Higher-order proximity (HOP) is fundamental for most network embedding methods due to its significant effects on the quality of node embedding and performance on downstream network analysis tasks. Most existing HOP definitions are based on either homophily to place close and highly interconnected nodes tightly in embedding space or heterophily to place distant but structurally similar nodes together after embedding. In real-world networks, both can co-exist, and thus considering only one could limit the prediction performance and interpretability. However, there is no general and universal solution that takes both into consideration. In this paper, we propose such a simple yet powerful framework called homophily and heterophliy preserving network transformation (H2NT) to capture HOP that flexibly unifies homophily and heterophily. Specifically, H2NT utilises motif representations to transform a network into a new network with a hybrid assumption via micro-level and macro-level walk paths. H2NT can be used as an enhancer to be integrated with any existing network embedding methods without requiring any changes to latter methods. Because H2NT can sparsify networks with motif structures, it can also improve the computational efficiency of existing network embedding methods when integrated. We conduct experiments on node classification, structural role classification and motif prediction to show the superior prediction performance and computational efficiency over state-of-the-art methods. In particular, DeepWalk-based H2 NT achieves 24% improvement in terms of precision on motif prediction, while reducing 46% computational time compared to the original DeepWalk.
Visually-grounded models of spoken language understanding extract semantic information directly from speech, without relying on transcriptions. This is useful for low-resource languages, where transcriptions can be expensive or impossible to obtain. Recent work showed that these models can be improved if transcriptions are available at training time. However, it is not clear how an end-to-end approach compares to a traditional pipeline-based approach when one has access to transcriptions. Comparing different strategies, we find that the pipeline approach works better when enough text is available. With low-resource languages in mind, we also show that translations can be effectively used in place of transcriptions but more data is needed to obtain similar results.
Motivated by decentralized approaches to machine learning, we propose a collaborative Bayesian learning algorithm taking the form of decentralized Langevin dynamics in a non-convex setting. Our analysis show that the initial KL-divergence between the Markov Chain and the target posterior distribution is exponentially decreasing while the error contributions to the overall KL-divergence from the additive noise is decreasing in polynomial time. We further show that the polynomial-term experiences speed-up with number of agents and provide sufficient conditions on the time-varying step-sizes to guarantee convergence to the desired distribution. The performance of the proposed algorithm is evaluated on a wide variety of machine learning tasks. The empirical results show that the performance of individual agents with locally available data is on par with the centralized setting with considerable improvement in the convergence rate.
We introduce a novel solution to the problem of estimating the pose of a calibrated camera given a single observation of an oriented point and an affine correspondence to a reference image. Affine correspondences have traditionally been used to improve feature matching over wide baselines; however, little previous work has considered the use of such correspondences for absolute camera pose computation. The advantage of our approach (P1AC) is that it requires only a single correspondence in the minimal case in comparison to the traditional point-based approach (P3P) which requires at least three points. Our method removes the limiting assumptions made in previous work and provides a general solution that is applicable to large-scale image-based localization. Our evaluation on synthetic data shows that our approach is numerically stable and more robust to point observation noise than P3P. We also evaluate the application of our approach for large-scale image-based localization and demonstrate a practical reduction in the number of iterations and computation time required to robustly localize an image.
Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model Predictive Controller (MPC). We present a novel non-linear semi-parametric dynamics model where we represent the known dynamics with a parametric model, and a neural network captures the unknown dynamics. We show that our model can learn more accurately than a purely parametric model and generalize better than a purely non-parametric model, making it ideal for real-world applications where collecting data from the full state space is not feasible. We present a system where the model is bootstrapped on pre-recorded data and then updated iteratively at run time. Then we apply our iterative learning approach to the simulated problem of autonomous racing and show that it can safely adapt to modified dynamics online and even achieve better performance than models trained on data from manual driving.
Implementations of artificial neural networks (ANNs) might lead to failures, which are hardly predicted in the design phase since ANNs are highly parallel and their parameters are barely interpretable. Here, we develop and evaluate a novel symbolic verification framework using incremental bounded model checking (BMC), satisfiability modulo theories (SMT), and invariant inference, to obtain adversarial cases and validate coverage methods in a multi-layer perceptron (MLP). We exploit incremental BMC based on interval analysis to compute boundaries from a neuron's input. Then, the latter are propagated to effectively find a neuron's output since it is the input of the next one. This paper describes the first bit-precise symbolic verification framework to reason over actual implementations of ANNs in CUDA, based on invariant inference, therefore providing further guarantees about finite-precision arithmetic and its rounding errors, which are routinely ignored in the existing literature. We have implemented the proposed approach on top of the efficient SMT-based bounded model checker (ESBMC), and its experimental results show that it can successfully verify safety properties, in actual implementations of ANNs, and generate real adversarial cases in MLPs. Our approach was able to verify and produce adversarial examples for 85.8% of 21 test cases considering different input images, and 100% of the properties related to covering methods. Although our verification time is higher than existing approaches, our methodology can consider fixed-point implementation aspects that are disregarded by the state-of-the-art verification methodologies.
Artificial intelligence is revolutionizing our lives at an ever increasing pace. At the heart of this revolution is the recent advancements in deep neural networks (DNN), learning to perform sophisticated, high-level tasks. However, training DNNs requires massive amounts of data and is very computationally intensive. Gaining analytical understanding of the solutions found by DNNs can help us devise more efficient training algorithms, replacing the commonly used mthod of stochastic gradient descent (SGD). We analyze the dynamics of SGD and show that, indeed, direct computation of the solutions is possible in many cases. We show that a high performing setup used in DNNs introduces a separation of time-scales in the training dynamics, allowing SGD to train layers from the lowest (closest to input) to the highest. We then show that for each layer, the distribution of solutions found by SGD can be estimated using a class-based principal component analysis (PCA) of the layer's input. This finding allows us to forgo SGD entirely and directly derive the DNN parameters using this class-based PCA, which can be well estimated using significantly less data than SGD. We implement these results on image datasets MNIST, CIFAR10 and CIFAR100 and find that, in fact, layers derived using our class-based PCA perform comparable or superior to neural networks of the same size and architecture trained using SGD. We also confirm that the class-based PCA often converges using a fraction of the data required for SGD. Thus, using our method training time can be reduced both by requiring less training data than SGD, and by eliminating layers in the costly backpropagation step of the training.
Deep image-based modeling received lots of attention in recent years, yet the parallel problem of sketch-based modeling has only been briefly studied, often as a potential application. In this work, for the first time, we identify the main differences between sketch and image inputs: (i) style variance, (ii) imprecise perspective, and (iii) sparsity. We discuss why each of these differences can pose a challenge, and even make a certain class of image-based methods inapplicable. We study alternative solutions to address each of the difference. By doing so, we drive out a few important insights: (i) sparsity commonly results in an incorrect prediction of foreground versus background, (ii) diversity of human styles, if not taken into account, can lead to very poor generalization properties, and finally (iii) unless a dedicated sketching interface is used, one can not expect sketches to match a perspective of a fixed viewpoint. Finally, we compare a set of representative deep single-image modeling solutions and show how their performance can be improved to tackle sketch input by taking into consideration the identified critical differences.
In this paper, we consider the state estimation problem for nonlinear stochastic discrete-time systems. We combine Lyapunov's method in control theory and deep reinforcement learning to design the state estimator. We theoretically prove the convergence of the bounded estimate error solely using the data simulated from the model. An actor-critic reinforcement learning algorithm is proposed to learn the state estimator approximated by a deep neural network. The convergence of the algorithm is analysed. The proposed Lyapunov-based reinforcement learning state estimator is compared with a number of existing nonlinear filtering methods through Monte Carlo simulations, showing its advantage in terms of estimate convergence even under some system uncertainties such as covariance shift in system noise and randomly missing measurements. To the best of our knowledge, this is the first reinforcement learning based nonlinear state estimator with bounded estimate error performance guarantee.
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a LiDAR-camera-based relative pose estimation method between a drone and a ground vehicle, using a LiDAR sensor and a fisheye camera on the vehicle's roof and another fisheye camera mounted under the drone. The LiDAR sensor directly observes the drone and measures its position, and the two cameras estimate the relative orientation using indirect observation of the surrounding objects. We propose a dynamically adaptive kernel-based method for drone detection and tracking using the LiDAR. We detect vanishing points in both cameras and find their correspondences to estimate the relative orientation. Additionally, we propose a rotation correction technique by relying on the observed motion of the drone through the LiDAR. In our experiments, we were able to achieve very fast initial detection and real-time tracking of the drone. Our method is fully automatic.