Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual data. While collecting such data from real robots is possible, such an approach limits the scalability as learning policies typically requires thousands of trials. In this work we attempt to learn manipulation policies in simulated environments. Simulators enable scalability and provide access to the underlying world state during training. Policies learned in simulators, however, do not transfer well to real scenes given the domain gap between real and synthetic data. We follow recent work on domain randomization and augment synthetic images with sequences of random transformations. Our main contribution is to optimize the augmentation strategy for sim2real transfer and to enable domain-independent policy learning. We design an efficient search for depth image augmentations using object localization as a proxy task. Given the resulting sequence of random transformations, we use it to augment synthetic depth images during policy learning. Our augmentation strategy is policy-independent and enables policy learning with no real images. We demonstrate our approach to significantly improve accuracy on three manipulation tasks evaluated on a real robot.

Without any means of interpretation, neural networks that predict molecular properties and bioactivities are merely black boxes. We will unravel these black boxes and will demonstrate approaches to understand the learned representations which are hidden inside these models. We show how single neurons can be interpreted as classifiers which determine the presence or absence of pharmacophore- or toxicophore-like structures, thereby generating new insights and relevant knowledge for chemistry, pharmacology and biochemistry. We further discuss how these novel pharmacophores/toxicophores can be determined from the network by identifying the most relevant components of a compound for the prediction of the network. Additionally, we propose a method which can be used to extract new pharmacophores from a model and will show that these extracted structures are consistent with literature findings. We envision that having access to such interpretable knowledge is a crucial aid in the development and design of new pharmaceutically active molecules, and helps to investigate and understand failures and successes of current methods.

To alleviate sparsity and cold start problem of collaborative filtering based recommender systems, researchers and engineers usually collect attributes of users and items, and design delicate algorithms to exploit these additional information. In general, the attributes are not isolated but connected with each other, which forms a knowledge graph (KG). In this paper, we propose Knowledge Graph Convolutional Networks (KGCN), an end-to-end framework that captures inter-item relatedness effectively by mining their associated attributes on the KG. To automatically discover both high-order structure information and semantic information of the KG, we sample from the neighbors for each entity in the KG as their receptive field, then combine neighborhood information with bias when calculating the representation of a given entity. The receptive field can be extended to multiple hops away to model high-order proximity information and capture users' potential long-distance interests. Moreover, we implement the proposed KGCN in a minibatch fashion, which enables our model to operate on large datasets and KGs. We apply the proposed model to three datasets about movie, book, and music recommendation, and experiment results demonstrate that our approach outperforms strong recommender baselines.

The emergence of an ageing population is a significant public health concern. This has led to an increase in the number of people living with progressive neurodegenerative disorders like dementia. Consequently, the strain this is places on health and social care services means providing 24-hour monitoring is not sustainable. Technological intervention is being considered, however no solution exists to non-intrusively monitor the independent living needs of patients with dementia. As a result many patients hit crisis point before intervention and support is provided. In parallel, patient care relies on feedback from informal carers about significant behavioural changes. Yet, not all people have a social support network and early intervention in dementia care is often missed. The smart meter rollout has the potential to change this. Using machine learning and signal processing techniques, a home energy supply can be disaggregated to detect which home appliances are turned on and off. This will allow Activities of Daily Living (ADLs) to be assessed, such as eating and drinking, and observed changes in routine to be detected for early intervention. The primary aim is to help reduce deterioration and enable patients to stay in their homes for longer. A Support Vector Machine (SVM) and Random Decision Forest classifier are modelled using data from three test homes. The trained models are then used to monitor two patients with dementia during a six-month clinical trial undertaken in partnership with Mersey Care NHS Foundation Trust. In the case of load disaggregation for appliance detection, the SVM achieved (AUC=0.86074, Sen=0.756 and Spec=0.92838). While the Decision Forest achieved (AUC=0.9429, Sen=0.9634 and Spec=0.9634). ADLs are also analysed to identify the behavioural patterns of the occupant while detecting alterations in routine.

This study's goal is to create a model of sentiment analysis on a 2000 rows IMDB movie comments and 3200 Twitter data by using machine learning and vector space techniques; positive or negative preliminary information about the text is to provide. In the study, a vector space was created in the KNIME Analytics platform, and a classification study was performed on this vector space by Decision Trees, Na\"ive Bayes and Support Vector Machines classification algorithms. The conclusions obtained were compared in terms of each algorithms. The classification results for IMDB movie comments are obtained as 94,00%, 73,20%, and 85,50% by Decision Tree, Naive Bayes and SVM algorithms. The classification results for Twitter data set are presented as 82,76%, 75,44% and 72,50% by Decision Tree, Naive Bayes SVM algorithms as well. It is seen that the best classification results presented in both data sets are which calculated by SVM algorithm.

Detecting and segmenting brain metastases is a tedious and time-consuming task for many radiologists, particularly with the growing use of multi-sequence 3D imaging. This study demonstrates automated detection and segmentation of brain metastases on multi-sequence MRI using a deep learning approach based on a fully convolution neural network (CNN). In this retrospective study, a total of 156 patients with brain metastases from several primary cancers were included. Pre-therapy MR images (1.5T and 3T) included pre- and post-gadolinium T1-weighted 3D fast spin echo, post-gadolinium T1-weighted 3D axial IR-prepped FSPGR, and 3D fluid attenuated inversion recovery. The ground truth was established by manual delineation by two experienced neuroradiologists. CNN training/development was performed using 100 and 5 patients, respectively, with a 2.5D network based on a GoogLeNet architecture. The results were evaluated in 51 patients, equally separated into those with few (1-3), multiple (4-10), and many (>10) lesions. Network performance was evaluated using precision, recall, Dice/F1 score, and ROC-curve statistics. For an optimal probability threshold, detection and segmentation performance was assessed on a per metastasis basis. The area under the ROC-curve (AUC), averaged across all patients, was 0.98. The AUC in the subgroups was 0.99, 0.97, and 0.97 for patients having 1-3, 4-10, and >10 metastases, respectively. Using an average optimal probability threshold determined by the development set, precision, recall, and Dice-score were 0.79, 0.53, and 0.79, respectively. At the same probability threshold, the network showed an average false positive rate of 8.3/patient (no lesion-size limit) and 3.4/patient (10 mm3 lesion size limit). In conclusion, a deep learning approach using multi-sequence MRI can aid in the detection and segmentation of brain metastases.

Data privacy is an important concern in learning, when datasets contain sensitive information about individuals. This paper considers consensus-based distributed optimization under data privacy constraints. Consensus-based optimization consists of a set of computational nodes arranged in a graph, each having a local objective that depends on their local data, where in every step nodes take a linear combination of their neighbors' messages, as well as taking a new gradient step. Since the algorithm requires exchanging messages that depend on local data, private information gets leaked at every step. Taking $(\epsilon, \delta)$-differential privacy (DP) as our criterion, we consider the strategy where the nodes add random noise to their messages before broadcasting it, and show that the method achieves convergence with a bounded mean-squared error, while satisfying $(\epsilon, \delta)$-DP. By relaxing the more stringent $\epsilon$-DP requirement in previous work, we strengthen a known convergence result in the literature. We conclude the paper with numerical results demonstrating the effectiveness of our methods for mean estimation.

In epidemiology, identifying the effect of exposure variables in relation to a time-to-event outcome is a classical research area of practical importance. Incorporating propensity score in the Cox regression model, as a measure to control for confounding, has certain advantages when outcome is rare. However, in situations involving exposure measured with moderate to substantial error, identifying the exposure effect using propensity score in Cox models remains a challenging yet unresolved problem. In this paper, we propose an estimating equation method to correct for the exposure misclassification-caused bias in the estimation of exposure-outcome associations. We also discuss the asymptotic properties and derive the asymptotic variances of the proposed estimators. We conduct a simulation study to evaluate the performance of the proposed estimators in various settings. As an illustration, we apply our method to correct for the misclassification-caused bias in estimating the association of PM2.5 level with lung cancer mortality using a nationwide prospective cohort, the Nurses' Health Study (NHS). The proposed methodology can be applied using our user-friendly R function published online.

In regression tasks the distribution of the data is often too complex to be fitted by a single model. In contrast, partition-based models are developed where data is divided and fitted by local models. These models partition the input space and do not leverage the input-output dependency of multimodal-distributed data, and strong local models are needed to make good predictions. Addressing these problems, we propose a binary tree-structured hierarchical routing mixture of experts (HRME) model that has classifiers as non-leaf node experts and simple regression models as leaf node experts. The classifier nodes jointly soft-partition the input-output space based on the natural separateness of multimodal data. This enables simple leaf experts to be effective for prediction. Further, we develop a probabilistic framework for the HRME model, and propose a recursive Expectation-Maximization (EM) based algorithm to learn both the tree structure and the expert models. Experiments on a collection of regression tasks validate the effectiveness of our method compared to a variety of other regression models.

We present a machine learning analysis of five labelled galaxy catalogues from the Galaxy And Mass Assembly (GAMA): The SersicCatVIKING and SersicCatUKIDSS catalogues containing morphological features, the GaussFitSimple catalogue containing spectroscopic features, the MagPhys catalogue including physical parameters for galaxies, and the Lambdar catalogue, which contains photometric measurements. Extending work previously presented at the ESANN 2018 conference - in an analysis based on Generalized Relevance Matrix Learning Vector Quantization and Random Forests - we find that neither the data from the individual catalogues nor a combined dataset based on all 5 catalogues fully supports the visual-inspection-based galaxy classification scheme employed to categorise the galaxies. In particular, only one class, the Little Blue Spheroids, is consistently separable from the other classes. To aid further insight into the nature of the employed visual-based classification scheme with respect to physical and morphological features, we present the galaxy parameters that are discriminative for the achieved class distinctions.