Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when simulating non-convex objects. Their main issue lies in contact detection (CD): existing CD algorithms, such as Gilbert-Johnson-Keerthi (GJK), must trade off their computational speed with accuracy which becomes expensive as the number of collisions among non-convex objects increases. We propose a data-driven approach for CD, whose accuracy depends only on the quality and quantity of offline dataset rather than online computation time. Unlike GJK, our method inherently has a uniform computational flow, which facilitates efficient GPU usage based on advanced compilers such as XLA (Accelerated Linear Algebra). Further, we offer a data-efficient solution by learning the patterns of colliding local crop object shapes, rather than global object shapes which are harder to learn. We demonstrate our approach improves the efficiency of existing CD methods by a factor of 5-10 for non-convex objects with comparable accuracy. Using the previous work on contact resolution for a neural-network-based contact detector, we integrate our CD algorithm into the open-source GPU-based simulator, Brax, and show that we can improve the efficiency over IsaacGym and generality over standard Brax. We highly recommend the videos of our simulator included in the supplementary materials.
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機(ji)器學習系統設計系統評估(gu)標(biao)準
We investigate error of the Euler scheme in the case when the right-hand side function of the underlying ODE satisfies nonstandard assumptions such as local one-sided Lipschitz condition and local H\"older continuity. Moreover, we assume two cases in regards to information availability: exact and noisy with respect to the right-hand side function. Optimality analysis of the Euler scheme is also provided. Finally, we present the results of some numerical experiments.
Sequential algorithms such as sequential importance sampling (SIS) and sequential Monte Carlo (SMC) have proven fundamental in Bayesian inference for models not admitting a readily available likelihood function. For approximate Bayesian computation (ABC), SMC-ABC is the state-of-art sampler. However, since the ABC paradigm is intrinsically wasteful, sequential ABC schemes can benefit from well-targeted proposal samplers that efficiently avoid improbable parameter regions. We contribute to the ABC modeller's toolbox with novel proposal samplers that are conditional to summary statistics of the data. In a sense, the proposed parameters are "guided" to rapidly reach regions of the posterior surface that are compatible with the observed data. This speeds up the convergence of these sequential samplers, thus reducing the computational effort, while preserving the accuracy in the inference. We provide a variety of guided Gaussian and copula-based samplers for both SIS-ABC and SMC-ABC easing inference for challenging case-studies, including multimodal posteriors, highly correlated posteriors, hierarchical models with high-dimensional summary statistics (180 summaries used to infer 21 parameters) and a simulation study of cell movements (using more than 400 summaries).
Linear regression and classification models with repeated functional data are considered. For each statistical unit in the sample, a real-valued parameter is observed over time under different conditions. Two regression models based on fusion penalties are presented. The first one is a generalization of the variable fusion model based on the 1-nearest neighbor. The second one, called group fusion lasso, assumes some grouping structure of conditions and allows for homogeneity among the regression coefficient functions within groups. A finite sample numerical simulation and an application on EEG data are presented.
In this work, we address parametric non-stationary fluid dynamics problems within a model order reduction setting based on domain decomposition. Starting from the domain decomposition approach, we derive an optimal control problem, for which we present the convergence analysis. The snapshots for the high-fidelity model are obtained with the Finite Element discretisation, and the model order reduction is then proposed both in terms of time and physical parameters, with a standard POD-Galerkin projection. We test the proposed methodology on two fluid dynamics benchmarks: the non-stationary backward-facing step and lid-driven cavity flow. Finally, also in view of future works, we compare the intrusive POD--Galerkin approach with a non--intrusive approach based on Neural Networks.
We consider the problem of computing a sparse binary representation of an image. To be precise, given an image and an overcomplete, non-orthonormal basis, we aim to find a sparse binary vector indicating the minimal set of basis vectors that when added together best reconstruct the given input. We formulate this problem with an $L_2$ loss on the reconstruction error, and an $L_0$ (or, equivalently, an $L_1$) loss on the binary vector enforcing sparsity. This yields a so-called Quadratic Unconstrained Binary Optimization (QUBO) problem, whose solution is generally NP-hard to find. The contribution of this work is twofold. First, the method of unsupervised and unnormalized dictionary feature learning for a desired sparsity level to best match the data is presented. Second, the binary sparse coding problem is then solved on the Loihi 1 neuromorphic chip by the use of stochastic networks of neurons to traverse the non-convex energy landscape. The solutions are benchmarked against the classical heuristic simulated annealing. We demonstrate neuromorphic computing is suitable for sampling low energy solutions of binary sparse coding QUBO models, and although Loihi 1 is capable of sampling very sparse solutions of the QUBO models, there needs to be improvement in the implementation in order to be competitive with simulated annealing.
High-dimensional Partial Differential Equations (PDEs) are a popular mathematical modelling tool, with applications ranging from finance to computational chemistry. However, standard numerical techniques for solving these PDEs are typically affected by the curse of dimensionality. In this work, we tackle this challenge while focusing on stationary diffusion equations defined over a high-dimensional domain with periodic boundary conditions. Inspired by recent progress in sparse function approximation in high dimensions, we propose a new method called compressive Fourier collocation. Combining ideas from compressive sensing and spectral collocation, our method replaces the use of structured collocation grids with Monte Carlo sampling and employs sparse recovery techniques, such as orthogonal matching pursuit and $\ell^1$ minimization, to approximate the Fourier coefficients of the PDE solution. We conduct a rigorous theoretical analysis showing that the approximation error of the proposed method is comparable with the best $s$-term approximation (with respect to the Fourier basis) to the solution. Using the recently introduced framework of random sampling in bounded Riesz systems, our analysis shows that the compressive Fourier collocation method mitigates the curse of dimensionality with respect to the number of collocation points under sufficient conditions on the regularity of the diffusion coefficient. We also present numerical experiments that illustrate the accuracy and stability of the method for the approximation of sparse and compressible solutions.
Nonlinear extensions to the active subspaces method have brought remarkable results for dimension reduction in the parameter space and response surface design. We further develop a kernel-based nonlinear method. In particular we introduce it in a broader mathematical framework that contemplates also the reduction in parameter space of multivariate objective functions. The implementation is thoroughly discussed and tested on more challenging benchmarks than the ones already present in the literature, for which dimension reduction with active subspaces produces already good results. Finally, we show a whole pipeline for the design of response surfaces with the new methodology in the context of a parametric CFD application solved with the Discontinuous Galerkin method.
Developing an efficient computational scheme for high-dimensional Bayesian variable selection in generalised linear models and survival models has always been a challenging problem due to the absence of closed-form solutions for the marginal likelihood. The RJMCMC approach can be employed to samples model and coefficients jointly, but effective design of the transdimensional jumps of RJMCMC can be challenge, making it hard to implement. Alternatively, the marginal likelihood can be derived using data-augmentation scheme e.g. Polya-gamma data argumentation for logistic regression) or through other estimation methods. However, suitable data-augmentation schemes are not available for every generalised linear and survival models, and using estimations such as Laplace approximation or correlated pseudo-marginal to derive marginal likelihood within a locally informed proposal can be computationally expensive in the "large n, large p" settings. In this paper, three main contributions are presented. Firstly, we present an extended Point-wise implementation of Adaptive Random Neighbourhood Informed proposal (PARNI) to efficiently sample models directly from the marginal posterior distribution in both generalised linear models and survival models. Secondly, in the light of the approximate Laplace approximation, we also describe an efficient and accurate estimation method for the marginal likelihood which involves adaptive parameters. Additionally, we describe a new method to adapt the algorithmic tuning parameters of the PARNI proposal by replacing the Rao-Blackwellised estimates with the combination of a warm-start estimate and an ergodic average. We present numerous numerical results from simulated data and 8 high-dimensional gene fine mapping data-sets to showcase the efficiency of the novel PARNI proposal compared to the baseline add-delete-swap proposal.
We develop a novel randomised block coordinate primal-dual algorithm for a class of non-smooth ill-posed convex programs. Lying in the midway between the celebrated Chambolle-Pock primal-dual algorithm and Tseng's accelerated proximal gradient method, we establish global convergence of the last iterate as well optimal $O(1/k)$ and $O(1/k^{2})$ complexity rates in the convex and strongly convex case, respectively, $k$ being the iteration count. Motivated by the increased complexity in the control of distribution level electric power systems, we test the performance of our method on a second-order cone relaxation of an AC-OPF problem. Distributed control is achieved via the distributed locational marginal prices (DLMPs), which are obtained \revise{as} dual variables in our optimisation framework.
In recent years, object detection has experienced impressive progress. Despite these improvements, there is still a significant gap in the performance between the detection of small and large objects. We analyze the current state-of-the-art model, Mask-RCNN, on a challenging dataset, MS COCO. We show that the overlap between small ground-truth objects and the predicted anchors is much lower than the expected IoU threshold. We conjecture this is due to two factors; (1) only a few images are containing small objects, and (2) small objects do not appear enough even within each image containing them. We thus propose to oversample those images with small objects and augment each of those images by copy-pasting small objects many times. It allows us to trade off the quality of the detector on large objects with that on small objects. We evaluate different pasting augmentation strategies, and ultimately, we achieve 9.7\% relative improvement on the instance segmentation and 7.1\% on the object detection of small objects, compared to the current state of the art method on MS COCO.
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