CASSL: Curriculum Accelerated Self-Supervised Learning

Recent self-supervised learning approaches focus on using a few thousand data points to learn policies for high-level, low-dimensional action spaces. However, scaling this framework for high-dimensional control require either scaling up the data collection efforts or using a clever sampling strategy for training. We present a novel approach - Curriculum Accelerated Self-Supervised Learning (CASSL) - to train policies that map visual information to high-level, higher- dimensional action spaces. CASSL orders the sampling of training data based on control dimensions: the learning and sampling are focused on few control parameters before other parameters. The right curriculum for learning is suggested by variance-based global sensitivity analysis of the control space. We apply our CASSL framework to learning how to grasp using an adaptive, underactuated multi-fingered gripper, a challenging system to control. Our experimental results indicate that CASSL provides significant improvement and generalization compared to baseline methods such as staged curriculum learning (8% increase) and complete end-to-end learning with random exploration (14% improvement) tested on a set of novel objects

Machine Learning and Integrative Analysis of Biomedical Big Data.

Recent developments in high-throughput technologies have accelerated the accumulation of massive amounts of omics data from multiple sources: genome, epigenome, transcriptome, proteome, metabolome, etc. Traditionally, data from each source (e.g., genome) is analyzed in isolation using statistical and machine learning (ML) methods. Integrative analysis of multi-omics and clinical data is key to new biomedical discoveries and advancements in precision medicine. However, data integration poses new computational challenges as well as exacerbates the ones associated with single-omics studies. Specialized computational approaches are required to effectively and efficiently perform integrative analysis of biomedical data acquired from diverse modalities. In this review, we discuss state-of-the-art ML-based approaches for tackling five specific computational challenges associated with integrative analysis: curse of dimensionality, data heterogeneity, missing data, class imbalance and scalability issues

Context-awareness for mobile sensing: a survey and future directions

The evolution of smartphones together with increasing computational power have empowered developers to create innovative context-aware applications for recognizing user related social and cognitive activities in any situation and at any location. The existence and awareness of the context provides the capability of being conscious of physical environments or situations around mobile device users. This allows network services to respond proactively and intelligently based on such awareness. The key idea behind context-aware applications is to encourage users to collect, analyze and share local sensory knowledge in the purpose for a large scale community use by creating a smart network. The desired network is capable of making autonomous logical decisions to actuate environmental objects, and also assist individuals. However, many open challenges remain, which are mostly arisen due to the middleware services provided in mobile devices have limited resources in terms of power, memory and bandwidth. Thus, it becomes critically important to study how the drawbacks can be elaborated and resolved, and at the same time better understand the opportunities for the research community to contribute to the context-awareness. To this end, this paper surveys the literature over the period of 1991-2014 from the emerging concepts to applications of context-awareness in mobile platforms by providing up-to-date research and future research directions. Moreover, it points out the challenges faced in this regard and enlighten them by proposing possible solutions

Cross-layer design of multi-hop wireless networks

MULTI -hop wireless networks are usually defined as a collection of nodes equipped with radio transmitters, which not only have the capability to communicate each other in a multi-hop fashion, but also to route each others’ data packets. The distributed nature of such networks makes them suitable for a variety of applications where there are no assumed reliable central entities, or controllers, and may significantly improve the scalability issues of conventional single-hop wireless networks. This Ph.D. dissertation mainly investigates two aspects of the research issues related to the efficient multi-hop wireless networks design, namely: (a) network protocols and (b) network management, both in cross-layer design paradigms to ensure the notion of service quality, such as quality of service (QoS) in wireless mesh networks (WMNs) for backhaul applications and quality of information (QoI) in wireless sensor networks (WSNs) for sensing tasks. Throughout the presentation of this Ph.D. dissertation, different network settings are used as illustrative examples, however the proposed algorithms, methodologies, protocols, and models are not restricted in the considered networks, but rather have wide applicability. First, this dissertation proposes a cross-layer design framework integrating a distributed proportional-fair scheduler and a QoS routing algorithm, while using WMNs as an illustrative example. The proposed approach has significant performance gain compared with other network protocols. Second, this dissertation proposes a generic admission control methodology for any packet network, wired and wireless, by modeling the network as a black box, and using a generic mathematical 0. Abstract 3 function and Taylor expansion to capture the admission impact. Third, this dissertation further enhances the previous designs by proposing a negotiation process, to bridge the applications’ service quality demands and the resource management, while using WSNs as an illustrative example. This approach allows the negotiation among different service classes and WSN resource allocations to reach the optimal operational status. Finally, the guarantees of the service quality are extended to the environment of multiple, disconnected, mobile subnetworks, where the question of how to maintain communications using dynamically controlled, unmanned data ferries is investigated