As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work investigated traversing these types of environments with a bipedal robot (simulation experiments), and a tracked robot (real world). Developing a traditional monolithic controller for traversing all terrain types is challenging, and for large physical robots realistic test facilities are required and safety must be ensured. An alternative is a suite of simple behaviour controllers that can be composed to achieve complex tasks. This work efficiently trained complex behaviours to enable mobile robots to traverse difficult terrain. By minimising retraining as new behaviours became available, robots were able to traverse increasingly complex terrain sets, leading toward the development of scalable behaviour libraries.

We consider a reinforcement learning setting in which the deployment environment is different from the training environment. Applying a robust Markov decision processes formulation, we extend the distributionally robust $Q$-learning framework studied in Liu et al. [2022]. Further, we improve the design and analysis of their multi-level Monte Carlo estimator. Assuming access to a simulator, we prove that the worst-case expected sample complexity of our algorithm to learn the optimal robust $Q$-function within an $\epsilon$ error in the sup norm is upper bounded by $\tilde O(|S||A|(1-\gamma)^{-5}\epsilon^{-2}p_{\wedge}^{-6}\delta^{-4})$, where $\gamma$ is the discount rate, $p_{\wedge}$ is the non-zero minimal support probability of the transition kernels and $\delta$ is the uncertainty size. This is the first sample complexity result for the model-free robust RL problem. Simulation studies further validate our theoretical results.

Unsupervised pretraining, which learns a useful representation using a large amount of unlabeled data to facilitate the learning of downstream tasks, is a critical component of modern large-scale machine learning systems. Despite its tremendous empirical success, the rigorous theoretical understanding of why unsupervised pretraining generally helps remains rather limited -- most existing results are restricted to particular methods or approaches for unsupervised pretraining with specialized structural assumptions. This paper studies a generic framework, where the unsupervised representation learning task is specified by an abstract class of latent variable models $\Phi$ and the downstream task is specified by a class of prediction functions $\Psi$. We consider a natural approach of using Maximum Likelihood Estimation (MLE) for unsupervised pretraining and Empirical Risk Minimization (ERM) for learning downstream tasks. We prove that, under a mild ''informative'' condition, our algorithm achieves an excess risk of $\tilde{\mathcal{O}}(\sqrt{\mathcal{C}_\Phi/m} + \sqrt{\mathcal{C}_\Psi/n})$ for downstream tasks, where $\mathcal{C}_\Phi, \mathcal{C}_\Psi$ are complexity measures of function classes $\Phi, \Psi$, and $m, n$ are the number of unlabeled and labeled data respectively. Comparing to the baseline of $\tilde{\mathcal{O}}(\sqrt{\mathcal{C}_{\Phi \circ \Psi}/n})$ achieved by performing supervised learning using only the labeled data, our result rigorously shows the benefit of unsupervised pretraining when $m \gg n$ and $\mathcal{C}_{\Phi\circ \Psi} > \mathcal{C}_\Psi$. This paper further shows that our generic framework covers a wide range of approaches for unsupervised pretraining, including factor models, Gaussian mixture models, and contrastive learning.

I propose a novel approach for nonlinear Logistic regression using a two-layer neural network (NN) model structure with hierarchical priors on the network weights. I present a hybrid of expectation propagation called Variational Expectation Propagation approach (VEP) for approximate integration over the posterior distribution of the weights, the hierarchical scale parameters of the priors and zeta. Using a factorized posterior approximation I derive a computationally efficient algorithm, whose complexity scales similarly to an ensemble of independent sparse logistic models. The approach can be extended beyond standard activation functions and NN model structures to form flexible nonlinear binary predictors from multiple sparse linear models. I consider a hierarchical Bayesian model with logistic regression likelihood and a Gaussian prior distribution over the parameters called weights and hyperparameters. I work in the perspective of E step and M step for computing the approximating posterior and updating the parameters using the computed posterior respectively.

Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires adaptation to various terrains. Recently, deep reinforcement learning, inspired by how legged animals learn to walk from their experiences, has been utilized to synthesize natural quadrupedal locomotion. However, state-of-the-art methods strongly depend on a complex and reliable sensing framework. Furthermore, prior works that rely only on proprioception have shown a limited demonstration for overcoming challenging terrains, especially for a long distance. This work proposes a novel quadrupedal locomotion learning framework that allows quadrupedal robots to walk through challenging terrains, even with limited sensing modalities. The proposed framework was validated in real-world outdoor environments with varying conditions within a single run for a long distance.

Time-series prediction has drawn considerable attention during the past decades fueled by the emerging advances of deep learning methods. However, most neural network based methods lack interpretability and fail in extracting the hidden mechanism of the targeted physical system. To overcome these shortcomings, an interpretable sparse system identification method without any prior knowledge is proposed in this study. This method adopts the Fourier transform to reduces the irrelevant items in the dictionary matrix, instead of indiscriminate usage of polynomial functions in most system identification methods. It shows an interpretable system representation and greatly reduces computing cost. With the adoption of $l_1$ norm in regularizing the parameter matrix, a sparse description of the system model can be achieved. Moreover, Three data sets including the water conservancy data, global temperature data and financial data are used to test the performance of the proposed method. Although no prior knowledge was known about the physical background, experimental results show that our method can achieve long-term prediction regardless of the noise and incompleteness in the original data more accurately than the widely-used baseline data-driven methods. This study may provide some insight into time-series prediction investigations, and suggests that an white-box system identification method may extract the easily overlooked yet inherent periodical features and may beat neural-network based black-box methods on long-term prediction tasks.

Language identification is an important first step in many IR and NLP applications. Most publicly available language identification datasets, however, are compiled under the assumption that the gold label of each instance is determined by where texts are retrieved from. Research has shown that this is a problematic assumption, particularly in the case of very similar languages (e.g., Croatian and Serbian) and national language varieties (e.g., Brazilian and European Portuguese), where texts may contain no distinctive marker of the particular language or variety. To overcome this important limitation, this paper presents DSL True Labels (DSL-TL), the first human-annotated multilingual dataset for language variety identification. DSL-TL contains a total of 12,900 instances in Portuguese, split between European Portuguese and Brazilian Portuguese; Spanish, split between Argentine Spanish and Castilian Spanish; and English, split between American English and British English. We trained multiple models to discriminate between these language varieties, and we present the results in detail. The data and models presented in this paper provide a reliable benchmark toward the development of robust and fairer language variety identification systems. We make DSL-TL freely available to the research community.

Within components (models, knowledge sources) of an ASR system the classical approach, deep learning has been introduced before coming to a decision. This is in line with Bayes' to acoustic and language modeling. In acoustic modeling, decision rule, which exactly requires a single global decision deep learning replaced Gaussian mixture distributions (hybrid integrating all available knowledge sources. HMM [3], [4]) or augmented the acoustic feature set c) Joint Training: In terms of model training, E2E suggests (nonlinear disciminant/tandem approach [5], [6]). In language estimating all parameters of all components of a model modeling, deep learning replaced count-based approaches [7], jointly using a single objective function that is consistent with [8], [9]. However, when introducing deep learning, the classical the task at hand, which in case of ASR means minimizing the ASR architecture was not yet touched. Classical stateof-the-art expected word error rate. ASR systems today are composed of many separate d) Training Data: Joint training of an integrated model components and knowledge sources, especially speech signal implies using a single kind of training data, which in case preprocessing, methods for robustness w.r.t.

Dialogue structure discovery is essential in dialogue generation. Well-structured topic flow can leverage background information and predict future topics to help generate controllable and explainable responses. However, most previous work focused on dialogue structure learning in task-oriented dialogue other than open-domain dialogue which is more complicated and challenging. In this paper, we present a new framework CTRLStruct for dialogue structure learning to effectively explore topic-level dialogue clusters as well as their transitions with unlabelled information. Precisely, dialogue utterances encoded by bi-directional Transformer are further trained through a special designed contrastive learning task to improve representation. Then we perform clustering to utterance-level representations and form topic-level clusters that can be considered as vertices in dialogue structure graph. The edges in the graph indicating transition probability between vertices are calculated by mimicking expert behavior in datasets. Finally, dialogue structure graph is integrated into dialogue model to perform controlled response generation. Experiments on two popular open-domain dialogue datasets show our model can generate more coherent responses compared to some excellent dialogue models, as well as outperform some typical sentence embedding methods in dialogue utterance representation. Code is available in GitHub.

We consider the problem of explaining the temporal behavior of black-box systems using human-interpretable models. To this end, based on recent research trends, we rely on the fundamental yet interpretable models of deterministic finite automata (DFAs) and linear temporal logic (LTL) formulas. In contrast to most existing works for learning DFAs and LTL formulas, we rely on only positive examples. Our motivation is that negative examples are generally difficult to observe, in particular, from black-box systems. To learn meaningful models from positive examples only, we design algorithms that rely on conciseness and language minimality of models as regularizers. To this end, our algorithms adopt two approaches: a symbolic and a counterexample-guided one. While the symbolic approach exploits an efficient encoding of language minimality as a constraint satisfaction problem, the counterexample-guided one relies on generating suitable negative examples to prune the search. Both the approaches provide us with effective algorithms with theoretical guarantees on the learned models. To assess the effectiveness of our algorithms, we evaluate all of them on synthetic data.