Chang Su

Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute et al.

Over the past several years there has been a considerable research investment into learning-based approaches to industrial assembly, but despite significant progress these techniques have yet to be adopted by industry. We argue that it is the prohibitively large design space for Deep Reinforcement Learning (DRL), rather than algorithmic limitations per se, that are truly responsible for this lack of adoption. Pushing these techniques into the industrial mainstream requires an industry-oriented paradigm which differs significantly from the academic mindset. In this paper we define criteria for industry-oriented DRL, and perform a thorough comparison according to these criteria of one family of learning approaches, DRL from demonstration, against a professional industrial integrator on the recently established NIST assembly benchmark. We explain the design choices, representing several years of investigation, which enabled our DRL system to consistently outperform the integrator baseline in terms of both speed and reliability. Finally, we conclude with a competition between our DRL system and a human on a challenge task of insertion into a randomly moving target. This study suggests that DRL is capable of outperforming not only established engineered approaches, but the human motor system as well, and that there remains significant room for improvement. Videos can be found on our project website: https://sites.google.com/view/shield-nist.

Xinyi Zhong, Chang Su, Zhou Fan

When the dimension of data is comparable to or larger than the number of data samples, Principal Components Analysis (PCA) may exhibit problematic high-dimensional noise. In this work, we propose an Empirical Bayes PCA method that reduces this noise by estimating a joint prior distribution for the principal components. EB-PCA is based on the classical Kiefer-Wolfowitz nonparametric MLE for empirical Bayes estimation, distributional results derived from random matrix theory for the sample PCs, and iterative refinement using an Approximate Message Passing (AMP) algorithm. In theoretical "spiked" models, EB-PCA achieves Bayes-optimal estimation accuracy in the same settings as an oracle Bayes AMP procedure that knows the true priors. Empirically, EB-PCA significantly improves over PCA when there is strong prior structure, both in simulation and on quantitative benchmarks constructed from the 1000 Genomes Project and the International HapMap Project. An illustration is presented for analysis of gene expression data obtained by single-cell RNA-seq.

Xi Sheryl Zhang, Dandi Chen, Yongjun Zhu et al.

This paper presents details of our winning solutions to the task IV of NIPS 2017 Competition Track entitled Classifying Clinically Actionable Genetic Mutations. The machine learning task aims to classify genetic mutations based on text evidence from clinical literature with promising performance. We develop a novel multi-view machine learning framework with ensemble classification models to solve the problem. During the Challenge, feature combinations derived from three views including document view, entity text view, and entity name view, which complements each other, are comprehensively explored. As the final solution, we submitted an ensemble of nine basic gradient boosting models which shows the best performance in the evaluation. The approach scores 0.5506 and 0.6694 in terms of logarithmic loss on a fixed split in stage-1 testing phase and 5-fold cross validation respectively, which also makes us ranked as a top-1 team out of more than 1,300 solutions in NIPS 2017 Competition Track IV.