We present a new method of learning a continuous occupancy field for use in robot navigation. Occupancy grid maps, or variants of, are possibly the most widely used and accepted method of building a map of a robot's environment. Various methods have been developed to learn continuous occupancy maps and have successfully resolved many of the shortcomings of grid mapping, namely, priori discretisation and spatial correlation. However, most methods for producing a continuous occupancy field remain computationally expensive or heuristic in nature. Our method explores a generalisation of the so-called Ising model as a suitable candidate for modelling an occupancy field. We also present a unique kernel for use within our method that models range measurements. The method is quite attractive as it requires only a small number of hyperparameters to be trained, and is computationally efficient. The small number of hyperparameters can be quickly learned by maximising a pseudo likelihood. The technique is demonstrated on both a small simulated indoor environment with known ground truth as well as large indoor and outdoor areas, using two common real data sets.

When samples have internal structure, we often see a mismatch between the objective optimized during training and the model's goal during inference. For example, in sequence-to-sequence modeling we are interested in high-quality translated sentences, but training typically uses maximum likelihood at the word level. Learning to recognize individual faces from group photos, each captioned with the correct but unordered list of people in it, is another example where a mismatch between training and inference objectives occurs. In both cases, the natural training-time loss would involve a combinatorial problem -- dynamic programming-based global sequence alignment and weighted bipartite graph matching, respectively -- but solutions to combinatorial problems are not differentiable with respect to their input parameters, so surrogate, differentiable losses are used instead. Here, we show how to perform gradient descent over combinatorial optimization algorithms that involve continuous parameters, for example edge weights, and can be efficiently expressed as integer, linear, or mixed-integer linear programs. We demonstrate usefulness of gradient descent over combinatorial optimization in sequence-to-sequence modeling using differentiable encoder-decoder architecture with softmax or Gumbel-softmax, and in weakly supervised learning involving a convolutional, residual feed-forward network for image classification.

For complex nonlinear supervised learning models, assessing the relevance of input variables or their interactions is not straightforward due to the lack of a direct measure of relevance, such as the regression coefficients in generalized linear models. One can assess the relevance of input variables locally by using the mean prediction or its derivative, but this disregards the predictive uncertainty. In this work, we present a Bayesian method for identifying relevant input variables with main effects and interactions by differentiating the Kullback-Leibler divergence of predictive distributions. The method averages over local measures of relevance and has a conservative property that takes into account the uncertainty in the predictive distribution. Our empirical results on simulated and real data sets with nonlinearities demonstrate accurate and efficient identification of relevant main effects and interactions compared to alternative methods.

Our goal is to understand the so-called trade-off between fairness and accuracy. In this work, using a tool from information theory called Chernoff information, we derive fundamental limits on this relationship that explain why the accuracy on a given dataset often decreases as fairness increases. Novel to this work, we examine the problem of fair classification through the lens of a mismatched hypothesis testing problem, i.e., where we are trying to find a classifier that distinguishes between two "ideal" distributions but instead we are given two mismatched distributions that are biased. Based on this perspective, we contend that measuring accuracy with respect to the given (possibly biased) dataset is a problematic measure of performance. Instead one should also consider accuracy with respect to an ideal dataset that is unbiased. We formulate an optimization to find such ideal distributions and show that the optimization is feasible. Lastly, when the Chernoff information for one group is strictly less than another in the given dataset, we derive the information-theoretic criterion under which collection of more features can actually improve the Chernoff information and achieve fairness without compromising accuracy on the available data.

A fundamental problem arising in many areas of machine learning is the evaluation of the likelihood of a given observation under different nominal distributions. Frequently, these nominal distributions are themselves estimated from data, which makes them susceptible to estimation errors. We thus propose to replace each nominal distribution with an ambiguity set containing all distributions in its vicinity and to evaluate an \emph{optimistic likelihood}, that is, the maximum of the likelihood over all distributions in the ambiguity set. When the proximity of distributions is quantified by the Fisher-Rao distance or the Kullback-Leibler divergence, the emerging optimistic likelihoods can be computed efficiently using either geodesic or standard convex optimization techniques. We showcase the advantages of working with optimistic likelihoods on a classification problem using synthetic as well as empirical data.

Observations of traffic participants and their environment enable humans to drive road vehicles safely. However, when being driven, there is a notable difference between having a non-experienced vs. an experienced driver. One may get the feeling, that the latter one anticipates what may happen in the next few moments and considers these foresights in his driving behavior. To make the driving style of automated vehicles comparable to a human driver in the sense of comfort and perceived safety, the aforementioned anticipation skills need to become a built-in feature of self-driving vehicles. This article provides a systematic comparison of methods and strategies to generate this intention for self-driving cars using machine learning techniques. To implement and test these algorithms we use a large data set collected over more than 30000 km of highway driving and containing approximately 40000 real world driving situations. Moreover, we show that it is possible to certainly detect more than 47 % of all lane changes on German highways 3 or more seconds in advance with a false positive rate of less than 1 %. This enables us to predict the lateral position with a prediction horizon of 5 s with a median error of less than 0.21 m.

Energy-Based Models (EBMs) outputs unmormalized log-probability values given data samples. Such an estimation is essential in a variety of applications such as sample generation, denoising, sample restoration, outlier detection, Bayesian reasoning, and many more. However, standard maximum likelihood training is computationally expensive due to the requirement of sampling the model distribution. Score matching potentially alleviates this problem, and denoising score matching is a particularly convenient version. However, previous works do not produce models capable of high quality sample synthesis in high dimensional datasets from random initialization. We believe that is because the score is only matched over a single noise scale, which corresponds to a small set in high-dimensional space. To overcome this limitation, here we instead learn an energy function using denoising score matching over all noise scales. When sampled from random initialization using Annealed Langevin Dynamics and single-step denoising jump, our model produced high-quality samples comparable to state-of-the-art techniques such as GANs. The learned model also provide density information and set a new sample quality baseline in energy-based models. We further demonstrate that the proposed method generalizes well with an image inpainting task.

Information spreads on complex social networks extremely fast, in other words, a piece of information can go viral within no time. Often it is hard to barricade this diffusion prior to the significant occurrence of chaos, be it a social media or an online coding platform. GitHub is one such trending online focal point for any business to reach their potential contributors and customers, simultaneously. By exploiting such software development paradigm, millions of free software emerged lately in diverse communities. To understand human influence, information spread and evolution of transmitted information among assorted users in GitHub, we developed a deep neural network model: "DeepFork", a supervised machine learning based approach that aims to predict information diffusion in complex social networks; considering node as well as topological features. In our empirical studies, we observed that information diffusion can be detected by link prediction using supervised learning. DeepFork outperforms other machine learning models as it better learns the discriminative patterns from the input features. DeepFork aids in understanding information spread and evolution through a bipartite network of users and repositories i.e., information flow from a user to repository to user.

The above equation represents Bayes Theorem in which it describes the probability of an event occurring P(A) based on our prior knowledge of events that may be related to that event P(B). Example of using Bayes theorem: I'll be using the tennis weather dataset. What is the probability of playing tennis given it is rainy? The probability of playing tennis when it is rainy is 60%. The process is very simple once you obtain the frequencies for each category.

Who has not heard that Bayesian statistics are difficult, computationally slow, cannot scale-up to big data, the results are subjective; and we don't need it at all? Do we really need to learn a lot of math and a lot of classical statistics first before approaching Bayesian techniques. Why do the most popular books about Bayesian statistics have over 500 pages? Bayesian nightmare is real or myth? Someone once compared Bayesian approach to the kitchen of a Michelin star chef with high-quality chef knife, a stockpot and an expensive sautee pan; while Frequentism is like your ordinary kitchen, with banana slicers and pasta pots. People talk about Bayesianism and Frequentism as if they were two different religions. Does Bayes really put more burden on the data scientist to use her brain at the outset because Bayesianism is a religion for the brightest of the brightest?