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Sensorized insoles provide a tool for gait studies and health monitoring during daily life. For users to accept such insoles they need to be comfortable and lightweight. Previous work has already demonstrated that estimation of ground reaction forces (GRFs) is possible with insoles. However, these are often assemblies of commercial components restricting design freedom and customization. Within this work, we investigate using four 3D-printed soft foam-like sensors to sensorize an insole. These sensors were combined with system identification of Hammerstein-Wiener models to estimate the 3D GRFs, which were compared to values from an instrumented treadmill as the golden standard. It was observed that the four sensors behaved in line with the expected change in pressure distribution during the gait cycle. In addition, the identified (personalized) Hammerstein-Wiener models showed the best estimation performance (on average RMS error 9.3%, R^2=0.85 and mean absolute error (MAE) 7%) of the vertical, mediolateral, and anteroposterior GRFs. Thereby showing that these sensors can estimate the resulting 3D force reasonably well. These results for nine participants were comparable to or outperformed other works that used commercial FSRs with machine learning. The identified models did decrease in estimation performance over time but stayed on average 11.35% RMS and 8.6% MAE after a week with the Hammerstein-Wiener model seeming consistent between days two and seven. These results show promise for using 3D-printed soft piezoresistive foam-like sensors with system identification to be a viable approach for applications that require softness, lightweight, and customization such as wearable (force) sensors.

Causal models are crucial for understanding complex systems and identifying causal relationships among variables. Even though causal models are extremely popular, conditional probability calculation of formulas involving interventions pose significant challenges. In case of Causal Bayesian Networks (CBNs), Pearl assumes autonomy of mechanisms that determine interventions to calculate a range of probabilities. We show that by making simple yet often realistic independence assumptions, it is possible to uniquely estimate the probability of an interventional formula (including the well-studied notions of probability of sufficiency and necessity). We discuss when these assumptions are appropriate. Importantly, in many cases of interest, when the assumptions are appropriate, these probability estimates can be evaluated using observational data, which carries immense significance in scenarios where conducting experiments is impractical or unfeasible.

Plug-and-play algorithms constitute a popular framework for solving inverse imaging problems that rely on the implicit definition of an image prior via a denoiser. These algorithms can leverage powerful pre-trained denoisers to solve a wide range of imaging tasks, circumventing the necessity to train models on a per-task basis. Unfortunately, plug-and-play methods often show unstable behaviors, hampering their promise of versatility and leading to suboptimal quality of reconstructed images. In this work, we show that enforcing equivariance to certain groups of transformations (rotations, reflections, and/or translations) on the denoiser strongly improves the stability of the algorithm as well as its reconstruction quality. We provide a theoretical analysis that illustrates the role of equivariance on better performance and stability. We present a simple algorithm that enforces equivariance on any existing denoiser by simply applying a random transformation to the input of the denoiser and the inverse transformation to the output at each iteration of the algorithm. Experiments on multiple imaging modalities and denoising networks show that the equivariant plug-and-play algorithm improves both the reconstruction performance and the stability compared to their non-equivariant counterparts.

Current metrics for text-to-image models typically rely on statistical metrics which inadequately represent the real preference of humans. Although recent work attempts to learn these preferences via human annotated images, they reduce the rich tapestry of human preference to a single overall score. However, the preference results vary when humans evaluate images with different aspects. Therefore, to learn the multi-dimensional human preferences, we propose the Multi-dimensional Preference Score (MPS), the first multi-dimensional preference scoring model for the evaluation of text-to-image models. The MPS introduces the preference condition module upon CLIP model to learn these diverse preferences. It is trained based on our Multi-dimensional Human Preference (MHP) Dataset, which comprises 918,315 human preference choices across four dimensions (i.e., aesthetics, semantic alignment, detail quality and overall assessment) on 607,541 images. The images are generated by a wide range of latest text-to-image models. The MPS outperforms existing scoring methods across 3 datasets in 4 dimensions, enabling it a promising metric for evaluating and improving text-to-image generation.

We consider discounted infinite horizon constrained Markov decision processes (CMDPs) where the goal is to find an optimal policy that maximizes the expected cumulative reward subject to expected cumulative constraints. Motivated by the application of CMDPs in online learning of safety-critical systems, we focus on developing a model-free and simulator-free algorithm that ensures constraint satisfaction during learning. To this end, we develop an interior point approach based on the log barrier function of the CMDP. Under the commonly assumed conditions of Fisher non-degeneracy and bounded transfer error of the policy parameterization, we establish the theoretical properties of the algorithm. In particular, in contrast to existing CMDP approaches that ensure policy feasibility only upon convergence, our algorithm guarantees the feasibility of the policies during the learning process and converges to the $\varepsilon$-optimal policy with a sample complexity of $\tilde{\mathcal{O}}(\varepsilon^{-6})$. In comparison to the state-of-the-art policy gradient-based algorithm, C-NPG-PDA, our algorithm requires an additional $\mathcal{O}(\varepsilon^{-2})$ samples to ensure policy feasibility during learning with the same Fisher non-degenerate parameterization.

Contraction coefficients give a quantitative strengthening of the data processing inequality. As such, they have many natural applications whenever closer analysis of information processing is required. However, it is often challenging to calculate these coefficients. As a remedy we discuss a quantum generalization of Doeblin coefficients. These give an efficiently computable upper bound on many contraction coefficients. We prove several properties and discuss generalizations and applications. In particular, we give additional stronger bounds. One especially for PPT channels and one for general channels based on a constraint relaxation. Additionally, we introduce reverse Doeblin coefficients that bound certain expansion coefficients.

The largest eigenvalue of the Hessian, or sharpness, of neural networks is a key quantity to understand their optimization dynamics. In this paper, we study the sharpness of deep linear networks for overdetermined univariate regression. Minimizers can have arbitrarily large sharpness, but not an arbitrarily small one. Indeed, we show a lower bound on the sharpness of minimizers, which grows linearly with depth. We then study the properties of the minimizer found by gradient flow, which is the limit of gradient descent with vanishing learning rate. We show an implicit regularization towards flat minima: the sharpness of the minimizer is no more than a constant times the lower bound. The constant depends on the condition number of the data covariance matrix, but not on width or depth. This result is proven both for a small-scale initialization and a residual initialization. Results of independent interest are shown in both cases. For small-scale initialization, we show that the learned weight matrices are approximately rank-one and that their singular vectors align. For residual initialization, convergence of the gradient flow for a Gaussian initialization of the residual network is proven. Numerical experiments illustrate our results and connect them to gradient descent with non-vanishing learning rate.

In this paper, we propose a weak Galerkin (WG) finite element method for the Maxwell eigenvalue problem. By restricting subspaces, we transform the mixed form of Maxwell eigenvalue problem into simple elliptic equation. Then we give the WG numerical scheme for the Maxwell eigenvalue problem. Furthermore, we obtain the optimal error estimates of arbitrarily high convergence order and prove the lower bound property of numerical solutions for eigenvalues. Numerical experiments show the accuracy of theoretical analysis and the property of lower bound.

We consider the fundamental problem of constructing fast and small circuits for binary addition. We propose a new algorithm with running time $\mathcal O(n \log_2 n)$ for constructing linear-size $n$-bit adder circuits with a significantly better depth guarantee compared to previous approaches: Our circuits have a depth of at most $\log_2 n + \log_2 \log_2 n + \log_2 \log_2 \log_2 n + \text{const}$, improving upon the previously best circuits by [12] with a depth of at most $\log_2 n + 8 \sqrt{\log_2 n} + 6 \log_2 \log_2 n + \text{const}$. Hence, we decrease the gap to the lower bound of $\log_2 n + \log_2 \log_2 n + \text{const}$ by [5] significantly from $\mathcal O (\sqrt{\log_2 n})$ to $\mathcal O(\log_2 \log_2 \log_2 n)$. Our core routine is a new algorithm for the construction of a circuit for a single carry bit, or, more generally, for an And-Or path, i.e., a Boolean function of type $t_0 \lor ( t_1 \land (t_2 \lor ( \dots t_{m-1}) \dots ))$. We compute linear-size And-Or path circuits with a depth of at most $\log_2 m + \log_2 \log_2 m + 0.65$ in time $\mathcal O(m \log_2 m)$. These are the first And-Or path circuits known that, up to an additive constant, match the lower bound by [5] and at the same time have a linear size. The previously fastest And-Or path circuits are only by an additive constant worse in depth, but have a much higher size in the order of $\mathcal O (m \log_2 m)$.

Mobile devices and the Internet of Things (IoT) devices nowadays generate a large amount of heterogeneous spatial-temporal data. It remains a challenging problem to model the spatial-temporal dynamics under privacy concern. Federated learning (FL) has been proposed as a framework to enable model training across distributed devices without sharing original data which reduce privacy concern. Personalized federated learning (PFL) methods further address data heterogenous problem. However, these methods don't consider natural spatial relations among nodes. For the sake of modeling spatial relations, Graph Neural Netowork (GNN) based FL approach have been proposed. But dynamic spatial-temporal relations among edge nodes are not taken into account. Several approaches model spatial-temporal dynamics in a centralized environment, while less effort has been made under federated setting. To overcome these challeges, we propose a novel Federated Adaptive Spatial-Temporal Attention (FedASTA) framework to model the dynamic spatial-temporal relations. On the client node, FedASTA extracts temporal relations and trend patterns from the decomposed terms of original time series. Then, on the server node, FedASTA utilize trend patterns from clients to construct adaptive temporal-spatial aware graph which captures dynamic correlation between clients. Besides, we design a masked spatial attention module with both static graph and constructed adaptive graph to model spatial dependencies among clients. Extensive experiments on five real-world public traffic flow datasets demonstrate that our method achieves state-of-art performance in federated scenario. In addition, the experiments made in centralized setting show the effectiveness of our novel adaptive graph construction approach compared with other popular dynamic spatial-temporal aware methods.