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The fields of soft and bio-inspired robotics promise to imbue synthetic systems with capabilities found in the natural world. However, many of these biological capabilities are yet to be realized. For example, vines in nature direct growth via localized responses embedded in the cells of vine body, allowing an organism without a central brain to successfully search for resources (e.g., light). Yet to date, vine-inspired robots have yet to show such localized embedded responsiveness. Here we present a vine-inspired robotic device with material-level responses embedded in its skin and capable of growing and steering toward either a light or heat stimulus. We present basic modeling of the concept, design details, and experimental results showing its behavior in response to infrared (IR) and visible light. Our simple design concept advances the capabilities of bio-inspired robots and lays the foundation for future growing robots that are capable of seeking light or heat, yet are extremely simple and low-cost.

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機(ji)器(qi)(qi)(qi)人(ren)(英語:Robot)包括(kuo)一切(qie)模擬人(ren)類(lei)行(xing)為(wei)或思想(xiang)與模擬其(qi)他生物的機(ji)械(如(ru)機(ji)器(qi)(qi)(qi)狗,機(ji)器(qi)(qi)(qi)貓等)。狹義上對機(ji)器(qi)(qi)(qi)人(ren)的定義還有很多(duo)分類(lei)法及(ji)爭議,有些電(dian)腦程(cheng)序甚至也(ye)被稱為(wei)機(ji)器(qi)(qi)(qi)人(ren)。在當代(dai)工業(ye)中,機(ji)器(qi)(qi)(qi)人(ren)指能自動運行(xing)任務的人(ren)造機(ji)器(qi)(qi)(qi)設備(bei),用以取代(dai)或協助(zhu)人(ren)類(lei)工作,一般(ban)會是(shi)機(ji)電(dian)設備(bei),由計算機(ji)程(cheng)序或是(shi)電(dian)子電(dian)路控制(zhi)。

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Flow-based generative models enjoy certain advantages in computing the data generation and the likelihood, and have recently shown competitive empirical performance. Compared to the accumulating theoretical studies on related score-based diffusion models, analysis of flow-based models, which are deterministic in both forward (data-to-noise) and reverse (noise-to-data) directions, remain sparse. In this paper, we provide a theoretical guarantee of generating data distribution by a progressive flow model, the so-called JKO flow model, which implements the Jordan-Kinderleherer-Otto (JKO) scheme in a normalizing flow network. Leveraging the exponential convergence of the proximal gradient descent (GD) in Wasserstein space, we prove the Kullback-Leibler (KL) guarantee of data generation by a JKO flow model to be $O(\varepsilon^2)$ when using $N \lesssim \log (1/\varepsilon)$ many JKO steps ($N$ Residual Blocks in the flow) where $\varepsilon $ is the error in the per-step first-order condition. The assumption on data density is merely a finite second moment, and the theory extends to data distributions without density and when there are inversion errors in the reverse process where we obtain KL-$W_2$ mixed error guarantees. The non-asymptotic convergence rate of the JKO-type $W_2$-proximal GD is proved for a general class of convex objective functionals that includes the KL divergence as a special case, which can be of independent interest.

Bayesian optimal design of experiments is a well-established approach to planning experiments. Briefly, a probability distribution, known as a statistical model, for the responses is assumed which is dependent on a vector of unknown parameters. A utility function is then specified which gives the gain in information for estimating the true value of the parameters using the Bayesian posterior distribution. A Bayesian optimal design is given by maximising the expectation of the utility with respect to the joint distribution given by the statistical model and prior distribution for the true parameter values. The approach takes account of the experimental aim via specification of the utility and of all assumed sources of uncertainty via the expected utility. However, it is predicated on the specification of the statistical model. Recently, a new type of statistical inference, known as Gibbs (or General Bayesian) inference, has been advanced. This is Bayesian-like, in that uncertainty on unknown quantities is represented by a posterior distribution, but does not necessarily rely on specification of a statistical model. Thus the resulting inference should be less sensitive to misspecification of the statistical model. The purpose of this paper is to propose Gibbs optimal design: a framework for optimal design of experiments for Gibbs inference. The concept behind the framework is introduced along with a computational approach to find Gibbs optimal designs in practice. The framework is demonstrated on exemplars including linear models, and experiments with count and time-to-event responses.

Missing data is a common challenge when analyzing epidemiological data, and imputation is often used to address this issue. Here, we investigate the scenario where a covariate used in an analysis has missingness and will be imputed. There are recommendations to include the outcome from the analysis model in the imputation model for missing covariates, but it is not necessarily clear if this recommmendation always holds and why this is sometimes true. We examine deterministic imputation (i.e., single imputation where the imputed values are treated as fixed) and stochastic imputation (i.e., single imputation with a random value or multiple imputation) methods and their implications for estimating the relationship between the imputed covariate and the outcome. We mathematically demonstrate that including the outcome variable in imputation models is not just a recommendation but a requirement to achieve unbiased results when using stochastic imputation methods. Moreover, we dispel common misconceptions about deterministic imputation models and demonstrate why the outcome should not be included in these models. This paper aims to bridge the gap between imputation in theory and in practice, providing mathematical derivations to explain common statistical recommendations. We offer a better understanding of the considerations involved in imputing missing covariates and emphasize when it is necessary to include the outcome variable in the imputation model.

We propose an augmented Lagrangian-based preconditioner to accelerate the convergence of Krylov subspace methods applied to linear systems of equations with a block three-by-three structure such as those arising from mixed finite element discretizations of the coupled Stokes-Darcy flow problem. We analyze the spectrum of the preconditioned matrix and we show how the new preconditioner can be efficiently applied. Numerical experiments are reported to illustrate the effectiveness of the preconditioner in conjunction with flexible GMRES for solving linear systems of equations arising from a 3D test problem.

We introduce a nonlinear stochastic model reduction technique for high-dimensional stochastic dynamical systems that have a low-dimensional invariant effective manifold with slow dynamics, and high-dimensional, large fast modes. Given only access to a black box simulator from which short bursts of simulation can be obtained, we design an algorithm that outputs an estimate of the invariant manifold, a process of the effective stochastic dynamics on it, which has averaged out the fast modes, and a simulator thereof. This simulator is efficient in that it exploits of the low dimension of the invariant manifold, and takes time steps of size dependent on the regularity of the effective process, and therefore typically much larger than that of the original simulator, which had to resolve the fast modes. The algorithm and the estimation can be performed on-the-fly, leading to efficient exploration of the effective state space, without losing consistency with the underlying dynamics. This construction enables fast and efficient simulation of paths of the effective dynamics, together with estimation of crucial features and observables of such dynamics, including the stationary distribution, identification of metastable states, and residence times and transition rates between them.

We study the multiplicative hazards model with intermittently observed longitudinal covariates and time-varying coefficients. For such models, the existing {\it ad hoc} approach, such as the last value carried forward, is biased. We propose a kernel weighting approach to get an unbiased estimation of the non-parametric coefficient function and establish asymptotic normality for any fixed time point. Furthermore, we construct the simultaneous confidence band to examine the overall magnitude of the variation. Simulation studies support our theoretical predictions and show favorable performance of the proposed method. A data set from cerebral infarction is used to illustrate our methodology.

Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish some tasks that are hard for computers in the pipeline with the help of machine-based approaches. In this paper, we survey existing works on human-in-the-loop from a data perspective and classify them into three categories with a progressive relationship: (1) the work of improving model performance from data processing, (2) the work of improving model performance through interventional model training, and (3) the design of the system independent human-in-the-loop. Using the above categorization, we summarize major approaches in the field, along with their technical strengths/ weaknesses, we have simple classification and discussion in natural language processing, computer vision, and others. Besides, we provide some open challenges and opportunities. This survey intends to provide a high-level summarization for human-in-the-loop and motivates interested readers to consider approaches for designing effective human-in-the-loop solutions.

The time and effort involved in hand-designing deep neural networks is immense. This has prompted the development of Neural Architecture Search (NAS) techniques to automate this design. However, NAS algorithms tend to be slow and expensive; they need to train vast numbers of candidate networks to inform the search process. This could be alleviated if we could partially predict a network's trained accuracy from its initial state. In this work, we examine the overlap of activations between datapoints in untrained networks and motivate how this can give a measure which is usefully indicative of a network's trained performance. We incorporate this measure into a simple algorithm that allows us to search for powerful networks without any training in a matter of seconds on a single GPU, and verify its effectiveness on NAS-Bench-101, NAS-Bench-201, NATS-Bench, and Network Design Spaces. Our approach can be readily combined with more expensive search methods; we examine a simple adaptation of regularised evolutionary search. Code for reproducing our experiments is available at //github.com/BayesWatch/nas-without-training.

Heterogeneous graph neural networks (HGNNs) as an emerging technique have shown superior capacity of dealing with heterogeneous information network (HIN). However, most HGNNs follow a semi-supervised learning manner, which notably limits their wide use in reality since labels are usually scarce in real applications. Recently, contrastive learning, a self-supervised method, becomes one of the most exciting learning paradigms and shows great potential when there are no labels. In this paper, we study the problem of self-supervised HGNNs and propose a novel co-contrastive learning mechanism for HGNNs, named HeCo. Different from traditional contrastive learning which only focuses on contrasting positive and negative samples, HeCo employs cross-viewcontrastive mechanism. Specifically, two views of a HIN (network schema and meta-path views) are proposed to learn node embeddings, so as to capture both of local and high-order structures simultaneously. Then the cross-view contrastive learning, as well as a view mask mechanism, is proposed, which is able to extract the positive and negative embeddings from two views. This enables the two views to collaboratively supervise each other and finally learn high-level node embeddings. Moreover, two extensions of HeCo are designed to generate harder negative samples with high quality, which further boosts the performance of HeCo. Extensive experiments conducted on a variety of real-world networks show the superior performance of the proposed methods over the state-of-the-arts.

We study few-shot acoustic event detection (AED) in this paper. Few-shot learning enables detection of new events with very limited labeled data. Compared to other research areas like computer vision, few-shot learning for audio recognition has been under-studied. We formulate few-shot AED problem and explore different ways of utilizing traditional supervised methods for this setting as well as a variety of meta-learning approaches, which are conventionally used to solve few-shot classification problem. Compared to supervised baselines, meta-learning models achieve superior performance, thus showing its effectiveness on generalization to new audio events. Our analysis including impact of initialization and domain discrepancy further validate the advantage of meta-learning approaches in few-shot AED.

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