Security has always been a critical issue in machine learning (ML) applications. Due to the high cost of model training -- such as collecting relevant samples, labeling data, and consuming computing power -- model-stealing attack is one of the most fundamental but vitally important issues. When it comes to quantum computing, such a quantum machine learning (QML) model-stealing attack also exists and is even more severe because the traditional encryption method, such as homomorphic encryption can hardly be directly applied to quantum computation. On the other hand, due to the limited quantum computing resources, the monetary cost of training QML model can be even higher than classical ones in the near term. Therefore, a well-tuned QML model developed by a third-party company can be delegated to a quantum cloud provider as a service to be used by ordinary users. In this case, the QML model will likely be leaked if the cloud provider is under attack. To address such a problem, we propose a novel framework, namely QuMoS, to preserve model security. We propose to divide the complete QML model into multiple parts and distribute them to multiple physically isolated quantum cloud providers for execution. As such, even if the adversary in a single provider can obtain a partial model, it does not have sufficient information to retrieve the complete model. Although promising, we observed that an arbitrary model design under distributed settings cannot provide model security. We further developed a reinforcement learning-based security engine, which can automatically optimize the model design under the distributed setting, such that a good trade-off between model performance and security can be made. Experimental results on four datasets show that the model design proposed by QuMoS can achieve competitive performance while providing the highest security than the baselines.

Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the task of constructing a metric-semantic map for the purpose of long-term object-based localization. We exploit 3D object detections from monocular RGB frames for both, the object-based map construction, and for globally localizing in the constructed map. To tailor the approach to a target environment, we propose an efficient way of generating 3D annotations to finetune the 3D object detection model. We evaluate our map construction in an office building, and test our long-term localization approach on challenging sequences recorded in the same environment over nine months. The experiments suggest that our approach is suitable for constructing metric-semantic maps, and that our localization approach is robust to long-term changes. Both, the mapping algorithm and the localization pipeline can run online on an onboard computer. We release an open-source C++/ROS implementation of our approach.

The online advertising market, with its thousands of auctions run per second, presents a daunting challenge for advertisers who wish to optimize their spend under a budget constraint. Thus, advertising platforms typically provide automated agents to their customers, which act on their behalf to bid for impression opportunities in real time at scale. Because these proxy agents are owned by the platform but use advertiser funds to operate, there is a strong practical need to balance reliability and explainability of the agent with optimizing power. We propose a generalizable approach to optimizing bidding policies in production environments by learning from real data using offline reinforcement learning. This approach can be used to optimize any differentiable base policy (practically, a heuristic policy based on principles which the advertiser can easily understand), and only requires data generated by the base policy itself. We use a hybrid agent architecture that combines arbitrary base policies with deep neural networks, where only the optimized base policy parameters are eventually deployed, and the neural network part is discarded after training. We demonstrate that such an architecture achieves statistically significant performance gains in both simulated and at-scale production bidding environments. Our approach does not incur additional infrastructure, safety, or explainability costs, as it directly optimizes parameters of existing production routines without replacing them with black box-style models like neural networks.

Assessing the quality and impact of individual data points is critical for improving model performance and mitigating undesirable biases within the training dataset. Several data valuation algorithms have been proposed to quantify data quality, however, there lacks a systemic and standardized benchmarking system for data valuation. In this paper, we introduce OpenDataVal, an easy-to-use and unified benchmark framework that empowers researchers and practitioners to apply and compare various data valuation algorithms. OpenDataVal provides an integrated environment that includes (i) a diverse collection of image, natural language, and tabular datasets, (ii) implementations of eleven different state-of-the-art data valuation algorithms, and (iii) a prediction model API that can import any models in scikit-learn. Furthermore, we propose four downstream machine learning tasks for evaluating the quality of data values. We perform benchmarking analysis using OpenDataVal, quantifying and comparing the efficacy of state-of-the-art data valuation approaches. We find that no single algorithm performs uniformly best across all tasks, and an appropriate algorithm should be employed for a user's downstream task. OpenDataVal is publicly available at https://opendataval.github.io with comprehensive documentation. Furthermore, we provide a leaderboard where researchers can evaluate the effectiveness of their own data valuation algorithms.

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable objects. We focus on collaborative manipulation tasks where the robots have to adopt intelligent collaboration strategies to be successful and effective, i.e., decide which robot should move which objects to which positions, and perform collaborative actions, such as handovers. To endow robots with these collaboration capabilities, we propose to first collect occlusion and reachability information for each robot by calling motion-planning algorithms. We then propose a method that uses the collected information to build a graph structure which captures the precedence of the manipulations of different objects and supports the implementation of a mixed-integer program to guide the search for highly effective collaborative task-and-motion plans. The search process for collaborative task-and-motion plans is based on a Monte-Carlo Tree Search (MCTS) exploration strategy to achieve exploration-exploitation balance. We evaluate our framework in two challenging MR-GTAMP domains and show that it outperforms two state-of-the-art baselines with respect to the planning time, the resulting plan length and the number of objects moved. We also show that our framework can be applied to underground mining operations where a robotic arm needs to coordinate with an autonomous roof bolter. We demonstrate plan execution in two roof-bolting scenarios both in simulation and on robots.

AI in Math deals with mathematics in a constructive manner so that reasoning becomes automated, less laborious, and less error-prone. For algorithms, the question becomes how to automate analyses for specific problems. For the first time, this work provides an automatic method for approximation analysis on a well-studied problem in theoretical computer science: computing approximate Nash equilibria in two-player games. We observe that such algorithms can be reformulated into a search-and-mix paradigm, which involves a search phase followed by a mixing phase. By doing so, we are able to fully automate the procedure of designing and analyzing the mixing phase. For example, we illustrate how to perform our method with a program to analyze the approximation bounds of all the algorithms in the literature. Same approximation bounds are computed without any hand-written proof. Our automatic method heavily relies on the LP-relaxation structure in approximate Nash equilibria. Since many approximation algorithms and online algorithms adopt the LP relaxation, our approach may be extended to automate the analysis of other algorithms.

We propose to replace vector quantization (VQ) in the latent representation of VQ-VAEs with a simple scheme termed finite scalar quantization (FSQ), where we project the VAE representation down to a few dimensions (typically less than 10). Each dimension is quantized to a small set of fixed values, leading to an (implicit) codebook given by the product of these sets. By appropriately choosing the number of dimensions and values each dimension can take, we obtain the same codebook size as in VQ. On top of such discrete representations, we can train the same models that have been trained on VQ-VAE representations. For example, autoregressive and masked transformer models for image generation, multimodal generation, and dense prediction computer vision tasks. Concretely, we employ FSQ with MaskGIT for image generation, and with UViM for depth estimation, colorization, and panoptic segmentation. Despite the much simpler design of FSQ, we obtain competitive performance in all these tasks. We emphasize that FSQ does not suffer from codebook collapse and does not need the complex machinery employed in VQ (commitment losses, codebook reseeding, code splitting, entropy penalties, etc.) to learn expressive discrete representations. Vector quantization (VQ), initially introduced by Gray (1984), has recently seen a renaissance in the context of learning discrete representations with neural networks. Spurred by the success of VQ-VAE (Van Den Oord et al., 2017), Esser et al. (2020) and Villegas et al. (2022) showed that training an autoregressive transformer on the representations of a VQ-VAE trained with a GAN loss enables powerful image and video generation models, respectively.

Although artificial intelligence (AI) has achieved many feats at a rapid pace, there still exist open problems and fundamental shortcomings related to performance and resource efficiency. Since AI researchers benchmark a significant proportion of performance standards through human intelligence, cognitive sciences-inspired AI is a promising domain of research. Studying cognitive science can provide a fresh perspective to building fundamental blocks in AI research, which can lead to improved performance and efficiency. In this review paper, we focus on the cognitive functions of perception, which is the process of taking signals from one's surroundings as input, and processing them to understand the environment. Particularly, we study and compare its various processes through the lens of both cognitive sciences and AI. Through this study, we review all current major theories from various sub-disciplines of cognitive science (specifically neuroscience, psychology and linguistics), and draw parallels with theories and techniques from current practices in AI. We, hence, present a detailed collection of methods in AI for researchers to build AI systems inspired by cognitive science. Further, through the process of reviewing the state of cognitive-inspired AI, we point out many gaps in the current state of AI (with respect to the performance of the human brain), and hence present potential directions for researchers to develop better perception systems in AI.

Large language models (LLMs) have revolutionized AI, but are constrained by limited context windows, hindering their utility in tasks like extended conversations and document analysis. To enable using context beyond limited context windows, we propose virtual context management, a technique drawing inspiration from hierarchical memory systems in traditional operating systems that provide the appearance of large memory resources through data movement between fast and slow memory. Using this technique, we introduce MemGPT (Memory-GPT), a system that intelligently manages different memory tiers in order to effectively provide extended context within the LLM's limited context window, and utilizes interrupts to manage control flow between itself and the user. We evaluate our OS-inspired design in two domains where the limited context windows of modern LLMs severely handicaps their performance: document analysis, where MemGPT is able to analyze large documents that far exceed the underlying LLM's context window, and multi-session chat, where MemGPT can create conversational agents that remember, reflect, and evolve dynamically through long-term interactions with their users. We release MemGPT code and data for our experiments at https://memgpt.ai.

To pursue the goal of creating an open-ended agent in Minecraft, an open-ended game environment with unlimited possibilities, this paper introduces a task-centric framework named MCU for Minecraft agent evaluation. Within the MCU framework, each task is measured with six distinct difficulty scores (time consumption, operational effort, planning complexity, intricacy, creativity, novelty). These scores offer a multi-dimensional assessment of a task from different angles, and thus can reveal an agent's capability on specific facets. The difficulty scores also serve as the feature of each task, which creates a meaningful task space and unveils the relationship between tasks. For efficient evaluation of Minecraft agents employing the MCU framework, we maintain a unified benchmark, namely SkillForge, which comprises representative tasks with diverse categories and difficulty distribution. We also provide convenient filters for users to select tasks to assess specific capabilities of agents. We show that MCU has the high expressivity to cover all tasks used in recent literature on Minecraft agent, and underscores the need for advancements in areas such as creativity, precise control, and out-of-distribution generalization under the goal of open-ended Minecraft agent development. In artificial intelligence (AI), an agent is a computer program or system that is designed to perceive its environment, make decisions and take actions to solve a specific task or set of tasks. On top of that, an open-ended agent is an agent that possesses the capabilities to solve arbitrary tasks that are feasible and can be solved by humans. The open-ended agent has crucial difference with task-specific agent or multi-task agent, which can only handle a limited spectrum of tasks.