Brooks, the Chairman, and CTO of Rethink Robotics has stated that much of the misunderstanding has come from the overhyping of certain parts of AI, such as engines beating out professional players in video games like Dota 2 (OpenAI) and board games like Go. "An AI system can play chess fantastically, but it doesn't even know that it's playing a game," says Brooks, CTO of Rethink Robotics. When you see how a program learned something that a human can learn, you make the mistake of thinking it has the richness of understanding that you would have." Even then, for example, it took many attempts (around 459 attempts and 10, 000 hours of'AI' simulated gameplay) for OpenAI to beat a top e-sports team in a game of Dota 2. In the end, machine learning is usually a mundane task of using data to form patterns or understandings for the AI to do a specified job. To give an example, for computer vision, data needs to be'labeled'. This could be identifying cars within a photo (see the example below with vehicles).

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In this paper, a multi-task reinforcement learning-based mobile manipulation control framework is proposed to achieve general dynamic object tracking and grasping. Several basic types of dynamic trajectories are chosen as the task training set. To improve the policy generalization in practice, random noise and dynamics randomization are introduced during the training process. Extensive experiments show that our policy trained can adapt to unseen random dynamic trajectories with about 0.1m tracking error and 75\% grasping success rate of dynamic objects. The trained policy can also be successfully deployed on a real mobile manipulator.

The lack of interpretability in current deep learning models causes serious concerns as they are extensively used for various life-critical applications. Hence, it is of paramount importance to develop interpretable deep learning models. In this paper, we consider the problem of blind deconvolution and propose a novel model-aware deep architecture that allows for the recovery of both the blur kernel and the sharp image from the blurred image. In particular, we propose the Deep Unfolded Richardson-Lucy (Deep-URL) framework -- an interpretable deep-learning architecture that can be seen as an amalgamation of classical estimation technique and deep neural network, and consequently leads to improved performance. Our numerical investigations demonstrate significant improvement compared to state-of-the-art algorithms.

Ride-hailing demand prediction is an important prediction task in traffic prediction. An accurate prediction model can help the platform pre-allocate resources in advance to improve vehicle utilization and reduce the wait-time. This task is challenging due to the complicated spatial-temporal relationships among regions. Most existing methods mainly focus on Euclidean correlations among regions. Though there are some methods that use Graph Convolutional Networks (GCN) to capture the non-Euclidean pair-wise correlations, they only rely on the static topological structure among regions. Besides, they only consider fixed graph structures at different time intervals. In this paper, we propose a novel deep learning method called Spatial-Temporal Dynamic Graph Attention Network (STDGAT) to predict the taxi demand of multiple connected regions in the near future. The method uses Graph Attention Network (GAT), which achieves the adaptive allocation of weights for other regions, to capture the spatial information. Furthermore, we implement a Dynamic Graph Attention mode to capture the different spatial relationships at different time intervals based on the actual commuting relationships. Extensive experiments are conducted on a real-world large scale ride-hailing demand dataset, the results demonstrate the superiority of our method over existing methods.

The predominant approach to open-domain dialog generation relies on end-to-end training of neural models on chat datasets. However, this approach provides little insight as to what these models learn (or do not learn) about engaging in dialog. In this study, we analyze the internal representations learned by neural open-domain dialog systems and evaluate the quality of these representations for learning basic conversational skills. Our results suggest that standard open-domain dialog systems struggle with answering questions, inferring contradiction, and determining the topic of conversation, among other tasks. We also find that the dyadic, turn-taking nature of dialog is not fully leveraged by these models. By exploring these limitations, we highlight the need for additional research into architectures and training methods that can better capture high-level information about dialog.

Deep reinforcement learning methods have achieved state-of-the-art results in a variety of challenging, high-dimensional domains ranging from video games to locomotion. The key to success has been the use of deep neural networks used to approximate the policy and value function. Yet, substantial tuning of weights is required for good results. We instead use randomized function approximation. Such networks are not only cheaper than training fully connected networks but also improve the numerical performance. We present \texttt{RANDPOL}, a generalized policy iteration algorithm for MDPs with continuous state and action spaces. Both the policy and value functions are represented with randomized networks. We also give finite time guarantees on the performance of the algorithm. Then we show the numerical performance on challenging environments and compare them with deep neural network based algorithms.

Active inference is a Bayesian framework for understanding biological intelligence. The underlying theory brings together perception and action under one single imperative: minimizing free energy. However, despite its theoretical utility in explaining intelligence, computational implementations have been restricted to low-dimensional and idealized situations. In this paper, we present a neural architecture for building deep active inference agents operating in complex, continuous state-spaces using multiple forms of Monte-Carlo (MC) sampling. For this, we introduce a number of techniques, novel to active inference. These include: i) selecting free-energy-optimal policies via MC tree search, ii) approximating this optimal policy distribution via a feed-forward `habitual' network, iii) predicting future parameter belief updates using MC dropouts and, finally, iv) optimizing state transition precision (a high-end form of attention). Our approach enables agents to learn environmental dynamics efficiently, while maintaining task performance, in relation to reward-based counterparts. We illustrate this in a new toy environment, based on the dSprites data-set, and demonstrate that active inference agents automatically create disentangled representations that are apt for modeling state transitions. In a more complex Animal-AI environment, our agents (using the same neural architecture) are able to simulate future state transitions and actions (i.e., plan), to evince reward-directed navigation - despite temporary suspension of visual input. These results show that deep active inference - equipped with MC methods - provides a flexible framework to develop biologically-inspired intelligent agents, with applications in both machine learning and cognitive science.

Real world multi-agent tasks often involve varying types and quantities of agents and non-agent entities. Agents frequently do not know a priori how many other agents and non-agent entities they will need to interact with in order to complete a given task, requiring agents to generalize across a combinatorial number of task configurations with each potentially requiring different strategies. In this work, we tackle the problem of multi-agent reinforcement learning (MARL) in such dynamic scenarios. We hypothesize that, while the optimal behaviors in these scenarios with varying quantities and types of agents/entities are diverse, they may share common patterns within sub-teams of agents that are combined to form team behavior. As such, we propose a method that can learn these subgroup relationships and how they can be combined, ultimately improving knowledge sharing and generalization across scenarios. This method, Attentive-Imaginative QMIX, extends QMIX for dynamic MARL in two ways: 1) an attention mechanism that enables model sharing across variable sized scenarios and 2) a training objective that improves learning across scenarios with varying combinations of agent/entity types by factoring the value function into imagined sub-scenarios. We validate our approach on both a novel grid-world task as well as a version of the StarCraft Multi-Agent Challenge [28] minimally modified for the dynamic scenario setting.

As a certified defensive technique, randomized smoothing has received considerable attention due to its scalability to large datasets and neural networks. However, several important questions remain unanswered, such as (i) whether the Gaussian mechanism is an appropriate option for certifying $\ell_2$-norm robustness, and (ii) whether there is an appropriate randomized (smoothing) mechanism to certify $\ell_\infty$-norm robustness. To shed light on these questions, we argue that the main difficulty is how to assess the appropriateness of each randomized mechanism. In this paper, we propose a generic framework that connects the existing frameworks in \cite{lecuyer2018certified, li2019certified}, to assess randomized mechanisms. Under our framework, for a randomized mechanism that can certify a certain extent of robustness, we define the magnitude of its required additive noise as the metric for assessing its appropriateness. We also prove lower bounds on this metric for the $\ell_2$-norm and $\ell_\infty$-norm cases as the criteria for assessment. Based on our framework, we assess the Gaussian and Exponential mechanisms by comparing the magnitude of additive noise required by these mechanisms and the lower bounds (criteria). We first conclude that the Gaussian mechanism is indeed an appropriate option to certify $\ell_2$-norm robustness. Surprisingly, we show that the Gaussian mechanism is also an appropriate option for certifying $\ell_\infty$-norm robustness, instead of the Exponential mechanism. Finally, we generalize our framework to $\ell_p$-norm for any $p\geq2$. Our theoretical findings are verified by evaluations on CIFAR10 and ImageNet.

Mobile network operators store an enormous amount of information like log files that describe various events and users' activities. Analysis of these logs might be used in many critical applications such as detecting cyber-attacks, finding behavioral patterns of users, security incident response, network forensics, etc. In a cellular network Call Detail Records (CDR) is one type of such logs containing metadata of calls and usually includes valuable information about contact such as the phone numbers of originating and receiving subscribers, call duration, the area of activity, type of call (SMS or voice call) and a timestamp. With anomaly detection, it is possible to determine abnormal reduction or increment of network traffic in an area or for a particular person. This paper's primary goal is to study subscribers' behavior in a cellular network, mainly predicting the number of calls in a region and detecting anomalies in the network traffic. In this paper, a new hybrid method is proposed based on various anomaly detection methods such as GARCH, K-means, and Neural Network to determine the anomalous data. Moreover, we have discussed the possible causes of such anomalies.