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Open-loop stable limit cycles are foundational to the dynamics of legged robots. They impart a self-stabilizing character to the robot's gait, thus alleviating the need for compute-heavy feedback-based gait correction. This paper proposes a general approach to rapidly generate limit cycles with explicit stability constraints for a given dynamical system. In particular, we pose the problem of open-loop limit cycle stability as a single-stage constrained-optimization problem (COP), and use Direct Collocation to transcribe it into a nonlinear program (NLP) with closed-form expressions for constraints, objectives, and their gradients. The COP formulations of stability are developed based (1) on the spectral radius of a discrete return map, and (2) on the spectral radius of the system's monodromy matrix, where the spectral radius is bounded using different constraint-satisfaction formulations of the eigenvalue problem. We compare the performance and solution qualities of each approach, but specifically highlight the Schur decomposition of the monodromy matrix as a formulation which boasts wider applicability through weaker assumptions and attractive numerical convergence properties. Moreover, we present results from our experiments on a spring-loaded inverted pendulum model of a robot, where our method generated actuation trajectories for open-loop stable hopping in under 2 seconds (on the Intel Core i7-6700K), and produced energy-minimizing actuation trajectories even under tight stability constraints.

The uniqueness of an optimal solution to a combinatorial optimization problem attracts many fields of researchers' attention because it has a wide range of applications, it is related to important classes in computational complexity, and an instance with only one solution is often critical for algorithm designs in theory. However, as the authors know, there is no major benchmark set consisting of only instances with unique solutions, and no algorithm generating instances with unique solutions is known; a systematic approach to getting a problem instance guaranteed having a unique solution would be helpful. A possible approach is as follows: Given a problem instance, we specify a small part of a solution in advance so that only one optimal solution meets the specification. This paper formulates such a ``pre-assignment'' approach for the vertex cover problem as a typical combinatorial optimization problem and discusses its computational complexity. First, we show that the problem is $\Sigma^P_2$-complete in general, while the problem becomes NP-complete when an input graph is bipartite. We then present an $O(2.1996^n)$-time algorithm for general graphs and an $O(1.9181^n)$-time algorithm for bipartite graphs, where $n$ is the number of vertices. The latter is based on an FPT algorithm with $O^*(3.6791^{\tau})$ time for vertex cover number $\tau$. Furthermore, we show that the problem for trees can be solved in $O(1.4143^n)$ time.

Spiking neural networks (SNNs) are recurrent models that can leverage sparsity in input time series to efficiently carry out tasks such as classification. Additional efficiency gains can be obtained if decisions are taken as early as possible as a function of the complexity of the input time series. The decision on when to stop inference and produce a decision must rely on an estimate of the current accuracy of the decision. Prior work demonstrated the use of conformal prediction (CP) as a principled way to quantify uncertainty and support adaptive-latency decisions in SNNs. In this paper, we propose to enhance the uncertainty quantification capabilities of SNNs by implementing ensemble models for the purpose of improving the reliability of stopping decisions. Intuitively, an ensemble of multiple models can decide when to stop more reliably by selecting times at which most models agree that the current accuracy level is sufficient. The proposed method relies on different forms of information pooling from ensemble models, and offers theoretical reliability guarantees. We specifically show that variational inference-based ensembles with p-variable pooling significantly reduce the average latency of state-of-the-art methods, while maintaining reliability guarantees.

The widely used multiobjective optimizer NSGA-II was recently proven to have considerable difficulties in many-objective optimization. In contrast, experimental results in the literature show a good performance of the SMS-EMOA, which can be seen as a steady-state NSGA-II that uses the hypervolume contribution instead of the crowding distance as the second selection criterion. This paper conducts the first rigorous runtime analysis of the SMS-EMOA for many-objective optimization. To this aim, we first propose a many-objective counterpart, the m-objective mOJZJ problem, of the bi-objective OJZJ benchmark, which is the first many-objective multimodal benchmark used in a mathematical runtime analysis. We prove that SMS-EMOA computes the full Pareto front of this benchmark in an expected number of $O(M^2 n^k)$ iterations, where $n$ denotes the problem size (length of the bit-string representation), $k$ the gap size (a difficulty parameter of the problem), and $M=(2n/m-2k+3)^{m/2}$ the size of the Pareto front. This result together with the existing negative result on the original NSGA-II shows that in principle, the general approach of the NSGA-II is suitable for many-objective optimization, but the crowding distance as tie-breaker has deficiencies. We obtain three additional insights on the SMS-EMOA. Different from a recent result for the bi-objective OJZJ benchmark, the stochastic population update often does not help for mOJZJ. It results in a $1/\Theta(\min\{Mk^{1/2}/2^{k/2},1\})$ speed-up, which is $\Theta(1)$ for large $m$ such as $m>k$. On the positive side, we prove that heavy-tailed mutation still results in a speed-up of order $k^{0.5+k-\beta}$. Finally, we conduct the first runtime analyses of the SMS-EMOA on the bi-objective OneMinMax and LOTZ benchmarks and show that it has a performance comparable to the GSEMO and the NSGA-II.

Multi-Agent Reinforcement Learning (MARL) has emerged as a foundational approach for addressing diverse, intelligent control tasks, notably in autonomous driving within the Internet of Vehicles (IoV) domain. However, the widely assumed existence of a central node for centralized, federated learning-assisted MARL might be impractical in highly dynamic environments. This can lead to excessive communication overhead, potentially overwhelming the IoV system. To address these challenges, we design a novel communication-efficient and policy collaboration algorithm for MARL under the frameworks of Soft Actor-Critic (SAC) and Decentralized Federated Learning (DFL), named RSM-MASAC, within a fully distributed architecture. In particular, RSM-MASAC enhances multi-agent collaboration and prioritizes higher communication efficiency in dynamic IoV system by incorporating the concept of segmented aggregation in DFL and augmenting multiple model replicas from received neighboring policy segments, which are subsequently employed as reconstructed referential policies for mixing. Distinctively diverging from traditional RL approaches, with derived new bounds under Maximum Entropy Reinforcement Learning (MERL), RSM-MASAC adopts a theory-guided mixture metric to regulate the selection of contributive referential policies to guarantee the soft policy improvement during communication phase. Finally, the extensive simulations in mixed-autonomy traffic control scenarios verify the effectiveness and superiority of our algorithm.

With the rapid development of the internet in the past decade, it has become increasingly important to extract valuable information from vast resources efficiently, which is crucial for establishing a comprehensive digital ecosystem, particularly in the context of research surveys and comprehension. The foundation of these tasks focuses on accurate extraction and deep mining of data from scientific documents, which are essential for building a robust data infrastructure. However, parsing raw data or extracting data from complex scientific documents have been ongoing challenges. Current data extraction methods for scientific documents typically use rule-based (RB) or machine learning (ML) approaches. However, using rule-based methods can incur high coding costs for articles with intricate typesetting. Conversely, relying solely on machine learning methods necessitates annotation work for complex content types within the scientific document, which can be costly. Additionally, few studies have thoroughly defined and explored the hierarchical layout within scientific documents. The lack of a comprehensive definition of the internal structure and elements of the documents indirectly impacts the accuracy of text classification and object recognition tasks. From the perspective of analyzing the standard layout and typesetting used in the specified publication, we propose a new document layout analysis framework called CTBR(Compartment & Text Blocks Refinement). Firstly, we define scientific documents into hierarchical divisions: base domain, compartment, and text blocks. Next, we conduct an in-depth exploration and classification of the meanings of text blocks. Finally, we utilize the results of text block classification to implement object recognition within scientific documents based on rule-based compartment segmentation.

Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.

Deep neural networks have revolutionized many machine learning tasks in power systems, ranging from pattern recognition to signal processing. The data in these tasks is typically represented in Euclidean domains. Nevertheless, there is an increasing number of applications in power systems, where data are collected from non-Euclidean domains and represented as the graph-structured data with high dimensional features and interdependency among nodes. The complexity of graph-structured data has brought significant challenges to the existing deep neural networks defined in Euclidean domains. Recently, many studies on extending deep neural networks for graph-structured data in power systems have emerged. In this paper, a comprehensive overview of graph neural networks (GNNs) in power systems is proposed. Specifically, several classical paradigms of GNNs structures (e.g., graph convolutional networks, graph recurrent neural networks, graph attention networks, graph generative networks, spatial-temporal graph convolutional networks, and hybrid forms of GNNs) are summarized, and key applications in power systems such as fault diagnosis, power prediction, power flow calculation, and data generation are reviewed in detail. Furthermore, main issues and some research trends about the applications of GNNs in power systems are discussed.

The recent proliferation of knowledge graphs (KGs) coupled with incomplete or partial information, in the form of missing relations (links) between entities, has fueled a lot of research on knowledge base completion (also known as relation prediction). Several recent works suggest that convolutional neural network (CNN) based models generate richer and more expressive feature embeddings and hence also perform well on relation prediction. However, we observe that these KG embeddings treat triples independently and thus fail to cover the complex and hidden information that is inherently implicit in the local neighborhood surrounding a triple. To this effect, our paper proposes a novel attention based feature embedding that captures both entity and relation features in any given entity's neighborhood. Additionally, we also encapsulate relation clusters and multihop relations in our model. Our empirical study offers insights into the efficacy of our attention based model and we show marked performance gains in comparison to state of the art methods on all datasets.

Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.