Deeper neural networks are more difficult to train. We present a residual learning framework to ease the training of networks that are substantially deeper than those used previously. We explicitly reformulate the layers as learning residual functions with reference to the layer inputs, instead of learning unreferenced functions. We provide comprehensive empirical evidence showing that these residual networks are easier to optimize, and can gain accuracy from considerably increased depth. On the ImageNet dataset we evaluate residual nets with a depth of up to 152 layers—8× deeper than VGG nets [40] but still having lower complexity. An ensemble of these residual nets achieves 3.57% error on the ImageNet test set. This result won the 1st place on the ILSVRC 2015 classification task. We also present analysis on CIFAR-10 with 100 and 1000 layers. The depth of representations is of central importance for many visual recognition tasks. Solely due to our extremely deep representations, we obtain a 28% relative improvement on the COCO object detection dataset. Deep residual nets are foundations of our submissions to ILSVRC & COCO 2015 competitions1, where we also won the 1st places on the tasks of ImageNet detection, ImageNet localization, COCO detection, and COCO segmentation.

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Deep Residual Learning for Image Recognition

In this work we investigate the effect of the convolutional network depth on its accuracy in the large-scale image recognition setting. Our main contribution is a thorough evaluation of networks of increasing depth using an architecture with very small (3x3) convolution filters, which shows that a significant improvement on the prior-art configurations can be achieved by pushing the depth to 16-19 weight layers. These findings were the basis of our ImageNet Challenge 2014 submission, where our team secured the first and the second places in the localisation and classification tracks respectively. We also show that our representations generalise well to other datasets, where they achieve state-of-the-art results. We have made our two best-performing ConvNet models publicly available to facilitate further research on the use of deep visual representations in computer vision.

Very Deep Convolutional Networks for Large-Scale Image Recognition

Deeper neural networks are more difficult to train. We present a residual learning framework to ease the training of networks that are substantially deeper than those used previously. We explicitly reformulate the layers as learning residual functions with reference to the layer inputs, instead of learning unreferenced functions. We provide comprehensive empirical evidence showing that these residual networks are easier to optimize, and can gain accuracy from considerably increased depth. On the ImageNet dataset we evaluate residual nets with a depth of up to 152 layers---8x deeper than VGG nets but still having lower complexity. An ensemble of these residual nets achieves 3.57% error on the ImageNet test set. This result won the 1st place on the ILSVRC 2015 classification task. We also present analysis on CIFAR-10 with 100 and 1000 layers. 
The depth of representations is of central importance for many visual recognition tasks. Solely due to our extremely deep representations, we obtain a 28% relative improvement on the COCO object detection dataset. Deep residual nets are foundations of our submissions to ILSVRC & COCO 2015 competitions, where we also won the 1st places on the tasks of ImageNet detection, ImageNet localization, COCO detection, and COCO segmentation.

Deep learning is a form of machine learning that enables computers to learn from experience and understand the world in terms of a hierarchy of concepts. Because the computer gathers knowledge from experience, there is no need for a human computer operator to formally specify all the knowledge that the computer needs. The hierarchy of concepts allows the computer to learn complicated concepts by building them out of simpler ones; a graph of these hierarchies would be many layers deep. This book introduces a broad range of topics in deep learning. The text offers mathematical and conceptual background, covering relevant concepts in linear algebra, probability theory and information theory, numerical computation, and machine learning. It describes deep learning techniques used by practitioners in industry, including deep feedforward networks, regularization, optimization algorithms, convolutional networks, sequence modeling, and practical methodology; and it surveys such applications as natural language processing, speech recognition, computer vision, online recommendation systems, bioinformatics, and videogames. Finally, the book offers research perspectives, covering such theoretical topics as linear factor models, autoencoders, representation learning, structured probabilistic models, Monte Carlo methods, the partition function, approximate inference, and deep generative models. Deep Learning can be used by undergraduate or graduate students planning careers in either industry or research, and by software engineers who want to begin using deep learning in their products or platforms. A website offers supplementary material for both readers and instructors.

Deep Learning

This paper concerns the parameter identification problem for Errors-In-Variables(EIV) Hammerstein-Wiener systems using available noisy measurements. Based on the least squares method and consistency, a Bias-Correction Least Squares(BCLS) algorithm is proposed to estimate EIV Hammerstein-Wiener systems. The major contribution of this study is to derive the estimation bias of the least squares method and to recursively represent the monomial of noiseless measurements as available measurements. The effectiveness of the algorithm is demonstrated through the identification of simulation example.

Errors-In-Variables Hammerstein-Wiener model identification

We study generalizable policy learning from demonstrations for complex low-level control tasks (e.g., contact-rich object manipulations). We propose an imitation learning method that incorporates the idea of temporal abstraction and the planning capabilities from Hierarchical RL (HRL) in a novel and effective manner. As a step towards decision foundation models, our design can utilize scalable, albeit highly sub-optimal, demonstrations. Specifically, we find certain short subsequences of the demos, i.e. the chain-of-thought (CoT), reflect their hierarchical structures by marking the completion of subgoals in the tasks. Our model learns to dynamically predict the entire CoT as coherent and structured long-term action guidance and consistently outperforms typical two-stage subgoal-conditioned policies. On the other hand, such CoT facilitates generalizable policy learning as they exemplify the decision patterns shared among demos (even those with heavy noises and randomness). Our method, Chain-of-Thought Predictive Control (CoTPC), significantly outperforms existing ones on challenging low-level manipulation tasks from scalable yet highly sub-optimal demos.

Chain-of-Thought Predictive Control

For a third year in a row, we followed up with authors of several recent Comments and Perspectives in Nature Machine Intelligence about what happened after their article was published: how did the topic they wrote about develop, did they gain new insights, and what are their hopes and expectations for AI in 2022? 

AI reflections in 2021

Quick Response (QR) code is a popular form of matrix barcodes that are widely used to tag online links on print media (e.g., posters, leaflets, and books). However, standard QR codes typically appear as noise-like black/white squares (named modules) which seriously disrupt the attractiveness of their carriers. In this paper, we propose StyleCode-Net, a method to generate novel art-style QR codes which can better match the entire style of their carriers to improve the visual quality. For endowing QR codes with artistic elements, a big challenge is that the scanning-robustness must be preserved after transforming colors and textures. To address these issues, we propose a module-based deformable convolutional mechanism (MDCM) and a dynamic target mechanism (DTM) in StyleCode-Net. MDCM can extract the features of black and white modules of QR codes respectively. Then, the extracted features are fed to DTM to balance the scanning-robustness and the style representation. Extensive subjective and objective experiments show that our art-style QR codes have reached the state-of-the-art level in both visual quality and scanning-robustness, and these codes have the potential to replace standard QR codes in real-world applications.

Q-Art Code: Generating Scanning-robust Art-style QR Codes by Deformable Convolution

The unique cancer-associated immunosuppression in brain, combined with a paucity of infiltrating T cells, contributes to the low response rate and poor treatment outcomes of T cell-based immunotherapy for patients diagnosed with glioblastoma multiforme (GBM). Here, we report on a self-assembling paclitaxel (PTX) filament (PF) hydrogel that stimulates macrophage-mediated immune response for local treatment of recurrent glioblastoma. Our results suggest that aqueous PF solutions containing aCD47 can be directly deposited into the tumor resection cavity, enabling seamless hydrogel filling of the cavity and long-term release of both therapeutics. The PTX PFs elicit an immune-stimulating tumor microenvironment (TME) and thus sensitizes tumor to the aCD47-mediated blockade of the antiphagocytic "don't eat me" signal, which subsequently promotes tumor cell phagocytosis by macrophages and also triggers an antitumor T cell response. As adjuvant therapy after surgery, this aCD47/PF supramolecular hydrogel effectively suppresses primary brain tumor recurrence and prolongs overall survivals with minimal off-target side effects.

Hao Su

Papers

Errors-In-Variables Hammerstein-Wiener model identification

Chain-of-Thought Predictive Control

AI reflections in 2021

Q-Art Code: Generating Scanning-robust Art-style QR Codes by Deformable Convolution

Self-assembling paclitaxel-mediated stimulation of tumor-associated macrophages for postoperative treatment of glioblastoma.