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We propose a robust and reliable evaluation metric for generative models by introducing topological and statistical treatments for rigorous support estimation. Existing metrics, such as Inception Score (IS), Frechet Inception Distance (FID), and the variants of Precision and Recall (P&R), heavily rely on supports that are estimated from sample features. However, the reliability of their estimation has not been seriously discussed (and overlooked) even though the quality of the evaluation entirely depends on it. In this paper, we propose Topological Precision and Recall (TopP&R, pronounced 'topper'), which provides a systematic approach to estimating supports, retaining only topologically and statistically important features with a certain level of confidence. This not only makes TopP&R strong for noisy features, but also provides statistical consistency. Our theoretical and experimental results show that TopP&R is robust to outliers and non-independent and identically distributed (Non-IID) perturbations, while accurately capturing the true trend of change in samples. To the best of our knowledge, this is the first evaluation metric focused on the robust estimation of the support and provides its statistical consistency under noise.

Designing and analyzing model-based RL (MBRL) algorithms with guaranteed monotonic improvement has been challenging, mainly due to the interdependence between policy optimization and model learning. Existing discrepancy bounds generally ignore the impacts of model shifts, and their corresponding algorithms are prone to degrade performance by drastic model updating. In this work, we first propose a novel and general theoretical scheme for a non-decreasing performance guarantee of MBRL. Our follow-up derived bounds reveal the relationship between model shifts and performance improvement. These discoveries encourage us to formulate a constrained lower-bound optimization problem to permit the monotonicity of MBRL. A further example demonstrates that learning models from a dynamically-varying number of explorations benefit the eventual returns. Motivated by these analyses, we design a simple but effective algorithm CMLO (Constrained Model-shift Lower-bound Optimization), by introducing an event-triggered mechanism that flexibly determines when to update the model. Experiments show that CMLO surpasses other state-of-the-art methods and produces a boost when various policy optimization methods are employed.

Compositional generalization, the ability of intelligent models to extrapolate understanding of components to novel compositions, is a fundamental yet challenging facet in AI research, especially within multimodal environments. In this work, we address this challenge by exploiting the syntactic structure of language to boost compositional generalization. This paper elevates the importance of syntactic grounding, particularly through attention masking techniques derived from text input parsing. We introduce and evaluate the merits of using syntactic information in the multimodal grounding problem. Our results on grounded compositional generalization underscore the positive impact of dependency parsing across diverse tasks when utilized with Weight Sharing across the Transformer encoder. The results push the state-of-the-art in multimodal grounding and parameter-efficient modeling and provide insights for future research.

Lemmatization holds significance in both natural language processing (NLP) and linguistics, as it effectively decreases data density and aids in comprehending contextual meaning. However, due to the highly inflected nature and morphological richness, lemmatization in Bangla text poses a complex challenge. In this study, we propose linguistic rules for lemmatization and utilize a dictionary along with the rules to design a lemmatizer specifically for Bangla. Our system aims to lemmatize words based on their parts of speech class within a given sentence. Unlike previous rule-based approaches, we analyzed the suffix marker occurrence according to the morpho-syntactic values and then utilized sequences of suffix markers instead of entire suffixes. To develop our rules, we analyze a large corpus of Bangla text from various domains, sources, and time periods to observe the word formation of inflected words. The lemmatizer achieves an accuracy of 96.36% when tested against a manually annotated test dataset by trained linguists and demonstrates competitive performance on three previously published Bangla lemmatization datasets. We are making the code and datasets publicly available at //github.com/eblict-gigatech/BanLemma in order to contribute to the further advancement of Bangla NLP.

The sequential recommendation system has been widely studied for its promising effectiveness in capturing dynamic preferences buried in users' sequential behaviors. Despite the considerable achievements, existing methods usually focus on intra-sequence modeling while overlooking exploiting global collaborative information by inter-sequence modeling, resulting in inferior recommendation performance. Therefore, previous works attempt to tackle this problem with a global collaborative item graph constructed by pre-defined rules. However, these methods neglect two crucial properties when capturing global collaborative information, i.e., adaptiveness and personalization, yielding sub-optimal user representations. To this end, we propose a graph-driven framework, named Adaptive and Personalized Graph Learning for Sequential Recommendation (APGL4SR), that incorporates adaptive and personalized global collaborative information into sequential recommendation systems. Specifically, we first learn an adaptive global graph among all items and capture global collaborative information with it in a self-supervised fashion, whose computational burden can be further alleviated by the proposed SVD-based accelerator. Furthermore, based on the graph, we propose to extract and utilize personalized item correlations in the form of relative positional encoding, which is a highly compatible manner of personalizing the utilization of global collaborative information. Finally, the entire framework is optimized in a multi-task learning paradigm, thus each part of APGL4SR can be mutually reinforced. As a generic framework, APGL4SR can outperform other baselines with significant margins. The code is available at //github.com/Graph-Team/APGL4SR.

Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions with the objects, but also presents challenges in reasoning about gripper-object interactions. In this work, we introduce Hybrid Actor-Critic Maps for Manipulation (HACMan), a reinforcement learning approach for 6D non-prehensile manipulation of objects using point cloud observations. HACMan proposes a temporally-abstracted and spatially-grounded object-centric action representation that consists of selecting a contact location from the object point cloud and a set of motion parameters describing how the robot will move after making contact. We modify an existing off-policy RL algorithm to learn in this hybrid discrete-continuous action representation. We evaluate HACMan on a 6D object pose alignment task in both simulation and in the real world. On the hardest version of our task, with randomized initial poses, randomized 6D goals, and diverse object categories, our policy demonstrates strong generalization to unseen object categories without a performance drop, achieving an 89% success rate on unseen objects in simulation and 50% success rate with zero-shot transfer in the real world. Compared to alternative action representations, HACMan achieves a success rate more than three times higher than the best baseline. With zero-shot sim2real transfer, our policy can successfully manipulate unseen objects in the real world for challenging non-planar goals, using dynamic and contact-rich non-prehensile skills. Videos can be found on the project website: //hacman-2023.github.io.

Crash fault tolerant (CFT) consensus algorithms are commonly used in scenarios where system components are trusted, such as enterprise settings. CFT algorithms offer high throughput and low latency, making them an attractive option for centralized operations that require fault tolerance. However, CFT consensus is vulnerable to Byzantine faults, which can be introduced by a single corrupt component. Such faults can break consensus in the system. Byzantine fault tolerant (BFT) consensus algorithms withstand Byzantine faults, but they are not as competitive with CFT algorithms in terms of performance. In this work, we explore a middle ground between BFT and CFT consensus by exploring the role of accountability in CFT protocols. That is, if a CFT protocol node breaks protocol and affects consensus safety, we aim to identify which node was the culprit. Based on Raft, one of the most popular CFT algorithms, we present Raft-Forensics, which provides accountability over Byzantine faults. We theoretically prove that if two honest components fail to reach consensus, the Raft-Forensics auditing algorithm finds the adversarial component that caused the inconsistency. In an empirical evaluation, we demonstrate that Raft-Forensics performs similarly to Raft and significantly better than state-of-the-art BFT algorithms. With 256 byte messages, Raft-Forensics achieves peak throughput 87.8% of vanilla Raft at 46% higher latency, while state-of-the-art BFT protocol Dumbo-NG only achieves 18.9% peak throughput at nearly $6\times$ higher latency.

Learning disentanglement aims at finding a low dimensional representation which consists of multiple explanatory and generative factors of the observational data. The framework of variational autoencoder (VAE) is commonly used to disentangle independent factors from observations. However, in real scenarios, factors with semantics are not necessarily independent. Instead, there might be an underlying causal structure which renders these factors dependent. We thus propose a new VAE based framework named CausalVAE, which includes a Causal Layer to transform independent exogenous factors into causal endogenous ones that correspond to causally related concepts in data. We further analyze the model identifiabitily, showing that the proposed model learned from observations recovers the true one up to a certain degree. Experiments are conducted on various datasets, including synthetic and real word benchmark CelebA. Results show that the causal representations learned by CausalVAE are semantically interpretable, and their causal relationship as a Directed Acyclic Graph (DAG) is identified with good accuracy. Furthermore, we demonstrate that the proposed CausalVAE model is able to generate counterfactual data through "do-operation" to the causal factors.

Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.

Recurrent neural nets (RNN) and convolutional neural nets (CNN) are widely used on NLP tasks to capture the long-term and local dependencies, respectively. Attention mechanisms have recently attracted enormous interest due to their highly parallelizable computation, significantly less training time, and flexibility in modeling dependencies. We propose a novel attention mechanism in which the attention between elements from input sequence(s) is directional and multi-dimensional (i.e., feature-wise). A light-weight neural net, "Directional Self-Attention Network (DiSAN)", is then proposed to learn sentence embedding, based solely on the proposed attention without any RNN/CNN structure. DiSAN is only composed of a directional self-attention with temporal order encoded, followed by a multi-dimensional attention that compresses the sequence into a vector representation. Despite its simple form, DiSAN outperforms complicated RNN models on both prediction quality and time efficiency. It achieves the best test accuracy among all sentence encoding methods and improves the most recent best result by 1.02% on the Stanford Natural Language Inference (SNLI) dataset, and shows state-of-the-art test accuracy on the Stanford Sentiment Treebank (SST), Multi-Genre natural language inference (MultiNLI), Sentences Involving Compositional Knowledge (SICK), Customer Review, MPQA, TREC question-type classification and Subjectivity (SUBJ) datasets.