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We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited to devise an efficient swing-up strategy for a double pendulum with weak, saturating actuators. Our approach involves stabilizing the system onto periodic orbits associated with the nonlinear modes while gradually injecting energy. Since these modes are autonomous system evolutions, the required control effort for stabilization is minimal. Even with actuator limitations of less than 1% of the maximum gravitational torque, the proposed method accomplishes the swing-up of the double pendulum by allowing sufficient time.

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Data uncertainties, such as sensor noise, occlusions or limitations in the acquisition method can introduce irreducible ambiguities in images, which result in varying, yet plausible, semantic hypotheses. In Machine Learning, this ambiguity is commonly referred to as aleatoric uncertainty. In image segmentation, latent density models can be utilized to address this problem. The most popular approach is the Probabilistic U-Net (PU-Net), which uses latent Normal densities to optimize the conditional data log-likelihood Evidence Lower Bound. In this work, we demonstrate that the PU-Net latent space is severely sparse and heavily under-utilized. To address this, we introduce mutual information maximization and entropy-regularized Sinkhorn Divergence in the latent space to promote homogeneity across all latent dimensions, effectively improving gradient-descent updates and latent space informativeness. Our results show that by applying this on public datasets of various clinical segmentation problems, our proposed methodology receives up to 11% performance gains compared against preceding latent variable models for probabilistic segmentation on the Hungarian-Matched Intersection over Union. The results indicate that encouraging a homogeneous latent space significantly improves latent density modeling for medical image segmentation.

Leveraging complementary relationships across modalities has recently drawn a lot of attention in multimodal emotion recognition. Most of the existing approaches explored cross-attention to capture the complementary relationships across the modalities. However, the modalities may also exhibit weak complementary relationships, which may deteriorate the cross-attended features, resulting in poor multimodal feature representations. To address this problem, we propose Inconsistency-Aware Cross-Attention (IACA), which can adaptively select the most relevant features on-the-fly based on the strong or weak complementary relationships across audio and visual modalities. Specifically, we design a two-stage gating mechanism that can adaptively select the appropriate relevant features to deal with weak complementary relationships. Extensive experiments are conducted on the challenging Aff-Wild2 dataset to show the robustness of the proposed model.

We propose an empirically stable and asymptotically efficient covariate-balancing approach to the problem of estimating survival causal effects in data with conditionally-independent censoring. This addresses a challenge often encountered in state-of-the-art nonparametric methods: the use of inverses of small estimated probabilities and the resulting amplification of estimation error. We validate our theoretical results in experiments on synthetic and semi-synthetic data.

We define a graph-based rate optimization problem and consider its computation, which provides a unified approach to the computation of various theoretical limits, such as the (conditional) graph entropy, rate-distortion functions and capacity-cost functions with two-sided information. Our contributions are twofold. On the theoretical side, we simplify the graph-based problem by constructing explicit graph contractions in some special cases. These efforts reduce the number of decision variables in the optimization problem. Graph characterizations for rate-distortion and capacity-cost functions with two-sided information are simplified by specializing the results. On the computational side, we design an alternating minimization algorithm for the graph-based problem, which deals with the inequality constraint by a flexible multiplier update strategy. Moreover, deflation techniques are introduced, so that the computing time can be largely reduced. Theoretical analysis shows that the algorithm converges to an optimal solution. The accuracy and efficiency of the algorithm are illustrated by numerical experiments.

Conversation requires a substantial amount of coordination between dialogue participants, from managing turn taking to negotiating mutual understanding. Part of this coordination effort surfaces as the reuse of linguistic behaviour across speakers, a process often referred to as alignment. While the presence of linguistic alignment is well documented in the literature, several questions remain open, including the extent to which patterns of reuse across speakers have an impact on the emergence of labelling conventions for novel referents. In this study, we put forward a methodology for automatically detecting shared lemmatised constructions -- expressions with a common lexical core used by both speakers within a dialogue -- and apply it to a referential communication corpus where participants aim to identify novel objects for which no established labels exist. Our analyses uncover the usage patterns of shared constructions in interaction and reveal that features such as their frequency and the amount of different constructions used for a referent are associated with the degree of object labelling convergence the participants exhibit after social interaction. More generally, the present study shows that automatically detected shared constructions offer a useful level of analysis to investigate the dynamics of reference negotiation in dialogue.

Since the introduction of the Kolmogorov complexity of binary sequences in the 1960s, there have been significant advancements in the topic of complexity measures for randomness assessment, which are of fundamental importance in theoretical computer science and of practical interest in cryptography. This survey reviews notable research from the past four decades on the linear, quadratic and maximum-order complexities of pseudo-random sequences and their relations with Lempel-Ziv complexity, expansion complexity, 2-adic complexity, and correlation measures.

Given the ubiquity of non-separable optimization problems in real worlds, in this paper we analyze and extend the large-scale version of the well-known cooperative coevolution (CC), a divide-and-conquer black-box optimization framework, on non-separable functions. First, we reveal empirical reasons of when decomposition-based methods are preferred or not in practice on some non-separable large-scale problems, which have not been clearly pointed out in many previous CC papers. Then, we formalize CC to a continuous-game model via simplification, but without losing its essential property. Different from previous evolutionary game theory for CC, our new model provides a much simpler but useful viewpoint to analyze its convergence, since only the pure Nash equilibrium concept is needed and more general fitness landscapes can be explicitly considered. Based on convergence analyses, we propose a hierarchical decomposition strategy for better generalization, as for any decomposition, there is a risk of getting trapped into a suboptimal Nash equilibrium. Finally, we use powerful distributed computing to accelerate it under the recent multi-level learning framework, which combines the fine-tuning ability from decomposition with the invariance property of CMA-ES. Experiments on a set of high-dimensional test functions validate both its search performance and scalability (w.r.t. CPU cores) on a clustering computing platform with 400 CPU cores.

Datasets in which measurements of two (or more) types are obtained from a common set of samples arise in many scientific applications. A common problem in the exploratory analysis of such data is to identify groups of features of different data types that are strongly associated. A bimodule is a pair (A,B) of feature sets from two data types such that the aggregate cross-correlation between the features in A and those in B is large. A bimodule (A,B) is stable if A coincides with the set of features that have significant aggregate correlation with the features in B, and vice-versa. This paper proposes an iterative-testing based bimodule search procedure (BSP) to identify stable bimodules. Compared to existing methods for detecting cross-correlated features, BSP was the best at recovering true bimodules with sufficient signal, while limiting the false discoveries. In addition, we applied BSP to the problem of expression quantitative trait loci (eQTL) analysis using data from the GTEx consortium. BSP identified several thousand SNP-gene bimodules. While many of the individual SNP-gene pairs appearing in the discovered bimodules were identified by standard eQTL methods, the discovered bimodules revealed genomic subnetworks that appeared to be biologically meaningful and worthy of further scientific investigation.

Gate-defined quantum dots are a promising candidate system to realize scalable, coupled qubit systems and serve as a fundamental building block for quantum computers. However, present-day quantum dot devices suffer from imperfections that must be accounted for, which hinders the characterization, tuning, and operation process. Moreover, with an increasing number of quantum dot qubits, the relevant parameter space grows sufficiently to make heuristic control infeasible. Thus, it is imperative that reliable and scalable autonomous tuning approaches are developed. In this report, we outline current challenges in automating quantum dot device tuning and operation with a particular focus on datasets, benchmarking, and standardization. We also present ideas put forward by the quantum dot community on how to overcome them.

We propose a Cholesky factor parameterization of correlation matrices that facilitates a priori restrictions on the correlation matrix. It is a smooth and differentiable transform that allows additional boundary constraints on the correlation values. Our particular motivation is random sampling under positivity constraints on the space of correlation matrices using MCMC methods.

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