Off-road image semantic segmentation is challenging due to the presence of uneven terrains, unstructured class boundaries, irregular features and strong textures. These aspects affect the perception of the vehicle from which the information is used for path planning. Current off-road datasets exhibit difficulties like class imbalance and understanding of varying environmental topography. To overcome these issues we propose a framework for off-road semantic segmentation called as OFFSEG that involves (i) a pooled class semantic segmentation with four classes (sky, traversable region, non-traversable region and obstacle) using state-of-the-art deep learning architectures (ii) a colour segmentation methodology to segment out specific sub-classes (grass, puddle, dirt, gravel, etc.) from the traversable region for better scene understanding. The evaluation of the framework is carried out on two off-road driving datasets, namely, RELLIS-3D and RUGD. We have also tested proposed framework in IISERB campus frames. The results show that OFFSEG achieves good performance and also provides detailed information on the traversable region.

We propose a novel information bottleneck (IB) method named Drop-Bottleneck, which discretely drops features that are irrelevant to the target variable. Drop-Bottleneck not only enjoys a simple and tractable compression objective but also additionally provides a deterministic compressed representation of the input variable, which is useful for inference tasks that require consistent representation. Moreover, it can jointly learn a feature extractor and select features considering each feature dimension's relevance to the target task, which is unattainable by most neural network-based IB methods. We propose an exploration method based on Drop-Bottleneck for reinforcement learning tasks. In a multitude of noisy and reward sparse maze navigation tasks in VizDoom (Kempka et al., 2016) and DM-Lab (Beattie et al., 2016), our exploration method achieves state-of-the-art performance. As a new IB framework, we demonstrate that Drop-Bottleneck outperforms Variational Information Bottleneck (VIB) (Alemi et al., 2017) in multiple aspects including adversarial robustness and dimensionality reduction. Data with noise or task-irrelevant information easily harm the training of a model; for instance, the noisy-TV problem (Burda et al., 2019a) is one of well-known such phenomena in reinforcement learning. If observations from the environment are modified to contain a TV screen, which changes its channel randomly based on the agent's actions, the performance of curiosity-based exploration methods dramatically degrades (Burda et al., 2019a;b; Kim et al., 2019; Savinov et al., 2019). The information bottleneck (IB) theory (Tishby et al., 2000; Tishby & Zaslavsky, 2015) provides a framework for dealing with such task-irrelevant information, and has been actively adopted to exploration in reinforcement learning (Kim et al., 2019; Igl et al., 2019). For an input variable X and a target variable Y, the IB theory introduces another variable Z, which is a compressed representation of X.

We introduce a simple, rigorous, and unified framework for solving nonlinear partial differential equations (PDEs), and for solving inverse problems (IPs) involving the identification of parameters in PDEs, using the framework of Gaussian processes. The proposed approach (1) provides a natural generalization of collocation kernel methods to nonlinear PDEs and IPs, (2) has guaranteed convergence with a path to compute error bounds in the PDE setting, and (3) inherits the state-of-the-art computational complexity of linear solvers for dense kernel matrices. The main idea of our method is to approximate the solution of a given PDE with a MAP estimator of a Gaussian process given the observation of the PDE at a finite number of collocation points. Although this optimization problem is infinite-dimensional, it can be reduced to a finite-dimensional one by introducing additional variables corresponding to the values of the derivatives of the solution at collocation points; this generalizes the representer theorem arising in Gaussian process regression. The reduced optimization problem has a quadratic loss and nonlinear constraints, and it is in turn solved with a variant of the Gauss-Newton method. The resulting algorithm (a) can be interpreted as solving successive linearizations of the nonlinear PDE, and (b) is found in practice to converge in a small number (two to ten) of iterations in experiments conducted on a range of PDEs. For IPs, while the traditional approach has been to iterate between the identifications of parameters in the PDE and the numerical approximation of its solution, our algorithm tackles both simultaneously. Experiments on nonlinear elliptic PDEs, Burgers' equation, a regularized Eikonal equation, and an IP for permeability identification in Darcy flow illustrate the efficacy and scope of our framework.

In this paper we derive a PAC-Bayesian error bound for autonomous stochastic LTI state-space models. The motivation for deriving such error bounds is that they will allow deriving similar error bounds for more general dynamical systems, including recurrent neural networks. In turn, PACBayesian error bounds are known to be useful for analyzing machine learning algorithms and for deriving new ones.

We put forward a comprehensive assessment of self-supervised representation learning from short segments of clinical 12-lead electrocardiography (ECG) data. To this end, we explore adaptations of state-of-the-art self-supervised learning algorithms from computer vision (SimCLR, BYOL, SwAV) and speech (CPC). In a first step, we learn contrastive representations and evaluate their quality based on linear evaluation performance on a downstream classification task. For the best-performing method, CPC, we find linear evaluation performances only 0.8% below supervised performance. In a second step, we analyze the impact of self-supervised pretraining on finetuned ECG classifiers as compared to purely supervised performance and find improvements in downstream performance of more than 1%, label efficiency, as well as an increased robustness against physiological noise. All experiments are carried out exclusively on publicly available datasets, the to-date largest collection used for self-supervised representation learning from ECG data, to foster reproducible research in the field of ECG representation learning.

Despite the large success of deep neural networks (DNN) in recent years, most neural networks still lack mathematical guarantees in terms of stability. For instance, DNNs are vulnerable to small or even imperceptible input perturbations, so called adversarial examples, that can cause false predictions. This instability can have severe consequences in applications which influence the health and safety of humans, e.g., biomedical imaging or autonomous driving. While bounding the Lipschitz constant of a neural network improves stability, most methods rely on restricting the Lipschitz constants of each layer which gives a poor bound for the actual Lipschitz constant. In this paper we investigate a variational regularization method named CLIP for controlling the Lipschitz constant of a neural network, which can easily be integrated into the training procedure. We mathematically analyze the proposed model, in particular discussing the impact of the chosen regularization parameter on the output of the network. Finally, we numerically evaluate our method on both a nonlinear regression problem and the MNIST and Fashion-MNIST classification databases, and compare our results with a weight regularization approach.

If an unknown example that is not seen during training appears, most recognition systems usually produce overgeneralized results and determine that the example belongs to one of the known classes. To address this problem, teacher-explorer-student (T/E/S) learning, which adopts the concept of open set recognition (OSR) that aims to reject unknown samples while minimizing the loss of classification performance on known samples, is proposed in this study. In this novel learning method, overgeneralization of deep learning classifiers is significantly reduced by exploring various possibilities of unknowns. Here, the teacher network extracts some hints about unknowns by distilling the pretrained knowledge about knowns and delivers this distilled knowledge to the student. After learning the distilled knowledge, the student network shares the learned information with the explorer network. Then, the explorer network shares its exploration results by generating unknown-like samples and feeding the samples to the student network. By repeating this alternating learning process, the student network experiences a variety of synthetic unknowns, reducing overgeneralization. Extensive experiments were conducted, and the experimental results showed that each component proposed in this paper significantly contributes to the improvement in OSR performance. As a result, the proposed T/E/S learning method outperformed current state-of-the-art methods.

Customer support via chat requires agents to resolve customer queries with minimum wait time and maximum customer satisfaction. Given that the agents as well as the customers can have varying levels of literacy, the overall quality of responses provided by the agents tend to be poor if they are not predefined. But using only static responses can lead to customer detraction as the customers tend to feel that they are no longer interacting with a human. Hence, it is vital to have variations of the static responses to reduce monotonicity of the responses. However, maintaining a list of such variations can be expensive. Given the conversation context and the agent response, we propose an unsupervised frame-work to generate contextual paraphrases using autoregressive models. We also propose an automated metric based on Semantic Similarity, Textual Entailment, Expression Diversity and Fluency to evaluate the quality of contextual paraphrases and demonstrate performance improvement with Reinforcement Learning (RL) fine-tuning using the automated metric as the reward function.

While in the past much of the empirical RL However, analyzing the nature of research has focused on tabular or linear function approximation those environments is often overlooked. In particular, case (Dietterich, 1998; McGovern & Barto, 2001; we still do not have agreeable ways to Konidaris & Barto, 2009), the impressive successes of recent measure the difficulty or solvability of a task, years (and anticipation of domains ripe for subsequent given that each has fundamentally different actions, successes) has spurred the creation of non-tabular benchmarks observations, dynamics, rewards, and can - i.e., continuous control and/or continuous observation be tackled with diverse RL algorithms. In this - in which neural network function approximators are work, we propose policy information capacity effectively a prerequisite (Bellemare et al., 2013; Brockman (PIC) - the mutual information between policy parameters et al., 2016; Tassa et al., 2018). Accordingly, empirical RL and episodic return - and policy-optimal research is presently heavily focused on the use of neural information capacity (POIC) - between policy network function approximators, spurring new algorithmic parameters and episodic optimality - as two developments in both model-free (Mnih et al., 2015; Schulman environment-agnostic, algorithm-agnostic quantitative et al., 2015; Lillicrap et al., 2016; Gu et al., 2016b; metrics for task difficulty. Evaluating our 2017; Haarnoja et al., 2018) and model-based (Chua et al., metrics across toy environments as well as continuous 2018; Janner et al., 2019; Hafner et al., 2020a) RL. control benchmark tasks from OpenAI Gym and DeepMind Control Suite, we empirically Despite the impressive progress of RL algorithms, the analysis demonstrate that these information-theoretic of the RL environments has been difficult and stagnant, metrics have higher correlations with normalized precisely due to the complexity of modern benchmarks and task solvability scores than a variety of alternatives.

Unsupervised representation learning is an important challenge in computer vision, with self-supervised learning methods recently closing the gap to supervised representation learning. An important ingredient in high-performing self-supervised methods is the use of data augmentation by training models to place different augmented views of the same image nearby in embedding space. However, commonly used augmentation pipelines treat images holistically, disregarding the semantic relevance of parts of an image--e.g. a subject vs. a background--which can lead to the learning of spurious correlations. Our work addresses this problem by investigating a class of simple, yet highly effective "background augmentations", which encourage models to focus on semantically-relevant content by discouraging them from focusing on image backgrounds. Background augmentations lead to substantial improvements ( 1-2% on ImageNet-1k) in performance across a spectrum of state-of-the art self-supervised methods (MoCov2, BYOL, SwAV) on a variety of tasks, allowing us to reach within 0.3% of supervised performance. We also demonstrate that background augmentations improve robustness to a number of out of distribution settings, including natural adversarial examples, the backgrounds challenge, adversarial attacks, and ReaL ImageNet.