Miracle-dz/UniFAR-FTUs huggingface dataset:
Codivergences and information matrices

We propose a new concept of codivergence, which quantifies the similarity between two probability measures $P_1, P_2$ relative to a reference probability measure $P_0$. In the neighborhood of the reference measure $P_0$, a codivergence behaves like an inner product between the measures $P_1 - P_0$ and $P_2 - P_0$. Codivergences of covariance-type and correlation-type are introduced and studied with a focus on two specific correlation-type codivergences, the $\chi^2$-codivergence and the Hellinger codivergence. We derive explicit expressions for several common parametric families of probability distributions. For a codivergence, we introduce moreover the divergence matrix as an analogue of the Gram matrix. It is shown that the $\chi^2$-divergence matrix satisfies a data-processing inequality.
Outlier detection in general profiles using penalized regression method

Profile monitoring is a technique for checking the stability of functional relationships between a response variable and one or more explanatory variables over time. The presence of outliers has seriously adverse effects on the modeling, monitoring, and diagnosis of profile data. This article proposes a new outlier detection procedure from the viewpoint of penalized regression, aiming at identifying any abnormal profile observations from a baseline dataset. Profiles are treated as high-dimension vectors and the model is reformulated into a specific regression model. A group-type regularization is then applied that favors a sparse vector of mean shift parameters. Using the classic hard penalty yields a computationally efficient algorithm that is essentially equivalent to an iterative approach. Appropriately choosing a sole tuning parameter in the proposed procedure enables Type-I error to be controlled and robust detection ability to be delivered. Simulation results show that the proposed method has an outstanding performance in identifying outliers in various situations compared with other existing approaches. This methodology is also extended to the case where within-profile correlations exist.
Human-Inspired Framework to Accelerate Reinforcement Learning

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to enhance RL algorithm sample efficiency. It achieves this by initially exposing the learning agent to simpler tasks that progressively increase in complexity, ultimately leading to the main task. This method requires no pre-training and involves learning simpler tasks for just one iteration. The resulting knowledge can facilitate various transfer learning approaches, such as value and policy transfer, without increasing computational complexity. It can be applied across different goals, environments, and RL algorithms, including value-based, policy-based, tabular, and deep RL methods. Experimental evaluations demonstrate the framework's effectiveness in enhancing sample efficiency, especially in challenging main tasks, demonstrated through both a simple Random Walk and more complex optimal control problems with constraints.
RoCNet: 3D Robust Registration of Point-Clouds using Deep Learning

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate neighbourhood of each point and an attention mechanism that encodes the variations of the surface normals. Such descriptors are refined by highlighting attention between the points of the same set and then between the points of the two sets. (ii) a matching process that estimates a matrix of correspondences using the Sinkhorn algorithm. (iii) Finally, the rigid transformation between the two point clouds is calculated by RANSAC using the Kc best scores from the correspondence matrix. We conduct experiments on the ModelNet40 dataset, and our proposed architecture shows very promising results, outperforming state-of-the-art methods in most of the simulated configurations, including partial overlap and data augmentation with Gaussian noise.
Yielding and fracture mechanisms of nanowires

This paper presents a detailed analysis of atomic structure and force variations in metal nanowires under tensile strain. Our work is based on state of the art molecular dynamics simulations and ab initio self-consistent field calculations within the local density approximation, and predicts structural transformations. It is found that yielding and fracture mechanisms depend on the size, atomic arrangement, and temperature. The elongation under uniaxial stress is realized by consecutive quasielastic and yielding stages; the neck develops by the migration of atoms, but mainly by the sequential implementation of a new layer with a smaller cross section at certain ranges of uniaxial strain. This causes an abrupt decrease of the tensile force. Owing to the excessive strain at the neck, the original structure and atomic registry are modified; atoms show a tendency to rearrange in closed-packed structures. In certain circumstances, a bundle of atomic chains or a single atomic chain forms as a result of transition from the hollow site to the top site registry shortly before the break. The wire is represented by a linear combination of atomic pseudopotentials and the current is calculated to investigate the correlation between conductance variations and atomic rearrangements of the wire during the stretch. The origin of the observed ``giant'' yield strength is explained by using results of the present simulations and ab initio calculations of the total energy and Young's modulus for an infinite atomic chain.
Closed-Loop Solvability of Linear Quadratic Mean-Field Type Stackelberg Stochastic Differential Games

This paper is devoted to a Stackelberg stochastic differential game for a linear mean-field type stochastic differential system with a mean-field type quadratic cost functional in finite horizon. The coefficients in the state equation and weighting matrices in the cost functional are all deterministic. Closed-loop Stackelberg equilibrium strategies are introduced which require to be independent of initial states. Follower's problem is solved firstly, which is a stochastic linear quadratic optimal control problem. By converting the original problem into a new one whose optimal control is known, the closed-loop optimal strategy of the follower is characterized by two coupled Riccati equations as well as a linear mean-field type backward stochastic differential equation. Then the leader turns to solve a stochastic linear quadratic optimal control problem for a mean-field type forward-backward stochastic differential equation. Necessary conditions for the existence of closed-loop optimal strategies for the leader is given by the existence of two coupled Riccati equations with a linear mean-field type backward stochastic differential equation. The solvability of Riccati equations of leader's optimization problem is discussed in the case where the diffusion term of the state equation does not contain the control process of the follower. Moreover, leader's value function is expressed via two backward stochastic differential equations and two Lyapunov equations.
Sample-efficient Adversarial Imitation Learning

Imitation learning, in which learning is performed by demonstration, has been studied and advanced for sequential decision-making tasks in which a reward function is not predefined. However, imitation learning methods still require numerous expert demonstration samples to successfully imitate an expert's behavior. To improve sample efficiency, we utilize self-supervised representation learning, which can generate vast training signals from the given data. In this study, we propose a self-supervised representation-based adversarial imitation learning method to learn state and action representations that are robust to diverse distortions and temporally predictive, on non-image control tasks. In particular, in comparison with existing self-supervised learning methods for tabular data, we propose a different corruption method for state and action representations that is robust to diverse distortions. We theoretically and empirically observe that making an informative feature manifold with less sample complexity significantly improves the performance of imitation learning. The proposed method shows a 39% relative improvement over existing adversarial imitation learning methods on MuJoCo in a setting limited to 100 expert state-action pairs. Moreover, we conduct comprehensive ablations and additional experiments using demonstrations with varying optimality to provide insights into a range of factors.
Kinematic Data-Based Action Segmentation for Surgical Applications

Action segmentation is a challenging task in high-level process analysis, typically performed on video or kinematic data obtained from various sensors. In the context of surgical procedures, action segmentation is critical for workflow analysis algorithms. This work presents two contributions related to action segmentation on kinematic data. Firstly, we introduce two multi-stage architectures, MS-TCN-BiLSTM and MS-TCN-BiGRU, specifically designed for kinematic data. The architectures consist of a prediction generator with intra-stage regularization and Bidirectional LSTM or GRU-based refinement stages. Secondly, we propose two new data augmentation techniques, World Frame Rotation and Horizontal-Flip, which utilize the strong geometric structure of kinematic data to improve algorithm performance and robustness. We evaluate our models on three datasets of surgical suturing tasks: the Variable Tissue Simulation (VTS) Dataset and the newly introduced Bowel Repair Simulation (BRS) Dataset, both of which are open surgery simulation datasets collected by us, as well as the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS), a well-known benchmark in robotic surgery. Our methods achieve state-of-the-art performance on all benchmark datasets and establish a strong baseline for the BRS dataset.
MeshDiffusion: Score-based Generative 3D Mesh Modeling

We consider the task of generating realistic 3D shapes, which is useful for a variety of applications such as automatic scene generation and physical simulation. Compared to other 3D representations like voxels and point clouds, meshes are more desirable in practice, because (1) they enable easy and arbitrary manipulation of shapes for relighting and simulation, and (2) they can fully leverage the power of modern graphics pipelines which are mostly optimized for meshes. Previous scalable methods for generating meshes typically rely on sub-optimal post-processing, and they tend to produce overly-smooth or noisy surfaces without fine-grained geometric details. To overcome these shortcomings, we take advantage of the graph structure of meshes and use a simple yet very effective generative modeling method to generate 3D meshes. Specifically, we represent meshes with deformable tetrahedral grids, and then train a diffusion model on this direct parametrization. We demonstrate the effectiveness of our model on multiple generative tasks.
The Life Cycle of Knowledge in Big Language Models: A Survey

Knowledge plays a critical role in artificial intelligence. Recently, the extensive success of pre-trained language models (PLMs) has raised significant attention about how knowledge can be acquired, maintained, updated and used by language models. Despite the enormous amount of related studies, there still lacks a unified view of how knowledge circulates within language models throughout the learning, tuning, and application processes, which may prevent us from further understanding the connections between current progress or realizing existing limitations. In this survey, we revisit PLMs as knowledge-based systems by dividing the life circle of knowledge in PLMs into five critical periods, and investigating how knowledge circulates when it is built, maintained and used. To this end, we systematically review existing studies of each period of the knowledge life cycle, summarize the main challenges and current limitations, and discuss future directions.
Verbal behavior without syntactic structures: beyond Skinner and Chomsky

What does it mean to know language? Since the Chomskian revolution, one popular answer to this question has been: to possess a generative grammar that exclusively licenses certain syntactic structures. Decades later, not even an approximation to such a grammar, for any language, has been formulated; the idea that grammar is universal and innately specified has proved barren; and attempts to show how it could be learned from experience invariably come up short. To move on from this impasse, we must rediscover the extent to which language is like any other human behavior: dynamic, social, multimodal, patterned, and purposive, its purpose being to promote desirable actions (or thoughts) in others and self. Recent psychological, computational, neurobiological, and evolutionary insights into the shaping and structure of behavior may then point us toward a new, viable account of language.
Manipulate by Seeing: Creating Manipulation Controllers from Pre-Trained Representations

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific) robot action policies (e.g., via behavior cloning). While the visual representations do accelerate learning, they are primarily used to encode visual observations. Thus, action information has to be derived purely from robot data, which is expensive to collect! In this work, we present a scalable alternative where the visual representations can help directly infer robot actions. We observe that vision encoders express relationships between image observations as distances (e.g., via embedding dot product) that could be used to efficiently plan robot behavior. We operationalize this insight and develop a simple algorithm for acquiring a distance function and dynamics predictor, by fine-tuning a pre-trained representation on human collected video sequences. The final method is able to substantially outperform traditional robot learning baselines (e.g., 70% success v.s. 50% for behavior cloning on pick-place) on a suite of diverse real-world manipulation tasks. It can also generalize to novel objects, without using any robot demonstrations during train time. For visualizations of the learned policies please check: https://agi-labs.github. io/manipulate-by-seeing/.
Consistency of Fractional Graph-Laplacian Regularization in Semi-Supervised Learning with Finite Labels

Laplace learning is a popular machine learning algorithm for finding missing labels from a small number of labelled feature vectors using the geometry of a graph. More precisely, Laplace learning is based on minimising a graph-Dirichlet energy, equivalently a discrete Sobolev $\Wkp{2}{1}$ semi-norm, constrained to taking the values of known labels on a given subset. The variational problem is asymptotically ill-posed as the number of unlabeled feature vectors goes to infinity for finite given labels due to a lack of regularity in minimisers of the continuum Dirichlet energy in any dimension higher than one. In particular, continuum minimisers are not continuous. One solution is to consider higher-order regularisation, which is the analogue of minimising Sobolev $\Wkp{s}{2}$ semi-norms. In this paper we consider the asymptotics of minimising a graph variant of the Sobolev $\Wkp{s}{2}$ semi-norm with pointwise constraints. We show that, as expected, one needs $s>d/2$ where $d$ is the dimension of the data manifold. We also show that there must be an upper bound on the connectivity of the graph; that is, highly connected graphs lead to degenerate behaviour of the minimiser even when $s>d/2$.
Robot Grasping and Manipulation: A Prospective

``A simple handshake would give them away''. This is how Anthony Hopkins' fictional character, Dr Robert Ford, summarises a particular flaw of the 2016 science-fiction \emph{Westworld}'s hosts. In the storyline, Westworld is a futuristic theme park and the hosts are autonomous robots engineered to be indistinguishable from the human guests, except for their hands that have not been perfected yet. In another classic science-fiction saga, scientists unlock the secrets of full synthetic intelligence, Skynet, by reverse engineering a futuristic hand. In both storylines, reality inspires fiction on one crucial point: designing hands and reproducing robust and reliable manipulation actions is one of the biggest challenges in robotics. Solving this problem would lead us to a new, improved era of autonomy. A century ago, the third industrial revolution brought robots into the assembly lines, changing our way of working forever. The next revolution has already started by bringing us artificial intelligence (AI) assistants, enhancing our quality of life in our jobs and everyday lives--even combating worldwide pandemics.
Quaternion Orthogonal Transformer for Facial Expression Recognition in the Wild

Facial expression recognition (FER) is a challenging topic in artificial intelligence. Recently, many researchers have attempted to introduce Vision Transformer (ViT) to the FER task. However, ViT cannot fully utilize emotional features extracted from raw images and requires a lot of computing resources. To overcome these problems, we propose a quaternion orthogonal transformer (QOT) for FER. Firstly, to reduce redundancy among features extracted from pre-trained ResNet-50, we use the orthogonal loss to decompose and compact these features into three sets of orthogonal sub-features. Secondly, three orthogonal sub-features are integrated into a quaternion matrix, which maintains the correlations between different orthogonal components. Finally, we develop a quaternion vision transformer (Q-ViT) for feature classification. The Q-ViT adopts quaternion operations instead of the original operations in ViT, which improves the final accuracies with fewer parameters. Experimental results on three in-the-wild FER datasets show that the proposed QOT outperforms several state-of-the-art models and reduces the computations.Codes are available at https://github.com/Gabrella/QOT.
Does Cyclomatic or Cognitive Complexity Better Represents Code Understandability? An Empirical Investigation on the Developers Perception

Background. Code understandability is fundamental. Developers need to clearly understand the code they are modifying. A low understandability can increase the amount of coding effort and misinterpretation of code has impact on the entire development process. Ideally, developers should write clear and understandable code with the least possible effort. Objective. The goal of this work is to investigate if the McCabe Cyclomatic Complexity or the Cognitive Complexity can be a good predictor for the developers' perceived code understandability to understand which of the two complexities can be used as criteria to evaluate if a piece of code is understandable. Method. We designed and conducted an empirical study among 216 junior developers with professional experience ranging from one to four years. We asked them to manually inspect and rate the understandability of 12 Java classes that exhibit different levels of Cyclomatic and Cognitive Complexity. Results. Cognitive Complexity slightly outperforms the Cyclomatic Complexity to predict the developers' perceived understandability. Conclusion. The identification of a clear and validated measure for Code Complexity is still an open issue. Neither the old fashioned McCabe Cyclomatic Complexity and the most recent Cognitive Complexity are good predictors for code understandability, at least when considering the complexity perceived by junior developers.
The stochastic renormalized mean curvature flow for planar convex sets

We investigate renormalized curvature flow (RCF) and stochastic renormalized curvature flow (SRCF) for convex sets in the plane.RCF is the gradient descent flow for logarithm of $\sigma/\lambda^2$ where $\sigma$ is the perimeter and $\lambda$ is the volume. SRCF is RCF perturbated by a Brownian noise and has the remarkable property that it can be intertwined with the Brownian motion, yielding a generalization of Pitman"2M-X"theorem. We prove that along RCF, entropy $\mathcal{E}_t$ for curvature as well as $h_t:=\sigma_t/\lambda_t$ are non-increasing. We deduce infinite lifetime and convergence to a disk after normalization.For SRCF the situation is more complicated. The process $(h_t)_t$ is always a supermartingale. For $(\mathcal{E}_t)_t$ to be a supermartingale, we need that the starting set is invariant by the isometry group $G_n$ generated by the reflection with respect to the vertical line and the rotation of angle $2\pi/n$ with $n\ge 3$. But for proving infinite lifetime, we need invariance of the starting set by $G_n$ with $n\ge 7$. We provide the first SRCF with infinite lifetime which cannot be reduced to a finite dimensional flow. Gage inequality plays a major role in our study of the regularity of flows, as well as a careful investigation of morphological skeletons. We characterize symmetric convex sets with star shaped skeletons in terms of properties of their Gauss map. Finally, we establish a new isoperimetric estimate for these sets, of order $1/n^4$ where $n$ is the number of branches of the skeleton.
5G-Advanced Towards 6G: Past, Present, and Future

Since the start of 5G work in 3GPP in early 2016, tremendous progress has been made in both standardization and commercial deployments. 3GPP is now entering the second phase of 5G standardization, known as 5G-Advanced, built on the 5G baseline in 3GPP Releases 15, 16, and 17. 3GPP Release 18, the start of 5G-Advanced, includes a diverse set of features that cover both device and network evolutions, providing balanced mobile broadband evolution and further vertical domain expansion and accommodating both immediate and long-term commercial needs. 5G-Advanced will significantly expand 5G capabilities, address many new use cases, transform connectivity experiences, and serve as an essential step in developing mobile communications towards 6G. This paper provides a comprehensive overview of the 3GPP 5G-Advanced development, introducing the prominent state-of-the-art technologies investigated in 3GPP and identifying key evolution directions for future research and standardization.
A computational method for frictional contact problem using finite element method

A numerical procedure is developed for the solution of the two-dimensional frictional contact problems with Coulomb's law of friction. The formulation for this procedure is reduced to a complementarity problem. The contact region is separated into stick and slip regions and the contact stress can be solved systematically by applying the solution technique of the complementarity problem
CB2: Collaborative Natural Language Interaction Research Platform

CB2 is a multi-agent platform to study collaborative natural language interaction in a grounded task-oriented scenario. It includes a 3D game environment, a backend server designed to serve trained models to human agents, and various tools and processes to enable scalable studies. We deploy CB2 at https://cb2.ai as a system demonstration with a learned instruction following model.