Constructing compact and informative 3D scene representations is essential for effective embodied exploration and reasoning, especially in complex environments over extended periods. Existing representations, such as object-centric 3D scene graphs, oversimplify spatial relationships by modeling scenes as isolated objects with restrictive textual relationships, making it difficult to address queries requiring nuanced spatial understanding. Moreover, these representations lack natural mechanisms for active exploration and memory management, hindering their application to lifelong autonomy. In this work, we propose 3D-Mem, a novel 3D scene memory framework for embodied agents. 3D-Mem employs informative multi-view images, termed Memory Snapshots, to represent the scene and capture rich visual information of explored regions. It further integrates frontier-based exploration by introducing Frontier Snapshots-glimpses of unexplored areas-enabling agents to make informed decisions by considering both known and potential new information. To support lifelong memory in active exploration settings, we present an incremental construction pipeline for 3D-Mem, as well as a memory retrieval technique for memory management. Experimental results on three benchmarks demonstrate that 3D-Mem significantly enhances agents' exploration and reasoning capabilities in 3D environments, highlighting its potential for advancing applications in embodied AI.

Recent privacy regulations (e.g., GDPR) grant data subjects the `Right to Be Forgotten' (RTBF) and mandate companies to fulfill data erasure requests from data subjects. However, companies encounter great challenges in complying with the RTBF regulations, particularly when asked to erase specific training data from their well-trained predictive models. While researchers have introduced machine unlearning methods aimed at fast data erasure, these approaches often overlook maintaining model performance (e.g., accuracy), which can lead to financial losses and non-compliance with RTBF obligations. This work develops a holistic machine learning-to-unlearning framework, called Ensemble-based iTerative Information Distillation (ETID), to achieve efficient data erasure while preserving the business value of predictive models. ETID incorporates a new ensemble learning method to build an accurate predictive model that can facilitate handling data erasure requests. ETID also introduces an innovative distillation-based unlearning method tailored to the constructed ensemble model to enable efficient and effective data erasure. Extensive experiments demonstrate that ETID outperforms various state-of-the-art methods and can deliver high-quality unlearned models with efficiency. We also highlight ETID's potential as a crucial tool for fostering a legitimate and thriving market for data and predictive services.

Video representation learning has been successful in video-text pre-training for zero-shot transfer, where each sentence is trained to be close to the paired video clips in a common feature space. For long videos, given a paragraph of description where the sentences describe different segments of the video, by matching all sentence-clip pairs, the paragraph and the full video are aligned implicitly. However, such unit-level comparison may ignore global temporal context, which inevitably limits the generalization ability. In this paper, we propose a contrastive learning framework TempCLR to compare the full video and the paragraph explicitly. As the video/paragraph is formulated as a sequence of clips/sentences, under the constraint of their temporal order, we use dynamic time warping to compute the minimum cumulative cost over sentence-clip pairs as the sequence-level distance. To explore the temporal dynamics, we break the consistency of temporal succession by shuffling video clips w.r.t. temporal granularity. Then, we obtain the representations for clips/sentences, which perceive the temporal information and thus facilitate the sequence alignment. In addition to pre-training on the video and paragraph, our approach can also generalize on the matching between video instances. We evaluate our approach on video retrieval, action step localization, and few-shot action recognition, and achieve consistent performance gain over all three tasks. Detailed ablation studies are provided to justify the approach design.

Autonomous agents have made great strides in specialist domains like Atari games and Go. However, they typically learn tabula rasa in isolated environments with limited and manually conceived objectives, thus failing to generalize across a wide spectrum of tasks and capabilities. Inspired by how humans continually learn and adapt in the open world, we advocate a trinity of ingredients for building generalist agents: 1) an environment that supports a multitude of tasks and goals, 2) a large-scale database of multimodal knowledge, and 3) a flexible and scalable agent architecture. We introduce MineDojo, a new framework built on the popular Minecraft game that features a simulation suite with thousands of diverse open-ended tasks and an internet-scale knowledge base with Minecraft videos, tutorials, wiki pages, and forum discussions. Using MineDojo's data, we propose a novel agent learning algorithm that leverages large pre-trained video-language models as a learned reward function. Our agent is able to solve a variety of open-ended tasks specified in free-form language without any manually designed dense shaping reward. We open-source the simulation suite, knowledge bases, algorithm implementation, and pretrained models (https://minedojo.org) to promote research towards the goal of generally capable embodied agents.

Minimizing privacy leakage while ensuring data utility is a critical problem to data holders in a privacy-preserving data publishing task. Most prior research concerns only with one type of data and resorts to a single obscuring method, \eg, obfuscation or generalization, to achieve a privacy-utility tradeoff, which is inadequate for protecting real-life heterogeneous data and is hard to defend ever-growing machine learning based inference attacks. This work takes a pilot study on privacy-preserving data publishing when both generalization and obfuscation operations are employed for heterogeneous data protection. To this end, we first propose novel measures for privacy and utility quantification and formulate the hybrid privacy-preserving data obscuring problem to account for the joint effect of generalization and obfuscation. We then design a novel hybrid protection mechanism called HyObscure, to cross-iteratively optimize the generalization and obfuscation operations for maximum privacy protection under a certain utility guarantee. The convergence of the iterative process and the privacy leakage bound of HyObscure are also provided in theory. Extensive experiments demonstrate that HyObscure significantly outperforms a variety of state-of-the-art baseline methods when facing various inference attacks under different scenarios. HyObscure also scales linearly to the data size and behaves robustly with varying key parameters.