Conventional works that learn grasping affordance from demonstrations need to explicitly predict grasping configurations, such as gripper approaching angles or grasping preshapes. Classic motion planners could then sample trajectories by using such predicted configurations. In this work, our goal is instead to integrate the two objectives of affordance discovery and affordance-aware policy learning in an end-to-end imitation learning framework based on deep neural networks. From a psychological perspective, there is a close association between attention and affordance. Therefore, with an end-to-end neural network, we propose to learn affordance cues as visual attention that serves as a useful indicating signal of how a demonstrator accomplishes tasks. To achieve this, we propose a contrastive learning framework that consists of a Siamese encoder and a trajectory decoder. We further introduce a coupled triplet loss to encourage the discovered affordance cues to be more affordance-relevant. Our experimental results demonstrate that our model with the coupled triplet loss achieves the highest grasping success rate.

Recent neural-based relation extraction approaches, though achieving promising improvement on benchmark datasets, have reported their vulnerability towards adversarial attacks. Thus far, efforts mostly focused on generating adversarial samples or defending adversarial attacks, but little is known about the difference between normal and adversarial samples. In this work, we take the first step to leverage the salience-based method to analyze those adversarial samples. We observe that salience tokens have a direct correlation with adversarial perturbations. We further find the adversarial perturbations are either those tokens not existing in the training set or superficial cues associated with relation labels. To some extent, our approach unveils the characters against adversarial samples. We release an open-source testbed, "DiagnoseAdv".

We study the problem of labelling effort for semantic segmentation of large-scale 3D point clouds. Existing works usually rely on densely annotated point-level semantic labels to provide supervision for network training. However, in real-world scenarios that contain billions of points, it is impractical and extremely costly to manually annotate every single point. In this paper, we first investigate whether dense 3D labels are truly required for learning meaningful semantic representations. Interestingly, we find that the segmentation performance of existing works only drops slightly given as few as 1% of the annotations. However, beyond this point (e.g. 1 per thousand and below) existing techniques fail catastrophically. To this end, we propose a new weak supervision method to implicitly augment the total amount of available supervision signals, by leveraging the semantic similarity between neighboring points. Extensive experiments demonstrate that the proposed Semantic Query Network (SQN) achieves state-of-the-art performance on six large-scale open datasets under weak supervision schemes, while requiring only 1000x fewer labeled points for training. The code is available at https://github.com/QingyongHu/SQN.

Time series forecasting is a fundamental task emerging from diverse data-driven applications. Many advanced autoregressive methods such as ARIMA[8] were used to develop forecasting models. Recently, deep learning based methods such as DeepAr[16], NeuralProphet[1], Seq2Seq [30] have been explored for time series forecasting problem. In this paper, we propose a novel time series forecast model, DeepGB. We formulate and implement a variant of Gradient boosting [18] wherein the weak learners are DNNs whose weights are incrementally found in a greedy manner over iterations. In particular, we develop a new embedding architecture that improves the performance of many deep learning models on time series using Gradient boosting [18] variant. We demonstrate that our model outperforms existing comparable state-of-the-art models using real-world sensor data and public dataset.

We propose a deep Graph Neural Network (GNN) model that alternates two types of layers. The first type is inspired by Reservoir Computing (RC) and generates new vertex features by iterating a non-linear map until it converges to a fixed point. The second type of layer implements graph pooling operations, that gradually reduce the support graph and the vertex features, and further improve the computational efficiency of the RC-based GNN. The architecture is, therefore, pyramidal. In the last layer, the features of the remaining vertices are combined into a single vector, which represents the graph embedding. Through a mathematical derivation introduced in this paper, we show formally how graph pooling can reduce the computational complexity of the model and speed-up the convergence of the dynamical updates of the vertex features. Our proposed approach to the design of RC-based GNNs offers an advantageous and principled trade-off between accuracy and complexity, which we extensively demonstrate in experiments on a large set of graph datasets.

We study in this paper lower bounds for the generalization error of models derived from multi-layer neural networks, in the regime where the size of the layers is commensurate with the number of samples in the training data. We show that unbiased estimators have unacceptable performance for such nonlinear networks in this regime. We derive explicit generalization lower bounds for general biased estimators, in the cases of linear regression and of two-layered networks. In the linear case the bound is asymptotically tight. In the nonlinear case, we provide a comparison of our bounds with an empirical study of the stochastic gradient descent algorithm. The analysis uses elements from the theory of large random matrices.

Reinforcement learning has made great strides in recent years due to the success of methods using deep neural networks. However, such neural networks act as a black box, obscuring the inner workings. While reinforcement learning has the potential to solve unique problems, a lack of trust and understanding of reinforcement learning algorithms could prevent their widespread adoption. Here, we present a library that attaches a "data scraper" to deep reinforcement learning agents, acting as an observer, and then show how the data collected by the Atari Data Scraper can be used to understand and interpret deep reinforcement learning agents. The code for the Atari Data Scraper can be found here: https: // github.

We propose a deep structure encoder using the recently introduced Volterra Neural Networks (VNNs) to seek a latent representation of multi-modal data whose features are jointly captured by a union of subspaces. The so-called self-representation embedding of the latent codes leads to a simplified fusion which is driven by a similarly constructed decoding. The Volterra Filter architecture achieved reduction in parameter complexity is primarily due to controlled non-linearities being introduced by the higher-order convolutions in contrast to generalized activation functions. Experimental results on two different datasets have shown a significant improvement in the clustering performance for VNNs auto-encoder over conventional Convolutional Neural Networks (CNNs) auto-encoder. In addition, we also show that the proposed approach demonstrates a much-improved sample complexity over CNN-based auto-encoder with a superb robust classification performance.

Interactive reinforcement learning agents use human feedback or instruction to help them learn in complex environments. Often, this feedback comes in the form of a discrete signal that is either positive or negative. While informative, this information can be difficult to generalize on its own. In this work, we explore how natural language advice can be used to provide a richer feedback signal to a reinforcement learning agent by extending policy shaping, a well-known Interactive reinforcement learning technique. Usually policy shaping employs a human feedback policy to help an agent to learn more about how to achieve its goal. In our case, we replace this human feedback policy with policy generated based on natural language advice. We aim to inspect if the generated natural language reasoning provides support to a deep reinforcement learning agent to decide its actions successfully in any given environment. So, we design our model with three networks: first one is the experience driven, next is the advice generator and third one is the advice driven. While the experience driven reinforcement learning agent chooses its actions being influenced by the environmental reward, the advice driven neural network with generated feedback by the advice generator for any new state selects its actions to assist the reinforcement learning agent to better policy shaping.

The research paper of "Parallelization of Recurrent neural network grammar (in Japanese)," co-authored by Hiroshi Noji (AIST) and Yohei Oseki (The University of Tokyo), was received the Best Paper Award from the 27th Annual Meeting of the Association for Natural Language Processing .