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Learning for Demonstration (LfD) enables robots to acquire new skills by imitating expert demonstrations, allowing users to communicate their instructions in an intuitive manner. Recent progress in LfD often relies on kinesthetic teaching or teleoperation as the medium for users to specify the demonstrations. Kinesthetic teaching requires physical handling of the robot, while teleoperation demands proficiency with additional hardware. This paper introduces an alternative paradigm for LfD called Diagrammatic Teaching. Diagrammatic Teaching aims to teach robots novel skills by prompting the user to sketch out demonstration trajectories on 2D images of the scene, these are then synthesised as a generative model of motion trajectories in 3D task space. Additionally, we present the Ray-tracing Probabilistic Trajectory Learning (RPTL) framework for Diagrammatic Teaching. RPTL extracts time-varying probability densities from the 2D sketches, applies ray-tracing to find corresponding regions in 3D Cartesian space, and fits a probabilistic model of motion trajectories to these regions. New motion trajectories, which mimic those sketched by the user, can then be generated from the probabilistic model. We empirically validate our framework both in simulation and on real robots, which include a fixed-base manipulator and a quadruped-mounted manipulator.

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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.

Recommender systems are most successful for popular items and users with ample interactions (likes, ratings etc.). This work addresses the difficult and underexplored case of supporting users who have very sparse interactions but post informative review texts. Our experimental studies address two book communities with these characteristics. We design a framework with Transformer-based representation learning, covering user-item interactions, item content, and user-provided reviews. To overcome interaction sparseness, we devise techniques for selecting the most informative cues to construct concise user profiles. Comprehensive experiments, with datasets from Amazon and Goodreads, show that judicious selection of text snippets achieves the best performance, even in comparison to ChatGPT-generated user profiles.

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.

We develop generalization error bounds for stochastic gradient descent (SGD) with label noise in non-convex settings under uniform dissipativity and smoothness conditions. Under a suitable choice of semimetric, we establish a contraction in Wasserstein distance of the label noise stochastic gradient flow that depends polynomially on the parameter dimension $d$. Using the framework of algorithmic stability, we derive time-independent generalisation error bounds for the discretized algorithm with a constant learning rate. The error bound we achieve scales polynomially with $d$ and with the rate of $n^{-2/3}$, where $n$ is the sample size. This rate is better than the best-known rate of $n^{-1/2}$ established for stochastic gradient Langevin dynamics (SGLD) -- which employs parameter-independent Gaussian noise -- under similar conditions. Our analysis offers quantitative insights into the effect of label noise.

Researchers in explainable artificial intelligence have developed numerous methods for helping users understand the predictions of complex supervised learning models. By contrast, explaining the $\textit{uncertainty}$ of model outputs has received relatively little attention. We adapt the popular Shapley value framework to explain various types of predictive uncertainty, quantifying each feature's contribution to the conditional entropy of individual model outputs. We consider games with modified characteristic functions and find deep connections between the resulting Shapley values and fundamental quantities from information theory and conditional independence testing. We outline inference procedures for finite sample error rate control with provable guarantees, and implement efficient algorithms that perform well in a range of experiments on real and simulated data. Our method has applications to covariate shift detection, active learning, feature selection, and active feature-value acquisition.

Fine-tuning language models (LMs) has yielded success on diverse downstream tasks, but as LMs grow in size, backpropagation requires a prohibitively large amount of memory. Zeroth-order (ZO) methods can in principle estimate gradients using only two forward passes but are theorized to be catastrophically slow for optimizing large models. In this work, we propose a memory-efficient zerothorder optimizer (MeZO), adapting the classical ZO-SGD method to operate in-place, thereby fine-tuning LMs with the same memory footprint as inference. For example, with a single A100 80GB GPU, MeZO can train a 30-billion parameter model, whereas fine-tuning with backpropagation can train only a 2.7B LM with the same budget. We conduct comprehensive experiments across model types (masked and autoregressive LMs), model scales (up to 66B), and downstream tasks (classification, multiple-choice, and generation). Our results demonstrate that (1) MeZO significantly outperforms in-context learning and linear probing; (2) MeZO achieves comparable performance to fine-tuning with backpropagation across multiple tasks, with up to 12x memory reduction and up to 2x GPU-hour reduction in our implementation; (3) MeZO is compatible with both full-parameter and parameter-efficient tuning techniques such as LoRA and prefix tuning; (4) MeZO can effectively optimize non-differentiable objectives (e.g., maximizing accuracy or F1). We support our empirical findings with theoretical insights, highlighting how adequate pre-training and task prompts enable MeZO to fine-tune huge models, despite classical ZO analyses suggesting otherwise.

Recommender systems play a crucial role in helping users discover information that aligns with their interests based on their past behaviors. However, developing personalized recommendation systems becomes challenging when historical records of user-item interactions are unavailable, leading to what is known as the system cold-start recommendation problem. This issue is particularly prominent in start-up businesses or platforms with insufficient user engagement history. Previous studies focus on user or item cold-start scenarios, where systems could make recommendations for new users or items but are still trained with historical user-item interactions in the same domain, which cannot solve our problem. To bridge the gap, our research introduces an innovative and effective approach, capitalizing on the capabilities of pre-trained language models. We transform the recommendation process into sentiment analysis of natural languages containing information of user profiles and item attributes, where the sentiment polarity is predicted with prompt learning. By harnessing the extensive knowledge housed within language models, the prediction can be made without historical user-item interaction records. A benchmark is also introduced to evaluate the proposed method under the cold-start setting, and the results demonstrate the effectiveness of our method. To the best of our knowledge, this is the first study to tackle the system cold-start recommendation problem. The benchmark and implementation of the method are available at //github.com/JacksonWuxs/PromptRec.

Current models for event causality identification (ECI) mainly adopt a supervised framework, which heavily rely on labeled data for training. Unfortunately, the scale of current annotated datasets is relatively limited, which cannot provide sufficient support for models to capture useful indicators from causal statements, especially for handing those new, unseen cases. To alleviate this problem, we propose a novel approach, shortly named CauSeRL, which leverages external causal statements for event causality identification. First of all, we design a self-supervised framework to learn context-specific causal patterns from external causal statements. Then, we adopt a contrastive transfer strategy to incorporate the learned context-specific causal patterns into the target ECI model. Experimental results show that our method significantly outperforms previous methods on EventStoryLine and Causal-TimeBank (+2.0 and +3.4 points on F1 value respectively).

The chronological order of user-item interactions can reveal time-evolving and sequential user behaviors in many recommender systems. The items that users will interact with may depend on the items accessed in the past. However, the substantial increase of users and items makes sequential recommender systems still face non-trivial challenges: (1) the hardness of modeling the short-term user interests; (2) the difficulty of capturing the long-term user interests; (3) the effective modeling of item co-occurrence patterns. To tackle these challenges, we propose a memory augmented graph neural network (MA-GNN) to capture both the long- and short-term user interests. Specifically, we apply a graph neural network to model the item contextual information within a short-term period and utilize a shared memory network to capture the long-range dependencies between items. In addition to the modeling of user interests, we employ a bilinear function to capture the co-occurrence patterns of related items. We extensively evaluate our model on five real-world datasets, comparing with several state-of-the-art methods and using a variety of performance metrics. The experimental results demonstrate the effectiveness of our model for the task of Top-K sequential recommendation.

Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples resulting from adding small-magnitude perturbations to inputs. Such adversarial examples can mislead DNNs to produce adversary-selected results. Different attack strategies have been proposed to generate adversarial examples, but how to produce them with high perceptual quality and more efficiently requires more research efforts. In this paper, we propose AdvGAN to generate adversarial examples with generative adversarial networks (GANs), which can learn and approximate the distribution of original instances. For AdvGAN, once the generator is trained, it can generate adversarial perturbations efficiently for any instance, so as to potentially accelerate adversarial training as defenses. We apply AdvGAN in both semi-whitebox and black-box attack settings. In semi-whitebox attacks, there is no need to access the original target model after the generator is trained, in contrast to traditional white-box attacks. In black-box attacks, we dynamically train a distilled model for the black-box model and optimize the generator accordingly. Adversarial examples generated by AdvGAN on different target models have high attack success rate under state-of-the-art defenses compared to other attacks. Our attack has placed the first with 92.76% accuracy on a public MNIST black-box attack challenge.

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