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James J. Clark

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10 papers
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10

TMLR Journal 2025 Journal Article

Design Editing for Offline Model-based Optimization

  • Ye Yuan
  • Youyuan Zhang
  • Can Chen
  • Haolun Wu
  • Melody Zixuan Li
  • Jianmo Li
  • James J. Clark
  • Xue Liu

Offline model-based optimization (MBO) aims to maximize a black-box objective function using only an offline dataset of designs and scores. These tasks span various domains, such as robotics, material design, and protein and molecular engineering. A common approach involves training a surrogate model using existing designs and their corresponding scores, and then generating new designs through gradient-based updates with respect to the surrogate model. This method suffers from the out-of-distribution issue, where the surrogate model may erroneously predict high scores for unseen designs. To address this challenge, we introduce a novel method, Design Editing for Offline Model-based Optimization} (DEMO), which leverages a diffusion prior to calibrate overly optimized designs. DEMO first generates pseudo design candidates by performing gradient ascent with respect to a surrogate model. While these pseudo design candidates contain information beyond the offline dataset, they might be invalid or have erroneously high predicted scores. Therefore, to address this challenge while utilizing the information provided by pseudo design candidates, we propose an editing process to refine these pseudo design candidates. We introduce noise to the pseudo design candidates and subsequently denoise them with a diffusion prior trained on the offline dataset, ensuring they align with the distribution of valid designs. Empirical evaluations on seven offline MBO tasks show that, with properly tuned hyperparamters, DEMO's score is competitive with the best previously reported scores in the literature.

ICLR Conference 2025 Conference Paper

Selective Unlearning via Representation Erasure Using Domain Adversarial Training

  • Nazanin Mohammadi Sepahvand
  • Eleni Triantafillou
  • Hugo Larochelle
  • Doina Precup
  • James J. Clark
  • Daniel M. Roy 0001
  • Gintare Karolina Dziugaite

When deploying machine learning models in the real world, we often face the challenge of “unlearning” specific data points or subsets after training. Inspired by Domain-Adversarial Training of Neural Networks (DANN), we propose a novel algorithm,SURE, for targeted unlearning.SURE treats the process as a domain adaptation problem, where the “forget set” (data to be removed) and a validation set from the same distribution form two distinct domains. We train a domain classifier to discriminate between representations from the forget and validation sets.Using a gradient reversal strategy similar to DANN, we perform gradient updates to the representations to “fool” the domain classifier and thus obfuscate representations belonging to the forget set. Simultaneously, gradient descent is applied to the retain set (original training data minus the forget set) to preserve its classification performance. Unlike other unlearning approaches whose training objectives are built based on model outputs, SURE directly manipulates the representations.This is key to ensure robustness against a set of more powerful attacks than currently considered in the literature, that aim to detect which examples were unlearned through access to learned embeddings. Our thorough experiments reveal that SURE has a better unlearning quality to utility trade-off compared to other standard unlearning techniques for deep neural networks.

IJCAI Conference 2011 Conference Paper

Visual Task Inference Using Hidden Markov Models

  • Amin Haji Abolhassani
  • James J. Clark

It has been known for a long time that visual task, such as reading, counting and searching, greatly influences eye movement patterns. Perhaps the best known demonstration of this is the celebrated study of Yarbus showing that different eye movement trajectories emerge depending on the visual task that the viewers are given. The objective of this paper is to develop an inverse Yarbus process whereby we can infer the visual task by observing the measurements of a viewer's eye movements while executing the visual task. The method we are proposing is to use Hidden Markov Models (HMMs) to create a probabilistic framework to infer the viewer's task from eye movements.

ICRA Conference 1998 Conference Paper

Spatial Attention and Saccadic Camera Motion

  • James J. Clark

An important aspect of computer-controlled camera motion systems is that of the generation of saccadic movements, which shift the camera gaze quickly from one fixation position to another. Recent psychophysical experiments suggest that there exists a causal connection between spatial shifts in visual attention and the production of saccadic eye movements in humans. Motivated by this experimental evidence, we propose a winner-take-all based model of exogenous spatial attention, involving both sustained and transient feature detection channels, and link it to the targetting and triggering of saccadic eye movements. We show that this model accounts for a range of oculomotor phenomena observed in human subjects. We describe the application of this model to a robotic camera gaze control system.

ICRA Conference 1997 Conference Paper

Trajectories for optimal temporal integration in active vision systems

  • James J. Clark
  • Lei Wang 0032

We describe a general technique for specifying trajectories of controllable imaging parameters in an active vision system so that temporal integration processes are optimized. The technique assumes that a Kalman filter is used to perform the temporal integration of measurements and is based on determining, at each point in time, the set of imaging parameter values that minimizes the trace of the state estimate error covariance matrix. We present the application of this technique to the active vision task of extracting the location and orientation of a plane from shadows cast on it with a position controlled light source.

ICRA Conference 1995 Conference Paper

Parameterized Surface Fitting via MAP Estimation for Binocular Stereo

  • Michael J. Weisman
  • Alan L. Yuille
  • James J. Clark

We present a novel method for reconstructing three dimensional surfaces from stereo intensity data. We employ a set of competing surface hypotheses based on parameterized models. We use maximum a posteriori (MAP) estimation and demonstrate a connection to the Hough transform. Experimental results are given showing the effectiveness of the algorithm.

ICRA Conference 1991 Conference Paper

VLSI sensori-motor systems

  • James J. Clark
  • Daniel J. Friedman

The authors describe their efforts in developing sensorimotor chips which contain arrays of sensing elements, circuitry for processing the raw sensor data into forms relevant to motion-related tasks, circuitry for generating motion signals based on the processed sensor data and the goals of the system, and an operating system which selects a unique motor command from a set of usually conflicting motion signals. Sensors of this kind are intended for use in robots. They would greatly reduce the computational burden from that imposed with standard sensing techniques that use high bandwidth video cameras or even tactile sensing arrays, since they would generate motor signals directly rather than sensor signals from which another computer would have to generate motor signals. >

ICRA Conference 1990 Conference Paper

Management of sensory-motor activity in mobile robots

  • Azer Bestavros
  • James J. Clark
  • Nicola J. Ferrier

Consideration is given to the management of conflicting demands on the use of the motor units of the robot from the active sensors and manipulatory processes. An operating-system-like facility is introduced for managing the conflicting motor requests produced by multiple active sensing and manipulation tasks. A proposed implementation of this sensory-motor management facility based on the input-output-timed-automata (IOTA) abstraction is introduced. The IOTA abstraction is general enough to allow the enforcement of temporal constraints and to permit the specification and modification of task priorities based on the goals and current state of the robot. The IOTA-based sensory-motor operating system acts as a scheduler for various motor requests submitted by the active sensor and manipulation systems. The sensory-motor system is more general than the subsumption architecture of R. Brooks (1986) and can implement in a straightforward fashion alteration of priorities. >

ICRA Conference 1989 Conference Paper

Control of visual attention in mobile robots

  • James J. Clark
  • Nicola J. Ferrier

The authors describe a control system for a binocular image acquisition mechanism, for use in mobile robotic systems, which allows shifts in focus of attenuation to be made in a natural, device-independent manner. The control method is based on the modal control technique proposed by R. W. Brockett (Proc. IEEE Robotics Autom. Conf. , 1988). The shifts are accomplished by altering the feedback gains applied to the visual feedback paths in the position and velocity control loops of the binocular camera system. By altering these gains, a feature-selection operation can be performed by which the saliency of a given feature is enhanced, while the saliency of other features is reduced. Two experiments performed with the system to demonstrate modal control of attention are discussed. >

ICRA Conference 1988 Conference Paper

A magnetic field based compliance matching sensor for high resolution, high compliance tactile sensing

  • James J. Clark

A description is given of a general approach for producing high-resolution tactile sensors that are highly compliant. The approach is based on the idea of compliance matching, wherein the high compliance of the contacting element is matched to the low compliance of the sensing element. A prototype tactile sensor is proposed which uses magnetic fields as the matching medium. The author details the design of an important component of this device, 64*64 element array of magnetic field sensors. >

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