OpenRaiser/Intern-Atlas huggingface dataset:
Learning Neural-Symbolic Descriptive Planning Models via Cube-Space Priors: The Voyage Home (to STRIPS)
Venue: Conference IJCAI 2020
Year: 2020

We achieved a new milestone in the difficult task of enabling agents to learn about their environment autonomously. Our neuro-symbolic architecture is trained end-to-end to produce a succinct and effective discrete state transition model from images alone. Our target representation (the Planning Domain Definition Language) is already in a form that off-the-shelf solvers can consume, and opens the door to the rich array of modern heuristic search capabilities. We demonstrate how the sophisticated innate prior we place on the learning process significantly reduces the complexity of the learned representation, and reveals a connection to the graph-theoretic notion of "cube-like graphs", thus opening the door to a deeper understanding of the ideal properties for learned symbolic representations. We show that the powerful domain-independent heuristics allow our system to solve visual 15-Puzzle instances which are beyond the reach of blind search, without resorting to the Reinforcement Learning approach that requires a huge amount of training on the domain-dependent reward information.
Explainable Recommendation via Interpretable Feature Mapping and Evaluation of Explainability
Venue: Conference IJCAI 2020
Year: 2020

Latent factor collaborative filtering (CF) has been a widely used technique for recommender system by learning the semantic representations of users and items. Recently, explainable recommendation has attracted much attention from research community. However, trade-off exists between explainability and performance of the recommendation where metadata is often needed to alleviate the dilemma. We present a novel feature mapping approach that maps the uninterpretable general features onto the interpretable aspect features, achieving both satisfactory accuracy and explainability in the recommendations by simultaneous minimization of rating prediction loss and interpretation loss. To evaluate the explainability, we propose two new evaluation metrics specifically designed for aspect-level explanation using surrogate ground truth. Experimental results demonstrate a strong performance in both recommendation and explaining explanation, eliminating the need for metadata. Code is available from https://github.com/pd90506/AMCF.
SVRG for Policy Evaluation with Fewer Gradient Evaluations
Venue: Conference IJCAI 2020
Year: 2020

Stochastic variance-reduced gradient (SVRG) is an optimization method originally designed for tackling machine learning problems with a finite sum structure. SVRG was later shown to work for policy evaluation, a problem in reinforcement learning in which one aims to estimate the value function of a given policy. SVRG makes use of gradient estimates at two scales. At the slower scale, SVRG computes a full gradient over the whole dataset, which could lead to prohibitive computation costs. In this work, we show that two variants of SVRG for policy evaluation could significantly diminish the number of gradient calculations while preserving a linear convergence speed. More importantly, our theoretical result implies that one does not need to use the entire dataset in every epoch of SVRG when it is applied to policy evaluation with linear function approximation. Our experiments demonstrate large computational savings provided by the proposed methods.
Only Relevant Information Matters: Filtering Out Noisy Samples To Boost RL
Venue: Conference IJCAI 2020
Year: 2020

In reinforcement learning, policy gradient algorithms optimize the policy directly and rely on sampling efficiently an environment. Nevertheless, while most sampling procedures are based on direct policy sampling, self-performance measures could be used to improve such sampling prior to each policy update. Following this line of thought, we introduce SAUNA, a method where non-informative transitions are rejected from the gradient update. The level of information is estimated according to the fraction of variance explained by the value function: a measure of the discrepancy between V and the empirical returns. In this work, we use this metric to select samples that are useful to learn from, and we demonstrate that this selection can significantly improve the performance of policy gradient methods. In this paper: (a) We define SAUNA's metric and introduce its method to filter transitions. (b) We conduct experiments on a set of benchmark continuous control problems. SAUNA significantly improves performance. (c) We investigate how SAUNA reliably selects samples with the most positive impact on learning and study its improvement on both performance and sample efficiency.
Toward a neuro-inspired creative decoder
Venue: Conference IJCAI 2020
Year: 2020

Creativity, a process that generates novel and meaningful ideas, involves increased association between task-positive (control) and task-negative (default) networks in the human brain. Inspired by this seminal finding, in this study we propose a creative decoder within a deep generative framework, which involves direct modulation of the neuronal activation pattern after sampling from the learned latent space. The proposed approach is fully unsupervised and can be used off-the-shelf. Several novelty metrics and human evaluation were used to evaluate the creative capacity of the deep decoder. Our experiments on different image datasets (MNIST, FMNIST, MNIST+FMNIST, WikiArt and CelebA) reveal that atypical co-activation of highly activated and weakly activated neurons in a deep decoder promotes generation of novel and meaningful artifacts.
Measuring the Discrepancy between Conditional Distributions: Methods, Properties and Applications
Venue: Conference IJCAI 2020
Year: 2020

We propose a simple yet powerful test statistic to quantify the discrepancy between two conditional distributions. The new statistic avoids the explicit estimation of the underlying distributions in highdimensional space and it operates on the cone of symmetric positive semidefinite (SPS) matrix using the Bregman matrix divergence. Moreover, it inherits the merits of the correntropy function to explicitly incorporate high-order statistics in the data. We present the properties of our new statistic and illustrate its connections to prior art. We finally show the applications of our new statistic on three different machine learning problems, namely the multi-task learning over graphs, the concept drift detection, and the information-theoretic feature selection, to demonstrate its utility and advantage. Code of our statistic is available at https://bit.ly/BregmanCorrentropy.
Temporal Attribute Prediction via Joint Modeling of Multi-Relational Structure Evolution
Venue: Conference IJCAI 2020
Year: 2020

Time series prediction is an important problem in machine learning. Previous methods for time series prediction did not involve additional information. With a lot of dynamic knowledge graphs available, we can use this additional information to predict the time series better. Recently, there has been a focus on the application of deep representation learning on dynamic graphs. These methods predict the structure of the graph by reasoning over the interactions in the graph at previous time steps. In this paper, we propose a new framework to incorporate the information from dynamic knowledge graphs for time series prediction. We show that if the information contained in the graph and the time series data are closely related, then this inter-dependence can be used to predict the time series with improved accuracy. Our framework, DArtNet, learns a static embedding for every node in the graph as well as a dynamic embedding which is dependent on the dynamic attribute value (time-series). Then it captures the information from the neighborhood by taking a relation specific mean and encodes the history information using RNN. We jointly train the model link prediction and attribute prediction. We evaluate our method on five specially curated datasets for this problem and show a consistent improvement in time series prediction results. We release the data and code of model DArtNet for future research at https://github.com/INK-USC/DArtNet .
Is the Skip Connection Provable to Reform the Neural Network Loss Landscape?
Venue: Conference IJCAI 2020
Year: 2020

The residual network is now one of the most effective structures in deep learning, which utilizes the skip connections to ``guarantee" the performance will not get worse. However, the non-convexity of the neural network makes it unclear whether the skip connections do provably improve the learning ability since the nonlinearity may create many local minima. In some previous works \cite{freeman2016topology}, it is shown that despite the non-convexity, the loss landscape of the two-layer ReLU network has good properties when the number $m$ of hidden nodes is very large. In this paper, we follow this line to study the topology (sub-level sets) of the loss landscape of deep ReLU neural networks with a skip connection and theoretically prove that the skip connection network inherits the good properties of the two-layer network and skip connections can help to control the connectedness of the sub-level sets, such that any local minima worse than the global minima of some two-layer ReLU network will be very ``shallow". The ``depth" of these local minima are at most $O(m^{(η-1)/n})$, where $n$ is the input dimension, $η<1$. This provides a theoretical explanation for the effectiveness of the skip connection in deep learning.
Exploiting Neuron and Synapse Filter Dynamics in Spatial Temporal Learning of Deep Spiking Neural Network
Venue: Conference IJCAI 2020
Year: 2020

The recent discovered spatial-temporal information processing capability of bio-inspired Spiking neural networks (SNN) has enabled some interesting models and applications. However designing large-scale and high-performance model is yet a challenge due to the lack of robust training algorithms. A bio-plausible SNN model with spatial-temporal property is a complex dynamic system. Each synapse and neuron behave as filters capable of preserving temporal information. As such neuron dynamics and filter effects are ignored in existing training algorithms, the SNN downgrades into a memoryless system and loses the ability of temporal signal processing. Furthermore, spike timing plays an important role in information representation, but conventional rate-based spike coding models only consider spike trains statistically, and discard information carried by its temporal structures. To address the above issues, and exploit the temporal dynamics of SNNs, we formulate SNN as a network of infinite impulse response (IIR) filters with neuron nonlinearity. We proposed a training algorithm that is capable to learn spatial-temporal patterns by searching for the optimal synapse filter kernels and weights. The proposed model and training algorithm are applied to construct associative memories and classifiers for synthetic and public datasets including MNIST, NMNIST, DVS 128 etc.; and their accuracy outperforms state-of-art approaches.
BRPO: Batch Residual Policy Optimization
Venue: Conference IJCAI 2020
Year: 2020

In batch reinforcement learning (RL), one often constrains a learned policy to be close to the behavior (data-generating) policy, e.g., by constraining the learned action distribution to differ from the behavior policy by some maximum degree that is the same at each state. This can cause batch RL to be overly conservative, unable to exploit large policy changes at frequently-visited, high-confidence states without risking poor performance at sparsely-visited states. To remedy this, we propose residual policies, where the allowable deviation of the learned policy is state-action-dependent. We derive a new for RL method, BRPO, which learns both the policy and allowable deviation that jointly maximize a lower bound on policy performance. We show that BRPO achieves the state-of-the-art performance in a number of tasks.
Learning in the Wild with Incremental Skeptical Gaussian Processes
Venue: Conference IJCAI 2020
Year: 2020

The ability to learn from human supervision is fundamental for personal assistants and other interactive applications of AI. Two central challenges for deploying interactive learners in the wild are the unreliable nature of the supervision and the varying complexity of the prediction task. We address a simple but representative setting, incremental classification in the wild, where the supervision is noisy and the number of classes grows over time. In order to tackle this task, we propose a redesign of skeptical learning centered around Gaussian Processes (GPs). Skeptical learning is a recent interactive strategy in which, if the machine is sufficiently confident that an example is mislabeled, it asks the annotator to reconsider her feedback. In many cases, this is often enough to obtain clean supervision. Our redesign, dubbed ISGP, leverages the uncertainty estimates supplied by GPs to better allocate labeling and contradiction queries, especially in the presence of noise. Our experiments on synthetic and real-world data show that, as a result, while the original formulation of skeptical learning produces over-confident models that can fail completely in the wild, ISGP works well at varying levels of noise and as new classes are observed.
Triple-GAIL: A Multi-Modal Imitation Learning Framework with Generative Adversarial Nets
Venue: Conference IJCAI 2020
Year: 2020

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations limits the scalability of the approach to real world scenarios such as autonomous vehicles' demand for a proper understanding of human drivers' behavior. In this paper, we propose a novel multi-modal GAIL framework, named Triple-GAIL, that is able to learn skill selection and imitation jointly from both expert demonstrations and continuously generated experiences with data augmentation purpose by introducing an auxiliary skill selector. We provide theoretical guarantees on the convergence to optima for both of the generator and the selector respectively. Experiments on real driver trajectories and real-time strategy game datasets demonstrate that Triple-GAIL can better fit multi-modal behaviors close to the demonstrators and outperforms state-of-the-art methods.
Nearly Optimal Regret for Stochastic Linear Bandits with Heavy-Tailed Payoffs
Venue: Conference IJCAI 2020
Year: 2020

In this paper, we study the problem of stochastic linear bandits with finite action sets. Most of existing work assume the payoffs are bounded or sub-Gaussian, which may be violated in some scenarios such as financial markets. To settle this issue, we analyze the linear bandits with heavy-tailed payoffs, where the payoffs admit finite $1+ε$ moments for some $ε\in(0,1]$. Through median of means and dynamic truncation, we propose two novel algorithms which enjoy a sublinear regret bound of $\widetilde{O}(d^{\frac{1}{2}}T^{\frac{1}{1+ε}})$, where $d$ is the dimension of contextual information and $T$ is the time horizon. Meanwhile, we provide an $Ω(d^{\fracε{1+ε}}T^{\frac{1}{1+ε}})$ lower bound, which implies our upper bound matches the lower bound up to polylogarithmic factors in the order of $d$ and $T$ when $ε=1$. Finally, we conduct numerical experiments to demonstrate the effectiveness of our algorithms and the empirical results strongly support our theoretical guarantees.
Unsupervised Representation Learning by Predicting Random Distances
Venue: Conference IJCAI 2020
Year: 2020

Deep neural networks have gained tremendous success in a broad range of machine learning tasks due to its remarkable capability to learn semantic-rich features from high-dimensional data. However, they often require large-scale labelled data to successfully learn such features, which significantly hinders their adaption into unsupervised learning tasks, such as anomaly detection and clustering, and limits their applications into critical domains where obtaining massive labelled data is prohibitively expensive. To enable unsupervised learning on those domains, in this work we propose to learn features without using any labelled data by training neural networks to predict data distances in a randomly projected space. Random mapping is a theoretically proven approach to obtain approximately preserved distances. To well predict these random distances, the representation learner is optimised to learn genuine class structures that are implicitly embedded in the randomly projected space. Empirical results on 19 real-world datasets show that our learned representations substantially outperform a few state-of-the-art competing methods in both anomaly detection and clustering tasks. Code is available at https://git.io/RDP
Asymmetric Distribution Measure for Few-shot Learning
Venue: Conference IJCAI 2020
Year: 2020

The core idea of metric-based few-shot image classification is to directly measure the relations between query images and support classes to learn transferable feature embeddings. Previous work mainly focuses on image-level feature representations, which actually cannot effectively estimate a class's distribution due to the scarcity of samples. Some recent work shows that local descriptor based representations can achieve richer representations than image-level based representations. However, such works are still based on a less effective instance-level metric, especially a symmetric metric, to measure the relations between query images and support classes. Given the natural asymmetric relation between a query image and a support class, we argue that an asymmetric measure is more suitable for metric-based few-shot learning. To that end, we propose a novel Asymmetric Distribution Measure (ADM) network for few-shot learning by calculating a joint local and global asymmetric measure between two multivariate local distributions of queries and classes. Moreover, a task-aware Contrastive Measure Strategy (CMS) is proposed to further enhance the measure function. On popular miniImageNet and tieredImageNet, we achieve $3.02\%$ and $1.56\%$ gains over the state-of-the-art method on the $5$-way $1$-shot task, respectively, validating our innovative design of asymmetric distribution measures for few-shot learning.
Evaluating and Aggregating Feature-based Model Explanations
Venue: Conference IJCAI 2020
Year: 2020

A feature-based model explanation denotes how much each input feature contributes to a model's output for a given data point. As the number of proposed explanation functions grows, we lack quantitative evaluation criteria to help practitioners know when to use which explanation function. This paper proposes quantitative evaluation criteria for feature-based explanations: low sensitivity, high faithfulness, and low complexity. We devise a framework for aggregating explanation functions. We develop a procedure for learning an aggregate explanation function with lower complexity and then derive a new aggregate Shapley value explanation function that minimizes sensitivity.
On Metric DBSCAN with Low Doubling Dimension
Venue: Conference IJCAI 2020
Year: 2020

The density based clustering method {\em Density-Based Spatial Clustering of Applications with Noise (DBSCAN)} is a popular method for outlier recognition and has received tremendous attention from many different areas. A major issue of the original DBSCAN is that the time complexity could be as large as quadratic. Most of existing DBSCAN algorithms focus on developing efficient index structures to speed up the procedure in low-dimensional Euclidean space. However, the research of DBSCAN in high-dimensional Euclidean space or general metric space is still quite limited, to the best of our knowledge. In this paper, we consider the metric DBSCAN problem under the assumption that the inliers (excluding the outliers) have a low doubling dimension. We apply a novel randomized $k$-center clustering idea to reduce the complexity of range query, which is the most time consuming step in the whole DBSCAN procedure. Our proposed algorithms do not need to build any complicated data structures and are easy to be implemented in practice. The experimental results show that our algorithms can significantly outperform the existing DBSCAN algorithms in terms of running time.
Efficient Deep Reinforcement Learning via Adaptive Policy Transfer
Venue: Conference IJCAI 2020
Year: 2020

Transfer Learning (TL) has shown great potential to accelerate Reinforcement Learning (RL) by leveraging prior knowledge from past learned policies of relevant tasks. Existing transfer approaches either explicitly computes the similarity between tasks or select appropriate source policies to provide guided explorations for the target task. However, how to directly optimize the target policy by alternatively utilizing knowledge from appropriate source policies without explicitly measuring the similarity is currently missing. In this paper, we propose a novel Policy Transfer Framework (PTF) to accelerate RL by taking advantage of this idea. Our framework learns when and which source policy is the best to reuse for the target policy and when to terminate it by modeling multi-policy transfer as the option learning problem. PTF can be easily combined with existing deep RL approaches. Experimental results show it significantly accelerates the learning process and surpasses state-of-the-art policy transfer methods in terms of learning efficiency and final performance in both discrete and continuous action spaces.
MULTIPOLAR: Multi-Source Policy Aggregation for Transfer Reinforcement Learning between Diverse Environmental Dynamics
Venue: Conference IJCAI 2020
Year: 2020

Transfer reinforcement learning (RL) aims at improving the learning efficiency of an agent by exploiting knowledge from other source agents trained on relevant tasks. However, it remains challenging to transfer knowledge between different environmental dynamics without having access to the source environments. In this work, we explore a new challenge in transfer RL, where only a set of source policies collected under diverse unknown dynamics is available for learning a target task efficiently. To address this problem, the proposed approach, MULTI-source POLicy AggRegation (MULTIPOLAR), comprises two key techniques. We learn to aggregate the actions provided by the source policies adaptively to maximize the target task performance. Meanwhile, we learn an auxiliary network that predicts residuals around the aggregated actions, which ensures the target policy's expressiveness even when some of the source policies perform poorly. We demonstrated the effectiveness of MULTIPOLAR through an extensive experimental evaluation across six simulated environments ranging from classic control problems to challenging robotics simulations, under both continuous and discrete action spaces. The demo videos and code are available on the project webpage: https://omron-sinicx.github.io/multipolar/.