OpenRaiser/Intern-Atlas huggingface dataset:
Policy-Adaptive Estimator Selection for Off-Policy Evaluation
Venue: Conference AAAI 2023
Year: 2023

Off-policy evaluation (OPE) aims to accurately evaluate the performance of counterfactual policies using only offline logged data. Although many estimators have been developed, there is no single estimator that dominates the others, because the estimators' accuracy can vary greatly depending on a given OPE task such as the evaluation policy, number of actions, and noise level. Thus, the data-driven estimator selection problem is becoming increasingly important and can have a significant impact on the accuracy of OPE. However, identifying the most accurate estimator using only the logged data is quite challenging because the ground-truth estimation accuracy of estimators is generally unavailable. This paper studies this challenging problem of estimator selection for OPE for the first time. In particular, we enable an estimator selection that is adaptive to a given OPE task, by appropriately subsampling available logged data and constructing pseudo policies useful for the underlying estimator selection task. Comprehensive experiments on both synthetic and real-world company data demonstrate that the proposed procedure substantially improves the estimator selection compared to a non-adaptive heuristic.
Responsible Robotics: A Socio-Ethical Addition to Robotics Courses
Venue: Conference AAAI 2023
Year: 2023

We are witnessing a rapid increase in real-world autonomous robotic deployments in environments ranging from indoor homes and commercial establishments to large-scale urban areas, with applications ranging from domestic assistance to urban last-mile delivery. The developers of these robots inevitably have to make impactful design decisions to ensure commercial viability, but such decisions have serious real-world consequences. Unfortunately, it is not uncommon for such projects to face intense bouts of social backlash, which can be attributed to a wide variety of causes, ranging from inappropriate technical design choices to transgressions of social norms and lack of community engagement. To better prepare students for the rigors of developing and deploying real-world robotics systems, we developed a Responsible Robotics teaching module, intended to be included in upper-division and graduate-level robotics courses. Our module is structured as a role-playing exercise that aims to equip students with a framework for navigating the conflicting goals of human actors which govern robots in the field. We report on instructor reflections and anonymous survey responses from offering our responsible robotics module in graduate-level and upper-division undergraduate robotics courses at UT Austin. The responses indicate that students gained a deeper understanding of the socio-technical factors of real-world robotics deployments than they might have using self-study methods, and the students proactively suggested that such modules should be more broadly included in CS courses.
Contrastive Attention Networks for Attribution of Early Modern Print
Venue: Conference AAAI 2023
Year: 2023

In this paper, we develop machine learning techniques to identify unknown printers in early modern (c.~1500--1800) English printed books. Specifically, we focus on matching uniquely damaged character type-imprints in anonymously printed books to works with known printers in order to provide evidence of their origins. Until now, this work has been limited to manual investigations by analytical bibliographers. We present a Contrastive Attention-based Metric Learning approach to identify similar damage across character image pairs, which is sensitive to very subtle differences in glyph shapes, yet robust to various confounding sources of noise associated with digitized historical books. To overcome the scarce amount of supervised data, we design a random data synthesis procedure that aims to simulate bends, fractures, and inking variations induced by the early printing process. Our method successfully improves downstream damaged type-imprint matching among printed works from this period, as validated by in-domain human experts. The results of our approach on two important philosophical works from the Early Modern period demonstrate potential to extend the extant historical research about the origins and content of these books.
Auto-Weighted Multi-View Clustering for Large-Scale Data
Venue: Conference AAAI 2023
Year: 2023

Multi-view clustering has gained broad attention owing to its capacity to exploit complementary information across multiple data views. Although existing methods demonstrate delightful clustering performance, most of them are of high time complexity and cannot handle large-scale data. Matrix factorization-based models are a representative of solving this problem. However, they assume that the views share a dimension-fixed consensus coefficient matrix and view-specific base matrices, limiting their representability. Moreover, a series of large-scale algorithms that bear one or more hyperparameters are impractical in real-world applications. To address the two issues, we propose an auto-weighted multi-view clustering (AWMVC) algorithm. Specifically, AWMVC first learns coefficient matrices from corresponding base matrices of different dimensions, then fuses them to obtain an optimal consensus matrix. By mapping original features into distinctive low-dimensional spaces, we can attain more comprehensive knowledge, thus obtaining better clustering results. Moreover, we design a six-step alternative optimization algorithm proven to be convergent theoretically. Also, AWMVC shows excellent performance on various benchmark datasets compared with existing ones. The code of AWMVC is publicly available at https://github.com/wanxinhang/AAAI-2023-AWMVC.
Uncertainty-Aware Self-Training for Low-Resource Neural Sequence Labeling
Venue: Conference AAAI 2023
Year: 2023

Neural sequence labeling (NSL) aims at assigning labels for input language tokens, which covers a broad range of applications, such as named entity recognition (NER) and slot filling, etc. However, the satisfying results achieved by traditional supervised-based approaches heavily depend on the large amounts of human annotation data, which may not be feasible in real-world scenarios due to data privacy and computation efficiency issues. This paper presents SeqUST, a novel uncertain-aware self-training framework for NSL to address the labeled data scarcity issue and to effectively utilize unlabeled data. Specifically, we incorporate Monte Carlo (MC) dropout in Bayesian neural network (BNN) to perform uncertainty estimation at the token level and then select reliable language tokens from unlabeled data based on the model confidence and certainty. A well-designed masked sequence labeling task with a noise-robust loss supports robust training, which aims to suppress the problem of noisy pseudo labels. In addition, we develop a Gaussian-based consistency regularization technique to further improve the model robustness on Gaussian-distributed perturbed representations. This effectively alleviates the over-fitting dilemma originating from pseudo-labeled augmented data. Extensive experiments over six benchmarks demonstrate that our SeqUST framework effectively improves the performance of self-training, and consistently outperforms strong baselines by a large margin in low-resource scenarios
Unlabeled Imperfect Demonstrations in Adversarial Imitation Learning
Venue: Conference AAAI 2023
Year: 2023

Adversarial imitation learning has become a widely used imitation learning framework. The discriminator is often trained by taking expert demonstrations and policy trajectories as examples respectively from two categories (positive vs. negative) and the policy is then expected to produce trajectories that are indistinguishable from the expert demonstrations. But in the real world, the collected expert demonstrations are more likely to be imperfect, where only an unknown fraction of the demonstrations are optimal. Instead of treating imperfect expert demonstrations as absolutely positive or negative, we investigate unlabeled imperfect expert demonstrations as they are. A positive-unlabeled adversarial imitation learning algorithm is developed to dynamically sample expert demonstrations that can well match the trajectories from the constantly optimized agent policy. The trajectories of an initial agent policy could be closer to those non-optimal expert demonstrations, but within the framework of adversarial imitation learning, agent policy will be optimized to cheat the discriminator and produce trajectories that are similar to those optimal expert demonstrations. Theoretical analysis shows that our method learns from the imperfect demonstrations via a self-paced way. Experimental results on MuJoCo and RoboSuite platforms demonstrate the effectiveness of our method from different aspects.
Beyond Graph Convolutional Network: An Interpretable Regularizer-Centered Optimization Framework
Venue: Conference AAAI 2023
Year: 2023

Graph convolutional networks (GCNs) have been attracting widespread attentions due to their encouraging performance and powerful generalizations. However, few work provide a general view to interpret various GCNs and guide GCNs' designs. In this paper, by revisiting the original GCN, we induce an interpretable regularizer-centerd optimization framework, in which by building appropriate regularizers we can interpret most GCNs, such as APPNP, JKNet, DAGNN, and GNN-LF/HF. Further, under the proposed framework, we devise a dual-regularizer graph convolutional network (dubbed tsGCN) to capture topological and semantic structures from graph data. Since the derived learning rule for tsGCN contains an inverse of a large matrix and thus is time-consuming, we leverage the Woodbury matrix identity and low-rank approximation tricks to successfully decrease the high computational complexity of computing infinite-order graph convolutions. Extensive experiments on eight public datasets demonstrate that tsGCN achieves superior performance against quite a few state-of-the-art competitors w.r.t. classification tasks.
Efficient Explorative Key-Term Selection Strategies for Conversational Contextual Bandits
Venue: Conference AAAI 2023
Year: 2023

Conversational contextual bandits elicit user preferences by occasionally querying for explicit feedback on key-terms to accelerate learning. However, there are aspects of existing approaches which limit their performance. First, information gained from key-term-level conversations and arm-level recommendations is not appropriately incorporated to speed up learning. Second, it is important to ask explorative key-terms to quickly elicit the user's potential interests in various domains to accelerate the convergence of user preference estimation, which has never been considered in existing works. To tackle these issues, we first propose ``ConLinUCB", a general framework for conversational bandits with better information incorporation, combining arm-level and key-term-level feedback to estimate user preference in one step at each time. Based on this framework, we further design two bandit algorithms with explorative key-term selection strategies, ConLinUCB-BS and ConLinUCB-MCR. We prove tighter regret upper bounds of our proposed algorithms. Particularly, ConLinUCB-BS achieves a regret bound of $O(d\sqrt{T\log T})$, better than the previous result $O(d\sqrt{T}\log T)$. Extensive experiments on synthetic and real-world data show significant advantages of our algorithms in learning accuracy (up to 54\% improvement) and computational efficiency (up to 72\% improvement), compared to the classic ConUCB algorithm, showing the potential benefit to recommender systems.
Smoothed Online Combinatorial Optimization Using Imperfect Predictions
Venue: Conference AAAI 2023
Year: 2023

Smoothed online combinatorial optimization considers a learner who repeatedly chooses a combinatorial decision to minimize an unknown changing cost function with a penalty on switching decisions in consecutive rounds. We study smoothed online combinatorial optimization problems when an imperfect predictive model is available, where the model can forecast the future cost functions with uncertainty. We show that using predictions to plan for a finite time horizon leads to regret dependent on the total predictive uncertainty and an additional switching cost. This observation suggests choosing a suitable planning window to balance between uncertainty and switching cost, which leads to an online algorithm with guarantees on the upper and lower bounds of the cumulative regret. Empirically, our algorithm shows a significant improvement in cumulative regret compared to other baselines in synthetic online distributed streaming problems.
Structure Aware Incremental Learning with Personalized Imitation Weights for Recommender Systems
Venue: Conference AAAI 2023
Year: 2023

Recommender systems now consume large-scale data and play a significant role in improving user experience. Graph Neural Networks (GNNs) have emerged as one of the most effective recommender system models because they model the rich relational information. The ever-growing volume of data can make training GNNs prohibitively expensive. To address this, previous attempts propose to train the GNN models incrementally as new data blocks arrive. Feature and structure knowledge distillation techniques have been explored to allow the GNN model to train in a fast incremental fashion while alleviating the catastrophic forgetting problem. However, preserving the same amount of the historical information for all users is sub-optimal since it fails to take into account the dynamics of each user's change of preferences. For the users whose interests shift substantially, retaining too much of the old knowledge can overly constrain the model, preventing it from quickly adapting to the users' novel interests. In contrast, for users who have static preferences, model performance can benefit greatly from preserving as much of the user's long-term preferences as possible. In this work, we propose a novel training strategy that adaptively learns personalized imitation weights for each user to balance the contribution from the recent data and the amount of knowledge to be distilled from previous time periods. We demonstrate the effectiveness of learning imitation weights via a comparison on five diverse datasets for three state-of-art structure distillation based recommender systems. The performance shows consistent improvement over competitive incremental learning techninques.
Meta-Reinforcement Learning Based on Self-Supervised Task Representation Learning
Venue: Conference AAAI 2023
Year: 2023

Meta-reinforcement learning enables artificial agents to learn from related training tasks and adapt to new tasks efficiently with minimal interaction data. However, most existing research is still limited to narrow task distributions that are parametric and stationary, and does not consider out-of-distribution tasks during the evaluation, thus, restricting its application. In this paper, we propose MoSS, a context-based Meta-reinforcement learning algorithm based on Self-Supervised task representation learning to address this challenge. We extend meta-RL to broad non-parametric task distributions which have never been explored before, and also achieve state-of-the-art results in non-stationary and out-of-distribution tasks. Specifically, MoSS consists of a task inference module and a policy module. We utilize the Gaussian mixture model for task representation to imitate the parametric and non-parametric task variations. Additionally, our online adaptation strategy enables the agent to react at the first sight of a task change, thus being applicable in non-stationary tasks. MoSS also exhibits strong generalization robustness in out-of-distributions tasks which benefits from the reliable and robust task representation. The policy is built on top of an off-policy RL algorithm and the entire network is trained completely off-policy to ensure high sample efficiency. On MuJoCo and Meta-World benchmarks, MoSS outperforms prior works in terms of asymptotic performance, sample efficiency (3-50x faster), adaptation efficiency, and generalization robustness on broad and diverse task distributions.
Stability-Based Generalization Analysis for Mixtures of Pointwise and Pairwise Learning
Venue: Conference AAAI 2023
Year: 2023

Recently, some mixture algorithms of pointwise and pairwise learning (PPL) have been formulated by employing the hybrid error metric of "pointwise loss + pairwise loss" and have shown empirical effectiveness on feature selection, ranking and recommendation tasks. However, to the best of our knowledge, the learning theory foundation of PPL has not been touched in the existing works. In this paper, we try to fill this theoretical gap by investigating the generalization properties of PPL. After extending the definitions of algorithmic stability to the PPL setting, we establish the high-probability generalization bounds for uniformly stable PPL algorithms. Moreover, explicit convergence rates of stochastic gradient descent (SGD) and regularized risk minimization (RRM) for PPL are stated by developing the stability analysis technique of pairwise learning. In addition, the refined generalization bounds of PPL are obtained by replacing uniform stability with on-average stability.
Fine-Grained Retrieval Prompt Tuning
Venue: Conference AAAI 2023
Year: 2023

Fine-grained object retrieval aims to learn discriminative representation to retrieve visually similar objects. However, existing top-performing works usually impose pairwise similarities on the semantic embedding spaces or design a localization sub-network to continually fine-tune the entire model in limited data scenarios, thus resulting in convergence to suboptimal solutions. In this paper, we develop Fine-grained Retrieval Prompt Tuning (FRPT), which steers a frozen pre-trained model to perform the fine-grained retrieval task from the perspectives of sample prompting and feature adaptation. Specifically, FRPT only needs to learn fewer parameters in the prompt and adaptation instead of fine-tuning the entire model, thus solving the issue of convergence to suboptimal solutions caused by fine-tuning the entire model. Technically, a discriminative perturbation prompt (DPP) is introduced and deemed as a sample prompting process, which amplifies and even exaggerates some discriminative elements contributing to category prediction via a content-aware inhomogeneous sampling operation. In this way, DPP can make the fine-grained retrieval task aided by the perturbation prompts close to the solved task during the original pre-training. Thereby, it preserves the generalization and discrimination of representation extracted from input samples. Besides, a category-specific awareness head is proposed and regarded as feature adaptation, which removes the species discrepancies in features extracted by the pre-trained model using category-guided instance normalization. And thus, it makes the optimized features only include the discrepancies among subcategories. Extensive experiments demonstrate that our FRPT with fewer learnable parameters achieves the state-of-the-art performance on three widely-used fine-grained datasets.
Text to Point Cloud Localization with Relation-Enhanced Transformer
Venue: Conference AAAI 2023
Year: 2023

Automatically localizing a position based on a few natural language instructions is essential for future robots to communicate and collaborate with humans. To approach this goal, we focus on the text-to-point-cloud cross-modal localization problem. Given a textual query, it aims to identify the described location from city-scale point clouds. The task involves two challenges. 1) In city-scale point clouds, similar ambient instances may exist in several locations. Searching each location in a huge point cloud with only instances as guidance may lead to less discriminative signals and incorrect results. 2) In textual descriptions, the hints are provided separately. In this case, the relations among those hints are not explicitly described, leading to difficulties of learning relations. To overcome these two challenges, we propose a unified Relation-Enhanced Transformer (RET) to improve representation discriminability for both point cloud and natural language queries. The core of the proposed RET is a novel Relation-enhanced Self-Attention (RSA) mechanism, which explicitly encodes instance (hint)-wise relations for the two modalities. Moreover, we propose a fine-grained cross-modal matching method to further refine the location predictions in a subsequent instance-hint matching stage. Experimental results on the KITTI360Pose dataset demonstrate that our approach surpasses the previous state-of-the-art method by large margin.
Multi-Scale Control Signal-Aware Transformer for Motion Synthesis without Phase
Venue: Conference AAAI 2023
Year: 2023

Synthesizing controllable motion for a character using deep learning has been a promising approach due to its potential to learn a compact model without laborious feature engineering. To produce dynamic motion from weak control signals such as desired paths, existing methods often require auxiliary information such as phases for alleviating motion ambiguity, which limits their generalisation capability. As past poses often contain useful auxiliary hints, in this paper, we propose a task-agnostic deep learning method, namely Multi-scale Control Signal-aware Transformer (MCS-T), with an attention based encoder-decoder architecture to discover the auxiliary information implicitly for synthesizing controllable motion without explicitly requiring auxiliary information such as phase. Specifically, an encoder is devised to adaptively formulate the motion patterns of a character's past poses with multi-scale skeletons, and a decoder driven by control signals to further synthesize and predict the character's state by paying context-specialised attention to the encoded past motion patterns. As a result, it helps alleviate the issues of low responsiveness and slow transition which often happen in conventional methods not using auxiliary information. Both qualitative and quantitative experimental results on an existing biped locomotion dataset, which involves diverse types of motion transitions, demonstrate the effectiveness of our method. In particular, MCS-T is able to successfully generate motions comparable to those generated by the methods using auxiliary information.
Controlling Class Layout for Deep Ordinal Classification via Constrained Proxies Learning
Venue: Conference AAAI 2023
Year: 2023

For deep ordinal classification, learning a well-structured feature space specific to ordinal classification is helpful to properly capture the ordinal nature among classes. Intuitively, when Euclidean distance metric is used, an ideal ordinal layout in feature space would be that the sample clusters are arranged in class order along a straight line in space. However, enforcing samples to conform to a specific layout in the feature space is a challenging problem. To address this problem, in this paper, we propose a novel Constrained Proxies Learning (CPL) method, which can learn a proxy for each ordinal class and then adjusts the global layout of classes by constraining these proxies. Specifically, we propose two kinds of strategies: hard layout constraint and soft layout constraint. The hard layout constraint is realized by directly controlling the generation of proxies to force them to be placed in a strict linear layout or semicircular layout (i.e., two instantiations of strict ordinal layout). The soft layout constraint is realized by constraining that the proxy layout should always produce unimodal proxy-to-proxies similarity distribution for each proxy (i.e., to be a relaxed ordinal layout). Experiments show that the proposed CPL method outperforms previous deep ordinal classification methods under the same setting of feature extractor.