Decision Making for Rapid Information Acquisition in the Reconnaissance of Random Fields

Research into several aspects of robot-enabled reconnaissance of random fields is reported. The work has two major components: the underlying theory of information acquisition in the exploration of unknown fields and the results of experiments on how humans use sensor-equipped robots to perform a simulated reconnaissance exercise. The theoretical framework reported herein extends work on robotic exploration that has been reported by ourselves and others. Several new figures of merit for evaluating exploration strategies are proposed and compared. Using concepts from differential topology and information theory, we develop the theoretical foundation of search strategies aimed at rapid discovery of topological features (locations of critical points and critical level sets) of a priori unknown differentiable random fields. The theory enables study of efficient reconnaissance strategies in which the tradeoff between speed and accuracy can be understood. The proposed approach to rapid discovery of topological features has led in a natural way to to the creation of parsimonious reconnaissance routines that do not rely on any prior knowledge of the environment. The design of topology-guided search protocols uses a mathematical framework that quantifies the relationship between what is discovered and what remains to be discovered. The quantification rests on an information theory inspired model whose properties allow us to treat search as a problem in optimal information acquisition. A central theme in this approach is that "conservative" and "aggressive" search strategies can be precisely defined, and search decisions regarding "exploration" vs. "exploitation" choices are informed by the rate at which the information metric is changing.Comment: 34 pages, 20 figure

Parsimonious Black-Box Adversarial Attacks via Efficient Combinatorial Optimization

Solving for adversarial examples with projected gradient descent has been demonstrated to be highly effective in fooling the neural network based classifiers. However, in the black-box setting, the attacker is limited only to the query access to the network and solving for a successful adversarial example becomes much more difficult. To this end, recent methods aim at estimating the true gradient signal based on the input queries but at the cost of excessive queries. We propose an efficient discrete surrogate to the optimization problem which does not require estimating the gradient and consequently becomes free of the first order update hyperparameters to tune. Our experiments on Cifar-10 and ImageNet show the state of the art black-box attack performance with significant reduction in the required queries compared to a number of recently proposed methods. The source code is available at https://github.com/snu-mllab/parsimonious-blackbox-attack.Comment: Accepted and to appear at ICML 201

Variable selection and updating in model-based discriminant analysis for high dimensional data with food authenticity applications

Food authenticity studies are concerned with determining if food samples have been correctly labelled or not. Discriminant analysis methods are an integral part of the methodology for food authentication. Motivated by food authenticity applications, a model-based discriminant analysis method that includes variable selection is presented. The discriminant analysis model is fitted in a semi-supervised manner using both labeled and unlabeled data. The method is shown to give excellent classification performance on several high-dimensional multiclass food authenticity datasets with more variables than observations. The variables selected by the proposed method provide information about which variables are meaningful for classification purposes. A headlong search strategy for variable selection is shown to be efficient in terms of computation and achieves excellent classification performance. In applications to several food authenticity datasets, our proposed method outperformed default implementations of Random Forests, AdaBoost, transductive SVMs and Bayesian Multinomial Regression by substantial margins

Measuring the International Dimension of Output Volatility

This paper studies output fluctuations in a panel of OECD economies with the aim to decompose the evolution in output volatility into domestic and international factors. To this end we use a factor-augmented dynamic panel model with both domestic and international shocks and spillovers between countries through trade linkages. Changes in the volatility of output growth can be due to a time-varying sensitivity to these shocks, changes in the propagation mechanism or shifts in the variances of shocks. We explicitly model cross-sectional dependence in the variance equation by specifying a common factor structure in the volatility of domestic shocks. The results show that while the size of international shocks and spillovers does not decrease in most countries, the volatilities of domestic shocks share a clear common decreasing trend. Hence, the 'Great Moderation' appears to be mainly driven by a decline in the volatility of domestic shocks rather than smaller international shocks

Exploring Topic-based Language Models for Effective Web Information Retrieval

The main obstacle for providing focused search is the relative opaqueness of search request -- searchers tend to express their complex information needs in only a couple of keywords. Our overall aim is to find out if, and how, topic-based language models can lead to more effective web information retrieval. In this paper we explore retrieval performance of a topic-based model that combines topical models with other language models based on cross-entropy. We first define our topical categories and train our topical models on the .GOV2 corpus by building parsimonious language models. We then test the topic-based model on TREC8 small Web data collection for ad-hoc search.Our experimental results show that the topic-based model outperforms the standard language model and parsimonious model