79,063 research outputs found
Accelerating Nearest Neighbor Search on Manycore Systems
We develop methods for accelerating metric similarity search that are
effective on modern hardware. Our algorithms factor into easily parallelizable
components, making them simple to deploy and efficient on multicore CPUs and
GPUs. Despite the simple structure of our algorithms, their search performance
is provably sublinear in the size of the database, with a factor dependent only
on its intrinsic dimensionality. We demonstrate that our methods provide
substantial speedups on a range of datasets and hardware platforms. In
particular, we present results on a 48-core server machine, on graphics
hardware, and on a multicore desktop
Deep Kernels for Optimizing Locomotion Controllers
Sample efficiency is important when optimizing parameters of locomotion
controllers, since hardware experiments are time consuming and expensive.
Bayesian Optimization, a sample-efficient optimization framework, has recently
been widely applied to address this problem, but further improvements in sample
efficiency are needed for practical applicability to real-world robots and
high-dimensional controllers. To address this, prior work has proposed using
domain expertise for constructing custom distance metrics for locomotion. In
this work we show how to learn such a distance metric automatically. We use a
neural network to learn an informed distance metric from data obtained in
high-fidelity simulations. We conduct experiments on two different controllers
and robot architectures. First, we demonstrate improvement in sample efficiency
when optimizing a 5-dimensional controller on the ATRIAS robot hardware. We
then conduct simulation experiments to optimize a 16-dimensional controller for
a 7-link robot model and obtain significant improvements even when optimizing
in perturbed environments. This demonstrates that our approach is able to
enhance sample efficiency for two different controllers, hence is a fitting
candidate for further experiments on hardware in the future.Comment: (Rika Antonova and Akshara Rai contributed equally
Explaining Machine Learning Classifiers through Diverse Counterfactual Explanations
Post-hoc explanations of machine learning models are crucial for people to
understand and act on algorithmic predictions. An intriguing class of
explanations is through counterfactuals, hypothetical examples that show people
how to obtain a different prediction. We posit that effective counterfactual
explanations should satisfy two properties: feasibility of the counterfactual
actions given user context and constraints, and diversity among the
counterfactuals presented. To this end, we propose a framework for generating
and evaluating a diverse set of counterfactual explanations based on
determinantal point processes. To evaluate the actionability of
counterfactuals, we provide metrics that enable comparison of
counterfactual-based methods to other local explanation methods. We further
address necessary tradeoffs and point to causal implications in optimizing for
counterfactuals. Our experiments on four real-world datasets show that our
framework can generate a set of counterfactuals that are diverse and well
approximate local decision boundaries, outperforming prior approaches to
generating diverse counterfactuals. We provide an implementation of the
framework at https://github.com/microsoft/DiCE.Comment: 13 page
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