Agents trained in simulation may make errors in the real world due to mismatches between training and execution environments. These mistakes can be dangerous and difficult to discover because the agent cannot predict them a priori. We propose using oracle feedback to learn a predictive model of these blind spots to reduce costly errors in real-world applications. We focus on blind spots in reinforcement learning (RL) that occur due to incomplete state representation: The agent does not have the appropriate features to represent the true state of the world and thus cannot distinguish among numerous states. We formalize the problem of discovering blind spots in RL as a noisy supervised learning problem with class imbalance. We learn models to predict blind spots in unseen regions of the state space by combining techniques for label aggregation, calibration, and supervised learning. The models take into consideration noise emerging from different forms of oracle feedback, including demonstrations and corrections. We evaluate our approach on two domains and show that it achieves higher predictive performance than baseline methods, and that the learned model can be used to selectively query an oracle at execution time to prevent errors. We also empirically analyze the biases of various feedback types and how they influence the discovery of blind spots.
Anomaly detection @cite_7 is related but not directly applicable, as blind spots are not rare instances. Instead, they are regions of the state space where the training environment does not match the testing environment, and we learn to efficiently identify these regions through oracle feedback.
@cite_7
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Cloud computing resources that are equipped with GPU devices are widely used for applications that require extensive parallelism, such as deep learning. When the demand of cloud computing instance is low, the surplus of resources is provided at a lower price in the form of spot instance by AWS EC2. This paper proposes DeepSpotCloud that utilizes GPU-equipped spot instances to run deep learning tasks in a cost efficient and fault-tolerant way. Thorough analysis about spot instance price history logs reveals that GPU spot instances show more dynamic price change pattern than other general types of cloud computing resources. To deal with the price dynamicity of the GPU spot instance, DeepSpotCloud utilizes instances in different regions across continents as a single resource pool. This paper also proposes a task migration heuristic by utilizing a checkpointing mechanism of existing deep learning analysis platform to conduct fast task migration when a running spot instance is interrupted. Extensive experiments using real AWS services prove that the proposed task migration method is effective even in a WAN environment with limited network bandwidth. Comprehensive simulations by replaying AWS EC2 price history logs reveal that DeepSpotCloud can achieve 13 more cost gain than a state-of-the-art interrupt-driven scheduling policy. The prototype of DeepSpotCloud is implemented using various cloud computing services provided by AWS to serve real deep learning tasks. Predictive models deployed in the real world may assign incorrect labels to instances with high confidence. Such errors or unknown unknowns are rooted in model incompleteness, and typically arise because of the mismatch between training data and the cases encountered at test time. As the models are blind to such errors, input from an oracle is needed to identify these failures. In this paper, we formulate and address the problem of informed discovery of unknown unknowns of any given predictive model where unknown unknowns occur due to systematic biases in the training data. We propose a model-agnostic methodology which uses feedback from an oracle to both identify unknown unknowns and to intelligently guide the discovery. We employ a two-phase approach which first organizes the data into multiple partitions based on the feature similarity of instances and the confidence scores assigned by the predictive model, and then utilizes an explore-exploit strategy for discovering unknown unknowns across these partitions. We demonstrate the efficacy of our framework by varying the underlying causes of unknown unknowns across various applications. To the best of our knowledge, this paper presents the first algorithmic approach to the problem of discovering unknown unknowns of predictive models. Most inpainting approaches require a good image model to infer the unknown pixels. In this work, we directly learn a mapping from image patches, corrupted by missing pixels, onto complete image patches. This mapping is represented as a deep neural network that is automatically trained on a large image data set. In particular, we are interested in the question whether it is helpful to exploit the shape information of the missing regions, i.e. the masks, which is something commonly ignored by other approaches. In comprehensive experiments on various images, we demonstrate that our learning-based approach is able to use this extra information and can achieve state-of-the-art inpainting results. Furthermore, we show that training with such extra information is useful for blind inpainting, where the exact shape of the missing region might be uncertain, for instance due to aliasing effects. Designing dynamic pricing mechanisms that efficiently price resources in line with a provider's profit maximization goal is a key challenge in cloud computing environments. Despite the large volume of research published on this topic, there is no publicly available software system implementing dynamic pricing for Infrastructure as a Service cloud spot markets. This paper presents the implementation of a framework called Spot instance pricing as a Service SipaaS that supports an auction mechanism to price and allocate virtual machine instances. SipaaS is an open-source project offering a set of web services to price and sell virtual machine instances in a spot market resembling the Amazon EC2 spot instances. Cloud providers, who aim at utilizing SipaaS, should install add-ons in their existing platform to make use of the framework. As an instance, we provide an extension to the Horizon - the OpenStack dashboard project - to employ SipaaS web services and to add a spot market environment to OpenStack. To validate and evaluate the system, we conducted an experimental study with a group of 10 users utilizing the provided spot market in a real environment. Results show that the system performs reliably in a practical test environment. Copyright © 2015 John Wiley & Sons, Ltd. Video anomaly detection plays a critical role for intelligent video surveillance. We present an abnormal video event detection system that considers both spatial and temporal contexts. To characterize the video, we first perform the spatio-temporal video segmentation and then propose a new region-based descriptor called “Motion Context,” to describe both motion and appearance information of the spatio-temporal segment. For anomaly measurements, we formulate the abnormal event detection as a matching problem, which is more robust than statistic model-based methods, especially when the training dataset is of limited size. For each testing spatio-temporal segment, we search for its best match in the training dataset, and determine how normal it is using a dynamic threshold. To speed up the search process, compact random projections are also adopted. Experiments on the benchmark dataset and comparisons with the state-of-the-art methods validate the advantages of our algorithm. In this paper, we propose a mathematical framework to jointly model related activities with both motion and context information for activity recognition and anomaly detection. This is motivated from observations that activities related in space and time rarely occur independently and can serve as context for each other. The spatial and temporal distribution of different activities provides useful cues for the understanding of these activities. We denote the activities occurring with high frequencies in the database as normal activities. Given training data which contains labeled normal activities, our model aims to automatically capture frequent motion and context patterns for each activity class, as well as each pair of classes, from sets of predefined patterns during the learning process. Then, the learned model is used to generate globally optimum labels for activities in the testing videos. We show how to learn the model parameters via an unconstrained convex optimization problem and how to predict the correct labels for a testing instance consisting of multiple activities. The learned model and generated labels are used to detect anomalies whose motion and context patterns deviate from the learned patterns. We show promising results on the VIRAT Ground Dataset that demonstrates the benefit of joint modeling and recognition of activities in a wide-area scene and the effectiveness of the proposed method in anomaly detection. Anomaly detection is the double purpose of discovering interesting exceptions and identifying incorrect data in huge amounts of data. Since anomalies are rare events, which violate the frequent relationships among data. Normally anomaly detection builds models of normal behavior and automatically detects significant deviations from it. The proposed system detects the anomalies in nested XML documents by independency between data. The negative association rules and the chi-square test for independency are applied on the data and a model of abnormal behavior is built as a signature profile. This signature profile can be used to identify the anomalies in the system. The proposed system limits the unnecessary rules for detecting anomalies. Cell detection in microscopy images is an important step in the automation of cell based-experiments. We propose a machine learning-based cell detection method applicable to different modalities. The method consists of three steps: first, a set of candidate cell-like regions is identified. Then, each candidate region is evaluated using a statistical model of the cell appearance. Finally, dynamic programming picks a set of non-overlapping regions that match the model. The cell model requires few images with simple dot annotation for training and can be learned within a structured SVM framework. In the reported experiments, state-of-the-art cell detection accuracy is achieved for H&E-stained histology, fluorescence, and phase-contrast images. We describe a method to use discrete human feedback to enhance the performance of deep learning agents in virtual three-dimensional environments by extending deep-reinforcement learning to model the confidence and consistency of human feedback. This enables deep reinforcement learning algorithms to determine the most appropriate time to listen to the human feedback, exploit the current policy model, or explore the agent's environment. Managing the trade-off between these three strategies allows DRL agents to be robust to inconsistent or intermittent human feedback. Through experimentation using a synthetic oracle, we show that our technique improves the training speed and overall performance of deep reinforcement learning in navigating three-dimensional environments using Minecraft. We further show that our technique is robust to highly innacurate human feedback and can also operate when no human feedback is given. Many applications in surveillance, monitoring, scientific discovery, and data cleaning require the identification of anomalies. Although many methods have been developed to identify statistically significant anomalies, a more difficult task is to identify anomalies that are both interesting and statistically significant. Category detection is an emerging area of machine learning that can help address this issue using a "human-in-the-loop" approach. In this interactive setting, the algorithm asks the user to label a query data point under an existing category or declare the query data point to belong to a previously undiscovered category. The goal of category detection is to bring to the user's attention a representative data point from each category in the data in as few queries as possible. In a data set with imbalanced categories, the main challenge is in identifying the rare categories or anomalies; hence, the task is often referred to as rare category detection. We present a new approach to rare category detection based on hierarchical mean shift. In our approach, a hierarchy is created by repeatedly applying mean shift with an increasing bandwidth on the data. This hierarchy allows us to identify anomalies in the data set at different scales, which are then posed as queries to the user. The main advantage of this methodology over existing approaches is that it does not require any knowledge of the dataset properties such as the total number of categories or the prior probabilities of the categories. Results on real-world data sets show that our hierarchical mean shift approach performs consistently better than previous techniques. This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and segment object instances in complex scenes where modern deep learning-based methods either fail to separate object instances, or fail to detect objects that were not seen during training. SceneCut automatically decomposes a scene into meaningful regions which either represent objects or scene surfaces. The decomposition is qualified by an unified energy function over objectness and geometric fitting. We show how this energy function can be optimized efficiently by utilizing hierarchical segmentation trees. Moreover, we leverage a pre-trained convolutional oriented boundary network to predict accurate boundaries from images, which are used to construct high-quality region hierarchies. We evaluate SceneCut on several different indoor environments, and the results show that SceneCut significantly outperforms all the existing methods. In this paper, we propose a zoom-out-and-in network for generating object proposals. We utilize different resolutions of feature maps in the network to detect object instances of various sizes. Specifically, we divide the anchor candidates into three clusters based on the scale size and place them on feature maps of distinct strides to detect small, medium and large objects, respectively. Deeper feature maps contain region-level semantics which can help shallow counterparts to identify small objects. Therefore we design a zoom-in sub-network to increase the resolution of high level features via a deconvolution operation. The high-level features with high resolution are then combined and merged with low-level features to detect objects. Furthermore, we devise a recursive training pipeline to consecutively regress region proposals at the training stage in order to match the iterative regression at the testing stage. We demonstrate the effectiveness of the proposed method on ILSVRC DET and MS COCO datasets, where our algorithm performs better than the state-of-the-arts in various evaluation metrics. It also increases average precision by around 2 in the detection system. This paper gives an algorithm for detecting and reading text in natural images. The algorithm is intended for use by blind and visually impaired subjects walking through city scenes. We first obtain a dataset of city images taken by blind and normally sighted subjects. From this dataset, we manually label and extract the text regions. Next we perform statistical analysis of the text regions to determine which image features are reliable indicators of text and have low entropy (i.e. feature response is similar for all text images). We obtain weak classifiers by using joint probabilities for feature responses on and off text. These weak classifiers are used as input to an AdaBoost machine learning algorithm to train a strong classifier. In practice, we trained a cascade with 4 strong classifiers containing 79 features. An adaptive binarization and extension algorithm is applied to those regions selected by the cascade classifier. Commercial OCR software is used to read the text or reject it as a non-text region. The overall algorithm has a success rate of over 90 (evaluated by complete detection and reading of the text) on the test set and the unread text is typically small and distant from the viewer. Autoencoder networks, trained only on QCD jets, can be used to search for anomalies in jet-substructure. We show how, based either on images or on 4-vectors, they identify jets from decays of arbitrary heavy resonances. To control the backgrounds and the underlying systematics we can de-correlate the jet mass using an adversarial network. Such an adversarial autoencoder allows for a general and at the same time easily controllable search for new physics. Ideally, it can be trained and applied to data in the same phase space region, allowing us to efficiently search for new physics using un-supervised learning. We consider a graph theoretic approach for automatic construction of options in a dynamic environment. A map of the environment is generated on-line by the learning agent, representing the topological structure of the state transitions. A clustering algorithm is then used to partition the state space to different regions. Policies for reaching the different parts of the space are separately learned and added to the model in a form of options (macro-actions). The options are used for accelerating the Q-Learning algorithm. We extend the basic algorithm and consider building a map that includes preliminary indication of the location of "interesting" regions of the state space, where the value gradient is significant and additional exploration might be beneficial. Experiments indicate significant speedups, especially in the initial learning phase. We propose a methodology for building a practical robust query classification system that can identify thousands of query classes with reasonable accuracy, while dealing in real-time with the query volume of a commercial web search engine. We use a blind feedback technique: given a query, we determine its topic by classifying the web search results retrieved by the query. Motivated by the needs of search advertising, we primarily focus on rare queries, which are the hardest from the point of view of machine learning, yet in aggregation account for a considerable fraction of search engine traffic. Empirical evaluation confirms that our methodology yields a considerably higher classification accuracy than previously reported. We believe that the proposed methodology will lead to better matching of online ads to rare queries and overall to a better user experience. In this work, we propose to apply trust region optimization to deep reinforcement learning using a recently proposed Kronecker-factored approximation to the curvature. We extend the framework of natural policy gradient and propose to optimize both the actor and the critic using Kronecker-factored approximate curvature (K-FAC) with trust region; hence we call our method Actor Critic using Kronecker-Factored Trust Region (ACKTR). To the best of our knowledge, this is the first scalable trust region natural gradient method for actor-critic methods. It is also a method that learns non-trivial tasks in continuous control as well as discrete control policies directly from raw pixel inputs. We tested our approach across discrete domains in Atari games as well as continuous domains in the MuJoCo environment. With the proposed methods, we are able to achieve higher rewards and a 2- to 3-fold improvement in sample efficiency on average, compared to previous state-of-the-art on-policy actor-critic methods. Code is available at this https URL We present a robust learning based instance recognition framework from single view point clouds. Our framework is able to handle real-world instance recognition challenges, i.e, clutter, similar looking distractors and occlusion. Recent algorithms have separately tried to address the problem of clutter [9] and occlusion [16] but fail when these challenges are combined. In comparison we handle all challenges within a single framework. Our framework uses a soft label Random Forest [5] to learn discriminative shape features of an object and use them to classify both its location and pose. We propose a novel iterative training scheme for forests which maximizes the margin between classes to improve recognition accuracy, as compared to a conventional training procedure. The learnt forest outperforms template matching, DPM [7] in presence of similar looking distractors. Using occlusion information, computed from the depth data, the forest learns to emphasize the shape features from the visible regions thus making it robust to occlusion. We benchmark our system with the state-of-the-art recognition systems [9,7] in challenging scenes drawn from the largest publicly available dataset. To complement the lack of occlusion tests in this dataset, we introduce our Desk3D dataset and demonstrate that our algorithm outperforms other methods in all settings. We introduce an exemplar model that can learn and generate a region of interest around class instances in a training set, given only a set of images containing the visual class. The model is scale and translation invariant. In the training phase, image regions that optimize an objective function are automatically located in the training images, without requiring any user annotation such as bounding boxes. The objective function measures visual similarity between training image pairs, using the spatial distribution of both appearance patches and edges. The optimization is initialized using discriminative features. The model enables the detection (localization) of multiple instances of the object class in test images, and can be used as a precursor to training other visual models that require bounding box annotation. The detection performance of the model is assessed on the PASCAL Visual Object Classes Challenge 2006 test set. For a number of object classes the performance far exceeds the current state of the art of fully supervised methods. In this work, we propose to apply trust region optimization to deep reinforcement learning using a recently proposed Kronecker-factored approximation to the curvature. We extend the framework of natural policy gradient and propose to optimize both the actor and the critic using Kronecker-factored approximate curvature (K-FAC) with trust region; hence we call our method Actor Critic using Kronecker-Factored Trust Region (ACKTR). To the best of our knowledge, this is the first scalable trust region natural gradient method for actor-critic methods. It is also the method that learns non-trivial tasks in continuous control as well as discrete control policies directly from raw pixel inputs. We tested our approach across discrete domains in Atari games as well as continuous domains in the MuJoCo environment. With the proposed methods, we are able to achieve higher rewards and a 2- to 3-fold improvement in sample efficiency on average, compared to previous state-of-the-art on-policy actor-critic methods. Code is available at https: github.com openai baselines