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Imitation learning enables the synthesis of controllers for complex objectives and highly uncertain plant models. However, methods to provide stability guarantees to imitation learned controllers often rely on large amounts of data and/or known plant models. In this paper, we explore an input-output (IO) stability approach to dissipative imitation learning, which achieves stability with sparse data sets and with little known about the plant model. A closed-loop stable dynamic output feedback controller is learned using expert data, a coarse IO plant model, and a new constraint to enforce dissipativity on the learned controller. While the learning objective is nonconvex, iterative convex overbounding (ICO) and projected gradient descent (PGD) are explored as methods to successfully learn the controller. This new imitation learning method is applied to two unknown plants and compared to traditionally learned dynamic output feedback controller and neural network controller. With little knowledge of the plant model and a small data set, the dissipativity constrained learned controller achieves closed loop stability and successfully mimics the behavior of the expert controller, while other methods often fail to maintain stability and achieve good performance.

Referring to solution programs written by other users is helpful for learners in programming education. However, current online judge systems just list all solution programs submitted by users for references, and the programs are sorted based on the submission date and time, execution time, or user rating, ignoring to what extent the programs can be helpful to be referenced. In addition, users struggle to refer to a variety of solution approaches since there are too many duplicated and near-duplicated programs. To motivate learners to refer to various solutions to learn better solution approaches, in this paper, we propose an approach to deduplicate and rank common solution programs in each programming problem. Inspired by the nature that the many-duplicated program adopts a more common approach and can be a general reference, we remove the near-duplicated solution programs and rank the unique programs based on the duplicate count. The experiments on the solution programs submitted to a real-world online judge system demonstrate that the number of programs is reduced by 60.20%, whereas the baseline only reduces by 29.59% after the deduplication, meaning that users only need to refer to 39.80% of programs on average. Furthermore, our analysis shows that top-10 ranked programs cover 29.95% of programs on average, indicating that users can grasp 29.95% of solution approaches by referring to only 10 programs. The proposed approach shows the potential of reducing the learners' burden of referring to too many solutions and motivating them to learn a variety of solution approaches.

In surgical computer vision applications, obtaining labeled training data is challenging due to data-privacy concerns and the need for expert annotation. Unpaired image-to-image translation techniques have been explored to automatically generate large annotated datasets by translating synthetic images to the realistic domain. However, preserving the structure and semantic consistency between the input and translated images presents significant challenges, mainly when there is a distributional mismatch in the semantic characteristics of the domains. This study empirically investigates unpaired image translation methods for generating suitable data in surgical applications, explicitly focusing on semantic consistency. We extensively evaluate various state-of-the-art image translation models on two challenging surgical datasets and downstream semantic segmentation tasks. We find that a simple combination of structural-similarity loss and contrastive learning yields the most promising results. Quantitatively, we show that the data generated with this approach yields higher semantic consistency and can be used more effectively as training data.

In a recent work, Chen, Hoza, Lyu, Tal and Wu (FOCS 2023) showed an improved error reduction framework for the derandomization of regular read-once branching programs (ROBPs). Their result is based on a clever modification to the inverse Laplacian perspective of space-bounded derandomization, which was originally introduced by Ahmadinejad, Kelner, Murtagh, Peebles, Sidford and Vadhan (FOCS 2020). In this work, we give an alternative error reduction framework for regular ROBPs. Our new framework is based on a binary recursive formula from the work of Chattopadhyay and Liao (CCC 2020), that they used to construct weighted pseudorandom generators (WPRGs) for general ROBPs. Based on our new error reduction framework, we give alternative proofs to the following results for regular ROBPs of length $n$ and width $w$, both of which were proved in the work of Chen et al. using their error reduction: $\bullet$ There is a WPRG with error $\varepsilon$ that has seed length $\tilde{O}(\log(n)(\sqrt{\log(1/\varepsilon)}+\log(w))+\log(1/\varepsilon)).$ $\bullet$ There is a (non-black-box) deterministic algorithm which estimates the expectation of any such program within error $\pm\varepsilon$ with space complexity $\tilde{O}(\log(nw)\cdot\log\log(1/\varepsilon)).$ (This was first proved in the work of Ahmadinejad et al., but the proof by Chen et al. is simpler.) Because of the binary recursive nature of our new framework, both of our proofs are based on a straightforward induction that is arguably simpler than the Laplacian-based proof in the work of Chen et al.

By offloading computation-intensive tasks of vehicles to roadside units (RSUs), mobile edge computing (MEC) in the Internet of Vehicles (IoV) can relieve the onboard computation burden. However, existing model-based task offloading methods suffer from heavy computational complexity with the increase of vehicles and data-driven methods lack interpretability. To address these challenges, in this paper, we propose a knowledge-driven multi-agent reinforcement learning (KMARL) approach to reduce the latency of task offloading in cybertwin-enabled IoV. Specifically, in the considered scenario, the cybertwin serves as a communication agent for each vehicle to exchange information and make offloading decisions in the virtual space. To reduce the latency of task offloading, a KMARL approach is proposed to select the optimal offloading option for each vehicle, where graph neural networks are employed by leveraging domain knowledge concerning graph-structure communication topology and permutation invariance into neural networks. Numerical results show that our proposed KMARL yields higher rewards and demonstrates improved scalability compared with other methods, benefitting from the integration of domain knowledge.

We present a framework for sandboxing and restricting features of the OCaml programming language to effectively automate the grading of programming exercises, scaling to hundreds of submissions. We describe how to disable language and library features that should not be used to solve a given exercise. We present an overview of an implementation of a mock IO system to allow testing of IO-related exercises in a controlled environment. Finally, we detail a number of security considerations to ensure submitted code remains sandboxed, allowing automatic grading to be trusted without manual verification. The source code of our implementation is publicly available.

Latent factor models are the dominant backbones of contemporary recommender systems (RSs) given their performance advantages, where a unique vector embedding with a fixed dimensionality (e.g., 128) is required to represent each entity (commonly a user/item). Due to the large number of users and items on e-commerce sites, the embedding table is arguably the least memory-efficient component of RSs. For any lightweight recommender that aims to efficiently scale with the growing size of users/items or to remain applicable in resource-constrained settings, existing solutions either reduce the number of embeddings needed via hashing, or sparsify the full embedding table to switch off selected embedding dimensions. However, as hash collision arises or embeddings become overly sparse, especially when adapting to a tighter memory budget, those lightweight recommenders inevitably have to compromise their accuracy. To this end, we propose a novel compact embedding framework for RSs, namely Compositional Embedding with Regularized Pruning (CERP). Specifically, CERP represents each entity by combining a pair of embeddings from two independent, substantially smaller meta-embedding tables, which are then jointly pruned via a learnable element-wise threshold. In addition, we innovatively design a regularized pruning mechanism in CERP, such that the two sparsified meta-embedding tables are encouraged to encode information that is mutually complementary. Given the compatibility with agnostic latent factor models, we pair CERP with two popular recommendation models for extensive experiments, where results on two real-world datasets under different memory budgets demonstrate its superiority against state-of-the-art baselines. The codebase of CERP is available in //github.com/xurong-liang/CERP.

The deployment of transformers for visual object tracking has shown state-of-the-art results on several benchmarks. However, the transformer-based models are under-utilized for Siamese lightweight tracking due to the computational complexity of their attention blocks. This paper proposes an efficient self and mixed attention transformer-based architecture for lightweight tracking. The proposed backbone utilizes the separable mixed attention transformers to fuse the template and search regions during feature extraction to generate superior feature encoding. Our prediction head performs global contextual modeling of the encoded features by leveraging efficient self-attention blocks for robust target state estimation. With these contributions, the proposed lightweight tracker deploys a transformer-based backbone and head module concurrently for the first time. Our ablation study testifies to the effectiveness of the proposed combination of backbone and head modules. Simulations show that our Separable Self and Mixed Attention-based Tracker, SMAT, surpasses the performance of related lightweight trackers on GOT10k, TrackingNet, LaSOT, NfS30, UAV123, and AVisT datasets, while running at 37 fps on CPU, 158 fps on GPU, and having 3.8M parameters. For example, it significantly surpasses the closely related trackers E.T.Track and MixFormerV2-S on GOT10k-test by a margin of 7.9% and 5.8%, respectively, in the AO metric. The tracker code and model is available at //github.com/goutamyg/SMAT

Despite the advancement of machine learning techniques in recent years, state-of-the-art systems lack robustness to "real world" events, where the input distributions and tasks encountered by the deployed systems will not be limited to the original training context, and systems will instead need to adapt to novel distributions and tasks while deployed. This critical gap may be addressed through the development of "Lifelong Learning" systems that are capable of 1) Continuous Learning, 2) Transfer and Adaptation, and 3) Scalability. Unfortunately, efforts to improve these capabilities are typically treated as distinct areas of research that are assessed independently, without regard to the impact of each separate capability on other aspects of the system. We instead propose a holistic approach, using a suite of metrics and an evaluation framework to assess Lifelong Learning in a principled way that is agnostic to specific domains or system techniques. Through five case studies, we show that this suite of metrics can inform the development of varied and complex Lifelong Learning systems. We highlight how the proposed suite of metrics quantifies performance trade-offs present during Lifelong Learning system development - both the widely discussed Stability-Plasticity dilemma and the newly proposed relationship between Sample Efficient and Robust Learning. Further, we make recommendations for the formulation and use of metrics to guide the continuing development of Lifelong Learning systems and assess their progress in the future.

Deep convolutional neural networks (CNNs) have recently achieved great success in many visual recognition tasks. However, existing deep neural network models are computationally expensive and memory intensive, hindering their deployment in devices with low memory resources or in applications with strict latency requirements. Therefore, a natural thought is to perform model compression and acceleration in deep networks without significantly decreasing the model performance. During the past few years, tremendous progress has been made in this area. In this paper, we survey the recent advanced techniques for compacting and accelerating CNNs model developed. These techniques are roughly categorized into four schemes: parameter pruning and sharing, low-rank factorization, transferred/compact convolutional filters, and knowledge distillation. Methods of parameter pruning and sharing will be described at the beginning, after that the other techniques will be introduced. For each scheme, we provide insightful analysis regarding the performance, related applications, advantages, and drawbacks etc. Then we will go through a few very recent additional successful methods, for example, dynamic capacity networks and stochastic depths networks. After that, we survey the evaluation matrix, the main datasets used for evaluating the model performance and recent benchmarking efforts. Finally, we conclude this paper, discuss remaining challenges and possible directions on this topic.