Depth perception is a key component for autonomous systems that interact in the real world, such as delivery robots, warehouse robots, and self-driving cars. Tasks in autonomous robotics such as 3D object recognition, simultaneous localization and mapping (SLAM), path planning and navigation, require some form of 3D spatial information. Depth perception is a long-standing research problem in computer vision and robotics and has had a long history. Many approaches using deep learning, ranging from structure from motion, shape-from-X, monocular, binocular, and multi-view stereo, have yielded acceptable results. However, there are several shortcomings of these methods such as requiring expensive hardware, needing supervised training data, no ground truth data for comparison, and disregard for occlusion. In order to address these shortcomings, this work proposes a new deep convolutional generative adversarial network architecture, called Y-GAN, that uses data from three cameras to estimate a depth map for each frame in a multi-camera video stream.

Identification of causal direction between a causal-effect pair from observed data has recently attracted much attention. Various methods based on functional causal models have been proposed to solve this problem, by assuming the causal process satisfies some (structural) constraints and showing that the reverse direction violates such constraints. The nonlinear additive noise model has been demonstrated to be effective for this purpose, but the model class is not transitive--even if each direct causal relation follows this model, indirect causal influences, which result from omitted intermediate causal variables and are frequently encountered in practice, do not necessarily follow the model constraints; as a consequence, the nonlinear additive noise model may fail to correctly discover causal direction. In this work, we propose a cascade nonlinear additive noise model to represent such causal influences--each direct causal relation follows the nonlinear additive noise model but we observe only the initial cause and final effect. We further propose a method to estimate the model, including the unmeasured intermediate variables, from data, under the variational auto-encoder framework. Our theoretical results show that with our model, causal direction is identifiable under suitable technical conditions on the data generation process. Simulation results illustrate the power of the proposed method in identifying indirect causal relations across various settings, and experimental results on real data suggest that the proposed model and method greatly extend the applicability of causal discovery based on functional causal models in nonlinear cases.

Code search and comprehension have become more difficult in recent years due to the rapid expansion of available source code. Current tools lack a way to label arbitrary code at scale while maintaining up-to-date representations of new programming languages, libraries, and functionalities. Comprehensive labeling of source code enables users to search for documents of interest and obtain a high-level understanding of their contents. We use Stack Overflow code snippets and their tags to train a language-agnostic, deep convolutional neural network to automatically predict semantic labels for source code documents. On Stack Overflow code snippets, we demonstrate a mean area under ROC of 0.957 over a long-tailed list of 4,508 tags. We also manually validate the model outputs on a diverse set of unlabeled source code documents retrieved from Github, and we obtain a top-1 accuracy of 86.6%. This strongly indicates that the model successfully transfers its knowledge from Stack Overflow snippets to arbitrary source code documents.

In this work, we combine two different ranking methods together with several other predictors in a joint random forest approach for the scores of soccer matches. The first ranking method is based on the bookmaker consensus, the second ranking method estimates adequate ability parameters that reflect the current strength of the teams best. The proposed combined approach is then applied to the data from the two previous FIFA Women's World Cups 2011 and 2015. Finally, based on the resulting estimates, the FIFA Women's World Cup 2019 is simulated repeatedly and winning probabilities are obtained for all teams. The model clearly favors the defending champion USA before the host France.

Constraint answer set programming integrates answer set programming with constraint processing. System EZSMT+ is a constraint answer set programming tool that utilizes satisfiability modulo theory solvers for search. Its theoretical foundation lies on generalizations of Niemela's characterization of answer sets of a logic program via so called level rankings.

Self-attention networks (SAN) have attracted a lot of interests due to their high parallelization and strong performance on a variety of NLP tasks, e.g. machine translation. Due to the lack of recurrence structure such as recurrent neural networks (RNN), SAN is ascribed to be weak at learning positional information of words for sequence modeling. However, neither this speculation has been empirically confirmed, nor explanations for their strong performances on machine translation tasks when "lacking positional information" have been explored. To this end, we propose a novel word reordering detection task to quantify how well the word order information learned by SAN and RNN. Specifically, we randomly move one word to another position, and examine whether a trained model can detect both the original and inserted positions. Experimental results reveal that: 1) SAN trained on word reordering detection indeed has difficulty learning the positional information even with the position embedding; and 2) SAN trained on machine translation learns better positional information than its RNN counterpart, in which position embedding plays a critical role. Although recurrence structure make the model more universally-effective on learning word order, learning objectives matter more in the downstream tasks such as machine translation.

Data integration systems allow users to access data sitting in multiple sources by means of queries over a global schema, related to the sources via mappings. Data sources often contain sensitive information, and thus an analysis is needed to verify that a schema satisfies a privacy policy, given as a set of queries whose answers should not be accessible to users. Such an analysis should take into account not only knowledge that an attacker may have about the mappings, but also what they may know about the semantics of the sources. In this paper, we show that source constraints can have a dramatic impact on disclosure analysis. We study the problem of determining whether a given data integration system discloses a source query to an attacker in the presence of constraints, providing both lower and upper bounds on source-aware disclosure analysis.

Frequency estimation is a fundamental problem in signal processing, with applications in radar imaging, underwater acoustics, seismic imaging, and spectroscopy. The goal is to estimate the frequency of each component in a multisinusoidal signal from a finite number of noisy samples. A recent machine-learning approach uses a neural network to output a learned representation with local maxima at the position of the frequency estimates. In this work, we propose a novel neural-network architecture that produces a significantly more accurate representation, and combine it with an additional neural-network module trained to detect the number of frequencies. This yields a fast, fully-automatic method for frequency estimation that achieves state-of-the-art results. In particular, it outperforms existing techniques by a substantial margin at medium-to-high noise levels.

We introduce a lifelong language learning setup where a model needs to learn from a stream of text examples without any dataset identifier. We propose an episodic memory model that performs sparse experience replay and local adaptation to mitigate catastrophic forgetting in this setup. Experiments on text classification and question answering demonstrate the complementary benefits of sparse experience replay and local adaptation to allow the model to continuously learn from new datasets. We also show that the space complexity of the episodic memory module can be reduced significantly ( 50-90%) by randomly choosing which examples to store in memory with a minimal decrease in performance. We consider an episodic memory component as a crucial building block of general linguistic intelligence and see our model as a first step in that direction.

We propose to train Bayesian Neural Networks (BNNs) by empirical Bayes as an alternative to posterior weight inference. By approximately marginalizing out an i.i.d.\ realization of a finite number of sibling weights per data-point using the Central Limit Theorem (CLT), we attain a scalable and effective Bayesian deep predictor. This approach directly models the posterior predictive distribution, by-passing the intractable posterior weight inference step. However, it introduces a prohibitively large number of hyperparameters for stable training. As the prior weights are marginalized and hyperparameters are optimized, the model also no longer provides a means to incorporate prior knowledge. We overcome both of these drawbacks by deriving a trivial PAC bound that comprises the marginal likelihood of the predictor and a complexity penalty. The outcome integrates organically into the prior networks framework, bringing about an effective and holistic Bayesian treatment of prediction uncertainty. We observe on various regression, classification, and out-of-domain detection benchmarks that our scalable method provides an improved model fit accompanied with significantly better uncertainty estimates than the state-of-the-art.