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Transesophageal echocardiography (TEE) plays a pivotal role in cardiology for diagnostic and interventional procedures. However, using it effectively requires extensive training due to the intricate nature of image acquisition and interpretation. To enhance the efficiency of novice sonographers and reduce variability in scan acquisitions, we propose a novel ultrasound (US) navigation assistance method based on contrastive learning as goal-conditioned reinforcement learning (GCRL). We augment the previous framework using a novel contrastive patient batching method (CPB) and a data-augmented contrastive loss, both of which we demonstrate are essential to ensure generalization to anatomical variations across patients. The proposed framework enables navigation to both standard diagnostic as well as intricate interventional views with a single model. Our method was developed with a large dataset of 789 patients and obtained an average error of 6.56 mm in position and 9.36 degrees in angle on a testing dataset of 140 patients, which is competitive or superior to models trained on individual views. Furthermore, we quantitatively validate our method's ability to navigate to interventional views such as the Left Atrial Appendage (LAA) view used in LAA closure. Our approach holds promise in providing valuable guidance during transesophageal ultrasound examinations, contributing to the advancement of skill acquisition for cardiac ultrasound practitioners., Comment: Accepted in MICCAI 2024; 11 pages, 3 figures

This paper is concerned with automatic continuous speech recognition using trainable systems. The aim of this work is to build acoustic models for spoken Swedish. This is done employing hidden Markov models and using the SpeechDat database to train their parameters. Acoustic modeling has been worked out at a phonetic level, allowing general speech recognition applications, even though a simplified task (digits and natural number recognition) has been considered for model evaluation. Different kinds of phone models have been tested, including context independent models and two variations of context dependent models. Furthermore many experiments have been done with bigram language models to tune some of the system parameters. System performance over various speaker subsets with different sex, age and dialect has also been examined. Results are compared to previous similar studies showing a remarkable improvement., Comment: 16 pages, 7 figures

Scaled Dot Product Attention (SDPA) is the backbone of many modern deep-learning models. It is so versatile that it has been used in natural language, vision, and multi-modal domains with very little change compared to its original formulation. This paper discusses why the current formulation is inefficient by delving into the mathematical details of the attention mechanism. We propose three improvements to mitigate these inefficiencies, thereby, introducing three enhanced attention mechanisms: Optimised, Efficient, and Super Attention. Optimised and Efficient Attention have one and two matrix multiplications fewer per head, respectively, and 25% and 50% fewer parameters, respectively, than standard SDPA, but perform similarly to standard SDPA in both vision and natural language tasks. They can be used in all applications where SDPA is used while offering smaller model sizes and faster training and inference without noticeable loss in performance. Super Attention introduces a new linear transformation on the values, transforming them from the left. It outperforms standard SPDA on vision and natural language tasks by up to 17% while having one fewer matrix multiplication per head and 25% fewer parameters than standard SDPA. Consequently, it is also faster than standard SDPA. Super Attention is ideal in applications where the attention layer's context length is fixed, such as Vision Transformers. In addition to providing mathematical reasoning, we evaluate the presented attention mechanisms on several datasets including MNIST, CIFAR100, ImageNet, IMDB Movie Reviews, and Amazon Reviews datasets, as well as combined Europarl and Anki English-Spanish datasets for neural machine translation.

The availability of data is limited in some fields, especially for object detection tasks, where it is necessary to have correctly labeled bounding boxes around each object. A notable example of such data scarcity is found in the domain of marine biology, where it is useful to develop methods to automatically detect submarine species for environmental monitoring. To address this data limitation, the state-of-the-art machine learning strategies employ two main approaches. The first involves pretraining models on existing datasets before generalizing to the specific domain of interest. The second strategy is to create synthetic datasets specifically tailored to the target domain using methods like copy-paste techniques or ad-hoc simulators. The first strategy often faces a significant domain shift, while the second demands custom solutions crafted for the specific task. In response to these challenges, here we propose a transfer learning framework that is valid for a generic scenario. In this framework, generated images help to improve the performances of an object detector in a few-real data regime. This is achieved through a diffusion-based generative model that was pretrained on large generic datasets. With respect to the state-of-the-art, we find that it is not necessary to fine tune the generative model on the specific domain of interest. We believe that this is an important advance because it mitigates the labor-intensive task of manual labeling the images in object detection tasks. We validate our approach focusing on fishes in an underwater environment, and on the more common domain of cars in an urban setting. Our method achieves detection performance comparable to models trained on thousands of images, using only a few hundreds of input data. Our results pave the way for new generative AI-based protocols for machine learning applications in various domains., Comment: 28 pages, 16 figures, 1 table

Continual RL requires an agent to learn new tasks without forgetting previous ones, while improving on both past and future tasks. The most common approaches use model-free algorithms and replay buffers can help to mitigate catastrophic forgetting, but often struggle with scalability due to large memory requirements. Biologically inspired replay suggests replay to a world model, aligning with model-based RL; as opposed to the common setting of replay in model-free algorithms. Model-based RL offers benefits for continual RL by leveraging knowledge of the environment, independent of policy. We introduce WMAR (World Models with Augmented Replay), a model-based RL algorithm with a memory-efficient distribution-matching replay buffer. WMAR extends the well known DreamerV3 algorithm, which employs a simple FIFO buffer and was not tested in continual RL. We evaluated WMAR and DreamerV3, with the same-size replay buffers. They were tested on two scenarios: tasks with shared structure using OpenAI Procgen and tasks without shared structure using the Atari benchmark. WMAR demonstrated favourable properties for continual RL considering metrics for forgetting as well as skill transfer on past and future tasks. Compared to DreamerV3, WMAR showed slight benefits in tasks with shared structure and substantially better forgetting characteristics on tasks without shared structure. Our results suggest that model-based RL with a memory-efficient replay buffer can be an effective approach to continual RL, justifying further research.

This paper describes the use of connectionist techniques in phonetic speech recognition with strong latency constraints. The constraints are imposed by the task of deriving the lip movements of a synthetic face in real time from the speech signal, by feeding the phonetic string into an articulatory synthesiser. Particular attention has been paid to analysing the interaction between the time evolution model learnt by the multi-layer perceptrons and the transition model imposed by the Viterbi decoder, in different latency conditions. Two experiments were conducted in which the time dependencies in the language model (LM) were controlled by a parameter. The results show a strong interaction between the three factors involved, namely the neural network topology, the length of time dependencies in the LM and the decoder latency.

Photonic computing promises faster and more energy-efficient deep neural network (DNN) inference than traditional digital hardware. Advances in photonic computing can have profound impacts on applications such as autonomous driving and defect detection that depend on fast, accurate and energy efficient execution of image segmentation models. In this paper, we investigate image segmentation on photonic accelerators to explore: a) the types of image segmentation DNN architectures that are best suited for photonic accelerators, and b) the throughput and energy efficiency of executing the different image segmentation models on photonic accelerators, along with the trade-offs involved therein. Specifically, we demonstrate that certain segmentation models exhibit negligible loss in accuracy (compared to digital float32 models) when executed on photonic accelerators, and explore the empirical reasoning for their robustness. We also discuss techniques for recovering accuracy in the case of models that do not perform well. Further, we compare throughput (inferences-per-second) and energy consumption estimates for different image segmentation workloads on photonic accelerators. We discuss the challenges and potential optimizations that can help improve the application of photonic accelerators to such computer vision tasks.

Over the last decade, adversarial attack algorithms have revealed instabilities in deep learning tools. These algorithms raise issues regarding safety, reliability and interpretability in artificial intelligence; especially in high risk settings. From a practical perspective, there has been a war of escalation between those developing attack and defence strategies. At a more theoretical level, researchers have also studied bigger picture questions concerning the existence and computability of attacks. Here we give a brief overview of the topic, focusing on aspects that are likely to be of interest to researchers in applied and computational mathematics.

Despite major advances in artificial intelligence (AI) for medicine and healthcare, the deployment and adoption of AI technologies remain limited in real-world clinical practice. In recent years, concerns have been raised about the technical, clinical, ethical and legal risks associated with medical AI. To increase real world adoption, it is essential that medical AI tools are trusted and accepted by patients, clinicians, health organisations and authorities. This work describes the FUTURE-AI guideline as the first international consensus framework for guiding the development and deployment of trustworthy AI tools in healthcare. The FUTURE-AI consortium was founded in 2021 and currently comprises 118 inter-disciplinary experts from 51 countries representing all continents, including AI scientists, clinicians, ethicists, and social scientists. Over a two-year period, the consortium defined guiding principles and best practices for trustworthy AI through an iterative process comprising an in-depth literature review, a modified Delphi survey, and online consensus meetings. The FUTURE-AI framework was established based on 6 guiding principles for trustworthy AI in healthcare, i.e. Fairness, Universality, Traceability, Usability, Robustness and Explainability. Through consensus, a set of 28 best practices were defined, addressing technical, clinical, legal and socio-ethical dimensions. The recommendations cover the entire lifecycle of medical AI, from design, development and validation to regulation, deployment, and monitoring. FUTURE-AI is a risk-informed, assumption-free guideline which provides a structured approach for constructing medical AI tools that will be trusted, deployed and adopted in real-world practice. Researchers are encouraged to take the recommendations into account in proof-of-concept stages to facilitate future translation towards clinical practice of medical AI.

This paper presents FaceXHuBERT, a text-less speech-driven 3D facial animation generation method that allows to capture personalized and subtle cues in speech (e.g. identity, emotion and hesitation). It is also very robust to background noise and can handle audio recorded in a variety of situations (e.g. multiple people speaking). Recent approaches employ end-to-end deep learning taking into account both audio and text as input to generate facial animation for the whole face. However, scarcity of publicly available expressive audio-3D facial animation datasets poses a major bottleneck. The resulting animations still have issues regarding accurate lip-synching, expressivity, person-specific information and generalizability. We effectively employ self-supervised pretrained HuBERT model in the training process that allows us to incorporate both lexical and non-lexical information in the audio without using a large lexicon. Additionally, guiding the training with a binary emotion condition and speaker identity distinguishes the tiniest subtle facial motion. We carried out extensive objective and subjective evaluation in comparison to ground-truth and state-of-the-art work. A perceptual user study demonstrates that our approach produces superior results with respect to the realism of the animation 78% of the time in comparison to the state-of-the-art. In addition, our method is 4 times faster eliminating the use of complex sequential models such as transformers. We strongly recommend watching the supplementary video before reading the paper. We also provide the implementation and evaluation codes with a GitHub repository link., Comment: 13 pages, 4 figures, code included

Unlike human daily activities, existing publicly available sensor datasets for work activity recognition in industrial domains are limited by difficulties in collecting realistic data as close collaboration with industrial sites is required. This also limits research on and development of methods for industrial applications. To address these challenges and contribute to research on machine recognition of work activities in industrial domains, in this study, we introduce a new large-scale dataset for packaging work recognition called OpenPack. OpenPack contains 53.8 hours of multimodal sensor data, including acceleration data, keypoints, depth images, and readings from IoT-enabled devices (e.g., handheld barcode scanners), collected from 16 distinct subjects with different levels of packaging work experience. We apply state-of-the-art human activity recognition techniques to the dataset and provide future directions of complex work activity recognition studies in the pervasive computing community based on the results. We believe that OpenPack will contribute to the sensor-based action/activity recognition community by providing challenging tasks. The OpenPack dataset is available at https://open-pack.github.io.

The brains of all bilaterally symmetric animals on Earth are divided into left and right hemispheres. The anatomy and functionality of the hemispheres have a large degree of overlap, but there are asymmetries, and they specialise in possesses different attributes. Other authors have used computational models to mimic hemispheric asymmetries with a focus on reproducing human data on semantic and visual processing tasks. We took a different approach and aimed to understand how dual hemispheres in a bilateral architecture interact to perform well in a given task. We propose a bilateral artificial neural network that imitates lateralisation observed in nature: that the left hemisphere specialises in local features and the right in global features. We used different training objectives to achieve the desired specialisation and tested it on an image classification task with two different CNN backbones: ResNet and VGG. Our analysis found that the hemispheres represent complementary features that are exploited by a network head that implements a type of weighted attention. The bilateral architecture outperformed a range of baselines of similar representational capacity that do not exploit differential specialisation, with the exception of a conventional ensemble of unilateral networks trained on dual training objectives for local and global features. The results demonstrate the efficacy of bilateralism, contribute to the discussion of bilateralism in biological brains, and the principle may serve as an inductive bias for new AI systems., Comment: ACAIN 2024

Invoking the manifold assumption in machine learning requires knowledge of the manifold's geometry and dimension, and theory dictates how many samples are required. However, in applications data are limited, sampling may not be uniform, and manifold properties are unknown and (possibly) non-pure; this implies that neighborhoods must adapt to the local structure. We introduce an algorithm for inferring adaptive neighborhoods for data given by a similarity kernel. Starting with a locally-conservative neighborhood (Gabriel) graph, we sparsify it iteratively according to a weighted counterpart. In each step, a linear program yields minimal neighborhoods globally and a volumetric statistic reveals neighbor outliers likely to violate manifold geometry. We apply our adaptive neighborhoods to non-linear dimensionality reduction, geodesic computation and dimension estimation. A comparison against standard algorithms using, e.g., k-nearest neighbors, demonstrates their usefulness. Code for our algorithm will be available at https://github.com/dyballa/IAN, Comment: 69 pages, 35 figures

As automated machine learning (AutoML) systems continue to progress in both sophistication and performance, it becomes important to understand the `how' and `why' of human-computer interaction (HCI) within these frameworks, both current and expected. Such a discussion is necessary for optimal system design, leveraging advanced data-processing capabilities to support decision-making involving humans, but it is also key to identifying the opportunities and risks presented by ever-increasing levels of machine autonomy. Within this context, we focus on the following questions: (i) How does HCI currently look like for state-of-the-art AutoML algorithms, especially during the stages of development, deployment, and maintenance? (ii) Do the expectations of HCI within AutoML frameworks vary for different types of users and stakeholders? (iii) How can HCI be managed so that AutoML solutions acquire human trust and broad acceptance? (iv) As AutoML systems become more autonomous and capable of learning from complex open-ended environments, will the fundamental nature of HCI evolve? To consider these questions, we project existing literature in HCI into the space of AutoML; this connection has, to date, largely been unexplored. In so doing, we review topics including user-interface design, human-bias mitigation, and trust in artificial intelligence (AI). Additionally, to rigorously gauge the future of HCI, we contemplate how AutoML may manifest in effectively open-ended environments. This discussion necessarily reviews projected developmental pathways for AutoML, such as the incorporation of reasoning, although the focus remains on how and why HCI may occur in such a framework rather than on any implementational details. Ultimately, this review serves to identify key research directions aimed at better facilitating the roles and modes of human interactions with both current and future AutoML systems., Comment: Submitted to Foundations and Trends in Human-Computer Interaction

Deep neural networks (DNNs) have demonstrated their effectiveness in a wide range of computer vision tasks, with the state-of-the-art results obtained through complex and deep structures that require intensive computation and memory. Now-a-days, efficient model inference is crucial for consumer applications on resource-constrained platforms. As a result, there is much interest in the research and development of dedicated deep learning (DL) hardware to improve the throughput and energy efficiency of DNNs. Low-precision representation of DNN data-structures through quantization would bring great benefits to specialized DL hardware. However, the rigorous quantization leads to a severe accuracy drop. As such, quantization opens a large hyper-parameter space at bit-precision levels, the exploration of which is a major challenge. In this paper, we propose a novel framework referred to as the Fixed-Point Quantizer of deep neural Networks (FxP-QNet) that flexibly designs a mixed low-precision DNN for integer-arithmetic-only deployment. Specifically, the FxP-QNet gradually adapts the quantization level for each data-structure of each layer based on the trade-off between the network accuracy and the low-precision requirements. Additionally, it employs post-training self-distillation and network prediction error statistics to optimize the quantization of floating-point values into fixed-point numbers. Examining FxP-QNet on state-of-the-art architectures and the benchmark ImageNet dataset, we empirically demonstrate the effectiveness of FxP-QNet in achieving the accuracy-compression trade-off without the need for training. The results show that FxP-QNet-quantized AlexNet, VGG-16, and ResNet-18 reduce the overall memory requirements of their full-precision counterparts by 7.16x, 10.36x, and 6.44x with less than 0.95%, 0.95%, and 1.99% accuracy drop, respectively., Comment: 30 pages, 12 figures, 5 tables. in IEEE Access, 2022

Early detection of breast cancer in mammography screening via deep-learning based computer-aided detection systems shows promising potential in improving the curability and mortality rates of breast cancer. However, many clinical centres are restricted in the amount and heterogeneity of available data to train such models to (i) achieve promising performance and to (ii) generalise well across acquisition protocols and domains. As sharing data between centres is restricted due to patient privacy concerns, we propose a potential solution: sharing trained generative models between centres as substitute for real patient data. In this work, we use three well known mammography datasets to simulate three different centres, where one centre receives the trained generator of Generative Adversarial Networks (GANs) from the two remaining centres in order to augment the size and heterogeneity of its training dataset. We evaluate the utility of this approach on mammography patch classification on the test set of the GAN-receiving centre using two different classification models, (a) a convolutional neural network and (b) a transformer neural network. Our experiments demonstrate that shared GANs notably increase the performance of both transformer and convolutional classification models and highlight this approach as a viable alternative to inter-centre data sharing., Comment: Draft accepted as oral presentation at International Workshop on Breast Imaging (IWBI) 2022. 9 pages, 3 figures

Modern deep neural networks must demonstrate state-of-the-art accuracy while exhibiting low latency and energy consumption. As such, neural architecture search (NAS) algorithms take these two constraints into account when generating a new architecture. However, efficiency metrics such as latency are typically hardware dependent requiring the NAS algorithm to either measure or predict the architecture latency. Measuring the latency of every evaluated architecture adds a significant amount of time to the NAS process. Here we propose Microprocessor A Priori for Latency Estimation MAPLE that does not rely on transfer learning or domain adaptation but instead generalizes to new hardware by incorporating a prior hardware characteristics during training. MAPLE takes advantage of a novel quantitative strategy to characterize the underlying microprocessor by measuring relevant hardware performance metrics, yielding a fine-grained and expressive hardware descriptor. Moreover, the proposed MAPLE benefits from the tightly coupled I/O between the CPU and GPU and their dependency to predict DNN latency on GPUs while measuring microprocessor performance hardware counters from the CPU feeding the GPU hardware. Through this quantitative strategy as the hardware descriptor, MAPLE can generalize to new hardware via a few shot adaptation strategy where with as few as 3 samples it exhibits a 6% improvement over state-of-the-art methods requiring as much as 10 samples. Experimental results showed that, increasing the few shot adaptation samples to 10 improves the accuracy significantly over the state-of-the-art methods by 12%. Furthermore, it was demonstrated that MAPLE exhibiting 8-10% better accuracy, on average, compared to relevant baselines at any number of adaptation samples., Comment: 13 pages, 4 figures

Semantic scene completion (SSC) is a challenging Computer Vision task with many practical applications, from robotics to assistive computing. Its goal is to infer the 3D geometry in a field of view of a scene and the semantic labels of voxels, including occluded regions. In this work, we present SPAwN, a novel lightweight multimodal 3D deep CNN that seamlessly fuses structural data from the depth component of RGB-D images with semantic priors from a bimodal 2D segmentation network. A crucial difficulty in this field is the lack of fully labeled real-world 3D datasets which are large enough to train the current data-hungry deep 3D CNNs. In 2D computer vision tasks, many data augmentation strategies have been proposed to improve the generalization ability of CNNs. However those approaches cannot be directly applied to the RGB-D input and output volume of SSC solutions. In this paper, we introduce the use of a 3D data augmentation strategy that can be applied to multimodal SSC networks. We validate our contributions with a comprehensive and reproducible ablation study. Our solution consistently surpasses previous works with a similar level of complexity., Comment: 10 pages, 5 figures

Vision-based reinforcement learning (RL) is a promising approach to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image observations. This has led to increased attention on integrating state representation learning (SRL) techniques into the RL pipeline. Work in this field demonstrates a substantial improvement in sample efficiency among other benefits. However, to take full advantage of this paradigm, the quality of samples used for training plays a crucial role. More importantly, the diversity of these samples could affect the sample efficiency of vision-based RL, but also its generalization capability. In this work, we present an approach to improve sample diversity for state representation learning. Our method enhances the exploration capability of RL algorithms, by taking advantage of the SRL setup. Our experiments show that our proposed approach boosts the visitation of problematic states, improves the learned state representation, and outperforms the baselines for all tested environments. These results are most apparent for environments where the baseline methods struggle. Even in simple environments, our method stabilizes the training, reduces the reward variance, and promotes sample efficiency., Comment: arXiv admin note: substantial text overlap with arXiv:2109.13588

Vision-based reinforcement learning (RL) is a promising technique to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image observations. This has led to an increased attention on integrating state representation learning (SRL) techniques into the RL pipeline. Work in this field demonstrates a substantial improvement in sample efficiency among other benefits. However, to take full advantage of this paradigm, the quality of samples used for training plays a crucial role. More importantly, the diversity of these samples could affect the sample efficiency of vision-based RL, but also its generalization capability. In this work, we present an approach to improve the sample diversity. Our method enhances the exploration capability of the RL algorithms by taking advantage of the SRL setup. Our experiments show that the presented approach outperforms the baseline for all tested environments. These results are most apparent for environments where the baseline method struggles. Even in simple environments, our method stabilizes the training, reduces the reward variance and boosts sample efficiency., Comment: ICRA workshop on Curious Robots 2021

The field of artificial intelligence (AI), regarded as one of the most enigmatic areas of science, has witnessed exponential growth in the past decade including a remarkably wide array of applications, having already impacted our everyday lives. Advances in computing power and the design of sophisticated AI algorithms have enabled computers to outperform humans in a variety of tasks, especially in the areas of computer vision and speech recognition. Yet, AI's path has never been smooth, having essentially fallen apart twice in its lifetime ('winters' of AI), both after periods of popular success ('summers' of AI). We provide a brief rundown of AI's evolution over the course of decades, highlighting its crucial moments and major turning points from inception to the present. In doing so, we attempt to learn, anticipate the future, and discuss what steps may be taken to prevent another 'winter'., Comment: 21 pages, 12 figures, 106 references, a Glossary section comes at the end of the paper, right after References. The article is accepted and going to be published by Elsevier, journal of PET - Clinics. Typos in the main text and in figure 3 fixed

Since the Message Passing (Graph) Neural Networks (MPNNs) have a linear complexity with respect to the number of nodes when applied to sparse graphs, they have been widely implemented and still raise a lot of interest even though their theoretical expressive power is limited to the first order Weisfeiler-Lehman test (1-WL). In this paper, we show that if the graph convolution supports are designed in spectral-domain by a non-linear custom function of eigenvalues and masked with an arbitrary large receptive field, the MPNN is theoretically more powerful than the 1-WL test and experimentally as powerful as a 3-WL existing models, while remaining spatially localized. Moreover, by designing custom filter functions, outputs can have various frequency components that allow the convolution process to learn different relationships between a given input graph signal and its associated properties. So far, the best 3-WL equivalent graph neural networks have a computational complexity in $\mathcal{O}(n^3)$ with memory usage in $\mathcal{O}(n^2)$, consider non-local update mechanism and do not provide the spectral richness of output profile. The proposed method overcomes all these aforementioned problems and reaches state-of-the-art results in many downstream tasks., Comment: 18 pages, 6 figures

Generating realistic sequences is a central task in many machine learning applications. There has been considerable recent progress on building deep generative models for sequence generation tasks. However, the issue of mode-collapsing remains a main issue for the current models. In this paper we propose a GAN-based generic framework to address the problem of mode-collapse in a principled approach. We change the standard GAN objective to maximize a variational lower-bound of the log-likelihood while minimizing the Jensen-Shanon divergence between data and model distributions. We experiment our model with text generation task and show that it can generate realistic text with high diversity., Comment: Accepted in the Third Workshop on Bayesian Deep Learning (NIPS / NeurIPS 2018)

Standard few-shot experiments involve learning to efficiently match previously unseen samples by class. We claim that few-shot learning should be long term, assimilating knowledge for the future, without forgetting previous concepts. In the mammalian brain, the hippocampus is understood to play a significant role in this process, by learning rapidly and consolidating knowledge to the neocortex incrementally over a short period. In this research we tested whether an artificial hippocampal algorithm (AHA), could be used with a conventional Machine Learning (ML) model that learns incrementally analogous to the neocortex, to achieve one-shot learning both short and long term. The results demonstrated that with the addition of AHA, the system could learn in one-shot and consolidate the knowledge for the long term without catastrophic forgetting. This study is one of the first examples of using a CLS model of hippocampus to consolidate memories, and it constitutes a step toward few-shot continual learning., Comment: Accepted to 'The International Joint Conference on Neural Networks (IJCNN) 2021' https://www.ijcnn.org/

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects, we provide a unified framework for approaching this problem. The main goal of this framework is to connect perception and motion by identifying the relationship between the visual input and the corresponding motion representation. To this end, we propose a method for learning reactive obstacle avoidance policies. We evaluate our method on goal-reaching tasks for single and multiple obstacles scenarios. We show the ability of the proposed method to efficiently learn stable obstacle avoidance strategies at a high success rate, while maintaining closed-loop responsiveness required for critical applications like human-robot interaction., Comment: Accepted for publication at CoRL 2020

Established experimental procedures for one-shot machine learning do not test the ability to learn or remember specific instances of classes, a key feature of animal intelligence. Distinguishing specific instances is necessary for many real-world tasks, such as remembering which cup belongs to you. Generalisation within classes conflicts with the ability to separate instances of classes, making it difficult to achieve both capabilities within a single architecture. We propose an extension to the standard Omniglot classification-generalisation framework that additionally tests the ability to distinguish specific instances after one exposure and introduces noise and occlusion corruption. Learning is defined as an ability to classify as well as recall training samples. Complementary Learning Systems (CLS) is a popular model of mammalian brain regions believed to play a crucial role in learning from a single exposure to a stimulus. We created an artificial neural network implementation of CLS and applied it to the extended Omniglot benchmark. Our unsupervised model demonstrates comparable performance to existing supervised ANNs on the Omniglot classification task (requiring generalisation), without the need for domain-specific inductive biases. On the extended Omniglot instance-recognition task, the same model also demonstrates significantly better performance than a baseline nearest-neighbour approach, given partial occlusion and noise., Comment: To appear at AI 2020 (Australasian Joint Conference on Artificial Intelligence - http://www.ajcai2020.net/)

This paper considers the task of matching images and sentences by learning a visual-textual embedding space for cross-modal retrieval. Finding such a space is a challenging task since the features and representations of text and image are not comparable. In this work, we introduce an end-to-end deep multimodal convolutional-recurrent network for learning both vision and language representations simultaneously to infer image-text similarity. The model learns which pairs are a match (positive) and which ones are a mismatch (negative) using a hinge-based triplet ranking. To learn about the joint representations, we leverage our newly extracted collection of tweets from Twitter. The main characteristic of our dataset is that the images and tweets are not standardized the same as the benchmarks. Furthermore, there can be a higher semantic correlation between the pictures and tweets contrary to benchmarks in which the descriptions are well-organized. Experimental results on MS-COCO benchmark dataset show that our model outperforms certain methods presented previously and has competitive performance compared to the state-of-the-art. The code and dataset have been made available publicly., Comment: 6 pages and 2 figures, Learn more about this project at https://iasbs.ac.ir/~ansari/deeptwitter

Knowledge-based biomedical data science (KBDS) involves the design and implementation of computer systems that act as if they knew about biomedicine. Such systems depend on formally represented knowledge in computer systems, often in the form of knowledge graphs. Here we survey the progress in the last year in systems that use formally represented knowledge to address data science problems in both clinical and biological domains, as well as on approaches for creating knowledge graphs. Major themes include the relationships between knowledge graphs and machine learning, the use of natural language processing, and the expansion of knowledge-based approaches to novel domains, such as Chinese Traditional Medicine and biodiversity., Comment: Manuscript 43 pages with 3 tables; Supplemental material 43 pages with 3 tables

Abstract Machine understanding of questions is tightly related to recognition of articulation in the context of the computational capabilities of an underlying processing algorithm. In this paper a mathematical model to capture and distinguish the latent structure in the articulation of questions is presented. We propose an objective-driven approach to represent this latent structure and show that such an approach is beneficial when examples of complementary objectives are not available. We show that the latent structure can be represented as a system that maximizes a cost function related to the underlying objective. Further, we show that the optimization formulation can be approximated to building a memory of patterns represented as a trained neural auto-encoder. Experimental evaluation using many clusters of questions, each related to an objective, shows 80% recognition accuracy and negligible false positive across these clusters of questions. We then extend the same memory to a related task where the goal is to iteratively refine a dataset of questions based on the latent articulation. We also demonstrate a refinement scheme called K-fingerprints, that achieves nearly 100% recognition with negligible false positive across the different clusters of questions., Comment: Pre-Print, ACCEPTED FOR PRESENTATION AT the 17th IEEE INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND APPLICATIONS (ICMLA2018)

We devise an approach for targeted molecular design, a problem of interest in computational drug discovery: given a target protein site, we wish to generate a chemical with both high binding affinity to the target and satisfactory pharmacological properties. This problem is made difficult by the enormity and discreteness of the space of potential therapeutics, as well as the graph-structured nature of biomolecular surface sites. Using a dataset of protein-ligand complexes, we surmount these issues by extracting a signature of the target site with a graph convolutional network and by encoding the discrete chemical into a continuous latent vector space. The latter embedding permits gradient-based optimization in molecular space, which we perform using learned differentiable models of binding affinity and other pharmacological properties. We show that our approach is able to efficiently optimize these multiple objectives and discover new molecules with potentially useful binding properties, validated via docking methods.

Active inference is an ambitious theory that treats perception, inference and action selection of autonomous agents under the heading of a single principle. It suggests biologically plausible explanations for many cognitive phenomena, including consciousness. In active inference, action selection is driven by an objective function that evaluates possible future actions with respect to current, inferred beliefs about the world. Active inference at its core is independent from extrinsic rewards, resulting in a high level of robustness across e.g.\ different environments or agent morphologies. In the literature, paradigms that share this independence have been summarised under the notion of intrinsic motivations. In general and in contrast to active inference, these models of motivation come without a commitment to particular inference and action selection mechanisms. In this article, we study if the inference and action selection machinery of active inference can also be used by alternatives to the originally included intrinsic motivation. The perception-action loop explicitly relates inference and action selection to the environment and agent memory, and is consequently used as foundation for our analysis. We reconstruct the active inference approach, locate the original formulation within, and show how alternative intrinsic motivations can be used while keeping many of the original features intact. Furthermore, we illustrate the connection to universal reinforcement learning by means of our formalism. Active inference research may profit from comparisons of the dynamics induced by alternative intrinsic motivations. Research on intrinsic motivations may profit from an additional way to implement intrinsically motivated agents that also share the biological plausibility of active inference., Comment: 53 pages, 6 figures, 2 tables

We show that the forward and backward propagation can be formulated as a solution of lower and upper triangular systems of equations. For standard feedforward (FNNs) and recurrent neural networks (RNNs) the triangular systems are always block bi-diagonal, while for a general computation graph (directed acyclic graph) they can have a more complex triangular sparsity pattern. We discuss direct and iterative parallel algorithms that can be used for their solution and interpreted as different ways of performing model parallelism. Also, we show that for FNNs and RNNs with $k$ layers and $\tau$ time steps the backward propagation can be performed in parallel in O($\log k$) and O($\log k \log \tau$) steps, respectively. Finally, we outline the generalization of this technique using Jacobians that potentially allows us to handle arbitrary layers., Comment: 18 pages

In this paper we focus on the linear algebra theory behind feedforward (FNN) and recurrent (RNN) neural networks. We review backward propagation, including backward propagation through time (BPTT). Also, we obtain a new exact expression for Hessian, which represents second order effects. We show that for $t$ time steps the weight gradient can be expressed as a rank-$t$ matrix, while the weight Hessian is as a sum of $t^{2}$ Kronecker products of rank-$1$ and $W^{T}AW$ matrices, for some matrix $A$ and weight matrix $W$. Also, we show that for a mini-batch of size $r$, the weight update can be expressed as a rank-$rt$ matrix. Finally, we briefly comment on the eigenvalues of the Hessian matrix., Comment: 23 pages, 4 figures

There is a wide gap between symbolic reasoning and deep learning. In this research, we explore the possibility of using deep learning to improve symbolic reasoning. Briefly, in a reasoning system, a deep feedforward neural network is used to guide rewriting processes after learning from algebraic reasoning examples produced by humans. To enable the neural network to recognise patterns of algebraic expressions with non-deterministic sizes, reduced partial trees are used to represent the expressions. Also, to represent both top-down and bottom-up information of the expressions, a centralisation technique is used to improve the reduced partial trees. Besides, symbolic association vectors and rule application records are used to improve the rewriting processes. Experimental results reveal that the algebraic reasoning examples can be accurately learnt only if the feedforward neural network has enough hidden layers. Also, the centralisation technique, the symbolic association vectors and the rule application records can reduce error rates of reasoning. In particular, the above approaches have led to 4.6% error rate of reasoning on a dataset of linear equations, differentials and integrals., Comment: 8 pages, 7 figures

A new approach to data compression is developed and applied to multimedia content. This method separates messages into components suitable for both lossless coding and 'lossy' or statistical coding techniques, compressing complex objects by separately encoding signals and noise. This is demonstrated by compressing the most significant bits of data exactly, since they are typically redundant and compressible, and either fitting a maximally likely noise function to the residual bits or compressing them using lossy methods. Upon decompression, the significant bits are decoded and added to a noise function, whether sampled from a noise model or decompressed from a lossy code. This results in compressed data similar to the original. For many test images, a two-part image code using JPEG2000 for lossy coding and PAQ8l for lossless coding produces less mean-squared error than an equal length of JPEG2000. Computer-generated images typically compress better using this method than through direct lossy coding, as do many black and white photographs and most color photographs at sufficiently high quality levels. Examples applying the method to audio and video coding are also demonstrated. Since two-part codes are efficient for both periodic and chaotic data, concatenations of roughly similar objects may be encoded efficiently, which leads to improved inference. Applications to artificial intelligence are demonstrated, showing that signals using an economical lossless code have a critical level of redundancy which leads to better description-based inference than signals which encode either insufficient data or too much detail., Comment: 99 pages, 31 figures

The theoretical limits of 'lossy' data compression algorithms are considered. The complexity of an object as seen by a macroscopic observer is the size of the perceptual code which discards all information that can be lost without altering the perception of the specified observer. The complexity of this macroscopically observed state is the simplest description of any microstate comprising that macrostate. Inference and pattern recognition based on macrostate rather than microstate complexities will take advantage of the complexity of the macroscopic observer to ignore irrelevant noise.

Medical Informatics and the application of modern signal processing in the assistance of the diagnostic process in medical imaging is one of the more recent and active research areas today. This thesis addresses a variety of issues related to the general problem of medical image analysis, specifically in mammography, and presents a series of algorithms and design approaches for all the intermediate levels of a modern system for computer-aided diagnosis (CAD). The diagnostic problem is analyzed with a systematic approach, first defining the imaging characteristics and features that are relevant to probable pathology in mammo-grams. Next, these features are quantified and fused into new, integrated radio-logical systems that exhibit embedded digital signal processing, in order to improve the final result and minimize the radiological dose for the patient. In a higher level, special algorithms are designed for detecting and encoding these clinically interest-ing imaging features, in order to be used as input to advanced pattern classifiers and machine learning models. Finally, these approaches are extended in multi-classifier models under the scope of Game Theory and optimum collective deci-sion, in order to produce efficient solutions for combining classifiers with minimum computational costs for advanced diagnostic systems. The material covered in this thesis is related to a total of 18 published papers, 6 in scientific journals and 12 in international conferences., Comment: PhD thesis summary, 12 pages

A generalized information formula related to logical probability and fuzzy set is deduced from the classical information formula. The new information measure accords with to Popper's criterion for knowledge evolution very much. In comparison with square error criterion, the information criterion does not only reflect error of a proposition, but also reflects the particularity of the event described by the proposition. It gives a proposition with less logical probability higher evaluation. The paper introduces how to select a prediction or sentence from many for forecasts and language translations according to the generalized information criterion. It also introduces the rate fidelity theory, which comes from the improvement of the rate distortion theory in the classical information theory by replacing distortion (i.e. average error) criterion with the generalized mutual information criterion, for data compression and communication efficiency. Some interesting conclusions are obtained from the rate-fidelity function in relation to image communication. It also discusses how to improve Popper's theory., Comment: 8 pages, 5 figures

We consider the design of a pattern recognition that matches templates to images, both of which are spatially sampled and encoded as temporal sequences. The image is subject to a combination of various perturbations. These include ones that can be modeled as parameterized uncertainties such as image blur, luminance, translation, and rotation as well as unmodeled ones. Biological and neural systems require that these perturbations be processed through a minimal number of channels by simple adaptation mechanisms. We found that the most suitable mathematical framework to meet this requirement is that of weakly attracting sets. This framework provides us with a normative and unifying solution to the pattern recognition problem. We analyze the consequences of its explicit implementation in neural systems. Several properties inherent to the systems designed in accordance with our normative mathematical argument coincide with known empirical facts. This is illustrated in mental rotation, visual search and blur/intensity adaptation. We demonstrate how our results can be applied to a range of practical problems in template matching and pattern recognition., Comment: 52 pages, 12 figures