Model combination, often regarded as a key sub-field of ensemble learning, has been widely used in both academic research and industry applications. To facilitate this process, we propose and implement an easy-to-use Python toolkit, combo, to aggregate models and scores under various scenarios, including classification, clustering, and anomaly detection. In a nutshell, combo provides a unified and consistent way to combine the learning models from popular machine learning libraries, e.g., scikit-learn, XGBoost, and LightGBM. With accessibility and robustness in mind, combo is designed with detailed documentation, interactive examples, continuous integration, code coverage, and maintainability check; it can be installed easily through Python Package Index (PyPI) or https://github.com/yzhao062/combo.

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperating one robot at any given time. The key challenge is that users have limited attention: as the number of robots increases, users lose the ability to decide which robot requires teleoperation the most. Our goal is to automate this decision, thereby enabling users to supervise more robots than their attention would normally allow for. Our insight is that we can model the user's choice of which robot to control as an approximately optimal decision that maximizes the user's utility function. We learn a model of the user's preferences from observations of the user's choices in easy settings with a few robots, and use it in challenging settings with more robots to automatically identify which robot the user would most likely choose to control, if they were able to evaluate the states of all robots at all times. We run simulation experiments and a user study with twelve participants that show our method can be used to assist users in performing a navigation task and manipulator reaching task.

Criminals use malware to disrupt cyber-systems. The number of these malware-vulnerable systems is increasing quickly as common systems, such as vehicles, routers, and lightbulbs, become increasingly interconnected cyber-systems. To address the scale of this problem, analysts divide malware into classes and develop, for each class, a specialized defense. In this project we classified malware with machine learning. In particular, we used a supervised multi-class long short term memory (LSTM) model. We trained the algorithm with thousands of malware files annotated with class labels (the training set), and the algorithm learned patterns indicative of each class. We used disassembled malware files (provided by Microsoft) and separated the constituent data into parsed instructions, which look like human-readable machine code text, and raw bytes, which are hexadecimal values. We are interested in which format, text or hex, is more valuable as input for classification. To solve this, we investigated four cases: a text-only model, a hexadecimal-only model, a multi-input model using both text and hexadecimal inputs, and a model based on combining the individual results. We performed this investigation using the machine learning Python package Keras, which allows easily configurable deep learning architectures and training. We hoped to understand the trade-offs between the different formats. Due to the class imbalance in the data, we used multiple methods to compare the formats, using test accuracies, balanced accuracies (taking into account weights of classes), and an accuracy derived from tables of confusion. We found that the multi-input model, which allows learning on both input types simultaneously, resulted in the best performance. Our finding expedites malware classification research by providing researchers a suitable deep learning architecture to train a tailored version to their malware.

This paper introduces the modulated Hebbian plus Q network architecture (MOHQA) for solving challenging partially observable Markov decision processes (POMDPs) deep reinforcement learning problems with sparse rewards and confounding observations. The proposed architecture combines a deep Q-network (DQN), and a modulated Hebbian network with neural eligibility traces (MOHN). Bio-inspired neural traces are used to bridge temporal delays between actions and rewards. The purpose is to discover distal cause-effect relationships where confounding observations and sparse rewards cause standard RL algorithms to fail. Each of the two modules of the network (DQN and MOHN) is responsible for different aspects of learning. DQN learns low level features and control, while MOHN contributes to the high-level decisions by bridging rewards with past actions. The strength of the approach is to support a DQN standard framework when temporal difference errors are difficult to compute due to non-observable states. The system is tested on a set of generalized decision making problems encoded as decision tree graphs that deliver delayed rewards after key decision points and confounding observations. The simulations show that the proposed approach helps solve problems that are currently challenging for state-of-the-art deep reinforcement learning algorithms.

Uncertainty Quantification with Statistical Guarantees in End-to-End Autonomous Driving Control Rhiannon Michelmore 1, Matthew Wicker 1, Luca Laurenti 1, Luca Cardelli 1, Y arin Gal 1, Marta Kwiatkowska 1 Abstract -- Deep neural network controllers for autonomous driving have recently benefited from significant performance improvements, and have begun deployment in the real world. Prior to their widespread adoption, safety guarantees are needed on the controller behaviour that properly take account of the uncertainty within the model as well as sensor noise. Bayesian neural networks, which assume a prior over the weights, have been shown capable of producing such uncertainty measures, but properties surrounding their safety have not yet been quantified for use in autonomous driving scenarios. In this paper, we develop a framework based on a state-of-the-art simulator for evaluating end-to-end Bayesian controllers. In addition to computing pointwise uncertainty measures that can be computed in real time and with statistical guarantees, we also provide a method for estimating the probability that, given a scenario, the controller keeps the car safe within a finite horizon. We experimentally evaluate the quality of uncertainty computation by three Bayesian inference methods in different scenarios and show how the uncertainty measures can be combined and calibrated for use in collision avoidance. Our results suggest that uncertainty estimates can greatly aid decision making in autonomous driving. I NTRODUCTION Deep Neural Networks (DNNs) have seen a surge in popularity over the past decade, and their use has become widespread in many fields including safety-critical systems such as medical diagnosis and, in particular, autonomous cars. The latter have driven millions of miles without human intervention [1], [2], but offer few safety guarantees.

Modern methods for learning over graph input data have shown the fruitfulness of accounting for relationships among elements in a collection. However, most methods that learn over set input data use only rudimentary approaches to exploit intra-collection relationships. In this work we introduce Deep Message Passing on Sets (DMPS), a novel method that incorporates relational learning for sets. DMPS not only connects learning on graphs with learning on sets via deep kernel learning, but it also bridges message passing on sets and traditional diffusion dynamics commonly used in denoising models. Based on these connections, we develop two new blocks for relational learning on sets: the set-denoising block and the set-residual block . The former is motivated by the connection between message passing on general graphs and diffusion-based denoising models, whereas the latter is inspired by the well-known residual network. In addition to demonstrating the interpretability of our model by learning the true underlying relational structure experimentally, we also show the effectiveness of our approach on both synthetic and real-world datasets by achieving results that are competitive with or outperform the state-of-the-art.

In this paper, we study sparse group Lasso for high-dimensional double sparse linear regression, where the parameter of interest is simultaneously element-wise and group-wise sparse. This problem is an important instance of the simultaneously structured model -- an actively studied topic in statistics and machine learning. In the noiseless case, we provide matching upper and lower bounds on sample complexity for the exact recovery of sparse vectors and for stable estimation of approximately sparse vectors, respectively. In the noisy case, we develop upper and matching minimax lower bounds for estimation error. We also consider the debiased sparse group Lasso and investigate its asymptotic property for the purpose of statistical inference. Finally, numerical studies are provided to support the theoretical results.

Motivated by privacy concerns in many practical applications such as Federated Learning, we study a stylized private sequential learning problem: a learner tries to estimate an unknown scalar value, by sequentially querying an external database and receiving binary responses; meanwhile, a third-party adversary observes the learner's queries but not the responses. The learner's goal is to design a querying strategy with the minimum number of queries (optimal query complexity) so that she can accurately estimate the true value, while the adversary even with the complete knowledge of her querying strategy cannot. Prior work has obtained both upper and lower bounds on the optimal query complexity, however, these upper and lower bounds have a large gap in general. In this paper, we construct new querying strategies and prove almost matching upper and lower bounds, providing a complete characterization of the optimal query complexity as a function of the estimation accuracy and the desired levels of privacy.

Infant's spontaneous movements mirror integrity of brain networks, and thus also predict the future development of higher cognitive functions. Early recognition of infants with compromised motor development holds promise for guiding early therapies to improve lifelong neurocognitive outcomes. It has been challenging, however, to assess motor performance in ways that are objective and quantitative. Novel wearable technology has shown promise for offering efficient, scalable and automated methods in movement assessment. Here, we describe the development of an infant wearable, a multi-sensor smart jumpsuit that allows mobile data collection during independent movements. A deep learning algorithm, based on convolutional neural networks (CNNs), was then trained using multiple human annotations that incorporate the substantial inherent ambiguity in movement classifications. We also quantify the substantial ambiguity of a human observer, allowing its transfer to improving the automated classifier. Comparison of different sensor configurations and classifier designs shows that four-limb recording and end-to-end CNN classifier architecture allows the best movement classification. Our results show that quantitative tracking of independent movement activities is possible with a human equivalent accuracy, i.e. it meets the human inter-rater agreement levels in infant posture and movement classification.

Dropout is a regularisation technique in neural network training where unit activations are randomly set to zero with a given probability \emph{independently}. In this work, we propose a generalisation of dropout and other multiplicative noise injection schemes for shallow and deep neural networks, where the random noise applied to different units is not independent but follows a joint distribution that is either fixed or estimated during training. We provide theoretical insights on why such adaptive structured noise injection (ASNI) may be relevant, and empirically confirm that it helps boost the accuracy of simple feedforward and convolutional neural networks, disentangles the hidden layer representations, and leads to sparser representations. Our proposed method is a straightforward modification of the classical dropout and does not require additional computational overhead.