Evolution strategies (ES), as a family of black-box optimization algorithms, recently emerge as a scalable alternative to reinforcement learning (RL) approaches such as Q-learning or policy gradient, and are much faster when many central processing units (CPUs) are available due to better parallelization. In this paper, we propose a systematic incremental learning method for ES in dynamic environments. The goal is to adjust previously learned policy to a new one incrementally whenever the environment changes. We incorporate an instance weighting mechanism with ES to facilitate its learning adaptation, while retaining scalability of ES. During parameter updating, higher weights are assigned to instances that contain more new knowledge, thus encouraging the search distribution to move towards new promising areas of parameter space. We propose two easy-to-implement metrics to calculate the weights: instance novelty and instance quality. Instance novelty measures an instance's difference from the previous optimum in the original environment, while instance quality corresponds to how well an instance performs in the new environment. The resulting algorithm, Instance Weighted Incremental Evolution Strategies (IW-IES), is verified to achieve significantly improved performance on a suite of robot navigation tasks. This paper thus introduces a family of scalable ES algorithms for RL domains that enables rapid learning adaptation to dynamic environments.

Explainable artificial intelligence (XAI) can help foster trust in and acceptance of intelligent and autonomous systems. Moreover, understanding the motivation for an agent's behavior results in better and more successful collaborations between robots and humans. However, not only can humans benefit from a robot's explanation but the robot itself can also benefit from explanations given to him. Currently, most attention is paid to explaining deep neural networks and black-box models. However, a lot of these approaches are not applicable to humanoid robots. Therefore, in this position paper, current problems with adapting XAI methods to explainable neurorobotics are described. Furthermore, NICO, an open-source humanoid robot platform, is introduced and how the interaction of intrinsic explanations by the robot itself and extrinsic explanations provided by the environment enable efficient robotic behavior.

We present a simple yet powerful implicit neural function that can represent and render arbitrarily complex 3D scenes in a single network only from 2D observations. The function models 3D scenes as a general radiance field, which takes a set of posed 2D images as input, constructs an internal representation for each 3D point of the scene, and renders the corresponding appearance and geometry of any 3D point viewing from an arbitrary angle. The key to our approach is to explicitly integrate the principle of multi-view geometry to obtain the internal representations from observed 2D views, guaranteeing the learned implicit representations meaningful and multi-view consistent. In addition, we introduce an effective neural module to learn general features for each pixel in 2D images, allowing the constructed internal 3D representations to be remarkably general as well. Extensive experiments demonstrate the superiority of our approach.

Neural networks in biological systems consist of various Recently, Deep Learning (DL) systems have been very kinds of neurons, each performing a specific function. Role of successful in solving complex problems like image specific neurons depends on various factors like their recognition, robotic motion control and natural language structure, position in the network, connectivity, dendrite processing. Some of the popular DL systems include the density, length of axon, neurotransmitters and inhibitors used, Convolutional Neural Networks (CNNs) [1] [2] for image chemical receptors and gateways, type of input and output, recognition, Long Short-Term Memory (LSTM) [3] for timing response and a plethora of other factors. It is therefore robotic control and time series prediction, Generative important to explore various neural architectures to move Adversarial Networks (GANs) [4] for image synthesis etc. towards realization of anything closer to Artificial General Deep Learning systems are computationally intensive.

In the computational detection of cyberbullying, existing work largely focused on building generic classifiers that rely exclusively on text analysis of social media sessions. Despite their empirical success, we argue that a critical missing piece is the model explainability, i.e., why a particular piece of media session is detected as cyberbullying. In this paper, therefore, we propose a novel deep model, HEterogeneous Neural Interaction Networks (HENIN), for explainable cyberbullying detection. HENIN contains the following components: a comment encoder, a post-comment co-attention sub-network, and session-session and post-post interaction extractors. Extensive experiments conducted on real datasets exhibit not only the promising performance of HENIN, but also highlight evidential comments so that one can understand why a media session is identified as cyberbullying.

Continual (sequential) training and multitask (simultaneous) training are often attempting to solve the same overall objective: to find a solution that performs well on all considered tasks. The main difference is in the training regimes, where continual learning can only have access to one task at a time, which for neural networks typically leads to catastrophic forgetting. That is, the solution found for a subsequent task does not perform well on the previous ones anymore. However, the relationship between the different minima that the two training regimes arrive at is not well understood. Is there a local structure that could explain the difference in performance achieved by the two different schemes? Motivated by recent work showing that different minima of the same task are typically connected by very simple curves of low error, we investigate whether multitask and continual solutions are similarly connected. We empirically find that indeed such connectivity can be reliably achieved and, more interestingly, it can be done by a linear path, conditioned on having the same initialization for both. We thoroughly analyze this observation and discuss its significance for the continual learning process. Furthermore, we exploit this finding to propose an effective algorithm that constrains the sequentially learned minima to behave as the multitask solution. One major consequence of learning multiple tasks in a continual learning (CL) setting -- where tasks are learned sequentially, and the model can only have access to one task at a time -- is catastrophic forgetting (McCloskey & Cohen, 1989).

Identifying and locating diseases in chest X-rays are very challenging, due to the low visual contrast between normal and abnormal regions, and distortions caused by other overlapping tissues. An interesting phenomenon is that there exist many similar structures in the left and right parts of the chest, such as ribs, lung fields and bronchial tubes. This kind of similarities can be used to identify diseases in chest X-rays, according to the experience of broad-certificated radiologists. Aimed at improving the performance of existing detection methods, we propose a deep end-to-end module to exploit the contralateral context information for enhancing feature representations of disease proposals. First of all, under the guidance of the spine line, the spatial transformer network is employed to extract local contralateral patches, which can provide valuable context information for disease proposals. Then, we build up a specific module, based on both additive and subtractive operations, to fuse the features of the disease proposal and the contralateral patch. Our method can be integrated into both fully and weakly supervised disease detection frameworks. It achieves 33.17 AP50 on a carefully annotated private chest X-ray dataset which contains 31,000 images. Experiments on the NIH chest X-ray dataset indicate that our method achieves state-of-the-art performance in weakly-supervised disease localization.

Code comment generation which aims to automatically generate natural language descriptions for source code, is a crucial task in the field of automatic software development. Traditional comment generation methods use manually-crafted templates or information retrieval (IR) techniques to generate summaries for source code. In recent years, neural network-based methods which leveraged acclaimed encoder-decoder deep learning framework to learn comment generation patterns from a large-scale parallel code corpus, have achieved impressive results. However, these emerging methods only take code-related information as input. Software reuse is common in the process of software development, meaning that comments of similar code snippets are helpful for comment generation. Inspired by the IR-based and template-based approaches, in this paper, we propose a neural comment generation approach where we use the existing comments of similar code snippets as exemplars to guide comment generation. Specifically, given a piece of code, we first use an IR technique to retrieve a similar code snippet and treat its comment as an exemplar. Then we design a novel seq2seq neural network that takes the given code, its AST, its similar code, and its exemplar as input, and leverages the information from the exemplar to assist in the target comment generation based on the semantic similarity between the source code and the similar code. We evaluate our approach on a large-scale Java corpus, which contains about 2M samples, and experimental results demonstrate that our model outperforms the state-of-the-art methods by a substantial margin.

The goal of text generation is to make machines express in human language. It is one of the most important yet challenging tasks in natural language processing (NLP). Since 2014, various neural encoder-decoder models pioneered by Seq2Seq have been proposed to achieve the goal by learning to map input text to output text. However, the input text alone often provides limited knowledge to generate the desired output, so the performance of text generation is still far from satisfaction in many real-world scenarios. To address this issue, researchers have considered incorporating various forms of knowledge beyond the input text into the generation models. This research direction is known as knowledge-enhanced text generation. In this survey, we present a comprehensive review of the research on knowledge enhanced text generation over the past five years. The main content includes two parts: (i) general methods and architectures for integrating knowledge into text generation; (ii) specific techniques and applications according to different forms of knowledge data. This survey can have broad audiences, researchers and practitioners, in academia and industry.

Grounding language in contextual information is crucial for fine-grained natural language understanding. One important task that involves grounding contextual modifiers is color generation. Given a reference color "green", and a modifier "bluey", how does one generate a color that could represent "bluey green"? We propose a computational pragmatics model that formulates this color generation task as a recursive game between speakers and listeners. In our model, a pragmatic speaker reasons about the inferences that a listener would make, and thus generates a modified color that is maximally informative to help the listener recover the original referents. In this paper, we show that incorporating pragmatic information provides significant improvements in performance compared with other state-of-the-art deep learning models where pragmatic inference and flexibility in representing colors from a large continuous space are lacking. Our model has an absolute 98% increase in performance for the test cases where the reference colors are unseen during training, and an absolute 40% increase in performance for the test cases where both the reference colors and the modifiers are unseen during training.