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We introduce an online 2D-to-3D semantic instance mapping algorithm aimed at generating comprehensive, accurate, and efficient semantic 3D maps suitable for autonomous agents in unstructured environments. The proposed approach is based on a Voxel-TSDF representation used in recent algorithms. It introduces novel ways of integrating semantic prediction confidence during mapping, producing semantic and instance-consistent 3D regions. Further improvements are achieved by graph optimization-based semantic labeling and instance refinement. The proposed method achieves accuracy superior to the state of the art on public large-scale datasets, improving on a number of widely used metrics. We also highlight a downfall in the evaluation of recent studies: using the ground truth trajectory as input instead of a SLAM-estimated one substantially affects the accuracy, creating a large gap between the reported results and the actual performance on real-world data.

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機器學習系統設計系統評估標準

This work introduces Dirichlet Active Learning (DiAL), a Bayesian-inspired approach to the design of active learning algorithms. Our framework models feature-conditional class probabilities as a Dirichlet random field and lends observational strength between similar features in order to calibrate the random field. This random field can then be utilized in learning tasks: in particular, we can use current estimates of mean and variance to conduct classification and active learning in the context where labeled data is scarce. We demonstrate the applicability of this model to low-label rate graph learning by constructing ``propagation operators'' based upon the graph Laplacian, and offer computational studies demonstrating the method's competitiveness with the state of the art. Finally, we provide rigorous guarantees regarding the ability of this approach to ensure both exploration and exploitation, expressed respectively in terms of cluster exploration and increased attention to decision boundaries.

We simulate behavior of independent reinforcement learning algorithms playing the Crawford and Sobel (1982) game of strategic information transmission. We show that a sender and a receiver training together converge to strategies close to the ex-ante optimal equilibrium of the game. Hence, communication takes place to the largest extent predicted by Nash equilibrium. The conclusion is robust to alternative specifications of the learning hyperparameters and of the game. We discuss implications for theories of equilibrium selection in information transmission games, for work on emerging communication among algorithms in computer science, and for the economics of collusions in markets populated by artificially intelligent agents.

Partitioning a set of elements into an unknown number of mutually exclusive subsets is essential in many machine learning problems. However, assigning elements, such as samples in a dataset or neurons in a network layer, to an unknown and discrete number of subsets is inherently non-differentiable, prohibiting end-to-end gradient-based optimization of parameters. We overcome this limitation by proposing a novel two-step method for inferring partitions, which allows its usage in variational inference tasks. This new approach enables reparameterized gradients with respect to the parameters of the new random partition model. Our method works by inferring the number of elements per subset and, second, by filling these subsets in a learned order. We highlight the versatility of our general-purpose approach on three different challenging experiments: variational clustering, inference of shared and independent generative factors under weak supervision, and multitask learning.

We present an unbiased method for Bayesian posterior means based on kinetic Langevin dynamics that combines advanced splitting methods with enhanced gradient approximations. Our approach avoids Metropolis correction by coupling Markov chains at different discretization levels in a multilevel Monte Carlo approach. Theoretical analysis demonstrates that our proposed estimator is unbiased, attains finite variance, and satisfies a central limit theorem. It can achieve accuracy $\epsilon>0$ for estimating expectations of Lipschitz functions in $d$ dimensions with $\mathcal{O}(d^{1/4}\epsilon^{-2})$ expected gradient evaluations, without assuming warm start. We exhibit similar bounds using both approximate and stochastic gradients, and our method's computational cost is shown to scale logarithmically with the size of the dataset. The proposed method is tested using a multinomial regression problem on the MNIST dataset and a Poisson regression model for soccer scores. Experiments indicate that the number of gradient evaluations per effective sample is independent of dimension, even when using inexact gradients. For product distributions, we give dimension-independent variance bounds. Our results demonstrate that the unbiased algorithm we present can be much more efficient than the ``gold-standard" randomized Hamiltonian Monte Carlo.

Disentangled Representation Learning (DRL) aims to learn a model capable of identifying and disentangling the underlying factors hidden in the observable data in representation form. The process of separating underlying factors of variation into variables with semantic meaning benefits in learning explainable representations of data, which imitates the meaningful understanding process of humans when observing an object or relation. As a general learning strategy, DRL has demonstrated its power in improving the model explainability, controlability, robustness, as well as generalization capacity in a wide range of scenarios such as computer vision, natural language processing, data mining etc. In this article, we comprehensively review DRL from various aspects including motivations, definitions, methodologies, evaluations, applications and model designs. We discuss works on DRL based on two well-recognized definitions, i.e., Intuitive Definition and Group Theory Definition. We further categorize the methodologies for DRL into four groups, i.e., Traditional Statistical Approaches, Variational Auto-encoder Based Approaches, Generative Adversarial Networks Based Approaches, Hierarchical Approaches and Other Approaches. We also analyze principles to design different DRL models that may benefit different tasks in practical applications. Finally, we point out challenges in DRL as well as potential research directions deserving future investigations. We believe this work may provide insights for promoting the DRL research in the community.

Recent contrastive representation learning methods rely on estimating mutual information (MI) between multiple views of an underlying context. E.g., we can derive multiple views of a given image by applying data augmentation, or we can split a sequence into views comprising the past and future of some step in the sequence. Contrastive lower bounds on MI are easy to optimize, but have a strong underestimation bias when estimating large amounts of MI. We propose decomposing the full MI estimation problem into a sum of smaller estimation problems by splitting one of the views into progressively more informed subviews and by applying the chain rule on MI between the decomposed views. This expression contains a sum of unconditional and conditional MI terms, each measuring modest chunks of the total MI, which facilitates approximation via contrastive bounds. To maximize the sum, we formulate a contrastive lower bound on the conditional MI which can be approximated efficiently. We refer to our general approach as Decomposed Estimation of Mutual Information (DEMI). We show that DEMI can capture a larger amount of MI than standard non-decomposed contrastive bounds in a synthetic setting, and learns better representations in a vision domain and for dialogue generation.

This paper presents a new approach for assembling graph neural networks based on framelet transforms. The latter provides a multi-scale representation for graph-structured data. With the framelet system, we can decompose the graph feature into low-pass and high-pass frequencies as extracted features for network training, which then defines a framelet-based graph convolution. The framelet decomposition naturally induces a graph pooling strategy by aggregating the graph feature into low-pass and high-pass spectra, which considers both the feature values and geometry of the graph data and conserves the total information. The graph neural networks with the proposed framelet convolution and pooling achieve state-of-the-art performance in many types of node and graph prediction tasks. Moreover, we propose shrinkage as a new activation for the framelet convolution, which thresholds the high-frequency information at different scales. Compared to ReLU, shrinkage in framelet convolution improves the graph neural network model in terms of denoising and signal compression: noises in both node and structure can be significantly reduced by accurately cutting off the high-pass coefficients from framelet decomposition, and the signal can be compressed to less than half its original size with the prediction performance well preserved.

Graph neural networks (GNNs) have been widely used in representation learning on graphs and achieved state-of-the-art performance in tasks such as node classification and link prediction. However, most existing GNNs are designed to learn node representations on the fixed and homogeneous graphs. The limitations especially become problematic when learning representations on a misspecified graph or a heterogeneous graph that consists of various types of nodes and edges. In this paper, we propose Graph Transformer Networks (GTNs) that are capable of generating new graph structures, which involve identifying useful connections between unconnected nodes on the original graph, while learning effective node representation on the new graphs in an end-to-end fashion. Graph Transformer layer, a core layer of GTNs, learns a soft selection of edge types and composite relations for generating useful multi-hop connections so-called meta-paths. Our experiments show that GTNs learn new graph structures, based on data and tasks without domain knowledge, and yield powerful node representation via convolution on the new graphs. Without domain-specific graph preprocessing, GTNs achieved the best performance in all three benchmark node classification tasks against the state-of-the-art methods that require pre-defined meta-paths from domain knowledge.

We investigate a lattice-structured LSTM model for Chinese NER, which encodes a sequence of input characters as well as all potential words that match a lexicon. Compared with character-based methods, our model explicitly leverages word and word sequence information. Compared with word-based methods, lattice LSTM does not suffer from segmentation errors. Gated recurrent cells allow our model to choose the most relevant characters and words from a sentence for better NER results. Experiments on various datasets show that lattice LSTM outperforms both word-based and character-based LSTM baselines, achieving the best results.

The dominant sequence transduction models are based on complex recurrent or convolutional neural networks in an encoder-decoder configuration. The best performing models also connect the encoder and decoder through an attention mechanism. We propose a new simple network architecture, the Transformer, based solely on attention mechanisms, dispensing with recurrence and convolutions entirely. Experiments on two machine translation tasks show these models to be superior in quality while being more parallelizable and requiring significantly less time to train. Our model achieves 28.4 BLEU on the WMT 2014 English-to-German translation task, improving over the existing best results, including ensembles by over 2 BLEU. On the WMT 2014 English-to-French translation task, our model establishes a new single-model state-of-the-art BLEU score of 41.8 after training for 3.5 days on eight GPUs, a small fraction of the training costs of the best models from the literature. We show that the Transformer generalizes well to other tasks by applying it successfully to English constituency parsing both with large and limited training data.

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