Deep learning offers promising new ways to accurately model aleatoric uncertainty in robotic estimation systems, particularly when the uncertainty distributions do not conform to traditional assumptions of being fixed and Gaussian. In this study, we formulate and evaluate three fundamental deep learning approaches for conditional probability density modeling to quantify non-Gaussian aleatoric uncertainty: parametric, discretized, and generative modeling. We systematically compare the respective strengths and weaknesses of these three methods on simulated non-Gaussian densities as well as on real-world terrain-relative navigation data. Our results show that these deep learning methods can accurately capture complex uncertainty patterns, highlighting their potential for improving the reliability and robustness of estimation systems.
Deep learning models have shown considerable vulnerability to adversarial attacks, particularly as attacker strategies become more sophisticated. While traditional adversarial training (AT) techniques offer some resilience, they often focus on defending against a single type of attack, e.g., the $\ell_\infty$-norm attack, which can fail for other types. This paper introduces a computationally efficient multilevel $\ell_p$ defense, called the Efficient Robust Mode Connectivity (EMRC) method, which aims to enhance a deep learning model's resilience against multiple $\ell_p$-norm attacks. Similar to analytical continuation approaches used in continuous optimization, the method blends two $p$-specific adversarially optimal models, the $\ell_1$- and $\ell_\infty$-norm AT solutions, to provide good adversarial robustness for a range of $p$. We present experiments demonstrating that our approach performs better on various attacks as compared to AT-$\ell_\infty$, E-AT, and MSD, for datasets/architectures including: CIFAR-10, CIFAR-100 / PreResNet110, WideResNet, ViT-Base.
The use of self-supervised learning (SSL) to train pathology foundation models has increased substantially in the past few years. Notably, several models trained on large quantities of clinical data have been made publicly available in recent months. This will significantly enhance scientific research in computational pathology and help bridge the gap between research and clinical deployment. With the increase in availability of public foundation models of different sizes, trained using different algorithms on different datasets, it becomes important to establish a benchmark to compare the performance of such models on a variety of clinically relevant tasks spanning multiple organs and diseases. In this work, we present a collection of pathology datasets comprising clinical slides associated with clinically relevant endpoints including cancer diagnoses and a variety of biomarkers generated during standard hospital operation from two medical centers. We leverage these datasets to systematically assess the performance of public pathology foundation models and provide insights into best practices for training new foundation models and selecting appropriate pretrained models.
Supervised machine-learning models for predicting user behavior offer a challenging classification problem with lower average prediction performance scores than other text classification tasks. This study evaluates multi-task learning frameworks grounded in Cognitive Appraisal Theory to predict user behavior as a function of users' self-expression and psychological attributes. Our experiments show that users' language and traits improve predictions above and beyond models predicting only from text. Our findings highlight the importance of integrating psychological constructs into NLP to enhance the understanding and prediction of user actions. We close with a discussion of the implications for future applications of large language models for computational psychology.
Backdoor attacks compromise the integrity and reliability of machine learning models by embedding a hidden trigger during the training process, which can later be activated to cause unintended misbehavior. We propose a novel backdoor mitigation approach via machine unlearning to counter such backdoor attacks. The proposed method utilizes model activation of domain-equivalent unseen data to guide the editing of the model's weights. Unlike the previous unlearning-based mitigation methods, ours is computationally inexpensive and achieves state-of-the-art performance while only requiring a handful of unseen samples for unlearning. In addition, we also point out that unlearning the backdoor may cause the whole targeted class to be unlearned, thus introducing an additional repair step to preserve the model's utility after editing the model. Experiment results show that the proposed method is effective in unlearning the backdoor on different datasets and trigger patterns.
In-situ sensing, in conjunction with learning models, presents a unique opportunity to address persistent defect issues in Additive Manufacturing (AM) processes. However, this integration introduces significant data privacy concerns, such as data leakage, sensor data compromise, and model inversion attacks, revealing critical details about part design, material composition, and machine parameters. Differential Privacy (DP) models, which inject noise into data under mathematical guarantees, offer a nuanced balance between data utility and privacy by obscuring traces of sensing data. However, the introduction of noise into learning models, often functioning as black boxes, complicates the prediction of how specific noise levels impact model accuracy. This study introduces the Differential Privacy-HyperDimensional computing (DP-HD) framework, leveraging the explainability of the vector symbolic paradigm to predict the noise impact on the accuracy of in-situ monitoring, safeguarding sensitive data while maintaining operational efficiency. Experimental results on real-world high-speed melt pool data of AM for detecting overhang anomalies demonstrate that DP-HD achieves superior operational efficiency, prediction accuracy, and robust privacy protection, outperforming state-of-the-art Machine Learning (ML) models. For example, when implementing the same level of privacy protection (with a privacy budget set at 1), our model achieved an accuracy of 94.43%, surpassing the performance of traditional models such as ResNet50 (52.30%), GoogLeNet (23.85%), AlexNet (55.78%), DenseNet201 (69.13%), and EfficientNet B2 (40.81%). Notably, DP-HD maintains high performance under substantial noise additions designed to enhance privacy, unlike current models that suffer significant accuracy declines under high privacy constraints.
Self-supervised learning, dubbed the dark matter of intelligence, is a promising path to advance machine learning. Yet, much like cooking, training SSL methods is a delicate art with a high barrier to entry. While many components are familiar, successfully training a SSL method involves a dizzying set of choices from the pretext tasks to training hyper-parameters. Our goal is to lower the barrier to entry into SSL research by laying the foundations and latest SSL recipes in the style of a cookbook. We hope to empower the curious researcher to navigate the terrain of methods, understand the role of the various knobs, and gain the know-how required to explore how delicious SSL can be.
While deep reinforcement learning (RL) has fueled multiple high-profile successes in machine learning, it is held back from more widespread adoption by its often poor data efficiency and the limited generality of the policies it produces. A promising approach for alleviating these limitations is to cast the development of better RL algorithms as a machine learning problem itself in a process called meta-RL. Meta-RL is most commonly studied in a problem setting where, given a distribution of tasks, the goal is to learn a policy that is capable of adapting to any new task from the task distribution with as little data as possible. In this survey, we describe the meta-RL problem setting in detail as well as its major variations. We discuss how, at a high level, meta-RL research can be clustered based on the presence of a task distribution and the learning budget available for each individual task. Using these clusters, we then survey meta-RL algorithms and applications. We conclude by presenting the open problems on the path to making meta-RL part of the standard toolbox for a deep RL practitioner.
Despite the recent progress in deep learning, most approaches still go for a silo-like solution, focusing on learning each task in isolation: training a separate neural network for each individual task. Many real-world problems, however, call for a multi-modal approach and, therefore, for multi-tasking models. Multi-task learning (MTL) aims to leverage useful information across tasks to improve the generalization capability of a model. This thesis is concerned with multi-task learning in the context of computer vision. First, we review existing approaches for MTL. Next, we propose several methods that tackle important aspects of multi-task learning. The proposed methods are evaluated on various benchmarks. The results show several advances in the state-of-the-art of multi-task learning. Finally, we discuss several possibilities for future work.
With the rise of powerful pre-trained vision-language models like CLIP, it becomes essential to investigate ways to adapt these models to downstream datasets. A recently proposed method named Context Optimization (CoOp) introduces the concept of prompt learning -- a recent trend in NLP -- to the vision domain for adapting pre-trained vision-language models. Specifically, CoOp turns context words in a prompt into a set of learnable vectors and, with only a few labeled images for learning, can achieve huge improvements over intensively-tuned manual prompts. In our study we identify a critical problem of CoOp: the learned context is not generalizable to wider unseen classes within the same dataset, suggesting that CoOp overfits base classes observed during training. To address the problem, we propose Conditional Context Optimization (CoCoOp), which extends CoOp by further learning a lightweight neural network to generate for each image an input-conditional token (vector). Compared to CoOp's static prompts, our dynamic prompts adapt to each instance and are thus less sensitive to class shift. Extensive experiments show that CoCoOp generalizes much better than CoOp to unseen classes, even showing promising transferability beyond a single dataset; and yields stronger domain generalization performance as well. Code is available at //github.com/KaiyangZhou/CoOp.
Existing methods for vision-and-language learning typically require designing task-specific architectures and objectives for each task. For example, a multi-label answer classifier for visual question answering, a region scorer for referring expression comprehension, and a language decoder for image captioning, etc. To alleviate these hassles, in this work, we propose a unified framework that learns different tasks in a single architecture with the same language modeling objective, i.e., multimodal conditional text generation, where our models learn to generate labels in text based on the visual and textual inputs. On 7 popular vision-and-language benchmarks, including visual question answering, referring expression comprehension, visual commonsense reasoning, most of which have been previously modeled as discriminative tasks, our generative approach (with a single unified architecture) reaches comparable performance to recent task-specific state-of-the-art vision-and-language models. Moreover, our generative approach shows better generalization ability on answering questions that have rare answers. In addition, we show that our framework allows multi-task learning in a single architecture with a single set of parameters, which achieves similar performance to separately optimized single-task models. Our code will be publicly available at: //github.com/j-min/VL-T5