This paper addresses the mapping problem. Using a conjugate prior form, we derive the exact theoretical batch multi-object posterior density of the map given a set of measurements. The landmarks in the map are modeled as extended objects, and the measurements are described as a Poisson process, conditioned on the map. We use a Poisson process prior on the map and prove that the posterior distribution is a hybrid Poisson, multi-Bernoulli mixture distribution. We devise a Gibbs sampling algorithm to sample from the batch multi-object posterior. The proposed method can handle uncertainties in the data associations and the cardinality of the set of landmarks, and is parallelizable, making it suitable for large-scale problems. The performance of the proposed method is evaluated on synthetic data and is shown to outperform a state-of-the-art method.

In this paper, we confront the problem of deep learning's big labeled data requirements, offer a rule based strategy for extreme augmentation of small data sets and apply that strategy with the image to image translation model by Isola et al. (2016) to automate cel style cartoon coloring with very limited training data. While our experimental results using geometric rules and transformations demonstrate the performance of our methods on an image translation task with industry applications in art, design and animation, we also propose the use of rules on partial data sets as a generalizable small data strategy, potentially applicable across data types and domains.

We introduce a principled approach, requiring only mild assumptions, for the characterization of deep neural networks at initialization. Our approach applies both to fully-connected and convolutional networks and incorporates the commonly used techniques of batch normalization and skip-connections. Our key insight is to consider the evolution with depth of statistical moments of signal and sensitivity, thereby characterizing the well-behaved or pathological behaviour of input-output mappings encoded by different choices of architecture. We establish: (i) for feedforward networks with and without batch normalization, depth multiplicativity inevitably leads to ill-behaved moments and distributional pathologies; (ii) for residual networks, on the other hand, the mechanism of identity skip-connection induces power-law rather than exponential behaviour, leading to well-behaved moments and no distributional pathology.

Optimal transport theory has recently found many applications in machine learning thanks to its capacity for comparing various machine learning objects considered as distributions. The Kantorovitch formulation, leading to the Wasserstein distance, focuses on the features of the elements of the objects but treat them independently, whereas the Gromov-Wasserstein distance focuses only on the relations between the elements, depicting the structure of the object, yet discarding its features. In this paper we propose to extend these distances in order to encode simultaneously both the feature and structure informations, resulting in the Fused Gromov-Wasserstein distance. We develop the mathematical framework for this novel distance, prove its metric and interpolation properties and provide a concentration result for the convergence of finite samples. We also illustrate and interpret its use in various contexts where structured objects are involved.

In our work, we propose to represent HTM as a set of flat models, or layers, and a set of topical hierarchies, or edges. We suggest several quality measures for edges of hierarchical models, resembling those proposed for flat models. We conduct an assessment experimentation and show strong correlation between the proposed measures and human judgement on topical edge quality. We also introduce heterogeneous algorithm to build hierarchical topic models for heterogeneous data sources. We show how making certain adjustments to learning process helps to retain original structure of customized models while allowing for slight coherent modifications for new documents. We evaluate this approach using the proposed measures and show that the proposed heterogeneous algorithm significantly outperforms the baseline concat approach. Finally, we implement our own ESE called Rysearch, which demonstrates the potential of ARTM approach for visualizing large heterogeneous document collections.

Power and thermal management are critical components of High-Performance-Computing (HPC) systems, due to their high power density and large total power consumption. The assessment of thermal dissipation by means of compact models directly from the thermal response of the final device enables more robust and precise thermal control strategies as well as automated diagnosis. However, when dealing with large scale systems "in production", the accuracy of learned thermal models depends on the dynamics of the power excitation, which depends also on the executed workload, and measurement nonidealities, such as quantization. In this paper we show that, using an advanced system identification algorithm, we are able to generate very accurate thermal models (average error lower than our sensors quantization step of 1{\deg}C) for a large scale HPC system on real workloads for very long time periods. However, we also show that: 1) not all real workloads allow for the identification of a good model; 2) starting from the theory of system identification it is very difficult to evaluate if a trace of data leads to a good estimated model. We then propose and validate a set of techniques based on machine learning and deep learning algorithms for the choice of data traces to be used for model identification. We also show that deep learning techniques are absolutely necessary to correctly choose such traces up to 96% of the times.

We consider the problem of image classification for the purpose of aiding doctors in dermatological diagnosis. Dermatological diagnosis poses two major challenges for standard off-the-shelf techniques: First, the data distribution is typically extremely long tailed. Second, intra-class variability is often large. To address the first issue, we formulate the problem as low-shot learning, where once deployed, a base classifier must rapidly generalize to diagnose novel conditions given very few labeled examples. To model diverse classes effectively, we propose Prototypical Clustering Networks (PCN), an extension to Prototypical Networks that learns a mixture of prototypes for each class. Prototypes are initialized for each class via clustering and refined via an online update scheme. Classification is performed by measuring similarity to a weighted combination of prototypes within a class, where the weights are the inferred cluster responsibilities. We demonstrate the strengths of our approach in effective diagnosis on a realistic dataset of dermatological conditions.

Knowledge and information are becoming the primary resources of the emerging information society. To exploit the potential of available expert knowledge, comprehension and application skills (i.e. The ability to acquire these skills is limited for any individual human. Consequently, the capacities to solve problems based on human knowledge in a manual (i.e. We envision a new systemic approach to enable scalable knowledge deployment without expert competences. Eventually, the system is meant to instantly deploy humanity's total knowledge in full depth for every individual challenge. To this end, we propose a sociotechnical framework that transforms expert knowledge into a solution creation system. Knowledge is represented by automated algorithms (knowledge engines). Executable compositions of knowledge engines (networks of knowledge engines) generate requested individual information at runtime. We outline how these knowledge representations could yield legal, ethical and social challenges and nurture new business and remuneration models on knowledge. We identify major technological and economic concepts that are already pushing the boundaries in knowledge utilisation: E.g. in artificial intelligence, knowledge bases, ontologies, advanced search tools, automation of knowledge work, the API economy. We indicate impacts on society, economy and labour. Existing developments are linked, including a specific use case in engineering design. 1 INSTANTLY DEPLOYABLE EXPERT KNOWLEDGE - NETWORKS OF KNOWLEDGE ENGINES For decades we experience an ongoing structural shift in value creation: from agricultural and industrial production to services and, more recently, to information-and knowledgebased services. Information and knowledge are becoming primary resources of the emerging knowledge society.

Learning algorithms are enabling robots to solve increasingly challenging real-world tasks. These approaches often rely on demonstrations and reproduce the behavior shown. Unexpected changes in the environment may require using different behaviors to achieve the same effect, for instance to reach and grasp an object in changing clutter. An emerging paradigm addressing this robustness issue is to learn a diverse set of successful behaviors for a given task, from which a robot can select the most suitable policy when faced with a new environment. In this paper, we explore a novel realization of this vision by learning a generative model over policies. Rather than learning a single policy, or a small fixed repertoire, our generative model for policies compactly encodes an unbounded number of policies and allows novel controller variants to be sampled. Leveraging our generative policy network, a robot can sample novel behaviors until it finds one that works for a new environment. We demonstrate this idea with an application of robust ball-throwing in the presence of obstacles. We show that this approach achieves a greater diversity of behaviors than an existing evolutionary approach, while maintaining good efficacy of sampled behaviors, allowing a Baxter robot to hit targets more often when ball throwing in the presence of obstacles.

In this work we first remember the characteristics of Quantum Rule-Based Systems (QRBS), a concept defined in a previous article by one of the authors of this paper, and we introduce the problem of quantum uncertainty. We assume that the subjective uncertainty that affects the facts of classical RBSs can be treated as a direct consequence of the probabilistic nature of quantum mechanics (QM), and we also assume that the uncertainty associated with a given hypothesis is a consequence of the propagation of the imprecision through the inferential circuits of RBSs. This article does not intend to contribute anything new to the QM field: it is a work of artificial intelligence (AI) that uses QC techniques to solve the problem of uncertainty in RBSs. Bearing the above arguments in mind a quantum model is proposed. This model has been applied to a problem already defined by one of the authors of this work in a previous publication and which is briefly described in this article. Then the model is generalized, and it is thoroughly evaluated. The results obtained show that QC is a valid, effective and efficient method to deal with the inherent uncertainty of RBSs.