Miracle-dz/UniFAR-FTUs huggingface dataset:
Learning Differentiable Particle Filter on the Fly

Differentiable particle filters are an emerging class of sequential Bayesian inference techniques that use neural networks to construct components in state space models. Existing approaches are mostly based on offline supervised training strategies. This leads to the delay of the model deployment and the obtained filters are susceptible to distribution shift of test-time data. In this paper, we propose an online learning framework for differentiable particle filters so that model parameters can be updated as data arrive. The technical constraint is that there is no known ground truth state information in the online inference setting. We address this by adopting an unsupervised loss to construct the online model updating procedure, which involves a sequence of filtering operations for online maximum likelihood-based parameter estimation. We empirically evaluate the effectiveness of the proposed method, and compare it with supervised learning methods in simulation settings including a multivariate linear Gaussian state-space model and a simulated object tracking experiment.
On Task-Relevant Loss Functions in Meta-Reinforcement Learning and Online LQR

Designing a competent meta-reinforcement learning (meta-RL) algorithm in terms of data usage remains a central challenge to be tackled for its successful real-world applications. In this paper, we propose a sample-efficient meta-RL algorithm that learns a model of the system or environment at hand in a task-directed manner. As opposed to the standard model-based approaches to meta-RL, our method exploits the value information in order to rapidly capture the decision-critical part of the environment. The key component of our method is the loss function for learning the task inference module and the system model that systematically couples the model discrepancy and the value estimate, thereby facilitating the learning of the policy and the task inference module with a significantly smaller amount of data compared to the existing meta-RL algorithms. The idea is also extended to a non-meta-RL setting, namely an online linear quadratic regulator (LQR) problem, where our method can be simplified to reveal the essence of the strategy. The proposed method is evaluated in high-dimensional robotic control and online LQR problems, empirically verifying its effectiveness in extracting information indispensable for solving the tasks from observations in a sample efficient manner.
Compound Text-Guided Prompt Tuning via Image-Adaptive Cues

Vision-Language Models (VLMs) such as CLIP have demonstrated remarkable generalization capabilities to downstream tasks. However, existing prompt tuning based frameworks need to parallelize learnable textual inputs for all categories, suffering from massive GPU memory consumption when there is a large number of categories in the target dataset. Moreover, previous works require to include category names within prompts, exhibiting subpar performance when dealing with ambiguous category names. To address these shortcomings, we propose Compound Text-Guided Prompt Tuning (TGP-T) that significantly reduces resource demand while achieving superior performance. We introduce text supervision to the optimization of prompts, which enables two benefits: 1) releasing the model reliance on the pre-defined category names during inference, thereby enabling more flexible prompt generation; 2) reducing the number of inputs to the text encoder, which decreases GPU memory consumption significantly. Specifically, we found that compound text supervisions, i.e., category-wise and content-wise, is highly effective, since they provide inter-class separability and capture intra-class variations, respectively. Moreover, we condition the prompt generation on visual features through a module called Bonder, which facilitates the alignment between prompts and visual features. Extensive experiments on few-shot recognition and domain generalization demonstrate that TGP-T achieves superior performance with consistently lower training costs. It reduces GPU memory usage by 93% and attains a 2.5% performance gain on 16-shot ImageNet. The code is available at https://github.com/EricTan7/TGP-T.
Towards Smart Healthcare: Challenges and Opportunities in IoT and ML

The COVID-19 pandemic and other ongoing health crises have underscored the need for prompt healthcare services worldwide. The traditional healthcare system, centered around hospitals and clinics, has proven inadequate in the face of such challenges. Intelligent wearable devices, a key part of conventional healthcare, leverage Internet of Things (IoT) technology to collect extensive data related to the environment, as well as psychological, behavioral, and physical health. Managing the substantial data generated by these wearables and other IoT devices in healthcare poses a significant challenge, potentially impeding decision-making processes. Recent interest has grown in applying data analytics for extracting information, gaining insights, and making predictions. Additionally, machine learning (ML), known for addressing various networking challenges, has seen increased implementation to enhance IoT systems in healthcare. This chapter focuses exclusively on exploring the hurdles encountered when integrating ML methods into the IoT healthcare sector. We offer a comprehensive summary of current research challenges and potential opportunities, categorized into three scenarios: IoT-based, ML-based, and the implementation of ML methodologies in the healthcare industry via the IoT. We highlight the difficulties faced by existing methodologies, providing valuable insights for future researchers, healthcare professionals, and government agencies. This ensures they stay updated on the latest developments in big data analytics for intelligent healthcare utilizing ML.
Noise Adaptor in Spiking Neural Networks

Recent strides in low-latency spiking neural network (SNN) algorithms have drawn significant interest, particularly due to their event-driven computing nature and fast inference capability. One of the most efficient ways to construct a low-latency SNN is by converting a pre-trained, low-bit artificial neural network (ANN) into an SNN. However, this conversion process faces two main challenges: First, converting SNNs from low-bit ANNs can lead to ``occasional noise"-- the phenomenon where occasional spikes are generated in spiking neurons where they should not be -- during inference, which significantly lowers SNN accuracy. Second, although low-latency SNNs initially show fast improvements in accuracy with time steps, these accuracy growths soon plateau, resulting in their peak accuracy lagging behind both full-precision ANNs and traditional ``long-latency SNNs'' that prioritize precision over speed. In response to these two challenges, this paper introduces a novel technique named ``noise adaptor. '' Noise adaptor can model occasional noise during training and implicitly optimize SNN accuracy, particularly at high simulation times $T$. Our research utilizes the ResNet model for a comprehensive analysis of the impact of the noise adaptor on low-latency SNNs. The results demonstrate that our method outperforms the previously reported quant-ANN-to-SNN conversion technique. We achieved an accuracy of 95.95\% within 4 time steps on CIFAR-10 using ResNet-18, and an accuracy of 74.37\% within 64 time steps on ImageNet using ResNet-50. Remarkably, these results were obtained without resorting to any noise correction methods during SNN inference, such as negative spikes or two-stage SNN simulations. Our approach significantly boosts the peak accuracy of low-latency SNNs, bringing them on par with the accuracy of full-precision ANNs. Code will be open source.
Beam-Delay Domain Channel Estimation for mmWave XL-MIMO Systems

This paper investigates the uplink channel estimation of the millimeter-wave (mmWave) extremely large-scale multiple-input-multiple-output (XL-MIMO) communication system in the beam-delay domain, taking into account the near-field and beam-squint effects due to the transmission bandwidth and array aperture growth. Specifically, we model the sparsity in the delay domain to explore inter-subcarrier correlations and propose the beam-delay domain sparse representation of spatial-frequency domain channels. The independent and non-identically distributed Bernoulli-Gaussian models with unknown prior hyperparameters are employed to capture the sparsity in the beam-delay domain, posing a challenge for channel estimation. Under the constrained Bethe free energy minimization framework, we design different structures on the beliefs to develop hybrid message passing (HMP) algorithms, thus achieving efficient joint estimation of beam-delay domain channel and prior hyperparameters. To further improve the model accuracy, the multidimensional grid point perturbation (MDGPP)-based representation is presented, which assigns individual perturbation parameters to each multidimensional discrete grid. By treating the MDGPP parameters as unknown hyperparameters, we propose the two-stage HMP algorithm for MDGPP-based channel estimation, where the output of the initial estimation stage is pruned for the refinement stage for the computational complexity reduction. Numerical simulations demonstrate the significant superiority of the proposed algorithms over benchmarks with both near-field and beam-squint effects.
BaRiFlex: A Robotic Gripper with Versatility and Collision Robustness for Robot Learning

We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the issues caused by unexpected contact and collisions during robot learning, offering robustness, grasping versatility, task versatility, and simplicity to the learning processes. This achievement is enabled by the incorporation of low-inertia actuators, providing high Back-drivability, and the strategic combination of Rigid and Flexible materials which enhances versatility and the gripper's resilience against unpredicted collisions. Furthermore, the integration of flexible Fin-Ray linkages and rigid linkages allows the gripper to execute compliant grasping and precise pinching. We conducted rigorous performance tests to characterize the novel gripper's compliance, durability, grasping and task versatility, and precision. We also integrated the BaRiFlex with a 7 Degree of Freedom (DoF) Franka Emika's Panda robotic arm to evaluate its capacity to support a trial-and-error (reinforcement learning) training procedure. The results of our experimental study are then compared to those obtained using the original rigid Franka Hand and a reference Fin-Ray soft gripper, demonstrating the superior capabilities and advantages of our developed gripper system.
Open World Object Detection in the Era of Foundation Models

Object detection is integral to a bevy of real-world applications, from robotics to medical image analysis. To be used reliably in such applications, models must be capable of handling unexpected - or novel - objects. The open world object detection (OWD) paradigm addresses this challenge by enabling models to detect unknown objects and learn discovered ones incrementally. However, OWD method development is hindered due to the stringent benchmark and task definitions. These definitions effectively prohibit foundation models. Here, we aim to relax these definitions and investigate the utilization of pre-trained foundation models in OWD. First, we show that existing benchmarks are insufficient in evaluating methods that utilize foundation models, as even naive integration methods nearly saturate these benchmarks. This result motivated us to curate a new and challenging benchmark for these models. Therefore, we introduce a new benchmark that includes five real-world application-driven datasets, including challenging domains such as aerial and surgical images, and establish baselines. We exploit the inherent connection between classes in application-driven datasets and introduce a novel method, Foundation Object detection Model for the Open world, or FOMO, which identifies unknown objects based on their shared attributes with the base known objects. FOMO has ~3x unknown object mAP compared to baselines on our benchmark. However, our results indicate a significant place for improvement - suggesting a great research opportunity in further scaling object detection methods to real-world domains. Our code and benchmark are available at https://orrzohar.github. io/projects/fomo/.
A Logical Framework with Infinitary Terms

Logical frameworks are successful in modeling proof systems. Recently, CoLF extended the logical framework LF to support higher-order rational terms that enable adequate encoding of circular objects and derivations. In this paper, we propose CoLF$^\omega$ as an alternative interpretation of CoLF-style signatures where terms are taken to be all possibly infinitary terms that are consistent with a given signature. In particular, we propose the notion of productive B\"ohm trees, a particular kind of typed $\bot$-free B\"ohm trees that are closed under hereditary substitution. We show that the productive B\"ohm trees are capable of meta-encoding their own structure. Overall, we hope to establish CoLF$^\omega$ as a new formal framework for the encoding of infinitary regular and non-regular structures.
On Valid Multivariate Generalizations of the Confluent Hypergeometric Covariance Function

Modeling of multivariate random fields through Gaussian processes calls for the construction of valid cross-covariance functions describing the dependence between any two component processes at different spatial locations. The required validity conditions often present challenges that lead to complicated restrictions on the parameter space. The purpose of this paper is to present a simplified techniques for establishing multivariate validity for the recently-introduced Confluent Hypergeometric (CH) class of covariance functions. Specifically, we use multivariate mixtures to present both simplified and comprehensive conditions for validity, based on results on conditionally negative semidefinite matrices and the Schur product theorem. In addition, we establish the spectral density of the CH covariance and use this to construct valid multivariate models as well as propose new cross-covariances. We show that our proposed approach leads to valid multivariate cross-covariance models that inherit the desired marginal properties of the CH model and outperform the multivariate Mat\'ern model in out-of-sample prediction under slowly-decaying correlation of the underlying multivariate random field. We also establish properties of multivariate CH models, including equivalence of Gaussian measures, and demonstrate their use in modeling a multivariate oceanography data set consisting of temperature, salinity and oxygen, as measured by autonomous floats in the Southern Ocean.
Disentangled Latent Representation Learning for Tackling the Confounding M-Bias Problem in Causal Inference

In causal inference, it is a fundamental task to estimate the causal effect from observational data. However, latent confounders pose major challenges in causal inference in observational data, for example, confounding bias and M-bias. Recent data-driven causal effect estimators tackle the confounding bias problem via balanced representation learning, but assume no M-bias in the system, thus they fail to handle the M-bias. In this paper, we identify a challenging and unsolved problem caused by a variable that leads to confounding bias and M-bias simultaneously. To address this problem with co-occurring M-bias and confounding bias, we propose a novel Disentangled Latent Representation learning framework for learning latent representations from proxy variables for unbiased Causal effect Estimation (DLRCE) from observational data. Specifically, DLRCE learns three sets of latent representations from the measured proxy variables to adjust for the confounding bias and M-bias. Extensive experiments on both synthetic and three real-world datasets demonstrate that DLRCE significantly outperforms the state-of-the-art estimators in the case of the presence of both confounding bias and M-bias.
Federated Causality Learning with Explainable Adaptive Optimization

Discovering the causality from observational data is a crucial task in various scientific domains. With increasing awareness of privacy, data are not allowed to be exposed, and it is very hard to learn causal graphs from dispersed data, since these data may have different distributions. In this paper, we propose a federated causal discovery strategy (FedCausal) to learn the unified global causal graph from decentralized heterogeneous data. We design a global optimization formula to naturally aggregate the causal graphs from client data and constrain the acyclicity of the global graph without exposing local data. Unlike other federated causal learning algorithms, FedCausal unifies the local and global optimizations into a complete directed acyclic graph (DAG) learning process with a flexible optimization objective. We prove that this optimization objective has a high interpretability and can adaptively handle homogeneous and heterogeneous data. Experimental results on synthetic and real datasets show that FedCausal can effectively deal with non-independently and identically distributed (non-iid) data and has a superior performance.
The Machine Learning Control Method for Counterfactual Forecasting (preprint)

Without a credible control group, the most widespread methodologies for estimating causal effects cannot be applied. To fill this gap, we propose the Machine Learning Control Method (MLCM), a new approach for causal panel analysis based on counterfactual forecasting with machine learning. The MLCM estimates policy-relevant causal parameters in short- and long-panel settings without relying on untreated units. We formalize identification in the potential outcomes framework and then provide estimation based on supervised machine learning algorithms. To illustrate the advantages of our estimator, we present simulation evidence and an empirical application on the impact of the COVID-19 crisis on educational inequality in Italy. We implement the proposed method in the companion R package MachineControl.
Sparse Variational Student-t Processes

The theory of Bayesian learning incorporates the use of Student-t Processes to model heavy-tailed distributions and datasets with outliers. However, despite Student-t Processes having a similar computational complexity as Gaussian Processes, there has been limited emphasis on the sparse representation of this model. This is mainly due to the increased difficulty in modeling and computation compared to previous sparse Gaussian Processes. Our motivation is to address the need for a sparse representation framework that reduces computational complexity, allowing Student-t Processes to be more flexible for real-world datasets. To achieve this, we leverage the conditional distribution of Student-t Processes to introduce sparse inducing points. Bayesian methods and variational inference are then utilized to derive a well-defined lower bound, facilitating more efficient optimization of our model through stochastic gradient descent. We propose two methods for computing the variational lower bound, one utilizing Monte Carlo sampling and the other employing Jensen's inequality to compute the KL regularization term in the loss function. We propose adopting these approaches as viable alternatives to Gaussian processes when the data might contain outliers or exhibit heavy-tailed behavior, and we provide specific recommendations for their applicability. We evaluate the two proposed approaches on various synthetic and real-world datasets from UCI and Kaggle, demonstrating their effectiveness compared to baseline methods in terms of computational complexity and accuracy, as well as their robustness to outliers.
Augmenty: A Python Library for Structured Text Augmentation

Augmnety is a Python library for structured text augmentation. It is built on top of spaCy and allows for augmentation of both the text and its annotations. Augmenty provides a wide range of augmenters which can be combined in a flexible manner to create complex augmentation pipelines. It also includes a set of primitives that can be used to create custom augmenters such as word replacement augmenters. This functionality allows for augmentations within a range of applications such as named entity recognition (NER), part-of-speech tagging, and dependency parsing.
Approximate Dynamic Programming based Model Predictive Control of Nonlinear systems

This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the proposed approach, the value function is approximated as a quadratic function for which the parametric matrix is computed using a switched system approximate of the nonlinear system. The approach is modified further using a multi-stage scheme to improve the control accuracy and an extension to incorporate state constraints. The MPC scheme is validated experimentally on a multi-tank system which is modeled as a third-order nonlinear system. The experimental results show the proposed MPC scheme results in significantly lesser online computation compared to the Nonlinear MPC scheme.
Photorealistic Video Generation with Diffusion Models

We present W.A. L.T, a transformer-based approach for photorealistic video generation via diffusion modeling. Our approach has two key design decisions. First, we use a causal encoder to jointly compress images and videos within a unified latent space, enabling training and generation across modalities. Second, for memory and training efficiency, we use a window attention architecture tailored for joint spatial and spatiotemporal generative modeling. Taken together these design decisions enable us to achieve state-of-the-art performance on established video (UCF-101 and Kinetics-600) and image (ImageNet) generation benchmarks without using classifier free guidance. Finally, we also train a cascade of three models for the task of text-to-video generation consisting of a base latent video diffusion model, and two video super-resolution diffusion models to generate videos of $512 \times 896$ resolution at $8$ frames per second.
Efficient Sparse-Reward Goal-Conditioned Reinforcement Learning with a High Replay Ratio and Regularization

Reinforcement learning (RL) methods with a high replay ratio (RR) and regularization have gained interest due to their superior sample efficiency. However, these methods have mainly been developed for dense-reward tasks. In this paper, we aim to extend these RL methods to sparse-reward goal-conditioned tasks. We use Randomized Ensemble Double Q-learning (REDQ) (Chen et al., 2021), an RL method with a high RR and regularization. To apply REDQ to sparse-reward goal-conditioned tasks, we make the following modifications to it: (i) using hindsight experience replay and (ii) bounding target Q-values. We evaluate REDQ with these modifications on 12 sparse-reward goal-conditioned tasks of Robotics (Plappert et al., 2018), and show that it achieves about $2 \times$ better sample efficiency than previous state-of-the-art (SoTA) RL methods. Furthermore, we reconsider the necessity of specific components of REDQ and simplify it by removing unnecessary ones. The simplified REDQ with our modifications achieves $\sim 8 \times$ better sample efficiency than the SoTA methods in 4 Fetch tasks of Robotics.