AAAI 2022 论文列表

Off-the-shelf single-stage multi-person pose regression methods generally leverage the instance score (i.e., confidence of the instance localization) to indicate the pose quality for selecting the pose candidates. We consider that there are two gaps involved in existing paradigm: 1) The instance score is not well interrelated with the pose regression quality. 2) The instance feature representation, which is used for predicting the instance score, does not explicitly encode the structural pose information to predict the reasonable score that represents pose regression quality. To address the aforementioned issues, we propose to learn the pose regression quality-aware representation. Concretely, for the first gap, instead of using the previous instance confidence label (e.g., discrete {1,0} or Gaussian representation) to denote the position and confidence for person instance, we firstly introduce the Consistent Instance Representation (CIR) that unifies the pose regression quality score of instance and the confidence of background into a pixel-wise score map to calibrates the inconsistency between instance score and pose regression quality. To fill the second gap, we further present the Query Encoding Module (QEM) including the Keypoint Query Encoding (KQE) to encode the positional and semantic information for each keypoint and the Pose Query Encoding (PQE) which explicitly encodes the predicted structural pose information to better fit the Consistent Instance Representation (CIR). By using the proposed components, we significantly alleviate the above gaps. Our method outperforms previous single-stage regression-based even bottom-up methods and achieves the state-of-the-art result of 71.7 AP on MS COCO test-dev set.

We consider the problem of learning action models for planning in unknown stochastic environments that can be defined using the Probabilistic Planning Domain Description Language (PPDDL). As input, we are given a set of previously executed trajectories, and the main challenge is to learn an action model that has a similar goal achievement probability to the policies used to create these trajectories. To this end, we introduce a variant of PPDDL in which there is uncertainty about the transition probabilities, specified by an interval for each factor that contains the respective true transition probabilities. Then, we present SAM+, an algorithm that learns such an imprecise-PPDDL environment model. SAM+ has a polynomial time and sample complexity, and guarantees that with high probability, the true environment is indeed captured by the defined intervals. We prove that the action model SAM+ outputs has a goal achievement probability that is almost as good or better than that of the policies used to produced the training trajectories. Then, we show how to produce a PPDDL model based on this imprecise-PPDDL model that has similar properties.

Real world tasks are hierarchical and compositional. Tasks can be composed of multiple subtasks (or sub-goals) that are dependent on each other. These subtasks are defined in terms of entities (e.g., "apple", "pear") that can be recombined to form new subtasks (e.g., "pickup apple", and "pickup pear"). To solve these tasks efficiently, an agent must infer subtask dependencies (e.g. an agent must execute "pickup apple" before "place apple in pot"), and generalize the inferred dependencies to new subtasks (e.g. "place apple in pot" is similar to "place apple in pan"). Moreover, an agent may also need to solve unseen tasks, which can involve unseen entities. To this end, we formulate parameterized subtask graph inference (PSGI), a method for modeling subtask dependencies using first-order logic with factored entities. To facilitate this, we learn parameter attributes in a zero-shot manner, which are used as quantifiers (e.g. is_pickable(X)) for the factored subtask graph. We show this approach accurately learns the latent structure on hierarchical and compositional tasks more efficiently than prior work, and show PSGI can generalize by modelling structure on subtasks unseen during adaptation.

Estimating per-pixel motion between video frames, known as optical flow, is a long-standing problem in video understanding and analysis. Most contemporary optical flow techniques largely focus on addressing the cross-image matching with feature similarity, with few methods considering how to explicitly reason over the given scene for achieving a holistic motion understanding. In this work, taking a fresh perspective, we introduce a novel graph-based approach, called adaptive graph reasoning for optical flow (AGFlow), to emphasize the value of scene/context information in optical flow. Our key idea is to decouple the context reasoning from the matching procedure, and exploit scene information to effectively assist motion estimation by learning to reason over the adaptive graph. The proposed AGFlow can effectively exploit the context information and incorporate it within the matching procedure, producing more robust and accurate results. On both Sintel clean and final passes, our AGFlow achieves the best accuracy with EPE of 1.43 and 2.47 pixels, outperforming state-of-the-art approaches by 11.2% and 13.6%, respectively. Code is publicly available at https://github.com/megvii-research/AGFlow.

Animals are equipped with a rich innate repertoire of sensory, behavioral and motor skills, which allows them to interact with the world immediately after birth. At the same time, many behaviors are highly adaptive and can be tailored to specific environments by means of learning. In this work, we use mathematical analysis and the framework of memory-based meta-learning (or ’learning to learn’) to answer when it is beneficial to learn such an adaptive strategy and when to hard-code a heuristic behavior. We find that the interplay of ecological uncertainty, task complexity and the agents’ lifetime has crucial effects on the meta-learned amortized Bayesian inference performed by an agent. There exist two regimes: One in which meta-learning yields a learning algorithm that implements task-dependent information-integration and a second regime in which meta-learning imprints a heuristic or ’hard-coded’ behavior. Further analysis reveals that non-adaptive behaviors are not only optimal for aspects of the environment that are stable across individuals, but also in situations where an adaptation to the environment would in fact be highly beneficial, but could not be done quickly enough to be exploited within the remaining lifetime. Hard-coded behaviors should hence not only be those that always work, but also those that are too complex to be learned within a reasonable time frame.

Given the incomplete knowledge of classes that exist in the world, Open-set Recognition (OSR) enables networks to identify and reject the unseen classes after training. This problem of breaking the common closed-set assumption is far from being solved. Recent studies focus on designing new losses, neural network encoding structures, and calibration methods to optimize a feature space for OSR relevant tasks. In this work, we make the first attempt to tackle OSR by searching the architecture of a Neural Network (NN) under the open-set assumption. In contrast to the prior arts, we develop a mechanism to both search the architecture of the network and train a network suitable for tackling OSR. Inspired by the compact abating probability (CAP) model, which is theoretically proven to reduce the open space risk, we regularize the searching space by VAE contrastive learning. To discover a more robust structure for OSR, we propose Pseudo Auxiliary Searching (PAS), in which we split a pretended set of know-unknown classes from the original training set in the searching phase, hence enabling the super-net to explore an effective architecture that can handle unseen classes in advance. We demonstrate the benefits of this learning pipeline on 5 OSR datasets, including MNIST, SVHN, CIFAR10, CIFARAdd10, and CIFARAdd50, where our approach outperforms prior state-of-the-art networks designed by humans. To spark research in this field, our code is available at https://github.com/zxl101/NAS OSR.

Since human drivers only consider the driving-related factors that affect vehicle control depending on the situation, they can drive safely even in diverse driving environments. To mimic this behavior, we propose an autonomous driving framework based on the two-stage representation learning that initially splits the latent features as domain-specific features and domain-general features. Subsequently, the dynamic-object features, which contain information of dynamic objects, are disentangled from latent features using mutual information estimator. In this study, the problem in behavior cloning is divided into several domain-specific subspaces, with experts becoming specialized on each domain-specific policy. The proposed mixture of domain-specific experts (MoDE) model predicts the final control values through the cooperation of experts using a gating function. The domain-specific features are used to calculate the importance weight of the domain-specific experts, and the disentangled domain-general and dynamic-object features are applied in estimating the control values. To validate the proposed MoDE model, we conducted several experiments and achieved a higher success rate on the CARLA benchmarks under several conditions and tasks than state-of-the-art approaches.

Strategic classification, i.e. classification under possible strategic manipulations of features, has received a lot of attention from both the machine learning and the game theory community. Most works focus on analysing properties of the optimal decision rule under such manipulations. In our work we take a learning theoretic perspective, focusing on the sample complexity needed to learn a good decision rule which is robust to strategic manipulation. We perform this analysis by introducing a novel loss function, the strategic manipulation loss, which takes into account both the accuracy of the final decision rule and its vulnerability to manipulation. We analyse the sample complexity for a known graph of possible manipulations in terms of the complexity of the function class and the manipulation graph. Additionally, we initialize the study of learning under unknown manipulation capabilities of the involved agents. Using techniques from transfer learning theory, we define a similarity measure for manipulation graphs and show that learning outcomes are robust with respect to small changes in the manipulation graph. Lastly, we analyse the (sample complexity of) learning of the manipulation capability of agents with respect to this similarity measure, providing novel guarantees for strategic classification with respect to an unknown manipulation graph.

We introduce an inductive logic programming approach that combines classical divide-and-conquer search with modern constraint-driven search. Our anytime approach can learn optimal, recursive, and large programs and supports predicate invention. Our experiments on three domains (classification, inductive general game playing, and program synthesis) show that our approach can increase predictive accuracies and reduce learning times.

Bayesian networks represent relations between variables using a directed acyclic graph (DAG). Learning the DAG is an NP-hard problem and exact learning algorithms are feasible only for small sets of variables. We propose two scalable heuristics for learning DAGs in the linear structural equation case. Our methods learn the DAG by alternating between unconstrained gradient descent-based step to optimize an objective function and solving a maximum acyclic subgraph problem to enforce acyclicity. Thanks to this decoupling, our methods scale up beyond thousands of variables.

We study the problem of learning influence adoption in networks. In this problem, a communicable entity (such as an infectious disease, a computer virus, or a social media meme) propagates through a network, and the goal is to learn the state of each individual node by sampling only a small number of nodes and observing/testing their states. We study this problem in heterogeneous networks, in which each individual node has a set of distinct features that determine how it is affected by the propagating entity. We give an efficient algorithm with nearly optimal sample complexity for two variants of this learning problem, corresponding to symptomatic and asymptomatic spread. In each case, the optimal sample complexity naturally generalizes the complexity of learning how nodes are affected in isolation, and the complexity of learning influence adoption in a homogeneous network.

Learning human driving behaviors is an efficient approach for self-driving vehicles. Traditional Imitation Learning (IL) methods assume that the expert demonstrations follow Markov Decision Processes (MDPs). However, in reality, this assumption does not always hold true. Spurious correlation may exist through the paths of historical variables because of the existence of unobserved confounders. Accounting for the latent causal relationships from unobserved variables to outcomes, this paper proposes Sequential Causal Imitation Learning (SeqCIL) for imitating driver behaviors. We develop a sequential causal template that generalizes the default MDP settings to one with Unobserved Confounders (MDPUC-HD). Then we develop a sufficient graphical criterion to determine when ignoring causality leads to poor performances in MDPUC-HD. Through the framework of Adversarial Imitation Learning, we develop a procedure to imitate the expert policy by blocking π-backdoor paths at each time step. Our methods are evaluated on a synthetic dataset and a real-world highway driving dataset, both demonstrating that the proposed procedure significantly outperforms non-causal imitation learning methods.

Off-policy sampling and experience replay are key for improving sample efficiency and scaling model-free temporal difference learning methods. When combined with function approximation, such as neural networks, this combination is known as the deadly triad and is potentially unstable. Recently, it has been shown that stability and good performance at scale can be achieved by combining emphatic weightings and multi-step updates. This approach, however, is generally limited to sampling complete trajectories in order, to compute the required emphatic weighting. In this paper we investigate how to combine emphatic weightings with non-sequential, off-line data sampled from a replay buffer. We develop a multi-step emphatic weighting that can be combined with replay, and a time-reversed n-step TD learning algorithm to learn the required emphatic weighting. We show that these state weightings reduce variance compared with prior approaches, while providing convergence guarantees. We tested the approach at scale on Atari 2600 video games, and observed that the new X-ETD(n) agent improved over baseline agents, highlighting both the scalability and broad applicability of our approach.

A common approach to Temporal Action Localization (TAL) is to generate action proposals and then perform action classification and localization on them. For each proposal, existing methods universally use a shared proposal-level representation for both tasks. However, our analysis indicates that this shared representation focuses on the most discriminative frames for classification, e.g., ``take-offs" rather than ``run-ups" in distinguishing ``high jump" and ``long jump", while frames most relevant to localization, such as the start and end frames of an action, are largely ignored. In other words, such a shared representation can not simultaneously handle both classification and localization tasks well, and it makes precise TAL difficult. To address this challenge, this paper disentangles the shared representation into classification and localization representations. The disentangled classification representation focuses on the most discriminative frames, and the disentangled localization representation focuses on the action phase as well as the action start and end. Our model could be divided into two sub-networks, i.e., the disentanglement network and the context-based aggregation network. The disentanglement network is an autoencoder to learn orthogonal hidden variables of classification and localization. The context-based aggregation network aggregates the classification and localization representations by modeling local and global contexts. We evaluate our proposed method on two popular benchmarks for TAL, which outperforms all state-of-the-art methods.

Although various methods have been proposed for pedestrian attribute recognition, most studies follow the same feature learning mechanism, ie, learning a shared pedestrian image feature to classify multiple attributes. However, this mechanism leads to low-confidence predictions and non-robustness of the model in the inference stage. In this paper, we investigate why this is the case. We mathematically discover that the central cause is that the optimal shared feature cannot maintain high similarities with multiple classifiers simultaneously in the context of minimizing classification loss. In addition, this feature learning mechanism ignores the spatial and semantic distinctions between different attributes. To address these limitations, we propose a novel disentangled attribute feature learning (DAFL) framework to learn a disentangled feature for each attribute, which exploits the semantic and spatial characteristics of attributes. The framework mainly consists of learnable semantic queries, a cascaded semantic-spatial cross-attention (SSCA) module, and a group attention merging (GAM) module. Specifically, based on learnable semantic queries, the cascaded SSCA module iteratively enhances the spatial localization of attribute-related regions and aggregates region features into multiple disentangled attribute features, used for classification and updating learnable semantic queries. The GAM module splits attributes into groups based on spatial distribution and utilizes reliable group attention to supervise query attention maps. Experiments on PETA, RAPv1, PA100k, and RAPv2 show that the proposed method performs favorably against state-of-the-art methods.

Long Short-Term Memory (LSTM) and Transformers are two popular neural architectures used for natural language processing tasks. Theoretical results show that both are Turing-complete and can represent any context-free language (CFL).In practice, it is often observed that Transformer models have better representation power than LSTM. But the reason is barely understood. We study such practical differences between LSTM and Transformer and propose an explanation based on their latent space decomposition patterns. To achieve this goal, we introduce an oracle training paradigm, which forces the decomposition of the latent representation of LSTMand the Transformer and supervises with the transitions of the Pushdown Automaton (PDA) of the corresponding CFL. With the forced decomposition, we show that the performance upper bounds of LSTM and Transformer in learning CFL are close: both of them can simulate a stack and perform stack operation along with state transitions. However, the absence of forced decomposition leads to the failure of LSTM models to capture the stack and stack operations, while having a marginal impact on the Transformer model. Lastly, we connect the experiment on the prototypical PDA to a real-world parsing task to re-verify the conclusions

We study the problem of learning a Bayesian network (BN) of a set of variables when structural side information about the system is available. It is well known that learning the structure of a general BN is both computationally and statistically challenging. However, often in many applications, side information about the underlying structure can potentially reduce the learning complexity. In this paper, we develop a recursive constraint-based algorithm that efficiently incorporates such knowledge (i.e., side information) into the learning process. In particular, we study two types of structural side information about the underlying BN: (I) an upper bound on its clique number is known, or (II) it is diamond-free. We provide theoretical guarantees for the learning algorithms, including the worst-case number of tests required in each scenario. As a consequence of our work, we show that bounded treewidth BNs can be learned with polynomial complexity. Furthermore, we evaluate the performance and the scalability of our algorithms in both synthetic and real-world structures and show that they outperform the state-of-the-art structure learning algorithms.

Monocular 3D object detection aims to localize 3D bounding boxes in an input single 2D image. It is a highly challenging problem and remains open, especially when no extra information (e.g., depth, lidar and/or multi-frames) can be leveraged in training and/or inference. This paper proposes a simple yet effective formulation for monocular 3D object detection without exploiting any extra information. It presents the MonoCon method which learns Monocular Contexts, as auxiliary tasks in training, to help monocular 3D object detection. The key idea is that with the annotated 3D bounding boxes of objects in an image, there is a rich set of well-posed projected 2D supervision signals available in training, such as the projected corner keypoints and their associated offset vectors with respect to the center of 2D bounding box, which should be exploited as auxiliary tasks in training. The proposed MonoCon is motivated by the Cramer–Wold theorem in measure theory at a high level. In implementation, it utilizes a very simple end-to-end design to justify the effectiveness of learning auxiliary monocular contexts, which consists of three components: a Deep Neural Network (DNN) based feature backbone, a number of regression head branches for learning the essential parameters used in the 3D bounding box prediction, and a number of regression head branches for learning auxiliary contexts. After training, the auxiliary context regression branches are discarded for better inference efficiency. In experiments, the proposed MonoCon is tested in the KITTI benchmark (car, pedestrian and cyclist). It outperforms all prior arts in the leaderboard on the car category and obtains comparable performance on pedestrian and cyclist in terms of accuracy. Thanks to the simple design, the proposed MonoCon method obtains the fastest inference speed with 38.7 fps in comparisons. Our code is released at https://git.io/MonoCon.

Learning a common latent embedding by aligning the latent spaces of cross-modal autoencoders is an effective strategy for Generalized Zero-Shot Classification (GZSC). However, due to the lack of fine-grained instance-wise annotations, it still easily suffer from the domain shift problem for the discrepancy between the visual representation of diversified images and the semantic representation of fixed attributes. In this paper, we propose an innovative autoencoder network by learning Aligned Cross-Modal Representations (dubbed ACMR) for GZSC. Specifically, we propose a novel Vision-Semantic Alignment (VSA) method to strengthen the alignment of cross-modal latent features on the latent subspaces guided by a learned classifier. In addition, we propose a novel Information Enhancement Module (IEM) to reduce the possibility of latent variables collapse meanwhile encouraging the discriminative ability of latent variables. Extensive experiments on publicly available datasets demonstrate the state-of-the-art performance of our method.