We propose an automata-theoretic approach for reinforcement learning (RL) under complex spatio-temporal constraints with time windows. The problem is formulated using a Markov decision process under a bounded temporal logic constraint. Different from existing RL methods that can eventually learn optimal policies satisfying such constraints, our proposed approach enforces a desired probability of constraint satisfaction throughout learning. This is achieved by translating the bounded temporal logic constraint into a total automaton and avoiding "unsafe" actions based on the available prior information regarding the transition probabilities, i.e., a pair of upper and lower bounds for each transition probability. We provide theoretical guarantees on the resulting probability of constraint satisfaction. We also provide numerical results in a scenario where a robot explores the environment to discover high-reward regions while fulfilling some periodic pick-up and delivery tasks that are encoded as temporal logic constraints.
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Exhibiting an explicit Boolean function with a large high-order nonlinearity is an important problem in cryptography, coding theory, and computational complexity. We prove lower bounds on the second-order, third-order, and higher-order nonlinearities of some trace monomial Boolean functions. We prove lower bounds on the second-order nonlinearities of functions $\mathrm{tr}_n(x^7)$ and $\mathrm{tr}_n(x^{2^r+3})$ where $n=2r$. Among all trace monomials, our bounds match the best second-order nonlinearity lower bounds by \cite{Car08} and \cite{YT20} for odd and even $n$ respectively. We prove a lower bound on the third-order nonlinearity for functions $\mathrm{tr}_n(x^{15})$, which is the best third-order nonlinearity lower bound. For any $r$, we prove that the $r$-th order nonlinearity of $\mathrm{tr}_n(x^{2^{r+1}-1})$ is at least $2^{n-1}-2^{(1-2^{-r})n+\frac{r}{2^{r-1}}-1}- O(2^{\frac{n}{2}})$. For $r \ll \log_2 n$, this is the best lower bound among all explicit functions.
Self-learning Monte Carlo (SLMC) methods are recently proposed to accelerate Markov chain Monte Carlo (MCMC) methods using a machine learning model. With latent generative models, SLMC methods realize efficient Monte Carlo updates with less autocorrelation. However, SLMC methods are difficult to directly apply to multimodal distributions for which training data are difficult to obtain. To solve the limitation, we propose parallel adaptive annealing, which makes SLMC methods directly apply to multimodal distributions with a gradually trained proposal while annealing target distribution. Parallel adaptive annealing is based on (i) sequential learning with annealing to inherit and update the model parameters, (ii) adaptive annealing to automatically detect under-learning, and (iii) parallel annealing to mitigate mode collapse of proposal models. We also propose VAE-SLMC method which utilizes a variational autoencoder (VAE) as a proposal of SLMC to make efficient parallel proposals independent of any previous state using recently clarified quantitative properties of VAE. Experiments validate that our method can proficiently obtain accurate samples from multiple multimodal toy distributions and practical multimodal posterior distributions, which is difficult to achieve with the existing SLMC methods.
The training of neural encoders via deep learning necessitates a differentiable channel model due to the backpropagation algorithm. This requirement can be sidestepped by approximating either the channel distribution or its gradient through pilot signals in real-world scenarios. The initial approach draws upon the latest advancements in image generation, utilizing generative adversarial networks (GANs) or their enhanced variants to generate channel distributions. In this paper, we address this channel approximation challenge with diffusion models, which have demonstrated high sample quality in image generation. We offer an end-to-end channel coding framework underpinned by diffusion models and propose an efficient training algorithm. Our simulations with various channel models establish that our diffusion models learn the channel distribution accurately, thereby achieving near-optimal end-to-end symbol error rates (SERs). We also note a significant advantage of diffusion models: A robust generalization capability in high signal-to-noise ratio regions, in contrast to GAN variants that suffer from error floor. Furthermore, we examine the trade-off between sample quality and sampling speed, when an accelerated sampling algorithm is deployed, and investigate the effect of the noise scheduling on this trade-off. With an apt choice of noise scheduling, sampling time can be significantly reduced with a minor increase in SER.
Over-the-air federated learning (OTA-FL) integrates communication and model aggregation by exploiting the innate superposition property of wireless channels. The approach renders bandwidth efficient learning, but requires care in handling the wireless physical layer impairments. In this paper, federated edge learning is considered for a network that is heterogeneous with respect to client (edge node) data set distributions and individual client resources, under a general non-convex learning objective. We augment the wireless OTA-FL system with a Reconfigurable Intelligent Surface (RIS) to enable a propagation environment with improved learning performance in a realistic time varying physical layer. Our approach is a cross-layer perspective that jointly optimizes communication, computation and learning resources, in this general heterogeneous setting. We adapt the local computation steps and transmission power of the clients in conjunction with the RIS phase shifts. The resulting joint communication and learning algorithm, RIS-assisted Over-the-air Adaptive Resource Allocation for Federated learning (ROAR-Fed) is shown to be convergent in this general setting. Numerical results demonstrate the effectiveness of ROAR-Fed under heterogeneous (non i.i.d.) data and imperfect CSI, indicating the advantage of RIS assisted learning in this general set up.
We consider the problem of learning error covariance matrices for robotic state estimation. The convergence of a state estimator to the correct belief over the robot state is dependent on the proper tuning of noise models. During inference, these models are used to weigh different blocks of the Jacobian and error vector resulting from linearization and hence, additionally affect the stability and convergence of the non-linear system. We propose a gradient-based method to estimate well-conditioned covariance matrices by formulating the learning process as a constrained bilevel optimization problem over factor graphs. We evaluate our method against baselines across a range of simulated and real-world tasks and demonstrate that our technique converges to model estimates that lead to better solutions as evidenced by the improved tracking accuracy on unseen test trajectories.
We consider a Bayesian approach to offline model-based inverse reinforcement learning (IRL). The proposed framework differs from existing offline model-based IRL approaches by performing simultaneous estimation of the expert's reward function and subjective model of environment dynamics. We make use of a class of prior distributions which parameterizes how accurate the expert's model of the environment is to develop efficient algorithms to estimate the expert's reward and subjective dynamics in high-dimensional settings. Our analysis reveals a novel insight that the estimated policy exhibits robust performance when the expert is believed (a priori) to have a highly accurate model of the environment. We verify this observation in the MuJoCo environments and show that our algorithms outperform state-of-the-art offline IRL algorithms.
The structure learning problem consists of fitting data generated by a Directed Acyclic Graph (DAG) to correctly reconstruct its arcs. In this context, differentiable approaches constrain or regularize the optimization problem using a continuous relaxation of the acyclicity property. The computational cost of evaluating graph acyclicity is cubic on the number of nodes and significantly affects scalability. In this paper we introduce COSMO, a constraint-free continuous optimization scheme for acyclic structure learning. At the core of our method, we define a differentiable approximation of an orientation matrix parameterized by a single priority vector. Differently from previous work, our parameterization fits a smooth orientation matrix and the resulting acyclic adjacency matrix without evaluating acyclicity at any step. Despite the absence of explicit constraints, we prove that COSMO always converges to an acyclic solution. In addition to being asymptotically faster, our empirical analysis highlights how COSMO performance on graph reconstruction compares favorably with competing structure learning methods.
We present a physics-informed machine-learning (PIML) approach for the approximation of slow invariant manifolds (SIMs) of singularly perturbed systems, providing functionals in an explicit form that facilitate the construction and numerical integration of reduced order models (ROMs). The proposed scheme solves a partial differential equation corresponding to the invariance equation (IE) within the Geometric Singular Perturbation Theory (GSPT) framework. For the solution of the IE, we used two neural network structures, namely feedforward neural networks (FNNs), and random projection neural networks (RPNNs), with symbolic differentiation for the computation of the gradients required for the learning process. The efficiency of our PIML method is assessed via three benchmark problems, namely the Michaelis-Menten, the target mediated drug disposition reaction mechanism, and the 3D Sel'kov model. We show that the proposed PIML scheme provides approximations, of equivalent or even higher accuracy, than those provided by other traditional GSPT-based methods, and importantly, for any practical purposes, it is not affected by the magnitude of the perturbation parameter. This is of particular importance, as there are many systems for which the gap between the fast and slow timescales is not that big, but still ROMs can be constructed. A comparison of the computational costs between symbolic, automatic and numerical approximation of the required derivatives in the learning process is also provided.
It is important to detect anomalous inputs when deploying machine learning systems. The use of larger and more complex inputs in deep learning magnifies the difficulty of distinguishing between anomalous and in-distribution examples. At the same time, diverse image and text data are available in enormous quantities. We propose leveraging these data to improve deep anomaly detection by training anomaly detectors against an auxiliary dataset of outliers, an approach we call Outlier Exposure (OE). This enables anomaly detectors to generalize and detect unseen anomalies. In extensive experiments on natural language processing and small- and large-scale vision tasks, we find that Outlier Exposure significantly improves detection performance. We also observe that cutting-edge generative models trained on CIFAR-10 may assign higher likelihoods to SVHN images than to CIFAR-10 images; we use OE to mitigate this issue. We also analyze the flexibility and robustness of Outlier Exposure, and identify characteristics of the auxiliary dataset that improve performance.
We propose a new method for event extraction (EE) task based on an imitation learning framework, specifically, inverse reinforcement learning (IRL) via generative adversarial network (GAN). The GAN estimates proper rewards according to the difference between the actions committed by the expert (or ground truth) and the agent among complicated states in the environment. EE task benefits from these dynamic rewards because instances and labels yield to various extents of difficulty and the gains are expected to be diverse -- e.g., an ambiguous but correctly detected trigger or argument should receive high gains -- while the traditional RL models usually neglect such differences and pay equal attention on all instances. Moreover, our experiments also demonstrate that the proposed framework outperforms state-of-the-art methods, without explicit feature engineering.
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