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We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical properties. Then we distill it to operate on realistic yet noisy simulated visuotactile and proprioceptive sensory inputs. These multimodal inputs are fused via a visuotactile transformer, enabling online inference of object shapes and physical properties during deployment. We show significant performance improvements over prior methods and the importance of visual and tactile sensing.

Valued constraint satisfaction problems (VCSPs) are a large class of computational optimisation problems. If the variables of a VCSP take values from a finite domain, then recent results in constraint satisfaction imply that the problem is in P or NP-complete, depending on the set of admitted cost functions. Here we study the larger class of cost functions over countably infinite domains that have an oligomorphic automorphism group. We present a hardness condition based on a generalisation of pp-constructability as known for (classical) CSPs. We also provide a universal-algebraic polynomial-time tractability condition, based on the concept of fractional polymorphisms. We apply our general theory to study the computational complexity of resilience problems in database theory (under bag semantics). We show how to construct, for every fixed conjunctive query (and more generally for every union of conjunctive queries), a set of cost functions with an oligomorphic automorphism group such that the resulting VCSP is polynomial-time equivalent to the resilience problem; we only require that the query is connected and show that this assumption can be made without loss of generality. For the case where the query is acylic, we obtain a complexity dichotomy of the resilience problem, based on the dichotomy for finite-domain VCSPs. To illustrate the utility of our methods, we exemplarily settle the complexity of a (non-acyclic) conjunctive query whose computational complexity remained open in the literature by verifying that it satisfies our tractability condition. We conjecture that for resilience problems, our hardness and tractability conditions match, which would establish a complexity dichotomy for resilience problems for (unions of) conjunctive queries.

This paper addresses the problem of statistical inference for latent continuous-time stochastic processes, which is often intractable, particularly for discrete state space processes described by Markov jump processes. To overcome this issue, we propose a new tractable inference scheme based on an entropic matching framework that can be embedded into the well-known expectation propagation algorithm. We demonstrate the effectiveness of our method by providing closed-form results for a simple family of approximate distributions and apply it to the general class of chemical reaction networks, which are a crucial tool for modeling in systems biology. Moreover, we derive closed form expressions for point estimation of the underlying parameters using an approximate expectation maximization procedure. We evaluate the performance of our method on various chemical reaction network instantiations, including a stochastic Lotka-Voltera example, and discuss its limitations and potential for future improvements. Our proposed approach provides a promising direction for addressing complex continuous-time Bayesian inference problems.

Subgraph counting is a fundamental problem in understanding and analyzing graph structured data, yet computationally challenging. This calls for an accurate and efficient algorithm for Subgraph Cardinality Estimation, which is to estimate the number of all isomorphic embeddings of a query graph in a data graph. We present FaSTest, a novel algorithm that combines (1) a powerful filtering technique to significantly reduce the sample space, (2) an adaptive tree sampling algorithm for accurate and efficient estimation, and (3) a worst-case optimal stratified graph sampling algorithm for difficult instances. Extensive experiments on real-world datasets show that FaSTest outperforms state-of-the-art sampling-based methods by up to two orders of magnitude and GNN-based methods by up to three orders of magnitude in terms of accuracy.

A popular heuristic method for improving clustering results is to apply dimensionality reduction before running clustering algorithms. It has been observed that spectral-based dimensionality reduction tools, such as PCA or SVD, improve the performance of clustering algorithms in many applications. This phenomenon indicates that spectral method not only serves as a dimensionality reduction tool, but also contributes to the clustering procedure in some sense. It is an interesting question to understand the behavior of spectral steps in clustering problems. As an initial step in this direction, this paper studies the power of vanilla-SVD algorithm in the stochastic block model (SBM). We show that, in the symmetric setting, vanilla-SVD algorithm recovers all clusters correctly. This result answers an open question posed by Van Vu (Combinatorics Probability and Computing, 2018) in the symmetric setting.

The NSGA-II is one of the most prominent algorithms to solve multi-objective optimization problems. Despite numerous successful applications, several studies have shown that the NSGA-II is less effective for larger numbers of objectives. In this work, we use mathematical runtime analyses to rigorously demonstrate and quantify this phenomenon. We show that even on the simple $m$-objective generalization of the discrete OneMinMax benchmark, where every solution is Pareto optimal, the NSGA-II also with large population sizes cannot compute the full Pareto front (objective vectors of all Pareto optima) in sub-exponential time when the number of objectives is at least three. The reason for this unexpected behavior lies in the fact that in the computation of the crowding distance, the different objectives are regarded independently. This is not a problem for two objectives, where any sorting of a pair-wise incomparable set of solutions according to one objective is also such a sorting according to the other objective (in the inverse order).

We propose the use of a lower or upper triangular sub-base matrix to replace the identity matrix in the source-check-channel-variable linking protomatrix of a double-protograph low-density parity-check joint-source-channel code (DP-LDPC JSCC). The elements along the diagonal of the proposed lower or upper triangular sub-base matrix are assigned as "1" and the other non-zero elements can take any non-negative integral values. Compared with the traditional DP-LDPC JSCC designs, the new designs show a theoretical channel threshold improvement of up to 0.41 dB and a simulated source symbol error rate improvement of up to 0.5 dB at an error rate of 1e-6.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

As soon as abstract mathematical computations were adapted to computation on digital computers, the problem of efficient representation, manipulation, and communication of the numerical values in those computations arose. Strongly related to the problem of numerical representation is the problem of quantization: in what manner should a set of continuous real-valued numbers be distributed over a fixed discrete set of numbers to minimize the number of bits required and also to maximize the accuracy of the attendant computations? This perennial problem of quantization is particularly relevant whenever memory and/or computational resources are severely restricted, and it has come to the forefront in recent years due to the remarkable performance of Neural Network models in computer vision, natural language processing, and related areas. Moving from floating-point representations to low-precision fixed integer values represented in four bits or less holds the potential to reduce the memory footprint and latency by a factor of 16x; and, in fact, reductions of 4x to 8x are often realized in practice in these applications. Thus, it is not surprising that quantization has emerged recently as an important and very active sub-area of research in the efficient implementation of computations associated with Neural Networks. In this article, we survey approaches to the problem of quantizing the numerical values in deep Neural Network computations, covering the advantages/disadvantages of current methods. With this survey and its organization, we hope to have presented a useful snapshot of the current research in quantization for Neural Networks and to have given an intelligent organization to ease the evaluation of future research in this area.

Dynamic programming (DP) solves a variety of structured combinatorial problems by iteratively breaking them down into smaller subproblems. In spite of their versatility, DP algorithms are usually non-differentiable, which hampers their use as a layer in neural networks trained by backpropagation. To address this issue, we propose to smooth the max operator in the dynamic programming recursion, using a strongly convex regularizer. This allows to relax both the optimal value and solution of the original combinatorial problem, and turns a broad class of DP algorithms into differentiable operators. Theoretically, we provide a new probabilistic perspective on backpropagating through these DP operators, and relate them to inference in graphical models. We derive two particular instantiations of our framework, a smoothed Viterbi algorithm for sequence prediction and a smoothed DTW algorithm for time-series alignment. We showcase these instantiations on two structured prediction tasks and on structured and sparse attention for neural machine translation.