The aggregation of multiple opinions plays a crucial role in decision-making, such as in hiring and loan review, and in labeling data for supervised learning. Although majority voting and existing opinion aggregation models are effective for simple tasks, they are inappropriate for tasks without objectively true labels in which disagreements may occur. In particular, when voter attributes such as gender or race introduce bias into opinions, the aggregation results may vary depending on the composition of voter attributes. A balanced group of voters is desirable for fair aggregation results but may be difficult to prepare. In this study, we consider methods to achieve fair opinion aggregation based on voter attributes and evaluate the fairness of the aggregated results. To this end, we consider an approach that combines opinion aggregation models such as majority voting and the Dawid and Skene model (D&S model) with fairness options such as sample weighting. To evaluate the fairness of opinion aggregation, probabilistic soft labels are preferred over discrete class labels. First, we address the problem of soft label estimation without considering voter attributes and identify some issues with the D&S model. To address these limitations, we propose a new Soft D&S model with improved accuracy in estimating soft labels. Moreover, we evaluated the fairness of an opinion aggregation model, including Soft D&S, in combination with different fairness options using synthetic and semi-synthetic data. The experimental results suggest that the combination of Soft D&S and data splitting as a fairness option is effective for dense data, whereas weighted majority voting is effective for sparse data. These findings should prove particularly valuable in supporting decision-making by human and machine-learning models with balanced opinion aggregation.
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Temporal action localization (TAL), which involves recognizing and locating action instances, is a challenging task in video understanding. Most existing approaches directly predict action classes and regress offsets to boundaries, while overlooking the discrepant importance of each frame. In this paper, we propose an Action Sensitivity Learning framework (ASL) to tackle this task, which aims to assess the value of each frame and then leverage the generated action sensitivity to recalibrate the training procedure. We first introduce a lightweight Action Sensitivity Evaluator to learn the action sensitivity at the class level and instance level, respectively. The outputs of the two branches are combined to reweight the gradient of the two sub-tasks. Moreover, based on the action sensitivity of each frame, we design an Action Sensitive Contrastive Loss to enhance features, where the action-aware frames are sampled as positive pairs to push away the action-irrelevant frames. The extensive studies on various action localization benchmarks (i.e., MultiThumos, Charades, Ego4D-Moment Queries v1.0, Epic-Kitchens 100, Thumos14 and ActivityNet1.3) show that ASL surpasses the state-of-the-art in terms of average-mAP under multiple types of scenarios, e.g., single-labeled, densely-labeled and egocentric.
In the framework of transferable utility coalitional games, a scoring (characteristic) function determines the value of any subset/coalition of agents. Agents decide on both which coalitions to form and the allocations of the values of the formed coalitions among their members. An important concept in coalitional games is that of a core solution, which is a partitioning of agents into coalitions and an associated allocation to each agent under which no group of agents can get a higher allocation by forming an alternative coalition. We present distributed learning dynamics for coalitional games that converge to a core solution whenever one exists. In these dynamics, an agent maintains a state consisting of (i) an aspiration level for its allocation and (ii) the coalition, if any, to which it belongs. In each stage, a randomly activated agent proposes to form a new coalition and changes its aspiration based on the success or failure of its proposal. The coalition membership structure is changed, accordingly, whenever the proposal succeeds. Required communications are that: (i) agents in the proposed new coalition need to reveal their current aspirations to the proposing agent, and (ii) agents are informed if they are joining the proposed coalition or if their existing coalition is broken. The proposing agent computes the feasibility of forming the coalition. We show that the dynamics hit an absorbing state whenever a core solution is reached. We further illustrate the distributed learning dynamics on a multi-agent task allocation setting.
Maps have played an indispensable role in enabling safe and automated driving. Although there have been many advances on different fronts ranging from SLAM to semantics, building an actionable hierarchical semantic representation of urban dynamic scenes from multiple agents is still a challenging problem. In this work, we present collaborative urban scene graphs (CURB-SG) that enable higher-order reasoning and efficient querying for many functions of automated driving. CURB-SG leverages panoptic LiDAR data from multiple agents to build large-scale maps using an effective graph-based collaborative SLAM approach that detects inter-agent loop closures. To semantically decompose the obtained 3D map, we build a lane graph from the paths of ego agents and their panoptic observations of other vehicles. Based on the connectivity of the lane graph, we segregate the environment into intersecting and non-intersecting road areas. Subsequently, we construct a multi-layered scene graph that includes lane information, the position of static landmarks and their assignment to certain map sections, other vehicles observed by the ego agents, and the pose graph from SLAM including 3D panoptic point clouds. We extensively evaluate CURB-SG in urban scenarios using a photorealistic simulator and release our code at //curb.cs.uni-freiburg.de.
In the standard use case of Algorithmic Fairness, the goal is to eliminate the relationship between a sensitive variable and a corresponding score. Throughout recent years, the scientific community has developed a host of definitions and tools to solve this task, which work well in many practical applications. However, the applicability and effectivity of these tools and definitions becomes less straightfoward in the case of multiple sensitive attributes. To tackle this issue, we propose a sequential framework, which allows to progressively achieve fairness across a set of sensitive features. We accomplish this by leveraging multi-marginal Wasserstein barycenters, which extends the standard notion of Strong Demographic Parity to the case with multiple sensitive characteristics. This method also provides a closed-form solution for the optimal, sequentially fair predictor, permitting a clear interpretation of inter-sensitive feature correlations. Our approach seamlessly extends to approximate fairness, enveloping a framework accommodating the trade-off between risk and unfairness. This extension permits a targeted prioritization of fairness improvements for a specific attribute within a set of sensitive attributes, allowing for a case specific adaptation. A data-driven estimation procedure for the derived solution is developed, and comprehensive numerical experiments are conducted on both synthetic and real datasets. Our empirical findings decisively underscore the practical efficacy of our post-processing approach in fostering fair decision-making.
Automatic related work generation must ground their outputs to the content of the cited papers to avoid non-factual hallucinations, but due to the length of scientific documents, existing abstractive approaches have conditioned only on the cited paper \textit{abstracts}. We demonstrate that the abstract is not always the most appropriate input for citation generation and that models trained in this way learn to hallucinate. We propose to condition instead on the \textit{cited text span} (CTS) as an alternative to the abstract. Because manual CTS annotation is extremely time- and labor-intensive, we experiment with automatic, ROUGE-based labeling of candidate CTS sentences, achieving sufficiently strong performance to substitute for expensive human annotations, and we propose a human-in-the-loop, keyword-based CTS retrieval approach that makes generating citation texts grounded in the full text of cited papers both promising and practical.
Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized skills by using reference animal data or complex rewards. However, autonomous parkour requires robots to learn generalizable skills that are both vision-based and diverse to perceive and react to various scenarios. In this work, we propose a system for learning a single end-to-end vision-based parkour policy of diverse parkour skills using a simple reward without any reference motion data. We develop a reinforcement learning method inspired by direct collocation to generate parkour skills, including climbing over high obstacles, leaping over large gaps, crawling beneath low barriers, squeezing through thin slits, and running. We distill these skills into a single vision-based parkour policy and transfer it to a quadrupedal robot using its egocentric depth camera. We demonstrate that our system can empower two different low-cost robots to autonomously select and execute appropriate parkour skills to traverse challenging real-world environments.
Statistical matching is an effective method for estimating causal effects in which treated units are paired with control units with ``similar'' values of confounding covariates prior to performing estimation. In this way, matching helps isolate the effect of treatment on response from effects due to the confounding covariates. While there are a large number of software packages to perform statistical matching, the algorithms and techniques used to solve statistical matching problems -- especially matching without replacement -- are not widely understood. In this paper, we describe in detail commonly-used algorithms and techniques for solving statistical matching problems. We focus in particular on the efficiency of these algorithms as the number of observations grow large. We advocate for the further development of statistical matching methods that impose and exploit ``sparsity'' -- by greatly restricting the available matches for a given treated unit -- as this may be critical to ensure scalability of matching methods as data sizes grow large.
Precipitation nowcasting (up to a few hours) remains a challenge due to the highly complex local interactions that need to be captured accurately. Convolutional Neural Networks rely on convolutional kernels convolving with grid data and the extracted features are trapped by limited receptive field, typically expressed in excessively smooth output compared to ground truth. Thus they lack the capacity to model complex spatial relationships among the grids. Geometric deep learning aims to generalize neural network models to non-Euclidean domains. Such models are more flexible in defining nodes and edges and can effectively capture dynamic spatial relationship among geographical grids. Motivated by this, we explore a geometric deep learning-based temporal Graph Convolutional Network (GCN) for precipitation nowcasting. The adjacency matrix that simulates the interactions among grid cells is learned automatically by minimizing the L1 loss between prediction and ground truth pixel value during the training procedure. Then, the spatial relationship is refined by GCN layers while the temporal information is extracted by 1D convolution with various kernel lengths. The neighboring information is fed as auxiliary input layers to improve the final result. We test the model on sequences of radar reflectivity maps over the Trento/Italy area. The results show that GCNs improves the effectiveness of modeling the local details of the cloud profile as well as the prediction accuracy by achieving decreased error measures.
Knowledge graphs play a vital role in numerous artificial intelligence tasks, yet they frequently face the issue of incompleteness. In this study, we explore utilizing Large Language Models (LLM) for knowledge graph completion. We consider triples in knowledge graphs as text sequences and introduce an innovative framework called Knowledge Graph LLM (KG-LLM) to model these triples. Our technique employs entity and relation descriptions of a triple as prompts and utilizes the response for predictions. Experiments on various benchmark knowledge graphs demonstrate that our method attains state-of-the-art performance in tasks such as triple classification and relation prediction. We also find that fine-tuning relatively smaller models (e.g., LLaMA-7B, ChatGLM-6B) outperforms recent ChatGPT and GPT-4.
The concept of causality plays an important role in human cognition . In the past few decades, causal inference has been well developed in many fields, such as computer science, medicine, economics, and education. With the advancement of deep learning techniques, it has been increasingly used in causal inference against counterfactual data. Typically, deep causal models map the characteristics of covariates to a representation space and then design various objective optimization functions to estimate counterfactual data unbiasedly based on the different optimization methods. This paper focuses on the survey of the deep causal models, and its core contributions are as follows: 1) we provide relevant metrics under multiple treatments and continuous-dose treatment; 2) we incorporate a comprehensive overview of deep causal models from both temporal development and method classification perspectives; 3) we assist a detailed and comprehensive classification and analysis of relevant datasets and source code.
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