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Generalized planning accelerates classical planning by finding an algorithm-like policy that solves multiple instances of a task. A generalized plan can be learned from a few training examples and applied to an entire domain of problems. Generalized planning approaches perform well in discrete AI planning problems that involve large numbers of objects and extended action sequences to achieve the goal. In this paper, we propose an algorithm for learning features, abstractions, and generalized plans for continuous robotic task and motion planning (TAMP) and examine the unique difficulties that arise when forced to consider geometric and physical constraints as a part of the generalized plan. Additionally, we show that these simple generalized plans learned from only a handful of examples can be used to improve the search efficiency of TAMP solvers.

AAAI 2022

Discovering State and Action Abstractions for Generalized Task and Motion Planning

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. 

Data poisoning attacks and backdoor attacks aim to corrupt a machine learning classifier via modifying, adding, and/or removing some carefully selected training examples, such that the corrupted classifier makes incorrect predictions as the attacker desires. The key idea of state-of-the-art certified defenses against data poisoning attacks and backdoor attacks is to create a majority vote mechanism to predict the label of a testing example. Moreover, each voter is a base classifier trained on a subset of the training dataset. Classical simple learning algorithms such as k nearest neighbors (kNN) and radius nearest neighbors (rNN) have intrinsic majority vote mechanisms. In this work, we show that the intrinsic majority vote mechanisms in kNN and rNN already provide certified robustness guarantees against data poisoning attacks and backdoor attacks. Moreover, our evaluation results on MNIST and CIFAR10 show that the intrinsic certified robustness guarantees of kNN and rNN outperform those provided by state-of-the-art certified defenses. Our results serve as standard baselines for future certified defenses against data poisoning attacks and backdoor attacks.

Certified Robustness of Nearest Neighbors Against Data Poisoning and Backdoor Attacks

To accumulate knowledge and improve its policy of behaviour, a reinforcement learning agent can learn `off-policy' about policies that differ from the policy used to generate its experience. This is important to learn counterfactuals, or because the experience was generated out of its own control. However, off-policy learning is non-trivial, and standard reinforcement-learning algorithms can be unstable and divergent.

In this paper we discuss a novel family of off-policy prediction algorithms which are convergent by construction. The idea is to first learn on-policy about the data-generating behaviour, and then bootstrap an off-policy value estimate on this on-policy estimate, thereby constructing a value estimate that is partially off-policy. This process can be repeated to build a chain of value functions, each time bootstrapping a new estimate on the previous estimate in the chain. Each step in the chain is stable and hence the complete algorithm is guaranteed to be stable. Under mild conditions this comes arbitrarily close to the off-policy TD solution when we increase the length of the chain. Hence it can compute the solution even in cases where off-policy TD diverges. 

We prove that the proposed scheme is convergent and corresponds to an iterative decomposition of the inverse key matrix. Furthermore it can be interpreted as estimating a novel objective -- that we call a `k-step expedition' -- of following the target policy for finitely many steps before continuing indefinitely with the behaviour policy. Empirically we evaluate the idea on challenging MDPs such as Baird's counter example and observe favourable results.

Chaining Value Functions for Off-Policy Learning

Providing model explanations has gained significant popularity recently. In contrast with the traditional feature-level model explanations, concept-based explanations can provide explanations in the form of high-level human concepts. However, existing concept-based explanation methods implicitly follow a two-step procedure that involves human intervention. Specifically, they first need the human to be involved to define (or extract) the high-level concepts, and then manually compute the importance scores of these identified concepts in a post-hoc way. This laborious process requires significant human effort and resource expenditure due to manual work, which hinders their large-scale deployability. In practice, it is challenging to automatically generate the concept-based explanations without human intervention due to the subjectivity of defining the units of concept-based interpretability. In addition, due to its data-driven nature, the interpretability itself is also potentially susceptible to malicious manipulations. Hence, our goal in this paper is to free human from this tedious process, while ensuring that the generated explanations are provably robust to adversarial perturbations. We propose a novel concept-based interpretation method, which can not only automatically provide the prototype-based concept explanations but also provide certified robustness guarantees for the generated prototype-based explanations. We also conduct extensive experiments on real-world datasets to verify the desirable properties of the proposed method.

Towards Automating Model Explanations with Certified Robustness Guarantees

The hierarchical interaction between the actor and critic in actor-critic based reinforcement learning algorithms naturally lends itself to a game-theoretic interpretation. We adopt this viewpoint and model the actor and critic interaction as a two-player general-sum game with a leader-follower structure known as a Stackelberg game. Given this abstraction, we propose a meta-framework for Stackelberg actor-critic algorithms where the leader player follows the total derivative of its objective instead of the usual individual gradient. From a theoretical standpoint, we develop a policy gradient theorem for the refined update and provide a local convergence guarantee for the Stackelberg actor-critic algorithms to a local Stackelberg equilibrium. From an empirical standpoint, we demonstrate via simple examples that the learning dynamics we study mitigate cycling and accelerate convergence compared to the usual gradient dynamics given cost structures induced by actor-critic formulations. Finally, extensive experiments on OpenAI gym environments show that Stackelberg actor-critic algorithms always perform at least as well and often significantly outperform the standard actor-critic algorithm counterparts.

Stackelberg Actor-Critic: Game-Theoretic Reinforcement Learning Algorithms

We introduce a Recursive INsertion-based Encoder (RINE), a novel approach for semantic parsing in task-oriented dialog. Our model consists of an encoder network that incrementally builds the semantic parse tree by predicting the non-terminal label and its positions in the linearized tree. At the generation time, the model constructs the semantic parse tree by recursively inserting the predicted non-terminal labels at the predicted positions until termination. RINE achieves state-of-the-art exact match accuracy on low- and high-resource versions of the conversational semantic parsing benchmark TOP, outperforming strong sequence-to-sequence models and transition-based parsers. We also show that our model design is applicable to nested named entity recognition task, where it performs on par with state-of-the-art approach designed for that task. Finally, we demonstrate that our approach is 2-3.5 times faster than the sequence-to-sequence model at inference time.

Semantic Parsing in Task-Oriented Dialog with Recursive Insertion-Based Encoder

We introduce a new task of entailment relation aware paraphrase generation which aims at generating a paraphrase conforming to a given entailment relation (e.g. equivalent, forward entailing, or reverse entailing) with respect to a given
input. We propose a reinforcement learning-based weakly-supervised paraphrasing system, ERAP, that can be trained using existing paraphrase and natural language inference (NLI) corpora without an explicit task-specific corpus. A combination of automated and human evaluations show that ERAP generates paraphrases conforming to the specified entailment relation and are of good quality as compared to the baselines and uncontrolled paraphrasing systems. Using ERAP for augmenting training data for downstream textual entailment task improves performance over an uncontrolled paraphrasing system, and introduces fewer training artifacts, indicating the benefit of explicit control during paraphrasing.

Entailment Relation Aware Paraphrase Generation

Poisoning attacks are emerging threats to deep neural networks where the adversaries attempt to compromise the models by injecting malicious data points in the clean training data. Poisoning attacks target either the availability or integrity of a model. The availability attack aims to degrade the overall accuracy while the integrity attack causes misclassification only for specific instances without affecting the accuracy of clean data. Although clean-label integrity attacks are proven to be effective in recent studies, the feasibility of clean-label availability attacks remains unclear. This paper, for the first time, proposes a clean-label approach, CLPA, for the poisoning availability attack. We reveal that due to the intrinsic imperfection of classifiers, naturally misclassified inputs can be considered as a special type of poisoned data, which we refer to as "natural poisoned data''. We then propose a two-phase generative adversarial net (GAN) based poisoned data generation framework along with a triplet loss function for synthesizing clean-label poisoned samples that locate in a similar distribution as natural poisoned data. The generated poisoned data are plausible to human perception and can also bypass the singular vector decomposition (SVD) based defense. We demonstrate the effectiveness of our approach on CIFAR-10 and ImageNet dataset over a variety type of models. Codes are available at: https://github.com/bxz9200/CLPA.

CLPA: Clean-Label Poisoning Availability Attacks Using Generative Adversarial Nets

Graph neural networks (GNNs) have demonstrated great success in representation learning for graph-structured data. The layer-wise graph convolution in GNNs is shown to be powerful at capturing graph topology. During this process, GNNs are usually guided by pre-defined kernels such as Laplacian matrix, adjacency matrix, or their variants. However, the adoptions of pre-defined kernels may restrain the generalities to different graphs: mismatch between graph and kernel would entail sub-optimal performance. For example, GNNs that focus on low-frequency information may not achieve satisfactory performance when high-frequency information is significant for the graphs, and vice versa. To solve this problem, in this paper, we propose a novel framework - i.e., namely Adaptive Kernel Graph Neural Network (AKGNN) - which learns to adapt to the optimal graph kernel in a unified manner at the first attempt. In the proposed AKGNN, we first design a data-driven graph kernel learning mechanism, which adaptively modulates the balance between all-pass and low-pass filters by modifying the maximal eigenvalue of the graph Laplacian. Through this process, AKGNN learns the optimal threshold between high and low frequency signals to relieve the generality problem. Later, we further reduce the number of parameters by a parameterization trick and enhance the expressive power by a global readout function. Extensive experiments are conducted on acknowledged benchmark datasets and promising results demonstrate the outstanding performance of our proposed AKGNN by comparison with state-of-the-art GNNs. The source code is publicly available at: https://github.com/jumxglhf/AKGNN.

Adaptive Kernel Graph Neural Network

DatalogMTL is an extension of Datalog with operators from metric temporal logic which has received significant attention in recent years. It is a highly expressive knowledge representation language that is well-suited for applications in temporal ontology-based query answering and stream processing. Reasoning in DatalogMTL is, however, of high computational complexity, making implementation challenging and hindering its adoption in applications. In this paper, we present a novel approach for practical reasoning in DatalogMTL which combines materialisation (a.k.a. forward chaining) with automata-based techniques. We have implemented this approach in a reasoner called MeTeoR and evaluated its performance using a temporal extension of the Lehigh University Benchmark and a benchmark based on real-world meteorological data. Our experiments show that MeTeoR is a scalable system which enables reasoning over complex temporal rules and datasets involving tens of millions of temporal facts.

MeTeoR: Practical Reasoning in Datalog with Metric Temporal Operators

The paper presents a characterization of logic programs with aggregates based on many-sorted generalization of operator SM that refers neither to grounding nor to fixpoints. This characterization introduces new symbols for aggregate operations and aggregate elements, whose meaning is fixed by adding appropriate axioms to the result of the SM transformation. We prove that for programs without positive recursion through aggregates our semantics coincides with the semantics of the answer set solver Clingo.

Discovering State and Action Abstractions for Generalized Task and Motion Planning

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Certified Robustness of Nearest Neighbors Against Data Poisoning and Backdoor Attacks

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Discovering State and Action Abstractions for Generalized Task and Motion Planning

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Next from AAAI 2022

Certified Robustness of Nearest Neighbors Against Data Poisoning and Backdoor Attacks

Stay up to date with the latest Underline news!

PRESENTATIONS

CONFERENCES

COMPANY

RESOURCES

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