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In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on input toolpaths with large numbers of waypoints to improve kinematic smoothness while incorporating manufacturing constraints. Differently, existing methods always determine them in a decoupled manner. To deal with the large number of waypoints on a toolpath, we propose a decomposition-based numerical scheme to optimize the trajectory in an out-of-core manner, which can also run in parallel to improve the efficiency. Simulations and physical experiments have been conducted to demonstrate the performance of our method in examples of robot-assisted additive manufacturing.

In this paper, we link two existing approaches to derive counterfactuals: adaptations based on a causal graph, and optimal transport. We extend "Knothe's rearrangement" and "triangular transport" to probabilistic graphical models, and use this counterfactual approach, referred to as sequential transport, to discuss fairness at the individual level. After establishing the theoretical foundations of the proposed method, we demonstrate its application through numerical experiments on both synthetic and real datasets.

In this work, we propose a novel activation mechanism called LayerAct for CNNs. This approach is motivated by our theoretical and experimental analyses, which demonstrate that Layer Normalization (LN) can mitigate a limitation of existing activation functions regarding noise robustness. However, LN is known to be disadvantageous in CNNs due to its tendency to make activation outputs homogeneous. The proposed method is designed to be more robust than existing activation functions by reducing the upper bound of influence caused by input shifts without inheriting LN's limitation. We provide analyses and experiments showing that LayerAct functions exhibit superior robustness compared to ElementAct functions. Experimental results on three clean and noisy benchmark datasets for image classification tasks indicate that LayerAct functions outperform other activation functions in handling noisy datasets while achieving superior performance on clean datasets in most cases.

In this paper, we investigate the cumulative distribution functions (CDFs) of the maximum and minimum of multivariate Poisson distributions with three dependence structures, namely, the common shock, comonotonic shock and thinning-dependence models. In particular, we formulate the definition of a thinning-dependent multivariate Poisson distribution based on Wang and Yuen (2005). We derive explicit CDFs of the maximum and minimum of the multivariate Poisson random vectors and conduct asymptotic analyses on them. Our results reveal the substantial difference between the three dependence structures for multivariate Poisson distribution and may suggest an alternative method for studying the dependence for other multivariate distributions. We further provide numerical examples demonstrating obtained results.

This paper provides a compact method to lift the free exponential construction of Mellies-Tabareau-Tasson over the Hyland-Schalk double glueing for orthogonality categories. A condition ``reciprocity of orthogonality'' is presented simply enough to lift the free exponential over the double glueing in terms of the orthogonality. Our general method applies to the monoidal category TsK of the s-finite transition kernels with countable biproducts. We show (i) TsK^op has the free exponential, which is shown to be describable in terms of measure theory. (ii) The s-finite transition kernels have an orthogonality between measures and measurable functions in terms of Lebesgue integrals. The orthogonality is reciprocal, hence the free exponential of (i) lifts to the orthogonality category O_I(TsK^op), which subsumes Ehrhard et al's probabilistic coherent spaces as a full subcategory of countable measurable spaces. To lift the free exponential, the measure-theoretic uniform convergence theorem commuting Lebesgue integral and limit plays a crucial role as well as Fubini-Tonelli theorem for double integral in s-finiteness. Our measure-theoretic orthogonality is considered as a continuous version of the orthogonality of the probabilistic coherent spaces for linear logic, and in particular provides a two layered decomposition of Crubille et al's direct free exponential for these spaces.

In this paper, a novel classification algorithm that is based on Data Importance (DI) reformatting and Genetic Algorithms (GA) named GADIC is proposed to overcome the issues related to the nature of data which may hinder the performance of the Machine Learning (ML) classifiers. GADIC comprises three phases which are data reformatting phase which depends on DI concept, training phase where GA is applied on the reformatted training dataset, and testing phase where the instances of the reformatted testing dataset are being averaged based on similar instances in the training dataset. GADIC is an approach that utilizes the exiting ML classifiers with involvement of data reformatting, using GA to tune the inputs, and averaging the similar instances to the unknown instance. The averaging of the instances becomes the unknown instance to be classified in the stage of testing. GADIC has been tested on five existing ML classifiers which are Support Vector Machine (SVM), K-Nearest Neighbour (KNN), Logistic Regression (LR), Decision Tree (DT), and Na\"ive Bayes (NB). All were evaluated using seven open-source UCI ML repository and Kaggle datasets which are Cleveland heart disease, Indian liver patient, Pima Indian diabetes, employee future prediction, telecom churn prediction, bank customer churn, and tech students. In terms of accuracy, the results showed that, with the exception of approximately 1% decrease in the accuracy of NB classifier in Cleveland heart disease dataset, GADIC significantly enhanced the performance of most ML classifiers using various datasets. In addition, KNN with GADIC showed the greatest performance gain when compared with other ML classifiers with GADIC followed by SVM while LR had the lowest improvement. The lowest average improvement that GADIC could achieve is 5.96%, whereas the maximum average improvement reached 16.79%.

In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.

We propose a novel method for automatic reasoning on knowledge graphs based on debate dynamics. The main idea is to frame the task of triple classification as a debate game between two reinforcement learning agents which extract arguments -- paths in the knowledge graph -- with the goal to promote the fact being true (thesis) or the fact being false (antithesis), respectively. Based on these arguments, a binary classifier, called the judge, decides whether the fact is true or false. The two agents can be considered as sparse, adversarial feature generators that present interpretable evidence for either the thesis or the antithesis. In contrast to other black-box methods, the arguments allow users to get an understanding of the decision of the judge. Since the focus of this work is to create an explainable method that maintains a competitive predictive accuracy, we benchmark our method on the triple classification and link prediction task. Thereby, we find that our method outperforms several baselines on the benchmark datasets FB15k-237, WN18RR, and Hetionet. We also conduct a survey and find that the extracted arguments are informative for users.

In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.

In this paper, we propose a conceptually simple and geometrically interpretable objective function, i.e. additive margin Softmax (AM-Softmax), for deep face verification. In general, the face verification task can be viewed as a metric learning problem, so learning large-margin face features whose intra-class variation is small and inter-class difference is large is of great importance in order to achieve good performance. Recently, Large-margin Softmax and Angular Softmax have been proposed to incorporate the angular margin in a multiplicative manner. In this work, we introduce a novel additive angular margin for the Softmax loss, which is intuitively appealing and more interpretable than the existing works. We also emphasize and discuss the importance of feature normalization in the paper. Most importantly, our experiments on LFW BLUFR and MegaFace show that our additive margin softmax loss consistently performs better than the current state-of-the-art methods using the same network architecture and training dataset. Our code has also been made available at //github.com/happynear/AMSoftmax