In their work, the context is a function Abstractly, a navigation system: C: X Θ A maps the of the lidar inputs. They use change-point-detection [22] state and parameter space to the action space. The state X to segment human-guided navigation trajectories into a prespecified is represented by the robot sensory inputs and information number of contexts. The robot recognizes its current about the world, such as the cost-map and next way-point. Figure 1: Original and reconstructed cost-maps of a physical experiment. The reconstruction captures the main details of the original cost-map, showing that the learnt latent space in the simulation can be used for the real world. The parameters space Θ is comprised of optimization parameters of the navigation system, robot constrains, etc. The action space A is a velocity vector (e.g., linear and angular Figure 1: A 3D representation of the value function at different velocity).

Orthogonality regularization has been developed to prevent deep CNNs from training instability and feature redundancy. Among existing proposals, kernel orthogonality regularization enforces orthogonality by minimizing the residual between the Gram matrix formed by convolutional filters and the orthogonality matrix. We propose a novel measure for achieving better orthogonality among filters, which disentangles diagonal and correlation information from the residual. The model equipped with the measure under the principle of imposing strict orthogonality between filters surpasses previous regularization methods in near-orthogonality. Moreover, we observe the benefits of improved strict filter orthogonality in relatively shallow models, but as model depth increases, the performance gains in models employing strict kernel orthogonality decrease sharply. Furthermore, based on the observation of the potential conflict between strict kernel orthogonality and growing model capacity, we propose a relaxation theory on kernel orthogonality regularization. The relaxed kernel orthogonality achieves enhanced performance on models with increased capacity, shedding light on the burden of strict kernel orthogonality on deep model performance. We conduct extensive experiments with our kernel orthogonality regularization toolkit on ResNet and WideResNet in CIFAR-10 and CIFAR-100. We observe state-of-the-art gains in model performance from the toolkit, which includes both strict orthogonality and relaxed orthogonality regularization, and obtain more robust models with expressive features. These experiments demonstrate the efficacy of our toolkit and subtly provide insights into the often overlooked challenges posed by strict orthogonality, addressing the burden of strict orthogonality on capacity-rich models.

Learning the kernel parameters for Gaussian processes is often the computational bottleneck in applications such as online learning, Bayesian optimization, or active learning. Amortizing parameter inference over different datasets is a promising approach to dramatically speed up training time. However, existing methods restrict the amortized inference procedure to a fixed kernel structure. The amortization network must be redesigned manually and trained again in case a different kernel is employed, which leads to a large overhead in design time and training time. We propose amortizing kernel parameter inference over a complete kernel-structure-family rather than a fixed kernel structure. We do that via defining an amortization network over pairs of datasets and kernel structures. This enables fast kernel inference for each element in the kernel family without retraining the amortization network. As a by-product, our amortization network is able to do fast ensembling over kernel structures. In our experiments, we show drastically reduced inference time combined with competitive test performance for a large set of kernels and datasets.

Identifying the causal variables of an environment and how to intervene on them is of core value in applications such as robotics and embodied AI. While an agent can commonly interact with the environment and may implicitly perturb the behavior of some of these causal variables, often the targets it affects remain unknown. In this paper, we show that causal variables can still be identified for many common setups, e.g., additive Gaussian noise models, if the agent's interactions with a causal variable can be described by an unknown binary variable. This happens when each causal variable has two different mechanisms, e.g., an observational and an interventional one. Using this identifiability result, we propose BISCUIT, a method for simultaneously learning causal variables and their corresponding binary interaction variables. On three robotic-inspired datasets, BISCUIT accurately identifies causal variables and can even be scaled to complex, realistic environments for embodied AI.

Text-to-image (T2I) diffusion models (DMs) have shown promise in generating high-quality images from textual descriptions. The real-world applications of these models require particular attention to their safety and fidelity, but this has not been sufficiently explored. One fundamental question is whether existing T2I DMs are robust against variations over input texts. To answer it, this work provides the first robustness evaluation of T2I DMs against real-world attacks. Unlike prior studies that focus on malicious attacks involving apocryphal alterations to the input texts, we consider an attack space spanned by realistic errors (e.g., typo, glyph, phonetic) that humans can make, to ensure semantic consistency. Given the inherent randomness of the generation process, we develop novel distribution-based attack objectives to mislead T2I DMs. We perform attacks in a black-box manner without any knowledge of the model. Extensive experiments demonstrate the effectiveness of our method for attacking popular T2I DMs and simultaneously reveal their non-trivial robustness issues. Moreover, we provide an in-depth analysis of our method to show that it is not designed to attack the text encoder in T2I DMs solely.

Humans possess an extraordinary ability to create and utilize tools, allowing them to overcome physical limitations and explore new frontiers. With the advent of foundation models, AI systems have the potential to be equally adept in tool use as humans. This paradigm, i.e., tool learning with foundation models, combines the strengths of specialized tools and foundation models to achieve enhanced accuracy, efficiency, and automation in problem-solving. Despite its immense potential, there is still a lack of a comprehensive understanding of key challenges, opportunities, and future endeavors in this field. To this end, we present a systematic investigation of tool learning in this paper. We first introduce the background of tool learning, including its cognitive origins, the paradigm shift of foundation models, and the complementary roles of tools and models. Then we recapitulate existing tool learning research into tool-augmented and tool-oriented learning. We formulate a general tool learning framework: starting from understanding the user instruction, models should learn to decompose a complex task into several subtasks, dynamically adjust their plan through reasoning, and effectively conquer each sub-task by selecting appropriate tools. We also discuss how to train models for improved tool-use capabilities and facilitate the generalization in tool learning. Considering the lack of a systematic tool learning evaluation in prior works, we experiment with 18 representative tools and show the potential of current foundation models in skillfully utilizing tools. Finally, we discuss several open problems that require further investigation for tool learning. Overall, we hope this paper could inspire future research in integrating tools with foundation models.

The bokeh effect is an artistic technique that blurs out-of-focus areas in a photograph and has gained interest due to recent developments in text-to-image synthesis and the ubiquity of smart-phone cameras and photo-sharing apps. Prior work on rendering bokeh effects have focused on post hoc image manipulation to produce similar blurring effects in existing photographs using classical computer graphics or neural rendering techniques, but have either depth discontinuity artifacts or are restricted to reproducing bokeh effects that are present in the training data. More recent diffusion based models can synthesize images with an artistic style, but either require the generation of high-dimensional masks, expensive fine-tuning, or affect global image characteristics. In this paper, we present GBSD, the first generative text-to-image model that synthesizes photorealistic images with a bokeh style. Motivated by how image synthesis occurs progressively in diffusion models, our approach combines latent diffusion models with a 2-stage conditioning algorithm to render bokeh effects on semantically defined objects. Since we can focus the effect on objects, this semantic bokeh effect is more versatile than classical rendering techniques. We evaluate GBSD both quantitatively and qualitatively and demonstrate its ability to be applied in both text-to-image and image-to-image settings.

Satire detection and sentiment analysis are intensively explored natural language processing (NLP) tasks that study the identification of the satirical tone from texts and extracting sentiments in relationship with their targets. In languages with fewer research resources, an alternative is to produce artificial examples based on character-level adversarial processes to overcome dataset size limitations. Such samples are proven to act as a regularization method, thus improving the robustness of models. In this work, we improve the well-known NLP models (i.e., Convolutional Neural Networks, Long Short-Term Memory (LSTM), Bidirectional LSTM, Gated Recurrent Units (GRUs), and Bidirectional GRUs) with adversarial training and capsule networks. The fine-tuned models are used for satire detection and sentiment analysis tasks in the Romanian language. The proposed framework outperforms the existing methods for the two tasks, achieving up to 99.08% accuracy, thus confirming the improvements added by the capsule layers and the adversarial training in NLP approaches.

Minwise hashing (MinHash) is a standard algorithm widely used in the industry, for large-scale search and learning applications with the binary (0/1) Jaccard similarity. One common use of MinHash is for processing massive n-gram text representations so that practitioners do not have to materialize the original data (which would be prohibitive). Another popular use of MinHash is for building hash tables to enable sub-linear time approximate near neighbor (ANN) search. MinHash has also been used as a tool for building large-scale machine learning systems. The standard implementation of MinHash requires applying $K$ random permutations. In comparison, the method of one permutation hashing (OPH), is an efficient alternative of MinHash which splits the data vectors into $K$ bins and generates hash values within each bin. OPH is substantially more efficient and also more convenient to use. In this paper, we combine the differential privacy (DP) with OPH (as well as MinHash), to propose the DP-OPH framework with three variants: DP-OPH-fix, DP-OPH-re and DP-OPH-rand, depending on which densification strategy is adopted to deal with empty bins in OPH. A detailed roadmap to the algorithm design is presented along with the privacy analysis. An analytical comparison of our proposed DP-OPH methods with the DP minwise hashing (DP-MH) is provided to justify the advantage of DP-OPH. Experiments on similarity search confirm the merits of DP-OPH, and guide the choice of the proper variant in different practical scenarios. Our technique is also extended to bin-wise consistent weighted sampling (BCWS) to develop a new DP algorithm called DP-BCWS for non-binary data. Experiments on classification tasks demonstrate that DP-BCWS is able to achieve excellent utility at around $\epsilon = 5\sim 10$, where $\epsilon$ is the standard parameter in the language of $(\epsilon, \delta)$-DP.

A large number of works aim to alleviate the impact of noise due to an underlying conventional assumption of the negative role of noise. However, some existing works show that the assumption does not always hold. In this paper, we investigate how to benefit the classical models by random noise under the framework of Positive-incentive Noise (Pi-Noise) [1]. Since the ideal objective of Pi-Noise is intractable, we propose to optimize its variational bound instead, namely variational Pi-Noise (VPN). With the variational inference, a VPN generator implemented by neural networks is designed for enhancing base models and simplifying the inference of base models, without changing the architecture of base models. Benefiting from the independent design of base models and VPN generators, the VPN generator can work with most existing models. From the experiments, it is shown that the proposed VPN generator can improve the base models. It is appealing that the trained variational VPN generator prefers to blur the irrelevant ingredients in complicated images, which meets our expectations.