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Deep Reinforcement Learning (DRL) has the potential to be used for synthesizing feedback controllers (agents) for various complex systems with unknown dynamics. These systems are expected to satisfy diverse safety and liveness properties best captured using temporal logic. In RL, the reward function plays a crucial role in specifying the desired behaviour of these agents. However, the problem of designing the reward function for an RL agent to satisfy complex temporal logic specifications has received limited attention in the literature. To address this, we provide a systematic way of generating rewards in real-time by using the quantitative semantics of Signal Temporal Logic (STL), a widely used temporal logic to specify the behaviour of cyber-physical systems. We propose a new quantitative semantics for STL having several desirable properties, making it suitable for reward generation. We evaluate our STL-based reinforcement learning mechanism on several complex continuous control benchmarks and compare our STL semantics with those available in the literature in terms of their efficacy in synthesizing the controller agent. Experimental results establish our new semantics to be the most suitable for synthesizing feedback controllers for complex continuous dynamical systems through reinforcement learning.

AAAI 2023

STL-Based Synthesis of Feedback Controllers Using Reinforcement Learning

control

safety

reinforcement learning

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. 
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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.

poster

Contrastive self-supervised learning (CSL) has managed to match or surpass the performance of supervised learning in image and video classification. However, it is still largely unknown if the nature of the representations induced by the two learning paradigms is similar. We investigate this under the lens of adversarial robustness. Our analysis of the problem reveals that CSL has intrinsically higher sensitivity to perturbations over supervised learning. We identify the uniform distribution of data representation over a unit hypersphere in the CSL representation space as the key contributor to this phenomenon. We establish that this is a result of the presence of false negative pairs in the training process, which increases model sensitivity to input perturbations. Our finding is supported by extensive experiments for image and video classification using adversarial perturbations and other input corruptions. We devise a strategy to detect and remove false negative pairs that is simple, yet effective in improving model robustness with CSL training. We close up to 68% of the robustness gap between CSL and its supervised counterpart. Finally, we contribute to adversarial learning by incorporating our method in CSL. We demonstrate an average gain of about 5% over two different state-of-the-art methods in this domain. 

Contrastive Self-Supervised Learning Leads to Higher Adversarial Susceptibility

Methods which utilize the outputs or feature representations of predictive models have emerged as promising approaches for out-of-distribution (OOD) detection of image inputs. However, as demonstrated in previous work, these methods struggle to detect OOD inputs that share nuisance values (e.g. background) with in-distribution inputs. The detection of shared-nuisance OOD (SN-OOD) inputs is particularly relevant in real-world applications, as anomalies and in-distribution inputs tend to be captured in the same settings during deployment. In this work, we provide a possible explanation for these failures and propose \textit{nuisance-aware} OOD detection to address them. Nuisance-aware OOD detection substitutes a classifier trained via Empirical Risk Minimization (ERM) with one that 1. approximates a distribution where the nuisance-label relationship is broken and 2. yields representations that are independent of the nuisance under this distribution, both marginally and conditioned on the label. We can train a classifier to achieve these objectives using Nuisance-Randomized Distillation (NuRD), an algorithm developed for OOD generalization under spurious correlations. Output- and feature-based nuisance-aware OOD detection perform substantially better than their original counterparts, succeeding even when detection based on domain generalization algorithms fails to improve performance.

Robustness to Spurious Correlations Improves Semantic Out-of-Distribution Detection

Deep Neural Networks (DNN) have been shown to be vulnerable to adversarial examples. Adversarial training (AT) is a popular and effective strategy to defend against adversarial attacks. Recent works (Benz et al., 2020; Xu et al., 2021; Tian et al., 2021) have shown that a robust model well-trained by AT exhibits a remarkable robustness disparity among classes, and propose various methods to obtain consistent robust accuracy across classes. Unfortunately, these methods sacrifice a good deal of the average robust accuracy. Accordingly, this paper proposes a novel framework of worst-class adversarial training and leverages no-regret dynamics to solve this problem. Our goal is to obtain a classifier with great performance on worst-class and sacrifice just a little average robust accuracy at the same time. We then rigorously analyze the theoretical properties of our proposed algorithm, and the generalization error bound in terms of the worst-class robust risk. Furthermore, we propose a measurement to evaluate the proposed method in terms of both the average and worst-class accuracies. Experiments on various datasets and networks show that our proposed method outperforms the state-of-the-art approaches.

WAT: Improve the Worst-class Robustness in Adversarial Training

Monitoring machine learning models once they are deployed
is challenging. It is even more challenging to decide when
to retrain models in real-case scenarios when labeled data is
beyond reach, and monitoring performance metrics becomes
unfeasible. In this work, we use non-parametric bootstrapped
uncertainty estimates and SHAP values to provide explainable
uncertainty estimation as a technique that aims to monitor
the deterioration of machine learning models in deployment
environments, as well as determine the source of model deteri-
oration when target labels are not available. Classical methods
are purely aimed at detecting distribution shift, which can
lead to false positives in the sense that the model has not de-
teriorated despite a shift in the data distribution. To estimate
model uncertainty we construct prediction intervals using a
novel bootstrap method, which improves upon the work of
Kumar and Srivastava (2012). We show that both our model
deterioration detection system as well as our uncertainty es-
timation method achieve better performance than the current
state-of-the-art. Finally, we use explainable AI techniques to
gain an understanding of the drivers of model deterioration.
We release an open source Python package, doubt, which
implements our proposed methods, as well as the code used to
reproduce our experiments.

Monitoring Model Deterioration with Explainable Uncertainty Estimation via Non-parametric Bootstrap

Skeleton-based action recognition attracts practitioners and researchers due to the lightweight, compact nature of datasets. Compared with RGB-video-based action recognition, skeleton-based action recognition is a safer way to protect the privacy of subjects while having competitive recognition performance. However, due to improvements in skeleton recognition algorithms as well as motion and depth sensors, more details of motion characteristics can be preserved in the skeleton dataset, leading to potential privacy leakage. We first train classifiers to categorize private information from skeleton trajectories to investigate the potential privacy leakage from skeleton datasets. Our preliminary experiments show that the gender classifier achieves 87% accuracy on average, and the re-identification classifier achieves 80% accuracy on average with three baseline models: Shift-GCN, MS-G3D, and 2s-AGCN. We propose an anonymization framework based on adversarial learning to protect potential privacy leakage from the skeleton dataset. Experimental results show that an anonymized dataset can reduce the risk of privacy leakage while having marginal effects on action recognition performance even with simple anonymizer architectures. The code used in our experiments is available at https://github.com/ml-postech/Skeleton-anonymization/

Anonymization for Skeleton Action Recognition

We present a new algorithm to train a robust malware detector. Malware is a prolific problem and malware detectors are a front-line defense. Modern detectors rely on machine learning algorithms. Now, the adversarial objective is to devise alterations to the malware code to decrease the chance of being detected whilst preserving the functionality and realism of the malware. Adversarial learning is effective in improving robustness but generating functional and realistic adversarial malware samples is non-trivial. Because: i) in contrast to tasks capable of using gradient-based feedback, adversarial learning in a domain without a differentiable mapping function from the problem space (malware code inputs) to the feature space is hard; and ii) it is difficult to ensure the adversarial malware is realistic and functional. 
This presents a challenge for developing scalable adversarial machine learning algorithms for large datasets at a production or commercial scale to realize robust malware detectors. We propose an alternative; perform adversarial learning in the feature space in contrast to the problem space. We prove the projection of perturbed, yet valid malware, in the problem space into feature space will always be a subset of adversarials generated in the feature space. Hence, by generating a robust network against feature-space adversarial examples, we inherently achieve robustness against problem-space adversarial examples. We formulate a Bayesian adversarial learning objective that captures the distribution of models for improved robustness. 
To explain the robustness of the Bayesian adversarial learning algorithm, we prove that our learning method bounds the difference between the adversarial risk and empirical risk and improves robustness. We show that Bayesian neural networks (BNNs) achieve state-of-the-art results; especially in the False Positive Rate (FPR) regime. Adversarially trained BNNs achieve state-of-the-art robustness. Notably, adversarially trained BNNs are robust against stronger attacks with larger attack budgets by a margin of up to 15% on a recent production-scale malware dataset of more than 20~million samples. Importantly, our efforts create a benchmark for future defenses in the malware domain.

Feature-Space Bayesian Adversarial Learning Improved Malware Detector Robustness

It is now well known that neural networks can be wrong with high confidence in their predictions, leading to poor calibration. The most common post-hoc approach to compensate for this is to perform temperature scaling, which adjusts the confidences of the predictions on any input by scaling the logits by a fixed value. Whilst this approach typically improves the average calibration across the whole test dataset, this improvement typically reduces the individual confidences of the predictions irrespective of whether the classification of a given input is correct or incorrect. With this insight, we base our method on the observation that different samples contribute to the calibration error by varying amounts, with some needing to increase their confidence and others needing to decrease it. Therefore, for each input, we propose to predict a different temperature value, allowing us to adjust the mismatch between confidence and accuracy at a finer granularity. Furthermore, we observe improved results on OOD detection and can also extract a notion of hardness for the data-points. Our method is applied post-hoc, consequently using very little computation time and with a negligible memory footprint and is applied to off-the-shelf pre-trained classifiers. We test our method on the ResNet50 and WideResNet28-10 architectures using the CIFAR10/100 and Tiny-ImageNet datasets, showing that producing per-data-point temperatures is beneficial also for the expected calibration error across the whole test set. Code is available at: this https URL.

Sample-dependent Adaptive Temperature Scaling for Improved Calibration

We consider partially observable Markov decision processes (POMDPs) modeling an agent that needs a supply of a certain resource (e.g. electricity stored in batteries) to operate safely. The resource is consumed by agent's action and can be replenished only in certain states. The agent aims to minimize the expected cost of reaching some goal while preventing resource exhaustion, a problem we call resource-safe goal optimization (RSGO). We take a two-step approach to the RSGO problem. First, using formal methods techniques, we design an algorithm computing a shield for a given scenario: a procedure that observes the agent and prevents it from using unsafe actions that might eventually lead to resource exhaustion. Second, we augment the POMCP heuristic search algorithm for POMDP planning with our shields to obtain an algorithm solving the RSGO problem. We implement our algorithm and present experiments showing its applicability to benchmarks from the literature.

Shielding in Resource-Constrained Goal POMDPs

Real-world graphs like social networks are often evolutionary over time, whose observations at different timestamps lead to graph sequences. 
Modeling such evolutionary graphs is important for many applications, but solving this problem often requires the correspondence between the graphs at different timestamps, which may leak private node information, e.g., the temporal behavior patterns of the nodes.  
We proposed a Gromov-Wasserstein Autoregressive (GWAR) model to capture the generative mechanisms of evolutionary graphs, which does not require the correspondence information and thus preserves the privacy of the graphs' nodes. 
This model consists of two autoregressions, predicting the number of nodes and the probabilities of nodes and edges, respectively. 
The model takes observed graphs as its input and predicts future graphs via solving a joint graph alignment and merging task.
This task leads to a fused Gromov-Wasserstein (FGW) barycenter problem, in which we approximate the alignment of the graphs based on a novel inductive fused Gromov-Wasserstein (IFGW) distance. 
The IFGW distance is parameterized by neural networks and can be learned under mild assumptions, and thus, we can infer the FGW barycenters without iterative optimization and predict future graphs efficiently.
Experiments show that our GWAR achieves encouraging performance on modeling evolutionary graphs in the privacy-preserving scenarios.

STL-Based Synthesis of Feedback Controllers Using Reinforcement Learning

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Contrastive Self-Supervised Learning Leads to Higher Adversarial Susceptibility

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