There has been a recent surge of interest in developing generally-capable agents that can adapt to new tasks without additional training in the environment. Learning world models from reward-free exploration is a promising approach, and enables policies to be trained using imagined experience for new tasks. Achieving a general agent requires robustness across different environments. However, different environments may require different amounts of data to learn a suitable world model. In this work, we address the problem of efficiently learning robust world models in the reward-free setting. As a measure of robustness, we consider the minimax regret objective. We show that the minimax regret objective can be connected to minimising the maximum error in the world model across environments. This informs our algorithm, WAKER: Weighted Acquisition of Knowledge across Environments for Robustness. WAKER selects environments for data collection based on the estimated error of the world model for each environment. Our experiments demonstrate that WAKER outperforms naive domain randomisation, resulting in improved robustness, efficiency, and generalisation.
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Multi-node communication, which refers to the interaction among multiple devices, has attracted lots of attention in many Internet-of-Things (IoT) scenarios. However, its huge amounts of data flows and inflexibility for task extension have triggered the urgent requirement of communication-efficient distributed data transmission frameworks. In this paper, inspired by the great superiorities on bandwidth reduction and task adaptation of semantic communications, we propose a federated learning-based semantic communication (FLSC) framework for multi-task distributed image transmission with IoT devices. Federated learning enables the design of independent semantic communication link of each user while further improves the semantic extraction and task performance through global aggregation. Each link in FLSC is composed of a hierarchical vision transformer (HVT)-based extractor and a task-adaptive translator for coarse-to-fine semantic extraction and meaning translation according to specific tasks. In order to extend the FLSC into more realistic conditions, we design a channel state information-based multiple-input multiple-output transmission module to combat channel fading and noise. Simulation results show that the coarse semantic information can deal with a range of image-level tasks. Moreover, especially in low signal-to-noise ratio and channel bandwidth ratio regimes, FLSC evidently outperforms the traditional scheme, e.g. about 10 peak signal-to-noise ratio gain in the 3 dB channel condition.
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly, it is crucial to enable a communication between this two actors that is natural and efficient. Secondly, the robot behavior must always be compliant with the safety regulations, ensuring always a safe collaboration. In this paper, we propose a framework that enables multi-channel communication between humans and robots by leveraging multimodal fusion of voice and gesture commands while always respecting safety regulations. The framework is validated through a comparative experiment, demonstrating that, thanks to multimodal communication, the robot can extract valuable information for performing the required task and additionally, with the safety layer, the robot can scale its speed to ensure the operator's safety.
Class-incremental learning (CIL) has achieved remarkable successes in learning new classes consecutively while overcoming catastrophic forgetting on old categories. However, most existing CIL methods unreasonably assume that all old categories have the same forgetting pace, and neglect negative influence of forgetting heterogeneity among different old classes on forgetting compensation. To surmount the above challenges, we develop a novel Heterogeneous Forgetting Compensation (HFC) model, which can resolve heterogeneous forgetting of easy-to-forget and hard-to-forget old categories from both representation and gradient aspects. Specifically, we design a task-semantic aggregation block to alleviate heterogeneous forgetting from representation aspect. It aggregates local category information within each task to learn task-shared global representations. Moreover, we develop two novel plug-and-play losses: a gradient-balanced forgetting compensation loss and a gradient-balanced relation distillation loss to alleviate forgetting from gradient aspect. They consider gradient-balanced compensation to rectify forgetting heterogeneity of old categories and heterogeneous relation consistency. Experiments on several representative datasets illustrate effectiveness of our HFC model. The code is available at //github.com/JiahuaDong/HFC.
Recent works have shown that imposing tensor structures on the coefficient tensor in regression problems can lead to more reliable parameter estimation and lower sample complexity compared to vector-based methods. This work investigates a new low-rank tensor model, called Low Separation Rank (LSR), in Generalized Linear Model (GLM) problems. The LSR model -- which generalizes the well-known Tucker and CANDECOMP/PARAFAC (CP) models, and is a special case of the Block Tensor Decomposition (BTD) model -- is imposed onto the coefficient tensor in the GLM model. This work proposes a block coordinate descent algorithm for parameter estimation in LSR-structured tensor GLMs. Most importantly, it derives a minimax lower bound on the error threshold on estimating the coefficient tensor in LSR tensor GLM problems. The minimax bound is proportional to the intrinsic degrees of freedom in the LSR tensor GLM problem, suggesting that its sample complexity may be significantly lower than that of vectorized GLMs. This result can also be specialised to lower bound the estimation error in CP and Tucker-structured GLMs. The derived bounds are comparable to tight bounds in the literature for Tucker linear regression, and the tightness of the minimax lower bound is further assessed numerically. Finally, numerical experiments on synthetic datasets demonstrate the efficacy of the proposed LSR tensor model for three regression types (linear, logistic and Poisson). Experiments on a collection of medical imaging datasets demonstrate the usefulness of the LSR model over other tensor models (Tucker and CP) on real, imbalanced data with limited available samples.
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.
Despite the recent progress in deep learning, most approaches still go for a silo-like solution, focusing on learning each task in isolation: training a separate neural network for each individual task. Many real-world problems, however, call for a multi-modal approach and, therefore, for multi-tasking models. Multi-task learning (MTL) aims to leverage useful information across tasks to improve the generalization capability of a model. This thesis is concerned with multi-task learning in the context of computer vision. First, we review existing approaches for MTL. Next, we propose several methods that tackle important aspects of multi-task learning. The proposed methods are evaluated on various benchmarks. The results show several advances in the state-of-the-art of multi-task learning. Finally, we discuss several possibilities for future work.
Edge intelligence refers to a set of connected systems and devices for data collection, caching, processing, and analysis in locations close to where data is captured based on artificial intelligence. The aim of edge intelligence is to enhance the quality and speed of data processing and protect the privacy and security of the data. Although recently emerged, spanning the period from 2011 to now, this field of research has shown explosive growth over the past five years. In this paper, we present a thorough and comprehensive survey on the literature surrounding edge intelligence. We first identify four fundamental components of edge intelligence, namely edge caching, edge training, edge inference, and edge offloading, based on theoretical and practical results pertaining to proposed and deployed systems. We then aim for a systematic classification of the state of the solutions by examining research results and observations for each of the four components and present a taxonomy that includes practical problems, adopted techniques, and application goals. For each category, we elaborate, compare and analyse the literature from the perspectives of adopted techniques, objectives, performance, advantages and drawbacks, etc. This survey article provides a comprehensive introduction to edge intelligence and its application areas. In addition, we summarise the development of the emerging research field and the current state-of-the-art and discuss the important open issues and possible theoretical and technical solutions.
Collaborative filtering often suffers from sparsity and cold start problems in real recommendation scenarios, therefore, researchers and engineers usually use side information to address the issues and improve the performance of recommender systems. In this paper, we consider knowledge graphs as the source of side information. We propose MKR, a Multi-task feature learning approach for Knowledge graph enhanced Recommendation. MKR is a deep end-to-end framework that utilizes knowledge graph embedding task to assist recommendation task. The two tasks are associated by cross&compress units, which automatically share latent features and learn high-order interactions between items in recommender systems and entities in the knowledge graph. We prove that cross&compress units have sufficient capability of polynomial approximation, and show that MKR is a generalized framework over several representative methods of recommender systems and multi-task learning. Through extensive experiments on real-world datasets, we demonstrate that MKR achieves substantial gains in movie, book, music, and news recommendation, over state-of-the-art baselines. MKR is also shown to be able to maintain a decent performance even if user-item interactions are sparse.
While existing machine learning models have achieved great success for sentiment classification, they typically do not explicitly capture sentiment-oriented word interaction, which can lead to poor results for fine-grained analysis at the snippet level (a phrase or sentence). Factorization Machine provides a possible approach to learning element-wise interaction for recommender systems, but they are not directly applicable to our task due to the inability to model contexts and word sequences. In this work, we develop two Position-aware Factorization Machines which consider word interaction, context and position information. Such information is jointly encoded in a set of sentiment-oriented word interaction vectors. Compared to traditional word embeddings, SWI vectors explicitly capture sentiment-oriented word interaction and simplify the parameter learning. Experimental results show that while they have comparable performance with state-of-the-art methods for document-level classification, they benefit the snippet/sentence-level sentiment analysis.
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.
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