We propose a new algorithm for the problem of recovering data that adheres to multiple, heterogeneous low-dimensional structures from linear observations. Focusing on data matrices that are simultaneously row-sparse and low-rank, we propose and analyze an iteratively reweighted least squares (IRLS) algorithm that is able to leverage both structures. In particular, it optimizes a combination of non-convex surrogates for row-sparsity and rank, a balancing of which is built into the algorithm. We prove locally quadratic convergence of the iterates to a simultaneously structured data matrix in a regime of minimal sample complexity (up to constants and a logarithmic factor), which is known to be impossible for a combination of convex surrogates. In experiments, we show that the IRLS method exhibits favorable empirical convergence, identifying simultaneously row-sparse and low-rank matrices from fewer measurements than state-of-the-art methods. Code is available at //github.com/ckuemmerle/simirls.
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Autonomous aerial harvesting is a highly complex problem because it requires numerous interdisciplinary algorithms to be executed on mini low-powered computing devices. Object detection is one such algorithm that is compute-hungry. In this context, we make the following contributions: (i) Fast Fruit Detector (FFD), a resource-efficient, single-stage, and postprocessing-free object detector based on our novel latent object representation (LOR) module, query assignment, and prediction strategy. FFD achieves 100FPS@FP32 precision on the latest 10W NVIDIA Jetson-NX embedded device while co-existing with other time-critical sub-systems such as control, grasping, SLAM, a major achievement of this work. (ii) a method to generate vast amounts of training data without exhaustive manual labelling of fruit images since they consist of a large number of instances, which increases the labelling cost and time. (iii) an open-source fruit detection dataset having plenty of very small-sized instances that are difficult to detect. Our exhaustive evaluations on our and MinneApple dataset show that FFD, being only a single-scale detector, is more accurate than many representative detectors, e.g. FFD is better than single-scale Faster-RCNN by 10.7AP, multi-scale Faster-RCNN by 2.3AP, and better than latest single-scale YOLO-v8 by 8AP and multi-scale YOLO-v8 by 0.3 while being considerably faster.
The human cognitive system exhibits remarkable flexibility and generalization capabilities, partly due to its ability to form low-dimensional, compositional representations of the environment. In contrast, standard neural network architectures often struggle with abstract reasoning tasks, overfitting, and requiring extensive data for training. This paper investigates the impact of the relational bottleneck -- a mechanism that focuses processing on relations among inputs -- on the learning of factorized representations conducive to compositional coding and the attendant flexibility of processing. We demonstrate that such a bottleneck not only improves generalization and learning efficiency, but also aligns network performance with human-like behavioral biases. Networks trained with the relational bottleneck developed orthogonal representations of feature dimensions latent in the dataset, reflecting the factorized structure thought to underlie human cognitive flexibility. Moreover, the relational network mimics human biases towards regularity without pre-specified symbolic primitives, suggesting that the bottleneck fosters the emergence of abstract representations that confer flexibility akin to symbols.
Large Transformer models are capable of implementing a plethora of so-called in-context learning algorithms. These include gradient descent, classification, sequence completion, transformation, and improvement. In this work, we investigate whether large language models (LLMs), which never explicitly encountered the task of black-box optimization, are in principle capable of implementing evolutionary optimization algorithms. While previous works have solely focused on language-based task specification, we move forward and focus on the zero-shot application of LLMs to black-box optimization. We introduce a novel prompting strategy, consisting of least-to-most sorting of discretized population members and querying the LLM to propose an improvement to the mean statistic, i.e. perform a type of black-box recombination operation. Empirically, we find that our setup allows the user to obtain an LLM-based evolution strategy, which we call `EvoLLM', that robustly outperforms baseline algorithms such as random search and Gaussian Hill Climbing on synthetic BBOB functions as well as small neuroevolution tasks. Hence, LLMs can act as `plug-in' in-context recombination operators. We provide several comparative studies of the LLM's model size, prompt strategy, and context construction. Finally, we show that one can flexibly improve EvoLLM's performance by providing teacher algorithm information via instruction fine-tuning on previously collected teacher optimization trajectories.
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability limitations, struggling to handle arbitrary numbers of entities. Additionally, they often rely on engineered heuristics for assigning entities among agents. We propose a data driven approach to address these limitations by introducing a decentralized control system using neural network policies trained in simulation. Leveraging permutation invariant neural network architectures and model-free reinforcement learning, our approach allows control agents to autonomously determine the relative importance of different entities without being biased by ordering or limited by a fixed capacity. We validate our approach through both simulations and real-world experiments involving multiple wheeled-legged quadrupedal robots, demonstrating their collaborative control capabilities. We prove the effectiveness of our architectural choice through experiments with three exemplary multi-entity problems. Our analysis underscores the pivotal role of the end-to-end trained permutation invariant encoders in achieving scalability and improving the task performance in multi-object manipulation or multi-goal navigation problems. The adaptability of our policy is further evidenced by its ability to manage varying numbers of entities in a zero-shot manner, showcasing near-optimal autonomous task distribution and collision avoidance behaviors.
Current language models decode text token by token according to probabilistic distribution, and determining the appropriate candidates for the next token is crucial to ensure generation quality. This study introduces adaptive decoding, a mechanism that empowers the language models to ascertain a sensible candidate set during the generation process dynamically. Specifically, we introduce an entropy-based metric called confidence and conceptualize determining the optimal candidate set as a confidence-increasing process. The rationality of including a token in the candidate set is assessed by leveraging the increment of confidence, enabling the model to determine the most suitable candidate set adaptively. The experimental results reveal that our method achieves higher MAUVE and diversity in story generation tasks and maintains certain coherence, underscoring its superiority over existing algorithms. The code is available at //github.com/zwhong714/adaptive_decoding.
Empathetic response generation is to comprehend the cognitive and emotional states in dialogue utterances and generate proper responses. Psychological theories posit that comprehending emotional and cognitive states necessitates iteratively capturing and understanding associated words across dialogue utterances. However, existing approaches regard dialogue utterances as either a long sequence or independent utterances for comprehension, which are prone to overlook the associated words between them. To address this issue, we propose an Iterative Associative Memory Model (IAMM) for empathetic response generation. Specifically, we employ a novel second-order interaction attention mechanism to iteratively capture vital associated words between dialogue utterances and situations, dialogue history, and a memory module (for storing associated words), thereby accurately and nuancedly comprehending the utterances. We conduct experiments on the Empathetic-Dialogue dataset. Both automatic and human evaluations validate the efficacy of the model. Meanwhile, variant experiments on LLMs also demonstrate that attending to associated words improves empathetic comprehension and expression.
Prediction methods for time-to-event outcomes often utilize survival models that rely on strong assumptions about noninformative censoring or on how individual-level covariates and survival functions are related. When the main interest is in predicting individual-level restricted mean survival times (RMST), reliance on such assumptions can lead to poor predictive performance if these assumptions are not satisfied. We propose a generalized Bayes framework that avoids full probability modeling of all survival outcomes by using an RMST-targeted loss function that depends on a collection of inverse probability of censoring weights (IPCW). In our generalized Bayes formulation, we utilize a flexible additive tree regression model for the RMST function, and the posterior distribution of interest is obtained through model-averaging IPCW-conditional loss function-based pseudo-Bayesian posteriors. Because informative censoring can be captured by the IPCW-dependent loss function, our approach only requires one to specify a model for the censoring distribution, thereby obviating the need for complex joint modeling to handle informative censoring. We evaluate the performance of our method through a series of simulations that compare it with several well-known survival machine learning methods, and we illustrate the application of our method using a multi-site cohort of breast cancer patients with clinical and genomic covariates.
Simulation-based inference (SBI) is constantly in search of more expressive algorithms for accurately inferring the parameters of complex models from noisy data. We present consistency models for neural posterior estimation (CMPE), a new free-form conditional sampler for scalable, fast, and amortized SBI with generative neural networks. CMPE combines the advantages of normalizing flows and flow matching methods into a single generative architecture: It essentially distills a continuous probability flow and enables rapid few-shot inference with an unconstrained architecture that can be tailored to the structure of the estimation problem. Our empirical evaluation demonstrates that CMPE not only outperforms current state-of-the-art algorithms on three hard low-dimensional problems but also achieves competitive performance in a high-dimensional Bayesian denoising experiment and in estimating a computationally demanding multi-scale model of tumor spheroid growth.
We propose a variational autoencoder (VAE)-based model for building forward and inverse structure-property linkages, a problem of paramount importance in computational materials science. Our model systematically combines VAE with regression, linking the two models through a two-level prior conditioned on the regression variables. The regression loss is optimized jointly with the reconstruction loss of the variational autoencoder, learning microstructure features relevant for property prediction and reconstruction. The resultant model can be used for both forward and inverse prediction i.e., for predicting the properties of a given microstructure as well as for predicting the microstructure required to obtain given properties. Since the inverse problem is ill-posed (one-to-many), we derive the objective function using a multi-modal Gaussian mixture prior enabling the model to infer multiple microstructures for a target set of properties. We show that for forward prediction, our model is as accurate as state-of-the-art forward-only models. Additionally, our method enables direct inverse inference. We show that the microstructures inferred using our model achieve desired properties reasonably accurately, avoiding the need for expensive optimization loops.
Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis.
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