Publications

On the consistency of hyper-parameter selection in value-based deep reinforcement learning
Deep reinforcement learning (deep RL) has achieved tremendous success on various domains through a combination of algorithmic design and car… (see more)eful selection of hyper-parameters. Algorithmic improvements are often the result of iterative enhancements built upon prior approaches, while hyper-parameter choices are typically inherited from previous methods or fine-tuned specifically for the proposed technique. Despite their crucial impact on performance, hyper-parameter choices are frequently overshadowed by algorithmic advancements. This paper conducts an extensive empirical study focusing on the reliability of hyper-parameter selection for value-based deep reinforcement learning agents, including the introduction of a new score to quantify the consistency and reliability of various hyper-parameters. Our findings not only help establish which hyper-parameters are most critical to tune, but also help clarify which tunings remain consistent across different training regimes.
What Mechanisms Does Knowledge Distillation Distill?
Cindy Wu
Ekdeep Singh Lubana
Bruno Mlodozeniec
Robert Kirk
David M. Krueger
Knowledge distillation is a commonly-used compression method in ML due to the popularity of increasingly large-scale models, but it is uncle… (see more)ar if all the information a teacher model contains is distilled into the smaller student model. We aim to formalize the concept of ‘knowledge’ to investigate how knowledge is transferred during distillation, focusing on shared invariant outputs to counterfactual changes of dataset latent variables (we call these latents mechanisms). We define a student model to be a good stand-in model for a teacher if it shares the teacher’s learned mechanisms, and find that Jacobian matching and contrastive representation learning are viable methods by which to train such models. While these methods do not result in perfect transfer of mechanisms, we show they often improve student fidelity or mitigate simplicity bias (as measured by the teacher-to-student KL divergence and accuracy on various out-of-distribution test datasets), especially on datasets with spurious statistical correlations.
CARTIER: Cartographic lAnguage Reasoning Targeted at Instruction Execution for Robots
Nikhil Kakodkar
Dmitriy Rivkin
Bobak H. Baghi
Francois Hogan
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
Qiao Gu
Krishna Murthy
Bipasha Sen
Aditya Agarwal
Corban Rivera
William Paul
Rama Chellappa
Chuang Gan
Celso M de Melo
Joshua B. Tenenbaum
Antonio Torralba
Florian Shkurti
For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and effi… (see more)cient for task-driven perception and planning. Recent approaches have attempted to leverage features from large vision-language models to encode semantics in 3D representations. However, these approaches tend to produce maps with per-point feature vectors, which do not scale well in larger environments, nor do they contain semantic spatial relationships between entities in the environment, which are useful for downstream planning. In this work, we propose ConceptGraphs, an open-vocabulary graph-structured representation for 3D scenes. ConceptGraphs is built by leveraging 2D foundation models and fusing their output to 3D by multi-view association. The resulting representations generalize to novel semantic classes, without the need to collect large 3D datasets or finetune models. We demonstrate the utility of this representation through a number of downstream planning tasks that are specified through abstract (language) prompts and require complex reasoning over spatial and semantic concepts. (Project page: https://concept-graphs.github.io/ Explainer video: https://youtu.be/mRhNkQwRYnc )
GAGE: Genetic Algorithm-Based Graph Explainer for Malware Analysis
Mohd Saqib
Benjamin C. M. Fung
Philippe Charland
Andrew Walenstein
Malware analysts often prefer reverse engineering using Call Graphs, Control Flow Graphs (CFGs), and Data Flow Graphs (DFGs), which involves… (see more) the utilization of black-box Deep Learning (DL) models. The proposed research introduces a structured pipeline for reverse engineering-based analysis, offering promising results compared to state-of-the-art methods and providing high-level interpretability for malicious code blocks in subgraphs. We propose the Canonical Executable Graph (CEG) as a new representation of Portable Executable (PE) files, uniquely incorporating syntactical and semantic information into its node embeddings. At the same time, edge features capture structural aspects of PE files. This is the first work to present a PE file representation encompassing syntactical, semantic, and structural characteristics, whereas previous efforts typically focused solely on syntactic or structural properties. Furthermore, recognizing the limitations of existing graph explanation methods within Explainable Artificial Intelligence (XAI) for malware analysis, primarily due to the specificity of malicious files, we introduce Genetic Algorithm-based Graph Explainer (GAGE). GAGE operates on the CEG, striving to identify a precise subgraph relevant to predicted malware families. Through experiments and comparisons, our proposed pipeline exhibits substantial improvements in model robustness scores and discriminative power compared to the previous benchmarks. Furthermore, we have successfully used GAGE in practical applications on real-world data, producing meaningful insights and interpretability. This research offers a robust solution to enhance cybersecurity by delivering a transparent and accurate understanding of malware behaviour. Moreover, the proposed algorithm is specialized in handling graph-based data, effectively dissecting complex content and isolating influential nodes.
Globally Stable Neural Imitation Policies
Mariana Sosa Guzmán
IDEA-DAC: Integrity-Driven Editing for Accountable Decentralized Anonymous Credentials via ZK-JSON
Decentralized Anonymous Credential (DAC) systems are increasingly relevant, especially when enhancing revocation mechanisms in the face of c… (see more)omplex traceability challenges. This paper introduces IDEA-DAC a paradigm shift from the conventional revoke-and-reissue methods, promoting direct and Integrity-Driven Editing (IDE) for Accountable DACs, which results in better integrity accountability, traceability, and system simplicity. We further incorporate an Edit-bound Conformity Check that ensures tailored integrity standards during credential amendments using R1CS-based ZK-SNARKs. Delving deeper, we propose ZK-JSON, a unique R1CS circuit design tailored for IDE over generic JSON documents. This design imposes strictly O(N) rank-1 constraints for variable-length JSON documents of up to N bytes in length, encompassing serialization, encryption, and edit-bound conformity checks. Additionally, our circuits only necessitate a one-time compilation, setup, and smart contract deployment for homogeneous JSON documents up to a specified size. While preserving core DAC features such as selective disclosure, anonymity, and predicate provability, IDEA-DAC achieves precise data modification checks without revealing private content, ensuring only authorized edits are permitted. In summary, IDEA-DAC offers an enhanced methodology for large-scale JSON-formatted credential systems, setting a new standard in decentralized identity management efficiency and precision.
A Neural-Evolutionary Algorithm for Autonomous Transit Network Design
Andrew Holliday
Open Source in Lab Management
This document explores the advantages of integrating open source software and practices in managing a scientific lab, emphasizing reproducib… (see more)ility and the avoidance of pitfalls. It details practical applications from website management using GitHub Pages to organizing datasets in compliance with BIDS standards, highlights the importance of continuous testing for data integrity, IT management through Ansible for efficient system configuration, open source software development. The broader goal is to promote transparent, reproducible science by adopting open source tools. This approach not only saves time but exposes students to best practices, enhancing the transparency and reproducibility of scientific research.
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots
Victor Klemm
Miguel de La Iglesia Valls
Christopher Pal
Roland Siegwart
TEMPLATES: Characterization of a Merger in the Dusty Lensing SPT0418-47 System
Jared Cathey
Anthony H. Gonzalez
Sidney Lower
Kedar A. Phadke
Justin Spilker
Manuel Aravena
Matthew Bayliss
Jack E. Birkin
Simon Birrer
Scott Chapman
Hakon Dahle
Christopher C. Hayward
Ryley Hill
Taylor A. Hutchison
Keunho J. Kim
Guillaume Mahler
Daniel P. Marrone
Desika Narayanan
Alexander Navarre … (see 7 more)
Cassie Reuter
Jane R Rigby
Keren Sharon
Manuel Solimano
Nikolaus Sulzenauer
Joaquin Vieira
David Vizgan
The 1st International Workshop on Graph Foundation Models (GFM).
Haitao Mao
Xiaoxin He
Zhikai Chen
Qian Huang
Micheal Bronstein
Xavier Bresson
Bryan Hooi
Haiyang Zhang
Xianfeng Tang
Luo Chen
Jiliang Tang
Foundation models such as GPT-4 for natural language processing (NLP), Flamingo for computer vision (CV), have set new benchmarks in AI by d… (see more)elivering state-of-the-art results across various tasks with minimal task-specific data. Despite their success, the application of these models to the graph domain is challenging due to the relational nature of graph-structured data. To address this gap, we propose the Graph Foundation Model (GFM) Workshop, the first workshop for GFMs, dedicated to exploring the adaptation and development of foundation models specifically designed for graph data. The GFM workshop focuses on two critical questions: (1) How can the underlying capabilities of existing foundation models be effectively applied to graph data? (2) What foundational principles should guide the creation of models tailored to the graph domain? Through a curated set of panel sections, keynote talks, and paper presentations, our workshop intends to catalyze innovative approaches and theoretical frameworks for Graph Foundation Models (GFMs). We target a broad audience, encompassing researchers, practitioners, and students, and aim to lay the groundwork for the next wave of breakthroughs in integrating graph data with foundation models.