In this era of active development of autonomous vehicles, it becomes crucial to provide driving systems with the capacity to explain their decisions. In this work, we focus on generating high-level driving explanations as the vehicle drives. We present BEEF, for BEhavior Explanation with Fusion, a deep architecture which explains the behavior of a trajectory prediction model. Supervised by annotations of human driving decisions justifications, BEEF learns to fuse features from multiple levels. Leveraging recent advances in the multi-modal fusion literature, BEEF is carefully designed to model the correlations between high-level decisions features and mid-level perceptual features. The flexibility and efficiency of our approach are validated with extensive experiments on the HDD and BDD-X datasets.

Adversarial attacks for machine learning models have become a highly studied topic both in academia and industry. These attacks, along with traditional security threats, can compromise confidentiality, integrity, and availability of organization's assets that are dependent on the usage of machine learning models. While it is not easy to predict the types of new attacks that might be developed over time, it is possible to evaluate the risks connected to using machine learning models and design measures that help in minimizing these risks. In this paper, we outline a novel framework to guide the risk management process for organizations reliant on machine learning models. First, we define sets of evaluation factors (EFs) in the data domain, model domain, and security controls domain. We develop a method that takes the asset and task importance, sets the weights of EFs' contribution to confidentiality, integrity, and availability, and based on implementation scores of EFs, it determines the overall security state in the organization. Based on this information, it is possible to identify weak links in the implemented security measures and find out which measures might be missing completely. We believe our framework can help in addressing the security issues related to usage of machine learning models in organizations and guide them in focusing on the adequate security measures to protect their assets.

We present Neural Stochastic Contraction Metrics (NSCM), a new design framework for provably-stable robust control and estimation for a class of stochastic nonlinear systems. It uses a spectrally-normalized deep neural network to construct a contraction metric, sampled via simplified convex optimization in the stochastic setting. Spectral normalization constrains the state-derivatives of the metric to be Lipschitz continuous, thereby ensuring exponential boundedness of the mean squared distance of system trajectories under stochastic disturbances. The NSCM framework allows autonomous agents to approximate optimal stable control and estimation policies in real-time, and outperforms existing nonlinear control and estimation techniques including the state-dependent Riccati equation, iterative LQR, EKF, and the deterministic neural contraction metric, as illustrated in simulation results.

Many traffic prediction applications rely on uncertainty estimates instead of the mean prediction. Statistical traffic prediction literature has a complete subfield devoted to uncertainty modelling, but recent deep learning traffic prediction models either lack this feature or make specific assumptions that restrict its practicality. We propose Quantile Graph Wavenet, a Spatio-Temporal neural network that is trained to estimate a density given the measurements of previous timesteps, conditioned on a quantile. Our method of density estimation is fully parameterised by our neural network and does not use a likelihood approximation internally. The quantile loss function is asymmetric and this makes it possible to model skewed densities. This approach produces uncertainty estimates without the need to sample during inference, such as in Monte Carlo Dropout, which makes our method also efficient.

The Wasserstein distance has become increasingly important in machine learning and deep learning. Despite its popularity, the Wasserstein distance is hard to approximate because of the curse of dimensionality. A recently proposed approach to alleviate the curse of dimensionality is to project the sampled data from the high dimensional probability distribution onto a lower-dimensional subspace, and then compute the Wasserstein distance between the projected data. However, this approach requires to solve a max-min problem over the Stiefel manifold, which is very challenging in practice. The only existing work that solves this problem directly is the RGAS (Riemannian Gradient Ascent with Sinkhorn Iteration) algorithm, which requires to solve an entropy-regularized optimal transport problem in each iteration, and thus can be costly for large-scale problems. In this paper, we propose a Riemannian block coordinate descent (RBCD) method to solve this problem, which is based on a novel reformulation of the regularized max-min problem over the Stiefel manifold. We show that the complexity of arithmetic operations for RBCD to obtain an $\epsilon$-stationary point is $O(\epsilon^{-3})$. This significantly improves the corresponding complexity of RGAS, which is $O(\epsilon^{-12})$. Moreover, our RBCD has very low per-iteration complexity, and hence is suitable for large-scale problems. Numerical results on both synthetic and real datasets demonstrate that our method is more efficient than existing methods, especially when the number of sampled data is very large.

Majorly classical Active Learning (AL) approach usually uses statistical theory such as entropy and margin to measure instance utility, however it fails to capture the data distribution information contained in the unlabeled data. This can eventually cause the classifier to select outlier instances to label. Meanwhile, the loss associated with mislabeling an instance in a typical classification task is much higher than the loss associated with the opposite error. To address these challenges, we propose a Cost-Based Bugdet Active Learning (CBAL) which considers the classification uncertainty as well as instance diversity in a population constrained by a budget. A principled approach based on the min-max is considered to minimize both the labeling and decision cost of the selected instances, this ensures a near-optimal results with significantly less computational effort. Extensive experimental results show that the proposed approach outperforms several state-of -the-art active learning approaches.

Neural networks have shown tremendous potential for reconstructing highresolution images in inverse problems. The non-convex and opaque nature of neural networks, however, hinders their utility in sensitive applications such as medical imaging. To cope with this challenge, this paper advocates a convex duality framework that makes a two-layer fully-convolutional ReLU denoising network amenable to convex optimization. The convex dual network not only offers the optimum training with convex solvers, but also facilitates interpreting training and prediction. In particular, it implies training neural networks with weight decay regularization induces path sparsity while the prediction is piecewise linear filtering. A range of experiments with MNIST and fastMRI datasets confirm the efficacy of the dual network optimization problem. In the age of AI, image reconstruction has witnessed a paradigm shift that impacts several applications ranging from natural image super-resolution to medical imaging.

Generalization in deep learning has been the topic of much recent theoretical and empirical research. Here we introduce desiderata for techniques that predict generalization errors for deep learning models in supervised learning. Such predictions should 1) scale correctly with data complexity; 2) scale correctly with training set size; 3) capture differences between architectures; 4) capture differences between optimization algorithms; 5) be quantitatively not too far from the true error (in particular, be non-vacuous); 6) be efficiently computable; and 7) be rigorous. We focus on generalization error upper bounds, and introduce a categorisation of bounds depending on assumptions on the algorithm and data. We review a wide range of existing approaches, from classical VC dimension to recent PAC-Bayesian bounds, commenting on how well they perform against the desiderata. We next use a function-based picture to derive a marginal-likelihood PAC-Bayesian bound. This bound is, by one definition, optimal up to a multiplicative constant in the asymptotic limit of large training sets, as long as the learning curve follows a power law, which is typically found in practice for deep learning problems. Extensive empirical analysis demonstrates that our marginal-likelihood PAC-Bayes bound fulfills desiderata 1-3 and 5. The results for 6 and 7 are promising, but not yet fully conclusive, while only desideratum 4 is currently beyond the scope of our bound. Finally, we comment on why this function-based bound performs significantly better than current parameter-based PAC-Bayes bounds.

Contrastive divergence (CD) learning is a classical method for fitting unnormalized statistical models to data samples. Despite its wide-spread use, the convergence properties of this algorithm are still not well understood. The main source of difficulty is an unjustified approximation which has been used to derive the gradient of the loss. In this paper, we present an alternative derivation of CD that does not require any approximation and sheds new light on the objective that is actually being optimized by the algorithm. Specifically, we show that CD is an adversarial learning procedure, where a discriminator attempts to classify whether a Markov chain generated from the model has been time-reversed. Thus, although predating generative adversarial networks (GANs) by more than a decade, CD is, in fact, closely related to these techniques. Our derivation settles well with previous observations, which have concluded that CD's update steps cannot be expressed as the gradients of any fixed objective function. In addition, as a byproduct, our derivation reveals a simple correction that can be used as an alternative to Metropolis-Hastings rejection, which is required when the underlying Markov chain is inexact (e.g. when using Langevin dynamics with a large step).

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