Picking a fight with a drone may seem a bizarre way of testing your theories - but one Stanford researcher has done just that. Ross Allen, a researcher at Stanford, decided the perfect way to test his drone avoidance system was to attack it with a sword. Wearing full fencing gear, he recorded a video putting the drone through its collision avoidance paces. Researchers are testing quadrotor drones with the ability to dodge obstacles and are showing off this achievement through fencing. A new video surfaced showing a human opponent taking jabs at a drone, which seems to'see' it coming and avoids being probed Stanford University's Department of Aeronautics and Astronautics proposes a framework that uses'an offline-online computation paradigm, neighborhood classification through machine learning, sampling-based motion planning with an optimal control distance metric, and trajectory smoothing to achieve real-time planning for aerial vehicle,' according to the published paper.

Structure discovery in graphical models is the determination of the topology of a graph that encodes conditional independence properties of the joint distribution of all variables in the model. For some class of probability distributions, an edge between two variables is present if and only if the corresponding entry in the precision matrix is non-zero. For a finite sample estimate of the precision matrix, entries close to zero may be due to low sample effects, or due to an actual association between variables; these two cases are not readily distinguishable. %Fisher provided a hypothesis test based on a parametric approximation to the distribution of an entry in the precision matrix of a Gaussian distribution, but this may not provide valid upper bounds on $p$-values for non-Gaussian distributions. Many related works on this topic consider potentially restrictive distributional or sparsity assumptions that may not apply to a data sample of interest, and direct estimation of the uncertainty of an estimate of the precision matrix for general distributions remains challenging. Consequently, we make use of results for $U$-statistics and apply them to the covariance matrix. By probabilistically bounding the distortion of the covariance matrix, we can apply Weyl's theorem to bound the distortion of the precision matrix, yielding a conservative, but sound test threshold for a much wider class of distributions than considered in previous works. The resulting test enables one to answer with statistical significance whether an edge is present in the graph, and convergence results are known for a wide range of distributions. The computational complexities is linear in the sample size enabling the application of the test to large data samples for which computation time becomes a limiting factor. We experimentally validate the correctness and scalability of the test on multivariate distributions for which the distributional assumptions of competing tests result in underestimates of the false positive ratio. By contrast, the proposed test remains sound, promising to be a useful tool for hypothesis testing for diverse real-world problems.

This paper is a comment on the survey paper by Biau and Scornet (2016) about random forests. We focus on the problem of quantifying the impact of each ingredient of random forests on their performance. We show that such a quantification is possible for a simple pure forest, leading to conclusions that could apply more generally. Then, we consider "holdout" random forests, which are a good middle point between "toy" pure forests and Breiman's original random forests. We would like to thank G. Biau and E. Scornet for their clear and thought-provoking survey (Biau and Scornet, 2016).

Reciprocal processes are acausal generalizations of Markov processes introduced by Bernstein in 1932. In the literature, a significant amount of attention has been focused on developing dynamical models for reciprocal processes. Recently, probabilistic graphical models for reciprocal processes have been provided. This opens the way to the application of efficient inference algorithms in the machine learning literature to solve the smoothing problem for reciprocal processes. Such algorithms are known to converge if the underlying graph is a tree. This is not the case for a reciprocal process, whose associated graphical model is a single loop network. The contribution of this paper is twofold. First, we introduce belief propagation for Gaussian reciprocal processes. Second, we establish a link between convergence analysis of belief propagation for Gaussian reciprocal processes and stability theory for differentially positive systems.

The back-propagation algorithm is widely used for learning in artificial neural networks. A challenge in machine learning is to create models that generalize to new data samples not seen in the training data. Recently, a common flaw in several machine learning algorithms was discovered: small perturbations added to the input data lead to consistent misclassification of data samples. Samples that easily mislead the model are called adversarial examples. Training a "maxout" network on adversarial examples has shown to decrease this vulnerability, but also increase classification performance. This paper shows that adversarial training has a regularizing effect also in networks with logistic, hyperbolic tangent and rectified linear units. A simple extension to the back-propagation method is proposed, that adds an adversarial gradient to the training. The extension requires an additional forward and backward pass to calculate a modified input sample, or mini batch, used as input for standard back-propagation learning. The first experimental results on MNIST show that the "adversarial back-propagation" method increases the resistance to adversarial examples and boosts the classification performance. The extension reduces the classification error on the permutation invariant MNIST from 1.60% to 0.95% in a logistic network, and from 1.40% to 0.78% in a network with rectified linear units. Results on CIFAR-10 indicate that the method has a regularizing effect similar to dropout in fully connected networks. Based on these promising results, adversarial back-propagation is proposed as a stand-alone regularizing method that should be further investigated.

Modeling data as being sampled from a union of independent subspaces has been widely applied to a number of real world applications. However, dimensionality reduction approaches that theoretically preserve this independence assumption have not been well studied. Our key contribution is to show that $2K$ projection vectors are sufficient for the independence preservation of any $K$ class data sampled from a union of independent subspaces. It is this non-trivial observation that we use for designing our dimensionality reduction technique. In this paper, we propose a novel dimensionality reduction algorithm that theoretically preserves this structure for a given dataset. We support our theoretical analysis with empirical results on both synthetic and real world data achieving \textit{state-of-the-art} results compared to popular dimensionality reduction techniques.

We consider a class of constrained optimization problems with a possibly nonconvex non-Lipschitz objective and a convex feasible set being the intersection of a polyhedron and a possibly degenerate ellipsoid. Such problems have a wide range of applications in data science, where the objective is used for inducing sparsity in the solutions while the constraint set models the noise tolerance and incorporates other prior information for data fitting. To solve this class of constrained optimization problems, a common approach is the penalty method. However, there is little theory on exact penalization for problems with nonconvex and non-Lipschitz objective functions. In this paper, we study the existence of exact penalty parameters regarding local minimizers, stationary points and $\epsilon$-minimizers under suitable assumptions. Moreover, we discuss a penalty method whose subproblems are solved via a nonmonotone proximal gradient method with a suitable update scheme for the penalty parameters, and prove the convergence of the algorithm to a KKT point of the constrained problem. Preliminary numerical results demonstrate the efficiency of the penalty method for finding sparse solutions of underdetermined linear systems.

Nonparametric detection of existence of an anomalous structure over a network is investigated. Nodes corresponding to the anomalous structure (if one exists) receive samples generated by a distribution q, which is different from a distribution p generating samples for other nodes. If an anomalous structure does not exist, all nodes receive samples generated by p. It is assumed that the distributions p and q are arbitrary and unknown. The goal is to design statistically consistent tests with probability of errors converging to zero as the network size becomes asymptotically large. Kernel-based tests are proposed based on maximum mean discrepancy that measures the distance between mean embeddings of distributions into a reproducing kernel Hilbert space. Detection of an anomalous interval over a line network is first studied. Sufficient conditions on minimum and maximum sizes of candidate anomalous intervals are characterized in order to guarantee the proposed test to be consistent. It is also shown that certain necessary conditions must hold to guarantee any test to be universally consistent. Comparison of sufficient and necessary conditions yields that the proposed test is order-level optimal and nearly optimal respectively in terms of minimum and maximum sizes of candidate anomalous intervals. Generalization of the results to other networks is further developed. Numerical results are provided to demonstrate the performance of the proposed tests.

The task of algorithm selection involves choosing an algorithm from a set of algorithms on a per-instance basis in order to exploit the varying performance of algorithms over a set of instances. The algorithm selection problem is attracting increasing attention from researchers and practitioners in AI. Years of fruitful applications in a number of domains have resulted in a large amount of data, but the community lacks a standard format or repository for this data. This situation makes it difficult to share and compare different approaches effectively, as is done in other, more established fields. It also unnecessarily hinders new researchers who want to work in this area. To address this problem, we introduce a standardized format for representing algorithm selection scenarios and a repository that contains a growing number of data sets from the literature. Our format has been designed to be able to express a wide variety of different scenarios. Demonstrating the breadth and power of our platform, we describe a set of example experiments that build and evaluate algorithm selection models through a common interface. The results display the potential of algorithm selection to achieve significant performance improvements across a broad range of problems and algorithms.

We investigate the task of building open domain, conversational dialogue systems based on large dialogue corpora using generative models. Generative models produce system responses that are autonomously generated word-by-word, opening up the possibility for realistic, flexible interactions. In support of this goal, we extend the recently proposed hierarchical recurrent encoder-decoder neural network to the dialogue domain, and demonstrate that this model is competitive with state-of-the-art neural language models and back-off n-gram models. We investigate the limitations of this and similar approaches, and show how its performance can be improved by bootstrapping the learning from a larger question-answer pair corpus and from pretrained word embeddings.