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Offline reinforcement learning has shown tremendous success in behavioral planning by learning from previously collected demonstrations. However, decision-making in multitask missions still presents significant challenges. For instance, a mission might require an agent to explore an unknown environment, discover goals, and navigate to them,
even if it involves interacting with obstacles along the way.
Such behavioral planning problems are difficult to solve due
to: a) agents failing to adapt beyond the single task learned
through their reward function, and b) the inability to generalize to new environments not covered in the training demonstrations, e.g., environments where all doors were unlocked in
the demonstrations. Consequently, state-of-the-art decision making methods are limited to missions where the required
tasks are well-represented in the training demonstrations and
can be solved within a short (temporal) planning horizon. To
address this, we propose GenPlan: a stochastic and adaptive
planner that leverages discrete-flow models for generative sequence modeling, enabling sample-efficient exploration and
exploitation. This framework relies on an iterative denoising procedure to generate a sequence of goals and actions.
This approach captures multi-modal action distributions and
facilitates goal and task discovery, thereby enhancing generalization to out-of-distribution tasks and environments, i.e.,
missions not part of the training data. We demonstrate the effectiveness of our method through multiple simulation environments. Notably, GenPlan outperforms the state-of-the-art
methods by over 10% on adaptive planning tasks, where the
agent adapts to multi-task missions while leveraging demonstrations on single-goal-reaching tasks.

AAAI 2025

GenPlan: Generative Sequence Models as Adaptive Planners

reinforcement learning

poster

We are pleased to announce the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI-25), which will be held in Philadelphia, Pennsylvania at the Pennsylvania Convention Center from February 25 to March 4, 2025.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

### [Invited Speakers](https://aaai.org/conference/aaai/aaai-25/aaai-25-invited-speakers/)

Register [here](https://aaai.org/conference/aaai/aaai-25/registration/)

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.



Although unsupervised multiplex graph representation learning (UMGRL) has been a hot research topic, existing UMGRL methods still has limitations to be addressed. For example, previous works either preserve structural information by ignoring the impact of heterophily in the graph structure or only focus on node-level consistency by ignoring class-level consistency. To address these issues, in this paper, we propose a new UMGRL method to explore both homophily and consistency in the multiplex graph. Specifically, we propose to restructure the multi-order relationships of every graph between every node and its multi-order neighbors to improve the homophily and reduce the impact of the heterophily in the graph structure. We also design a contrastive loss based on a self-expression matrix of the node representation matrix to achieve node-level and class-level consistency. Furthermore, we theoretically prove our method to achieve class-level consistency. Extensive experimental results on real datasets verify the effectiveness of the proposed method with respect to various downstream tasks, compared to SOTA methods.

Multiplex Graph Representation Learning with Homophily and Consistency

Prompt-based approaches offer a cutting-edge solution to data privacy issues in continual learning, particularly in scenarios involving multiple data suppliers where long-term storage of private user data is prohibited. Despite delivering state-of-the-art performance, its impressive remembering capability can become a double-edged sword, raising security concerns as it might inadvertently retain poisoned knowledge injected during learning from private user data. Following this insight, in this paper, we expose continual learning to a potential threat: backdoor attack, which drives the model to follow a desired adversarial target whenever a specific trigger is present while still performing normally on clean samples. We highlight three critical challenges in executing backdoor attacks on incremental learners and propose corresponding solutions: (1) Transferability: We employ a surrogate dataset and manipulate prompt selection to transfer backdoor knowledge to data from other suppliers; (2) Resiliency: We simulate static and dynamic states of the victim to ensure the backdoor trigger remains robust during intense incremental learning processes; and (3) Authenticity: We apply binary cross-entropy loss as an anti-cheating factor to prevent the backdoor trigger from devolving into adversarial noise. Extensive experiments across various benchmark datasets and continual learners validate our continual backdoor framework, with further ablation studies confirming our contributions' effectiveness.

Attack On Prompt: Backdoor Attack in Prompt-Based Continual Learning

Classic algorithms for stochastic bandits typically use hyperparameters that govern their critical properties such as the trade-off between exploration and exploitation. Tuning these hyperparameters is a problem of great practical significance. However this is a challenging problem and in certain cases is information theoretically impossible. To address this challenge, we consider a practically relevant transfer learning setting where one has access to offline data collected from several bandit problems (tasks) coming from an unknown distribution over the tasks. Our aim is to use this offline data to set the hyperparameters for a new task drawn from the unknown distribution. We provide bounds on the inter-task (number of tasks) and intra-task (number of arm pulls for each task) sample complexity for learning near-optimal hyperparameters on unseen tasks drawn from the distribution. Our results apply to several classic algorithms, including tuning the exploration parameters in UCB and LinUCB and the noise parameter in GP-UCB. Our experiments indicate the significance and effectiveness of transfer of hyperparameters from offline problems in online learning with stochastic bandit feedback.

Offline-to-Online Hyperparameter Transfer for Stochastic Bandits

Dynamic Facial Expression Recognition (DFER) is crucial for affective computing but often overlooks the impact of scene context. We have identified a significant issue in current DFER tasks: human annotators typically integrate emotions from various angles, including environmental cues and body language, whereas existing DFER methods tend to consider the scene as noise that needs to be filtered out, focusing solely on facial information. We refer to this as the Rigid Cognitive Problem. The Rigid Cognitive Problem can lead to discrepancies between the cognition of annotators and models in some samples. To align more closely with the human cognitive paradigm of emotions, we propose an Overall Understanding of the Scene DFER method (OUS). OUS effectively integrates scene and facial features, combining scene-specific emotional knowledge for DFER. Extensive experiments on the two largest datasets in the DFER field, DFEW and FERV39k, demonstrate that OUS significantly outperforms existing methods. By analyzing the Rigid Cognitive Problem, OUS successfully understands the complex relationship between scene context and emotional expression, closely aligning with human emotional understanding in real-world scenarios.

OUS: Bridging Scene Context and Facial Features to Overcome the Rigid Cognitive Problem

Importance sampling is a rare event simulation technique used in Monte Carlo simulations to bias the sampling distribution towards the rare event of interest.
By assigning appropriate weights to sampled points, importance sampling allows for more efficient estimation of rare events or tails of distributions. 
However, importance sampling can fail when the proposal distribution does not effectively cover the target distribution. 
In this work, we propose a method for more efficient sampling by updating the proposal distribution in the latent space of a normalizing flow. 
Normalizing flows learn an invertible mapping from a target distribution to a simpler latent distribution. 
The latent space can be more easily explored during the search for a proposal distribution, and samples from the proposal distribution are recovered in the space of the target distribution via the invertible mapping. 
We empirically validate our methodology on simulated robotics applications such as autonomous racing and aircraft ground collision avoidance.

Enhanced Importance Sampling Through Latent Space Exploration in Normalizing Flows

In the Clustered TSP (CTSP), we are given an edge-weighted graph satisfying the triangle inequality property, and a family of pairwise disjoint vertex groups. The goal is to find a minimum weight tour that includes all vertices, ensuring that the vertices within each group appear consecutively on the tour. The subgroup planning problem (SGPP) is an extension of CTSP by relaxing some triangle inequality requirements on edge weights. CTSP and SGPP have plentiful applications in AI and robotics. In this paper, we design three improved approximation algorithms for SGPP and CTSP. First, we propose a polynomial-time $2.167$-approximation algorithm for SGPP, improving the previous ratio of $3$ (IJCAI 2017). Second, we give an FPT $2.072$-approximation algorithm for SGPP parameterized by the maximum group size, improving the previous ratio of $2.5$ (IJCAI 2017). Third, we prove an FPT $(\beta<1.5)$-approximation algorithm for SGPP parameterized by the number of groups, which even improves the previous ratio $1.667$ for CTSP (ORL 1999). We also conduct experiments to evaluate the performance of our algorithms.

Improved Approximation Algorithms for Clustered TSP and Subgroup Planning

Low-rank adaptation (LoRA) has become the dominant method for parameter-efficient LLM fine-tuning, with LoRA-based quantization error compensation (LQEC) emerging as a powerful tool for recovering accuracy in compressed LLMs. However, LQEC has underperformed in sub-4-bit scenarios, with no prior investigation into understanding this limitation. We propose RILQ (Rank-Insensitive LoRA-based Quantization Error Compensation) to boost 2-bit LLM accuracy. Based on rank analysis revealing model-wise activation discrepancy loss's rank-insensitive nature, RILQ employs this loss to adjust adapters cooperatively across layers, enabling robust error compensation with low-rank adapters. Evaluations on LLaMA-2 and LLaMA-3 demonstrate RILQ's consistent improvements in 2-bit quantized inference across various state-of-the-art quantizers and enhanced accuracy in task-specific fine-tuning. RILQ maintains computational efficiency comparable to existing LoRA methods, enabling adapter-merged weight-quantized LLM inference with significantly enhanced accuracy, making it a promising approach for boosting 2-bit LLM performance.

RILQ: Rank-Insensitive LoRA-Based Quantization Error Compensation for Boosting 2-Bit Large Language Model Accuracy

With the rapid development of autonomous driving, LiDAR-based 3D Human Pose Estimation (3D HPE) is becoming a research focus. However, due to the noise and sparsity of LiDAR-captured point clouds, robust human pose estimation remains challenging. Most of the existing methods use temporal information, multi-modal fusion, or SMPL optimization to correct biased results. In this work, we try to obtain sufficient information for 3D HPE only by modeling the intrinsic properties of low-quality point clouds. Hence, a simple yet powerful method is proposed, which provides insights both on modeling and augmentation of point clouds.
Specifically, we first propose a concise and effective density-aware pose transformer (DAPT) to get stable keypoint representations. By using a set of joint anchors and a carefully designed exchange module, valid information is extracted from point clouds with different densities. Then 1D heatmaps are utilized to represent the precise locations of the keypoints. 
Secondly, a comprehensive LiDAR human synthesis and augmentation method is proposed to pre-train the model, enabling it to acquire a better human body prior. We increase the diversity of point clouds by randomly sampling human positions and orientations and by simulating occlusions through the addition of laser-level masks.
Extensive experiments have been conducted on multiple datasets, including IMU-annotated LidarHuman26M, SLOPER4D, and manually annotated Waymo Open Dataset v2.0 (Waymo), HumanM3. Our method demonstrates SOTA performance in all scenarios. In particular, compared with LPFormer on Waymo, we reduce the average MPJPE by $10.0mm$. Compared with PRN on SLOPER4D, we notably reduce the average MPJPE by $20.7mm$. The code and models will be publicly available.

Pre-training a Density-Aware Pose Transformer for Robust LiDAR-based 3D Human Pose Estimation

While Large Language Models (LLMs) have shown exceptional generalization capabilities, their ability to process graph data, such as molecular structures, remains limited. To bridge this gap, this paper proposes Graph2Token, an efficient solution that aligns graph tokens to LLM tokens. The key idea is to represent a graph token with the LLM token vocabulary, without fine-tuning the LLM backbone. To achieve this goal, we first construct a molecule-text paired dataset from multi-sources, including CHEBI and HMDB, to train a graph structure encoder, which reduces the distance between graphs and texts representations in the feature space. Then, we propose a novel alignment strategy that associates a graph token with LLM tokens. To further unleash the potential of LLMs, we collect molecular IUPAC name identifiers, which are incorporated into the LLM prompts. By aligning molecular graphs as special tokens, we can activate LLMs' generalization ability to molecular few-shot learning. Extensive experiments on molecular classification and regression tasks demonstrate the effectiveness of our proposed Graph2Token. Code is available at https://anonymous.4open.science/r/MolGraph-9C0C.

Bridging Molecular Graphs and Large Language Models

Recent studies have revealed the vulnerability of graph neural networks (GNNs) to adversarial attacks. In practice, effectively attacking GNNs is not easy. Existing attack methods primarily focus on modifying the topology of the graph data. In many scenarios, attackers do not have the authority to manipulate the graph's topology, making such attacks challenging to execute. Although node injection attacks are more feasible than modifying the topology, current injection attacks rely on knowledge of the victim model's architecture. This dependency significantly degrades attack quality when there is inconsistency in the victim models. Moreover, the generation of injected nodes often lacks precise control over features, making it difficult to balance attack effectiveness and stealthiness. In this paper, we investigate a node injection attack under model-agnostic conditions and propose $\underline{\textbf{T}}$argeted $\underline{\textbf{E}}$vasion $\underline{\textbf{A}}$ttack via $\underline{\textbf{N}}$ode $\underline{\textbf{I}}$njection (TEANI). Specifically, TEANI models the generation of adversarial nodes as a Markov process. Without considering the target model's structure, it guides the agent to select features that maximize attack effectiveness within a budget, based solely on the results of queries to a black-box model. Extensive experiments on real-world datasets and mainstream GNN models demonstrate that the proposed TEANI poses more effective and imperceptible threats than state-of-the-art attack methods.

GenPlan: Generative Sequence Models as Adaptive Planners

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Multiplex Graph Representation Learning with Homophily and Consistency

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