Many inductive logic programming approaches struggle to learn programs from noisy data. To overcome this limitation, we introduce an approach that learns minimal description length programs from noisy data, including recursive programs. Our experiments on several domains, including drug design, game playing, and program synthesis, show that our approach can outperform existing approaches in terms of predictive accuracies and scale to moderate amounts of noise.
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Deep neural networks for graphs have emerged as a powerful tool for learning on complex non-euclidean data, which is becoming increasingly common for a variety of different applications. Yet, although their potential has been widely recognised in the machine learning community, graph learning is largely unexplored for downstream tasks such as robotics applications. To fully unlock their potential, hence, we propose a review of graph neural architectures from a robotics perspective. The paper covers the fundamentals of graph-based models, including their architecture, training procedures, and applications. It also discusses recent advancements and challenges that arise in applied settings, related for example to the integration of perception, decision-making, and control. Finally, the paper provides an extensive review of various robotic applications that benefit from learning on graph structures, such as bodies and contacts modelling, robotic manipulation, action recognition, fleet motion planning, and many more. This survey aims to provide readers with a thorough understanding of the capabilities and limitations of graph neural architectures in robotics, and to highlight potential avenues for future research.
Research in high energy physics (HEP) requires huge amounts of computing and storage, putting strong constraints on the code speed and resource usage. To meet these requirements, a compiled high-performance language is typically used; while for physicists, who focus on the application when developing the code, better research productivity pleads for a high-level programming language. A popular approach consists of combining Python, used for the high-level interface, and C++, used for the computing intensive part of the code. A more convenient and efficient approach would be to use a language that provides both high-level programming and high-performance. The Julia programming language, developed at MIT especially to allow the use of a single language in research activities, has followed this path. In this paper the applicability of using the Julia language for HEP research is explored, covering the different aspects that are important for HEP code development: runtime performance, handling of large projects, interface with legacy code, distributed computing, training, and ease of programming. The study shows that the HEP community would benefit from a large scale adoption of this programming language. The HEP-specific foundation libraries that would need to be consolidated are identified
We develop sampling algorithms to fit Bayesian hierarchical models, the computational complexity of which scales linearly with the number of observations and the number of parameters in the model. We focus on crossed random effect and nested multilevel models, which are used ubiquitously in applied sciences. The posterior dependence in both classes is sparse: in crossed random effects models it resembles a random graph, whereas in nested multilevel models it is tree-structured. For each class we identify a framework for scalable computation, building on previous work. Methods for crossed models are based on extensions of appropriately designed collapsed Gibbs samplers, where we introduce the idea of local centering; while methods for nested models are based on sparse linear algebra and data augmentation. We provide a theoretical analysis of the proposed algorithms in some simplified settings, including a comparison with previously proposed methodologies and an average-case analysis based on random graph theory. Numerical experiments, including two challenging real data analyses on predicting electoral results and real estate prices, compare with off-the-shelf Hamiltonian Monte Carlo, displaying drastic improvement in performance.
A myriad of approaches have been proposed to characterise the mesoscale structure of networks - most often as a partition based on patterns variously called communities, blocks, or clusters. Clearly, distinct methods designed to detect different types of patterns may provide a variety of answers to the network's mesoscale structure. Yet, even multiple runs of a given method can sometimes yield diverse and conflicting results, producing entire landscapes of partitions which potentially include multiple (locally optimal) mesoscale explanations of the network. Such ambiguity motivates a closer look at the ability of these methods to find multiple qualitatively different 'ground truth' partitions in a network. Here, we propose the stochastic cross-block model (SCBM), a generative model which allows for two distinct partitions to be built into the mesoscale structure of a single benchmark network. We demonstrate a use case of the benchmark model by appraising the power of stochastic block models (SBMs) to detect implicitly planted coexisting bi-community and core-periphery structures of different strengths. Given our model design and experimental set-up, we find that the ability to detect the two partitions individually varies by SBM variant and that coexistence of both partitions is recovered only in a very limited number of cases. Our findings suggest that in most instances only one - in some way dominating - structure can be detected, even in the presence of other partitions. They underline the need for considering entire landscapes of partitions when different competing explanations exist and motivate future research to advance partition coexistence detection methods. Our model also contributes to the field of benchmark networks more generally by enabling further exploration of the ability of new and existing methods to detect ambiguity in the mesoscale structure of networks.
Combining strengths from deep learning and extreme value theory can help describe complex relationships between variables where extreme events have significant impacts (e.g., environmental or financial applications). Neural networks learn complicated nonlinear relationships from large datasets under limited parametric assumptions. By definition, the number of occurrences of extreme events is small, which limits the ability of the data-hungry, nonparametric neural network to describe rare events. Inspired by recent extreme cold winter weather events in North America caused by atmospheric blocking, we examine several probabilistic generative models for the entire multivariate probability distribution of daily boreal winter surface air temperature. We propose metrics to measure spatial asymmetries, such as long-range anticorrelated patterns that commonly appear in temperature fields during blocking events. Compared to vine copulas, the statistical standard for multivariate copula modeling, deep learning methods show improved ability to reproduce complicated asymmetries in the spatial distribution of ERA5 temperature reanalysis, including the spatial extent of in-sample extreme events.
(Strong) circular external difference families (which we denote as CEDFs and SCEDFs) can be used to construct nonmalleable threshold schemes. They are a variation of (strong) external difference families, which have been extensively studied in recent years. We provide a variety of constructions for CEDFs based on graceful labellings ($\alpha$-valuations) of lexicographic products $C_n \boldsymbol{\cdot} K_{\ell}^c$, where $C_n$ denotes a cycle of length $n$. We do not have any nontrivial examples of SCEDFs. However, we can construct close approximations (more specifically, certain types of circular algebraic manipulation detection (AMD) codes) using the theory of cyclotomic numbers in finite fields.
Most state-of-the-art machine learning techniques revolve around the optimisation of loss functions. Defining appropriate loss functions is therefore critical to successfully solving problems in this field. We present a survey of the most commonly used loss functions for a wide range of different applications, divided into classification, regression, ranking, sample generation and energy based modelling. Overall, we introduce 33 different loss functions and we organise them into an intuitive taxonomy. Each loss function is given a theoretical backing and we describe where it is best used. This survey aims to provide a reference of the most essential loss functions for both beginner and advanced machine learning practitioners.
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.
The remarkable practical success of deep learning has revealed some major surprises from a theoretical perspective. In particular, simple gradient methods easily find near-optimal solutions to non-convex optimization problems, and despite giving a near-perfect fit to training data without any explicit effort to control model complexity, these methods exhibit excellent predictive accuracy. We conjecture that specific principles underlie these phenomena: that overparametrization allows gradient methods to find interpolating solutions, that these methods implicitly impose regularization, and that overparametrization leads to benign overfitting. We survey recent theoretical progress that provides examples illustrating these principles in simpler settings. We first review classical uniform convergence results and why they fall short of explaining aspects of the behavior of deep learning methods. We give examples of implicit regularization in simple settings, where gradient methods lead to minimal norm functions that perfectly fit the training data. Then we review prediction methods that exhibit benign overfitting, focusing on regression problems with quadratic loss. For these methods, we can decompose the prediction rule into a simple component that is useful for prediction and a spiky component that is useful for overfitting but, in a favorable setting, does not harm prediction accuracy. We focus specifically on the linear regime for neural networks, where the network can be approximated by a linear model. In this regime, we demonstrate the success of gradient flow, and we consider benign overfitting with two-layer networks, giving an exact asymptotic analysis that precisely demonstrates the impact of overparametrization. We conclude by highlighting the key challenges that arise in extending these insights to realistic deep learning settings.
In recent years, object detection has experienced impressive progress. Despite these improvements, there is still a significant gap in the performance between the detection of small and large objects. We analyze the current state-of-the-art model, Mask-RCNN, on a challenging dataset, MS COCO. We show that the overlap between small ground-truth objects and the predicted anchors is much lower than the expected IoU threshold. We conjecture this is due to two factors; (1) only a few images are containing small objects, and (2) small objects do not appear enough even within each image containing them. We thus propose to oversample those images with small objects and augment each of those images by copy-pasting small objects many times. It allows us to trade off the quality of the detector on large objects with that on small objects. We evaluate different pasting augmentation strategies, and ultimately, we achieve 9.7\% relative improvement on the instance segmentation and 7.1\% on the object detection of small objects, compared to the current state of the art method on MS COCO.
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