Generalization in robotics is one of the most important problems. New generalization approaches use internet databases in order to solve new tasks. Modern search engines can return a large amount of information according to a query within milliseconds. However, not all of the returned information is task relevant, partly due to the problem of polysemes. Here we specifically address the problem of object generalization by using image search. We suggest a bi-modal solution, combining visual and textual information, based on the observation that humans use additional linguistic cues to demarcate intended word meaning. We evaluate the quality of our approach by comparing it to human labelled data and find that, on average, our approach leads to improved results in comparison to Google searches, and that it can treat the problem of polysemes.

Because GBDT inherits the good performance from its ensemble essence, much attention has been drawn to the optimization of this model. With its popularization, an increasing need for model interpretation arises. Besides the commonly used feature importance as a global interpretation, feature contribution is a local measure that reveals the relationship between a specific instance and the related output. This work focuses on the local interpretation and proposes an unified computation mechanism to get the instance-level feature contributions for GBDT in any version. Practicality of this mechanism is validated by the listed experiments as well as applications in real industry scenarios.

This paper considers multi-agent reinforcement learning (MARL) in networked system control. Specifically, each agent learns a decentralized control policy based on local observations and messages from connected neighbors. We formulate such a networked MARL (NMARL) problem as a spatiotemporal Markov decision process and introduce a spatial discount factor to stabilize the training of each local agent. Further, we propose a new differentiable communication protocol, called NeurComm, to reduce information loss and non-stationarity in NMARL. Based on experiments in realistic NMARL scenarios of adaptive traffic signal control and cooperative adaptive cruise control, an appropriate spatial discount factor effectively enhances the learning curves of non-communicative MARL algorithms, while NeurComm outperforms existing communication protocols in both learning efficiency and control performance.

Conventional online multi-task learning algorithms suffer from two critical limitations: 1) Heavy communication caused by delivering high velocity of sequential data to a central machine; 2) Expensive runtime complexity for building task relatedness. To address these issues, in this paper we consider a setting where multiple tasks are geographically located in different places, where one task can synchronize data with others to leverage knowledge of related tasks. Specifically, we propose an adaptive primal-dual algorithm, which not only captures task-specific noise in adversarial learning but also carries out a projection-free update with runtime efficiency. Moreover, our model is well-suited to decentralized periodic-connected tasks as it allows the energy-starved or bandwidth-constraint tasks to postpone the update. Theoretical results demonstrate the convergence guarantee of our distributed algorithm with an optimal regret. Empirical results confirm that the proposed model is highly effective on various real-world datasets.

Feature selection is an important tool to deal with high dimensional data. In unsupervised case, many popular algorithms aim at maintaining the structure of the original data. In this paper, we propose a simple and effective feature selection algorithm to enhance sample similarity preservation through a new perspective, topology preservation, which is represented by persistent diagrams from the context of computational topology. This method is designed upon a unified feature selection framework called IVFS, which is inspired by random subset method. The scheme is flexible and can handle cases where the problem is analytically intractable. The proposed algorithm is able to well preserve the pairwise distances, as well as topological patterns, of the full data. We demonstrate that our algorithm can provide satisfactory performance under a sharp sub-sampling rate, which supports efficient implementation of our proposed method to large scale datasets. Extensive experiments validate the effectiveness of the proposed feature selection scheme.

Clustering is an essential technique for network analysis, with applications in a diverse range of fields. Although spectral clustering is a popular and effective method, it fails to consider higher-order structure and can perform poorly on directed networks. One approach is to capture and cluster higher-order structures using motif adjacency matrices. However, current formulations fail to take edge weights into account, and thus are somewhat limited when weight is a key component of the network under study. We address these shortcomings by exploring motif-based weighted spectral clustering methods. We present new and computationally useful matrix formulae for motif adjacency matrices on weighted networks, which can be used to construct efficient algorithms for any anchored or non-anchored motif on three nodes. In a very sparse regime, our proposed method can handle graphs with five million nodes and tens of millions of edges in under ten minutes. We further use our framework to construct a motif-based approach for clustering bipartite networks. We provide comprehensive experimental results, demonstrating (i) the scalability of our approach, (ii) advantages of higher-order clustering on synthetic examples, and (iii) the effectiveness of our techniques on a variety of real world data sets. We conclude that motif-based spectral clustering is a valuable tool for analysis of directed and bipartite weighted networks, which is also scalable and easy to implement.

The task of automatic language identification (LID) involving multiple dialects of the same language family in the presence of noise is a challenging problem. In these scenarios, the identity of the language/dialect may be reliably present only in parts of the temporal sequence of the speech signal. The conventional approaches to LID (and for speaker recognition) ignore the sequence information by extracting long-term statistical summary of the recording assuming an independence of the feature frames. In this paper, we propose a neural network framework utilizing short-sequence information in language recognition. In particular, a new model is proposed for incorporating relevance in language recognition, where parts of speech data are weighted more based on their relevance for the language recognition task. This relevance weighting is achieved using the bidirectional long short-term memory (BLSTM) network with attention modeling. We explore two approaches, the first approach uses segment level i-vector/x-vector representations that are aggregated in the neural model and the second approach where the acoustic features are directly modeled in an end-to-end neural model. Experiments are performed using the language recognition task in NIST LRE 2017 Challenge using clean, noisy and multi-speaker speech data as well as in the RATS language recognition corpus. In these experiments on noisy LRE tasks as well as the RATS dataset, the proposed approach yields significant improvements over the conventional i-vector/x-vector based language recognition approaches as well as with other previous models incorporating sequence information.

The recent COVID-19 pandemic has highlighted the need for rapid therapeutic development for infectious diseases. To accelerate this process, we present a deep learning based generative modeling framework, CogMol, to design drug candidates specific to a given target protein sequence with high off-target selectivity. We augment this generative framework with an in silico screening process that accounts for toxicity, to lower the failure rate of the generated drug candidates in later stages of the drug development pipeline. We apply this framework to three relevant proteins of the SARS-CoV-2, the virus responsible for COVID-19, namely non-structural protein 9 (NSP9) replicase, main protease, and the receptor-binding domain (RBD) of the S protein. Docking to the target proteins demonstrate the potential of these generated molecules as ligands. Structural similarity analyses further imply novelty of the generated molecules with respect to the training dataset as well as possible biological association of a number of generated molecules that might be of relevance to COVID-19 therapeutic design. While the validation of these molecules is underway, we release ~ 3000 novel COVID-19 drug candidates generated using our framework. URL : http://ibm.biz/covid19-mol

A recent line of studies has focused on the infinite width limit of deep neural networks (DNNs) where, under a certain deterministic training protocol, the DNN outputs are related to a Gaussian Process (GP) known as the Neural Tangent Kernel (NTK). However, finite-width DNNs differ from GPs quantitatively and for CNNs the difference may be qualitative. Here we present a DNN training protocol involving noise whose outcome is mappable to a certain non-Gaussian stochastic process. An analytical framework is then introduced to analyze this resulting non-Gaussian process, whose deviation from a GP is controlled by the finite width. Our work extends upon previous relations between DNNs and GPs in several ways: (a) In the infinite width limit, it establishes a mapping between DNNs and a GP different from the NTK. (b) It allows computing analytically the general form of the finite width correction (FWC) for DNNs with arbitrary activation functions and depth and further provides insight on the magnitude and implications of these FWCs. (c) It appears capable of providing better performance than the corresponding GP in the case of CNNs. We are able to predict the outputs of empirical finite networks with high accuracy, improving upon the accuracy of GP predictions by over an order of magnitude. Overall, we provide a framework that offers both an analytical handle and a more faithful model of real-world settings than previous studies in this avenue of research.

Causal inference quantifies cause-effect relationships by estimating counterfactual parameters from data. This entails using \emph{identification theory} to establish a link between counterfactual parameters of interest and distributions from which data is available. A line of work characterized non-parametric identification for a wide variety of causal parameters in terms of the \emph{observed data distribution}. More recently, identification results have been extended to settings where experimental data from interventional distributions is also available. In this paper, we use Single World Intervention Graphs and a nested factorization of models associated with mixed graphs to give a very simple view of existing identification theory for experimental data. We use this view to yield general identification algorithms for settings where the input distributions consist of an arbitrary set of observational and experimental distributions, including marginal and conditional distributions. We show that for problems where inputs are interventional marginal distributions of a certain type (ancestral marginals), our algorithm is complete.