Machine vision is critical to robotics due to a wide range of applications which rely on input from visual sensors such as autonomous mobile robots and smart production systems. To create the smart homes and systems of tomorrow, an overview about current challenges in the research field would be of use to identify further possible directions, created in a systematic and reproducible manner. In this work a systematic literature review was conducted covering research from the last 10 years. We screened 172 papers from four databases and selected 52 relevant papers. While robustness and computation time were improved greatly, occlusion and lighting variance are still the biggest problems faced. From the number of recent publications, we conclude that the observed field is of relevance and interest to the research community. Further challenges arise in many areas of the field.

The fast pace of artificial intelligence (AI) and automation is propelling strategists to reshape their business models. This is fostering the integration of AI in the business processes but the consequences of this adoption are underexplored and need attention. This paper focuses on the overall impact of AI on businesses - from research, innovation, market deployment to future shifts in business models. To access this overall impact, we design a three-dimensional research model, based upon the Neo-Schumpeterian economics and its three forces viz. innovation, knowledge, and entrepreneurship. The first dimension deals with research and innovation in AI. In the second dimension, we explore the influence of AI on the global market and the strategic objectives of the businesses and finally, the third dimension examines how AI is shaping business contexts. Additionally, the paper explores AI implications on actors and its dark sides.

Urban dispersal events are processes where an unusually large number of people leave the same area in a short period. Early prediction of dispersal events is important in mitigating congestion and safety risks and making better dispatching decisions for taxi and ride-sharing fleets. Existing work mostly focuses on predicting taxi demand in the near future by learning patterns from historical data. However, they fail in case of abnormality because dispersal events with abnormally high demand are non-repetitive and violate common assumptions such as smoothness in demand change over time. Instead, in this paper we argue that dispersal events follow a complex pattern of trips and other related features in the past, which can be used to predict such events. Therefore, we formulate the dispersal event prediction problem as a survival analysis problem. We propose a two-stage framework (DILSA), where a deep learning model combined with survival analysis is developed to predict the probability of a dispersal event and its demand volume. We conduct extensive case studies and experiments on the NYC Yellow taxi dataset from 2014-2016. Results show that DILSA can predict events in the next 5 hours with F1-score of 0.7 and with average time error of 18 minutes. It is orders of magnitude better than the state-ofthe-art deep learning approaches for taxi demand prediction.

Meta-learning is a tool that allows us to build sample-efficient learning systems. Here we show that, once meta-trained, LSTM Meta-Learners aren't just faster learners than their sample-inefficient deep learning (DL) and reinforcement learning (RL) brethren, but that they actually pursue fundamentally different learning trajectories. We study their learning dynamics on three sets of structured tasks for which the corresponding learning dynamics of DL and RL systems have been previously described: linear regression (Saxe et al., 2013), nonlinear regression (Rahaman et al., 2018; Xu et al., 2018), and contextual bandits (Schaul et al., 2019). In each case, while sample-inefficient DL and RL Learners uncover the task structure in a staggered manner, meta-trained LSTM Meta-Learners uncover almost all task structure concurrently, congruent with the patterns expected from Bayes-optimal inference algorithms. This has implications for research areas wherever the learning behaviour itself is of interest, such as safety, curriculum design, and human-in-the-loop machine learning.

This survey samples from the ever-growing family of adaptive resonance theory (ART) neural network models used to perform the three primary machine learning modalities, namely, unsupervised, supervised and reinforcement learning. It comprises a representative list from classic to modern ART models, thereby painting a general picture of the architectures developed by researchers over the past 30 years. The learning dynamics of these ART models are briefly described, and their distinctive characteristics such as code representation, long-term memory and corresponding geometric interpretation are discussed. Useful engineering properties of ART (speed, configurability, explainability, parallelization and hardware implementation) are examined along with current challenges. Finally, a compilation of online software libraries is provided. It is expected that this overview will be helpful to new and seasoned ART researchers.

Query Auto-Completion (QAC) is a widely used feature in many domains, including web and eCommerce search, suggesting full queries based on a prefix typed by the user. QAC has been extensively studied in the literature in the recent years, and it has been consistently shown that adding personalization features can significantly improve the performance of QAC. In this work we propose a novel method for personalized QAC that uses lightweight embeddings learnt through fastText. We construct an embedding for the user context queries, which are the last few queries issued by the user. We also use the same model to get the embedding for the candidate queries to be ranked. We introduce ranking features that compute the distance between the candidate queries and the context queries in the embedding space. These features are then combined with other commonly used QAC ranking features to learn a ranking model. We apply our method to a large eCommerce search engine (eBay) and show that the ranker with our proposed feature significantly outperforms the baselines on all of the offline metrics measured, which includes Mean Reciprocal Rank (MRR), Success Rate (SR), Mean Average Precision (MAP), and Normalized Discounted Cumulative Gain (NDCG). Our baselines include the Most Popular Completion (MPC) model as well as a ranking model without our proposed features. The ranking model with the proposed features results in a $20-30\%$ improvement over the MPC model on all metrics. We obtain up to a $5\%$ improvement over the baseline ranking model for all the sessions, which goes up to about $10\%$ when we restrict to sessions that contain the user context. Moreover, our proposed features also significantly outperform text based personalization features studied in the literature before, and adding text based features on top of our proposed embedding based features results only in minor improvements.

Robot design is often a slow and difficult process requiring the iterative construction and testing of prototypes, with the goal of sequentially optimizing the design. For most robots, this process is further complicated by the need, when validating the capabilities of the hardware to solve the desired task, to already have an appropriate controller, which is in turn designed and tuned for the specific hardware. In this paper, we propose a novel approach, HPC-BBO, to efficiently and automatically design hardware configurations, and evaluate them by also automatically tuning the corresponding controller. HPC-BBO is based on a hierarchical Bayesian optimization process which iteratively optimizes morphology configurations (based on the performance of the previous designs during the controller learning process) and subsequently learns the corresponding controllers (exploiting the knowledge collected from optimizing for previous morphologies). Moreover, HPC-BBO can select a "batch" of multiple morphology designs at once, thus parallelizing hardware validation and reducing the number of time-consuming production cycles. We validate HPC-BBO on the design of the morphology and controller for a simulated 6-legged microrobot. Experimental results show that HPC-BBO outperforms multiple competitive baselines, and yields a $360\%$ reduction in production cycles over standard Bayesian optimization, thus reducing the hypothetical manufacturing time of our microrobot from 21 to 4 months.

A visual-relational knowledge graph (KG) is a multi-relational graph whose entities are associated with images. We explore novel machine learning approaches for answering visual-relational queries in web-extracted knowledge graphs. To this end, we have created ImageGraph, a KG with 1,330 relation types, 14,870 entities, and 829,931 images crawled from the web. With visual-relational KGs such as ImageGraph one can introduce novel probabilistic query types in which images are treated as first-class citizens. Both the prediction of relations between unseen images as well as multi-relational image retrieval can be expressed with specific families of visual-relational queries. We introduce novel combinations of convolutional networks and knowledge graph embedding methods to answer such queries. We also explore a zero-shot learning scenario where an image of an entirely new entity is linked with multiple relations to entities of an existing KG. The resulting multi-relational grounding of unseen entity images into a knowledge graph serves as a semantic entity representation. We conduct experiments to demonstrate that the proposed methods can answer these visual-relational queries efficiently and accurately.

Existing deep architectures cannot operate on very large signals such as megapixel images due to computational and memory constraints. To tackle this limitation, we propose a fully differentiable end-to-end trainable model that samples and processes only a fraction of the full resolution input image. The locations to process are sampled from an attention distribution computed from a low resolution view of the input. We refer to our method as attention sampling and it can process images of several megapixels with a standard single GPU setup. We show that sampling from the attention distribution results in an unbiased estimator of the full model with minimal variance, and we derive an unbiased estimator of the gradient that we use to train our model end-to-end with a normal SGD procedure. This new method is evaluated on three classification tasks, where we show that it allows to reduce computation and memory footprint by an order of magnitude for the same accuracy as classical architectures. We also show the consistency of the sampling that indeed focuses on informative parts of the input images.

To address the challenge of backpropagating the gradient through categorical variables, we propose the augment-REINFORCE-swap-merge (ARSM) gradient estimator that is unbiased and has low variance. ARSM first uses variable augmentation, REINFORCE, and Rao-Blackwellization to re-express the gradient as an expectation under the Dirichlet distribution, then uses variable swapping to construct differently expressed but equivalent expectations, and finally shares common random numbers between these expectations to achieve significant variance reduction. Experimental results show ARSM closely resembles the performance of the true gradient for optimization in univariate settings; outperforms existing estimators by a large margin when applied to categorical variational auto-encoders; and provides a "try-and-see self-critic" variance reduction method for discrete-action policy gradient, which removes the need of estimating baselines by generating a random number of pseudo actions and estimating their action-value functions.