Leveraging Crowdsourcing Data For Deep Active Learning - An Application: Learning Intents in Alexa

This paper presents a generic Bayesian framework that enables any deep learning model to actively learn from targeted crowds. Our framework inherits from recent advances in Bayesian deep learning, and extends existing work by considering the targeted crowdsourcing approach, where multiple annotators with unknown expertise contribute an uncontrolled amount (often limited) of annotations. Our framework leverages the low-rank structure in annotations to learn individual annotator expertise, which then helps to infer the true labels from noisy and sparse annotations. It provides a unified Bayesian model to simultaneously infer the true labels and train the deep learning model in order to reach an optimal learning efficacy. Finally, our framework exploits the uncertainty of the deep learning model during prediction as well as the annotators' estimated expertise to minimize the number of required annotations and annotators for optimally training the deep learning model. We evaluate the effectiveness of our framework for intent classification in Alexa (Amazon's personal assistant), using both synthetic and real-world datasets. Experiments show that our framework can accurately learn annotator expertise, infer true labels, and effectively reduce the amount of annotations in model training as compared to state-of-the-art approaches. We further discuss the potential of our proposed framework in bridging machine learning and crowdsourcing towards improved human-in-the-loop systems

Calibrated Prediction Intervals for Neural Network Regressors

Ongoing developments in neural network models are continually advancing the state of the art in terms of system accuracy. However, the predicted labels should not be regarded as the only core output; also important is a well-calibrated estimate of the prediction uncertainty. Such estimates and their calibration are critical in many practical applications. Despite their obvious aforementioned advantage in relation to accuracy, contemporary neural networks can, generally, be regarded as poorly calibrated and as such do not produce reliable output probability estimates. Further, while post-processing calibration solutions can be found in the relevant literature, these tend to be for systems performing classification. In this regard, we herein present two novel methods for acquiring calibrated predictions intervals for neural network regressors: empirical calibration and temperature scaling. In experiments using different regression tasks from the audio and computer vision domains, we find that both our proposed methods are indeed capable of producing calibrated prediction intervals for neural network regressors with any desired confidence level, a finding that is consistent across all datasets and neural network architectures we experimented with. In addition, we derive an additional practical recommendation for producing more accurate calibrated prediction intervals. We release the source code implementing our proposed methods for computing calibrated predicted intervals. The code for computing calibrated predicted intervals is publicly available

Input Prioritization for Testing Neural Networks

Deep neural networks (DNNs) are increasingly being adopted for sensing and control functions in a variety of safety and mission-critical systems such as self-driving cars, autonomous air vehicles, medical diagnostics, and industrial robotics. Failures of such systems can lead to loss of life or property, which necessitates stringent verification and validation for providing high assurance. Though formal verification approaches are being investigated, testing remains the primary technique for assessing the dependability of such systems. Due to the nature of the tasks handled by DNNs, the cost of obtaining test oracle data---the expected output, a.k.a. label, for a given input---is high, which significantly impacts the amount and quality of testing that can be performed. Thus, prioritizing input data for testing DNNs in meaningful ways to reduce the cost of labeling can go a long way in increasing testing efficacy. This paper proposes using gauges of the DNN's sentiment derived from the computation performed by the model, as a means to identify inputs that are likely to reveal weaknesses. We empirically assessed the efficacy of three such sentiment measures for prioritization---confidence, uncertainty, and surprise---and compare their effectiveness in terms of their fault-revealing capability and retraining effectiveness. The results indicate that sentiment measures can effectively flag inputs that expose unacceptable DNN behavior. For MNIST models, the average percentage of inputs correctly flagged ranged from 88% to 94.8%

A nonparametric Bayesian approach toward robot learning by demonstration

In the past years, many authors have considered application of machine learning methodologies to effect robot learning by demonstration. Gaussian mixture regression (GMR) is one of the most successful methodologies used for this purpose. A major limitation of GMR models concerns automatic selection of the proper number of model states, i.e., the number of model component densities. Existing methods, including likelihood- or entropy-based criteria, usually tend to yield noisy model size estimates while imposing heavy computational requirements. Recently, Dirichlet process (infinite) mixture models have emerged in the cornerstone of nonparametric Bayesian statistics as promising candidates for clustering applications where the number of clusters is unknown a priori. Under this motivation, to resolve the aforementioned issues of GMR-based methods for robot learning by demonstration, in this paper we introduce a nonparametric Bayesian formulation for the GMR model, the Dirichlet process GMR model. We derive an efficient variational Bayesian inference algorithm for the proposed model, and we experimentally investigate its efficacy as a robot learning by demonstration methodology, considering a number of demanding robot learning by demonstration scenarios

Long-Term On-Board Prediction of People in Traffic Scenes under Uncertainty

Progress towards advanced systems for assisted and autonomous driving is leveraging recent advances in recognition and segmentation methods. Yet, we are still facing challenges in bringing reliable driving to inner cities, as those are composed of highly dynamic scenes observed from a moving platform at considerable speeds. Anticipation becomes a key element in order to react timely and prevent accidents. In this paper we argue that it is necessary to predict at least 1 second and we thus propose a new model that jointly predicts ego motion and people trajectories over such large time horizons. We pay particular attention to modeling the uncertainty of our estimates arising from the non-deterministic nature of natural traffic scenes. Our experimental results show that it is indeed possible to predict people trajectories at the desired time horizons and that our uncertainty estimates are informative of the prediction error. We also show that both sequence modeling of trajectories as well as our novel method of long term odometry prediction are essential for best performance.Comment: CVPR 201