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In this paper, we investigate the effectiveness of contrastive learning methods for predicting grasp outcomes in an unsupervised manner. By utilizing a publicly available dataset, we demonstrate that contrastive learning methods perform well on the task of grasp outcomes prediction. Specifically, the dynamic-dictionary-based method with the momentum updating technique achieves a satisfactory accuracy of 81.83% using data from one single tactile sensor, outperforming other unsupervised methods. Our results reveal the potential of contrastive learning methods for applications in the field of robot grasping and highlight the importance of accurate grasp prediction for achieving stable grasps.

Software often fails in the field, however reproducing and debugging field failures is very challenging: the failure-inducing input may be missing, and the program setup can be complicated and hard to reproduce by the developers. In this paper, we propose to generate fault signatures from the failure locations and the original source code to reproduce the faults in small executable programs. We say that a fault signature reproduces the fault in the original program if the two failed in the same location, triggered the same error conditions after executing the same selective sequences of failure-inducing statements. A fault signature aims to contain only sufficient statements that can reproduce the faults. That way, it provides some context to inform how a fault is developed and also avoids unnecessary complexity and setups that may block fault diagnosis. To compute fault signatures from the failures, we applied a path-sensitive static analysis tool to generate a path that leads to the fault, and then applied an existing syntactic patching tool to convert the path into an executable program. Our evaluation on real-world bugs from Corebench, BugBench, and Manybugs shows that fault signatures can reproduce the fault for the original programs. Because fault signatures are less complex, automatic test input generation tools generated failure-inducing inputs that could not be generated by using the entire programs. Some failure-inducing inputs can be directly transferred to the original programs. Our experimental data are publicly available at //doi.org/10.5281/zenodo.5430155.

In this work, we study the multi-agent assortment optimization problem in the two-sided sequential matching model introduced by Ashlagi et al. (2022). The setting is the following: we (the platform) offer a menu of suppliers to each customer. Then, every customer selects, simultaneously and independently, to match with a supplier or to remain unmatched. Each supplier observes the subset of customers that selected them, and choose either to match a customer or to leave the system. Therefore, a match takes place if both a customer and a supplier sequentially select each other. Each agent's behavior is probabilistic and determined by a discrete choice model. Our goal is to choose an assortment family that maximizes the expected revenue of the matching. Given the hardness of the problem, we show a $1-1/e$-approximation factor for the heterogeneous setting where customers follow general choice models and suppliers follow a general choice model whose demand function is monotone and submodular. Our approach is flexible enough to allow for different assortment constraints and for a revenue objective function. Furthermore, we design an algorithm that beats the $1-1/e$ barrier and, in fact, is asymptotically optimal when suppliers follow the classic multinomial-logit choice model and are sufficiently selective. We finally provide other results and further insights. Notably, in the unconstrained setting where customers and suppliers follow multinomial-logit models, we design a simple and efficient approximation algorithm that appropriately randomizes over a family of nested-assortments. Also, we analyze various aspects of the matching market model that lead to several operational insights, such as the fact that matching platforms can benefit from allowing the more selective agents to initiate the matchmaking process.

In this paper, we introduce a new, spectral notion of approximation between directed graphs, which we call singular value (SV) approximation. SV-approximation is stronger than previous notions of spectral approximation considered in the literature, including spectral approximation of Laplacians for undirected graphs (Spielman Teng STOC 2004), standard approximation for directed graphs (Cohen et. al. STOC 2017), and unit-circle approximation for directed graphs (Ahmadinejad et. al. FOCS 2020). Further, SV approximation enjoys several useful properties not possessed by previous notions of approximation, e.g., it is preserved under products of random-walk matrices and bounded matrices. We provide a nearly linear-time algorithm for SV-sparsifying (and hence UC-sparsifying) Eulerian directed graphs, as well as $\ell$-step random walks on such graphs, for any $\ell\leq \text{poly}(n)$. Combined with the Eulerian scaling algorithms of (Cohen et. al. FOCS 2018), given an arbitrary (not necessarily Eulerian) directed graph and a set $S$ of vertices, we can approximate the stationary probability mass of the $(S,S^c)$ cut in an $\ell$-step random walk to within a multiplicative error of $1/\text{polylog}(n)$ and an additive error of $1/\text{poly}(n)$ in nearly linear time. As a starting point for these results, we provide a simple black-box reduction from SV-sparsifying Eulerian directed graphs to SV-sparsifying undirected graphs; such a directed-to-undirected reduction was not known for previous notions of spectral approximation.

In this work, we develop a novel efficient quadrature and sparse grid based polynomial interpolation method to price American options with multiple underlying assets. The approach is based on first formulating the pricing of American options using dynamic programming, and then employing static sparse grids to interpolate the continuation value function at each time step. To achieve high efficiency, we first transform the domain from $\mathbb{R}^d$ to $(-1,1)^d$ via a scaled tanh map, and then remove the boundary singularity of the resulting multivariate function over $(-1,1)^d$ by a bubble function and simultaneously, to significantly reduce the number of interpolation points. We rigorously establish that with a proper choice of the bubble function, the resulting function has bounded mixed derivatives up to a certain order, which provides theoretical underpinnings for the use of sparse grids. Numerical experiments for American arithmetic and geometric basket put options with the number of underlying assets up to 16 are presented to validate the effectiveness of the approach.

In this paper, we propose simultaneous transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted non-orthogonal multiple access (NOMA) networks. The considered STAR-RIS utilizes the mode switching (MS) protocol to serve multiple NOMA users located on both sides of the RIS surface. Based on the MS protocol, each STAR-RIS element can operate in full transmission or reflection mode. Within this perspective, we propose a novel algorithm to partition the STAR-RIS surface among the available users. This algorithm aims to determine the proper number of transmitting/reflecting elements needs to be assigned to each user in order to maximize the system sum-rate while guaranteeing the quality-of-service requirements for individual users. For the proposed system, we derive closed-form analytical expressions for the outage probability (OP) and its corresponding asymptotic behavior under different user deployments. Finally, Monte Carlo simulations are performed in order to verify the correctness of the theoretical analysis. It is shown that the proposed system outperforms the classical NOMA and orthogonal multiple access systems in terms of OP and sum-rate.

In the era of deep learning, modeling for most NLP tasks has converged to several mainstream paradigms. For example, we usually adopt the sequence labeling paradigm to solve a bundle of tasks such as POS-tagging, NER, Chunking, and adopt the classification paradigm to solve tasks like sentiment analysis. With the rapid progress of pre-trained language models, recent years have observed a rising trend of Paradigm Shift, which is solving one NLP task by reformulating it as another one. Paradigm shift has achieved great success on many tasks, becoming a promising way to improve model performance. Moreover, some of these paradigms have shown great potential to unify a large number of NLP tasks, making it possible to build a single model to handle diverse tasks. In this paper, we review such phenomenon of paradigm shifts in recent years, highlighting several paradigms that have the potential to solve different NLP tasks.

This paper serves as a survey of recent advances in large margin training and its theoretical foundations, mostly for (nonlinear) deep neural networks (DNNs) that are probably the most prominent machine learning models for large-scale data in the community over the past decade. We generalize the formulation of classification margins from classical research to latest DNNs, summarize theoretical connections between the margin, network generalization, and robustness, and introduce recent efforts in enlarging the margins for DNNs comprehensively. Since the viewpoint of different methods is discrepant, we categorize them into groups for ease of comparison and discussion in the paper. Hopefully, our discussions and overview inspire new research work in the community that aim to improve the performance of DNNs, and we also point to directions where the large margin principle can be verified to provide theoretical evidence why certain regularizations for DNNs function well in practice. We managed to shorten the paper such that the crucial spirit of large margin learning and related methods are better emphasized.

In this paper, we introduce the Reinforced Mnemonic Reader for machine reading comprehension tasks, which enhances previous attentive readers in two aspects. First, a reattention mechanism is proposed to refine current attentions by directly accessing to past attentions that are temporally memorized in a multi-round alignment architecture, so as to avoid the problems of attention redundancy and attention deficiency. Second, a new optimization approach, called dynamic-critical reinforcement learning, is introduced to extend the standard supervised method. It always encourages to predict a more acceptable answer so as to address the convergence suppression problem occurred in traditional reinforcement learning algorithms. Extensive experiments on the Stanford Question Answering Dataset (SQuAD) show that our model achieves state-of-the-art results. Meanwhile, our model outperforms previous systems by over 6% in terms of both Exact Match and F1 metrics on two adversarial SQuAD datasets.

In this paper, we propose a conceptually simple and geometrically interpretable objective function, i.e. additive margin Softmax (AM-Softmax), for deep face verification. In general, the face verification task can be viewed as a metric learning problem, so learning large-margin face features whose intra-class variation is small and inter-class difference is large is of great importance in order to achieve good performance. Recently, Large-margin Softmax and Angular Softmax have been proposed to incorporate the angular margin in a multiplicative manner. In this work, we introduce a novel additive angular margin for the Softmax loss, which is intuitively appealing and more interpretable than the existing works. We also emphasize and discuss the importance of feature normalization in the paper. Most importantly, our experiments on LFW BLUFR and MegaFace show that our additive margin softmax loss consistently performs better than the current state-of-the-art methods using the same network architecture and training dataset. Our code has also been made available at //github.com/happynear/AMSoftmax