To navigate built environments, robots must be able to sense and make decisions about how to interact with their locale. Researchers at the company were interested in using machine and deep learning to train their robots to learn about objects, but doing so requires a large dataset of images. While there are millions of photos and videos of rooms, none were shot from the vantage point of a robotic vacuum. Efforts to train using images with human-centric perspectives failed. Beksi's research focuses on robotics, computer vision, and cyber-physical systems.

Convolutional neural networks are able to learn realistic image priors from numerous training samples in low-level image generation and restoration. We show that, for high-level image recognition tasks, we can further reconstruct "realistic" images of each category by leveraging intrinsic Batch Normalization (BN) statistics without any training data. Inspired by the popular VAE/GAN methods, we regard the zero-shot optimization process of synthetic images as generative modeling to match the distribution of BN statistics. The generated images serve as a calibration set for the following zero-shot network quantizations. Our method meets the needs for quantizing models based on sensitive information, \textit{e.g.,} due to privacy concerns, no data is available. Extensive experiments on benchmark datasets show that, with the help of generated data, our approach consistently outperforms existing data-free quantization methods.

Generative modeling using samples drawn from the probability distribution constitutes a powerful approach for unsupervised machine learning. Quantum mechanical systems can produce probability distributions that exhibit quantum correlations which are difficult to capture using classical models. We show theoretically that such quantum correlations provide a powerful resource for generative modeling. In particular, we provide an unconditional proof of separation in expressive power between a class of widely-used generative models, known as Bayesian networks, and its minimal quantum extension. We show that this expressivity advantage is associated with quantum nonlocality and quantum contextuality. Furthermore, we numerically test this separation on standard machine learning data sets and show that it holds for practical problems. The possibility of quantum advantage demonstrated in this work not only sheds light on the design of useful quantum machine learning protocols but also provides inspiration to draw on ideas from quantum foundations to improve purely classical algorithms.

Objective: Multi-modal functional magnetic resonance imaging (fMRI) can be used to make predictions about individual behavioral and cognitive traits based on brain connectivity networks. Methods: To take advantage of complementary information from multi-modal fMRI, we propose an interpretable multi-modal graph convolutional network (MGCN) model, incorporating the fMRI time series and the functional connectivity (FC) between each pair of brain regions. Specifically, our model learns a graph embedding from individual brain networks derived from multi-modal data. A manifold-based regularization term is then enforced to consider the relationships of subjects both within and between modalities. Furthermore, we propose the gradient-weighted regression activation mapping (Grad-RAM) and the edge mask learning to interpret the model, which is used to identify significant cognition-related biomarkers. Results: We validate our MGCN model on the Philadelphia Neurodevelopmental Cohort to predict individual wide range achievement test (WRAT) score. Our model obtains superior predictive performance over GCN with a single modality and other competing approaches. The identified biomarkers are cross-validated from different approaches. Conclusion and Significance: This paper develops a new interpretable graph deep learning framework for cognitive ability prediction, with the potential to overcome the limitations of several current data-fusion models. The results demonstrate the power of MGCN in analyzing multi-modal fMRI and discovering significant biomarkers for human brain studies.

Electrochemical impedance spectra is a widely used tool for characterization of fuel cells and electrochemical conversion systems in general. When applied to the on-line monitoring in context of in-field applications, the disturbances, drifts and sensor noise may cause severe distortions in the evaluated spectra, especially in the low-frequency part. Failure to account for the random effects can implicate difficulties in interpreting the spectra and misleading diagnostic reasoning. In the literature, this fact has been largely ignored. In this paper, we propose a computationally efficient approach to the quantification of the spectral uncertainty by quantifying the uncertainty of the equivalent circuit model (ECM) parameters by means of the Variational Bayes (VB) approach. To assess the quality of the VB posterior estimates, we compare the results of VB approach with those obtained with the Markov Chain Monte Carlo (MCMC) algorithm. Namely, MCMC algorithm is expected to return accurate posterior distributions, while VB approach provides the approximative distributions. By using simulated and real data we show that VB approach generates approximations, which although slightly over-optimistic, are still pretty close to the more realistic MCMC estimates. A great advantage of the VB method for online monitoring is low computational load, which is several orders of magnitude lighter than that of MCMC. The performance of VB algorithm is demonstrated on a case of ECM parameters estimation in a 6 cell solid-oxide fuel cell stack. The complete numerical implementation for recreating the results can be found at https://repo.ijs.si/lznidaric/variational-bayes-supplementary-material.

An accurate and efficient forecasting system is imperative to the prevention of emerging infectious diseases such as COVID-19 in public health. This system requires accurate transient modeling, lower computation cost, and fewer observation data. To tackle these three challenges, we propose a novel deep learning approach using black-box knowledge distillation for both accurate and efficient transmission dynamics prediction in a practical manner. First, we leverage mixture models to develop an accurate, comprehensive, yet impractical simulation system. Next, we use simulated observation sequences to query the simulation system to retrieve simulated projection sequences as knowledge. Then, with the obtained query data, sequence mixup is proposed to improve query efficiency, increase knowledge diversity, and boost distillation model accuracy. Finally, we train a student deep neural network with the retrieved and mixed observation-projection sequences for practical use. The case study on COVID-19 justifies that our approach accurately projects infections with much lower computation cost when observation data are limited.

This paper aims to devise a generalized maximum likelihood (ML) estimator to robustly detect signals with unknown noise statistics in multiple-input multiple-output (MIMO) systems. In practice, there is little or even no statistical knowledge on the system noise, which in many cases is non-Gaussian, impulsive and not analyzable. Existing detection methods have mainly focused on specific noise models, which are not robust enough with unknown noise statistics. To tackle this issue, we propose a novel ML detection framework to effectively recover the desired signal. Our framework is a fully probabilistic one that can efficiently approximate the unknown noise distribution through a normalizing flow. Importantly, this framework is driven by an unsupervised learning approach, where only the noise samples are required. To reduce the computational complexity, we further present a low-complexity version of the framework, by utilizing an initial estimation to reduce the search space. Simulation results show that our framework outperforms other existing algorithms in terms of bit error rate (BER) in non-analytical noise environments, while it can reach the ML performance bound in analytical noise environments. The code of this paper is available at https://github.com/skypitcher/manfe.

Due to the dominant position of deep learning (mostly deep neural networks) in various artificial intelligence applications, recently, ensemble learning based on deep neural networks (ensemble deep learning) has shown significant performances in improving the generalization of learning system. However, since modern deep neural networks usually have millions to billions of parameters, the time and space overheads for training multiple base deep learners and testing with the ensemble deep learner are far greater than that of traditional ensemble learning. Though several algorithms of fast ensemble deep learning have been proposed to promote the deployment of ensemble deep learning in some applications, further advances still need to be made for many applications in specific fields, where the developing time and computing resources are usually restricted or the data to be processed is of large dimensionality. An urgent problem needs to be solved is how to take the significant advantages of ensemble deep learning while reduce the required time and space overheads so that many more applications in specific fields can benefit from it. For the alleviation of this problem, it is necessary to know about how ensemble learning has developed under the era of deep learning. Thus, in this article, we present discussion focusing on data analyses of published works, the methodology and unattainability of traditional ensemble learning, and recent developments of ensemble deep learning. We hope this article will be helpful to realize the technical challenges faced by future developments of ensemble learning under the era of deep learning.

Interactive Educational Systems (IES) enabled researchers to trace student knowledge in different skills and provide recommendations for a better learning path. To estimate the student knowledge and further predict their future performance, the interest in utilizing the student interaction data captured by IES to develop learner performance models is increasing rapidly. Moreover, with the advances in computing systems, the amount of data captured by these IES systems is also increasing that enables deep learning models to compete with traditional logistic models and Markov processes. However, it is still not empirically evident if these deep models outperform traditional models on the current scale of datasets with millions of student interactions. In this work, we adopt EdNet, the largest student interaction dataset publicly available in the education domain, to understand how accurately both deep and traditional models predict future student performances. Our work observes that logistic regression models with carefully engineered features outperformed deep models from extensive experimentation. We follow this analysis with interpretation studies based on Locally Interpretable Model-agnostic Explanation (LIME) to understand the impact of various features on best performing model pre-dictions.

We investigate the self-attention mechanism of BERT in a fine-tuning scenario for the classification of scientific articles over a taxonomy of research disciplines. We observe how self-attention focuses on words that are highly related to the domain of the article. Particularly, a small subset of vocabulary words tends to receive most of the attention. We compare and evaluate the subset of the most attended words with feature selection methods normally used for text classification in order to characterize self-attention as a possible feature selection approach. Using ConceptNet as ground truth, we also find that attended words are more related to the research fields of the articles. However, conventional feature selection methods are still a better option to learn classifiers from scratch. This result suggests that, while self-attention identifies domain-relevant terms, the discriminatory information in BERT is encoded in the contextualized outputs and the classification layer. It also raises the question whether injecting feature selection methods in the self-attention mechanism could further optimize single sequence classification using transformers.