Canada

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for collecting expert datasets. Therefore, these methods may fail to work when there are slight differences between the learning and expert environments, especially for challenging problems with high-dimensional image observations. However, in real-world scenarios, it is rare to have the chance to collect expert trajectories precisely in the target learning environment. To address this challenge, we propose a novel robust imitation learning approach, where we develop an inverse dynamics state representation learning objective to align the expert environment and the learning environment. With the abstract state representation, we design an effective reward function, which thoroughly measures the similarity between behavior data and expert data not only element-wise, but also from the trajectory level. We conduct extensive experiments to evaluate the proposed approach under various visual perturbations and in diverse visual control tasks. Our approach can achieve a near-expert performance in most environments, and significantly outperforms the state-of-the-art visual IL methods and robust IL methods.

AAAI 2024

Robust Visual Imitation Learning with Inverse Dynamics Representations

imitation learning

representation learning

robustness

technical paper

We are pleased to announce the Thirty-Eighth AAAI Conference on Artificial Intelligence (AAAI-24), which will be held in Vancouver, British Columbia at the Vancouver Convention Centre – West Building from 20-27 February, 2024.

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-24 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.

We expect for AAAI-24 to be an in-person conference – one author of all accepted papers will be expected to present work in person unless there are exceptional circumstances that prevent this.<br><br><br><br>

In order to access the AAAI-24 event page you need to register [here](https://aaai.org/aaai-conference/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. 

In recent years, knowledge graph completion (KGC) models based on pre-trained language model (PLM) have shown promising results. However, the large number of parameters and high computational cost of PLM models pose challenges for their application in downstream tasks. This paper proposes a progressive distillation method based on masked generation features for KGC task, aiming to significantly reduce the complexity of pre-trained models. Specifically, we perform pre-distillation on PLM to obtain high-quality teacher models, and compress the PLM network to obtain multi-grade student models. However, traditional feature distillation suffers from the limitation of having a single representation of information in teacher models. To solve this problem, we propose masked generation of teacher-student features, which contain richer representation information. Furthermore, there is a significant gap in representation ability between teacher and student. Therefore, we design a progressive distillation method to distill student models at each grade level, enabling efficient knowledge transfer from teachers to students. The experimental results demonstrate that the model in the pre-distillation stage surpasses the existing state-of-the-art methods. Furthermore, in the progressive distillation stage, the model significantly reduces the model parameters while maintaining a certain level of performance. Specifically, the model parameters of the lower-grade student model are reduced by 56.7\% compared to the baseline.

Progressive Distillation Based on Masked Generation Feature Method for Knowledge Graph Completion

We present REGLO, a novel methodology for repairing pretrained neural networks to satisfy global robustness and individual fairness properties. A neural network is said to be globally robust with respect to a given input region if and only if all the input points in the region are locally robust. This notion of global robustness also captures the notion of individual fairness as a special case. We prove that any counterexample to a global robustness property must exhibit a corresponding large gradient. For ReLU networks, this result allows us to efficiently identify the linear regions that violate a given global robustness property. By formulating and solving a suitable robust convex optimization problem, REGLO then computes a minimal weight change that will provably repair these violating linear regions. Experimental results demonstrate that REGLO can significantly improve global robustness and individual fairness while maintaining performance across a wide variety of benchmarks.

REGLO: Provable Neural Network Repair for Global Robustness Properties

Diffusion-based generative models have recently exhibited powerful generative performance. However, as many attributes exist in the data distribution and owing to several limitations of sharing the model parameters across all levels of the generation process, it remains challenging to control specific styles for each attribute. To address the above problem, we introduce decoupled denoising diffusion models (DDDMs) with disentangled representations, which can enable effective style transfers for each attribute in generative models. In particular, we apply DDDMs for voice conversion (VC) tasks, tackling the intricate challenge of disentangling and individually transferring each speech attributes such as linguistic information, intonation, and timbre. First, we use a self-supervised representation to disentangle the speech representation. Subsequently, the DDDMs are applied to resynthesize the speech from the disentangled representations for style transfer with respect to each attribute. Moreover, we also propose the prior mixup for robust voice style transfer, which uses the converted representation of the mixed style as a prior distribution for the diffusion models. The experimental results reveal that our method outperforms publicly available VC models. Furthermore, we show that our method provides robust generative performance even when using a smaller model size. Audio samples are available at \url{https://hayeong0.github.io/DDDM-VC-demo/}.

DDDM-VC: Decoupled Denoising Diffusion Models with Disentangled Representation and Prior Mixup for Verified Robust Voice Conversion

In the setting of conference peer review, the conference aims to accept high-quality papers and reject low-quality papers based on noisy review scores. A recent work proposes the isotonic mechanism, which can elicit the ranking of paper qualities from an author with multiple submissions to help improve the conference's decisions. However, the isotonic mechanism relies on the assumption that the author's utility is both an increasing and a convex function with respect to the review score, which is often violated in realistic settings (e.g.~when authors aim to maximize the number of accepted papers). In this paper, we propose a sequential review mechanism that can truthfully elicit the ranking information from authors while only assuming the agent's utility is increasing with respect to the true quality of her accepted papers. The key idea is to review the papers of an author in a sequence based on the provided ranking and conditioning the review of the next paper on the review scores of the previous papers. Advantages of the sequential review mechanism include: 1) eliciting truthful ranking information in a more realistic setting than prior work; 2) reducing the reviewing workload and increasing the average quality of papers being reviewed; 3) incentivizing authors to write fewer papers of higher quality.

Eliciting Honest Information from Authors Using Sequential Review

Learning Nash equilibrium (NE) in complex zero-sum games with multi-agent reinforcement learning (MARL) can be extremely computationally expensive. Curriculum learning is an effective way to accelerate learning, but an under-explored dimension for generating a curriculum is the difficulty-to-learn of the subgames –games induced by starting from a specific state. In this work, we present a novel subgame curriculum learning framework for zero-sum games. It adopts an adaptive initial state distribution by resetting agents to some previously visited states where they can quickly learn to improve performance. Building upon this framework, we derive a subgame selection metric that approximates the squared distance to NE values and further adopt a particle-based state sampler for subgame generation. Integrating these techniques leads to our new algorithm, Subgame Automatic Curriculum Learning (SACL), which is a realization of the subgame curriculum learning framework. SACL can be combined with any MARL algorithm such as MAPPO. Experiments in the particle-world environment and Google Research Football environment show SACL produces much stronger policies than baselines. In the challenging hide-and-seek quadrant environment, SACL produces all four emergent stages and uses only half the samples of MAPPO with self-play. The project website is at https://sites.google.com/view/sacl-neurips.

Accelerate Multi-Agent Reinforcement Learning in Zero-Sum Games with Subgame Curriculum Learning

The large action space is one fundamental obstacle to deploying Reinforcement Learning methods in the real world. The numerous redundant actions will cause the agents to make repeated or invalid attempts, even leading to task failure. Although current algorithms conduct some initial explorations for this issue, they either suffer from rule-based systems or depend on expert demonstrations, which significantly limits their applicability in many real-world settings. In this work, we examine the theoretical analysis of what action can be eliminated in policy optimization and propose a novel redundant action filtering mechanism. Unlike other works, our method constructs the similarity factor by estimating the distance between the state distributions, which requires no prior knowledge. In addition, we combine the modified inverse model to avoid extensive computation in high-dimensional state space. We reveal the underlying structure of action spaces and propose a simple yet efficient redundant action filtering mechanism named No Prior Mask (NPM) based on the above techniques. We show the superior performance of our method by conducting extensive experiments on high-dimensional, pixel-input, and stochastic problems with various action redundancy tasks. Our code is public online at https://github.com/zhongdy15/npm.

No Prior Mask: Eliminate Redundant Action for Deep Reinforcement Learning

We study the distributed gradient aggregation problem where individual clients contribute to learning a central model by sharing parameter gradients constructed from local losses. However, errors in some gradients, caused by low-quality data or adversaries, can degrade the learning process when naively combined. Existing robust gradient aggregation approaches assume that local data represent the global data-generating distribution, which may not always apply to heterogeneous (non-i.i.d.) client data. We propose a new algorithm that can robustly aggregate gradients from potentially heterogeneous clients. Our approach leverages the manifold structure inherent in heterogeneous client gradients and evaluates gradient anomaly degrees by projecting them onto this manifold. This algorithm is implemented as a simple and efficient method that accumulates random projections within the subspace defined by the nearest neighbors within a gradient cloud. Our experiments demonstrate consistent performance improvements over state-of-the-art robust aggregation algorithms.

Robust Distributed Gradient Aggregation Using Projections onto Gradient Manifolds | VIDEO

Reinforcement learning (RL) is broadly employed in human-involved systems to enhance human outcomes. Off-policy evaluation (OPE) has been pivotal for RL in those realms since online policy learning and evaluation can be high-stake. Intelligent tutoring has raised tremendous attentions as highly challenging when applying OPE to human-involved systems, due to that students' subgroups can favor different pedagogical policies and the costly procedure that policies have to be induced fully offline and then directly deployed to the upcoming semester. In this work, we formulate on-demand pedagogical policy selection (ODPS) to tackle the challenges for OPE in intelligent tutoring. We propose a pipeline, EduPlanner, as a concrete solution for ODPS. Our pipeline results in an theoretically unbiased estimator, and enables efficient and customized policy selection by identifying subgroups over both historical data and on-arrival initial logs. We evaluate our approach on the Probability ITS that has been used in real classrooms for over eight years. Our study shows significant improvement on learning outcomes of students with EduPlanner, especially for the ones associated with low-performing subgroups.

Get a Head Start: On-Demand Pedagogical Policy Selection in Intelligent Tutoring

Inferring a diffusion equation from discretely observed measurements is a statistical challenge of significant importance in a variety of fields, from single-molecule tracking in biophysical systems to modeling financial instruments.
Assuming that the underlying dynamical process obeys a d-dimensional stochastic differential equation of the form dx_t = b(x_t)dt + \Sigma(x_t)dw_t, we propose neural network-based estimators of both the drift b and the spatially-inhomogeneous diffusion tensor D = \Sigma\Sigma^T/2 and provide statistical convergence guarantees when b and D are s-Hölder continuous. 
Notably, our bound aligns with the minimax optimal rate N^{-\frac{2s}{2s+d}} for nonparametric function estimation even in the presence of correlation within observational data, which necessitates careful handling when establishing fast-rate generalization bounds.
Our theoretical results are bolstered by numerical experiments demonstrating accurate inference of spatially-inhomogeneous diffusion tensors.

Statistical Spatially Inhomogeneous Diffusion Inference

Understanding generalization in deep neural networks is an active area of research. A promising avenue of exploration has been that of margin measurements: the shortest distance to the decision boundary for a given sample or its representation internal to the network. While margins have been shown to be correlated with the generalization ability of a model when measured at its hidden representations (hidden margins), no such link between large margins and generalization has been established for input margins. We show that while input margins are not generally predictive of generalization, they can be if the search space is appropriately constrained.
We develop such a measure based on input margins, which we refer to as 'constrained margins'. The predictive power of this new measure is demonstrated on the 'Predicting Generalization in Deep Learning' (PGDL) dataset and contrasted with hidden representation margins. We find that constrained margins achieve highly competitive scores and outperform other margin measurements in general. This provides a novel insight on the relationship between generalization and classification margins, and highlights the importance of considering the data manifold for investigations of generalization in DNNs.

Robust Visual Imitation Learning with Inverse Dynamics Representations

Downloads

Next from AAAI 2024

Progressive Distillation Based on Masked Generation Feature Method for Knowledge Graph Completion

Stay up to date with the latest Underline news!

PRESENTATIONS

CONFERENCES

COMPANY

RESOURCES

Robust Visual Imitation Learning with Inverse Dynamics Representations

.css-70qvj9{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;}Downloads

Next from AAAI 2024

Progressive Distillation Based on Masked Generation Feature Method for Knowledge Graph Completion

Stay up to date with the latest Underline news!

PRESENTATIONS

CONFERENCES

COMPANY

RESOURCES

Downloads