Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We present a deep RL method that is practical for real-world robotics tasks, such as robotic manipulation, and generalizes effectively to never-before-seen tasks and objects. In these settings, ground truth reward signals are typically unavailable, and we therefore propose a self-supervised model-based approach, where a predictive model learns to directly predict the future from raw sensory readings, such as camera images. At test time, we explore three distinct goal specification methods: designated pixels, where a user specifies desired object manipulation tasks by selecting particular pixels in an image and corresponding goal positions, goal images, where the desired goal state is specified with an image, and image classifiers, which define spaces of goal states. Our deep predictive models are trained using data collected autonomously and continuously by a robot interacting with hundreds of objects, without human supervision. We demonstrate that visual MPC can generalize to never-before-seen objects---both rigid and deformable---and solve a range of user-defined object manipulation tasks using the same model.

We explore a solution for learning disease signatures from weakly, yet easily obtainable, annotated volumetric medical imaging data by analyzing 3D volumes as a sequence of 2D images. We demonstrate the performance of our solution in the detection of emphysema in lung cancer screening low-dose CT images. Our approach utilizes convolutional long short-term memory (LSTM) to "scan" sequentially through an imaging volume for the presence of disease in a portion of scanned region. This framework allowed effective learning given only volumetric images and binary disease labels, thus enabling training from a large dataset of 6,631 un-annotated image volumes from 4,486 patients. When evaluated in a testing set of 2,163 volumes from 2,163 patients, our model distinguished emphysema with area under the receiver operating characteristic curve (AUC) of .83. This approach was found to outperform 2D convolutional neural networks (CNN) implemented with various multiple-instance learning schemes (AUC=0.69-0.76) and a 3D CNN (AUC=.77).

Obtaining deep networks that are robust against adversarial examples and generalize well is an open problem. A recent hypothesis even states that both robust and accurate models are impossible, i.e., adversarial robustness and generalization are conflicting goals. In an effort to clarify the relationship between robustness and generalization, we assume an underlying, low-dimensional data manifold and show that: 1. regular adversarial examples leave the manifold; 2. adversarial examples constrained to the manifold, i.e., on-manifold adversarial examples, exist; 3. on-manifold adversarial examples are generalization errors, and on-manifold adversarial training boosts generalization; 4. and regular robustness is independent of generalization. These assumptions imply that both robust and accurate models are possible. However, different models (architectures, training strategies etc.) can exhibit different robustness and generalization characteristics. To confirm our claims, we present extensive experiments on synthetic data (with access to the true manifold) as well as on EMNIST, Fashion-MNIST and CelebA.

Given a set of observations generated by an optimization process, the goal of inverse optimization is to determine likely parameters of that process. We cast inverse optimization as a form of deep learning. Our method, called deep inverse optimization, is to unroll an iterative optimization process and then use backpropagation to learn parameters that generate the observations. We demonstrate that by backpropagating through the interior point algorithm we can learn the coefficients determining the cost vector and the constraints, independently or jointly, for both non-parametric and parametric linear programs, starting from one or multiple observations. With this approach, inverse optimization can leverage concepts and algorithms from deep learning.

Advances in Deep Reinforcement Learning have led to agents that perform well across a variety of sensory-motor domains. In this work, we study the setting in which an agent must learn to generate programs for diverse scenes conditioned on a given symbolic instruction. Final goals are specified to our agent via images of the scenes. A symbolic instruction consistent with the goal images is used as the conditioning input for our policies. Since a single instruction corresponds to a diverse setof different but still consistent end-goal images, the agent needs to learn to generate a distribution over programs given an instruction. We demonstrate that with simple changes to the reinforced adversarial learning [8] objective, we can learn instruction conditioned policies to achieve the corresponding diverse set of goals. Most importantly, our agent's stochastic policy is shown to more accurately capture the diversity in the goal distribution than a fixed pixel-based reward function baseline.We demonstrate the efficacy of our approach on two domains: (1) drawing MNIST digits with a paint software conditioned on instructions and (2) constructing scenes in a 3D editor that satisfies a certain instruction.

Interpretability has emerged as a crucial aspect of machine learning, aimed at providing insights into the working of complex neural networks. However, existing solutions vary vastly based on the nature of the interpretability task, with each use case requiring substantial time and effort. This paper introduces MARGIN, a simple yet general approach to address a large set of interpretability tasks ranging from identifying prototypes to explaining image predictions. MARGIN exploits ideas rooted in graph signal analysis to determine influential nodes in a graph, which are defined as those nodes that maximally describe a function defined on the graph. By carefully defining task-specific graphs and functions, we demonstrate that MARGIN outperforms existing approaches in a number of disparate interpretability challenges.

For the task of generating complex outputs such as source code, editing existing outputs can be easier than generating complex outputs from scratch. With this motivation, we propose an approach that first retrieves a training example based on the input (e.g., natural language description) and then edits it to the desired output (e.g., code). Our contribution is a computationally efficient method for learning a retrieval model that embeds the input in a task-dependent way without relying on a hand-crafted metric or incurring the expense of jointly training the retriever with the editor. Our retrieve-and-edit framework can be applied on top of any base model. We show that on a new autocomplete task for GitHub Python code and the Hearthstone cards benchmark, retrieve-and-edit significantly boosts the performance of a vanilla sequence-to-sequence model on both tasks.

Deep learning has brought an unprecedented progress in computer vision and significant advances have been made in predicting subjective properties inherent to visual data (e.g., memorability, aesthetic quality, evoked emotions, etc.). Recently, some research works have even proposed deep learning approaches to modify images such as to appropriately alter these properties. Following this research line, this paper introduces a novel deep learning framework for synthesizing images in order to enhance a predefined perceptual attribute. Our approach takes as input a natural image and exploits recent models for deep style transfer and generative adversarial networks to change its style in order to modify a specific high-level attribute. Differently from previous works focusing on enhancing a specific property of a visual content, we propose a general framework and demonstrate its effectiveness in two use cases, i.e. increasing image memorability and generating scary pictures. We evaluate the proposed approach on publicly available benchmarks, demonstrating its advantages over state of the art methods.

Determining whether hypotensive patients in intensive care units (ICUs) should receive fluid bolus therapy (FBT) has been an extremely challenging task for intensive care physicians as the corresponding increase in blood pressure has been hard to predict. Our study utilized regression models and attention-based recurrent neural network (RNN) algorithms and a multi-clinical information system large-scale database to build models that can predict the successful response to FBT among hypotensive patients in ICUs. We investigated both time-aggregated modeling using logistic regression algorithms with regularization and time-series modeling using the long short term memory network (LSTM) and the gated recurrent units network (GRU) with the attention mechanism for clinical interpretability. Among all modeling strategies, the stacked LSTM with the attention mechanism yielded the most predictable model with the highest accuracy of 0.852 and area under the curve (AUC) value of 0.925. The study results may help identify hypotensive patients in ICUs who will have sufficient blood pressure recovery after FBT.

Although neural networks can achieve very high predictive performance on various different tasks such as image recognition or natural language processing, they are often considered as opaque "black boxes". The difficulty of interpreting the predictions of a neural network often prevents its use in fields where explainability is important, such as the financial industry where regulators and auditors often insist on this aspect. In this paper, we present a way to assess the relative input features importance of a neural network based on the sensitivity of the model output with respect to its input. This method has the advantage of being fast to compute, it can provide both global and local levels of explanations and is applicable for many types of neural network architectures. We illustrate the performance of this method on both synthetic and real data and compare it with other interpretation techniques. This method is implemented into an open-source Python package that allows its users to easily generate and visualize explanations for their neural networks.