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Recent years have witnessed the great successes of embedding-based methods in recommender systems. Despite their decent performance, we argue one potential limitation of these methods -- the embedding magnitude has not been explicitly modulated, which may aggravate popularity bias and training instability, hindering the model from making a good recommendation. It motivates us to leverage the embedding normalization in recommendation. By normalizing user/item embeddings to a specific value, we empirically observe impressive performance gains (9\% on average) on four real-world datasets. Although encouraging, we also reveal a serious limitation when applying normalization in recommendation -- the performance is highly sensitive to the choice of the temperature $\tau$ which controls the scale of the normalized embeddings. To fully foster the merits of the normalization while circumvent its limitation, this work studied on how to adaptively set the proper $\tau$. Towards this end, we first make a comprehensive analyses of $\tau$ to fully understand its role on recommendation. We then accordingly develop an adaptive fine-grained strategy Adap-$\tau$ for the temperature with satisfying four desirable properties including adaptivity, personalized, efficiency and model-agnostic. Extensive experiments have been conducted to validate the effectiveness of the proposal. The code is available at \url{//github.com/junkangwu/Adap_tau}.

Minimax optimization has seen a surge in interest with the advent of modern applications such as GANs, and it is inherently more challenging than simple minimization. The difficulty is exacerbated by the training data residing at multiple edge devices or \textit{clients}, especially when these clients can have heterogeneous datasets and local computation capabilities. We propose a general federated minimax optimization framework that subsumes such settings and several existing methods like Local SGDA. We show that naive aggregation of heterogeneous local progress results in optimizing a mismatched objective function -- a phenomenon previously observed in standard federated minimization. To fix this problem, we propose normalizing the client updates by the number of local steps undertaken between successive communication rounds. We analyze the convergence of the proposed algorithm for classes of nonconvex-concave and nonconvex-nonconcave functions and characterize the impact of heterogeneous client data, partial client participation, and heterogeneous local computations. Our analysis works under more general assumptions on the intra-client noise and inter-client heterogeneity than so far considered in the literature. For all the function classes considered, we significantly improve the existing computation and communication complexity results. Experimental results support our theoretical claims.

Human skin segmentation is a crucial task in computer vision and biometric systems, yet it poses several challenges such as variability in skin color, pose, and illumination. This paper presents a robust data-driven skin segmentation method for a single image that addresses these challenges through the integration of contextual information and efficient network design. In addition to robustness and accuracy, the integration into real-time systems requires a careful balance between computational power, speed, and performance. The proposed method incorporates two attention modules, Body Attention and Skin Attention, that utilize contextual information to improve segmentation results. These modules draw attention to the desired areas, focusing on the body boundaries and skin pixels, respectively. Additionally, an efficient network architecture is employed in the encoder part to minimize computational power while retaining high performance. To handle the issue of noisy labels in skin datasets, the proposed method uses a weakly supervised training strategy, relying on the Skin Attention module. The results of this study demonstrate that the proposed method is comparable to, or outperforms, state-of-the-art methods on benchmark datasets.

Advanced recommender systems usually involve multiple domains (such as scenarios or categories) for various marketing strategies, and users interact with them to satisfy diverse demands. The goal of multi-domain recommendation (MDR) is to improve the recommendation performance of all domains simultaneously. Conventional graph neural network based methods usually deal with each domain separately, or train a shared model to serve all domains. The former fails to leverage users' cross-domain behaviors, making the behavior sparseness issue a great obstacle. The latter learns shared user representation with respect to all domains, which neglects users' domain-specific preferences. In this paper we propose $\mathsf{H^3Trans}$, a hierarchical hypergraph network based correlative preference transfer framework for MDR, which represents multi-domain user-item interactions into a unified graph to help preference transfer. $\mathsf{H^3Trans}$ incorporates two hyperedge-based modules, namely dynamic item transfer (Hyper-I) and adaptive user aggregation (Hyper-U). Hyper-I extracts correlative information from multi-domain user-item feedbacks for eliminating domain discrepancy of item representations. Hyper-U aggregates users' scattered preferences in multiple domains and further exploits the high-order (not only pair-wise) connections to improve user representations. Experiments on both public and production datasets verify the superiority of $\mathsf{H^3Trans}$ for MDR.

Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between joints, and multi-segmented feet. They run agile over all terrains, arguably with simpler locomotion control. Here we focus on developing foot mechanisms that resist slipping and sinking also in natural terrain. We present first results of multi-segment feet mounted to a bird-inspired robot leg with multi-joint mechanical tendon coupling. Our one- and two-segment, mechanically adaptive feet show increased viable horizontal forces on multiple soft and hard substrates before starting to slip. We also observe that segmented feet reduce sinking on soft substrates compared to ball-feet and cylinder-feet. We report how multi-segmented feet provide a large range of viable centre of pressure points well suited for bipedal robots, but also for quadruped robots on slopes and natural terrain. Our results also offer a functional understanding of segmented feet in animals like ratite birds.

Invariant approaches have been remarkably successful in tackling the problem of domain generalization, where the objective is to perform inference on data distributions different from those used in training. In our work, we investigate whether it is possible to leverage domain information from the unseen test samples themselves. We propose a domain-adaptive approach consisting of two steps: a) we first learn a discriminative domain embedding from unsupervised training examples, and b) use this domain embedding as supplementary information to build a domain-adaptive model, that takes both the input as well as its domain into account while making predictions. For unseen domains, our method simply uses few unlabelled test examples to construct the domain embedding. This enables adaptive classification on any unseen domain. Our approach achieves state-of-the-art performance on various domain generalization benchmarks. In addition, we introduce the first real-world, large-scale domain generalization benchmark, Geo-YFCC, containing 1.1M samples over 40 training, 7 validation, and 15 test domains, orders of magnitude larger than prior work. We show that the existing approaches either do not scale to this dataset or underperform compared to the simple baseline of training a model on the union of data from all training domains. In contrast, our approach achieves a significant improvement.

Behaviors of the synthetic characters in current military simulations are limited since they are generally generated by rule-based and reactive computational models with minimal intelligence. Such computational models cannot adapt to reflect the experience of the characters, resulting in brittle intelligence for even the most effective behavior models devised via costly and labor-intensive processes. Observation-based behavior model adaptation that leverages machine learning and the experience of synthetic entities in combination with appropriate prior knowledge can address the issues in the existing computational behavior models to create a better training experience in military training simulations. In this paper, we introduce a framework that aims to create autonomous synthetic characters that can perform coherent sequences of believable behavior while being aware of human trainees and their needs within a training simulation. This framework brings together three mutually complementary components. The first component is a Unity-based simulation environment - Rapid Integration and Development Environment (RIDE) - supporting One World Terrain (OWT) models and capable of running and supporting machine learning experiments. The second is Shiva, a novel multi-agent reinforcement and imitation learning framework that can interface with a variety of simulation environments, and that can additionally utilize a variety of learning algorithms. The final component is the Sigma Cognitive Architecture that will augment the behavior models with symbolic and probabilistic reasoning capabilities. We have successfully created proof-of-concept behavior models leveraging this framework on realistic terrain as an essential step towards bringing machine learning into military simulations.

Since hardware resources are limited, the objective of training deep learning models is typically to maximize accuracy subject to the time and memory constraints of training and inference. We study the impact of model size in this setting, focusing on Transformer models for NLP tasks that are limited by compute: self-supervised pretraining and high-resource machine translation. We first show that even though smaller Transformer models execute faster per iteration, wider and deeper models converge in significantly fewer steps. Moreover, this acceleration in convergence typically outpaces the additional computational overhead of using larger models. Therefore, the most compute-efficient training strategy is to counterintuitively train extremely large models but stop after a small number of iterations. This leads to an apparent trade-off between the training efficiency of large Transformer models and the inference efficiency of small Transformer models. However, we show that large models are more robust to compression techniques such as quantization and pruning than small models. Consequently, one can get the best of both worlds: heavily compressed, large models achieve higher accuracy than lightly compressed, small models.