Time series classification (TSC) is the area of machine learning interested in learning how to assign labels to time series. The last few decades of work in this area have led to significant progress in the accuracy of classifiers, with the state of the art now represented by the HIVE-COTE algorithm. While extremely accurate, HIVE-COTE is infeasible to use in many applications because of its very high training time complexity in O(N^2*T^4) for a dataset with N time series of length T. For example, it takes HIVE-COTE more than 72,000s to learn from a small dataset with N=700 time series of short length T=46. Deep learning, on the other hand, has now received enormous attention because of its high scalability and state-of-the-art accuracy in computer vision and natural language processing tasks. Deep learning for TSC has only very recently started to be explored, with the first few architectures developed over the last 3 years only. The accuracy of deep learning for TSC has been raised to a competitive level, but has not quite reached the level of HIVE-COTE. This is what this paper achieves: outperforming HIVE-COTE's accuracy together with scalability. We take an important step towards finding the AlexNet network for TSC by presenting InceptionTime---an ensemble of deep Convolutional Neural Network (CNN) models, inspired by the Inception-v4 architecture. Our experiments show that InceptionTime slightly outperforms HIVE-COTE with a win/draw/loss on the UCR archive of 40/6/39. Not only is InceptionTime more accurate, but it is much faster: InceptionTime learns from that same dataset with 700 time series in 2,300s but can also learn from a dataset with 8M time series in 13 hours, a quantity of data that is fully out of reach of HIVE-COTE.

Deep Neural Network has been found vulnerable recently. A kind of well-designed inputs, which called adversarial examples, can lead the networks to make incorrect predictions. Depending on the different scenarios, goals and capabilities, the difficulty to generate the attack is different. For example, generating a targeted attack is more difficult than a non-targeted attack, a universal attack is more difficult than a non-universal attack, a transferable attack is more difficult than a nontransferable one. The question is: Is there exist an attack that can survival in the most harsh adversity to meet all these requirements. Although many cheap and effective attacks have been proposed, this question is still not completely solved over large models and large scale dataset. In this paper, we learn a universal mapping from the sources to the adversarial examples. These examples can fool classification networks into classifying all of them to one targeted class. Besides, they are also transferable between different models.

Traditional control methods are inadequate in many deployment settings involving control of Cyber-Physical Systems (CPS). In such settings, CPS controllers must operate and respond to unpredictable interactions, conditions, or failure modes. Dealing with such unpredictability requires the use of executive and cognitive control functions that allow for planning and reasoning. Motivated by the sport of drone racing, this dissertation addresses these concerns for state-of-the-art flight control by investigating the use of deep neural networks to bring essential elements of higher-level cognition for constructing low level flight controllers. This thesis reports on the development and release of an open source, full solution stack for building neuro-flight controllers. This stack consists of the methodology for constructing a multicopter digital twin for synthesize the flight controller unique to a specific aircraft, a tuning framework for implementing training environments (GymFC), and a firmware for the world's first neural network supported flight controller (Neuroflight). GymFC's novel approach fuses together the digital twinning paradigm for flight control training to provide seamless transfer to hardware. Additionally, this thesis examines alternative reward system functions as well as changes to the software environment to bridge the gap between the simulation and real world deployment environments. Work summarized in this thesis demonstrates that reinforcement learning is able to be leveraged for training neural network controllers capable, not only of maintaining stable flight, but also precision aerobatic maneuvers in real world settings. As such, this work provides a foundation for developing the next generation of flight control systems.

Human-supervision in multi-agent teams is a critical requirement to ensure that the decision-maker's risk preferences are utilized to assign tasks to robots. In stressful complex missions that pose risk to human health and life, such as humanitarian-assistance and disaster-relief missions, human mistakes or delays in tasking robots can adversely affect the mission. To assist human decision making in such missions, we present an alert-generation framework capable of detecting various modes of potential failure or performance degradation. We demonstrate that our framework, based on state machine simulation and formal methods, offers probabilistic modeling to estimate the likelihood of unfavorable events. We introduce smart simulation that offers a computationally-efficient way of detecting low-probability situations compared to standard Monte-Carlo simulations. Moreover, for certain class of problems, our inference-based method can provide guarantees on correctly detecting task failures.

Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange - both from the human to the robot as well as from the robot to the human. In this work, we present and analyze an augmented reality-enabled, gesture-based system that supports intuitive human-robot teaming through improved information exchange. Our proposed system requires no external instrumentation aside from human-wearable devices and shows promise of real-world applicability for service-oriented missions. Additionally, we present preliminary results from a pilot study with human participants, and highlight lessons learned and open research questions that may help direct future development, fielding, and experimentation of autonomous HRI systems.

Text-based Question Generation (QG) aims at generating natural and relevant questions that can be answered by a given answer in some context. Existing QG models suffer from a "semantic drift" problem, i.e., the semantics of the model-generated question drifts away from the given context and answer. In this paper, we first propose two semantics-enhanced rewards obtained from downstream question paraphrasing and question answering tasks to regularize the QG model to generate semantically valid questions. Second, since the traditional evaluation metrics (e.g., BLEU) often fall short in evaluating the quality of generated questions, we propose a QA-based evaluation method which measures the QG model's ability to mimic human annotators in generating QA training data. Experiments show that our method achieves the new state-of-the-art performance w.r.t. traditional metrics, and also performs best on our QA-based evaluation metrics. Further, we investigate how to use our QG model to augment QA datasets and enable semi-supervised QA. We propose two ways to generate synthetic QA pairs: generate new questions from existing articles or collect QA pairs from new articles. We also propose two empirically effective strategies, a data filter and mixing mini-batch training, to properly use the QG-generated data for QA. Experiments show that our method improves over both BiDAF and BERT QA baselines, even without introducing new articles.

Explainable machine learning seeks to provide various stak ehold-ers withinsights into modelbehavior via feature importancescores, counterfactual explanations, and influential samples, among other techniques. Recent advances in this line of work, however, h ave gone without surveys of how organizations are using these te ch-niques in practice. This study explores how organizations v iew and use explainability for stakeholder consumption. We find that the majority of deployments are not for end users affected by t he model but for machine learning engineers, who use explainability to debug the model itself. There is a gap between explainability in practice and the goal of publictransparency, since explanations primarily serve internal stakeholders rather than external on es. Our study synthesizes the limitations with current explainabi lity techniques that hamper their use for end users. To facilitate end user interaction, we develop a framework for establishing clear goals for explainability, including a focus on normative desiderata.

We study fact-checking in this paper, which aims to verify a textual claim given textual evidence (e.g., retrieved sentences from Wikipedia). Existing studies typically either concatenate retrieved sentences as a single string or use feature fusion on the top of features of sentences, while ignoring semantic-level information including participants, location, and temporality of an event occurred in a sentence and relationships among multiple events. Such semantic-level information is crucial for understanding the relational structure of evidence and the deep reasoning procedure over that. In this paper, we address this issue by proposing a graph-based reasoning framework, called the Dynamic REAsoning Machine (DREAM) framework. We first construct a semantic-level graph, where nodes are extracted by semantic role labeling toolkits and are connected by inner- and inter- sentence edges. After having the automatically constructed graph, we use XLNet as the backbone of our approach and propose a graph-based contextual word representation learning module and a graph-based reasoning module to leverage the information of graphs. The first module is designed by considering a claim as a sequence, in which case we use the graph structure to re-define the relative distance of words. On top of this, we propose the second module by considering both the claim and the evidence as graphs and use a graph neural network to capture the semantic relationship at a more abstract level. We conduct experiments on FEVER, a large-scale benchmark dataset for fact-checking. Results show that both of the graph-based modules improve performance. Our system is the state-of-the-art system on the public leaderboard in terms of both accuracy and FEVER score.

Several years ago, my father died as he had done most things throughout his life: without preparation and without consulting anyone. He simply went to bed one night, yielded his brain to a monstrous blood clot, and was found the next morning lying amidst the sheets like his own stone monument. It was hard for me not to take my father's abrupt exit as a rebuke. For years, he'd been begging me to visit him in the Czech Republic, where I'd been born and where he'd gone back to live in 1992. Now my dad was shrugging at me from beyond-- "You see, you've run out of time." His death underscored another loss, albeit a far more subtle one: that of my native tongue.

AMES, Iowa - Iowa State University scientists are working toward a future in which farmers can use unmanned aircraft to spot, and even predict, disease and stress in their crops. Their vision relies on machine learning, an automated process in which technology can help farmers respond to plant stress more efficiently. Arti Singh, an adjunct assistant professor of agronomy, is leading a multi-disciplinary research team that recently received a three-year, $499,845 grant from the U.S Department of Agriculture's National Institute of Food and Agriculture to develop machine learning technology that could automate the ability of farmers to diagnose a range of major stresses in soybeans. The technology under development would make use of cameras attached to unmanned aerial vehicles, or UAVs, to gather birds-eye images of soybean fields. A computer application would automatically analyze the images and alert the farmer of trouble spots.