Brian D. Ziebart

Yeshu Li, Brian D. Ziebart

We consider the problem of learning the exact skeleton of general discrete Bayesian networks from potentially corrupted data. Building on distributionally robust optimization and a regression approach, we propose to optimize the most adverse risk over a family of distributions within bounded Wasserstein distance or KL divergence to the empirical distribution. The worst-case risk accounts for the effect of outliers. The proposed approach applies for general categorical random variables without assuming faithfulness, an ordinal relationship or a specific form of conditional distribution. We present efficient algorithms and show the proposed methods are closely related to the standard regularized regression approach. Under mild assumptions, we derive non-asymptotic guarantees for successful structure learning with logarithmic sample complexities for bounded-degree graphs. Numerical study on synthetic and real datasets validates the effectiveness of our method. Code is available at https://github.com/DanielLeee/drslbn.

Omid Memarrast, Linh Vu, Brian Ziebart

The fairness of machine learning-based decisions has become an increasingly important focus in the design of supervised machine learning methods. Most fairness approaches optimize a specified trade-off between performance measure(s) (e.g., accuracy, log loss, or AUC) and fairness metric(s) (e.g., demographic parity, equalized odds). This begs the question: are the right performance-fairness trade-offs being specified? We instead re-cast fair machine learning as an imitation learning task by introducing superhuman fairness, which seeks to simultaneously outperform human decisions on multiple predictive performance and fairness measures. We demonstrate the benefits of this approach given suboptimal decisions.

Yue Zhou, Barbara Di Eugenio, Brian Ziebart et al.

Health coaching helps patients achieve personalized and lifestyle-related goals, effectively managing chronic conditions and alleviating mental health issues. It is particularly beneficial, however cost-prohibitive, for low-socioeconomic status populations due to its highly personalized and labor-intensive nature. In this paper, we propose a neuro-symbolic goal summarizer to support health coaches in keeping track of the goals and a text-units-text dialogue generation model that converses with patients and helps them create and accomplish specific goals for physical activities. Our models outperform previous state-of-the-art while eliminating the need for predefined schema and corresponding annotation. We also propose a new health coaching dataset extending previous work and a metric to measure the unconventionality of the patient's response based on data difficulty, facilitating potential coach alerts during deployment.

Yue Zhou, Barbara Di Eugenio, Brian Ziebart et al.

Health coaching helps patients identify and accomplish lifestyle-related goals, effectively improving the control of chronic diseases and mitigating mental health conditions. However, health coaching is cost-prohibitive due to its highly personalized and labor-intensive nature. In this paper, we propose to build a dialogue system that converses with the patients, helps them create and accomplish specific goals, and can address their emotions with empathy. However, building such a system is challenging since real-world health coaching datasets are limited and empathy is subtle. Thus, we propose a modularized health coaching dialogue system with simplified NLU and NLG frameworks combined with mechanism-conditioned empathetic response generation. Through automatic and human evaluation, we show that our system generates more empathetic, fluent, and coherent responses and outperforms the state-of-the-art in NLU tasks while requiring less annotation. We view our approach as a key step towards building automated and more accessible health coaching systems.

Rushit N. Shah, Nikolaos Agadakos, Synthia Sasulski et al.

Imitation learning often assumes that demonstrations are close to optimal according to some fixed, but unknown, cost function. However, according to satisficing theory, humans often choose acceptable behavior based on their personal (and potentially dynamic) levels of aspiration, rather than achieving (near-) optimality. For example, a lunar lander demonstration that successfully lands without crashing might be acceptable to a novice despite being slow or jerky. Using a margin-based objective to guide deep reinforcement learning, our focused satisficing approach to imitation learning seeks a policy that surpasses the demonstrator's aspiration levels -- defined over trajectories or portions of trajectories -- on unseen demonstrations without explicitly learning those aspirations. We show experimentally that this focuses the policy to imitate the highest quality (portions of) demonstrations better than existing imitation learning methods, providing much higher rates of guaranteed acceptability to the demonstrator, and competitive true returns on a range of environments.

Omid Memarrast, Ashkan Rezaei, Rizal Fathony et al.

While conventional ranking systems focus solely on maximizing the utility of the ranked items to users, fairness-aware ranking systems additionally try to balance the exposure for different protected attributes such as gender or race. To achieve this type of group fairness for ranking, we derive a new ranking system based on the first principles of distributional robustness. We formulate a minimax game between a player choosing a distribution over rankings to maximize utility while satisfying fairness constraints against an adversary seeking to minimize utility while matching statistics of the training data. We show that our approach provides better utility for highly fair rankings than existing baseline methods.

Jonathan Spencer, Sanjiban Choudhury, Arun Venkatraman et al.

Imitation learning practitioners have often noted that conditioning policies on previous actions leads to a dramatic divergence between "held out" error and performance of the learner in situ. Interactive approaches can provably address this divergence but require repeated querying of a demonstrator. Recent work identifies this divergence as stemming from a "causal confound" in predicting the current action, and seek to ablate causal aspects of current state using tools from causal inference. In this work, we argue instead that this divergence is simply another manifestation of covariate shift, exacerbated particularly by settings of feedback between decisions and input features. The learner often comes to rely on features that are strongly predictive of decisions, but are subject to strong covariate shift. Our work demonstrates a broad class of problems where this shift can be mitigated, both theoretically and practically, by taking advantage of a simulator but without any further querying of expert demonstration. We analyze existing benchmarks used to test imitation learning approaches and find that these benchmarks are realizable and simple and thus insufficient for capturing the harder regimes of error compounding seen in real-world decision making problems. We find, in a surprising contrast with previous literature, but consistent with our theory, that naive behavioral cloning provides excellent results. We detail the need for new standardized benchmarks that capture the phenomena seen in robotics problems.

Ashkan Rezaei, Anqi Liu, Omid Memarrast et al.

Making predictions that are fair with regard to protected group membership (race, gender, age, etc.) has become an important requirement for classification algorithms. Existing techniques derive a fair model from sampled labeled data relying on the assumption that training and testing data are identically and independently drawn (iid) from the same distribution. In practice, distribution shift can and does occur between training and testing datasets as the characteristics of individuals interacting with the machine learning system change. We investigate fairness under covariate shift, a relaxation of the iid assumption in which the inputs or covariates change while the conditional label distribution remains the same. We seek fair decisions under these assumptions on target data with unknown labels. We propose an approach that obtains the predictor that is robust to the worst-case in terms of target performance while satisfying target fairness requirements and matching statistical properties of the source data. We demonstrate the benefits of our approach on benchmark prediction tasks.

Ashkan Rezaei, Rizal Fathony, Omid Memarrast et al.

Developing classification methods with high accuracy that also avoid unfair treatment of different groups has become increasingly important for data-driven decision making in social applications. Many existing methods enforce fairness constraints on a selected classifier (e.g., logistic regression) by directly forming constrained optimizations. We instead re-derive a new classifier from the first principles of distributional robustness that incorporates fairness criteria into a worst-case logarithmic loss minimization. This construction takes the form of a minimax game and produces a parametric exponential family conditional distribution that resembles truncated logistic regression. We present the theoretical benefits of our approach in terms of its convexity and asymptotic convergence. We then demonstrate the practical advantages of our approach on three benchmark fairness datasets.

Rizal Fathony, Kaiser Asif, Anqi Liu et al.

We propose a robust adversarial prediction framework for general multiclass classification. Our method seeks predictive distributions that robustly optimize non-convex and non-continuous multiclass loss metrics against the worst-case conditional label distributions (the adversarial distributions) that (approximately) match the statistics of the training data. Although the optimized loss metrics are non-convex and non-continuous, the dual formulation of the framework is a convex optimization problem that can be recast as a risk minimization model with a prescribed convex surrogate loss we call the adversarial surrogate loss. We show that the adversarial surrogate losses fill an existing gap in surrogate loss construction for general multiclass classification problems, by simultaneously aligning better with the original multiclass loss, guaranteeing Fisher consistency, enabling a way to incorporate rich feature spaces via the kernel trick, and providing competitive performance in practice.

Rizal Fathony, Ashkan Rezaei, Mohammad Ali Bashiri et al.

In many structured prediction problems, complex relationships between variables are compactly defined using graphical structures. The most prevalent graphical prediction methods---probabilistic graphical models and large margin methods---have their own distinct strengths but also possess significant drawbacks. Conditional random fields (CRFs) are Fisher consistent, but they do not permit integration of customized loss metrics into their learning process. Large-margin models, such as structured support vector machines (SSVMs), have the flexibility to incorporate customized loss metrics, but lack Fisher consistency guarantees. We present adversarial graphical models (AGM), a distributionally robust approach for constructing a predictor that performs robustly for a class of data distributions defined using a graphical structure. Our approach enjoys both the flexibility of incorporating customized loss metrics into its design as well as the statistical guarantee of Fisher consistency. We present exact learning and prediction algorithms for AGM with time complexity similar to existing graphical models and show the practical benefits of our approach with experiments.

Anqi Liu, Rizal Fathony, Brian D. Ziebart

Under covariate shift, training (source) data and testing (target) data differ in input space distribution, but share the same conditional label distribution. This poses a challenging machine learning task. Robust Bias-Aware (RBA) prediction provides the conditional label distribution that is robust to the worstcase logarithmic loss for the target distribution while matching feature expectation constraints from the source distribution. However, employing RBA with insufficient feature constraints may result in high certainty predictions for much of the source data, while leaving too much uncertainty for target data predictions. To overcome this issue, we extend the representer theorem to the RBA setting, enabling minimization of regularized expected target risk by a reweighted kernel expectation under the source distribution. By applying kernel methods, we establish consistency guarantees and demonstrate better performance of the RBA classifier than competing methods on synthetically biased UCI datasets as well as datasets that have natural covariate shift.

Anqi Liu, Brian D. Ziebart

Covariate shift relaxes the widely-employed independent and identically distributed (IID) assumption by allowing different training and testing input distributions. Unfortunately, common methods for addressing covariate shift by trying to remove the bias between training and testing distributions using importance weighting often provide poor performance guarantees in theory and unreliable predictions with high variance in practice. Recently developed methods that construct a predictor that is inherently robust to the difficulties of learning under covariate shift are restricted to minimizing logloss and can be too conservative when faced with high-dimensional learning tasks. We address these limitations in two ways: by robustly minimizing various loss functions, including non-convex ones, under the testing distribution; and by separately shaping the influence of covariate shift according to different feature-based views of the relationship between input variables and example labels. These generalizations make robust covariate shift prediction applicable to more task scenarios. We demonstrate the benefits on classification under covariate shift tasks.

Hong Wang, Ashkan Rezaei, Brian D. Ziebart

Many predicted structured objects (e.g., sequences, matchings, trees) are evaluated using the F-score, alignment error rate (AER), or other multivariate performance measures. Since inductively optimizing these measures using training data is typically computationally difficult, empirical risk minimization of surrogate losses is employed, using, e.g., the hinge loss for (structured) support vector machines. These approximations often introduce a mismatch between the learner's objective and the desired application performance, leading to inconsistency. We take a different approach: adversarially approximate training data while optimizing the exact F-score or AER. Structured predictions under this formulation result from solving zero-sum games between a predictor seeking the best performance and an adversary seeking the worst while required to (approximately) match certain structured properties of the training data. We explore this approach for word alignment (AER evaluation) and named entity recognition (F-score evaluation) with linear-chain constraints.

Sima Behpour, Kris M. Kitani, Brian D. Ziebart

The use of random perturbations of ground truth data, such as random translation or scaling of bounding boxes, is a common heuristic used for data augmentation that has been shown to prevent overfitting and improve generalization. Since the design of data augmentation is largely guided by reported best practices, it is difficult to understand if those design choices are optimal. To provide a more principled perspective, we develop a game-theoretic interpretation of data augmentation in the context of object detection. We aim to find an optimal adversarial perturbations of the ground truth data (i.e., the worst case perturbations) that forces the object bounding box predictor to learn from the hardest distribution of perturbed examples for better test-time performance. We establish that the game theoretic solution, the Nash equilibrium, provides both an optimal predictor and optimal data augmentation distribution. We show that our adversarial method of training a predictor can significantly improve test time performance for the task of object detection. On the ImageNet object detection task, our adversarial approach improves performance by over 16\% compared to the best performing data augmentation method

Kevin Waugh, Brian D. Ziebart, J. Andrew Bagnell

Modeling the purposeful behavior of imperfect agents from a small number of observations is a challenging task. When restricted to the single-agent decision-theoretic setting, inverse optimal control techniques assume that observed behavior is an approximately optimal solution to an unknown decision problem. These techniques learn a utility function that explains the example behavior and can then be used to accurately predict or imitate future behavior in similar observed or unobserved situations. In this work, we consider similar tasks in competitive and cooperative multi-agent domains. Here, unlike single-agent settings, a player cannot myopically maximize its reward; it must speculate on how the other agents may act to influence the game's outcome. Employing the game-theoretic notion of regret and the principle of maximum entropy, we introduce a technique for predicting and generalizing behavior.

Brian D. Ziebart, Anind K. Dey, J Andrew Bagnell

Dealing with uncertainty in Bayesian Network structures using maximum a posteriori (MAP) estimation or Bayesian Model Averaging (BMA) is often intractable due to the superexponential number of possible directed, acyclic graphs. When the prior is decomposable, two classes of graphs where efficient learning can take place are tree structures, and fixed-orderings with limited in-degree. We show how MAP estimates and BMA for selectively conditioned forests (SCF), a combination of these two classes, can be computed efficiently for ordered sets of variables. We apply SCFs to temporal data to learn Dynamic Bayesian Networks having an intra-timestep forest and inter-timestep limited in-degree structure, improving model accuracy over DBNs without the combination of structures. We also apply SCFs to Bayes Net classification to learn selective forest augmented Naive Bayes classifiers. We argue that the built-in feature selection of selective augmented Bayes classifiers makes them preferable to similar non-selective classifiers based on empirical evidence.