It is crucial to ask how agents can achieve goals by generating action plans using only partial models of the world acquired through habituated sensory-motor experiences. Although many existing robotics studies use a forward model framework, there are generalization issues with high degrees of freedom. The current study shows that the predictive coding (PC) and active inference (AIF) frameworks, which employ a generative model, can develop better generalization by learning a prior distribution in a low dimensional latent state space representing probabilistic structures extracted from well habituated sensory-motor trajectories. In our proposed model, learning is carried out by inferring optimal latent variables as well as synaptic weights for maximizing the evidence lower bound, while goal-directed planning is accomplished by inferring latent variables for maximizing the estimated lower bound. Our proposed model was evaluated with both simple and complex robotic tasks in simulation, which demonstrated sufficient generalization in learning with limited training data by setting an intermediate value for a regularization coefficient. Furthermore, comparative simulation results show that the proposed model outperforms a conventional forward model in goal-directed planning, due to the learned prior confining the search of motor plans within the range of habituated trajectories.

To provide these metrics, it is necessary find the set of loops on which to compute them. We show in this paper the necessity of including loops that are important at different points in the simulation. These important loops may not be independent of one another and cannot be determined from static analysis of the model structure. We then describe an algorithm that can be used to discover the most important loops in models that are too feedback rich for exhaustive loop discovery. We demonstrate the use of this algorithm in terms of its ability to find the most explanatory loops, and its computational performance for large models. By using this approach, the Loops that Matter method can be applied to models of any size or complexity.

We present a mean-variance policy iteration (MVPI) framework for risk-averse control in a discounted infinite horizon MDP. MVPI enjoys great flexibility in that any policy evaluation method and risk-neutral control method can be dropped in for risk-averse control off the shelf, in both on- and off-policy settings. We propose risk-averse TD3 as an example instantiating MVPI, which outperforms vanilla TD3 and many previous risk-averse control methods in challenging Mujoco robot simulation tasks under a risk-aware performance metric. This risk-averse TD3 is the first to introduce deterministic policies and off-policy learning into risk-averse reinforcement learning, both of which are key to the performance boost we show in Mujoco domains. MVPI adopts a per-step reward perspective (Bisi et al., 2019) for risk-averse control, instead of the commonly used total reward perspective.

Recommendation system or also known as a recommender system is a tool to help the user in providing a suggestion of a specific dilemma. Thus, recently, the interest in developing a recommendation system in many fields has increased. Fuzzy Logic system (FLSs) is one of the approaches that can be used to model the recommendation systems as it can deal with uncertainty and imprecise information. However, one of the fundamental issues in FLS is the problem of the curse of dimensionality. That is, the number of rules in FLSs is increasing exponentially with the number of input variables. One effective way to overcome this problem is by using Hierarchical Fuzzy System (HFSs). This paper aims to explore the use of HFSs for Recommendation system. Specifically, we are interested in exploring and comparing the HFS and FLS for the Career path recommendation system (CPRS) based on four key criteria, namely topology, the number of rules, the rules structures and interpretability. The findings suggested that the HFS has advantages over FLS towards improving the interpretability models, in the context of a recommendation system example. This study contributes to providing an insight into the development of interpretable HFSs in the Recommendation systems.

In a landmark paper published in 2001, Leo Breiman described the tense standoff between two cultures of data modeling: parametric statistical and algorithmic machine learning. The cultural division between these two statistical learning frameworks has been growing at a steady pace in recent years. What is the way forward? It has become blatantly obvious that this widening gap between "the two cultures" cannot be averted unless we find a way to blend them into a coherent whole. This article presents a solution by establishing a link between the two cultures. Through examples, we describe the challenges and potential gains of this new integrated statistical thinking.

Recently, neural network based dialogue systems have become ubiquitous in our increasingly digitalized society. However, due to their inherent opaqueness, some recently raised concerns about using neural models are starting to be taken seriously. In fact, intentional or unintentional behaviors could lead to a dialogue system to generate inappropriate responses. Thus, in this paper, we investigate whether we can learn to craft input sentences that result in a black-box neural dialogue model being manipulated into having its outputs contain target words or match target sentences. We propose a reinforcement learning based model that can generate such desired inputs automatically. Extensive experiments on a popular well-trained state-of-the-art neural dialogue model show that our method can successfully seek out desired inputs that lead to the target outputs in a considerable portion of cases. Consequently, our work reveals the potential of neural dialogue models to be manipulated, which inspires and opens the door towards developing strategies to defend them.

The paper presents the IWCS 2019 shared task on semantic parsing where the goal is to produce Discourse Representation Structures (DRSs) for English sentences. DRSs originate from Discourse Representation Theory and represent scoped meaning representations that capture the semantics of negation, modals, quantification, and presupposition triggers. Additionally, concepts and event-participants in DRSs are described with WordNet synsets and the thematic roles from VerbNet. To measure similarity between two DRSs, they are represented in a clausal form, i.e. as a set of tuples. Participant systems were expected to produce DRSs in this clausal form. Taking into account the rich lexical information, explicit scope marking, a high number of shared variables among clauses, and highly-constrained format of valid DRSs, all these makes the DRS parsing a challenging NLP task. The results of the shared task displayed improvements over the existing state-of-the-art parser.

Semantic background subtraction SBS has been shown to improve the performance of most background subtraction algorithms by combining them with semantic information, derived from a semantic segmentation network. However, SBS requires high-quality semantic segmentation masks for all frames, which are slow to compute. In addition, most state-of-the-art background subtraction algorithms are not real-time, which makes them unsuitable for real-world applications. In this paper, we present a novel background subtraction algorithm called Real-Time Semantic Background Subtraction (denoted RT-SBS) which extends SBS for real-time constrained applications while keeping similar performances. RT-SBS effectively combines a real-time background subtraction algorithm with high-quality semantic information which can be provided at a slower pace, independently for each pixel. We show that RT-SBS coupled with ViBe sets a new state of the art for real-time background subtraction algorithms and even competes with the non real-time state-of-the-art ones. Note that we provide python CPU and GPU implementations of RT-SBS at https://github.com/cioppaanthony/rt-sbs.

The increasing demand for democratizing machine learning algorithms for general software developers calls for hyperparameter optimization (HPO) solutions at low cost. Many machine learning algorithms have hyperparameters, which can cause a large variation in the training cost. But this effect is largely ignored in existing HPO methods, which are incapable to properly control cost during the optimization process. To address this problem, we develop a cost effective HPO solution. The core of our solution is a new randomized direct-search method. We prove a convergence rate of $O(\frac{\sqrt{d}}{\sqrt{K}})$ and provide an analysis on how it can be used to control evaluation cost under reasonable assumptions. Extensive evaluation using a latest AutoML benchmark shows a strong any time performance of the proposed HPO method when tuning cost-related hyperparameters.

State-of-the-art under-determined audio source separation systems rely on supervised end-end training of carefully tailored neural network architectures operating either in the time or the spectral domain. However, these methods are severely challenged in terms of requiring access to expensive source level labeled data and being specific to a given set of sources and the mixing process, which demands complete re-training when those assumptions change. This strongly emphasizes the need for unsupervised methods that can leverage the recent advances in data-driven modeling, and compensate for the lack of labeled data through meaningful priors. To this end, we propose a novel approach for audio source separation based on generative priors trained on individual sources. Through the use of projected gradient descent optimization, our approach simultaneously searches in the source-specific latent spaces to effectively recover the constituent sources. Though the generative priors can be defined in the time domain directly, e.g. WaveGAN, we find that using spectral domain loss functions for our optimization leads to good-quality source estimates. Our empirical studies on standard spoken digit and instrument datasets clearly demonstrate the effectiveness of our approach over classical as well as state-of-the-art unsupervised baselines.