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Joint models for longitudinal and time-to-event data are often employed to calculate dynamic individualized predictions used in numerous applications of precision medicine. Two components of joint models that influence the accuracy of these predictions are the shape of the longitudinal trajectories and the functional form linking the longitudinal outcome history to the hazard of the event. Finding a single well-specified model that produces accurate predictions for all subjects and follow-up times can be challenging, especially when considering multiple longitudinal outcomes. In this work, we use the concept of super learning and avoid selecting a single model. In particular, we specify a weighted combination of the dynamic predictions calculated from a library of joint models with different specifications. The weights are selected to optimize a predictive accuracy metric using V-fold cross-validation. We use as predictive accuracy measures the expected quadratic prediction error and the expected predictive cross-entropy. In a simulation study, we found that the super learning approach produces results very similar to the Oracle model, which was the model with the best performance in the test datasets. All proposed methodology is implemented in the freely available R package JMbayes2.

Many real-world datasets are represented as tensors, i.e., multi-dimensional arrays of numerical values. Storing them without compression often requires substantial space, which grows exponentially with the order. While many tensor compression algorithms are available, many of them rely on strong data assumptions regarding its order, sparsity, rank, and smoothness. In this work, we propose TENSORCODEC, a lossy compression algorithm for general tensors that do not necessarily adhere to strong input data assumptions. TENSORCODEC incorporates three key ideas. The first idea is Neural Tensor-Train Decomposition (NTTD) where we integrate a recurrent neural network into Tensor-Train Decomposition to enhance its expressive power and alleviate the limitations imposed by the low-rank assumption. Another idea is to fold the input tensor into a higher-order tensor to reduce the space required by NTTD. Finally, the mode indices of the input tensor are reordered to reveal patterns that can be exploited by NTTD for improved approximation. Our analysis and experiments on 8 real-world datasets demonstrate that TENSORCODEC is (a) Concise: it gives up to 7.38x more compact compression than the best competitor with similar reconstruction error, (b) Accurate: given the same budget for compressed size, it yields up to 3.33x more accurate reconstruction than the best competitor, (c) Scalable: its empirical compression time is linear in the number of tensor entries, and it reconstructs each entry in logarithmic time. Our code and datasets are available at //github.com/kbrother/TensorCodec.

Mobile manipulators have been used for inspection, maintenance and repair tasks over the years, but there are some key limitations. Stability concerns typically require mobile platforms to be large in order to handle far-reaching manipulators, or for the manipulators to have drastically reduced workspaces to fit onto smaller mobile platforms. Therefore we propose a combination of two widely-used robots, the Clearpath Jackal unmanned ground vehicle and the Kinova Gen3 six degree-of-freedom manipulator. The Jackal has a small footprint and works well in low-clearance indoor environments. Extensive testing of localization, navigation and mapping using LiDAR sensors makes the Jackal a well developed mobile platform suitable for mobile manipulation. The Gen3 has a long reach with reasonable power consumption for manipulation tasks. A wrist camera for RGB-D sensing and a customizable end effector interface makes the Gen3 suitable for a myriad of manipulation tasks. Typically these features would result in an unstable platform, however with a few minor hardware and software modifications, we have produced a stable, high-performance mobile manipulation platform with significant mobility, reach, sensing, and maneuverability for indoor inspection tasks, without degradation of the component robots' individual capabilities. These assertions were investigated with hardware via semi-autonomous navigation to waypoints in a busy indoor environment, and high-precision self-alignment alongside planar structures for intervention tasks.

In multivariate time series systems, key insights can be obtained by discovering lead-lag relationships inherent in the data, which refer to the dependence between two time series shifted in time relative to one another, and which can be leveraged for the purposes of control, forecasting or clustering. We develop a clustering-driven methodology for robust detection of lead-lag relationships in lagged multi-factor models. Within our framework, the envisioned pipeline takes as input a set of time series, and creates an enlarged universe of extracted subsequence time series from each input time series, via a sliding window approach. This is then followed by an application of various clustering techniques, (such as k-means++ and spectral clustering), employing a variety of pairwise similarity measures, including nonlinear ones. Once the clusters have been extracted, lead-lag estimates across clusters are robustly aggregated to enhance the identification of the consistent relationships in the original universe. We establish connections to the multireference alignment problem for both the homogeneous and heterogeneous settings. Since multivariate time series are ubiquitous in a wide range of domains, we demonstrate that our method is not only able to robustly detect lead-lag relationships in financial markets, but can also yield insightful results when applied to an environmental data set.

Classical simulations are essential for the development of quantum computing, and their exponential scaling can easily fill any modern supercomputer. In this paper we consider the performance and energy consumption of large Quantum Fourier Transform (QFT) simulations run on ARCHER2, the UK's National Supercomputing Service, with QuEST toolkit. We take into account CPU clock frequency and node memory size, and use cache-blocking to rearrange the circuit, which minimises communications. We find that using 2.00GHz instead of 2.25GHz can save as much as 25% of energy at 5% increase in runtime. Higher node memory also has the potential to be more efficient, and cost the user fewer CUs, but at higher runtime penalty. Finally, we present a cache-blocking QFT circuit, which halves the required communication. All our optimisations combined result in 40% faster simulations and 35% energy savings in 44 qubit simulations on 4,096 ARCHER2 nodes.

A set function can be extended to the unit cube in various ways; the correlation gap measures the ratio between two natural extensions. This quantity has been identified as the performance guarantee in a range of approximation algorithms and mechanism design settings. It is known that the correlation gap of a monotone submodular function is at least $1-1/e$, and this is tight for simple matroid rank functions. We initiate a fine-grained study of the correlation gap of matroid rank functions. In particular, we present an improved lower bound on the correlation gap as parametrized by the rank and girth of the matroid. We also show that for any matroid, the correlation gap of its weighted matroid rank function is minimized under uniform weights. Such improved lower bounds have direct applications for submodular maximization under matroid constraints, mechanism design, and contention resolution schemes.

As artificial intelligence (AI) models continue to scale up, they are becoming more capable and integrated into various forms of decision-making systems. For models involved in moral decision-making, also known as artificial moral agents (AMA), interpretability provides a way to trust and understand the agent's internal reasoning mechanisms for effective use and error correction. In this paper, we provide an overview of this rapidly-evolving sub-field of AI interpretability, introduce the concept of the Minimum Level of Interpretability (MLI) and recommend an MLI for various types of agents, to aid their safe deployment in real-world settings.

Graphs are important data representations for describing objects and their relationships, which appear in a wide diversity of real-world scenarios. As one of a critical problem in this area, graph generation considers learning the distributions of given graphs and generating more novel graphs. Owing to their wide range of applications, generative models for graphs, which have a rich history, however, are traditionally hand-crafted and only capable of modeling a few statistical properties of graphs. Recent advances in deep generative models for graph generation is an important step towards improving the fidelity of generated graphs and paves the way for new kinds of applications. This article provides an extensive overview of the literature in the field of deep generative models for graph generation. Firstly, the formal definition of deep generative models for the graph generation and the preliminary knowledge are provided. Secondly, taxonomies of deep generative models for both unconditional and conditional graph generation are proposed respectively; the existing works of each are compared and analyzed. After that, an overview of the evaluation metrics in this specific domain is provided. Finally, the applications that deep graph generation enables are summarized and five promising future research directions are highlighted.

Co-evolving time series appears in a multitude of applications such as environmental monitoring, financial analysis, and smart transportation. This paper aims to address the following challenges, including (C1) how to incorporate explicit relationship networks of the time series; (C2) how to model the implicit relationship of the temporal dynamics. We propose a novel model called Network of Tensor Time Series, which is comprised of two modules, including Tensor Graph Convolutional Network (TGCN) and Tensor Recurrent Neural Network (TRNN). TGCN tackles the first challenge by generalizing Graph Convolutional Network (GCN) for flat graphs to tensor graphs, which captures the synergy between multiple graphs associated with the tensors. TRNN leverages tensor decomposition to model the implicit relationships among co-evolving time series. The experimental results on five real-world datasets demonstrate the efficacy of the proposed method.

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.