Miracle-dz/UniFAR-FTUs huggingface dataset:
Transferable and Adaptable Driving Behavior Prediction

While autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient, transferable, and adaptable driving capability. By mimicking humans' cognition model and semantic understanding during driving, we propose HATN, a hierarchical framework to generate high-quality, transferable, and adaptable predictions for driving behaviors in multi-agent dense-traffic environments. Our hierarchical method consists of a high-level intention identification policy and a low-level trajectory generation policy. We introduce a novel semantic sub-task definition and generic state representation for each sub-task. With these techniques, the hierarchical framework is transferable across different driving scenarios. Besides, our model is able to capture variations of driving behaviors among individuals and scenarios by an online adaptation module. We demonstrate our algorithms in the task of trajectory prediction for real traffic data at intersections and roundabouts from the INTERACTION dataset. Through extensive numerical studies, it is evident that our method significantly outperformed other methods in terms of prediction accuracy, transferability, and adaptability. Pushing the state-of-the-art performance by a considerable margin, we also provide a cognitive view of understanding the driving behavior behind such improvement. We highlight that in the future, more research attention and effort are deserved for transferability and adaptability. It is not only due to the promising performance elevation of prediction and planning algorithms, but more fundamentally, they are crucial for the scalable and general deployment of autonomous vehicles.
Dealing with Non-Stationarity in MARL via Trust-Region Decomposition

Non-stationarity is one thorny issue in cooperative multi-agent reinforcement learning (MARL). One of the reasons is the policy changes of agents during the learning process. Some existing works have discussed various consequences caused by non-stationarity with several kinds of measurement indicators. This makes the objectives or goals of existing algorithms are inevitably inconsistent and disparate. In this paper, we introduce a novel notion, the $\delta$-measurement, to explicitly measure the non-stationarity of a policy sequence, which can be further proved to be bounded by the KL-divergence of consecutive joint policies. A straightforward but highly non-trivial way is to control the joint policies' divergence, which is difficult to estimate accurately by imposing the trust-region constraint on the joint policy. Although it has lower computational complexity to decompose the joint policy and impose trust-region constraints on the factorized policies, simple policy factorization like mean-field approximation will lead to more considerable policy divergence, which can be considered as the trust-region decomposition dilemma. We model the joint policy as a pairwise Markov random field and propose a trust-region decomposition network (TRD-Net) based on message passing to estimate the joint policy divergence more accurately. The Multi-Agent Mirror descent policy algorithm with Trust region decomposition, called MAMT, is established by adjusting the trust-region of the local policies adaptively in an end-to-end manner. MAMT can approximately constrain the consecutive joint policies' divergence to satisfy $\delta$-stationarity and alleviate the non-stationarity problem. Our method can bring noticeable and stable performance improvement compared with baselines in cooperative tasks of different complexity.
An Information-Theoretic Justification for Model Pruning

We study the neural network (NN) compression problem, viewing the tension between the compression ratio and NN performance through the lens of rate-distortion theory. We choose a distortion metric that reflects the effect of NN compression on the model output and derive the tradeoff between rate (compression) and distortion. In addition to characterizing theoretical limits of NN compression, this formulation shows that \emph{pruning}, implicitly or explicitly, must be a part of a good compression algorithm. This observation bridges a gap between parts of the literature pertaining to NN and data compression, respectively, providing insight into the empirical success of model pruning. Finally, we propose a novel pruning strategy derived from our information-theoretic formulation and show that it outperforms the relevant baselines on CIFAR-10 and ImageNet datasets.
Behavior-Semantic Scenery Description (BSSD) of Road Networks for Automated Driving

The safety approval of Highly Automated Vehicles (HAV) still faces the automotive industry with economic and legal challenges. For verification and validation, it is essential to describe the intended behavior of an HAV in the development process in order to prove safety. The demand for this behavior comes from the traffic rules which are instantiated by the present scenery around the vehicle (e.g. traffic signs or road markings). The Operational Design Domain (ODD) specifies the scenery in which an HAV may operate, but current descriptions fail to explicitly represent the associated behavioral demand of the scenery. We propose a new approach for a Behavior-Semantic Scenery Description (BSSD) in order to describe the behavior space of a present scenery. A behavior space represents the delimitation of the legally possible behavior. The BSSD explicitly links the scenery with the behavioral demand for HAV. Based on identified goals and challenges for such an approach, we derive requirements for a generic structure of the description for complete road networks. All required elements to represent the behavior space of the scenery are identified. Within real world examples, we present an instance of the BSSD integrated into the HD-map framework Lanelet2 to prove the applicability of the description. The presented approach supports development, test and operation of HAV by closing the knowledge gap of where a vehicle has to behave in which limits within an ODD.
Slovene SuperGLUE Benchmark: Translation and Evaluation

We present SuperGLUE benchmark adapted and translated into Slovene using a combination of human and machine translation. We describe the translation process and problems arising due to differences in morphology and grammar. We evaluate the translated datasets in several modes: monolingual, cross-lingual, and multilingual, taking into account differences between machine and human translated training sets. The results show that the monolingual Slovene SloBERTa model is superior to massively multilingual and trilingual BERT models, but these also show a good cross-lingual performance on certain tasks. The performance of Slovene models still lags behind the best English models.
Vehicle: Interfacing Neural Network Verifiers with Interactive Theorem Provers

Verification of neural networks is currently a hot topic in automated theorem proving. Progress has been rapid and there are now a wide range of tools available that can verify properties of networks with hundreds of thousands of nodes. In theory this opens the door to the verification of larger control systems that make use of neural network components. However, although work has managed to incorporate the results of these verifiers to prove larger properties of individual systems, there is currently no general methodology for bridging the gap between verifiers and interactive theorem provers (ITPs). In this paper we present Vehicle, our solution to this problem. Vehicle is equipped with an expressive domain specific language for stating neural network specifications which can be compiled to both verifiers and ITPs. It overcomes previous issues with maintainability and scalability in similar ITP formalisations by using a standard ONNX file as the single canonical representation of the network. We demonstrate its utility by using it to connect the neural network verifier Marabou to Agda and then formally verifying that a car steered by a neural network never leaves the road, even in the face of an unpredictable cross wind and imperfect sensors. The network has over 20,000 nodes, and therefore this proof represents an improvement of 3 orders of magnitude over prior proofs about neural network enhanced systems in ITPs.
IHGNN: Interactive Hypergraph Neural Network for Personalized Product Search

A good personalized product search (PPS) system should not only focus on retrieving relevant products, but also consider user personalized preference. Recent work on PPS mainly adopts the representation learning paradigm, e.g., learning representations for each entity (including user, product and query) from historical user behaviors (aka. user-product-query interactions). However, we argue that existing methods do not sufficiently exploit the crucial collaborative signal, which is latent in historical interactions to reveal the affinity between the entities. Collaborative signal is quite helpful for generating high-quality representation, exploiting which would benefit the representation learning of one node from its connected nodes. To tackle this limitation, in this work, we propose a new model IHGNN for personalized product search. IHGNN resorts to a hypergraph constructed from the historical user-product-query interactions, which could completely preserve ternary relations and express collaborative signal based on the topological structure. On this basis, we develop a specific interactive hypergraph neural network to explicitly encode the structure information (i.e., collaborative signal) into the embedding process. It collects the information from the hypergraph neighbors and explicitly models neighbor feature interaction to enhance the representation of the target entity. Extensive experiments on three real-world datasets validate the superiority of our proposal over the state-of-the-arts.
Correlating gravitational wave and gamma-ray signals from primordial black holes

Asteroid-mass primordial black holes (PBH) can explain the observed dark matter abundance while being consistent with the current indirect detection constraints. These PBH can produce gamma-ray signals from Hawking radiation that are within the sensitivity of future measurements by the AMEGO and e-ASTROGAM experiments. PBH which give rise to such observable gamma-ray signals have a cosmic origin from large primordial curvature fluctuations. There must then be a companion, stochastic gravitational wave (GW) background produced by the same curvature fluctuations. We demonstrate that the resulting GW signals will be well within the sensitivity of future detectors such as LISA, DECIGO, BBO, and the Einstein Telescope. The multi-messenger signal from the observed gamma-rays and GW will allow a precise measurement of the primordial curvature perturbation that produces the PBH. Indeed, we argue that the resulting correlation between the two types of observations can provide a smoking-gun signal of PBH.
Light Baryon Spectroscopy

The precise understanding of the interaction inside the nucleons is still an open question in hadron spectroscopy. To tackle this issue, nucleons are excited by photons and their excitation spectra are determined. This effort is addressed by several different experiments worldwide, where different polarization observables are extracted for various reactions. This proceeding will give a short overview about the current status in Light Baryon Spectroscopy.
Towards Predicting Fine Finger Motions from Ultrasound Images via Kinematic Representation

A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform discrete gestures such as pointing or grasping, by employing electromyography (EMG) or ultrasound (US) technologies to analyze muscle states. While estimating finger gestures has been done in the past by detecting prominent gestures, we are interested in detection, or inference, done in the context of fine motions that evolve over time. Examples include motions occurring when performing fine and dexterous tasks such as keyboard typing or piano playing. We consider this task as an important step towards higher adoption rates of robotic prostheses among arm amputees, as it has the potential to dramatically increase functionality in performing daily tasks. To this end, we present an end-to-end robotic system, which can successfully infer fine finger motions. This is achieved by modeling the hand as a robotic manipulator and using it as an intermediate representation to encode muscles' dynamics from a sequence of US images. We evaluated our method by collecting data from a group of subjects and demonstrating how it can be used to replay music played or text typed. To the best of our knowledge, this is the first study demonstrating these downstream tasks within an end-to-end system.
Monotonically Convergent Regularization by Denoising

Regularization by denoising (RED) is a widely-used framework for solving inverse problems by leveraging image de-noisers as image priors. Recent work has reported the state-of-the-art performance of RED in a number of imaging applications using pre-trained deep neural nets as denoisers. Despite the recent progress, the stable convergence of RED algorithms remains an open problem. The existing RED theory only guarantees stability for convex data-fidelity terms and nonexpansive denoisers. This work addresses this issue by developing a new monotone RED (MRED) algorithm, whose convergence does not require nonexpansiveness of the deep denoising prior. Simulations on image deblurring and compressive sensing recovery from random matrices show the stability of MRED even when the traditional RED diverges.
A Stieltjes algorithm for generating multivariate orthogonal polynomials

Orthogonal polynomials of several variables have a vector-valued three-term recurrence relation, much like the corresponding one-dimensional relation. This relation requires only knowledge of certain recurrence matrices, and allows simple and stable evaluation of multivariate orthogonal polynomials. In the univariate case, various algorithms can evaluate the recurrence coefficients given the ability to compute polynomial moments, but such a procedure is absent in multiple dimensions. We present a new Multivariate Stieltjes (MS) algorithm that fills this gap in the multivariate case, allowing computation of recurrence matrices assuming moments are available. The algorithm is essentially explicit in two and three dimensions, but requires the numerical solution to a non-convex problem in more than three dimensions. Compared to direct Gram-Schmidt-type orthogonalization, we demonstrate on several examples in up to three dimensions that the MS algorithm is far more stable, and allows accurate computation of orthogonal bases in the multivariate setting, in contrast to direct orthogonalization approaches.
No-Regret Learning in Dynamic Stackelberg Games

In a Stackelberg game, a leader commits to a randomized strategy and a follower chooses their best strategy in response. We consider an extension of a standard Stackelberg game, called a discrete-time dynamic Stackelberg game, that has an underlying state space that affects the leader's rewards and available strategies and evolves in a Markovian manner depending on both the leader and follower's selected strategies. Although standard Stackelberg games have been utilized to improve scheduling in security domains, their deployment is often limited by requiring complete information of the follower's utility function. In contrast, we consider scenarios where the follower's utility function is unknown to the leader; however, it can be linearly parameterized. Our objective is then to provide an algorithm that prescribes a randomized strategy to the leader at each step of the game based on observations of how the follower responded in previous steps. We design an online learning algorithm that, with high probability, is no-regret, i.e., achieves a regret bound (when compared to the best policy in hindsight), which is sublinear in the number of time steps; the degree of sublinearity depends on the number of features representing the follower's utility function. The regret of the proposed learning algorithm is independent of the size of the state space and polynomial in the rest of the parameters of the game. We show that the proposed learning algorithm outperforms existing model-free reinforcement learning approaches.
Nanostructured Transition Metal Dichalcogenide Multilayers for Advanced Nanophotonics

Transition metal dichalcogenides (TMDs) attract significant attention due to their exceptional optical, excitonic, mechanical, and electronic properties. Nanostructured multilayer TMDs were recently shown to be highly promising for nanophotonic applications, as motivated by their exceptionally high refractive indices and optical anisotropy. Here, this vision is extended to more sophisticated structures, such as periodic arrays of nanodisks and nanoholes with ultra sharp walls, as well as proof‐of‐concept all‐TMD waveguides and resonators. Specific focus is given to various advanced nanofabrication strategies, including careful selection of resists for electron beam lithography and etching methods, especially for non‐conductiven but relevant for nanophotonic applications substrates, such as SiO2. The specific materials studied here include semiconducting WS2, in‐plane anisotropic ReS2, and metallic TaSe2, TaS2, and NbSe2. The resulting nanostructures can potentially impact several nanophotonic and optoelectronic areas, including high‐index nanophotonics, plasmonics and on‐chip optical circuits. The knowledge of TMD material‐dependent nanofabrication parameters developed here will help broaden the scope of future applications of all‐TMD nanophotonics.
A Neural Network Model of Continual Learning with Cognitive Control

Neural networks struggle in continual learning settings from catastrophic forgetting: when trials are blocked, new learning can overwrite the learning from previous blocks. Humans learn effectively in these settings, in some cases even showing an advantage of blocking, suggesting the brain contains mechanisms to overcome this problem. Here, we build on previous work and show that neural networks equipped with a mechanism for cognitive control do not exhibit catastrophic forgetting when trials are blocked. We further show an advantage of blocking over interleaving when there is a bias for active maintenance in the control signal, implying a tradeoff between maintenance and the strength of control. Analyses of map-like representations learned by the networks provided additional insights into these mechanisms. Our work highlights the potential of cognitive control to aid continual learning in neural networks, and offers an explanation for the advantage of blocking that has been observed in humans.
Bayes Optimal Algorithm is Suboptimal in Frequentist Best Arm Identification

We consider the ﬁxed-budget best arm identiﬁcation problem with Normal rewards. In this problem, the forecaster is given K arms (treatments) and T time steps. The forecaster attempts to ﬁnd the best arm in terms of the largest mean via an adaptive experiment conducted with an algorithm. The performance of the algorithm is measured by the simple regret, or the quality of the estimated best arm. It is known that the frequentist simple regret can be exponentially small to T for any ﬁxed parameters, whereas the Bayesian simple regret is Θ( T − 1 ) over a continuous prior distribution. This paper shows that Bayes optimal algorithm, which minimizes the Bayesian simple regret, does not have an exponential simple regret for some parameters. This ﬁnding contrasts with the many results indicating the asymptotic equivalence of Bayesian and frequentist algorithms in ﬁxed sampling regimes. While the Bayes optimal algorithm is described in terms of a recursive equation that is virtually impossible to compute exactly, we pave the way to an analysis by introducing a key quantity that we call the expected Bellman improvement.
“This is Fake! Shared it by Mistake”:Assessing the Intent of Fake News Spreaders

Individuals can be misled by fake news and spread it unintentionally without knowing it is false. This phenomenon has been frequently observed but has not been investigated. Our aim in this work is to assess the intent of fake news spreaders. To distinguish between intentional versus unintentional spreading, we study the psychological explanations of unintentional spreading. With this foundation, we then propose an influence graph, using which we assess the intent of fake news spreaders. Our extensive experiments show that the assessed intent can help significantly differentiate between intentional and unintentional fake news spreaders. Furthermore, the estimated intent can significantly improve the current techniques that detect fake news. To our best knowledge, this is the first work to model individuals’ intent in fake news spreading.
Constructing graphs having Laplacian pair state transfer by an edge perturbation

In this paper, we give some sufficient conditions for graphs with an edge perturbation between twin vertices to have Laplacian perfect pair state transfer as well as Laplacian pretty good pair state transfer. By those sufficient conditions, we also construct many new graphs having Laplacian perfect pair state transfer as well as Laplacian pretty good pair state transfer.
Bayesian Nonparametrics for Offline Skill Discovery

Skills or low-level policies in reinforcement learning are temporally extended actions that can speed up learning and enable complex behaviours. Recent work in ofﬂine reinforcement learning and imitation learning has proposed several techniques for skill discovery from a set of expert trajectories. While these methods are promis-ing, the number K of skills to discover is always a ﬁxed hyperparameter, which requires ei-ther prior knowledge about the environment or an additional parameter search to tune it. We ﬁrst propose a method for ofﬂine learning of options (a particular skill framework) exploiting advances in variational inference and continuous relaxations. We then highlight an unexplored connection between Bayesian nonparametrics and ofﬂine skill discovery, and show how to obtain a nonparametric version of our model. This version is tractable thanks to a carefully structured approximate posterior with a dynamically-changing number of options, removing the need to specify K . We also show how our nonparametric extension can be applied in other skill frameworks, and empirically demonstrate that our method can outperform state-of-the-art ofﬂine skill learning algorithms across a variety of environments. Our code is available at https: //github.com/layer6ai-labs/BNPO .