Detecting objects in a video is a compute-intensive task. In this paper we propose CaTDet, a system to speedup object detection by leveraging the temporal correlation in video. CaTDet consists of two DNN models that form a cascaded detector, and an additional tracker to predict regions of interests based on historic detections. We also propose a new metric, mean Delay(mD), which is designed for latency-critical video applications. Experiments on the KITTI dataset show that CaTDet reduces operation count by 5.1-8.7x with the same mean Average Precision(mAP) as the single-model Faster R-CNN detector and incurs additional delay of 0.3 frame. On CityPersons dataset, CaTDet achieves 13.0x reduction in operations with 0.8% mAP loss.

We consider the problem of learning from sparse and underspecified rewards, where an agent receives a complex input, such as a natural language instruction, and needs to generate a complex response, such as an action sequence, while only receiving binary success-failure feedback. Such success-failure rewards are often underspecified: they do not distinguish between purposeful and accidental success. Generalization from underspecified rewards hinges on discounting spurious trajectories that attain accidental success, while learning from sparse feedback requires effective exploration. We address exploration by using a mode covering direction of KL divergence to collect a diverse set of successful trajectories, followed by a mode seeking KL divergence to train a robust policy. We propose Meta Reward Learning (MeRL) to construct an auxiliary reward function that provides more refined feedback for learning. The parameters of the auxiliary reward function are optimized with respect to the validation performance of a trained policy. The MeRL approach outperforms our alternative reward learning technique based on Bayesian Optimization, and achieves the state-of-the-art on weakly-supervised semantic parsing. It improves previous work by 1.2% and 2.4% on WikiTableQuestions and WikiSQL datasets respectively.

We provide a framework to approximate the 2-Wasserstein distance and the optimal transport map, amenable to efficient training as well as statistical and geometric analysis. With the quadratic cost and considering the Kantorovich dual form of the optimal transportation problem, the Brenier theorem states that the optimal potential function is convex and the optimal transport map is the gradient of the optimal potential function. Using this geometric structure, we restrict the optimization problem to different parametrized classes of convex functions and pay special attention to the class of input-convex neural networks. We analyze the statistical generalization and the discriminative power of the resulting approximate metric, and we prove a restricted moment-matching property for the approximate optimal map. Finally, we discuss a numerical algorithm to solve the restricted optimization problem and provide numerical experiments to illustrate and compare the proposed approach with the established regularization-based approaches. We further discuss practical implications of our proposal in a modular and interpretable design for GANs which connects the generator training with discriminator computations to allow for learning an overall composite generator.

A major tenet in theoretical neuroscience is that cognitive and behavioral processes are ultimately implemented in terms of the neural system dynamics. Accordingly, a major aim for the analysis of neurophysiological measurements should lie in the identification of the computational dynamics underlying task processing. Here we advance a state space model (SSM) based on generative piecewise-linear recurrent neural networks (PLRNN) to assess dynamics from neuroimaging data. In contrast to many other nonlinear time series models which have been proposed for reconstructing latent dynamics, our model is easily interpretable in neural terms, amenable to systematic dynamical systems analysis of the resulting set of equations, and can straightforwardly be transformed into an equivalent continuous-time dynamical system. The major contributions of this paper are the introduction of a new observation model suitable for functional magnetic resonance imaging (fMRI) coupled to the latent PLRNN, an efficient stepwise training procedure that forces the latent model to capture the 'true' underlying dynamics rather than just fitting (or predicting) the observations, and of an empirical measure based on the Kullback-Leibler divergence to evaluate from empirical time series how well this goal of approximating the underlying dynamics has been achieved. We validate and illustrate the power of our approach on simulated 'ground-truth' dynamical (benchmark) systems as well as on actual experimental fMRI time series. Given that fMRI is one of the most common techniques for measuring brain activity non-invasively in human subjects, this approach may provide a novel step toward analyzing aberrant (nonlinear) dynamics for clinical assessment or neuroscientific research.

Learning low-dimensional embeddings of knowledge graphs is a powerful approach used to predict unobserved or missing edges between entities. However, an open challenge in this area is developing techniques that can go beyond simple edge prediction and handle more complex logical queries, which might involve multiple unobserved edges, entities, and variables. For instance, given an incomplete biological knowledge graph, we might want to predict "em what drugs are likely to target proteins involved with both diseases X and Y?" -- a query that requires reasoning about all possible proteins that {\em might} interact with diseases X and Y. Here we introduce a framework to efficiently make predictions about conjunctive logical queries -- a flexible but tractable subset of first-order logic -- on incomplete knowledge graphs. In our approach, we embed graph nodes in a low-dimensional space and represent logical operators as learned geometric operations (e.g., translation, rotation) in this embedding space. By performing logical operations within a low-dimensional embedding space, our approach achieves a time complexity that is linear in the number of query variables, compared to the exponential complexity required by a naive enumeration-based approach. We demonstrate the utility of this framework in two application studies on real-world datasets with millions of relations: predicting logical relationships in a network of drug-gene-disease interactions and in a graph-based representation of social interactions derived from a popular web forum.

We introduce the problem of learning mixtures of $k$ subcubes over $\{0,1\}^n$, which contains many classic learning theory problems as a special case (and is itself a special case of others). We give a surprising $n^{O(\log k)}$-time learning algorithm based on higher-order multilinear moments. It is not possible to learn the parameters because the same distribution can be represented by quite different models. Instead, we develop a framework for reasoning about how multilinear moments can pinpoint essential features of the mixture, like the number of components. We also give applications of our algorithm to learning decision trees with stochastic transitions (which also capture interesting scenarios where the transitions are deterministic but there are latent variables). Using our algorithm for learning mixtures of subcubes, we can approximate the Bayes optimal classifier within additive error $\epsilon$ on $k$-leaf decision trees with at most $s$ stochastic transitions on any root-to-leaf path in $n^{O(s + \log k)}\cdot\text{poly}(1/\epsilon)$ time. In this stochastic setting, the classic Occam algorithms for learning decision trees with zero stochastic transitions break down, while the low-degree algorithm of Linial et al. inherently has a quasipolynomial dependence on $1/\epsilon$. In contrast, as we will show, mixtures of $k$ subcubes are uniquely determined by their degree $2 \log k$ moments and hence provide a useful abstraction for simultaneously achieving the polynomial dependence on $1/\epsilon$ of the classic Occam algorithms for decision trees and the flexibility of the low-degree algorithm in being able to accommodate stochastic transitions. Using our multilinear moment techniques, we also give the first improved upper and lower bounds since the work of Feldman et al. for the related but harder problem of learning mixtures of binary product distributions.

In this paper, we study the problem of minimizing a sum of smooth and strongly convex functions split over the nodes of a network in a decentralized fashion. We propose the algorithm $ESDACD$, a decentralized accelerated algorithm that only requires local synchrony. Its rate depends on the condition number $\kappa$ of the local functions as well as the network topology and delays. Under mild assumptions on the topology of the graph, $ESDACD$ takes a time $O((\tau_{\max} + \Delta_{\max})\sqrt{{\kappa}/{\gamma}}\ln(\epsilon^{-1}))$ to reach a precision $\epsilon$ where $\gamma$ is the spectral gap of the graph, $\tau_{\max}$ the maximum communication delay and $\Delta_{\max}$ the maximum computation time. Therefore, it matches the rate of $SSDA$, which is optimal when $\tau_{\max} = \Omega\left(\Delta_{\max}\right)$. Applying $ESDACD$ to quadratic local functions leads to an accelerated randomized gossip algorithm of rate $O( \sqrt{\theta_{\rm gossip}/n})$ where $\theta_{\rm gossip}$ is the rate of the standard randomized gossip. To the best of our knowledge, it is the first asynchronous gossip algorithm with a provably improved rate of convergence of the second moment of the error. We illustrate these results with experiments in idealized settings.

Graph Convolutional Networks (GCNs) and their variants have experienced significant attention and have become the de facto methods for learning graph representations. GCNs derive inspiration primarily from recent deep learning approaches, and as a result, may inherit unnecessary complexity and redundant computation. In this paper, we reduce this excess complexity through successively removing nonlinearities and collapsing weight matrices between consecutive layers. We theoretically analyze the resulting linear model and show that it corresponds to a fixed low-pass filter followed by a linear classifier. Notably, our experimental evaluation demonstrates that these simplifications do not negatively impact accuracy in many downstream applications. Moreover, the resulting model scales to larger datasets, is naturally interpretable, and yields up to two orders of magnitude speedup over FastGCN.

In this paper, we propose a generalization of the Batch Normalization (BN) algorithm, diminishing batch normalization (DBN), where we update the BN parameters in a diminishing moving average way. BN is very effective in accelerating the convergence of a neural network training phase that it has become a common practice. Our proposed DBN algorithm remains the overall structure of the original BN algorithm while introduces a weighted averaging update to some trainable parameters. We provide an analysis of the convergence of the DBN algorithm that converges to a stationary point with respect to trainable parameters. Our analysis can be easily generalized for original BN algorithm by setting some parameters to constant. To the best knowledge of authors, this analysis is the first of its kind for convergence with Batch Normalization introduced. We analyze a two-layer model with arbitrary activation function. The primary challenge of the analysis is the fact that some parameters are updated by gradient while others are not. The convergence analysis applies to any activation function that satisfies our common assumptions. In the numerical experiments, we test the proposed algorithm on complex modern CNN models with stochastic gradients and ReLU activation. We observe that DBN outperforms the original BN algorithm on MNIST, NI and CIFAR-10 datasets with reasonable complex FNN and CNN models.

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, their cooperation ability deteriorates as the crowd grows since they typically relax the problem as a one-way Human-Robot interaction problem. In this work, we want to go beyond first-order Human-Robot interaction and more explicitly model Crowd-Robot Interaction (CRI). We propose to (i) rethink pairwise interactions with a self-attention mechanism, and (ii) jointly model Human-Robot as well as Human-Human interactions in the deep reinforcement learning framework. Our model captures the Human-Human interactions occurring in dense crowds that indirectly affects the robot's anticipation capability. Our proposed attentive pooling mechanism learns the collective importance of neighboring humans with respect to their future states. Various experiments demonstrate that our model can anticipate human dynamics and navigate in crowds with time efficiency, outperforming state-of-the-art methods.

Sum-of-norms clustering is a method for assigning $n$ points in $\mathbb{R}^d$ to $K$ clusters, $1\le K\le n$, using convex optimization. Recently, Panahi et al.\ proved that sum-of-norms clustering is guaranteed to recover a mixture of Gaussians under the restriction that the number of samples is not too large. The purpose of this note is to lift this restriction, i.e., show that sum-of-norms clustering with equal weights can recover a mixture of Gaussians even as the number of samples tends to infinity. Our proof relies on an interesting characterization of clusters computed by sum-of-norms clustering that was developed inside a proof of the agglomeration conjecture by Chiquet et al. Because we believe this theorem has independent interest, we restate and reprove the Chiquet et al.\ result herein.

In this paper, we propose a fully supervised speaker diarization approach, named unbounded interleaved-state recurrent neural networks (UIS-RNN). Given extracted speaker-discriminative embeddings (a.k.a. d-vectors) from input utterances, each individual speaker is modeled by a parameter-sharing RNN, while the RNN states for different speakers interleave in the time domain. This RNN is naturally integrated with a distance-dependent Chinese restaurant process (ddCRP) to accommodate an unknown number of speakers. Our system is fully supervised and is able to learn from examples where time-stamped speaker labels are annotated. We achieved a 7.6% diarization error rate on NIST SRE 2000 CALLHOME, which is better than the state-of-the-art method using spectral clustering. Moreover, our method decodes in an online fashion while most state-of-the-art systems rely on offline clustering.

It is common in recommendation systems that users both consume and produce information as they make strategic choices under uncertainty. While a social planner would balance "exploration" and "exploitation" using a multi-armed bandit algorithm, users' incentives may tilt this balance in favor of exploitation. We consider Bayesian Exploration: a simple model in which the recommendation system (the "principal") controls the information flow to the users (the "agents") and strives to incentivize exploration via information asymmetry. A single round of this model is a version of a well-known "Bayesian Persuasion game" from [Kamenica and Gentzkow]. We allow heterogeneous users, relaxing a major assumption from prior work that users have the same preferences from one time step to another. The goal is now to learn the best personalized recommendations. One particular challenge is that it may be impossible to incentivize some of the user types to take some of the actions, no matter what the principal does or how much time she has. We consider several versions of the model, depending on whether and when the user types are reported to the principal, and design a near-optimal "recommendation policy" for each version. We also investigate how the model choice and the diversity of user types impact the set of actions that can possibly be "explored" by each type.

Health data are generally complex in type and small in sample size. Such domain-specific challenges make it difficult to capture information reliably and contribute further to the issue of generalization. To assist the analytics of healthcare datasets, we develop a feature selection method based on the concept of Coverage Adjusted Standardized Mutual Information (CASMI). The main advantages of the proposed method are: 1) it selects features more efficiently with the help of an improved entropy estimator, particularly when the sample size is small, and 2) it automatically learns the number of features to be selected based on the information from sample data. Additionally, the proposed method handles feature redundancy from the perspective of joint-distribution. The proposed method focuses on non-ordinal data, while it works with numerical data with an appropriate binning method. A simulation study comparing the proposed method to six widely cited feature selection methods shows that the proposed method performs better when measured by the Information Recovery Ratio, particularly when the sample size is small.

Adaptive gradient methods like AdaGrad are widely used in optimizing neural networks. Yet, existing convergence guarantees for adaptive gradient methods require either convexity or smoothness, and, in the smooth setting, only guarantee convergence to a stationary point. We propose an adaptive gradient method and show that for two-layer over-parameterized neural networks -- if the width is sufficiently large (polynomially) -- then the proposed method converges \emph{to the global minimum} in polynomial time, and convergence is robust, \emph{ without the need to fine-tune hyper-parameters such as the step-size schedule and with the level of over-parametrization independent of the training error}. Our analysis indicates in particular that over-parametrization is crucial for the harnessing the full potential of adaptive gradient methods in the setting of neural networks.

Top