In structured prediction, target objects have rich internal structure which does not factorize into independent components and violates common i.i.d. assumptions. This challenge becomes apparent through the exponentially large output space in applications such as image segmentation or scene graph generation. We present a novel PAC-Bayesian risk bound for structured prediction wherein the rate of generalization scales not only with the number of structured examples but also with their size. The underlying assumption, conforming to ongoing research on generative models, is that data are generated by the Knothe-Rosenblatt rearrangement of a factorizing reference measure. This allows to explicitly distill the structure between random output variables into a Wasserstein dependency matrix. Our work makes a preliminary step towards leveraging powerful generative models to establish generalization bounds for discriminative downstream tasks in the challenging setting of structured prediction.
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Motion planning can be cast as a trajectory optimisation problem where a cost is minimised as a function of the trajectory being generated. In complex environments with several obstacles and complicated geometry, this optimisation problem is usually difficult to solve and prone to local minima. However, recent advancements in computing hardware allow for parallel trajectory optimisation where multiple solutions are obtained simultaneously, each initialised from a different starting point. Unfortunately, without a strategy preventing two solutions to collapse on each other, naive parallel optimisation can suffer from mode collapse diminishing the efficiency of the approach and the likelihood of finding a global solution. In this paper we leverage on recent advances in the theory of rough paths to devise an algorithm for parallel trajectory optimisation that promotes diversity over the range of solutions, therefore avoiding mode collapses and achieving better global properties. Our approach builds on path signatures and Hilbert space representations of trajectories, and connects parallel variational inference for trajectory estimation with diversity promoting kernels. We empirically demonstrate that this strategy achieves lower average costs than competing alternatives on a range of problems, from 2D navigation to robotic manipulators operating in cluttered environments.
Neural networks are vulnerable to adversarial attacks: adding well-crafted, imperceptible perturbations to their input can modify their output. Adversarial training is one of the most effective approaches to training robust models against such attacks. Unfortunately, this method is much slower than vanilla training of neural networks since it needs to construct adversarial examples for the entire training data at every iteration. By leveraging the theory of coreset selection, we show how selecting a small subset of training data provides a principled approach to reducing the time complexity of robust training. To this end, we first provide convergence guarantees for adversarial coreset selection. In particular, we show that the convergence bound is directly related to how well our coresets can approximate the gradient computed over the entire training data. Motivated by our theoretical analysis, we propose using this gradient approximation error as our adversarial coreset selection objective to reduce the training set size effectively. Once built, we run adversarial training over this subset of the training data. Unlike existing methods, our approach can be adapted to a wide variety of training objectives, including TRADES, $\ell_p$-PGD, and Perceptual Adversarial Training. We conduct extensive experiments to demonstrate that our approach speeds up adversarial training by 2-3 times while experiencing a slight degradation in the clean and robust accuracy.
In past decade, previous balanced datasets have been used to advance algorithms for classification, object detection, semantic segmentation, and anomaly detection in industrial applications. Specifically, for condition-based maintenance, automating visual inspection is crucial to ensure high quality. Deterioration prognostic attempts to optimize the fine decision process for predictive maintenance and proactive repair. In civil infrastructure and living environment, damage data mining cannot avoid the imbalanced data issue because of rare unseen events and high quality status by improved operations. For visual inspection, deteriorated class acquired from the surface of concrete and steel components are occasionally imbalanced. From numerous related surveys, we summarize that imbalanced data problems can be categorized into four types; 1) missing range of target and label valuables, 2) majority-minority class imbalance, 3) foreground-background of spatial imbalance, 4) long-tailed class of pixel-wise imbalance. Since 2015, there has been many imbalanced studies using deep learning approaches that includes regression, image classification, object detection, semantic segmentation. However, anomaly detection for imbalanced data is not yet well known. In the study, we highlight one-class anomaly detection application whether anomalous class or not, and demonstrate clear examples on imbalanced vision datasets: blood smear, lung infection, hazardous driving, wooden, concrete deterioration, river sludge, and disaster damage. Illustrated in Fig.1, we provide key results on damage vision mining advantage, hypothesizing that the more effective range of positive ratio, the higher accuracy gain of anomaly detection application. In our imbalanced studies, compared with the balanced case of positive ratio 1/1, we find that there is applicable positive ratio, where the accuracy are consistently high.
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly, it is crucial to enable a communication between this two actors that is natural and efficient. Secondly, the robot behavior must always be compliant with the safety regulations, ensuring always a safe collaboration. In this paper, we propose a framework that enables multi-channel communication between humans and robots by leveraging multimodal fusion of voice and gesture commands while always respecting safety regulations. The framework is validated through a comparative experiment, demonstrating that, thanks to multimodal communication, the robot can extract valuable information for performing the required task and additionally, with the safety layer, the robot can scale its speed to ensure the operator's safety.
Causality can be described in terms of a structural causal model (SCM) that carries information on the variables of interest and their mechanistic relations. For most processes of interest the underlying SCM will only be partially observable, thus causal inference tries to leverage any exposed information. Graph neural networks (GNN) as universal approximators on structured input pose a viable candidate for causal learning, suggesting a tighter integration with SCM. To this effect we present a theoretical analysis from first principles that establishes a novel connection between GNN and SCM while providing an extended view on general neural-causal models. We then establish a new model class for GNN-based causal inference that is necessary and sufficient for causal effect identification. Our empirical illustration on simulations and standard benchmarks validate our theoretical proofs.
Analyzing observational data from multiple sources can be useful for increasing statistical power to detect a treatment effect; however, practical constraints such as privacy considerations may restrict individual-level information sharing across data sets. This paper develops federated methods that only utilize summary-level information from heterogeneous data sets. Our federated methods provide doubly-robust point estimates of treatment effects as well as variance estimates. We derive the asymptotic distributions of our federated estimators, which are shown to be asymptotically equivalent to the corresponding estimators from the combined, individual-level data. We show that to achieve these properties, federated methods should be adjusted based on conditions such as whether models are correctly specified and stable across heterogeneous data sets.
It is a common paradigm in object detection frameworks to treat all samples equally and target at maximizing the performance on average. In this work, we revisit this paradigm through a careful study on how different samples contribute to the overall performance measured in terms of mAP. Our study suggests that the samples in each mini-batch are neither independent nor equally important, and therefore a better classifier on average does not necessarily mean higher mAP. Motivated by this study, we propose the notion of Prime Samples, those that play a key role in driving the detection performance. We further develop a simple yet effective sampling and learning strategy called PrIme Sample Attention (PISA) that directs the focus of the training process towards such samples. Our experiments demonstrate that it is often more effective to focus on prime samples than hard samples when training a detector. Particularly, On the MSCOCO dataset, PISA outperforms the random sampling baseline and hard mining schemes, e.g. OHEM and Focal Loss, consistently by more than 1% on both single-stage and two-stage detectors, with a strong backbone ResNeXt-101.
It is always well believed that modeling relationships between objects would be helpful for representing and eventually describing an image. Nevertheless, there has not been evidence in support of the idea on image description generation. In this paper, we introduce a new design to explore the connections between objects for image captioning under the umbrella of attention-based encoder-decoder framework. Specifically, we present Graph Convolutional Networks plus Long Short-Term Memory (dubbed as GCN-LSTM) architecture that novelly integrates both semantic and spatial object relationships into image encoder. Technically, we build graphs over the detected objects in an image based on their spatial and semantic connections. The representations of each region proposed on objects are then refined by leveraging graph structure through GCN. With the learnt region-level features, our GCN-LSTM capitalizes on LSTM-based captioning framework with attention mechanism for sentence generation. Extensive experiments are conducted on COCO image captioning dataset, and superior results are reported when comparing to state-of-the-art approaches. More remarkably, GCN-LSTM increases CIDEr-D performance from 120.1% to 128.7% on COCO testing set.
As a new classification platform, deep learning has recently received increasing attention from researchers and has been successfully applied to many domains. In some domains, like bioinformatics and robotics, it is very difficult to construct a large-scale well-annotated dataset due to the expense of data acquisition and costly annotation, which limits its development. Transfer learning relaxes the hypothesis that the training data must be independent and identically distributed (i.i.d.) with the test data, which motivates us to use transfer learning to solve the problem of insufficient training data. This survey focuses on reviewing the current researches of transfer learning by using deep neural network and its applications. We defined deep transfer learning, category and review the recent research works based on the techniques used in deep transfer learning.
Traditional methods for link prediction can be categorized into three main types: graph structure feature-based, latent feature-based, and explicit feature-based. Graph structure feature methods leverage some handcrafted node proximity scores, e.g., common neighbors, to estimate the likelihood of links. Latent feature methods rely on factorizing networks' matrix representations to learn an embedding for each node. Explicit feature methods train a machine learning model on two nodes' explicit attributes. Each of the three types of methods has its unique merits. In this paper, we propose SEAL (learning from Subgraphs, Embeddings, and Attributes for Link prediction), a new framework for link prediction which combines the power of all the three types into a single graph neural network (GNN). GNN is a new type of neural network which directly accepts graphs as input and outputs their labels. In SEAL, the input to the GNN is a local subgraph around each target link. We prove theoretically that our local subgraphs also reserve a great deal of high-order graph structure features related to link existence. Another key feature is that our GNN can naturally incorporate latent features and explicit features. It is achieved by concatenating node embeddings (latent features) and node attributes (explicit features) in the node information matrix for each subgraph, thus combining the three types of features to enhance GNN learning. Through extensive experiments, SEAL shows unprecedentedly strong performance against a wide range of baseline methods, including various link prediction heuristics and network embedding methods.
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