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Certified safe control is a growing challenge in robotics, especially when performance and safety objectives must be concurrently achieved. In this work, we extend the barrier state (BaS) concept, recently proposed for safe stabilization of continuous time systems, to safety embedded trajectory optimization for discrete time systems using discrete barrier states (DBaS). The constructed DBaS is embedded into the discrete model of the safety-critical system integrating safety objectives into the system's dynamics and performance objectives. Thereby, the control policy is directly supplied by safety-critical information through the barrier state. This allows us to employ the DBaS with differential dynamic programming (DDP) to plan and execute safe optimal trajectories. The proposed algorithm is leveraged on various safety-critical control and planning problems including a differential wheeled robot safe navigation in randomized and complex environments and on a quadrotor to safely perform reaching and tracking tasks. The DBaS-based DDP (DBaS-DDP) is shown to consistently outperform penalty methods commonly used to approximate constrained DDP problems as well as CBF-based safety filters.

In this work, we present a learning based method focusing on the convolutional neural network (CNN) architecture to detect these forgeries. We consider the detection of both copy-move forgeries and inpainting based forgeries. For these, we synthesize our own large dataset. In addition to classification, the focus is also on interpretability of the forgery detection. As the CNN classification yields the image-level label, it is important to understand if forged region has indeed contributed to the classification. For this purpose, we demonstrate using the Grad-CAM heatmap, that in various correctly classified examples, that the forged region is indeed the region contributing to the classification. Interestingly, this is also applicable for small forged regions, as is depicted in our results. Such an analysis can also help in establishing the reliability of the classification.

This paper defines a new visual reasoning paradigm by introducing an important factor, i.e., transformation. The motivation comes from the fact that most existing visual reasoning tasks, such as CLEVR in VQA, are solely defined to test how well the machine understands the concepts and relations within static settings, like one image. We argue that this kind of state driven visual reasoning approach has limitations in reflecting whether the machine has the ability to infer the dynamics between different states, which has been shown as important as state-level reasoning for human cognition in Piaget's theory. To tackle this problem, we propose a novel transformation driven visual reasoning task. Given both the initial and final states, the target is to infer the corresponding single-step or multi-step transformation, represented as a triplet (object, attribute, value) or a sequence of triplets, respectively. Following this definition, a new dataset namely TRANCE is constructed on the basis of CLEVR, including three levels of settings, i.e., Basic (single-step transformation), Event (multi-step transformation), and View (multi-step transformation with variant views). Experimental results show that the state-of-the-art visual reasoning models perform well on Basic, but are still far from human-level intelligence on Event and View. We believe the proposed new paradigm will boost the development of machine visual reasoning. More advanced methods and real data need to be investigated in this direction. Code is available at: //github.com/hughplay/TVR.

Data-driven, knowledge-grounded neural conversation models are capable of generating more informative responses. However, these models have not yet demonstrated that they can zero-shot adapt to updated, unseen knowledge graphs. This paper proposes a new task about how to apply dynamic knowledge graphs in neural conversation model and presents a novel TV series conversation corpus (DyKgChat) for the task. Our new task and corpus aids in understanding the influence of dynamic knowledge graphs on responses generation. Also, we propose a preliminary model that selects an output from two networks at each time step: a sequence-to-sequence model (Seq2Seq) and a multi-hop reasoning model, in order to support dynamic knowledge graphs. To benchmark this new task and evaluate the capability of adaptation, we introduce several evaluation metrics and the experiments show that our proposed approach outperforms previous knowledge-grounded conversation models. The proposed corpus and model can motivate the future research directions.

Generating high-quality and interpretable adversarial examples in the text domain is a much more daunting task than it is in the image domain. This is due partly to the discrete nature of text, partly to the problem of ensuring that the adversarial examples are still probable and interpretable, and partly to the problem of maintaining label invariance under input perturbations. In order to address some of these challenges, we introduce sparse projected gradient descent (SPGD), a new approach to crafting interpretable adversarial examples for text. SPGD imposes a directional regularization constraint on input perturbations by projecting them onto the directions to nearby word embeddings with highest cosine similarities. This constraint ensures that perturbations move each word embedding in an interpretable direction (i.e., towards another nearby word embedding). Moreover, SPGD imposes a sparsity constraint on perturbations at the sentence level by ignoring word-embedding perturbations whose norms are below a certain threshold. This constraint ensures that our method changes only a few words per sequence, leading to higher quality adversarial examples. Our experiments with the IMDB movie review dataset show that the proposed SPGD method improves adversarial example interpretability and likelihood (evaluated by average per-word perplexity) compared to state-of-the-art methods, while suffering little to no loss in training performance.

In structure learning, the output is generally a structure that is used as supervision information to achieve good performance. Considering the interpretation of deep learning models has raised extended attention these years, it will be beneficial if we can learn an interpretable structure from deep learning models. In this paper, we focus on Recurrent Neural Networks (RNNs) whose inner mechanism is still not clearly understood. We find that Finite State Automaton (FSA) that processes sequential data has more interpretable inner mechanism and can be learned from RNNs as the interpretable structure. We propose two methods to learn FSA from RNN based on two different clustering methods. We first give the graphical illustration of FSA for human beings to follow, which shows the interpretability. From the FSA's point of view, we then analyze how the performance of RNNs are affected by the number of gates, as well as the semantic meaning behind the transition of numerical hidden states. Our results suggest that RNNs with simple gated structure such as Minimal Gated Unit (MGU) is more desirable and the transitions in FSA leading to specific classification result are associated with corresponding words which are understandable by human beings.

During the last years, there has been a lot of interest in achieving some kind of complex reasoning using deep neural networks. To do that, models like Memory Networks (MemNNs) have combined external memory storages and attention mechanisms. These architectures, however, lack of more complex reasoning mechanisms that could allow, for instance, relational reasoning. Relation Networks (RNs), on the other hand, have shown outstanding results in relational reasoning tasks. Unfortunately, their computational cost grows quadratically with the number of memories, something prohibitive for larger problems. To solve these issues, we introduce the Working Memory Network, a MemNN architecture with a novel working memory storage and reasoning module. Our model retains the relational reasoning abilities of the RN while reducing its computational complexity from quadratic to linear. We tested our model on the text QA dataset bAbI and the visual QA dataset NLVR. In the jointly trained bAbI-10k, we set a new state-of-the-art, achieving a mean error of less than 0.5%. Moreover, a simple ensemble of two of our models solves all 20 tasks in the joint version of the benchmark.

Generative Adversarial Networks (GAN) have shown great promise in tasks like synthetic image generation, image inpainting, style transfer, and anomaly detection. However, generating discrete data is a challenge. This work presents an adversarial training based correlated discrete data (CDD) generation model. It also details an approach for conditional CDD generation. The results of our approach are presented over two datasets; job-seeking candidates skill set (private dataset) and MNIST (public dataset). From quantitative and qualitative analysis of these results, we show that our model performs better as it leverages inherent correlation in the data, than an existing model that overlooks correlation.

In this paper, we develop the continuous time dynamic topic model (cDTM). The cDTM is a dynamic topic model that uses Brownian motion to model the latent topics through a sequential collection of documents, where a "topic" is a pattern of word use that we expect to evolve over the course of the collection. We derive an efficient variational approximate inference algorithm that takes advantage of the sparsity of observations in text, a property that lets us easily handle many time points. In contrast to the cDTM, the original discrete-time dynamic topic model (dDTM) requires that time be discretized. Moreover, the complexity of variational inference for the dDTM grows quickly as time granularity increases, a drawback which limits fine-grained discretization. We demonstrate the cDTM on two news corpora, reporting both predictive perplexity and the novel task of time stamp prediction.