Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground and sand. A novel dataset containing 3-dimensional motion and biomechanical data from 20 able-bodied adults for locomotion on solid ground and sand is collected. We present the data collection methods and report the sensor data along with the kinematic and kinetic profiles of joint biomechanics. A comprehensive analysis of human gait and joint stiffness profiles is presented. The kinematic and kinetic analysis reveals that human walking locomotion on sand shows different ground reaction forces and joint torque profiles, compared with those patterns from walking on solid ground. These gait differences reflect that humans adopt motion control strategies for yielding terrain conditions such as sand. The dataset also provides a source of locomotion data for researchers to study human activity recognition and assistive devices for walking on different terrains.
In this paper, we introduce an algorithm for data quantization based on the principles of Kashin representation. This approach hinges on decomposing any given vector, matrix, or tensor into two factors. The first factor maintains a small infinity norm, while the second exhibits a similarly constrained norm when multiplied by an orthogonal matrix. Surprisingly, the entries of factors after decomposition are well-concentrated around several peaks, which allows us to efficiently replace them with corresponding centroids for quantization purposes. We study the theoretical properties of the proposed approach and rigorously evaluate our compression algorithm in the context of next-word prediction tasks and on a set of downstream tasks for text classification. Our findings demonstrate that Kashin Quantization achieves competitive or superior quality in model performance while ensuring data compression, marking a significant advancement in the field of data quantization.
In this paper, we present an approach for guaranteeing the completion of complex tasks with cyber-physical systems (CPS). Specifically, we leverage temporal logic trees constructed using Hamilton-Jacobi reachability analysis to (1) check for the existence of control policies that complete a specified task and (2) develop a computationally-efficient approach to synthesize the full set of control inputs the CPS can implement in real-time to ensure the task is completed. We show that, by checking the approximation directions of each state set in the temporal logic tree, we can check if the temporal logic tree suffers from the "leaking corner issue," where the intersection of reachable sets yields an incorrect approximation. By ensuring a temporal logic tree has no leaking corners, we know the temporal logic tree correctly verifies the existence of control policies that satisfy the specified task. After confirming the existence of control policies, we show that we can leverage the value functions obtained through Hamilton-Jacobi reachability analysis to efficiently compute the set of control inputs the CPS can implement throughout the deployment time horizon to guarantee the completion of the specified task. Finally, we use a newly released Python toolbox to evaluate the presented approach on a simulated driving task.
Large language models (LLMs) may not equitably represent diverse global perspectives on societal issues. In this paper, we develop a quantitative framework to evaluate whose opinions model-generated responses are more similar to. We first build a dataset, GlobalOpinionQA, comprised of questions and answers from cross-national surveys designed to capture diverse opinions on global issues across different countries. Next, we define a metric that quantifies the similarity between LLM-generated survey responses and human responses, conditioned on country. With our framework, we run three experiments on an LLM trained to be helpful, honest, and harmless with Constitutional AI. By default, LLM responses tend to be more similar to the opinions of certain populations, such as those from the USA, and some European and South American countries, highlighting the potential for biases. When we prompt the model to consider a particular country's perspective, responses shift to be more similar to the opinions of the prompted populations, but can reflect harmful cultural stereotypes. When we translate GlobalOpinionQA questions to a target language, the model's responses do not necessarily become the most similar to the opinions of speakers of those languages. We release our dataset for others to use and build on. Our data is at //huggingface.co/datasets/Anthropic/llm_global_opinions. We also provide an interactive visualization at //llmglobalvalues.anthropic.com.
Music plays a huge part in shaping peoples' psychology and behavioral patterns. This paper investigates the connection between national anthems and different global indices with computational music analysis and statistical correlation analysis. We analyze national anthem musical data to determine whether certain musical characteristics are associated with peace, happiness, suicide rate, crime rate, etc. To achieve this, we collect national anthems from 169 countries and use computational music analysis techniques to extract pitch, tempo, beat, and other pertinent audio features. We then compare these musical characteristics with data on different global indices to ascertain whether a significant correlation exists. Our findings indicate that there may be a correlation between the musical characteristics of national anthems and the indices we investigated. The implications of our findings for music psychology and policymakers interested in promoting social well-being are discussed. This paper emphasizes the potential of musical data analysis in social research and offers a novel perspective on the relationship between music and social indices. The source code and data are made open-access for reproducibility and future research endeavors. It can be accessed at //bit.ly/na_code.
In molecular communication (MC), molecules are released from the transmitter to convey information. This paper considers a realistic molecule shift keying (MoSK) scenario with two species of molecule in two reservoirs, where the molecules are harvested from the environment and placed into different reservoirs, which are purified by exchanging molecules between the reservoirs. This process consumes energy, and for a reasonable energy cost, the reservoirs cannot be pure; thus, our MoSK transmitter is imperfect, releasing mixtures of both molecules for every symbol, resulting in inter-symbol interference (ISI). To mitigate ISI, the properties of the receiver are analyzed and a detection method based on the ratio of different molecules is proposed. Theoretical and simulation results are provided, showing that with the increase of energy cost, the system achieves better performance. The good performance of the proposed detection scheme is also demonstrated.
In this paper, we define a new measure of the redundancy of information from a fault tolerance perspective. The partial information decomposition (PID) emerged last decade as a framework for decomposing the multi-source mutual information $I(T;X_1, ..., X_n)$ into atoms of redundant, synergistic, and unique information. It built upon the notion of redundancy/synergy from McGill's interaction information (McGill 1954). Separately, the redundancy of system components has served as a principle of fault tolerant engineering, for sensing, routing, and control applications. Here, redundancy is understood as the level of duplication necessary for the fault tolerant performance of a system. With these two perspectives in mind, we propose a new PID-based measure of redundancy $I_{\text{ft}}$, based upon the presupposition that redundant information is robust to individual source failures. We demonstrate that this new measure satisfies the common PID axioms from (Williams 2010). In order to do so, we establish an order-reversing correspondence between collections of source-fallible instantiations of a system, on the one hand, and the PID lattice from (Williams 2010), on the other.
Randomized algorithms can be used to speed up the analysis of large datasets. In this paper, we develop a unified methodology for statistical inference via randomized sketching or projections in two of the most fundamental problems in multivariate statistical analysis: least squares and PCA. The methodology applies to fixed datasets -- i.e., is data-conditional -- and the only randomness is due to the randomized algorithm. We propose statistical inference methods for a broad range of sketching distributions, such as the subsampled randomized Hadamard transform (SRHT), Sparse Sign Embeddings (SSE) and CountSketch, sketching matrices with i.i.d. entries, and uniform subsampling. To our knowledge, no comparable methods are available for SSE and for SRHT in PCA. Our novel theoretical approach rests on showing the asymptotic normality of certain quadratic forms. As a contribution of broader interest, we show central limit theorems for quadratic forms of the SRHT, relying on a novel proof via a dyadic expansion that leverages the recursive structure of the Hadamard transform. Numerical experiments using both synthetic and empirical datasets support the efficacy of our methods, and in particular suggest that sketching methods can have better computation-estimation tradeoffs than recently proposed optimal subsampling methods.
In contrast to batch learning where all training data is available at once, continual learning represents a family of methods that accumulate knowledge and learn continuously with data available in sequential order. Similar to the human learning process with the ability of learning, fusing, and accumulating new knowledge coming at different time steps, continual learning is considered to have high practical significance. Hence, continual learning has been studied in various artificial intelligence tasks. In this paper, we present a comprehensive review of the recent progress of continual learning in computer vision. In particular, the works are grouped by their representative techniques, including regularization, knowledge distillation, memory, generative replay, parameter isolation, and a combination of the above techniques. For each category of these techniques, both its characteristics and applications in computer vision are presented. At the end of this overview, several subareas, where continuous knowledge accumulation is potentially helpful while continual learning has not been well studied, are discussed.
Deep convolutional neural networks (CNNs) have recently achieved great success in many visual recognition tasks. However, existing deep neural network models are computationally expensive and memory intensive, hindering their deployment in devices with low memory resources or in applications with strict latency requirements. Therefore, a natural thought is to perform model compression and acceleration in deep networks without significantly decreasing the model performance. During the past few years, tremendous progress has been made in this area. In this paper, we survey the recent advanced techniques for compacting and accelerating CNNs model developed. These techniques are roughly categorized into four schemes: parameter pruning and sharing, low-rank factorization, transferred/compact convolutional filters, and knowledge distillation. Methods of parameter pruning and sharing will be described at the beginning, after that the other techniques will be introduced. For each scheme, we provide insightful analysis regarding the performance, related applications, advantages, and drawbacks etc. Then we will go through a few very recent additional successful methods, for example, dynamic capacity networks and stochastic depths networks. After that, we survey the evaluation matrix, the main datasets used for evaluating the model performance and recent benchmarking efforts. Finally, we conclude this paper, discuss remaining challenges and possible directions on this topic.
Machine learning techniques have deeply rooted in our everyday life. However, since it is knowledge- and labor-intensive to pursue good learning performance, human experts are heavily involved in every aspect of machine learning. In order to make machine learning techniques easier to apply and reduce the demand for experienced human experts, automated machine learning (AutoML) has emerged as a hot topic with both industrial and academic interest. In this paper, we provide an up to date survey on AutoML. First, we introduce and define the AutoML problem, with inspiration from both realms of automation and machine learning. Then, we propose a general AutoML framework that not only covers most existing approaches to date but also can guide the design for new methods. Subsequently, we categorize and review the existing works from two aspects, i.e., the problem setup and the employed techniques. Finally, we provide a detailed analysis of AutoML approaches and explain the reasons underneath their successful applications. We hope this survey can serve as not only an insightful guideline for AutoML beginners but also an inspiration for future research.