--Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to reduce on-board computation required to train a deep neural network for autonomous navigation via Deep Reinforcement Learning for a target algorithmic performance. A library of 3D realistic meta-environments is manually designed using Unreal Gaming Engine and the network is trained end-to- end. These trained meta-weights are then used as initializers to the network in a test environment and fine-tuned for the last few fully connected layers. V ariation in drone dynamics and environmental characteristics is carried out to show robustness of the approach. Using NVIDIA GPU profiler it was shown that the energy consumption and training latency is reduced by 3.7x and 1.8x respectively without significant degradation in the performance in terms of average distance traveled before crash i.e. The approach is also tested on a real environment using DJI T ello drone and similar results were reported. The video of the drone with proposed approach will be uploaded to Y ouTube. VER the past decade, Unmanned aerial vehicle (UA V) are emerging as a new form of IoT devices being used in varied applications such as reconnaissance, surveying, rescuing and mapping. Irrespective of the application, navigating autonomously is one of the key desirable features of UA Vs both indoors and outdoors.

This paper is concerned with the statistical analysis of a real-valued symmetric data matrix. We assume a weighted stochastic block model: the matrix indices, taken to represent nodes, can be partitioned into communities so that all entries corresponding to a given community pair are replicates of the same random variable. Extending results previously known only for unweighted graphs, we provide a limit theorem showing that the point cloud obtained from spectrally embedding the data matrix follows a Gaussian mixture model where each community is represented with an elliptical component. We can therefore formally evaluate how well the communities separate under different data transformations, for example, whether it is productive to "take logs". We find that performance is invariant to affine transformation of the entries, but this expected and desirable feature hinges on adaptively selecting the eigenvectors according to eigenvalue magnitude and using Gaussian clustering. We present a network anomaly detection problem with cyber-security data where the matrix of log p-values, as opposed to p-values, has both theoretical and empirical advantages.

A BSTRACT Neural ordinary differential equations (ODEs) have been attracting increasing attention in various research domains recently. There have been some works studying optimization issues and approximation capabilities of neural ODEs, but their robustness is still yet unclear. In this work, we fill this important gap by exploring robustness properties of neural ODEs both empirically and theoretically. We first present an empirical study on the robustness of the neural ODEbased networks (ODENets) by exposing them to inputs with various types of perturbations and subsequently investigating the changes of the corresponding outputs. In contrast to conventional convolutional neural networks (CNNs), we find that the ODENets are more robust against both random Gaussian perturbations and adversarial attack examples. We then provide an insightful understanding of this phenomenon by exploiting a certain desirable property of the flow of a continuous-time ODE, namely that integral curves are nonintersecting. Our work suggests that, due to their intrinsic robustness, it is promising to use neural ODEs as a basic block for building robust deep network models. To further enhance the robustness of vanilla neural ODEs, we propose the time-invariant steady neural ODE (TisODE), which regularizes the flow on perturbed data via the time-invariant property and the imposition of a steady-state constraint. We show that the TisODE method outperforms vanilla neural ODEs and also can work in conjunction with other state-of-the-art architectural methods to build more robust deep networks. Due to their desirable properties, such as invertibility and parameter efficiency, neural ODEs have attracted increasing attention recently (Dupont et al., 2019; Liu et al., 2019). For example, Grathwohl et al. (2018) proposed a neural ODEbased generative model--the FFJORD--to solve inverse problems; Quaglino et al. (2019) used a higher-order approximation of the states in a neural ODE, and proposed the SNet to accelerate computation.

Spectrum management and resource allocation (RA) problems are challenging and critical in a vast number of research areas such as wireless communications and computer networks. The traditional approaches for solving such problems usually consume time and memory, especially for large size problems. Recently different machine learning approaches have been considered as potential promising techniques for combinatorial optimization problems, especially the generative model of the deep neural networks. In this work, we propose a resource allocation deep autoencoder network, as one of the promising generative models, for enabling spectrum sharing in underlay device-to-device (D2D) communication by solving linear sum assignment problems (LSAPs). Specifically, we investigate the performance of three different architectures for the conditional variational autoencoders (CVAE). The three proposed architecture are the convolutional neural network (CVAE-CNN) autoencoder, the feed-forward neural network (CVAE-FNN) autoencoder, and the hybrid (H-CVAE) autoencoder. The simulation results show that the proposed approach could be used as a replacement of the conventional RA techniques, such as the Hungarian algorithm, due to its ability to find solutions of LASPs of different sizes with high accuracy and very fast execution time. Moreover, the simulation results reveal that the accuracy of the proposed hybrid autoencoder architecture outperforms the other proposed architectures and the state-of-the-art DNN techniques.

Supervised topic models are often sought to balance prediction quality and in-terpretability. However, when models are (inevitably) misspecified, standard approaches rarely deliver on both. We introduce a novel approach, the prediction-focused topic model, that uses the supervisory signal to retain only vocabulary terms that improve, or do not hinder, prediction performance. By removing terms with irrelevant signal, the topic model is able to learn task-relevant, interpretable topics. We demonstrate on several data sets that compared to existing approaches, prediction-focused topic models are able to learn much more coherent topics while maintaining competitive predictions.

We present a preference learning framework for multiple criteria sorting. We consider sorting procedures applying an additive value model with diverse types of marginal value functions (including linear, piecewise-linear, splined, and general monotone ones) under a unified analytical framework. Differently from the existing sorting methods that infer a preference model from crisp decision examples, where each reference alternative is assigned to a unique class, our framework allows to consider valued assignment examples in which a reference alternative can be classified into multiple classes with respective credibility degrees. We propose an optimization model for constructing a preference model from such valued examples by maximizing the credible consistency among reference alternatives. To improve the predictive ability of the constructed model on new instances, we employ the regularization techniques. Moreover, to enhance the capability of addressing large-scale datasets, we introduce a state-of-the-art algorithm that is widely used in the machine learning community to solve the proposed optimization model in a computationally efficient way. Using the constructed additive value model, we determine both crisp and valued assignments for non-reference alternatives. Moreover, we allow the Decision Maker to prioritize importance of classes and give the method a flexibility to adjust classification performance across classes according to the specified priorities. The practical usefulness of the analytical framework is demonstrated on a real-world dataset by comparing it to several existing sorting methods.

Bayesian optimization (BO) is a popular approach for expensive black-box optimization, with applications in parameter tuning, experimental design, robotics, and so on. BO usually models the objective function by a Gaussian process (GP), and iteratively samples the next data point by maximizing some acquisition function. In this paper, we propose a new general framework for BO by generating pseudo-points (i.e., data points whose objective values are not evaluated) to improve the GP model. With the classic acquisition function, i.e., upper confidence bound (UCB), we prove a general bound on the cumulative regret, and show that the generation of pseudo-points can improve the instantaneous regret. Experiments using UCB and other acquisition functions, i.e., probability of improvement (PI) and expectation of improvement (EI), on synthetic as well as real-world problems clearly show the advantage of generating pseudo-points.

Over the past few decades, we have witnessed a large family of algorithms that have been designed to provide different solutions to the problem of dimensionality reduction (DR). The DR is an essential tool to excavate the important information from the high-dimensional data by mapping the data to a low-dimensional subspace. Furthermore, for the diversity of varied high-dimensional data, the multi-view features can be utilized for improving the learning performance. However, many DR methods fail to integrating multiple views. Although the features from different views are extracted by different manners, they are utilized to describe the same sample, which implies that they are highly related. Therefore, how to learn the subspace for high-dimensional features by utilizing the consistency and complementary properties of multi-view features is important in the present. In this paper, we propose an effective multi-view dimensionality reduction algorithm named Multi-view Smooth Preserve Projection. Firstly, we construct a single view DR method named Smooth Preserve Projection based on the Smooth Representation model. The proposed method aims to find a subspace for the high-dimensional data, in which the smooth reconstructive weights are preserved as much as possible. Then, we extend it to a multi-view version in which we exploits Hilbert-Schmidt Independence Criterion to jointly learn one common subspace for all views. A plenty of experiments on multi-view datasets show the excellent performance of the proposed method.

Effective network congestion control strategies are key to keeping the Internet (or any large computer network) operational. Network congestion control has been dominated by hand-crafted heuristics for decades. Recently, ReinforcementLearning (RL) has emerged as an alternative to automatically optimize such control strategies. Research so far has primarily considered RL interfaces which block the sender while an agent considers its next action. This is largely an artifact of building on top of frameworks designed for RL in games (e.g. OpenAI Gym). However, this does not translate to real-world networking environments, where a network sender waiting on a policy without sending data is costly for throughput. We instead propose to formulate congestion control with an asynchronous RL agent that handles delayed actions. We present MVFST-RL, a scalable framework for congestion control in the QUIC transport protocol that leverages state-of-the-art in asynchronous RL training with off-policy correction. We analyze modeling improvements to mitigate the deviation from Markovian dynamics, and evaluate our method on emulated networks from the Pantheon benchmark platform. The source code is publicly available at https://github.com/facebookresearch/mvfst-rl.

Canonical transformation plays a fundamental role in simplifying and solving classical Hamiltonian systems. We construct flexible and powerful canonical transformations as generative models using symplectic neural networks. The model transforms physical variables towards a latent representation with an independent harmonic oscillator Hamiltonian. Correspondingly, the phase space density of the physical system flows towards a factorized Gaussian distribution in the latent space. Since the canonical transformation preserves the Hamiltonian evolution, the model captures nonlinear collective modes in the learned latent representation. We present an efficient implementation of symplectic neural coordinate transformations and two ways to train the model. The variational free energy calculation is based on the analytical form of physical Hamiltonian. While the phase space density estimation only requires samples in the coordinate space for separable Hamiltonians. We demonstrate appealing features of neural canonical transformation using toy problems including two-dimensional ring potential and harmonic chain. Finally, we apply the approach to real-world problems such as identifying slow collective modes in alanine dipeptide and conceptual compression of the MNIST dataset.