The robustness of signal temporal logic not only assesses whether a signal adheres to a specification but also provides a measure of how much a formula is fulfilled or violated. The calculation of robustness is based on evaluating the robustness of underlying predicates. However, the robustness of predicates is usually defined in a model-free way, i.e., without including the system dynamics. Moreover, it is often nontrivial to define the robustness of complicated predicates precisely. To address these issues, we propose a notion of model predictive robustness, which provides a more systematic way of evaluating robustness compared to previous approaches by considering model-based predictions. In particular, we use Gaussian process regression to learn the robustness based on precomputed predictions so that robustness values can be efficiently computed online. We evaluate our approach for the use case of autonomous driving with predicates used in formalized traffic rules on a recorded dataset, which highlights the advantage of our approach compared to traditional approaches in terms of expressiveness. By incorporating our robustness definitions into a trajectory planner, autonomous vehicles obey traffic rules more robustly than human drivers in the dataset.
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Entity typing aims at predicting one or more words that describe the type(s) of a specific mention in a sentence. Due to shortcuts from surface patterns to annotated entity labels and biased training, existing entity typing models are subject to the problem of spurious correlations. To comprehensively investigate the faithfulness and reliability of entity typing methods, we first systematically define distinct kinds of model biases that are reflected mainly from spurious correlations. Particularly, we identify six types of existing model biases, including mention-context bias, lexical overlapping bias, named entity bias, pronoun bias, dependency bias, and overgeneralization bias. To mitigate model biases, we then introduce a counterfactual data augmentation method. By augmenting the original training set with their debiased counterparts, models are forced to fully comprehend sentences and discover the fundamental cues for entity typing, rather than relying on spurious correlations for shortcuts. Experimental results on the UFET dataset show our counterfactual data augmentation approach helps improve generalization of different entity typing models with consistently better performance on both the original and debiased test sets.
Recent work has investigated the distributions of learned convolution filters through a large-scale study containing hundreds of heterogeneous image models. Surprisingly, on average, the distributions only show minor drifts in comparisons of various studied dimensions including the learned task, image domain, or dataset. However, among the studied image domains, medical imaging models appeared to show significant outliers through "spikey" distributions, and, therefore, learn clusters of highly specific filters different from other domains. Following this observation, we study the collected medical imaging models in more detail. We show that instead of fundamental differences, the outliers are due to specific processing in some architectures. Quite the contrary, for standardized architectures, we find that models trained on medical data do not significantly differ in their filter distributions from similar architectures trained on data from other domains. Our conclusions reinforce previous hypotheses stating that pre-training of imaging models can be done with any kind of diverse image data.
While fine-tuned language models perform well on many tasks, they were also shown to rely on superficial surface features such as lexical overlap. Excessive utilization of such heuristics can lead to failure on challenging inputs. We analyze the use of lexical overlap heuristics in natural language inference, paraphrase detection, and reading comprehension (using a novel contrastive dataset), and find that larger models are much less susceptible to adopting lexical overlap heuristics. We also find that longer training leads models to abandon lexical overlap heuristics. Finally, we provide evidence that the disparity between models size has its source in the pre-trained model
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the case because humans adapt their behavior to that of the robot, raising the need for intricate planning and prediction. In this paper, we propose a novel optimization-based motion planning algorithm, which generates robot motions, while simultaneously maximizing the human trajectory likelihood under a data-driven predictive model. Considering planning and prediction together allows us to formulate objective and constraint functions in the joint human-robot state space. Key to the approach are added latent space modifiers to a differentiable human predictive model based on a dedicated recurrent neural network. These modifiers allow to change the human prediction within motion optimization. We empirically evaluate our method using the publicly available MoGaze dataset. Our results indicate that the proposed framework outperforms current baselines for planning handover trajectories and avoiding collisions between a robot and a human. Our experiments demonstrate collaborative motion trajectories, where both, the human prediction and the robot plan, adapt to each other.
Understanding the impact of the most effective policies or treatments on a response variable of interest is desirable in many empirical works in economics, statistics and other disciplines. Due to the widespread winner's curse phenomenon, conventional statistical inference assuming that the top policies are chosen independent of the random sample may lead to overly optimistic evaluations of the best policies. In recent years, given the increased availability of large datasets, such an issue can be further complicated when researchers include many covariates to estimate the policy or treatment effects in an attempt to control for potential confounders. In this manuscript, to simultaneously address the above-mentioned issues, we propose a resampling-based procedure that not only lifts the winner's curse in evaluating the best policies observed in a random sample, but also is robust to the presence of many covariates. The proposed inference procedure yields accurate point estimates and valid frequentist confidence intervals that achieve the exact nominal level as the sample size goes to infinity for multiple best policy effect sizes. We illustrate the finite-sample performance of our approach through Monte Carlo experiments and two empirical studies, evaluating the most effective policies in charitable giving and the most beneficial group of workers in the National Supported Work program.
Objective: We propose a formal framework for modeling surgical tasks using a unified set of motion primitives (MPs) as the basic surgical actions to enable more objective labeling, aggregation of different datasets, and training generalized models for surgical action recognition. Methods: We use our framework to create the COntext and Motion Primitive Aggregate Surgical Set (COMPASS), including six dry-lab surgical tasks from three publicly-available datasets (JIGSAWS, DESK, and ROSMA) with kinematic and video data and context and MP labels. Methods for labeling surgical context and automatic translation to MPs are presented. We propose the Leave-One-Task-Out (LOTO) cross validation method to evaluate a model's ability to generalize to an unseen task. Results: Our context labeling method achieves near-perfect agreement between consensus labels from crowd-sourcing and expert surgeons. Segmentation of tasks to MPs enables the generation of separate left and right transcripts and significantly improves LOTO performance. We find that MP segmentation models perform best if trained on tasks with the same context and/or tasks from the same dataset. Conclusion: The proposed framework enables high quality labeling of surgical data based on context and fine-grained MPs. Modeling surgical tasks with MPs enables the aggregation of different datasets for training action recognition models that can generalize better to unseen tasks than models trained at the gesture level. Significance: Our formal framework and aggregate dataset can support the development of models and algorithms for surgical process analysis, skill assessment, error detection, and autonomy.
Automatically understanding the contents of an image is a highly relevant problem in practice. In e-commerce and social media settings, for example, a common problem is to automatically categorize user-provided pictures. Nowadays, a standard approach is to fine-tune pre-trained image models with application-specific data. Besides images, organizations however often also collect collaborative signals in the context of their application, in particular how users interacted with the provided online content, e.g., in forms of viewing, rating, or tagging. Such signals are commonly used for item recommendation, typically by deriving latent user and item representations from the data. In this work, we show that such collaborative information can be leveraged to improve the classification process of new images. Specifically, we propose a multitask learning framework, where the auxiliary task is to reconstruct collaborative latent item representations. A series of experiments on datasets from e-commerce and social media demonstrates that considering collaborative signals helps to significantly improve the performance of the main task of image classification by up to 9.1%.
Repeated longitudinal measurements are commonly used to model long-term disease progression, and timing and number of assessments per patient may vary, leading to irregularly spaced and sparse data. Longitudinal trajectories may exhibit curvilinear patterns, in which mixed linear regression methods may fail to capture true trends in the data. We applied functional principal components analysis to model kidney disease progression via estimated glomerular filtration rate (eGFR) trajectories. In a cohort of 2641 participants with diabetes and up to 15 years of annual follow-up from the Chronic Renal Insufficiency Cohort (CRIC) study, we detected novel dominant modes of variation and patterns of diabetic kidney disease (DKD) progression among subgroups defined by the presence of albuminuria. We conducted inferential permutation tests to assess differences in longitudinal eGFR patterns between groups. To determine whether fitting a full cohort model or separate group-specific models is more optimal for modeling long-term trajectories, we evaluated model fit, using our goodness-of-fit procedure, and future prediction accuracy. Our findings indicated advantages for both modeling approaches in accomplishing different objectives. Beyond DKD, the methods described are applicable to other settings with longitudinally assessed biomarkers as indicators of disease progression. Supplementary materials for this article are available online.
The adaptive processing of structured data is a long-standing research topic in machine learning that investigates how to automatically learn a mapping from a structured input to outputs of various nature. Recently, there has been an increasing interest in the adaptive processing of graphs, which led to the development of different neural network-based methodologies. In this thesis, we take a different route and develop a Bayesian Deep Learning framework for graph learning. The dissertation begins with a review of the principles over which most of the methods in the field are built, followed by a study on graph classification reproducibility issues. We then proceed to bridge the basic ideas of deep learning for graphs with the Bayesian world, by building our deep architectures in an incremental fashion. This framework allows us to consider graphs with discrete and continuous edge features, producing unsupervised embeddings rich enough to reach the state of the art on several classification tasks. Our approach is also amenable to a Bayesian nonparametric extension that automatizes the choice of almost all model's hyper-parameters. Two real-world applications demonstrate the efficacy of deep learning for graphs. The first concerns the prediction of information-theoretic quantities for molecular simulations with supervised neural models. After that, we exploit our Bayesian models to solve a malware-classification task while being robust to intra-procedural code obfuscation techniques. We conclude the dissertation with an attempt to blend the best of the neural and Bayesian worlds together. The resulting hybrid model is able to predict multimodal distributions conditioned on input graphs, with the consequent ability to model stochasticity and uncertainty better than most works. Overall, we aim to provide a Bayesian perspective into the articulated research field of deep learning for graphs.
Reasoning with knowledge expressed in natural language and Knowledge Bases (KBs) is a major challenge for Artificial Intelligence, with applications in machine reading, dialogue, and question answering. General neural architectures that jointly learn representations and transformations of text are very data-inefficient, and it is hard to analyse their reasoning process. These issues are addressed by end-to-end differentiable reasoning systems such as Neural Theorem Provers (NTPs), although they can only be used with small-scale symbolic KBs. In this paper we first propose Greedy NTPs (GNTPs), an extension to NTPs addressing their complexity and scalability limitations, thus making them applicable to real-world datasets. This result is achieved by dynamically constructing the computation graph of NTPs and including only the most promising proof paths during inference, thus obtaining orders of magnitude more efficient models. Then, we propose a novel approach for jointly reasoning over KBs and textual mentions, by embedding logic facts and natural language sentences in a shared embedding space. We show that GNTPs perform on par with NTPs at a fraction of their cost while achieving competitive link prediction results on large datasets, providing explanations for predictions, and inducing interpretable models. Source code, datasets, and supplementary material are available online at //github.com/uclnlp/gntp.
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