Miracle-dz/UniFAR-FTUs huggingface dataset:
TAPS: Task-Agnostic Policy Sequencing

—Advances in robotic skill acquisition have made it possible to build general-purpose libraries of primitive skills for downstream manipulation tasks. However, naively executing these learned primitives one after the other is unlikely to succeed without accounting for dependencies between actions prevalent in long-horizon plans. We present Task-Agnostic Policy Sequencing (TAPS), a scalable framework for training manipulation primitives and coordinating their geometric dependencies at plan-time to efﬁciently solve long-horizon tasks never seen by any primitive during training. Based on the notion that Q-functions encode a measure of action feasibility, we formulate motion planning as a maximization problem over the expected success of each individual primitive in the plan, which we estimate by the product of their Q-values. Our experiments indicate that this objective function approximates ground truth plan feasibility and, when used as a planning objective, reduces myopic behavior and thereby promotes task success. We further demonstrate how TAPS can be used for task and motion planning by estimating the geometric feasibility of candidate action sequences provided by a task planner. We evaluate our approach in simulation and on a real robot.
Specializing Multi-domain NMT via Penalizing Low Mutual Information

Multi-domain Neural Machine Translation (NMT) trains a single model with multiple domains. It is appealing because of its efficacy in handling multiple domains within one model. An ideal multi-domain NMT learns distinctive domain characteristics simultaneously, however, grasping the domain peculiarity is a non-trivial task. In this paper, we investigate domain-specific information through the lens of mutual information (MI) and propose a new objective that penalizes low MI to become higher.Our method achieved the state-of-the-art performance among the current competitive multi-domain NMT models. Also, we show our objective promotes low MI to be higher resulting in domain-specialized multi-domain NMT.
Molecular Insights Into the Physics of Poly(amidoamine)-Dendrimer-Based Supercapacitors

Increasing the energy density in electric double layer capacitors (EDLCs), also known as supercapacitors, remains an active area of research. Specifically, there is a need to design and discover electrode and electrolyte materials with enhanced electrochemical storage capacity. Here, using fully atomistic molecular dynamics (MD) simulations, we investigate the performance of hyper-branched 'poly(amidoamine) (PAMAM)' dendrimer as an electrolyte and an electrode coating material in a graphene based supercapacitor. We investigate the performance of the capacitor using two different modeling approaches, namely the constant charge method (CCM) and the constant potential method (CPM). These simulations facilitated the direct calculation of the charge density, electrostatic potential and field, and hence the differential capacitance. We found that the presence of the dendrimer in the electrodes and the electrolyte increased the capacitance by about 65.25 % and 99.15 % respectively, compared to the bare graphene electrode based aqueous EDLCs. Further analysis revealed that these increases were due to the enhanced electrostatic screening and reorganization of the double layer structure of the dendrimer based electrolyte.
The geodesic cover problem for butterfly networks

A geodesic cover, also known as an isometric path cover, of a graph is a set of geodesics which cover the vertex set of the graph. An edge geodesic cover of a graph is a set of geodesics which cover the edge set of the graph. The geodesic (edge) cover number of a graph is the cardinality of a minimum (edge) geodesic cover. The (edge) geodesic cover problem of a graph is to find the (edge) geodesic cover number of the graph. Surprisingly, only partial solutions for these problems are available for most situations. In this paper we demonstrate that the geodesic cover number of the $r$-dimensional butterfly is $\lceil (2/3)2^r\rceil$ and that its edge geodesic cover number is $2^r$.
Recurrence Boosts Diversity! Revisiting Recurrent Latent Variable in Transformer-Based Variational AutoEncoder for Diverse Text Generation

Variational Auto-Encoder (VAE) has been widely adopted in text generation. Among many variants, recurrent VAE learns token-wise latent variables with each conditioned on the preceding ones, which captures sequential variability better in the era of RNN. However, it is unclear how to incorporate such recurrent dynamics into the recently dominant Transformer due to its parallelism. In this work, we propose TRACE, a Transformer-based recurrent VAE structure. TRACE imposes recurrence on segment-wise latent variables with arbitrarily separated text segments and constructs the posterior distribution with residual parameterization. Besides, we design an acceleration method by approximating idempotent matrices, which allows parallelism while maintaining the conditional dependence of latent variables. We demonstrate that TRACE could enhance the entanglement of each segment and preceding latent variables and deduce a non-zero lower bound of the KL term, providing a theoretical guarantee of generation diversity. Experiments on two unconditional and one conditional generation tasks show that TRACE achieves significantly improved diversity while maintaining satisfactory generation quality.
A class of models for random hypergraphs

Despite the recently exhibited importance of higher-order interactions for various processes, few flexible (null) models are available. In particular, most studies on hypergraphs focus on a small set of theoretical models. Here, we introduce a class of models for random hypergraphs which displays a similar level of flexibility of complex network models and where the main ingredient is the probability that a node belongs to a hyperedge. When this probability is a constant, we obtain a random hypergraph in the same spirit as the Erdos-Renyi graph. This framework also allows us to introduce different ingredients such as the preferential attachment for hypergraphs, or spatial random hypergraphs. In particular, we show that for the Erdos-Renyi case there is a transition threshold scaling as 1/sqrt[EN] where N is the number of nodes and E the number of hyperedges. We also discuss a random geometric hypergraph which displays a percolation transition for a threshold distance scaling as r_{c}^{*}∼1/sqrt[E]. For these various models, we provide results for the most interesting measures, and also introduce new ones in the spatial case for characterizing the geometrical properties of hyperedges. These different models might serve as benchmarks useful for analyzing empirical data.
Simple Alternating Minimization Provably Solves Complete Dictionary Learning

This paper focuses on complete dictionary learning problem , where the goal is to reparametrize a set of given signals as linear combinations of atoms from a learned dictionary. There are two main challenges faced by theoretical and practical studies of dictionary learning: the lack of theoretical guarantees for practically-used heuristic algorithms, and their poor scalability when dealing with huge-scale datasets. Towards addressing these issues, we show that when the dictionary to be learned is orthogonal, that an alternating minimization method directly applied to the nonconvex and discrete formulation of the problem exactly recovers the ground truth. For the huge-scale, potentially on-line setting, we propose a minibatch version of our algorithm, which can provably learn a complete dictionary from a huge-scale dataset with minimal sample complexity, linear sparsity level, and linear convergence rate, thereby negating the need for any convex relaxation for the problem. Our numerical experiments showcase the superiority of our method compared with the existing techniques when applied to tasks on real data.
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees

We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of incremental search algorithms with the evaluation efficiency of lazy search algorithms for fast replanning in problem domains where edge evaluations are more expensive than vertex expansions. The proposed algorithms generalize Lifelong Planning A* (LPA*) and its bounded suboptimal version, Truncated LPA* (TLPA*), within the Generalized Lazy Search (GLS) framework, so as to restrict expensive edge evaluations only to the current shortest subpath when the cost-to-come inconsistencies are propagated during repair. We also present dynamic versions of the L-GLS and B-LGLS algorithms, called Generalized D* (GD*) and Bounded Generalized D* (B-GD*), respectively, for efficient replanning with non-stationary queries, designed specifically for navigation of mobile robots. We prove that the proposed algorithms are complete and correct in finding a solution that is guaranteed not to exceed the optimal solution cost by a user-chosen factor. Our numerical and experimental results support the claim that the proposed integration of the incremental and lazy search frameworks can help find solutions faster compared to the regular incremental or regular lazy search algorithms when the underlying graph representation changes often.
Implicit Offline Reinforcement Learning via Supervised Learning

Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior Cloning (BC), but takes advantage of return information. On datasets collected by policies of similar expertise, implicit BC has been shown to match or outperform explicit BC. Despite the benefits of using implicit models to learn robotic skills via BC, offline RL via Supervised Learning algorithms have been limited to explicit models. We show how implicit models can leverage return information and match or outperform explicit algorithms to acquire robotic skills from fixed datasets. Furthermore, we show the close relationship between our implicit methods and other popular RL via Supervised Learning algorithms to provide a unified framework. Finally, we demonstrate the effectiveness of our method on high-dimension manipulation and locomotion tasks.
Draft, Sketch, and Prove: Guiding Formal Theorem Provers with Informal Proofs

The formalization of existing mathematical proofs is a notoriously difficult process. Despite decades of research on automation and proof assistants, writing formal proofs remains arduous and only accessible to a few experts. While previous studies to automate formalization focused on powerful search algorithms, no attempts were made to take advantage of available informal proofs. In this work, we introduce Draft, Sketch, and Prove (DSP), a method that maps informal proofs to formal proof sketches, and uses the sketches to guide an automated prover by directing its search to easier sub-problems. We investigate two relevant setups where informal proofs are either written by humans or generated by a language model. Our experiments and ablation studies show that large language models are able to produce well-structured formal sketches that follow the same reasoning steps as the informal proofs. Guiding an automated prover with these sketches enhances its performance from 20.9% to 39.3% on a collection of mathematical competition problems.
Semantic Image Segmentation with Deep Learning for Vine Leaf Phenotyping

Plant phenotyping refers to a quantitative description of the plants properties, however in image-based phenotyping analysis, our focus is primarily on the plants anatomical, ontogenetical and physiological properties.This technique reinforced by the success of Deep Learning in the field of image based analysis is applicable to a wide range of research areas making high-throughput screens of plants possible, reducing the time and effort needed for phenotypic characterization.In this study, we use Deep Learning methods (supervised and unsupervised learning based approaches) to semantically segment grapevine leaves images in order to develop an automated object detection (through segmentation) system for leaf phenotyping which will yield information regarding their structure and function.In these directions we studied several deep learning approaches with promising results as well as we reported some future challenging tasks in the area of precision agriculture.Our work contributes to plant lifecycle monitoring through which dynamic traits such as growth and development can be captured and quantified, targeted intervention and selective application of agrochemicals and grapevine variety identification which are key prerequisites in sustainable agriculture.
Improved microgrid resiliency through distributionally robust optimization under a policy-mode framework

Critical energy infrastructure are constantly understress due to the ever increasing disruptions caused by wildfires, hurricanes, other weather related extreme events and cyber-attacks. Hence it becomes important to make critical infrastructure resilient to threats from such cyber-physical events. Such events are however hard to predict and numerous in nature and type, making it infeasible to become resilient to all possible cyber-physical event as such an approach would make the system operation overly conservative. Furthermore, distributions of such events are hard to predict and historical data available on such events is sparse. To deal with these issues, we present a policy-mode framework that enumerates and predicts the probability of various cyber-physical events on top of a distributionally robust optimization (DRO) that is robust to the sparsity of the available historical data. The proposed algorithm is illustrated on an islanded microgrid example: a modified IEEE 123-node feeder with distributed energy resources (DERs) and energy storage.
Transformations for accelerator-based quantum circuit simulation in Haskell

For efficient hardware-accelerated simulations of quantum circuits, we can define hardware-specific quantum-circuit transformations. We use a functional programming approach to create a quantum-circuit analysis and transformation method implemented in Haskell. This tool forms a key part of our larger quantum-computing simulation toolchain. As an example of hardware acceleration, we discuss FPGA-based simulations of selected quantum arithmetic circuits, including the transformation steps to optimise the hardware utilisation. Future development steps in the Haskell-based analysis and transformation tool are outlined. The described toolchain can be found on GitHub: https://github.com/DevdudeSami/fqt.
Flying Trot Control Method for Quadruped Robot Based on Trajectory Planning

An intuitive control method for the ﬂying trot, which combines oﬄine trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the spring-load-inverted-pendulum (SLIP) model, and the foot trajectory of the robot was planned, so the robot could run similar to an animal capable of vertical ﬂight, according to the given height and speed of the trunk. To improve the robustness of running, a posture control method based on a foot acceleration adjustment is proposed. A novel kinematic based CoM observation method and CoM regulation method is present to enhance the stability of locomotion. To reduce the impact force when the robot interacts with the environment, the virtual model control method is used in the control of the foot trajectory to achieve active compliance. By selecting the proper parameters for the virtual model, the oscillation motion of the virtual model and the planning motion of the support foot are synchronized to avoid the large disturbance caused by the oscillation motion of the virtual model in relation to the robot motion. The simulation and experiment using the quadruped robot Billy are reported. In the experiment, the maximum speed of the robot could reach 4.73 times the body length per second, which veriﬁed the feasibility of the control method.
Varifocal Question Generation for Fact-checking

Fact-checking requires retrieving evidence related to a claim under investigation. The task can be formulated as question generation based on a claim, followed by question answering.However, recent question generation approaches assume that the answer is known and typically contained in a passage given as input,whereas such passages are what is being sought when verifying a claim.In this paper, we present Varifocal, a method that generates questions based on different focal points within a given claim, i.e. different spans of the claim and its metadata, such as its source and date.Our method outperforms previous work on a fact-checking question generation dataset on a wide range of automatic evaluation metrics.These results are corroborated by our manual evaluation, which indicates that our method generates more relevant and informative questions.We further demonstrate the potential of focal points in generating sets of clarification questions for product descriptions.
Multilingual Multimodal Learning with Machine Translated Text

Most vision-and-language pretraining research focuses on English tasks. However, the creation of multilingual multimodal evaluation datasets (e.g. Multi30K, xGQA, XVNLI, and MaRVL) poses a new challenge in finding high-quality training data that is both multilingual and multimodal. In this paper, we investigate whether machine translating English multimodal data can be an effective proxy for the lack of readily available multilingual data. We call this framework TD-MML: Translated Data for Multilingual Multimodal Learning, and it can be applied to any multimodal dataset and model. We apply it to both pretraining and fine-tuning data with a state-of-the-art model. In order to prevent models from learning from low-quality translated text, we propose two metrics for automatically removing such translations from the resulting datasets. In experiments on five tasks across 20 languages in the IGLUE benchmark, we show that translated data can provide a useful signal for multilingual multimodal learning, both at pretraining and fine-tuning.
Tetragonal Mexican-hat dispersion and switchable half-metal state with multiple anisotropic Weyl fermions in penta-graphene

Due to the paired valence electrons configuration, all known two-dimensional (2D) carbon allotropes are intrinsically nonmagnetic. Based on the reported 2D carbon structure database and first-principles calculations, herein we demonstrate that inherent ferromagnetism can be obtained in the prominent allotrope, penta-graphene, which has a unique Mexican-hat valence band edge, giving rise to van Hove singularities and electronic instability. Induced by modest hole-doping that is achievable in electrolyte gate, the semiconducting penta-graphene can be transformed into different ferromagnetic half-metals with room-temperature stability and switchable spin directions. In particular, multiple anisotropic Weyl states, including type-I and type-II Weyl cones and hybrid quasi Weyl nodal loop, can be found in a sizable energy window of spin-down half-metal under proper strains. These findings not only identify a promising carbon allotrope to obtain the inherent magnetism for carbon-based spintronic devices, but highlight the possibility to realize different Weyl states by combining the electronic and mechanical means as well.
Perception of the Environment

: This chapter discusses the intricacies of cybersecurity agents’ perception. It addresses the complexity of perception and illuminates how perception is shaping and influencing the decision-making process. It then explores the necessary considerations when crafting the world representation and discusses the power and bandwidth constraints of perception and the underlying issues of AICA’s trust in perception. On these foundations, it provides the reader with a guide to developing perception models for AICA, discussing the trade-offs of each objective state approximation. The guide is written in the context of the CYST cybersecurity simulation engine, which aims to closely model cybersecurity interactions and can be used as a basis for developing AICA. Because CYST is freely available, the reader is welcome to try implementing and evaluating the proposed methods for themselves.
P3LM: Probabilistically Permuted Prophet Language Modeling for Generative Pre-Training

Conventional autoregressive left-to-right (L2R) sequence generation faces two issues during decoding: limited to unidirectional target sequence modeling, and constrained on strong local dependencies. To address the aforementioned problem, we propose P$^3$LM, a probabilistically permuted prophet language model, which strengthens the modeling of bidirectional information and long token dependencies for sequence generation. Specifically, P$^3$LM learns to generate tokens in permuted order upon an order-aware transformer decoder, as well as to generate the corresponding future $N$ tokens with a multi-stream attention mechanism. Extensive experiments are conducted on the GLGE benchmark, which includes four datasets for summarization, two for question generation, one for conversational question answering, and one for dialog response generation, where P$^3$LM achieves state-of-the-art results compared with strong publicly available generative pre-training methods.
Iterative Detection and Decoding for Cell-Free Massive Multiuser MIMO with LDPC Codes

This paper proposes an iterative detection and decoding (IDD) scheme for a cell free massive multiple input multiple output (CF-mMIMO) system. Users send coded data to the access points (APs), which is jointly detected at central processing unit (CPU). The symbols are exchanged iteratively in the form of log likelihood ratios (LLRs) between the detector and the low-density parity check codes (LPDC) decoder, increasing the coded system's performance. We propose a list-based multi-feedback diversity with successive interference cancellation (MF-SIC) to improve the performance of the CF-mMIMO. Furthermore, the proposed detector is compared with the parallel interference cancellation (PIC) and MF-PIC schemes. Finally, the bit error rate (BER) performance of CF-mMIMO is compared with the co-located mMIMO (Col-mMIMO).