Robots operating in human-centered environments, such as retail stores, restaurants, and households, are often required to distinguish between similar objects in different contexts with a high degree of accuracy. However, fine-grained object recognition remains a challenge in robotics due to the high intra-category and low inter-category dissimilarities. In addition, the limited number of fine-grained 3D datasets poses a significant problem in addressing this issue effectively. In this paper, we propose a hybrid multi-modal Vision Transformer (ViT) and Convolutional Neural Networks (CNN) approach to improve the performance of fine-grained visual classification (FGVC). To address the shortage of FGVC 3D datasets, we generated two synthetic datasets. The first dataset consists of 20 categories related to restaurants with a total of 100 instances, while the second dataset contains 120 shoe instances. Our approach was evaluated on both datasets, and the results indicate that it outperforms both CNN-only and ViT-only baselines, achieving a recognition accuracy of 94.50 % and 93.51 % on the restaurant and shoe datasets, respectively. Additionally, we have made our FGVC RGB-D datasets available to the research community to enable further experimentation and advancement. Furthermore, we successfully integrated our proposed method with a robot framework and demonstrated its potential as a fine-grained perception tool in both simulated and real-world robotic scenarios.

The entropic fictitious play (EFP) is a recently proposed algorithm that minimizes the sum of a convex functional and entropy in the space of measures -- such an objective naturally arises in the optimization of a two-layer neural network in the mean-field regime. In this work, we provide a concise primal-dual analysis of EFP in the setting where the learning problem exhibits a finite-sum structure. We establish quantitative global convergence guarantees for both the continuous-time and discrete-time dynamics based on properties of a proximal Gibbs measure introduced in Nitanda et al. (2022). Furthermore, our primal-dual framework entails a memory-efficient particle-based implementation of the EFP update, and also suggests a connection to gradient boosting methods. We illustrate the efficiency of our novel implementation in experiments including neural network optimization and image synthesis.

Image retrieval has garnered growing interest in recent times. The current approaches are either supervised or self-supervised. These methods do not exploit the benefits of hybrid learning using both supervision and self-supervision. We present a novel Master Assistant Buddy Network (MABNet) for image retrieval which incorporates both learning mechanisms. MABNet consists of master and assistant blocks, both learning independently through supervision and collectively via self-supervision. The master guides the assistant by providing its knowledge base as a reference for self-supervision and the assistant reports its knowledge back to the master by weight transfer. We perform extensive experiments on public datasets with and without post-processing.

In the classic regression problem, the value of a real-valued random variable $Y$ is to be predicted based on the observation of a random vector $X$, taking its values in $\mathbb{R}^d$ with $d\geq 1$ say. The statistical learning problem consists in building a predictive function $\hat{f}:\mathbb{R}^d\to \mathbb{R}$ based on independent copies of the pair $(X,Y)$ so that $Y$ is approximated by $\hat{f}(X)$ with minimum error in the mean-squared sense. Motivated by various applications, ranging from environmental sciences to finance or insurance, special attention is paid here to the case of extreme (i.e. very large) observations $X$. Because of their rarity, they contribute in a negligible manner to the (empirical) error and the predictive performance of empirical quadratic risk minimizers can be consequently very poor in extreme regions. In this paper, we develop a general framework for regression in the extremes. It is assumed that $X$'s conditional distribution given $Y$ belongs to a non parametric class of heavy-tailed probability distributions. It is then shown that an asymptotic notion of risk can be tailored to summarize appropriately predictive performance in extreme regions of the input space. It is also proved that minimization of an empirical and non asymptotic version of this 'extreme risk', based on a fraction of the largest observations solely, yields regression functions with good generalization capacity. In addition, numerical results providing strong empirical evidence of the relevance of the approach proposed are displayed.

Recently, large-scale Vision and Language (V\&L) pretraining has become the standard backbone of many multimedia systems. While it has shown remarkable performance even in unseen situations, it often performs in ways not intuitive to humans. Particularly, they usually do not consider the pronunciation of the input, which humans would utilize to understand language, especially when it comes to unknown words. Thus, this paper inserts phonetic prior into Contrastive Language-Image Pretraining (CLIP), one of the V\&L pretrained models, to make it consider the pronunciation similarity among its pronunciation inputs. To achieve this, we first propose a phoneme embedding that utilizes the phoneme relationships provided by the International Phonetic Alphabet (IPA) chart as a phonetic prior. Next, by distilling the frozen CLIP text encoder, we train a pronunciation encoder employing the IPA-based embedding. The proposed model named IPA-CLIP comprises this pronunciation encoder and the original CLIP encoders (image and text). Quantitative evaluation reveals that the phoneme distribution on the embedding space represents phonetic relationships more accurately when using the proposed phoneme embedding. Furthermore, in some multimodal retrieval tasks, we confirm that the proposed pronunciation encoder enhances the performance of the text encoder and that the pronunciation encoder handles nonsense words in a more phonetic manner than the text encoder. Finally, qualitative evaluation verifies the correlation between the pronunciation encoder and human perception regarding pronunciation similarity.

In recent years, there has been a flurry of research focusing on the fairness of machine learning models, and in particular on quantifying and eliminating bias against protected subgroups. One line of work generalizes the notion of protected subgroups beyond simple discrete classes by introducing the notion of a "rich subgroup", and seeks to train models that are calibrated or equalize error rates with respect to these richer subgroup classes. Largely orthogonally, local model explanation methods have been developed that given a classifier h and test point x, attribute influence for the prediction h(x) to the individual features of x. This raises a natural question: Do local model explanation methods attribute different feature importance values on average across different protected subgroups, and can we detect these disparities efficiently? If the model places high weight on a given feature in a specific protected subgroup, but not on the dataset overall (or vice versa), this could be a potential indicator of bias in the predictive model or the underlying data generating process, and is at the very least a useful diagnostic that signals the need for a domain expert to delve deeper. In this paper, we formally introduce the notion of feature importance disparity (FID) in the context of rich subgroups, design oracle-efficent algorithms to identify large FID subgroups, and conduct a thorough empirical analysis that establishes auditing for FID as an important method to investigate dataset bias. Our experiments show that across 4 datasets and 4 common feature importance methods our algorithms find (feature, subgroup) pairs that simultaneously: (i) have subgroup feature importance that is often an order of magnitude different than the importance on the dataset as a whole (ii) generalize out of sample, and (iii) yield interesting discussions about potential bias inherent in these datasets.

We consider the scenario of deep clustering, in which the available prior knowledge is limited. In this scenario, few existing state-of-the-art deep clustering methods can perform well for both non-complex topology and complex topology datasets. To address the problem, we propose a constraint utilizing symmetric InfoNCE, which helps an objective of deep clustering method in the scenario train the model so as to be efficient for not only non-complex topology but also complex topology datasets. Additionally, we provide several theoretical explanations of the reason why the constraint can enhances performance of deep clustering methods. To confirm the effectiveness of the proposed constraint, we introduce a deep clustering method named MIST, which is a combination of an existing deep clustering method and our constraint. Our numerical experiments via MIST demonstrate that the constraint is effective. In addition, MIST outperforms other state-of-the-art deep clustering methods for most of the commonly used ten benchmark datasets.

Federated Averaging (FedAvg) remains the most popular algorithm for Federated Learning (FL) optimization due to its simple implementation, stateless nature, and privacy guarantees combined with secure aggregation. Recent work has sought to generalize the vanilla averaging in FedAvg to a generalized gradient descent step by treating client updates as pseudo-gradients and using a server step size. While the use of a server step size has been shown to provide performance improvement theoretically, the practical benefit of the server step size has not been seen in most existing works. In this work, we present FedExP, a method to adaptively determine the server step size in FL based on dynamically varying pseudo-gradients throughout the FL process. We begin by considering the overparameterized convex regime, where we reveal an interesting similarity between FedAvg and the Projection Onto Convex Sets (POCS) algorithm. We then show how FedExP can be motivated as a novel extension to the extrapolation mechanism that is used to speed up POCS. Our theoretical analysis later also discusses the implications of FedExP in underparameterized and non-convex settings. Experimental results show that FedExP consistently converges faster than FedAvg and competing baselines on a range of realistic FL datasets.

Survival analysis is the branch of statistics that studies the relation between the characteristics of living entities and their respective survival times, taking into account the partial information held by censored cases. A good analysis can, for example, determine whether one medical treatment for a group of patients is better than another. With the rise of machine learning, survival analysis can be modeled as learning a function that maps studied patients to their survival times. To succeed with that, there are three crucial issues to be tackled. First, some patient data is censored: we do not know the true survival times for all patients. Second, data is scarce, which led past research to treat different illness types as domains in a multi-task setup. Third, there is the need for adaptation to new or extremely rare illness types, where little or no labels are available. In contrast to previous multi-task setups, we want to investigate how to efficiently adapt to a new survival target domain from multiple survival source domains. For this, we introduce a new survival metric and the corresponding discrepancy measure between survival distributions. These allow us to define domain adaptation for survival analysis while incorporating censored data, which would otherwise have to be dropped. Our experiments on two cancer data sets reveal a superb performance on target domains, a better treatment recommendation, and a weight matrix with a plausible explanation.

Randomized Controlled Trials (RCT)s are relied upon to assess new treatments, but suffer from limited power to guide personalized treatment decisions. On the other hand, observational (i.e., non-experimental) studies have large and diverse populations, but are prone to various biases (e.g. residual confounding). To safely leverage the strengths of observational studies, we focus on the problem of falsification, whereby RCTs are used to validate causal effect estimates learned from observational data. In particular, we show that, given data from both an RCT and an observational study, assumptions on internal and external validity have an observable, testable implication in the form of a set of Conditional Moment Restrictions (CMRs). Further, we show that expressing these CMRs with respect to the causal effect, or "causal contrast", as opposed to individual counterfactual means, provides a more reliable falsification test. In addition to giving guarantees on the asymptotic properties of our test, we demonstrate superior power and type I error of our approach on semi-synthetic and real world datasets. Our approach is interpretable, allowing a practitioner to visualize which subgroups in the population lead to falsification of an observational study.