United States

We present Q-functionals, an alternative architecture for continuous control deep reinforcement learning. Instead of returning a single value for a state-action pair, our network transforms a state into a function that can be rapidly evaluated in parallel for many actions, allowing us to efficiently choose high-value actions through sampling. This contrasts with the typical architecture of off-policy continuous control, where a policy network is trained for the sole purpose of selecting actions from the Q-function. We represent our action-dependent Q-function as a weighted sum of basis functions (Fourier, Polynomial, etc) over the action space, where the weights are state-dependent and output by the Q-functional network. Fast sampling makes practical a variety of techniques that require Monte-Carlo integration over Q-functions, and enables action-selection strategies besides simple value-maximization. We characterize our framework, describe various implementations of Q-functionals, and demonstrate strong performance on a suite of continuous control tasks.

AAAI 2023

Q-Functionals for Value-Based Continuous Control

entropy-regularized reinforcement learning

value-based continuous control

monte carlo

continuous control

reinforcement learning

[![](https://assets.underline.io/uploads/markdown_image/1/image/21d13e03491d7e9acf6b8c46c7979c25.png)](https://docs.google.com/spreadsheets/d/1SCDDfkQk7es4J6RULKHVx1RzbB0Mutla--Sle5SVfb0/edit?usp=sharing)

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**RoboCup Symposium**

The 24th RoboCup International Symposium will be held in conjunction with RoboCup 2021 in a purely online setting. Scientific papers will be presented reporting innovative, original research with relevance to robotics and artificial intelligence. Within the described scope of topics we also encouraged submissions of high-quality overview articles, papers describing real-world research, and papers reporting theoretical results. In addition to the main track with regular research papers, there will be a special track focused on systems, data, and benchmarks featuring papers describing novel, open-source hardware and software systems, as well as datasets and benchmarks relevant to the community. In addition to research paper presentations, the RoboCup Symposium 2021 includes keynote talks by Dieter Fox, Jean-Paul Laumond, and Stefanie Tellex, and several interactive sessions.

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RoboCup 2021

The 24th RoboCup International Symposium will be held in conjunction with RoboCup 2021 in a purely online setting. Scientific papers will be presented reporting innovative, original research with relevance to robotics and artificial intelligence. Within the described scope of topics we also encouraged submissions of high-quality overview articles, papers describing real-world research, and papers reporting theoretical results. In addition to the main track with regular research papers, there will be a special track focused on systems, data, and benchmarks featuring papers describing novel, open-source hardware and software systems, as well as datasets and benchmarks relevant to the community. In addition to research paper presentations, the RoboCup Symposium 2021 includes keynote talks by Dieter Fox, Jean-Paul Laumond, and Stefanie Tellex, and several interactive sessions.

poster

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-23 is the Thirty-Seventh AAAI Conference on Artificial Intelligence. The theme of this conference is to create collaborative bridges within and beyond AI. Like previous AAAI conferences, AAAI-23 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and two new activities: a Bridge Program and a Lab Program. Many of these activities are tailored to the theme of bridges and all are selected according to the highest standards, with additional programs for students and young researchers. 
AAAI is providing you with a conference planner, which you can use to help organize your itinerary of activities. This includes talks to attend in person, talks to attend remotely, breaks with colleagues and your site seeing activities. To access this conference planner, please go to [https://aaai-2023.takemobi.io](https://aaai-2023.takemobi.io).

In order to access this site, you need to register. If you haven't already, please register [here](https://aaai.org/Conferences/AAAI-23/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.

	This paper proposes AlphaRoute, an AlphaGo inspired algorithm for coordinating large-scale routes, built upon graph attention reinforcement learning and Monte Carlo Tree Search (MCTS). We first partition the road network into regions and model large-scale coordinated route planning as a Markov game, where each partitioned region is treated as a player instead of each driver. Then, AlphaRoute applies a bilevel optimization framework, consisting of several region planners and a global planner, where the region planner coordinates the route choices for vehicles located in the region and generates several strategies, and the global planner evaluates the combination of strategies. 
	AlphaRoute is built on graph  attention network for evaluating each state  and MCTS algorithm for dynamically visiting and simulating the future state for narrowing down the search space. AlphaRoute is capable of 1) bridging user fairness and system efficiency, 2) achieving higher search efficiency by alleviating the curse of dimensionality problems, and 3) making an effective and informed route planning by simulating over the future to capture traffic dynamics. 
	Comprehensive experiments are conducted on two real-world road networks as compared with several baselines to evaluate the performance, and results show that AlphaRoute achieves the lowest travel time, and is efficient and effective for coordinating large-scale routes and alleviating the traffic congestion problem. The code will be publicly available.

AlphaRoute: Large-Scale Coordinated Route Planning via Monte Carlo Tree Search

A core process in human cognition is analogical mapping: the ability to identify a similar relational structure between different situations.
We introduce a novel task, Visual Analogies of Situation Recognition, adapting the classical word-analogy task into the visual domain. Given a triplet of images, the task is to select an image candidate B' that completes the analogy (A to A' is like B to what?). Unlike previous work on visual analogy that focused on simple image transformations, we tackle complex analogies requiring understanding of scenes. 

We leverage situation recognition annotations and the CLIP model to generate a large set of 500k candidate analogies. Crowdsourced  annotations for a sample of the data indicate that humans agree with the dataset label ~80% of the time (chance level 25%). Furthermore, we use human annotations to create a gold-standard dataset of 3,820 validated analogies.
Our experiments demonstrate that state-of-the-art models do well when distractors are chosen randomly (~86%), but  struggle with carefully chosen distractors (~53%, compared to 90% human accuracy). We hope our dataset will encourage the development of new analogy-making models.

VASR: Visual Analogies of Situation Recognition

One approach for interpreting black-box machine learning models is to find a global approximation of the model using simple interpretable functions, which is called a metamodel (a model of the model). Approximating the black-box with
a metamodel can be used to 1) estimate instance-wise feature importance; 2) understand the functional form of the model; 3) analyze feature interactions. In this work, we propose a new method for finding interpretable metamodels. Our approach utilizes Kolmogorov superposition theorem, which expresses multivariate functions as a composition of univariate functions (our primitive parameterized
functions). This composition can be represented in the form of a tree. Inspired by symbolic regression, we use a modified form of genetic programming to search over different tree configurations. Gradient descent (GD) is used to optimize the parameters of a given configuration. Our method is a novel memetic algorithm that uses GD  not only for training numerical constants but also for the training
of building blocks. Using several experiments, we show that our method outperforms recent metamodeling approaches suggested for interpreting black-boxes.

Symbolic Metamodels for Interpreting Black-boxes Using Primitive Functions

Existing learning-based multi-view stereo (MVS) methods rely on the depth range to build the 3D cost volume and may fail when the range is too large or unreliable. To address this problem, we propose a disparity-based MVS method based on the epipolar disparity flow (E-flow), called DispMVS, which infers the depth information from the pixel movement between two views. The core of DispMVS is to construct a 2D cost volume on the image plane along the epipolar line between each pair (between the reference image and several source images) for pixel matching and fuse uncountable depths triangulated from each pair by multi-view geometry to ensure multi-view consistency. To be robust, DispMVS starts from a randomly initialized depth map and iteratively refines the depth map with the help of the coarse-to-fine strategy. Experiments on DTUMVS and Tanks\&Temple datasets show that DispMVS is not sensitive to the depth range and achieves state-of-the-art results with lower GPU memory.

Rethinking Disparity: A depth range free Multi-View Stereo based on Disparity

Self-supervised learning (SSL) techniques have recently been integrated into the few-shot learning (FSL) framework and have shown promising results in improving the few-shot image classification performance. However, existing SSL approaches used in FSL typically seek the supervision signals from the global embedding of every single image. Therefore, during the episodic training of FSL, these methods cannot capture and fully utilize the local visual information in image samples and the data structure information of the whole episode, which are beneficial to FSL. To this end, we propose to augment the few-shot learning objective with a novel self-supervised Episodic Spatial Pretext Task (ESPT). Specifically, for each few-shot episode, we generate its corresponding transformed episode by applying a random geometric transformation to all the images in it. Based on these, our ESPT objective is defined as maximizing the local spatial relationship consistency between the original episode and the transformed one. With this definition, the ESPT-augmented FSL objective promotes learning more transferable feature representations that capture the local spatial features of different images and their inter-relational structural information in each input episode, thus enabling the model to generalize better to new categories with only a few samples. Extensive experiments indicate that our ESPT method achieves new state-of-the-art performance for few-shot image classification on three mainstay benchmark datasets. The source code will be available at: https://github.com/Whut-YiRong/ESPT (Pytorch) and https://gitee.com/Yi-Rong/ESPT (MindSpore).

ESPT: A Self-Supervised Episodic Spatial Pretext Task for Improving Few-Shot Learning

Recommender systems now consume large-scale data and play a significant role in improving user experience. Graph Neural Networks (GNNs) have emerged as one of the most effective recommender system models because they model the rich relational information. The ever-growing volume of data can make training GNNs prohibitively expensive. To address this, previous attempts propose to train the GNN models incrementally as new data blocks arrive. 
Feature and structure knowledge distillation techniques have been explored to allow the GNN model to train in a fast incremental fashion while alleviating the catastrophic forgetting problem. 
However, fully preserving the historical information for all users is sub-optimal since it fails to take into account the dynamics of each user's change of preferences. 
For the users whose interests shift substantially, retaining too much of the old knowledge can overly constrain the model, preventing it from quickly adapting to the users’ novel interests. 
In contrast, for users who have static preferences, model performance can benefit greatly from preserving as much of the user's long-term preferences as possible.
In this work, we propose a novel training strategy that adaptively learns personalized imitation weights for each user to balance the contribution from the recent data and the amount of knowledge to be distilled from previous time periods.
We demonstrate the effectiveness of learning imitation weights via a comparison on five diverse datasets for three state-of-art structure distillation-based recommender systems. The performance shows consistent improvement over competitive incremental learning techniques. We make our code available \url{https://anonymous.4open.science/r/SAIL-PIW-22BD}.

Structure Aware Incremental Learning with Personalized Imitation Weights for Recommender Systems

Fine-Grained Image Classification (FGIC) aims to classify images into specific subordinate classes of a superclass. Due to insufficient training data and confusing data samples, FGIC may produce uncertain classification results that are untrusted for data applications. In fact, FGIC can be viewed as a hierarchical classification process and the multilayer information facilitates to reduce  uncertainty and improve the reliability of FGIC. In this paper, we adopt the evidence theory to measure uncertainty and confidence in hierarchical classification process and propose a trusted FGIC method through fusing multilayer classification evidence. Comparing with the traditional approaches, the trusted FGIC method not only generates accurate classification results but also reduces the uncertainty of fine-grained classification. Specifically, we construct an evidence extractor at each classification layer to extract multilayer (multi-grained) evidence for image classification. To fuse the extracted multi-grained evidence from coarse to fine, we formulate  evidence fusion with the Dirichlet hyper probability distribution and thereby hierarchically decompose the evidence of coarse-grained classes into fine-grained classes to enhance the classification performances. The ablation experiments validate that the hierarchical evidence fusion can improve the precision and also reduce the uncertainty of fine-grained classification. The comparison with state-of-the-art FGIC methods shows that our proposed method achieves competitive performances.

Trusted Fine-grained Image Classification Through Hierarchical Evidence Fusion

Visual Question Answering (VQA) aims to answer the natural language question about a given image by understanding multimodal content. However, the answer quality of most existing visual-language pre-training (VLP) methods is still limited, mainly due to: \textbf{(1) \emph{Incompatibility.}} Upstream pre-training tasks are generally incompatible with downstream question answering tasks, which makes the knowledge from the language model not well transferable to downstream tasks, and greatly limits their performance in few-shot scenarios; \textbf{(2) \emph{Under-fitting.}} they generally do not integrate human priors to compensate for universal knowledge from language models, so as to fit the challenging VQA problem and generate reliable answers. To address these issues, we propose HybridPrompt, a \emph{cloze-} and \emph{verify-style} hybrid prompt framework with bridging language models and human priors in prompt tuning for VQA.
Specifically, we first modify the input questions into the \emph{cloze-style} prompts to narrow the gap between upstream pre-training tasks and downstream VQA task, which ensures that the universal knowledge in the language model can be better transferred to subsequent human prior-guided prompt tuning. Then, we imitate the cognitive process of human brain to introduce topic and sample related priors to construct a dynamic learnable prompt template for human prior-guided prompt learning. Finally, we add fixed-length learnable free-parameters to further enhance the generalizability and scalability of prompt learning in the VQA model.
Experimental results verify the effectiveness of HybridPrompt, showing that it achieves competitive performance against previous methods on widely-used VQAv2 dataset and obtains new state-of-the-art results. Our code is released at: \url{https://github.com/AnonymousPony/hybrid}.

HybridPrompt: Bridging Language Models and Human Priors in Prompt Tuning for Visual Question Answering

In the submodular ranking (SR) problem, the input consists of a set of submodular functions defined on a ground set of elements. The goal is to order elements for all the functions to have value above a certain threshold as soon on average as possible, assuming we choose one element per time. The problem is flexible enough to capture various applications in machine learning, including decision trees. 

This paper considers the min-max version of SR where multiple instances share the ground set. With the view of each instance being associated with an agent, the min-max problem is to order the common elements to minimize the maximum objective of all agents---thus, finding a fair solution for all agents. We give approximation algorithms for this problem and demonstrate their effectiveness in the application of finding a decision tree for multiple agents. 

Min-Max Submodular Ranking for Multiple Agents

Estimating the causal effects of a spatially-varying intervention on a spatially-varying outcome may be subject to non-local confounding (NLC), a phenomenon that can bias estimates when the treatments and outcomes of a given unit are dictated in part by the covariates of other nearby units. In particular, NLC is a challenge for evaluating the effects of environmental policies and climate events on health-related outcomes such as air pollution exposure. This paper first formalizes NLC using the potential outcomes framework, providing a comparison with the related phenomenon of causal interference. Then, it proposes a broadly applicable framework, termed weather2vec, that uses the theory of balancing scores to learn representations of non-local information into a scalar or vector defined for each observational unit, which is subsequently used to adjust for confounding in conjunction with causal inference methods. The framework is evaluated in a simulation study and two case studies on air pollution where the weather is an (inherently regional) known confounder.

Q-Functionals for Value-Based Continuous Control

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