Rethinking Goal-conditioned Supervised Learning and Its Connection to Offline RL

Solving goal-conditioned tasks with sparse rewards using self-supervised learning is promising because of its simplicity and stability over current reinforcement learning (RL) algorithms. A recent work, called Goal-Conditioned Supervised Learning (GCSL), provides a new learning framework by iteratively relabeling and imitating self-generated experiences. In this paper, we revisit the theoretical property of GCSL -- optimizing a lower bound of the goal reaching objective, and extend GCSL as a novel offline goal-conditioned RL algorithm. The proposed method is named Weighted GCSL (WGCSL), in which we introduce an advanced compound weight consisting of three parts (1) discounted weight for goal relabeling, (2) goal-conditioned exponential advantage weight, and (3) best-advantage weight. Theoretically, WGCSL is proved to optimize an equivalent lower bound of the goal-conditioned RL objective and generates monotonically improved policies via an iterated scheme. The monotonic property holds for any behavior policies, and therefore WGCSL can be applied to both online and offline settings. To evaluate algorithms in the offline goal-conditioned RL setting, we provide a benchmark including a range of point and simulated robot domains. Experiments in the introduced benchmark demonstrate that WGCSL can consistently outperform GCSL and existing state-of-the-art offline methods in the fully offline goal-conditioned setting.

Uni-Retriever: Towards Learning The Unified Embedding Based Retriever in Bing Sponsored Search

Embedding based retrieval (EBR) is a fundamental building block in many web applications. However, EBR in sponsored search is distinguished from other generic scenarios and technically challenging due to the need of serving multiple retrieval purposes: firstly, it has to retrieve high-relevance ads, which may exactly serve user's search intent; secondly, it needs to retrieve high-CTR ads so as to maximize the overall user clicks. In this paper, we present a novel representation learning framework Uni-Retriever developed for Bing Search, which unifies two different training modes knowledge distillation and contrastive learning to realize both required objectives. On one hand, the capability of making high-relevance retrieval is established by distilling knowledge from the ``relevance teacher model''. On the other hand, the capability of making high-CTR retrieval is optimized by learning to discriminate user's clicked ads from the entire corpus. The two training modes are jointly performed as a multi-objective learning process, such that the ads of high relevance and CTR can be favored by the generated embeddings. Besides the learning strategy, we also elaborate our solution for EBR serving pipeline built upon the substantially optimized DiskANN, where massive-scale EBR can be performed with competitive time and memory efficiency, and accomplished in high-quality. We make comprehensive offline and online experiments to evaluate the proposed techniques, whose findings may provide useful insights for the future development of EBR systems. Uni-Retriever has been mainstreamed as the major retrieval path in Bing's production thanks to the notable improvements on the representation and EBR serving quality.

Discovering Nonlinear PDEs from Scarce Data with Physics-encoded Learning

There have been growing interests in leveraging experimental measurements to discover the underlying partial differential equations (PDEs) that govern complex physical phenomena. Although past research attempts have achieved great success in data-driven PDE discovery, the robustness of the existing methods cannot be guaranteed when dealing with low-quality measurement data. To overcome this challenge, we propose a novel physics-encoded discrete learning framework for discovering spatiotemporal PDEs from scarce and noisy data. The general idea is to (1) firstly introduce a novel deep convolutional-recurrent network, which can encode prior physics knowledge (e.g., known PDE terms, assumed PDE structure, initial/boundary conditions, etc.) while remaining flexible on representation capability, to accurately reconstruct high-fidelity data, and (2) perform sparse regression with the reconstructed data to identify the explicit form of the governing PDEs. We validate our method on three nonlinear PDE systems. The effectiveness and superiority of the proposed method over baseline models are demonstrated.

COLD: A Benchmark for Chinese Offensive Language Detection

Offensive language detection and prevention becomes increasing critical for maintaining a healthy social platform and the safe deployment of language models. Despite plentiful researches on toxic and offensive language problem in NLP, existing studies mainly focus on English, while few researches involve Chinese due to the limitation of resources. To facilitate Chinese offensive language detection and model evaluation, we collect COLDataset, a Chinese offensive language dataset containing 37k annotated sentences. With this high-quality dataset, we provide a strong baseline classifier, COLDetector, with 81% accuracy for offensive language detection. Furthermore, we also utilize the proposed \textsc{COLDetector} to study output offensiveness of popular Chinese language models (CDialGPT and CPM). We find that (1) CPM tends to generate more offensive output than CDialGPT, and (2) certain type of prompts, like anti-bias sentences, can trigger offensive outputs more easily.Altogether, our resources and analyses are intended to help detoxify the Chinese online communities and evaluate the safety performance of generative language models. Disclaimer: The paper contains example data that may be considered profane, vulgar, or offensive.

Progressively Optimized Bi-Granular Document Representation for Scalable Embedding Based Retrieval

Ad-hoc search calls for the selection of appropriate answers from a massive-scale corpus. Nowadays, the embedding-based retrieval (EBR) becomes a promising solution, where deep learning based document representation and ANN search techniques are allied to handle this task. However, a major challenge is that the ANN index can be too large to fit into memory, given the considerable size of answer corpus. In this work, we tackle this problem with Bi-Granular Document Representation, where the lightweight sparse embeddings are indexed and standby in memory for coarse-grained candidate search, and the heavyweight dense embeddings are hosted in disk for fine-grained post verification. For the best of retrieval accuracy, a Progressive Optimization framework is designed. The sparse embeddings are learned ahead for high-quality search of candidates. Conditioned on the candidate distribution induced by the sparse embeddings, the dense embeddings are continuously learned to optimize the discrimination of ground-truth from the shortlisted candidates. Besides, two techniques: the contrastive quantization and the locality-centric sampling are introduced for the learning of sparse and dense embeddings, which substantially contribute to their performances. Thanks to the above features, our method effectively handles massive-scale EBR with strong advantages in accuracy: with up to +4.3% recall gain on million-scale corpus, and up to +17.5% recall gain on billion-scale corpus. Besides, Our method is applied to a major sponsored search platform with substantial gains on revenue (+1.95%), Recall (+1.01%) and CTR (+0.49%).

Toward Causal-Aware RL: State-Wise Action-Refined Temporal Difference

Although it is well known that exploration plays a key role in Reinforcement Learning (RL), prevailing exploration strategies for continuous control tasks in RL are mainly based on naive isotropic Gaussian noise regardless of the causality relationship between action space and the task and consider all dimensions of actions equally important. In this work, we propose to conduct interventions on the primal action space to discover the causal relationship between the action space and the task reward. We propose the method of State-Wise Action Refined (SWAR), which addresses the issue of action space redundancy and promote causality discovery in RL. We formulate causality discovery in RL tasks as a state-dependent action space selection problem and propose two practical algorithms as solutions. The first approach, TD-SWAR, detects task-related actions during temporal difference learning, while the second approach, Dyn-SWAR, reveals important actions through dynamic model prediction. Empirically, both methods provide approaches to understand the decisions made by RL agents and improve learning efficiency in action-redundant tasks.

Hierarchical Topometric Representation of 3D Robotic Maps

In this paper, we propose a method for generating a hierarchical, volumetric topological map from 3D point clouds. There are three basic hierarchical levels in our map: $storey - region - volume$. The advantages of our method are reflected in both input and output. In terms of input, we accept multi-storey point clouds and building structures with sloping roofs or ceilings. In terms of output, we can generate results with metric information of different dimensionality, that are suitable for different robotics applications. The algorithm generates the volumetric representation by generating $volumes$ from a 3D voxel occupancy map. We then add $passage$s (connections between $volumes$), combine small $volumes$ into a big $region$ and use a 2D segmentation method for better topological representation. We evaluate our method on several freely available datasets. The experiments highlight the advantages of our approach.

WenLan 2.0: Make AI Imagine via a Multimodal Foundation Model

The fundamental goal of artificial intelligence (AI) is to mimic the core cognitive activities of human including perception, memory, and reasoning. Although tremendous success has been achieved in various AI research fields (e.g., computer vision and natural language processing), the majority of existing works only focus on acquiring single cognitive ability (e.g., image classification, reading comprehension, or visual commonsense reasoning). To overcome this limitation and take a solid step to artificial general intelligence (AGI), we develop a novel foundation model pre-trained with huge multimodal (visual and textual) data, which is able to be quickly adapted for a broad class of downstream cognitive tasks. Such a model is fundamentally different from the multimodal foundation models recently proposed in the literature that typically make strong semantic correlation assumption and expect exact alignment between image and text modalities in their pre-training data, which is often hard to satisfy in practice thus limiting their generalization abilities. To resolve this issue, we propose to pre-train our foundation model by self-supervised learning with weak semantic correlation data crawled from the Internet and show that state-of-the-art results can be obtained on a wide range of downstream tasks (both single-modal and cross-modal). Particularly, with novel model-interpretability tools developed in this work, we demonstrate that strong imagination ability (even with hints of commonsense) is now possessed by our foundation model. We believe our work makes a transformative stride towards AGI and will have broad impact on various AI+ fields (e.g., neuroscience and healthcare).

Gophormer: Ego-Graph Transformer for Node Classification

Transformers have achieved remarkable performance in a myriad of fields including natural language processing and computer vision. However, when it comes to the graph mining area, where graph neural network (GNN) has been the dominant paradigm, transformers haven't achieved competitive performance, especially on the node classification task. Existing graph transformer models typically adopt fully-connected attention mechanism on the whole input graph and thus suffer from severe scalability issues and are intractable to train in data insufficient cases. To alleviate these issues, we propose a novel Gophormer model which applies transformers on ego-graphs instead of full-graphs. Specifically, Node2Seq module is proposed to sample ego-graphs as the input of transformers, which alleviates the challenge of scalability and serves as an effective data augmentation technique to boost model performance. Moreover, different from the feature-based attention strategy in vanilla transformers, we propose a proximity-enhanced attention mechanism to capture the fine-grained structural bias. In order to handle the uncertainty introduced by the ego-graph sampling, we further propose a consistency regularization and a multi-sample inference strategy for stabilized training and testing, respectively. Extensive experiments on six benchmark datasets are conducted to demonstrate the superiority of Gophormer over existing graph transformers and popular GNNs, revealing the promising future of graph transformers.