arXiv research

Existing model-based reinforcement learning methods often study perception modeling and decision making separately. We introduce joint Perception and Control as Inference (PCI), a general framework to combine perception and control for partially observable environments through Bayesian inference. Based on the fact that…

OBSER framework infers sub-environments from objects, outperforming scene-based methods.

Object-based approaches for learning action-conditioned dynamics has demonstrated promise for generalization and interpretability. However, existing approaches suffer from structural limitations and optimization difficulties for common environments with multiple dynamic objects. In this paper, we present a novel self-s…

The paper introduces a new metric to quantify uncertainty's impact on multiple objectives.

New algorithm B++&C improves hierarchical clustering on large deep embedding datasets.

We propose a probabilistic generative model for unsupervised learning of structured, interpretable, object-based representations of visual scenes. We use amortized variational inference to train the generative model end-to-end. The learned representations of object location and appearance are fully disentangled, and ob…

Inverse braid monoid describes a structure on braids where the number of strings is not fixed. So, some strings of initial $n$ may be deleted. In the paper we show that many properties and objects based on braid groups may be extended to the inverse braid monoids. Namely we prove an inclusion into a monoid of partial m…

As a contribution to interpretable machine learning research, we develop a novel optimization framework for learning accurate and sparse two-level Boolean rules. We consider rules in both conjunctive normal form (AND-of-ORs) and disjunctive normal form (OR-of-ANDs). A principled objective function is proposed to trade …

A faster algorithm for ranking from pairwise comparisons.

We propose a deep learning approach for discovering kernels tailored to identifying clusters over sample data. Our neural network produces sample embeddings that are motivated by--and are at least as expressive as--spectral clustering. Our training objective, based on the Hilbert Schmidt Information Criterion, can be o…

Deep learning solves complex stochastic control with jumps.

Likelihood from a generative model is a natural statistic for detecting out-of-distribution (OoD) samples. However, generative models have been shown to assign higher likelihood to OoD samples compared to ones from the training distribution, preventing simple threshold-based detection rules. We demonstrate that OoD det…

Enhances RL agents with predictive internal representations.

New approach to extremal hyperbolic surfaces using NEC groups.

A method to prevent image representation collapse through data-dependent augmentation.

Study non-Weinstein Liouville geometry via hyperbolic dynamics, proving rigidity results.

We propose a novel autoencoding model called Pairwise Augmented GANs. We train a generator and an encoder jointly and in an adversarial manner. The generator network learns to sample realistic objects. In turn, the encoder network at the same time is trained to map the true data distribution to the prior in latent spac…

Machine learning models classify celestial objects like pulsars and black holes.

The task of clustering a set of objects based on multiple sources of data arises in several modern applications. We propose an integrative statistical model that permits a separate clustering of the objects for each data source. These separate clusterings adhere loosely to an overall consensus clustering, and hence the…

Text style transfer aims to modify the style of a sentence while keeping its content unchanged. Recent style transfer systems often fail to faithfully preserve the content after changing the style. This paper proposes a structured content preserving model that leverages linguistic information in the structured fine-gra…

Designs a framework to transfer causal models between similar environments.

New computational methods improve clustering of objects.

Building on a specific formalization of analogical relationships of the form "A relates to B as C relates to D", we establish a connection between two important subfields of artificial intelligence, namely analogical reasoning and kernel-based machine learning. More specifically, we show that so-called analogical propo…

In this work, we study a new approach to optimizing the margin distribution realized by binary classifiers. The classical approach to this problem is simply maximization of the expected margin, while more recent proposals consider simultaneous variance control and proxy objectives based on robust location estimates, in…

Object-based factorizations provide a useful level of abstraction for interacting with the world. Building explicit object representations, however, often requires supervisory signals that are difficult to obtain in practice. We present a paradigm for learning object-centric representations for physical scene understan…

Paper proposes an end-to-end learning method for state estimation in robotics.

Proposes new loss functions for GANs to improve estimation accuracy and robustness.

Humans do not acquire perceptual abilities in the way we train machines. While machine learning algorithms typically operate on large collections of randomly-chosen, explicitly-labeled examples, human acquisition relies more heavily on multimodal unsupervised learning (as infants) and active learning (as children). Wit…

Ensuring that classifiers are non-discriminatory or fair with respect to a sensitive feature (e.g., race or gender) is a topical problem. Progress in this task requires fixing a definition of fairness, and there have been several proposals in this regard over the past few years. Several of these, however, assume either…

Self-supervised learning excels in topic modeling by being less model-specific.

The morphological structure of left ventricle segmented from cardiac magnetic resonance images can be used to calculate key clinical parameters, and it is of great significance to the accurate and efficient diagnosis of cardiovascular diseases. Compared with traditional methods, the segmentation algorithms based on ful…

A structured understanding of our world in terms of objects, relations, and hierarchies is an important component of human cognition. Learning such a structured world model from raw sensory data remains a challenge. As a step towards this goal, we introduce Contrastively-trained Structured World Models (C-SWMs). C-SWMs…

New algorithms optimize non-smooth, non-convex objectives with improved complexity.

Obtaining labels can be costly and time-consuming. Active learning allows a learning algorithm to intelligently query samples to be labeled for efficient learning. Fisher information ratio (FIR) has been used as an objective for selecting queries in active learning. However, little is known about the theory behind the …

Forward-prediction models enhance physical reasoning, but only for specific tasks.

An increasing array of biomedical and computer vision applications requires the predictive modeling of complex data, for example images and shapes. The main challenge when predicting such objects lies in the fact that they do not comply to the assumptions of Euclidean geometry. Rather, they occupy non-linear spaces, a.…

We speed up marginal inference by ignoring factors that do not significantly contribute to overall accuracy. In order to pick a suitable subset of factors to ignore, we propose three schemes: minimizing the number of model factors under a bound on the KL divergence between pruned and full models; minimizing the KL dive…

A central goal of unsupervised learning is to acquire representations from unlabeled data or experience that can be used for more effective learning of downstream tasks from modest amounts of labeled data. Many prior unsupervised learning works aim to do so by developing proxy objectives based on reconstruction, disent…

In Multi-Goal Reinforcement Learning, an agent learns to achieve multiple goals with a goal-conditioned policy. During learning, the agent first collects the trajectories into a replay buffer, and later these trajectories are selected randomly for replay. However, the achieved goals in the replay buffer are often biase…

One way to recognise an object is to study how the echo has been shaped during the interaction with the target. Wideband sonar allows the study of the energy distribution for a large range of frequencies. The frequency distribution contains information about an object, including its inner structure. This information is…

Despite their impressive performance, deep neural networks exhibit striking failures on out-of-distribution inputs. One core idea of adversarial example research is to reveal neural network errors under such distribution shifts. We decompose these errors into two complementary sources: sensitivity and invariance. We sh…

Dimensionality reduction (DR) on the manifold includes effective methods which project the data from an implicit relational space onto a vectorial space. Regardless of the achievements in this area, these algorithms suffer from the lack of interpretation of the projection dimensions. Therefore, it is often difficult to…

Building models, or maps, of robot environments is a highly active research area; however, most existing techniques construct unstructured maps and assume static environments. In this paper, we present an algorithm for learning object models of non-stationary objects found in office-type environments. Our algorithm exp…

Proposes a new consumption strategy based on martingale principles.

Graph Neural Networks improve 3D object detection in LiDAR point clouds.

This paper tackles fairness in PCA by balancing it with reconstruction error.

Geographic object-based image analysis (GEOBIA) framework has gained increasing interest recently. Following this popular paradigm, we propose a novel multiscale classification approach operating on a hierarchical image representation built from two images at different resolutions. They capture the same scene with diff…

In this paper, we propose a novel unsupervised clustering approach exploiting the hidden information that is indirectly introduced through a pseudo classification objective. Specifically, we randomly assign a pseudo parent-class label to each observation which is then modified by applying the domain specific transforma…