Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that facilitates this goal remains a significant challenge. We approach this challenge using contrastive training to learn a reward function comparing an agent's behaviour with a single demonstration. We use a Siamese recurrent neural network architecture to learn rewards in space and time between motion clips while training an RL policy to minimize this distance. Through experimentation, we also find that the inclusion of multi-task data and additional image encoding losses improve the temporal consistency of the learned rewards and, as a result, significantly improves policy learning. We demonstrate our approach on simulated humanoid, dog, and raptor agents in 2D and a quadruped and a humanoid in 3D. We show that our method outperforms current state-of-the-art techniques in these environments and can learn to imitate from a single video demonstration.
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The protection of Industrial Control Systems (ICS) that are employed in public critical infrastructures is of utmost importance due to catastrophic physical damages cyberattacks may cause. The research community requires testbeds for validation and comparing various intrusion detection algorithms to protect ICS. However, there exist high barriers to entry for research and education in the ICS cybersecurity domain due to expensive hardware, software, and inherent dangers of manipulating real-world systems. To close the gap, built upon recently developed 3D high-fidelity simulators, we further showcase our integrated framework to automatically launch cyberattacks, collect data, train machine learning models, and evaluate for practical chemical and manufacturing processes. On our testbed, we validate our proposed intrusion detection model called Minimal Threshold and Window SVM (MinTWin SVM) that utilizes unsupervised machine learning via a one-class SVM in combination with a sliding window and classification threshold. Results show that MinTWin SVM minimizes false positives and is responsive to physical process anomalies. Furthermore, we incorporate our framework with ICS cybersecurity education by using our dataset in an undergraduate machine learning course where students gain hands-on experience in practicing machine learning theory with a practical ICS dataset. All of our implementations have been open-sourced.
Human Activity Recognition (HAR) systems have been extensively studied by the vision and ubiquitous computing communities due to their practical applications in daily life, such as smart homes, surveillance, and health monitoring. Typically, this process is supervised in nature and the development of such systems requires access to large quantities of annotated data. However, the higher costs and challenges associated with obtaining good quality annotations have rendered the application of self-supervised methods an attractive option and contrastive learning comprises one such method. However, a major component of successful contrastive learning is the selection of good positive and negative samples. Although positive samples are directly obtainable, sampling good negative samples remain a challenge. As human activities can be recorded by several modalities like camera and IMU sensors, we propose a hard negative sampling method for multimodal HAR with a hard negative sampling loss for skeleton and IMU data pairs. We exploit hard negatives that have different labels from the anchor but are projected nearby in the latent space using an adjustable concentration parameter. Through extensive experiments on two benchmark datasets: UTD-MHAD and MMAct, we demonstrate the robustness of our approach forlearning strong feature representation for HAR tasks, and on the limited data setting. We further show that our model outperforms all other state-of-the-art methods for UTD-MHAD dataset, and self-supervised methods for MMAct: Cross session, even when uni-modal data are used during downstream activity recognition.
The task of object segmentation in videos is usually accomplished by processing appearance and motion information separately using standard 2D convolutional networks, followed by a learned fusion of the two sources of information. On the other hand, 3D convolutional networks have been successfully applied for video classification tasks, but have not been leveraged as effectively to problems involving dense per-pixel interpretation of videos compared to their 2D convolutional counterparts and lag behind the aforementioned networks in terms of performance. In this work, we show that 3D CNNs can be effectively applied to dense video prediction tasks such as salient object segmentation. We propose a simple yet effective encoder-decoder network architecture consisting entirely of 3D convolutions that can be trained end-to-end using a standard cross-entropy loss. To this end, we leverage an efficient 3D encoder, and propose a 3D decoder architecture, that comprises novel 3D Global Convolution layers and 3D Refinement modules. Our approach outperforms existing state-of-the-arts by a large margin on the DAVIS'16 Unsupervised, FBMS and ViSal dataset benchmarks in addition to being faster, thus showing that our architecture can efficiently learn expressive spatio-temporal features and produce high quality video segmentation masks. We have made our code and trained models publicly available at //github.com/sabarim/3DC-Seg.
Evaluating the impact of policy interventions on respondents who are embedded in a social network is often challenging due to the presence of network interference within the treatment groups, as well as between treatment and non-treatment groups throughout the network. In this paper, we propose a modeling strategy that combines existing work on stochastic actor-oriented models (SAOM) with a novel network sampling method based on the identification of independent sets. By assigning respondents from an independent set to the treatment, we are able to block any spillover of the treatment and network influence, thereby allowing us to isolate the direct effect of the treatment from the indirect network-induced effects, in the immediate term. As a result, our method allows for the estimation of both the direct as well as the net effect of a chosen policy intervention, in the presence of network effects in the population. We perform a comparative simulation analysis to show that our proposed sampling technique leads to distinct direct and net effects of the policy, as well as significant network effects driven by policy-linked homophily. This study highlights the importance of network sampling techniques in improving policy evaluation studies and has the potential to help researchers and policymakers with better planning, designing, and anticipating policy responses in a networked society.
Large Language Models (LLM) have become sophisticated enough that complex computer programs can be created through interpretation of plain English sentences and implemented in a variety of modern languages such as Python, Java Script, C++ and Spreadsheets. These tools are powerful and relatively accurate and therefore provide broad access to computer programming regardless of the background or knowledge of the individual using them. This paper presents a series of experiments with ChatGPT to explore the tool's ability to produce valid spreadsheet formulae and related computational outputs in situations where ChatGPT has to deduce, infer and problem solve the answer. The results show that in certain circumstances, ChatGPT can produce correct spreadsheet formulae with correct reasoning, deduction and inference. However, when information is limited, uncertain or the problem is too complex, the accuracy of ChatGPT breaks down as does its ability to reason, infer and deduce. This can also result in false statements and "hallucinations" that all subvert the process of creating spreadsheet formulae.
Masked autoencoders are scalable vision learners, as the title of MAE \cite{he2022masked}, which suggests that self-supervised learning (SSL) in vision might undertake a similar trajectory as in NLP. Specifically, generative pretext tasks with the masked prediction (e.g., BERT) have become a de facto standard SSL practice in NLP. By contrast, early attempts at generative methods in vision have been buried by their discriminative counterparts (like contrastive learning); however, the success of mask image modeling has revived the masking autoencoder (often termed denoising autoencoder in the past). As a milestone to bridge the gap with BERT in NLP, masked autoencoder has attracted unprecedented attention for SSL in vision and beyond. This work conducts a comprehensive survey of masked autoencoders to shed insight on a promising direction of SSL. As the first to review SSL with masked autoencoders, this work focuses on its application in vision by discussing its historical developments, recent progress, and implications for diverse applications.
Sequential recommendation aims to leverage users' historical behaviors to predict their next interaction. Existing works have not yet addressed two main challenges in sequential recommendation. First, user behaviors in their rich historical sequences are often implicit and noisy preference signals, they cannot sufficiently reflect users' actual preferences. In addition, users' dynamic preferences often change rapidly over time, and hence it is difficult to capture user patterns in their historical sequences. In this work, we propose a graph neural network model called SURGE (short for SeqUential Recommendation with Graph neural nEtworks) to address these two issues. Specifically, SURGE integrates different types of preferences in long-term user behaviors into clusters in the graph by re-constructing loose item sequences into tight item-item interest graphs based on metric learning. This helps explicitly distinguish users' core interests, by forming dense clusters in the interest graph. Then, we perform cluster-aware and query-aware graph convolutional propagation and graph pooling on the constructed graph. It dynamically fuses and extracts users' current activated core interests from noisy user behavior sequences. We conduct extensive experiments on both public and proprietary industrial datasets. Experimental results demonstrate significant performance gains of our proposed method compared to state-of-the-art methods. Further studies on sequence length confirm that our method can model long behavioral sequences effectively and efficiently.
Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.
Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.
While it is nearly effortless for humans to quickly assess the perceptual similarity between two images, the underlying processes are thought to be quite complex. Despite this, the most widely used perceptual metrics today, such as PSNR and SSIM, are simple, shallow functions, and fail to account for many nuances of human perception. Recently, the deep learning community has found that features of the VGG network trained on the ImageNet classification task has been remarkably useful as a training loss for image synthesis. But how perceptual are these so-called "perceptual losses"? What elements are critical for their success? To answer these questions, we introduce a new Full Reference Image Quality Assessment (FR-IQA) dataset of perceptual human judgments, orders of magnitude larger than previous datasets. We systematically evaluate deep features across different architectures and tasks and compare them with classic metrics. We find that deep features outperform all previous metrics by huge margins. More surprisingly, this result is not restricted to ImageNet-trained VGG features, but holds across different deep architectures and levels of supervision (supervised, self-supervised, or even unsupervised). Our results suggest that perceptual similarity is an emergent property shared across deep visual representations.
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