Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D navigation, which originates from Euclidean transformations between reference frames and enables parameter sharing. To address the challenges of unstructured environments, we formulate the navigation problem as planning on a geometric graph and develop an equivariant message passing network to perform value iteration. Furthermore, to handle multi-camera input, we propose a learnable equivariant layer to lift features to a desired space. We conduct comprehensive evaluations across five diverse tasks encompassing structured and unstructured environments, along with maps of known and unknown, given point goals or semantic goals. Our experiments confirm the substantial benefits on training efficiency, stability, and generalization.
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Graph research, the systematic study of interconnected data points represented as graphs, plays a vital role in capturing intricate relationships within networked systems. However, in the real world, as graphs scale up, concerns about data security among different data-owning agencies arise, hindering information sharing and, ultimately, the utilization of graph data. Therefore, establishing a mutual trust mechanism among graph agencies is crucial for unlocking the full potential of graphs. Here, we introduce a Cooperative Network Learning (CNL) framework to ensure secure graph computing for various graph tasks. Essentially, this CNL framework unifies the local and global perspectives of GNN computing with distributed data for an agency by virtually connecting all participating agencies as a global graph without a fixed central coordinator. Inter-agency computing is protected by various technologies inherent in our framework, including homomorphic encryption and secure transmission. Moreover, each agency has a fair right to design or employ various graph learning models from its local or global perspective. Thus, CNL can collaboratively train GNN models based on decentralized graphs inferred from local and global graphs. Experiments on contagion dynamics prediction and traditional graph tasks (i.e., node classification and link prediction) demonstrate that our CNL architecture outperforms state-of-the-art GNNs developed at individual sites, revealing that CNL can provide a reliable, fair, secure, privacy-preserving, and global perspective to build effective and personalized models for network applications. We hope this framework will address privacy concerns in graph-related research and integrate decentralized graph data structures to benefit the network research community in cooperation and innovation.
People primarily consult tables to conduct data analysis or answer specific questions. Text generation systems that can provide accurate table summaries tailored to users' information needs can facilitate more efficient access to relevant data insights. Motivated by this, we define a new query-focused table summarization task, where text generation models have to perform human-like reasoning and analysis over the given table to generate a tailored summary. We introduce a new benchmark named QTSumm for this task, which contains 7,111 human-annotated query-summary pairs over 2,934 tables covering diverse topics. We investigate a set of strong baselines on QTSumm, including text generation, table-to-text generation, and large language models. Experimental results and manual analysis reveal that the new task presents significant challenges in table-to-text generation for future research. Moreover, we propose a new approach named ReFactor, to retrieve and reason over query-relevant information from tabular data to generate several natural language facts. Experimental results demonstrate that ReFactor can bring improvements to baselines by concatenating the generated facts to the model input. Our data and code are publicly available at //github.com/yale-nlp/QTSumm.
Pre-trained multi-modal models, such as CLIP, provide transferable embeddings and show promising results in diverse applications. However, the analysis of learned multi-modal embeddings is relatively unexplored, and the embedding transferability can be improved. In this work, we observe that CLIP holds separated embedding subspaces for two different modalities, and then we investigate it through the lens of uniformity-alignment to measure the quality of learned representation. Both theoretically and empirically, we show that CLIP retains poor uniformity and alignment even after fine-tuning. Such a lack of alignment and uniformity might restrict the transferability and robustness of embeddings. To this end, we devise a new fine-tuning method for robust representation equipping better alignment and uniformity. First, we propose a Geodesic Multi-Modal Mixup that mixes the embeddings of image and text to generate hard negative samples on the hypersphere. Then, we fine-tune the model on hard negatives as well as original negatives and positives with contrastive loss. Based on the theoretical analysis about hardness guarantee and limiting behavior, we justify the use of our method. Extensive experiments on retrieval, calibration, few- or zero-shot classification (under distribution shift), embedding arithmetic, and image captioning further show that our method provides transferable representations, enabling robust model adaptation on diverse tasks. Code: //github.com/changdaeoh/multimodal-mixup
While recommender systems have become an integral component of the Web experience, their heavy reliance on user data raises privacy and security concerns. Substituting user data with synthetic data can address these concerns, but accurately replicating these real-world datasets has been a notoriously challenging problem. Recent advancements in generative AI have demonstrated the impressive capabilities of diffusion models in generating realistic data across various domains. In this work we introduce a Score-based Diffusion Recommendation Model (SDRM), which captures the intricate patterns of real-world datasets required for training highly accurate recommender systems. SDRM allows for the generation of synthetic data that can replace existing datasets to preserve user privacy, or augment existing datasets to address excessive data sparsity. Our method outperforms competing baselines such as generative adversarial networks, variational autoencoders, and recently proposed diffusion models in synthesizing various datasets to replace or augment the original data by an average improvement of 4.30% in Recall@$n$ and 4.65% in NDCG@$n$.
Wasserstein distributionally robust estimators have emerged as powerful models for prediction and decision-making under uncertainty. These estimators provide attractive generalization guarantees: the robust objective obtained from the training distribution is an exact upper bound on the true risk with high probability. However, existing guarantees either suffer from the curse of dimensionality, are restricted to specific settings, or lead to spurious error terms. In this paper, we show that these generalization guarantees actually hold on general classes of models, do not suffer from the curse of dimensionality, and can even cover distribution shifts at testing. We also prove that these results carry over to the newly-introduced regularized versions of Wasserstein distributionally robust problems.
Efficient exploration for an agent is challenging in reinforcement learning (RL). In this paper, a novel actor-critic framework namely virtual action actor-critic (VAAC), is proposed to address the challenge of efficient exploration in RL. This work is inspired by humans' ability to imagine the potential outcomes of their actions without actually taking them. In order to emulate this ability, VAAC introduces a new actor called virtual actor (VA), alongside the conventional actor-critic framework. Unlike the conventional actor, the VA takes the virtual action to anticipate the next state without interacting with the environment. With the virtual policy following a Gaussian distribution, the VA is trained to maximize the anticipated novelty of the subsequent state resulting from a virtual action. If any next state resulting from available actions does not exhibit high anticipated novelty, training the VA leads to an increase in the virtual policy entropy. Hence, high virtual policy entropy represents that there is no room for exploration. The proposed VAAC aims to maximize a modified Q function, which combines cumulative rewards and the negative sum of virtual policy entropy. Experimental results show that the VAAC improves the exploration performance compared to existing algorithms.
We give improved algorithms for maintaining edge-orientations of a fully-dynamic graph, such that the out-degree of each vertex is bounded. On one hand, we show how to orient the edges such that the out-degree of each vertex is proportional to the arboricity $\alpha$ of the graph, in, either, an amortised update time of $O(\log^2 n \log \alpha)$, or a worst-case update time of $O(\log^3 n \log \alpha)$. On the other hand, motivated by applications including dynamic maximal matching, we obtain a different trade-off, namely either $O(\log n \log \alpha)$, amortised, or $O(\log ^2 n \log \alpha)$, worst-case time, for the problem of maintaining an edge-orientation with at most $O(\alpha + \log n)$ out-edges per vertex. Since our algorithms have update times with worst-case guarantees, the number of changes to the solution (i.e. the recourse) is naturally limited. Our algorithms adapt to the current arboricity of the graph, and yield improvements over previous work: Firstly, we obtain an $O(\varepsilon^{-6}\log^3 n \log \rho)$ worst-case update time algorithm for maintaining a $(1+\varepsilon)$ approximation of the maximum subgraph density, $\rho$. Secondly, we obtain an $O(\varepsilon^{-6}\log^3 n \log \alpha)$ worst-case update time algorithm for maintaining a $(1 + \varepsilon) \cdot OPT + 2$ approximation of the optimal out-orientation of a graph with adaptive arboricity $\alpha$. This yields the first worst-case polylogarithmic dynamic algorithm for decomposing into $O(\alpha)$ forests.Thirdly, we obtain arboricity-adaptive fully-dynamic deterministic algorithms for a variety, of problems including maximal matching, $\Delta+1$ coloring, and matrix vector multiplication. All update times are worst-case $O(\alpha+\log^2n \log \alpha)$, where $\alpha$ is the current arboricity of the graph.
In semi-supervised domain adaptation, a few labeled samples per class in the target domain guide features of the remaining target samples to aggregate around them. However, the trained model cannot produce a highly discriminative feature representation for the target domain because the training data is dominated by labeled samples from the source domain. This could lead to disconnection between the labeled and unlabeled target samples as well as misalignment between unlabeled target samples and the source domain. In this paper, we propose a novel approach called Cross-domain Adaptive Clustering to address this problem. To achieve both inter-domain and intra-domain adaptation, we first introduce an adversarial adaptive clustering loss to group features of unlabeled target data into clusters and perform cluster-wise feature alignment across the source and target domains. We further apply pseudo labeling to unlabeled samples in the target domain and retain pseudo-labels with high confidence. Pseudo labeling expands the number of ``labeled" samples in each class in the target domain, and thus produces a more robust and powerful cluster core for each class to facilitate adversarial learning. Extensive experiments on benchmark datasets, including DomainNet, Office-Home and Office, demonstrate that our proposed approach achieves the state-of-the-art performance in semi-supervised domain adaptation.
The accurate and interpretable prediction of future events in time-series data often requires the capturing of representative patterns (or referred to as states) underpinning the observed data. To this end, most existing studies focus on the representation and recognition of states, but ignore the changing transitional relations among them. In this paper, we present evolutionary state graph, a dynamic graph structure designed to systematically represent the evolving relations (edges) among states (nodes) along time. We conduct analysis on the dynamic graphs constructed from the time-series data and show that changes on the graph structures (e.g., edges connecting certain state nodes) can inform the occurrences of events (i.e., time-series fluctuation). Inspired by this, we propose a novel graph neural network model, Evolutionary State Graph Network (EvoNet), to encode the evolutionary state graph for accurate and interpretable time-series event prediction. Specifically, Evolutionary State Graph Network models both the node-level (state-to-state) and graph-level (segment-to-segment) propagation, and captures the node-graph (state-to-segment) interactions over time. Experimental results based on five real-world datasets show that our approach not only achieves clear improvements compared with 11 baselines, but also provides more insights towards explaining the results of event predictions.
In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.
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