We propose a low-rank approach to learning a Mahalanobis metric from data. Inspired by the recent geometric mean metric learning (GMML) algorithm, we propose a low-rank variant of the algorithm. This allows to jointly learn a low-dimensional subspace where the data reside and the Mahalanobis metric that appropriately fits the data. Our results show that we compete effectively with GMML at lower ranks.

This paper proposes a new method for solving the well-known rank aggregation problem from pairwise comparisons using the method of low-rank matrix completion. The partial and noisy data of pairwise comparisons is transformed into a matrix form. We then use tools from matrix completion, which has served as a major component in the low-rank completion solution of the Netflix challenge, to construct the preference of the different objects. In our approach, the data of multiple comparisons is used to create an estimate of the probability of object i to win (or be chosen) over object j, where only a partial set of comparisons between N objects is known. The data is then transformed into a matrix form for which the noiseless solution has a known rank of one. An alternating minimization algorithm, in which the target matrix takes a bilinear form, is then used in combination with maximum likelihood estimation for both factors. The reconstructed matrix is used to obtain the true underlying preference intensity. This work demonstrates the improvement of our proposed algorithm over the current state-of-the-art in both simulated scenarios and real data.

With the rising popularity of machine learning and the ever increasing demand for computational power, there is a growing need for hardware optimized implementations of neural networks and other machine learning models. As the technology evolves, it is also plausible that machine learning or artificial intelligence will soon become consumer electronic products and military equipment, in the form of well-trained models. Unfortunately, the modern fabless business model of manufacturing hardware, while economic, leads to deficiencies in security through the supply chain. In this paper, we illuminate these security issues by introducing hardware Trojan attacks on neural networks, expanding the current taxonomy of neural network security to incorporate attacks of this nature. To aid in this, we develop a novel framework for inserting malicious hardware Trojans in the implementation of a neural network classifier. We evaluate the capabilities of the adversary in this setting by implementing the attack algorithm on convolutional neural networks while controlling a variety of parameters available to the adversary. Our experimental results show that the proposed algorithm could effectively classify a selected input trigger as a specified class on the MNIST dataset by injecting hardware Trojans into $0.03\%$, on average, of neurons in the 5th hidden layer of arbitrary 7-layer convolutional neural networks, while undetectable under the test data. Finally, we discuss the potential defenses to protect neural networks against hardware Trojan attacks.

We consider stochastic gradient descent for binary classification problems in a reproducing kernel Hilbert space. In traditional analysis, it is known that the expected classification error converges more slowly than the expected risk even when assuming a low-noise condition on the conditional label probabilities. Consequently, the resulting rate is sublinear. Therefore, it is important to consider whether much faster convergence of the expected classification error can be achieved. In recent research, an exponential convergence rate for stochastic gradient descent was shown under a strong low-noise condition, but theoretical analysis of this was limited to the square loss function, which is somewhat inadequate for binary classification tasks. In this paper, we show an exponential convergence rate of the expected classification error in the final phase of learning for a wide class of differentiable convex loss functions under similar assumptions.

To implement deep neural networks on small embedded devices, conventional techniques use channel pruning looking considering manual compression rate per layer to reduce parameters. Besides it is difficult to consider the relationships between layers and it takes a lot of time for deeper models. For addressing these issues, we propose a new channel pruning technique based on attention that can evaluate the importance of channels. We improved the method with the criterion to allow the automatic channel selection using a single compression rate for the entire model. Experimental results showed that a parameter reduction of 90.8% and FLOPs reduction of 79.4% was achieved with an accuracy degradation of around 1% for the compressed ResNet-50 model on the CIFAR-10 benchmark.

In many real-world problems, there is the possibility to configure, to a limited extent, some environmental parameters to improve the performance of a learning agent. In this paper, we propose a novel framework, Configurable Markov Decision Processes (Conf-MDPs), to model this new type of interaction with the environment. Furthermore, we provide a new learning algorithm, Safe Policy-Model Iteration (SPMI), to jointly and adaptively optimize the policy and the environment configuration. After having introduced our approach and derived some theoretical results, we present the experimental evaluation in two explicative problems to show the benefits of the environment configurability on the performance of the learned policy.

We present a method for estimating causal effects in time series data when fine-grained information about the outcome of interest is available. Specifically, we examine what we call the split-door setting, where the outcome variable can be split into two parts: one that is potentially affected by the cause being studied and another that is independent of it, with both parts sharing the same (unobserved) confounders. We show that under these conditions, the problem of identification reduces to that of testing for independence among observed variables, and present a method that uses this approach to automatically find subsets of the data that are causally identified. We demonstrate the method by estimating the causal impact of Amazon's recommender system on traffic to product pages, finding thousands of examples within the dataset that satisfy the split-door criterion. Unlike past studies based on natural experiments that were limited to a single product category, our method applies to a large and representative sample of products viewed on the site. In line with previous work, we find that the widely-used click-through rate (CTR) metric overestimates the causal impact of recommender systems; depending on the product category, we estimate that 50-80\% of the traffic attributed to recommender systems would have happened even without any recommendations. We conclude with guidelines for using the split-door criterion as well as a discussion of other contexts where the method can be applied.

We propose Generative Adversarial Tree Search (GATS), a sample-efficient Deep Reinforcement Learning (DRL) algorithm. While Monte Carlo Tree Search (MCTS) is known to be effective for search and planning in RL, it is often sample-inefficient and therefore expensive to apply in practice. In this work, we develop a Generative Adversarial Network (GAN) architecture to model an environment's dynamics and a predictor model for the reward function. We exploit collected data from interaction with the environment to learn these models, which we then use for model-based planning. During planning, we deploy a finite depth MCTS, using the learned model for tree search and a learned Q-value for the leaves, to find the best action. We theoretically show that GATS improves the bias-variance trade-off in value-based DRL. Moreover, we show that the generative model learns the model dynamics using orders of magnitude fewer samples than the Q-learner. In non-stationary settings where the environment model changes, we find the generative model adapts significantly faster than the Q-learner to the new environment.

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods such as RRT*, A*, and D*, become ineffective as their computational complexity increases exponentially with the dimensionality of the motion planning problem. To address this issue, we present a neural network-based novel planning algorithm which generates end-to-end collision-free paths irrespective of the obstacles' geometry. The proposed method, called MPNet (Motion Planning Network), comprises of a Contractive Autoencoder which encodes the given workspaces directly from a point cloud measurement, and a deep feedforward neural network which takes the workspace encoding, start and goal configuration, and generates end-to-end feasible motion trajectories for the robot to follow. We evaluate MPNet on multiple planning problems such as planning of a point-mass robot, rigid-body, and 7 DOF Baxter robot manipulators in various 2D and 3D environments. The results show that MPNet is not only consistently computationally efficient in all 2D and 3D environments but also show remarkable generalization to completely unseen environments. The results also show that computation time of MPNet consistently remains less than 1 second which is significantly lower than existing state-of-the-art motion planning algorithms. Furthermore, through transfer learning, the MPNet trained in one scenario (e.g., indoor living places) can also quickly adapt to new scenarios (e.g., factory floors) with a little amount of data.

Our goal is to synthesize controllers for robots that provably generalize well to novel environments given a dataset of example environments. The key technical idea behind our approach is to leverage tools from generalization theory in machine learning by exploiting a precise analogy (which we present in the form of a reduction) between robustness of controllers to novel environments and generalization of hypotheses in supervised learning. In particular, we utilize the Probably Approximately Correct (PAC)-Bayes framework, which allows us to obtain upper bounds (that hold with high probability) on the expected cost of (stochastic) controllers across novel environments. We propose control synthesis algorithms that explicitly seek to minimize this upper bound. The corresponding optimization problem can be solved using convex optimization (Relative Entropy Programming in particular) in the setting where we are optimizing over a finite control policy space. In the more general setting of continuously parameterized controllers, we minimize this upper bound using stochastic gradient descent. We present examples of our approach in the context of obstacle avoidance control with depth measurements. Our simulated examples demonstrate the potential of our approach to provide strong generalization guarantees on controllers for robotic systems with continuous state and action spaces, complicated (e.g., nonlinear) dynamics, and rich sensory inputs (e.g., depth measurements).