Modern autonomous mobile robots (including self-driving cars) require a strong understanding of their environment in order to operate safely and effectively. Comprehensive and accurate models of the surrounding environment are crucial for solving the challenges of autonomous operation. However, only a limited amount of information is perceived through the sensors which are limited regarding their capabilities, the field of view and the kind of data they provide. While sensors like LIDAR, Radar, Kinect provide 3D data including all spatial dimensions, cameras on the other hand only provide a 2D view of the surrounding. In the past, many attempts have been made to actually extract the 3D data out of 2D images coming from the camera.

We present an approach to map utterances in conversation to logical forms, which will be executed on a large-scale knowledge base. To handle enormous ellipsis phenomena in conversation, we introduce dialog memory management to manipulate historical entities, predicates, and logical forms when inferring the logical form of current utterances. Dialog memory management is embodied in a generative model, in which a logical form is interpreted in a top-down manner following a small and flexible grammar. We learn the model from denotations without explicit annotation of logical forms, and evaluate it on a large-scale dataset consisting of 200K dialogs over 12.8M entities. Results verify the benefits of modeling dialog memory, and show that our semantic parsing-based approach outperforms a memory network based encoder-decoder model by a huge margin.

Structured prediction provides a general framework to deal with supervised problems where the outputs have semantically rich structure. While classical approaches consider finite, albeit potentially huge, output spaces, in this paper we discuss how structured prediction can be extended to a continuous scenario. Specifically, we study a structured prediction approach to manifold-valued regression. We characterize a class of problems for which the considered approach is statistically consistent and study how geometric optimization can be used to compute the corresponding estimator. Promising experimental results on both simulated and real data complete our study.

We study the problem of multiset prediction. The goal of multiset prediction is to train a predictor that maps an input to a multiset consisting of multiple items. Unlike existing problems in supervised learning, such as classification, ranking and sequence generation, there is no known order among items in a target multiset, and each item in the multiset may appear more than once, making this problem extremely challenging. In this paper, we propose a novel multiset loss function by viewing this problem from the perspective of sequential decision making. The proposed multiset loss function is empirically evaluated on two families of datasets, one synthetic and the other real, with varying levels of difficulty, against various baseline loss functions including reinforcement learning, sequence, and aggregated distribution matching loss functions. The experiments reveal the effectiveness of the proposed loss function over the others.

The standard margin-based structured prediction commonly uses a maximum loss over all possible structured outputs [26, 1, 5, 25]. The large-margin formulation including latent variables [30, 21] not only results in a non-convex formulation but also increases the search space by a factor of the size of the latent space. Recent work [11] has proposed the use of the maximum loss over random structured outputs sampled independently from some proposal distribution, with theoretical guarantees. We extend this work by including latent variables. We study a new family of loss functions under Gaussian perturbations and analyze the effect of the latent space on the generalization bounds. We show that the non-convexity of learning with latent variables originates naturally, as it relates to a tight upper bound of the Gibbs decoder distortion with respect to the latent space. Finally, we provide a formulation using random samples and relaxations that produces a tighter upper bound of the Gibbs decoder distortion up to a statistical accuracy, which enables a polynomial time evaluation of the objective function. We illustrate the method with synthetic experiments and a computer vision application.

We study the sample complexity of semi-supervised learning (SSL) and introduce new assumptions based on the mismatch between a mixture model learned from unlabeled data and the true mixture model induced by the (unknown) class conditional distributions. Under these assumptions, we establish an $\Omega(K\log K)$ labeled sample complexity bound without imposing parametric assumptions, where $K$ is the number of classes. Our results suggest that even in nonparametric settings it is possible to learn a near-optimal classifier using only a few labeled samples. Unlike previous theoretical work which focuses on binary classification, we consider general multiclass classification ($K>2$), which requires solving a difficult permutation learning problem. This permutation defines a classifier whose classification error is controlled by the Wasserstein distance between mixing measures, and we provide finite-sample results characterizing the behaviour of the excess risk of this classifier. Finally, we describe three algorithms for computing these estimators based on a connection to bipartite graph matching, and perform experiments to illustrate the superiority of the MLE over the majority vote estimator.

We present a framework to train a structured prediction model by performing smoothing on the inference algorithm it builds upon. Smoothing overcomes the non-smoothness inherent to the maximum margin structured prediction objective, and paves the way for the use of fast primal gradient-based optimization algorithms. We illustrate the proposed framework by developing a novel primal incremental optimization algorithm for the structural support vector machine. The proposed algorithm blends an extrapolation scheme for acceleration and an adaptive smoothing scheme and builds upon the stochastic variance-reduced gradient algorithm. We establish its worst-case global complexity bound and study several practical variants. We present experimental results on two real-world problems, namely named entity recognition and visual object localization. The experimental results show that the proposed framework allows us to build upon efficient inference algorithms to develop large-scale optimization algorithms for structured prediction which can achieve competitive performance on the two real-world problems.

In theory, importance sampling speeds up stochastic gradient algorithms for supervised learning by prioritizing training examples. In practice, the cost of computing importances greatly limits the impact of importance sampling. We propose a robust, approximate importance sampling procedure (RAIS) for stochastic gradient de- scent. By approximating the ideal sampling distribution using robust optimization, RAIS provides much of the benefit of exact importance sampling with drastically reduced overhead. Empirically, we find RAIS-SGD and standard SGD follow similar learning curves, but RAIS moves faster through these paths, achieving speed-ups of at least 20% and sometimes much more.

We propose to solve a label ranking problem as a structured output regression task. In this view, we adopt a least square surrogate loss approach that solves a supervised learning problem in two steps: a regression step in a well-chosen feature space and a pre-image (or decoding) step. We use specific feature maps/embeddings for ranking data, which convert any ranking/permutation into a vector representation. These embeddings are all well-tailored for our approach, either by resulting in consistent estimators, or by solving trivially the pre-image problem which is often the bottleneck in structured prediction. Their extension to the case of incomplete or partial rankings is also discussed. Finally, we provide empirical results on synthetic and real-world datasets showing the relevance of our method.

There is a natural correlation between the visual and auditive elements of a video. In this work we leverage this connection to learn general and effective models for both audio and video analysis from self-supervised temporal synchronization. We demonstrate that a calibrated curriculum learning scheme, a careful choice of negative examples, and the use of a contrastive loss are critical ingredients to obtain powerful multi-sensory representations from models optimized to discern temporal synchronization of audio-video pairs. Without further fine-tuning, the resulting audio features achieve performance superior or comparable to the state-of-the-art on established audio classification benchmarks (DCASE2014 and ESC-50). At the same time, our visual subnet provides a very effective initialization to improve the accuracy of video-based action recognition models: compared to learning from scratch, our self-supervised pretraining yields a remarkable gain of +19.9% in action recognition accuracy on UCF101 and a boost of +17.7% on HMDB51.