Topographic VAEs learn Equivariant Capsules

In this work we seek to bridge the concepts of topographic organization and equivariance in neural networks. To accomplish this, we introduce the Topographic VAE: a novel method for efficiently training deep generative models with topographically organized latent variables. We show that such a model indeed learns to organize its activations according to salient characteristics such as digit class, width, and style on MNIST. Furthermore, through topographic organization over time (i.e. temporal coherence), we demonstrate how predefined latent space transformation operators can be encouraged for observed transformed input sequences -- a primitive form of unsupervised learned equivariance. We demonstrate that this model successfully learns sets of approximately equivariant features (i.e. "capsules") directly from sequences and achieves higher likelihood on correspondingly transforming test sequences. Equivariance is verified quantitatively by measuring the approximate commutativity of the inference network and the sequence transformations. Finally, we demonstrate approximate equivariance to complex transformations, expanding upon the capabilities of existing group equivariant neural networks

From visuomotor control to latent space planning for robot manipulation

Deep visuomotor control is emerging as an active research area for robot manipulation. Recent advances in learning sensory and motor systems in an end-to-end manner have achieved remarkable performance across a range of complex tasks. Nevertheless, a few limitations restrict visuomotor control from being more widely adopted as the de facto choice when facing a manipulation task on a real robotic platform. First, imitation learning-based visuomotor control approaches tend to suffer from the inability to recover from an out-of-distribution state caused by compounding errors. Second, the lack of versatility in task definition limits skill generalisability. Finally, the training data acquisition process and domain transfer are often impractical. In this thesis, individual solutions are proposed to address each of these issues. In the first part, we find policy uncertainty to be an effective indicator of potential failure cases, in which the robot is stuck in out-of-distribution states. On this basis, we introduce a novel uncertainty-based approach to detect potential failure cases and a recovery strategy based on action-conditioned uncertainty predictions. Then, we propose to employ visual dynamics approximation to our model architecture to capture the motion of the robot arm instead of the static scene background, making it possible to learn versatile skill primitives. In the second part, taking inspiration from the recent progress in latent space planning, we propose a gradient-based optimisation method operating within the latent space of a deep generative model for motion planning. Our approach bypasses the traditional computational challenges encountered by established planning algorithms, and has the capability to specify novel constraints easily and handle multiple constraints simultaneously. Moreover, the training data comes from simple random motor-babbling of kinematically feasible robot states. Our real-world experiments further illustrate that our latent space planning approach can handle both open and closed-loop planning in challenging environments such as heavily cluttered or dynamic scenes. This leads to the first, to our knowledge, closed-loop motion planning algorithm that can incorporate novel custom constraints, and lays the foundation for more complex manipulation tasks

Computation in Complex Networks

Complex networks are one of the most challenging research focuses of disciplines, including physics, mathematics, biology, medicine, engineering, and computer science, among others. The interest in complex networks is increasingly growing, due to their ability to model several daily life systems, such as technology networks, the Internet, and communication, chemical, neural, social, political and financial networks. The Special Issue “Computation in Complex Networks" of Entropy offers a multidisciplinary view on how some complex systems behave, providing a collection of original and high-quality papers within the research fields of: • Community detection • Complex network modelling • Complex network analysis • Node classification • Information spreading and control • Network robustness • Social networks • Network medicin

Flexible estimation of temporal point processes and graphs

Handling complex data types with spatial structures, temporal dependencies, or discrete values, is generally a challenge in statistics and machine learning. In the recent years, there has been an increasing need of methodological and theoretical work to analyse non-standard data types, for instance, data collected on protein structures, genes interactions, social networks or physical sensors. In this thesis, I will propose a methodology and provide theoretical guarantees for analysing two general types of discrete data emerging from interactive phenomena, namely temporal point processes and graphs. On the one hand, temporal point processes are stochastic processes used to model event data, i.e., data that comes as discrete points in time or space where some phenomenon occurs. Some of the most successful applications of these discrete processes include online messages, financial transactions, earthquake strikes, and neuronal spikes. The popularity of these processes notably comes from their ability to model unobserved interactions and dependencies between temporally and spatially distant events. However, statistical methods for point processes generally rely on estimating a latent, unobserved, stochastic intensity process. In this context, designing flexible models and consistent estimation methods is often a challenging task. On the other hand, graphs are structures made of nodes (or agents) and edges (or links), where an edge represents an interaction or relationship between two nodes. Graphs are ubiquitous to model real-world social, transport, and mobility networks, where edges can correspond to virtual exchanges, physical connections between places, or migrations across geographical areas. Besides, graphs are used to represent correlations and lead-lag relationships between time series, and local dependence between random objects. Graphs are typical examples of non-Euclidean data, where adequate distance measures, similarity functions, and generative models need to be formalised. In the deep learning community, graphs have become particularly popular within the field of geometric deep learning. Structure and dependence can both be modelled by temporal point processes and graphs, although predominantly, the former act on the temporal domain while the latter conceptualise spatial interactions. Nonetheless, some statistical models combine graphs and point processes in order to account for both spatial and temporal dependencies. For instance, temporal point processes have been used to model the birth times of edges and nodes in temporal graphs. Moreover, some multivariate point processes models have a latent graph parameter governing the pairwise causal relationships between the components of the process. In this thesis, I will notably study such a model, called the Hawkes model, as well as graphs evolving in time. This thesis aims at designing inference methods that provide flexibility in the contexts of temporal point processes and graphs. This manuscript is presented in an integrated format, with four main chapters and two appendices. Chapters 2 and 3 are dedicated to the study of Bayesian nonparametric inference methods in the generalised Hawkes point process model. While Chapter 2 provides theoretical guarantees for existing methods, Chapter 3 also proposes, analyses, and evaluates a novel variational Bayes methodology. The other main chapters introduce and study model-free inference approaches for two estimation problems on graphs, namely spectral methods for the signed graph clustering problem in Chapter 4, and a deep learning algorithm for the network change point detection task on temporal graphs in Chapter 5. Additionally, Chapter 1 provides an introduction and background preliminaries on point processes and graphs. Chapter 6 concludes this thesis with a summary and critical thinking on the works in this manuscript, and proposals for future research. Finally, the appendices contain two supplementary papers. The first one, in Appendix A, initiated after the COVID-19 outbreak in March 2020, is an application of a discrete-time Hawkes model to COVID-related deaths counts during the first wave of the pandemic. The second work, in Appendix B, was conducted during an internship at Amazon Research in 2021, and proposes an explainability method for anomaly detection models acting on multivariate time series

Privacy and Security Issues in Deep Learning: A Survey

Deep Learning (DL) algorithms based on artificial neural networks have achieved remarkable success and are being extensively applied in a variety of application domains, ranging from image classification, automatic driving, natural language processing to medical diagnosis, credit risk assessment, intrusion detection. However, the privacy and security issues of DL have been revealed that the DL model can be stolen or reverse engineered, sensitive training data can be inferred, even a recognizable face image of the victim can be recovered. Besides, the recent works have found that the DL model is vulnerable to adversarial examples perturbed by imperceptible noised, which can lead the DL model to predict wrongly with high confidence. In this paper, we first briefly introduces the four types of attacks and privacy-preserving techniques in DL. We then review and summarize the attack and defense methods associated with DL privacy and security in recent years. To demonstrate that security threats really exist in the real world, we also reviewed the adversarial attacks under the physical condition. Finally, we discuss current challenges and open problems regarding privacy and security issues in DL