Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust Online Epistemic Replanning of Multi-Robot Missions

As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However, accounting for potential communication loss or the unavailability of communication infrastructures in these application domains remains an open problem. Much of the applicable MRS research assumes that the system can sustain communication through proximity regulations and formation control or by devising a framework for separating and adhering to a predetermined plan for extended periods of disconnection. The latter technique enables an MRS to be more efficient, but breakdowns and environmental uncertainties can have a domino effect throughout the system, particularly when the mission goal is intricate or time-sensitive. To deal with this problem, our proposed framework has two main phases: i) a centralized planner to allocate mission tasks by rewarding intermittent rendezvous between robots to mitigate the effects of the unforeseen events during mission execution, and ii) a decentralized replanning scheme leveraging epistemic planning to formalize belief propagation and a Monte Carlo tree search for policy optimization given distributed rational belief updates. The proposed framework outperforms a baseline heuristic and is validated using simulations and experiments with aerial vehicles.
RKHS-BA: A Semantic Correspondence-Free Multi-View Registration Framework with Global Tracking

This work reports a novel Bundle Adjustment (BA) formulation using a Reproducing Kernel Hilbert Space (RKHS) representation called RKHS-BA. The proposed formulation is correspondence-free, enables the BA to use RGB-D/LiDAR and semantic labels in the optimization directly, and provides a generalization for the photometric loss function commonly used in direct methods. RKHS-BA can incorporate appearance and semantic labels within a continuous spatial-semantic functional representation that does not require optimization via image pyramids. We demonstrate its applications in sliding-window odometry and global LiDAR mapping, which show highly robust performance in extremely challenging scenes and the best trade-off of generalization and accuracy.
Near-optimal Per-Action Regret Bounds for Sleeping Bandits

We derive near-optimal per-action regret bounds for sleeping bandits, in which both the sets of available arms and their losses in every round are chosen by an adversary. In a setting with $K$ total arms and at most $A$ available arms in each round over $T$ rounds, the best known upper bound is $O(K\sqrt{TA\ln{K}})$, obtained indirectly via minimizing internal sleeping regrets. Compared to the minimax $\Omega(\sqrt{TA})$ lower bound, this upper bound contains an extra multiplicative factor of $K\ln{K}$. We address this gap by directly minimizing the per-action regret using generalized versions of EXP3, EXP3-IX and FTRL with Tsallis entropy, thereby obtaining near-optimal bounds of order $O(\sqrt{TA\ln{K}})$ and $O(\sqrt{T\sqrt{AK}})$. We extend our results to the setting of bandits with advice from sleeping experts, generalizing EXP4 along the way. This leads to new proofs for a number of existing adaptive and tracking regret bounds for standard non-sleeping bandits. Extending our results to the bandit version of experts that report their confidences leads to new bounds for the confidence regret that depends primarily on the sum of experts' confidences. We prove a lower bound, showing that for any minimax optimal algorithms, there exists an action whose regret is sublinear in $T$ but linear in the number of its active rounds.
Merging Text Transformer Models from Different Initializations

Recent work on one-shot permutation-based model merging has shown impressive low- or zero-barrier mode connectivity between models from completely different initializations. However, this line of work has not yet extended to the Transformer architecture, despite its dominant popularity in the language domain. Therefore, in this work, we investigate the extent to which separate Transformer minima learn similar features, and propose a model merging technique to investigate the relationship between these minima in the loss landscape. The specifics of the architecture, like its residual connections, multi-headed attention, and discrete, sequential input, require specific interventions in order to compute model permutations that remain within the same functional equivalence class. In merging these models with our method, we consistently find lower loss barriers between minima compared to model averaging for several models trained on a masked-language modeling task or fine-tuned on a language understanding benchmark. Our results show that the minima of these models are less sharp and isolated than previously understood, and provide a basis for future work on merging separately trained Transformer models.
EfficientZero V2: Mastering Discrete and Continuous Control with Limited Data

Sample efficiency remains a crucial challenge in applying Reinforcement Learning (RL) to real-world tasks. While recent algorithms have made significant strides in improving sample efficiency, none have achieved consistently superior performance across diverse domains. In this paper, we introduce EfficientZero V2, a general framework designed for sample-efficient RL algorithms. We have expanded the performance of EfficientZero to multiple domains, encompassing both continuous and discrete actions, as well as visual and low-dimensional inputs. With a series of improvements we propose, EfficientZero V2 outperforms the current state-of-the-art (SOTA) by a significant margin in diverse tasks under the limited data setting. EfficientZero V2 exhibits a notable advancement over the prevailing general algorithm, DreamerV3, achieving superior outcomes in 50 of 66 evaluated tasks across diverse benchmarks, such as Atari 100k, Proprio Control, and Vision Control.
Fast variable selection for distributional regression with application to continuous glucose monitoring data

With the growing prevalence of diabetes and the associated public health burden, it is crucial to identify modifiable factors that could improve patients' glycemic control. In this work, we seek to examine associations between medication usage, concurrent comorbidities, and glycemic control, utilizing data from continuous glucose monitor (CGMs). CGMs provide interstitial glucose measurements, but reducing data to simple statistical summaries is common in clinical studies, resulting in substantial information loss. Recent advancements in the Frechet regression framework allow to utilize more information by treating the full distributional representation of CGM data as the response, while sparsity regularization enables variable selection. However, the methodology does not scale to large datasets. Crucially, variable selection inference using subsampling methods is computationally infeasible. We develop a new algorithm for sparse distributional regression by deriving a new explicit characterization of the gradient and Hessian of the underlying objective function, while also utilizing rotations on the sphere to perform feasible updates. The updated method is up to 10000-fold faster than the original approach, opening the door for applying sparse distributional regression to large-scale datasets and enabling previously unattainable subsampling-based inference. Applying our method to CGM data from patients with type 2 diabetes and obstructive sleep apnea, we found a significant association between sulfonylurea medication and glucose variability without evidence of association with glucose mean. We also found that overnight oxygen desaturation variability showed a stronger association with glucose regulation than overall oxygen desaturation levels.
Controlled creation of point defects in 3D colloidal crystals

Crystal defects crucially influence the properties of crystalline materials and have been extensively studied. Even for the simplest type of defect - the point defect - however, basic properties such as their diffusive behavior, and their interactions, remain elusive on the atomic scale. Here we demonstrate in-situ control over the creation of isolated point defects in a 3D colloidal crystal allowing insight on a single particle level. Our system consists of thermoresponsive microgel particles embedded in a crystal of non-responsive colloids. Heating this mixed particle system triggers the shrinking of the embedded microgels, which then vacate their lattice positions creating vacancy-interstitial pairs. We use temperature-controlled confocal laser scanning microscopy to verify and visualize the formation of the point defects. In addition, by re-swelling the microgels we quantify the local lattice distortion around an interstitial defect. Our experimental model system provides a unique opportunity to shed new light on the interplay between point defects, on the mechanisms of their diffusion, on their interactions, and on collective dynamics.
Time-bound Contextual Bio-ID Generation for Minimalist Wearables

As wearable devices become increasingly miniaturized and powerful, a new opportunity arises for instant and dynamic device-to-device collaboration and human-to-device interaction. However, this progress presents a unique challenge: these minimalist wearables lack inherent mechanisms for real-time authentication, posing significant risks to data privacy and overall security. To address this, we introduce Proteus that realizes an innovative concept of time-bound contextual bio-IDs, which are generated from on-device sensor data and embedded into a common latent space. These bio-IDs act as a time-bound unique user identifier that can be used to identify the wearer in a certain context. Proteus enables dynamic and contextual device collaboration as well as robust human-to-device interaction. Our evaluations demonstrate the effectiveness of our method, particularly in the context of minimalist wearables.
A Case for Validation Buffer in Pessimistic Actor-Critic

In this paper, we investigate the issue of error accumulation in critic networks updated via pessimistic temporal difference objectives. We show that the critic approximation error can be approximated via a recursive fixed-point model similar to that of the Bellman value. We use such recursive definition to retrieve the conditions under which the pessimistic critic is unbiased. Building on these insights, we propose Validation Pessimism Learning (VPL) algorithm. VPL uses a small validation buffer to adjust the levels of pessimism throughout the agent training, with the pessimism set such that the approximation error of the critic targets is minimized. We investigate the proposed approach on a variety of locomotion and manipulation tasks and report improvements in sample efficiency and performance.
Enhancing Protein Predictive Models via Proteins Data Augmentation: A Benchmark and New Directions

Augmentation is an effective alternative to utilize the small amount of labeled protein data. However, most of the existing work focuses on design-ing new architectures or pre-training tasks, and relatively little work has studied data augmentation for proteins. This paper extends data augmentation techniques previously used for images and texts to proteins and then benchmarks these techniques on a variety of protein-related tasks, providing the first comprehensive evaluation of protein augmentation. Furthermore, we propose two novel semantic-level protein augmentation methods, namely Integrated Gradients Substitution and Back Translation Substitution, which enable protein semantic-aware augmentation through saliency detection and biological knowledge. Finally, we integrate extended and proposed augmentations into an augmentation pool and propose a simple but effective framework, namely Automated Protein Augmentation (APA), which can adaptively select the most suitable augmentation combinations for different tasks. Extensive experiments have shown that APA enhances the performance of five protein related tasks by an average of 10.55% across three architectures compared to vanilla implementations without augmentation, highlighting its potential to make a great impact on the field.
Scalable Learning of Item Response Theory Models

Item Response Theory (IRT) models aim to assess latent abilities of $n$ examinees along with latent difficulty characteristics of $m$ test items from categorical data that indicates the quality of their corresponding answers. Classical psychometric assessments are based on a relatively small number of examinees and items, say a class of $200$ students solving an exam comprising $10$ problems. More recent global large scale assessments such as PISA, or internet studies, may lead to significantly increased numbers of participants. Additionally, in the context of Machine Learning where algorithms take the role of examinees and data analysis problems take the role of items, both $n$ and $m$ may become very large, challenging the efficiency and scalability of computations. To learn the latent variables in IRT models from large data, we leverage the similarity of these models to logistic regression, which can be approximated accurately using small weighted subsets called coresets. We develop coresets for their use in alternating IRT training algorithms, facilitating scalable learning from large data.
Assessing the Efficacy of Heuristic-Based Address Clustering for Bitcoin

Exploring transactions within the Bitcoin blockchain entails examining the transfer of bitcoins among several hundred million entities. However, it is often impractical and resource-consuming to study such a vast number of entities. Consequently, entity clustering serves as an initial step in most analytical studies. This process often employs heuristics grounded in the practices and behaviors of these entities. In this research, we delve into the examination of two widely used heuristics, alongside the introduction of four novel ones. Our contribution includes the introduction of the \textit{clustering ratio}, a metric designed to quantify the reduction in the number of entities achieved by a given heuristic. The assessment of this reduction ratio plays an important role in justifying the selection of a specific heuristic for analytical purposes. Given the dynamic nature of the Bitcoin system, characterized by a continuous increase in the number of entities on the blockchain, and the evolving behaviors of these entities, we extend our study to explore the temporal evolution of the clustering ratio for each heuristic. This temporal analysis enhances our understanding of the effectiveness of these heuristics over time.
Depth Information Assisted Collaborative Mutual Promotion Network for Single Image Dehazing

Recovering a clear image from a single hazy image is an open inverse problem. Although significant research progress has been made, most existing methods ignore the effect that downstream tasks play in promoting upstream dehazing. From the perspective of the haze generation mechanism, there is a potential relationship between the depth information of the scene and the hazy image. Based on this, we propose a dual-task collaborative mutual promotion framework to achieve the dehazing of a single image. This framework integrates depth estimation and dehazing by a dual-task interaction mechanism and achieves mutual enhancement of their performance. To realize the joint optimization of the two tasks, an alternative implementation mechanism with the difference perception is developed. On the one hand, the difference perception between the depth maps of the dehazing result and the ideal image is proposed to promote the dehazing network to pay attention to the non-ideal areas of the dehazing. On the other hand, by improving the depth estimation performance in the difficult-to-recover areas of the hazy image, the dehazing network can explicitly use the depth information of the hazy image to assist the clear image recovery. To promote the depth estimation, we propose to use the difference between the dehazed image and the ground truth to guide the depth estimation network to focus on the dehazed unideal areas. It allows dehazing and depth estimation to leverage their strengths in a mutually reinforcing manner. Experimental results show that the proposed method can achieve better performance than that of the state-of-the-art approaches.
MPIPN: A Multi Physics-Informed PointNet for solving parametric acoustic-structure systems

Machine learning is employed for solving physical systems governed by general nonlinear partial differential equations (PDEs). However, complex multi-physics systems such as acoustic-structure coupling are often described by a series of PDEs that incorporate variable physical quantities, which are referred to as parametric systems. There are lack of strategies for solving parametric systems governed by PDEs that involve explicit and implicit quantities. In this paper, a deep learning-based Multi Physics-Informed PointNet (MPIPN) is proposed for solving parametric acoustic-structure systems. First, the MPIPN induces an enhanced point-cloud architecture that encompasses explicit physical quantities and geometric features of computational domains. Then, the MPIPN extracts local and global features of the reconstructed point-cloud as parts of solving criteria of parametric systems, respectively. Besides, implicit physical quantities are embedded by encoding techniques as another part of solving criteria. Finally, all solving criteria that characterize parametric systems are amalgamated to form distinctive sequences as the input of the MPIPN, whose outputs are solutions of systems. The proposed framework is trained by adaptive physics-informed loss functions for corresponding computational domains. The framework is generalized to deal with new parametric conditions of systems. The effectiveness of the MPIPN is validated by applying it to solve steady parametric acoustic-structure coupling systems governed by the Helmholtz equations. An ablation experiment has been implemented to demonstrate the efficacy of physics-informed impact with a minority of supervised data. The proposed method yields reasonable precision across all computational domains under constant parametric conditions and changeable combinations of parametric conditions for acoustic-structure systems.
Grid-based Fast and Structural Visual Odometry

In the field of Simultaneous Localization and Mapping (SLAM), researchers have always pursued better performance in terms of accuracy and time cost. Traditional algorithms typically rely on fundamental geometric elements in images to establish connections between frames. However, these elements suffer from disadvantages such as uneven distribution and slow extraction. In addition, geometry elements like lines have not been fully utilized in the process of pose estimation. To address these challenges, we propose GFS-VO, a grid-based RGB-D visual odometry algorithm that maximizes the utilization of both point and line features. Our algorithm incorporates fast line extraction and a stable line homogenization scheme to improve feature processing. To fully leverage hidden elements in the scene, we introduce Manhattan Axes (MA) to provide constraints between local map and current frame. Additionally, we have designed an algorithm based on breadth-first search for extracting plane normal vectors. To evaluate the performance of GFS-VO, we conducted extensive experiments. The results demonstrate that our proposed algorithm exhibits significant improvements in both time cost and accuracy compared to existing approaches.
Standardizing the Measurement of Text Diversity: A Tool and a Comparative Analysis of Scores

The diversity across outputs generated by large language models shapes the perception of their quality and utility. Prompt leaks, templated answer structure, and canned responses across different interactions are readily noticed by people, but there is no standard score to measure this aspect of model behavior. In this work we empirically investigate diversity scores on English texts. We find that computationally efficient compression algorithms capture information similar to what is measured by slow to compute $n$-gram overlap homogeneity scores. Further, a combination of measures -- compression ratios, self-repetition of long $n$-grams and Self-BLEU and BERTScore -- are sufficient to report, as they have low mutual correlation with each other. The applicability of scores extends beyond analysis of generative models; for example, we highlight applications on instruction-tuning datasets and human-produced texts. We release a diversity score package to facilitate research and invite consistency across reports.
Cyclic Quantum Annealing: Searching for Deep Low-Energy States in 5000-Qubit Spin Glass

Quantum computers promise a qualitative speedup in solving a broad spectrum of real-life optimization problems. The latter can be mapped onto the task of finding low-energy states of spin glasses, which is known to be exceedingly difficult. Using D-Wave's 5000-qubit quantum processor, we demonstrate that a recently proposed iterative cyclic quantum annealing algorithm[1] can find deep low-energy states in record time. We also find intricate structures in a low-energy landscape of spin glasses, such as a power-law distribution of connected clusters with a small surface energy. These observations offer guidance for further improvement of the optimization algorithms.
History-dependence shapes causal inference of brain-behaviour relationships

Behavioural and neural time series are often correlated with the past. This history-dependence may represent a fundamental property of the measured variables, or may arise from how confounding variables change over time. Here we argue that undecidability about the ground-truth of history-dependence is a general computational property of systems that exchange information with its environment, and show that the resulting uncertainty has a direct impact on causal inference. We first argue that uncertainty in the ground truth of history-dependence is an inherent property of open systems that cannot be explicitly falsified. Simple model systems are then simulated to show how different assumptions about history-dependence can lead to spurious correlations and statistical properties of data distributions that are typically unaccounted for. We then consider this problem from an interventionist perspective, showing that interventions can only be guaranteed to remedy the spurious correlation problem when the latent dynamics between the intervention and measured processes are known a priori, and the effect of the intervention is invariant at the chosen level of analysis. We conclude that uncertainty about history-dependence is a fundamental property of the study of neural systems, and in light of this discuss how causality should be assessed in neuroscience.