United States

Humans can abstract prior knowledge from very little data and use it to boost skill learning. In this paper, we propose routine-augmented policy learning (RAPL), which discovers routines composed of primitive actions from a single demonstration and uses discovered routines to augment policy learning. To discover routines from the demonstration, we first abstract routine candidates by identifying grammar over the demonstrated action trajectory. Then, the best routines measured by length and frequency are selected to form a routine library. We propose to learn policy simultaneously at primitive-level and routine-level with discovered routines, leveraging the temporal structure of routines. Our approach enables imitating expert behavior at multiple temporal scales for imitation learning and promotes reinforcement learning exploration. Extensive experiments on Atari games demonstrate that RAPL improves the state-of-the-art imitation learning method SQIL and reinforcement learning method A2C. Further, we show that discovered routines can generalize to unseen levels and difficulties on the CoinRun benchmark.

AAAI 2021

Augmenting Policy Learning with Routines Discovered from a Single Demonstration

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Dear Colleagues and Friends,

The 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024, was held at Pasadena Convention Center in Pasadena, USA.

The theme of the IEEE RO-MAN 2024 was **“Embracing Human-Centered HRI”**.

With the continuous technological effort of understanding human needs, creating human-desired robotic systems, and developing real human user experiences, we are marching together towards building a promising and excellent human quality of life, all for our wellness and our next generation.

The conference provided a forum for researchers and practitioners to discuss a variety of topics related to the broad theme of Robot and Human Interactive Communication involving theories, methodologies, technologies, empirical and experimental studies, and generated more insights for the future of Robot and Human Interactive Communication!

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IEEE RO-MAN 2024

The 33rd IEEE International Conference on Robot and Human Interactive Communication was held in Pasadena, California, USA. The theme of the IEEE RO-MAN 2024 was “Embracing Human-Centered HRI”.

technical paper

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

The recent literature on fair Machine Learning manifests that the choice of fairness constraints must be driven by the utilities of the population. However, virtually all previous work makes the unrealistic assumption that the exact underlying utilities of the population (representing private tastes of individuals) are known to the regulator that imposes the fairness constraint. In this paper we initiate the discussion of the \emph{mismatch}, the unavoidable difference between the underlying utilities of the population and the utilities assumed by the regulator. We demonstrate that the mismatch can make the disadvantaged protected group worse off after imposing the fairness constraint and provide tools to design fairness constraints that help the disadvantaged group despite the mismatch.

Protecting the Protected Group: Circumventing Harmful Fairness

RGB-D salient object detection (SOD) recently has attracted increasing research interest and many deep learning methods based on encoder-decoder architectures have emerged. However, most existing RGB-D SOD models conduct feature fusion either in the single encoder or the decoder stage, which hardly guarantees sufficient cross-modal fusion ability. In this paper, we make the first attempt in addressing RGB-D SOD through 3D convolutional neural networks. The proposed model, named RD3D, aims at pre-fusion in the encoder stage and in-depth fusion in the decoder stage to effectively promote the full integration of RGB and depth streams. Specifically, RD3D first conducts pre-fusion across RGB and depth modalities through an inflated 3D encoder, and later provides in-depth feature fusion by designing a 3D decoder equipped with rich back-projection paths (RBPP) for leveraging the extensive aggregation ability of 3D convolutions. With such a progressive fusion strategy involving both the encoder and decoder, effective and thorough interaction between the two modalities can be exploited and boost the detection accuracy. Extensive experiments on six widely used benchmark datasets demonstrate that RD3D performs favorably against 14 state-of-the-art RGB-D SOD approaches in terms of four key evaluation metrics. Our code will be made publicly available: https://github.com/PPOLYpubki/RD3D.

RGB-D Salient Object Detection via 3D Convolutional Neural Networks

In product description generation (PDG), the user-cared aspect is critical for the recommendation system, which can not only improve user's experiences but also obtain more clicks. High-quality customer reviews can be considered as an ideal source to mine user-cared aspects. However, in reality, a large number of new products (known as long-tailed commodities) cannot gather sufficient amount of customer reviews, which brings a big challenge in the product description generation task. Existing works tend to generate the product description solely based on item information, i.e., product attributes or title words, which leads to tedious contents and cannot attract customers effectively. To tackle this problem, we propose an adaptive posterior network based on Transformer architecture that can utilize user-cared information from customer reviews. Specifically, we first extend the self-attentive Transformer encoder to encode product titles and attributes. Then, we apply an adaptive posterior distillation module to utilize useful review information, which integrates user-cared aspects to the generation process. Finally, we apply a Transformer-based decoding phase with copy mechanism to automatically generate the product description. Besides, we also collect a large-scare Chinese product description dataset to support our work and further research in this field. Experimental results show that our model is superior to traditional generative models in both automatic indicators and human evaluation.

Probing Product Description Generation via Posterior Distillation

Recognizing ongoing events based on acoustic clues has been a critical yet challenging problem that has attracted significant research attention in recent years. Joint audio-visual analysis can improve the event detection accuracy but may not always be feasible as under many circumstances only audio recordings are available in real-world scenarios. To solve the challenges, we present a novel visual-assisted teacher-student mutual learning framework for robust sound event detection from audio recordings. Our model adopts a multi-modal teacher network based on both acoustic and visual clues, and a single-modal student network based on acoustic clues only. Conventional teacher-student learning performs unsatisfactorily for knowledge transfer from a multi-modality network to a single-modality network. We thus present a mutual learning framework by introducing a single-modal transfer loss and a cross-modal transfer loss to collaboratively learn the audio-visual correlations between the two networks. Our proposed solution takes the advantages of joint audio-visual analysis in training while maximizing the feasibility of the model in use cases. Our extensive experiments on the DCASE17 and the DCASE18 sound event detection datasets show that our proposed method outperforms the state-of-the-art audio tagging approaches.

Enhanced Audio Tagging via Multi- to Single-Modal Teacher-Student Mutual Learning

In this paper, we propose an effective global relation learning algorithm to recommend an appropriate location of a building unit for in-game customization of residential home complex. Given a construction layout, we propose a visual context-aware graph generation network that learns the implicit global relations among the scene components and infers the location of a new building unit. The proposed network takes as input the scene graph and the corresponding top-view depth image. It provides the location recommendations for a newly added building units by learning an auto-regressive edge distribution conditioned on existing scenes. We also introduce a global graph-image matching loss to enhance the awareness of essential geometry semantics of the site. Qualitative and quantitative experiments demonstrate that the recommended location well reflects the implicit spatial rules of components in the residential estates, and it is instructive and practical to locate the building units in the 3D scene of the complex construction.

In-Game Residential Home Planning via Visual Context-Aware Global Relation Learning

We propose a novel method based on teacher-student learning framework for 3D human pose estimation without any 3D annotation or side information. To solve this unsupervised-learning problem, the teacher network adopts pose-dictionary-based modeling for regularization to estimate a physically plausible 3D pose. To handle the decomposition ambiguity in the teacher network, we propose a cycle-consistent architecture promoting a 3D rotation-invariant property to train the teacher network. To further improve the estimation accuracy, the student network adopts a novel graph convolution network for flexibility to directly estimate the 3D coordinates. Another cycle-consistent architecture promoting 3D rotation-equivariant property is adopted to exploit geometry consistency, together with knowledge distillation from the teacher network to improve the pose estimation performance. We conduct extensive experiments on Human3.6M and MPI-INF-3DHP. Our method reduces the 3D joint prediction error by 11.4% compared to state-of-the-art unsupervised methods and also outperforms many weakly-supervised methods that use side information on Human3.6M.  Code will be available at https://github.com/sjtuxcx/ITES.

Invariant Teacher and Equivariant Student for Unsupervised 3D Human Pose Estimation

The paper proposes a novel generative adversarial network for one-shot face reenactment, which can animate a single face image to a different pose-and-expression (provided by a driving image) while keeping its original appearance. The core of our network is a novel mechanism called appearance adaptive normalization, which can effectively integrate the appearance information from the input image into our face generator by modulating the feature maps of the generator using the learned adaptive parameters. Furthermore, we specially design a local net to reenact the local facial components (i.e., eyes, nose and mouth) first, which is a much easier task for the network to learn and can in turn provide explicit anchors to guide our face generator to learn the global appearance and pose-and-expression. Extensive quantitative and qualitative experiments demonstrate the significant efficacy of our model compared with prior one-shot methods.

One-Shot Face Reenactment Using Appearance Adaptive Normalization

We consider the classical cake-cutting problem where we wish to fairly divide a heterogeneous resource, often modeled as a cake, among interested agents. Work on the subject typically assumes that the cake is represented by an interval. In this paper, we introduce a generalized setting where the cake can be in the form of the set of edges of an undirected graph, allowing us to model the division of road networks. Unlike in the canonical setting, common fairness criteria such as proportionality cannot always be satisfied in our setting if each agent must receive a connected subgraph. We determine the optimal approximation of proportionality that can be obtained for any number of agents with arbitrary valuations, and exhibit a tight guarantee for each graph in the case of two agents. In addition, when more than one connected piece per agent is allowed, we establish the best egalitarian welfare guarantee for each total number of connected pieces. We also study a number of variants and extensions, including when approximate equitability is considered, or when the item to be divided is undesirable (also known as chore division).

Dividing a Graphical Cake

In this paper we tackle the challenge of making the stochastic coordinate descent algorithm differentially private. 
Compared to the classical gradient descent algorithm where updates operate on a single model vector and controlled noise addition to this vector suffices to hide critical information about individuals, stochastic coordinate descent crucially relies on keeping auxiliary information in memory during training. 
This auxiliary information provides an additional privacy leak and poses the major challenge addressed in this work. 
Driven by the insight that under independent noise addition, the consistency of the auxiliary information holds in expectation, we present DP-SCD, the first differentially private stochastic coordinate descent algorithm. We analyze our new method theoretically and argue that decoupling and parallelizing coordinate updates is essential for its utility. On the empirical side we demonstrate competitive performance against the popular stochastic gradient descent alternative (DP-SGD) while requiring significantly less tuning.

Differentially Private Stochastic Coordinate Descent

Many real-world classification problems often have classes with very few labeled training samples. Moreover, all possible classes may not be initially available for training, and may be given incrementally. Deep learning models need to deal with this two-fold problem in order to perform well in real-life situations. In this paper, we propose a novel Few-Shot Lifelong Learning (FSLL) method that enables deep learning models to perform lifelong/continual learning on few-shot data. Our method selects very few parameters from the model for training every new set of classes instead of training the full model. This helps in preventing overfitting. We choose the few parameters from the model in such a way that only the currently unimportant parameters get selected. By keeping the important parameters in the model intact, our approach minimizes catastrophic forgetting. Furthermore, we minimize the cosine similarity between the new and the old class prototypes in order to maximize their separation, thereby improving the classification performance. We also show that integrating our method with self-supervision improves the model performance significantly. We experimentally show that our method significantly outperforms existing methods on the miniImageNet, CIFAR-100, and CUB-200 datasets. Specifically, we outperform the state-of-the-art method by an absolute margin of 19.27% for the CUB dataset.

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