Is Deep Learning Safe for Robot Vision? Adversarial Examples against the iCub Humanoid

Deep neural networks have been widely adopted in recent years, exhibiting impressive performances in several application domains. It has however been shown that they can be fooled by adversarial examples, i.e., images altered by a barely-perceivable adversarial noise, carefully crafted to mislead classification. In this work, we aim to evaluate the extent to which robot-vision systems embodying deep-learning algorithms are vulnerable to adversarial examples, and propose a computationally efficient countermeasure to mitigate this threat, based on rejecting classification of anomalous inputs. We then provide a clearer understanding of the safety properties of deep networks through an intuitive empirical analysis, showing that the mapping learned by such networks essentially violates the smoothness assumption of learning algorithms. We finally discuss the main limitations of this work, including the creation of real-world adversarial examples, and sketch promising research directions.Comment: Accepted for publication at the ICCV 2017 Workshop on Vision in Practice on Autonomous Robots (ViPAR

Least Ambiguous Set-Valued Classifiers with Bounded Error Levels

In most classification tasks there are observations that are ambiguous and therefore difficult to correctly label. Set-valued classifiers output sets of plausible labels rather than a single label, thereby giving a more appropriate and informative treatment to the labeling of ambiguous instances. We introduce a framework for multiclass set-valued classification, where the classifiers guarantee user-defined levels of coverage or confidence (the probability that the true label is contained in the set) while minimizing the ambiguity (the expected size of the output). We first derive oracle classifiers assuming the true distribution to be known. We show that the oracle classifiers are obtained from level sets of the functions that define the conditional probability of each class. Then we develop estimators with good asymptotic and finite sample properties. The proposed estimators build on existing single-label classifiers. The optimal classifier can sometimes output the empty set, but we provide two solutions to fix this issue that are suitable for various practical needs.Comment: Final version to be published in the Journal of the American Statistical Association at https://www.tandfonline.com/doi/abs/10.1080/01621459.2017.1395341?journalCode=uasa2

Predictive User Modeling with Actionable Attributes

Different machine learning techniques have been proposed and used for modeling individual and group user needs, interests and preferences. In the traditional predictive modeling instances are described by observable variables, called attributes. The goal is to learn a model for predicting the target variable for unseen instances. For example, for marketing purposes a company consider profiling a new user based on her observed web browsing behavior, referral keywords or other relevant information. In many real world applications the values of some attributes are not only observable, but can be actively decided by a decision maker. Furthermore, in some of such applications the decision maker is interested not only to generate accurate predictions, but to maximize the probability of the desired outcome. For example, a direct marketing manager can choose which type of a special offer to send to a client (actionable attribute), hoping that the right choice will result in a positive response with a higher probability. We study how to learn to choose the value of an actionable attribute in order to maximize the probability of a desired outcome in predictive modeling. We emphasize that not all instances are equally sensitive to changes in actions. Accurate choice of an action is critical for those instances, which are on the borderline (e.g. users who do not have a strong opinion one way or the other). We formulate three supervised learning approaches for learning to select the value of an actionable attribute at an instance level. We also introduce a focused training procedure which puts more emphasis on the situations where varying the action is the most likely to take the effect. The proof of concept experimental validation on two real-world case studies in web analytics and e-learning domains highlights the potential of the proposed approaches

Time series classification with ensembles of elastic distance measures

Several alternative distance measures for comparing time series have recently been proposed and evaluated on time series classification (TSC) problems. These include variants of dynamic time warping (DTW), such as weighted and derivative DTW, and edit distance-based measures, including longest common subsequence, edit distance with real penalty, time warp with edit, and move–split–merge. These measures have the common characteristic that they operate in the time domain and compensate for potential localised misalignment through some elastic adjustment. Our aim is to experimentally test two hypotheses related to these distance measures. Firstly, we test whether there is any significant difference in accuracy for TSC problems between nearest neighbour classifiers using these distance measures. Secondly, we test whether combining these elastic distance measures through simple ensemble schemes gives significantly better accuracy. We test these hypotheses by carrying out one of the largest experimental studies ever conducted into time series classification. Our first key finding is that there is no significant difference between the elastic distance measures in terms of classification accuracy on our data sets. Our second finding, and the major contribution of this work, is to define an ensemble classifier that significantly outperforms the individual classifiers. We also demonstrate that the ensemble is more accurate than approaches not based in the time domain. Nearly all TSC papers in the data mining literature cite DTW (with warping window set through cross validation) as the benchmark for comparison. We believe that our ensemble is the first ever classifier to significantly outperform DTW and as such raises the bar for future work in this area

Information-Theoretic Measures for Objective Evaluation of Classifications

This work presents a systematic study of objective evaluations of abstaining classifications using Information-Theoretic Measures (ITMs). First, we define objective measures for which they do not depend on any free parameter. This definition provides technical simplicity for examining "objectivity" or "subjectivity" directly to classification evaluations. Second, we propose twenty four normalized ITMs, derived from either mutual information, divergence, or cross-entropy, for investigation. Contrary to conventional performance measures that apply empirical formulas based on users' intuitions or preferences, the ITMs are theoretically more sound for realizing objective evaluations of classifications. We apply them to distinguish "error types" and "reject types" in binary classifications without the need for input data of cost terms. Third, to better understand and select the ITMs, we suggest three desirable features for classification assessment measures, which appear more crucial and appealing from the viewpoint of classification applications. Using these features as "meta-measures", we can reveal the advantages and limitations of ITMs from a higher level of evaluation knowledge. Numerical examples are given to corroborate our claims and compare the differences among the proposed measures. The best measure is selected in terms of the meta-measures, and its specific properties regarding error types and reject types are analytically derived.Comment: 25 Pages, 1 Figure, 10 Table