Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own drawbacks, limiting its efficacy in real robot setups. In this work, we take one step towards improving learning from demonstration algorithms by leveraging implicit energy-based policy models. Results suggest that in selected complex robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly used neural network-based explicit models, especially in the cases of approximating potentially discontinuous and multimodal functions.

Data, the seminal opportunity and challenge in modern machine learning, currently constrains the scalability of representation learning and impedes the pace of model evolution. Existing paradigms tackle the issue of learning efficiency over massive datasets from the perspective of self-supervised learning and dataset distillation independently, while neglecting the untapped potential of accelerating representation learning from an intermediate standpoint. In this work, we delve into defining the ideal data properties from both optimization and generalization perspectives. We propose that model-generated representations, despite being trained on diverse tasks and architectures, converge to a shared linear space, facilitating effective linear transport between models. Furthermore, we demonstrate that these representations exhibit properties conducive to the formation of ideal data. The theoretical/empirical insights therein inspire us to propose a Representation Learning Accelerator (ReLA), which leverages a task- and architecture-agnostic, yet publicly available, free model to form a dynamic data subset and thus accelerate (self-)supervised learning. For instance, employing a CLIP ViT B/16 as a prior model for dynamic data generation, ReLA-aided BYOL can train a ResNet-50 from scratch with 50% of ImageNet-1K, yielding performance surpassing that of training on the full dataset. Additionally, employing a ResNet-18 pre-trained on CIFAR-10 can enhance ResNet-50 training on 10% of ImageNet-1K, resulting in a 7.7% increase in accuracy.

Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments. We introduce a novel visuo-tactile based predictive cross-modal perception framework where initial visual observations (shape) aid in obtaining an initial prior over the object properties (mass). The initial prior improves the efficiency of the object property estimation, which is autonomously inferred via interactive non-prehensile pushing and using a dual filtering approach. The inferred properties are then used to enhance the predictive capability of the cross-modal function efficiently by using a human-inspired `surprise' formulation. We evaluated our proposed framework in the real-robotic scenario, demonstrating superior performance.

Continual learning, also known as lifelong learning or incremental learning, refers to the process by which a model learns from a stream of incoming data over time. A common problem in continual learning is the classification layer's bias towards the most recent task. Traditionally, methods have relied on incorporating data from past tasks during training to mitigate this issue. However, the recent shift in continual learning to memory-free environments has rendered these approaches infeasible. In this study, we propose a solution focused on the testing phase. We first introduce a simple Out-of-Task Detection method, OTD, designed to accurately identify samples from past tasks during testing. Leveraging OTD, we then propose: (1) an Adaptive Retention mechanism for dynamically tuning the classifier layer on past task data; (2) an Adaptive Correction mechanism for revising predictions when the model classifies data from previous tasks into classes from the current task. We name our approach Adaptive Retention & Correction (ARC). While designed for memory-free environments, ARC also proves effective in memory-based settings. Extensive experiments show that our proposed method can be plugged in to virtually any existing continual learning approach without requiring any modifications to its training procedure. Specifically, when integrated with state-of-the-art approaches, ARC achieves an average performance increase of 2.7% and 2.6% on the CIFAR-100 and Imagenet-R datasets, respectively.

The Internal Audit department of a company (normally multinationals groups and/or big-sized entities) is aimed to ensure the correctness and effectiveness of the entities' processes, its compliance to the approved internal policies and to reduce risks in any form that could be presented [1]. In order to achieve this goal, the companies' internal teams conduct audits through on a regular basis defined audit engagements. During their missions, the auditors identify, evaluate and document adequate information to achieve the objectives of the engagement [2], carrying out interviews with the auditees and performing a rigorous tracking of evidences supporting the audit findings. Currently, auditing still mainly relies on sampling the information (registers, transactions, etc.) to assess the processes' compliance during the audit engagements [3]. Consequently, the so-called sampling-risk makes that relevant information in the registers/transactions could remain out of the sampling selection to be reviewed. Additionally, with the growing amount of data, this traditional approach becomes obsolete, and the sampling risk is aggravated [4]. Among the business processes, a special interest resides in searching for anomalies or misbehaviours on purchases. Internal audit and purchase managers need to prospect, evaluate, and select the methodologies and IT tools capable of monitoring expenses and discovering relevant information that can highlight an out-of-policy act or, even, fraud [5, 6]. The goal is to automate processes within the company that help to prioritize the investigation activities according to the level of suspicion of any fact.

Multivariate time series classification (MTSC) has attracted significant research attention due to its diverse real-world applications. Recently, exploiting transformers for MTSC has achieved state-of-the-art performance. However, existing methods focus on generic features, providing a comprehensive understanding of data, but they ignore class-specific features crucial for learning the representative characteristics of each class. This leads to poor performance in the case of imbalanced datasets or datasets with similar overall patterns but differing in minor class-specific details. In this paper, we propose a novel Shapelet Transformer (ShapeFormer), which comprises class-specific and generic transformer modules to capture both of these features. In the class-specific module, we introduce the discovery method to extract the discriminative subsequences of each class (i.e. shapelets) from the training set. We then propose a Shapelet Filter to learn the difference features between these shapelets and the input time series. We found that the difference feature for each shapelet contains important class-specific features, as it shows a significant distinction between its class and others. In the generic module, convolution filters are used to extract generic features that contain information to distinguish among all classes. For each module, we employ the transformer encoder to capture the correlation between their features. As a result, the combination of two transformer modules allows our model to exploit the power of both types of features, thereby enhancing the classification performance. Our experiments on 30 UEA MTSC datasets demonstrate that ShapeFormer has achieved the highest accuracy ranking compared to state-of-the-art methods. The code is available at https://github.com/xuanmay2701/shapeformer.

The widespread usage of large-scale multimodal models like CLIP has heightened concerns about the leakage of personally identifiable information (PII). Existing methods for identity inference in CLIP models, i.e., to detect the presence of a person's PII used for training a CLIP model, require querying the model with full PII, including textual descriptions of the person and corresponding images (e.g., the name and the face photo of the person). However, this may lead to potential privacy breach of the image, as it may have not been seen by the target model yet. Additionally, traditional membership inference attacks (MIAs) train shadow models to mimic the behaviors of the target model, which incurs high computational costs, especially for large CLIP models. To address these challenges, we propose a textual unimodal detector (TUNI) in CLIP models, a novel method for ID inference that 1) queries the target model with only text data; and 2) does not require training shadow models. Firstly, we develop a feature extraction algorithm, guided by the CLIP model, to extract features from a text description. TUNI starts with randomly generating textual gibberish that were clearly not utilized for training, and leverages their feature vectors to train a system of anomaly detectors. During inference, the feature vector of each test text is fed into the anomaly detectors to determine if the person's PII is in the training set (abnormal) or not (normal). Moreover, TUNI can be further strengthened integrating real images associated with the tested individuals, if available at the detector. Extensive experiments of TUNI across various CLIP model architectures and datasets demonstrate its superior performance over baselines, albeit with only text data.

The objective of this paper is to predict (A) whether a sentence in a written text expresses an emotion, (B) the mode(s) in which it is expressed, (C) whether it is basic or complex, and (D) its emotional category. One of our major contributions, through a dataset and a model, is to integrate the fact that an emotion can be expressed in different modes: from a direct mode, essentially lexicalized, to a more indirect mode, where emotions will only be suggested, a mode that NLP approaches generally don't take into account. Another originality is that the scope is on written texts, as opposed usual work focusing on conversational (often multi-modal) data. In this context, modes of expression are seen as a factor towards the automatic analysis of complexity in texts. Experiments on French texts show acceptable results compared to the human annotators' agreement, and outperforming results compared to using a large language model with in-context learning (i.e. no fine-tuning).

Hypergraphs are widely employed to represent complex higher-order relationships in real-world applications. Most hypergraph learning research focuses on node- or edge-level tasks. A practically relevant but more challenging task, edge-dependent node classification (ENC), is only recently proposed. In ENC, a node can have different labels across different hyperedges, which requires the modeling of node-hyperedge pairs instead of single nodes or hyperedges. Existing solutions for this task are based on message passing and model within-edge and within-node interactions as multi-input single-output functions. This brings three limitations: (1) non-adaptive representation size, (2) node/edge agnostic messages, and (3) insufficient interactions among nodes or hyperedges. To tackle these limitations, we develop CoNHD, a new solution based on hypergraph diffusion. Specifically, we first extend hypergraph diffusion using node-hyperedge co-representations. This extension explicitly models both within-edge and within-node interactions as multi-input multi-output functions using two equivariant diffusion operators. To avoid handcrafted regularization functions, we propose a neural implementation for the co-representation hypergraph diffusion process. Extensive experiments demonstrate the effectiveness and efficiency of the proposed CoNHD model.

In this paper, we derive entrywise error bounds for low-rank approximations of kernel matrices obtained using the truncated eigen-decomposition (or singular value decomposition). While this approximation is well-known to be optimal with respect to the spectral and Frobenius norm error, little is known about the statistical behaviour of individual entries. Our error bounds fill this gap. A key technical innovation is a delocalisation result for the eigenvectors of the kernel matrix corresponding to small eigenvalues, which takes inspiration from the field of Random Matrix Theory. Finally, we validate our theory with an empirical study of a collection of synthetic and real-world datasets.