Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor architectures which usually employ 16/32 layer LIDARs. We evaluate the effect of subsampling image based representations of dense point clouds on the accuracy of the road segmentation task. In our experiments the low resolution 16/32 layer LIDAR point clouds are simulated by subsampling the original 64 layer data, for subsequent transformation in to a feature map in the Bird-Eye-View (BEV) and SphericalView (SV) representations of the point cloud. We introduce the usage of the local normal vector with the LIDAR's spherical coordinates as an input channel to existing LoDNN architectures. We demonstrate that this local normal feature in conjunction with classical features not only improves performance for binary road segmentation on full resolution point clouds, but it also reduces the negative impact on the accuracy when subsampling dense point clouds as compared to the usage of classical features alone. We assess our method with several experiments on two datasets: KITTI Road-segmentation benchmark and the recently released Semantic KITTI dataset.

We study sampling from a target distribution ${\nu_* = e^{-f}}$ using the unadjusted Langevin Monte Carlo (LMC) algorithm. For any potential function $f$ whose tails behave like ${\|x\|^\alpha}$ for ${\alpha \in [1,2]}$, and has $\beta$-H\"older continuous gradient, we prove that ${\widetilde{\mathcal{O}} \Big(d^{\frac{1}{\beta}+\frac{1+\beta}{\beta}(\frac{2}{\alpha} - \boldsymbol{1}_{\{\alpha \neq 1\}})} \epsilon^{-\frac{1}{\beta}}\Big)}$ steps are sufficient to reach the $\epsilon $-neighborhood of a $d$-dimensional target distribution $\nu_*$ in KL-divergence. This convergence rate, in terms of $\epsilon$ dependency, is not directly influenced by the tail growth rate $\alpha$ of the potential function as long as its growth is at least linear, and it only relies on the order of smoothness $\beta$. One notable consequence of this result is that for potentials with Lipschitz gradient, i.e. $\beta=1$, our rate recovers the best known rate ${\widetilde{\mathcal{O}}(d\epsilon^{-1})}$ which was established for strongly convex potentials in terms of $\epsilon$ dependency, but we show that the same rate is achievable for a wider class of potentials that are degenerately convex at infinity. The growth rate $\alpha$ starts to have an effect on the established rate in high dimensions where $d$ is large; furthermore, it recovers the best-known dimension dependency when the tail growth of the potential is quadratic, i.e. ${\alpha = 2}$, in the current setup. Our framework allows for finite perturbations, and any order of smoothness ${\beta\in(0,1]}$; consequently, our results are applicable to a wide class of non-convex potentials that are weakly smooth and exhibit at least linear tail growth.

Neural Architecture Search (NAS) explores a large space of architectural motifs -- a compute-intensive process that often involves ground-truth evaluation of each motif by instantiating it within a large network, and training and evaluating the network with thousands of domain-specific data samples. Inspired by how biological motifs such as cells are sometimes extracted from their natural environment and studied in an artificial Petri dish setting, this paper proposes the Synthetic Petri Dish model for evaluating architectural motifs. In the Synthetic Petri Dish, architectural motifs are instantiated in very small networks and evaluated using very few learned synthetic data samples (to effectively approximate performance in the full problem). The relative performance of motifs in the Synthetic Petri Dish can substitute for their ground-truth performance, thus accelerating the most expensive step of NAS. Unlike other neural network-based prediction models that parse the structure of the motif to estimate its performance, the Synthetic Petri Dish predicts motif performance by training the actual motif in an artificial setting, thus deriving predictions from its true intrinsic properties. Experiments in this paper demonstrate that the Synthetic Petri Dish can therefore predict the performance of new motifs with significantly higher accuracy, especially when insufficient ground truth data is available. Our hope is that this work can inspire a new research direction in studying the performance of extracted components of models in an alternative controlled setting.

Contextual bandits provide a natural framework to model a lot of practical sequential decision making problems in various fields. Woodroofe (1979) started studying multiarmed bandit problems with side information in a parametric framework, and Yang and Zhu (2002) initiated an investigation from a nonparametric perspective. See Lai (2001);Bartroff et al. (2008) for reviews on general sequential problems and Bubeck and Cesa-Bianchi (2012) for bandits exclusively. In recent years, bandit problems have gained popularity and have been studied extensively under different names, such as contextual bandits, multi-armed bandits with covariates (MABC), associative bandit problems and multi-armed bandits with side information. For example, when treating patients of a disease, the doctor needs to decide which treatment amongst several competing treatments would be the best for the current patient, given the patient's covariate information and data available from previous patients. Most of the bandit algorithms assume instantaneous observance of rewards, but in most practical situations, rewards are only obtained at some delayed time. For example, it is often the case that several other patients have to be treated before the outcome for the current patient is observed. One way to tackle this problem is to adopt black-box procedures incorporating delayed rewards using the already existing no-delay policies in the stochastic bandits setting.

Wildfire modelling is an attempt to reproduce fire behaviour. Through active fire analysis, it is possible to reproduce a dynamical process, such as wildfires, with limited duration time series data. Recurrent neural networks (RNNs) can model dynamic temporal behaviour due to their ability to remember their internal input. In this paper, we compare the Gated Recurrent Unit (GRU) and the Long Short-Term Memory (LSTM) network. We try to determine whether a wildfire continues to burn and given that it does, we aim to predict which one of the 8 cardinal directions the wildfire will spread in. Overall the GRU performs better for longer time series than the LSTM. We have shown that although we are reasonable at predicting the direction in which the wildfire will spread, we are not able to asses if the wildfire continues to burn due to the lack of auxiliary data.

This paper demonstrates the application of Bayesian Artificial Neural Networks to Ordinary Differential Equation (ODE) inverse problems. We consider the case of estimating an unknown chaotic dynamical system transition model from state observation data. Inverse problems for chaotic systems are numerically challenging as small perturbations in model parameters can cause very large changes in estimated forward trajectories. Bayesian Artificial Neural Networks can be used to simultaneously fit a model and estimate model parameter uncertainty. Knowledge of model parameter uncertainty can then be incorporated into the probabilistic estimates of the inferred system's forward time evolution. The method is demonstrated numerically by analysing the chaotic Sprott B system. Observations of the system are used to estimate a posterior predictive distribution over the weights of a parametric polynomial kernel Artificial Neural Network. It is shown that the proposed method is able to perform accurate time predictions. Further, the proposed method is able to correctly account for model uncertainties and provide useful prediction uncertainty bounds.

The BERT model has arisen as a popular state-of-the-art machine learning model in the recent years that is able to cope with multiple NLP tasks such as supervised text classification without human supervision. Its flexibility to cope with any type of corpus delivering great results has make this approach very popular not only in academia but also in the industry. Although, there are lots of different approaches that have been used throughout the years with success. In this work, we first present BERT and include a little review on classical NLP approaches. Then, we empirically test with a suite of experiments dealing different scenarios the behaviour of BERT against the traditional TF-IDF vocabulary fed to machine learning algorithms. Our purpose of this work is to add empirical evidence to support or refuse the use of BERT as a default on NLP tasks. Experiments show the superiority of BERT and its independence of features of the NLP problem such as the language of the text adding empirical evidence to use BERT as a default technique to be used in NLP problems.

Gaussian processes (GPs) are distributions over functions, which provide a Bayesian nonparametric approach to regression and classification. In spite of their success, GPs have limited use in some applications, for example, in some cases a symmetric distribution with respect to its mean is an unreasonable model. This implies, for instance, that the mean and the median coincide, while the mean and median in an asymmetric (skewed) distribution can be different numbers. In this paper, we propose Skew-Gaussian processes (SkewGPs) as a non-parametric prior over functions. A SkewGP extends the multivariate Unified Skew-Normal distribution over finite dimensional vectors to a stochastic processes. The SkewGP class of distributions includes GPs and, therefore, SkewGPs inherit all good properties of GPs and increase their flexibility by allowing asymmetry in the probabilistic model. By exploiting the fact that SkewGP and probit likelihood are conjugate model, we derive closed form expressions for the marginal likelihood and predictive distribution of this new nonparametric classifier. We verify empirically that the proposed SkewGP classifier provides a better performance than a GP classifier based on either Laplace's method or Expectation Propagation.

Interventions are central to causal learning and reasoning. Yet ultimately an intervention is an abstraction: an agent embedded in a physical environment (perhaps modeled as a Markov decision process) does not typically come equipped with the notion of an intervention -- its action space is typically ego-centric, without actions of the form `intervene on X'. Such a correspondence between ego-centric actions and interventions would be challenging to hard-code. It would instead be better if an agent learnt which sequence of actions allow it to make targeted manipulations of the environment, and learnt corresponding representations that permitted learning from observation. Here we show how a meta-learning approach can be used to perform causal learning in this challenging setting, where the action-space is not a set of interventions and the observation space is a high-dimensional space with a latent causal structure. A meta-reinforcement learning algorithm is used to learn relationships that transfer on observational causal learning tasks. This work shows how advances in deep reinforcement learning and meta-learning can provide intervention-centric causal learning in high-dimensional environments with a latent causal structure.

With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gaining significant attention from farmers and industries to reduce costs, human workload, and required resources. Nevertheless, achieving sufficient autonomous navigation capabilities requires the simultaneous cooperation of different processes; localization, mapping, and path planning are just some of the steps that aim at providing to the machine the right set of skills to operate in semi-structured and unstructured environments. In this context, this study presents a low-cost local motion planner for autonomous navigation in vineyards based only on an RGB-D camera, low range hardware, and a dual layer control algorithm. The first algorithm exploits the disparity map and its depth representation to generate a proportional control for the robotic platform. Concurrently, a second back-up algorithm, based on representations learning and resilient to illumination variations, can take control of the machine in case of a momentaneous failure of the first block. Moreover, due to the double nature of the system, after initial training of the deep learning model with an initial dataset, the strict synergy between the two algorithms opens the possibility of exploiting new automatically labeled data, coming from the field, to extend the existing model knowledge. The machine learning algorithm has been trained and tested, using transfer learning, with acquired images during different field surveys in the North region of Italy and then optimized for on-device inference with model pruning and quantization. Finally, the overall system has been validated with a customized robot platform in the relevant environment.