Inverse kinematics solves the problem of how to control robot arm joints to achieve desired end effector positions, which is critical to any robot arm design and implementations of control algorithms. It is a common misunderstanding that closed-form inverse kinematics analysis is solved. Popular software and algorithms, such as gradient descent or any multi-variant equations solving algorithm, claims solving inverse kinematics but only on the numerical level. While the numerical inverse kinematics solutions are relatively straightforward to obtain, these methods often fail, due to dependency on specific numerical values, even when the inverse kinematics solutions exist. Therefore, closed-form inverse kinematics analysis is superior, but there is no generalized automated algorithm. Up till now, the high-level logical reasoning involved in solving closed-form inverse kinematics made it hard to automate, so it's handled by human experts. We developed IKBT, a knowledge-based intelligent system that can mimic human experts' behaviors in solving closed-from inverse kinematics using Behavior Tree. Knowledge and rules used by engineers when solving closed-from inverse kinematics are encoded as actions in Behavior Tree. The order of applying these rules is governed by higher level composite nodes, which resembles the logical reasoning process of engineers. It is also the first time that the dependency of joint variables, an important issue in inverse kinematics analysis, is automatically tracked in graph form. Besides generating closed-form solutions, IKBT also explains its solving strategies in human (engineers) interpretable form. This is a proof-of-concept of using Behavior Trees to solve high-cognitive problems.

Cross validation (CV) and the bootstrap are ubiquitous model-agnostic tools for assessing the error or variability of machine learning and statistical estimators. However, these methods require repeatedly re-fitting the model with different weighted versions of the original dataset, which can be prohibitively time-consuming. For sufficiently regular optimization problems the optimum depends smoothly on the data weights, and so the process of repeatedly re-fitting can be approximated with a Taylor series that can be often evaluated relatively quickly. The first-order approximation is known as the "infinitesimal jackknife" in the statistics literature and has been the subject of recent interest in machine learning for approximate CV. In this work, we consider high-order approximations, which we call the "higher-order infinitesimal jackknife" (HOIJ). Under mild regularity conditions, we provide a simple recursive procedure to compute approximations of all orders with finite-sample accuracy bounds. Additionally, we show that the HOIJ can be efficiently computed even in high dimensions using forward-mode automatic differentiation. We show that a linear approximation with bootstrap weights approximation is equivalent to those provided by asymptotic normal approximations. Consequently, the HOIJ opens up the possibility of enjoying higher-order accuracy properties of the bootstrap using local approximations. Consistency of the HOIJ for leave-one-out CV under different asymptotic regimes follows as corollaries from our finite-sample bounds under additional regularity assumptions. The generality of the computation and bounds motivate the name "higher-order Swiss Army infinitesimal jackknife."

In real-world optimization tasks, the objective (i.e., fitness) function evaluation is often disturbed by noise due to a wide range of uncertainties. Evolutionary algorithms (EAs) have been widely applied to tackle noisy optimization, where reducing the negative effect of noise is a crucial issue. One popular strategy to cope with noise is sampling, which evaluates the fitness multiple times and uses the sample average to approximate the true fitness. In this paper, we introduce median sampling as a noise handling strategy into EAs, which uses the median of the multiple evaluations to approximate the true fitness instead of the mean. We theoretically show that median sampling can reduce the expected running time of EAs from exponential to polynomial by considering the (1+1)-EA on OneMax under the commonly used one-bit noise. We also compare mean sampling with median sampling by considering two specific noise models, suggesting that when the 2-quantile of the noisy fitness increases with the true fitness, median sampling can be a better choice. The results provide us with some guidance to employ median sampling efficiently in practice.

With the increasing availability of wearable devices, continuous monitoring of individuals' physiological and behavioral patterns has become significantly more accessible. Access to these continuous patterns about individuals' statuses offers an unprecedented opportunity for studying complex diseases and health conditions such as type 2 diabetes (T2D). T2D is a widely common chronic disease that its roots and progression patterns are not fully understood. Predicting the progression of T2D can inform timely and more effective interventions to prevent or manage the disease. In this study, we have used a dataset related to 63 patients with T2D that includes the data from two different types of wearable devices worn by the patients: continuous glucose monitoring (CGM) devices and activity trackers (ActiGraphs). Using this dataset, we created a model for predicting the levels of four major biomarkers related to T2D after a one-year period. We developed a wide and deep neural network and used the data from the demographic information, lab tests, and wearable sensors to create the model. The deep part of our method was developed based on the long short-term memory (LSTM) structure to process the time-series dataset collected by the wearables. In predicting the patterns of the four biomarkers, we have obtained a root mean square error of 1.67% for HBA1c, 6.22 mg/dl for HDL cholesterol, 10.46 mg/dl for LDL cholesterol, and 18.38 mg/dl for Triglyceride. Compared to existing models for studying T2D, our model offers a more comprehensive tool for combining a large variety of factors that contribute to the disease.

We consider the problem of estimating multiple principal components using the recently-proposed Sparse and Functional Principal Components Analysis (SFPCA) estimator. We first propose an extension of SFPCA which estimates several principal components simultaneously using manifold optimization techniques to enforce orthogonality constraints. While effective, this approach is computationally burdensome so we also consider iterative deflation approaches which take advantage of efficient algorithms for rank-one SFPCA. We show that alternative deflation schemes can more efficiently extract signal from the data, in turn improving estimation of subsequent components. Finally, we compare the performance of our manifold optimization and deflation techniques in a scenario where orthogonality does not hold and find that they still lead to significantly improved performance.

Electronic health record (EHR) data contains most of the important patient health information and is typically stored in a relational database with multiple tables. One important way for doctors to make use of EHR data is to retrieve intuitive information by posing a sequence of questions against it. However, due to a large amount of information stored in it, effectively retrieving patient information from EHR data in a short time is still a challenging issue for medical experts since it requires a good understanding of a query language to get access to the database. We tackle this challenge by developing a deep learning based approach that can translate a natural language question on multi-relational EHR data into its corresponding SQL query, which is referred to as a Question-to-SQL generation task. Most of the existing methods cannot solve this problem since they primarily focus on tackling the questions related to a single table under the table-aware assumption. While in our problem, it is possible that questions asked by clinicians are related to multiple unspecified tables. In this paper, we first create a new question to query dataset designed for healthcare to perform the Question-to-SQL generation task, named MIMICSQL, based on a publicly available electronic medical database. To address the challenge of generating queries on multi-relational databases from natural language questions, we propose a TRanslate-Edit Model for Question-to-SQL query (TREQS), which adopts the sequence-to-sequence model to directly generate SQL query for a given question, and further edits it with an attentive-copying mechanism and task-specific look-up tables. Both quantitative and qualitative experimental results indicate the flexibility and efficiency of our proposed method in tackling challenges that are unique in MIMICSQL.

The prevalence of e-learning systems and on-line courses has made educational material widely accessible to students of varying abilities and backgrounds. There is thus a growing need to accommodate for individual differences in e-learning systems. This paper presents an algorithm called EduRank for personalizing educational content to students that combines a collaborative filtering algorithm with voting methods. EduRank constructs a difficulty ranking for each student by aggregating the rankings of similar students using different aspects of their performance on common questions. These aspects include grades, number of retries, and time spent solving questions. It infers a difficulty ranking directly over the questions for each student, rather than ordering them according to the student's predicted score. The EduRank algorithm was tested on two data sets containing thousands of students and a million records. It was able to outperform the state-of-the-art ranking approaches as well as a domain expert. EduRank was used by students in a classroom activity, where a prior model was incorporated to predict the difficulty rankings of students with no prior history in the system. It was shown to lead students to solve more difficult questions than an ordering by a domain expert, without reducing their performance.

The ability to engage in goal-oriented conversations has allowed humans to gain knowledge, reduce uncertainty, and perform tasks more efficiently. Artificial agents, however, are still far behind humans in having goal-driven conversations. In this work, we focus on the task of goal-oriented visual dialogue, aiming to automatically generate a series of questions about an image with a single objective. This task is challenging since these questions must not only be consistent with a strategy to achieve a goal, but also consider the contextual information in the image. We propose an end-to-end goal-oriented visual dialogue system, that combines reinforcement learning with regularized information gain. Unlike previous approaches that have been proposed for the task, our work is motivated by the Rational Speech Act framework, which models the process of human inquiry to reach a goal. We test the two versions of our model on the GuessWhat?! dataset, obtaining significant results that outperform the current state-of-the-art models in the task of generating questions to find an undisclosed object in an image.

IDC's 2019 Asia/Pacific (excluding Japan) (APEJ) AI Adoption Survey was conducted in 2Q19. The survey reached 710 organizations in 12 locations: Australia, China, Hong Kong, India, Indonesia, Malaysia, New Zealand, Philippines, Singapore, Taiwan, South Korea, and Thailand. It covered seven industries: financial service, manufacturing, healthcare and life science, professional and personal services, transportations and communications, retail and wholesale, and government and education. We will provide a series of reports to present the highlighted findings. This report, which is the second of the series, talks about the most voted reasons for deterred investment and project failure.

Most discussions about artificial intelligence (AI) are characterised by hyperbole and hysteria. Though some of the world's most prominent and successful thinkers regularly forecast that AI will either solve all our problems or destroy us or our society, and the press frequently report on how AI will threaten jobs and raise inequality, there's actually very little evidence to support these ideas. What's more, this could actually end up turning people against AI research, bringing significant progress in the technology to a halt. The hyperbole around AI largely stems from its promotion by tech-evangelists and self-interested investors. Google CEO Sundar Pichai declared AI to be "probably the most important thing humanity has ever worked on".