Reviewerly/exHarmony huggingface dataset:
Multiplicative Controller Fusion: Leveraging Algorithmic Priors for Sample-efficient Reinforcement Learning and Safe Sim-To-Real Transfer

Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to reality is still extremely challenging. We present a novel approach to model-free reinforcement learning that can leverage existing sub-optimal solutions as an algorithmic prior during training and deployment. During training, our gated fusion approach enables the prior to guide the initial stages of exploration, increasing sample-efficiency and enabling learning from sparse long-horizon reward signals. Importantly, the policy can learn to improve beyond the performance of the sub-optimal prior since the prior's influence is annealed gradually. During deployment, the policy's uncertainty provides a reliable strategy for transferring a simulation-trained policy to the real world by falling back to the prior controller in uncertain states. We show the efficacy of our Multiplicative Controller Fusion approach on the task of robot navigation and demonstrate safe transfer from simulation to the real world without any fine-tuning. The code for this project is made publicly available at https://sites.google.com/view/mcf-nav/home
A Precisely Xtreme-Multi Channel Hybrid Approach For Roman Urdu Sentiment Analysis

In order to accelerate the performance of various Natural Language Processing tasks for Roman Urdu, this paper for the very first time provides 3 neural word embeddings prepared using most widely used approaches namely Word2vec, FastText, and Glove. The integrity of generated neural word embeddings is evaluated using intrinsic and extrinsic evaluation approaches. Considering the lack of publicly available benchmark datasets, it provides a first-ever Roman Urdu dataset which consists of 3241 sentiments annotated against positive, negative and neutral classes. To provide benchmark baseline performance over the presented dataset, we adapt diverse machine learning (Support Vector Machine Logistic Regression, Naive Bayes), deep learning (convolutional neural network, recurrent neural network), and hybrid approaches. Effectiveness of generated neural word embeddings is evaluated by comparing the performance of machine and deep learning based methodologies using 7, and 5 distinct feature representation approaches respectively. Finally, it proposes a novel precisely extreme multi-channel hybrid methodology which outperforms state-of-the-art adapted machine and deep learning approaches by the figure of 9%, and 4% in terms of F1-score. Roman Urdu Sentiment Analysis, Pretrain word embeddings for Roman Urdu, Word2Vec, Glove, Fast-Text
Privacy-Preserving Adversarial Network (PPAN) for Continuous non-Gaussian Attributes

A privacy-preserving adversarial network (PPAN) was recently proposed as an information-theoretical framework to address the issue of privacy in data sharing. The main idea of this model was using mutual information as the privacy measure and adversarial training of two deep neural networks, one as the mechanism and another as the adversary. The performance of the PPAN model for the discrete synthetic data, MNIST handwritten digits, and continuous Gaussian data was evaluated compared to the analytically optimal trade-off. In this study, we evaluate the PPAN model for continuous non-Gaussian data where lower and upper bounds of the privacy-preserving problem are used. These bounds include the Kraskov (KSG) estimation of entropy and mutual information that is based on k-th nearest neighbor. In addition to the synthetic data sets, a practical case for hiding the actual electricity consumption from smart meter readings is examined. The results show that for continuous non-Gaussian data, the PPAN model performs within the determined optimal ranges and close to the lower bound.
Gaussian Graphical Model exploration and selection in high dimension low sample size setting

Gaussian Graphical Models (GGM) are often used to describe the conditional correlations between the components of a random vector. In this article, we compare two families of GGM inference methods: nodewise edge selection and penalised likelihood maximisation. We demonstrate on synthetic data that, when the sample size is small, the two methods produce graphs with either too few or too many edges when compared to the real one. As a result, we propose a composite procedure that explores a family of graphs with an nodewise numerical scheme and selects a candidate among them with an overall likelihood criterion. We demonstrate that, when the number of observations is small, this selection method yields graphs closer to the truth and corresponding to distributions with better KL divergence with regards to the real distribution than the other two. Finally, we show the interest of our algorithm on two concrete cases: first on brain imaging data, then on biological nephrology data. In both cases our results are more in line with current knowledge in each field.
HeatNet: Bridging the Day-Night Domain Gap in Semantic Segmentation with Thermal Images

The majority of learning-based semantic segmentation methods are optimized for daytime scenarios and favorable lighting conditions. Real-world driving scenarios, however, entail adverse environmental conditions such as nighttime illumination or glare which remain a challenge for existing approaches. In this work, we propose a multimodal semantic segmentation model that can be applied during daytime and nighttime. To this end, besides RGB images, we leverage thermal images, making our network significantly more robust. We avoid the expensive annotation of nighttime images by leveraging an existing daytime RGB-dataset and propose a teacher-student training approach that transfers the dataset's knowledge to the nighttime domain. We further employ a domain adaptation method to align the learned feature spaces across the domains and propose a novel two-stage training scheme. Furthermore, due to a lack of thermal data for autonomous driving, we present a new dataset comprising over 20,000 time-synchronized and aligned RGB-thermal image pairs. In this context, we also present a novel target-less calibration method that allows for automatic robust extrinsic and intrinsic thermal camera calibration. Among others, we employ our new dataset to show state-of-the-art results for nighttime semantic segmentation.
Assuring and critical labels for relations between maximal consistent sets for interpretability logics

The notion of a critical successor [dJV90] has been central to almost all modal completeness proofs in interpretability logics. In this paper we shall work with an alternative notion, that of an assuring successor. As we shall see, this will enable more concisely formulated completeness proofs, both with respect to ordinary and generalised Veltman semantics. Due to their interesting theoretical properties, we will devote some space to the study of a particular kind of assuring labels, the so-called full labels and maximal labels.. After a general treatment of assuringness, we shall apply it to obtain certain completeness results. Namely, we give another proof of completeness of ILW w.r.t. ordinary semantics and of ILP w.r.t. generalised semantics.
Transformation-based Adversarial Video Prediction on Large-Scale Data

Recent breakthroughs in adversarial generative modeling have led to models capable of producing video samples of high quality, even on large and complex datasets of real-world video. In this work, we focus on the task of video prediction, where given a sequence of frames extracted from a video, the goal is to generate a plausible future sequence. We first improve the state of the art by performing a systematic empirical study of discriminator decompositions and proposing an architecture that yields faster convergence and higher performance than previous approaches. We then analyze recurrent units in the generator, and propose a novel recurrent unit which transforms its past hidden state according to predicted motion-like features, and refines it to handle dis-occlusions, scene changes and other complex behavior. We show that this recurrent unit consistently outperforms previous designs. Our final model leads to a leap in the state-of-the-art performance, obtaining a test set Frechet Video Distance of 25.7, down from 69.2, on the large-scale Kinetics-600 dataset.
Embedding Propagation: Smoother Manifold for Few-Shot Classification

Few-shot classification is challenging because the data distribution of the training set can be widely different to the test set as their classes are disjoint. This distribution shift often results in poor generalization. Manifold smoothing has been shown to address the distribution shift problem by extending the decision boundaries and reducing the noise of the class representations. Moreover, manifold smoothness is a key factor for semi-supervised learning and transductive learning algorithms. In this work, we propose to use embedding propagation as an unsupervised non-parametric regularizer for manifold smoothing in few-shot classification. Embedding propagation leverages interpolations between the extracted features of a neural network based on a similarity graph. We empirically show that embedding propagation yields a smoother embedding manifold. We also show that applying embedding propagation to a transductive classifier achieves new state-of-the-art results in mini-Imagenet, tiered-Imagenet, Imagenet-FS, and CUB. Furthermore, we show that embedding propagation consistently improves the accuracy of the models in multiple semi-supervised learning scenarios by up to 16\% points. The proposed embedding propagation operation can be easily integrated as a non-parametric layer into a neural network. We provide the training code and usage examples at https://github.com/ElementAI/embedding-propagation.
Deep Adversarial Reinforcement Learning for Object Disentangling

Deep learning in combination with improved training techniques and high computational power has led to recent advances in the field of reinforcement learning (RL) and to successful robotic RL applications such as in-hand manipulation. However, most robotic RL relies on a well known initial state distribution. In real-world tasks, this information is however often not available. For example, when disentangling waste objects the actual position of the robot w.r.t.\ the objects may not match the positions the RL policy was trained for. To solve this problem, we present a novel adversarial reinforcement learning (ARL) framework. The ARL framework utilizes an adversary, which is trained to steer the original agent, the protagonist, to challenging states. We train the protagonist and the adversary jointly to allow them to adapt to the changing policy of their opponent. We show that our method can generalize from training to test scenarios by training an end-to-end system for robot control to solve a challenging object disentangling task. Experiments with a KUKA LBR+ 7-DOF robot arm show that our approach outperforms the baseline method in disentangling when starting from different initial states than provided during training.
New advances in enumerative biclustering algorithms with online partitioning

This paper further extends RIn-Close_CVC, a biclustering algorithm capable of performing an efficient, complete, correct and non-redundant enumeration of maximal biclusters with constant values on columns in numerical datasets. By avoiding a priori partitioning and itemization of the dataset, RIn-Close_CVC implements an online partitioning, which is demonstrated here to guide to more informative biclustering results. The improved algorithm is called RIn-Close_CVC3, keeps those attractive properties of RIn-Close_CVC, as formally proved here, and is characterized by: a drastic reduction in memory usage; a consistent gain in runtime; additional ability to handle datasets with missing values; and additional ability to operate with attributes characterized by distinct distributions or even mixed data types. The experimental results include synthetic and real-world datasets used to perform scalability and sensitivity analyses. As a practical case study, a parsimonious set of relevant and interpretable mixed-attribute-type rules is obtained in the context of supervised descriptive pattern mining.
Quantum Adiabatic Theorem Revisited

In 2004 Ambainis and Regev formulated a certain form of quantum adiabatic theorem and provided an elementary proof which is especially accessible to computer scientists. Their result is achieved by discretizing the total adiabatic evolution into a sequence of unitary transformations acting on the quantum system. Here we continue this line of study by providing another elementary and shorter proof with improved bounds. Our key finding is a succinct integral representation of the difference between the target and the actual states, which yields an accurate estimation of the approximation error. Our proof can be regarded as a "continuous" version of the work by Ambainis and Regev. As applications, we show how to adiabatically prepare an arbitrary qubit state from an initial state.
Heterogeneity Loss to Handle Intersubject and Intrasubject Variability in Cancer

Developing nations lack adequate number of hospitals with modern equipment and skilled doctors. Hence, a significant proportion of these nations' population, particularly in rural areas, is not able to avail specialized and timely healthcare facilities. In recent years, deep learning (DL) models, a class of artificial intelligence (AI) methods, have shown impressive results in medical domain. These AI methods can provide immense support to developing nations as affordable healthcare solutions. This work is focused on one such application of blood cancer diagnosis. However, there are some challenges to DL models in cancer research because of the unavailability of a large data for adequate training and the difficulty of capturing heterogeneity in data at different levels ranging from acquisition characteristics, session, to subject-level (within subjects and across subjects). These challenges render DL models prone to overfitting and hence, models lack generalization on prospective subjects' data. In this work, we address these problems in the application of B-cell Acute Lymphoblastic Leukemia (B-ALL) diagnosis using deep learning. We propose heterogeneity loss that captures subject-level heterogeneity, thereby, forcing the neural network to learn subject-independent features. We also propose an unorthodox ensemble strategy that helps us in providing improved classification over models trained on 7-folds giving a weighted-$F_1$ score of 95.26% on unseen (test) subjects' data that are, so far, the best results on the C-NMC 2019 dataset for B-ALL classification.
Pruning Filters while Training for Efficiently Optimizing Deep Learning Networks

Modern deep networks have millions to billions of parameters, which leads to high memory and energy requirements during training as well as during inference on resource-constrained edge devices. Consequently, pruning techniques have been proposed that remove less significant weights in deep networks, thereby reducing their memory and computational requirements. Pruning is usually performed after training the original network, and is followed by further retraining to compensate for the accuracy loss incurred during pruning. The prune-and-retrain procedure is repeated iteratively until an optimum tradeoff between accuracy and efficiency is reached. However, such iterative retraining adds to the overall training complexity of the network. In this work, we propose a dynamic pruning-while-training procedure, wherein we prune filters of the convolutional layers of a deep network during training itself, thereby precluding the need for separate retraining. We evaluate our dynamic pruning-while-training approach with three different pre-existing pruning strategies, viz. mean activation-based pruning, random pruning, and L1 normalization-based pruning. Our results for VGG-16 trained on CIFAR10 shows that L1 normalization provides the best performance among all the techniques explored in this work with less than 1% drop in accuracy after pruning 80% of the filters compared to the original network. We further evaluated the L1 normalization based pruning mechanism on CIFAR100. Results indicate that pruning while training yields a compressed network with almost no accuracy loss after pruning 50% of the filters compared to the original network and ~5% loss for high pruning rates (>80%). The proposed pruning methodology yields 41% reduction in the number of computations and memory accesses during training for CIFAR10, CIFAR100 and ImageNet compared to training with retraining for 10 epochs .
Quantum enhanced metrology of Hamiltonian parameters beyond the Cramèr-Rao bound

This is a tutorial aimed at illustrating some recent developments in quantum parameter estimation beyond the Cram\`er-Rao bound, as well as their applications in quantum metrology. Our starting point is the observation that there are situations in classical and quantum metrology where the unknown parameter of interest, besides determining the state of the probe, is also influencing the operation of the measuring devices, e.g. the range of possible outcomes. In those cases, non-regular statistical models may appear, for which the Cram\`er-Rao theorem does not hold. In turn, the achievable precision may exceed the Cram\`er-Rao bound, opening new avenues for enhanced metrology. We focus on quantum estimation of Hamiltonian parameters and show that an achievable bound to precision (beyond the Cram\`er-Rao) may be obtained in a closed form for the class of so-called controlled energy measurements. Examples of applications of the new bound to various estimation problems in quantum metrology are worked out in some details.
Learning Complexity of Simulated Annealing

Simulated annealing is an effective and general means of optimization. It is in fact inspired by metallurgy, where the temperature of a material determines its behavior in thermodynamics. Likewise, in simulated annealing, the actions that the algorithm takes depend entirely on the value of a variable which captures the notion of temperature. Typically, simulated annealing starts with a high temperature, which makes the algorithm pretty unpredictable, and gradually cools the temperature down to become more stable. A key component that plays a crucial role in the performance of simulated annealing is the criteria under which the temperature changes namely, the cooling schedule. Motivated by this, we study the following question in this work: "Given enough samples to the instances of a specific class of optimization problems, can we design optimal (or approximately optimal) cooling schedules that minimize the runtime or maximize the success rate of the algorithm on average when the underlying problem is drawn uniformly at random from the same class?" We provide positive results both in terms of sample complexity and simulation complexity. For sample complexity, we show that $\tilde O(\sqrt{m})$ samples suffice to find an approximately optimal cooling schedule of length $m$. We complement this result by giving a lower bound of $\tilde \Omega(m^{1/3})$ on the sample complexity of any learning algorithm that provides an almost optimal cooling schedule. These results are general and rely on no assumption. For simulation complexity, however, we make additional assumptions to measure the success rate of an algorithm. To this end, we introduce the monotone stationary graph that models the performance of simulated annealing. Based on this model, we present polynomial time algorithms with provable guarantees for the learning problem.
A Benchmark for LiDAR-based Panoptic Segmentation based on KITTI

Panoptic segmentation is the recently introduced task that tackles semantic segmentation and instance segmentation jointly. In this paper, we present an extension of SemanticKITTI, which is a large-scale dataset providing dense point-wise semantic labels for all sequences of the KITTI Odometry Benchmark, for training and evaluation of laser-based panoptic segmentation. We provide the data and discuss the processing steps needed to enrich a given semantic annotation with temporally consistent instance information, i.e., instance information that supplements the semantic labels and identifies the same instance over sequences of LiDAR point clouds. Additionally, we present two strong baselines that combine state-of-the-art LiDAR-based semantic segmentation approaches with a state-of-the-art detector enriching the segmentation with instance information and that allow other researchers to compare their approaches against. We hope that our extension of SemanticKITTI with strong baselines enables the creation of novel algorithms for LiDAR-based panoptic segmentation as much as it has for the original semantic segmentation and semantic scene completion tasks. Data, code, and an online evaluation using a hidden test set will be published on http://semantic-kitti.org.
Scalable Distributed Approximation of Internal Measures for Clustering Evaluation

The most widely used internal measure for clustering evaluation is the silhouette coefficient, whose naive computation requires a quadratic number of distance calculations, which is clearly unfeasible for massive datasets. Surprisingly, there are no known general methods to efficiently approximate the silhouette coefficient of a clustering with rigorously provable high accuracy. In this paper, we present the first scalable algorithm to compute such a rigorous approximation for the evaluation of clusterings based on any metric distances. Our algorithm hinges on a Probability Proportional to Size (PPS) sampling scheme, and, for any fixed $\varepsilon, \delta \in (0,1)$, it approximates the silhouette coefficient within a mere additive error $O(\varepsilon)$ with probability $1-\delta$, using a very small number of distance calculations. We also prove that the algorithm can be adapted to obtain rigorous approximations of other internal measures of clustering quality, such as cohesion and separation. Importantly, we provide a distributed implementation of the algorithm using the MapReduce model, which runs in constant rounds and requires only sublinear local space at each worker, which makes our estimation approach applicable to big data scenarios. We perform an extensive experimental evaluation of our silhouette approximation algorithm, comparing its performance to a number of baseline heuristics on real and synthetic datasets. The experiments provide evidence that, unlike other heuristics, our estimation strategy not only provides tight theoretical guarantees but is also able to return highly accurate estimations while running in a fraction of the time required by the exact computation, and that its distributed implementation is highly scalable, thus enabling the computation of internal measures for very large datasets for which the exact computation is prohibitive.
A GPU-Accelerated Barycentric Lagrange Treecode

We present an MPI + OpenACC implementation of the kernel-independent barycentric Lagrange treecode (BLTC) for fast summation of particle interactions on GPUs. The distributed memory parallelization uses recursive coordinate bisection for domain decomposition and MPI remote memory access to build locally essential trees on each rank. The particle interactions are organized into target batch/source cluster interactions which efficiently map onto the GPU; target batching provides an outer level of parallelism, while the direct sum form of the barycentric particle-cluster approximation provides an inner level of parallelism. The GPU-accelerated BLTC performance is demonstrated on several test cases up to 1~billion particles interacting via the Coulomb potential and Yukawa potential.