United States

Offline imitation learning (IL) promises the ability to learn performant policies from pre-collected demonstrations without interactions with the environment. However, imitating behaviors fully offline typically requires numerous expert data. To tackle this issue, we study the setting where we have limited expert data and supplementary suboptimal data. In this case, a well-known issue is the distribution shift between the learned policy and the behavior policy that collects the offline data. Prior works mitigate this issue by regularizing the KL divergence between the stationary state-action distributions of the learned policy and the behavior policy. We argue that such constraints based on exact distribution matching can be overly conservative and hamper policy learning, especially when the imperfect offline data is highly suboptimal. To resolve this issue, we present RelaxDICE, which employs an asymmetrically-relaxed f-divergence for explicit support regularization. Specifically, instead of driving the learned policy to exactly match the behavior policy, we impose little penalty whenever the density ratio between their stationary state-action distributions is upper bounded by a constant. Note that such formulation leads to a nested min-max optimization problem, which causes instability in practice. RelaxDICE addresses this challenge by supporting a closed-form solution for the inner maximization problem. Extensive empirical study shows that our method significantly outperforms the best prior offline IL method in six standard continuous control environments with over 30% performance gain on average, across 22 settings where the imperfect dataset is highly suboptimal.

AAAI 2023

Soft Action Priors: Towards Robust Policy Transfer

support regularization

suboptimal demonstrations

offline imitation learning

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-23 is the Thirty-Seventh AAAI Conference on Artificial Intelligence. The theme of this conference is to create collaborative bridges within and beyond AI. Like previous AAAI conferences, AAAI-23 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and two new activities: a Bridge Program and a Lab Program. Many of these activities are tailored to the theme of bridges and all are selected according to the highest standards, with additional programs for students and young researchers. 
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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.

poster

Many fundamental low-rank optimization problems, such as matrix completion, phase retrieval, and robust PCA, can be formulated as the matrix sensing problem. Two main approaches for solving matrix sensing are based on semidefinite programming (SDP) and Burer-Monteiro (B-M) factorization. The former suffers from high computational and space complexities, whereas the latter may return a spurious solution due to the non-convexity of the problem. The existing theoretical guarantees for the success of these methods have led to similar conservative conditions, which may wrongly imply that these methods have comparable performances. In this paper, we shed light on some major differences between these two methods. First, we present a class of structured matrix completion problems for which the B-M methods fail with an overwhelming probability, while the SDP method works correctly. Second, we identify a class of highly sparse matrix completion problems for which the B-M method works and the SDP method fails. Third, we prove that although the B-M method exhibits the same performance independent of the rank of the unknown solution, the success of the SDP method is correlated to the rank of the solution and improves as the rank increases. Unlike the existing literature that has mainly focused on those instances of matrix sensing for which both SDP and B-M work, this paper offers the first result on the unique merit of each method over the alternative approach. 


Semidefinite Programming Versus Burer-Monteiro Factorization for Matrix Sensing

Enumerating the directed acyclic graphs (DAGs) of a Markov equivalence class (MEC) is an important primitive in causal analysis. The central resource from the perspective of computational complexity is the delay, that is, the time an algorithm that lists all members of the class requires between two consecutive outputs. Commonly used algorithms for this task utilize the rules proposed by Meek (1995) or the transformational characterization by Chickering (1995), both resulting in superlinear delay. In this paper, we present the first linear-time delay algorithm. On the theoretical side, we show that our algorithm can be generalized to enumerate DAGs represented by models that incorporate background knowledge, such as MPDAGs; on the practical side, we provide an efficient implementation and evaluate it in a series of experiments. Complementary to the linear-time delay algorithm, we also provide intriguing insights into Markov equivalence itself: All members of an MEC can be enumerated such that two successive DAGs have structural Hamming distance at most three.

Efficient Enumeration of Markov Equivalent DAGs

Multimodal hate detection, which aims to identify the harmful content online such as memes, is crucial for building a wholesome internet environment. Previous work has made enlightening exploration in detecting explicit hate remarks. However, most of their approaches neglect the analysis of implicit harm, which is particularly challenging as explicit text markers and demographic visual cues are often twisted or missing. The leveraged cross-modal attention mechanisms also suffer from the distributional modality gap and lack logical interpretability. To address these 
semantic gap issues, we propose TOT: a topology-aware optimal transport framework to decipher the implicit harm in memes scenario, which formulates the cross-modal aligning problem as solutions for optimal transportation plans. Specifically, we leverage an optimal transport kernel method to capture complementary information from multiple modalities. The kernel embedding provides a non-linear transformation ability to reproduce a kernel Hilbert space (RKHS), which reflects significance for eliminating the distributional modality gap. Moreover, we perceive the topology information based on aligned representations to conduct bipartite graph path reasoning. The newly achieved state-of-the-art performance on two publicly available benchmark datasets, together with  further visual analysis, demonstrate the superiority of TOT in capturing implicit cross-modal alignment.

TOTÔºöTopology-Aware Optimal Transport For Multimodal Hate Detection

This paper presents SVAM (Sequential Variance-Altered MLE), a unified framework for learning generalized linear models under adversarial label corruption in training data. SVAM extends to tasks such as least squares regression, logistic regression, and gamma regression, whereas many existing works on learning with label corruptions focus only on least squares regression. SVAM is based on a novel variance reduction technique that may be of independent interest and works by iteratively solving weighted MLEs over variance-altered versions of the GLM objective. SVAM offers provable model recovery guarantees superior to the state-of-the-art for robust regression even when a constant fraction of training labels are adversarially corrupted. SVAM also empirically outperforms several existing problem-specific techniques for robust regression and classification. Code for SVAM is available at https://github.com/purushottamkar/svam/

Corruption-tolerant Algorithms for Generalized Linear Models

With the increase of multi-view graph data, multi-view graph clustering (MVGC) that can discover the hidden clusters without label supervision has attracted growing attention from researchers. Existing MVGC methods are often sensitive to the given graphs, especially influenced by the low quality graphs, i.e., they tend to be limited by the homophily assumption. However, the widespread real-world data hardly satisfy the homophily assumption. This gap limits the performance of existing MVGC methods on low homogeneous graphs. To mitigate this limitation, our motivation is to extract high-level view-common information which is used to refine each view's graph, and reduce the influence of non-homogeneous edges. To this end, we propose dual label-guided graph refinement for multi-view graph clustering (DuaLGR), to alleviate the vulnerability in facing low homogeneous graphs. Specifically, DuaLGR consists of two modules named dual label-guided graph refinement module and graph encoder module. The first module is designed to extract the soft label from node features and graphs, and then learn a refinement matrix. In cooperation with the pseudo label from the second module, these graphs are refined and aggregated adaptively with different orders. Subsequently, a consensus graph can be generated in the guidance of the pseudo label. Finally, the graph encoder module encodes the consensus graph along with node features to produce the high-level pseudo label for iteratively clustering. The experimental results show the superior performance on coping with low homogeneous graph data.

Dual Label-Guided Graph Refinement for Multi-View Graph Clustering

Forecasting time series with extreme events has been a challenging and prevalent research topic, especially when the time series data are affected by complicated uncertain factors, such as is the case in hydrologic prediction. Diverse traditional and deep learning models have been applied to discover the nonlinear relationships and recognize the complex patterns in these types of data. However, existing methods usually ignore the negative influence of imbalanced data, or severe events, on model training. Moreover, methods are usually evaluated on a small number of generally well-behaved time series, which does not show their ability to generalize. To tackle these issues, we propose a novel probability-enhanced neural network model, called NEC+, which concurrently learns extreme and normal prediction functions and a way to choose among them via selective back propagation. We evaluate the proposed model on the difficult 3-day ahead hourly water level prediction task applied to 9 reservoirs in California. Experimental results demonstrate that the proposed model significantly outperforms state-of-the-art baselines and exhibits superior generalization ability on data with diverse distributions.

An Extreme-Adaptive Time Series Prediction Model Based on Probability-Enhanced LSTM Neural Networks

Automatic medical report generation is an essential task in applying artificial intelligence to the medical domain, which can lighten the workloads of doctors and promote clinical automation. The state-of-the-art approaches employ Transformer-based encoder-decoder architectures to align images and reports. However, they do not fully explore the relationships between multi-modal medical data, and generate inaccurate and incoherent reports. To address these issues, this paper proposes a Multi-modal Memory Transformer Network (MMTN) to cope with multi-modal medical data (i.e., medical image, medical terminology knowledge, and medical report text) for generating coherent medical reports. On the one hand, MMTN reduces the occurrence of image-report inconsistencies by designing a unique encoder to associate and memorize the relationship between medical images and terminologies. On the other hand, MMTN learns the contributions of multi-modal features before word prediction, and further enhances the accuracy and consistency of generating medical reports by exploiting the cross-modal complementarity of multi-modal medical data. Extensive experiments on three real datasets show that MMTN achieves significant effectiveness over state-of-the-art approaches on both automatic metrics and human evaluation.

MMTN: Multi-modal Memory Transformer Network for Image-Report Consistent Medical Report Generation

Point cloud completion, as the upstream procedure of 3D recognition and segmentation, has become an essential part of many tasks such as navigation and scene understanding. While various point cloud completion models have demonstrated their powerful capabilities, their robustness against adversarial attacks, which have been proven to be fatally malicious towards deep neural networks, remains unknown. In addition, existing attack approaches towards point cloud classifiers cannot be applied to the completion models due to different output forms and attack purposes.
In order to evaluate the robustness of the completion models, we propose PointCA, the first adversarial attack against 3D point cloud completion models. PointCA can generate adversarial point clouds that maintain high similarity with the original ones, while being completed as another object with totally different semantic information. Specifically, by jointly exploring the adversarial point clouds in the geometry space and the feature space, we develop a gradient-based algorithm to construct perturbative point data such that the representation discrepancy can be minimized between the adversarial example and the target point set. Furthermore, to launch a stealthier attack, we innovatively employ the neighbourhood density information to tailor the perturbation constraint, leading to geometry-aware and distribution-adaptive modifications for each point.
Extensive experiments against different premier point cloud completion networks show that PointCA can cause the performance degradation from 77.9% to 16.7%, with the structure chamfer distance kept  below 0.01. We conclude that existing completion models are severely vulnerable to adversarial examples, and state-of-the-art defenses for point cloud classification will be partially invalid when applied to incomplete and uneven point cloud data. 

PointCA: Evaluating the Robustness of 3D Point Cloud Completion Models against Adversarial Examples

It is imperative to accelerate the training of neural network force field such as Deep Potential, which usually requires thousands of images based on first-principles calculation and a couple of days to generate an accurate potential energy surface. To this end, we propose a novel optimizer named reorganized layer extended Kalman filtering (RLEKF), an optimized version of global extended Kalman filtering (GEKF) with a strategy of splitting big and gathering small layers to overcome the $O(N^2)$ computational cost of GEKF. This strategy provides an approximation of the dense weights error covariance matrix with a sparse diagonal block matrix for GEKF. We implement both RLEKF and the baseline Adam in our $\alpha$Dynamics package and numerical experiments are performed on 13 unbiased datasets. Overall, RLEKF converges faster with slightly better accuracy. For example, a test on a typical system, bulk copper, shows that RLEKF converges faster by both the number of training epochs ($\times$11.67) and wall-clock time ($\times$1.19). Besides, we theoretically prove that the updates of weights converge and thus are against the gradient exploding problem. Experimental results verify that RLEKF is not sensitive to the initialization of weights. The RLEKF sheds light on other AI-for-science applications where training a large neural network (with tons of thousands parameters) is a bottleneck.

RLEKF: An Optimizer for Deep Potential with Ab Initio Accuracy

Air pollution is a crucial issue affecting human health and livelihoods, as well as one of the barriers to economic and social growth. Forecasting air quality has become an increasingly important endeavor with significant social impacts, especially in emerging countries like China. In this paper, we present a novel Transformer architecture termed AirFormer to collectively predict nationwide air quality in China, with an unprecedented fine spatial granularity covering thousands of locations. AirFormer decouples the learning process into two stages -- 1) a bottom-up deterministic stage that contains two new types of self-attention mechanisms to efficiently learn spatio-temporal representations; 2) a top-down stochastic stage with latent variables to capture the intrinsic uncertainty of air quality data. We evaluate AirFormer with 4-year data from 1,085 stations in the Chinese Mainland. Compared to the state-of-the-art model, AirFormer reduces prediction errors by 5%~8% on 72-hour future predictions. Our source code is available at https://github.com/yoshall/airformer.

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Soft Action Priors: Towards Robust Policy Transfer

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Semidefinite Programming Versus Burer-Monteiro Factorization for Matrix Sensing

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