Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. Nevertheless, the spatial generalization of DMP can be problematic in some cases, leading to excessive or unnatural spatial scaling. Moreover, incorporating intermediate points (via-points) to adjust the DMP trajectory, is not adequately addressed. In this work we propose an improved online spatial generalization, that remedies the shortcomings of the classical DMP generalization, and moreover allows the incorporation of dynamic via-points. This is achieved by designing an online adaptation scheme for the DMP weights which is proved to minimize the distance from the demonstrated acceleration profile in order to retain the shape of the demonstration, subject to dynamic via-point and initial/final state constraints. Extensive comparative simulations with the classical and other DMP variants are conducted, while experimental results validate the applicability and efficacy of the proposed method.
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Selecting an effective training signal for tasks in natural language processing is difficult: expert annotations are expensive, and crowd-sourced annotations may not be reliable. At the same time, recent work in NLP has demonstrated that learning from a distribution over labels acquired from crowd annotations can be effective. However, there are many ways to acquire such a distribution, and the performance allotted by any one method can fluctuate based on the task and the amount of available crowd annotations, making it difficult to know a priori which distribution is best. This paper systematically analyzes this in the out-of-domain setting, adding to the NLP literature which has focused on in-domain evaluation, and proposes new methods for acquiring soft-labels from crowd-annotations by aggregating the distributions produced by existing methods. In particular, we propose to aggregate multiple-views of crowd annotations via temperature scaling and finding their Jensen-Shannon centroid. We demonstrate that these aggregation methods lead to the most consistent performance across four NLP tasks on out-of-domain test sets, mitigating fluctuations in performance from the individual distributions. Additionally, aggregation results in the most consistently well-calibrated uncertainty estimation. We argue that aggregating different views of crowd-annotations is an effective and minimal intervention to acquire soft-labels which induce robust classifiers despite the inconsistency of the individual soft-labeling methods.
Hybrid retrievers can take advantage of both sparse and dense retrievers. Previous hybrid retrievers leverage indexing-heavy dense retrievers. In this work, we study "Is it possible to reduce the indexing memory of hybrid retrievers without sacrificing performance"? Driven by this question, we leverage an indexing-efficient dense retriever (i.e. DrBoost) and introduce a LITE retriever that further reduces the memory of DrBoost. LITE is jointly trained on contrastive learning and knowledge distillation from DrBoost. Then, we integrate BM25, a sparse retriever, with either LITE or DrBoost to form light hybrid retrievers. Our Hybrid-LITE retriever saves 13X memory while maintaining 98.0% performance of the hybrid retriever of BM25 and DPR. In addition, we study the generalization capacity of our light hybrid retrievers on out-of-domain dataset and a set of adversarial attacks datasets. Experiments showcase that light hybrid retrievers achieve better generalization performance than individual sparse and dense retrievers. Nevertheless, our analysis shows that there is a large room to improve the robustness of retrievers, suggesting a new research direction.
Additive spatial statistical models with weakly stationary process assumptions have become standard in spatial statistics. However, one disadvantage of such models is the computation time, which rapidly increases with the number of datapoints. The goal of this article is to apply an existing subsampling strategy to standard spatial additive models and to derive the spatial statistical properties. We call this strategy the ``spatial data subset model'' approach, which can be applied to big datasets in a computationally feasible way. Our approach has the advantage that one does not require any additional restrictive model assumptions. That is, computational gains increase as model assumptions are removed when using our model framework. This provides one solution to the computational bottlenecks that occur when applying methods such as Kriging to ``big data''. We provide several properties of this new spatial data subset model approach in terms of moments, sill, nugget, and range under several sampling designs. The biggest advantage of our approach is that it is scalable to a dataset of any size that can be stored. We present the results of the spatial data subset model approach on simulated datasets, and on a large dataset consists of 150,000 observations of daytime land surface temperatures measured by the MODIS instrument onboard the Terra satellite.
Factors models are routinely used to analyze high-dimensional data in both single-study and multi-study settings. Bayesian inference for such models relies on Markov Chain Monte Carlo (MCMC) methods which scale poorly as the number of studies, observations, or measured variables increase. To address this issue, we propose variational inference algorithms to approximate the posterior distribution of Bayesian latent factor models using the multiplicative gamma process shrinkage prior. The proposed algorithms provide fast approximate inference at a fraction of the time and memory of MCMC-based implementations while maintaining comparable accuracy in characterizing the data covariance matrix. We conduct extensive simulations to evaluate our proposed algorithms and show their utility in estimating the model for high-dimensional multi-study gene expression data in ovarian cancers. Overall, our proposed approaches enable more efficient and scalable inference for factor models, facilitating their use in high-dimensional settings.
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate sub-teams for different tasks; (ii) designing collaborative control strategies to execute these tasks. The former aspect can be combinatorial w.r.t. the team size, while the latter requires optimization over joint state-spaces under geometric and dynamic constraints. Existing work often tackles one aspect by assuming the other is given, while ignoring their close dependency. This work formulates such problems as combinatorial-hybrid optimizations (CHO), where both the discrete modes of collaboration and the continuous control parameters are optimized simultaneously and iteratively. The proposed framework consists of two interleaved layers: the dynamic formation of task coalitions and the hybrid optimization of collaborative behaviors. Overall feasibility and costs of different coalitions performing various tasks are approximated at different granularities to improve the computational efficiency. At last, a Nash-stable strategy for both task assignment and execution is derived with provable guarantee on the feasibility and quality. Two non-trivial applications of collaborative transportation and dynamic capture are studied against several baselines.
In many real-world settings agents engage in strategic interactions with multiple opposing agents who can employ a wide variety of strategies. The standard approach for designing agents for such settings is to compute or approximate a relevant game-theoretic solution concept such as Nash equilibrium and then follow the prescribed strategy. However, such a strategy ignores any observations of opponents' play, which may indicate shortcomings that can be exploited. We present an approach for opponent modeling in multiplayer imperfect-information games where we collect observations of opponents' play through repeated interactions. We run experiments against a wide variety of real opponents and exact Nash equilibrium strategies in three-player Kuhn poker and show that our algorithm significantly outperforms all of the agents, including the exact Nash equilibrium strategies.
Spiking neural networks (SNNs) process time-series data via internal event-driven neural dynamics whose energy consumption depends on the number of spikes exchanged between neurons over the course of the input presentation. In typical implementations of an SNN classifier, decisions are produced after the entire input sequence has been processed, resulting in latency and energy consumption levels that are fairly uniform across inputs. Recently introduced delay-adaptive SNNs tailor the inference latency -- and, with it, the energy consumption -- to the difficulty of each example, by producing an early decision when the SNN model is sufficiently ``confident''. In this paper, we start by observing that, as an SNN processes input samples, its classification decisions tend to be first under-confident and then over-confident with respect to the decision's ground-truth, unknown, test accuracy. This makes it difficult to determine a stopping time that ensures a desired level of accuracy. To address this problem, we introduce a novel delay-adaptive SNN-based inference methodology that, wrapping around any pre-trained SNN classifier, provides guaranteed reliability for the decisions produced at input-dependent stopping times. The approach entails minimal added complexity as compared to the underlying SNN, requiring only thresholding and counting operations at run time, and it leverages tools from conformal prediction (CP).
Invariant risk minimization (IRM) has recently emerged as a promising alternative for domain generalization. Nevertheless, the loss function is difficult to optimize for nonlinear classifiers and the original optimization objective could fail when pseudo-invariant features and geometric skews exist. Inspired by IRM, in this paper we propose a novel formulation for domain generalization, dubbed invariant information bottleneck (IIB). IIB aims at minimizing invariant risks for nonlinear classifiers and simultaneously mitigating the impact of pseudo-invariant features and geometric skews. Specifically, we first present a novel formulation for invariant causal prediction via mutual information. Then we adopt the variational formulation of the mutual information to develop a tractable loss function for nonlinear classifiers. To overcome the failure modes of IRM, we propose to minimize the mutual information between the inputs and the corresponding representations. IIB significantly outperforms IRM on synthetic datasets, where the pseudo-invariant features and geometric skews occur, showing the effectiveness of proposed formulation in overcoming failure modes of IRM. Furthermore, experiments on DomainBed show that IIB outperforms $13$ baselines by $0.9\%$ on average across $7$ real datasets.
Visual dialogue is a challenging task that needs to extract implicit information from both visual (image) and textual (dialogue history) contexts. Classical approaches pay more attention to the integration of the current question, vision knowledge and text knowledge, despising the heterogeneous semantic gaps between the cross-modal information. In the meantime, the concatenation operation has become de-facto standard to the cross-modal information fusion, which has a limited ability in information retrieval. In this paper, we propose a novel Knowledge-Bridge Graph Network (KBGN) model by using graph to bridge the cross-modal semantic relations between vision and text knowledge in fine granularity, as well as retrieving required knowledge via an adaptive information selection mode. Moreover, the reasoning clues for visual dialogue can be clearly drawn from intra-modal entities and inter-modal bridges. Experimental results on VisDial v1.0 and VisDial-Q datasets demonstrate that our model outperforms exiting models with state-of-the-art results.
Weakly supervised phrase grounding aims at learning region-phrase correspondences using only image-sentence pairs. A major challenge thus lies in the missing links between image regions and sentence phrases during training. To address this challenge, we leverage a generic object detector at training time, and propose a contrastive learning framework that accounts for both region-phrase and image-sentence matching. Our core innovation is the learning of a region-phrase score function, based on which an image-sentence score function is further constructed. Importantly, our region-phrase score function is learned by distilling from soft matching scores between the detected object class names and candidate phrases within an image-sentence pair, while the image-sentence score function is supervised by ground-truth image-sentence pairs. The design of such score functions removes the need of object detection at test time, thereby significantly reducing the inference cost. Without bells and whistles, our approach achieves state-of-the-art results on the task of visual phrase grounding, surpassing previous methods that require expensive object detectors at test time.
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