Time series classification is a critical task in various domains, such as finance, healthcare, and sensor data analysis. Unsupervised contrastive learning has garnered significant interest in learning effective representations from time series data with limited labels. The prevalent approach in existing contrastive learning methods consists of two separate stages: pre-training the encoder on unlabeled datasets and fine-tuning the well-trained model on a small-scale labeled dataset. However, such two-stage approaches suffer from several shortcomings, such as the inability of unsupervised pre-training contrastive loss to directly affect downstream fine-tuning classifiers, and the lack of exploiting the classification loss which is guided by valuable ground truth. In this paper, we propose an end-to-end model called SLOTS (Semi-supervised Learning fOr Time clasSification). SLOTS receives semi-labeled datasets, comprising a large number of unlabeled samples and a small proportion of labeled samples, and maps them to an embedding space through an encoder. We calculate not only the unsupervised contrastive loss but also measure the supervised contrastive loss on the samples with ground truth. The learned embeddings are fed into a classifier, and the classification loss is calculated using the available true labels. The unsupervised, supervised contrastive losses and classification loss are jointly used to optimize the encoder and classifier. We evaluate SLOTS by comparing it with ten state-of-the-art methods across five datasets. The results demonstrate that SLOTS is a simple yet effective framework. When compared to the two-stage framework, our end-to-end SLOTS utilizes the same input data, consumes a similar computational cost, but delivers significantly improved performance. We release code and datasets at https://anonymous.4open.science/r/SLOTS-242E.
Imitation learning, which learns agent policy by mimicking expert demonstration, has shown promising results in many applications such as medical treatment regimes and self-driving vehicles. However, it remains a difficult task to interpret control policies learned by the agent. Difficulties mainly come from two aspects: 1) agents in imitation learning are usually implemented as deep neural networks, which are black-box models and lack interpretability; 2) the latent causal mechanism behind agents' decisions may vary along the trajectory, rather than staying static throughout time steps. To increase transparency and offer better interpretability of the neural agent, we propose to expose its captured knowledge in the form of a directed acyclic causal graph, with nodes being action and state variables and edges denoting the causal relations behind predictions. Furthermore, we design this causal discovery process to be state-dependent, enabling it to model the dynamics in latent causal graphs. Concretely, we conduct causal discovery from the perspective of Granger causality and propose a self-explainable imitation learning framework, {\method}. The proposed framework is composed of three parts: a dynamic causal discovery module, a causality encoding module, and a prediction module, and is trained in an end-to-end manner. After the model is learned, we can obtain causal relations among states and action variables behind its decisions, exposing policies learned by it. Experimental results on both synthetic and real-world datasets demonstrate the effectiveness of the proposed {\method} in learning the dynamic causal graphs for understanding the decision-making of imitation learning meanwhile maintaining high prediction accuracy.
The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills. Specifically, $\textit{Diff-Transfer}$ discovers a feasible path within the task space that brings the source task to the target task. At each pair of adjacent points along this task path, which is two sub-tasks, $\textit{Diff-Transfer}$ adapts known actions from one sub-task to tackle the other sub-task successfully. The adaptation is guided by the gradient information from differentiable physics simulations. We propose a novel path-planning method to generate sub-tasks, leveraging $Q$-learning with a task-level state and reward. We implement our framework in simulation experiments and execute four challenging transfer tasks on robotic manipulation, demonstrating the efficacy of $\textit{Diff-Transfer}$ through comprehensive experiments. Supplementary and Videos are on the website https://sites.google.com/view/difftransfer
Graph Contrastive Learning (GCL) has emerged as a popular unsupervised graph representation learning method. However, it has been shown that GCL is vulnerable to adversarial attacks on both the graph structure and node attributes. Although empirical approaches have been proposed to enhance the robustness of GCL, the certifiable robustness of GCL is still remain unexplored. In this paper, we develop the first certifiably robust framework in GCL. Specifically, we first propose a unified criteria to evaluate and certify the robustness of GCL. We then introduce a novel technique, RES (Randomized Edgedrop Smoothing), to ensure certifiable robustness for any GCL model, and this certified robustness can be provably preserved in downstream tasks. Furthermore, an effective training method is proposed for robust GCL. Extensive experiments on real-world datasets demonstrate the effectiveness of our proposed method in providing effective certifiable robustness and enhancing the robustness of any GCL model. The source code of RES is available at https://github.com/ventr1c/RES-GCL.
Even though the collaboration between traditional and neuromorphic event cameras brings prosperity to frame-event based vision applications, the performance is still confined by the resolution gap crossing two modalities in both spatial and temporal domains. This paper is devoted to bridging the gap by increasing the temporal resolution for images, i.e., motion deblurring, and the spatial resolution for events, i.e., event super-resolving, respectively. To this end, we introduce CrossZoom, a novel unified neural Network (CZ-Net) to jointly recover sharp latent sequences within the exposure period of a blurry input and the corresponding High-Resolution (HR) events. Specifically, we present a multi-scale blur-event fusion architecture that leverages the scale-variant properties and effectively fuses cross-modality information to achieve cross-enhancement. Attention-based adaptive enhancement and cross-interaction prediction modules are devised to alleviate the distortions inherent in Low-Resolution (LR) events and enhance the final results through the prior blur-event complementary information. Furthermore, we propose a new dataset containing HR sharp-blurry images and the corresponding HR-LR event streams to facilitate future research. Extensive qualitative and quantitative experiments on synthetic and real-world datasets demonstrate the effectiveness and robustness of the proposed method. Codes and datasets are released at https://bestrivenzc.github.io/CZ-Net/.
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment. Specifically, we employ a control law and a learning representation framework that remain invariant under arbitrary SE(3) transformations of the manipulation task definition. Furthermore, the control law and learning representation framework are shown to be SE(3) equivariant when represented relative to the spatial frame. The proposed approach is based on utilizing a recently presented geometric impedance control (GIC) combined with a learning variable impedance control framework, where the gain scheduling policy is trained in a supervised learning fashion from expert demonstrations. A geometrically consistent error vector (GCEV) is fed to a neural network to achieve a gain scheduling policy that remains invariant to arbitrary translation and rotations. A comparison of our proposed control and learning framework with a well-known Cartesian space learning impedance control, equipped with a Cartesian error vector-based gain scheduling policy, confirms the significantly superior learning transferability of our proposed approach. A hardware implementation on a peg-in-hole task is conducted to validate the learning transferability and feasibility of the proposed approach.
Event-based motion deblurring has shown promising results by exploiting low-latency events. However, current approaches are limited in their practical usage, as they assume the same spatial resolution of inputs and specific blurriness distributions. This work addresses these limitations and aims to generalize the performance of event-based deblurring in real-world scenarios. We propose a scale-aware network that allows flexible input spatial scales and enables learning from different temporal scales of motion blur. A two-stage self-supervised learning scheme is then developed to fit real-world data distribution. By utilizing the relativity of blurriness, our approach efficiently ensures the restored brightness and structure of latent images and further generalizes deblurring performance to handle varying spatial and temporal scales of motion blur in a self-distillation manner. Our method is extensively evaluated, demonstrating remarkable performance, and we also introduce a real-world dataset consisting of multi-scale blurry frames and events to facilitate research in event-based deblurring.
Random Walk is a basic algorithm to explore the structure of networks, which can be used in many tasks, such as local community detection and network embedding. Existing random walk methods are based on single networks that contain limited information. In contrast, real data often contain entities with different types or/and from different sources, which are comprehensive and can be better modeled by multiple networks. To take advantage of rich information in multiple networks and make better inferences on entities, in this study, we propose random walk on multiple networks, RWM. RWM is flexible and supports both multiplex networks and general multiple networks, which may form many-to-many node mappings between networks. RWM sends a random walker on each network to obtain the local proximity (i.e., node visiting probabilities) w.r.t. the starting nodes. Walkers with similar visiting probabilities reinforce each other. We theoretically analyze the convergence properties of RWM. Two approximation methods with theoretical performance guarantees are proposed for efficient computation. We apply RWM in link prediction, network embedding, and local community detection. Comprehensive experiments conducted on both synthetic and real-world datasets demonstrate the effectiveness and efficiency of RWM.
Brain graphs, which model the structural and functional relationships between brain regions, are crucial in neuroscientific and clinical applications involving graph classification. However, dense brain graphs pose computational challenges including high runtime and memory usage and limited interpretability. In this paper, we investigate effective designs in Graph Neural Networks (GNNs) to sparsify brain graphs by eliminating noisy edges. While prior works remove noisy edges based on explainability or task-irrelevant properties, their effectiveness in enhancing performance with sparsified graphs is not guaranteed. Moreover, existing approaches often overlook collective edge removal across multiple graphs. To address these issues, we introduce an iterative framework to analyze different sparsification models. Our findings are as follows: (i) methods prioritizing interpretability may not be suitable for graph sparsification as they can degrade GNNs' performance in graph classification tasks; (ii) simultaneously learning edge selection with GNN training is more beneficial than post-training; (iii) a shared edge selection across graphs outperforms separate selection for each graph; and (iv) task-relevant gradient information aids in edge selection. Based on these insights, we propose a new model, Interpretable Graph Sparsification (IGS), which enhances graph classification performance by up to 5.1% with 55.0% fewer edges. The retained edges identified by IGS provide neuroscientific interpretations and are supported by well-established literature.
Imitation learning has achieved great success in many sequential decision-making tasks, in which a neural agent is learned by imitating collected human demonstrations. However, existing algorithms typically require a large number of high-quality demonstrations that are difficult and expensive to collect. Usually, a trade-off needs to be made between demonstration quality and quantity in practice. Targeting this problem, in this work we consider the imitation of sub-optimal demonstrations, with both a small clean demonstration set and a large noisy set. Some pioneering works have been proposed, but they suffer from many limitations, e.g., assuming a demonstration to be of the same optimality throughout time steps and failing to provide any interpretation w.r.t knowledge learned from the noisy set. Addressing these problems, we propose {\method} by evaluating and imitating at the sub-demonstration level, encoding action primitives of varying quality into different skills. Concretely, {\method} consists of a high-level controller to discover skills and a skill-conditioned module to capture action-taking policies, and is trained following a two-phase pipeline by first discovering skills with all demonstrations and then adapting the controller to only the clean set. A mutual-information-based regularization and a dynamic sub-demonstration optimality estimator are designed to promote disentanglement in the skill space. Extensive experiments are conducted over two gym environments and a real-world healthcare dataset to demonstrate the superiority of {\method} in learning from sub-optimal demonstrations and its improved interpretability by examining learned skills.