Time series prediction with neural networks have been focus of much research in the past few decades. Given the recent deep learning revolution, there has been much attention in using deep learning models for time series prediction, and hence it is important to evaluate their strengths and weaknesses. In this paper, we present an evaluation study that compares the performance of deep learning models for multi-step ahead time series prediction. Our deep learning methods compromise of simple recurrent neural networks, long short term memory (LSTM) networks, bidirectional LSTM, encoder-decoder LSTM networks, and convolutional neural networks. We also provide comparison with simple neural networks use stochastic gradient descent and adaptive gradient method (Adam) for training. We focus on univariate and multi-step-ahead prediction from benchmark time series datasets and compare with results from from the literature. The results show that bidirectional and encoder-decoder LSTM provide the best performance in accuracy for the given time series problems with different properties.

We propose a novel method, termed SuMo-net, that uses partially monotonic neural networks to learn a time-to-event distribution from a sample of covariates and right-censored times. SuMo-net models the survival function and the density jointly, and optimizes the likelihood for right-censored data instead of the often used partial likelihood. The method does not make assumptions about the true survival distribution and avoids computationally expensive integration of the hazard function. We evaluate the performance of the method on a range of datasets and find competitive performance across different metrics and improved computational time of making new predictions.

The success of deep learning techniques over the last decades has opened up a new avenue of research for weather forecasting. Here, we take the novel approach of using a neural network to predict probability density functions rather than a single output value, thus producing a probabilistic weather forecast. This enables the calculation of both uncertainty and skill metrics for the neural network predictions, and overcomes the common difficulty of inferring uncertainty from these predictions. This approach is purely data-driven and the neural network is trained on the WeatherBench dataset (processed ERA5 data) to forecast geopotential and temperature 3 and 5 days ahead. An extensive data exploration leads to the identification of the most important input variables, which are also found to agree with physical reasoning, thereby validating our approach. In order to increase computational efficiency further, each neural network is trained on a small subset of these variables. The outputs are then combined through a stacked neural network, the first time such a technique has been applied to weather data. Our approach is found to be more accurate than some numerical weather prediction models and as accurate as more complex alternative neural networks, with the added benefit of providing key probabilistic information necessary for making informed weather forecasts.

Preventable or undiagnosed visual impairment and blindness affect billion of people worldwide. Automated multi-disease detection models offer great potential to address this problem via clinical decision support in diagnosis. In this work, we proposed an innovative multi-disease detection pipeline for retinal imaging which utilizes ensemble learning to combine the predictive capabilities of several heterogeneous deep convolutional neural network models. Our pipeline includes state-of-the-art strategies like transfer learning, class weighting, real-time image augmentation and Focal loss utilization. Furthermore, we integrated ensemble learning techniques like heterogeneous deep learning models, bagging via 5-fold cross-validation and stacked logistic regression models. Through internal and external evaluation, we were able to validate and demonstrate high accuracy and reliability of our pipeline, as well as the comparability with other state-of-the-art pipelines for retinal disease prediction.

We demonstrate how transformer-based models can be redesigned in order to capture inductive biases across tasks on different granularities and perform inference in a zero-shot manner. Specifically, we show how sentence-level transformers can be modified into effective sequence labelers at the token level without any direct supervision. We compare against a range of diverse and previously proposed methods for generating token-level labels, and present a simple yet effective modified attention layer that significantly advances the current state of the art.

In many cases of machine learning, research suggests that the development of training data might have a higher relevance than the choice and modelling of classifiers themselves. Thus, data augmentation methods have been developed to improve classifiers by artificially created training data. In NLP, there is the challenge of establishing universal rules for text transformations which provide new linguistic patterns. In this paper, we present and evaluate a text generation method suitable to increase the performance of classifiers for long and short texts. We achieved promising improvements when evaluating short as well as long text tasks with the enhancement by our text generation method. In a simulated low data regime additive accuracy gains of up to 15.53% are achieved. As the current track of these constructed regimes is not universally applicable, we also show major improvements in several real world low data tasks (up to +4.84 F1 score). Since we are evaluating the method from many perspectives, we also observe situations where the method might not be suitable. We discuss implications and patterns for the successful application of our approach on different types of datasets.

Challenging manipulation tasks can be solved effectively by combining individual robot skills, which must be parameterized for the concrete physical environment and task at hand. This is time-consuming and difficult for human programmers, particularly for force-controlled skills. To this end, we present Shadow Program Inversion (SPI), a novel approach to infer optimal skill parameters directly from data. SPI leverages unsupervised learning to train an auxiliary differentiable program representation ("shadow program") and realizes parameter inference via gradient-based model inversion. Our method enables the use of efficient first-order optimizers to infer optimal parameters for originally non-differentiable skills, including many skill variants currently used in production. SPI zero-shot generalizes across task objectives, meaning that shadow programs do not need to be retrained to infer parameters for different task variants. We evaluate our methods on three different robots and skill frameworks in industrial and household scenarios. Code and examples are available at https://innolab.artiminds.com/icra2021.

Conventional Machine Reading Comprehension (MRC) has been well-addressed by pattern matching, but the ability of commonsense reasoning remains a gap between humans and machines. Previous methods tackle this problem by enriching word representations via pre-trained Knowledge Graph Embeddings (KGE). However, they make limited use of a large number of connections between nodes in Knowledge Graphs (KG), which could be pivotal cues to build the commonsense reasoning chains. In this paper, we propose a Plug-and-play module to IncorporatE Connection information for commonsEnse Reasoning (PIECER). Beyond enriching word representations with knowledge embeddings, PIECER constructs a joint query-passage graph to explicitly guide commonsense reasoning by the knowledge-oriented connections between words. Further, PIECER has high generalizability since it can be plugged into suitable positions in any MRC model. Experimental results on ReCoRD, a large-scale public MRC dataset requiring commonsense reasoning, show that PIECER introduces stable performance improvements for four representative base MRC models, especially in low-resource settings.

The visuomotor system of any animal is critical for its survival, and the development of a complex one within humans is large factor in our success as a species on Earth. This system is an essential part of our ability to adapt to our environment. We use this system continuously throughout the day, when picking something up, or walking around while avoiding bumping into objects. Equipping robots with such capabilities will help produce more intelligent locomotion with the ability to more easily understand their surroundings and to move safely. In particular, such capabilities are desirable for traversing the lunar surface, as it is full of hazardous obstacles, such as rocks. These obstacles need to be identified and avoided in real time. This paper seeks to demonstrate the development of a visuomotor system within a robot for navigation and obstacle avoidance, with complex rock shaped objects representing hazards. Our approach uses deep reinforcement learning with only image data. In this paper, we compare the results from several neural network architectures and a preprocessing methodology which includes producing a segmented image and downsampling.

We propose a selective learning method using meta-learning and deep reinforcement learning for medical image interpretation in the setting of limited labeling resources. Our method, MedSelect, consists of a trainable deep learning selector that uses image embeddings obtained from contrastive pretraining for determining which images to label, and a non-parametric selector that uses cosine similarity to classify unseen images. We demonstrate that MedSelect learns an effective selection strategy outperforming baseline selection strategies across seen and unseen medical conditions for chest X-ray interpretation. We also perform an analysis of the selections performed by MedSelect comparing the distribution of latent embeddings and clinical features, and find significant differences compared to the strongest performing baseline. We believe that our method may be broadly applicable across medical imaging settings where labels are expensive to acquire.