This paper aims to enable multi-agent systems to effectively utilize past memories to adapt to novel collaborative tasks in a data-efficient fashion. We propose the Multi-Agent Coordination Skill Database, a repository for storing a collection of coordinated behaviors associated with the key vector distinctive to them. Our Transformer-based skill encoder effectively captures spatio-temporal interactions that contribute to coordination and provide a skill representation unique to each coordinated behavior. By leveraging a small number of demonstrations of the target task, the database allows us to train the policy using a dataset augmented with the retrieved demonstrations. Experimental evaluations clearly demonstrate that our method achieves a significantly higher success rate in push manipulation tasks compared to baseline methods like few-shot imitation learning. Furthermore, we validate the effectiveness of our retrieve-and-learn framework in a real environment using a team of wheeled robots.
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We study the unbalanced optimal transport (UOT) problem, where the marginal constraints are enforced using Maximum Mean Discrepancy (MMD) regularization. Our work is motivated by the observation that the literature on UOT is focused on regularization based on $\phi$-divergence (e.g., KL divergence). Despite the popularity of MMD, its role as a regularizer in the context of UOT seems less understood. We begin by deriving a specific dual of MMD-regularized UOT (MMD-UOT), which helps us prove several useful properties. One interesting outcome of this duality result is that MMD-UOT induces novel metrics, which not only lift the ground metric like the Wasserstein but are also sample-wise efficient to estimate like the MMD. Further, for real-world applications involving non-discrete measures, we present an estimator for the transport plan that is supported only on the given ($m$) samples. Under certain conditions, we prove that the estimation error with this finitely-supported transport plan is also $\mathcal{O}(1/\sqrt{m})$. As far as we know, such error bounds that are free from the curse of dimensionality are not known for $\phi$-divergence regularized UOT. Finally, we discuss how the proposed estimator can be computed efficiently using accelerated gradient descent. Our experiments show that MMD-UOT consistently outperforms popular baselines, including KL-regularized UOT and MMD, in diverse machine learning applications. Our codes are publicly available at //github.com/Piyushi-0/MMD-reg-OT
Common crowdsourcing systems average estimates of a latent quantity of interest provided by many crowdworkers to produce a group estimate. We develop a new approach -- just-predict-others -- that leverages self-supervised learning and a novel aggregation scheme. This approach adapts weights assigned to crowdworkers based on estimates they provided for previous quantities. When skills vary across crowdworkers or their estimates correlate, the weighted sum offers a more accurate group estimate than the average. Existing algorithms such as expectation maximization can, at least in principle, produce similarly accurate group estimates. However, their computational requirements become onerous when complex models, such as neural networks, are required to express relationships among crowdworkers. Just-predict-others accommodates such complexity as well as many other practical challenges. We analyze the efficacy of just-predict-others through theoretical and computational studies. Among other things, we establish asymptotic optimality as the number of engagements per crowdworker grows.
Traffic prediction, a critical component for intelligent transportation systems, endeavors to foresee future traffic at specific locations using historical data. Although existing traffic prediction models often emphasize developing complex neural network structures, their accuracy has not seen improvements accordingly. Recently, Large Language Models (LLMs) have shown outstanding capabilities in time series analysis. Differing from existing models, LLMs progress mainly through parameter expansion and extensive pre-training while maintaining their fundamental structures. In this paper, we propose a Spatial-Temporal Large Language Model (ST-LLM) for traffic prediction. Specifically, ST-LLM redefines the timesteps at each location as tokens and incorporates a spatial-temporal embedding module to learn the spatial location and global temporal representations of tokens. Then these representations are fused to provide each token with unified spatial and temporal information. Furthermore, we propose a novel partially frozen attention strategy of the LLM, which is designed to capture spatial-temporal dependencies for traffic prediction. Comprehensive experiments on real traffic datasets offer evidence that ST-LLM outperforms state-of-the-art models. Notably, the ST-LLM also exhibits robust performance in both few-shot and zero-shot prediction scenarios.
Neuromorphic systems, inspired by the complexity and functionality of the human brain, have gained interest in academic and industrial attention due to their unparalleled potential across a wide range of applications. While their capabilities herald innovation, it is imperative to underscore that these computational paradigms, analogous to their traditional counterparts, are not impervious to security threats. Although the exploration of neuromorphic methodologies for image and video processing has been rigorously pursued, the realm of neuromorphic audio processing remains in its early stages. Our results highlight the robustness and precision of our FPGA-based neuromorphic system. Specifically, our system showcases a commendable balance between desired signal and background noise, efficient spike rate encoding, and unparalleled resilience against adversarial attacks such as FGSM and PGD. A standout feature of our framework is its detection rate of 94%, which, when compared to other methodologies, underscores its greater capability in identifying and mitigating threats within 5.39 dB, a commendable SNR ratio. Furthermore, neuromorphic computing and hardware security serve many sensor domains in mission-critical and privacy-preserving applications.
This paper explicitly models a coarse and noisy quantization in a communication system empowered by orthogonal time frequency space (OTFS) for cost and power efficiency. We first point out, with coarse quantization, the effective channel is imbalanced and thus no longer able to circularly shift the transmitted symbols along the delay-Doppler domain. Meanwhile, the effective channel is non-isotropic, which imposes a significant loss to symbol detection algorithms like the original approximate message passing (AMP). Although the algorithm of generalized expectation consistent for signal recovery (GEC-SR) can mitigate this loss, the complexity in computation is prohibitively high, mainly due to an dramatic increase in the matrix size of OTFS. In this context, we propose a low-complexity algorithm that incorporates into the GEC-SR a quick inversion of quasi-banded matrices, reducing the complexity from a cubic order to a linear order while keeping the performance at the same level.
In the era of big data and rapidly evolving information systems, efficient and accurate data retrieval has become increasingly crucial. Neural graph databases (NGDBs) have emerged as a powerful paradigm that combines the strengths of graph databases (graph DBs) and neural networks to enable efficient storage, retrieval, and analysis of graph-structured data. The usage of neural embedding storage and complex neural logical query answering provides NGDBs with generalization ability. When the graph is incomplete, by extracting latent patterns and representations, neural graph databases can fill gaps in the graph structure, revealing hidden relationships and enabling accurate query answering. Nevertheless, this capability comes with inherent trade-offs, as it introduces additional privacy risks to the database. Malicious attackers can infer more sensitive information in the database using well-designed combinatorial queries, such as by comparing the answer sets of where Turing Award winners born before 1950 and after 1940 lived, the living places of Turing Award winner Hinton are probably exposed, although the living places may have been deleted in the training due to the privacy concerns. In this work, inspired by the privacy protection in graph embeddings, we propose a privacy-preserving neural graph database (P-NGDB) to alleviate the risks of privacy leakage in NGDBs. We introduce adversarial training techniques in the training stage to force the NGDBs to generate indistinguishable answers when queried with private information, enhancing the difficulty of inferring sensitive information through combinations of multiple innocuous queries. Extensive experiment results on three datasets show that P-NGDB can effectively protect private information in the graph database while delivering high-quality public answers responses to queries.
Development of multi-modal, probabilistic prediction models has lead to a need for comprehensive evaluation metrics. While several metrics can characterize the accuracy of machine-learned models (e.g., negative log-likelihood, Jensen-Shannon divergence), these metrics typically operate on probability densities. Applying them to purely sample-based prediction models thus requires that the underlying density function is estimated. However, common methods such as kernel density estimation (KDE) have been demonstrated to lack robustness, while more complex methods have not been evaluated in multi-modal estimation problems. In this paper, we present ROME (RObust Multi-modal density Estimator), a non-parametric approach for density estimation which addresses the challenge of estimating multi-modal, non-normal, and highly correlated distributions. ROME utilizes clustering to segment a multi-modal set of samples into multiple uni-modal ones and then combines simple KDE estimates obtained for individual clusters in a single multi-modal estimate. We compared our approach to state-of-the-art methods for density estimation as well as ablations of ROME, showing that it not only outperforms established methods but is also more robust to a variety of distributions. Our results demonstrate that ROME can overcome the issues of over-fitting and over-smoothing exhibited by other estimators, promising a more robust evaluation of probabilistic machine learning 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.
Federated learning enables multiple parties to collaboratively train a machine learning model without communicating their local data. A key challenge in federated learning is to handle the heterogeneity of local data distribution across parties. Although many studies have been proposed to address this challenge, we find that they fail to achieve high performance in image datasets with deep learning models. In this paper, we propose MOON: model-contrastive federated learning. MOON is a simple and effective federated learning framework. The key idea of MOON is to utilize the similarity between model representations to correct the local training of individual parties, i.e., conducting contrastive learning in model-level. Our extensive experiments show that MOON significantly outperforms the other state-of-the-art federated learning algorithms on various image classification tasks.
Recently, neural networks have been widely used in e-commerce recommender systems, owing to the rapid development of deep learning. We formalize the recommender system as a sequential recommendation problem, intending to predict the next items that the user might be interacted with. Recent works usually give an overall embedding from a user's behavior sequence. However, a unified user embedding cannot reflect the user's multiple interests during a period. In this paper, we propose a novel controllable multi-interest framework for the sequential recommendation, called ComiRec. Our multi-interest module captures multiple interests from user behavior sequences, which can be exploited for retrieving candidate items from the large-scale item pool. These items are then fed into an aggregation module to obtain the overall recommendation. The aggregation module leverages a controllable factor to balance the recommendation accuracy and diversity. We conduct experiments for the sequential recommendation on two real-world datasets, Amazon and Taobao. Experimental results demonstrate that our framework achieves significant improvements over state-of-the-art models. Our framework has also been successfully deployed on the offline Alibaba distributed cloud platform.
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