There is significant need for principled uncertainty reasoning in machine learning systems as they are increasingly deployed in safety-critical domains. A new approach with uncertainty-aware neural networks (NNs), based on learning evidential distributions for aleatoric and epistemic uncertainties, shows promise over traditional deterministic methods and typical Bayesian NNs, yet several important gaps in the theory and implementation of these networks remain. We discuss three issues with a proposed solution to extract aleatoric and epistemic uncertainties from regression-based neural networks. The approach derives a technique by placing evidential priors over the original Gaussian likelihood function and training the NN to infer the hyperparameters of the evidential distribution. Doing so allows for the simultaneous extraction of both uncertainties without sampling or utilization of out-of-distribution data for univariate regression tasks. We describe the outstanding issues in detail, provide a possible solution, and generalize the deep evidential regression technique for multivariate cases.

Partially Observable Markov Decision Processes (POMDP) is a widely used model to represent the interaction of an environment and an agent, under state uncertainty. Since the agent does not observe the environment state, its uncertainty is typically represented through a probabilistic belief. While the set of possible beliefs is infinite, making exact planning intractable, the belief space's complexity (and hence planning complexity) is characterized by its covering number. Many POMDP solvers uniformly discretize the belief space and give the planning error in terms of the (typically unknown) covering number. We instead propose an adaptive belief discretization scheme, and give its associated planning error. We furthermore characterize the covering number with respect to the POMDP parameters. This allows us to specify the exact memory requirements on the planner, needed to bound the value function error. We then propose a novel, computationally efficient solver using this scheme. We demonstrate that our algorithm is highly competitive with the state of the art in a variety of scenarios.

Neural Network in R, Neural Network is just like a human nervous system, which is made up of interconnected neurons, in other words, a neural network is made up of interconnected information processing units. The neural network draws from the parallel processing of information, which is the strength of this method. A neural network helps us to extract meaningful information and detect hidden patterns from complex data sets. A neural network is considered one of the most powerful techniques in the data science world. This method is developed to solve problems that are easy for humans and difficult for machines.

Everyday contact-rich tasks, such as peeling, cleaning, and writing, demand multimodal perception for effective and precise task execution. However, these present a novel challenge to robots as they lack the ability to combine these multimodal stimuli for performing contact-rich tasks. Learning-based methods have attempted to model multi-modal contact-rich tasks, but they often require extensive training examples and task-specific reward functions which limits their practicality and scope. Hence, we propose a generalizable model-free learning-from-demonstration framework for robots to learn contact-rich skills without explicit reward engineering. We present a novel multi-modal sensor data representation which improves the learning performance for contact-rich skills. We performed training and experiments using the real-life Sawyer robot for three everyday contact-rich skills -- cleaning, writing, and peeling. Notably, the framework achieves a success rate of 100\% for the peeling and writing skill, and 80\% for the cleaning skill. Hence, this skill learning framework can be extended for learning other physical manipulation skills.

Learning exists in the context of data, yet notions of confidence typically focus on model predictions, not label quality. Confident learning (CL) is an alternative approach which focuses instead on label quality by characterizing and identifying label errors in datasets, based on the principles of pruning noisy data, counting with probabilistic thresholds to estimate noise, and ranking examples to train with confidence. Whereas numerous studies have developed these principles independently, here, we combine them, building on the assumption of a class-conditional noise process to directly estimate the joint distribution between noisy (given) labels and uncorrupted (unknown) labels. This results in a generalized CL which is provably consistent and experimentally performant. We present sufficient conditions where CL exactly finds label errors, and show CL performance exceeding seven recent competitive approaches for learning with noisy labels on the CIFAR dataset. Uniquely, the CL framework is not coupled to a specific data modality or model (e.g., we use CL to find several label errors in the presumed error-free MNIST dataset and improve sentiment classification on text data in Amazon Reviews). We also employ CL on ImageNet to quantify ontological class overlap (e.g., estimating 645 missile images are mislabeled as their parent class projectile), and moderately increase model accuracy (e.g., for ResNet) by cleaning data prior to training. These results are replicable using the open-source cleanlab release.

We consider the problem of forecasting the daily number of hospitalized COVID-19 patients at a single hospital site, in order to help administrators with logistics and planning. We develop several candidate hierarchical Bayesian models which directly capture the count nature of data via a generalized Poisson likelihood, model time-series dependencies via autoregressive and Gaussian process latent processes, and can share statistical strength across related sites. We demonstrate our approach on public datasets for 8 hospitals in Massachusetts, U.S.A. and 10 hospitals in the United Kingdom. Further prospective evaluation compares our approach favorably to baselines currently used by stakeholders at 3 related hospitals to forecast 2-week-ahead demand by rescaling state-level forecasts. The COVID-19 pandemic has created unprecedented demand for limited hospital resources across the globe. Emergency resource allocation decisions made by hospital administrators (such as planning additional personnel or provisioning beds and equipment) are crucial for achieving successful patient outcomes and avoiding overwhelmed capacity. However, at present hospitals often lack the ability to forecast what will be needed at their site in coming weeks. This may be especially true in under-resourced hospitals, due to constraints on funding, staff time and expertise, and other issues.

Probability theory is far from being the most general mathematical theory of uncertainty. A number of arguments point at its inability to describe second-order ('Knightian') uncertainty. In response, a wide array of theories of uncertainty have been proposed, many of them generalisations of classical probability. As we show here, such frameworks can be organised into clusters sharing a common rationale, exhibit complex links, and are characterised by different levels of generality. Our goal is a critical appraisal of the current landscape in uncertainty theory.

Uncertainty quantification provides quantitative measures on the reliability of candidate solutions of ill-posed inverse problems. Due to their sequential nature, Monte Carlo sampling methods require large numbers of sampling steps for accurate Bayesian inference and are often computationally infeasible for large-scale inverse problems, such as seismic imaging. Our main contribution is a data-driven variational inference approach where we train a normalizing flow (NF), a type of invertible neural net, capable of cheaply sampling the posterior distribution given previously unseen seismic data from neighboring surveys. To arrive at this result, we train the NF on pairs of low- and high-fidelity migrated images. In our numerical example, we obtain high-fidelity images from the Parihaka dataset and low-fidelity images are derived from these images through the process of demigration, followed by adding noise and migration. During inference, given shot records from a new neighboring seismic survey, we first compute the reverse-time migration image. Next, by feeding this low-fidelity migrated image to the NF we gain access to samples from the posterior distribution virtually for free. We use these samples to compute a high-fidelity image including a first assessment of the image's reliability. To our knowledge, this is the first attempt to train a conditional network on what we know from neighboring images to improve the current image and assess its reliability.

This paper presents a Gaussian process (GP) model for estimating piecewise continuous regression functions. In scientific and engineering applications of regression analysis, the underlying regression functions are piecewise continuous in that data follow different continuous regression models for different regions of the data with possible discontinuities between the regions. However, many conventional GP regression approaches are not designed for piecewise regression analysis. We propose a new GP modeling approach for estimating an unknown piecewise continuous regression function. The new GP model seeks for a local GP estimate of an unknown regression function at each test location, using local data neighboring to the test location. To accommodate the possibilities of the local data from different regions, the local data is partitioned into two sides by a local linear boundary, and only the local data belonging to the same side as the test location is used for the regression estimate. This local split works very well when the input regions are bounded by smooth boundaries, so the local linear approximation of the smooth boundaries works well. We estimate the local linear boundary jointly with the other hyperparameters of the GP model, using the maximum likelihood approach. Its computation time is as low as the local GP's time. The superior numerical performance of the proposed approach over the conventional GP modeling approaches is shown using various simulated piecewise regression functions.

We propose a novel policy update that combines regularized policy optimization with model learning as an auxiliary loss. The update (henceforth Muesli) matches MuZero's state-of-the-art performance on Atari. Notably, Muesli does so without using deep search: it acts directly with a policy network and has computation speed comparable to model-free baselines. The Atari results are complemented by extensive ablations, and by additional results on continuous control and 9x9 Go.