The memorization effect of deep neural network (DNN) plays a pivotal role in many state-of-the-art label-noise learning methods. To exploit this property, the early stopping trick, which stops the optimization at the early stage of training, is usually adopted. Current methods generally decide the early stopping point by considering a DNN as a whole. However, a DNN can be considered as a composition of a series of layers, and we find that the latter layers in a DNN are much more sensitive to label noise, while their former counterparts are quite robust. Therefore, selecting a stopping point for the whole network may make different DNN layers antagonistically affect each other, thus degrading the final performance.

In this paper, we propose AimBot, a lightweight visual augmentation technique that provides explicit spatial cues to improve visuomotor policy learning in robotic manipulation. AimBot overlays shooting lines and scope reticles onto multi-view RGB images, offering auxiliary visual guidance that encodes the end-effector's state. The overlays are computed from depth images, camera extrinsics, and the current end-effector pose, explicitly conveying spatial relationships between the gripper and objects in the scene. AimBot incurs minimal computational overhead (less than 1 ms) and requires no changes to model architectures, as it simply replaces original RGB images with augmented counterparts. Despite its simplicity, our results show that AimBot consistently improves the performance of various visuomotor policies in both simulation and real-world settings, highlighting the benefits of spatially grounded visual feedback.

Efficient scheduling remains a critical challenge in various domains, requiring solutions to complex NP-hard optimization problems to achieve optimal resource allocation and maximize productivity. In this paper, we introduce a framework called Transformer-Based Task Scheduling System (TRATSS), designed to address the intricacies of single agent scheduling in graph-based environments. By integrating the latest advancements in reinforcement learning and transformer architecture, TRATSS provides a novel system that outputs optimized task scheduling decisions while dynamically adapting to evolving task requirements and resource availability. Leveraging the self-attention mechanism in transformers, TRATSS effectively captures complex task dependencies, thereby providing solutions with enhanced resource utilization and task completion efficiency. Experimental evaluations on benchmark datasets demonstrate TRATSS's effectiveness in providing high-quality solutions to scheduling problems that involve multiple action profiles.

The memorization effect of deep neural network (DNN) plays a pivotal role in many state-of-the-art label-noise learning methods. To exploit this property, the early stopping trick, which stops the optimization at the early stage of training, is usually adopted. Current methods generally decide the early stopping point by considering a DNN as a whole. However, a DNN can be considered as a composition of a series of layers, and we find that the latter layers in a DNN are much more sensitive to label noise, while their former counterparts are quite robust. Therefore, selecting a stopping point for the whole network may make different DNN layers antagonistically affect each other, thus degrading the final performance.

Drones may be more advantageous than fixed cameras for quality control applications in industrial facilities, since they can be redeployed dynamically and adjusted to production planning. The practical scenario that has motivated this paper, image acquisition with drones in a car manufacturing plant, requires drone positioning accuracy in the order of 5 cm. During repetitive manufacturing processes, it is assumed that quality control imaging drones will follow highly deterministic periodic paths, stop at predefined points to take images and send them to image recognition servers. Therefore, by relying on prior knowledge about production chain schedules, it is possible to optimize the positioning technologies for the drones to stay at all times within the boundaries of their flight plans, which will be composed of stopping points and the paths in between. This involves mitigating issues such as temporary blocking of line-of-sight between the drone and any existing radio beacons; sensor data noise; and the loss of visual references. We present a self-corrective solution for this purpose. It corrects visual odometer readings based on filtered and clustered Ultra-Wide Band (UWB) data, as an alternative to direct Kalman fusion. The approach combines the advantages of these technologies when at least one of them works properly at any measurement spot. It has three method components: independent Kalman filtering, data association by means of stream clustering and mutual correction of sensor readings based on the generation of cumulative correction vectors. The approach is inspired by the observation that UWB positioning works reasonably well at static spots whereas visual odometer measurements reflect straight displacements correctly but can underestimate their length. Our experimental results demonstrate the advantages of the approach in the application scenario over Kalman fusion.

Active learning allows machine learning models to be trained using fewer labels while retaining similar performance to traditional supervised learning. An active learner selects the most informative data points, requests their labels, and retrains itself. While this approach is promising, it raises the question of how to determine when the model is `good enough' without the additional labels required for traditional evaluation. Previously, different stopping criteria have been proposed aiming to identify the optimal stopping point. Yet, optimality can only be expressed as a domain-dependent trade-off between accuracy and the number of labels, and no criterion is superior in all applications. As a further complication, a comparison of criteria for a particular real-world application would require practitioners to collect additional labelled data they are aiming to avoid by using active learning in the first place. This work enables practitioners to employ active learning by providing actionable recommendations for which stopping criteria are best for a given real-world scenario. We contribute the first large-scale comparison of stopping criteria for pool-based active learning, using a cost measure to quantify the accuracy/label trade-off, public implementations of all stopping criteria we evaluate, and an open-source framework for evaluating stopping criteria. Our research enables practitioners to substantially reduce labelling costs by utilizing the stopping criterion which best suits their domain.

How to build AI that understands human intentions, and uses this knowledge to collaborate with people? We describe a computational framework for evaluating models of goal inference in the domain of 3D motor actions, which receives as input the 3D coordinates of an agent's body, and of possible targets, to produce a continuously updated inference of the intended target. We evaluate our framework in three behavioural experiments using a novel Target Reaching Task, in which human observers infer intentions of actors reaching for targets among distracts. We describe Generative Body Kinematics model, which predicts human intention inference in this domain using Bayesian inverse planning and inverse body kinematics. We compare our model to three heuristics, which formalize the principle of least effort using simple assumptions about the actor's constraints, without the use of inverse planning. Despite being more computationally costly, the Generative Body Kinematics model outperforms the heuristics in certain scenarios, such as environments with obstacles, and at the beginning of reaching actions while the actor is relatively far from the intended target. The heuristics make increasingly accurate predictions during later stages of reaching actions, such as, when the intended target is close, and can be inferred by extrapolating the wrist trajectory. Our results identify contexts in which inverse body kinematics is useful for intention inference. We show that human observers indeed rely on inverse body kinematics in such scenarios, suggesting that modeling body kinematic can improve performance of inference algorithms.

The general approach taken when training deep learning classifiers is to save the parameters after every few iterations, train until either a human observer or a simple metric-based heuristic decides the network isn't learning anymore, and then backtrack and pick the saved parameters with the best validation accuracy. Simple methods are used to determine if a neural network isn't learning anymore because, as long as it's well after the optimal values are found, the condition doesn't impact the final accuracy of the model. However from a runtime perspective, this is of great significance to the many cases where numerous neural networks are trained simultaneously (e.g. hyper-parameter tuning). Motivated by this, we introduce a statistical significance test to determine if a neural network has stopped learning. This stopping criterion appears to represent a happy medium compared to other popular stopping criterions, achieving comparable accuracy to the criterions that achieve the highest final accuracies in 77% or fewer epochs, while the criterions which stop sooner do so with an appreciable loss to final accuracy. Additionally, we use this as the basis of a new learning rate scheduler, removing the need to manually choose learning rate schedules and acting as a quasi-line search, achieving superior or comparable empirical performance to existing methods.

Abstract-- Annotation of training data is the major bottleneck in the creation of text classification systems. Active learning is a commonly used technique to reduce the amount of training data one needs to label. A crucial aspect of active learning is determining when to stop labeling data. Three potential sources for informing when to stop active learning are an additional labeled set of data, an unlabeled set of data, and the training data that is labeled during the process of active learning. To date, no one has compared and contrasted the advantages and disadvantages of stopping methods based on these three information sources. We find that stopping methods that use unlabeled data are more effective than methods that use labeled data. I. INTRODUCTION The use of active learning to train machine learning models has been used as a way to reduce annotation costs for text and speech processing applications [1], [2], [3], [4], [5]. Active learning has been shown to have a particularly large potential for reducing annotation cost for text classification [6], [7]. Text classification is one of the most important fields in semantic computing and it has been used in many applications [8], [9], [10], [11], [12].

Any system which performs goal-directed continual learning must not only learn incrementally but process and absorb information incrementally. Such a system also has to understand when its goals have been achieved. In this paper, we consider these issues in the context of question answering. Current state-of-the-art question answering models reason over an entire passage, not incrementally. As we will show, naive approaches to incremental reading, such as restriction to unidirectional language models in the model, perform poorly. We present extensions to the DocQA [2] model to allow incremental reading without loss of accuracy. The model also jointly learns to provide the best answer given the text that is seen so far and predict whether this best-so-far answer is sufficient.