For a robot to perform complex manipulation tasks, it is necessary for it to have a good grasping ability. However, vision based robotic grasp detection is hindered by the unavailability of sufficient labelled data. Furthermore, the application of semi-supervised learning techniques to grasp detection is under-explored. In this paper, a semi-supervised learning based grasp detection approach has been presented, which models a discrete latent space using a Vector Quantized Variational AutoEncoder (VQ-VAE). To the best of our knowledge, this is the first time a Variational AutoEncoder (VAE) has been applied in the domain of robotic grasp detection. The VAE helps the model in generalizing beyond the Cornell Grasping Dataset (CGD) despite having a limited amount of labelled data by also utilizing the unlabelled data. This claim has been validated by testing the model on images, which are not available in the CGD. Along with this, we augment the Generative Grasping Convolutional Neural Network (GGCNN) architecture with the decoder structure used in the VQ-VAE model with the intuition that it should help to regress in the vector-quantized latent space. Subsequently, the model performs significantly better than the existing approaches which do not make use of unlabelled images to improve the grasp.

Anna Sergeevna Bosman Department of Computer Science University of Pretoria Pretoria, South Africa anna.bosman@up.ac.za Abstract --Saliency maps are often used in computer vision to provide intuitive interpretations of what input regions a model has used to produce a specific prediction. A number of approaches to saliency map generation are available, but most require access to model parameters. This work proposes an approach for saliency map generation for black-box models, where no access to model parameters is available, using a Bayesian optimisation sampling method. The approach aims to find the global salient image region responsible for a particular (black-box) model's prediction. This is achieved by a sampling-based approach to model perturbations that seeks to localise salient regions of an image to the black-box model. Results show that the proposed approach to saliency map generation outperforms grid-based perturbation approaches, and performs similarly to gradient-based approaches which require access to model parameters. I NTRODUCTION Deep learning (DL) techniques have become a standard approach in computer vision. Specifically, the convolutional neural network (CNN) architecture has shown exceptional performance, achieving results comparable to human performance on image recognition tasks [1]-[3]. As a result, the CNN models are often deployed in real life as efficient black-box tools.

Commonly researchers need to run deep learning models repeatedlyto understand the variation in performance. The reruns will commonly be done using new seeds for the creation o f minibatches and for initialisation. We show here that for ResNets in TensorFlow Keras running on GPU s the variation caused by these sources of noise is dominated by that coming from the intrinsic non-d eterminism of GPUs themselves. While the existence of GPU non-determinism is well-known, the scale of its e ffect is perhaps less well understood - especially in the context of contemporary machine learning algorithm s. First we explain the source of this GPU-induced variability, across pa ckages and operating systems. Then we study the effects of GPU non-determinism on standard ResNet a rchitectures. To isolate the effect of GPU non-determinism we held constant the sources of randomness tha t effect the training of a ResNet other than GPU non-determinism: initial parameter weights and the ordering of training minibatches.

Predicting stochastic cellular dynamics as emerging from the mechanistic models of molecular interactions is a long-standing challenge in systems biology: low-level chemical reaction network (CRN) models give raise to a highly-dimensional continuous-time Markov chain (CTMC) which is computationally demanding and often prohibitive to analyse in practice. A recently proposed abstraction method uses deep learning to replace this CTMC with a discrete-time continuous-space process, by training a mixture density deep neural network with traces sampled at regular time intervals (which can obtained either by simulating a given CRN or as time-series data from experiment). The major advantage of such abstraction is that it produces a computational model that is dramatically cheaper to execute, while preserving the statistical features of the training data. In general, the abstraction accuracy improves with the amount of training data. However, depending on a CRN, the overall quality of the method -- the efficiency gain and abstraction accuracy -- will also depend on the choice of neural network architecture given by hyper-parameters such as the layer types and connections between them. As a consequence, in practice, the modeller would have to take care of finding the suitable architecture manually, for each given CRN, through a tedious and time-consuming trial-and-error cycle. In this paper, we propose to further automatise deep abstractions for stochastic CRNs, through learning the optimal neural network architecture along with learning the transition kernel of the abstract process. Automated search of the architecture makes the method applicable directly to any given CRN, which is time-saving for deep learning experts and crucial for non-specialists. We implement the method and demonstrate its performance on a number of representative CRNs with multi-modal emergent phenotypes.

With the recent success and popularity of pre-trained language models (LMs) in natural language processing, there has been a rise in efforts to understand their inner workings. In line with such interest, we propose a novel method that assists us in investigating the extent to which pre-trained LMs capture the syntactic notion of constituency. Our method provides an effective way of extracting constituency trees from the pre-trained LMs without training. In addition, we report intriguing findings in the induced trees, including the fact that some pre-trained LMs outperform other approaches in correctly demarcating adverb phrases in sentences.

Emotion plays an essential role in human-to-human communication, enabling us to convey feelings such as happiness, frustration, and sincerity. While modern speech technologies rely heavily on speech recognition and natural language understanding for speech content understanding, the investigation of vocal expression is increasingly gaining attention. Key considerations for building robust emotion models include characterizing and improving the extent to which a model, given its training data distribution, is able to generalize to unseen data conditions. This work investigated a long-shot-term memory (LSTM) network and a time convolution - LSTM (TC-LSTM) to detect primitive emotion attributes such as valence, arousal, and dominance, from speech. It was observed that training with multiple datasets and using robust features improved the concordance correlation coefficient (CCC) for valence, by 30\% with respect to the baseline system. Additionally, this work investigated how emotion primitives can be used to detect categorical emotions such as happiness, disgust, contempt, anger, and surprise from neutral speech, and results indicated that arousal, followed by dominance was a better detector of such emotions.

Hypercomplex-valued neural networks, including quaternion-valued neural networks, can treat multidimensional data as a single entity. In this paper, we present the quaternion-valued recurrent projection neural networks (QRPNNs). Briefly, QRPNNs are obtained by combining the non-local projection learning with the quaternion-valued recurrent correlation neural network (QRCNNs). We show that QRPNNs overcome the crosstalk problem of QRCNNs. Thus, they are appropriate to implement associative memories. Furthermore, computational experiments reveal that QRPNNs exhibit greater storage capacity and noise tolerance than their corresponding QRCNNs. Introduction The Hopfield neural network, developed in the early 1980s, is an important and widely-known recurrent neural network which can be used to implement associative memories [1, 2]. Successful applications of the Hopfield network include control [3, 4], computer vision and image processing [5, 6], classification [7, 8], and optimization [2, 9, 10]. Despite its many successful applications, the Hopfield network may suffer from a very low storage capacity when used to implement associative memories. Precisely, due to crosstalk between the stored items, the Hebbian learning adopted by Hopfield in his original work allows for the storage of approximately n/(2 ln n) items, where n denotes the length of the stored vectors [11]. For example, Personnaz et al. [12] as well as Kanter and Sompolinsky [13] proposed the projection rule to determine the synaptic weights of the Hopfield networks. The projection rule increases the storage capacity of the Hopfield network to n 1 items. Another simple but effective improvement on the storage capacity of the original Hopfield networks was achieved by Chiueh and Goodman's recurrent correlation neural networks (RCNNs) [14, 15]. Briefly, an RCNN is obtained by decomposing the Hopfield network with Hebbian learning into a two layer recurrent neural network.

Finding anomalous subsequence in a long time series is a very important but difficult problem. Existing state-of-the-art methods have been focusing on searching for the subsequence that is the most dissimilar to the rest of the subsequences; however, they do not take into account the background patterns that contain the anomalous candidates. As a result, such approaches are likely to miss local anomalies. We introduce a new definition named \textit{semantic discord}, which incorporates the context information from larger subsequences containing the anomaly candidates. We propose an efficient algorithm with a derived lower bound that is up to 3 orders of magnitude faster than the brute force algorithm in real world data. We demonstrate that our method significantly outperforms the state-of-the-art methods in locating anomalies by extensive experiments. We further explain the interpretability of semantic discord.

Cosmic microwave background radiation (CMB) is critical to the understanding of the early universe and precise estimation of cosmological constants. Due to the contamination of thermal dust noise in the galaxy, the CMB map that is an image on the two-dimensional sphere has missing observations, mainly concentrated on the equatorial region. The noise of the CMB map has a significant impact on the estimation precision for cosmological parameters. Inpainting the CMB map can effectively reduce the uncertainty of parametric estimation. In this paper, we propose a deep learning-based variational autoencoder --- CosmoVAE, to restoring the missing observations of the CMB map. The input and output of CosmoVAE are square images. To generate training, validation, and test data sets, we segment the full-sky CMB map into many small images by Cartesian projection. CosmoVAE assigns physical quantities to the parameters of the VAE network by using the angular power spectrum of the Gaussian random field as latent variables. CosmoVAE adopts a new loss function to improve the learning performance of the model, which consists of $\ell_1$ reconstruction loss, Kullback-Leibler divergence between the posterior distribution of encoder network and the prior distribution of latent variables, perceptual loss, and total-variation regularizer. The proposed model achieves state of the art performance for Planck \texttt{Commander} 2018 CMB map inpainting.

Improving sparsity of deep neural networks (DNNs) is essential for network compression and has drawn much attention. In this work, we disclose a harmful sparsifying process called filter collapse, which is common in DNNs with batch normalization (BN) and rectified linear activation functions (e.g. ReLU, Leaky ReLU). It occurs even without explicit sparsity-inducing regularizations such as $L_1$. This phenomenon is caused by the normalization effect of BN, which induces a non-trainable region in the parameter space and reduces the network capacity as a result. This phenomenon becomes more prominent when the network is trained with large learning rates (LR) or adaptive LR schedulers, and when the network is finetuned. We analytically prove that the parameters of BN tend to become sparser during SGD updates with high gradient noise and that the sparsifying probability is proportional to the square of learning rate and inversely proportional to the square of the scale parameter of BN. To prevent the undesirable collapsed filters, we propose a simple yet effective approach named post-shifted BN (psBN), which has the same representation ability as BN while being able to automatically make BN parameters trainable again as they saturate during training. With psBN, we can recover collapsed filters and increase the model performance in various tasks such as classification on CIFAR-10 and object detection on MS-COCO2017.