Shu Wang

Zhihang Yu, Shu Wang, Yunqiang Zhu et al.

The recommendation of appropriate development pathways, also known as ecological civilization patterns for achieving Sustainable Development Goals (namely, sustainable development patterns), are of utmost importance for promoting ecological, economic, social, and resource sustainability in a specific region. To achieve this, the recommendation process must carefully consider the region's natural, environmental, resource, and economic characteristics. However, current recommendation algorithms in the field of computer science fall short in adequately addressing the spatial heterogeneity related to environment and sparsity of regional historical interaction data, which limits their effectiveness in recommending sustainable development patterns. To overcome these challenges, this paper proposes a method called User Graph after Pruning and Intent Graph (UGPIG). Firstly, we utilize the high-density linking capability of the pruned User Graph to address the issue of spatial heterogeneity neglect in recommendation algorithms. Secondly, we construct an Intent Graph by incorporating the intent network, which captures the preferences for attributes including environmental elements of target regions. This approach effectively alleviates the problem of sparse historical interaction data in the region. Through extensive experiments, we demonstrate that UGPIG outperforms state-of-the-art recommendation algorithms like KGCN, KGAT, and KGIN in sustainable development pattern recommendations, with a maximum improvement of 9.61% in Top-3 recommendation performance.

Yuan Liu, Shu Wang, Zhe Qu et al.

Federated Domain Generalization (FedDG) aims to train the global model for generalization ability to unseen domains with multi-domain training samples. However, clients in federated learning networks are often confined to a single, non-IID domain due to inherent sampling and temporal limitations. The lack of cross-domain interaction and the in-domain divergence impede the learning of domain-common features and limit the effectiveness of existing FedDG, referred to as the single-source FedDG (sFedDG) problem. To address this, we introduce the Federated Global Consistent Augmentation (FedGCA) method, which incorporates a style-complement module to augment data samples with diverse domain styles. To ensure the effective integration of augmented samples, FedGCA employs both global guided semantic consistency and class consistency, mitigating inconsistencies from local semantics within individual clients and classes across multiple clients. The conducted extensive experiments demonstrate the superiority of FedGCA.

Harsh Patel, Yuan Zhou, Alexander P Lamb et al.

This article addresses the pump-scheduling optimization problem to enhance real-time control of real-world water distribution networks (WDNs). Our primary objectives are to adhere to physical operational constraints while reducing energy consumption and operational costs. Traditional optimization techniques, such as evolution-based and genetic algorithms, often fall short due to their lack of convergence guarantees. Conversely, reinforcement learning (RL) stands out for its adaptability to uncertainties and reduced inference time, enabling real-time responsiveness. However, the effective implementation of RL is contingent on building accurate simulation models for WDNs, and prior applications have been limited by errors in simulation training data. These errors can potentially cause the RL agent to learn misleading patterns and actions and recommend suboptimal operational strategies. To overcome these challenges, we present an improved "hybrid RL" methodology. This method integrates the benefits of RL while anchoring it in historical data, which serves as a baseline to incrementally introduce optimal control recommendations. By leveraging operational data as a foundation for the agent's actions, we enhance the explainability of the agent's actions, foster more robust recommendations, and minimize error. Our findings demonstrate that the hybrid RL agent can significantly improve sustainability, operational efficiency, and dynamically adapt to emerging scenarios in real-world WDNs.

Shu Wang, Muzhi Han, Ziyuan Jiao et al.

Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing emerging tasks in real-world settings. Here, we present LLM^3, a novel Large Language Model (LLM)-based TAMP framework featuring a domain-independent interface. Specifically, we leverage the powerful reasoning and planning capabilities of pre-trained LLMs to propose symbolic action sequences and select continuous action parameters for motion planning. Crucially, LLM^3 incorporates motion planning feedback through prompting, allowing the LLM to iteratively refine its proposals by reasoning about motion failure. Consequently, LLM^3 interfaces between task planning and motion planning, alleviating the intricate design process of handling domain-specific messages between them. Through a series of simulations in a box-packing domain, we quantitatively demonstrate the effectiveness of LLM^3 in solving TAMP problems and the efficiency in selecting action parameters. Ablation studies underscore the significant contribution of motion failure reasoning to the success of LLM^3. Furthermore, we conduct qualitative experiments on a physical manipulator, demonstrating the practical applicability of our approach in real-world settings.

Puhao Li, Tengyu Liu, Yuyang Li et al. · berkeley

Autonomous robotic systems capable of learning novel manipulation tasks are poised to transform industries from manufacturing to service automation. However, modern methods (e.g., VIP and R3M) still face significant hurdles, notably the domain gap among robotic embodiments and the sparsity of successful task executions within specific action spaces, resulting in misaligned and ambiguous task representations. We introduce Ag2Manip (Agent-Agnostic representations for Manipulation), a framework aimed at surmounting these challenges through two key innovations: a novel agent-agnostic visual representation derived from human manipulation videos, with the specifics of embodiments obscured to enhance generalizability; and an agent-agnostic action representation abstracting a robot's kinematics to a universal agent proxy, emphasizing crucial interactions between end-effector and object. Ag2Manip's empirical validation across simulated benchmarks like FrankaKitchen, ManiSkill, and PartManip shows a 325% increase in performance, achieved without domain-specific demonstrations. Ablation studies underline the essential contributions of the visual and action representations to this success. Extending our evaluations to the real world, Ag2Manip significantly improves imitation learning success rates from 50% to 77.5%, demonstrating its effectiveness and generalizability across both simulated and physical environments.

Minghui Lin, Xiang Wang, Yishan Wang et al.

Recent advancements in video generation have witnessed significant progress, especially with the rapid advancement of diffusion models. Despite this, their deficiencies in physical cognition have gradually received widespread attention - generated content often violates the fundamental laws of physics, falling into the dilemma of ''visual realism but physical absurdity". Researchers began to increasingly recognize the importance of physical fidelity in video generation and attempted to integrate heuristic physical cognition such as motion representations and physical knowledge into generative systems to simulate real-world dynamic scenarios. Considering the lack of a systematic overview in this field, this survey aims to provide a comprehensive summary of architecture designs and their applications to fill this gap. Specifically, we discuss and organize the evolutionary process of physical cognition in video generation from a cognitive science perspective, while proposing a three-tier taxonomy: 1) basic schema perception for generation, 2) passive cognition of physical knowledge for generation, and 3) active cognition for world simulation, encompassing state-of-the-art methods, classical paradigms, and benchmarks. Subsequently, we emphasize the inherent key challenges in this domain and delineate potential pathways for future research, contributing to advancing the frontiers of discussion in both academia and industry. Through structured review and interdisciplinary analysis, this survey aims to provide directional guidance for developing interpretable, controllable, and physically consistent video generation paradigms, thereby propelling generative models from the stage of ''visual mimicry'' towards a new phase of ''human-like physical comprehension''.

Brian Choi, Shu Wang, Isabelle Choi et al.

With the widespread deployment of deep neural network (DNN) models, dynamic watermarking techniques are being used to protect the intellectual property of model owners. However, recent studies have shown that existing watermarking schemes are vulnerable to watermark removal and ambiguity attacks. Besides, the vague criteria for determining watermark presence further increase the likelihood of such attacks. In this paper, we propose a secure DNN watermarking scheme named ChainMarks, which generates secure and robust watermarks by introducing a cryptographic chain into the trigger inputs and utilizes a two-phase Monte Carlo method for determining watermark presence. First, ChainMarks generates trigger inputs as a watermark dataset by repeatedly applying a hash function over a secret key, where the target labels associated with trigger inputs are generated from the digital signature of model owner. Then, the watermarked model is produced by training a DNN over both the original and watermark datasets. To verify watermarks, we compare the predicted labels of trigger inputs with the target labels and determine ownership with a more accurate decision threshold that considers the classification probability of specific models. Experimental results show that ChainMarks exhibits higher levels of robustness and security compared to state-of-the-art watermarking schemes. With a better marginal utility, ChainMarks provides a higher probability guarantee of watermark presence in DNN models with the same level of watermark accuracy.

Shu Wang, Jiahao Cao, Xu He et al.

Automatic speech recognition (ASR) systems have been widely deployed in modern smart devices to provide convenient and diverse voice-controlled services. Since ASR systems are vulnerable to audio replay attacks that can spoof and mislead ASR systems, a number of defense systems have been proposed to identify replayed audio signals based on the speakers' unique acoustic features in the frequency domain. In this paper, we uncover a new type of replay attack called modulated replay attack, which can bypass the existing frequency domain based defense systems. The basic idea is to compensate for the frequency distortion of a given electronic speaker using an inverse filter that is customized to the speaker's transform characteristics. Our experiments on real smart devices confirm the modulated replay attacks can successfully escape the existing detection mechanisms that rely on identifying suspicious features in the frequency domain. To defeat modulated replay attacks, we design and implement a countermeasure named DualGuard. We discover and formally prove that no matter how the replay audio signals could be modulated, the replay attacks will either leave ringing artifacts in the time domain or cause spectrum distortion in the frequency domain. Therefore, by jointly checking suspicious features in both frequency and time domains, DualGuard can successfully detect various replay attacks including the modulated replay attacks. We implement a prototype of DualGuard on a popular voice interactive platform, ReSpeaker Core v2. The experimental results show DualGuard can achieve 98% accuracy on detecting modulated replay attacks.

Kaixiang Lin, Shu Wang, Jiayu Zhou

Besides independent learning, human learning process is highly improved by summarizing what has been learned, communicating it with peers, and subsequently fusing knowledge from different sources to assist the current learning goal. This collaborative learning procedure ensures that the knowledge is shared, continuously refined, and concluded from different perspectives to construct a more profound understanding. The idea of knowledge transfer has led to many advances in machine learning and data mining, but significant challenges remain, especially when it comes to reinforcement learning, heterogeneous model structures, and different learning tasks. Motivated by human collaborative learning, in this paper we propose a collaborative deep reinforcement learning (CDRL) framework that performs adaptive knowledge transfer among heterogeneous learning agents. Specifically, the proposed CDRL conducts a novel deep knowledge distillation method to address the heterogeneity among different learning tasks with a deep alignment network. Furthermore, we present an efficient collaborative Asynchronous Advantage Actor-Critic (cA3C) algorithm to incorporate deep knowledge distillation into the online training of agents, and demonstrate the effectiveness of the CDRL framework using extensive empirical evaluation on OpenAI gym.