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Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple contacts to enhance their balance, such as placing a hand on a wall or a handrail. This letter introduces the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) pipeline, and proposes a unified formulation that exploits an explicit model of flexibility to indirectly control contact forces on traditional position-controlled robots. SEIKO formulates whole-body retargeting from Cartesian commands and admittance control using two quadratic programs solved in real-time. Our pipeline is validated with experiments on the real, full-scale humanoid robot Talos in various multi-contact scenarios, including pushing tasks, far-reaching tasks, stair climbing, and stepping on sloped surfaces. Code and videos are available at: //hucebot.github.io/seiko_controller_website/

The objective of image captioning models is to bridge the gap between the visual and linguistic modalities by generating natural language descriptions that accurately reflect the content of input images. In recent years, researchers have leveraged deep learning-based models and made advances in the extraction of visual features and the design of multimodal connections to tackle this task. This work presents a novel approach towards developing image captioning models that utilize an external kNN memory to improve the generation process. Specifically, we propose two model variants that incorporate a knowledge retriever component that is based on visual similarities, a differentiable encoder to represent input images, and a kNN-augmented language model to predict tokens based on contextual cues and text retrieved from the external memory. We experimentally validate our approach on COCO and nocaps datasets and demonstrate that incorporating an explicit external memory can significantly enhance the quality of captions, especially with a larger retrieval corpus. This work provides valuable insights into retrieval-augmented captioning models and opens up new avenues for improving image captioning at a larger scale.

Current methods for few-shot action recognition mainly fall into the metric learning framework following ProtoNet, which demonstrates the importance of prototypes. Although they achieve relatively good performance, the effect of multimodal information is ignored, e.g. label texts. In this work, we propose a novel MultimOdal PRototype-ENhanced Network (MORN), which uses the semantic information of label texts as multimodal information to enhance prototypes. A CLIP visual encoder and a frozen CLIP text encoder are introduced to obtain features with good multimodal initialization. Then in the visual flow, visual prototypes are computed by a visual prototype-computed module. In the text flow, a semantic-enhanced (SE) module and an inflating operation are used to obtain text prototypes. The final multimodal prototypes are then computed by a multimodal prototype-enhanced (MPE) module. Besides, we define a PRototype SImilarity DiffErence (PRIDE) to evaluate the quality of prototypes, which is used to verify our improvement on the prototype level and effectiveness of MORN. We conduct extensive experiments on four popular few-shot action recognition datasets: HMDB51, UCF101, Kinetics and SSv2, and MORN achieves state-of-the-art results. When plugging PRIDE into the training stage, the performance can be further improved.

Prepending model inputs with safety prompts is a common practice for safeguarding large language models (LLMs) against queries with harmful intents. However, the underlying working mechanisms of safety prompts have not been unraveled yet, restricting the possibility of automatically optimizing them to improve LLM safety. In this work, we investigate how LLMs' behavior (i.e., complying with or refusing user queries) is affected by safety prompts from the perspective of model representation. We find that in the representation space, the input queries are typically moved by safety prompts in a "higher-refusal" direction, in which models become more prone to refusing to provide assistance, even when the queries are harmless. On the other hand, LLMs are naturally capable of distinguishing harmful and harmless queries without safety prompts. Inspired by these findings, we propose a method for safety prompt optimization, namely DRO (Directed Representation Optimization). Treating a safety prompt as continuous, trainable embeddings, DRO learns to move the queries' representations along or opposite the refusal direction, depending on their harmfulness. Experiments with eight LLMs on out-of-domain and jailbreak benchmarks demonstrate that DRO remarkably improves the safeguarding performance of human-crafted safety prompts, without compromising the models' general performance.

This work demonstrates that substantial gains in zero-shot dialogue state tracking (DST) accuracy can be achieved by increasing the diversity of training data using synthetic data generation techniques. Current DST training resources are severely limited in the number of application domains and slot types they cover due to the high costs of data collection, resulting in limited adaptability to new domains. The presented work overcomes this challenge using a novel, fully automatic data generation approach to create synthetic zero-shot DST training resources. Unlike previous approaches for generating DST data, the presented approach generates entirely new application domains to generate dialogues, complete with silver dialogue state annotations and slot descriptions. This approach is used to create the D0T dataset for training zero-shot DST models, which covers an unprecedented 1,000+ domains. Experiments performed on the MultiWOZ benchmark indicate that training models on diverse synthetic data yields a performance improvement of +6.7% Joint Goal Accuracy, achieving results competitive with much larger models.

The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.

Graph neural networks (GNNs) are a popular class of machine learning models whose major advantage is their ability to incorporate a sparse and discrete dependency structure between data points. Unfortunately, GNNs can only be used when such a graph-structure is available. In practice, however, real-world graphs are often noisy and incomplete or might not be available at all. With this work, we propose to jointly learn the graph structure and the parameters of graph convolutional networks (GCNs) by approximately solving a bilevel program that learns a discrete probability distribution on the edges of the graph. This allows one to apply GCNs not only in scenarios where the given graph is incomplete or corrupted but also in those where a graph is not available. We conduct a series of experiments that analyze the behavior of the proposed method and demonstrate that it outperforms related methods by a significant margin.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.

Providing model-generated explanations in recommender systems is important to user experience. State-of-the-art recommendation algorithms -- especially the collaborative filtering (CF) based approaches with shallow or deep models -- usually work with various unstructured information sources for recommendation, such as textual reviews, visual images, and various implicit or explicit feedbacks. Though structured knowledge bases were considered in content-based approaches, they have been largely ignored recently due to the availability of vast amount of data and the learning power of many complex models. However, structured knowledge bases exhibit unique advantages in personalized recommendation systems. When the explicit knowledge about users and items is considered for recommendation, the system could provide highly customized recommendations based on users' historical behaviors and the knowledge is helpful for providing informed explanations regarding the recommended items. In this work, we propose to reason over knowledge base embeddings for explainable recommendation. Specifically, we propose a knowledge base representation learning framework to embed heterogeneous entities for recommendation, and based on the embedded knowledge base, a soft matching algorithm is proposed to generate personalized explanations for the recommended items. Experimental results on real-world e-commerce datasets verified the superior recommendation performance and the explainability power of our approach compared with state-of-the-art baselines.