Editorial — Special Issue: ISMM 2019

This editorial presents the Special Issue dedicated to the conference ISMM 2019 and summarizes the articles published in this Special Issue

Representation Learning for Words and Entities

This thesis presents new methods for unsupervised learning of distributed representations of words and entities from text and knowledge bases. The first algorithm presented in the thesis is a multi-view algorithm for learning representations of words called Multiview Latent Semantic Analysis (MVLSA). By incorporating up to 46 different types of co-occurrence statistics for the same vocabulary of english words, I show that MVLSA outperforms other state-of-the-art word embedding models. Next, I focus on learning entity representations for search and recommendation and present the second method of this thesis, Neural Variational Set Expansion (NVSE). NVSE is also an unsupervised learning method, but it is based on the Variational Autoencoder framework. Evaluations with human annotators show that NVSE can facilitate better search and recommendation of information gathered from noisy, automatic annotation of unstructured natural language corpora. Finally, I move from unstructured data and focus on structured knowledge graphs. I present novel approaches for learning embeddings of vertices and edges in a knowledge graph that obey logical constraints.Comment: phd thesis, Machine Learning, Natural Language Processing, Representation Learning, Knowledge Graphs, Entities, Word Embeddings, Entity Embedding

Machine Learning And Image Processing For Noise Removal And Robust Edge Detection In The Presence Of Mixed Noise

The central goal of this dissertation is to design and model a smoothing filter based on the random single and mixed noise distribution that would attenuate the effect of noise while preserving edge details. Only then could robust, integrated and resilient edge detection methods be deployed to overcome the ubiquitous presence of random noise in images. Random noise effects are modeled as those that could emanate from impulse noise, Gaussian noise and speckle noise. In the first step, evaluation of methods is performed based on an exhaustive review on the different types of denoising methods which focus on impulse noise, Gaussian noise and their related denoising filters. These include spatial filters (linear, non-linear and a combination of them), transform domain filters, neural network-based filters, numerical-based filters, fuzzy based filters, morphological filters, statistical filters, and supervised learning-based filters. In the second step, switching adaptive median and fixed weighted mean filter (SAMFWMF) which is a combination of linear and non-linear filters, is introduced in order to detect and remove impulse noise. Then, a robust edge detection method is applied which relies on an integrated process including non-maximum suppression, maximum sequence, thresholding and morphological operations. The results are obtained on MRI and natural images. In the third step, a combination of transform domain-based filter which is a combination of dual tree – complex wavelet transform (DT-CWT) and total variation, is introduced in order to detect and remove Gaussian noise as well as mixed Gaussian and Speckle noise. Then, a robust edge detection is applied in order to track the true edges. The results are obtained on medical ultrasound and natural images. In the fourth step, a smoothing filter, which is a feed-forward convolutional network (CNN) is introduced to assume a deep architecture, and supported through a specific learning algorithm, l2 loss function minimization, a regularization method, and batch normalization all integrated in order to detect and remove impulse noise as well as mixed impulse and Gaussian noise. Then, a robust edge detection is applied in order to track the true edges. The results are obtained on natural images for both specific and non-specific noise-level

Control Implementation of Dynamic Locomotion on Compliant, Underactuated, Force-Controlled Legged Robots with Non-Anthropomorphic Design

The control of locomotion on legged robots traditionally involves a robot that takes a standard legged form, such as the anthropomorphic humanoid, the dog-like quadruped, or the bird-like biped. Additionally, these systems will often be actuated with position-controlled servos or series-elastic actuators that are connected through rigid links. This work investigates the control implementation of dynamic, force-controlled locomotion on a family of legged systems that significantly deviate from these classic paradigms by incorporating modern, state-of-the-art proprioceptive actuators on uniquely configured compliant legs that do not closely resemble those found in nature. The results of this work can be used to better inform how to implement controllers on legged systems without stiff, position-controlled actuators, and also provide insight on how intelligently designed mechanical features can potentially simplify the control of complex, nonlinear dynamical systems like legged robots. To this end, this work presents the approach to control for a family of non-anthropomorphic bipedal robotic systems which are developed both in simulation and with physical hardware. The first is the Non-Anthropomorphic Biped, Version 1 (NABi-1) that features position-controlled joints along with a compliant foot element on a minimally actuated leg, and is controlled using simple open-loop trajectories based on the Zero Moment Point. The second system is the second version of the non-anthropomorphic biped (NABi-2) which utilizes the proprioceptive Back-drivable Electromagnetic Actuator for Robotics (BEAR) modules for actuation and fully realizes feedback-based force controlled locomotion. These systems are used to highlight both the strengths and weaknesses of utilizing proprioceptive actuation in systems, and suggest the tradeoffs that are made when using force control for dynamic locomotion. These systems also present case studies for different approaches to system design when it comes to bipedal legged robots

Metric Gaussian variational inference

One main result of this dissertation is the development of Metric Gaussian Variational Inference (MGVI), a method to perform approximate inference in extremely high dimensions and for complex probabilistic models. The problem with high-dimensional and complex models is twofold. Fist, to capture the true posterior distribution accurately, a sufficiently rich approximation for it is required. Second, the number of parameters to express this richness scales dramatically with the number of model parameters. For example, explicitly expressing the correlation between all model parameters requires their squared number of correlation coefficients. In settings with millions of model parameter, this is unfeasible. MGVI overcomes this limitation by replacing the explicit covariance with an implicit approximation, which does not have to be stored and is accessed via samples. This procedure scales linearly with the problem size and allows to account for the full correlations in even extremely large problems. This makes it also applicable to significantly more complex setups. MGVI enabled a series of ambitious signal reconstructions by me and others, which will be showcased. This involves a time- and frequency-resolved reconstruction of the shadow around the black hole M87* using data provided by the Event Horizon Telescope Collaboration, a three-dimensional tomographic reconstruction of interstellar dust within 300pc around the sun from Gaia starlight-absorption and parallax data, novel medical imaging methods for computed tomography, an all-sky Faraday rotation map, combining distinct data sources, and simultaneous calibration and imaging with a radio-interferometer. The second main result is an an approach to use several, independently trained and deep neural networks to reason on complex tasks. Deep learning allows to capture abstract concepts by extracting them from large amounts of training data, which alleviates the necessity of an explicit mathematical formulation. Here a generative neural network is used as a prior distribution and certain properties are imposed via classification and regression networks. The inference is then performed in terms of the latent variables of the generator, which is done using MGVI and other methods. This allows to flexibly answer novel questions without having to re-train any neural network and to come up with novel answers through Bayesian reasoning. This novel approach of Bayesian reasoning with neural networks can also be combined with conventional measurement data

Representation Learning for Words and Entities

This thesis presents new methods for unsupervised learning of distributed representations of words and entities from text and knowledge bases. The first algorithm presented in the thesis is a multi-view algorithm for learning representations of words called Multiview LSA (MVLSA). Through experiments on close to 50 different views, I show that MVLSA outperforms other state-of-the-art word embedding models. After that, I focus on learning entity representations for search and recommendation and present the second algorithm of this thesis called Neural Variational Set Expansion (NVSE). NVSE is also an unsupervised learning method, but it is based on the Variational Autoencoder framework. Evaluations with human annotators show that NVSE can facilitate better search and recommendation of information gathered from noisy, automatic annotation of unstructured natural language corpora. Finally, I move from unstructured data and focus on structured knowledge graphs. Moreover, I present novel approaches for learning embeddings of vertices and edges in a knowledge graph that obey logical constraints

Tracking the Temporal-Evolution of Supernova Bubbles in Numerical Simulations

The study of low-dimensional, noisy manifolds embedded in a higher dimensional space has been extremely useful in many applications, from the chemical analysis of multi-phase flows to simulations of galactic mergers. Building a probabilistic model of the manifolds has helped in describing their essential properties and how they vary in space. However, when the manifold is evolving through time, a joint spatio-temporal modelling is needed, in order to fully comprehend its nature. We propose a first-order Markovian process that propagates the spatial probabilistic model of a manifold at fixed time, to its adjacent temporal stages. The proposed methodology is demonstrated using a particle simulation of an interacting dwarf galaxy to describe the evolution of a cavity generated by a Supernov

Modèle et simulateur à grande échelle d'une rétine biologique, avec contrôle de gain

The retina is a complex neural structure. The characteristics of retinal processing are reviewed extensively in Part I of this work: It is a very ordered structure, which proceeds to band-pass spatio-temporal enhancements of the incoming light, along different parallel output pathways with distinct spatio-temporal properties. The spike trains emitted by the retina have a complex statistical structure, such that precise spike timings may play a role in the code conveyed by the retina. Several mechanisms of gain control provide a constant adaptation of the retina to luminosity and contrast. The retina model that we have defined and implemented in Part II can account for a good part of this complexity. It can model spatio-temporal band-pass behavior with adjustable filtering scales, with the inclusion of plausible mechanisms of contrast gain control and spike generation. The gain control mechanism proposed in the model provides a good fit to experimental data, and it can induce interesting effects of local renormalization in the output retinal image. Furthermore, a mathematical analysis confirms that the gain control behaves well under simple sinusoidal stimulation. Finally, the simulator /Virtual Retina/ implements the model on a large-scale, so that it can emulate up to around 100,000 cells with a processing speed of about 1/100 real time. It is ready for use in various applications, while including a number of advanced retinal functionalities which are too often overlooked.La rétine est une structure neuronale complexe, qui non seulement capte la lumière incidente au fond de l'oeil, mais procède également à des transformations importantes du signal lumineux. Dans la Partie I de ce travail, nous résumons en détail les caractéristiques fonctionnelles de la rétine des vertébrés: Il s'agit d'une structure très ordonnée, qui réalise un filtrage passe-bande du stimulus visuel, selon différents canaux parallèles d'information aux propriétés spatio-temporelles distinctes. Les trains de potentiels d'action émis par la rétine ont également une structure statistique complexe, susceptible de véhiculer une information importante. De nombreux mécanismes de contrôle de gain permettent une adaptation constante à la luminosité et au contraste. Le modèle de rétine défini et implémenté dans la Partie II de ce travail prend en compte une part importante de cette complexité. Il reproduit le comportement passe-bande, à l'aide de filtres linéaires spatio-temporels appropriés. Des mécanismes non-linéaires d'adaptation au contraste et de génération de potentiels d'action sont également inclus. Le mécanisme de contrôle du gain au contraste proposé permet une bonne reproduction des données expérimentales, et peut également véhiculer d'importants effets d'égalisation spatiale des contrastes en sortie de rétine. De plus, une analyse mathématique confirme que notre mécanisme a le comportement escompté en réponse à une stimulation sinusoïdale. Enfin, le simulateur /Virtual Retina/ implémente le modèle à grande échelle, permettant la simulation d'environ 100 000 cellules en un temps raisonnable (100 fois le temps réel)