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1. Multi-Source Cross-Lingual Model Transfer: Learning What to Share

   Chen, Xilun; Hassan Awadallah, Ahmed; Hassan, Hany; Wang, Wei; Cardie, Claire (January 2019, Proceedings of the 57th Conference of the Association for Computational Linguistics (ACL))

   Modern NLP applications have enjoyed a great boost utilizing neural networks models. Such deep neural models, however, are not applicable to most human languages due to the lack of annotated training data for various NLP tasks. Cross-lingual transfer learning (CLTL) is a viable method for building NLP models for a low-resource target language by leveraging labeled data from other (source) languages. In this work, we focus on the multilingual transfer setting where training data in multiple source languages is leveraged to further boost target language performance. Unlike most existing methods that rely only on language-invariant features for CLTL, our approach coherently utilizes both language invariant and language-specific features at instance level. Our model leverages adversarial networks to learn language-invariant features, and mixture-of-experts models to dynamically exploit the similarity between the target language and each individual source language1. This enables our model to learn effectively what to share between various languages in the multilingual setup. Moreover, when coupled with unsupervised multilingual embeddings, our model can operate in a zero-resource setting where neither target language training data nor cross-lingual resources are available. Our model achieves significant performance gains over prior art, as shown in an extensive set of experiments over multiple text classification and sequence tagging. 

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2. Extending Answer Set Programs with Neural Networks

   https://doi.org/10.4204/EPTCS.325.41  

   Yang, Zhun (September 2020, Electronic proceedings in theoretical computer science)

   The integration of low-level perception with high-level reasoning is one of the oldest problems in Artificial Intelligence. Recently, several proposals were made to implement the reasoning process in complex neural network architectures. While these works aim at extending neural networks with the capability of reasoning, a natural question that we consider is: can we extend answer set programs with neural networks to allow complex and high-level reasoning on neural network outputs? As a preliminary result, we propose NeurASP – a simple extension of answer set programs by embracing neural networks where neural network outputs are treated as probability distributions over atomic facts in answer set programs. We show that NeurASP can not only improve the perception accuracy of a pre-trained neural network, but also help to train a neural network better by giving restrictions through logic rules. However, training with NeurASP would take much more time than pure neural network training due to the internal use of a symbolic reasoning engine. For future work, we plan to investigate the potential ways to solve the scalability issue of NeurASP. One potential way is to embed logic programs directly in neural networks. On this route, we plan to first design a SAT solver using neural networks, then extend such a solver to allow logic programs. 

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3. GO-DICE: Goal-Conditioned Option-Aware Offline Imitation Learning via Stationary Distribution Correction Estimation

   https://doi.org/10.1609/aaai.v38i11.29172  

   Jain, Abhinav; Unhelkar, Vaibhav (March 2024, Proceedings of the AAAI Conference on Artificial Intelligence)

   Offline imitation learning (IL) refers to learning expert behavior solely from demonstrations, without any additional interaction with the environment. Despite significant advances in offline IL, existing techniques find it challenging to learn policies for long-horizon tasks and require significant re-training when task specifications change. Towards addressing these limitations, we present GO-DICE an offline IL technique for goal-conditioned long-horizon sequential tasks. GO-DICE discerns a hierarchy of sub-tasks from demonstrations and uses these to learn separate policies for sub-task transitions and action execution, respectively; this hierarchical policy learning facilitates long-horizon reasoning.Inspired by the expansive DICE-family of techniques, policy learning at both the levels transpires within the space of stationary distributions. Further, both policies are learnt with goal conditioning to minimize need for retraining when task goals change. Experimental results substantiate that GO-DICE outperforms recent baselines, as evidenced by a marked improvement in the completion rate of increasingly challenging pick-and-place Mujoco robotic tasks. GO-DICE is also capable of leveraging imperfect demonstration and partial task segmentation when available, both of which boost task performance relative to learning from expert demonstrations alone. 

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4. Learning constraints from demonstrations with grid and parametric representations

   https://doi.org/10.1177/02783649211035177  

   Chou, Glen; Berenson, Dmitry; Ozay, Necmiye (September 2021, The International Journal of Robotics Research)

   We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control constraints. Given safe demonstrations, our method uses hit-and-run sampling to obtain lower cost, and thus unsafe, trajectories. Both safe and unsafe trajectories are used to obtain a consistent representation of the unsafe set via solving an integer program. Our method generalizes across system dynamics and learns a guaranteed subset of the constraint. In addition, by leveraging a known parameterization of the constraint, we modify our method to learn parametric constraints in high dimensions. We also provide theoretical analysis on what subset of the constraint and safe set can be learnable from safe demonstrations. We demonstrate our method on linear and nonlinear system dynamics, show that it can be modified to work with suboptimal demonstrations, and that it can also be used to learn constraints in a feature space. 

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5. Towards Uniformly Superhuman Autonomy via Subdominance Minimization

   Ziebart, Brian; Choudhury, Sanjiban; Yan, Xinyan; Vernaza, Paul (July 2022, International Conference on Machine Learning)

   Prevalent imitation learning methods seek to produce behavior that matches or exceeds average human performance. This often prevents achieving expert-level or superhuman performance when identifying the better demonstrations to imitate is difficult. We instead assume demonstrations are of varying quality and seek to induce behavior that is unambiguously better (i.e., Pareto dominant or minimally subdominant) than all human demonstrations. Our minimum subdominance inverse optimal control training objective is primarily defined by high quality demonstrations; lower quality demonstrations, which are more easily dominated, are effectively ignored instead of degrading imitation. With increasing probability, our approach produces superhuman behavior incurring lower cost than demonstrations on the demonstrator’s unknown cost function{—}even if that cost function differs for each demonstration. We apply our approach on a computer cursor pointing task, producing behavior that is 78% superhuman, while minimizing demonstration suboptimality provides 50% superhuman behavior{—}and only 72% even after selective data cleaning. 

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