Behavior cloning has shown success in many sequential decision-making tasks by learning from expert demonstrations, yet they can be very sample inefficient and fail to generalize to unseen scenarios. One approach to these problems is to introduce general domain knowledge, such that the policy can focus on the essential features and may generalize to unseen states by applying that knowledge. Although this knowledge is easy to acquire from the experts, it is hard to be combined with learning from individual examples due to the lack of semantic structure in neural networks and the time-consuming nature of feature engineering. To enable learning from both general knowledge and specific demonstration trajectories, we use a large language model's coding capability to instantiate a policy structure based on expert domain knowledge expressed in natural language and tune the parameters in the policy with demonstrations. We name this approach the Knowledge Informed Model (KIM) as the structure reflects the semantics of expert knowledge. In our experiments with lunar lander and car racing tasks, our approach learns to solve the tasks with as few as 5 demonstrations and is robust to action noise, outperforming the baseline model without domain knowledge. This indicates that with the help of large language models, we can incorporate domain knowledge into the structure of the policy, increasing sample efficiency for behavior cloning.

Traditional deep neural networks typically use end-to-end backpropagation, which often places a big burden on GPU memory. Another promising training method is local learning, which involves splitting the network into blocks and training them in parallel with the help of an auxiliary network. Local learning has been widely studied and applied to image classification tasks, and its performance is comparable to that of end-to-end method. However, different image tasks often rely on different feature representations, which is difficult for typical auxiliary networks to adapt to. To solve this problem, we propose the construction method of Global-Local Collaborative Auxiliary Network (GLCAN), which provides a macroscopic design approach for auxiliary networks. This is the first demonstration that local learning methods can be successfully applied to other tasks such as object detection and super-resolution. GLCAN not only saves a lot of GPU memory, but also has comparable performance to an end-to-end approach on data sets for multiple different tasks.

Large language models contain noisy general knowledge of the world, yet are hard to train or fine-tune. On the other hand cognitive architectures have excellent interpretability and are flexible to update but require a lot of manual work to instantiate. In this work, we combine the best of both worlds: bootstrapping a cognitive-based model with the noisy knowledge encoded in large language models. Through an embodied agent doing kitchen tasks, we show that our proposed framework yields better efficiency compared to an agent based entirely on large language models. Our experiments indicate that large language models are a good source of information for cognitive architectures, and the cognitive architecture in turn can verify and update the knowledge of large language models to a specific domain.

Digital watermarking has been widely used to protect the copyright and integrity of multimedia data. Previous studies mainly focus on designing watermarking techniques that are robust to attacks of destroying the embedded watermarks. However, the emerging deep learning based image generation technology raises new open issues that whether it is possible to generate fake watermarked images for circumvention. In this paper, we make the first attempt to develop digital image watermark fakers by using generative adversarial learning. Suppose that a set of paired images of original and watermarked images generated by the targeted watermarker are available, we use them to train a watermark faker with U-Net as the backbone, whose input is an original image, and after a domain-specific preprocessing, it outputs a fake watermarked image. Our experiments show that the proposed watermark faker can effectively crack digital image watermarkers in both spatial and frequency domains, suggesting the risk of such forgery attacks.