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The ever-increasing demands of computationally expensive and high-dimensional problems require novel optimization methods to find near-optimal solutions in a reasonable amount of time. Bayesian Optimization (BO) stands as one of the best methodologies for learning the underlying relationships within multi-variate problems. This allows users to optimize time consuming and computationally expensive black-box functions in feasible time frames. Existing BO implementations use traditional von-Neumann architectures, in which data and memory are separate. In this work, we introduce Lava Bayesian Optimization (LavaBO) as a contribution to the open-source Lava Software Framework. LavaBO is the first step towards developing a BO system compatible with heterogeneous, fine-grained parallel, in-memory neuromorphic computing architectures (e.g., Intel's Loihi platform). We evaluate the algorithmic performance of the LavaBO system on multiple problems such as training state-of-the-art spiking neural network through back-propagation and evolutionary learning. Compared to traditional algorithms (such as grid and random search), we highlight the ability of LavaBO to explore the parameter search space with fewer expensive function evaluations, while discovering the optimal solutions.

We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of search-based and reactive approaches for motion planning. In essence, RAMP is a hierarchical approach where a novel variant of a Model Predictive Path Integral (MPPI) controller is used to generate trajectories which are then followed asynchronously by a local vector field controller. We demonstrate, in the context of a table clearing application, that RAMP can rapidly find paths in the robot's configuration space, satisfy task and robot-specific constraints, and provide safety by reacting to static or dynamically moving obstacles. RAMP achieves superior performance through a number of key innovations: we use Signed Distance Function (SDF) representations directly from the robot configuration space, both for collision checking and reactive control. The use of SDFs allows for a smoother definition of collision cost when planning for a trajectory, and is critical in ensuring safety while following trajectories. In addition, we introduce a novel variant of MPPI which, combined with the safety guarantees of the vector field trajectory follower, performs incremental real-time global trajectory planning. Simulation results establish that our method can generate paths that are comparable to traditional and state-of-the-art approaches in terms of total trajectory length while being up to 30 times faster. Real-world experiments demonstrate the safety and effectiveness of our approach in challenging table clearing scenarios.

Sensor devices have been increasingly used in engineering and health studies recently, and the captured multi-dimensional activity and vital sign signals can be studied in association with health outcomes to inform public health. The common approach is the scalar-on-function regression model, in which health outcomes are the scalar responses while high-dimensional sensor signals are the functional covariates, but how to effectively interpret results becomes difficult. In this study, we propose a new Functional Adaptive Double-Sparsity (FadDoS) estimator based on functional regularization of sparse group lasso with multiple functional predictors, which can achieve global sparsity via functional variable selection and local sparsity via zero-subinterval identification within coefficient functions. We prove that the FadDoS estimator converges at a bounded rate and satisfies the oracle property under mild conditions. Extensive simulation studies confirm the theoretical properties and exhibit excellent performances compared to existing approaches. Application to a Kinect sensor study that utilized an advanced motion sensing device tracking human multiple joint movements and conducted among community-dwelling elderly demonstrates how the FadDoS estimator can effectively characterize the detailed association between joint movements and physical health assessments. The proposed method is not only effective in Kinect sensor analysis but also applicable to broader fields, where multi-dimensional sensor signals are collected simultaneously, to expand the use of sensor devices in health studies and facilitate sensor data analysis.

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this challenge, this paper explores the control Lyapunov barrier function (CLBF) to analyze the safety and reachability solely based on data without explicitly employing a dynamic model. We also proposed the Lyapunov barrier actor-critic (LBAC), a model-free RL algorithm, to search for a controller that satisfies the data-based approximation of the safety and reachability conditions. The proposed approach is demonstrated through simulation and real-world robot control experiments, i.e., a 2D quadrotor navigation task. The experimental findings reveal this approach's effectiveness in reachability and safety, surpassing other model-free RL methods.

We present a one-shot method for compressing large labeled graphs called Random Edge Coding. When paired with a parameter-free model based on P\'olya's Urn, the worst-case computational and memory complexities scale quasi-linearly and linearly with the number of observed edges, making it efficient on sparse graphs, and requires only integer arithmetic. Key to our method is bits-back coding, which is used to sample edges and vertices without replacement from the edge-list in a way that preserves the structure of the graph. Optimality is proven under a class of random graph models that are invariant to permutations of the edges and of vertices within an edge. Experiments indicate Random Edge Coding can achieve competitive compression performance on real-world network datasets and scales to graphs with millions of nodes and edges.

Typically, foundation models are hosted on cloud servers to meet the high demand for their services. However, this exposes them to security risks, as attackers can modify them after uploading to the cloud or transferring from a local system. To address this issue, we propose an iterative decision-based fragile watermarking algorithm that transforms normal training samples into fragile samples that are sensitive to model changes. We then compare the output of sensitive samples from the original model to that of the compromised model during validation to assess the model's completeness.The proposed fragile watermarking algorithm is an optimization problem that aims to minimize the variance of the predicted probability distribution outputed by the target model when fed with the converted sample.We convert normal samples to fragile samples through multiple iterations. Our method has some advantages: (1) the iterative update of samples is done in a decision-based black-box manner, relying solely on the predicted probability distribution of the target model, which reduces the risk of exposure to adversarial attacks, (2) the small-amplitude multiple iterations approach allows the fragile samples to perform well visually, with a PSNR of 55 dB in TinyImageNet compared to the original samples, (3) even with changes in the overall parameters of the model of magnitude 1e-4, the fragile samples can detect such changes, and (4) the method is independent of the specific model structure and dataset. We demonstrate the effectiveness of our method on multiple models and datasets, and show that it outperforms the current state-of-the-art.

Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms which can operate drones in complex and uncertain environments. Additionally, flying fast enables drones to cover more ground which in turn increases productivity and further strengthens their use case. One proxy for developing algorithms used in high-speed navigation is the task of autonomous drone racing, where researchers program drones to fly through a sequence of gates and avoid obstacles as quickly as possible using onboard sensors and limited computational power. Speeds and accelerations exceed over 80 kph and 4 g respectively, raising significant challenges across perception, planning, control, and state estimation. To achieve maximum performance, systems require real-time algorithms that are robust to motion blur, high dynamic range, model uncertainties, aerodynamic disturbances, and often unpredictable opponents. This survey covers the progression of autonomous drone racing across model-based and learning-based approaches. We provide an overview of the field, its evolution over the years, and conclude with the biggest challenges and open questions to be faced in the future.

Multiple instance learning (MIL) is a powerful tool to solve the weakly supervised classification in whole slide image (WSI) based pathology diagnosis. However, the current MIL methods are usually based on independent and identical distribution hypothesis, thus neglect the correlation among different instances. To address this problem, we proposed a new framework, called correlated MIL, and provided a proof for convergence. Based on this framework, we devised a Transformer based MIL (TransMIL), which explored both morphological and spatial information. The proposed TransMIL can effectively deal with unbalanced/balanced and binary/multiple classification with great visualization and interpretability. We conducted various experiments for three different computational pathology problems and achieved better performance and faster convergence compared with state-of-the-art methods. The test AUC for the binary tumor classification can be up to 93.09% over CAMELYON16 dataset. And the AUC over the cancer subtypes classification can be up to 96.03% and 98.82% over TCGA-NSCLC dataset and TCGA-RCC dataset, respectively.

In this monograph, I introduce the basic concepts of Online Learning through a modern view of Online Convex Optimization. Here, online learning refers to the framework of regret minimization under worst-case assumptions. I present first-order and second-order algorithms for online learning with convex losses, in Euclidean and non-Euclidean settings. All the algorithms are clearly presented as instantiation of Online Mirror Descent or Follow-The-Regularized-Leader and their variants. Particular attention is given to the issue of tuning the parameters of the algorithms and learning in unbounded domains, through adaptive and parameter-free online learning algorithms. Non-convex losses are dealt through convex surrogate losses and through randomization. The bandit setting is also briefly discussed, touching on the problem of adversarial and stochastic multi-armed bandits. These notes do not require prior knowledge of convex analysis and all the required mathematical tools are rigorously explained. Moreover, all the proofs have been carefully chosen to be as simple and as short as possible.

Knowledge graph (KG) embedding encodes the entities and relations from a KG into low-dimensional vector spaces to support various applications such as KG completion, question answering, and recommender systems. In real world, knowledge graphs (KGs) are dynamic and evolve over time with addition or deletion of triples. However, most existing models focus on embedding static KGs while neglecting dynamics. To adapt to the changes in a KG, these models need to be re-trained on the whole KG with a high time cost. In this paper, to tackle the aforementioned problem, we propose a new context-aware Dynamic Knowledge Graph Embedding (DKGE) method which supports the embedding learning in an online fashion. DKGE introduces two different representations (i.e., knowledge embedding and contextual element embedding) for each entity and each relation, in the joint modeling of entities and relations as well as their contexts, by employing two attentive graph convolutional networks, a gate strategy, and translation operations. This effectively helps limit the impacts of a KG update in certain regions, not in the entire graph, so that DKGE can rapidly acquire the updated KG embedding by a proposed online learning algorithm. Furthermore, DKGE can also learn KG embedding from scratch. Experiments on the tasks of link prediction and question answering in a dynamic environment demonstrate the effectiveness and efficiency of DKGE.