Attacks on Node Attributes in Graph Neural Networks

Graphs are commonly used to model complex networks prevalent in modern social media and literacy applications. Our research investigates the vulnerability of these graphs through the application of feature based adversarial attacks, focusing on both decision-time attacks and poisoning attacks. In contrast to state-of-the-art models like Net Attack and Meta Attack, which target node attributes and graph structure, our study specifically targets node attributes. For our analysis, we utilized the text dataset Hellaswag and graph datasets Cora and CiteSeer, providing a diverse basis for evaluation. Our findings indicate that decision-time attacks using Projected Gradient Descent (PGD) are more potent compared to poisoning attacks that employ Mean Node Embeddings and Graph Contrastive Learning strategies. This provides insights for graph data security, pinpointing where graph-based models are most vulnerable and thereby informing the development of stronger defense mechanisms against such attacks.

Learning to Learn Faster from Human Feedback with Language Model Predictive Control

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to perform new tasks. However, these capabilities (driven by in-context learning) are limited to short-term interactions, where users' feedback remains relevant for only as long as it fits within the context size of the LLM, and can be forgotten over longer interactions. In this work, we investigate fine-tuning the robot code-writing LLMs, to remember their in-context interactions and improve their teachability i.e., how efficiently they adapt to human inputs (measured by average number of corrections before the user considers the task successful). Our key observation is that when human-robot interactions are formulated as a partially observable Markov decision process (in which human language inputs are observations, and robot code outputs are actions), then training an LLM to complete previous interactions can be viewed as training a transition dynamics model -- that can be combined with classic robotics techniques such as model predictive control (MPC) to discover shorter paths to success. This gives rise to Language Model Predictive Control (LMPC), a framework that fine-tunes PaLM 2 to improve its teachability on 78 tasks across 5 robot embodiments -- improving non-expert teaching success rates of unseen tasks by 26.9% while reducing the average number of human corrections from 2.4 to 1.9. Experiments show that LMPC also produces strong meta-learners, improving the success rate of in-context learning new tasks on unseen robot embodiments and APIs by 31.5%. See videos, code, and demos at: https://robot-teaching.github.io/.

Learning Interpretable Policies in Hindsight-Observable POMDPs through Partially Supervised Reinforcement Learning

Deep reinforcement learning has demonstrated remarkable achievements across diverse domains such as video games, robotic control, autonomous driving, and drug discovery. Common methodologies in partially-observable domains largely lean on end-to-end learning from high-dimensional observations, such as images, without explicitly reasoning about true state. We suggest an alternative direction, introducing the Partially Supervised Reinforcement Learning (PSRL) framework. At the heart of PSRL is the fusion of both supervised and unsupervised learning. The approach leverages a state estimator to distill supervised semantic state information from high-dimensional observations which are often fully observable at training time. This yields more interpretable policies that compose state predictions with control. In parallel, it captures an unsupervised latent representation. These two-the semantic state and the latent state-are then fused and utilized as inputs to a policy network. This juxtaposition offers practitioners a flexible and dynamic spectrum: from emphasizing supervised state information to integrating richer, latent insights. Extensive experimental results indicate that by merging these dual representations, PSRL offers a potent balance, enhancing model interpretability while preserving, and often significantly outperforming, the performance benchmarks set by traditional methods in terms of reward and convergence speed.

FairytaleCQA: Integrating a Commonsense Knowledge Graph into Children's Storybook Narratives

AI models (including LLM) often rely on narrative question-answering (QA) datasets to provide customized QA functionalities to support downstream children education applications; however, existing datasets only include QA pairs that are grounded within the given storybook content, but children can learn more when teachers refer the storybook content to real-world knowledge (e.g., commonsense knowledge). We introduce the FairytaleCQA dataset, which is annotated by children education experts, to supplement 278 storybook narratives with educationally appropriate commonsense knowledge. The dataset has 5,868 QA pairs that not only originate from the storybook narrative but also contain the commonsense knowledge grounded by an external knowledge graph (i.e., ConceptNet). A follow-up experiment shows that a smaller model (T5-large) fine-tuned with FairytaleCQA reliably outperforms much larger prompt-engineered LLM (e.g., GPT-4) in this new QA-pair generation task (QAG). This result suggests that: 1) our dataset brings novel challenges to existing LLMs, and 2) human experts' data annotation are still critical as they have much nuanced knowledge that LLMs do not know in the children educational domain.

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website $\href{https://robotics-transformer-x.github.io}{\text{robotics-transformer-x.github.io}}$.

Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators

We describe a system for deep reinforcement learning of robotic manipulation skills applied to a large-scale real-world task: sorting recyclables and trash in office buildings. Real-world deployment of deep RL policies requires not only effective training algorithms, but the ability to bootstrap real-world training and enable broad generalization. To this end, our system combines scalable deep RL from real-world data with bootstrapping from training in simulation, and incorporates auxiliary inputs from existing computer vision systems as a way to boost generalization to novel objects, while retaining the benefits of end-to-end training. We analyze the tradeoffs of different design decisions in our system, and present a large-scale empirical validation that includes training on real-world data gathered over the course of 24 months of experimentation, across a fleet of 23 robots in three office buildings, with a total training set of 9527 hours of robotic experience. Our final validation also consists of 4800 evaluation trials across 240 waste station configurations, in order to evaluate in detail the impact of the design decisions in our system, the scaling effects of including more real-world data, and the performance of the method on novel objects. The projects website and videos can be found at \href{http://rl-at-scale.github.io}{rl-at-scale.github.io}.

Learning Pairwise Interaction for Generalizable DeepFake Detection

A fast-paced development of DeepFake generation techniques challenge the detection schemes designed for known type DeepFakes. A reliable Deepfake detection approach must be agnostic to generation types, which can present diverse quality and appearance. Limited generalizability across different generation schemes will restrict the wide-scale deployment of detectors if they fail to handle unseen attacks in an open set scenario. We propose a new approach, Multi-Channel Xception Attention Pairwise Interaction (MCX-API), that exploits the power of pairwise learning and complementary information from different color space representations in a fine-grained manner. We first validate our idea on a publicly available dataset in a intra-class setting (closed set) with four different Deepfake schemes. Further, we report all the results using balanced-open-set-classification (BOSC) accuracy in an inter-class setting (open-set) using three public datasets. Our experiments indicate that our proposed method can generalize better than the state-of-the-art Deepfakes detectors. We obtain 98.48% BOSC accuracy on the FF++ dataset and 90.87% BOSC accuracy on the CelebDF dataset suggesting a promising direction for generalization of DeepFake detection. We further utilize t-SNE and attention maps to interpret and visualize the decision-making process of our proposed network. https://github.com/xuyingzhongguo/MCX-API

Event-driven Spectrotemporal Feature Extraction and Classification using a Silicon Cochlea Model

This paper presents a reconfigurable digital implementation of an event-based binaural cochlear system on a Field Programmable Gate Array (FPGA). It consists of a pair of the Cascade of Asymmetric Resonators with Fast Acting Compression (CAR FAC) cochlea models and leaky integrate and fire (LIF) neurons. Additionally, we propose an event-driven SpectroTemporal Receptive Field (STRF) Feature Extraction using Adaptive Selection Thresholds (FEAST). It is tested on the TIDIGTIS benchmark and compared with current event-based auditory signal processing approaches and neural networks.

Phenotype Detection in Real World Data via Online MixEHR Algorithm

Understanding patterns of diagnoses, medications, procedures, and laboratory tests from electronic health records (EHRs) and health insurer claims is important for understanding disease risk and for efficient clinical development, which often require rules-based curation in collaboration with clinicians. We extended an unsupervised phenotyping algorithm, mixEHR, to an online version allowing us to use it on order of magnitude larger datasets including a large, US-based claims dataset and a rich regional EHR dataset. In addition to recapitulating previously observed disease groups, we discovered clinically meaningful disease subtypes and comorbidities. This work scaled up an effective unsupervised learning method, reinforced existing clinical knowledge, and is a promising approach for efficient collaboration with clinicians.