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Noise plagues many numerical datasets, where the recorded values in the data may fail to match the true underlying values due to reasons including: erroneous sensors, data entry/processing mistakes, or imperfect human estimates. Here we consider estimating \emph{which} data values are incorrect along a numerical column. We present a model-agnostic approach that can utilize \emph{any} regressor (i.e.\ statistical or machine learning model) which was fit to predict values in this column based on the other variables in the dataset. By accounting for various uncertainties, our approach distinguishes between genuine anomalies and natural data fluctuations, conditioned on the available information in the dataset. We establish theoretical guarantees for our method and show that other approaches like conformal inference struggle to detect errors. We also contribute a new error detection benchmark involving 5 regression datasets with real-world numerical errors (for which the true values are also known). In this benchmark and additional simulation studies, our method identifies incorrect values with better precision/recall than other approaches.

This paper presents a dataset containing recordings of the electroencephalogram (EEG) and the electromyogram (EMG) from eight subjects who were assisted in moving their right arm by an active orthosis device. The supported movements were elbow joint movements, i.e., flexion and extension of the right arm. While the orthosis was actively moving the subject's arm, some errors were deliberately introduced for a short duration of time. During this time, the orthosis moved in the opposite direction. In this paper, we explain the experimental setup and present some behavioral analyses across all subjects. Additionally, we present an average event-related potential analysis for one subject to offer insights into the data quality and the EEG activity caused by the error introduction. The dataset described herein is openly accessible. The aim of this study was to provide a dataset to the research community, particularly for the development of new methods in the asynchronous detection of erroneous events from the EEG. We are especially interested in the tactile and haptic-mediated recognition of errors, which has not yet been sufficiently investigated in the literature. We hope that the detailed description of the orthosis and the experiment will enable its reproduction and facilitate a systematic investigation of the influencing factors in the detection of erroneous behavior of assistive systems by a large community.

In this work, we propose an efficient two-stage algorithm solving a joint problem of correlation detection and partial alignment recovery between two Gaussian databases. Correlation detection is a hypothesis testing problem; under the null hypothesis, the databases are independent, and under the alternate hypothesis, they are correlated, under an unknown row permutation. We develop bounds on the type-I and type-II error probabilities, and show that the analyzed detector performs better than a recently proposed detector, at least for some specific parameter choices. Since the proposed detector relies on a statistic, which is a sum of dependent indicator random variables, then in order to bound the type-I probability of error, we develop a novel graph-theoretic technique for bounding the $k$-th order moments of such statistics. When the databases are accepted as correlated, the algorithm also recovers some partial alignment between the given databases. We also propose two more algorithms: (i) One more algorithm for partial alignment recovery, whose reliability and computational complexity are both higher than those of the first proposed algorithm. (ii) An algorithm for full alignment recovery, which has a reduced amount of calculations and a not much lower error probability, when compared to the optimal recovery procedure.

Autonomous exploration has many important applications. However, classic information gain-based or frontier-based exploration only relies on the robot current state to determine the immediate exploration goal, which lacks the capability of predicting the value of future states and thus leads to inefficient exploration decisions. This paper presents a method to learn how "good" states are, measured by the state value function, to provide a guidance for robot exploration in real-world challenging environments. We formulate our work as an off-policy evaluation (OPE) problem for robot exploration (OPERE). It consists of offline Monte-Carlo training on real-world data and performs Temporal Difference (TD) online adaptation to optimize the trained value estimator. We also design an intrinsic reward function based on sensor information coverage to enable the robot to gain more information with sparse extrinsic rewards. Results show that our method enables the robot to predict the value of future states so as to better guide robot exploration. The proposed algorithm achieves better prediction and exploration performance compared with the state-of-the-arts. To the best of our knowledge, this work for the first time demonstrates value function prediction on real-world dataset for robot exploration in challenging subterranean and urban environments. More details and demo videos can be found at //jeffreyyh.github.io/opere/.

When re-finding items, users who forget or are uncertain about identifying details often rely on creative strategies for expressing their information needs -- complex queries that describe content elements (e.g., book characters or events), information beyond the document text (e.g., descriptions of book covers), or personal context (e.g., when they read a book). This retrieval setting, called tip of the tongue (TOT), is especially challenging for models heavily reliant on lexical and semantic overlap between query and document text. In this work, we introduce a simple yet effective framework for handling such complex queries by decomposing the query into individual clues, routing those as sub-queries to specialized retrievers, and ensembling the results. This approach allows us to take advantage of off-the-shelf retrievers (e.g., CLIP for retrieving images of book covers) or incorporate retriever-specific logic (e.g., date constraints). We show that our framework incorportating query decompositions into retrievers can improve gold book recall up to 7% relative again for Recall@5 on a new collection of 14,441 real-world query-book pairs from an online community for resolving TOT inquiries.

We consider the problem of identifying the provenance of free/open source software (FOSS) and specifically the need of identifying where reused source code has been copied from. We propose a lightweight approach to solve the problem based on software identifiers-such as the names of variables, classes, and functions chosen by programmers. The proposed approach is able to efficiently narrow down to a small set of candidate origin products, to be further analyzed with more expensive techniques to make a final provenance determination.By analyzing the PyPI (Python Packaging Index) open source ecosystem we find that globally defined identifiers are very distinct. Across PyPI's 244 K packages we found 11.2 M different global identifiers (classes and method/function names-with only 0.6% of identifiers shared among the two types of entities); 76% of identifiers were used only in one package, and 93% in at most 3. Randomly selecting 3 non-frequent global identifiers from an input product is enough to narrow down its origins to a maximum of 3 products within 89% of the cases.We validate the proposed approach by mapping Debian source packages implemented in Python to the corresponding PyPI packages; this approach uses at most five trials, where each trial uses three randomly chosen global identifiers from a randomly chosen python file of the subject software package, then ranks results using a popularity index and requires to inspect only the top result. In our experiments, this method is effective at finding the true origin of a project with a recall of 0.9 and precision of 0.77.

In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We can increase scalability by implementing the system as a distributed task-allocation system, sharing tasks across many agents. However, this also increases the resource cost of communications and synchronisation, and is difficult to scale. In this paper we present four algorithms to solve these problems. The combination of these algorithms enable each agent to improve their task allocation strategy through reinforcement learning, while changing how much they explore the system in response to how optimal they believe their current strategy is, given their past experience. We focus on distributed agent systems where the agents' behaviours are constrained by resource usage limits, limiting agents to local rather than system-wide knowledge. We evaluate these algorithms in a simulated environment where agents are given a task composed of multiple subtasks that must be allocated to other agents with differing capabilities, to then carry out those tasks. We also simulate real-life system effects such as networking instability. Our solution is shown to solve the task allocation problem to 6.7% of the theoretical optimal within the system configurations considered. It provides 5x better performance recovery over no-knowledge retention approaches when system connectivity is impacted, and is tested against systems up to 100 agents with less than a 9% impact on the algorithms' performance.

Recent times are witnessing rapid development in machine learning algorithm systems, especially in reinforcement learning, natural language processing, computer and robot vision, image processing, speech, and emotional processing and understanding. In tune with the increasing importance and relevance of machine learning models, algorithms, and their applications, and with the emergence of more innovative uses cases of deep learning and artificial intelligence, the current volume presents a few innovative research works and their applications in real world, such as stock trading, medical and healthcare systems, and software automation. The chapters in the book illustrate how machine learning and deep learning algorithms and models are designed, optimized, and deployed. The volume will be useful for advanced graduate and doctoral students, researchers, faculty members of universities, practicing data scientists and data engineers, professionals, and consultants working on the broad areas of machine learning, deep learning, and artificial intelligence.

Machine learning techniques have deeply rooted in our everyday life. However, since it is knowledge- and labor-intensive to pursue good learning performance, human experts are heavily involved in every aspect of machine learning. In order to make machine learning techniques easier to apply and reduce the demand for experienced human experts, automated machine learning (AutoML) has emerged as a hot topic with both industrial and academic interest. In this paper, we provide an up to date survey on AutoML. First, we introduce and define the AutoML problem, with inspiration from both realms of automation and machine learning. Then, we propose a general AutoML framework that not only covers most existing approaches to date but also can guide the design for new methods. Subsequently, we categorize and review the existing works from two aspects, i.e., the problem setup and the employed techniques. Finally, we provide a detailed analysis of AutoML approaches and explain the reasons underneath their successful applications. We hope this survey can serve as not only an insightful guideline for AutoML beginners but also an inspiration for future research.

This paper surveys the machine learning literature and presents machine learning as optimization models. Such models can benefit from the advancement of numerical optimization techniques which have already played a distinctive role in several machine learning settings. Particularly, mathematical optimization models are presented for commonly used machine learning approaches for regression, classification, clustering, and deep neural networks as well new emerging applications in machine teaching and empirical model learning. The strengths and the shortcomings of these models are discussed and potential research directions are highlighted.