nils-herrmann/clean_scirepeval huggingface dataset:
EMPNet: Neural Localisation and Mapping Using Embedded Memory Points

Continuously estimating an agent's state space and a representation of its surroundings has proven vital towards full autonomy. A shared common ground among systems which successfully achieve this feat is the integration of previously encountered observations into the current state being estimated. This necessitates the use of a memory module for incorporating previously visited states whilst simultaneously offering an internal representation of the observed environment. In this work we develop a memory module which contains rigidly aligned point-embeddings that represent a coherent scene structure acquired from an RGB-D sequence of observations. The point-embeddings are extracted using modern convolutional neural network architectures, and alignment is performed by computing a dense correspondence matrix between a new observation and the current embeddings residing in the memory module. The whole framework is end-to-end trainable, resulting in a recurrent joint optimisation of the point-embeddings contained in the memory. This process amplifies the shared information across states, providing increased robustness and accuracy. We show significant improvement of our method across a set of experiments performed on the synthetic VIZDoom environment and a real world Active Vision Dataset.
A Stabilized Feedback Episodic Memory (SF-EM) and Home Service Provision Framework for Robot and IoT Collaboration

The automated home referred to as Smart Home is expected to offer fully customized services to its residents, reducing the amount of home labor, thus improving human beings’ welfare. Service robots and Internet of Things (IoT) play the key roles in the development of Smart Home. The service provision with these two main components in a Smart Home environment requires: 1) learning and reasoning algorithms and 2) the integration of robot and IoT systems. Conventional computational intelligence-based learning and reasoning algorithms do not successfully manage dynamic changes in the Smart Home data, and the simple integrations fail to fully draw the synergies from the collaboration of the two systems. To tackle these limitations, we propose: 1) a stabilized memory network with a feedback mechanism which can learn user behaviors in an incremental manner and 2) a robot-IoT service provision framework for a Smart Home which utilizes the proposed memory architecture as a learning and reasoning module and exploits synergies between the robot and IoT systems. We conduct a set of comprehensive experiments under various conditions to verify the performance of the proposed memory architecture and the service provision framework and analyze the experiment results.
Learning Question-Guided Video Representation for Multi-Turn Video Question Answering

Understanding and conversing about dynamic scenes is one of the key capabilities of AI agents that navigate the environment and convey useful information to humans. Video question answering is a specific scenario of such AI-human interaction where an agent generates a natural language response to a question regarding the video of a dynamic scene. Incorporating features from multiple modalities, which often provide supplementary information, is one of the challenging aspects of video question answering. Furthermore, a question often concerns only a small segment of the video, hence encoding the entire video sequence using a recurrent neural network is not computationally efficient. Our proposed question-guided video representation module efficiently generates the token-level video summary guided by each word in the question. The learned representations are then fused with the question to generate the answer. Through empirical evaluation on the Audio Visual Scene-aware Dialog (AVSD) dataset, our proposed models in single-turn and multi-turn question answering achieve state-of-the-art performance on several automatic natural language generation evaluation metrics.
Lifelong and Interactive Learning of Factual Knowledge in Dialogues

Dialogue systems are increasingly using knowledge bases (KBs) storing real-world facts to help generate quality responses. However, as the KBs are inherently incomplete and remain fixed during conversation, it limits dialogue systems’ ability to answer questions and to handle questions involving entities or relations that are not in the KB. In this paper, we make an attempt to propose an engine for Continuous and Interactive Learning of Knowledge (CILK) for dialogue systems to give them the ability to continuously and interactively learn and infer new knowledge during conversations. With more knowledge accumulated over time, they will be able to learn better and answer more questions. Our empirical evaluation shows that CILK is promising.
Sample Complexity Bounds for Influence Maximization

Influence maximization (IM) is the problem of finding for a given $s\geq 1$ a set $S$ of $|S|=s$ nodes in a network with maximum influence. With stochastic diffusion models, the influence of a set $S$ of seed nodes is defined as the expectation of its reachability over simulations, where each simulation specifies a deterministic reachability function. Two well-studied special cases are the Independent Cascade (IC) and the Linear Threshold (LT) models of Kempe, Kleinberg, and Tardos. The influence function in stochastic diffusion is unbiasedly estimated by averaging reachability values over i.i.d. simulations. We study the IM sample complexity: the number of simulations needed to determine a $(1-\epsilon)$-approximate maximizer with confidence $1-\delta$. Our main result is a surprising upper bound of $O( s \tau \epsilon^{-2} \ln \frac{n}{\delta})$ for a broad class of models that includes IC and LT models and their mixtures, where $n$ is the number of nodes and $\tau$ is the number of diffusion steps. Generally $\tau \ll n$, so this significantly improves over the generic upper bound of $O(s n \epsilon^{-2} \ln \frac{n}{\delta})$. Our sample complexity bounds are derived from novel upper bounds on the variance of the reachability that allow for small relative error for influential sets and additive error when influence is small. Moreover, we provide a data-adaptive method that can detect and utilize fewer simulations on models where it suffices. Finally, we provide an efficient greedy design that computes an $(1-1/e-\epsilon)$-approximate maximizer from simulations and applies to any submodular stochastic diffusion model that satisfies the variance bounds.
An Implementation of a Non-monotonic Logic in an Embedded Computer for a Motor-glider

In this article we present an implementation of non-monotonic reasoning in an embedded system. As a part of an autonomous motor-glider, it simulates piloting decisions of an airplane. A real pilot must take care not only about the information arising from the cockpit (airspeed, altitude, variometer, compass...) but also from outside the cabin. Throughout a flight, a pilot is constantly in communication with the control tower to follow orders, because there is an airspace regulation to respect. In addition, if the control tower sends orders while the pilot has an emergency, he may have to violate these orders and airspace regulations to solve his problem (e.g. emergency landing). On the other hand, climate changes constantly (wind, snow, hail..) and can affect the sensors. All these cases easily lead to contradictions. Switching to reasoning under uncertainty, a pilot must make decisions to carry out a flight. The objective of this implementation is to validate a non-monotonic model which allows to solve the question of incomplete and contradictory information. We formalize the problem using default logic, a non-monotonic logic which allows to find fixed-points in the face of contradictions. For the implementation, the Prolog language is used in an embedded computer running at 1 GHz single core with 512 Mb of RAM and 0.8 watts of energy consumption.
Robust stochastic optimization with the proximal point method

Standard results in stochastic convex optimization bound the number of samples that an algorithm needs to generate a point with small function value in expectation. In this work, we show that a wide class of such algorithms on strongly convex problems can be augmented with high confidence bounds at an overhead cost that is only logarithmic in the confidence level and polylogarithmic in the condition number. We discuss consequences both for streaming and offline algorithms.
Universal threshold for primordial black hole formation

In this letter, we argue and show numerically that the threshold to form primordial black holes from an initial spherically symmetric perturbation is, to an excellent approximation, universal, whenever given in terms of the compaction function averaged over a sphere of radius $r_m$, where $r_m$ is the scale on which the compaction function is maximum. This can be understood as the requirement that, for a black hole to form, each shell of the averaged compaction function should have an amplitude exceeding the so-called Harada-Yoo-Kohri limit. For a radiation dominated universe we argued, supported by the numerical simulations, that this limit is $\delta_c = 0.40$, which is slightly below the one quoted in the literature. Additionally, we show that the profile dependence of the threshold for the compaction function is only sensitive to its curvature at the maximum. We use these results to provide an analytic formula for the threshold amplitude of the compaction function at its maximum in terms of the normalised compaction function curvature at $r_m$.
Large deviation and anomalous fluctuations scaling in degree assortativity on configuration networks

By constructing a multicanonical Monte Carlo simulation, we obtain the full probability distribution ρ N (r) of the degree assortativity coefficient r on configuration networks of size N by using the multiple histogram reweighting method. We suggest that ρ N (r) obeys a large deviation principle, ρNr−rN*≍e−NξIr−rN* , where the rate function I is convex and possesses its unique minimum at r=rN* , and ξ is an exponent that scales ρ N ’s with N. We show that ξ = 1 for Poisson random graphs, and ξ ⩾ 1 for scale-free networks in which ξ is a decreasing function of the degree distribution exponent γ. Our results reveal that the fluctuations of r exhibit an anomalous scaling with N in highly heterogeneous networks.
Link-centric analysis of variation by demographics in mobile phone communication patterns

We present a link-centric approach to study variation in the mobile phone communication patterns of individuals. Unlike most previous research on call detail records that focused on the variation of phone usage across individual users, we examine how the calling and texting patterns obtained from call detail records vary among pairs of users and how these patterns are affected by the nature of relationships between users. To demonstrate this link-centric perspective, we extract factors that contribute to the variation in the mobile phone communication patterns and predict demographics-related quantities for pairs of users. The time of day and the channel of communication (calls or texts) are found to explain most of the variance among pairs that frequently call each other. Furthermore, we find that this variation can be used to predict the relationship between the pairs of users, as inferred from their age and gender, as well as the age of the younger user in a pair. From the classifier performance across different age and gender groups as well as the inherent class overlap suggested by the estimate of the bounds of the Bayes error, we gain insights into the similarity and differences of communication patterns across different relationships.
Simple Unsupervised Summarization by Contextual Matching

We propose an unsupervised method for sentence summarization using only language modeling. The approach employs two language models, one that is generic (i.e. pretrained), and the other that is specific to the target domain. We show that by using a product-of-experts criteria these are enough for maintaining continuous contextual matching while maintaining output fluency. Experiments on both abstractive and extractive sentence summarization data sets show promising results of our method without being exposed to any paired data.
Spontaneous symmetry breaking and discontinuous phase transition for spreading dynamics in multiplex networks

We propose a spreading model in multilayer networks and study the nature of nonequilibrium phase transition in the model. The model integrates the susceptible-infected-susceptible (or susceptible-infected-recovered) spreading dynamics with a biased diffusion process among different layers. A parameter α is introduced to control the bias of the diffusion process, such that each individual prefers to move to one layer with more infected (or recovered) neighbors for larger values of α. Using stochastic simulations and mean-field theory, we show that the type of phase transition from a disease-free phase to an endemic phase (EP) depends on the value of α. When α is small enough, the system undergoes a usual continuous phase transition as an effective spreading rate β increases, as in single-layer networks. Interestingly, when α exceeds a critical value the system shows either a hybrid two-step phase transition or a one-step discontinuous phase transition as β increases. The former contains a continuous transition between the disease-free phase and a low-prevalence EP, and a discontinuous transition between the low-prevalence EP and a high-prevalence EP. For the latter, only a discontinuous transition occurs from the disease-free phase directly to the high-prevalence EP. Moreover, we show that the discontinuous transition is always accompanied by a spontaneous symmetry breaking in occupation probabilities of individuals in each layer.
Embedding human heuristics in machine-learning-enabled probe microscopy

Scanning probe microscopists generally do not rely on complete images to assess the quality of data acquired during a scan. Instead, assessments of the state of the tip apex, which not only determines the resolution in any scanning probe technique, but can also generate a wide array of frustrating artefacts, are carried out in real time on the basis of a few lines of an image (and, typically, their associated line profiles.) The very small number of machine learning approaches to probe microscopy published to date, however, involve classifications based on full images. Given that data acquisition is the most time-consuming task during routine tip conditioning, automated methods are thus currently extremely slow in comparison to the tried-and-trusted strategies and heuristics used routinely by probe microscopists. Here, we explore various strategies by which different STM image classes (arising from changes in the tip state) can be correctly identified from partial scans. By employing a secondary temporal network and a rolling window of a small group of individual scanlines, we find that tip assessment is possible with a small fraction of a complete image. We achieve this with little-to-no performance penalty—or, indeed, markedly improved performance in some cases—and introduce a protocol to detect the state of the tip apex in real time.
The unique case of the AGN core of M87: a misaligned low power blazar?

M87 hosts one of the closest jetted active galactic nucleus (AGN) to Earth. Thanks to its vicinity and to the large mass of is central black hole, M87 is the only source in which the jet can be directly imaged down to near-event horizon scales with radio very large baseline interferometry (VLBI). This property makes M87 a unique source to isolate and study jet launching, acceleration and collimation. In this paper we employ a multi-zone model designed as a parametrisation of general relativistic magneto-hydrodynamics (GRMHD); for the first time we reproduce the jet’s observed shape and multi-wavelength spectral energy distribution (SED) simultaneously. We find strong constraints on key physical parameters of the jet, such as the location of particle acceleration and the kinetic power. However, we under-predict the (unresolved) γ-ray flux of the source, implying that the high-energy emission does not originate in the magnetically-dominated inner jet regions. Our results have important implications both for comparisons of GRMHD simulations with observations, and for unified models of AGN classes.
Inverse Reinforcement Learning with Multiple Ranked Experts

We consider the problem of learning to behave optimally in a Markov Decision Process when a reward function is not specified, but instead we have access to a set of demonstrators of varying performance. We assume the demonstrators are classified into one of k ranks, and use ideas from ordinal regression to find a reward function that maximizes the margin between the different ranks. This approach is based on the idea that agents should not only learn how to behave from experts, but also how not to behave from non-experts. We show there are MDPs where important differences in the reward function would be hidden from existing algorithms by the behaviour of the expert. Our method is particularly useful for problems where we have access to a large set of agent behaviours with varying degrees of expertise (such as through GPS or cellphones). We highlight the differences between our approach and existing methods using a simple grid domain and demonstrate its efficacy on determining passenger-finding strategies for taxi drivers, using a large dataset of GPS trajectories.
Uncertainty Quantification in Deep Learning for Safer Neuroimage Enhancement

Deep learning (DL) has shown great potential in medical image enhancement problems, such as super-resolution or image synthesis. However, to date, little consideration has been given to uncertainty quantification over the output image. Here we introduce methods to characterise different components of uncertainty in such problems and demonstrate the ideas using diffusion MRI super-resolution. Specifically, we propose to account for $intrinsic$ uncertainty through a heteroscedastic noise model and for $parameter$ uncertainty through approximate Bayesian inference, and integrate the two to quantify $predictive$ uncertainty over the output image. Moreover, we introduce a method to propagate the predictive uncertainty on a multi-channelled image to derived scalar parameters, and separately quantify the effects of intrinsic and parameter uncertainty therein. The methods are evaluated for super-resolution of two different signal representations of diffusion MR images---DTIs and Mean Apparent Propagator MRI---and their derived quantities such as MD and FA, on multiple datasets of both healthy and pathological human brains. Results highlight three key benefits of uncertainty modelling for improving the safety of DL-based image enhancement systems. Firstly, incorporating uncertainty improves the predictive performance even when test data departs from training data. Secondly, the predictive uncertainty highly correlates with errors, and is therefore capable of detecting predictive "failures". Results demonstrate that such an uncertainty measure enables subject-specific and voxel-wise risk assessment of the output images. Thirdly, we show that the method for decomposing predictive uncertainty into its independent sources provides high-level "explanations" for the performance by quantifying how much uncertainty arises from the inherent difficulty of the task or the limited training examples.
Expectation-Maximization Attention Networks for Semantic Segmentation

Self-attention mechanism has been widely used for various tasks. It is designed to compute the representation of each position by a weighted sum of the features at all positions. Thus, it can capture long-range relations for computer vision tasks. However, it is computationally consuming. Since the attention maps are computed w.r.t all other positions. In this paper, we formulate the attention mechanism into an expectation-maximization manner and iteratively estimate a much more compact set of bases upon which the attention maps are computed. By a weighted summation upon these bases, the resulting representation is low-rank and deprecates noisy information from the input. The proposed Expectation-Maximization Attention (EMA) module is robust to the variance of input and is also friendly in memory and computation. Moreover, we set up the bases maintenance and normalization methods to stabilize its training procedure. We conduct extensive experiments on popular semantic segmentation benchmarks including PASCAL VOC, PASCAL Context, and COCO Stuff, on which we set new records.
Bridging Commonsense Reasoning and Probabilistic Planning via a Probabilistic Action Language

To be responsive to dynamically changing real-world environments, an intelligent agent needs to perform complex sequential decision-making tasks that are often guided by commonsense knowledge. The previous work on this line of research led to the framework called interleaved commonsense reasoning and probabilistic planning (icorpp), which used P-log for representing commmonsense knowledge and Markov Decision Processes (MDPs) or Partially Observable MDPs (POMDPs) for planning under uncertainty. A main limitation of icorpp is that its implementation requires non-trivial engineering efforts to bridge the commonsense reasoning and probabilistic planning formalisms. In this paper, we present a unified framework to integrate icorpp’s reasoning and planning components. In particular, we extend probabilistic action language pBC+ to express utility, belief states, and observation as in POMDP models. Inheriting the advantages of action languages, the new action language provides an elaboration tolerant representation of POMDP that reflects commonsense knowledge. The idea led to the design of the system pbcplus2pomdp, which compiles a pBC+ action description into a POMDP model that can be directly processed by off-the-shelf POMDP solvers to compute an optimal policy of the pBC+ action description. Our experiments show that it retains the advantages of icorpp while avoiding the manual efforts in bridging the commonsense reasoner and the probabilistic planner.
On the difficulty of learning and predicting the long-term dynamics of bouncing objects

The ability to accurately predict the surrounding environment is a foundational principle of intelligence in biological and artificial agents. In recent years, a variety of approaches have been proposed for learning to predict the physical dynamics of objects interacting in a visual scene. Here we conduct a systematic empirical evaluation of several state-of-the-art unsupervised deep learning models that are considered capable of learning the spatio-temporal structure of a popular dataset composed by synthetic videos of bouncing objects. We show that most of the models indeed obtain high accuracy on the standard benchmark of predicting the next frame of a sequence, and one of them even achieves state-of-the-art performance. However, all models fall short when probed with the more challenging task of generating multiple successive frames. Our results show that the ability to perform short-term predictions does not imply that the model has captured the underlying structure and dynamics of the visual environment, thereby calling for a careful rethinking of the metrics commonly adopted for evaluating temporal models. We also investigate whether the learning outcome could be affected by the use of curriculum-based teaching.