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Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose the generalized multi-level replanning TAMP framework(GMRF), blending the probabilistic completeness of sampling-based TAMP algorithm with the robustness of reactive replanning. GMRF generates an nominal plan from the initial state, then dynamically reconstructs this nominal plan in real-time, reorders robot manipulations. Following the logic-level adjustment, GMRF will try to replan a new motion path to ensure the updated plan is feasible at the motion level. Finally, we conducted real-world experiments involving stack and rearrange task domains. The result demonstrate GMRF's ability to swiftly complete tasks in scenarios with varying degrees of interference.

Floods can cause horrific harm to life and property. However, they can be mitigated or even avoided by the effective use of hydraulic structures such as dams, gates, and pumps. By pre-releasing water via these structures in advance of extreme weather events, water levels are sufficiently lowered to prevent floods. In this work, we propose FIDLAR, a Forecast Informed Deep Learning Architecture, achieving flood management in watersheds with hydraulic structures in an optimal manner by balancing out flood mitigation and unnecessary wastage of water via pre-releases. We perform experiments with FIDLAR using data from the South Florida Water Management District, which manages a coastal area that is highly prone to frequent storms and floods. Results show that FIDLAR performs better than the current state-of-the-art with several orders of magnitude speedup and with provably better pre-release schedules. The dramatic speedups make it possible for FIDLAR to be used for real-time flood management. The main contribution of this paper is the effective use of tools for model explainability, allowing us to understand the contribution of the various environmental factors towards its decisions.

Transformers have achieved remarkable success in various machine-learning tasks, prompting their widespread adoption. In this paper, we explore their application in the context of federated learning (FL), with a particular focus on heterogeneous scenarios where individual clients possess diverse local datasets. To meet the computational and communication demands of FL, we leverage pre-trained Transformers and use an efficient prompt-tuning strategy. Our strategy introduces the concept of learning both shared and group prompts, enabling the acquisition of universal knowledge and group-specific knowledge simultaneously. Additionally, a prompt selection module assigns personalized group prompts to each input, aligning the global model with the data distribution of each client. This approach allows us to train a single global model that can automatically adapt to various local client data distributions without requiring local fine-tuning. In this way, our proposed method effectively bridges the gap between global and personalized local models in Federated Learning and surpasses alternative approaches that lack the capability to adapt to previously unseen clients. The effectiveness of our approach is rigorously validated through extensive experimentation and ablation studies.

After discovering that Language Models (LMs) can be good in-context few-shot learners, numerous strategies have been proposed to optimize in-context sequence configurations. Recently, researchers in Vision-Language (VL) domains also develop their few-shot learners, while they only use the simplest way, ie., randomly sampling, to configure in-context image-text pairs. In order to explore the effects of varying configurations on VL in-context learning, we devised four strategies for image selection and four for caption assignment to configure in-context image-text pairs for image captioning. Here Image Captioning is used as the case study since it can be seen as the visually-conditioned LM. Our comprehensive experiments yield two counter-intuitive but valuable insights, highlighting the distinct characteristics of VL in-context learning due to multi-modal synergy, as compared to the NLP case. Furthermore, in our exploration of optimal combination strategies, we observed an average performance enhancement of 20.7 of CIDEr scores compared to the baseline. The code is given in //github.com/yongliang-wu/ExploreCfg.

Fairness in predictions is of direct importance in practice due to legal, ethical, and societal reasons. It is often achieved through counterfactual fairness, which ensures that the prediction for an individual is the same as that in a counterfactual world under a different sensitive attribute. However, achieving counterfactual fairness is challenging as counterfactuals are unobservable. In this paper, we develop a novel deep neural network called Generative Counterfactual Fairness Network (GCFN) for making predictions under counterfactual fairness. Specifically, we leverage a tailored generative adversarial network to directly learn the counterfactual distribution of the descendants of the sensitive attribute, which we then use to enforce fair predictions through a novel counterfactual mediator regularization. If the counterfactual distribution is learned sufficiently well, our method is mathematically guaranteed to ensure the notion of counterfactual fairness. Thereby, our GCFN addresses key shortcomings of existing baselines that are based on inferring latent variables, yet which (a) are potentially correlated with the sensitive attributes and thus lead to bias, and (b) have weak capability in constructing latent representations and thus low prediction performance. Across various experiments, our method achieves state-of-the-art performance. Using a real-world case study from recidivism prediction, we further demonstrate that our method makes meaningful predictions in practice.

Treatment effect estimation in continuous time is crucial for personalized medicine. However, existing methods for this task are limited to point estimates of the potential outcomes, whereas uncertainty estimates have been ignored. Needless to say, uncertainty quantification is crucial for reliable decision-making in medical applications. To fill this gap, we propose a novel Bayesian neural controlled differential equation (BNCDE) for treatment effect estimation in continuous time. In our BNCDE, the time dimension is modeled through a coupled system of neural controlled differential equations and neural stochastic differential equations, where the neural stochastic differential equations allow for tractable variational Bayesian inference. Thereby, for an assigned sequence of treatments, our BNCDE provides meaningful posterior predictive distributions of the potential outcomes. To the best of our knowledge, ours is the first tailored neural method to provide uncertainty estimates of treatment effects in continuous time. As such, our method is of direct practical value for promoting reliable decision-making in medicine.

Graphs are important data representations for describing objects and their relationships, which appear in a wide diversity of real-world scenarios. As one of a critical problem in this area, graph generation considers learning the distributions of given graphs and generating more novel graphs. Owing to their wide range of applications, generative models for graphs, which have a rich history, however, are traditionally hand-crafted and only capable of modeling a few statistical properties of graphs. Recent advances in deep generative models for graph generation is an important step towards improving the fidelity of generated graphs and paves the way for new kinds of applications. This article provides an extensive overview of the literature in the field of deep generative models for graph generation. Firstly, the formal definition of deep generative models for the graph generation and the preliminary knowledge are provided. Secondly, taxonomies of deep generative models for both unconditional and conditional graph generation are proposed respectively; the existing works of each are compared and analyzed. After that, an overview of the evaluation metrics in this specific domain is provided. Finally, the applications that deep graph generation enables are summarized and five promising future research directions are highlighted.

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.

Knowledge graph embedding, which aims to represent entities and relations as low dimensional vectors (or matrices, tensors, etc.), has been shown to be a powerful technique for predicting missing links in knowledge graphs. Existing knowledge graph embedding models mainly focus on modeling relation patterns such as symmetry/antisymmetry, inversion, and composition. However, many existing approaches fail to model semantic hierarchies, which are common in real-world applications. To address this challenge, we propose a novel knowledge graph embedding model---namely, Hierarchy-Aware Knowledge Graph Embedding (HAKE)---which maps entities into the polar coordinate system. HAKE is inspired by the fact that concentric circles in the polar coordinate system can naturally reflect the hierarchy. Specifically, the radial coordinate aims to model entities at different levels of the hierarchy, and entities with smaller radii are expected to be at higher levels; the angular coordinate aims to distinguish entities at the same level of the hierarchy, and these entities are expected to have roughly the same radii but different angles. Experiments demonstrate that HAKE can effectively model the semantic hierarchies in knowledge graphs, and significantly outperforms existing state-of-the-art methods on benchmark datasets for the link prediction task.

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.