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We introduce LOTUS, a continual imitation learning algorithm that empowers a physical robot to continuously and efficiently learn to solve new manipulation tasks throughout its lifespan. The core idea behind LOTUS is constructing an ever-growing skill library from a sequence of new tasks with a small number of human demonstrations. LOTUS starts with a continual skill discovery process using an open-vocabulary vision model, which extracts skills as recurring patterns presented in unsegmented demonstrations. Continual skill discovery updates existing skills to avoid catastrophic forgetting of previous tasks and adds new skills to solve novel tasks. LOTUS trains a meta-controller that flexibly composes various skills to tackle vision-based manipulation tasks in the lifelong learning process. Our comprehensive experiments show that LOTUS outperforms state-of-the-art baselines by over 11% in success rate, showing its superior knowledge transfer ability compared to prior methods. More results and videos can be found on the project website: //ut-austin-rpl.github.io/Lotus/.

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Ensembling multiple Deep Neural Networks (DNNs) is a simple and effective way to improve top-line metrics and to outperform a larger single model. In this work, we go beyond top-line metrics and instead explore the impact of ensembling on subgroup performances. Surprisingly, we observe that even with a simple homogeneous ensemble -- all the individual DNNs share the same training set, architecture, and design choices -- the minority group performance disproportionately improves with the number of models compared to the majority group, i.e. fairness naturally emerges from ensembling. Even more surprising, we find that this gain keeps occurring even when a large number of models is considered, e.g. $20$, despite the fact that the average performance of the ensemble plateaus with fewer models. Our work establishes that simple DNN ensembles can be a powerful tool for alleviating disparate impact from DNN classifiers, thus curbing algorithmic harm. We also explore why this is the case. We find that even in homogeneous ensembles, varying the sources of stochasticity through parameter initialization, mini-batch sampling, and data-augmentation realizations, results in different fairness outcomes.

Public dataset limitations have significantly hindered the development and benchmarking of learning to defer (L2D) algorithms, which aim to optimally combine human and AI capabilities in hybrid decision-making systems. In such systems, human availability and domain-specific concerns introduce difficulties, while obtaining human predictions for training and evaluation is costly. Financial fraud detection is a high-stakes setting where algorithms and human experts often work in tandem; however, there are no publicly available datasets for L2D concerning this important application of human-AI teaming. To fill this gap in L2D research, we introduce the Financial Fraud Alert Review Dataset (FiFAR), a synthetic bank account fraud detection dataset, containing the predictions of a team of 50 highly complex and varied synthetic fraud analysts, with varied bias and feature dependence. We also provide a realistic definition of human work capacity constraints, an aspect of L2D systems that is often overlooked, allowing for extensive testing of assignment systems under real-world conditions. We use our dataset to develop a capacity-aware L2D method and rejection learning approach under realistic data availability conditions, and benchmark these baselines under an array of 300 distinct testing scenarios. We believe that this dataset will serve as a pivotal instrument in facilitating a systematic, rigorous, reproducible, and transparent evaluation and comparison of L2D methods, thereby fostering the development of more synergistic human-AI collaboration in decision-making systems. The public dataset and detailed synthetic expert information are available at: //github.com/feedzai/fifar-dataset

Efficiently modeling spatio-temporal (ST) physical processes and observations presents a challenging problem for the deep learning community. Many recent studies have concentrated on meticulously reconciling various advantages, leading to designed models that are neither simple nor practical. To address this issue, this paper presents a systematic study on existing shortcomings faced by off-the-shelf models, including lack of local fidelity, poor prediction performance over long time-steps,low scalability, and inefficiency. To systematically address the aforementioned problems, we propose an EarthFarseer, a concise framework that combines parallel local convolutions and global Fourier-based transformer architectures, enabling dynamically capture the local-global spatial interactions and dependencies. EarthFarseer also incorporates a multi-scale fully convolutional and Fourier architectures to efficiently and effectively capture the temporal evolution. Our proposal demonstrates strong adaptability across various tasks and datasets, with fast convergence and better local fidelity in long time-steps predictions. Extensive experiments and visualizations over eight human society physical and natural physical datasets demonstrates the state-of-the-art performance of EarthFarseer. We release our code at //github.com/easylearningscores/EarthFarseer.

As a primary means of information acquisition, information retrieval (IR) systems, such as search engines, have integrated themselves into our daily lives. These systems also serve as components of dialogue, question-answering, and recommender systems. The trajectory of IR has evolved dynamically from its origins in term-based methods to its integration with advanced neural models. While the neural models excel at capturing complex contextual signals and semantic nuances, thereby reshaping the IR landscape, they still face challenges such as data scarcity, interpretability, and the generation of contextually plausible yet potentially inaccurate responses. This evolution requires a combination of both traditional methods (such as term-based sparse retrieval methods with rapid response) and modern neural architectures (such as language models with powerful language understanding capacity). Meanwhile, the emergence of large language models (LLMs), typified by ChatGPT and GPT-4, has revolutionized natural language processing due to their remarkable language understanding, generation, generalization, and reasoning abilities. Consequently, recent research has sought to leverage LLMs to improve IR systems. Given the rapid evolution of this research trajectory, it is necessary to consolidate existing methodologies and provide nuanced insights through a comprehensive overview. In this survey, we delve into the confluence of LLMs and IR systems, including crucial aspects such as query rewriters, retrievers, rerankers, and readers. Additionally, we explore promising directions within this expanding field.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

Traffic forecasting is an important factor for the success of intelligent transportation systems. Deep learning models including convolution neural networks and recurrent neural networks have been applied in traffic forecasting problems to model the spatial and temporal dependencies. In recent years, to model the graph structures in the transportation systems as well as the contextual information, graph neural networks (GNNs) are introduced as new tools and have achieved the state-of-the-art performance in a series of traffic forecasting problems. In this survey, we review the rapidly growing body of recent research using different GNNs, e.g., graph convolutional and graph attention networks, in various traffic forecasting problems, e.g., road traffic flow and speed forecasting, passenger flow forecasting in urban rail transit systems, demand forecasting in ride-hailing platforms, etc. We also present a collection of open data and source resources for each problem, as well as future research directions. To the best of our knowledge, this paper is the first comprehensive survey that explores the application of graph neural networks for traffic forecasting problems. We have also created a public Github repository to update the latest papers, open data and source resources.

Graph representation learning resurges as a trending research subject owing to the widespread use of deep learning for Euclidean data, which inspire various creative designs of neural networks in the non-Euclidean domain, particularly graphs. With the success of these graph neural networks (GNN) in the static setting, we approach further practical scenarios where the graph dynamically evolves. Existing approaches typically resort to node embeddings and use a recurrent neural network (RNN, broadly speaking) to regulate the embeddings and learn the temporal dynamics. These methods require the knowledge of a node in the full time span (including both training and testing) and are less applicable to the frequent change of the node set. In some extreme scenarios, the node sets at different time steps may completely differ. To resolve this challenge, we propose EvolveGCN, which adapts the graph convolutional network (GCN) model along the temporal dimension without resorting to node embeddings. The proposed approach captures the dynamism of the graph sequence through using an RNN to evolve the GCN parameters. Two architectures are considered for the parameter evolution. We evaluate the proposed approach on tasks including link prediction, edge classification, and node classification. The experimental results indicate a generally higher performance of EvolveGCN compared with related approaches. The code is available at \url{//github.com/IBM/EvolveGCN}.

The design of deep graph models still remains to be investigated and the crucial part is how to explore and exploit the knowledge from different hops of neighbors in an efficient way. In this paper, we propose a novel RNN-like deep graph neural network architecture by incorporating AdaBoost into the computation of network; and the proposed graph convolutional network called AdaGCN~(AdaBoosting Graph Convolutional Network) has the ability to efficiently extract knowledge from high-order neighbors and integrate knowledge from different hops of neighbors into the network in an AdaBoost way. We also present the architectural difference between AdaGCN and existing graph convolutional methods to show the benefits of our proposal. Finally, extensive experiments demonstrate the state-of-the-art prediction performance and the computational advantage of our approach AdaGCN.

With the capability of modeling bidirectional contexts, denoising autoencoding based pretraining like BERT achieves better performance than pretraining approaches based on autoregressive language modeling. However, relying on corrupting the input with masks, BERT neglects dependency between the masked positions and suffers from a pretrain-finetune discrepancy. In light of these pros and cons, we propose XLNet, a generalized autoregressive pretraining method that (1) enables learning bidirectional contexts by maximizing the expected likelihood over all permutations of the factorization order and (2) overcomes the limitations of BERT thanks to its autoregressive formulation. Furthermore, XLNet integrates ideas from Transformer-XL, the state-of-the-art autoregressive model, into pretraining. Empirically, XLNet outperforms BERT on 20 tasks, often by a large margin, and achieves state-of-the-art results on 18 tasks including question answering, natural language inference, sentiment analysis, and document ranking.

We study the problem of learning to reason in large scale knowledge graphs (KGs). More specifically, we describe a novel reinforcement learning framework for learning multi-hop relational paths: we use a policy-based agent with continuous states based on knowledge graph embeddings, which reasons in a KG vector space by sampling the most promising relation to extend its path. In contrast to prior work, our approach includes a reward function that takes the accuracy, diversity, and efficiency into consideration. Experimentally, we show that our proposed method outperforms a path-ranking based algorithm and knowledge graph embedding methods on Freebase and Never-Ending Language Learning datasets.

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