Adaptive Conditional Quantile Neural Processes

Neural processes are a family of probabilistic models that inherit the flexibility of neural networks to parameterize stochastic processes. Despite providing well-calibrated predictions, especially in regression problems, and quick adaptation to new tasks, the Gaussian assumption that is commonly used to represent the predictive likelihood fails to capture more complicated distributions such as multimodal ones. To overcome this limitation, we propose Conditional Quantile Neural Processes (CQNPs), a new member of the neural processes family, which exploits the attractive properties of quantile regression in modeling the distributions irrespective of their form. By introducing an extension of quantile regression where the model learns to focus on estimating informative quantiles, we show that the sampling efficiency and prediction accuracy can be further enhanced. Our experiments with real and synthetic datasets demonstrate substantial improvements in predictive performance compared to the baselines, and better modeling of heterogeneous distributions' characteristics such as multimodality

Autoencoding Conditional Neural Processes for Representation Learning

Conditional neural processes (CNPs) are a flexible and efficient family of models that learn to learn a stochastic process from observations. In the visual domain, they have seen particular application in contextual image completion - observing pixel values at some locations to predict a distribution over values at other unobserved locations. However, the choice of pixels in learning such a CNP is typically either random or derived from a simple statistical measure (e.g. pixel variance). Here, we turn the problem on its head and ask: which pixels would a CNP like to observe? That is, which pixels allow fitting CNP, and do such pixels tell us something about the underlying image? Viewing the context provided to the CNP as fixed-size latent representations, we construct an amortised variational framework, Partial Pixel Space Variational Autoencoder (PPS-VAE), for predicting this context simultaneously with learning a CNP. We evaluate PPS-VAE on a set of vision datasets, and find that not only is it possible to learn context points while also fitting CNPs, but that their spatial arrangement and values provides strong signal for the information contained in the image - evaluated through the lens of classification. We believe the PPS-VAE provides a promising avenue to explore learning interpretable and effective visual representations

Learning Social Navigation from Demonstrations with Conditional Neural Processes

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation. However, social aspects of navigation are diverse, changing across different types of environments, societies, and population densities, making it unrealistic to use hand-crafted techniques in each domain. This paper presents a data-driven navigation architecture that uses state-of-the-art neural architectures, namely Conditional Neural Processes, to learn global and local controllers of the mobile robot from observations. Additionally, we leverage a state-of-the-art, deep prediction mechanism to detect situations not similar to the trained ones, where reactive controllers step in to ensure safe navigation. Our results demonstrate that the proposed framework can successfully carry out navigation tasks regarding social norms in the data. Further, we showed that our system produces fewer personal-zone violations, causing less discomfort