Recently, several studies have explored methods for using KG embedding to answer logical queries. These approaches either treat embedding learning and query answering as two separated learning tasks, or fail to deal with the variability of contributions from different query paths. We proposed to leverage a graph attention mechanism to handle the unequal contribution of different query paths. However, commonly used graph attention assumes that the center node embedding is provided, which is unavailable in this task since the center node is to be predicted. To solve this problem we propose a multi-head attention-based end-to-end logical query answering model, called Contextual Graph Attention model(CGA), which uses an initial neighborhood aggregation layer to generate the center embedding, and the whole model is trained jointly on the original KG structure as well as the sampled query-answer pairs. We also introduce two new datasets, DB18 and WikiGeo19, which are rather large in size compared to the existing datasets and contain many more relation types, and use them to evaluate the performance of the proposed model. Our result shows that the proposed CGA with fewer learnable parameters consistently outperforms the baseline models on both datasets as well as Bio dataset.

In this paper, we develop a framework to obtain graph abstractions for decision-making by an agent where the abstractions emerge as a function of the agent's limited computational resources. We discuss the connection of the proposed approach with information-theoretic signal compression, and formulate a novel optimization problem to obtain tree-based abstractions as a function of the agent's computational resources. The structural properties of the new problem are discussed in detail, and two algorithmic approaches are proposed to obtain solutions to this optimization problem. We discuss the quality of, and prove relationships between, solutions obtained by the two proposed algorithms. The framework is demonstrated to generate a hierarchy of abstractions for a non-trivial environment.

We address the problem of approximate model minimization for MDPs in which the state is partitioned into endogenous and (much larger) exogenous components. An exogenous state variable is one whose dynamics are independent of the agent's actions. We formalize the mask-learning problem, in which the agent must choose a subset of exogenous state variables to reason about when planning; doing planning in such a reduced state space can often be significantly more efficient than planning in the full model. We then explore the various value functions at play within this setting, and describe conditions under which a policy for a reduced model will be optimal for the full MDP. The analysis leads us to a tractable approximate algorithm that draws upon the notion of mutual information among exogenous state variables. We validate our approach in simulated robotic manipulation domains where a robot is placed in a busy environment, in which there are many other agents also interacting with the objects. Visit http://tinyurl.com/chitnis-exogenous for a supplementary video.

Dynamic Interaction-A ware Scene Understanding for Reinforcement Learning in Autonomous Driving Maria Huegle 1, Gabriel Kalweit 1, Moritz Werling 2 and Joschka Boedecker 1, 3 Abstract -- The common pipeline in autonomous driving systems is highly modular and includes a perception component which extracts lists of surrounding objects and passes these lists to a high-level decision component. In this case, leveraging the benefits of deep reinforcement learning for high-level decision making requires special architectures to deal with multiple variable-length sequences of different object types, such as vehicles, lanes or traffic signs. At the same time, the architecture has to be able to cover interactions between traffic participants in order to find the optimal action to be taken. In this work, we propose the novel Deep Scenes architecture, that can learn complex interaction-aware scene representations based on extensions of either 1) Deep Sets or 2) Graph Convolutional Networks. We present the Graph-Q and DeepScene-Q off-policy reinforcement learning algorithms, both outperforming state-of- the-art methods in evaluations with the publicly available traffic simulator SUMO. I. INTRODUCTION In autonomous driving scenarios, the number of traffic participants and lanes surrounding the agent can vary considerably over time. Common autonomous driving systems use modular pipelines, where a perception component extracts a list of surrounding objects and passes this list to other modules, including localization, mapping, motion planning and high-level decision making components.

In the past few years, off-policy reinforcement learning methods have shown promising results in their application for robot control. Deep Q-learning, however, still suffers from poor data-efficiency which is limiting with regard to real-world applications. We follow the idea of multi-step TD-learning to enhance data-efficiency while remaining off-policy by proposing two novel Temporal-Difference formulations: (1) Truncated Q-functions which represent the return for the first n steps of a policy rollout and (2) Shifted Q-functions, acting as the farsighted return after this truncated rollout. We prove that the combination of these short-and long-term predictions is a representation of the full return, leading to the Composite Q-learning algorithm. We show the efficacy of Composite Q-learning in the tabular case and compare our approach in the function-approximation setting with TD3, Model-based V alue Expansion and TD3(), which we introduce as an off-policy variant of TD(). We show on three simulated robot tasks that Composite TD3 outperforms TD3 as well as state-of-the-art off-policy multi-step approaches in terms of data-efficiency. In recent years, Q-learning (Watkins and Dayan, 1992) has achieved major successes in a broad range of areas by employing deep neural networks (Mnih et al., 2015; Silver et al., 2018; Lillicrap et al., 2016), including environments of higher complexity (Riedmiller et al., 2018) and even in first real world applications (Haarnoja et al., 2019). Due to its off-policy update, Q-learning can leverage transitions collected by any policy which makes it more data-efficient compared to on-policy methods.

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory prediction models using Recurrent Neural Networks (RNNs) do not currently account for a planned future action of a robot, and so cannot predict how an individual will move in response to a robot's planned path. We propose an approach that adapts RNNs to use a robot's next planned action as an input alongside the current position of nearby individuals. This allows the model to learn the response of individuals with regards to a robot's motion from real world observations. By linking a robot's actions to the response of those around it in training, we show that we are able to not only improve prediction accuracy in close range interactions, but also to predict the likely response of surrounding individuals to simulated actions. This allows the use of the model to simulate state transitions, without requiring any assumptions on agent interaction. We apply this model to varied datasets, including crowds of pedestrians interacting with vehicles and bicycles, and livestock interacting with a robotic vehicle.

We consider the problem of automatically generating textual paraphrases with modified attributes or properties, focusing on the setting without parallel data (Hu et al., 2017; Shen et al., 2017). This setting poses challenges for evaluation. We show that the metric of post-transfer classification accuracy is insufficient on its own, and propose additional metrics based on semantic preservation and fluency as well as a way to combine them into a single overall score. We contribute new loss functions and training strategies to address the different metrics. Semantic preservation is addressed by adding a cyclic consistency loss and a loss based on paraphrase pairs, while fluency is improved by integrating losses based on style-specific language models. We experiment with a Yelp sentiment dataset and a new literature dataset that we propose, using multiple models that extend prior work (Shen et al., 2017). We demonstrate that our metrics correlate well with human judgments, at both the sentence-level and system-level. Automatic and manual evaluation also show large improvements over the baseline method of Shen et al. (2017). We hope that our proposed metrics can speed up system development for new textual transfer tasks while also encouraging the community to address our three complementary aspects of transfer quality.

We introduce a general model for the local obfuscation of probability distributions by probabilistic perturbation, e.g., by adding differentially private noise, and investigate its theoretical properties. Specifically, we relax a notion of distribution privacy (DistP) by generalizing it to divergence, and propose local obfuscation mechanisms that provide divergence distribution privacy. To provide f-divergence distribution privacy, we prove that probabilistic perturbation noise should be added proportionally to the Earth mover's distance between the probability distributions that we want to make indistinguishable. Furthermore, we introduce a local obfuscation mechanism, which we call a coupling mechanism, that provides divergence distribution privacy while optimizing the utility of obfuscated data by using exact/approximate auxiliary information on the input distributions we want to protect.

Time series forecasting is one of the most active research topics. Machine learning methods have been increasingly adopted to solve these predictive tasks. However, in a recent work, evidence was shown that these approaches systematically present a lower predictive performance relative to simple statistical methods. In this work, we counter these results. We show that these are only valid under an extremely low sample size. Using a learning curve method, our results suggest that machine learning methods improve their relative predictive performance as the sample size grows.

Artificial intelligence is known as the most effective technological field for rapid developments shaping the future of the world. Even today, it is possible to see intense use of intelligence systems in all fields of the life. Although advantages of the Artificial Intelligence are widely observed, there is also a dark side employing efforts to design hacking oriented techniques against Artificial Intelligence. Thanks to such techniques, it is possible to trick intelligent systems causing directed results for unsuccessful outputs. That is critical for also cyber wars of the future as it is predicted that the wars will be done unmanned, autonomous intelligent systems. Moving from the explanations, objective of this study is to provide information regarding adversarial examples threatening the Artificial Intelligence and focus on details of some techniques, which are used for creating adversarial examples. Adversarial examples are known as training data, which can trick a Machine Learning technique to learn incorrectly about the target problem and cause an unsuccessful or maliciously directed intelligent system at the end. The study enables the readers to learn enough about details of recent techniques for creating adversarial examples.