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Learning Theory

Bikang Pan, Wei Huang, Ye Shi

Integrating pretrained vision-language foundation models like CLIP into federated learning has attracted significant attention for enhancing generalization across diverse tasks. Typically, federated learning of vision-language models employs prompt learning to reduce communication and computational costs, i.e., prompt-based federated learning. However, there is limited theoretical analysis to understand the performance of prompt-based federated learning. In this work, we construct a theoretical analysis framework for prompt-based federated learning via feature learning theory. Specifically, we monitor the evolution of signal learning and noise memorization in prompt-based federated learning, demonstrating that performance can be assessed by the ratio of task-relevant to task-irrelevant coefficients. Furthermore, we draw an analogy between income and risk in portfolio optimization and the task-relevant and task-irrelevant terms in feature learning. Leveraging inspiration from portfolio optimization that combining two independent assets will maintain the income while reducing the risk, we introduce two prompts: global prompt and local prompt to construct a prompt portfolio to balance the generalization and personalization. Consequently, we showed the performance advantage of the prompt portfolio and derived the optimal mixing coefficient. These theoretical claims have been further supported by empirical experiments.

Robotics

Sid Nayak, Adelmo Morrison Orozco, Marina Have, Jackson Zhang, Vittal Thirumalai, Darren Chen, Aditya Kapoor, Eric Robinson, Karthik Gopalakrishnan, James Harrison 等

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge and handcrafted rules, LMs generalize from diverse data and adapt to various tasks with minimal tuning, acting as a compressed knowledge base. However, LMs in their standard form face challenges with long-horizon tasks, particularly in partially observable multi-agent settings. We propose an LM-based Long-Horizon Planner for Multi-Agent Robotics (LLaMAR), a cognitive architecture for planning that achieves state-of-the-art results in long-horizon tasks within partially observable environments. LLaMAR employs a plan-act-correct-verify framework, allowing self-correction from action execution feedback without relying on oracles or simulators. Additionally, we present MAP-THOR, a comprehensive test suite encompassing household tasks of varying complexity within the AI2-THOR environment. Experiments show that LLaMAR achieves a 30\% higher success rate than other state-of-the-art LM-based multi-agent planners in MAP-THOR and Search \& Rescue tasks. Code can be found at [https://github.com/nsidn98/LLaMAR](https://github.com/nsidn98/LLaMAR)

Reinforcement Learning · Planning

Huzi Cheng, Joshua Brown

Goal-directed planning presents a challenge for classical RL algorithms due to the vastness of the combinatorial state and goal spaces, while humans and animals adapt to complex environments, especially with diverse, non-stationary objectives, often employing intermediate goals for long-horizon tasks.Here, we propose a goal reduction mechanism for effectively deriving subgoals from arbitrary and distant original goals, using a novel loop-removal technique.The product of the method, called goal-reducer, distills high-quality subgoals from a replay buffer, all without the need for prior global environmental knowledge.Simulations show that the goal-reducer can be integrated into RL frameworks like Deep Q-learning and Soft Actor-Critic.It accelerates performance in both discrete and continuous action space tasks, such as grid world navigation and robotic arm manipulation, relative to the corresponding standard RL models.Moreover, the goal-reducer, when combined with a local policy, without iterative training, outperforms its integrated deep RL counterparts in solving a navigation task.This goal reduction mechanism also models human problem-solving.Comparing the model's performance and activation with human behavior and fMRI data in a treasure hunting task, we found matching representational patterns between an goal-reducer agent's components and corresponding human brain areas, particularly the vmPFC and basal ganglia. The results suggest that humans may use a similar computational framework for goal-directed behaviors.

Deep Learning · Robustness

Shuyang Jiang, Yusheng Liao, Ya Zhang, Yanfeng Wang, Yu Wang

Fine-tuning on task-specific question-answer pairs is a predominant method for enhancing the performance of instruction-tuned large language models (LLMs) on downstream tasks. However, in certain specialized domains, such as healthcare or harmless content generation, it is nearly impossible to obtain a large volume of high-quality data that matches the downstream distribution. To improve the performance of LLMs in data-scarce domains with domain-mismatched data, we re-evaluated the Transformer architecture and discovered that not all parameter updates during fine-tuning contribute positively to downstream performance. Our analysis reveals that within the self-attention and feed-forward networks, only the fine-tuned attention parameters are particularly beneficial when the training set's distribution does not fully align with the test set. Based on this insight, we propose an effective inference-time intervention method: \uline{T}raining \uline{A}ll parameters but \uline{I}nferring with only \uline{A}ttention (TAIA). We empirically validate TAIA using two general instruction-tuning datasets and evaluate it on seven downstream tasks involving math, reasoning, and knowledge understanding across LLMs of different parameter sizes and fine-tuning techniques. Our comprehensive experiments demonstrate that TAIA achieves superior improvements compared to both the fully fine-tuned model and the base model in most scenarios, with significant performance gains. The high tolerance of TAIA to data mismatches makes it resistant to jailbreaking tuning and enhances specialized tasks using general data. Code is available in \url{https://github.com/pixas/TAIA_LLM}.

Optimization · Discrete and Combinatorial Optimization

Pankaj Agarwal, Sharath Raghvendra, Pouyan Shirzadian, Keegan Yao

Optimal Transport (OT, also known as the Wasserstein distance) is a popular metric for comparing probability distributions and has been successfully used in many machine-learning applications.In the semi-discrete $2$-Wasserstein problem, we wish to compute the cheapest way to transport all the mass from a continuous distribution $\mu$ to a discrete distribution $\nu$ in $\mathbb{R}^d$ for $d\ge 1$, where the cost of transporting unit mass between points $a$ and $b$ is $d(a,b)=||a-b||^2$. When both distributions are discrete, a simple combinatorial framework has been used to find the exact solution (see e.g. [Orlin, STOC 1988]). In this paper, we propose a combinatorial framework for the semi-discrete OT, which can be viewed as an extension of the combinatorial framework for the discrete OT but requires several new ideas. We present a new algorithm that given $\mu$ and $\nu$ in $\mathbb{R}^2$ and a parameter $\varepsilon>0$, computes an $\varepsilon$-additive approximate semi-discrete transport plan in $O(n^{4}\log n\log \frac{1}{\varepsilon})$ time (in the worst case), where $n$ is the support-size of the discrete distribution $\nu$ and we assume that the mass of $\mu$ inside a triangle can be computed in $O(1)$ time. Our algorithm is significantly faster than the known algorithms, and unlike many numerical algorithms, it does not make any assumptions on the smoothness of $\mu$.As an application of our algorithm, we describe a data structure to store a large discrete distribution $\mu$ (with support size $N$) using $O(N)$ space so that, given a query discrete distribution $\nu$ (with support size $k$), an $\varepsilon$-additive approximate transport plan can be computed in $O(k^{3}\sqrt{N}\log \frac{1}{\varepsilon})$ time in $2$ dimensions. Our algorithm and data structure extend to higher dimensions as well as to $p$-Wasserstein problem for any $p \ge 1$.

Computer Vision · Segmentation

Boqian Wu, Qiao Xiao, Shiwei Liu, Lu Yin, Mykola Pechenizkiy, Decebal Constantin Mocanu, Maurice Keulen, Elena Mocanu

Deep neural networks have evolved as the leading approach in 3D medical image segmentation due to their outstanding performance. However, the ever-increasing model size and computational cost of deep neural networks have become the primary barriers to deploying them on real-world, resource-limited hardware. To achieve both segmentation accuracy and efficiency, we propose a 3D medical image segmentation model called Efficient to Efficient Network (E2ENet), which incorporates two parametrically and computationally efficient designs. i. Dynamic sparse feature fusion (DSFF) mechanism: it adaptively learns to fuse informative multi-scale features while reducing redundancy. ii. Restricted depth-shift in 3D convolution: it leverages the 3D spatial information while keeping the model and computational complexity as 2D-based methods. We conduct extensive experiments on AMOS, Brain Tumor Segmentation and BTCV Challenge, demonstrating that E2ENet consistently achieves a superior trade-off between accuracy and efficiency than prior arts across various resource constraints. %In particular, with a single model and single scale, E2ENet achieves comparable accuracy on the large-scale challenge AMOS-CT, while saving over 69% parameter count and 27% FLOPs in the inference phase, compared with the previousbest-performing method. Our code has been made available at: https://github.com/boqian333/E2ENet-Medical.

Deep Learning · Attention Mechanisms

Xuezhe Ma, Xiaomeng Yang, Wenhan Xiong, Beidi Chen, LILI YU, Hao Zhang, Jonathan May, Luke Zettlemoyer, Omer Levy, Chunting Zhou

The quadratic complexity and weak length extrapolation of Transformers limits their ability to scale to long sequences, and while sub-quadratic solutions like linear attention and state space models exist, they empirically underperform Transformers in pretraining efficiency and downstream task accuracy. We introduce MEGALODON, an neural architecture for efficient sequence modeling with unlimited context length. MEGALODON inherits the architecture of MEGA (exponential moving average with gated attention), and further introduces multiple technical components to improve its capability and stability, including complex exponential moving average (CEMA), timestep normalization layer, normalized attention mechanism and pre-norm with two-hop residual configuration. In a controlled head-to-head comparison with LLAMA2, MEGALODON achieves better efficiency than Transformer in the scale of 7 billion parameters and 2 trillion training tokens. MEGALODON reaches a training loss of 1.70, landing mid-way between LLAMA2-7B (1.75) and LLAMA2-13B (1.67). This result is robust throughout a wide range of benchmarks, where MEGALODON consistently outperforms Transformers across different tasks, domains, and modalities.

Jiaqi Li, Qianshan Wei, Chuanyi Zhang, Guilin Qi, Miaozeng Du, Yongrui Chen, Sheng Bi, Fan Liu

Machine unlearning (MU) empowers individuals with the `right to be forgotten' by removing their private or sensitive information encoded in machine learning models. However, it remains uncertain whether MU can be effectively applied to Multimodal Large Language Models (MLLMs), particularly in scenarios of forgetting the leaked visual data of concepts. To overcome the challenge, we propose an efficient method, Single Image Unlearning (SIU), to unlearn the visual recognition of a concept by fine-tuning a single associated image for few steps. SIU consists of two key aspects: (i) Constructing Multifaceted fine-tuning data. We introduce four targets, based on which we construct fine-tuning data for the concepts to be forgotten; (ii) Joint training loss. To synchronously forget the visual recognition of concepts and preserve the utility of MLLMs, we fine-tune MLLMs through a novel Dual Masked KL-divergence Loss combined with Cross Entropy loss. Alongside our method, we establish MMUBench, a new benchmark for MU in MLLMs and introduce a collection of metrics for its evaluation. Experimental results on MMUBench show that SIU completely surpasses the performance of existing methods. Furthermore, we surprisingly find that SIU can avoid invasive membership inference attacks and jailbreak attacks. To the best of our knowledge, we are the first to explore MU in MLLMs. We will release the code and benchmark in the near future.

Trustworthy Machine Learning

Boxuan Zhang, Jianing Zhu, Zengmao Wang, Tongliang Liu, Bo Du, Bo Han

Out-of-distribution (OOD) detection aims to identify OOD inputs from unknown classes, which is important for the reliable deployment of machine learning models in the open world. Various scoring functions are proposed to distinguish it from in-distribution (ID) data. However, existing methods generally focus on excavating the discriminative information from a single input, which implicitly limits its representation dimension. In this work, we introduce a novel perspective, i.e., employing different common corruptions on the input space, to expand that. We reveal an interesting phenomenon termed *confidence mutation*, where the confidence of OOD data can decrease significantly under the corruptions, while the ID data shows a higher confidence expectation considering the resistance of semantic features. Based on that, we formalize a new scoring method, namely, *Confidence aVerage* (CoVer), which can capture the dynamic differences by simply averaging the scores obtained from different corrupted inputs and the original ones, making the OOD and ID distributions more separable in detection tasks. Extensive experiments and analyses have been conducted to understand and verify the effectiveness of CoVer.

Trustworthy Machine Learning

Leon Lang, Davis Foote, Stuart J Russell, Anca Dragan, Erik Jenner, Scott Emmons

Past analyses of reinforcement learning from human feedback (RLHF) assume that the human evaluators fully observe the environment. What happens when human feedback is based only on partial observations? We formally define two failure cases: deceptive inflation and overjustification. Modeling the human as Boltzmann-rational w.r.t. a belief over trajectories, we prove conditions under which RLHF is guaranteed to result in policies that deceptively inflate their performance, overjustify their behavior to make an impression, or both. Under the new assumption that the human's partial observability is known and accounted for, we then analyze how much information the feedback process provides about the return function. We show that sometimes, the human's feedback determines the return function uniquely up to an additive constant, but in other realistic cases, there is irreducible ambiguity. We propose exploratory research directions to help tackle these challenges and experimentally validate both the theoretical concerns and potential mitigations, and caution against blindly applying RLHF in partially observable settings.

Graph Neural Networks

Kaiwen Dong, Zhichun Guo, Nitesh Chawla

Message Passing Neural Networks (MPNNs) have emerged as the {\em de facto} standard in graph representation learning. However, when it comes to link prediction, they are not always superior to simple heuristics such as Common Neighbor (CN). This discrepancy stems from a fundamental limitation: while MPNNs excel in node-level representation, they stumble with encoding the joint structural features essential to link prediction, like CN. To bridge this gap, we posit that, by harnessing the orthogonality of input vectors, pure message-passing can indeed capture joint structural features. Specifically, we study the proficiency of MPNNs in approximating CN heuristics. Based on our findings, we introduce the Message Passing Link Predictor (MPLP), a novel link prediction model. MPLP taps into quasi-orthogonal vectors to estimate link-level structural features, all while preserving the node-level complexities. We conduct experiments on benchmark datasets from various domains, where our method consistently outperforms the baseline methods, establishing new state-of-the-arts.

Optimization · Optimization and Learning under Uncertainty

Jonathan Kelner, Jerry Li, Allen Liu, Aaron Sidford, Kevin Tian

We consider the well-studied problem of completing a rank-$r$, $\mu$-incoherent matrix $\mathbf{M} \in \mathbb{R}^{d \times d}$ from incomplete observations. We focus on this problem in the semi-random setting where each entry is independently revealed with probability at least $p = \frac{\textup{poly}(r, \mu, \log d)}{d}$. Whereas multiple nearly-linear time algorithms have been established in the more specialized fully-random setting where each entry is revealed with probablity exactly $p$, the only known nearly-linear time algorithm in the semi-random setting is due to [CG18], whose sample complexity has a polynomial dependence on the inverse accuracy and condition number and thus cannot achieve high-accuracy recovery. Our main result is the first high-accuracy nearly-linear time algorithm for solving semi-random matrix completion, and an extension to the noisy observation setting.Our result builds upon the recent short-flat decomposition framework of [KLLST23a, KLLST23b] and leverages fast algorithms for flow problems on graphs to solve adaptive reweighting subproblems efficiently.

Deep Learning · Theory

Mo Zhou, Rong Ge

The ability of learning useful features is one of the major advantages of neural networks. Although recent works show that neural network can operate in a neural tangent kernel (NTK) regime that does not allow feature learning, many works also demonstrate the potential for neural networks to go beyond NTK regime and perform feature learning. Recently, a line of work highlighted the feature learning capabilities of the early stages of gradient-based training. In this paper we consider another mechanism for feature learning via gradient descent through a local convergence analysis. We show that once the loss is below a certain threshold, gradient descent with a carefully regularized objective will capture ground-truth directions. We further strengthen this local convergence analysis by incorporating early-stage feature learning analysis. Our results demonstrate that feature learning not only happens at the initial gradient steps, but can also occur towards the end of training.

Computer Vision

Zhiwei Lin, Yongtao Wang, Zhi Tang

Existing perception models achieve great success by learning from large amounts of labeled data, but they still struggle with open-world scenarios. To alleviate this issue, researchers introduce open-set perception tasks to detect or segment unseen objects in the training set. However, these models require predefined object categories as inputs during inference, which are not available in real-world scenarios. Recently, researchers pose a new and more practical problem, i.e., open-ended object detection, which discovers unseen objects without any object categories as inputs. In this paper, we present VL-SAM, a training-free framework that combines the generalized object recognition model (i.e., Vision-Language Model) with the generalized object localization model (i.e., Segment-Anything Model), to address the open-ended object detection and segmentation task. Without additional training, we connect these two generalized models with attention maps as the prompts. Specifically, we design an attention map generation module by employing head aggregation and a regularized attention flow to aggregate and propagate attention maps across all heads and layers in VLM, yielding high-quality attention maps. Then, we iteratively sample positive and negative points from the attention maps with a prompt generation module and send the sampled points to SAM to segment corresponding objects. Experimental results on the long-tail instance segmentation dataset (LVIS) show that our method surpasses the previous open-ended method on the object detection task and can provide additional instance segmentation masks. Besides, VL-SAM achieves favorable performance on the corner case object detection dataset (CODA), demonstrating the effectiveness of VL-SAM in real-world applications. Moreover, VL-SAM exhibits good model generalization that can incorporate various VLMs and SAMs.

Robotics

Zaijing Li, Yuquan Xie, Rui Shao, Gongwei Chen, Dongmei Jiang, Liqiang Nie

Building a general-purpose agent is a long-standing vision in the field of artificial intelligence. Existing agents have made remarkable progress in many domains, yet they still struggle to complete long-horizon tasks in an open world. We attribute this to the lack of necessary world knowledge and multimodal experience that can guide agents through a variety of long-horizon tasks. In this paper, we propose a Hybrid Multimodal Memory module to address the above challenges. It 1) transforms knowledge into Hierarchical Directed Knowledge Graph that allows agents to explicitly represent and learn world knowledge, and 2) summarises historical information into Abstracted Multimodal Experience Pool that provide agents with rich references for in-context learning. On top of the Hybrid Multimodal Memory module, a multimodal agent, Optimus-1, is constructed with dedicated Knowledge-guided Planner and Experience-Driven Reflector, contributing to a better planning and reflection in the face of long-horizon tasks in Minecraft. Extensive experimental results show that Optimus-1 significantly outperforms all existing agents on challenging long-horizon task benchmarks, and exhibits near human-level performance on many tasks. In addition, we introduce various Multimodal Large Language Models (MLLMs) as the backbone of Optimus-1. Experimental results show that Optimus-1 exhibits strong generalization with the help of the Hybrid Multimodal Memory module, outperforming the GPT-4V baseline on many tasks.

Reinforcement Learning · Batch Offline

Qin-Wen Luo, Ming-Kun Xie, Yewen Wang, Sheng-Jun Huang

Offline-to-online (O2O) reinforcement learning (RL) provides an effective means of leveraging an offline pre-trained policy as initialization to improve performance rapidly with limited online interactions. Recent studies often design fine-tuning strategies for a specific offline RL method and cannot perform general O2O learning from any offline method. To deal with this problem, we disclose that there are evaluation and improvement mismatches between the offline dataset and the online environment, which hinders the direct application of pre-trained policies to online fine-tuning. In this paper, we propose to handle these two mismatches simultaneously, which aims to achieve general O2O learning from any offline method to any online method. Before online fine-tuning, we re-evaluate the pessimistic critic trained on the offline dataset in an optimistic way and then calibrate the misaligned critic with the reliable offline actor to avoid erroneous update. After obtaining an optimistic and and aligned critic, we perform constrained fine-tuning to combat distribution shift during online learning. We show empirically that the proposed method can achieve stable and efficient performance improvement on multiple simulated tasks when compared to the state-of-the-art methods.

Graph Neural Networks

Aref Einizade, Fragkiskos Malliaros, Jhony H. Giraldo

Processing multidomain data defined on multiple graphs holds significant potential in various practical applications in computer science. However, current methods are mostly limited to discrete graph filtering operations. Tensorial partial differential equations on graphs (TPDEGs) provide a principled framework for modeling structured data across multiple interacting graphs, addressing the limitations of the existing discrete methodologies. In this paper, we introduce Continuous Product Graph Neural Networks (CITRUS) that emerge as a natural solution to the TPDEG. CITRUS leverages the separability of continuous heat kernels from Cartesian graph products to efficiently implement graph spectral decomposition. We conduct thorough theoretical analyses of the stability and over-smoothing properties of CITRUS in response to domain-specific graph perturbations and graph spectra effects on the performance. We evaluate CITRUS on well-known traffic and weather spatiotemporal forecasting datasets, demonstrating superior performance over existing approaches. The implementation codes are available at https://github.com/ArefEinizade2/CITRUS.

Probabilistic Methods

Chenghua Guo, Han Yu, Jiaxin Liu, Chao Chen, Qi Li, Sihong Xie, Xi Zhang

Uncertainty Quantification (UQ) is vital for decision makers as it offers insights into the potential reliability of data and model, enabling more informed and risk-aware decision-making. Graphical models, capable of representing data with complex dependencies, are widely used across domains.Existing sampling-based UQ methods are unbiased but cannot guarantee convergence and are time-consuming on large-scale graphs. There are fast UQ methods for graphical models with closed-form solutions and convergence guarantee but with uncertainty underestimation.We propose *LinUProp*, a UQ method that utilizes a novel linear propagation of uncertainty to model uncertainty among related nodes additively instead of multiplicatively, to offer linear scalability, guaranteed convergence, and closed-form solutions without underestimating uncertainty.Theoretically, we decompose the expected prediction error of the graphical model and prove that the uncertainty computed by *LinUProp* is the *generalized variance component* of the decomposition.Experimentally, we demonstrate that *LinUProp* is consistent with the sampling-based method but with linear scalability and fast convergence.Moreover, *LinUProp* outperforms competitors in uncertainty-based active learning on four real-world graph datasets, achieving higher accuracy with a lower labeling budget.

Data-centric AI

Rwiddhi Chakraborty, Yinong O Wang, Jialu Gao, Runkai Zheng, Cheng Zhang, Fernando D De la Torre

The widespread success of deep learning models today is owed to the curation of extensive datasets significant in size and complexity. However, such models frequently pick up inherent biases in the data during the training process, leading to unreliable predictions. Diagnosing and debiasing datasets is thus a necessity to ensure reliable model performance. In this paper, we present ConBias, a novel framework for diagnosing and mitigating Concept co-occurrence Biases in visual datasets. ConBias represents visual datasets as knowledge graphs of concepts, enabling meticulous analysis of spurious concept co-occurrences to uncover concept imbalances across the whole dataset. Moreover, we show that by employing a novel clique-based concept balancing strategy, we can mitigate these imbalances, leading to enhanced performance on downstream tasks. Extensive experiments show that data augmentation based on a balanced concept distribution augmented by ConBias improves generalization performance across multiple datasets compared to state-of-the-art methods.

Optimization · Non-Convex

Yassine Laguel, Yasa Syed, Necdet Serhat Aybat, Mert Gurbuzbalaban

Stochastic smooth nonconvex minimax problems are prevalent in machine learning, e.g., GAN training, fair classification, and distributionally robust learning. Stochastic gradient descent ascent (GDA)-type methods are popular in practice due to their simplicity and single-loop nature. However, there is a significant gap between the theory and practice regarding high-probability complexity guarantees for these methods on stochastic nonconvex minimax problems. Existing high-probability bounds for GDA-type single-loop methods only apply to convex/concave minimax problems and to particular non-monotone variational inequality problems under some restrictive assumptions. In this work, we address this gap by providing the first high-probability complexity guarantees for nonconvex/PL minimax problems corresponding to a smooth function that satisfies the PL-condition in the dual variable. Specifically, we show that when the stochastic gradients are light-tailed, the smoothed alternating GDA method can compute an $\varepsilon$-stationary point within $\mathcal{O}(\frac{\ell \kappa^2 \delta^2}{\varepsilon^4} + \frac{\kappa}{\varepsilon^2}(\ell+\delta^2\log({1}/{\bar{q}})))$ stochastic gradient calls with probability at least $1-\bar{q}$ for any $\bar{q}\in(0,1)$, where $\mu$ is the PL constant, $\ell$ is the Lipschitz constant of the gradient, $\kappa=\ell/\mu$ is the condition number, and $\delta^2$ denotes a bound on the variance of stochastic gradients. We also present numerical results on a nonconvex/PL problem with synthetic data and on distributionally robust optimization problems with real data, illustrating our theoretical findings.