In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to register valid depth values on shiny, glossy, bright, or distant surfaces, leading to missing data in the map. To address this issue, we propose a framework leveraging probabilistic depth completion as an additional input for spatial mapping. We introduce a deep learning architecture providing uncertainty estimates for the depth completion of RGB-D images. Our pipeline exploits the inferred missing depth values and depth uncertainty to complement raw depth images and improve the speed and quality of free space mapping. Evaluations on synthetic data show that our approach maps significantly more correct free space with relatively low error when compared against using raw data alone in different indoor environments; thereby producing more complete maps that can be directly used for robotic navigation tasks. The performance of our framework is validated using real-world data.

Approximating optimal policies in reinforcement learning (RL) is often necessary in many real-world scenarios, which is termed as policy optimization. By viewing the reinforcement learning from the perspective of variational inference (VI), the policy network is trained to obtain the approximate posterior of actions given the optimality criteria. However, in practice, the policy optimization may lead to suboptimal policy estimates due to the amortization gap and insufficient exploration. In this work, inspired by the previous use of Hamiltonian Monte Carlo (HMC) in VI, we propose to integrate policy optimization with HMC. As such we choose evolving actions from the base policy according to HMC. First, HMC can improve the policy distribution to better approximate the posterior and hence reduces the amortization gap. Second, HMC can also guide the exploration more to the regions with higher action values, enhancing the exploration efficiency. Instead of directly applying HMC into RL, we propose a new leapfrog operator to simulate the Hamiltonian dynamics. With comprehensive empirical experiments on continuous control baselines, including MuJoCo, PyBullet Roboschool and DeepMind Control Suite, we show that the proposed approach is a data-efficient, and an easy-to-implement improvement over previous policy optimization methods. Besides, the proposed approach can also outperform previous methods on DeepMind Control Suite, which has image-based high-dimensional observation space.

Semi-supervised learning has recently emerged as one of the most promising paradigms to mitigate the reliance of deep learning on huge amounts of labeled data, especially in learning tasks where it is costly to collect annotated data. This is best illustrated in medicine, where measurement require overpriced machinery and labels are the result of an expensive human assisted time-consuming analysis. Semi-supervised learning (SSL) aims to largely reduce the need for massive labeled datasets by allowing a model to leverage both labeled and unlabeled data. Among the many semi-supervised learning approaches, graph-based semi-supervised learning techniques are increasingly being studied due to their performance and to more and more real graph datasets. The problem is to predict all the unlabelled vertices in the graph based on only a small subset of vertices being observed. To date, a number of graph-based algorithms, in particular label propagation methods have been successfully applied to different fields, such as social network analysis [7][50][51][25], natural language processing [1][43][3], and image segmentation [47][10]. The performance of label propagation algorithms is often affected by the graph-construction method and the technique of inferring pseudo-labels.

We established a Spatio-Temporal Neural Network, namely STNN, to forecast the spread of the coronavirus COVID-19 outbreak worldwide in 2020. The basic structure of STNN is similar to the Recurrent Neural Network (RNN) incorporating with not only temporal data but also spatial features. Two improved STNN architectures, namely the STNN with Augmented Spatial States (STNN-A) and the STNN with Input Gate (STNN-I), are proposed, which ensure more predictability and flexibility. STNN and its variants can be trained using Stochastic Gradient Descent (SGD) algorithm and its improved variants (e.g., Adam, AdaGrad and RMSProp). Our STNN models are compared with several classical epidemic prediction models, including the fully-connected neural network (BPNN), and the recurrent neural network (RNN), the classical curve fitting models, as well as the SEIR dynamical system model. Numerical simulations demonstrate that STNN models outperform many others by providing more accurate fitting and prediction, and by handling both spatial and temporal data.

A vastly growing literature on explaining deep learning models has emerged. This paper contributes to that literature by introducing a global gradient-based model-agnostic method, which we call Marginal Attribution by Conditioning on Quantiles (MACQ). Our approach is based on analyzing the marginal attribution of predictions (outputs) to individual features (inputs). Specificalllly, we consider variable importance by mixing (global) output levels and, thus, explain how features marginally contribute across different regions of the prediction space. Hence, MACQ can be seen as a marginal attribution counterpart to approaches such as accumulated local effects (ALE), which study the sensitivities of outputs by perturbing inputs. Furthermore, MACQ allows us to separate marginal attribution of individual features from interaction effect, and visually illustrate the 3-way relationship between marginal attribution, output level, and feature value.

Class imbalance is a common issue in many domain applications of learning algorithms. Oftentimes, in the same domains it is much more relevant to correctly classify and profile minority class observations. This need can be addressed by Feature Selection (FS), that offers several further advantages, s.a. decreasing computational costs, aiding inference and interpretability. However, traditional FS techniques may become sub-optimal in the presence of strongly imbalanced data. To achieve FS advantages in this setting, we propose a filtering FS algorithm ranking feature importance on the basis of the Reconstruction Error of a Deep Sparse AutoEncoders Ensemble (DSAEE). We use each DSAE trained only on majority class to reconstruct both classes. From the analysis of the aggregated Reconstruction Error, we determine the features where the minority class presents a different distribution of values w.r.t. the overrepresented one, thus identifying the most relevant features to discriminate between the two. We empirically demonstrate the efficacy of our algorithm in several experiments on high-dimensional datasets of varying sample size, showcasing its capability to select relevant and generalizable features to profile and classify minority class, outperforming other benchmark FS methods. We also briefly present a real application in radiogenomics, where the methodology was applied successfully.

Remaining useful life (RUL) estimation is a crucial component in the implementation of intelligent predictive maintenance and health management. Deep neural network (DNN) approaches have been proven effective in RUL estimation due to their capacity in handling high-dimensional non-linear degradation features. However, the applications of DNN in practice face two challenges: (a) online update of lifetime information is often unavailable, and (b) uncertainties in predicted values may not be analytically quantified. This paper addresses these issues by developing a hybrid DNN-based prognostic approach, where a Wiener-based-degradation model is enhanced with adaptive drift to characterize the system degradation. An LSTM-CNN encoder-decoder is developed to predict future degradation trajectories by jointly learning noise coefficients as well as drift coefficients, and adaptive drift is updated via Bayesian inference. A computationally efficient algorithm is proposed for the calculation of RUL distributions. Numerical experiments are presented using turbofan engines degradation data to demonstrate the superior accuracy of RUL prediction of our proposed approach.

Wire-feed laser additive manufacturing (WLAM) is gaining wide interest due to its high level of automation, high deposition rates, and good quality of printed parts. In-process monitoring and feedback controls that would reduce the uncertainty in the quality of the material are in the early stages of development. Machine learning promises the ability to accelerate the adoption of new processes and property design in additive manufacturing by making process-structure-property connections between process setting inputs and material quality outcomes. The molten pool dimensional information and temperature are the indicators for achieving the high quality of the build, which can be directly controlled by processing parameters. For the purpose of in situ quality control, the process parameters should be controlled in real-time based on sensed information from the process, in particular the molten pool. Thus, the molten pool-process relations are of preliminary importance. This paper analyzes experimentally collected in situ sensing data from the molten pool under a set of controlled process parameters in a WLAM system. The variations in the steady-state and transient state of the molten pool are presented with respect to the change of independent process parameters. A multi-modality convolutional neural network (CNN) architecture is proposed for predicting the control parameter directly from the measurable molten pool sensor data for achieving desired geometric and microstructural properties. Dropout and regularization are applied to the CNN architecture to avoid the problem of overfitting. The results highlighted that the multi-modal CNN, which receives temperature profile as an external feature to the features extracted from the image data, has improved prediction performance compared to the image-based uni-modality CNN approach.

Graph Neural Networks (GNNs) have attracted increasing attention due to its successful applications on various graph-structure data. However, recent studies have shown that adversarial attacks are threatening the functionality of GNNs. Although numerous works have been proposed to defend adversarial attacks from various perspectives, most of them can be robust against the attacks only on specific scenarios. To address this shortage of robust generalization, we propose to defend the adversarial attacks on GNN through applying the Spatio-Temporal sparsification (called ST-Sparse) on the GNN hidden node representation. ST-Sparse is similar to the Dropout regularization in spirit. Through intensive experiment evaluation with GCN as the target GNN model, we identify the benefits of ST-Sparse as follows: (1) ST-Sparse shows the defense performance improvement in most cases, as it can effectively increase the robust accuracy by up to 6\% improvement; (2) ST-Sparse illustrates its robust generalization capability by integrating with the existing defense methods, similar to the integration of Dropout into various deep learning models as a standard regularization technique; (3) ST-Sparse also shows its ordinary generalization capability on clean datasets, in that ST-SparseGCN (the integration of ST-Sparse and the original GCN) even outperform the original GCN, while the other three representative defense methods are inferior to the original GCN.

Recent advances in computer vision take advantage of adversarial data augmentation to ameliorate the generalization ability of classification models. Here, we present an effective and efficient alternative that advocates adversarial augmentation on intermediate feature embeddings, instead of relying on computationally-expensive pixel-level perturbations. We propose Adversarial Feature Augmentation and Normalization (A-FAN), which (i) first augments visual recognition models with adversarial features that integrate flexible scales of perturbation strengths, (ii) then extracts adversarial feature statistics from batch normalization, and re-injects them into clean features through feature normalization. We validate the proposed approach across diverse visual recognition tasks with representative backbone networks, including ResNets and EfficientNets for classification, Faster-RCNN for detection, and Deeplab V3+ for segmentation. Extensive experiments show that A-FAN yields consistent generalization improvement over strong baselines across various datasets for classification, detection and segmentation tasks, such as CIFAR-10, CIFAR-100, ImageNet, Pascal VOC2007, Pascal VOC2012, COCO2017, and Cityspaces. Comprehensive ablation studies and detailed analyses also demonstrate that adding perturbations to specific modules and layers of classification/detection/segmentation backbones yields optimal performance. Codes and pre-trained models will be made available at: https://github.com/VITA-Group/CV_A-FAN.