This paper makes two proposals for Monte Carlo Softmax Search, which is a recently proposed method that is classified as a selective search like the Monte Carlo Tree Search. The first proposal separately defines the node-selection and backup policies to allow researchers to freely design a node-selection policy based on their searching strategies and confirms the principal variation produced by the Monte Carlo Softmax Search to that produced by a minimax search. The second proposal modifies commonly used learning methods for positional evaluation functions. In our new proposals, evaluation functions are learned by Monte Carlo sampling, which is performed with the backup policy in the search tree produced by Monte Carlo Softmax Search. The learning methods under consideration include supervised learning, reinforcement learning, regression learning, and search bootstrapping. Our sampling-based learning not only uses current positions and principal variations but also the internal nodes and important variations of a search tree. This step reduces the number of games necessary for learning. New learning rules are derived for sampling-based learning based on the Monte Carlo Softmax Search and combinations of the modified learning methods are also proposed in this paper.

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task and sensorimotor abilities. A robot with the ability to build and adapt this interpretation process according to its own tasks and capabilities would push away the limits of what robots can achieve in a non controlled environment. A solution is to provide the robot with processes to build such representations that are not specific to an environment or a situation. A lot of works focus on objects segmentation, recognition and manipulation. Defining an object solely on the basis of its visual appearance is challenging given the wide range of possible objects and environments. Therefore, current works make simplifying assumptions about the structure of a scene. Such assumptions reduce the adaptivity of the object extraction process to the environments in which the assumption holds. To limit such assumptions, we introduce an exploration method aimed at identifying moveable elements in a scene without considering the concept of object. By using the interactive perception framework, we aim at bootstrapping the acquisition process of a representation of the environment with a minimum of context specific assumptions. The robotic system builds a perceptual map called relevance map which indicates the moveable parts of the current scene. A classifier is trained online to predict the category of each region (moveable or non-moveable). It is also used to select a region with which to interact, with the goal of minimizing the uncertainty of the classification. A specific classifier is introduced to fit these needs: the collaborative mixture models classifier. The method is tested on a set of scenarios of increasing complexity, using both simulations and a PR2 robot.

We consider the problem of training a machine learning model over a network of nodes in a fully decentralized framework. The nodes take a Bayesian-like approach via the introduction of a belief over the model parameter space. We propose a distributed learning algorithm in which nodes update their belief by aggregate information from their one-hop neighbors to learn a model that best fits the observations over the entire network. In addition, we also obtain sufficient conditions to ensure that the probability of error is small for every node in the network. We discuss approximations required for applying this algorithm to train Deep Neural Networks (DNNs). Experiments on training linear regression model and on training a DNN show that the proposed learning rule algorithm provides a significant improvement in the accuracy compared to the case where nodes learn without cooperation.

We introduce a Bayesian nonparametric regression model for data with multiway (tensor) structure, motivated by an application to periodontal disease (PD) data. Our outcome is the number of diseased sites measured over four different tooth types for each subject, with subject-specific covariates available as predictors. The outcomes are not well-characterized by simple parametric models, so we use a nonparametric approach with a binomial likelihood wherein the latent probabilities are drawn from a mixture with an arbitrary number of components, analogous to a Dirichlet Process (DP). We use a flexible probit stick-breaking formulation for the component weights that allows for covariate dependence and clustering structure in the outcomes. The parameter space for this model is large and multiway: patients $\times$ tooth types $\times$ covariates $\times$ components. We reduce its effective dimensionality, and account for the multiway structure, via low-rank assumptions. We illustrate how this can improve performance, and simplify interpretation, while still providing sufficient flexibility. We describe a general and efficient Gibbs sampling algorithm for posterior computation. The resulting fit to the PD data outperforms competitors, and is interpretable and well-calibrated. An interactive visual of the predictive model is available at http://ericfrazerlock.com/toothdata/ToothDisplay.html , and the code is available at https://github.com/lockEF/NonparametricMultiway .

Abstract--The recognition of sign language is a challenging task with an important role in society to facilitate the communication ofdeaf persons. We propose a new approach of Spatial-Temporal Graph Convolutional Network to sign language recognition based on the human skeletal movements. The method uses graphs to capture the signs dynamics in two dimensions, spatial and temporal, considering the complex aspects of the language. Additionally, we present a new dataset of human skeletons for sign language based on ASLLVD to contribute to future related studies. I. INTRODUCTION Sign language is a visual communication skill that enables individuals with different types of hearing impairment to communicate in society. It is the language used by most deaf people in their daily lives and, moreover, it is the symbol of identification between the members of that community and the main force that unites them. The sign language has a very close relationship with the culture of the country or even regions, and for this reason, each nation has its language [1]. According to the World Health Organization, the number of deaf people is about 466 million, and the organization estimates that by 2050 this number exceeds 900 million, which is equivalent to a forecast of 1 in 10 individuals around the world [2].

Adaptive gradient-based optimizers such as AdaGrad and Adam are among the methods of choice in modern machine learning. These methods maintain second-order statistics of each parameter, thus doubling the memory footprint of the optimizer. In behemoth-size applications, this memory overhead restricts the size of the model being used as well as the number of examples in a mini-batch. We describe a novel, simple, and flexible adaptive optimization method with sublinear memory cost that retains the benefits of per-parameter adaptivity while allowing for larger models and mini-batches. We give convergence guarantees for our method and demonstrate its effectiveness in training very large deep models.

Factorization machine (FM) is a popular machine learning model to capture the second order feature interactions. The optimal learning guarantee of FM and its generalized version is not yet developed. For a rank $k$ generalized FM of $d$ dimensional input, the previous best known sampling complexity is $\mathcal{O}[k^{3}d\cdot\mathrm{polylog}(kd)]$ under Gaussian distribution. This bound is sub-optimal comparing to the information theoretical lower bound $\mathcal{O}(kd)$. In this work, we aim to tighten this bound towards optimal and generalize the analysis to sub-gaussian distribution. We prove that when the input data satisfies the so-called $\tau$-Moment Invertible Property, the sampling complexity of generalized FM can be improved to $\mathcal{O}[k^{2}d\cdot\mathrm{polylog}(kd)/\tau^{2}]$. When the second order self-interaction terms are excluded in the generalized FM, the bound can be improved to the optimal $\mathcal{O}[kd\cdot\mathrm{polylog}(kd)]$ up to the logarithmic factors. Our analysis also suggests that the positive semi-definite constraint in the conventional FM is redundant as it does not improve the sampling complexity while making the model difficult to optimize. We evaluate our improved FM model in real-time high precision GPS signal calibration task to validate its superiority.

Adaptive data analysis is frequently criticized for its pessimistic generalization guarantees. The source of these pessimistic bounds is a model that permits arbitrary, possibly adversarial analysts that optimally use information to bias results. While being a central issue in the field, still lacking are notions of natural analysts that allow for more optimistic bounds faithful to the reality that typical analysts aren't adversarial. In this work, we propose notions of natural analysts that smoothly interpolate between the optimal non-adaptive bounds and the best-known adaptive generalization bounds. To accomplish this, we model the analyst's knowledge as evolving according to the rules of an unknown dynamical system that takes in revealed information and outputs new statistical queries to the data. This allows us to restrict the analyst through different natural control-theoretic notions. One such notion corresponds to a recency bias, formalizing an inability to arbitrarily use distant information. Another complementary notion formalizes an anchoring bias, a tendency to weight initial information more strongly. Both notions come with quantitative parameters that smoothly interpolate between the non-adaptive case and the fully adaptive case, allowing for a rich spectrum of intermediate analysts that are neither non-adaptive nor adversarial. Natural not only from a cognitive perspective, we show that our notions also capture standard optimization methods, like gradient descent in various settings. This gives a new interpretation to the fact that gradient descent tends to overfit much less than its adaptive nature might suggest.

The top-$k$ error is often employed to evaluate performance for challenging classification tasks in computer vision as it is designed to compensate for ambiguity in ground truth labels. This practical success motivates our theoretical analysis of consistent top-$k$ classification. To this end, we define top-$k$ calibration as a necessary and sufficient condition for consistency, for bounded below loss functions. Unlike prior work, our analysis of top-$k$ calibration handles non-uniqueness of the predictor scores, and extends calibration to consistency -- providing a theoretically sound basis for analysis of this topic. Based on the top-$k$ calibration analysis, we propose a rich class of top-$k$ calibrated Bregman divergence surrogates. Our analysis continues by showing previously proposed hinge-like top-$k$ surrogate losses are not top-$k$ calibrated and thus inconsistent. On the other hand, we propose two new hinge-like losses, one which is similarly inconsistent, and one which is consistent. Our empirical results highlight theoretical claims, confirming our analysis of the consistency of these losses.

We introduce GeNet, a method for shotgun metagenomic classification from raw DNA sequences that exploits the known hierarchical structure between labels for training. We provide a comparison with state-of-the-art methods Kraken and Centrifuge on datasets obtained from several sequencing technologies, in which dataset shift occurs. We show that GeNet obtains competitive precision and good recall, with orders of magnitude less memory requirements. Moreover, we show that a linear model trained on top of representations learned by GeNet achieves recall comparable to state-of-the-art methods on the aforementioned datasets, and achieves over 90% accuracy in a challenging pathogen detection problem. This provides evidence of the usefulness of the representations learned by GeNet for downstream biological tasks.