The increasing level of autonomy of robots poses challenges of trust and social acceptance, especially in human-robot interaction scenarios. This requires an interpretable implementation of robotic cognitive capabilities, possibly based on formal methods as logics for the definition of task specifications. However, prior knowledge is often unavailable in complex realistic scenarios. In this paper, we propose an offline algorithm based on inductive logic programming from noisy examples to extract task specifications (i.e., action preconditions, constraints and effects) directly from raw data of few heterogeneous (i.e., not repetitive) robotic executions. Our algorithm leverages on the output of any unsupervised action identification algorithm from video-kinematic recordings. Combining it with the definition of very basic, almost task-agnostic, commonsense concepts about the environment, which contribute to the interpretability of our methodology, we are able to learn logical axioms encoding preconditions of actions, as well as their effects in the event calculus paradigm. Since the quality of learned specifications depends mainly on the accuracy of the action identification algorithm, we also propose an online framework for incremental refinement of task knowledge from user feedback, guaranteeing safe execution. Results in a standard manipulation task and benchmark for user training in the safety-critical surgical robotic scenario, show the robustness, data- and time-efficiency of our methodology, with promising results towards the scalability in more complex domains.
Breast compression simulation is essential for accurate image registration from 3D modalities to X-ray procedures like mammography. It accounts for tissue shape and position changes due to compression, ensuring precise alignment and improved analysis. Although Finite Element Analysis (FEA) is reliable for approximating soft tissue deformation, it struggles with balancing accuracy and computational efficiency. Recent studies have used data-driven models trained on FEA results to speed up tissue deformation predictions. We propose to explore Physics-based Graph Neural Networks (PhysGNN) for breast compression simulation. PhysGNN has been used for data-driven modelling in other domains, and this work presents the first investigation of their potential in predicting breast deformation during mammographic compression. Unlike conventional data-driven models, PhysGNN, which incorporates mesh structural information and enables inductive learning on unstructured grids, is well-suited for capturing complex breast tissue geometries. Trained on deformations from incremental FEA simulations, PhysGNN's performance is evaluated by comparing predicted nodal displacements with those from finite element (FE) simulations. This deep learning (DL) framework shows promise for accurate, rapid breast deformation approximations, offering enhanced computational efficiency for real-world scenarios.
Tree Containment is a fundamental problem in phylogenetics useful for verifying a proposed phylogenetic network, representing the evolutionary history of certain species. Tree Containment asks whether the given phylogenetic tree (for instance, constructed from a DNA fragment showing tree-like evolution) is contained in the given phylogenetic network. In the general case, this is an NP-complete problem. We propose to solve it approximately using Graph Neural Networks. In particular, we propose to combine the given network and the tree and apply a Graph Neural Network to this network-tree graph. This way, we achieve the capability of solving the tree containment instances representing a larger number of species than the instances contained in the training dataset (i.e., our algorithm has the inductive learning ability). Our algorithm demonstrates an accuracy of over $95\%$ in solving the tree containment problem on instances with up to 100 leaves.
This paper presents FlowCyt, the first comprehensive benchmark for multi-class single-cell classification in flow cytometry data. The dataset comprises bone marrow samples from 30 patients, with each cell characterized by twelve markers. Ground truth labels identify five hematological cell types: T lymphocytes, B lymphocytes, Monocytes, Mast cells, and Hematopoietic Stem/Progenitor Cells (HSPCs). Experiments utilize supervised inductive learning and semi-supervised transductive learning on up to 1 million cells per patient. Baseline methods include Gaussian Mixture Models, XGBoost, Random Forests, Deep Neural Networks, and Graph Neural Networks (GNNs). GNNs demonstrate superior performance by exploiting spatial relationships in graph-encoded data. The benchmark allows standardized evaluation of clinically relevant classification tasks, along with exploratory analyses to gain insights into hematological cell phenotypes. This represents the first public flow cytometry benchmark with a richly annotated, heterogeneous dataset. It will empower the development and rigorous assessment of novel methodologies for single-cell analysis.
Personalized learner modeling using cognitive diagnosis (CD), which aims to model learners' cognitive states by diagnosing learner traits from behavioral data, is a fundamental yet significant task in many web learning services. Existing cognitive diagnosis models (CDMs) follow the proficiency-response paradigm that views learner traits and question parameters as trainable embeddings and learns them through learner performance prediction. However, we notice that this paradigm leads to the inevitable non-identifiability and explainability overfitting problem, which is harmful to the quantification of learners' cognitive states and the quality of web learning services. To address these problems, we propose an identifiable cognitive diagnosis framework (ID-CDF) based on a novel response-proficiency-response paradigm inspired by encoder-decoder models. Specifically, we first devise the diagnostic module of ID-CDF, which leverages inductive learning to eliminate randomness in optimization to guarantee identifiability and captures the monotonicity between overall response data distribution and cognitive states to prevent explainability overfitting. Next, we propose a flexible predictive module for ID-CDF to ensure diagnosis preciseness. We further present an implementation of ID-CDF, i.e., ID-CDM, to illustrate its usability. Extensive experiments on four real-world datasets with different characteristics demonstrate that ID-CDF can effectively address the problems without loss of diagnosis preciseness.
Constraint satisfaction problems (CSPs) are about finding values of variables that satisfy the given constraints. We show that Transformer extended with recurrence is a viable approach to learning to solve CSPs in an end-to-end manner, having clear advantages over state-of-the-art methods such as Graph Neural Networks, SATNet, and some neuro-symbolic models. With the ability of Transformer to handle visual input, the proposed Recurrent Transformer can straightforwardly be applied to visual constraint reasoning problems while successfully addressing the symbol grounding problem. We also show how to leverage deductive knowledge of discrete constraints in the Transformer's inductive learning to achieve sample-efficient learning and semi-supervised learning for CSPs.
Inductive knowledge graph completion has been considered as the task of predicting missing triplets between new entities that are not observed during training. While most inductive knowledge graph completion methods assume that all entities can be new, they do not allow new relations to appear at inference time. This restriction prohibits the existing methods from appropriately handling real-world knowledge graphs where new entities accompany new relations. In this paper, we propose an INductive knowledge GRAph eMbedding method, InGram, that can generate embeddings of new relations as well as new entities at inference time. Given a knowledge graph, we define a relation graph as a weighted graph consisting of relations and the affinity weights between them. Based on the relation graph and the original knowledge graph, InGram learns how to aggregate neighboring embeddings to generate relation and entity embeddings using an attention mechanism. Experimental results show that InGram outperforms 14 different state-of-the-art methods on varied inductive learning scenarios.
Solving Constrained Horn Clauses (CHCs) is a fundamental challenge behind a wide range of verification and analysis tasks. Data-driven approaches show great promise in improving CHC solving without the painstaking manual effort of creating and tuning various heuristics. However, a large performance gap exists between data-driven CHC solvers and symbolic reasoning-based solvers. In this work, we develop a simple but effective framework, "Chronosymbolic Learning", which unifies symbolic information and numerical data points to solve a CHC system efficiently. We also present a simple instance of Chronosymbolic Learning with a data-driven learner and a BMC-styled reasoner. Despite its relative simplicity, experimental results show the efficacy and robustness of our tool. It outperforms state-of-the-art CHC solvers on a dataset consisting of 288 benchmarks, including many instances with non-linear integer arithmetics.
Temporal knowledge graph completion (TKGC) aims to predict the missing links among the entities in a temporal knwoledge graph (TKG). Most previous TKGC methods only consider predicting the missing links among the entities seen in the training set, while they are unable to achieve great performance in link prediction concerning newly-emerged unseen entities. Recently, a new task, i.e., TKG few-shot out-of-graph (OOG) link prediction, is proposed, where TKGC models are required to achieve great link prediction performance concerning newly-emerged entities that only have few-shot observed examples. In this work, we propose a TKGC method FITCARL that combines few-shot learning with reinforcement learning to solve this task. In FITCARL, an agent traverses through the whole TKG to search for the prediction answer. A policy network is designed to guide the search process based on the traversed path. To better address the data scarcity problem in the few-shot setting, we introduce a module that computes the confidence of each candidate action and integrate it into the policy for action selection. We also exploit the entity concept information with a novel concept regularizer to boost model performance. Experimental results show that FITCARL achieves stat-of-the-art performance on TKG few-shot OOG link prediction.
Spatio-temporal kriging is an important problem in web and social applications, such as Web or Internet of Things, where things (e.g., sensors) connected into a web often come with spatial and temporal properties. It aims to infer knowledge for (the things at) unobserved locations using the data from (the things at) observed locations during a given time period of interest. This problem essentially requires \emph{inductive learning}. Once trained, the model should be able to perform kriging for different locations including newly given ones, without retraining. However, it is challenging to perform accurate kriging results because of the heterogeneous spatial relations and diverse temporal patterns. In this paper, we propose a novel inductive graph representation learning model for spatio-temporal kriging. We first encode heterogeneous spatial relations between the unobserved and observed locations by their spatial proximity, functional similarity, and transition probability. Based on each relation, we accurately aggregate the information of most correlated observed locations to produce inductive representations for the unobserved locations, by jointly modeling their similarities and differences. Then, we design relation-aware gated recurrent unit (GRU) networks to adaptively capture the temporal correlations in the generated sequence representations for each relation. Finally, we propose a multi-relation attention mechanism to dynamically fuse the complex spatio-temporal information at different time steps from multiple relations to compute the kriging output. Experimental results on three real-world datasets show that our proposed model outperforms state-of-the-art methods consistently, and the advantage is more significant when there are fewer observed locations. Our code is available at https://github.com/zhengchuanpan/INCREASE.
Recently, the joint learning framework (JOINT) integrates matching based transductive reasoning and online inductive learning to achieve accurate and robust semi-supervised video object segmentation (SVOS). However, using the mask embedding as the label to guide the generation of target features in the two branches may result in inadequate target representation and degrade the performance. Besides, how to reasonably fuse the target features in the two different branches rather than simply adding them together to avoid the adverse effect of one dominant branch has not been investigated. In this paper, we propose a novel framework that emphasizes Learning to Learn Better (LLB) target features for SVOS, termed LLB, where we design the discriminative label generation module (DLGM) and the adaptive fusion module to address these issues. Technically, the DLGM takes the background-filtered frame instead of the target mask as input and adopts a lightweight encoder to generate the target features, which serves as the label of the online few-shot learner and the value of the decoder in the transformer to guide the two branches to learn more discriminative target representation. The adaptive fusion module maintains a learnable gate for each branch, which reweighs the element-wise feature representation and allows an adaptive amount of target information in each branch flowing to the fused target feature, thus preventing one branch from being dominant and making the target feature more robust to distractor. Extensive experiments on public benchmarks show that our proposed LLB method achieves state-of-the-art performance.
Graph Neural Networks (GNNs) are able to achieve high classification accuracy on many important real world datasets, but provide no rigorous notion of predictive uncertainty. Quantifying the confidence of GNN models is difficult due to the dependence between datapoints induced by the graph structure. We leverage recent advances in conformal prediction to construct prediction sets for node classification in inductive learning scenarios. We do this by taking an existing approach for conformal classification that relies on \textit{exchangeable} data and modifying it by appropriately weighting the conformal scores to reflect the network structure. We show through experiments on standard benchmark datasets using popular GNN models that our approach provides tighter and better calibrated prediction sets than a naive application of conformal prediction.
Large language models (LMs) have rapidly become a mainstay in Natural Language Processing. These models are known to acquire rich linguistic knowledge from training on large amounts of text. In this paper, we investigate if pre-training on text also confers these models with helpful `inductive biases' for non-linguistic reasoning. On a set of 19 diverse non-linguistic tasks involving quantitative computations, recognizing regular expressions and reasoning over strings. We find that pretrained models significantly outperform comparable non-pretrained neural models. This remains true also in experiments with training non-pretrained models with fewer parameters to account for model regularization effects. We further explore the effect of text domain on LMs by pretraining models from text from different domains and provenances. Our experiments surprisingly reveal that the positive effects of pre-training persist even when pretraining on multi-lingual text or computer code, and even for text generated from synthetic languages. Our findings suggest a hitherto unexplored deep connection between pre-training and inductive learning abilities of language models.
Entity alignment is a basic and vital technique in knowledge graph (KG) integration. Over the years, research on entity alignment has resided on the assumption that KGs are static, which neglects the nature of growth of real-world KGs. As KGs grow, previous alignment results face the need to be revisited while new entity alignment waits to be discovered. In this paper, we propose and dive into a realistic yet unexplored setting, referred to as continual entity alignment. To avoid retraining an entire model on the whole KGs whenever new entities and triples come, we present a continual alignment method for this task. It reconstructs an entity's representation based on entity adjacency, enabling it to generate embeddings for new entities quickly and inductively using their existing neighbors. It selects and replays partial pre-aligned entity pairs to train only parts of KGs while extracting trustworthy alignment for knowledge augmentation. As growing KGs inevitably contain non-matchable entities, different from previous works, the proposed method employs bidirectional nearest neighbor matching to find new entity alignment and update old alignment. Furthermore, we also construct new datasets by simulating the growth of multilingual DBpedia. Extensive experiments demonstrate that our continual alignment method is more effective than baselines based on retraining or inductive learning.
Video capsule endoscopy is a hot topic in computer vision and medicine. Deep learning can have a positive impact on the future of video capsule endoscopy technology. It can improve the anomaly detection rate, reduce physicians' time for screening, and aid in real-world clinical analysis. CADx classification system for video capsule endoscopy has shown a great promise for further improvement. For example, detection of cancerous polyp and bleeding can lead to swift medical response and improve the survival rate of the patients. To this end, an automated CADx system must have high throughput and decent accuracy. In this paper, we propose FocalConvNet, a focal modulation network integrated with lightweight convolutional layers for the classification of small bowel anatomical landmarks and luminal findings. FocalConvNet leverages focal modulation to attain global context and allows global-local spatial interactions throughout the forward pass. Moreover, the convolutional block with its intrinsic inductive/learning bias and capacity to extract hierarchical features allows our FocalConvNet to achieve favourable results with high throughput. We compare our FocalConvNet with other SOTA on Kvasir-Capsule, a large-scale VCE dataset with 44,228 frames with 13 classes of different anomalies. Our proposed method achieves the weighted F1-score, recall and MCC} of 0.6734, 0.6373 and 0.2974, respectively outperforming other SOTA methodologies. Furthermore, we report the highest throughput of 148.02 images/second rate to establish the potential of FocalConvNet in a real-time clinical environment. The code of the proposed FocalConvNet is available at https://github.com/NoviceMAn-prog/FocalConvNet.
Humans can make predictions on various time scales and hierarchical levels. Thereby, the learning of event encodings seems to play a crucial role. In this work we model the development of hierarchical predictions via autonomously learned latent event codes. We present a hierarchical recurrent neural network architecture, whose inductive learning biases foster the development of sparsely changing latent state that compress sensorimotor sequences. A higher level network learns to predict the situations in which the latent states tend to change. Using a simulated robotic manipulator, we demonstrate that the system (i) learns latent states that accurately reflect the event structure of the data, (ii) develops meaningful temporal abstract predictions on the higher level, and (iii) generates goal-anticipatory behavior similar to gaze behavior found in eye-tracking studies with infants. The architecture offers a step towards the autonomous learning of compressed hierarchical encodings of gathered experiences and the exploitation of these encodings to generate adaptive behavior.
Benefiting from the powerful expressive capability of graphs, graph-based approaches have been popularly applied to handle multi-modal medical data and achieved impressive performance in various biomedical applications. For disease prediction tasks, most existing graph-based methods tend to define the graph manually based on specified modality (e.g., demographic information), and then integrated other modalities to obtain the patient representation by Graph Representation Learning (GRL). However, constructing an appropriate graph in advance is not a simple matter for these methods. Meanwhile, the complex correlation between modalities is ignored. These factors inevitably yield the inadequacy of providing sufficient information about the patient's condition for a reliable diagnosis. To this end, we propose an end-to-end Multi-modal Graph Learning framework (MMGL) for disease prediction with multi-modality. To effectively exploit the rich information across multi-modality associated with the disease, modality-aware representation learning is proposed to aggregate the features of each modality by leveraging the correlation and complementarity between the modalities. Furthermore, instead of defining the graph manually, the latent graph structure is captured through an effective way of adaptive graph learning. It could be jointly optimized with the prediction model, thus revealing the intrinsic connections among samples. Our model is also applicable to the scenario of inductive learning for those unseen data. An extensive group of experiments on two disease prediction tasks demonstrates that the proposed MMGL achieves more favorable performance. The code of MMGL is available at \url{https://github.com/SsGood/MMGL}.
Modern online platforms offer users an opportunity to participate in a variety of content-creation, social networking, and shopping activities. With the rapid proliferation of such online services, learning data-driven user behavior models is indispensable to enable personalized user experiences. Recently, representation learning has emerged as an effective strategy for user modeling, powered by neural networks trained over large volumes of interaction data. Despite their enormous potential, we encounter the unique challenge of data sparsity for a vast majority of entities, e.g., sparsity in ground-truth labels for entities and in entity-level interactions (cold-start users, items in the long-tail, and ephemeral groups). In this dissertation, we develop generalizable neural representation learning frameworks for user behavior modeling designed to address different sparsity challenges across applications. Our problem settings span transductive and inductive learning scenarios, where transductive learning models entities seen during training and inductive learning targets entities that are only observed during inference. We leverage different facets of information reflecting user behavior (e.g., interconnectivity in social networks, temporal and attributed interaction information) to enable personalized inference at scale. Our proposed models are complementary to concurrent advances in neural architectural choices and are adaptive to the rapid addition of new applications in online platforms.
FOLD-RM is an automated inductive learning algorithm for learning default rules for mixed (numerical and categorical) data. It generates an (explainable) answer set programming (ASP) rule set for multi-category classification tasks while maintaining efficiency and scalability. The FOLD-RM algorithm is competitive in performance with the widely-used, state-of-the-art algorithms such as XGBoost and multi-layer perceptrons (MLPs), however, unlike these algorithms, the FOLD-RM algorithm produces an explainable model. FOLD-RM outperforms XGBoost on some datasets, particularly large ones. FOLD-RM also provides human-friendly explanations for predictions.
Recently, graph neural networks (GNNs) have been widely used for document classification. However, most existing methods are based on static word co-occurrence graphs without sentence-level information, which poses three challenges:(1) word ambiguity, (2) word synonymity, and (3) dynamic contextual dependency. To address these challenges, we propose a novel GNN-based sparse structure learning model for inductive document classification. Specifically, a document-level graph is initially generated by a disjoint union of sentence-level word co-occurrence graphs. Our model collects a set of trainable edges connecting disjoint words between sentences and employs structure learning to sparsely select edges with dynamic contextual dependencies. Graphs with sparse structures can jointly exploit local and global contextual information in documents through GNNs. For inductive learning, the refined document graph is further fed into a general readout function for graph-level classification and optimization in an end-to-end manner. Extensive experiments on several real-world datasets demonstrate that the proposed model outperforms most state-of-the-art results, and reveal the necessity to learn sparse structures for each document.