We settle the parameterized complexities of several variants of independent set reconfiguration and dominating set reconfiguration, parameterized by the number of tokens. We show that both problems are XL-complete when there is no limit on the number of moves, XNL-complete when a maximum length $\ell$ for the sequence is given in binary in the input, and XNLP-complete when $\ell$ is given in unary. The problems were known to be $\mathrm{W}[1]$- and $\mathrm{W}[2]$-hard respectively when $\ell$ is also a parameter. We complete the picture by showing membership in those classes. Moreover, we show that for all the variants that we consider, token sliding and token jumping are equivalent under pl-reductions. We introduce partitioned variants of token jumping and token sliding, and give pl-reductions between the four variants that have precise control over the number of tokens and the length of the reconfiguration sequence.
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A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles, pedestrians and cyclists interact in driving scenarios. Using a simple data-driven tokenization scheme, we discretize trajectories to centimeter-level resolution using a small vocabulary. We then model the multi-agent sequence of motion tokens with a GPT-like encoder-decoder that is autoregressive in time and takes into account intra-timestep interaction between agents. Scenarios sampled from our model exhibit state-of-the-art realism; our model tops the Waymo Sim Agents Benchmark, surpassing prior work along the realism meta metric by 3.3% and along the interaction metric by 9.9%. We ablate our modeling choices in full autonomy and partial autonomy settings, and show that the representations learned by our model can quickly be adapted to improve performance on nuScenes. We additionally evaluate the scalability of our model with respect to parameter count and dataset size, and use density estimates from our model to quantify the saliency of context length and intra-timestep interaction for the traffic modeling task.
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should be continuously refined to compensate for dynamics changes. In this paper, we present a self-supervised learning approach that actively models the dynamics of nonlinear robotic systems. We combine offline learning from past experience and online learning from current robot interaction with the unknown environment. These two ingredients enable a highly sample-efficient and adaptive learning process, capable of accurately inferring model dynamics in real-time even in operating regimes that greatly differ from the training distribution. Moreover, we design an uncertainty-aware model predictive controller that is heuristically conditioned to the aleatoric (data) uncertainty of the learned dynamics. This controller actively chooses the optimal control actions that (i) optimize the control performance and (ii) improve the efficiency of online learning sample collection. We demonstrate the effectiveness of our method through a series of challenging real-world experiments using a quadrotor system. Our approach showcases high resilience and generalization capabilities by consistently adapting to unseen flight conditions, while it significantly outperforms classical and adaptive control baselines.
We construct a quasi-polynomial time deterministic approximation algorithm for computing the volume of an independent set polytope with restrictions. Randomized polynomial time approximation algorithms for computing the volume of a convex body have been known now for several decades, but the corresponding deterministic counterparts are not available, and our algorithm is the first of this kind. The class of polytopes for which our algorithm applies arises as linear programming relaxation of the independent set problem with the additional restriction that each variable takes value in the interval $[0,1-\alpha]$ for some $\alpha<1/2$. (We note that the $\alpha\ge 1/2$ case is trivial). We use the correlation decay method for this problem applied to its appropriate and natural discretization. The method works provided $\alpha> 1/2-O(1/\Delta^2)$, where $\Delta$ is the maximum degree of the graph. When $\Delta=3$ (the sparsest non-trivial case), our method works provided $0.488<\alpha<0.5$. Interestingly, the interpolation method, which is based on analyzing complex roots of the associated partition functions, fails even in the trivial case when the underlying graph is a singleton.
We study functional dependencies together with two different probabilistic dependency notions: unary marginal identity and unary marginal distribution equivalence. A unary marginal identity states that two variables x and y are identically distributed. A unary marginal distribution equivalence states that the multiset consisting of the marginal probabilities of all the values for variable x is the same as the corresponding multiset for y. We present a sound and complete axiomatization for the class of these dependencies and show that it has Armstrong relations. The axiomatization is infinite, but we show that there can be no finite axiomatization. The implication problem for the subclass that contains only functional dependencies and unary marginal identities can be simulated with functional dependencies and unary inclusion atoms, and therefore the problem is in polynomial-time. This complexity bound also holds in the case of the full class, which we show by constructing a polynomial-time algorithm.
Quasiperiodic systems are important space-filling ordered structures, without decay and translational invariance. How to solve quasiperiodic systems accurately and efficiently is of great challenge. A useful approach, the projection method (PM) [J. Comput. Phys., 256: 428, 2014], has been proposed to compute quasiperiodic systems. Various studies have demonstrated that the PM is an accurate and efficient method to solve quasiperiodic systems. However, there is a lack of theoretical analysis of PM. In this paper, we present a rigorous convergence analysis of the PM by establishing a mathematical framework of quasiperiodic functions and their high-dimensional periodic functions. We also give a theoretical analysis of quasiperiodic spectral method (QSM) based on this framework. Results demonstrate that PM and QSM both have exponential decay, and the QSM (PM) is a generalization of the periodic Fourier spectral (pseudo-spectral) method. Then we analyze the computational complexity of PM and QSM in calculating quasiperiodic systems. The PM can use fast Fourier transform, while the QSM cannot. Moreover, we investigate the accuracy and efficiency of PM, QSM and periodic approximation method in solving the linear time-dependent quasiperiodic Schr\"{o}dinger equation.
Critical flaws continue to exist at the level of domain, requirement, and/or design specification, and specification verification (i.e., to check whether a specification has desirable properties) is still one of the most important challenges in software/system engineering. CafeOBJ is an executable algebraic specification language system and domain/requirement/design engineers can write proof scores for improving quality of specifications by the specification verification. This paper describes advances of the proof scores for the specification verification in CafeOBJ.
Residual networks (ResNets) have displayed impressive results in pattern recognition and, recently, have garnered considerable theoretical interest due to a perceived link with neural ordinary differential equations (neural ODEs). This link relies on the convergence of network weights to a smooth function as the number of layers increases. We investigate the properties of weights trained by stochastic gradient descent and their scaling with network depth through detailed numerical experiments. We observe the existence of scaling regimes markedly different from those assumed in neural ODE literature. Depending on certain features of the network architecture, such as the smoothness of the activation function, one may obtain an alternative ODE limit, a stochastic differential equation or neither of these. These findings cast doubts on the validity of the neural ODE model as an adequate asymptotic description of deep ResNets and point to an alternative class of differential equations as a better description of the deep network limit.
This work considers the question of how convenient access to copious data impacts our ability to learn causal effects and relations. In what ways is learning causality in the era of big data different from -- or the same as -- the traditional one? To answer this question, this survey provides a comprehensive and structured review of both traditional and frontier methods in learning causality and relations along with the connections between causality and machine learning. This work points out on a case-by-case basis how big data facilitates, complicates, or motivates each approach.
We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.
High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.
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