Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints. This paper presents a constrained-space optimization and reinforcement learning scheme for managing complex tasks. Through interactions within the constrained space, the reinforcement learning agent is trained to optimize the manipulation skills according to a defined reward function. After learning, the optimal policy is derived from the well-trained reinforcement learning agent, which is then implemented to guide the robot to conduct tasks that are similar to the experts' demonstrations. The effectiveness of the proposed method is verified with a robotic suturing task, demonstrating that the learned policy outperformed the experts' demonstrations in terms of the smoothness of the joint motion and end-effector trajectories, as well as the overall task completion time.

We investigate how different active learning (AL) query policies coupled with classification uncertainty visualizations affect analyst trust in automated classification systems. A current standard policy for AL is to query the oracle (e.g., the analyst) to refine labels for datapoints where the classifier has the highest uncertainty. This is an optimal policy for the automation system as it yields maximal information gain. However, model-centric policies neglect the effects of this uncertainty on the human component of the system and the consequent manner in which the human will interact with the system post-training. In this paper, we present an empirical study evaluating how AL query policies and visualizations lending transparency to classification influence trust in automated classification of image data. We found that query policy significantly influences an analyst's trust in an image classification system, and we use these results to propose a set of oracle query policies and visualizations for use during AL training phases that can influence analyst trust in classification.

Motivated by the emerging needs of decentralized learners with personalized learning objectives, we present an Assisted Learning framework where a service provider Bob assists a learner Alice with supervised learning tasks without transmitting Bob's private algorithm or data. Bob assists Alice either by building a predictive model using Alice's labels, or by improving Alice's private learning through iterative communications where only relevant statistics are transmitted. The proposed learning framework is naturally suitable for distributed, personalized, and privacy-aware scenarios. For example, it is shown in some scenarios that two suboptimal learners could achieve much better performance through Assisted Learning. Moreover, motivated by privacy concerns in Assisted Learning, we present a new notion of privacy to quantify the privacy leakage at learning level instead of data level. This new privacy, named imitation privacy, is particularly suitable for a market of statistical learners each holding private learning algorithms as well as data.

Reliably transmitting messages despite information loss due to a noisy channel is a core problem of information theory. One of the most important aspects of real world communication, e.g. via wifi, is that it may happen at varying levels of information transfer. The bandwidth-limited channel models this phenomenon. In this study we consider learning coding with the bandwidth-limited channel (BWLC). Recently, neural communication models such as variational autoencoders have been studied for the task of source compression. We build upon this work by studying neural communication systems with the BWLC. Specifically,we find three modelling choices that are relevant under expected information loss. First, instead of separating the sub-tasks of compression (source coding) and error correction (channel coding), we propose to model both jointly. Framing the problem as a variational learning problem, we conclude that joint systems outperform their separate counterparts when coding is performed by flexible learnable function approximators such as neural networks. To facilitate learning, we introduce a differentiable and computationally efficient version of the bandwidth-limited channel. Second, we propose a design to model missing information with a prior, and incorporate this into the channel model. Finally, sampling from the joint model is improved by introducing auxiliary latent variables in the decoder. Experimental results justify the validity of our design decisions through improved distortion and FID scores.

Go From Beginner To Advanced In Machine Learning. Welcome to my course "Complete Machine Learning Course: Go from zero to hero". By using this comprehensive course you will go from beginner to advanced. In this course i will assume that you are a complete beginner and by the end of that course you will be at intermediate level. This course contain Real World examples and hands on practicals without neglecting the basics.

Data Science, Machine Learning, Deep Learning & AI are hot areas right now. But to learn these, for some of us programming is a bit of a problem. Not all of us are from a programming background. Or some come from a Java background and might not know Python. These days, Python is the de-facto ( almost) programming language for Data Science.

The paper presents a framework to reconstruct explanations for multiple choices science questions through explanation-centred corpora. Building upon the notion of unification in science, the framework ranks explanatory facts with respect to question and candidate answer by leveraging a combination of two different scores: (a) A Relevance Score (RS) that represents the extent to which a given fact is specific to the question; (b) A Unification Score (US) that takes into account the explanatory power of a fact, determined according to its frequency in explanations for similar questions. An extensive evaluation of the framework is performed on the Worldtree corpus, adopting IR weighting schemes for its implementation. The following findings are presented: (1) The proposed approach achieves competitive results when compared to state-of-the-art Transformers, yet possessing the property of being scalable to large explanatory knowledge bases; (2) The combined model significantly outperforms IR baselines ( 7.8/8.4 MAP), confirming the complementary aspects of relevance and unification score; (3) The constructed explanations can support downstream models for answer prediction, improving the accuracy of BERT for multiple choices QA on both ARC easy ( 6.92%) and challenge ( 15.69%) questions.

Convolutional Neural Networks experience catastrophic forgetting when optimized on a sequence of learning problems: as they meet the objective of the current training examples, their performance on previous tasks drops drastically. In this work, we introduce a novel framework to tackle this problem with conditional computation. We equip each convolutional layer with task-specific gating modules, selecting which filters to apply on the given input. This way, we achieve two appealing properties. Firstly, the execution patterns of the gates allow to identify and protect important filters, ensuring no loss in the performance of the model for previously learned tasks. Secondly, by using a sparsity objective, we can promote the selection of a limited set of kernels, allowing to retain sufficient model capacity to digest new tasks.Existing solutions require, at test time, awareness of the task to which each example belongs to. This knowledge, however, may not be available in many practical scenarios. Therefore, we additionally introduce a task classifier that predicts the task label of each example, to deal with settings in which a task oracle is not available. We validate our proposal on four continual learning datasets. Results show that our model consistently outperforms existing methods both in the presence and the absence of a task oracle. Notably, on Split SVHN and Imagenet-50 datasets, our model yields up to 23.98% and 17.42% improvement in accuracy w.r.t. competing methods.

New machine translations (MT) technologies are emerging rapidly and with them, bold claims of achieving human parity such as: (i) the results produced approach "accuracy achieved by average bilingual human translators" (Wu et al., 2017b) or (ii) the "translation quality is at human parity when compared to professional human translators" (Hassan et al., 2018) have seen the light of day (Laubli et al., 2018). Aside from the fact that many of these papers craft their own definition of human parity, these sensational claims are often not supported by a complete analysis of all aspects involved in translation. Establishing the discrepancies between the strengths of statistical approaches to MT and the way humans translate has been the starting point of our research. By looking at MT output and linguistic theory, we were able to identify some remaining issues. The problems range from simple number and gender agreement errors to more complex phenomena such as the correct translation of aspectual values and tenses. Our experiments confirm, along with other studies (Bentivogli et al., 2016), that neural MT has surpassed statistical MT in many aspects. However, some problems remain and others have emerged. We cover a series of problems related to the integration of specific linguistic features into statistical and neural MT, aiming to analyse and provide a solution to some of them. Our work focuses on addressing three main research questions that revolve around the complex relationship between linguistics and MT in general. We identify linguistic information that is lacking in order for automatic translation systems to produce more accurate translations and integrate additional features into the existing pipelines. We identify overgeneralization or 'algorithmic bias' as a potential drawback of neural MT and link it to many of the remaining linguistic issues.

Welcome to this course "Complete Machine Learning Masterclass – Learn From Scratch". In this course you will learn from scratch. We will assume that you are a complete beginner and by the end of the course you will be at advanced level. This course contain Real-World examples and Hands On practicals. We will guide you step by step so that you can understand better.