In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.

Ex Input:
We study a novel architecture and training procedure for locomotion tasks. A high-frequency, low-level “spinal” network with access to proprioceptive sensors learns sensorimotor primitives by training on simple tasks. This pre-trained module is fixed and connected to a low-frequency, high-level “cortical” network, with access to all sensors, which drives behavior by modulating the inputs to the spinal network. Where a monolithic end-to-end architecture fails completely, learning with a pre-trained spinal module succeeds at multiple high-level tasks, and enables the effective exploration required to learn from sparse rewards. We test our proposed architecture on three simulated bodies: a 16-dimensional swimming snake, a 20-dimensional quadruped, and a 54-dimensional humanoid (see attached video).

Ex Output:
Learning and Transfer of Modulated Locomotor Controllers


Ex Input:
We propose new methods to speed up convergence of the Alternating Direction Method of Multipliers (ADMM), a common optimization tool in the context of large scale and distributed learning. The proposed method accelerates the speed of convergence by automatically deciding the constraint penalty needed for parameter consensus in each iteration. In addition, we also propose an extension of the method that adaptively determines the maximum number of iterations to update the penalty. We show that this approach effectively leads to an adaptive, dynamic network topology underlying the distributed optimization. The utility of the new penalty update schemes is demonstrated on both synthetic and real data, including a computer vision application of distributed structure from motion.

Ex Output:
Fast ADMM Algorithm for Distributed Optimization with Adaptive Penalty


Ex Input:
We start with an overview of a class of submodular functions called SCMMs (sums of concave composed with non-negative modular functions plus a final arbitrary modular). We then define a new class of submodular functions we call deep submodular functions or DSFs. We show that DSFs are a flexible parametric family of submodular functions that share many of the properties and advantages of deep neural networks (DNNs), including many-layered hierarchical topologies, representation learning, distributed representations, opportunities and strategies for training, and suitability to GPU-based matrix/vector computing. DSFs can be motivated by considering a hierarchy of descriptive concepts over ground elements and where one wishes to allow submodular interaction throughout this hierarchy. In machine learning and data science applications, where there is often either a natural or an automatically learnt hierarchy of concepts over data, DSFs therefore naturally apply. Results in this paper show that DSFs constitute a strictly larger class of submodular functions than SCMMs, thus justifying their mathematical and practical utility. Moreover, we show that, for any integer k > 0, there are k-layer DSFs that cannot be represented by a k′-layer DSF for any k′ < k. This implies that, like DNNs, there is a utility to depth, but unlike DNNs (which can be universally approximated by shallow networks), the family of DSFs strictly increase with depth. Despite this property, however, we show that DSFs, even with arbitrarily large k, do not comprise all submodular functions. We show this using a technique that “backpropagates” certain requirements if it was the case that DSFs comprised all submodular functions. In offering the above results, we also define the notion of an antitone superdifferential of a concave function and show how this relates to submodular functions (in general), DSFs (in particular), negative second-order partial derivatives, continuous submodularity, and concave extensions. To further motivate our analysis, we provide various special case results from matroid theory, comparing DSFs with forms of matroid rank, in particular the laminar matroid. Lastly, we discuss strategies to learn DSFs, and define the classes of deep supermodular functions, deep difference of submodular functions, and deep multivariate submodular functions, and discuss where these can be useful in applications.

Ex Output:

Deep Submodular Functions