Face recognition systems are present in many modern solutions and thousands of applications in our daily lives. However, current solutions are not easily scalable, especially when it comes to the addition of new targeted people. We propose a cluster-matching-based approach for face recognition in video. In our approach, we use unsupervised learning to cluster the faces present in both the dataset and targeted videos selected for face recognition. Moreover, we design a cluster matching heuristic to associate clusters in both sets that is also capable of identifying when a face belongs to a non-registered person. Our method has achieved a recall of 99.435% and a precision of 99.131% in the task of video face recognition. Besides performing face recognition, it can also be used to determine the video segments where each person is present.

Imitation Learning (IL) algorithms aim to learn optimal behavior by mimicking expert demonstrations. Perhaps the simplest IL method is Behavioral Cloning (BC) [Pomerleau, 1991] which ignores the dynamics of the underlying Markov Decision Process (MDP) that generated the demonstrations, and treats IL as a supervised learning problem of predicting optimal actions given states. Prior work showed that if the learned policy incurs a small BC loss, the worst case performance gap between the expert and imitator grows quadratically with the number of decision steps [Ross and Bagnell, 2010, Ross et al., 2011a]. The crux of their argument is that policies that are "close" as measured by BC loss can induce disastrously different distributions over states when deployed in the environment. One family of solutions to mitigating such compounding errors is Interactive IL [Ross et al., 2011b, 2013, Guo et al., 2014], which involves running the imitator's policy and collecting corrective actions from an interactive expert. However, interactive expert queries can be expensive and are seldom available. Another family of approaches [Ho and Ermon, 2016, Fu et al., 2017, Ke et al., 2020, Kostrikov et al., 2020, Kim and Park, 2018, Wang et al., 2017] that have gained much traction is to directly minimize a statistical distance between state-action distributions induced by policies of the expert and imitator, i.e the occupancy measures ρ

Deliberate manipulation of digital images can be innocuous (e.g., to improve the quality and appearance of an image) or carried with malicious intent (e.g., to alter the semantic content of the image, or to establish an alibi). The diffusion of fake images has implications on judicial systems, global economy, financial health, and even homeland and national security. Not surprisingly, there have been interest from the digital forensics, and more specifically image forensics, community in recent years to detect deliberate manipulation of digital images. There have also been interest from the commercial market, as suggested in a recent study [1]. Image forensics, an emerging forensic discipline, seeks to determine the history of an image (e.g., its origin), the processing it underwent, etc, in order to determine the authenticity of the images [2].

Safe and proactive planning in robotic systems generally requires accurate predictions of the environment. Prior work on environment prediction applied video frame prediction techniques to bird's-eye view environment representations, such as occupancy grids. ConvLSTM-based frameworks used previously often result in significant blurring and vanishing of moving objects, thus hindering their applicability for use in safety-critical applications. In this work, we propose two extensions to the ConvLSTM to address these issues. We present the Temporal Attention Augmented ConvLSTM (TAAConvLSTM) and Self-Attention Augmented ConvLSTM (SAAConvLSTM) frameworks for spatiotemporal occupancy prediction, and demonstrate improved performance over baseline architectures on the real-world KITTI and Waymo datasets.

The value function lies in the heart of Reinforcement Learning (RL), which defines the long-term evaluation of a policy in a given state. In this paper, we propose Policy-extended Value Function Approximator (PeVFA) which extends the conventional value to be not only a function of state but also an explicit policy representation. Such an extension enables PeVFA to preserve values of multiple policies in contrast to a conventional one with limited capacity for only one policy, inducing the new characteristic of \emph{value generalization among policies}. From both the theoretical and empirical lens, we study value generalization along the policy improvement path (called local generalization), from which we derive a new form of Generalized Policy Iteration with PeVFA to improve the conventional learning process. Besides, we propose a framework to learn the representation of an RL policy, studying several different approaches to learn an effective policy representation from policy network parameters and state-action pairs through contrastive learning and action prediction. In our experiments, Proximal Policy Optimization (PPO) with PeVFA significantly outperforms its vanilla counterpart in MuJoCo continuous control tasks, demonstrating the effectiveness of value generalization offered by PeVFA and policy representation learning.

Semantic code search, which aims to retrieve code snippets relevant to a given natural language query, has attracted many research efforts with the purpose of accelerating software development. The huge amount of online publicly available code repositories has prompted the employment of deep learning techniques to build state-of-the-art code search models. Particularly, they leverage deep neural networks to embed codes and queries into a unified semantic vector space and then use the similarity between code's and query's vectors to approximate the semantic correlation between code and the query. However, most existing studies overlook the code's intrinsic structural logic, which indeed contains a wealth of semantic information, and fails to capture intrinsic features of codes. In this paper, we propose a new deep learning architecture, COSEA, which leverages convolutional neural networks with layer-wise attention to capture the valuable code's intrinsic structural logic. To further increase the learning efficiency of COSEA, we propose a variant of contrastive loss for training the code search model, where the ground-truth code should be distinguished from the most similar negative sample. We have implemented a prototype of COSEA. Extensive experiments over existing public datasets of Python and SQL have demonstrated that COSEA can achieve significant improvements over state-of-the-art methods on code search tasks.

We propose methods to strengthen the invariance properties of representations obtained by contrastive learning. While existing approaches implicitly induce a degree of invariance as representations are learned, we look to more directly enforce invariance in the encoding process. To this end, we first introduce a training objective for contrastive learning that uses a novel regularizer to control how the representation changes under transformation. We show that representations trained with this objective perform better on downstream tasks and are more robust to the introduction of nuisance transformations at test time. Second, we propose a change to how test time representations are generated by introducing a feature averaging approach that combines encodings from multiple transformations of the original input, finding that this leads to across the board performance gains. Finally, we introduce the novel Spirograph dataset to explore our ideas in the context of a differentiable generative process with multiple downstream tasks, showing that our techniques for learning invariance are highly beneficial.

This paper proposes a lexicographic Deep Reinforcement Learning (DeepRL)-based approach to chance-constrained Markov Decision Processes, in which the controller seeks to ensure that the probability of satisfying the constraint is above a given threshold. Standard DeepRL approaches require i) the constraints to be included as additional weighted terms in the cost function, in a multi-objective fashion, and ii) the tuning of the introduced weights during the training phase of the Deep Neural Network (DNN) according to the probability thresholds. The proposed approach, instead, requires to separately train one constraint-free DNN and one DNN associated to each constraint and then, at each time-step, to select which DNN to use depending on the system observed state. The presented solution does not require any hyper-parameter tuning besides the standard DNN ones, even if the probability thresholds changes. A lexicographic version of the well-known DeepRL algorithm DQN is also proposed and validated via simulations.

Correctly perceiving micro-expression is difficult since micro-expression is an involuntary, repressed, and subtle facial expression, and efficiently revealing the subtle movement changes and capturing the significant segments in a micro-expression sequence is the key to micro-expression recognition (MER). To handle the crucial issue, in this paper, we firstly propose a dynamic segmented sparse imaging module (DSSI) to compute dynamic images as local-global spatiotemporal descriptors under a unique sampling protocol, which reveals the subtle movement changes visually in an efficient way. Secondly, a segmented movement-attending spatiotemporal network (SMA-STN) is proposed to further unveil imperceptible small movement changes, which utilizes a spatiotemporal movement-attending module (STMA) to capture long-distance spatial relation for facial expression and weigh temporal segments. Besides, a deviation enhancement loss (DE-Loss) is embedded in the SMA-STN to enhance the robustness of SMA-STN to subtle movement changes in feature level. Extensive experiments on three widely used benchmarks, i.e., CASME II, SAMM, and SHIC, show that the proposed SMA-STN achieves better MER performance than other state-of-the-art methods, which proves that the proposed method is effective to handle the challenging MER problem.

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed by machines to some extent - yet, as is so often the case, the artificial creatures are lagging behind. The key foundation is an internal representation of the body that the agent - human, animal, or robot - has developed. In the biological realm, evidence has been accumulated by diverse disciplines giving rise to the concepts of body image, body schema, and others. In robotics, a model of the robot is an indispensable component that enables to control the machine. In this article I compare the character of body representations in biology with their robotic counterparts and relate that to the differences in performance that we observe. I put forth a number of axes regarding the nature of such body models: fixed vs. plastic, amodal vs. modal, explicit vs. implicit, serial vs. parallel, modular vs. holistic, and centralized vs. distributed. An interesting trend emerges: on many of the axes, there is a sequence from robot body models, over body image, body schema, to the body representation in lower animals like the octopus. In some sense, robots have a lot in common with Ian Waterman - "the man who lost his body" - in that they rely on an explicit, veridical body model (body image taken to the extreme) and lack any implicit, multimodal representation (like the body schema) of their bodies. I will then detail how robots can inform the biological sciences dealing with body representations and finally, I will study which of the features of the "body in the brain" should be transferred to robots, giving rise to more adaptive and resilient, self-calibrating machines.