Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in general--due to difficulties of physical discrepancy between human hands and robot hands as well as the fine motion constraints to constitute task success. We present an intuitive shared-control strategy where the focus is on generating robotic grasp poses which are better suited for human perception of successful teleoperated object manipulation and feeling of being in control of the robot, rather than developing objective stable grasp configurations for task success or following the human motion. The former is achieved by understanding human intent and autonomously taking over control on that inference. The latter is achieved by considering human inputs as hard motion constraints which the robot must abide. An arbitration of these two enables a trade-off for the subsequent robot motion to balance accomplishing the inferred task and motion constraints imposed by the operator. The arbitration framework adapts to the level of physical discrepancy between the human and different robot structures, enabling the assistance to indicate and appear to intuitively follow the user. To understand how users perceive good arbitration in object telemanipulation, we have conducted a user study with a hands-free telemanipulation setup to analyze the effect of factors including task predictability, perceived following, and user preference. The hands-free telemanipulation scene is chosen as the validation platform due to its more urgent need of intuitive robotics assistance for task success.

Quantum annealers, such as the device built by D-Wave Systems, Inc., offer a way to compute solutions of NP-hard problems that can be expressed in Ising or QUBO (quadratic unconstrained binary optimization) form. Although such solutions are typically of very high quality, problem instances are usually not solved to optimality due to imperfections of the current generations quantum annealers. In this contribution, we aim to understand some of the factors contributing to the hardness of a problem instance, and to use machine learning models to predict the accuracy of the D-Wave 2000Q annealer for solving specific problems. We focus on the Maximum Clique problem, a classic NP-hard problem with important applications in network analysis, bioinformatics, and computational chemistry. By training a machine learning classification model on basic problem characteristics such as the number of edges in the graph, or annealing parameters such as D-Wave's chain strength, we are able to rank certain features in the order of their contribution to the solution hardness, and present a simple decision tree which allows to predict whether a problem will be solvable to optimality with the D-Wave 2000Q. We extend these results by training a machine learning regression model that predicts the clique size found by D-Wave.

Machine learning based data-driven technologies have shown impressive performances in a variety of application domains. Most enterprises use data from multiple sources to provide quality applications. The reliability of the external data sources raises concerns for the security of the machine learning techniques adopted. An attacker can tamper the training or test datasets to subvert the predictions of models generated by these techniques. Data poisoning is one such attack wherein the attacker tries to degrade the performance of a classifier by manipulating the training data. In this work, we focus on label contamination attack in which an attacker poisons the labels of data to compromise the functionality of the system. We develop Gradient-based Data Subversion strategies to achieve model degradation under the assumption that the attacker has limited-knowledge of the victim model. We exploit the gradients of a differentiable convex loss function (residual errors) with respect to the predicted label as a warm-start and formulate different strategies to find a set of data instances to contaminate. Further, we analyze the transferability of attacks and the susceptibility of binary classifiers. Our experiments show that the proposed approach outperforms the baselines and is computationally efficient.

Accelerated gradient-based methods are being extensively used for solving non-convex machine learning problems, especially when the data points are abundant or the available data is distributed across several agents. Two of the prominent accelerated gradient algorithms are AdaGrad and Adam. AdaGrad is the simplest accelerated gradient method, which is particularly effective for sparse data. Adam has been shown to perform favorably in deep learning problems compared to other methods. In this paper, we propose a new fast optimizer, Generalized AdaGrad (G-AdaGrad), for accelerating the solution of potentially non-convex machine learning problems. Specifically, we adopt a state-space perspective for analyzing the convergence of gradient acceleration algorithms, namely G-AdaGrad and Adam, in machine learning. Our proposed state-space models are governed by ordinary differential equations. We present simple convergence proofs of these two algorithms in the deterministic settings with minimal assumptions. Our analysis also provides intuition behind improving upon AdaGrad's convergence rate. We provide empirical results on MNIST dataset to reinforce our claims on the convergence and performance of G-AdaGrad and Adam.

Recovering a planted vector $v$ in an $n$-dimensional random subspace of $\mathbb{R}^N$ is a generic task related to many problems in machine learning and statistics, such as dictionary learning, subspace recovery, and principal component analysis. In this work, we study computationally efficient estimation and detection of a planted vector $v$ whose $\ell_4$ norm differs from that of a Gaussian vector with the same $\ell_2$ norm. For instance, in the special case of an $N \rho$-sparse vector $v$ with Rademacher nonzero entries, our results include the following: (1) We give an improved analysis of (a slight variant of) the spectral method proposed by Hopkins, Schramm, Shi, and Steurer, showing that it approximately recovers $v$ with high probability in the regime $n \rho \ll \sqrt{N}$. In contrast, previous work required either $\rho \ll 1/\sqrt{n}$ or $n \sqrt{\rho} \lesssim \sqrt{N}$ for polynomial-time recovery. Our result subsumes both of these conditions (up to logarithmic factors) and also treats the dense case $\rho = 1$ which was not previously considered. (2) Akin to $\ell_\infty$ bounds for eigenvector perturbation, we establish an entrywise error bound for the spectral estimator via a leave-one-out analysis, from which it follows that thresholding recovers $v$ exactly. (3) We study the associated detection problem and show that in the regime $n \rho \gg \sqrt{N}$, any spectral method from a large class (and more generally, any low-degree polynomial of the input) fails to detect the planted vector. This establishes optimality of our upper bounds and offers evidence that no polynomial-time algorithm can succeed when $n \rho \gg \sqrt{N}$.

Kernel methods are among the most popular models in machine learning. Despite their relative simplicity, they define a powerful framework in which non-linear features can be exploited without leaving the realm of convex optimisation. Kernel methods in machine learning have a long and rich literature dating back to the 60s [1, 2], but have recently made it back to the spotlight as a proxy for studying neural networks in different regimes, e.g. the infinite width limit [3-6] and the lazy regime of training [7]. Despite being defined in terms of a non-parametric optimisation problem, kernel methods can be mathematically understood as a standard parametric linear problem in a (possibly infinite) Hilbert space spanned by the kernel eigenvectors (a.k.a features). This dual picture fully characterizes the asymptotic performance of kernels in terms of a trade-off between two key quantities: the relative decay of the eigenvalues of the kernel (a.k.a.

Explainable artificial intelligence is the attempt to elucidate the workings of systems too complex to be directly accessible to human cognition through suitable sideinformation referred to as "explanations". We present a trainable explanation module for convolutional image classifiers we call bounded logit attention (BLA). The BLA module learns to select a subset of the convolutional feature map for each input instance, which then serves as an explanation for the classifier's prediction. BLA overcomes several limitations of the instancewise feature selection method "learning to explain" (L2X) introduced by Chen et al. (2018): 1) BLA scales to real-world sized image classification problems, and 2) BLA offers a canonical way to learn explanations of variable size. Due to its modularity BLA lends itself to transfer learning setups and can also be employed as a post-hoc add-on to trained classifiers. Beyond explainability, BLA may serve as a general purpose method for differentiable approximation of subset selection. In a user study we find that BLA explanations are preferred over explanations generated by the popular (Grad-)CAM method (Zhou et al., 2016; Selvaraju et al., 2017).

Explaining the decisions of machine learning models is becoming a necessity in many areas where trust in ML models decision is key to their accreditation/adoption. The ability to explain models decisions also allows to provide diagnosis in addition to the model decision, which is highly valuable in scenarios such as fault detection. Unfortunately, high-performance models do not exhibit the necessary transparency to make their decisions fully understandable. And the black-boxes approaches, which are used to explain such model decisions, suffer from a lack of accuracy in tracing back the exact cause of a model decision regarding a given input. Indeed, they do not have the ability to explicitly describe the decision regions of the model around that input, which is necessary to determine what influences the model towards one decision or the other. We thus asked ourselves the question: is there a category of high-performance models among the ones currently used for which we could explicitly and exactly characterise the decision regions in the input feature space using a geometrical characterisation? Surprisingly we came out with a positive answer for any model that enters the category of tree ensemble models, which encompasses a wide range of high-performance models such as XGBoost, LightGBM, random forests ... We could derive an exact geometrical characterisation of their decision regions under the form of a collection of multidimensional intervals. This characterisation makes it straightforward to compute the optimal counterfactual (CF) example associated with a query point. We demonstrate several possibilities of the approach, such as computing the CF example based only on a subset of features. This allows to obtain more plausible explanations by adding prior knowledge about which variables the user can control. An adaptation to CF reasoning on regression problems is also envisaged.

Many modern applications collect data that comes in federated spirit, with data kept locally and undisclosed. Till date, most insight into the causal inference requires data to be stored in a central repository. We present a novel framework for causal inference with federated data sources. We assess and integrate local causal effects from different private data sources without centralizing them. Then, the treatment effects on subjects from observational data using a non-parametric reformulation of the classical potential outcomes framework is estimated. We model the potential outcomes as a random function distributed by Gaussian processes, whose defining parameters can be efficiently learned from multiple data sources, respecting privacy constraints. We demonstrate the promise and efficiency of the proposed approach through a set of simulated and real-world benchmark examples.

Site Reliability Engineers (SREs) play a key role in issue identification and resolution. After an issue is reported, SREs come together in a virtual room (collaboration platform) to triage the issue. While doing so, they leave behind a wealth of information which can be used later for triaging similar issues. However, usability of the conversations offer challenges due to them being i) noisy and ii) unlabelled. This paper presents a novel approach for issue artefact extraction from the noisy conversations with minimal labelled data. We propose a combination of unsupervised and supervised model with minimum human intervention that leverages domain knowledge to predict artefacts for a small amount of conversation data and use that for fine-tuning an already pretrained language model for artefact prediction on a large amount of conversation data. Experimental results on our dataset show that the proposed ensemble of unsupervised and supervised model is better than using either one of them individually.