Power-enhanced multiple decision functions controlling family-wise error and false discovery rates

Improved procedures, in terms of smaller missed discovery rates (MDR), for performing multiple hypotheses testing with weak and strong control of the family-wise error rate (FWER) or the false discovery rate (FDR) are developed and studied. The improvement over existing procedures such as the \v{S}id\'ak procedure for FWER control and the Benjamini--Hochberg (BH) procedure for FDR control is achieved by exploiting possible differences in the powers of the individual tests. Results signal the need to take into account the powers of the individual tests and to have multiple hypotheses decision functions which are not limited to simply using the individual $p$-values, as is the case, for example, with the \v{S}id\'ak, Bonferroni, or BH procedures. They also enhance understanding of the role of the powers of individual tests, or more precisely the receiver operating characteristic (ROC) functions of decision processes, in the search for better multiple hypotheses testing procedures. A decision-theoretic framework is utilized, and through auxiliary randomizers the procedures could be used with discrete or mixed-type data or with rank-based nonparametric tests. This is in contrast to existing $p$-value based procedures whose theoretical validity is contingent on each of these $p$-value statistics being stochastically equal to or greater than a standard uniform variable under the null hypothesis. Proposed procedures are relevant in the analysis of high-dimensional "large $M$, small $n$" data sets arising in the natural, physical, medical, economic and social sciences, whose generation and creation is accelerated by advances in high-throughput technology, notably, but not limited to, microarray technology.Comment: Published in at http://dx.doi.org/10.1214/10-AOS844 the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Physical Primitive Decomposition

Objects are made of parts, each with distinct geometry, physics, functionality, and affordances. Developing such a distributed, physical, interpretable representation of objects will facilitate intelligent agents to better explore and interact with the world. In this paper, we study physical primitive decomposition---understanding an object through its components, each with physical and geometric attributes. As annotated data for object parts and physics are rare, we propose a novel formulation that learns physical primitives by explaining both an object's appearance and its behaviors in physical events. Our model performs well on block towers and tools in both synthetic and real scenarios; we also demonstrate that visual and physical observations often provide complementary signals. We further present ablation and behavioral studies to better understand our model and contrast it with human performance.Comment: ECCV 2018. Project page: http://ppd.csail.mit.edu

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids

Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been developed to model the dynamics of these complex scenes; however, relying on approximation techniques, their simulation often deviates from real-world physics, especially in the long term. In this paper, we propose to learn a particle-based simulator for complex control tasks. Combining learning with particle-based systems brings in two major benefits: first, the learned simulator, just like other particle-based systems, acts widely on objects of different materials; second, the particle-based representation poses strong inductive bias for learning: particles of the same type have the same dynamics within. This enables the model to quickly adapt to new environments of unknown dynamics within a few observations. We demonstrate robots achieving complex manipulation tasks using the learned simulator, such as manipulating fluids and deformable foam, with experiments both in simulation and in the real world. Our study helps lay the foundation for robot learning of dynamic scenes with particle-based representations.Comment: Accepted to ICLR 2019. Project Page: http://dpi.csail.mit.edu Video: https://www.youtube.com/watch?v=FrPpP7aW3L

Stochastic Prediction of Multi-Agent Interactions from Partial Observations

We present a method that learns to integrate temporal information, from a learned dynamics model, with ambiguous visual information, from a learned vision model, in the context of interacting agents. Our method is based on a graph-structured variational recurrent neural network (Graph-VRNN), which is trained end-to-end to infer the current state of the (partially observed) world, as well as to forecast future states. We show that our method outperforms various baselines on two sports datasets, one based on real basketball trajectories, and one generated by a soccer game engine.Comment: ICLR 2019 camera read

The Neuro-Symbolic Concept Learner: Interpreting Scenes, Words, and Sentences From Natural Supervision

We propose the Neuro-Symbolic Concept Learner (NS-CL), a model that learns visual concepts, words, and semantic parsing of sentences without explicit supervision on any of them; instead, our model learns by simply looking at images and reading paired questions and answers. Our model builds an object-based scene representation and translates sentences into executable, symbolic programs. To bridge the learning of two modules, we use a neuro-symbolic reasoning module that executes these programs on the latent scene representation. Analogical to human concept learning, the perception module learns visual concepts based on the language description of the object being referred to. Meanwhile, the learned visual concepts facilitate learning new words and parsing new sentences. We use curriculum learning to guide the searching over the large compositional space of images and language. Extensive experiments demonstrate the accuracy and efficiency of our model on learning visual concepts, word representations, and semantic parsing of sentences. Further, our method allows easy generalization to new object attributes, compositions, language concepts, scenes and questions, and even new program domains. It also empowers applications including visual question answering and bidirectional image-text retrieval.Comment: ICLR 2019 (Oral). Project page: http://nscl.csail.mit.edu

A Comparative Evaluation of Approximate Probabilistic Simulation and Deep Neural Networks as Accounts of Human Physical Scene Understanding

Humans demonstrate remarkable abilities to predict physical events in complex scenes. Two classes of models for physical scene understanding have recently been proposed: "Intuitive Physics Engines", or IPEs, which posit that people make predictions by running approximate probabilistic simulations in causal mental models similar in nature to video-game physics engines, and memory-based models, which make judgments based on analogies to stored experiences of previously encountered scenes and physical outcomes. Versions of the latter have recently been instantiated in convolutional neural network (CNN) architectures. Here we report four experiments that, to our knowledge, are the first rigorous comparisons of simulation-based and CNN-based models, where both approaches are concretely instantiated in algorithms that can run on raw image inputs and produce as outputs physical judgments such as whether a stack of blocks will fall. Both approaches can achieve super-human accuracy levels and can quantitatively predict human judgments to a similar degree, but only the simulation-based models generalize to novel situations in ways that people do, and are qualitatively consistent with systematic perceptual illusions and judgment asymmetries that people show.Comment: Accepted to CogSci 2016 as an oral presentatio

Self-Supervised Intrinsic Image Decomposition

Intrinsic decomposition from a single image is a highly challenging task, due to its inherent ambiguity and the scarcity of training data. In contrast to traditional fully supervised learning approaches, in this paper we propose learning intrinsic image decomposition by explaining the input image. Our model, the Rendered Intrinsics Network (RIN), joins together an image decomposition pipeline, which predicts reflectance, shape, and lighting conditions given a single image, with a recombination function, a learned shading model used to recompose the original input based off of intrinsic image predictions. Our network can then use unsupervised reconstruction error as an additional signal to improve its intermediate representations. This allows large-scale unlabeled data to be useful during training, and also enables transferring learned knowledge to images of unseen object categories, lighting conditions, and shapes. Extensive experiments demonstrate that our method performs well on both intrinsic image decomposition and knowledge transfer.Comment: NIPS 2017 camera-ready version, project page: http://rin.csail.mit.edu

The origin of large amplitude oscillations of dust particles in a plasma sheath

Micron-size charged particles can be easily levitated in low-density plasma environments. At low pressures, suspended particles have been observed to spontaneously oscillate around an equilibrium position. In systems of many particles, these oscillations can catalyze a variety of nonequilibrium, collective behaviors. Here, we report spontaneous oscillations of single particles that remain stable for minutes with striking regularity in amplitude and frequency. The oscillation amplitude can also exceed 1 cm, nearly an order of magnitude larger than previously observed. Using an integrated experimental and numerical approach, we show how the motion of an individual particle can be used to extract the electrostatic force and equilibrium charge variation in the plasma sheath. Additionally, using a delayed-charging model, we are able to accurately capture the nonlinear dynamics of the particle motion, and estimate the particle's equilibrium charging time in the plasma environment