Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we would consider as positive examples; i.e., high-quality demonstrations. Therefore, we propose a novel iterative learning algorithm for identifying expert trajectories in unlabeled mixed-quality robotics datasets given a minimal set of positive examples, surpassing existing algorithms in terms of accuracy. We show that applying behavioral cloning to the resulting filtered dataset outperforms several competitive offline reinforcement learning and imitation learning baselines. We perform experiments on a range of simulated locomotion tasks and on two challenging manipulation tasks on a real robotic system; in these experiments, our method showcases state-of-the-art performance. Our website: \url{//sites.google.com/view/offline-policy-learning-pubc}.
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Discovering the underlying relationships among variables from temporal observations has been a longstanding challenge in numerous scientific disciplines, including biology, finance, and climate science. The dynamics of such systems are often best described using continuous-time stochastic processes. Unfortunately, most existing structure learning approaches assume that the underlying process evolves in discrete-time and/or observations occur at regular time intervals. These mismatched assumptions can often lead to incorrect learned structures and models. In this work, we introduce a novel structure learning method, SCOTCH, which combines neural stochastic differential equations (SDE) with variational inference to infer a posterior distribution over possible structures. This continuous-time approach can naturally handle both learning from and predicting observations at arbitrary time points. Theoretically, we establish sufficient conditions for an SDE and SCOTCH to be structurally identifiable, and prove its consistency under infinite data limits. Empirically, we demonstrate that our approach leads to improved structure learning performance on both synthetic and real-world datasets compared to relevant baselines under regular and irregular sampling intervals.
The presence of undesired background areas associated with potential noise and unknown spectral characteristics degrades the performance of hyperspectral data processing. Masking out unwanted regions is key to addressing this issue. Processing only regions of interest yields notable improvements in terms of computational costs, required memory, and overall performance. The proposed processing pipeline encompasses two fundamental parts: regions of interest mask generation, followed by the application of hyperspectral data processing techniques solely on the newly masked hyperspectral cube. The novelty of our work lies in the methodology adopted for the preliminary image segmentation. We employ the Segment Anything Model (SAM) to extract all objects within the dataset, and subsequently refine the segments with a zero-shot Grounding Dino object detector, followed by intersection and exclusion filtering steps, without the need for fine-tuning or retraining. To illustrate the efficacy of the masking procedure, the proposed method is deployed on three challenging applications scenarios that demand accurate masking; shredded plastics characterization, drill core scanning, and litter monitoring. The numerical evaluation of the proposed masking method on the three applications is provided along with the used hyperparameters. The scripts for the method will be available at //github.com/hifexplo/Masking.
We introduce a differentiable clustering method based on stochastic perturbations of minimum-weight spanning forests. This allows us to include clustering in end-to-end trainable pipelines, with efficient gradients. We show that our method performs well even in difficult settings, such as data sets with high noise and challenging geometries. We also formulate an ad hoc loss to efficiently learn from partial clustering data using this operation. We demonstrate its performance on several data sets for supervised and semi-supervised tasks.
We study reliable communication over point-to-point adversarial channels in which the adversary can observe the transmitted codeword via some function that takes the $n$-bit codeword as input and computes an $rn$-bit output for some given $r \in [0,1]$. We consider the scenario where the $rn$-bit observation is computationally bounded -- the adversary is free to choose an arbitrary observation function as long as the function can be computed using a polynomial amount of computational resources. This observation-based restriction differs from conventional channel-based computational limitations, where in the later case, the resource limitation applies to the computation of the (adversarial) channel error. For all $r \in [0,1-H(p)]$ where $H(\cdot)$ is the binary entropy function and $p$ is the adversary's error budget, we characterize the capacity of the above channel. For this range of $r$, we find that the capacity is identical to the completely obvious setting ($r=0$). This result can be viewed as a generalization of known results on myopic adversaries and channels with active eavesdroppers for which the observation process depends on a fixed distribution and fixed-linear structure, respectively, that cannot be chosen arbitrarily by the adversary.
In real-world scenarios, arbitrary interactions with the environment can often be costly, and actions of expert demonstrations are not always available. To reduce the need for both, Offline Learning from Observations (LfO) is extensively studied, where the agent learns to solve a task with only expert states and \textit{task-agnostic} non-expert state-action pairs. The state-of-the-art DIstribution Correction Estimation (DICE) methods minimize the state occupancy divergence between the learner and expert policies. However, they are limited to either $f$-divergences (KL and $\chi^2$) or Wasserstein distance with Rubinstein duality, the latter of which constrains the underlying distance metric crucial to the performance of Wasserstein-based solutions. To address this problem, we propose Primal Wasserstein DICE (PW-DICE), which minimizes the primal Wasserstein distance between the expert and learner state occupancies with a pessimistic regularizer and leverages a contrastively learned distance as the underlying metric for the Wasserstein distance. Theoretically, we prove that our framework is a generalization of the state-of-the-art, SMODICE, and unifies $f$-divergence and Wasserstein minimization. Empirically, we find that PW-DICE improves upon several state-of-the-art methods on multiple testbeds.
In many unpaired image domain translation problems, e.g., style transfer or super-resolution, it is important to keep the translated image similar to its respective input image. We propose the extremal transport (ET) which is a mathematical formalization of the theoretically best possible unpaired translation between a pair of domains w.r.t. the given similarity function. Inspired by the recent advances in neural optimal transport (OT), we propose a scalable algorithm to approximate ET maps as a limit of partial OT maps. We test our algorithm on toy examples and on the unpaired image-to-image translation task. The code is publicly available at //github.com/milenagazdieva/ExtremalNeuralOptimalTransport
As many of us in the information retrieval (IR) research community know and appreciate, search is far from being a solved problem. Millions of people struggle with tasks on search engines every day. Often, their struggles relate to the intrinsic complexity of their task and the failure of search systems to fully understand the task and serve relevant results. The task motivates the search, creating the gap/problematic situation that searchers attempt to bridge/resolve and drives search behavior as they work through different task facets. Complex search tasks require more than support for rudimentary fact finding or re-finding. Research on methods to support complex tasks includes work on generating query and website suggestions, personalizing and contextualizing search, and developing new search experiences, including those that span time and space. The recent emergence of generative artificial intelligence (AI) and the arrival of assistive agents, or copilots, based on this technology, has the potential to offer further assistance to searchers, especially those engaged in complex tasks. There are profound implications from these advances for the design of intelligent systems and for the future of search itself. This article, based on a keynote by the author at the 2023 ACM SIGIR Conference, explores these issues and charts a course toward new horizons in information access guided by AI copilots.
Discovering achievements with a hierarchical structure in procedurally generated environments presents a significant challenge. This requires an agent to possess a broad range of abilities, including generalization and long-term reasoning. Many prior methods have been built upon model-based or hierarchical approaches, with the belief that an explicit module for long-term planning would be advantageous for learning hierarchical dependencies. However, these methods demand an excessive number of environment interactions or large model sizes, limiting their practicality. In this work, we demonstrate that proximal policy optimization (PPO), a simple yet versatile model-free algorithm, outperforms previous methods when optimized with recent implementation practices. Moreover, we find that the PPO agent can predict the next achievement to be unlocked to some extent, albeit with limited confidence. Based on this observation, we introduce a novel contrastive learning method, called achievement distillation, which strengthens the agent's ability to predict the next achievement. Our method exhibits a strong capacity for discovering hierarchical achievements and shows state-of-the-art performance on the challenging Crafter environment in a sample-efficient manner while utilizing fewer model parameters.
The real-world data tends to be heavily imbalanced and severely skew the data-driven deep neural networks, which makes Long-Tailed Recognition (LTR) a massive challenging task. Existing LTR methods seldom train Vision Transformers (ViTs) with Long-Tailed (LT) data, while the off-the-shelf pretrain weight of ViTs always leads to unfair comparisons. In this paper, we systematically investigate the ViTs' performance in LTR and propose LiVT to train ViTs from scratch only with LT data. With the observation that ViTs suffer more severe LTR problems, we conduct Masked Generative Pretraining (MGP) to learn generalized features. With ample and solid evidence, we show that MGP is more robust than supervised manners. In addition, Binary Cross Entropy (BCE) loss, which shows conspicuous performance with ViTs, encounters predicaments in LTR. We further propose the balanced BCE to ameliorate it with strong theoretical groundings. Specially, we derive the unbiased extension of Sigmoid and compensate extra logit margins to deploy it. Our Bal-BCE contributes to the quick convergence of ViTs in just a few epochs. Extensive experiments demonstrate that with MGP and Bal-BCE, LiVT successfully trains ViTs well without any additional data and outperforms comparable state-of-the-art methods significantly, e.g., our ViT-B achieves 81.0% Top-1 accuracy in iNaturalist 2018 without bells and whistles. Code is available at //github.com/XuZhengzhuo/LiVT.
Emotion plays an important role in detecting fake news online. When leveraging emotional signals, the existing methods focus on exploiting the emotions of news contents that conveyed by the publishers (i.e., publisher emotion). However, fake news is always fabricated to evoke high-arousal or activating emotions of people to spread like a virus, so the emotions of news comments that aroused by the crowd (i.e., social emotion) can not be ignored. Furthermore, it needs to be explored whether there exists a relationship between publisher emotion and social emotion (i.e., dual emotion), and how the dual emotion appears in fake news. In the paper, we propose Dual Emotion Features to mine dual emotion and the relationship between them for fake news detection. And we design a universal paradigm to plug it into any existing detectors as an enhancement. Experimental results on three real-world datasets indicate the effectiveness of the proposed features.
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