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Dense Object Nets (DONs) by Florence, Manuelli and Tedrake (2018) introduced dense object descriptors as a novel visual object representation for the robotics community. It is suitable for many applications including object grasping, policy learning, etc. DONs map an RGB image depicting an object into a descriptor space image, which implicitly encodes key features of an object invariant to the relative camera pose. Impressively, the self-supervised training of DONs can be applied to arbitrary objects and can be evaluated and deployed within hours. However, the training approach relies on accurate depth images and faces challenges with small, reflective objects, typical for industrial settings, when using consumer grade depth cameras. In this paper we show that given a 3D model of an object, we can generate its descriptor space image, which allows for supervised training of DONs. We rely on Laplacian Eigenmaps (LE) to embed the 3D model of an object into an optimally generated space. While our approach uses more domain knowledge, it can be efficiently applied even for smaller and reflective objects, as it does not rely on depth information. We compare the training methods on generating 6D grasps for industrial objects and show that our novel supervised training approach improves the pick-and-place performance in industry-relevant tasks.

AAAI 2021

Supervised Training of Dense Object Nets Using Optimal Descriptors for Industrial Robotic Applications

We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

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AAAI 2026

We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

technical paper

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

The formal study of coalition formation in multiagent systems is typically realized using so-called hedonic games, which originate from economic theory. The main focus of this branch of research has been on the existence and the computational complexity of deciding the existence of coalition structures that satisfy various stability criteria. The actual process of forming coalitions based on individual behavior has received little attention. In this paper, we study the convergence of simple dynamics leading to stable partitions in a variety of classes of hedonic games, including anonymous, dichotomous, fractional, and hedonic diversity games. The dynamics we consider is based on individual stability: an agent will join another coalition if she is better off and no member of the welcoming coalition is worse off. We identify conditions for convergence, provide elaborate counterexamples of existence of individually stable partitions, and study the computational complexity of problems related to the coalition formation dynamics. In particular, we settle open problems suggested by Bogomolnaia and Jackson (2002), Brandl, Brandt, and Strobel (2015), and Boehmer and Elkind (2020).

Reaching Individually Stable Coalition Structures in Hedonic Games

Multitask learning has shown promising performance in learning multiple related tasks simultaneously, and variants of model architectures have been proposed, especially for supervised classification problems. One goal of multitask learning is to extract a good representation that sufficiently captures the relevant part of the input about the output for each learning task. To achieve this objective, in this paper we design a multitask learning architecture based on the observation that correlations exist between outputs of some related tasks (e.g. entity recognition and relation extraction tasks), and they reflect the relevant features that need to be extracted from the input. As outputs are unobserved, our proposed model exploits task predictions in lower layers of the neural model, also referred to as early predictions in this work. But we control the injection of early predictions to ensure that we extract good task-specific representations for classification. We refer to this model as a Progressive Multitask learning model with Explicit Interactions (PMEI). Extensive experiments on multiple benchmark datasets produce state-of-the-art results on the joint entity and relation extraction task.

Progressive Multi-Task Learning with Controlled information Flow for Joint Entity and Relation Extraction

Many important problems in AI, among them SAT, #SAT, and probabilistic inference, amount to Sum-of-Products Problems, i.e. evaluating a sum of products of values from some semiring R. While efficiently solvable cases are known, a systematic study of the complexity of this problem is missing. We characterize the latter by NP(R), a novel generalization of NP over semiring R, and link it to well-known complexity classes. While NP(R) is unlikely to be contained in FPSPACE(poly) in general, for a wide range of commutative (resp. in addition idempotent) semirings, there are reductions to #P (resp. NP) and solutions are thus only mildly harder to compute. We finally discuss NP(R)-complete reasoning problems in well-known semiring formalisms, among them Semiring-based Constraint Satisfaction Problems, obtaining new insights into their computational properties.

On the Complexity of Sum-of-Products Problems over Semirings

Unsupervised person re-identification (re-ID) is becoming increasingly popular due to its power in real-world systems such as public security and intelligent transportation systems. However, the person re-ID task is challenged by the problems of data distribution discrepancy across cameras and lack of label information. In this paper, we propose a coarse-to-fine heterogeneous graph alignment (HGA) method to find cross-camera person matches by characterizing the unlabeled data as a heterogeneous graph for each camera. In the coarse-alignment stage, we assign a projection for each camera and utilize an adversarial learning based method to align coarse-grained node groups from different cameras into a shared space, which consequently alleviates the distribution discrepancy between cameras. In the fine-alignment stage, we exploit potential fine-grained node groups in the shared space and introduce conservative alignment loss functions to constrain the graph aligning process, resulting in reliable pseudo labels as learning guidance. The proposed domain adaptation framework not only improves model generalization on target domain, but also facilitates mining and integrating the potential discriminative information across different cameras. Extensive experiments on benchmark datasets demonstrate that the proposed approach outperforms the state-of-the-arts.

Unsupervised Domain Adaptation for Person Re-Identification via Heterogeneous Graph Alignment

Counting and uniform sampling of directed acyclic graphs (DAGs) from a Markov equivalence class are fundamental tasks in graphical causal analysis. In this paper, we show that these tasks can be performed in polynomial time, solving a long-standing open problem in this area. Our algorithms are effective and easily implementable. Experimental results show that the algorithms significantly outperform state-of-the-art methods.

Polynomial-Time Algorithms for Counting and Sampling Markov Equivalent DAGs

Pedestrians with challenging patterns, e.g. small scale or heavy occlusion, appear frequently in practical applications like autonomous driving, which remains tremendous obstacle to higher robustness of detectors. Although plenty of previous works have been dedicated to these problems, properly matching patterns of pedestrian and parameters of detector, i.e., constructing a detector with proper parameter sizes for certain pedestrian patterns of different complexity, has been seldom investigated intensively. Pedestrian instances are usually handled equally with the same amount of parameters, which in our opinion is inadequate for those with more difficult patterns and leads to unsatisfactory performance. Thus, we propose in this paper a novel detection approach via adaptive pattern-parameter matching. The input pedestrian patterns, especially the complex ones, are first disentangled into simpler patterns for detection head by Pattern Disentangling Module (PDM) with various receptive fields. Then, Gating Feature Filtering Module (GFFM) dynamically decides the spatial positions where the patterns are still not simple enough and need further disentanglement by the next-level PDM. Cooperating with these two key components, our approach can adaptively select the best matched parameter size for the input patterns according to their complexity. Moreover, to further explore the relationship between parameter sizes and their performance on the corresponding patterns, two parameter selection policies are designed: 1) extending parameter size to maximum, aiming at more difficult patterns for different occlusion types; 2) specializing parameter size by group division, aiming at complex patterns for scale variations. Extensive experiments on two popular benchmarks, Caltech and CityPersons, show that our proposed method achieves superior performance compared with other state-of-the-art methods on subsets of different scales and occlusion types.

Adaptive Pattern-Parameter Matching for Robust Pedestrian Detection

We focus on the scenario in which an agent can exploit his information advantage to manipulate the outcome of an election. In particular, we study district-based elections with two candidates, in which the winner of the election is the candidate that wins in the majority of the districts. District-based elections are adopted worldwide (e.g., UK and USA) and are a natural extension of widely studied voting mechanisms (e.g., k-voting and plurality voting). We resort to the Bayesian persuasion framework, where the manipulator (sender) strategically discloses information to the voters (receivers) that update their beliefs rationally. We study both private signaling in which the sender can use a private communication channel per receiver and public signaling in which the sender can use a single communication channel for all the receivers. Furthermore, for the first time, we introduce semi-public signaling in which the sender can use a single communication channel per district. We show that there is a sharp distinction between private and (semi-)public signaling. In particular, optimal private signaling schemes can provide an arbitrarily better probability of victory than (semi-)public ones and can be computed efficiently, while optimal (semi-)public signaling schemes cannot be approximated to within any factor in polynomial time unless P=NP. However, we show that reasonable relaxations allow the design of multi-criteria PTASs for optimal (semi-)public signaling schemes. In doing so, we introduce a novel property, namely comparative stability, and we design a bi-criteria PTAS for public signaling in general Bayesian persuasion problems beyond elections when the sender's utility function is state-dependent.

Persuading Voters in District-Based Elections

In this paper, we focus on the problem of unsupervised image-sentence matching. Existing research explores to utilize document-level structural information to sample positive and negative instances for model training. Although the approach achieves positive results, it introduces a sampling bias and fails to distinguish instances with high semantic similarity. To alleviate the bias, we propose a new sampling strategy to select additional intra-document image-sentence pairs as positive or negative samples. Furthermore, to recognize the complex pattern in intra-document samples, we propose a Transformer based model to capture fine-grained features and implicitly construct a graph for each document, where concepts in a document are introduced to bridge the representation learning of images and sentences in the context of a document. Experimental results show the effectiveness of our approach to alleviate the bias and learn well-aligned multimodal representations.

An Unsupervised Sampling Approach for Image-Sentence Matching Using Document-Level Structural information

Predicting extreme weather events such as tropical and extratropical cyclones
is of vital scientific and societal importance. Of late, machine learning methods have found their way to weather analysis and prediction, but mostly, these methods use machine learning merely as a complement to traditional numerical  weather  prediction models. Although some pure machine learning and data-driven approaches for weather prediction have been developed, they mainly formulate the problem similar to pattern recognition or follow the train of thought of traditional time-series models for extreme weather event forecasting; for the former, this usually yields only single-step ahead prediction, and for the latter, this lacks the flexibility to account for observed weather features as such methods concern only the patterns of the extreme weather occurrences. In this paper, we depart from the typical practice of pattern recognition and time-series approaches and focus on employing machine learning to estimate the probabilities of extreme weather occurrences in a multi-step-ahead (MSA) fashion given information on both weather features and the realized occurrences of extreme weather. Specifically, we propose a Markov conditional forward (MCF) model that adopts the Markov property between the occurrences of extreme weather  for MSA extreme weather forecasting. Moreover, for better long-term prediction, we propose three novel cube perturbation methods to address error accumulation in our model. Experimental results on a real-world extreme weather dataset show the superiority of the proposed MCF model in terms of prediction accuracy for both short-term and long-term forecasting; moreover, the three cube perturbation methods successfully increase the fault tolerance and generalization ability of the MCF model, yielding significant improvements for long-term prediction.

A Multi-Step-Ahead Markov Conditional Forward Model with Cube Perturbations for Extreme Weather Forecasting

It is important for task-oriented dialogue systems to discover the dialogue structure (i.e. the general dialogue flow) from dialogue corpora automatically. Previous work models dialogue structure by extracting latent states for each utterance first and then calculating the transition probabilities among states. These two-stage methods ignore the contextual information when calculating the probabilities, which makes the transitions between the states ambiguous. This paper proposes a conversational graph (CG) to represent deterministic dialogue structure where nodes and edges represent the utterance and context information respectively. An unsupervised Edge-Enhanced Graph Auto-Encoder (EGAE) architecture is designed to model local-contextual and global-structural information for conversational graph learning. Furthermore, a self-supervised objective is introduced with the response selection task to guide the unsupervised learning of the dialogue structure. Experimental results on several public datasets demonstrate that the novel model outperforms several alternatives in aggregating utterances with similar semantics. The effectiveness of the learned dialogue structured is also verified by more than 5\% joint accuracy improvement in the downstream task of low resource dialogue state tracking.

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Reaching Individually Stable Coalition Structures in Hedonic Games

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Reaching Individually Stable Coalition Structures in Hedonic Games

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Object-Centric Data Synthesis for Category-level Object Detection (Student Abstract)

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