The goal of this study is to combine neuronal mechanisms with biomechanics to obtain very fast speed and the on-line learning of circuit parameters. Our controller is built with biologically inspired sensor- and motor-neuron models, including local reflexes and not employing any kind of position or trajectory-tracking control algorithm. Instead, this reflexive controller allows RunBot to exploit its own natural dynamics during critical stages of its walking gait cycle. To our knowledge, this is the first time that dynamic biped walking is achieved using only a pure reflexive controller. In addition, this structure allows using a policy gradient reinforcement learning algorithm to tune the parameters of the reflexive controller in real-time during walking.

It is well-known that everything that is learnable in the difficult online setting, where an arbitrary sequences of examples must be labeled one at a time, is also learnable in the batch setting, where examples are drawn independently from a distribution. We show a result in the opposite di- rection. We give an efficient conversion algorithm from batch to online that is transductive: it uses future unlabeled data. This demonstrates the equivalence between what is properly and efficiently learnable in a batch model and a transductive online model.

We develop a theory of online learning by defining several complexity measures. Among them are analogues of Rademacher complexity, covering numbers and fat-shattering dimension from statistical learning theory. Relationship among these complexity measures, their connection to online learning, and tools for bounding them are provided. We apply these results to various learning problems. We provide a complete characterization of online learnability in the supervised setting.

When learning models that are represented in matrix forms, enforcing a low-rank constraint can dramatically improve the memory and run time complexity, while providing a natural regularization of the model. However, naive approaches for minimizing functions over the set of low-rank matrices are either prohibitively time consuming (repeated singular value decomposition of the matrix) or numerically unstable (optimizing a factored representation of the low rank matrix). We build on recent advances in optimization over manifolds, and describe an iterative online learning procedure, consisting of a gradient step, followed by a second-order retraction back to the manifold. While the ideal retraction is hard to compute, and so is the projection operator that approximates it, we describe another second-order retraction that can be computed efficiently, with run time and memory complexity of O((n m)k) for a rank-k matrix of dimension m x n, given rank one gradients. We use this algorithm, LORETA, to learn a matrix-form similarity measure over pairs of documents represented as high dimensional vectors.

Learning theory has largely focused on two main learning scenarios: the classical statistical setting where instances are drawn i.i.d. It can be argued that in the real world neither of these assumptions is reasonable. We define the minimax value of a game where the adversary is restricted in his moves, capturing stochastic and non-stochastic assumptions on data. Building on the sequential symmetrization approach, we define a notion of distribution-dependent Rademacher complexity for the spectrum of problems ranging from i.i.d. to worst-case. The bounds let us immediately deduce variation-type bounds. We study a smoothed online learning scenario and show that exponentially small amount of noise can make function classes with infinite Littlestone dimension learnable.

Most online algorithms used in machine learning today are based on variants of mirror descent or follow-the-leader. In this paper, we present an online algorithm based on a completely different approach, which combines random playout'' and randomized rounding of loss subgradients. As an application of our approach, we provide the first computationally efficient online algorithm for collaborative filtering with trace-norm constrained matrices. As a second application, we solve an open question linking batch learning and transductive online learning.

This paper provides the first ---to the best of our knowledge--- analysis of online learning algorithms for multiclass problems when the {\em confusion} matrix is taken as a performance measure. The work builds upon recent and elegant results on noncommutative concentration inequalities, i.e. concentration inequalities that apply to matrices, and more precisely to matrix martingales. We do establish generalization bounds for online learning algorithm and show how the theoretical study motivate the proposition of a new confusion-friendly learning procedure. This learning algorithm, called \copa (for COnfusion Passive-Aggressive) is a passive-aggressive learning algorithm; it is shown that the update equations for \copa can be computed analytically, thus allowing the user from having to recours to any optimization package to implement it.

This course introduces participants to MLOps tools and best practices for deploying, evaluating, monitoring and operating production ML systems on Google Cloud. MLOps is a discipline focused on the deployment, testing, monitoring, and automation of ML systems in production. Machine Learning Engineering professionals use tools for continuous improvement and evaluation of deployed models. They work with (or can be) Data Scientists, who develop models, to enable velocity and rigor in deploying the best performing models. This course is primarily intended for the following participants: Data Scientists looking to quickly go from machine learning prototype to production to deliver business impact.

Mixed Integer Programming (MIP) is NP-hard, and yet modern solvers often solve large real-world problems within minutes. This success can partially be attributed to heuristics. Since their behavior is highly instance-dependent, relying on hard-coded rules derived from empirical testing on a large heterogeneous corpora of benchmark instances might lead to sub-optimal performance. In this work, we propose an online learning approach that adapts the application of heuristics towards the single instance at hand. We replace the commonly used static heuristic handling with an adaptive framework exploiting past observations about the heuristic's behavior to make future decisions. In particular, we model the problem of controlling Large Neighborhood Search and Diving - two broad and complex classes of heuristics - as a multi-armed bandit problem. Going beyond existing work in the literature, we control two different classes of heuristics simultaneously by a single learning agent. We verify our approach numerically and show consistent node reductions over the MIPLIB 2017 Benchmark set. For harder instances that take at least 1000 seconds to solve, we observe a speedup of 4%.

Student modeling, the task of inferring a student's learning characteristics through their interactions with coursework, is a fundamental issue in intelligent education. Although the recent attempts from knowledge tracing and cognitive diagnosis propose several promising directions for improving the usability and effectiveness of current models, the existing public datasets are still insufficient to meet the need for these potential solutions due to their ignorance of complete exercising contexts, fine-grained concepts, and cognitive labels. In this paper, we present MoocRadar, a fine-grained, multi-aspect knowledge repository consisting of 2,513 exercise questions, 5,600 knowledge concepts, and over 12 million behavioral records. Specifically, we propose a framework to guarantee a high-quality and comprehensive annotation of fine-grained concepts and cognitive labels. The statistical and experimental results indicate that our dataset provides the basis for the future improvements of existing methods. Moreover, to support the convenient usage for researchers, we release a set of tools for data querying, model adaption, and even the extension of our repository, which are now available at https://github.com/THU-KEG/MOOC-Radar.