Reinforcement Learning (RL) has the potential to enable robots to learn from their own actions in the real world. Unfortunately, RL can be prohibitively expensive, in terms of on-robot runtime, due to inefficient exploration when learning from a sparse reward signal. Designing dense reward functions is labour-intensive and requires domain expertise. In our work, we propose GCR (Goal-Contrastive Rewards), a dense reward function learning method that can be trained on passive video demonstrations. By using videos without actions, our method is easier to scale, as we can use arbitrary videos. GCR combines two loss functions, an implicit value loss function that models how the reward increases when traversing a successful trajectory, and a goal-contrastive loss that discriminates between successful and failed trajectories. We perform experiments in simulated manipulation environments across RoboMimic and MimicGen tasks, as well as in the real world using a Franka arm and a Spot quadruped. We find that GCR leads to a more-sample efficient RL, enabling model-free RL to solve about twice as many tasks as our baseline reward learning methods. We also demonstrate positive cross-embodiment transfer from videos of people and of other robots performing a task. Appendix: \url{https://tinyurl.com/gcr-appendix-2}.

A generative design based on topology optimization provides diverse alternatives as entities in a computational model with a high design degree. However, as the diversity of the generated alternatives increases, the cognitive burden on designers to select the most appropriate alternatives also increases. Whereas the concept identification approach, which finds various categories of entities, is an effective means to structure alternatives, evaluation of their similarities is challenging due to shape diversity. To address this challenge, this study proposes a concept identification framework for generative design using deep learning (DL) techniques. One of the key abilities of DL is the automatic learning of different representations of a specific task. Deep concept identification finds various categories that provide insights into the mapping relationships between geometric properties and structural performance through representation learning using DL. The proposed framework generates diverse alternatives using a generative design technique, clusters the alternatives into several categories using a DL technique, and arranges these categories for design practice using a classification model. This study demonstrates its fundamental capabilities by implementing variational deep embedding, a generative and clustering model based on the DL paradigm, and logistic regression as a classification model. A simplified design problem of a two-dimensional bridge structure is applied as a case study to validate the proposed framework. Although designers are required to determine the viewing aspect level by setting the number of concepts, this implementation presents the identified concepts and their relationships in the form of a decision tree based on a specified level.

The quest for simplification in physics drives the exploration of concise mathematical representations for complex systems. This Dissertation focuses on the concept of dimensionality reduction as a means to obtain low-dimensional descriptions from high-dimensional data, facilitating comprehension and analysis. We address the challenges posed by real-world data that defy conventional assumptions, such as complex interactions within neural systems or high-dimensional dynamical systems. Leveraging insights from both theoretical physics and machine learning, this work unifies diverse reduction methods under a comprehensive framework, the Deep Variational Multivariate Information Bottleneck. This framework enables the design of tailored reduction algorithms based on specific research questions. We explore and assert the efficacy of simultaneous reduction approaches over their independent reduction counterparts, demonstrating their superiority in capturing covariation between multiple modalities, while requiring less data. We also introduced novel techniques, such as the Deep Variational Symmetric Information Bottleneck, for general nonlinear simultaneous reduction. We show that the same principle of simultaneous reduction is the key to efficient estimation of mutual information. We show that our new method is able to discover the coordinates of high-dimensional observations of dynamical systems. Through analytical investigations and empirical validations, we shed light on the intricacies of dimensionality reduction methods, paving the way for enhanced data analysis across various domains. We underscore the potential of these methodologies to extract meaningful insights from complex datasets, driving advancements in fundamental research and applied sciences. As these methods evolve, they promise to deepen our understanding of complex systems and inform more effective data analysis strategies.

Enabling robots to autonomously navigate unknown, complex, dynamic environments and perform diverse tasks remains a fundamental challenge in developing robust autonomous physical agents. These agents must effectively perceive their surroundings while leveraging world knowledge for decision-making. Although recent approaches utilize vision-language and large language models for scene understanding and planning, they often rely on offline processing, offboard compute, make simplifying assumptions about the environment and perception, limiting real-world applicability. We present a novel framework for real-time onboard autonomous navigation in unknown environments that change over time by integrating multi-level abstraction in both perception and planning pipelines. Our system fuses data from multiple onboard sensors for localization and mapping and integrates it with open-vocabulary semantics to generate hierarchical scene graphs from continuously updated semantic object map. The LLM-based planner uses these graphs to create multi-step plans that guide low-level controllers in executing navigation tasks specified in natural language. The system's real-time operation enables the LLM to adjust its plans based on updates to the scene graph and task execution status, ensuring continuous adaptation to new situations or when the current plan cannot accomplish the task, a key advantage over static or rule-based systems. We demonstrate our system's efficacy on a quadruped navigating dynamic environments, showcasing its adaptability and robustness in diverse scenarios.

Regularization, whether explicit in terms of a penalty in the loss or implicit in the choice of algorithm, is a cornerstone of modern machine learning. Indeed, controlling the complexity of the model class is particularly important when data is scarce, noisy or contaminated, as it translates a statistical belief on the underlying structure of the data. This work investigates the question of how to choose the regularization norm $\lVert \cdot \rVert$ in the context of high-dimensional adversarial training for binary classification. To this end, we first derive an exact asymptotic description of the robust, regularized empirical risk minimizer for various types of adversarial attacks and regularization norms (including non-$\ell_p$ norms). We complement this analysis with a uniform convergence analysis, deriving bounds on the Rademacher Complexity for this class of problems. Leveraging our theoretical results, we quantitatively characterize the relationship between perturbation size and the optimal choice of $\lVert \cdot \rVert$, confirming the intuition that, in the data scarce regime, the type of regularization becomes increasingly important for adversarial training as perturbations grow in size.

The rising need for explainable deep neural network architectures has utilized semantic concepts as explainable units. Several approaches utilizing disentangled representation learning estimate the generative factors and utilize them as concepts for explaining DNNs. However, even though the generative factors for a dataset remain fixed, concepts are not fixed entities and vary based on downstream tasks. In this paper, we propose a disentanglement mechanism utilizing a variational autoencoder (VAE) for learning mutually independent generative factors for a given dataset and subsequently learning task-specific concepts using a structural causal model (SCM). Our method assumes generative factors and concepts to form a bipartite graph, with directed causal edges from generative factors to concepts. Experiments are conducted on datasets with known generative factors: D-sprites and Shapes3D. On specific downstream tasks, our proposed method successfully learns task-specific concepts which are explained well by the causal edges from the generative factors. Lastly, separate from current causal concept discovery methods, our methodology is generalizable to an arbitrary number of concepts and flexible to any downstream tasks.

User behavior modeling -- which aims to extract user interests from behavioral data -- has shown great power in Click-through rate (CTR) prediction, a key component in recommendation systems. Recently, attention-based algorithms have become a promising direction, as attention mechanisms emphasize the relevant interactions from rich behaviors. However, the methods struggle to capture the preferences of tail users with sparse interaction histories. To address the problem, we propose a novel variational inference approach, namely Group Prior Sampler Variational Inference (GPSVI), which introduces group preferences as priors to refine latent user interests for tail users. In GPSVI, the extent of adjustments depends on the estimated uncertainty of individual preference modeling. In addition, We further enhance the expressive power of variational inference by a volume-preserving flow. An appealing property of the GPSVI method is its ability to revert to traditional attention for head users with rich behavioral data while consistently enhancing performance for long-tail users with sparse behaviors. Rigorous analysis and extensive experiments demonstrate that GPSVI consistently improves the performance of tail users. Moreover, online A/B testing on a large-scale real-world recommender system further confirms the effectiveness of our proposed approach.

This study investigates the application of an artificial neural network framework for analysing water pollution caused by solids. Water pollution by suspended solids poses significant environmental and health risks. Traditional methods for assessing and predicting pollution levels are often time-consuming and resource-intensive. To address these challenges, we developed a model that leverages a comprehensive dataset of water quality from total suspended solids. A convolutional neural network was trained under a transfer learning approach using data corresponding to different total suspended solids concentrations, with the goal of accurately predicting low, medium and high pollution levels based on various input variables. Our model demonstrated high predictive accuracy, outperforming conventional statistical methods in terms of both speed and reliability. The results suggest that the artificial neural network framework can serve as an effective tool for real-time monitoring and management of water pollution, facilitating proactive decision-making and policy formulation. This approach not only enhances our understanding of pollution dynamics but also underscores the potential of machine learning techniques in environmental science.

The ability to reason with and integrate different sensory inputs is the foundation underpinning human intelligence and it is the reason for the growing interest in modelling multi-modal information within Knowledge Graphs. Multi-Modal Knowledge Graphs extend traditional Knowledge Graphs by associating an entity with its possible modal representations, including text, images, audio, and videos, all of which are used to convey the semantics of the entity. Despite the increasing attention that Multi-Modal Knowledge Graphs have received, there is a lack of consensus about the definitions and modelling of modalities, whose definition is often determined by application domains. In this paper, we propose a novel ontology design pattern that captures the separation of concerns between an entity (and the information it conveys), whose semantics can have different manifestations across different media, and its realisation in terms of a physical information entity. By introducing this abstract model, we aim to facilitate the harmonisation and integration of different existing multi-modal ontologies which is crucial for many intelligent applications across different domains spanning from medicine to digital humanities.

The diagnosis of diabetic retinopathy, which relies on fundus images, faces challenges in achieving transparency and interpretability when using a global classification approach. However, segmentation-based databases are significantly more expensive to acquire and combining them is often problematic. This paper introduces a novel method, termed adversarial style conversion, to address the lack of standardization in annotation styles across diverse databases. By training a single architecture on combined databases, the model spontaneously modifies its segmentation style depending on the input, demonstrating the ability to convert among different labeling styles. The proposed methodology adds a linear probe to detect dataset origin based on encoder features and employs adversarial attacks to condition the model's segmentation style. Results indicate significant qualitative and quantitative through dataset combination, offering avenues for improved model generalization, uncertainty estimation and continuous interpolation between annotation styles. Our approach enables training a segmentation model with diverse databases while controlling and leveraging annotation styles for improved retinopathy diagnosis.