In this paper, we extend a symbolic association framework for being able to handle missing elements in multimodal sequences. The general scope of the work is the symbolic associations of object-word mappings as it happens in language development in infants. In other words, two different representations of the same abstract concepts can associate in both directions. This scenario has been long interested in Artificial Intelligence, Psychology, and Neuroscience. In this work, we extend a recent approach for multimodal sequences (visual and audio) to also cope with missing elements in one or both modalities. Our method uses two parallel Long Short-Term Memories (LSTMs) with a learning rule based on EM-algorithm. It aligns both LSTM outputs via Dynamic Time Warping (DTW). We propose to include an extra step for the combination with the max operation for exploiting the common elements between both sequences. The motivation behind is that the combination acts as a condition selector for choosing the best representation from both LSTMs. We evaluated the proposed extension in the following scenarios: missing elements in one modality (visual or audio) and missing elements in both modalities (visual and sound). The performance of our extension reaches better results than the original model and similar results to individual LSTM trained in each modality.

Probabilistic topic models are popular unsupervised learning methods, including probabilistic latent semantic indexing (pLSI) and latent Dirichlet allocation (LDA). By now, their training is implemented on general purpose computers (GPCs), which are flexible in programming but energy-consuming. Towards low-energy implementations, this paper investigates their training on an emerging hardware technology called the neuromorphic multi-chip systems (NMSs). NMSs are very effective for a family of algorithms called spiking neural networks (SNNs). We present three SNNs to train topic models. The first SNN is a batch algorithm combining the conventional collapsed Gibbs sampling (CGS) algorithm and an inference SNN to train LDA. The other two SNNs are online algorithms targeting at both energy- and storage-limited environments. The two online algorithms are equivalent with training LDA by using maximum-a-posterior estimation and maximizing the semi-collapsed likelihood, respectively. They use novel, tailored ordinary differential equations for stochastic optimization. We simulate the new algorithms and show that they are comparable with the GPC algorithms, while being suitable for NMS implementation. We also propose an extension to train pLSI and a method to prune the network to obey the limited fan-in of some NMSs.

We propose Cooperative Training (CoT) for training generative models that measure a tractable density function for target data. CoT coordinately trains a generator $G$ and an auxiliary predictive mediator $M$. The training target of $M$ is to estimate a mixture density of the learned distribution $G$ and the target distribution $P$, and that of $G$ is to minimize the Jensen-Shannon divergence estimated through $M$. CoT achieves independent success without the necessity of pre-training via Maximum Likelihood Estimation or involving high-variance algorithms like REINFORCE. This low-variance algorithm is theoretically proved to be unbiased for both generative and predictive tasks. We also theoretically and empirically show the superiority of CoT over most previous algorithms, in terms of generative quality and diversity, predictive generalization ability and computational cost.

The purpose of this paper is to address the problem of learning dictionaries for multimodal datasets, i.e. datasets collected from multiple data sources. We present an algorithm called multimodal sparse Bayesian dictionary learning (MSBDL). The MSBDL algorithm is able to leverage information from all available data modalities through a joint sparsity constraint on each modality's sparse codes without restricting the coefficients themselves to be equal. Our framework offers a considerable amount of flexibility to practitioners and addresses many of the shortcomings of existing multimodal dictionary learning approaches. Unlike existing approaches, MSBDL allows the dictionaries for each data modality to have different cardinality. In addition, MSBDL can be used in numerous scenarios, from small datasets to extensive datasets with large dimensionality. MSBDL can also be used in supervised settings and allows for learning multimodal dictionaries concurrently with classifiers for each modality.

Accurately predicting the possible behaviors of traffic participants is an essential capability for future autonomous vehicles. The majority of current researches fix the number of driving intentions by considering only a specific scenario. However, distinct driving environments usually contain various possible driving maneuvers. Therefore, a intention prediction method that can adapt to different traffic scenarios is needed. To further improve the overall vehicle prediction performance, motion information is usually incorporated with classified intentions. As suggested in some literature, the methods that directly predict possible goal locations can achieve better performance for long-term motion prediction than other approaches due to their automatic incorporation of environment constraints. Moreover, by obtaining the temporal information of the predicted destinations, the optimal trajectories for predicted vehicles as well as the desirable path for ego autonomous vehicle could be easily generated. In this paper, we propose a Semantic-based Intention and Motion Prediction (SIMP) method, which can be adapted to any driving scenarios by using semantic-defined vehicle behaviors. It utilizes a probabilistic framework based on deep neural network to estimate the intentions, final locations, and the corresponding time information for surrounding vehicles. An exemplar real-world scenario was used to implement and examine the proposed method.

This paper investigates to what extent do cognitive biases affect human understanding of interpretable machine learning models, in particular of rules discovered from data. Twenty cognitive biases (illusions, effects) are covered, as are possibly effective debiasing techniques that can be adopted by designers of machine learning algorithms and software. While there seems no universal approach for eliminating all the identified cognitive biases, it follows from our analysis that the effect of most biases can be ameliorated by making rule-based models more concise. Due to lack of previous research, our review transfers general results obtained in cognitive psychology to the domain of machine learning. It needs to be succeeded by empirical studies specifically aimed at the machine learning domain.

In this Course you learn k-Nearest Neighbors & Naive Bayes Classification Methods. In pattern recognition, the k-nearest neighbors algorithm (k-NN) is a non-parametric method used for classification and regression. The k-NN algorithm is among the simplest of all machine learning algorithms. For classification, a useful technique can be to assign weight to the contributions of the neighbors, so that the nearer neighbors contribute more to the average than the more distant ones. The neighbors are taken from a set of objects for which the class (for k-NN classification).

Unsupervised machine learning is the machine learning task of inferring a function to describe hidden structure from "unlabeled" data (a classification or categorization is not included in the observations). While there is an exhaustive list of clustering algorithms available (whether you use R or Python's Scikit-Learn), I will attempt to cover the basic concepts. The most common and simplest clustering algorithm out there is the K-Means clustering. This algorithms involve you telling the algorithms how many possible cluster (or K) there are in the dataset. The algorithm then iteratively moves the k-centers and selects the datapoints that are closest to that centroid in the cluster.

Stochastic stability is a popular solution concept for stochastic learning dynamics in games. However, a critical limitation of this solution concept is its inability to distinguish between different learning rules that lead to the same steady-state behavior. We address this limitation for the first time and develop a framework for the comparative analysis of stochastic learning dynamics with different update rules but same steady-state behavior. We present the framework in the context of two learning dynamics: Log-Linear Learning (LLL) and Metropolis Learning (ML). Although both of these dynamics have the same stochastically stable states, LLL and ML correspond to different behavioral models for decision making. Moreover, we demonstrate through an example setup of sensor coverage game that for each of these dynamics, the paths to stochastically stable states exhibit distinctive behaviors. Therefore, we propose multiple criteria to analyze and quantify the differences in the short and medium run behavior of stochastic learning dynamics. We derive and compare upper bounds on the expected hitting time to the set of Nash equilibria for both LLL and ML. For the medium to long-run behavior, we identify a set of tools from the theory of perturbed Markov chains that result in a hierarchical decomposition of the state space into collections of states called cycles. We compare LLL and ML based on the proposed criteria and develop invaluable insights into the comparative behavior of the two dynamics.

Hamiltonian Monte Carlo (HMC) is the dominant statistical inference algorithm used in most popular "first-order differentiable" probabilisticprogramming languages. HMC requires that the joint density be differentiable with respect to all latent variables. This complicates expressing some models in such languages and prohibits others. A recently proposed new integrator for HMC yielded a new Discontinuous HMC (DHMC) algorithm that can be used for inference in models with joint densities that have discontinuities. In this paper we show how to use DHMC for inference in probabilistic programs. To do this we introduce a sufficient set of language restrictions, a corresponding mathematical formalism that ensures that any joint density denoted in such a language has a suitably low measure of discontinuous points, and a recipe for how to apply DHMC in the more general probabilistic-programming context. Our experimental findings demonstrate the correctness of this approach.