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We propose a weakly-supervised framework for the semantic segmentation of circular-scan synthetic-aperture-sonar (CSAS) imagery. The first part of our framework is trained in a supervised manner, on image-level labels, to uncover a set of semi-sparse, spatially-discriminative regions in each image. The classification uncertainty of each region is then evaluated. Those areas with the lowest uncertainties are then chosen to be weakly labeled segmentation seeds, at the pixel level, for the second part of the framework. Each of the seed extents are progressively resized according to an unsupervised, information-theoretic loss with structured-prediction regularizers. This reshaping process uses multi-scale, adaptively-weighted features to delineate class-specific transitions in local image content. Content-addressable memories are inserted at various parts of our framework so that it can leverage features from previously seen images to improve segmentation performance for related images. We evaluate our weakly-supervised framework using real-world CSAS imagery that contains over ten seafloor classes and ten target classes. We show that our framework performs comparably to nine fully-supervised deep networks. Our framework also outperforms eleven of the best weakly-supervised deep networks. We achieve state-of-the-art performance when pre-training on natural imagery. The average absolute performance gap to the next-best weakly-supervised network is well over ten percent for both natural imagery and sonar imagery. This gap is found to be statistically significant., Comment: Submitted to the IEEE Journal of Oceanic Engineering

In this paper, we consider the problem of adjusting the exploration rate when using value-of-information-based exploration. We do this by converting the value-of-information optimization into a problem of finding equilibria of a flow for a changing exploration rate. We then develop an efficient path-following scheme for converging to these equilibria and hence uncovering optimal action-selection policies. Under this scheme, the exploration rate is automatically adapted according to the agent's experiences. Global convergence is theoretically assured. We first evaluate our exploration-rate adaptation on the Nintendo GameBoy games Centipede and Millipede. We demonstrate aspects of the search process, like that it yields a hierarchy of state abstractions. We also show that our approach returns better policies in fewer episodes than conventional search strategies relying on heuristic, annealing-based exploration-rate adjustments. We then illustrate that these trends hold for deep, value-of-information-based agents that learn to play ten simple games and over forty more complicated games for the Nintendo GameBoy system. Performance either near or well above the level of human play is observed., Comment: Submitted to the IEEE Transactions on Information Theory

Conventional information-theoretic quantities assume access to probability distributions. Estimating such distributions is not trivial. Here, we consider function-based formulations of cross entropy that sidesteps this a priori estimation requirement. We propose three measures of R\'enyi's $\alpha$-cross-entropies in the setting of reproducing-kernel Hilbert spaces. Each measure has its appeals. We prove that we can estimate these measures in an unbiased, non-parametric, and minimax-optimal way. We do this via sample-constructed Gram matrices. This yields matrix-based estimators of R\'enyi's $\alpha$-cross-entropies. These estimators satisfy all of the axioms that R\'enyi established for divergences. Our cross-entropies can thus be used for assessing distributional differences. They are also appropriate for handling high-dimensional distributions, since the convergence rate of our estimator is independent of the sample dimensionality. Python code for implementing these measures can be found at https://github.com/isledge/MBRCE, Comment: Submitted to the IEEE Transactions on Information Theory

We propose a memory-based framework for real-time, data-efficient target analysis in forward-looking-sonar (FLS) imagery. Our framework relies on first removing non-discriminative details from the imagery using a small-scale DenseNet-inspired network. Doing so simplifies ensuing analyses and permits generalizing from few labeled examples. We then cascade the filtered imagery into a novel NeuralRAM-based convolutional matching network, NRMN, for low-shot target recognition. We employ a small-scale FlowNet, LFN to align and register FLS imagery across local temporal scales. LFN enables target label consensus voting across images and generally improves target detection and recognition rates. We evaluate our framework using real-world FLS imagery with multiple broad target classes that have high intra-class variability and rich sub-class structure. We show that few-shot learning, with anywhere from ten to thirty class-specific exemplars, performs similarly to supervised deep networks trained on hundreds of samples per class. Effective zero-shot learning is also possible. High performance is realized from the inductive-transfer properties of NRMNs when distractor elements are removed., Comment: Submitted to IEEE Journal of Oceanic Engineering

A fundamental problem when aggregating Markov chains is the specification of the number of state groups. Too few state groups may fail to sufficiently capture the pertinent dynamics of the original, high-order Markov chain. Too many state groups may lead to a non-parsimonious, reduced-order Markov chain whose complexity rivals that of the original. In this paper, we show that an augmented value-of-information-based approach to aggregating Markov chains facilitates the determination of the number of state groups. The optimal state-group count coincides with the case where the complexity of the reduced-order chain is balanced against the mutual dependence between the original- and reduced-order chain dynamics., Comment: Submitted to IEEE ICASSP. arXiv admin note: substantial text overlap with arXiv:1903.09266

Reinforcement learning in large-scale environments is challenging due to the many possible actions that can be taken in specific situations. We have previously developed a means of constraining, and hence speeding up, the search process through the use of motion primitives; motion primitives are sequences of pre-specified actions taken across a state series. As a byproduct of this work, we have found that if the motion primitives' motions and actions are labeled, then the search can be sped up further. Since motion primitives may initially lack such details, we propose a theoretically viewpoint-insensitive and speed-insensitive means of automatically annotating the underlying motions and actions. We do this through a differential-geometric, spatio-temporal kinematics descriptor, which analyzes how the poses of entities in two motion sequences change over time. We use this descriptor in conjunction with a weighted-nearest-neighbor classifier to label the primitives using a limited set of training examples. In our experiments, we achieve high motion and action annotation rates for human-action-derived primitives with as few as one training sample. We also demonstrate that reinforcement learning using accurately labeled trajectories leads to high-performing policies more quickly than standard reinforcement learning techniques. This is partly because motion primitives encode prior domain knowledge and preempt the need to re-discover that knowledge during training. It is also because agents can leverage the labels to systematically ignore action classes that do not facilitate task objectives, thereby reducing the action space., Comment: IEEE Transactions on Emerging Topics in Computational Intelligence

Deep-predictive-coding networks (DPCNs) are hierarchical, generative models. They rely on feed-forward and feed-back connections to modulate latent feature representations of stimuli in a dynamic and context-sensitive manner. A crucial element of DPCNs is a forward-backward inference procedure to uncover sparse, invariant features. However, this inference is a major computational bottleneck. It severely limits the network depth due to learning stagnation. Here, we prove why this bottleneck occurs. We then propose a new forward-inference strategy based on accelerated proximal gradients. This strategy has faster theoretical convergence guarantees than the one used for DPCNs. It overcomes learning stagnation. We also demonstrate that it permits constructing deep and wide predictive-coding networks. Such convolutional networks implement receptive fields that capture well the entire classes of objects on which the networks are trained. This improves the feature representations compared with our lab's previous non-convolutional and convolutional DPCNs. It yields unsupervised object recognition that surpass convolutional autoencoders and are on par with convolutional networks trained in a supervised manner., Comment: Submitted to the IEEE Transactions on Neural Networks and Learning Systems

We propose a framework for saliency-based, multi-target detection and segmentation of circular-scan, synthetic-aperture-sonar (CSAS) imagery. Our framework relies on a multi-branch, convolutional encoder-decoder network (MB-CEDN). The encoder portion of the MB-CEDN extracts visual contrast features from CSAS images. These features are fed into dual decoders that perform pixel-level segmentation to mask targets. Each decoder provides different perspectives as to what constitutes a salient target. These opinions are aggregated and cascaded into a deep-parsing network to refine the segmentation. We evaluate our framework using real-world CSAS imagery consisting of five broad target classes. We compare against existing approaches from the computer-vision literature. We show that our framework outperforms supervised, deep-saliency networks designed for natural imagery. It greatly outperforms unsupervised saliency approaches developed for natural imagery. This illustrates that natural-image-based models may need to be altered to be effective for this imaging-sonar modality., Comment: Submitted to IEEE Journal of Oceanic Engineering

In this paper, we propose an approach to obtain reduced-order models of Markov chains. Our approach is composed of two information-theoretic processes. The first is a means of comparing pairs of stationary chains on different state spaces, which is done via the negative Kullback-Leibler divergence defined on a model joint space. Model reduction is achieved by solving a value-of-information criterion with respect to this divergence. Optimizing the criterion leads to a probabilistic partitioning of the states in the high-order Markov chain. A single free parameter that emerges through the optimization process dictates both the partition uncertainty and the number of state groups. We provide a data-driven means of choosing the `optimal' value of this free parameter, which sidesteps needing to a priori know the number of state groups in an arbitrary chain., Comment: Submitted to Entropy

Radial-basis-function networks are traditionally defined for sets of vector-based observations. In this short paper, we reformulate such networks so that they can be applied to adjacency-matrix representations of weighted, directed graphs that represent the relationships between object pairs. We re-state the sum-of-squares objective function so that it is purely dependent on entries from the adjacency matrix. From this objective function, we derive a gradient descent update for the network weights. We also derive a gradient update that simulates the repositioning of the radial basis prototypes and changes in the radial basis prototype parameters. An important property of our radial basis function networks is that they are guaranteed to yield the same responses as conventional radial-basis networks trained on a corresponding vector realization of the relationships encoded by the adjacency-matrix. Such a vector realization only needs to provably exist for this property to hold, which occurs whenever the relationships correspond to distances from some arbitrary metric applied to a latent set of vectors. We therefore completely avoid needing to actually construct vectorial realizations via multi-dimensional scaling, which ensures that the underlying relationships are totally preserved., Comment: Submitted to the IEEE Transactions on Neural Networks and Learning Systems

Reinforcement learning in environments with many action-state pairs is challenging. At issue is the number of episodes needed to thoroughly search the policy space. Most conventional heuristics address this search problem in a stochastic manner. This can leave large portions of the policy space unvisited during the early training stages. In this paper, we propose an uncertainty-based, information-theoretic approach for performing guided stochastic searches that more effectively cover the policy space. Our approach is based on the value of information, a criterion that provides the optimal trade-off between expected costs and the granularity of the search process. The value of information yields a stochastic routine for choosing actions during learning that can explore the policy space in a coarse to fine manner. We augment this criterion with a state-transition uncertainty factor, which guides the search process into previously unexplored regions of the policy space., Comment: IEEE Transactions on Neural Networks and Learning Systems

In this paper, we provide an approach to clustering relational matrices whose entries correspond to either similarities or dissimilarities between objects. Our approach is based on the value of information, a parameterized, information-theoretic criterion that measures the change in costs associated with changes in information. Optimizing the value of information yields a deterministic annealing style of clustering with many benefits. For instance, investigators avoid needing to a priori specify the number of clusters, as the partitions naturally undergo phase changes, during the annealing process, whereby the number of clusters changes in a data-driven fashion. The global-best partition can also often be identified., Comment: Submitted to the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

In this paper, we propose an information-theoretic exploration strategy for stochastic, discrete multi-armed bandits that achieves optimal regret. Our strategy is based on the value of information criterion. This criterion measures the trade-off between policy information and obtainable rewards. High amounts of policy information are associated with exploration-dominant searches of the space and yield high rewards. Low amounts of policy information favor the exploitation of existing knowledge. Information, in this criterion, is quantified by a parameter that can be varied during search. We demonstrate that a simulated-annealing-like update of this parameter, with a sufficiently fast cooling schedule, leads to an optimal regret that is logarithmic with respect to the number of episodes., Comment: Entropy

Conventional reinforcement learning methods for Markov decision processes rely on weakly-guided, stochastic searches to drive the learning process. It can therefore be difficult to predict what agent behaviors might emerge. In this paper, we consider an information-theoretic cost function for performing constrained stochastic searches that promote the formation of risk-averse to risk-favoring behaviors. This cost function is the value of information, which provides the optimal trade-off between the expected return of a policy and the policy's complexity; policy complexity is measured by number of bits and controlled by a single hyperparameter on the cost function. As the policy complexity is reduced, the agents will increasingly eschew risky actions. This reduces the potential for high accrued rewards. As the policy complexity increases, the agents will take actions, regardless of the risk, that can raise the long-term rewards. The obtainable reward depends on a single, tunable hyperparameter that regulates the degree of policy complexity. We evaluate the performance of value-of-information-based policies on a stochastic version of Ms. Pac-Man. A major component of this paper is the demonstration that ranges of policy complexity values yield different game-play styles and explaining why this occurs. We also show that our reinforcement-learning search mechanism is more efficient than the others we utilize. This result implies that the value of information theory is appropriate for framing the exploitation-exploration trade-off in reinforcement learning., Comment: IEEE Transactions on Computational Intelligence and Artificial Intelligence in Games