This paper proposes recurrent neuron networks (RNNs) for a fingerprinting indoor localization using WiFi. Instead of locating user's position one at a time as in the cases of conventional algorithms, our RNN solution aims at trajectory positioning and takes into account the relation among the received signal strength indicator (RSSI) measurements in a trajectory. Furthermore, a weighted average filter is proposed for both input RSSI data and sequential output locations to enhance the accuracy among the temporal fluctuations of RSSI. The results using different types of RNN including vanilla RNN, long short-term memory (LSTM), gated recurrent unit (GRU) and bidirectional LSTM (BiLSTM) are presented. On-site experiments demonstrate that the proposed structure achieves an average localization error of $0.75$ m with $80\%$ of the errors under $1$ m, which outperforms the conventional KNN algorithms and probabilistic algorithms by approximately $30\%$ under the same test environment.

Motivation: Radiomics refers to the high-throughput mining of quantitative features from radiographic images. It is a promising field in that it may provide a non-invasive solution for screening and classification. Standard machine learning classification and feature selection techniques, however, tend to display inferior performance in terms of (the stability of) predictive performance. This is due to the heavy multicollinearity present in radiomic data. We set out to provide an easy-to-use approach that deals with this problem. Results: We developed a four-step approach that projects the original high-dimensional feature space onto a lower-dimensional latent-feature space, while retaining most of the covariation in the data. It consists of (i) penalized maximum likelihood estimation of a redundancy filtered correlation matrix. The resulting matrix (ii) is the input for a maximum likelihood factor analysis procedure. This two-stage maximum-likelihood approach can be used to (iii) produce a compact set of stable features that (iv) can be directly used in any (regression-based) classifier or predictor. It outperforms other classification (and feature selection) techniques in both external and internal validation settings regarding survival in squamous cell cancers.

Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial perception is jeopardized by the presence of incorrect data association, and in general, outliers. Although techniques to handle outliers do exist, they can fail in unpredictable manners (e.g., RANSAC, robust estimators), or can have exponential runtime (e.g., branch-and-bound). In this paper, we advance the state of the art in outlier rejection by making three contributions. First, we show that even a simple linear instance of outlier rejection is inapproximable: in the worst-case one cannot design a quasi-polynomial time algorithm that computes an approximate solution efficiently. Our second contribution is to provide the first per-instance sub-optimality bounds to assess the approximation quality of a given outlier rejection outcome. Our third contribution is to propose a simple general-purpose algorithm, named adaptive trimming, to remove outliers. Our algorithm leverages recently-proposed global solvers that are able to solve outlier-free problems, and iteratively removes measurements with large errors. We demonstrate the proposed algorithm on three spatial perception problems: 3D registration, two-view geometry, and SLAM. The results show that our algorithm outperforms several state-of-the-art methods across applications while being a general-purpose method.

Sparse principal component analysis (PCA) and sparse canonical correlation analysis (CCA) are two essential techniques from high-dimensional statistics and machine learning for analyzing large-scale data. Both problems can be formulated as an optimization problem with nonsmooth objective and nonconvex constraints. Since non-smoothness and nonconvexity bring numerical difficulties, most algorithms suggested in the literature either solve some relaxations or are heuristic and lack convergence guarantees. In this paper, we propose a new alternating manifold proximal gradient method to solve these two high-dimensional problems and provide a unified convergence analysis. Numerical experiment results are reported to demonstrate the advantages of our algorithm.

Reinforcement learning (RL) is a widely used approach for controlling systems with unknown or time-varying dynamics. Even though RL does not require a model of the system, it is known to be faster and safer when using models learned online. We propose to employ symbolic regression (SR) to construct parsimonious process models described by analytic equations for real-time RL control. We have tested our method with two different state-of-the-art SR algorithms which automatically search for equations that fit the measured data. In addition to the standard problem formulation in the state-space domain, we show how the method can also be applied to input-output models of the NARX (nonlinear autoregressive with exogenous input) type. We present the approach on three simulated examples with up to 14-dimensional state space: an inverted pendulum, a mobile robot, and a biped walking robot. A comparison with deep neural networks and local linear regression shows that SR in most cases outperforms these commonly used alternative methods. We demonstrate on a real pendulum system that the analytic model found enables RL to successfully perform the swing-up task, based on a model constructed from only 100 data samples.

Improving and understanding the training phase of deep neural networks has attracted a lot of attention in the last couple of years. This training phase mostly consists of minimizing an empirical risk term, and due to the structure of deep neural networks, the corresponding optimization landscape is convoluted and highly non-convex. To avoid getting stuck in local minima several variants of stochastic gradient descent have been proposed and successfully applied. These success stories suggest that the initialization of neural networks, that is, choosing the starting point of the optimization, has become less important. In fact, the two commonly used heuristics proposed in [7, 9] both focus on normalizing the variance of the weights of the neural network to ensure that the gradients of deep networks do not exponentially explode or implode. So far, however, positive or negative side-effects of these initialization strategies have not been investigated in depth. This is the first goal of our paper, and the second goal is to use these insights to develop a new initialization strategy. To be a bit more specific let ·: R [0,) be the ReLU function, that is t: max{0, t}.

The challenge in controlling stochastic systems in which random events can set the system on catastrophic trajectories is to develop a robust ability to respond to such events without significantly compromising the optimality of the baseline control policy. Drug resistance can emerge from random and variable mutations in targeted cell populations; in the absence of an appropriate dosing policy, emergent resistant subpopulations can proliferate and lead to treatment failure. Dynamic feedback dosage control holds promise in combatting this phenomenon, but cell population evolutionary dynamics are complex, stochastic, and often high-dimensional, posing significant challenges to system control. This paper presents CelluDose, a deep reinforcement learning closed-loop dynamic control prototype for automated precision drug dosing targeting stochastic and heterogeneous cell proliferation. Developing optimal dosing schedules for preventing therapy-induced drug resistance involves a tradeoff between the effective suppression of emergent resistant cell subpopulations and the use of conservative dosages and a preference for first-line drugs. CelluDose is trained on model simulations of cell population evolutionary dynamics that combine a system of stochastic differential equations and the additional occurrence of random perturbing events. Both the single-drug and combination therapy policies obtained in training exhibit a 100% success rate at suppressing simulated heterogeneous harmful cell growth and responding to diverse system fluctuations and perturbations within the alloted time and using conservative dosing. The policies obtained were found to be highly robust to model parameter changes and fluctuations not introduced during training.

Cross-domain sentiment classification (CDSC) is an importance task in domain adaptation and sentiment classification. Due to the domain discrepancy, a sentiment classifier trained on source domain data may not works well on target domain data. In recent years, many researchers have used deep neural network models for cross-domain sentiment classification task, many of which use Gradient Reversal Layer (GRL) to design an adversarial network structure to train a domain-shared sentiment classifier. Different from those methods, we proposed Hierarchical Attention Generative Adversarial Networks (HAGAN) which alternately trains a generator and a discriminator in order to produce a document representation which is sentiment-distinguishable but domain-indistinguishable. Besides, the HAGAN model applies Bidirectional Gated Recurrent Unit (Bi-GRU) to encode the contextual information of a word and a sentence into the document representation. In addition, the HAGAN model use hierarchical attention mechanism to optimize the document representation and automatically capture the pivots and non-pivots. The experiments on Amazon review dataset show the effectiveness of HAGAN.

Bayesian quadrature (BQ) is a sample-efficient probabilistic numerical method to solve integrals of expensive-to-evaluate black-box functions, yet so far,active BQ learning schemes focus merely on the integrand itself as information source, and do not allow for information transfer from cheaper, related functions. Here, we set the scene for active learning in BQ when multiple related information sources of variable cost (in input and source) are accessible. This setting arises for example when evaluating the integrand requires a complex simulation to be run that can be approximated by simulating at lower levels of sophistication and at lesser expense. We construct meaningful cost-sensitive multi-source acquisition rates as an extension to common utility functions from vanilla BQ (VBQ),and discuss pitfalls that arise from blindly generalizing. Furthermore, we show that the VBQ acquisition policy is a corner-case of all considered cost-sensitive acquisition schemes, which collapse onto one single de-generate policy in the case of one source and constant cost. In proof-of-concept experiments we scrutinize the behavior of our generalized acquisition functions. On an epidemiological model, we demonstrate that active multi-source BQ (AMS-BQ) allocates budget more efficiently than VBQ for learning the integral to a good accuracy.

Unlike images or videos data which can be easily labeled by human being, sensor data annotation is a time-consuming process. However, traditional methods of human activity recognition require a large amount of such strictly labeled data for training classifiers. In this paper, we present an attention-based convolutional neural network for human recognition from weakly labeled data. The proposed attention model can focus on labeled activity among a long sequence of sensor data, and while filter out a large amount of background noise signals. In experiment on the weakly labeled dataset, we show that our attention model outperforms classical deep learning methods in accuracy. Besides, we determine the specific locations of the labeled activity in a long sequence of weakly labeled data by converting the compatibility score which is generated from attention model to compatibility density. Our method greatly facilitates the process of sensor data annotation, and makes data collection more easy.