This work introduces a preference learning method that ensures adherence to given specifications, with an application to autonomous vehicles. Our approach incorporates the priority ordering of Signal Temporal Logic (STL) formulas describing traffic rules into a learning framework. By leveraging Parametric Weighted Signal Temporal Logic (PWSTL), we formulate the problem of safety-guaranteed preference learning based on pairwise comparisons and propose an approach to solve this learning problem. Our approach finds a feasible valuation for the weights of the given PWSTL formula such that, with these weights, preferred signals have weighted quantitative satisfaction measures greater than their non-preferred counterparts. The feasible valuation of weights given by our approach leads to a weighted STL formula that can be used in correct-and-custom-by-construction controller synthesis. We demonstrate the performance of our method with a pilot human subject study in two different simulated driving scenarios involving a stop sign and a pedestrian crossing. Our approach yields competitive results compared to existing preference learning methods in terms of capturing preferences and notably outperforms them when safety is considered.
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To accelerate the process of materials design, materials science has increasingly used data driven techniques to extract information from collected data. Specially, machine learning (ML) algorithms, which span the ML discipline, have demonstrated ability to predict various properties of materials with the level of accuracy similar to explicit calculation of quantum mechanical theories, but with significantly reduced run time and computational resources. Within ML, graph neural networks have emerged as an important algorithm within the field of machine learning, since they are capable of predicting accurately a wide range of important physical, chemical and electronic properties due to their higher learning ability based on the graph representation of material and molecular descriptors through the aggregation of information embedded within the graph. In parallel with the development of state of the art classical machine learning applications, the fusion of quantum computing and machine learning have created a new paradigm where classical machine learning model can be augmented with quantum layers which are able to encode high dimensional data more efficiently. Leveraging the structure of existing algorithms, we developed a unique and novel gradient free hybrid quantum classical convoluted graph neural network (HyQCGNN) to predict formation energies of perovskite materials. The performance of our hybrid statistical model is competitive with the results obtained purely from a classical convoluted graph neural network, and other classical machine learning algorithms, such as XGBoost. Consequently, our study suggests a new pathway to explore how quantum feature encoding and parametric quantum circuits can yield drastic improvements of complex ML algorithm like graph neural network.
Traditional face super-resolution (FSR) methods trained on synthetic datasets usually have poor generalization ability for real-world face images. Recent work has utilized complex degradation models or training networks to simulate the real degradation process, but this limits the performance of these methods due to the domain differences that still exist between the generated low-resolution images and the real low-resolution images. Moreover, because of the existence of a domain gap, the semantic feature information of the target domain may be affected when synthetic data and real data are utilized to train super-resolution models simultaneously. In this study, a real-world face super-resolution teacher-student model is proposed, which considers the domain gap between real and synthetic data and progressively includes diverse edge information by using the recurrent network's intermediate outputs. Extensive experiments demonstrate that our proposed approach surpasses state-of-the-art methods in obtaining high-quality face images for real-world FSR.
The end-to-end learning pipeline is gradually creating a paradigm shift in the ongoing development of highly autonomous vehicles, largely due to advances in deep learning, the availability of large-scale training datasets, and improvements in integrated sensor devices. However, a lack of interpretability in real-time decisions with contemporary learning methods impedes user trust and attenuates the widespread deployment and commercialization of such vehicles. Moreover, the issue is exacerbated when these cars are involved in or cause traffic accidents. Such drawback raises serious safety concerns from societal and legal perspectives. Consequently, explainability in end-to-end autonomous driving is essential to build trust in vehicular automation. However, the safety and explainability aspects of end-to-end driving have generally been investigated disjointly by researchers in today's state of the art. This survey aims to bridge the gaps between these topics and seeks to answer the following research question: When and how can explanations improve safety of end-to-end autonomous driving? In this regard, we first revisit established safety and state-of-the-art explainability techniques in end-to-end driving. Furthermore, we present three critical case studies and show the pivotal role of explanations in enhancing self-driving safety. Finally, we describe insights from empirical studies and reveal potential value, limitations, and caveats of practical explainable AI methods with respect to their safety assurance in end-to-end autonomous driving.
Learned indexes leverage machine learning models to accelerate query answering in databases, showing impressive practical performance. However, theoretical understanding of these methods remains incomplete. Existing research suggests that learned indexes have superior asymptotic complexity compared to their non-learned counterparts, but these findings have been established under restrictive probabilistic assumptions. Specifically, for a sorted array with $n$ elements, it has been shown that learned indexes can find a key in $O(\log(\log n))$ expected time using at most linear space, compared with $O(\log n)$ for non-learned methods. In this work, we prove $O(1)$ expected time can be achieved with at most linear space, thereby establishing the tightest upper bound so far for the time complexity of an asymptotically optimal learned index. Notably, we use weaker probabilistic assumptions than prior work, meaning our results generalize previous efforts. Furthermore, we introduce a new measure of statistical complexity for data. This metric exhibits an information-theoretical interpretation and can be estimated in practice. This characterization provides further theoretical understanding of learned indexes, by helping to explain why some datasets seem to be particularly challenging for these methods.
Subgraph representation learning has emerged as an important problem, but it is by default approached with specialized graph neural networks on a large global graph. These models demand extensive memory and computational resources but challenge modeling hierarchical structures of subgraphs. In this paper, we propose Subgraph-To-Node (S2N) translation, a novel formulation for learning representations of subgraphs. Specifically, given a set of subgraphs in the global graph, we construct a new graph by coarsely transforming subgraphs into nodes. Demonstrating both theoretical and empirical evidence, S2N not only significantly reduces memory and computational costs compared to state-of-the-art models but also outperforms them by capturing both local and global structures of the subgraph. By leveraging graph coarsening methods, our method outperforms baselines even in a data-scarce setting with insufficient subgraphs. Our experiments on eight benchmarks demonstrate that fined-tuned models with S2N translation can process 183 -- 711 times more subgraph samples than state-of-the-art models at a better or similar performance level.
As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning techniques to model and control systems that are difficult to model using first principles. However, providing safety assurances for such systems remains difficult, partially due to the uncertainty in the learned model. In this work, we aim to provide safety assurances for systems whose dynamics are not readily derived from first principles and, hence, are more advantageous to be learned using deep learning techniques. Given the system of interest and safety constraints, we learn an ensemble model of the system dynamics from data. Leveraging ensemble uncertainty as a measure of uncertainty in the learned dynamics model, we compute a maximal robust control invariant set, starting from which the system is guaranteed to satisfy the safety constraints under the condition that realized model uncertainties are contained in the predefined set of admissible model uncertainty. We demonstrate the effectiveness of our method using a simulated case study with an inverted pendulum and a hardware experiment with a TurtleBot. The experiments show that our method robustifies the control actions of the system against model uncertainty and generates safe behaviors without being overly restrictive. The codes and accompanying videos can be found on the project website.
The robust constrained Markov decision process (RCMDP) is a recent task-modelling framework for reinforcement learning that incorporates behavioural constraints and that provides robustness to errors in the transition dynamics model through the use of an uncertainty set. Simulating RCMDPs requires computing the worst-case dynamics based on value estimates for each state, an approach which has previously been used in the Robust Constrained Policy Gradient (RCPG). Highlighting potential downsides of RCPG such as not robustifying the full constrained objective and the lack of incremental learning, this paper introduces two algorithms, called RCPG with Robust Lagrangian and Adversarial RCPG. RCPG with Robust Lagrangian modifies RCPG by taking the worst-case dynamics based on the Lagrangian rather than either the value or the constraint. Adversarial RCPG also formulates the worst-case dynamics based on the Lagrangian but learns this directly and incrementally as an adversarial policy through gradient descent rather than indirectly and abruptly through constrained optimisation on a sorted value list. A theoretical analysis first derives the Lagrangian policy gradient for the policy optimisation of both proposed algorithms and then the adversarial policy gradient to learn the adversary for Adversarial RCPG. Empirical experiments injecting perturbations in inventory management and safe navigation tasks demonstrate the competitive performance of both algorithms compared to traditional RCPG variants as well as non-robust and non-constrained ablations. In particular, Adversarial RCPG ranks among the top two performing algorithms on all tests.
Domain experts can play a crucial role in guiding data scientists to optimize machine learning models while ensuring contextual relevance for downstream use. However, in current workflows, such collaboration is challenging due to differing expertise, abstract documentation practices, and lack of access and visibility into low-level implementation artifacts. To address these challenges and enable domain expert participation, we introduce CellSync, a collaboration framework comprising (1) a Jupyter Notebook extension that continuously tracks changes to dataframes and model metrics and (2) a Large Language Model powered visualization dashboard that makes those changes interpretable to domain experts. Through CellSync's cell-level dataset visualization with code summaries, domain experts can interactively examine how individual data and modeling operations impact different data segments. The chat features enable data-centric conversations and targeted feedback to data scientists. Our preliminary evaluation shows that CellSync provides transparency and promotes critical discussions about the intents and implications of data operations.
This study explores the application of deep learning technologies in software development processes, particularly in automating code reviews, error prediction, and test generation to enhance code quality and development efficiency. Through a series of empirical studies, experimental groups using deep learning tools and control groups using traditional methods were compared in terms of code error rates and project completion times. The results demonstrated significant improvements in the experimental group, validating the effectiveness of deep learning technologies. The research also discusses potential optimization points, methodologies, and technical challenges of deep learning in software development, as well as how to integrate these technologies into existing software development workflows.
Neural machine translation (NMT) is a deep learning based approach for machine translation, which yields the state-of-the-art translation performance in scenarios where large-scale parallel corpora are available. Although the high-quality and domain-specific translation is crucial in the real world, domain-specific corpora are usually scarce or nonexistent, and thus vanilla NMT performs poorly in such scenarios. Domain adaptation that leverages both out-of-domain parallel corpora as well as monolingual corpora for in-domain translation, is very important for domain-specific translation. In this paper, we give a comprehensive survey of the state-of-the-art domain adaptation techniques for NMT.
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