The challenges inherent to long-horizon tasks in robotics persist due to the typical inefficient exploration and sparse rewards in traditional reinforcement learning approaches. To alleviate these challenges, we introduce a novel algorithm, Variational Autoencoder-based Subgoal Inference (VAESI), to accomplish long-horizon tasks through a divide-and-conquer manner. VAESI consists of three components: a Variational Autoencoder (VAE)-based Subgoal Generator, a Hindsight Sampler, and a Value Selector. The VAE-based Subgoal Generator draws inspiration from the human capacity to infer subgoals and reason about the final goal in the context of these subgoals. It is composed of an explicit encoder model, engineered to generate subgoals, and an implicit decoder model, designed to enhance the quality of the generated subgoals by predicting the final goal. Additionally, the Hindsight Sampler selects valid subgoals from an offline dataset to enhance the feasibility of the generated subgoals. The Value Selector utilizes the value function in reinforcement learning to filter the optimal subgoals from subgoal candidates. To validate our method, we conduct several long-horizon tasks in both simulation and the real world, including one locomotion task and three manipulation tasks. The obtained quantitative and qualitative data indicate that our approach achieves promising performance compared to other baseline methods. These experimental results can be seen in the website \url{https://sites.google.com/view/vaesi/home}.

Discrimination can occur when the underlying unbiased labels are overwritten by an agent with potential bias, resulting in biased datasets that unfairly harm specific groups and cause classifiers to inherit these biases. In this paper, we demonstrate that despite only having access to the biased labels, it is possible to eliminate bias by filtering the fairest instances within the framework of confident learning. In the context of confident learning, low self-confidence usually indicates potential label errors; however, this is not always the case. Instances, particularly those from underrepresented groups, might exhibit low confidence scores for reasons other than labeling errors. To address this limitation, our approach employs truncation of the confidence score and extends the confidence interval of the probabilistic threshold. Additionally, we incorporate with co-teaching paradigm for providing a more robust and reliable selection of fair instances and effectively mitigating the adverse effects of biased labels. Through extensive experimentation and evaluation of various datasets, we demonstrate the efficacy of our approach in promoting fairness and reducing the impact of label bias in machine learning models.

Deep learning technology has developed unprecedentedly in the last decade and has become the primary choice in many application domains. This progress is mainly attributed to a systematic collaboration in which rapidly growing computing resources encourage advanced algorithms to deal with massive data. However, it has gradually become challenging to handle the unlimited growth of data with limited computing power. To this end, diverse approaches are proposed to improve data processing efficiency. Dataset distillation, a dataset reduction method, addresses this problem by synthesizing a small typical dataset from substantial data and has attracted much attention from the deep learning community. Existing dataset distillation methods can be taxonomized into meta-learning and data matching frameworks according to whether they explicitly mimic the performance of target data. Although dataset distillation has shown surprising performance in compressing datasets, there are still several limitations such as distilling high-resolution data or data with complex label spaces. This paper provides a holistic understanding of dataset distillation from multiple aspects, including distillation frameworks and algorithms, factorized dataset distillation, performance comparison, and applications. Finally, we discuss challenges and promising directions to further promote future studies on dataset distillation.

This study investigates clustered federated learning (FL), one of the formulations of FL with non-i.i.d. data, where the devices are partitioned into clusters and each cluster optimally fits its data with a localized model. We propose a clustered FL framework that incorporates a nonconvex penalty to pairwise differences of parameters. Without a priori knowledge of the set of devices in each cluster and the number of clusters, this framework can autonomously estimate cluster structures. To implement the proposed framework, we introduce a novel clustered FL method called Fusion Penalized Federated Clustering (FPFC). Building upon the standard alternating direction method of multipliers (ADMM), FPFC can perform partial updates at each communication round and allows parallel computation with variable workload. These strategies significantly reduce the communication cost while ensuring privacy, making it practical for FL. We also propose a new warmup strategy for hyperparameter tuning in FL settings and explore the asynchronous variant of FPFC (asyncFPFC). Theoretical analysis provides convergence guarantees for FPFC with general losses and establishes the statistical convergence rate under a linear model with squared loss. Extensive experiments have demonstrated the superiority of FPFC compared to current methods, including robustness and generalization capability.

Understanding Transformer-based models has attracted significant attention, as they lie at the heart of recent technological advances across machine learning. While most interpretability methods rely on running models over inputs, recent work has shown that a zero-pass approach, where parameters are interpreted directly without a forward/backward pass is feasible for some Transformer parameters, and for two-layer attention networks. In this work, we present a theoretical analysis where all parameters of a trained Transformer are interpreted by projecting them into the embedding space, that is, the space of vocabulary items they operate on. We derive a simple theoretical framework to support our arguments and provide ample evidence for its validity. First, an empirical analysis showing that parameters of both pretrained and fine-tuned models can be interpreted in embedding space. Second, we present two applications of our framework: (a) aligning the parameters of different models that share a vocabulary, and (b) constructing a classifier without training by ``translating'' the parameters of a fine-tuned classifier to parameters of a different model that was only pretrained. Overall, our findings open the door to interpretation methods that, at least in part, abstract away from model specifics and operate in the embedding space only.

User attribute prediction is a crucial task in various industries. However, sharing user data across different organizations faces challenges due to privacy concerns and legal requirements regarding personally identifiable information. Regulations such as the General Data Protection Regulation (GDPR) in the European Union and the Personal Information Protection Law of the People's Republic of China impose restrictions on data sharing. To address the need for utilizing features from multiple clients while adhering to legal requirements, federated learning algorithms have been proposed. These algorithms aim to predict user attributes without directly sharing the data. However, existing approaches typically rely on matching users across companies, which can result in dishonest partners discovering user lists or the inability to utilize all available features. In this paper, we propose a novel algorithm for predicting user attributes without requiring user matching. Our approach involves training deep matrix factorization models on different clients and sharing only the item vectors. This allows us to predict user attributes without sharing the user vectors themselves. The algorithm is evaluated using the publicly available MovieLens dataset and demonstrate that it achieves similar performance to the FedAvg algorithm, reaching 96% of a single model's accuracy. The proposed algorithm is particularly well-suited for improving customer targeting and enhancing the overall customer experience. This paper presents a valuable contribution to the field of user attribute prediction by offering a novel algorithm that addresses some of the most pressing privacy concerns in this area.

Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and lidar) datasets in urban environments. However, such annotated datasets are also needed for natural, unstructured environments to enable semantic perception for applications, including conservation, search and rescue, environment monitoring, and agricultural automation. Therefore, we introduce WildScenes, a bi-modal benchmark dataset consisting of multiple large-scale traversals in natural environments, including semantic annotations in high-resolution 2D images and dense 3D lidar point clouds, and accurate 6-DoF pose information. The data is (1) trajectory-centric with accurate localization and globally aligned point clouds, (2) calibrated and synchronized to support bi-modal inference, and (3) containing different natural environments over 6 months to support research on domain adaptation. Our 3D semantic labels are obtained via an efficient automated process that transfers the human-annotated 2D labels from multiple views into 3D point clouds, thus circumventing the need for expensive and time-consuming human annotation in 3D. We introduce benchmarks on 2D and 3D semantic segmentation and evaluate a variety of recent deep-learning techniques to demonstrate the challenges in semantic segmentation in natural environments. We propose train-val-test splits for standard benchmarks as well as domain adaptation benchmarks and utilize an automated split generation technique to ensure the balance of class label distributions. The data, evaluation scripts and pretrained models will be released upon acceptance at https://csiro-robotics.github.io/WildScenes.

The increasing size of large language models (LLMs) has introduced challenges in their training and inference. Removing model components is perceived as a solution to tackle the large model sizes, however, existing pruning methods solely focus on performance, without considering an essential aspect for the responsible use of LLMs: model fairness. It is crucial to address the fairness of LLMs towards diverse groups, such as women, Black people, LGBTQ+, Jewish communities, among others, as they are being deployed and available to a wide audience. In this work, first, we investigate how attention heads impact fairness and performance in pre-trained transformer-based language models. We then propose a novel method to prune the attention heads that negatively impact fairness while retaining the heads critical for performance, i.e. language modeling capabilities. Our approach is practical in terms of time and resources, as it does not require fine-tuning the final pruned, and fairer, model. Our findings demonstrate a reduction in gender bias by 19%, 19.5%, 39.5%, 34.7%, 23%, and 8% for DistilGPT-2, GPT-2, GPT-Neo of two different sizes, GPT-J, and Llama 2 models, respectively, in comparison to the biased model, with only a slight decrease in performance.

The visual world provides an abundance of information, but many input pixels received by agents often contain distracting stimuli. Autonomous agents need the ability to distinguish useful information from task-irrelevant perceptions, enabling them to generalize to unseen environments with new distractions. Existing works approach this problem using data augmentation or large auxiliary networks with additional loss functions. We introduce MaDi, a novel algorithm that learns to mask distractions by the reward signal only. In MaDi, the conventional actor-critic structure of deep reinforcement learning agents is complemented by a small third sibling, the Masker. This lightweight neural network generates a mask to determine what the actor and critic will receive, such that they can focus on learning the task. The masks are created dynamically, depending on the current input. We run experiments on the DeepMind Control Generalization Benchmark, the Distracting Control Suite, and a real UR5 Robotic Arm. Our algorithm improves the agent's focus with useful masks, while its efficient Masker network only adds 0.2% more parameters to the original structure, in contrast to previous work. MaDi consistently achieves generalization results better than or competitive to state-of-the-art methods.

Multi-hop question answering (MQA) is one of the challenging tasks to evaluate machine's comprehension and reasoning abilities, where large language models (LLMs) have widely achieved the human-comparable performance. Due to the dynamics of knowledge facts in real world, knowledge editing has been explored to update model with the up-to-date facts while avoiding expensive re-training or fine-tuning. Starting from the edited fact, the updated model needs to provide cascading changes in the chain of MQA. The previous art simply adopts a mix-up prompt to instruct LLMs conducting multiple reasoning tasks sequentially, including question decomposition, answer generation, and conflict checking via comparing with edited facts. However, the coupling of these functionally-diverse reasoning tasks inhibits LLMs' advantages in comprehending and answering questions while disturbing them with the unskilled task of conflict checking. We thus propose a framework, Programmable knowledge editing for Multi-hop Question Answering (PokeMQA), to decouple the jobs. Specifically, we prompt LLMs to decompose knowledge-augmented multi-hop question, while interacting with a detached trainable scope detector to modulate LLMs behavior depending on external conflict signal. The experiments on three LLM backbones and two benchmark datasets validate our superiority in knowledge editing of MQA, outperforming all competitors by a large margin in almost all settings and consistently producing reliable reasoning process.