Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they provide extra information about the physical properties of the grasping. In this paper, we implemented a system to predict and quantify the rotational slippage of objects in hand using the vision-based tactile sensor known as Digit. Our system comprises a neural network that obtains the segmented contact region (object-sensor), to later calculate the slippage rotation angle from this region using a thinning algorithm. Besides, we created our own tactile segmentation dataset, which is the first one in the literature as far as we are concerned, to train and evaluate our neural network, obtaining results of 95% and 91% in Dice and IoU metrics. In real-scenario experiments, our system is able to predict rotational slippage with a maximum mean rotational error of 3 degrees with previously unseen objects. Thus, our system can be used to prevent an object from falling due to its slippage.

Optimal Transport (OT) is a mathematical framework that first emerged in the eighteenth century and has led to a plethora of methods for answering many theoretical and applied questions. The last decade is a witness of the remarkable contributions of this classical optimization problem to machine learning. This paper is about where and how optimal transport is used in machine learning with a focus on the question of salable optimal transport. We provide a comprehensive survey of optimal transport while ensuring an accessible presentation as permitted by the nature of the topic and the context. First, we explain optimal transport background and introduce different flavors (i.e. mathematical formulations), properties, and notable applications. We then address the fundamental question of how to scale optimal transport to cope with the current demands of big and high dimensional data. We conduct a systematic analysis of the methods used in the literature for scaling OT and present the findings in a unified taxonomy. We conclude with presenting some open challenges and discussing potential future research directions. A live repository of related OT research papers is maintained in https://github.com/abdelwahed/OT_for_big_data.git.

Regularization techniques are crucial to improving the generalization performance and training efficiency of deep neural networks. Many deep learning algorithms rely on weight decay, dropout, batch/layer normalization to converge faster and generalize. Label Smoothing (LS) is another simple, versatile and efficient regularization which can be applied to various supervised classification tasks. Conventional LS, however, regardless of the training instance assumes that each non-target class is equally likely. In this work, we present a general framework for training with label regularization, which includes conventional LS but can also model instance-specific variants. Based on this formulation, we propose an efficient way of learning LAbel regularization by devising a Bi-level Optimization (LABO) problem. We derive a deterministic and interpretable solution of the inner loop as the optimal label smoothing without the need to store the parameters or the output of a trained model. Finally, we conduct extensive experiments and demonstrate our LABO consistently yields improvement over conventional label regularization on various fields, including seven machine translation and three image classification tasks across various

Deploying reinforcement learning agents in the real world can be challenging due to the risks associated with learning through trial and error. We propose a task-agnostic method that leverages small sets of safe and unsafe demonstrations to improve the safety of RL agents during learning. The method compares the current trajectory of the agent with both sets of demonstrations at every step, and filters the trajectory if it resembles the unsafe demonstrations. We perform ablation studies on different filtering strategies and investigate the impact of the number of demonstrations on performance. Our method is compatible with any stand-alone RL algorithm and can be applied to any task. We evaluate our method on three tasks from OpenAI Gym's Mujoco benchmark and two state-of-the-art RL algorithms. The results demonstrate that our method significantly reduces the crash rate of the agent while converging to, and in most cases even improving, the performance of the stand-alone agent.

Distributed machine learning approaches, including a broad class of federated learning techniques, present a number of benefits when deploying machine learning applications over widely distributed infrastructures. To realize the expected benefits, however, introduces substantial operational challenges due to required application and configuration-level changes related to deployment-specific details. Such complexities can be greatly reduced by introducing higher-level abstractions -- role and channel -- using which federated learning applications are described as Topology Abstraction Graphs (TAGs). TAGs decouple the ML application logic from the underlying deployment details, making it possible to specialize the application deployment, thus reducing development effort and paving the way for improved automation and tuning. We present Flame, the first system that supports these abstractions, and demonstrate its benefits for several use cases.

Diffusion models have become a new generative paradigm for text generation. Considering the discrete categorical nature of text, in this paper, we propose GlyphDiffusion, a novel diffusion approach for text generation via text-guided image generation. Our key idea is to render the target text as a glyph image containing visual language content. In this way, conditional text generation can be cast as a glyph image generation task, and it is then natural to apply continuous diffusion models to discrete texts. Specially, we utilize a cascaded architecture (ie a base and a super-resolution diffusion model) to generate high-fidelity glyph images, conditioned on the input text. Furthermore, we design a text grounding module to transform and refine the visual language content from generated glyph images into the final texts. In experiments over four conditional text generation tasks and two classes of metrics (ie quality and diversity), GlyphDiffusion can achieve comparable or even better results than several baselines, including pretrained language models. Our model also makes significant improvements compared to the recent diffusion model.

Pre-trained language models (PLMs) may fail in giving reliable estimates of their predictive uncertainty. We take a close look into this problem, aiming to answer two questions: (1) Do PLMs learn to become calibrated in the training process? (2) How effective are existing calibration methods? For the first question, we conduct fine-grained control experiments to study the dynamic change in PLMs' calibration performance in training. We consider six factors as control variables, including dataset difficulty, available training samples, training steps, the number of tunable parameters, model scale, and pretraining. We observe a consistent change in calibration performance across six factors. We find that PLMs don't learn to become calibrated in training, evidenced by the continual increase in confidence, no matter whether the predictions are correct or not. We highlight that our finding somewhat contradicts two established conclusions: (a) Larger PLMs are more calibrated; (b) Pretraining improves model calibration. Next, we study the effectiveness of existing calibration methods in mitigating the overconfidence issue. Besides unlearnable calibration methods (e.g., label smoothing), we adapt and extend two recently proposed learnable methods that directly collect data to train models to have reasonable confidence estimations. Experimental results show that learnable methods significantly reduce PLMs' confidence in wrong predictions. The code is available at \url{https://github.com/lifan-yuan/PLMCalibration}.

Tensor networks (TNs) and neural networks (NNs) are two fundamental data modeling approaches. TNs were introduced to solve the curse of dimensionality in large-scale tensors by converting an exponential number of dimensions to polynomial complexity. As a result, they have attracted significant attention in the fields of quantum physics and machine learning. Meanwhile, NNs have displayed exceptional performance in various applications, e.g., computer vision, natural language processing, and robotics research. Interestingly, although these two types of networks originate from different observations, they are inherently linked through the common multilinearity structure underlying both TNs and NNs, thereby motivating a significant number of intellectual developments regarding combinations of TNs and NNs. In this paper, we refer to these combinations as tensorial neural networks (TNNs), and present an introduction to TNNs in three primary aspects: network compression, information fusion, and quantum circuit simulation. Furthermore, this survey also explores methods for improving TNNs, examines flexible toolboxes for implementing TNNs, and documents TNN development while highlighting potential future directions. To the best of our knowledge, this is the first comprehensive survey that bridges the connections among NNs, TNs, and quantum circuits. We provide a curated list of TNNs at \url{https://github.com/tnbar/awesome-tensorial-neural-networks}.

Today's software is bloated with both code and features that are not used by most users. This bloat is prevalent across the entire software stack, from the operating system, all the way to software backends, frontends, and web-pages. In this paper, we focus on analyzing and quantifying bloat in machine learning containers. We develop MMLB, a framework to analyze bloat in machine learning containers, measuring the amount of bloat that exists on the container and package levels. Our tool quantifies the sources of bloat and integrates with vulnerability analysis tools to evaluate the impact of bloat on container vulnerabilities. Through experimentation with 15 machine learning containers from Tensorflow, Pytorch, and NVIDIA, we show that bloat is a significant issue, accounting for up to 80% of the container size in some cases. Our results demonstrate that bloat significantly increases the container provisioning time by up to 370% and exacerbates vulnerabilities by up to 99%.

The transition to neural networks as primary machine learning paradigm in natural language processing (NLP), and especially pre-training language models, became a major driver in NLP tasks within the Digital Humanities. Many applications in fields ranging, among other things, from Library Science, Literature Studies or Cultural Studies have been dramatically improved and automation of text based tasks is becoming widely possible. Current state-of-the-art approaches utilize pre-trained neural language models, which are fine-tuned to a given set of target variables (i.e., by training all parameters of the language model). Training neural networks requires calculating a gradient for every layer and batch element, thus easily tripling the required memory. Those complex and multi-step architectures often use specific hardware, for example Graphics processing units (GPU), in order to be efficiently trained.