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Disentangling the explanatory factors in complex data is a promising approach for generalizable and data-efficient representation learning. While a variety of quantitative metrics for learning and evaluating disentangled representations have been proposed, it remains unclear what properties these metrics truly quantify. In this work, we establish a theoretical connection between logical definitions of disentanglement and quantitative metrics using topos theory and enriched category theory. We introduce a systematic approach for converting a first-order predicate into a real-valued quantity by replacing (i) equality with a strict premetric, (ii) the Heyting algebra of binary truth values with a quantale of continuous values, and (iii) quantifiers with aggregators. The metrics induced by logical definitions have strong theoretical guarantees, and some of them are easily differentiable and can be used as learning objectives directly. Finally, we empirically demonstrate the effectiveness of the proposed metrics by isolating different aspects of disentangled representations.

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized skills, (2) an AI planner for sequencing together the skills given a goal, and (3) a very general prior distribution for selecting skill parameters. Once deployed, the robot should rapidly and autonomously learn to improve its performance by specializing its skill parameter selection policy to the particular objects, goals, and constraints in its environment. In this work, we focus on the active learning problem of choosing which skills to practice to maximize expected future task success. We propose that the robot should estimate the competence of each skill, extrapolate the competence (asking: "how much would the competence improve through practice?"), and situate the skill in the task distribution through competence-aware planning. This approach is implemented within a fully autonomous system where the robot repeatedly plans, practices, and learns without any environment resets. Through experiments in simulation, we find that our approach learns effective parameter policies more sample-efficiently than several baselines. Experiments in the real-world demonstrate our approach's ability to handle noise from perception and control and improve the robot's ability to solve two long-horizon mobile-manipulation tasks after a few hours of autonomous practice. Project website: //ees.csail.mit.edu

We present a structural approach toward achieving equal opportunity in systems of algorithmic decision-making called algorithmic pluralism. Algorithmic pluralism describes a state of affairs in which no set of algorithms severely limits access to opportunity, allowing individuals the freedom to pursue a diverse range of life paths. To argue for algorithmic pluralism, we adopt Joseph Fishkin's theory of bottlenecks, which focuses on the structure of decision-points that determine how opportunities are allocated. The theory contends that each decision-point or bottleneck limits access to opportunities with some degree of severity and legitimacy. We extend Fishkin's structural viewpoint and use it to reframe existing systemic concerns about equal opportunity in algorithmic decision-making, such as patterned inequality and algorithmic monoculture. In proposing algorithmic pluralism, we argue for the urgent priority of alleviating severe bottlenecks in algorithmic decision-making. We contend that there must be a pluralism of opportunity available to many different individuals in order to promote equal opportunity in a systemic way. We further show how this framework has several implications for system design and regulation through current debates about equal opportunity in algorithmic hiring.

A fundamental tenet of pattern recognition is that overlap between training and testing sets causes an optimistic accuracy estimate. Deep CNNs for face recognition are trained for N-way classification of the identities in the training set. Accuracy is commonly estimated as average 10-fold classification accuracy on image pairs from test sets such as LFW, CALFW, CPLFW, CFP-FP and AgeDB-30. Because train and test sets have been independently assembled, images and identities in any given test set may also be present in any given training set. In particular, our experiments reveal a surprising degree of identity and image overlap between the LFW family of test sets and the MS1MV2 training set. Our experiments also reveal identity label noise in MS1MV2. We compare accuracy achieved with same-size MS1MV2 subsets that are identity-disjoint and not identity-disjoint with LFW, to reveal the size of the optimistic bias. Using more challenging test sets from the LFW family, we find that the size of the optimistic bias is larger for more challenging test sets. Our results highlight the lack of and the need for identity-disjoint train and test methodology in face recognition research.

This paper addresses the critical need for refining robot motions that, despite achieving a high visual similarity through human-to-humanoid retargeting methods, fall short of practical execution in the physical realm. Existing techniques in the graphics community often prioritize visual fidelity over physics-based feasibility, posing a significant challenge for deploying bipedal systems in practical applications. Our research introduces a constrained reinforcement learning algorithm to produce physics-based high-quality motion imitation onto legged humanoid robots that enhance motion resemblance while successfully following the reference human trajectory. We name our framework: I-CTRL. By reformulating the motion imitation problem as a constrained refinement over non-physics-based retargeted motions, our framework excels in motion imitation with simple and unique rewards that generalize across four robots. Moreover, our framework can follow large-scale motion datasets with a unique RL agent. The proposed approach signifies a crucial step forward in advancing the control of bipedal robots, emphasizing the importance of aligning visual and physical realism for successful motion imitation.

Reinforcement Learning (RL) is a widely employed technique in decision-making problems, encompassing two fundamental operations -- policy evaluation and policy improvement. Enhancing learning efficiency remains a key challenge in RL, with many efforts focused on using ensemble critics to boost policy evaluation efficiency. However, when using multiple critics, the actor in the policy improvement process can obtain different gradients. Previous studies have combined these gradients without considering their disagreements. Therefore, optimizing the policy improvement process is crucial to enhance learning efficiency. This study focuses on investigating the impact of gradient disagreements caused by ensemble critics on policy improvement. We introduce the concept of uncertainty of gradient directions as a means to measure the disagreement among gradients utilized in the policy improvement process. Through measuring the disagreement among gradients, we find that transitions with lower uncertainty of gradient directions are more reliable in the policy improvement process. Building on this analysis, we propose a method called von Mises-Fisher Experience Resampling (vMFER), which optimizes the policy improvement process by resampling transitions and assigning higher confidence to transitions with lower uncertainty of gradient directions. Our experiments demonstrate that vMFER significantly outperforms the benchmark and is particularly well-suited for ensemble structures in RL.

Compressive sensing is a promising solution for the channel estimation in multiple-input multiple-output (MIMO) systems with large antenna arrays and constrained hardware. Utilizing site-specific channel data from real-world systems, deep learning can be employed to learn the compressive sensing measurement vectors with minimum redundancy, thereby focusing sensing power on promising spatial directions of the channel. Collecting real-world channel data, however, is challenging due to the high overhead resulting from the large number of antennas and hardware constraints. In this paper, we propose leveraging a site-specific digital twin to generate synthetic channel data, which shares a similar distribution with real-world data. The synthetic data is then used to train the deep learning models for learning measurement vectors and hybrid precoder/combiner design in an end-to-end manner. We further propose a model refinement approach to fine-tune the model pre-trained on the digital twin data with a small amount of real-world data. The evaluation results show that, by training the model on the digital twin data, the learned measurement vectors can be efficiently adapted to the environment geometry, leading to high performance of hybrid precoding for real-world deployments. Moreover, the model refinement approach can enable the digital twin aided model to achieve comparable performance to the model trained on the real-world dataset with a significantly reduced amount of real-world data.

The past decade has witnessed a plethora of works that leverage the power of visualization (VIS) to interpret machine learning (ML) models. The corresponding research topic, VIS4ML, keeps growing at a fast pace. To better organize the enormous works and shed light on the developing trend of VIS4ML, we provide a systematic review of these works through this survey. Since data quality greatly impacts the performance of ML models, our survey focuses specifically on summarizing VIS4ML works from the data perspective. First, we categorize the common data handled by ML models into five types, explain the unique features of each type, and highlight the corresponding ML models that are good at learning from them. Second, from the large number of VIS4ML works, we tease out six tasks that operate on these types of data (i.e., data-centric tasks) at different stages of the ML pipeline to understand, diagnose, and refine ML models. Lastly, by studying the distribution of 143 surveyed papers across the five data types, six data-centric tasks, and their intersections, we analyze the prospective research directions and envision future research trends.

Causal Machine Learning (CausalML) is an umbrella term for machine learning methods that formalize the data-generation process as a structural causal model (SCM). This allows one to reason about the effects of changes to this process (i.e., interventions) and what would have happened in hindsight (i.e., counterfactuals). We categorize work in \causalml into five groups according to the problems they tackle: (1) causal supervised learning, (2) causal generative modeling, (3) causal explanations, (4) causal fairness, (5) causal reinforcement learning. For each category, we systematically compare its methods and point out open problems. Further, we review modality-specific applications in computer vision, natural language processing, and graph representation learning. Finally, we provide an overview of causal benchmarks and a critical discussion of the state of this nascent field, including recommendations for future work.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.