In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a wheeled ground unit-is at the core of a swarm of floor-mapping robots exhibiting scalability, robustness and flexibility. These properties are systematically tested and quantitatively evaluated in unstructured and dynamic environments, in the absence of any supporting infrastructure. The results of repeated sets of experiments show a consistent performance for all three features, as well as the possibility to inject units into the system while it is operating. Several units of the second variant-a wheg-based wall-climbing unit-are used to support the swarm of mapping robots when simultaneously exploring multiple floors by expanding the distributed communication channel necessary for the coordinated behavior among platforms. Although the occupancy-grid maps obtained can be large, they are fully distributed. Not a single robotic unit possesses the overall map, which is not required by our cooperative path-planning strategy.

In this work, a method of random parameters generation for randomized learning of a single-hidden-layer feedforward neural network is proposed. The method firstly, randomly selects the slope angles of the hidden neurons activation functions from an interval adjusted to the target function, then randomly rotates the activation functions, and finally distributes them across the input space. For complex target functions the proposed method gives better results than the approach commonly used in practice, where the random parameters are selected from the fixed interval. This is because it introduces the steepest fragments of the activation functions into the input hypercube, avoiding their saturation fragments. Keywords: Function approximation · Feedforward neural networks · Neural networks with random hidden nodes · Randomized learning algorithms. 1 Introduction Feedforward neural networks (FNNs) learn from data by iteratively tuning their parameters, weights and biases, using some form of gradient descent method.

The presence of artificial agents in human social networks is growing. From chatbots to robots, human experience in the developed world is moving towards a socio-technical system in which agents can be technological or biological, with increasingly blurred distinctions between. Given that emotion is a key element of human interaction, enabling artificial agents with the ability to reason about affect is a key stepping stone towards a future in which technological agents and humans can work together. This paper presents work on building intelligent computational agents that integrate both emotion and cognition. These agents are grounded in the well-established social-psychological Bayesian Affect Control Theory (BayesAct). The core idea of BayesAct is that humans are motivated in their social interactions by affective alignment: they strive for their social experiences to be coherent at a deep, emotional level with their sense of identity and general world views as constructed through culturally shared symbols. This affective alignment creates cohesive bonds between group members, and is instrumental for collaborations to solidify as relational group commitments. BayesAct agents are motivated in their social interactions by a combination of affective alignment and decision theoretic reasoning, trading the two off as a function of the uncertainty or unpredictability of the situation. This paper provides a high-level view of dual process theories and advances BayesAct as a plausible, computationally tractable model based in social-psychological theory. We introduce a revised BayesAct model that more deeply integrates social-psychological theorising, and we demonstrate a component of the model as being sufficient to account for cognitive biases about fairness, dissonance and conformity. We show how the model can unify different exploration strategies in reinforcement learning.

We train an enhanced deep convolutional neural network in order to identify eight cardiac abnormalities from the standard 12-lead electrocardiograms (ECGs) using the dataset of 14000 ECGs. Instead of straightforwardly applying an end-to-end deep learning approach, we find that deep convolutional neural networks enhanced with sophisticated hand crafted features show advantages in reducing generalization errors. Additionally, data preprocessing and augmentation are essential since the distribution of eight cardiac abnormalities are highly biased in the given dataset. Our approach achieves promising generalization performance in the First China ECG Intelligent Competition; an empirical evaluation is also provided to validate the efficacy of our design on the competition ECG dataset. Keywords: Electrocardiogram · Deep Convolutional Neural Network · Heart Disease Diagnosis. 1 Introduction The electrocardiogram (ECG) is a diagnostic tool widely utilized for noninvasive diagnosis of various cardiovascular abnormalities in practice of clinical medicine worldwide. For example, there are approximately 250 million ECG recordings being processed by technicians for the diagnosis and treatment of patients with cardiovascular disease in China. The standard 12-lead electrocardiograms are the records of the heart's electrical activity collected from electrodes on arms/legs (known as limb leads) and torso (known as precordial leads). ECG interpretation plays an central role in the assessment of cardiovascular disease based on either a cardiologist's experience or computer-aided diagnosis systems. In practice, compute-aided interpretation has become increasingly important, since such technique improves the accuracy of diagnosis, facilitates health care decision making and reduces costs [17].

Predicting drug-target interactions (DTI) is an essential part of the drug discovery process, which is an expensive process in terms of time and cost. Therefore, reducing DTI cost could lead to reduced healthcare costs for a patient. In addition, a precisely learned molecule representation in a DTI model could contribute to developing personalized medicine, which will help many patient cohorts. In this paper, we propose a new molecule representation based on the self-attention mechanism, and a new DTI model using our molecule representation. The experiments show that our DTI model outperforms the state of the art by up to 4.9% points in terms of area under the precision-recall curve. Moreover, a study using the DrugBank database proves that our model effectively lists all known drugs targeting a specific cancer biomarker in the top-30 candidate list.

One aim of data mining is the identification of interesting structures in data. Basic properties of the empirical distribution, such as skewness and an eventual clipping, i.e., hard limits in value ranges, need to be assessed. Of particular interest is the question, whether the data originates from one process, or contains subsets related to different states of the data producing process. Data visualization tools should deliver a sensitive picture of the univariate probability density distribution (PDF) for each feature. Visualization tools for PDFs are typically kernel density estimates and range from the classical histogram to modern tools like bean or violin plots. Conventional methods have difficulties in visualizing the pdf in case of uniform, multimodal, skewed and clipped data if density estimation parameters remain in a default setting. As a consequence, a new visualization tool called Mirrored Density plot (MD plot) is proposed which is particularly designed to discover interesting structures in continuous features. The MD plot does not require any adjustments of parameters of density estimation which makes the usage compelling for non-experts. The visualization tools are evaluated in comparison to statistical tests for the typical challenges of explorative distribution analysis. The results are presented on bimodal Gaussian and skewed distributions as well as several features with published pdfs. In exploratory data analysis of 12 features describing the quarterly financial statements, when statistical testing becomes a demanding task, only the MD plots can identify the structure of their pdfs. Overall, the MD plot can outperform the methods mentioned above.

The Pearson distance between a pair of random variables $X,Y$ with correlation $\rho_{xy}$, namely, 1-$\rho_{xy}$, has gained widespread use, particularly for clustering, in areas such as gene expression analysis, brain imaging and cyber security. In all these applications it is implicitly assumed/required that the distance measures be metrics, thus satisfying the triangle inequality. We show however, that Pearson distance is not a metric. We go on to show that this can be repaired by recalling the result, (well known in other literature) that $\sqrt{1-\rho_{xy}}$ is a metric. We similarly show that a related measure of interest, $1-|\rho_{xy}|$, which is invariant to the sign of $\rho_{xy}$, is not a metric but that $\sqrt{1-\rho_{xy}^2}$ is. We also give generalizations of these results.

In this paper, the problem of safe global maximization (it should not be confused with robust optimization) of expensive noisy black-box functions satisfying the Lipschitz condition is considered. The notion "safe" means that the objective function $f(x)$ during optimization should not violate a "safety" threshold, for instance, a certain a priori given value $h$ in a maximization problem. Thus, any new function evaluation must be performed at "safe points" only, namely, at points $y$ for which it is known that the objective function $f(y) > h$. The main difficulty here consists in the fact that the used optimization algorithm should ensure that the safety constraint will be satisfied at a point $y$ before evaluation of $f(y)$ will be executed. Thus, it is required both to determine the safe region $\Omega$ within the search domain~$D$ and to find the global maximum within $\Omega$. An additional difficulty consists in the fact that these problems should be solved in the presence of the noise. This paper starts with a theoretical study of the problem and it is shown that even though the objective function $f(x)$ satisfies the Lipschitz condition, traditional Lipschitz minorants and majorants cannot be used due to the presence of the noise. Then, a $\delta$-Lipschitz framework and two algorithms using it are proposed to solve the safe global maximization problem. The first method determines the safe area within the search domain and the second one executes the global maximization over the found safe region. For both methods a number of theoretical results related to their functioning and convergence is established. Finally, numerical experiments confirming the reliability of the proposed procedures are performed.

The main contribution of the paper is to show that Gaussian sketching of a kernel-Gram matrix $\mathbf{K}$ yields an operator whose counterpart in an RKHS $\mathcal{H}$, is a random projection operator---in the spirit of Johnson-Lindenstrauss (JL) lemma. To be precise, given a random matrix $Z$ with i.i.d. Gaussian entries, we show that a sketch $Z\mathbf{K}$ corresponds to a particular random operator in (infinite-dimensional) Hilbert space $\mathcal{H}$ that maps functions $f \in \mathcal{H}$ to a low-dimensional space $\mathbb{R}^d$, while preserving a weighted RKHS inner-product of the form $\langle f, g \rangle_{\Sigma} \doteq \langle f, \Sigma^3 g \rangle_{\mathcal{H}}$, where $\Sigma$ is the \emph{covariance} operator induced by the data distribution. In particular, under similar assumptions as in kernel PCA (KPCA), or kernel $k$-means (K-$k$-means), well-separated subsets of feature-space $\{K(\cdot, x): x \in \cal X\}$ remain well-separated after such operation, which suggests similar benefits as in KPCA and/or K-$k$-means, albeit at the much cheaper cost of a random projection. In particular, our convergence rates suggest that, given a large dataset $\{X_i\}_{i=1}^N$ of size $N$, we can build the Gram matrix $\mathbf{K}$ on a much smaller subsample of size $n\ll N$, so that the sketch $Z\mathbf{K}$ is very cheap to obtain and subsequently apply as a projection operator on the original data $\{X_i\}_{i=1}^N$. We verify these insights empirically on synthetic data, and on real-world clustering applications.

Multitask learning and transfer learning have proven to be useful in the field of machine learning when additional knowledge is available to help a prediction task. We aim at deriving methods following these paradigms for use in autotuning, where the goal is to find the optimal performance parameters of an application treated as a black-box function. We show comparative results with state-of-the-art autotuning techniques. For instance, we observe an average $1.5x$ improvement of the application runtime compared to the OpenTuner and HpBandSter autotuners. We explain how our approaches can be more suitable than some state-of-the-art autotuners for the tuning of any application in general and of expensive exascale applications in particular.