In this paper, we consider the optimization problem \scpl (\scp), which is to find a minimum cost subset of a ground set $U$ such that the value of a submodular function $f$ is above a threshold $\tau$. In contrast to most existing work on \scp, it is not assumed that $f$ is monotone. Two bicriteria approximation algorithms are presented for \scp that, for input parameter $0 < \epsilon < 1$, give $O( 1 / \epsilon^2 )$ ratio to the optimal cost and ensures the function $f$ is at least $\tau(1 - \epsilon)/2$. A lower bound shows that under the value query model shows that no polynomial-time algorithm can ensure that $f$ is larger than $\tau/2$. Further, the algorithms presented are scalable to large data sets, processing the ground set in a stream. Similar algorithms developed for \scp also work for the related optimization problem of \smpl (\smp). Finally, the algorithms are demonstrated to be effective in experiments involving graph cut and data summarization functions.
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Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a direct mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals. In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.
This research presents ORUGA, a method that tries to automatically optimize the readability of any text in English. The core idea behind the method is that certain factors affect the readability of a text, some of which are quantifiable (number of words, syllables, presence or absence of adverbs, and so on). The nature of these factors allows us to implement a genetic learning strategy to replace some existing words with their most suitable synonyms to facilitate optimization. In addition, this research seeks to preserve both the original text's content and form through multi-objective optimization techniques. In this way, neither the text's syntactic structure nor the semantic content of the original message is significantly distorted. An exhaustive study on a substantial number and diversity of texts confirms that our method was able to optimize the degree of readability in all cases without significantly altering their form or meaning. The source code of this approach is available at //github.com/jorge-martinez-gil/oruga.
Merging satellite products and ground-based measurements is often required for obtaining precipitation datasets that simultaneously cover large regions with high density and are more accurate than pure satellite precipitation products. Machine and statistical learning regression algorithms are regularly utilized in this endeavour. At the same time, tree-based ensemble algorithms for regression are adopted in various fields for solving algorithmic problems with high accuracy and low computational cost. The latter can constitute a crucial factor for selecting algorithms for satellite precipitation product correction at the daily and finer time scales, where the size of the datasets is particularly large. Still, information on which tree-based ensemble algorithm to select in such a case for the contiguous United States (US) is missing from the literature. In this work, we conduct an extensive comparison between three tree-based ensemble algorithms, specifically random forests, gradient boosting machines (gbm) and extreme gradient boosting (XGBoost), in the context of interest. We use daily data from the PERSIANN (Precipitation Estimation from Remotely Sensed Information using Artificial Neural Networks) and the IMERG (Integrated Multi-satellitE Retrievals for GPM) gridded datasets. We also use earth-observed precipitation data from the Global Historical Climatology Network daily (GHCNd) database. The experiments refer to the entire contiguous US and additionally include the application of the linear regression algorithm for benchmarking purposes. The results suggest that XGBoost is the best-performing tree-based ensemble algorithm among those compared. They also suggest that IMERG is more useful than PERSIANN in the context investigated.
Statistical power is a measure of the replicability of a categorical hypothesis test. Formally, it is the probability of detecting an effect, if there is a true effect present in the population. Hence, optimizing statistical power as a function of some parameters of a hypothesis test is desirable. However, for most hypothesis tests, the explicit functional form of statistical power for individual model parameters is unknown; but calculating power for a given set of values of those parameters is possible using simulated experiments. These simulated experiments are usually computationally expensive. Hence, developing the entire statistical power manifold using simulations can be very time-consuming. We propose a novel genetic algorithm-based framework for learning statistical power manifolds. For a multiple linear regression $F$-test, we show that the proposed algorithm/framework learns the statistical power manifold much faster as compared to a brute-force approach as the number of queries to the power oracle is significantly reduced. We also show that the quality of learning the manifold improves as the number of iterations increases for the genetic algorithm. Such tools are useful for evaluating statistical power trade-offs when researchers have little information regarding a priori `best guesses' of primary effect sizes of interest or how sampling variability in non-primary effects impacts power for primary ones.
In this paper, we initiate study of the computational power of adaptive and non-adaptive monotone decision trees - decision trees where each query is a monotone function on the input bits. In the most general setting, the monotone decision tree height (or size) can be viewed as a measure of non-monotonicity of a given Boolean function. We also study the restriction of the model by restricting (in terms of circuit complexity) the monotone functions that can be queried at each node. This naturally leads to complexity classes of the form DT(mon-C) for any circuit complexity class C, where the height of the tree is O(log n), and the query functions can be computed by monotone circuits in the class C. In the above context, we prove the following characterizations and bounds. For any Boolean function f, we show that the minimum monotone decision tree height can be exactly characterized (both in the adaptive and non-adaptive versions of the model) in terms of its alternation (alt(f) is defined as the maximum number of times that the function value changes, in any chain in the Boolean lattice). We also characterize the non-adaptive decision tree height with a natural generalization of certification complexity of a function. Similarly, we determine the complexity of non-deterministic and randomized variants of monotone decision trees in terms of alt(f). We show that DT(mon-C) = C when C contains monotone circuits for the threshold functions (for e.g., if C = TC0). For C = AC0, we are able to show that any function in AC0 can be computed by a sub-linear height monotone decision tree with queries having monotone AC0 circuits. To understand the logarithmic height case in case of AC0 i.e., DT(mon-AC0), we show that functions in DT(mon-AC0) have AC0 circuits with few negation gates.
As various city agencies and mobility operators navigate toward innovative mobility solutions, there is a need for strategic flexibility in well-timed investment decisions in the design and timing of mobility service regions, i.e. cast as "real options" (RO). This problem becomes increasingly challenging with multiple interacting RO in such investments. We propose a scalable machine learning based RO framework for multi-period sequential service region design & timing problem for mobility-on-demand services, framed as a Markov decision process with non-stationary stochastic variables. A value function approximation policy from literature uses multi-option least squares Monte Carlo simulation to get a policy value for a set of interdependent investment decisions as deferral options (CR policy). The goal is to determine the optimal selection and timing of a set of zones to include in a service region. However, prior work required explicit enumeration of all possible sequences of investments. To address the combinatorial complexity of such enumeration, we propose a new variant "deep" RO policy using an efficient recurrent neural network (RNN) based ML method (CR-RNN policy) to sample sequences to forego the need for enumeration, making network design & timing policy tractable for large scale implementation. Experiments on multiple service region scenarios in New York City (NYC) shows the proposed policy substantially reduces the overall computational cost (time reduction for RO evaluation of > 90% of total investment sequences is achieved), with zero to near-zero gap compared to the benchmark. A case study of sequential service region design for expansion of MoD services in Brooklyn, NYC show that using the CR-RNN policy to determine optimal RO investment strategy yields a similar performance (0.5% within CR policy value) with significantly reduced computation time (about 5.4 times faster).
In many domains such as transportation and logistics, search and rescue, or cooperative surveillance, tasks are pending to be allocated with the consideration of possible execution uncertainties. Existing task coordination algorithms either ignore the stochastic process or suffer from the computational intensity. Taking advantage of the weakly coupled feature of the problem and the opportunity for coordination in advance, we propose a decentralized auction-based coordination strategy using a newly formulated score function which is generated by forming the problem into task-constrained Markov decision processes (MDPs). The proposed method guarantees convergence and at least 50% optimality in the premise of a submodular reward function. Furthermore, for the implementation on large-scale applications, an approximate variant of the proposed method, namely Deep Auction, is also suggested with the use of neural networks, which is evasive of the troublesome for constructing MDPs. Inspired by the well-known actor-critic architecture, two Transformers are used to map observations to action probabilities and cumulative rewards respectively. Finally, we demonstrate the performance of the two proposed approaches in the context of drone deliveries, where the stochastic planning for the drone league is cast into a stochastic price-collecting Vehicle Routing Problem (VRP) with time windows. Simulation results are compared with state-of-the-art methods in terms of solution quality, planning efficiency and scalability.
Recent decades have witnessed remarkable advancements in multiobjective evolutionary algorithms (MOEAs) that have been adopted to solve various multiobjective optimization problems (MOPs). However, these progressively improved MOEAs have not necessarily been equipped with sophisticatedly scalable and learnable problem-solving strategies that are able to cope with new and grand challenges brought by the scaling-up MOPs with continuously increasing complexity or scale from diverse aspects, mainly including expensive function evaluations, many objectives, large-scale search space, time-varying environments, and multitask. Under different scenarios, it requires divergent thinking to design new powerful MOEAs for solving them effectively. In this context, research into learnable MOEAs that arm themselves with machine learning techniques for scaling-up MOPs has received extensive attention in the field of evolutionary computation. In this paper, we begin with a taxonomy of scalable MOPs and learnable MOEAs, followed by an analysis of the challenges that scaling up MOPs pose to traditional MOEAs. Then, we synthetically overview recent advances of learnable MOEAs in solving various scaling up MOPs, focusing primarily on three attractive and promising directions (i.e., learnable evolutionary discriminators for environmental selection, learnable evolutionary generators for reproduction, and learnable evolutionary transfer for sharing or reusing optimization experience between different problem domains). The insight into learnable MOEAs held throughout this paper is offered to the readers as a reference to the general track of the efforts in this field.
Consider an agent exploring an unknown graph in search of some goal state. As it walks around the graph, it learns the nodes and their neighbors. The agent only knows where the goal state is when it reaches it. How do we reach this goal while moving only a small distance? This problem seems hopeless, even on trees of bounded degree, unless we give the agent some help. This setting with ''help'' often arises in exploring large search spaces (e.g., huge game trees) where we assume access to some score/quality function for each node, which we use to guide us towards the goal. In our case, we assume the help comes in the form of distance predictions: each node $v$ provides a prediction $f(v)$ of its distance to the goal vertex. Naturally if these predictions are correct, we can reach the goal along a shortest path. What if the predictions are unreliable and some of them are erroneous? Can we get an algorithm whose performance relates to the error of the predictions? In this work, we consider the problem on trees and give deterministic algorithms whose total movement cost is only $O(OPT + \Delta \cdot ERR)$, where $OPT$ is the distance from the start to the goal vertex, $\Delta$ the maximum degree, and the $ERR$ is the total number of vertices whose predictions are erroneous. We show this guarantee is optimal. We then consider a ''planning'' version of the problem where the graph and predictions are known at the beginning, so the agent can use this global information to devise a search strategy of low cost. For this planning version, we go beyond trees and give an algorithms which gets good performance on (weighted) graphs with bounded doubling dimension.
Autonomous driving has achieved a significant milestone in research and development over the last decade. There is increasing interest in the field as the deployment of self-operating vehicles on roads promises safer and more ecologically friendly transportation systems. With the rise of computationally powerful artificial intelligence (AI) techniques, autonomous vehicles can sense their environment with high precision, make safe real-time decisions, and operate more reliably without human interventions. However, intelligent decision-making in autonomous cars is not generally understandable by humans in the current state of the art, and such deficiency hinders this technology from being socially acceptable. Hence, aside from making safe real-time decisions, the AI systems of autonomous vehicles also need to explain how these decisions are constructed in order to be regulatory compliant across many jurisdictions. Our study sheds a comprehensive light on developing explainable artificial intelligence (XAI) approaches for autonomous vehicles. In particular, we make the following contributions. First, we provide a thorough overview of the present gaps with respect to explanations in the state-of-the-art autonomous vehicle industry. We then show the taxonomy of explanations and explanation receivers in this field. Thirdly, we propose a framework for an architecture of end-to-end autonomous driving systems and justify the role of XAI in both debugging and regulating such systems. Finally, as future research directions, we provide a field guide on XAI approaches for autonomous driving that can improve operational safety and transparency towards achieving public approval by regulators, manufacturers, and all engaged stakeholders.
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