Counterfactual explanations promote explainability in machine learning models by answering the question "how should an input instance be perturbed to obtain a desired predicted label?". The comparison of this instance before and after perturbation can enhance human interpretation. Most existing studies on counterfactual explanations are limited in tabular data or image data. In this work, we study the problem of counterfactual explanation generation on graphs. A few studies have explored counterfactual explanations on graphs, but many challenges of this problem are still not well-addressed: 1) optimizing in the discrete and disorganized space of graphs; 2) generalizing on unseen graphs; and 3) maintaining the causality in the generated counterfactuals without prior knowledge of the causal model. To tackle these challenges, we propose a novel framework CLEAR which aims to generate counterfactual explanations on graphs for graph-level prediction models. Specifically, CLEAR leverages a graph variational autoencoder based mechanism to facilitate its optimization and generalization, and promotes causality by leveraging an auxiliary variable to better identify the underlying causal model. Extensive experiments on both synthetic and real-world graphs validate the superiority of CLEAR over the state-of-the-art methods in different aspects.
Fair machine learning aims to mitigate the biases of model predictions against certain subpopulations regarding sensitive attributes such as race and gender. Among the many existing fairness notions, counterfactual fairness measures the model fairness from a causal perspective by comparing the predictions of each individual from the original data and the counterfactuals. In counterfactuals, the sensitive attribute values of this individual had been modified. Recently, a few works extend counterfactual fairness to graph data, but most of them neglect the following facts that can lead to biases: 1) the sensitive attributes of each node's neighbors may causally affect the prediction w.r.t. this node; 2) the sensitive attributes may causally affect other features and the graph structure. To tackle these issues, in this paper, we propose a novel fairness notion - graph counterfactual fairness, which considers the biases led by the above facts. To learn node representations towards graph counterfactual fairness, we propose a novel framework based on counterfactual data augmentation. In this framework, we generate counterfactuals corresponding to perturbations on each node's and their neighbors' sensitive attributes. Then we enforce fairness by minimizing the discrepancy between the representations learned from the original graph and the counterfactuals for each node. Experiments on both synthetic and real-world graphs show that our framework outperforms the state-of-the-art baselines in graph counterfactual fairness, and also achieves comparable prediction performance.
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the Center of Mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with Linear Quadratic Regulator (LQR) to bound the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs and slopes.
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload variations. Therefore, high-performance model parameter estimation becomes indispensable. However, the inertia parameters of payload are usually unknown and dynamically changing when the quadruped robot is deployed in versatile tasks. To address this problem, online identification of the inertia parameters and the Center of Mass (CoM) position of the payload for the quadruped robots draw an increasing interest. This study presents an adaptive controller based on the online payload identification for the high payload capacity (the ratio between payload and robot's self-weight) quadruped locomotion. We name it as Adaptive Controller for Quadruped Locomotion (ACQL), which consists of a recursive update law and a control law. ACQL estimates the external forces and torques induced by the payload online. The estimation is incorporated in inverse-dynamics-based Quadratic Programming (QP) to realize a trotting gait. As such, the tracking accuracy of the robot's CoM and orientation trajectories are improved. The proposed method, ACQL, is verified in a real quadruped robot platform. Experiments prove the estimation efficacy for the payload weighing from 20 kg to 75 kg and loaded at different locations of the robot's torso.
In this paper, we study the problem of how to learn a model-agnostic meta-learner that simultaneously learning from different feature spaces. The reason that most of model-agnostic meta-learner methods cannot handle multiple task spaces is due to less common knowledge for the task instances. The reduction of shared knowledge is because different tasks with different example-level manifolds cannot entirely share the same model architecture. Actually, various tasks only share partial meta-parameters. For example, for two multi-feature tasks whose example-level manifolds contain a same subspace but their remaining subspaces are not the same, one can imagine that the common knowledge can be the feature extractor for that common subspace, but other subspaces' feature extractors cannot be used between the two tasks.
Most of existing gradient-based meta-learning approaches to few-shot learning assume that all tasks have the same input feature space. However, in the real world scenarios, there are many cases that the input structures of tasks can be different, that is, different tasks may vary in the number of input modalities or the data structure of each modality. Existing gradient-based approaches cannot handle such heterogeneous task distribution (HTD) as different types of tasks only share partial meta-parameters. In this paper, we propose HetMAML, a task-heterogeneous meta-agnostic meta-learning framework that can generalize not only common meta-parameters shared across different types of tasks but also type-specific meta-parameters. Specifically, we design a multi-channel backbone module that encodes the input of each type of tasks into the same length sequence of modality-specific embeddings. Then, we propose a task-aware multimodal encoder which can automatically take into account the context of task-specific input structures and adaptively project the heterogeneous input spaces to the same lower-dimensional concept space. The extensive experiments on five task-heterogeneous datasets demonstrate that our HetMAML successfully captures both type-specific and shared meta-parameters across heterogeneous tasks which fast adapt to all types of new tasks.
Causal inference is a critical research topic across many domains, such as statistics, computer science, education, public policy and economics, for decades. Nowadays, estimating causal effect from observational data has become an appealing research direction owing to the large amount of available data and low budget requirement, compared with randomized controlled trials. Embraced with the rapidly developed machine learning area, various causal effect estimation methods for observational data have sprung up. In this survey, we provide a comprehensive review of causal inference methods under the potential outcome framework, one of the well known causal inference framework. The methods are divided into two categories depending on whether they require all three assumptions of the potential outcome framework or not. For each category, both the traditional statistical methods and the recent machine learning enhanced methods are discussed and compared. The plausible applications of these methods are also presented, including the applications in advertising, recommendation, medicine and so on. Moreover, the commonly used benchmark datasets as well as the open-source codes are also summarized, which facilitate researchers and practitioners to explore, evaluate and apply the causal inference methods.
While deep learning has achieved great success in many fields, one common criticism about deep learning is its lack of interpretability. In most cases, the hidden units in a deep neural network do not have a clear semantic meaning or correspond to any physical entities. However, model interpretability and explainability are crucial in many biomedical applications. To address this challenge, we developed the Factor Graph Neural Network model that is interpretable and predictable by combining probabilistic graphical models with deep learning. We directly encode biological knowledge such as Gene Ontology as a factor graph into the model architecture, making the model transparent and interpretable. Furthermore, we devised an attention mechanism that can capture multi-scale hierarchical interactions among biological entities such as genes and Gene Ontology terms. With parameter sharing mechanism, the unrolled Factor Graph Neural Network model can be trained with stochastic depth and generalize well. We applied our model to two cancer genomic datasets to predict target clinical variables and achieved better results than other traditional machine learning and deep learning models. Our model can also be used for gene set enrichment analysis and selecting Gene Ontology terms that are important to target clinical variables.