Real-world dynamical systems often consist of multiple stochastic subsystems that interact with each other. Modeling and forecasting the behavior of such dynamics are generally not easy, due to the inherent hardness in understanding the complicated interactions and evolutions of their constituents. This paper introduces the relational state-space model (R-SSM), a sequential hierarchical latent variable model that makes use of graph neural networks (GNNs) to simulate the joint state transitions of multiple correlated objects. By letting GNNs cooperate with SSM, R-SSM provides a flexible way to incorporate relational information into the modeling of multi-object dynamics. We further suggest augmenting the model with normalizing flows instantiated for vertex-indexed random variables and propose two auxiliary contrastive objectives to facilitate the learning. The utility of R-SSM is empirically evaluated on synthetic and real time-series datasets.
University of Technology Sydney（悉尼科技大学）；University of New South Wales（新南威尔士大学）；Fudan University（复旦大学）
Modelling exchangeable relational data can be described by \textit{graphon theory}. Most Bayesian methods for modelling exchangeable relational data can be attributed to this framework by exploiting different forms of graphons. However, the graphons adopted by existing Bayesian methods are either piecewise-constant functions, which are insufficiently flexible for accurate modelling of the relational data, or are complicated continuous functions, which incur heavy computational costs for inference. In this work, we introduce a smoothing procedure to piecewise-constant graphons to form {\em smoo…
This paper proposes a new meta-learning method -- named HARMLESS (HAwkes Relational Meta LEarning method for Short Sequences) for learning heterogeneous point process models from short event sequence data along with a relational network. Specifically, we propose a hierarchical Bayesian mixture Hawkes process model, which naturally incorporates the relational information among sequences into point process modeling. Compared with existing methods, our model can capture the underlying mixed-community patterns of the relational network, which simultaneously encourages knowledge sharing among seque…
This article discusses a latent variable model for inference and prediction of symmetric relational data. The model, based on the idea of the eigenvalue decomposition, represents the relationship between two nodes as the weighted inner-product of node-specific vectors of latent characteristics. This ``eigenmodel'' generalizes other popular latent variable models, such as latent class and distance models: It is shown mathematically that any latent class or distance model has a representation as an eigenmodel, but not vice-versa. The practical implications of this are examined in the context of …
We investigate the composability of soft-rules learned by relational neural architectures when operating over object-centric (slot-based) representations, under a variety of sparsity-inducing constraints. We find that increasing sparsity, especially on features, improves the performance of some models and leads to simpler relations. Additionally, we observe that object-centric representations can be detrimental when not all objects are fully captured; a failure mode to which CNNs are less prone. These findings demonstrate the trade-offs between interpretability and performance, even for models…
We present a discriminative nonparametric latent feature relational model (LFRM) for link prediction to automatically infer the dimensionality of latent features. Under the generic RegBayes (regularized Bayesian inference) framework, we handily incorporate the prediction loss with probabilistic inference of a Bayesian model; set distinct regularization parameters for different types of links to handle the imbalance issue in real networks; and unify the analysis of both the smooth logistic log-loss and the piecewise linear hinge loss. For the nonconjugate posterior inference, we present a simpl…
Mila - Québec AI Institute（米拉-魁北克人工智能研究所）；University of Montréal（蒙特利尔大学）；Canadian Institute for Advanced Research (CIFAR)（加拿大高等研究院）；HEC Montréal（蒙特利尔高等商学院）
This paper studies semi-supervised object classification in relational data, which is a fundamental problem in relational data modeling. The problem has been extensively studied in the literature of both statistical relational learning (e.g. relational Markov networks) and graph neural networks (e.g. graph convolutional networks). Statistical relational learning methods can effectively model the dependency of object labels through conditional random fields for collective classification, whereas graph neural networks learn effective object representations for classification through end-to-end t…
We introduce the nonparametric metadata dependent relational (NMDR) model, a Bayesian nonparametric stochastic block model for network data. The NMDR allows the entities associated with each node to have mixed membership in an unbounded collection of latent communities. Learned regression models allow these memberships to depend on, and be predicted from, arbitrary node metadata. We develop efficient MCMC algorithms for learning NMDR models from partially observed node relationships. Retrospective MCMC methods allow our sampler to work directly with the infinite stick-breaking representation o…
Observations consisting of measurements on relationships for pairs of objects arise in many settings, such as protein interaction and gene regulatory networks, collections of author-recipient email, and social networks. Analyzing such data with probabilisic models can be delicate because the simple exchangeability assumptions underlying many boilerplate models no longer hold. In this paper, we describe a latent variable model of such data called the mixed membership stochastic blockmodel. This model extends blockmodels for relational data to ones which capture mixed membership latent relationa…
In this paper, we study the impact of combining profile and network data in a de-duplication setting. We also assess the influence of a range of prior distributions on the linkage structure. Furthermore, we explore stochastic gradient Hamiltonian Monte Carlo methods as a faster alternative to obtain samples from the posterior distribution for network parameters. Our methodology is evaluated using the RLdata500 data, which is a popular dataset in the record linkage literature.
Research in statistical relational learning has produced a number of methods for learning relational models from large-scale network data. While these methods have been successfully applied in various domains, they have been developed under the unrealistic assumption of full data access. In practice, however, the data are often collected by crawling the network, due to proprietary access, limited resources, and privacy concerns. Recently, we showed that the parameter estimates for relational Bayes classifiers computed from network samples collected by existing network crawlers can be quite ina…
Network data often exhibit block structures characterized by clusters of nodes with similar patterns of edge formation. When such relational data are complemented by additional information on exogenous node partitions, these sources of knowledge are typically included in the model to supervise the cluster assignment mechanism or to improve inference on edge probabilities. Although these solutions are routinely implemented, there is a lack of formal approaches to test if a given external node partition is in line with the endogenous clustering structure encoding stochastic equivalence patterns …
Empirical risk minimization is the main tool for prediction problems, but its extension to relational data remains unsolved. We solve this problem using recent ideas from graph sampling theory to (i) define an empirical risk for relational data and (ii) obtain stochastic gradients for this empirical risk that are automatically unbiased. This is achieved by considering the method by which data is sampled from a graph as an explicit component of model design. By integrating fast implementations of graph sampling schemes with standard automatic differentiation tools, we provide an efficient turnk…
This paper proposes an attention module augmented relational network called SARN(Sequential Attention Relational Network) that can carry out relational reasoning by extracting reference objects and making efficient pairing between objects. SARN greatly reduces the computational and memory requirements of the relational network, which computes all object pairs. It also shows high accuracy on the Sort-of-CLEVR dataset compared to other models, especially on relational questions.
Swiss AI Lab（瑞士人工智能实验室）；IDSIA（达莱莫莱人工智能研究所）；USI（瑞士意大利语区大学）；SUPSI（瑞士意大利语区应用科学大学）；NNAISENSE
Traditional sequential multi-object attention models rely on a recurrent mechanism to infer object relations. We propose a relational extension (R-SQAIR) of one such attention model (SQAIR) by endowing it with a module with strong relational inductive bias that computes in parallel pairwise interactions between inferred objects. Two recently proposed relational modules are studied on tasks of unsupervised learning from videos. We demonstrate gains over sequential relational mechanisms, also in terms of combinatorial generalization.
NTT Communication Science Laboratories（NTT通信科学实验室）
We propose an unsupervised object matching method for relational data, which finds matchings between objects in different relational datasets without correspondence information. For example, the proposed method matches documents in different languages in multi-lingual document-word networks without dictionaries nor alignment information. The proposed method assumes that each object has latent vectors, and the probability of neighbor objects is modeled by the inner-product of the latent vectors, where the neighbors are generated by short random walks over the relations. The latent vectors are e…
Statistical relational AI (StarAI) aims at reasoning and learning in noisy domains described in terms of objects and relationships by combining probability with first-order logic. With huge advances in deep learning in the current years, combining deep networks with first-order logic has been the focus of several recent studies. Many of the existing attempts, however, only focus on relations and ignore object properties. The attempts that do consider object properties are limited in terms of modelling power or scalability. In this paper, we develop relational neural networks (RelNNs) by adding…
Kyoto University（京都大学）；RIKEN Center for Advanced Intelligence Project（理化学研究所先进智能项目中心）；NAVER Corporation（NAVER公司）
Multimodal relational data analysis has become of increasing importance in recent years, for exploring across different domains of data, such as images and their text tags obtained from social networking services (e.g., Flickr). A variety of data analysis methods have been developed for visualization; to give an example, t-Stochastic Neighbor Embedding (t-SNE) computes low-dimensional feature vectors so that their similarities keep those of the observed data vectors. However, t-SNE is designed only for a single domain of data but not for multimodal data; this paper aims at visualizing multimod…
This paper is based on a previous publication [29]. Our work extends exception mining and outlier detection to the case of object-relational data. Object-relational data represent a complex heterogeneous network [12], which comprises objects of different types, links among these objects, also of different types, and attributes of these links. This special structure prohibits a direct vectorial data representation. We follow the well-established Exceptional Model Mining framework, which leverages machine learning models for exception mining: A object is exceptional to the extent that a model le…
Learning structured representations of visual scenes is currently a major bottleneck to bridging perception with reasoning. While there has been exciting progress with slot-based models, which learn to segment scenes into sets of objects, learning configurational properties of entire groups of objects is still under-explored. To address this problem, we introduce Constellation, a network that learns relational abstractions of static visual scenes, and generalises these abstractions over sensory particularities, thus offering a potential basis for abstract relational reasoning. We further show …
In domains like bioinformatics, information retrieval and social network analysis, one can find learning tasks where the goal consists of inferring a ranking of objects, conditioned on a particular target object. We present a general kernel framework for learning conditional rankings from various types of relational data, where rankings can be conditioned on unseen data objects. We propose efficient algorithms for conditional ranking by optimizing squared regression and ranking loss functions. We show theoretically, that learning with the ranking loss is likely to generalize better than with t…
Beijing University of Posts and Telecommunications（北京邮电大学）；Meituan（美团）
It is well established that graph neural networks (GNNs) can be interpreted and designed from the perspective of optimization objective. With this clear optimization objective, the deduced GNNs architecture has sound theoretical foundation, which is able to flexibly remedy the weakness of GNNs. However, this optimization objective is only proved for GNNs with single-relational graph. Can we infer a new type of GNNs for multi-relational graphs by extending this optimization objective, so as to simultaneously solve the issues in previous multi-relational GNNs, e.g., over-parameterization? In thi…
We present a representation for describing transition models in complex uncertain domains using relational rules. For any action, a rule selects a set of relevant objects and computes a distribution over properties of just those objects in the resulting state given their properties in the previous state. An iterative greedy algorithm is used to construct a set of deictic references that determine which objects are relevant in any given state. Feed-forward neural networks are used to learn the transition distribution on the relevant objects' properties. This strategy is demonstrated to be both …
Swiss AI Lab IDSIA, USI, SUPSI（瑞士IDSIA人工智能实验室，瑞士意大利语区大学，瑞士应用科学与艺术大学（SUPSI））
Common-sense physical reasoning in the real world requires learning about the interactions of objects and their dynamics. The notion of an abstract object, however, encompasses a wide variety of physical objects that differ greatly in terms of the complex behaviors they support. To address this, we propose a novel approach to physical reasoning that models objects as hierarchies of parts that may locally behave separately, but also act more globally as a single whole. Unlike prior approaches, our method learns in an unsupervised fashion directly from raw visual images to discover objects, part…
Applied AI Lab, University of Oxford（牛津大学应用人工智能实验室）
The majority of contemporary object-tracking approaches do not model interactions between objects. This contrasts with the fact that objects' paths are not independent: a cyclist might abruptly deviate from a previously planned trajectory in order to avoid colliding with a car. Building upon HART, a neural class-agnostic single-object tracker, we introduce a multi-object tracking method MOHART capable of relational reasoning. Importantly, the entire system, including the understanding of interactions and relations between objects, is class-agnostic and learned simultaneously in an end-to-end f…
DeepMind；MIT（麻省理工学院）；Department of Brain and Cognitive Sciences（脑与认知科学系；麻省理工学院）；MIT
While current deep learning systems excel at tasks such as object classification, language processing, and gameplay, few can construct or modify a complex system such as a tower of blocks. We hypothesize that what these systems lack is a "relational inductive bias": a capacity for reasoning about inter-object relations and making choices over a structured description of a scene. To test this hypothesis, we focus on a task that involves gluing pairs of blocks together to stabilize a tower, and quantify how well humans perform. We then introduce a deep reinforcement learning agent which uses obj…
Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院（KIT）人类工程学与机器人研究所）；Stanford University（斯坦福大学）
Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive bias, we can shift the learning process towards exploiting relations. In this work, we learn action-conditional forward dynamics models of a simulated manipulation task from visual observations involving cluttered and irregularly shaped objects. We investigate two GNN approaches and empirically assess their capability to generalize to scenarios with novel and a…
Neural Processes (NPs) are powerful and flexible models able to incorporate uncertainty when representing stochastic processes, while maintaining a linear time complexity. However, NPs produce a latent description by aggregating independent representations of context points and lack the ability to exploit relational information present in many datasets. This renders NPs ineffective in settings where the stochastic process is primarily governed by neighbourhood rules, such as cellular automata (CA), and limits performance for any task where relational information remains unused. We address this…
In this paper we address the problem of modeling relational data, which appear in many applications such as social network analysis, recommender systems and bioinformatics. Previous studies either consider latent feature based models but disregarding local structure in the network, or focus exclusively on capturing local structure of objects based on latent blockmodels without coupling with latent characteristics of objects. To combine the benefits of the previous work, we propose a novel model that can simultaneously incorporate the effect of latent features and covariates if any, as well as …
Low-Resolution Object Recognition with Cross-Resolution Relational Contrastive Distillation
Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）；Baidu Inc.（百度公司）；School of Cyber Security at University of Chinese Academy of Sciences（中国科学院大学网络空间安全学院）；Department of Communication Engineering, Shanghai University（上海大学通信工程系）
We tackle the problem of multi-class relational sequence learning using relevant patterns discovered from a set of labelled sequences. To deal with this problem, firstly each relational sequence is mapped into a feature vector using the result of a feature construction method. Since, the efficacy of sequence learning algorithms strongly depends on the features used to represent the sequences, the second step is to find an optimal subset of the constructed features leading to high classification accuracy. This feature selection task has been solved adopting a wrapper approach that uses a stocha…
School of Computing and Augmented Intelligence（计算与增强智能学院）；Arizona State University（亚利桑那州立大学）
Reinforcement learning in problems with symbolic state spaces is challenging due to the need for reasoning over long horizons. This paper presents a new approach that utilizes relational abstractions in conjunction with deep learning to learn a generalizable Q-function for such problems. The learned Q-function can be efficiently transferred to related problems that have different object names and object quantities, and thus, entirely different state spaces. We show that the learned generalized Q-function can be utilized for zero-shot transfer to related problems without an explicit, hand-coded…
Applied Artificial Intelligence Institute, Deakin University（迪肯大学应用人工智能学院）
We present Language-binding Object Graph Network, the first neural reasoning method with dynamic relational structures across both visual and textual domains with applications in visual question answering. Relaxing the common assumption made by current models that the object predicates pre-exist and stay static, passive to the reasoning process, we propose that these dynamic predicates expand across the domain borders to include pair-wise visual-linguistic object binding. In our method, these contextualized object links are actively found within each recurrent reasoning step without relying on…
Computing goal-directed behavior is essential to designing efficient AI systems. Due to the computational complexity of planning, current approaches rely primarily upon hand-coded symbolic action models and hand-coded heuristic-function generators for efficiency. Learned heuristics for such problems have been of limited utility as they are difficult to apply to problems with objects and object quantities that are significantly different from those in the training data. This paper develops a new approach for learning generalized heuristics in the absence of symbolic action models using deep neu…
To determine if a skill can be executed in any given environment, a robot needs to learn the preconditions for the skill. As robots begin to operate in dynamic and unstructured environments, precondition models will need to generalize to variable number of objects with different shapes and sizes. In this work, we focus on learning precondition models for manipulation skills in unconstrained environments. Our work is motivated by the intuition that many complex manipulation tasks, with multiple objects, can be simplified by focusing on less complex pairwise object relations. We propose an objec…
Swiss AI Lab IDSIA, SUPSI, USI（瑞士人工智能实验室IDSIA，南方应用科技大学，瑞士意大利语区大学）；UC Berkeley（加州大学伯克利分校）
Common-sense physical reasoning is an essential ingredient for any intelligent agent operating in the real-world. For example, it can be used to simulate the environment, or to infer the state of parts of the world that are currently unobserved. In order to match real-world conditions this causal knowledge must be learned without access to supervised data. To address this problem we present a novel method that learns to discover objects and model their physical interactions from raw visual images in a purely \emph{unsupervised} fashion. It incorporates prior knowledge about the compositional n…
Improbable AI Lab（Improbable人工智能实验室）；CSAIL（计算机科学与人工智能实验室）；Massachusetts Institute of Technology（麻省理工学院）
We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses directly from point cloud observations. Our framework provides a scalable way for specifying new tasks using only 5-10 demonstrations. Object rearrangement is formalized as the question of finding actions that configure task-relevant parts of the object in a desired alignment. This formalism is implemented in three steps: assigning a consistent local coordinate frame to the task-relevant object parts, determining the location and orientation of this coordinate fram…
Massachusetts Institute of Technology（麻省理工学院）；University of California Berkeley（加州大学伯克利分校）
Learning robotic manipulation tasks using reinforcement learning with sparse rewards is currently impractical due to the outrageous data requirements. Many practical tasks require manipulation of multiple objects, and the complexity of such tasks increases with the number of objects. Learning from a curriculum of increasingly complex tasks appears to be a natural solution, but unfortunately, does not work for many scenarios. We hypothesize that the inability of the state-of-the-art algorithms to effectively utilize a task curriculum stems from the absence of inductive biases for transferring k…
University of Michigan（密歇根大学）；UC Berkeley（加州大学伯克利分校）
First-person object-interaction tasks in high-fidelity, 3D, simulated environments such as the AI2Thor virtual home-environment pose significant sample-efficiency challenges for reinforcement learning (RL) agents learning from sparse task rewards. To alleviate these challenges, prior work has provided extensive supervision via a combination of reward-shaping, ground-truth object-information, and expert demonstrations. In this work, we show that one can learn object-interaction tasks from scratch without supervision by learning an attentive object-model as an auxiliary task during task learning…
Symbolic Relational Deep Reinforcement Learning based on Graph Neural Networks and Autoregressive Policy Decomposition
Czech Technical University in Prague（布拉格捷克技术大学）；Artificial Intelligence Center, Department of Computer Science, Faculty of Electrical Engineering（电气工程学院计算机科学系人工智能中心）
A key component of understanding hand-object interactions is the ability to identify the active object -- the object that is being manipulated by the human hand. In order to accurately localize the active object, any method must reason using information encoded by each image pixel, such as whether it belongs to the hand, the object, or the background. To leverage each pixel as evidence to determine the bounding box of the active object, we propose a pixel-wise voting function. Our pixel-wise voting function takes an initial bounding box as input and produces an improved bounding box of the act…
