Miracle-dz/UniFAR-FTUs huggingface dataset:
Graph-Based Conditions for Feedback Stabilization of Switched and LPV Systems

This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the active mode is completely unknown and unobservable, and ii) the \emph{mode-dependent} case, in which the controller depends on the current active switching mode. The technical developments are based on graph-theory tools, relying in particular on the path-complete Lyapunov functions framework. The main idea is to use directed and labeled graphs to encode Lyapunov inequalities to design robust and mode-dependent piecewise linear state-feedback controllers. This results in novel and flexible conditions, with the particular feature of being in the form of linear matrix inequalities (LMIs). Our technique thus provides a first controller-design strategy allowing piecewise linear feedback maps and piecewise quadratic (control) Lyapunov functions by means of semidefinite programming. Numerical examples illustrate the application of the proposed techniques, the relations between the graph order, the robustness, and the performance of the closed loop.
SeFNet: Bridging Tabular Datasets with Semantic Feature Nets

Machine learning applications cover a wide range of predictive tasks in which tabular datasets play a significant role. However, although they often address similar problems, tabular datasets are typically treated as standalone tasks. The possibilities of using previously solved problems are limited due to the lack of structured contextual information about their features and the lack of understanding of the relations between them. To overcome this limitation, we propose a new approach called Semantic Feature Net (SeFNet), capturing the semantic meaning of the analyzed tabular features. By leveraging existing ontologies and domain knowledge, SeFNet opens up new opportunities for sharing insights between diverse predictive tasks. One such opportunity is the Dataset Ontology-based Semantic Similarity (DOSS) measure, which quantifies the similarity between datasets using relations across their features. In this paper, we present an example of SeFNet prepared for a collection of predictive tasks in healthcare, with the features' relations derived from the SNOMED-CT ontology. The proposed SeFNet framework and the accompanying DOSS measure address the issue of limited contextual information in tabular datasets. By incorporating domain knowledge and establishing semantic relations between features, we enhance the potential for meta-learning and enable valuable insights to be shared across different predictive tasks.
3D Keypoint Estimation Using Implicit Representation Learning

In this paper, we tackle the challenging problem of 3D keypoint estimation of general objects using a novel implicit representation. Previous works have demonstrated promising results for keypoint prediction through direct coordinate regression or heatmap‐based inference. However, these methods are commonly studied for specific subjects, such as human bodies and faces, which possess fixed keypoint structures. They also suffer in several practical scenarios where explicit or complete geometry is not given, including images and partial point clouds. Inspired by the recent success of advanced implicit representation in reconstruction tasks, we explore the idea of using an implicit field to represent keypoints. Specifically, our key idea is employing spheres to represent 3D keypoints, thereby enabling the learnability of the corresponding signed distance field. Explicit key‐points can be extracted subsequently by our algorithm based on the Hough transform. Quantitative and qualitative evaluations also show the superiority of our representation in terms of prediction accuracy.
Can predictive models be used for causal inference?

Supervised machine learning (ML) and deep learning (DL) algorithms excel at predictive tasks, but it is commonly assumed that they often do so by exploiting non-causal correlations, which may limit both interpretability and generalizability. Here, we show that this trade-off between explanation and prediction is not as deep and fundamental as expected. Whereas ML and DL algorithms will indeed tend to use non-causal features for prediction when fed indiscriminately with all data, it is possible to constrain the learning process of any ML and DL algorithm by selecting features according to Pearl's backdoor adjustment criterion. In such a situation, some algorithms, in particular deep neural networks, can provide near unbiased effect estimates under feature collinearity. Remaining biases are explained by the specific algorithmic structures as well as hyperparameter choice. Consequently, optimal hyperparameter settings are different when tuned for prediction or inference, confirming the general expectation of a trade-off between prediction and explanation. However, the effect of this trade-off is small compared to the effect of a causally constrained feature selection. Thus, once the causal relationship between the features is accounted for, the difference between prediction and explanation may be much smaller than commonly assumed. We also show that such causally constrained models generalize better to new data with altered collinearity structures, suggesting generalization failure may often be due to a lack of causal learning. Our results not only provide a perspective for using ML for inference of (causal) effects but also help to improve the generalizability of fitted ML and DL models to new data.
Young’s Experiment with Entangled Bipartite Systems: The Role of Underlying Quantum Velocity Fields

We consider the concept of velocity fields, taken from Bohmian mechanics, to investigate the dynamical effects of entanglement in bipartite realizations of Young’s two-slit experiment. In particular, by comparing the behavior exhibited by factorizable two-slit states (cat-type state analogs in the position representation) with the dynamics exhibited by a continuous-variable Bell-type maximally entangled state, we find that, while the velocity fields associated with each particle in the separable scenario are well-defined and act separately on each subspace, in the entangled case there is a strong deformation in the total space that prevents this behavior. Consequently, the trajectories for each subsystem are not constrained any longer to remain confined within the corresponding subspace; rather, they exhibit seemingly wandering behavior across the total space. In this way, within the subspace associated with each particle (that is, when we trace over the other subsystem), not only interference features are washed out, but also the so-called Bohmian non-crossing rule (i.e., particle trajectories are allowed to get across the same point at the same time).
The Unintended Consequences of Discount Regularization: Improving Regularization in Certainty Equivalence Reinforcement Learning

Discount regularization, using a shorter planning horizon when calculating the optimal policy, is a popular choice to restrict planning to a less complex set of policies when estimating an MDP from sparse or noisy data (Jiang et al., 2015). It is commonly understood that discount regularization functions by de-emphasizing or ignoring delayed effects. In this paper, we reveal an alternate view of discount regularization that exposes unintended consequences. We demonstrate that planning under a lower discount factor produces an identical optimal policy to planning using any prior on the transition matrix that has the same distribution for all states and actions. In fact, it functions like a prior with stronger regularization on state-action pairs with more transition data. This leads to poor performance when the transition matrix is estimated from data sets with uneven amounts of data across state-action pairs. Our equivalence theorem leads to an explicit formula to set regularization parameters locally for individual state-action pairs rather than globally. We demonstrate the failures of discount regularization and how we remedy them using our state-action-specific method across simple empirical examples as well as a medical cancer simulator.
The First GECAM Observation Results on Terrestrial Gamma‐Ray Flashes and Terrestrial Electron Beams

Gravitational‐wave high‐energy Electromagnetic Counterpart All‐sky Monitor (GECAM) is a space‐borne instrument dedicated to monitoring high‐energy transients, including Terrestrial Gamma‐ray Flashes (TGFs) and Terrestrial Electron Beams (TEBs). We implemented a TGF/TEB search algorithm for GECAM, with which 147 bright TGFs, 2 typical TEBs and 2 special TEB‐like events are identified during an effective observation time of ∼9 months. We show that, with gamma‐ray and charged particle detectors, GECAM can effectively identify and distinguish TGFs and TEBs, and measure their temporal and spectral properties in detail. A very high TGF‐lightning association rate of ∼80% is obtained between GECAM and GLD360 in east Asia region.
GPU First - Execution of Legacy CPU Codes on GPUs

Utilizing GPUs is critical for high performance on heterogeneous systems. However, leveraging the full potential of GPUs for accelerating legacy CPU applications can be a challenging task for developers. The porting process requires identifying code regions amenable to acceleration, managing distinct memories, synchronizing host and device execution, and handling library functions that may not be directly executable on the device. This complexity makes it challenging for non-experts to leverage GPUs effectively, or even to start offloading parts of a large legacy application. In this paper, we propose a novel compilation scheme called"GPU First"that automatically compiles legacy CPU applications directly for GPUs without any modification of the application source. Library calls inside the application are either resolved through our partial libc GPU implementation or via automatically generated remote procedure calls to the host. Our approach simplifies the task of identifying code regions amenable to acceleration and enables rapid testing of code modifications on actual GPU hardware in order to guide porting efforts. Our evaluation on two HPC proxy applications with OpenMP CPU and GPU parallelism, four micro benchmarks with originally GPU only parallelism, as well as three benchmarks from the SPEC OMP 2012 suite featuring hand-optimized OpenMP CPU parallelism showcases the simplicity of porting host applications to the GPU. For existing parallel loops, we often match the performance of corresponding manually offloaded kernels, with up to 14.36x speedup on the GPU, validating that our GPU First methodology can effectively guide porting efforts of large legacy applications.
Multi-pass Training and Cross-information Fusion for Low-resource End-to-end Accented Speech Recognition

Low-resource accented speech recognition is one of the important challenges faced by current ASR technology in practical applications. In this study, we propose a Conformer-based architecture, called Aformer, to leverage both the acoustic information from large non-accented and limited accented training data. Specifically, a general encoder and an accent encoder are designed in the Aformer to extract complementary acoustic information. Moreover, we propose to train the Aformer in a multi-pass manner, and investigate three cross-information fusion methods to effectively combine the information from both general and accent encoders. All experiments are conducted on both the accented English and Mandarin ASR tasks. Results show that our proposed methods outperform the strong Conformer baseline by relative 10.2% to 24.5% word/character error rate reduction on six in-domain and out-of-domain accented test sets.
Minimizing the negativity of quantum circuits in overcomplete quasiprobability representations

The problem of simulatability of quantum processes using classical resources plays a cornerstone role for quantum computing. Quantum circuits can be simulated classically, e.g., using Monte Carlo sampling techniques applied to quasiprobability representations of circuits' basic elements, i.e., states, gates, and measurements. The effectiveness of the simulation is determined by the amount of the negativity in the representation of these basic elements. Here we develop an approach for minimizing the total negativity of a given quantum circuit with respect to quasiprobability representations, that are overcomplete, i.e., are such that the dimensionality of corresponding quasistochastic vectors and matrices is larger than the squared dimension of quantum states. Our approach includes both optimization over equivalent quasistochastic vectors and matrices, which appear due to the overcompleteness, and optimization over overcomplete frames. We demonstrate the performance of the developed approach on some illustrative cases, and show its significant advantage compared to the standard overcomplete quasistochastic representations. We also study the negativity minimization of noisy brick-wall random circuits via a combination of increasing frame dimension and applying gate merging technique. We demonstrate that the former approach appears to be more efficient in the case of a strong decoherence.
A Survey on Automated Software Vulnerability Detection Using Machine Learning and Deep Learning

Software vulnerability detection is critical in software security because it identifies potential bugs in software systems, enabling immediate remediation and mitigation measures to be implemented before they may be exploited. Automatic vulnerability identification is important because it can evaluate large codebases more efficiently than manual code auditing. Many Machine Learning (ML) and Deep Learning (DL) based models for detecting vulnerabilities in source code have been presented in recent years. However, a survey that summarises, classifies, and analyses the application of ML/DL models for vulnerability detection is missing. It may be difficult to discover gaps in existing research and potential for future improvement without a comprehensive survey. This could result in essential areas of research being overlooked or under-represented, leading to a skewed understanding of the state of the art in vulnerability detection. This work address that gap by presenting a systematic survey to characterize various features of ML/DL-based source code level software vulnerability detection approaches via five primary research questions (RQs). Specifically, our RQ1 examines the trend of publications that leverage ML/DL for vulnerability detection, including the evolution of research and the distribution of publication venues. RQ2 describes vulnerability datasets used by existing ML/DL-based models, including their sources, types, and representations, as well as analyses of the embedding techniques used by these approaches. RQ3 explores the model architectures and design assumptions of ML/DL-based vulnerability detection approaches. RQ4 summarises the type and frequency of vulnerabilities that are covered by existing studies. Lastly, RQ5 presents a list of current challenges to be researched and an outline of a potential research roadmap that highlights crucial opportunities for future work.
Adversarial Search and Tracking with Multiagent Reinforcement Learning in Sparsely Observable Environment

We study a search and tracking (S&T) problem where a team of dynamic search agents must collaborate to track an adversarial, evasive agent. The heterogeneous search team may only have access to a limited number of past adversary trajectories within a large search space. This problem is challenging for both model-based searching and reinforcement learning (RL) methods since the adversary exhibits reactionary and deceptive evasive behaviors in a large space leading to sparse detections for the search agents. To address this challenge, we propose a novel Multi-Agent RL (MARL) framework that leverages the estimated adversary location from our learnable filtering model. We show that our MARL architecture can outperform all baselines and achieves a 46% increase in detection rate.
FABLE : Fabric Anomaly Detection Automation Process

Unsupervised anomaly in industry has been a concerning topic and a stepping stone for high performance industrial automation process. The vast majority of industry-oriented methods focus on learning from good samples to detect anomaly notwithstanding some specific industrial scenario requiring even less specific training and therefore a generalization for anomaly detection. The obvious use case is the fabric anomaly detection, where we have to deal with a really wide range of colors and types of textile and a stoppage of the production line for training could not be considered. In this paper, we propose an automation process for industrial fabric texture defect detection with a specificity-learning process during the domain-generalized anomaly detection. Combining the ability to generalize and the learning process offer a fast and precise anomaly detection and segmentation. The main contributions of this paper are the following: A domain-generalization texture anomaly detection method achieving the state-of-the-art performances, a fast specific training on good samples extracted by the proposed method, a self-evaluation method based on custom defect creation and an automatic detection of already seen fabric to prevent re-training.
Self-Supervised Learning for Time Series Analysis: Taxonomy, Progress, and Prospects

Self-supervised learning (SSL) has recently achieved impressive performance on various time series tasks. The most prominent advantage of SSL is that it reduces the dependence on labeled data. Based on the pre-training and fine-tuning strategy, even a small amount of labeled data can achieve high performance. Compared with many published self-supervised surveys on computer vision and natural language processing, a comprehensive survey for time series SSL is still missing. To fill this gap, we review current state-of-the-art SSL methods for time series data in this article. To this end, we first comprehensively review existing surveys related to SSL and time series, and then provide a new taxonomy of existing time series SSL methods by summarizing them from three perspectives: generative-based, contrastive-based, and adversarial-based. These methods are further divided into ten subcategories with detailed reviews and discussions about their key intuitions, main frameworks, advantages and disadvantages. To facilitate the experiments and validation of time series SSL methods, we also summarize datasets commonly used in time series forecasting, classification, anomaly detection, and clustering tasks. Finally, we present the future directions of SSL for time series analysis.
Female mosquito detection by means of AI techniques inside release containers in the context of a Sterile Insect Technique program

The Sterile Insect Technique (SIT) is a biological pest control technique based on the release into the environment of sterile males of the insect species whose population is to be controlled. The entire SIT process involves mass-rearing within a biofactory, sorting of the specimens by sex, sterilization, and subsequent release of the sterile males into the environment. The reason for avoiding the release of female specimens is because, unlike males, females bite, with the subsequent risk of disease transmission. In the case of Aedes mosquito biofactories for SIT, the key point of the whole process is sex separation. This process is nowadays performed by a combination of mechanical devices and AI-based vision systems. However, there is still a possibility of false negatives, so a last stage of verification is necessary before releasing them into the environment. It is known that the sound produced by the flapping of adult male mosquitoes is different from that produced by females, so this feature can be used to detect the presence of females in containers prior to environmental release. This paper presents a study for the detection of females in Aedes mosquito release vessels for SIT programs. The containers used consist of PVC a tubular design of 8.8cm diameter and 12.5cm height. The containers were placed in an experimental setup that allowed the recording of the sound of mosquito flight inside of them. Each container was filled with 250 specimens considering the cases of (i) only male mosquitoes, (ii) only female mosquitoes, and (iii) 75% males and 25% females. Case (i) was used for training and testing, whereas cases (ii) and (iii) were used only for testing. Two algorithms were implemented for the detection of female mosquitoes: an unsupervised outlier detection algorithm (iForest) and a one-class SVM trained with male-only recordings.
Sim-to-real transfer of active suspension control using deep reinforcement learning

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric motors and fast actuation, this study uses a forestry vehicle with a complex hydraulic driveline and slow actuation. We simulate the vehicle using multibody dynamics and apply system identification to find an appropriate set of simulation parameters. We then train policies in simulation using various techniques to mitigate the sim-to-real gap, including domain randomization, action delays, and a reward penalty to encourage smooth control. In reality, the policies trained with action delays and a penalty for erratic actions perform at nearly the same level as in simulation. In experiments on level ground, the motion trajectories closely overlap when turning to either side, as well as in a route tracking scenario. When faced with a ramp that requires active use of the suspensions, the simulated and real motions are in close alignment. This shows that the actuator model together with system identification yields a sufficiently accurate model of the actuators. We observe that policies trained without the additional action penalty exhibit fast switching or bang-bang control. These present smooth motions and high performance in simulation but transfer poorly to reality. We find that policies make marginal use of the local height map for perception, showing no indications of look-ahead planning. However, the strong transfer capabilities entail that further development concerning perception and performance can be largely confined to simulation.
Deep Learning of Dynamical System Parameters from Return Maps as Images

We present a novel approach to system identification (SI) using deep learning techniques. Focusing on parametric system identification (PSI), we use a supervised learning approach for estimating the parameters of discrete and continuous-time dynamical systems, irrespective of chaos. To accomplish this, we transform collections of state-space trajectory observations into image-like data to retain the state-space topology of trajectories from dynamical systems and train convolutional neural networks to estimate the parameters of dynamical systems from these images. We demonstrate that our approach can learn parameter estimation functions for various dynamical systems, and by using training-time data augmentation, we are able to learn estimation functions whose parameter estimates are robust to changes in the sample fidelity of their inputs. Once trained, these estimation models return parameter estimations for new systems with negligible time and computation costs.