Vehicular Multi-object Tracking with Persistent Detector Failures

Jul 25, 2019

Michael Motro, Joydeep Ghosh

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers typically assume that errors in the detector algorithm occur randomly over time. We instead assume that undetected objects and false detections will persist in certain conditions, and modify the tracking framework to account for them. The modifications are tested with a novel lidar-based vehicle detector, and shown to enable real-time detection and tracking without specialized computing hardware.
Jul 25, 2019

Michael Motro, Joydeep Ghosh

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Learning More From Less: Towards Strengthening Weak Supervision for Ad-Hoc Retrieval

Jul 19, 2019

Dany Haddad, Joydeep Ghosh

The limited availability of ground truth relevance labels has been a major impediment to the application of supervised methods to ad-hoc retrieval. As a result, unsupervised scoring methods, such as BM25, remain strong competitors to deep learning techniques which have brought on dramatic improvements in other domains, such as computer vision and natural language processing. Recent works have shown that it is possible to take advantage of the performance of these unsupervised methods to generate training data for learning-to-rank models. The key limitation to this line of work is the size of the training set required to surpass the performance of the original unsupervised method, which can be as large as $10^{13}$ training examples. Building on these insights, we propose two methods to reduce the amount of training data required. The first method takes inspiration from crowdsourcing, and leverages multiple unsupervised rankers to generate soft, or noise-aware, training labels. The second identifies harmful, or mislabeled, training examples and removes them from the training set. We show that our methods allow us to surpass the performance of the unsupervised baseline with far fewer training examples than previous works.
Jul 19, 2019

Dany Haddad, Joydeep Ghosh

* SIGIR 2019

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Algorithms that fuse multiple input sources benefit from both complementary and shared information. Shared information may provide robustness to faulty or noisy inputs, which is indispensable for safety-critical applications like self-driving cars. We investigate learning fusion algorithms that are robust against noise added to a single source. We first demonstrate that robustness against single source noise is not guaranteed in a linear fusion model. Motivated by this discovery, two possible approaches are proposed to increase robustness: a carefully designed loss with corresponding training algorithms for deep fusion models, and a simple convolutional fusion layer that has a structural advantage in dealing with noise. Experimental results show that both training algorithms and our fusion layer make a deep fusion-based 3D object detector robust against noise applied to a single source, while preserving the original performance on clean data.

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Handling object interaction is a fundamental challenge in practical multi-object tracking, even for simple interactive effects such as one object temporarily occluding another. We formalize the problem of occlusion in tracking with two different abstractions. In object-wise occlusion, objects that are occluded by other objects do not generate measurements. In measurement-wise occlusion, a previously unstudied approach, all objects may generate measurements but some measurements may be occluded by others. While the relative validity of each abstraction depends on the situation and sensor, measurement-wise occlusion fits into probabilistic multi-object tracking algorithms with much looser assumptions on object interaction. Its value is demonstrated by showing that it naturally derives a popular approximation for lidar tracking, and by an example of visual tracking in image space.

* presenting at 21st International Conference on Information Fusion, 2018

* presenting at 21st International Conference on Information Fusion, 2018

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Pairwise "same-cluster" queries are one of the most widely used forms of supervision in semi-supervised clustering. However, it is impractical to ask human oracles to answer every query correctly. In this paper, we study the influence of allowing "not-sure" answers from a weak oracle and propose an effective algorithm to handle such uncertainties in query responses. Two realistic weak oracle models are considered where ambiguity in answering depends on the distance between two points. We show that a small query complexity is adequate for effective clustering with high probability by providing better pairs to the weak oracle. Experimental results on synthetic and real data show the effectiveness of our approach in overcoming supervision uncertainties and yielding high quality clusters.

* NIPS 2017 Workshop: Learning with Limited Labeled Data (LLD 2017)

* NIPS 2017 Workshop: Learning with Limited Labeled Data (LLD 2017)

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Semi-supervised active clustering (SSAC) utilizes the knowledge of a domain expert to cluster data points by interactively making pairwise "same-cluster" queries. However, it is impractical to ask human oracles to answer every pairwise query. In this paper, we study the influence of allowing "not-sure" answers from a weak oracle and propose algorithms to efficiently handle uncertainties. Different types of model assumptions are analyzed to cover realistic scenarios of oracle abstraction. In the first model, random-weak oracle, an oracle randomly abstains with a certain probability. We also proposed two distance-weak oracle models which simulate the case of getting confused based on the distance between two points in a pairwise query. For each weak oracle model, we show that a small query complexity is adequate for the effective $k$ means clustering with high probability. Sufficient conditions for the guarantee include a $\gamma$-margin property of the data, and an existence of a point close to each cluster center. Furthermore, we provide a sample complexity with a reduced effect of the cluster's margin and only a logarithmic dependency on the data dimension. Our results allow significantly less number of same-cluster queries if the margin of the clusters is tight, i.e. $\gamma \approx 1$. Experimental results on synthetic data show the effective performance of our approach in overcoming uncertainties.

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Monotone Retargeting for Unsupervised Rank Aggregation with Object Features

May 14, 2016

Avradeep Bhowmik, Joydeep Ghosh

Learning the true ordering between objects by aggregating a set of expert opinion rank order lists is an important and ubiquitous problem in many applications ranging from social choice theory to natural language processing and search aggregation. We study the problem of unsupervised rank aggregation where no ground truth ordering information in available, neither about the true preference ordering between any set of objects nor about the quality of individual rank lists. Aggregating the often inconsistent and poor quality rank lists in such an unsupervised manner is a highly challenging problem, and standard consensus-based methods are often ill-defined, and difficult to solve. In this manuscript we propose a novel framework to bypass these issues by using object attributes to augment the standard rank aggregation framework. We design algorithms that learn joint models on both rank lists and object features to obtain an aggregated rank ordering that is more accurate and robust, and also helps weed out rank lists of dubious validity. We validate our techniques on synthetic datasets where our algorithm is able to estimate the true rank ordering even when the rank lists are corrupted. Experiments on three real datasets, MQ2008, MQ2008 and OHSUMED, show that using object features can result in significant improvement in performance over existing rank aggregation methods that do not use object information. Furthermore, when at least some of the rank lists are of high quality, our methods are able to effectively exploit their high expertise to output an aggregated rank ordering of great accuracy.
May 14, 2016

Avradeep Bhowmik, Joydeep Ghosh

* 15 pages, 2 figures, 1 table

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We propose a categorical data synthesizer with a quantifiable disclosure risk. Our algorithm, named Perturbed Gibbs Sampler, can handle high-dimensional categorical data that are often intractable to represent as contingency tables. The algorithm extends a multiple imputation strategy for fully synthetic data by utilizing feature hashing and non-parametric distribution approximations. California Patient Discharge data are used to demonstrate statistical properties of the proposed synthesizing methodology. Marginal and conditional distributions, as well as the coefficients of regression models built on the synthesized data are compared to those obtained from the original data. Intruder scenarios are simulated to evaluate disclosure risks of the synthesized data from multiple angles. Limitations and extensions of the proposed algorithm are also discussed.

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Constrained Bayesian Inference for Low Rank Multitask Learning

Sep 26, 2013

Oluwasanmi Koyejo, Joydeep Ghosh

We present a novel approach for constrained Bayesian inference. Unlike current methods, our approach does not require convexity of the constraint set. We reduce the constrained variational inference to a parametric optimization over the feasible set of densities and propose a general recipe for such problems. We apply the proposed constrained Bayesian inference approach to multitask learning subject to rank constraints on the weight matrix. Further, constrained parameter estimation is applied to recover the sparse conditional independence structure encoded by prior precision matrices. Our approach is motivated by reverse inference for high dimensional functional neuroimaging, a domain where the high dimensionality and small number of examples requires the use of constraints to ensure meaningful and effective models. For this application, we propose a model that jointly learns a weight matrix and the prior inverse covariance structure between different tasks. We present experimental validation showing that the proposed approach outperforms strong baseline models in terms of predictive performance and structure recovery.
Sep 26, 2013

Oluwasanmi Koyejo, Joydeep Ghosh

* Appears in Proceedings of the Twenty-Ninth Conference on Uncertainty in Artificial Intelligence (UAI2013)

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Robust Combining of Disparate Classifiers through Order Statistics

May 20, 1999

Kagan Tumer, Joydeep Ghosh

Integrating the outputs of multiple classifiers via combiners or meta-learners has led to substantial improvements in several difficult pattern recognition problems. In the typical setting investigated till now, each classifier is trained on data taken or resampled from a common data set, or (almost) randomly selected subsets thereof, and thus experiences similar quality of training data. However, in certain situations where data is acquired and analyzed on-line at several geographically distributed locations, the quality of data may vary substantially, leading to large discrepancies in performance of individual classifiers. In this article we introduce and investigate a family of classifiers based on order statistics, for robust handling of such cases. Based on a mathematical modeling of how the decision boundaries are affected by order statistic combiners, we derive expressions for the reductions in error expected when such combiners are used. We show analytically that the selection of the median, the maximum and in general, the $i^{th}$ order statistic improves classification performance. Furthermore, we introduce the trim and spread combiners, both based on linear combinations of the ordered classifier outputs, and show that they are quite beneficial in presence of outliers or uneven classifier performance. Experimental results on several public domain data sets corroborate these findings.
May 20, 1999

Kagan Tumer, Joydeep Ghosh

* 22 pages

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Linear and Order Statistics Combiners for Pattern Classification

May 20, 1999

Kagan Tumer, Joydeep Ghosh

Several researchers have experimentally shown that substantial improvements can be obtained in difficult pattern recognition problems by combining or integrating the outputs of multiple classifiers. This chapter provides an analytical framework to quantify the improvements in classification results due to combining. The results apply to both linear combiners and order statistics combiners. We first show that to a first order approximation, the error rate obtained over and above the Bayes error rate, is directly proportional to the variance of the actual decision boundaries around the Bayes optimum boundary. Combining classifiers in output space reduces this variance, and hence reduces the "added" error. If N unbiased classifiers are combined by simple averaging, the added error rate can be reduced by a factor of N if the individual errors in approximating the decision boundaries are uncorrelated. Expressions are then derived for linear combiners which are biased or correlated, and the effect of output correlations on ensemble performance is quantified. For order statistics based non-linear combiners, we derive expressions that indicate how much the median, the maximum and in general the ith order statistic can improve classifier performance. The analysis presented here facilitates the understanding of the relationships among error rates, classifier boundary distributions, and combining in output space. Experimental results on several public domain data sets are provided to illustrate the benefits of combining and to support the analytical results.
May 20, 1999

Kagan Tumer, Joydeep Ghosh

* Combining Artificial Neural Networks,Ed. Amanda Sharkey, pp 127-162, Springer Verlag, 1999

* 31 pages

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CERTIFAI: Counterfactual Explanations for Robustness, Transparency, Interpretability, and Fairness of Artificial Intelligence models

May 20, 2019

Shubham Sharma, Jette Henderson, Joydeep Ghosh

As artificial intelligence plays an increasingly important role in our society, there are ethical and moral obligations for both businesses and researchers to ensure that their machine learning models are designed, deployed, and maintained responsibly. These models need to be rigorously audited for fairness, robustness, transparency, and interpretability. A variety of methods have been developed that focus on these issues in isolation, however, managing these methods in conjunction with model development can be cumbersome and timeconsuming. In this paper, we introduce a unified and model-agnostic approach to address these issues: Counterfactual Explanations for Robustness, Transparency, Interpretability, and Fairness of Artificial Intelligence models (CERTIFAI). Unlike previous methods in this domain, CERTIFAI is a general tool that can be applied to any black-box model and any type of input data. Given a model and an input instance, CERTIFAI uses a custom genetic algorithm to generate counterfactuals: instances close to the input that change the prediction of the model. We demonstrate how these counterfactuals can be used to examine issues of robustness, interpretability, transparency, and fairness. Additionally, we introduce CERScore, the first black-box model robustness score that performs comparably to methods that have access to model internals.
May 20, 2019

Shubham Sharma, Jette Henderson, Joydeep Ghosh

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Nonparametric Bayesian Sparse Graph Linear Dynamical Systems

Feb 21, 2018

Rahi Kalantari, Joydeep Ghosh, Mingyuan Zhou

A nonparametric Bayesian sparse graph linear dynamical system (SGLDS) is proposed to model sequentially observed multivariate data. SGLDS uses the Bernoulli-Poisson link together with a gamma process to generate an infinite dimensional sparse random graph to model state transitions. Depending on the sparsity pattern of the corresponding row and column of the graph affinity matrix, a latent state of SGLDS can be categorized as either a non-dynamic state or a dynamic one. A normal-gamma construction is used to shrink the energy captured by the non-dynamic states, while the dynamic states can be further categorized into live, absorbing, or noise-injection states, which capture different types of dynamical components of the underlying time series. The state-of-the-art performance of SGLDS is demonstrated with experiments on both synthetic and real data.
Feb 21, 2018

Rahi Kalantari, Joydeep Ghosh, Mingyuan Zhou

* AISTATS 2018

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Optimal Alarms for Vehicular Collision Detection

Aug 16, 2017

Michael Motro, Joydeep Ghosh, Chandra Bhat

An important application of intelligent vehicles is advance detection of dangerous events such as collisions. This problem is framed as a problem of optimal alarm choice given predictive models for vehicle location and motion. Techniques for real-time collision detection are surveyed and grouped into three classes: random Monte Carlo sampling, faster deterministic approximations, and machine learning models trained by simulation. Theoretical guarantees on the performance of these collision detection techniques are provided where possible, and empirical analysis is provided for two example scenarios. Results validate Monte Carlo sampling as a robust solution despite its simplicity.
Aug 16, 2017

Michael Motro, Joydeep Ghosh, Chandra Bhat

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Many time series are generated by a set of entities that interact with one another over time. This paper introduces a broad, flexible framework to learn from multiple inter-dependent time series generated by such entities. Our framework explicitly models the entities and their interactions through time. It achieves this by building on the capabilities of Recurrent Neural Networks, while also offering several ways to incorporate domain knowledge/constraints into the model architecture. The capabilities of our approach are showcased through an application to weather prediction, which shows gains over strong baselines.

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Preference Completion from Partial Rankings

Nov 14, 2016

Suriya Gunasekar, Oluwasanmi Koyejo, Joydeep Ghosh

We propose a novel and efficient algorithm for the collaborative preference completion problem, which involves jointly estimating individualized rankings for a set of entities over a shared set of items, based on a limited number of observed affinity values. Our approach exploits the observation that while preferences are often recorded as numerical scores, the predictive quantity of interest is the underlying rankings. Thus, attempts to closely match the recorded scores may lead to overfitting and impair generalization performance. Instead, we propose an estimator that directly fits the underlying preference order, combined with nuclear norm constraints to encourage low--rank parameters. Besides (approximate) correctness of the ranking order, the proposed estimator makes no generative assumption on the numerical scores of the observations. One consequence is that the proposed estimator can fit any consistent partial ranking over a subset of the items represented as a directed acyclic graph (DAG), generalizing standard techniques that can only fit preference scores. Despite this generality, for supervision representing total or blockwise total orders, the computational complexity of our algorithm is within a $\log$ factor of the standard algorithms for nuclear norm regularization based estimates for matrix completion. We further show promising empirical results for a novel and challenging application of collaboratively ranking of the associations between brain--regions and cognitive neuroscience terms.
Nov 14, 2016

Suriya Gunasekar, Oluwasanmi Koyejo, Joydeep Ghosh

* NIPS 2016

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ACDC: $α$-Carving Decision Chain for Risk Stratification

Jun 16, 2016

Yubin Park, Joyce Ho, Joydeep Ghosh

In many healthcare settings, intuitive decision rules for risk stratification can help effective hospital resource allocation. This paper introduces a novel variant of decision tree algorithms that produces a chain of decisions, not a general tree. Our algorithm, $\alpha$-Carving Decision Chain (ACDC), sequentially carves out "pure" subsets of the majority class examples. The resulting chain of decision rules yields a pure subset of the minority class examples. Our approach is particularly effective in exploring large and class-imbalanced health datasets. Moreover, ACDC provides an interactive interpretation in conjunction with visual performance metrics such as Receiver Operating Characteristics curve and Lift chart.
Jun 16, 2016

Yubin Park, Joyce Ho, Joydeep Ghosh

* presented at 2016 ICML Workshop on Human Interpretability in Machine Learning (WHI 2016), New York, NY

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Generalized Linear Models for Aggregated Data

May 14, 2016

Avradeep Bhowmik, Joydeep Ghosh, Oluwasanmi Koyejo

Databases in domains such as healthcare are routinely released to the public in aggregated form. Unfortunately, naive modeling with aggregated data may significantly diminish the accuracy of inferences at the individual level. This paper addresses the scenario where features are provided at the individual level, but the target variables are only available as histogram aggregates or order statistics. We consider a limiting case of generalized linear modeling when the target variables are only known up to permutation, and explore how this relates to permutation testing; a standard technique for assessing statistical dependency. Based on this relationship, we propose a simple algorithm to estimate the model parameters and individual level inferences via alternating imputation and standard generalized linear model fitting. Our results suggest the effectiveness of the proposed approach when, in the original data, permutation testing accurately ascertains the veracity of the linear relationship. The framework is extended to general histogram data with larger bins - with order statistics such as the median as a limiting case. Our experimental results on simulated data and aggregated healthcare data suggest a diminishing returns property with respect to the granularity of the histogram - when a linear relationship holds in the original data, the targets can be predicted accurately given relatively coarse histograms.
May 14, 2016

Avradeep Bhowmik, Joydeep Ghosh, Oluwasanmi Koyejo

* AISTATS 2015, 9 pages, 6 figures

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Unified View of Matrix Completion under General Structural Constraints

Mar 29, 2016

Suriya Gunasekar, Arindam Banerjee, Joydeep Ghosh

In this paper, we present a unified analysis of matrix completion under general low-dimensional structural constraints induced by {\em any} norm regularization. We consider two estimators for the general problem of structured matrix completion, and provide unified upper bounds on the sample complexity and the estimation error. Our analysis relies on results from generic chaining, and we establish two intermediate results of independent interest: (a) in characterizing the size or complexity of low dimensional subsets in high dimensional ambient space, a certain partial complexity measure encountered in the analysis of matrix completion problems is characterized in terms of a well understood complexity measure of Gaussian widths, and (b) it is shown that a form of restricted strong convexity holds for matrix completion problems under general norm regularization. Further, we provide several non-trivial examples of structures included in our framework, notably the recently proposed spectral $k$-support norm.
Mar 29, 2016

Suriya Gunasekar, Arindam Banerjee, Joydeep Ghosh

* published in NIPS 2015. Advances in Neural Information Processing Systems 28, 2015

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Nonparametric Bayesian Factor Analysis for Dynamic Count Matrices

Dec 30, 2015

Ayan Acharya, Joydeep Ghosh, Mingyuan Zhou

A gamma process dynamic Poisson factor analysis model is proposed to factorize a dynamic count matrix, whose columns are sequentially observed count vectors. The model builds a novel Markov chain that sends the latent gamma random variables at time $(t-1)$ as the shape parameters of those at time $t$, which are linked to observed or latent counts under the Poisson likelihood. The significant challenge of inferring the gamma shape parameters is fully addressed, using unique data augmentation and marginalization techniques for the negative binomial distribution. The same nonparametric Bayesian model also applies to the factorization of a dynamic binary matrix, via a Bernoulli-Poisson link that connects a binary observation to a latent count, with closed-form conditional posteriors for the latent counts and efficient computation for sparse observations. We apply the model to text and music analysis, with state-of-the-art results.
Dec 30, 2015

Ayan Acharya, Joydeep Ghosh, Mingyuan Zhou

* Appeared in Artificial Intelligence and Statistics (AISTATS), May 2015. The ArXiv version fixes a typo in (8), the equation right above Section 3.2 in Page 4 of http://www.jmlr.org/proceedings/papers/v38/acharya15.pdf

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