We are motivated by the problem of learning policies for robotic systems with rich sensory inputs (e.g., vision) in a manner that allows us to guarantee generalization to environments unseen during training. We provide a framework for providing such generalization guarantees by leveraging a finite dataset of real-world environments in combination with a (potentially inaccurate) generative model of environments. The key idea behind our approach is to utilize the generative model in order to implicitly specify a prior over policies. This prior is updated using the real-world dataset of environments by minimizing an upper bound on the expected cost across novel environments derived via Probably Approximately Correct (PAC)-Bayes generalization theory. We demonstrate our approach on two simulated systems with nonlinear/hybrid dynamics and rich sensing modalities: (i) quadrotor navigation with an onboard vision sensor, and (ii) grasping objects using a depth sensor. Comparisons with prior work demonstrate the ability of our approach to obtain stronger generalization guarantees by utilizing generative models. We also present hardware experiments for validating our bounds for the grasping task.

Traffic speed prediction is the key to many valuable applications, and it is also a challenging task because of its various influencing factors. Recent work attempts to obtain more information through various hybrid models, thereby improving the prediction accuracy. However, the spatial information acquisition schemes of these methods have two-level differentiation problems. Either the modeling is simple but contains little spatial information, or the modeling is complete but lacks flexibility. In order to introduce more spatial information on the basis of ensuring flexibility, this paper proposes IRNet (Transferable Intersection Reconstruction Network). First, this paper reconstructs the intersection into a virtual intersection with the same structure, which simplifies the topology of the road network. Then, the spatial information is subdivided into intersection information and sequence information of traffic flow direction, and spatiotemporal features are obtained through various models. Third, a self-attention mechanism is used to fuse spatiotemporal features for prediction. In the comparison experiment with the baseline, not only the prediction effect, but also the transfer performance has obvious advantages.

The limited size of existing query-focused summarization datasets renders training data-driven summarization models challenging. Meanwhile, the manual construction of a query-focused summarization corpus is costly and time-consuming. In this paper, we use Wikipedia to automatically collect a large query-focused summarization dataset (named WIKIREF) of more than 280, 000 examples, which can serve as a means of data augmentation. We also develop a BERT-based query-focused summarization model (Q-BERT) to extract sentences from the documents as summaries. To better adapt a huge model containing millions of parameters to tiny benchmarks, we identify and fine-tune only a sparse subnetwork, which corresponds to a small fraction of the whole model parameters. Experimental results on three DUC benchmarks show that the model pre-trained on WIKIREF has already achieved reasonable performance. After fine-tuning on the specific benchmark datasets, the model with data augmentation outperforms strong comparison systems. Moreover, both our proposed Q-BERT model and subnetwork fine-tuning further improve the model performance. The dataset is publicly available at https://aka.ms/wikiref.

We present an instance-based nearest neighbor approach to entity linking. In contrast to most prior entity retrieval systems which represent each entity with a single vector, we build a contextualized mention-encoder that learns to place similar mentions of the same entity closer in vector space than mentions of different entities. This approach allows all mentions of an entity to serve as "class prototypes" as inference involves retrieving from the full set of labeled entity mentions in the training set and applying the nearest mention neighbor's entity label. Our model is trained on a large multilingual corpus of mention pairs derived from Wikipedia hyperlinks, and performs nearest neighbor inference on an index of 700 million mentions. It is simpler to train, gives more interpretable predictions, and outperforms all other systems on two multilingual entity linking benchmarks.

We study the performance -- and specifically the rate at which the error probability converges to zero -- of Machine Learning (ML) classification techniques. Leveraging the theory of large deviations, we provide the mathematical conditions for a ML classifier to exhibit error probabilities that vanish exponentially, say $\sim \exp\left(-n\,I + o(n) \right)$, where $n$ is the number of informative observations available for testing (or another relevant parameter, such as the size of the target in an image) and $I$ is the error rate. Such conditions depend on the Fenchel-Legendre transform of the cumulant-generating function of the Data-Driven Decision Function (D3F, i.e., what is thresholded before the final binary decision is made) learned in the training phase. As such, the D3F and, consequently, the related error rate $I$, depend on the given training set, which is assumed of finite size. Interestingly, these conditions can be verified and tested numerically exploiting the available dataset, or a synthetic dataset, generated according to the available information on the underlying statistical model. In other words, the classification error probability convergence to zero and its rate can be computed on a portion of the dataset available for training. Coherently with the large deviations theory, we can also establish the convergence, for $n$ large enough, of the normalized D3F statistic to a Gaussian distribution. This property is exploited to set a desired asymptotic false alarm probability, which empirically turns out to be accurate even for quite realistic values of $n$. Furthermore, approximate error probability curves $\sim \zeta_n \exp\left(-n\,I \right)$ are provided, thanks to the refined asymptotic derivation (often referred to as exact asymptotics), where $\zeta_n$ represents the most representative sub-exponential terms of the error probabilities.

This work presents a new procedure for obtaining predictive distributions in the context of Gaussian process (GP) modeling, with a relaxation of the interpolation constraints outside some ranges of interest: the mean of the predictive distributions no longer necessarily interpolates the observed values when they are outside ranges of interest, but are simply constrained to remain outside. This method called relaxed Gaussian process (reGP) interpolation provides better predictive distributions in ranges of interest, especially in cases where a stationarity assumption for the GP model is not appropriate. It can be viewed as a goal-oriented method and becomes particularly interesting in Bayesian optimization, for example, for the minimization of an objective function, where good predictive distributions for low function values are important. When the expected improvement criterion and reGP are used for sequentially choosing evaluation points, the convergence of the resulting optimization algorithm is theoretically guaranteed (provided that the function to be optimized lies in the reproducing kernel Hilbert spaces attached to the known covariance of the underlying Gaussian process). Experiments indicate that using reGP instead of stationary GP models in Bayesian optimization is beneficial.

Abstract--Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training data. As these usually only cover a fraction of all object classes an autonomous driving system will face, such systems struggle with handling the unexpected. In order to safely operate on public roads, the identification of objects from unknown classes remains a crucial task. In this paper, we propose a novel pipeline to detect (a) Lidar point cloud (b) Camera image unknown objects. In December 2021, Mercedes-Benz became the first automotive company to meet the legal requirements for a SAE the advantages of combining sensor modalities. However, a driver is still present fusion models are popular for classic object detection, they and must be ready to take over control. This is not the case often lack the awareness necessary for anomaly detection.

Domain generalization (DG) aims to learn a generalized model to an unseen target domain using only limited source domains. Previous attempts to DG fail to learn domain-invariant representations only from the source domains due to the significant domain shifts between training and test domains. Instead, we re-formulate the DG objective using mutual information with the oracle model, a model generalized to any possible domain. We derive a tractable variational lower bound via approximating the oracle model by a pre-trained model, called Mutual Information Regularization with Oracle (MIRO). Our extensive experiments show that MIRO significantly improves the out-of-distribution performance. Furthermore, our scaling experiments show that the larger the scale of the pre-trained model, the greater the performance improvement of MIRO. Source code is available at https://github.com/kakaobrain/miro.

Finding meaningful concepts in engineering application datasets which allow for a sensible grouping of designs is very helpful in many contexts. It allows for determining different groups of designs with similar properties and provides useful knowledge in the engineering decision making process. Also, it opens the route for further refinements of specific design candidates which exhibit certain characteristic features. In this work, an approach to define meaningful and consistent concepts in an existing engineering dataset is presented. The designs in the dataset are characterized by a multitude of features such as design parameters, geometrical properties or performance values of the design for various boundary conditions. In the proposed approach the complete feature set is partitioned into several subsets called description spaces. The definition of the concepts respects this partitioning which leads to several desired properties of the identified concepts. This cannot be achieved with state-of-the-art clustering or concept identification approaches. A novel concept quality measure is proposed, which provides an objective value for a given definition of concepts in a dataset. The usefulness of the measure is demonstrated by considering a realistic engineering dataset consisting of about 2500 airfoil profiles, for which the performance values (lift and drag) for three different operating conditions were obtained by a computational fluid dynamics simulation. A numerical optimization procedure is employed, which maximizes the concept quality measure and finds meaningful concepts for different setups of the description spaces, while also incorporating user preference. It is demonstrated how these concepts can be used to select archetypal representatives of the dataset which exhibit characteristic features of each concept.

In this work we improve forecasting of Sea Surface A recent and promising line of work consists of combining Height (SSH) and current velocity (speed and direction) ML with physics-based models -- often referred to as in oceanic scenarios. We do so by resorting Physics-Informed Machine Learning (PIML). Such an approach to Random Forests so as to predict the error of a numerical aims to take advantage of both the power of pattern forecasting system developed for the Santos recognition given by ML approaches and the power of generalization Channel in Brazil. We have used the Santos Operational in unseen scenarios given by the physics-based Forecasting System (SOFS) and data collected model. in situ between the years of 2019 and 2021. This work expands on our previous work [Moreno et al., In previous studies we have applied similar methods 2022] where PIML was used to correct the error predicted for current velocity in the channel entrance, in by a numerical model of the speed of water current in a this work we expand the application to improve the measuring station. Our main contribution here consists of SHH forecast and include four other stations in the inserting a correction for the direction of the water current channel. We have obtained an average reduction and the sea surface height (SSH) predicted by the numerical of 11.9% in forecasting Root-Mean Square Error model into the PIML model. In addition, we expand the (RMSE) and 38.7% in bias with our approach. We corrections to other measurement stations in the Santos-São also obtained an increase of Agreement (IOA) in 10 Vicente-Bertioga Estuarine System region on the Brazilian of the 14 combinations of forecasted variables and coast.