Patch foraging is one of the most heavily studied behavioral optimization challenges in biology. However, despite its importance to biological intelligence, this behavioral optimization problem is understudied in artificial intelligence research. Patch foraging is especially amenable to study given that it has a known optimal solution, which may be difficult to discover given current techniques in deep reinforcement learning. Here, we investigate deep reinforcement learning agents in an ecological patch foraging task. For the first time, we show that machine learning agents can learn to patch forage adaptively in patterns similar to biological foragers, and approach optimal patch foraging behavior when accounting for temporal discounting. Finally, we show emergent internal dynamics in these agents that resemble single-cell recordings from foraging non-human primates, which complements experimental and theoretical work on the neural mechanisms of biological foraging. This work suggests that agents interacting in complex environments with ecologically valid pressures arrive at common solutions, suggesting the emergence of foundational computations behind adaptive, intelligent behavior in both biological and artificial agents.
3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to small changes in pose, the high-nonlinear mapping between 3D object representation to valid poses is considerably non-smooth, leading to poor generation efficiency and restricted generality. To tackle the challenge, we introduce an intermediate variable for grasp contact areas to constrain the grasp generation; in other words, we factorize the mapping into two sequential stages by assuming that grasping poses are fully constrained given contact maps: 1) we first learn contact map distributions to generate the potential contact maps for grasps; 2) then learn a mapping from the contact maps to the grasping poses. Further, we propose a penetration-aware optimization with the generated contacts as a consistency constraint for grasp refinement. Extensive validations on two public datasets show that our method outperforms state-of-the-art methods regarding grasp generation on various metrics.
Probabilities of causation play a crucial role in modern decision-making. Pearl defined three binary probabilities of causation, the probability of necessity and sufficiency (PNS), the probability of sufficiency (PS), and the probability of necessity (PN). These probabilities were then bounded by Tian and Pearl using a combination of experimental and observational data. However, observational data are not always available in practice; in such a case, Tian and Pearl's Theorem provided valid but less effective bounds using pure experimental data. In this paper, we discuss the conditions that observational data are worth considering to improve the quality of the bounds. More specifically, we defined the expected improvement of the bounds by assuming the observational distributions are uniformly distributed on their feasible interval. We further applied the proposed theorems to the unit selection problem defined by Li and Pearl.
In this work, we take the named entity recognition task in the English language as a case study and explore style transfer as a data augmentation method to increase the size and diversity of training data in low-resource scenarios. We propose a new method to effectively transform the text from a high-resource domain to a low-resource domain by changing its style-related attributes to generate synthetic data for training. Moreover, we design a constrained decoding algorithm along with a set of key ingredients for data selection to guarantee the generation of valid and coherent data. Experiments and analysis on five different domain pairs under different data regimes demonstrate that our approach can significantly improve results compared to current state-of-the-art data augmentation methods. Our approach is a practical solution to data scarcity, and we expect it to be applicable to other NLP tasks.
Scaling up model sizes can lead to fundamentally new capabilities in many machine learning (ML) tasks. However, training big models requires strong distributed system expertise to carefully design model-parallel execution strategies that suit the model architectures and cluster setups. In this paper, we develop AMP, a framework that automatically derives such strategies. AMP identifies a valid space of model parallelism strategies and efficiently searches the space for high-performed strategies, by leveraging a cost model designed to capture the heterogeneity of the model and cluster specifications. Unlike existing methods, AMP is specifically tailored to support complex models composed of uneven layers and cluster setups with more heterogeneous accelerators and bandwidth. We evaluate AMP on popular models and cluster setups from public clouds and show that AMP returns parallel strategies that match the expert-tuned strategies on typical cluster setups. On heterogeneous clusters or models with heterogeneous architectures, AMP finds strategies with 1.54x and 1.77x higher throughput than state-of-the-art model-parallel systems, respectively.
Dataset bias has attracted increasing attention recently for its detrimental effect on the generalization ability of fine-tuned models. The current mainstream solution is designing an additional shallow model to pre-identify biased instances. However, such two-stage methods scale up the computational complexity of training process and obstruct valid feature information while mitigating bias. To address this issue, we utilize the representation normalization method which aims at disentangling the correlations between features of encoded sentences. We find it also promising in eliminating the bias problem by providing isotropic data distribution. We further propose Kernel-Whitening, a Nystrom kernel approximation method to achieve more thorough debiasing on nonlinear spurious correlations. Our framework is end-to-end with similar time consumption to fine-tuning. Experiments show that Kernel-Whitening significantly improves the performance of BERT on out-of-distribution datasets while maintaining in-distribution accuracy.
Task competition by robots is still off from being completely dependable and usable. One way a robot may decipher information given to it and accomplish tasks is by utilizing FOON, which stands for functional object-oriented network. The network first needs to be created by having a human creates action nodes as well as input and output nodes in a .txt file. After the network is sizeable, utilization of this network allows for traversal of the network in a variety of ways such as choosing steps via iterative deepening searching by using the first seen valid option. Another mechanism is heuristics, such as choosing steps based on the highest success rate or lowest amount of input ingredients. Via any of these methods, a program can traverse the network given an output product, and derive the series of steps that need to be taken to produce the output.
We consider estimation and inference for a regression coefficient in panels with interactive fixed effects (i.e., with a factor structure). We demonstrate that existing estimators and confidence intervals (CIs) can be heavily biased and size-distorted when some of the factors are weak. We propose estimators with improved rates of convergence and bias-aware CIs that remain valid uniformly, regardless of factor strength. Our approach applies the theory of minimax linear estimation to form a debiased estimate, using a nuclear norm bound on the error of an initial estimate of the interactive fixed effects. Our resulting bias-aware CIs take into account the remaining bias caused by weak factors. Monte Carlo experiments show substantial improvements over conventional methods when factors are weak, with minimal costs to estimation accuracy when factors are strong.
We present a novel kernel over the space of probability measures based on the dual formulation of optimal regularized transport. We propose an Hilbertian embedding of the space of probabilities using their Sinkhorn potentials, which are solutions of the dual entropic relaxed optimal transport between the probabilities and a reference measure $\mathcal{U}$. We prove that this construction enables to obtain a valid kernel, by using the Hilbert norms. We prove that the kernel enjoys theoretical properties such as universality and some invariances, while still being computationally feasible. Moreover we provide theoretical guarantees on the behaviour of a Gaussian process based on this kernel. The empirical performances are compared with other traditional choices of kernels for processes indexed on distributions.
Word alignments are essential for a variety of NLP tasks. Therefore, choosing the best approaches for their creation is crucial. However, the scarce availability of gold evaluation data makes the choice difficult. We propose SilverAlign, a new method to automatically create silver data for the evaluation of word aligners by exploiting machine translation and minimal pairs. We show that performance on our silver data correlates well with gold benchmarks for 9 language pairs, making our approach a valid resource for evaluation of different domains and languages when gold data are not available. This addresses the important scenario of missing gold data alignments for low-resource languages.
Panoptic segmentation assigns semantic and instance ID labels to every pixel of an image. As permutations of instance IDs are also valid solutions, the task requires learning of high-dimensional one-to-many mapping. As a result, state-of-the-art approaches use customized architectures and task-specific loss functions. We formulate panoptic segmentation as a discrete data generation problem, without relying on inductive bias of the task. A diffusion model is proposed to model panoptic masks, with a simple architecture and generic loss function. By simply adding past predictions as a conditioning signal, our method is capable of modeling video (in a streaming setting) and thereby learns to track object instances automatically. With extensive experiments, we demonstrate that our simple approach can perform competitively to state-of-the-art specialist methods in similar settings.
We propose principled prediction intervals to quantify the uncertainty of a large class of synthetic control predictions (or estimators) in settings with staggered treatment adoption, offering precise non-asymptotic coverage probability guarantees. From a methodological perspective, we provide a detailed discussion of different causal quantities to be predicted, which we call causal predictands, allowing for multiple treated units with treatment adoption at possibly different points in time. From a theoretical perspective, our uncertainty quantification methods improve on prior literature by (i) covering a large class of causal predictands in staggered adoption settings, (ii) allowing for synthetic control methods with possibly nonlinear constraints, (iii) proposing scalable robust conic optimization methods and principled data-driven tuning parameter selection, and (iv) offering valid uniform inference across post-treatment periods. We illustrate our methodology with an empirical application studying the effects of economic liberalization on real GDP per capita for Sub-Saharan African countries. Companion software packages are provided in Python, R, and Stata.
Shape-based virtual screening is widely employed in ligand-based drug design to search chemical libraries for molecules with similar 3D shapes yet novel 2D chemical structures compared to known ligands. 3D deep generative models have the potential to automate this exploration of shape-conditioned 3D chemical space; however, no existing models can reliably generate valid drug-like molecules in conformations that adopt a specific shape such as a known binding pose. We introduce a new multimodal 3D generative model that enables shape-conditioned 3D molecular design by equivariantly encoding molecular shape and variationally encoding chemical identity. We ensure local geometric and chemical validity of generated molecules by using autoregressive fragment-based generation with heuristic bonding geometries, allowing the model to prioritize the scoring of rotatable bonds to best align the growing conformational structure to the target shape. We evaluate our 3D generative model in tasks relevant to drug design including shape-conditioned generation of chemically diverse molecular structures and shape-constrained molecular property optimization, demonstrating its utility over virtual screening of enumerated libraries.
When proxies (external instruments) used to identify target structural shocks are weak, inference in proxy-SVARs (SVAR-IVs) is nonstandard and the construction of asymptotically valid confidence sets for the impulse responses of interest requires weak-instrument robust methods. In the presence of multiple target shocks, test inversion techniques require extra restrictions on the proxy-SVAR parameters other those implied by the proxies that may be difficult to interpret and test. We show that frequentist asymptotic inference in these situations can be conducted through Minimum Distance estimation and standard asymptotic methods if the proxy-SVAR can be identified by using `strong' instruments for the non-target shocks; i.e. the shocks which are not of primary interest in the analysis. The suggested identification strategy hinges on a novel pre-test for the null of instrument relevance based on bootstrap resampling which is not subject to pre-testing issues, in the sense that the validity of post-test asymptotic inferences is not affected by the outcomes of the test. The test is robust to conditionally heteroskedasticity and/or zero-censored proxies, is computationally straightforward and applicable regardless of the number of shocks being instrumented. Some illustrative examples show the empirical usefulness of the suggested identification and testing strategy.
Fragment-based drug discovery has been an effective paradigm in early-stage drug development. An open challenge in this area is designing linkers between disconnected molecular fragments of interest to obtain chemically-relevant candidate drug molecules. In this work, we propose DiffLinker, an E(3)-equivariant 3D-conditional diffusion model for molecular linker design. Given a set of disconnected fragments, our model places missing atoms in between and designs a molecule incorporating all the initial fragments. Unlike previous approaches that are only able to connect pairs of molecular fragments, our method can link an arbitrary number of fragments. Additionally, the model automatically determines the number of atoms in the linker and its attachment points to the input fragments. We demonstrate that DiffLinker outperforms other methods on the standard datasets generating more diverse and synthetically-accessible molecules. Besides, we experimentally test our method in real-world applications, showing that it can successfully generate valid linkers conditioned on target protein pockets.
Precisely naming the action depicted in a video can be a challenging and oftentimes ambiguous task. In contrast to object instances represented as nouns (e.g. dog, cat, chair, etc.), in the case of actions, human annotators typically lack a consensus as to what constitutes a specific action (e.g. jogging versus running). In practice, a given video can contain multiple valid positive annotations for the same action. As a result, video datasets often contain significant levels of label noise and overlap between the atomic action classes. In this work, we address the challenge of training multi-label action recognition models from only single positive training labels. We propose two approaches that are based on generating pseudo training examples sampled from similar instances within the train set. Unlike other approaches that use model-derived pseudo-labels, our pseudo-labels come from human annotations and are selected based on feature similarity. To validate our approaches, we create a new evaluation benchmark by manually annotating a subset of EPIC-Kitchens-100's validation set with multiple verb labels. We present results on this new test set along with additional results on a new version of HMDB-51, called Confusing-HMDB-102, where we outperform existing methods in both cases. Data and code are available at https://github.com/kiyoon/verb_ambiguity
Segmentation and measurement of cardiac chambers is critical in cardiac ultrasound but is laborious and poorly reproducible. Neural networks can assist, but supervised approaches require the same laborious manual annotations. We built a pipeline for self-supervised (no manual labels) segmentation combining computer vision, clinical domain knowledge, and deep learning. We trained on 450 echocardiograms (93,000 images) and tested on 8,393 echocardiograms (4,476,266 images; mean 61 years, 51% female), using the resulting segmentations to calculate biometrics. We also tested against external images from an additional 10,030 patients with available manual tracings of the left ventricle. r2 between clinically measured and pipeline-predicted measurements were similar to reported inter-clinician variation and comparable to supervised learning across several different measurements (r2 0.56-0.84). Average accuracy for detecting abnormal chamber size and function was 0.85 (range 0.71-0.97) compared to clinical measurements. A subset of test echocardiograms (n=553) had corresponding cardiac MRIs, where MRI is the gold standard. Correlation between pipeline and MRI measurements was similar to that between clinical echocardiogram and MRI. Finally, the pipeline accurately segments the left ventricle with an average Dice score of 0.89 (95% CI [0.89]) in the external, manually labeled dataset. Our results demonstrate a manual-label free, clinically valid, and highly scalable method for segmentation from ultrasound, a noisy but globally important imaging modality.
While domain-specific data augmentation can be useful in training neural networks for medical imaging tasks, such techniques have not been widely used to date. Here, we test whether domain-specific data augmentation is useful for medical imaging using a well-benchmarked task: view classification on fetal ultrasound FETAL-125 and OB-125 datasets. We found that using a context-preserving cut-paste strategy, we could create valid training data as measured by performance of the resulting trained model on the benchmark test dataset. When used in an online fashion, models trained on this data performed similarly to those trained using traditional data augmentation (FETAL-125 F-score 85.33+/-0.24 vs 86.89+/-0.60, p-value 0.0139; OB-125 F-score 74.60+/-0.11 vs 72.43+/-0.62, p-value 0.0039). Furthermore, the ability to perform augmentations during training time, as well as the ability to apply chosen augmentations equally across data classes, are important considerations in designing a bespoke data augmentation. Finally, we provide open-source code to facilitate running bespoke data augmentations in an online fashion. Taken together, this work expands the ability to design and apply domain-guided data augmentations for medical imaging tasks.
Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain, and it is possible to perform localization based on aerial-to-ground (A2G) imagery correspondence. However, considering the low-texture nature of the Mars terrain, and large perspective changes between UAV and rover imagery, traditional image matching methods will struggle to obtain valid image correspondence. In this paper we propose a novel pipeline for Mars rover localization. An algorithm combing image-based rock detection and rock distribution pattern matching is used to acquire A2G imagery correspondence, thus establishing the rover position in a UAV-generated ground map. Feasibility of this method is evaluated on sample data from a Mars analogue environment. The proposed method can serve as a reliable assist in future Mars missions.
Conformal prediction is a widely used method to quantify the uncertainty of a classifier under the assumption of exchangeability (e.g., IID data). We generalize conformal prediction to the Hidden Markov Model (HMM) framework where the assumption of exchangeability is not valid. The key idea of the proposed method is to partition the non-exchangeable Markovian data from the HMM into exchangeable blocks by exploiting the de Finetti's Theorem for Markov Chains discovered by Diaconis and Freedman (1980). The permutations of the exchangeable blocks are viewed as randomizations of the observed Markovian data from the HMM. The proposed method provably retains all desirable theoretical guarantees offered by the classical conformal prediction framework in both exchangeable and Markovian settings. In particular, while the lack of exchangeability introduced by Markovian samples constitutes a violation of a crucial assumption for classical conformal prediction, the proposed method views it as an advantage that can be exploited to improve the performance further. Detailed numerical and empirical results that complement the theoretical conclusions are provided to illustrate the practical feasibility of the proposed method.