MANGA: Method Agnostic Neural-policy Generalization and Adaptation Homanga Bharadhwaj 1, Shoichiro Y amaguchi 2, and Shin-ichi Maeda 2 Abstract -- In this paper we target the problem of transferring policies across multiple environments with different dynamics parameters and motor noise variations, by introducing a framework that decouples the processes of policy learning and system identification. Efficiently transferring learned policies to an unknown environment with changes in dynamics configurations in the presence of motor noise is very important for operating robots in the real world, and our work is a novel attempt in that direction. We introduce MANGA: Method Agnostic Neural-policy Generalization and Adaptation, that trains dynamics conditioned policies and efficiently learns to estimate the dynamics parameters of the environment given off-policy state-transition rollouts in the environment. Our scheme is agnostic to the type of training method used - both reinforcement learning (RL) and imitation learning (IL) strategies can be used. We demonstrate the effectiveness of our approach by experimenting with four different MuJoCo agents and comparing against previously proposed transfer baselines. I NTRODUCTION One of the most well recognized goals of robotics research is to develop autonomous agents that can perform a wide variety of tasks in various complex environments. Recently numerous deep reinforcement learning (RL) and imitation learning (IL) based approaches have sought to achieve good performance in complex robotic tasks through minimal supervision. However, a major concern in experimenting with the real environment directly is safety, both of the robot and of the environment. Safety concerns and also the issue of reproducibility has drawn robotics research extensively to simulation environments.

Healthcare data continues to flourish yet a relatively small portion, mostly structured, is being utilized effectively for predicting clinical outcomes. The rich subjective information available in unstructured clinical notes can possibly facilitate higher discrimination but tends to be under-utilized in mortality prediction. This work attempts to assess the gain in performance when multiple notes that have been minimally preprocessed are used as an input for prediction. A hierarchical architecture consisting of both convolutional and recurrent layers is used to concurrently model the different notes compiled in an individual hospital stay. This approach is evaluated on predicting in-hospital mortality on the MIMIC-III dataset. On comparison to approaches utilizing structured data, it achieved higher metrics despite requiring less cleaning and preprocessing. This demonstrates the potential of unstructured data in enhancing mortality prediction and signifies the need to incorporate more raw unstructured data into current clinical prediction methods.

Applying reinforcement learning (RL) to physical systems presents notable challenges, given requirements regarding sample efficiency, safety, and physical constraints compared to simulated environments. To enable transfer of policies trained in simulation, randomising simulation parameters leads to more robust policies, but also significantly extends training time. In this paper, we exploit access to privileged information (such as environment states) often available in simulation, in order to improve and accelerate learning over randomised environments. We introduce Attention Privileged Reinforcement Learning (APRiL), which equips the agent with an attention mechanism and makes use of state information in simulation, learning to align attention between state- and image-based policies while additionally sharing generated data. During deployment we can apply the image-based policy to remove the requirement of access to additional information. We experimentally demonstrate accelerated and more robust learning on a number of diverse domains, leading to improved final performance for environments both within and outside the training distribution.

The recent (2019-02) demonstration of the power of huge language models such as GPT-2 to memorise the answers to factoid questions raises questions about the extent to which knowledge is being embedded directly within these large models. This short paper describes an architecture through which much smaller models can also answer such questions - by making use of 'raw' external knowledge. The contribution of this work is that the methods presented here rely on unsupervised learning techniques, complementing the unsupervised training of the Language Model. The goal of this line of research is to be able to add knowledge explicitly, without extensive training.

Dialogue response generation (DRG) is a critical component of task-oriented dialogue systems (TDSs). Its purpose is to generate proper natural language responses given some context, e.g., historical utterances, system states, etc. State-of-the-art work focuses on how to better tackle DRG in an end-to-end way. Typically, such studies assume that each token is drawn from a single distribution over the output vocabulary, which may not always be optimal. Responses vary greatly with different intents, e.g., domains, system actions. We propose a novel mixture-of-generators network (MoGNet) for DRG, where we assume that each token of a response is drawn from a mixture of distributions. MoGNet consists of a chair generator and several expert generators. Each expert is specialized for DRG w.r.t. a particular intent. The chair coordinates multiple experts and combines the output they have generated to produce more appropriate responses. We propose two strategies to help the chair make better decisions, namely, a retrospective mixture-of-generators (RMoG) and prospective mixture-of-generators (PMoG). The former only considers the historical expert-generated responses until the current time step while the latter also considers possible expert-generated responses in the future by encouraging exploration. In order to differentiate experts, we also devise a global-and-local (GL) learning scheme that forces each expert to be specialized towards a particular intent using a local loss and trains the chair and all experts to coordinate using a global loss. We carry out extensive experiments on the MultiWOZ benchmark dataset. MoGNet significantly outperforms state-of-the-art methods in terms of both automatic and human evaluations, demonstrating its effectiveness for DRG.

--The reduction of metal artifacts in computed tomography (CT) images, specifically for strong artifacts generated from multiple metal objects, is a challenging issue in medical imaging research. Although there have been some studies on supervised metal artifact reduction through the learning of synthesized artifacts, it is difficult for simulated artifacts to cover the complexity of the real physical phenomena that may be observed in X-ray propagation. In this paper, we introduce metal artifact reduction methods based on an unsupervised volume-to-volume translation learned from clinical CT images. We construct three-dimensional adversarial nets with a regularized loss function designed for metal artifacts from multiple dental fillings. The results of experiments using 915 CT volumes from real patients demonstrate that the proposed framework has an outstanding capacity to reduce strong artifacts and to recover underlying missing voxels, while preserving the anatomical features of soft tissues and tooth structures from the original images. EDICAL procedures such as diagnosis, surgical planning, and radiotherapy can be seriously degraded by the presence of metal artifacts in computed tomography (CT) imaging. Metal objects such as dental fillings, fixation devices, and other electric instruments implanted in patients' bodies inhibit X-ray propagation [1], preventing accurate calculation of the CT values during image reconstruction and yielding dark bands or streak artifacts in the CT images [2][3]. To correct the images, missing CT values for the underlying anatomical features must be compensated at the same time as the artifacts are removed. Although doctors make clinical efforts to manually collect such artifacts, this is a labor-intensive and time-consuming task. M. Nakao and T. Matsuda are with the Graduate School of Informatics, Kyoto University, Y oshida-Honmachi, Sakyo, Kyoto 606-8501, JAP AN; email: megumi@i.kyoto-u.ac.jp.

-- Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for cameras and false depth readings for range sensors, especially RGB-D cameras. T o tackle these challenges, we propose a novel adaptive fusion approach for object detection that learns weighting the predictions of different sensor modalities in an online manner . Our approach is based on a mixture of convolutional neural network (CNN) experts and incorporates multiple modalities including appearance, depth and motion. We test our method in extensive robot experiments, in which we detect people in a combined indoor and outdoor scenario from RGB-D data, and we demonstrate that our method can adapt to harsh lighting changes and severe camera motion blur . Furthermore, we present a new RGB-D dataset for people detection in mixed in-and outdoor environments, recorded with a mobile robot. I. INTRODUCTION Most autonomous robots operating in complex environments are equipped with different sensors to perceive their surroundings.

Machine learning and deep learning have been widely embraced, and even more widely misunderstood. In this article, I'd like to step back and explain both machine learning and deep learning in basic terms, discuss some of the most common machine learning algorithms, and explain how those algorithms relate to the other pieces of the puzzle of creating predictive models from historical data. Recall that machine learning is a class of methods for automatically creating models from data. Machine learning algorithms are the engines of machine learning, meaning it is the algorithms that turn a data set into a model. Which kind of algorithm works best (supervised, unsupervised, classification, regression, etc.) depends on the kind of problem you're solving, the computing resources available, and the nature of the data.

Deep learning and unsupervised feature learning have shown great promise in many practical applications. State-of-the-art performance has been reported in several domains, ranging from speech recognition and image recognition to text processing and beyond. It's also been observed that increasing the scale of deep learning--with respect to numbers of training examples, model parameters, or both--can drastically improve accuracy. These results have led to a surge of interest in scaling up the training and inference algorithms used for these models and in improving optimization techniques for both. The use of GPUs is a significant advance in recent years that makes the training of modestly-sized deep networks practical. A known limitation of the GPU approach is that the training speed-up is small when the model doesn't fit in a GPU's memory (typically less than 6 gigabytes).

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