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This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2-D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and controller is proposed for setpoint stabilization that integrates the favorable convergence characteristics of closed-form motion planning techniques with the intuitive representation of system constraints through Model Predictive Control (MPC). The method is analytically proven to accomplish collision avoidance and convergence under soft conditions, and it is extended to path-following control. Various simulation scenarios using a non-holonomic unicycle robot are provided to showcase the efficacy of the control scheme and its improved convergence results compared to standard path-following MPC approaches with obstacle avoidance.

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We study how to extend the use of the diffusion model to answer the causal question from the observational data under the existence of unmeasured confounders. In Pearl's framework of using a Directed Acyclic Graph (DAG) to capture the causal intervention, a Diffusion-based Causal Model (DCM) was proposed incorporating the diffusion model to answer the causal questions more accurately, assuming that all of the confounders are observed. However, unmeasured confounders in practice exist, which hinders DCM from being applicable. To alleviate this limitation of DCM, we propose an extended model called Backdoor Criterion based DCM (BDCM), whose idea is rooted in the Backdoor criterion to find the variables in DAG to be included in the decoding process of the diffusion model so that we can extend DCM to the case with unmeasured confounders. Synthetic data experiment demonstrates that our proposed model captures the counterfactual distribution more precisely than DCM under the unmeasured confounders.

Programming-by-example (PBE) systems aim to alleviate the burden of programming. However, user-specified examples are often ambiguous, leaving multiple programs to satisfy the specification. Consequently, in most prior work, users have had to provide additional examples, particularly negative ones, to further constrain the search over compatible programs. Recent work resolves additional ambiguity by modeling program synthesis tasks as pragmatic communication, showing promising results on a graphics domain using a rudimentary user-study. We adapt pragmatic reasoning to a sub-domain of regular expressions and rigorously study its usability as a means of communication both with and without the ability to provide negative examples. Our user study (N=30) demonstrates that, with a pragmatic synthesizer, end-users can more successfully communicate a target regex using positive examples alone (95%) compared to using a non-pragmatic synthesizer (51%). Further, users can communicate more efficiently (57% fewer examples) with a pragmatic synthesizer compared to a non-pragmatic one.

By requiring all data packets been cryptographically authenticatable, the Named Data Networking (NDN) architecture design provides a basic building block for secured networking. This basic NDN function requires that all entities in an NDN network go through a security bootstrapping process to obtain the initial security credentials. Recent years have witnessed a number of proposed solutions for NDN security bootstrapping protocols. Built upon the existing results, in this paper we take the next step to develop a systematic model of security bootstrapping: Trust-domain Entity Bootstrapping (TEB). This model is based on the emerging concept of trust domain and describes the steps and their dependencies in the bootstrapping process. We evaluate the expressiveness and sufficiency of this model by using it to describe several current bootstrapping protocols.

Offline reinforcement learning provides a viable approach to obtain advanced control strategies for dynamical systems, in particular when direct interaction with the environment is not available. In this paper, we introduce a conceptual extension for model-based policy search methods, called variable objective policy (VOP). With this approach, policies are trained to generalize efficiently over a variety of objectives, which parameterize the reward function. We demonstrate that by altering the objectives passed as input to the policy, users gain the freedom to adjust its behavior or re-balance optimization targets at runtime, without need for collecting additional observation batches or re-training.

Multiview clustering (MVC) aims to reveal the underlying structure of multiview data by categorizing data samples into clusters. Deep learning-based methods exhibit strong feature learning capabilities on large-scale datasets. For most existing deep MVC methods, exploring the invariant representations of multiple views is still an intractable problem. In this paper, we propose a cross-view contrastive learning (CVCL) method that learns view-invariant representations and produces clustering results by contrasting the cluster assignments among multiple views. Specifically, we first employ deep autoencoders to extract view-dependent features in the pretraining stage. Then, a cluster-level CVCL strategy is presented to explore consistent semantic label information among the multiple views in the fine-tuning stage. Thus, the proposed CVCL method is able to produce more discriminative cluster assignments by virtue of this learning strategy. Moreover, we provide a theoretical analysis of soft cluster assignment alignment. Extensive experimental results obtained on several datasets demonstrate that the proposed CVCL method outperforms several state-of-the-art approaches.

Translational distance-based knowledge graph embedding has shown progressive improvements on the link prediction task, from TransE to the latest state-of-the-art RotatE. However, N-1, 1-N and N-N predictions still remain challenging. In this work, we propose a novel translational distance-based approach for knowledge graph link prediction. The proposed method includes two-folds, first we extend the RotatE from 2D complex domain to high dimension space with orthogonal transforms to model relations for better modeling capacity. Second, the graph context is explicitly modeled via two directed context representations. These context representations are used as part of the distance scoring function to measure the plausibility of the triples during training and inference. The proposed approach effectively improves prediction accuracy on the difficult N-1, 1-N and N-N cases for knowledge graph link prediction task. The experimental results show that it achieves better performance on two benchmark data sets compared to the baseline RotatE, especially on data set (FB15k-237) with many high in-degree connection nodes.

We propose a new method for event extraction (EE) task based on an imitation learning framework, specifically, inverse reinforcement learning (IRL) via generative adversarial network (GAN). The GAN estimates proper rewards according to the difference between the actions committed by the expert (or ground truth) and the agent among complicated states in the environment. EE task benefits from these dynamic rewards because instances and labels yield to various extents of difficulty and the gains are expected to be diverse -- e.g., an ambiguous but correctly detected trigger or argument should receive high gains -- while the traditional RL models usually neglect such differences and pay equal attention on all instances. Moreover, our experiments also demonstrate that the proposed framework outperforms state-of-the-art methods, without explicit feature engineering.

Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples resulting from adding small-magnitude perturbations to inputs. Such adversarial examples can mislead DNNs to produce adversary-selected results. Different attack strategies have been proposed to generate adversarial examples, but how to produce them with high perceptual quality and more efficiently requires more research efforts. In this paper, we propose AdvGAN to generate adversarial examples with generative adversarial networks (GANs), which can learn and approximate the distribution of original instances. For AdvGAN, once the generator is trained, it can generate adversarial perturbations efficiently for any instance, so as to potentially accelerate adversarial training as defenses. We apply AdvGAN in both semi-whitebox and black-box attack settings. In semi-whitebox attacks, there is no need to access the original target model after the generator is trained, in contrast to traditional white-box attacks. In black-box attacks, we dynamically train a distilled model for the black-box model and optimize the generator accordingly. Adversarial examples generated by AdvGAN on different target models have high attack success rate under state-of-the-art defenses compared to other attacks. Our attack has placed the first with 92.76% accuracy on a public MNIST black-box attack challenge.

Learning similarity functions between image pairs with deep neural networks yields highly correlated activations of embeddings. In this work, we show how to improve the robustness of such embeddings by exploiting the independence within ensembles. To this end, we divide the last embedding layer of a deep network into an embedding ensemble and formulate training this ensemble as an online gradient boosting problem. Each learner receives a reweighted training sample from the previous learners. Further, we propose two loss functions which increase the diversity in our ensemble. These loss functions can be applied either for weight initialization or during training. Together, our contributions leverage large embedding sizes more effectively by significantly reducing correlation of the embedding and consequently increase retrieval accuracy of the embedding. Our method works with any differentiable loss function and does not introduce any additional parameters during test time. We evaluate our metric learning method on image retrieval tasks and show that it improves over state-of-the-art methods on the CUB 200-2011, Cars-196, Stanford Online Products, In-Shop Clothes Retrieval and VehicleID datasets.

In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.

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