Miracle-dz/UniFAR-FTUs huggingface dataset:
Koopman-Inspired Implicit Backward Reachable Sets for Unknown Nonlinear Systems

Koopman liftings have been successfully used to learn high dimensional linear approximations for autonomous systems for prediction purposes, or for control systems for leveraging linear control techniques to control nonlinear dynamics. In this letter, we show how learned Koopman approximations can be used for state-feedback correct-by-construction control. To this end, we introduce the Koopman over-approximation, a (possibly hybrid) lifted representation that has a simulation-like relation with the underlying dynamics. Then, we prove how successive application of controlled predecessor operation in the lifted space leads to an implicit backward reachable set for the actual dynamics. Finally, we demonstrate the approach on two nonlinear control examples with unknown dynamics.
Differentially Private Conditional Independence Testing

Conditional independence (CI) tests are widely used in statistical data analysis, e.g., they are the building block of many algorithms for causal graph discovery. The goal of a CI test is to accept or reject the null hypothesis that $X \perp \! \! \! \perp Y \mid Z$, where $X \in \mathbb{R}, Y \in \mathbb{R}, Z \in \mathbb{R}^d$. In this work, we investigate conditional independence testing under the constraint of differential privacy. We design two private CI testing procedures: one based on the generalized covariance measure of Shah and Peters (2020) and another based on the conditional randomization test of Cand\`es et al. (2016) (under the model-X assumption). We provide theoretical guarantees on the performance of our tests and validate them empirically. These are the first private CI tests with rigorous theoretical guarantees that work for the general case when $Z$ is continuous.
Vertex-shellings of Euclidean Oriented Matroids

We prove that a lexicographical extension of a Euclidean oriented matroid remains Euclidean. Based on that result we show that in a Euclidean oriented matroid program there exists a topological sweep inducing a recursive atom-ordering (a shelling of the cocircuits) of the tope cell of the feasible region. We extend that sweep and obtain also a vertex-shelling of the whole oriented matroid and finally describe some connections to the notion of stackable zontope tilings and to a counterexample of a conjecture of A. Mandel.
VPUFormer: Visual Prompt Unified Transformer for Interactive Image Segmentation

The integration of diverse visual prompts like clicks, scribbles, and boxes in interactive image segmentation could significantly facilitate user interaction as well as improve interaction efficiency. Most existing studies focus on a single type of visual prompt by simply concatenating prompts and images as input for segmentation prediction, which suffers from low-efficiency prompt representation and weak interaction issues. This paper proposes a simple yet effective Visual Prompt Unified Transformer (VPUFormer), which introduces a concise unified prompt representation with deeper interaction to boost the segmentation performance. Specifically, we design a Prompt-unified Encoder (PuE) by using Gaussian mapping to generate a unified one-dimensional vector for click, box, and scribble prompts, which well captures users' intentions as well as provides a denser representation of user prompts. In addition, we present a Prompt-to-Pixel Contrastive Loss (P2CL) that leverages user feedback to gradually refine candidate semantic features, aiming to bring image semantic features closer to the features that are similar to the user prompt, while pushing away those image semantic features that are dissimilar to the user prompt, thereby correcting results that deviate from expectations. On this basis, our approach injects prompt representations as queries into Dual-cross Merging Attention (DMA) blocks to perform a deeper interaction between image and query inputs. A comprehensive variety of experiments on seven challenging datasets demonstrates that the proposed VPUFormer with PuE, DMA, and P2CL achieves consistent improvements, yielding state-of-the-art segmentation performance. Our code will be made publicly available at https://github.com/XuZhang1211/VPUFormer.
Formalizing Box Inference for Capture Calculus

Capture calculus has recently been proposed as a solution to effect checking, achieved by tracking the captured references of terms in the types. Boxes, along with the box and unbox operations, are a crucial construct in capture calculus, which maintains the hygiene of types and improves the expressiveness of polymorphism over capturing types. Despite their usefulness in the formalism, boxes would soon become a heavy notational burden for users when the program grows. It thus necessitates the inference of boxes when integrating capture checking into a mainstream programming language. In this paper, we develop a formalisation of box inference for capture calculus. We begin by introducing a semi-algorithmic variant of the capture calculus, from which we derive an inference system where typed transformations are applied to complete missing box operations in programs. Then, we propose a type-level system that performs provably equivalent inference on the type level, without actually transforming the program. In the metatheory, we establish the relationships between these systems and capture calculus, thereby proving both the soundness and the completeness of box inference.
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly

A common theme in robot assembly is the adoption of Manipulation Primitives as the atomic motion to compose assembly strategy, typically in the form of a state machine or a graph. While this approach has shown great performance and robustness in increasingly complex assembly tasks, the state machine has to be engineered manually in most cases. Such hard-coded strategies will fail to handle unexpected situations that are not considered in the design. To address this issue, we propose to find dynamics sequence of manipulation primitives through Reinforcement Learning. Leveraging parameterized manipulation primitives, the proposed method greatly improves both assembly performance and sample efficiency of Reinforcement Learning compared to a previous work using non-parameterized manipulation primitives. In practice, our method achieves good zero-shot sim-to-real performance on high-precision peg insertion tasks with different geometry, clearance, and material.
Reinforcement Learning in Robotic Motion Planning by Combined Experience-based Planning and Self-Imitation Learning

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations for IL or experiences for RL due to safety considerations in environments with obstacles. We target this challenge by proposing the self-imitation learning by planning plus (SILP+) algorithm, which efficiently embeds experience-based planning into the learning architecture to mitigate the data-collection problem. The planner generates demonstrations based on successfully visited states from the current RL policy, and the policy improves by learning from these demonstrations. In this way, we relieve the demand for human expert operators to collect demonstrations required by IL and improve the RL performance as well. Various experimental results show that SILP+ achieves better training efficiency higher and more stable success rate in complex motion planning tasks compared to several other methods. Extensive tests on physical robots illustrate the effectiveness of SILP+ in a physical setting.
Methodology for the selection of optimal cutoff point to dichotomize continuous covariates

Licenciada en Matemáticas. Investigador Agregado. Centro Nacional de Genética Médica. La Habana. Cuba. E-mail: evelynfuentes@ infomed.sld. cu. Resumen La práctica de categorizar covariables continuas es común en investigaciones médicas y epidemiológicas por razones tanto clínicas como estadísticas. El siguiente trabajo se centra solo en la dicotomía de una covariable continua, por ser desde el punto de vista biológico, uno de los objetivos más deseados, sin embargo, pueden existir más de un punto de corte para el recorrido de una variable continua. Como metodología para la obtención de puntos de corte candidatos se proponen 1) Representación gráfica, 2) el cálculo de cuantiles, 3) al determinación de Ji-Cuadrado y el Odd Ratio máximo en tabla de contingencia 2x2 y 4) la regresión logística. Luego de determinar los puntos de corte candidatos para la selección de punto de corte óptimo se propone el cálculo de estadígrafos como la Sensibilidad, Especificidad e Índice de Youden, así como también el uso de la Curva ROC y el área bajo la curva (ABC) como índice de exactitud. La Sensibilidad, Especificidad y ABC son estimadores muestrales de parámetros poblacionales; por consiguiente, cada uno tiene asociado un error de estimación, que hace necesario reportar sus respectivos intervalos de confianza. Dado el uso generalizado y frecuente de la dicotomización de una covariable continua en las investigaciones de bioestadística y epidemiología, este trabajo ofrece una metodología práctica para la obtención de punto de corte óptimo.
Consistent Explanations in the Face of Model Indeterminacy via Ensembling

This work addresses the challenge of providing consistent explanations for predictive models in the presence of model indeterminacy, which arises due to the existence of multiple (nearly) equally well-performing models for a given dataset and task. Despite their similar performance, such models often exhibit inconsistent or even contradictory explanations for their predictions, posing challenges to end users who rely on these models to make critical decisions. Recognizing this issue, we introduce ensemble methods as an approach to enhance the consistency of the explanations provided in these scenarios. Leveraging insights from recent work on neural network loss landscapes and mode connectivity, we devise ensemble strategies to efficiently explore the underspecification set -- the set of models with performance variations resulting solely from changes in the random seed during training. Experiments on five benchmark financial datasets reveal that ensembling can yield significant improvements when it comes to explanation similarity, and demonstrate the potential of existing ensemble methods to explore the underspecification set efficiently. Our findings highlight the importance of considering model indeterminacy when interpreting explanations and showcase the effectiveness of ensembles in enhancing the reliability of explanations in machine learning.
Cooling and work extraction under memory-assisted Markovian thermal processes

We investigate the limits on cooling and work extraction via Markovian thermal processes assisted by a finite-dimensional memory. Here the memory is a $d$-dimensional quantum system with trivial Hamiltonian and initially in a maximally mixed state. For cooling a qubit system, we consider two paradigms: cooling under coherent control and cooling under incoherent control. For both paradigms, we derive the optimal ground-state populations under the set of general thermal processes (TP) and the set of Markovian thermal processes (MTP), and we further propose memory-assisted protocols, which bridge the gap between the performances of TP and MTP. For the task of work extraction, we prove that when the target system is a qubit in the excited state the minimum extraction error achieved by TP can be approximated by Markovian thermal processes assisted by a large enough memory. Our results can bridge the performances of TP and MTP in thermodynamic tasks including cooling and work extraction.
Audio-Visual Speech Enhancement with Selective Off-Screen Speech Extraction

This paper describes an audio-visual speech enhancement (AV-SE) method that estimates from noisy input audio a mixture of the speech of the speaker appearing in an input video (on-screen target speech) and of a selected speaker not appearing in the video (off-screen target speech). Although conventional AV-SE methods have suppressed all off-screen sounds, it is necessary to listen to a specific pre-known speaker's speech (e.g., family member's voice and announcements in stations) in future applications of AV-SE (e.g., hearing aids), even when users' sight does not capture the speaker. To overcome this limitation, we extract a visual clue for the on-screen target speech from the input video and a voiceprint clue for the off-screen one from a pre-recorded speech of the speaker. Two clues from different domains are integrated as an audio-visual clue, and the proposed model directly estimates the target mixture. To improve the estimation accuracy, we introduce a temporal attention mechanism for the voiceprint clue and propose a training strategy called the muting strategy. Experimental results show that our method outperforms a baseline method that uses the state-of-the-art AV-SE and speaker extraction methods individually in terms of estimation accuracy and computational efficiency.
Semantically-aware Mask CycleGAN for Translating Artistic Portraits to Photo-realistic Visualizations

Image-to-image translation (I2I) is defined as a computer vision task where the aim is to transfer images in a source domain to a target domain with minimal loss or alteration of the content representations. Major progress has been made since I2I was proposed with the invention of a variety of revolutionary generative models. Among them, GAN-based models perform exceptionally well as they are mostly tailor-made for specific domains or tasks. However, few works proposed a tailor-made method for the artistic domain. In this project, I propose the Semantic-aware Mask CycleGAN (SMCycleGAN) architecture which can translate artistic portraits to photo-realistic visualizations. This model can generate realistic human portraits by feeding the discriminators semantically masked fake samples, thus enforcing them to make discriminative decisions with partial information so that the generators can be optimized to synthesize more realistic human portraits instead of increasing the similarity of other irrelevant components, such as the background. Experiments have shown that the SMCycleGAN generate images with significantly increased realism and minimal loss of content representations.
Constraining an Einstein-Maxwell-dilaton-axion black hole at the Galactic Center with the orbit of the S2 star

We derive new constraints on the dilaton parameter appearing in the spherically-symmetric black hole solution of Einstein-Maxwell-dilaton-axion gravity, by studying the geodesic motion of the S2 star in the Galactic Center. Einstein-Maxwell-dilaton-axion black holes represent a compelling alternative to the standard black hole paradigm in General Relativity. This theory emerges from the low energy effective action of the heterotic string theory and has been proven to predict peculiar observational features from the direct imaging of black hole shadows. At a fundamental level, Einstein-Maxwell-dilaton-axion includes additional electromagnetic, dilatonic and axionic fields coupled to the space-time metric. When considering charged non-rotating black hole solutions, the additional fields endow the metric with one extra parameter b, called dilaton parameter, that is theoretically bound to 0 < b < M. Using publicly available astrometric data for S2 we derive an upper bound on b ≲ 12M at 95% confidence level and we demonstrate that only including the measurement of the relativistic orbital precession for S2 is sufficient to reduce this bound to b ≲ 1.4M at the same confidence level. Additionally, using a mock data mimicking future observations of S2 with the GRAVITY interferometer, we show that improved astrometric precision can help further narrow down the allowed dilaton parameter range to b ≲ 0.033M after monitoring the S2 orbit for one and a half period.
Predicting Software Performance with Divide-and-Learn

Predicting the performance of highly configurable software systems is the foundation for performance testing and quality assurance. To that end, recent work has been relying on machine/deep learning to model software performance. However, a crucial yet unaddressed challenge is how to cater for the sparsity inherited from the configuration landscape: the influence of configuration options (features) and the distribution of data samples are highly sparse. In this paper, we propose an approach based on the concept of “divide-and-learn”, dubbed DaL. The basic idea is that, to handle sample sparsity, we divide the samples from the configuration landscape into distant divisions, for each of which we build a regularized Deep Neural Network as the local model to deal with the feature sparsity. A newly given configuration would then be assigned to the right model of division for the final prediction. Experiment results from eight real-world systems and five sets of training data reveal that, compared with the state-of-the-art approaches, DaL performs no worse than the best counterpart on 33 out of 40 cases (within which 26 cases are significantly better) with up to 1.94× improvement on accuracy; requires fewer samples to reach the same/better accuracy; and producing acceptable training overhead. Practically, DaL also considerably improves different global models when using them as the underlying local models, which further strengthens its flexibility. To promote open science, all the data, code, and supplementary figures of this work can be accessed at our repository: https://github.com/ideas-labo/DaL.
Online Resource Allocation: Bandits feedback and Advice on Time-varying Demands

We consider a general online resource allocation model with bandit feedback and time-varying demands. While online resource allocation has been well studied in the literature, most existing works make the strong assumption that the demand arrival process is stationary. In practical applications, such as online advertisement and revenue management, however, this process may be exogenous and non-stationary, like the constantly changing internet traffic. Motivated by the recent Online Algorithms with Advice framework [Mitazenmacher and Vassilvitskii, \emph{Commun. ACM} 2022], we explore how online advice can inform policy design. We establish an impossibility result that any algorithm perform poorly in terms of regret without any advice in our setting. In contrast, we design an robust online algorithm that leverages the online predictions on the total demand volumes. Empowered with online advice, our proposed algorithm is shown to have both theoretical performance and promising numerical results compared with other algorithms in literature. We also provide two explicit examples for the time-varying demand scenarios and derive corresponding theoretical performance guarantees. Finally, we adapt our model to a network revenue management problem, and numerically demonstrate that our algorithm can still performs competitively compared to existing baselines.
Extraction and Recovery of Spatio-Temporal Structure in Latent Dynamics Alignment with Diffusion Model

In the field of behavior-related brain computation, it is necessary to align raw neural signals against the drastic domain shift among them. A foundational framework within neuroscience research posits that trial-based neural population activities rely on low-dimensional latent dynamics, thus focusing on the latter greatly facilitates the alignment procedure. Despite this field's progress, existing methods ignore the intrinsic spatio-temporal structure during the alignment phase. Hence, their solutions usually lead to poor quality in latent dynamics structures and overall performance. To tackle this problem, we propose an alignment method ERDiff, which leverages the expressivity of the diffusion model to preserve the spatio-temporal structure of latent dynamics. Specifically, the latent dynamics structures of the source domain are first extracted by a diffusion model. Then, under the guidance of this diffusion model, such structures are well-recovered through a maximum likelihood alignment procedure in the target domain. We first demonstrate the effectiveness of our proposed method on a synthetic dataset. Then, when applied to neural recordings from the non-human primate motor cortex, under both cross-day and inter-subject settings, our method consistently manifests its capability of preserving the spatiotemporal structure of latent dynamics and outperforms existing approaches in alignment goodness-of-fit and neural decoding performance.
Numerically stable neural network for simulating Kardar-Parisi-Zhang growth in the presence of uncorrelated and correlated noises

Numerical simulations are essential tools for exploring the dynamic scaling properties of the nonlinear Kadar-Parisi-Zhang (KPZ) equation. Yet the inherent nonlinearity frequently causes numerical divergence within the strong-coupling regime using conventional simulation methods. To sustain the numerical stability, previous works either utilized discrete growth models belonging to the KPZ universality class or modified the original nonlinear term by the designed specified operators. However, recent studies revealed that these strategies could cause abnormal results. Motivated by the above-mentioned facts, we propose a convolutional neural network-based method to simulate the KPZ equation driven by uncorrelated and correlated noises, aiming to overcome the challenge of numerical divergence, and obtaining reliable scaling exponents. We first train the neural network to represent the determinant terms of the KPZ equation in a data-driven manner. Then, we perform simulations for the KPZ equation with various types of temporally and spatially correlated noises. The experimental results demonstrate that our neural network could effectively estimate the scaling exponents eliminating numerical divergence.
A Neural Network Implementation for Free Energy Principle

The free energy principle (FEP), as an encompassing framework and a unified brain theory, has been widely applied to account for various problems in fields such as cognitive science, neuroscience, social interaction, and hermeneutics. As a computational model deeply rooted in math and statistics, FEP posits an optimization problem based on variational Bayes, which is solved either by dynamic programming or expectation maximization in practice. However, there seems to be a bottleneck in extending the FEP to machine learning and implementing such models with neural networks. This paper gives a preliminary attempt at bridging FEP and machine learning, via a classical neural network model, the Helmholtz machine. As a variational machine learning model, the Helmholtz machine is optimized by minimizing its free energy, the same objective as FEP. Although the Helmholtz machine is not temporal, it gives an ideal parallel to the vanilla FEP and the hierarchical model of the brain, under which the active inference and predictive coding could be formulated coherently. Besides a detailed theoretical discussion, the paper also presents a preliminary experiment to validate the hypothesis. By fine-tuning the trained neural network through active inference, the model performance is promoted to accuracy above 99\%. In the meantime, the data distribution is continuously deformed to a salience that conforms to the model representation, as a result of active sampling.