Miracle-dz/UniFAR-FTUs huggingface dataset:
Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control

In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-making process. The redefined contact sequence problem is solved by utilizing a Monte Carlo Tree Search (MCTS) algorithm that exploits optimization-based simulations to evaluate the best search direction. The proposed scheme has proven to have a good trade-off between exploration and exploitation of the search space compared to the state-of-the-art Mixed-Integer Quadratic Programming (MIQP). The model predictive control (MPC) utilizes the gait generated by the MCTS to optimize the ground reaction forces and future footholds position. The simulation results, performed on a quadruped robot, showed that the proposed framework could generate known periodic gait and adapt the contact sequence to the encountered conditions, including external forces and terrain with unknown and variable properties. When tested on robots with different layouts, the system has also shown its reliability.
KL-Entropy-Regularized RL with a Generative Model is Minimax Optimal

In this work, we consider and analyze the sample complexity of model-free reinforcement learning with a generative model. Particularly, we analyze mirror descent value iteration (MDVI) by Geist et al. (2019) and Vieillard et al. (2020a), which uses the Kullback-Leibler divergence and entropy regularization in its value and policy updates. Our analysis shows that it is nearly minimax-optimal for finding an $\varepsilon$-optimal policy when $\varepsilon$ is sufficiently small. This is the first theoretical result that demonstrates that a simple model-free algorithm without variance-reduction can be nearly minimax-optimal under the considered setting.
Fast Nonlinear Vector Quantile Regression

Quantile regression (QR) is a powerful tool for estimating one or more conditional quantiles of a target variable $\mathrm{Y}$ given explanatory features $\boldsymbol{\mathrm{X}}$. A limitation of QR is that it is only defined for scalar target variables, due to the formulation of its objective function, and since the notion of quantiles has no standard definition for multivariate distributions. Recently, vector quantile regression (VQR) was proposed as an extension of QR for vector-valued target variables, thanks to a meaningful generalization of the notion of quantiles to multivariate distributions via optimal transport. Despite its elegance, VQR is arguably not applicable in practice due to several limitations: (i) it assumes a linear model for the quantiles of the target $\boldsymbol{\mathrm{Y}}$ given the features $\boldsymbol{\mathrm{X}}$; (ii) its exact formulation is intractable even for modestly-sized problems in terms of target dimensions, number of regressed quantile levels, or number of features, and its relaxed dual formulation may violate the monotonicity of the estimated quantiles; (iii) no fast or scalable solvers for VQR currently exist. In this work we fully address these limitations, namely: (i) We extend VQR to the non-linear case, showing substantial improvement over linear VQR; (ii) We propose {vector monotone rearrangement}, a method which ensures the quantile functions estimated by VQR are monotone functions; (iii) We provide fast, GPU-accelerated solvers for linear and nonlinear VQR which maintain a fixed memory footprint, and demonstrate that they scale to millions of samples and thousands of quantile levels; (iv) We release an optimized python package of our solvers as to widespread the use of VQR in real-world applications.
Sensing Eating Events in Context: A Smartphone-Only Approach

While the task of automatically detecting eating events has been examined in prior work using various wearable devices, the use of smartphones as standalone devices to infer eating events remains an open issue. This paper proposes a framework that infers eating vs. non-eating events from passive smartphone sensing and evaluates it on a dataset of 58 college students. First, we show that time of the day and features from modalities such as screen usage, accelerometer, app usage, and location are indicative of eating and non-eating events. Then, we show that eating events can be inferred with an AUROC (area under the receiver operating characteristics curve) of 0.65 using subject-independent machine learning models, which can be further improved up to 0.81 for subject-dependent and 0.81 for hybrid models using personalization techniques. Moreover, we show that users have different behavioral and contextual routines around eating episodes requiring specific feature groups to train fully personalized models. These findings are of potential value for future mobile food diary apps that are context-aware by enabling scalable sensing-based eating studies using only smartphones; detecting under-reported eating events, thus increasing data quality in self report-based studies; providing functionality to track food consumption and generate reminders for on- time collection of food diaries; and supporting mobile interventions towards healthy eating practices.
The long view of triadic resonance instability in finite-width internal gravity wave beams

Abstract This article presents our exploration into how a finite-width internal gravity wave beam is modified by triadic resonance instability. We present both experimental and weakly nonlinear modelling to examine this instability mechanism, in which a primary wave beam generates two secondary wave beams of lower frequencies and shorter length scales. Through a versatile experimental set-up, we examine how this instability evolves over hundreds of buoyancy periods. Unlike predictions from previous zero-dimensional weakly nonlinear theory, we find that the wave does not monotonically approach a saturated equilibrium of triadic interactions; rather, the amplitudes and structures of the constituent beams continue to modulate without ever reaching a steady equilibrium. To understand this behaviour, we develop a weakly nonlinear approach to account for the spatiotemporal evolution of the amplitudes and structures of the beams over slow time scales and long distances, and explore the consequences using a numerical scheme to solve the resulting equations. Through this approach, we establish that the evolution of the instability is remarkably sensitive to the spatiotemporal triadic configuration for the system and how part of the observed modulations can be attributed to a competition between the linear growth rate of the secondary wave beams and the finite residence time of the triadic perturbations within the underlying primary beam.
CPED: A Large-Scale Chinese Personalized and Emotional Dialogue Dataset for Conversational AI

Human language expression is based on the subjective construal of the situation instead of the objective truth conditions, which means that speakers' personalities and emotions after cognitive processing have an important influence on conversation. However, most existing datasets for conversational AI ignore human personalities and emotions, or only consider part of them. It's difficult for dialogue systems to understand speakers' personalities and emotions although large-scale pre-training language models have been widely used. In order to consider both personalities and emotions in the process of conversation generation, we propose CPED, a large-scale Chinese personalized and emotional dialogue dataset, which consists of multi-source knowledge related to empathy and personal characteristic. These knowledge covers gender, Big Five personality traits, 13 emotions, 19 dialogue acts and 10 scenes. CPED contains more than 12K dialogues of 392 speakers from 40 TV shows. We release the textual dataset with audio features and video features according to the copyright claims, privacy issues, terms of service of video platforms. We provide detailed description of the CPED construction process and introduce three tasks for conversational AI, including personality recognition, emotion recognition in conversations as well as personalized and emotional conversation generation. Finally, we provide baseline systems for these tasks and consider the function of speakers' personalities and emotions on conversation. Our motivation is to propose a dataset to be widely adopted by the NLP community as a new open benchmark for conversational AI research. The full dataset is available at https://github.com/scutcyr/CPED.
Espresso: Revisiting Gradient Compression from the System Perspective

Gradient compression (GC) is a promising approach to addressing the communication bottleneck in distributed deep learning (DDL). However, it is challenging to find the optimal compression strategy for applying GC to DDL because of the intricate interactions among tensors. To fully unleash the benefits of GC, two questions must be addressed: 1) How to express all compression strategies and the corresponding interactions among tensors of any DDL training job? 2) How to quickly select a near-optimal compression strategy? In this paper, we propose Espresso to answer these questions. It first designs a decision tree abstraction to express all the compression strategies and develops empirical models to timeline tensor computation, communication, and compression to enable Espresso to derive the intricate interactions among tensors. It then designs a compression decision algorithm that analyzes tensor interactions to eliminate and prioritize strategies and optimally offloads compression to CPUs. Experimental evaluations show that Espresso can improve the training throughput over the start-of-the-art compression-enabled system by up to 77% for representative DDL training jobs. Moreover, the computational time needed to select the compression strategy is measured in milliseconds, and the selected strategy is only a few percent from optimal.
Can Type III Radio Storms be a Source of Seed Particles to Shock Acceleration?

An intense type III radio storm has been disrupted by a fast halo coronal mass ejection (CME) on 2000 April 4. The CME is also associated with a large solar energetic particle (SEP) event. The storm recovers after ~10 hrs. We identified another CME that occurs on 2003 November 11 with similar CME properties but there is no type III storm in progress. The 2003 November 11 CME is also not associated with an SEP event above the background (< 2 pfu), whereas the one with type III storm has an intense SEP event (~56 pfu). One of the factors affecting the intensity of SEP events is the presence of seed particles that are accelerated by CME-driven shocks. We suggest that the type III storm source, which accelerates electrons to produce the storm, also accelerates ions that serve as seed particles to the CME shock.
Glance to Count: Learning to Rank with Anchors for Weakly-supervised Crowd Counting

Crowd image is arguably one of the most laborious data to annotate. In this paper, we devote to reduce the massive demand of densely labeled crowd data, and propose a novel weakly-supervised setting, in which we leverage the binary ranking of two images with high-contrast crowd counts as training guidance. To enable training under this new setting, we convert the crowd count regression problem to a ranking potential prediction problem. In particular, we tailor a Siamese Ranking Network that predicts the potential scores of two images indicating the ordering of the counts. Hence, the ultimate goal is to assign appropriate potentials for all the crowd images to ensure their orderings obey the ranking labels. On the other hand, potentials reveal the relative crowd sizes but cannot yield an exact crowd count. We resolve this problem by introducing"anchors"during the inference stage. Concretely, anchors are a few images with count labels used for referencing the corresponding counts from potential scores by a simple linear mapping function. We conduct extensive experiments to study various combinations of supervision, and we show that the proposed method outperforms existing weakly-supervised methods without additional labeling effort by a large margin.
Efficient Phi-Regret Minimization in Extensive-Form Games via Online Mirror Descent

A conceptually appealing approach for learning Extensive-Form Games (EFGs) is to convert them to Normal-Form Games (NFGs). This approach enables us to directly translate state-of-the-art techniques and analyses in NFGs to learning EFGs, but typically suffers from computational intractability due to the exponential blow-up of the game size introduced by the conversion. In this paper, we address this problem in natural and important setups for the \emph{$\Phi$-Hedge} algorithm -- A generic algorithm capable of learning a large class of equilibria for NFGs. We show that $\Phi$-Hedge can be directly used to learn Nash Equilibria (zero-sum settings), Normal-Form Coarse Correlated Equilibria (NFCCE), and Extensive-Form Correlated Equilibria (EFCE) in EFGs. We prove that, in those settings, the \emph{$\Phi$-Hedge} algorithms are equivalent to standard Online Mirror Descent (OMD) algorithms for EFGs with suitable dilated regularizers, and run in polynomial time. This new connection further allows us to design and analyze a new class of OMD algorithms based on modifying its log-partition function. In particular, we design an improved algorithm with balancing techniques that achieves a sharp $\widetilde{\mathcal{O}}(\sqrt{XAT})$ EFCE-regret under bandit-feedback in an EFG with $X$ information sets, $A$ actions, and $T$ episodes. To our best knowledge, this is the first such rate and matches the information-theoretic lower bound.
Excess Risk of Two-Layer ReLU Neural Networks in Teacher-Student Settings and its Superiority to Kernel Methods

While deep learning has outperformed other methods for various tasks, theoretical frameworks that explain its reason have not been fully established. To address this issue, we investigate the excess risk of two-layer ReLU neural networks in a teacher-student regression model, in which a student network learns an unknown teacher network through its outputs. Especially, we consider the student network that has the same width as the teacher network and is trained in two phases: first by noisy gradient descent and then by the vanilla gradient descent. Our result shows that the student network provably reaches a near-global optimal solution and outperforms any kernel methods estimator (more generally, linear estimators), including neural tangent kernel approach, random feature model, and other kernel methods, in a sense of the minimax optimal rate. The key concept inducing this superiority is the non-convexity of the neural network models. Even though the loss landscape is highly non-convex, the student network adaptively learns the teacher neurons.
Contextual Linear Bandits under Noisy Features: Towards Bayesian Oracles

We study contextual linear bandit problems under feature uncertainty; they are noisy with missing entries. To address the challenges of the noise, we analyze Bayesian oracles given observed noisy features. Our Bayesian analysis finds that the optimal hypothesis can be far from the underlying realizability function, depending on the noise characteristics, which are highly non-intuitive and do not occur for classical noiseless setups. This implies that classical approaches cannot guarantee a non-trivial regret bound. Therefore, we propose an algorithm that aims at the Bayesian oracle from observed information under this model, achieving $\tilde{O}(d\sqrt{T})$ regret bound when there is a large number of arms. We demonstrate the proposed algorithm using synthetic and real-world datasets.
Nonlinear continuous semimartingales

In this paper we study a family of nonlinear (conditional) expectations that can be understood as a continuous semimartingale with uncertain local characteristics. Here, the differential characteristics are prescribed by a set-valued function that depends on time and path in a non-Markovian way. We provide a dynamic programming principle for the nonlinear expectation and we link the corresponding value function to a variational form of a nonlinear path-dependent partial differential equation. In particular, we establish conditions that allow us to identify the value function as the unique viscosity solution. Furthermore, we prove that the nonlinear expectation solves a nonlinear martingale problem, which confirms our interpretation as a nonlinear semimartingale.
SHAQ: Incorporating Shapley Value Theory into Multi-Agent Q-Learning

Value factorisation is a useful technique for multi-agent reinforcement learning (MARL) in global reward game, however its underlying mechanism is not yet fully understood. This paper studies a theoretical framework for value factorisation with interpretability via Shapley value theory. We generalise Shapley value to Markov convex game called Markov Shapley value (MSV) and apply it as a value factorisation method in global reward game, which is obtained by the equivalence between the two games. Based on the properties of MSV, we derive Shapley-Bellman optimality equation (SBOE) to evaluate the optimal MSV, which corresponds to an optimal joint deterministic policy. Furthermore, we propose Shapley-Bellman operator (SBO) that is proved to solve SBOE. With a stochastic approximation and some transformations, a new MARL algorithm called Shapley Q-learning (SHAQ) is established, the implementation of which is guided by the theoretical results of SBO and MSV. We also discuss the relationship between SHAQ and relevant value factorisation methods. In the experiments, SHAQ exhibits not only superior performances on all tasks but also the interpretability that agrees with the theoretical analysis. The implementation of this paper is on https://github.com/hsvgbkhgbv/shapley-q-learning.
Pengaruh Kualitas Produk dan Harga terhadap Keputusan Pembelian Smartphone Xiaomi Redmi 1s (Studi pada Pengunjung WTC Surabaya)

ABSTRACT Xiaomi is an electronics company based in Beijing, China. Many factors make the Smartphone Xiaomi redmi 1S in the search by many people, including the problem specification product quality and price. The price factor and specs also have their respective roles. This study aims to analyze and discuss the influence of product quality and price on purchase decisions Smartphone Xiaomi redmi 1S. The population in this study were those who never used and are involved in purchasing decisions Smartphone Xiaomi redmi 1S last at least two months aged 19-50 years who were in WTC Surabaya. Analist Technic used is multiple linear regression. This study using 210 samples. The sampling method is non-probability sampling, especially using accidental sampling. The results indicate that there is partial effect that product quality affects purchase decision and price affects purchase decision. Keywords : Product Quality, Price, Purchase Decision ABSTRAK Xiaomi adalah perusahaan elektronik yang bermarkas di kota Beijing, Tiongkok.Banyak faktor yang membuat Smartphone Xiaomi Redmi 1S tersebut di cari oleh banyak orang, diantaranya masalah spesifikasi kualitas produk dan harga.Faktor harga dan spesifikasi juga memiliki peranannya masing-masing. Penelitian ini bertujuan untuk menganalisis dan membahas pengaruh kualitas produkdan harga terhadap keputusan pembelian Smartphone Xiaomi Redmi 1S. Populasi dalam penelitian ini adalah orang yang pernah menggunakan dan terlibat dalam keputusan pembelian Smartphone Xiaomi Redmi 1S minimal dua bulan terakhir yang berusia 19-50 tahun yang berada di WTC Surabaya.Tehnik analisisyang digunakan adalahregresi linier berganda.Penelitian ini menggunakan 210 sampel. Metodepenentuansampel adalahnonprobability samplingkhususnya menggunakan aksidental sampling. Hasil menunjukkan bahwaterdapat pengaruh secara parsialyaitu kualitas produk berpengaruh terhadap keputusan pembelian dan harga berpengaruh terhadap keputusan pembelian. Kata kunci: kualitas produk, harga, keputusan pembelian.
Going Deeper into Permutation-Sensitive Graph Neural Networks

The invariance to permutations of the adjacency matrix, i.e., graph isomorphism, is an overarching requirement for Graph Neural Networks (GNNs). Conventionally, this prerequisite can be satisfied by the invariant operations over node permutations when aggregating messages. However, such an invariant manner may ignore the relationships among neighboring nodes, thereby hindering the expressivity of GNNs. In this work, we devise an efficient permutation-sensitive aggregation mechanism via permutation groups, capturing pairwise correlations between neighboring nodes. We prove that our approach is strictly more powerful than the 2-dimensional Weisfeiler-Lehman (2-WL) graph isomorphism test and not less powerful than the 3-WL test. Moreover, we prove that our approach achieves the linear sampling complexity. Comprehensive experiments on multiple synthetic and real-world datasets demonstrate the superiority of our model.
Point-M2AE: Multi-scale Masked Autoencoders for Hierarchical Point Cloud Pre-training

Masked Autoencoders (MAE) have shown great potentials in self-supervised pre-training for language and 2D image transformers. However, it still remains an open question on how to exploit masked autoencoding for learning 3D representations of irregular point clouds. In this paper, we propose Point-M2AE, a strong Multi-scale MAE pre-training framework for hierarchical self-supervised learning of 3D point clouds. Unlike the standard transformer in MAE, we modify the encoder and decoder into pyramid architectures to progressively model spatial geometries and capture both fine-grained and high-level semantics of 3D shapes. For the encoder that downsamples point tokens by stages, we design a multi-scale masking strategy to generate consistent visible regions across scales, and adopt a local spatial self-attention mechanism during fine-tuning to focus on neighboring patterns. By multi-scale token propagation, the lightweight decoder gradually upsamples point tokens with complementary skip connections from the encoder, which further promotes the reconstruction from a global-to-local perspective. Extensive experiments demonstrate the state-of-the-art performance of Point-M2AE for 3D representation learning. With a frozen encoder after pre-training, Point-M2AE achieves 92.9% accuracy for linear SVM on ModelNet40, even surpassing some fully trained methods. By fine-tuning on downstream tasks, Point-M2AE achieves 86.43% accuracy on ScanObjectNN, +3.36% to the second-best, and largely benefits the few-shot classification, part segmentation and 3D object detection with the hierarchical pre-training scheme. Code is available at https://github.com/ZrrSkywalker/Point-M2AE.
Conditional Image Generation by Conditioning Variational Auto-Encoders

We present a conditional variational auto-encoder (VAE) which, to avoid the substantial cost of training from scratch, uses an architecture and training objective capable of leveraging a foundation model in the form of a pretrained unconditional VAE. To train the conditional VAE, we only need to train an artifact to perform amortized inference over the unconditional VAE's latent variables given a conditioning input. We demonstrate our approach on tasks including image inpainting, for which it outperforms state-of-the-art GAN-based approaches at faithfully representing the inherent uncertainty. We conclude by describing a possible application of our inpainting model, in which it is used to perform Bayesian experimental design for the purpose of guiding a sensor.