Learning Vision-Guided Dynamic Locomotion Over Challenging Terrains

Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust Lidar-based perceptual locomotion policy in a partially observable environment using Proximal Policy Optimisation. Visual perception is critical to actively overcome challenging terrains, and to do so, we propose a novel learning strategy: Dynamic Reward Strategy (DRS), which serves as effective heuristics to learn a versatile gait using a neural network architecture without the need to access the history data. Moreover, in a modified version of the OpenAI gym environment, the proposed work is evaluated with scores over 90% success rate in all tested challenging terrains.

Deep Active Learning for Text Classification with Diverse Interpretations

Recently, Deep Neural Networks (DNNs) have made remarkable progress for text classification, which, however, still require a large number of labeled data. To train high-performing models with the minimal annotation cost, active learning is proposed to select and label the most informative samples, yet it is still challenging to measure informativeness of samples used in DNNs. In this paper, inspired by piece-wise linear interpretability of DNNs, we propose a novel Active Learning with DivErse iNterpretations (ALDEN) approach. With local interpretations in DNNs, ALDEN identifies linearly separable regions of samples. Then, it selects samples according to their diversity of local interpretations and queries their labels. To tackle the text classification problem, we choose the word with the most diverse interpretations to represent the whole sentence. Extensive experiments demonstrate that ALDEN consistently outperforms several state-of-the-art deep active learning methods.

DNN2LR: Automatic Feature Crossing for Credit Scoring

Credit scoring is a major application of machine learning for financial institutions to decide whether to approve or reject a credit loan. For sake of reliability, it is necessary for credit scoring models to be both accurate and globally interpretable. Simple classifiers, e.g., Logistic Regression (LR), are white-box models, but not powerful enough to model complex nonlinear interactions among features. Fortunately, automatic feature crossing is a promising way to find cross features to make simple classifiers to be more accurate without heavy handcrafted feature engineering. However, credit scoring is usually based on different aspects of users, and the data usually contains hundreds of feature fields. This makes existing automatic feature crossing methods not efficient for credit scoring. In this work, we find local piece-wise interpretations in Deep Neural Networks (DNNs) of a specific feature are usually inconsistent in different samples, which is caused by feature interactions in the hidden layers. Accordingly, we can design an automatic feature crossing method to find feature interactions in DNN, and use them as cross features in LR. We give definition of the interpretation inconsistency in DNN, based on which a novel feature crossing method for credit scoring prediction called DNN2LR is proposed. Apparently, the final model, i.e., a LR model empowered with cross features, generated by DNN2LR is a white-box model. Extensive experiments have been conducted on both public and business datasets from real-world credit scoring applications. Experimental shows that, DNN2LR can outperform the DNN model, as well as several feature crossing methods. Moreover, comparing with the state-of-the-art feature crossing methods, i.e., AutoCross, DNN2LR can accelerate the speed for feature crossing by about 10 to 40 times on datasets with large numbers of feature fields.

STAN: Spatio-Temporal Attention Network for Next Location Recommendation

The next location recommendation is at the core of various location-based applications. Current state-of-the-art models have attempted to solve spatial sparsity with hierarchical gridding and model temporal relation with explicit time intervals, while some vital questions remain unsolved. Non-adjacent locations and non-consecutive visits provide non-trivial correlations for understanding a user's behavior but were rarely considered. To aggregate all relevant visits from user trajectory and recall the most plausible candidates from weighted representations, here we propose a Spatio-Temporal Attention Network (STAN) for location recommendation. STAN explicitly exploits relative spatiotemporal information of all the check-ins with self-attention layers along the trajectory. This improvement allows a point-to-point interaction between non-adjacent locations and non-consecutive check-ins with explicit spatiotemporal effect. STAN uses a bi-layer attention architecture that firstly aggregates spatiotemporal correlation within user trajectory and then recalls the target with consideration of personalized item frequency (PIF). By visualization, we show that STAN is in line with the above intuition. Experimental results unequivocally show that our model outperforms the existing state-of-the-art methods by 9-17%.

DNN2LR: Interpretation-inspired Feature Crossing for Real-world Tabular Data

For sake of reliability, it is necessary for models in real-world applications to be both powerful and globally interpretable. Simple linear classifiers, e.g., Logistic Regression (LR), are globally interpretable, but not powerful enough to model complex nonlinear interactions among features in tabular data. Meanwhile, Deep Neural Networks (DNNs) have shown great effectiveness for modeling tabular data, but is not globally interpretable. Accordingly, it will be promising if we can propose a feature crossing method to find feature interactions in DNN, and use them as cross features in LR. The local piece-wise interpretations in DNN of a specific feature are usually inconsistent in different samples, which is caused by feature interactions in the hidden layers. Inspired by this, we give definition of the interpretation inconsistency in DNN, and accordingly propose a novel feature crossing method called DNN2LR. Extensive experiments have been conducted on five public datasets and two real-world datasets. The final model, a LR model empowered with cross features, generated by DNN2LR can outperform the complex DNN model, as well as several state-of-the-art feature crossing methods. The experimental results strongly verify the effectiveness and efficiency of DNN2LR, especially on real-world datasets with large numbers of feature fields.

Deep Active Learning by Model Interpretability

Recent successes of Deep Neural Networks (DNNs) in a variety of research tasks, however, heavily rely on the large amounts of labeled samples. This may require considerable annotation cost in real-world applications. Fortunately, active learning is a promising methodology to train high-performing model with minimal annotation cost. In the deep learning context, the critical question of active learning is how to precisely identify the informativeness of samples for DNN. In this paper, inspired by piece-wise linear interpretability in DNN, we firstly introduce the linear separable regions of samples to the problem of active learning, and propose a novel Deep Active learning approach by Model Interpretability (DAMI). To keep the maximal representativeness of the entire unlabeled data, DAMI tries to select and label samples on different linear separable regions introduced by the piece-wise linear interpretability in DNN. We focus on two scenarios: 1) Multi-Layer Perception (MLP) for modeling tabular data; 2) language models for modeling textual data. On tabular data, we use the local piece-wise interpretation in DNN as the representation of each sample, and directly run K-Center clustering to select and label the central sample in each cluster. On textual data, we propose a novel aggregator to find the most informative word in each sentence, and use its local piece-wise interpretation as the representation of the sentence. To be noted, this whole process of DAMI does not require any hyper-parameters to tune manually. To verify the effectiveness of our approach, extensive experiments have been conducted on both tabular datasets and textual datasets. The experimental results demonstrate that DAMI constantly outperforms several state-of-the-art compared methods.

Simplification of Graph Convolutional Networks: A Matrix Factorization-based Perspective

In recent years, substantial progress has been made on Graph Convolutional Networks (GCNs). However, the computing of GCN usually requires a large memory space for keeping the entire graph. In consequence, GCN is not flexible enough, especially for large scale graphs in complex real-world applications. Fortunately, methods based on Matrix Factorization (MF) naturally support constructing mini-batches, and thus are more friendly to distributed computing compared with GCN. Accordingly, in this paper, we analyze the connections between GCN and MF, and simplify GCN as matrix factorization with unitization and co-training. Furthermore, under the guidance of our analysis, we propose an alternative model to GCN named Unitized and Co-training Matrix Factorization (UCMF). Extensive experiments have been conducted on several real-world datasets. On the task of semi-supervised node classification, the experimental results illustrate that UCMF achieves similar or superior performances compared with GCN. Meanwhile, distributed UCMF significantly outperforms distributed GCN methods, which shows that UCMF can greatly benefit large scale and complex real-world applications. Moreover, we have also conducted experiments on a typical task of graph embedding, i.e., community detection, and the proposed UCMF model outperforms several representative graph embedding models.