pwc-archive/papers-with-abstracts huggingface dataset:
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models
Authors: Zhanpeng He, Yifeng Cao, Matei Ciocarlie
Date: 2025-02-26 00:00:00

Human-in-the-loop (HitL) robot deployment has gained significant attention in both academia and industry as a semi-autonomous paradigm that enables human operators to intervene and adjust robot behaviors at deployment time, improving success rates. However, continuous human monitoring and intervention can be highly labor-intensive and impractical when deploying a large number of robots. To address this limitation, we propose a method that allows diffusion policies to actively seek human assistance only when necessary, reducing reliance on constant human oversight. To achieve this, we leverage the generative process of diffusion policies to compute an uncertainty-based metric based on which the autonomous agent can decide to request operator assistance at deployment time, without requiring any operator interaction during training. Additionally, we show that the same method can be used for efficient data collection for fine-tuning diffusion policies in order to improve their autonomous performance. Experimental results from simulated and real-world environments demonstrate that our approach enhances policy performance during deployment for a variety of scenarios.
Robustly optimal dynamics for active matter reservoir computing
Authors: Mario U. Gaimann, Miriam Klopotek
Date: 2025-05-08 00:00:00

Information processing abilities of active matter are studied in the reservoir computing (RC) paradigm to infer the future state of a chaotic signal. We uncover an exceptional regime of agent dynamics that has been overlooked previously. It appears robustly optimal for performance under many conditions, thus providing valuable insights into computation with physical systems more generally. The key to forming effective mechanisms for information processing appears in the system's intrinsic relaxation abilities. These are probed without actually enforcing a specific inference goal. The dynamical regime that achieves optimal computation is located just below a critical damping threshold, involving a relaxation with multiple stages, and is readable at the single-particle level. At the many-body level, it yields substrates robustly optimal for RC across varying physical parameters and inference tasks. A system in this regime exhibits a strong diversity of dynamic mechanisms under highly fluctuating driving forces. Correlations of agent dynamics can express a tight relationship between the responding system and the fluctuating forces driving it. As this model is interpretable in physical terms, it facilitates re-framing inquiries regarding learning and unconventional computing with a fresh rationale for many-body physics out of equilibrium.
DPQ-HD: Post-Training Compression for Ultra-Low Power Hyperdimensional Computing
Authors: Nilesh Prasad Pandey, Shriniwas Kulkarni, David Wang, Onat Gungor, Flavio Ponzina, Tajana Rosing
Date: 2025-05-08 00:00:00
Tasks: Graph Classification

Hyperdimensional Computing (HDC) is emerging as a promising approach for edge AI, offering a balance between accuracy and efficiency. However, current HDC-based applications often rely on high-precision models and/or encoding matrices to achieve competitive performance, which imposes significant computational and memory demands, especially for ultra-low power devices. While recent efforts use techniques like precision reduction and pruning to increase the efficiency, most require retraining to maintain performance, making them expensive and impractical. To address this issue, we propose a novel Post Training Compression algorithm, Decomposition-Pruning-Quantization (DPQ-HD), which aims at compressing the end-to-end HDC system, achieving near floating point performance without the need of retraining. DPQ-HD reduces computational and memory overhead by uniquely combining the above three compression techniques and efficiently adapts to hardware constraints. Additionally, we introduce an energy-efficient inference approach that progressively evaluates similarity scores such as cosine similarity and performs early exit to reduce the computation, accelerating prediction inference while maintaining accuracy. We demonstrate that DPQ-HD achieves up to 20-100x reduction in memory for image and graph classification tasks with only a 1-2% drop in accuracy compared to uncompressed workloads. Lastly, we show that DPQ-HD outperforms the existing post-training compression methods and performs better or at par with retraining-based state-of-the-art techniques, requiring significantly less overall optimization time (up to 100x) and faster inference (up to 56x) on a microcontroller
Hide & Seek: Transformer Symmetries Obscure Sharpness & Riemannian Geometry Finds It
Authors: Marvin F. da Silva, Felix Dangel, Sageev Oore
Date: 2025-05-08 00:00:00
Tasks: image-classification, Image Classification

The concept of sharpness has been successfully applied to traditional architectures like MLPs and CNNs to predict their generalization. For transformers, however, recent work reported weak correlation between flatness and generalization. We argue that existing sharpness measures fail for transformers, because they have much richer symmetries in their attention mechanism that induce directions in parameter space along which the network or its loss remain identical. We posit that sharpness must account fully for these symmetries, and thus we redefine it on a quotient manifold that results from quotienting out the transformer symmetries, thereby removing their ambiguities. Leveraging tools from Riemannian geometry, we propose a fully general notion of sharpness, in terms of a geodesic ball on the symmetry-corrected quotient manifold. In practice, we need to resort to approximating the geodesics. Doing so up to first order yields existing adaptive sharpness measures, and we demonstrate that including higher-order terms is crucial to recover correlation with generalization. We present results on diagonal networks with synthetic data, and show that our geodesic sharpness reveals strong correlation for real-world transformers on both text and image classification tasks.
Representing spherical tensors with scalar-based machine-learning models
Authors: Michelangelo Domina, Filippo Bigi, Paolo Pegolo, Michele Ceriotti
Date: 2025-05-08 00:00:00

Rotational symmetry plays a central role in physics, providing an elegant framework to describe how the properties of 3D objects -- from atoms to the macroscopic scale -- transform under the action of rigid rotations. Equivariant models of 3D point clouds are able to approximate structure-property relations in a way that is fully consistent with the structure of the rotation group, by combining intermediate representations that are themselves spherical tensors. The symmetry constraints however make this approach computationally demanding and cumbersome to implement, which motivates increasingly popular unconstrained architectures that learn approximate symmetries as part of the training process. In this work, we explore a third route to tackle this learning problem, where equivariant functions are expressed as the product of a scalar function of the point cloud coordinates and a small basis of tensors with the appropriate symmetry. We also propose approximations of the general expressions that, while lacking universal approximation properties, are fast, simple to implement, and accurate in practical settings.
Denoising Diffusion Probabilistic Models for Coastal Inundation Forecasting
Authors: Kazi Ashik Islam, Zakaria Mehrab, Mahantesh Halappanavar, Henning Mortveit, Sridhar Katragadda, Jon Derek Loftis, Madhav Marathe
Date: 2025-05-08 00:00:00
Tasks: Denoising

Coastal flooding poses significant risks to communities, necessitating fast and accurate forecasting methods to mitigate potential damage. To approach this problem, we present DIFF-FLOOD, a probabilistic spatiotemporal forecasting method designed based on denoising diffusion models. DIFF-FLOOD predicts inundation level at a location by taking both spatial and temporal context into account. It utilizes inundation levels at neighboring locations and digital elevation data as spatial context. Inundation history from a context time window, together with additional co-variates are used as temporal context. Convolutional neural networks and cross-attention mechanism are then employed to capture the spatiotemporal dynamics in the data. We trained and tested DIFF-FLOOD on coastal inundation data from the Eastern Shore of Virginia, a region highly impacted by coastal flooding. Our results show that, DIFF-FLOOD outperforms existing forecasting methods in terms of prediction performance (6% to 64% improvement in terms of two performance metrics) and scalability.
From Sleep Staging to Spindle Detection: Evaluating End-to-End Automated Sleep Analysis
Authors: Niklas Grieger, Siamak Mehrkanoon, Philipp Ritter, Stephan Bialonski
Date: 2025-05-08 00:00:00
Tasks: Privacy Preserving, Sleep Staging, Spindle Detection

Automation of sleep analysis, including both macrostructural (sleep stages) and microstructural (e.g., sleep spindles) elements, promises to enable large-scale sleep studies and to reduce variance due to inter-rater incongruencies. While individual steps, such as sleep staging and spindle detection, have been studied separately, the feasibility of automating multi-step sleep analysis remains unclear. Here, we evaluate whether a fully automated analysis using state-of-the-art machine learning models for sleep staging (RobustSleepNet) and subsequent spindle detection (SUMOv2) can replicate findings from an expert-based study of bipolar disorder. The automated analysis qualitatively reproduced key findings from the expert-based study, including significant differences in fast spindle densities between bipolar patients and healthy controls, accomplishing in minutes what previously took months to complete manually. While the results of the automated analysis differed quantitatively from the expert-based study, possibly due to biases between expert raters or between raters and the models, the models individually performed at or above inter-rater agreement for both sleep staging and spindle detection. Our results demonstrate that fully automated approaches have the potential to facilitate large-scale sleep research. We are providing public access to the tools used in our automated analysis by sharing our code and introducing SomnoBot, a privacy-preserving sleep analysis platform.
Nearly Optimal Sample Complexity for Learning with Label Proportions
Authors: Robert Busa-Fekete, Travis Dick, Claudio Gentile, Haim Kaplan, Tomer Koren, Uri Stemmer
Date: 2025-05-08 00:00:00

We investigate Learning from Label Proportions (LLP), a partial information setting where examples in a training set are grouped into bags, and only aggregate label values in each bag are available. Despite the partial observability, the goal is still to achieve small regret at the level of individual examples. We give results on the sample complexity of LLP under square loss, showing that our sample complexity is essentially optimal. From an algorithmic viewpoint, we rely on carefully designed variants of Empirical Risk Minimization, and Stochastic Gradient Descent algorithms, combined with ad hoc variance reduction techniques. On one hand, our theoretical results improve in important ways on the existing literature on LLP, specifically in the way the sample complexity depends on the bag size. On the other hand, we validate our algorithmic solutions on several datasets, demonstrating improved empirical performance (better accuracy for less samples) against recent baselines.
Operator-Level Quantum Acceleration of Non-Logconcave Sampling
Authors: Jiaqi Leng, Zhiyan Ding, Zherui Chen, Lin Lin
Date: 2025-05-08 00:00:00

Sampling from probability distributions of the form $\sigma \propto e^{-\beta V}$, where $V$ is a continuous potential, is a fundamental task across physics, chemistry, biology, computer science, and statistics. However, when $V$ is non-convex, the resulting distribution becomes non-logconcave, and classical methods such as Langevin dynamics often exhibit poor performance. We introduce the first quantum algorithm that provably accelerates a broad class of continuous-time sampling dynamics. For Langevin dynamics, our method encodes the target Gibbs measure into the amplitudes of a quantum state, identified as the kernel of a block matrix derived from a factorization of the Witten Laplacian operator. This connection enables Gibbs sampling via singular value thresholding and yields the first provable quantum advantage with respect to the Poincar\'e constant in the non-logconcave setting. Building on this framework, we further develop the first quantum algorithm that accelerates replica exchange Langevin diffusion, a widely used method for sampling from complex, rugged energy landscapes.
Performance Estimation in Binary Classification Using Calibrated Confidence
Authors: Juhani Kivimäki, Jakub Białek, Wojtek Kuberski, Jukka K. Nurminen
Date: 2025-05-08 00:00:00
Tasks: Binary Classification, Classification

Model monitoring is a critical component of the machine learning lifecycle, safeguarding against undetected drops in the model's performance after deployment. Traditionally, performance monitoring has required access to ground truth labels, which are not always readily available. This can result in unacceptable latency or render performance monitoring altogether impossible. Recently, methods designed to estimate the accuracy of classifier models without access to labels have shown promising results. However, there are various other metrics that might be more suitable for assessing model performance in many cases. Until now, none of these important metrics has received similar interest from the scientific community. In this work, we address this gap by presenting CBPE, a novel method that can estimate any binary classification metric defined using the confusion matrix. In particular, we choose four metrics from this large family: accuracy, precision, recall, and F$_1$, to demonstrate our method. CBPE treats the elements of the confusion matrix as random variables and leverages calibrated confidence scores of the model to estimate their distributions. The desired metric is then also treated as a random variable, whose full probability distribution can be derived from the estimated confusion matrix. CBPE is shown to produce estimates that come with strong theoretical guarantees and valid confidence intervals.
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
Authors: Zechu Li, Yufeng Jin, Daniel Ordonez Apraez, Claudio Semini, Puze Liu, Georgia Chalvatzaki
Date: 2025-05-08 00:00:00
Tasks: Inductive Bias, reinforcement-learning, Reinforcement Learning

Humans naturally exhibit bilateral symmetry in their gross manipulation skills, effortlessly mirroring simple actions between left and right hands. Bimanual robots-which also feature bilateral symmetry-should similarly exploit this property to perform tasks with either hand. Unlike humans, who often favor a dominant hand for fine dexterous skills, robots should ideally execute ambidextrous manipulation with equal proficiency. To this end, we introduce SYMDEX (SYMmetric DEXterity), a reinforcement learning framework for ambidextrous bi-manipulation that leverages the robot's inherent bilateral symmetry as an inductive bias. SYMDEX decomposes complex bimanual manipulation tasks into per-hand subtasks and trains dedicated policies for each. By exploiting bilateral symmetry via equivariant neural networks, experience from one arm is inherently leveraged by the opposite arm. We then distill the subtask policies into a global ambidextrous policy that is independent of the hand-task assignment. We evaluate SYMDEX on six challenging simulated manipulation tasks and demonstrate successful real-world deployment on two of them. Our approach strongly outperforms baselines on complex task in which the left and right hands perform different roles. We further demonstrate SYMDEX's scalability by extending it to a four-arm manipulation setup, where our symmetry-aware policies enable effective multi-arm collaboration and coordination. Our results highlight how structural symmetry as inductive bias in policy learning enhances sample efficiency, robustness, and generalization across diverse dexterous manipulation tasks.
A Connection Between Learning to Reject and Bhattacharyya Divergences
Authors: Alexander Soen
Date: 2025-05-08 00:00:00

Learning to reject provide a learning paradigm which allows for our models to abstain from making predictions. One way to learn the rejector is to learn an ideal marginal distribution (w.r.t. the input domain) - which characterizes a hypothetical best marginal distribution - and compares it to the true marginal distribution via a density ratio. In this paper, we consider learning a joint ideal distribution over both inputs and labels; and develop a link between rejection and thresholding different statistical divergences. We further find that when one considers a variant of the log-loss, the rejector obtained by considering the joint ideal distribution corresponds to the thresholding of the skewed Bhattacharyya divergence between class-probabilities. This is in contrast to the marginal case - that is equivalent to a typical characterization of optimal rejection, Chow's Rule - which corresponds to a thresholding of the Kullback-Leibler divergence. In general, we find that rejecting via a Bhattacharyya divergence is less aggressive than Chow's Rule.
A Two-Sample Test of Text Generation Similarity
Authors: Jingbin Xu, Chen Qian, Meimei Liu, Feng Guo
Date: 2025-05-08 00:00:00
Tasks: Text Generation, text similarity

The surge in digitized text data requires reliable inferential methods on observed textual patterns. This article proposes a novel two-sample text test for comparing similarity between two groups of documents. The hypothesis is whether the probabilistic mapping generating the textual data is identical across two groups of documents. The proposed test aims to assess text similarity by comparing the entropy of the documents. Entropy is estimated using neural network-based language models. The test statistic is derived from an estimation-and-inference framework, where the entropy is first approximated using an estimation set, followed by inference on the remaining data set. We showed theoretically that under mild conditions, the test statistic asymptotically follows a normal distribution. A multiple data-splitting strategy is proposed to enhance test power, which combines p-values into a unified decision. Various simulation studies and a real data example demonstrated that the proposed two-sample text test maintains the nominal Type one error rate while offering greater power compared to existing methods. The proposed method provides a novel solution to assert differences in document classes, particularly in fields where large-scale textual information is crucial.
ICNN-enhanced 2SP: Leveraging input convex neural networks for solving two-stage stochastic programming
Authors: Yu Liu, Fabricio Oliveira
Date: 2025-05-08 00:00:00
Tasks: Decision Making Under Uncertainty

Two-stage stochastic programming (2SP) offers a basic framework for modelling decision-making under uncertainty, yet scalability remains a challenge due to the computational complexity of recourse function evaluation. Existing learning-based methods like Neural Two-Stage Stochastic Programming (Neur2SP) employ neural networks (NNs) as recourse function surrogates but rely on computationally intensive mixed-integer programming (MIP) formulations. We propose ICNN-enhanced 2SP, a method that leverages Input Convex Neural Networks (ICNNs) to exploit linear programming (LP) representability in convex 2SP problems. By architecturally enforcing convexity and enabling exact inference through LP, our approach eliminates the need for integer variables inherent to the conventional MIP-based formulation while retaining an exact embedding of the ICNN surrogate within the 2SP framework. This results in a more computationally efficient alternative that maintains solution quality. Comprehensive experiments reveal that ICNNs incur only marginally longer training times while achieving validation accuracy on par with their MIP-based counterparts. Across benchmark problems, ICNN-enhanced 2SP often exhibits considerably faster solution times than the MIP-based formulations while preserving solution quality, with these advantages becoming significantly more pronounced as problem scale increases. For the most challenging instances, the method achieves speedups of up to 100$\times$ and solution quality superior to MIP-based formulations.
Enhancing Treatment Effect Estimation via Active Learning: A Counterfactual Covering Perspective
Authors: Hechuan Wen, Tong Chen, Mingming Gong, Li Kheng Chai, Shazia Sadiq, Hongzhi Yin
Date: 2025-05-08 00:00:00
Tasks: Active Learning, Benchmarking, counterfactual

Although numerous complex algorithms for treatment effect estimation have been developed in recent years, their effectiveness remains limited when handling insufficiently labeled training sets due to the high cost of labeling the effect after treatment, e.g., expensive tumor imaging or biopsy procedures needed to evaluate treatment effects. Therefore, it becomes essential to actively incorporate more high-quality labeled data, all while adhering to a constrained labeling budget. To enable data-efficient treatment effect estimation, we formalize the problem through rigorous theoretical analysis within the active learning context, where the derived key measures -- \textit{factual} and \textit{counterfactual covering radius} determine the risk upper bound. To reduce the bound, we propose a greedy radius reduction algorithm, which excels under an idealized, balanced data distribution. To generalize to more realistic data distributions, we further propose FCCM, which transforms the optimization objective into the \textit{Factual} and \textit{Counterfactual Coverage Maximization} to ensure effective radius reduction during data acquisition. Furthermore, benchmarking FCCM against other baselines demonstrates its superiority across both fully synthetic and semi-synthetic datasets.
Latte: Transfering LLMs` Latent-level Knowledge for Few-shot Tabular Learning
Authors: Ruxue Shi, Hengrui Gu, Hangting Ye, YiWei Dai, Xu Shen, Xin Wang
Date: 2025-05-08 00:00:00
Tasks: Feature Engineering, General Knowledge, Unsupervised Pre-training

Few-shot tabular learning, in which machine learning models are trained with a limited amount of labeled data, provides a cost-effective approach to addressing real-world challenges. The advent of Large Language Models (LLMs) has sparked interest in leveraging their pre-trained knowledge for few-shot tabular learning. Despite promising results, existing approaches either rely on test-time knowledge extraction, which introduces undesirable latency, or text-level knowledge, which leads to unreliable feature engineering. To overcome these limitations, we propose Latte, a training-time knowledge extraction framework that transfers the latent prior knowledge within LLMs to optimize a more generalized downstream model. Latte enables general knowledge-guided downstream tabular learning, facilitating the weighted fusion of information across different feature values while reducing the risk of overfitting to limited labeled data. Furthermore, Latte is compatible with existing unsupervised pre-training paradigms and effectively utilizes available unlabeled samples to overcome the performance limitations imposed by an extremely small labeled dataset. Extensive experiments on various few-shot tabular learning benchmarks demonstrate the superior performance of Latte, establishing it as a state-of-the-art approach in this domain