Local interactions of uncoordinated individuals produce the collective behaviors of many biological systems, inspiring much of the current research in programmable matter. A striking example is the spontaneous assembly of fire ants into "bridges" comprising their own bodies to traverse obstacles and reach sources of food. Experiments and simulations suggest that, remarkably, these ants always form one bridge -- instead of multiple, competing bridges -- despite a lack of central coordination. We argue that the reliable formation of a single bridge does not require sophistication on behalf of the individuals by provably reproducing this behavior in a self-organizing particle system. We show that the formation of a single bridge by the particles is a statistical inevitability of their preferences to move in a particular direction, such as toward a food source, and their preference for more neighbors. Two parameters, $\eta$ and $\beta$, reflect the strengths of these preferences and determine the Gibbs stationary measure of the corresponding particle system's Markov chain dynamics. We show that a single bridge almost certainly forms when $\eta$ and $\beta$ are sufficiently large. Our proof introduces an auxiliary Markov chain, called an "occupancy chain", that captures only the significant, global changes to the system. Through the occupancy chain, we abstract away information about the motion of individual particles, but we gain a more direct means of analyzing their collective behavior. Such abstractions provide a promising new direction for understanding many other systems of programmable matter.
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Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these methods often converge to locally optimal solutions and frequently switch between different local minima, leading to inefficient and unsafe robot motion. In this work, We propose a novel topology-driven trajectory optimization strategy for dynamic environments that plans multiple distinct evasive trajectories to enhance the robot's behavior and efficiency. A global planner iteratively generates trajectories in distinct homotopy classes. These trajectories are then optimized by local planners working in parallel. While each planner shares the same navigation objectives, they are locally constrained to a specific homotopy class, meaning each local planner attempts a different evasive maneuver. The robot then executes the feasible trajectory with the lowest cost in a receding horizon manner. We demonstrate, on a mobile robot navigating among pedestrians, that our approach leads to faster and safer trajectories than existing planners.
While multimodal foundation models can now natively work with data beyond text, they remain underutilized in analyzing the considerable amounts of multi-dimensional time-series data in fields like healthcare, finance, and social sciences, representing a missed opportunity for richer, data-driven insights. This paper proposes a simple but effective method that leverages the existing vision encoders of these models to "see" time-series data via plots, avoiding the need for additional, potentially costly, model training. Our empirical evaluations show that this approach outperforms providing the raw time-series data as text, with the additional benefit that visual time-series representations demonstrate up to a 90% reduction in model API costs. We validate our hypothesis through synthetic data tasks of increasing complexity, progressing from simple functional form identification on clean data, to extracting trends from noisy scatter plots. To demonstrate generalizability from synthetic tasks with clear reasoning steps to more complex, real-world scenarios, we apply our approach to consumer health tasks - specifically fall detection, activity recognition, and readiness assessment - which involve heterogeneous, noisy data and multi-step reasoning. The overall success in plot performance over text performance (up to an 120% performance increase on zero-shot synthetic tasks, and up to 150% performance increase on real-world tasks), across both GPT and Gemini model families, highlights our approach's potential for making the best use of the native capabilities of foundation models.
This letter introduces a machine-learning approach to learning the semantic dynamics of correlated systems with different control rules and dynamics. By leveraging the Koopman operator in an autoencoder (AE) framework, the system's state evolution is linearized in the latent space using a dynamic semantic Koopman (DSK) model, capturing the baseline semantic dynamics. Signal temporal logic (STL) is incorporated through a logical semantic Koopman (LSK) model to encode system-specific control rules. These models form the proposed logical Koopman AE framework that reduces communication costs while improving state prediction accuracy and control performance, showing a 91.65% reduction in communication samples and significant performance gains in simulation.
Distribution shifts between training and test data are inevitable over the lifecycle of a deployed model, leading to performance decay. Adapting a model on test samples can help mitigate this drop in performance. However, most test-time adaptation methods have focused on synthetic corruption shifts, leaving a variety of distribution shifts underexplored. In this paper, we focus on distribution shifts that evolve gradually over time, which are common in the wild but challenging for existing methods, as we show. To address this, we propose STAD, a probabilistic state-space model that adapts a deployed model to temporal distribution shifts by learning the time-varying dynamics in the last set of hidden features. Without requiring labels, our model infers time-evolving class prototypes that act as a dynamic classification head. Through experiments on real-world temporal distribution shifts, we show that our method excels in handling small batch sizes and label shift.
Contrastive learning, relying on effective positive and negative sample pairs, is beneficial to learn informative skeleton representations in unsupervised skeleton-based action recognition. To achieve these positive and negative pairs, existing weak/strong data augmentation methods have to randomly change the appearance of skeletons for indirectly pursuing semantic perturbations. However, such approaches have two limitations: i) solely perturbing appearance cannot well capture the intrinsic semantic information of skeletons, and ii) randomly perturbation may change the original positive/negative pairs to soft positive/negative ones. To address the above dilemma, we start the first attempt to explore an attack-based augmentation scheme that additionally brings in direct semantic perturbation, for constructing hard positive pairs and further assisting in constructing hard negative pairs. In particular, we propose a novel Attack-Augmentation Mixing-Contrastive skeletal representation learning (A$^2$MC) to contrast hard positive features and hard negative features for learning more robust skeleton representations. In A$^2$MC, Attack-Augmentation (Att-Aug) is designed to collaboratively perform targeted and untargeted perturbations of skeletons via attack and augmentation respectively, for generating high-quality hard positive features. Meanwhile, Positive-Negative Mixer (PNM) is presented to mix hard positive features and negative features for generating hard negative features, which are adopted for updating the mixed memory banks. Extensive experiments on three public datasets demonstrate that A$^2$MC is competitive with the state-of-the-art methods. The code will be accessible on A$^2$MC (//github.com/1xbq1/A2MC).
With the development and application of deep learning in signal detection tasks, the vulnerability of neural networks to adversarial attacks has also become a security threat to signal detection networks. This paper defines a signal adversarial examples generation model for signal detection network from the perspective of adding perturbations to the signal. The model uses the inequality relationship of L2-norm between time domain and time-frequency domain to constrain the energy of signal perturbations. Building upon this model, we propose a method for generating signal adversarial examples utilizing gradient-based attacks and Short-Time Fourier Transform. The experimental results show that under the constraint of signal perturbation energy ratio less than 3%, our adversarial attack resulted in a 28.1% reduction in the mean Average Precision (mAP), a 24.7% reduction in recall, and a 30.4% reduction in precision of the signal detection network. Compared to random noise perturbation of equivalent intensity, our adversarial attack demonstrates a significant attack effect.
Neural encoding, or neural representation, is a field in neuroscience that focuses on characterizing how information is encoded in the spiking activity of neurons. Currently, little is known about how sensory neurons can preserve information from multiple stimuli given their broad receptive fields. Multiplexing is a neural encoding theory that posits that neurons temporally switch between encoding various stimuli in their receptive field. Here, we construct a statistically falsifiable single-neuron model for multiplexing using a competition-based framework. The spike train models are constructed using drift-diffusion models, implying an integrate-and-fire framework to model the temporal dynamics of the membrane potential of the neuron. In addition to a multiplexing-specific model, we develop alternative models that represent alternative encoding theories (normalization, winner-take-all, subadditivity, etc.) with some level of abstraction. Using information criteria, we perform model comparison to determine whether the data favor multiplexing over alternative theories of neural encoding. Analysis of spike trains from the inferior colliculus of two macaque monkeys provides tenable evidence of multiplexing and offers new insight into the timescales at which switching occurs.
Advances in artificial intelligence often stem from the development of new environments that abstract real-world situations into a form where research can be done conveniently. This paper contributes such an environment based on ideas inspired by elementary Microeconomics. Agents learn to produce resources in a spatially complex world, trade them with one another, and consume those that they prefer. We show that the emergent production, consumption, and pricing behaviors respond to environmental conditions in the directions predicted by supply and demand shifts in Microeconomics. We also demonstrate settings where the agents' emergent prices for goods vary over space, reflecting the local abundance of goods. After the price disparities emerge, some agents then discover a niche of transporting goods between regions with different prevailing prices -- a profitable strategy because they can buy goods where they are cheap and sell them where they are expensive. Finally, in a series of ablation experiments, we investigate how choices in the environmental rewards, bartering actions, agent architecture, and ability to consume tradable goods can either aid or inhibit the emergence of this economic behavior. This work is part of the environment development branch of a research program that aims to build human-like artificial general intelligence through multi-agent interactions in simulated societies. By exploring which environment features are needed for the basic phenomena of elementary microeconomics to emerge automatically from learning, we arrive at an environment that differs from those studied in prior multi-agent reinforcement learning work along several dimensions. For example, the model incorporates heterogeneous tastes and physical abilities, and agents negotiate with one another as a grounded form of communication.
Recent contrastive representation learning methods rely on estimating mutual information (MI) between multiple views of an underlying context. E.g., we can derive multiple views of a given image by applying data augmentation, or we can split a sequence into views comprising the past and future of some step in the sequence. Contrastive lower bounds on MI are easy to optimize, but have a strong underestimation bias when estimating large amounts of MI. We propose decomposing the full MI estimation problem into a sum of smaller estimation problems by splitting one of the views into progressively more informed subviews and by applying the chain rule on MI between the decomposed views. This expression contains a sum of unconditional and conditional MI terms, each measuring modest chunks of the total MI, which facilitates approximation via contrastive bounds. To maximize the sum, we formulate a contrastive lower bound on the conditional MI which can be approximated efficiently. We refer to our general approach as Decomposed Estimation of Mutual Information (DEMI). We show that DEMI can capture a larger amount of MI than standard non-decomposed contrastive bounds in a synthetic setting, and learns better representations in a vision domain and for dialogue generation.
The inductive biases of graph representation learning algorithms are often encoded in the background geometry of their embedding space. In this paper, we show that general directed graphs can be effectively represented by an embedding model that combines three components: a pseudo-Riemannian metric structure, a non-trivial global topology, and a unique likelihood function that explicitly incorporates a preferred direction in embedding space. We demonstrate the representational capabilities of this method by applying it to the task of link prediction on a series of synthetic and real directed graphs from natural language applications and biology. In particular, we show that low-dimensional cylindrical Minkowski and anti-de Sitter spacetimes can produce equal or better graph representations than curved Riemannian manifolds of higher dimensions.
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