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This paper presents a novel approach to generalizing robot manipulation skills by combining a sampling-based task-and-motion planner with an offline reinforcement learning algorithm. Starting with a small library of scripted primitive skills (e.g. Push) and object-centric symbolic predicates (e.g. On(block, plate)), the planner autonomously generates a demonstration dataset of manipulation skills in the context of a long-horizon task. An offline reinforcement learning algorithm then extracts a policy from the dataset without further interactions with the environment and replaces the scripted skill in the existing library. Refining the skill library improves the robustness of the planner, which in turn facilitates data collection for more complex manipulation skills. We validate our approach in simulation, on a block-pushing task. We show that the proposed method requires less training data than conventional reinforcement learning methods. Furthermore, interaction with the environment is collision-free because of the use of planner demonstrations, making the approach more amenable to persistent robot learning in the real world.

Snapshot compressive spectral imaging reconstruction aims to reconstruct three-dimensional spatial-spectral images from a single-shot two-dimensional compressed measurement. Existing state-of-the-art methods are mostly based on deep unfolding structures but have intrinsic performance bottlenecks: $i$) the ill-posed problem of dealing with heavily degraded measurement, and $ii$) the regression loss-based reconstruction models being prone to recover images with few details. In this paper, we introduce a generative model, namely the latent diffusion model (LDM), to generate degradation-free prior to enhance the regression-based deep unfolding method. Furthermore, to overcome the large computational cost challenge in LDM, we propose a lightweight model to generate knowledge priors in deep unfolding denoiser, and integrate these priors to guide the reconstruction process for compensating high-quality spectral signal details. Numeric and visual comparisons on synthetic and real-world datasets illustrate the superiority of our proposed method in both reconstruction quality and computational efficiency. Code will be released.

Predictive modeling in healthcare continues to be an active actuarial research topic as more insurance companies aim to maximize the potential of Machine Learning approaches to increase their productivity and efficiency. In this paper, the authors deployed three regression-based ensemble ML models that combine variations of decision trees through Extreme Gradient Boosting, Gradient-boosting Machine, and Random Forest) methods in predicting medical insurance costs. Explainable Artificial Intelligence methods SHapley Additive exPlanations and Individual Conditional Expectation plots were deployed to discover and explain the key determinant factors that influence medical insurance premium prices in the dataset. The dataset used comprised 986 records and is publicly available in the KAGGLE repository. The models were evaluated using four performance evaluation metrics, including R-squared, Mean Absolute Error, Root Mean Squared Error, and Mean Absolute Percentage Error. The results show that all models produced impressive outcomes; however, the XGBoost model achieved a better overall performance although it also expanded more computational resources, while the RF model recorded a lesser prediction error and consumed far fewer computing resources than the XGBoost model. Furthermore, we compared the outcome of both XAi methods in identifying the key determinant features that influenced the PremiumPrices for each model and whereas both XAi methods produced similar outcomes, we found that the ICE plots showed in more detail the interactions between each variable than the SHAP analysis which seemed to be more high-level. It is the aim of the authors that the contributions of this study will help policymakers, insurers, and potential medical insurance buyers in their decision-making process for selecting the right policies that meet their specific needs.

We present a novel approach for saliency prediction in images, leveraging parallel decoding in transformers to learn saliency solely from fixation maps. Models typically rely on continuous saliency maps, to overcome the difficulty of optimizing for the discrete fixation map. We attempt to replicate the experimental setup that generates saliency datasets. Our approach treats saliency prediction as a direct set prediction problem, via a global loss that enforces unique fixations prediction through bipartite matching and a transformer encoder-decoder architecture. By utilizing a fixed set of learned fixation queries, the cross-attention reasons over the image features to directly output the fixation points, distinguishing it from other modern saliency predictors. Our approach, named Saliency TRansformer (SalTR), achieves metric scores on par with state-of-the-art approaches on the Salicon and MIT300 benchmarks.

In scenarios with limited available or high-quality data, training the function-to-function neural PDE solver in an unsupervised manner is essential. However, the efficiency and accuracy of existing methods are constrained by the properties of numerical algorithms, such as finite difference and pseudo-spectral methods, integrated during the training stage. These methods necessitate careful spatiotemporal discretization to achieve reasonable accuracy, leading to significant computational challenges and inaccurate simulations, particularly in cases with substantial spatiotemporal variations. To address these limitations, we propose the Monte Carlo Neural PDE Solver (MCNP Solver) for training unsupervised neural solvers via the PDEs' probabilistic representation, which regards macroscopic phenomena as ensembles of random particles. Compared to other unsupervised methods, MCNP Solver naturally inherits the advantages of the Monte Carlo method, which is robust against spatiotemporal variations and can tolerate coarse step size. In simulating the random walk of particles, we employ Heun's method for the convection process and calculate the expectation via the probability density function of neighbouring grid points during the diffusion process. These techniques enhance accuracy and circumvent the computational memory and time issues associated with Monte Carlo sampling, offering an improvement over traditional Monte Carlo methods. Our numerical experiments on convection-diffusion, Allen-Cahn, and Navier-Stokes equations demonstrate significant improvements in accuracy and efficiency compared to other unsupervised baselines. The source code will be publicly available at: //github.com/optray/MCNP.

Applying large language models (LLMs) to power systems presents a promising avenue for enhancing decision-making and operational efficiency. However, this action may also incur potential security threats, which have not been fully recognized so far. To this end, this letter analyzes potential threats incurred by applying LLMs to power systems, emphasizing the need for urgent research and development of countermeasures.

While graph neural networks have achieved state-of-the-art performances in many real-world tasks including graph classification and node classification, recent works have demonstrated they are also extremely vulnerable to adversarial attacks. Most previous works have focused on attacking node classification networks under impractical white-box scenarios. In this work, we will propose a non-targeted Hard Label Black Box Node Injection Attack on Graph Neural Networks, which to the best of our knowledge, is the first of its kind. Under this setting, more real world tasks can be studied because our attack assumes no prior knowledge about (1): the model architecture of the GNN we are attacking; (2): the model's gradients; (3): the output logits of the target GNN model. Our attack is based on an existing edge perturbation attack, from which we restrict the optimization process to formulate a node injection attack. In the work, we will evaluate the performance of the attack using three datasets, COIL-DEL, IMDB-BINARY, and NCI1.

With the rise of powerful pre-trained vision-language models like CLIP, it becomes essential to investigate ways to adapt these models to downstream datasets. A recently proposed method named Context Optimization (CoOp) introduces the concept of prompt learning -- a recent trend in NLP -- to the vision domain for adapting pre-trained vision-language models. Specifically, CoOp turns context words in a prompt into a set of learnable vectors and, with only a few labeled images for learning, can achieve huge improvements over intensively-tuned manual prompts. In our study we identify a critical problem of CoOp: the learned context is not generalizable to wider unseen classes within the same dataset, suggesting that CoOp overfits base classes observed during training. To address the problem, we propose Conditional Context Optimization (CoCoOp), which extends CoOp by further learning a lightweight neural network to generate for each image an input-conditional token (vector). Compared to CoOp's static prompts, our dynamic prompts adapt to each instance and are thus less sensitive to class shift. Extensive experiments show that CoCoOp generalizes much better than CoOp to unseen classes, even showing promising transferability beyond a single dataset; and yields stronger domain generalization performance as well. Code is available at //github.com/KaiyangZhou/CoOp.

This paper presents a new approach for assembling graph neural networks based on framelet transforms. The latter provides a multi-scale representation for graph-structured data. With the framelet system, we can decompose the graph feature into low-pass and high-pass frequencies as extracted features for network training, which then defines a framelet-based graph convolution. The framelet decomposition naturally induces a graph pooling strategy by aggregating the graph feature into low-pass and high-pass spectra, which considers both the feature values and geometry of the graph data and conserves the total information. The graph neural networks with the proposed framelet convolution and pooling achieve state-of-the-art performance in many types of node and graph prediction tasks. Moreover, we propose shrinkage as a new activation for the framelet convolution, which thresholds the high-frequency information at different scales. Compared to ReLU, shrinkage in framelet convolution improves the graph neural network model in terms of denoising and signal compression: noises in both node and structure can be significantly reduced by accurately cutting off the high-pass coefficients from framelet decomposition, and the signal can be compressed to less than half its original size with the prediction performance well preserved.

Recent advancements in deep neural networks for graph-structured data have led to state-of-the-art performance on recommender system benchmarks. However, making these methods practical and scalable to web-scale recommendation tasks with billions of items and hundreds of millions of users remains a challenge. Here we describe a large-scale deep recommendation engine that we developed and deployed at Pinterest. We develop a data-efficient Graph Convolutional Network (GCN) algorithm PinSage, which combines efficient random walks and graph convolutions to generate embeddings of nodes (i.e., items) that incorporate both graph structure as well as node feature information. Compared to prior GCN approaches, we develop a novel method based on highly efficient random walks to structure the convolutions and design a novel training strategy that relies on harder-and-harder training examples to improve robustness and convergence of the model. We also develop an efficient MapReduce model inference algorithm to generate embeddings using a trained model. We deploy PinSage at Pinterest and train it on 7.5 billion examples on a graph with 3 billion nodes representing pins and boards, and 18 billion edges. According to offline metrics, user studies and A/B tests, PinSage generates higher-quality recommendations than comparable deep learning and graph-based alternatives. To our knowledge, this is the largest application of deep graph embeddings to date and paves the way for a new generation of web-scale recommender systems based on graph convolutional architectures.