details, refer to our GitHub repository: //github.com/xinzhel/grammar.
We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.
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