We present a framework for safety-critical optimal control of physical systems based on denoising diffusion probabilistic models (DDPMs). The technology of control barrier functions (CBFs), encoding desired safety constraints, is used in combination with DDPMs to plan actions by iteratively denoising trajectories through a CBF-based guided sampling procedure. At the same time, the generated trajectories are also guided to maximize a future cumulative reward representing a specific task to be optimally executed. The proposed scheme can be seen as an offline and model-based reinforcement learning algorithm resembling in its functionalities a model-predictive control optimization scheme with receding horizon in which the selected actions lead to optimal and safe trajectories.
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We investigate the concept of effective resistance in connection graphs, expanding its traditional application from undirected graphs. We propose a robust definition of effective resistance in connection graphs by focusing on the duality of Dirichlet-type and Poisson-type problems on connection graphs. Additionally, we delve into random walks, taking into account both node transitions and vector rotations. This approach introduces novel concepts of effective conductance and resistance matrices for connection graphs, capturing mean rotation matrices corresponding to random walk transitions. Thereby, it provides new theoretical insights for network analysis and optimization.
This report surveys advances in deep learning-based modeling techniques that address four different 3D indoor scene analysis tasks, as well as synthesis of 3D indoor scenes. We describe different kinds of representations for indoor scenes, various indoor scene datasets available for research in the aforementioned areas, and discuss notable works employing machine learning models for such scene modeling tasks based on these representations. Specifically, we focus on the analysis and synthesis of 3D indoor scenes. With respect to analysis, we focus on four basic scene understanding tasks -- 3D object detection, 3D scene segmentation, 3D scene reconstruction and 3D scene similarity. And for synthesis, we mainly discuss neural scene synthesis works, though also highlighting model-driven methods that allow for human-centric, progressive scene synthesis. We identify the challenges involved in modeling scenes for these tasks and the kind of machinery that needs to be developed to adapt to the data representation, and the task setting in general. For each of these tasks, we provide a comprehensive summary of the state-of-the-art works across different axes such as the choice of data representation, backbone, evaluation metric, input, output, etc., providing an organized review of the literature. Towards the end, we discuss some interesting research directions that have the potential to make a direct impact on the way users interact and engage with these virtual scene models, making them an integral part of the metaverse.
Predicting the performance of highly configurable software systems is the foundation for performance testing and quality assurance. To that end, recent work has been relying on machine/deep learning to model software performance. However, a crucial yet unaddressed challenge is how to cater for the sparsity inherited from the configuration landscape: the influence of configuration options (features) and the distribution of data samples are highly sparse. In this paper, we propose an approach based on the concept of 'divide-and-learn', dubbed $DaL$. The basic idea is that, to handle sample sparsity, we divide the samples from the configuration landscape into distant divisions, for each of which we build a regularized Deep Neural Network as the local model to deal with the feature sparsity. A newly given configuration would then be assigned to the right model of division for the final prediction. Experiment results from eight real-world systems and five sets of training data reveal that, compared with the state-of-the-art approaches, $DaL$ performs no worse than the best counterpart on 33 out of 40 cases (within which 26 cases are significantly better) with up to $1.94\times$ improvement on accuracy; requires fewer samples to reach the same/better accuracy; and producing acceptable training overhead. Practically, $DaL$ also considerably improves different global models when using them as the underlying local models, which further strengthens its flexibility. To promote open science, all the data, code, and supplementary figures of this work can be accessed at our repository: //github.com/ideas-labo/DaL.
Recent work has demonstrated the significant potential of denoising diffusion models for generating human motion, including text-to-motion capabilities. However, these methods are restricted by the paucity of annotated motion data, a focus on single-person motions, and a lack of detailed control. In this paper, we introduce three forms of composition based on diffusion priors: sequential, parallel, and model composition. Using sequential composition, we tackle the challenge of long sequence generation. We introduce DoubleTake, an inference-time method with which we generate long animations consisting of sequences of prompted intervals and their transitions, using a prior trained only for short clips. Using parallel composition, we show promising steps toward two-person generation. Beginning with two fixed priors as well as a few two-person training examples, we learn a slim communication block, ComMDM, to coordinate interaction between the two resulting motions. Lastly, using model composition, we first train individual priors to complete motions that realize a prescribed motion for a given joint. We then introduce DiffusionBlending, an interpolation mechanism to effectively blend several such models to enable flexible and efficient fine-grained joint and trajectory-level control and editing. We evaluate the composition methods using an off-the-shelf motion diffusion model, and further compare the results to dedicated models trained for these specific tasks.
We propose fast and communication-efficient optimization algorithms for multi-robot rotation averaging and translation estimation problems that arise from collaborative simultaneous localization and mapping (SLAM), structure-from-motion (SfM), and camera network localization applications. Our methods are based on theoretical relations between the Hessians of the underlying Riemannian optimization problems and the Laplacians of suitably weighted graphs. We leverage these results to design a collaborative solver in which robots coordinate with a central server to perform approximate second-order optimization, by solving a Laplacian system at each iteration. Crucially, our algorithms permit robots to employ spectral sparsification to sparsify intermediate dense matrices before communication, and hence provide a mechanism to trade off accuracy with communication efficiency with provable guarantees. We perform rigorous theoretical analysis of our methods and prove that they enjoy (local) linear rate of convergence. Furthermore, we show that our methods can be combined with graduated non-convexity to achieve outlier-robust estimation. Extensive experiments on real-world SLAM and SfM scenarios demonstrate the superior convergence rate and communication efficiency of our methods.
The development dynamics of digital innovations for industry, business, and society are producing complex system conglomerates that can no longer be designed centrally and hierarchically in classic development processes. Instead, systems are evolving in DevOps processes in which heterogeneous actors act together on an open platform. Influencing and controlling such dynamically and autonomously changing system landscapes is currently a major challenge and a fundamental interest of service users and providers, as well as operators of the platform infrastructures. In this paper, we propose an architecture for such an emergent software service platform. A software platform that implements this architecture with the underlying engineering methodology is demonstrated by a smart parking lot scenario.
We propose a supervised principal component regression method for relating functional responses with high dimensional predictors. Unlike the conventional principal component analysis, the proposed method builds on a newly defined expected integrated residual sum of squares, which directly makes use of the association between the functional response and the predictors. Minimizing the integrated residual sum of squares gives the supervised principal components, which is equivalent to solving a sequence of nonconvex generalized Rayleigh quotient optimization problems. We reformulate the nonconvex optimization problems into a simultaneous linear regression with a sparse penalty to deal with high dimensional predictors. Theoretically, we show that the reformulated regression problem can recover the same supervised principal subspace under certain conditions. Statistically, we establish non-asymptotic error bounds for the proposed estimators when the covariate covariance is bandable. We demonstrate the advantages of the proposed method through numerical experiments and an application to the Human Connectome Project fMRI data.
The accurate and interpretable prediction of future events in time-series data often requires the capturing of representative patterns (or referred to as states) underpinning the observed data. To this end, most existing studies focus on the representation and recognition of states, but ignore the changing transitional relations among them. In this paper, we present evolutionary state graph, a dynamic graph structure designed to systematically represent the evolving relations (edges) among states (nodes) along time. We conduct analysis on the dynamic graphs constructed from the time-series data and show that changes on the graph structures (e.g., edges connecting certain state nodes) can inform the occurrences of events (i.e., time-series fluctuation). Inspired by this, we propose a novel graph neural network model, Evolutionary State Graph Network (EvoNet), to encode the evolutionary state graph for accurate and interpretable time-series event prediction. Specifically, Evolutionary State Graph Network models both the node-level (state-to-state) and graph-level (segment-to-segment) propagation, and captures the node-graph (state-to-segment) interactions over time. Experimental results based on five real-world datasets show that our approach not only achieves clear improvements compared with 11 baselines, but also provides more insights towards explaining the results of event predictions.
Conventional methods for object detection typically require a substantial amount of training data and preparing such high-quality training data is very labor-intensive. In this paper, we propose a novel few-shot object detection network that aims at detecting objects of unseen categories with only a few annotated examples. Central to our method are our Attention-RPN, Multi-Relation Detector and Contrastive Training strategy, which exploit the similarity between the few shot support set and query set to detect novel objects while suppressing false detection in the background. To train our network, we contribute a new dataset that contains 1000 categories of various objects with high-quality annotations. To the best of our knowledge, this is one of the first datasets specifically designed for few-shot object detection. Once our few-shot network is trained, it can detect objects of unseen categories without further training or fine-tuning. Our method is general and has a wide range of potential applications. We produce a new state-of-the-art performance on different datasets in the few-shot setting. The dataset link is //github.com/fanq15/Few-Shot-Object-Detection-Dataset.
We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.
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