In many application domains, the proliferation of sensors and devices is generating vast volumes of data, imposing significant pressure on existing data analysis and data mining techniques. Nevertheless, an increase in data volume does not inherently imply an increase in informational content, as a substantial portion may be redundant or represent noise. This challenge is particularly evident in the deep learning domain, where the utility of additional data is contingent on its informativeness. In the absence of such, larger datasets merely exacerbate the computational cost and complexity of the learning process. To address these challenges, we propose RAZOR, a novel instance selection technique designed to extract a significantly smaller yet sufficiently informative subset from a larger set of instances without compromising the learning process. RAZOR has been specifically engineered to be robust, efficient, and scalable, making it suitable for large-scale datasets. Unlike many techniques in the literature, RAZOR is capable of operating in both supervised and unsupervised settings. Experimental results demonstrate that RAZOR outperforms recent state-of-the-art techniques in terms of both effectiveness and efficiency.

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning from demonstrations allows robots to rapidly acquire new skills without starting from scratch, with demonstrations typically sequencing skills to achieve tasks. Behaviour cloning approaches to learning from demonstration commonly rely on mixture density network output heads to predict robot actions. In this work, we first reinterpret the mixture density network as a library of feedback controllers (or skills) conditioned on latent states. This arises from the observation that a one-layer linear network is functionally equivalent to a classical feedback controller, with network weights corresponding to controller gains. We use this insight to derive a probabilistic graphical model that combines these elements, describing the skill acquisition process as segmentation in a latent space, where each skill policy functions as a feedback control law in this latent space. Our approach significantly improves not only task success rate, but also robustness to observation noise when trained with human demonstrations. Our physical robot experiments further show that the induced robustness improves model deployment on robots.

We introduce a novel extension of the contextual bandit problem, where new sets of arms can be requested with stochastic time delays and associated costs. In this setting, the learner can select multiple arms from a decision set, with each selection taking one unit of time. The problem is framed as a special case of semi-Markov decision processes (SMDPs). The arm contexts, request times, and costs are assumed to follow an unknown distribution. We consider the regret of an online learning algorithm with respect to the optimal policy that achieves the maximum average reward. By leveraging the Bellman optimality equation, we design algorithms that can effectively select arms and determine the appropriate time to request new arms, thereby minimizing their regret. Under the realizability assumption, we analyze the proposed algorithms and demonstrate that their regret upper bounds align with established results in the contextual bandit literature. We validate the algorithms through experiments on simulated data and a movie recommendation dataset, showing that their performance is consistent with theoretical analyses.

Transformer models have consistently achieved remarkable results in various domains such as natural language processing and computer vision. However, despite ongoing research efforts to better understand these models, the field still lacks a comprehensive understanding. This is particularly true for deep time series forecasting methods, where analysis and understanding work is relatively limited. Time series data, unlike image and text information, can be more challenging to interpret and analyze. To address this, we approach the problem from a manifold learning perspective, assuming that the latent representations of time series forecasting models lie next to a low-dimensional manifold. In our study, we focus on analyzing the geometric features of these latent data manifolds, including intrinsic dimension and principal curvatures. Our findings reveal that deep transformer models exhibit similar geometric behavior across layers, and these geometric features are correlated with model performance. Additionally, we observe that untrained models initially have different structures, but they rapidly converge during training. By leveraging our geometric analysis and differentiable tools, we can potentially design new and improved deep forecasting neural networks. This approach complements existing analysis studies and contributes to a better understanding of transformer models in the context of time series forecasting. Code is released at https://github.com/azencot-group/GATLM.

Predicting future human behavior is an increasingly popular topic in computer vision, driven by the interest in applications such as autonomous vehicles, digital assistants and human-robot interactions. The literature on behavior prediction spans various tasks, including action anticipation, activity forecasting, intent prediction, goal prediction, and so on. Our survey aims to tie together this fragmented literature, covering recent technical innovations as well as the development of new large-scale datasets for model training and evaluation. We also summarize the widely-used metrics for different tasks and provide a comprehensive performance comparison of existing approaches on eleven action anticipation datasets. This survey serves as not only a reference for contemporary methodologies in action anticipation, but also a guideline for future research direction of this evolving landscape.

This paper introduces SELAR, a framework designed to effectively help teachers integrate artificial intelligence (AI) into their curriculum. The framework was designed by running workshops organized to gather lecturers' feedback. In this paper, we assess the effectiveness of the framework through additional workshops organized with lecturers from the Hague University of Applied Sciences. The workshops tested the application of the framework to adapt existing courses to leverage generative AI technology. Each participant was tasked to apply SELAR to one of their learning goals in order to evaluate AI integration potential and, if successful, to update the teaching methods accordingly. Findings show that teachers were able to effectively use the SELAR to integrate generative AI into their courses. Future work will focus on providing additional guidance and examples to use the framework more effectively.

In this paper, we study an inverse reinforcement learning problem that involves learning the reward function of a learning agent using trajectory data collected while this agent is learning its optimal policy. To address this problem, we propose an inverse reinforcement learning method that allows us to estimate the policy parameters of the learning agent which can then be used to estimate its reward function. Our method relies on a new variant of the behavior cloning algorithm, which we call bundle behavior cloning, and uses a small number of trajectories generated by the learning agent's policy at different points in time to learn a set of policies that match the distribution of actions observed in the sampled trajectories. We then use the cloned policies to train a neural network model that estimates the reward function of the learning agent. We provide a theoretical analysis to show a complexity result on bound guarantees for our method that beats standard behavior cloning as well as numerical experiments for a reinforcement learning problem that validate the proposed method.

Federated learning (FL) enables multiple clients with distributed data sources to collaboratively train a shared model without compromising data privacy. However, existing FL paradigms face challenges due to heterogeneity in client data distributions and system capabilities. Personalized federated learning (pFL) has been proposed to mitigate these problems, but often requires a shared model architecture and a central entity for parameter aggregation, resulting in scalability and communication issues. More recently, model-heterogeneous FL has gained attention due to its ability to support diverse client models, but existing methods are limited by their dependence on a centralized framework, synchronized training, and publicly available datasets. To address these limitations, we introduce Federated Peer-Adaptive Ensemble Learning (FedPAE), a fully decentralized pFL algorithm that supports model heterogeneity and asynchronous learning. Our approach utilizes a peer-to-peer model sharing mechanism and ensemble selection to achieve a more refined balance between local and global information. Experimental results show that FedPAE outperforms existing state-of-the-art pFL algorithms, effectively managing diverse client capabilities and demonstrating robustness against statistical heterogeneity.

Large Language Models (LLMs) have achieved impressive results across numerous NLP tasks but still encounter difficulties in machine translation. Traditional methods to improve translation have typically involved fine-tuning LLMs using parallel corpora. However, vanilla fine-tuning often leads to catastrophic forgetting of the instruction-following capabilities and alignment with human preferences, compromising their broad general abilities and introducing potential security risks. These abilities, which are developed using proprietary and unavailable training data, make existing continual instruction tuning methods ineffective. To overcome this issue, we propose a novel approach called RaDis (Rationale Distillation). RaDis harnesses the strong generative capabilities of LLMs to create rationales for training data, which are then "replayed" to prevent forgetting. These rationales encapsulate general knowledge and safety principles, acting as self-distillation targets to regulate the training process. By jointly training on both reference translations and self-generated rationales, the model can learn new translation skills while preserving its overall general abilities. Extensive experiments demonstrate that our method enhances machine translation performance while maintaining the broader capabilities of LLMs across other tasks. This work presents a pathway for creating more versatile LLMs that excel in specialized tasks without compromising generality and safety.

Extended reality (XR) technology has found its applications in various systems, including multi-robot systems [1]. Augmented Reality and Mixed Reality tools are becoming increasingly influential in educational technology and robotics. They enrich learning experiences and expand research methodology. Multi-robot systems, as a complex collective system, have great potential for educational purposes, showcasing collective behaviors. In such systems, XR tools set up a dynamic virtual environment observable by humans as well as a medium to interact with multi-robot systems.