United States

Grasping the intricacies of human motion, which involve perceiving spatio-temporal dependence and multi-scale effects, is essential for predicting human motion.
While humans inherently possess the requisite skills to navigate this issue, it proves to be markedly more challenging for machines to emulate. 
To bridge the gap, we propose the Human-like Vision and Inference System (HVIS) for human motion prediction, which is designed to emulate human observation and forecast future movements.
HVIS comprises two components: the human-like vision encode (HVE) module and the human-like motion inference (HMI) module.
The HVE module mimics and refines the human visual process, incorporating a retina-analog component that captures spatiotemporal information separately to avoid unnecessary crosstalk. Additionally,  a visual cortex-analogy component is designed to hierarchically extract and treat complex motion features, focusing on both global and local features of human poses.
The HMI is employed to simulate the multi-stage learning model of the human brain. The spontaneous learning network simulates the neuronal fracture generation process for the adversarial generation of future motions. Subsequently, the deliberate learning network is optimized for hard-to-train joints to prevent misleading learning.
Experimental results demonstrate that our method achieves new state-of-the-art performance, significantly outperforming existing methods by 19.8\% on Human3.6M, 15.7\% on CMU Mocap, and 11.1\% on G3D. Our code is anonymously released.

AAAI 2025

HVIS: A Human-like Vision and Inference System for Human Motion Prediction

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. This theme also touches upon people's expectations and perceptions of robots, as well as other social, cognitive and cultural factors that will influence human-robot interactions. We will have a special session/track on this topic, invite targeted submissions and include plenary speakers who are specialist in this area. We sincerely hope that this focus will help enlighten the design-thinking of all of us as we fabricate and program our own various systems.

To access RO-MAN Virtual 2021, [please register here.](https://ro-man2021.org/registration/)

IEEE RO-MAN 2021

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. 

poster

We are pleased to announce the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI-25), which will be held in Philadelphia, Pennsylvania at the Pennsylvania Convention Center from February 25 to March 4, 2025.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

### [Invited Speakers](https://aaai.org/conference/aaai/aaai-25/aaai-25-invited-speakers/)

Register [here](https://aaai.org/conference/aaai/aaai-25/registration/)

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.



Federated learning is often used in environments with many unverified participants. Therefore, federated learning under adversarial attacks receives significant attention. This paper proposes an algorithmic framework for list-decodable federated learning, where a central server maintains a list of models, with at least one guaranteed to perform well. The framework has no strict restriction on the fraction of honest workers, extending the applicability of Byzantine federated learning to the scenario with more than half adversaries. Under proper assumptions on the loss function, we prove a convergence theorem for our method. Experimental results, including image classification tasks with both convex and non-convex losses, demonstrate that the proposed algorithm can withstand the malicious majority under various attacks.

LiD-FL: Towards List-Decodable Federated Learning

Backward error analysis allows finding a modified loss function, which the parameter updates really follow under the influence of an optimization method. The additional loss terms included in this modified function is called implicit regularizer. In this paper, we attempt to find the implicit regularizer for various federated learning algorithms on non-IID data distribution, and explain why each method shows different convergence behavior. We first show that the implicit regularizer of FedAvg disperses the gradient of each client from the average gradient, thus increasing the gradient variance. We also empirically show that the implicit regularizer hampers its convergence. Similarly, we compute the implicit regularizers of FedSAM and SCAFFOLD, and explain why they converge better. While existing convergence analyses only point out the advantages of FedSAM and SCAFFOLD, our approach can explain their limitations in complex non-convex settings. In specific, we demonstrate that FedSAM can partially remove the bias in the first-order term of the implicit regularizer in FedAvg, whereas SCAFFOLD can fully eliminate the bias in the first-order term, but not in the second-order term. Consequently, the implicit regularizer can provide a useful insight on the convergence behavior of federated learning from a different theoretical perspective.

Convergence Analysis of Federated Learning Methods Using Backward Error Analysis

Inspired by the human brain's ability to adapt to new tasks without erasing prior knowledge, we develop spiking neural networks (SNNs) with dynamic structures for Class Incremental Learning (CIL). Our analytical experiments reveal that limited datasets introduce biases in logits distributions among tasks. Fixed features from frozen past-task extractors can cause overfitting and hinder the learning of new tasks.
To address these challenges, we propose the ALADE-SNN framework, which includes adaptive logit alignment for balanced feature representation and OtoN suppression to manage weights mapping frozen old features to new classes during training, releasing them during fine-tuning. This approach dynamically adjusts the network architecture based on analytical observations, improving feature extraction and balancing performance between new and old tasks.
Experiment results show that ALADE-SNN achieves an average incremental accuracy of 75.42 ± 0.74% on the CIFAR100-B0 dataset over 10 incremental steps. ALADE-SNN not only matches the performance of DNN-based methods but also surpasses state-of-the-art SNN-based continual learning algorithms. This advancement enhances continual learning in neuromorphic computing, offering a brain-inspired, energy-efficient solution for real-time data processing.

ALADE-SNN: Adaptive Logit Alignment in Dynamically Expandable Spiking Neural Networks for Class Incremental Learning

We propose HYBOOD, a hybrid out-of-distribution model based on normalizing flow followed by a simple linear classification model. In real-world settings, it is known that data corruption has a strong influence on model degradation; for example image quality like noise, blur and image geometry like translation, scaling, rotation. MNIST-C, CIFAR10-C are the general synthesized datasets to measure model performance and corruption difficulty in terms of covariate and semantic shifts. 
HYBOOD shows that the separability between in-distribution, covariate shift, and semantic shift can be represented by distribution distance and log-scale density $\log(p(x))$. We also find out the attributes of covariate shifts are ordered by corruption difficulty ranking (CDR) for the datasets. To the best of our knowledge, this is the first method to measure data corruption difficulty with generative models using Wasserstein Distance, Mutual Information and Minimal Description Length. In this paper, we pose interesting experimental results that the MNIST-C trained generative model is most deteriorated by fog, impulse noise and stripe corruption types. This can be interpreted that those attributes are challenging corruptions to the generative model in uncertainty and complexity. By training in-distribution data only, HYBOOD achieves out-of-distribution detection performance for distinguishable covariate and semantic shifts, and quantifying covariate shift ranking.

HYBOOD: A Hybrid Generative Model for Out-of-Distribution Detection with Corruption Estimation

Pretrained visual-language models such as CLIP have made significant advancements in multimodal tasks, including image-text retrieval. However, a major challenge in image-text matching lies in language bias, where models predominantly rely on language priors and neglect to adequately consider the visual content. We thus present Multimodal ASsociation Score (MASS), a training-free framework that reduces the reliance on language priors for better visual accuracy in image-text matching problems. Our method can be seamlessly incorporated into existing visual-language models without necessitating additional training. Our experiments have shown that MASS effectively reduces color, number, and gender biases. Also, it maintains linguistic understanding capability, as demonstrated in numerical results on image-text matching tests with linguistic complexities. Overall, MASS offers a promising solution for enhancing image-text matching performance in visual-language models.

MASS: Overcoming Language Bias in Image-Text Matching

Optical neural networks (ONNs) have attracted great attention due to their low power consumption and high-speed processing.
When training an ONN implemented on a chip with possible fabrication variations, the well-known backpropagation algorithm cannot be executed accurately because the perfect information inside the chip cannot be observed.
Instead, we employ a black-box optimization method such as zeroth-order (ZO) optimization.
In this paper, we first discuss how ONN parameters should be perturbed to search for better values in a black-box manner.
Conventionally, parameter perturbations are sampled from a normal distribution with an identity covariance matrix.
This is plausible if the parameters are not interrelated in a module, like a linear module of an ordinary neural network. 
However, this is not the best way for ONN modules with layered parameters, which are interrelated by optical paths.
We then propose to perturb the parameters by a normal distribution with a special covariance matrix computed by our novel method.
The covariance matrix is designed so that the perturbations appearing at the module output caused by the parameter perturbations become as isotropic as possible to uniformly search for better values.
Experimental results show that the proposed method using the special covariance matrix significantly outperformed conventional methods.

Layered-Parameter Perturbation for Zeroth-Order Optimization of Optical Neural Networks

3D Human Pose Estimation (HPE) is a one-to-many problem by nature, making it challenging to estimate an accurate 3D pose from a single 2D pose. Some prior works have attempted to tackle this problem by using a conditional generative network. They generate 3D poses from a given 2D pose with noises from a standard Gaussian distribution, while the depth distribution is dependent on each posture and more complex than the standard Gaussian distribution. This may lead to inaccurate distribution learning. In this paper, we propose a probabilistic framework called ProPose to address this issue. ProPose employs Pose Instance-Level Gaussian Distribution (PILGD) derived from 3D pose-based self-representation learning to obtain reliable distribution which is able to address pose-dependent depth distribution. To access this PILGD, we utilize normalizing flow, which learns a mapping function between the PILGD and a 2D Pose-Adaptive Gaussian Distribution (PAGD). This converts the problem of directly estimating 3D poses from 2D poses to a mapping problem between PILGD and PAGD using a normalizing flow. Extensive experiments show the advantages of utilizing the PILGD and PAGD. ProPose achieves comparable performances to previous state-of-the-art methods in a multi-hypothesis setting. Notably, ProPose in single-hypothesis setting demonstrates comparable generalization ability to existing state-of-the-art deterministic methods for the first time.

ProPose: Probabilistic 3D Human Pose Estimation with Instance-Level Distribution and Normalizing Flow

Benefiting from large-scale pre-training of text-video pairs, current text-to-video (T2V) diffusion models can generate high-quality videos from the text description. Besides, given some reference images or videos, the parameter-efficient fine-tuning method, i.e. LoRA, can generate high-quality customized concepts, e.g., the specific subject or the motions from a reference video. However, combining the trained multiple concepts from different references into a single network shows obvious artifacts. To this end, we propose CustomTTT, where we can joint custom the appearance and the motion of the given video easily. In detail, we first analyze the prompt influence in the current video diffusion model and find the LoRAs are only needed for the specific layers for appearance and motion customization. Besides, since each LoRA is trained individually, we propose a novel test-time training technique to update parameters after combination utilizing the trained customized models. We conduct detailed experiments to verify the effectiveness of the proposed methods. Our method outperforms several state-of-the-art works in both qualitative and quantitative evaluations. The code will be available.

CustomTTT: Motion and Appearance Customized Video Generation via Test-Time Training

Monitoring a large population of dynamic processes with limited resources presents a significant challenge across various industrial sectors. This is due to 1) the inherent disparity between the available monitoring resources and the extensive number of processes to be monitored and 2) the unpredictable and heterogeneous dynamics inherent in the progression of these processes. Online learning approaches, commonly referred to as bandit methods, have demonstrated notable potential in addressing this issue by dynamically allocating resources and effectively balancing the exploitation of high-reward processes and the exploration of uncertain ones. However, most online learning algorithms are designed for 1) a centralized setting that requires data sharing across processes for accurate predictions or 2) a homogeneity assumption that estimates a single global model from decentralized data. To overcome these limitations and enable online learning in a heterogeneous population under a decentralized setting, we propose a federated collaborative online monitoring method. Our approach utilizes representation learning to capture the latent representative models within the population and introduces a novel federated collaborative UCB algorithm to estimate these models from sequentially observed decentralized data. This strategy facilitates informed monitoring resource allocation. The efficacy of our method is demonstrated through theoretical analysis, simulation studies, and its application to decentralized cognitive degradation monitoring in Alzheimer’s disease.

FCOM: A Federated Collaborative Online Monitoring Framework via Representation Learning

Recent advances in diffusion models focus on efficiently handling conditional generative tasks without extra training. The process involves decomposing the result into two components: 1. unconditional sample $u\_{t}$, generated in the absence of conditions. 2. condition correction $\phi$, adjusting $u\_{t}$ to include the guidance image $I\_c$. This adjustment is quantified by the pixel-level measure $\\| \mathcal{A}(\mathcal{D}(\mathfrak{C}'\_{\phi}(u\_t))) - I\_c \\|\_2$, where $\mathcal{D}(z\_t)$ decodes the latent code $z\_{t} = \mathfrak{C}'\_{\phi}(u\_t) = u\_t + \phi $, and the forward operator $\mathcal{A}( x\_t)$ translates the noisy image $ x\_t=\mathcal{D}(z\_t)$ into the guidance domain for comparison with the guidance image $I\_c$. To enhance the fidelity of $\phi$, we propose a learnable latent forward operator $\mathfrak{A}\_{ \theta}(z\_t, t)$, focusing on latent-space consistency  $\\| \mathfrak{A}\_{\theta}(\mathfrak{C}'\_{\phi}(u\_t), t) - \mathcal{E}(I\_c) \\|\_2$ with the expectation that this latent-space consistency approximates the pixel-level fidelity measure. Here, $\mathcal{E}(I\_c)$ acts as the encoder, mapping the guidance image into the latent space. Furthermore a correctional operator $\mathfrak{C}''\_{\psi}(z\_t) = z\_t + \psi $ is proposed to rectify model mismatching in the latent guidance model, thereby refining the consistency constraint to $\\| \mathfrak{A}\_{\theta}(\mathfrak{C}''\_{\psi}(\mathfrak{C}'\_{\phi}(u\_t)), t) - \mathcal{E}(I\_c) \\|\_2$. The determination of the condition term $\phi$ and the correction estimation $\psi$ is akin to solving a blind inverse problem. Our EMControl employs the Expectation-Maximization (EM) algorithm to solve the blind inverse problem during the reverse sampling process. This technique ensures that samples, once consistent with the guidance, are accurately mapped back onto the noisy data manifold, adhering to the data's inherent distribution. The EMControl has proven its effectiveness by delivering superior performance in conditional diffusion generation tasks compared to previous approaches. Moreover, its application to multiple-condition scenarios underscores its versatility and robustness across a range of generative tasks.

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