Diagrammatic Teaching is a paradigm for robots to acquire novel skills, whereby the user provides 2D sketches over images of the scene to shape the robot's motion. In this work, we tackle the problem of teaching a robot to approach a surface and then follow cyclic motion on it, where the cycle of the motion can be arbitrarily specified by a single user-provided sketch over an image from the robot's camera. Accordingly, we contribute the Stable Diffeomorphic Diagrammatic Teaching (SDDT) framework. SDDT models the robot's motion as an Orbitally Asymptotically Stable (O.A.S.) dynamical system that learns to stablize based on a single diagrammatic sketch provided by the user. This is achieved by applying a \emph{diffeomorphism}, i.e. a differentiable and invertible function, to morph a known O.A.S. system. The parameterised diffeomorphism is then optimised with respect to the Hausdorff distance between the limit cycle of our modelled system and the sketch, to produce the desired robot motion. We provide novel theoretical insight into the behaviour of the optimised system and also empirically evaluate SDDT, both in simulation and on a quadruped with a mounted 6-DOF manipulator. Results show that we can diagrammatically teach complex cyclic motion patterns with a high degree of accuracy.
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This work introduces composed image retrieval to remote sensing. It allows to query a large image archive by image examples alternated by a textual description, enriching the descriptive power over unimodal queries, either visual or textual. Various attributes can be modified by the textual part, such as shape, color, or context. A novel method fusing image-to-image and text-to-image similarity is introduced. We demonstrate that a vision-language model possesses sufficient descriptive power and no further learning step or training data are necessary. We present a new evaluation benchmark focused on color, context, density, existence, quantity, and shape modifications. Our work not only sets the state-of-the-art for this task, but also serves as a foundational step in addressing a gap in the field of remote sensing image retrieval. Code at: //github.com/billpsomas/rscir
Modern AI models provide the key to a long-standing dream: processing analytical queries about almost any kind of data. Until recently, it was difficult and expensive to extract facts from company documents, data from scientific papers, or insights from image and video corpora. Today's models can accomplish these tasks with high accuracy. However, a programmer who wants to answer a substantive AI-powered query must orchestrate large numbers of models, prompts, and data operations. For even a single query, the programmer has to make a vast number of decisions such as the choice of model, the right inference method, the most cost-effective inference hardware, the ideal prompt design, and so on. The optimal set of decisions can change as the query changes and as the rapidly-evolving technical landscape shifts. In this paper we present Palimpzest, a system that enables anyone to process AI-powered analytical queries simply by defining them in a declarative language. The system uses its cost optimization framework -- which explores the search space of AI models, prompting techniques, and related foundation model optimizations -- to implement the query with the best trade-offs between runtime, financial cost, and output data quality. We describe the workload of AI-powered analytics tasks, the optimization methods that Palimpzest uses, and the prototype system itself. We evaluate Palimpzest on tasks in Legal Discovery, Real Estate Search, and Medical Schema Matching. We show that even our simple prototype offers a range of appealing plans, including one that is 3.3x faster, 2.9x cheaper, and offers better data quality than the baseline method. With parallelism enabled, Palimpzest can produce plans with up to a 90.3x speedup at 9.1x lower cost relative to a single-threaded GPT-4 baseline, while obtaining an F1-score within 83.5% of the baseline. These require no additional work by the user.
We identify morphisms of strong profunctors as a categorification of quantum supermaps. These black-box generalisations of diagrams-with-holes are hence placed within the broader field of profunctor optics, as morphisms in the category of copresheaves on concrete networks. This enables the first construction of abstract logical connectives such as tensor products and negations for supermaps in a totally theory-independent setting. These logical connectives are found to be all that is needed to abstractly model the key structural features of the quantum theory of supermaps: black-box indefinite causal order, black-box definite causal order, and the factorisation of definitely causally ordered supermaps into concrete circuit diagrams. We demonstrate that at the heart of these factorisation theorems lies the Yoneda lemma and the notion of representability.
In this work, we propose a novel adversarial defence mechanism for image classification - CARSO - blending the paradigms of adversarial training and adversarial purification in a synergistic robustness-enhancing way. The method builds upon an adversarially-trained classifier, and learns to map its internal representation associated with a potentially perturbed input onto a distribution of tentative clean reconstructions. Multiple samples from such distribution are classified by the same adversarially-trained model, and an aggregation of its outputs finally constitutes the robust prediction of interest. Experimental evaluation by a well-established benchmark of strong adaptive attacks, across different image datasets, shows that CARSO is able to defend itself against adaptive end-to-end white-box attacks devised for stochastic defences. Paying a modest clean accuracy toll, our method improves by a significant margin the state-of-the-art for CIFAR-10, CIFAR-100, and TinyImageNet-200 $\ell_\infty$ robust classification accuracy against AutoAttack. Code, and instructions to obtain pre-trained models are available at //github.com/emaballarin/CARSO .
Social relations have been widely incorporated into recommender systems to alleviate data sparsity problem. However, raw social relations don't always benefit recommendation due to their inferior quality and insufficient quantity, especially for inactive users, whose interacted items are limited. In this paper, we propose a novel social recommendation method called LSIR (\textbf{L}earning \textbf{S}ocial Graph for \textbf{I}nactive User \textbf{R}ecommendation) that learns an optimal social graph structure for social recommendation, especially for inactive users. LSIR recursively aggregates user and item embeddings to collaboratively encode item and user features. Then, graph structure learning (GSL) is employed to refine the raw user-user social graph, by removing noisy edges and adding new edges based on the enhanced embeddings. Meanwhile, mimic learning is implemented to guide active users in mimicking inactive users during model training, which improves the construction of new edges for inactive users. Extensive experiments on real-world datasets demonstrate that LSIR achieves significant improvements of up to 129.58\% on NDCG in inactive user recommendation. Our code is available at~\url{//github.com/liun-online/LSIR}.
With the rapid development of deep learning, training Big Models (BMs) for multiple downstream tasks becomes a popular paradigm. Researchers have achieved various outcomes in the construction of BMs and the BM application in many fields. At present, there is a lack of research work that sorts out the overall progress of BMs and guides the follow-up research. In this paper, we cover not only the BM technologies themselves but also the prerequisites for BM training and applications with BMs, dividing the BM review into four parts: Resource, Models, Key Technologies and Application. We introduce 16 specific BM-related topics in those four parts, they are Data, Knowledge, Computing System, Parallel Training System, Language Model, Vision Model, Multi-modal Model, Theory&Interpretability, Commonsense Reasoning, Reliability&Security, Governance, Evaluation, Machine Translation, Text Generation, Dialogue and Protein Research. In each topic, we summarize clearly the current studies and propose some future research directions. At the end of this paper, we conclude the further development of BMs in a more general view.
Adversarial attack is a technique for deceiving Machine Learning (ML) models, which provides a way to evaluate the adversarial robustness. In practice, attack algorithms are artificially selected and tuned by human experts to break a ML system. However, manual selection of attackers tends to be sub-optimal, leading to a mistakenly assessment of model security. In this paper, a new procedure called Composite Adversarial Attack (CAA) is proposed for automatically searching the best combination of attack algorithms and their hyper-parameters from a candidate pool of \textbf{32 base attackers}. We design a search space where attack policy is represented as an attacking sequence, i.e., the output of the previous attacker is used as the initialization input for successors. Multi-objective NSGA-II genetic algorithm is adopted for finding the strongest attack policy with minimum complexity. The experimental result shows CAA beats 10 top attackers on 11 diverse defenses with less elapsed time (\textbf{6 $\times$ faster than AutoAttack}), and achieves the new state-of-the-art on $l_{\infty}$, $l_{2}$ and unrestricted adversarial attacks.
Recent advances in maximizing mutual information (MI) between the source and target have demonstrated its effectiveness in text generation. However, previous works paid little attention to modeling the backward network of MI (i.e., dependency from the target to the source), which is crucial to the tightness of the variational information maximization lower bound. In this paper, we propose Adversarial Mutual Information (AMI): a text generation framework which is formed as a novel saddle point (min-max) optimization aiming to identify joint interactions between the source and target. Within this framework, the forward and backward networks are able to iteratively promote or demote each other's generated instances by comparing the real and synthetic data distributions. We also develop a latent noise sampling strategy that leverages random variations at the high-level semantic space to enhance the long term dependency in the generation process. Extensive experiments based on different text generation tasks demonstrate that the proposed AMI framework can significantly outperform several strong baselines, and we also show that AMI has potential to lead to a tighter lower bound of maximum mutual information for the variational information maximization problem.
Deep learning has revolutionized many machine learning tasks in recent years, ranging from image classification and video processing to speech recognition and natural language understanding. The data in these tasks are typically represented in the Euclidean space. However, there is an increasing number of applications where data are generated from non-Euclidean domains and are represented as graphs with complex relationships and interdependency between objects. The complexity of graph data has imposed significant challenges on existing machine learning algorithms. Recently, many studies on extending deep learning approaches for graph data have emerged. In this survey, we provide a comprehensive overview of graph neural networks (GNNs) in data mining and machine learning fields. We propose a new taxonomy to divide the state-of-the-art graph neural networks into different categories. With a focus on graph convolutional networks, we review alternative architectures that have recently been developed; these learning paradigms include graph attention networks, graph autoencoders, graph generative networks, and graph spatial-temporal networks. We further discuss the applications of graph neural networks across various domains and summarize the open source codes and benchmarks of the existing algorithms on different learning tasks. Finally, we propose potential research directions in this fast-growing field.
The task of detecting 3D objects in point cloud has a pivotal role in many real-world applications. However, 3D object detection performance is behind that of 2D object detection due to the lack of powerful 3D feature extraction methods. In order to address this issue, we propose to build a 3D backbone network to learn rich 3D feature maps by using sparse 3D CNN operations for 3D object detection in point cloud. The 3D backbone network can inherently learn 3D features from almost raw data without compressing point cloud into multiple 2D images and generate rich feature maps for object detection. The sparse 3D CNN takes full advantages of the sparsity in the 3D point cloud to accelerate computation and save memory, which makes the 3D backbone network achievable. Empirical experiments are conducted on the KITTI benchmark and results show that the proposed method can achieve state-of-the-art performance for 3D object detection.
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