Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization and robustness properties. Nevertheless, their generalization is based only on the trajectory endpoints (initial and target position). Moreover, the spatial generalization of DMP is known to suffer from shortcomings like over-scaling and mirroring of the motion. In this work we propose a novel generalization scheme, based on optimizing online the DMP weights so that the acceleration profile and hence the underlying training trajectory pattern is preserved. This approach remedies the shortcomings of the classical DMP scaling and additionally allows the DMP to generalize also to intermediate points (via-points) and external signals (coupling terms), while preserving the training trajectory pattern. 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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Gradients have been exploited in proposal distributions to accelerate the convergence of Markov chain Monte Carlo algorithms on discrete distributions. However, these methods require a natural differentiable extension of the target discrete distribution, which often does not exist or does not provide effective gradient guidance. In this paper, we develop a gradient-like proposal for any discrete distribution without this strong requirement. Built upon a locally-balanced proposal, our method efficiently approximates the discrete likelihood ratio via Newton's series expansion to enable a large and efficient exploration in discrete spaces. We show that our method can also be viewed as a multilinear extension, thus inheriting its desired properties. We prove that our method has a guaranteed convergence rate with or without the Metropolis-Hastings step. Furthermore, our method outperforms a number of popular alternatives in several different experiments, including the facility location problem, extractive text summarization, and image retrieval.
The kidney exchange problem (KEP) seeks to find possible exchanges among pairs of patients and their incompatible kidney donors while meeting specific optimization criteria such as maximizing the overall number of possible transplants. In practice, patient-donor pairs register with so-called kidney exchange platforms which determine exchange cycles in a centralized fashion. Such a centralized approach raises numerous security concerns. Thus, several privacy-preserving protocols for solving the KEP have been proposed recently. However, the protocols known to date lack scalability in practice since the KEP is an NP-complete problem. We address this issue by proposing a novel privacy-preserving protocol which computes an approximate solution to the KEP that scales well for the large numbers of patient-donor pairs encountered in practice. In contrast to the only other existing protocol that computes an approximate solution to the KEP, our protocol is entirely data oblivious and it exhibits a far superior run time performance without suffering a loss in the quality of the approximation. As a second contribution, we simulate the application of our novel protocol as part of a kidney exchange platform, where patient-donor pairs register and de-register over time and exchanges are determined on a regular basis. In this dynamic setting, the application of our novel privacy-preserving approximation protocol yields a larger number of transplants over time than using the best known privacy-preserving protocol for solving the KEP. Our simulation further shows that the difference between the number of transplants found when using our novel protocol in this dynamic setting compared to the non-privacy-preserving state-of-the-art approach is negligible in practice.
In this paper, we develop a novel high-dimensional coefficient estimation procedure based on high-frequency data. Unlike usual high-dimensional regression procedure such as LASSO, we additionally handle the heavy-tailedness of high-frequency observations as well as time variations of coefficient processes. Specifically, we employ Huber loss and truncation scheme to handle heavy-tailed observations, while $\ell_{1}$-regularization is adopted to overcome the curse of dimensionality under a sparse coefficient structure. To account for the time-varying coefficient, we estimate local high-dimensional coefficients which are biased estimators due to the $\ell_{1}$-regularization. Thus, when estimating integrated coefficients, we propose a debiasing scheme to enjoy the law of large number property and employ a thresholding scheme to further accommodate the sparsity of the coefficients. We call this Robust thrEsholding Debiased LASSO (RED-LASSO) estimator. We show that the RED-LASSO estimator can achieve a near-optimal convergence rate with only finite $\gamma$th moment for any $\gamma>2$. In the empirical study, we apply the RED-LASSO procedure to the high-dimensional integrated coefficient estimation using high-frequency trading data.
Iris Presentation Attack Detection (PAD) is essential to secure iris recognition systems. Recent iris PAD solutions achieved good performance by leveraging deep learning techniques. However, most results were reported under intra-database scenarios and it is unclear if such solutions can generalize well across databases and capture spectra. These PAD methods run the risk of overfitting because of the binary label supervision during the network training, which serves global information learning but weakens the capture of local discriminative features. This chapter presents a novel attention-based deep pixel-wise binary supervision (A-PBS) method. A-PBS utilizes pixel-wise supervision to capture the fine-grained pixel/patch-level cues and attention mechanism to guide the network to automatically find regions where most contribute to an accurate PAD decision. Extensive experiments are performed on six NIR and one visible-light iris databases to show the effectiveness and robustness of proposed A-PBS methods. We additionally conduct extensive experiments under intra-/cross-database and intra-/cross-spectrum for detailed analysis. The results of our experiments indicates the generalizability of the A-PBS iris PAD approach.
To deploy and operate deep neural models in production, the quality of their predictions, which might be contaminated benignly or manipulated maliciously by input distributional deviations, must be monitored and assessed. Specifically, we study the case of monitoring the healthy operation of a deep neural network (DNN) receiving a stream of data, with the aim of detecting input distributional deviations over which the quality of the network's predictions is potentially damaged. Using selective prediction principles, we propose a distribution deviation detection method for DNNs. The proposed method is derived from a tight coverage generalization bound computed over a sample of instances drawn from the true underlying distribution. Based on this bound, our detector continuously monitors the operation of the network over a test window and fires off an alarm whenever a deviation is detected. This novel detection method consistently and significantly outperforms the state of the art with respect to the CIFAR-10 and ImageNet datasets, thus establishing a new performance bar for this task, while being substantially more efficient in time and space complexities.
Out-of-distribution (OOD) detection is concerned with identifying data points that do not belong to the same distribution as the model's training data. For the safe deployment of predictive models in a real-world environment, it is critical to avoid making confident predictions on OOD inputs as it can lead to potentially dangerous consequences. However, OOD detection largely remains an under-explored area in the audio (and speech) domain. This is despite the fact that audio is a central modality for many tasks, such as speaker diarization, automatic speech recognition, and sound event detection. To address this, we propose to leverage feature-space of the model with deep k-nearest neighbors to detect OOD samples. We show that this simple and flexible method effectively detects OOD inputs across a broad category of audio (and speech) datasets. Specifically, it improves the false positive rate (FPR@TPR95) by 17% and the AUROC score by 7% than other prior techniques.
Due to the success of the pre-trained language model (PLM), existing PLM-based summarization models show their powerful generative capability. However, these models are trained on general-purpose summarization datasets, leading to generated summaries failing to satisfy the needs of different readers. To generate summaries with topics, many efforts have been made on topic-focused summarization. However, these works generate a summary only guided by a prompt comprising topic words. Despite their success, these methods still ignore the disturbance of sentences with non-relevant topics and only conduct cross-interaction between tokens by attention module. To address this issue, we propose a topic-arc recognition objective and topic-selective graph network. First, the topic-arc recognition objective is used to model training, which endows the capability to discriminate topics for the model. Moreover, the topic-selective graph network can conduct topic-guided cross-interaction on sentences based on the results of topic-arc recognition. In the experiments, we conduct extensive evaluations on NEWTS and COVIDET datasets. Results show that our methods achieve state-of-the-art performance.
Among various sensors for assisted and autonomous driving systems, automotive radar has been considered as a robust and low-cost solution even in adverse weather or lighting conditions. With the recent development of radar technologies and open-sourced annotated data sets, semantic segmentation with radar signals has become very promising. However, existing methods are either computationally expensive or discard significant amounts of valuable information from raw 3D radar signals by reducing them to 2D planes via averaging. In this work, we introduce ERASE-Net, an Efficient RAdar SEgmentation Network to segment the raw radar signals semantically. The core of our approach is the novel detect-then-segment method for raw radar signals. It first detects the center point of each object, then extracts a compact radar signal representation, and finally performs semantic segmentation. We show that our method can achieve superior performance on radar semantic segmentation task compared to the state-of-the-art (SOTA) technique. Furthermore, our approach requires up to 20x less computational resources. Finally, we show that the proposed ERASE-Net can be compressed by 40% without significant loss in performance, significantly more than the SOTA network, which makes it a more promising candidate for practical automotive applications.
Motivated by multi-center biomedical studies that cannot share individual data due to privacy and ownership concerns, we develop communication-efficient iterative distributed algorithms for estimation and inference in the high-dimensional sparse Cox proportional hazards model. We demonstrate that our estimator, even with a relatively small number of iterations, achieves the same convergence rate as the ideal full-sample estimator under very mild conditions. To construct confidence intervals for linear combinations of high-dimensional hazard regression coefficients, we introduce a novel debiased method, establish central limit theorems, and provide consistent variance estimators that yield asymptotically valid distributed confidence intervals. In addition, we provide valid and powerful distributed hypothesis tests for any coordinate element based on a decorrelated score test. We allow time-dependent covariates as well as censored survival times. Extensive numerical experiments on both simulated and real data lend further support to our theory and demonstrate that our communication-efficient distributed estimators, confidence intervals, and hypothesis tests improve upon alternative methods.
A popular way to define or characterize graph classes is via forbidden subgraphs or forbidden minors. These characterizations play a key role in graph theory, but they rarely lead to efficient algorithms to recognize these classes. In contrast, many essential graph classes can be recognized efficiently thanks to characterizations of the following form: there must exist an ordering of the vertices such that some ordered pattern does not appear, where a pattern is basically an ordered subgraph. These pattern characterizations have been studied for decades, but there have been recent efforts to better understand them systematically. In this paper, we focus on a simple problem at the core of this topic: given an ordered graph of size $n$, how fast can we detect whether a fixed pattern of size $k$ is present? Following the literature on graph classes recognition, we first look for patterns that can be detected in linear time. We prove, among other results, that almost all patterns on three vertices (which capture many interesting classes, such as interval, chordal, split, bipartite, and comparability graphs) fall in this category. Then, in a finer-grained complexity perspective, we prove conditional lower bounds for this problem. In particular we show that for a large family of patterns on four vertices it is unlikely that subquadratic algorithm exist. Finally, we define a parameter for patterns, the merge-width, and prove that for patterns of merge-width $t$, one can solve the problem in $O(n^{ct})$ for some constant~$c$. As a corollary, we get that detecting outerplanar patterns and other classes of patterns can be done in time independent of the size of the pattern.
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