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As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's learning capabilities. To address this gap, we propose a comprehensive methodology that accounts for the interplay between the robot's perception, hardware characteristics, and task requirements. Our approach optimizes the robot's morphology holistically, leading to improved learning and task execution proficiency. To achieve this, we introduce a Morphology-AGnostIc Controller (MAGIC), which helps with the rapid assessment of different robot designs. The MAGIC policy is efficiently trained through a novel PRIvileged Single-stage learning via latent alignMent (PRISM) framework, which also encourages behaviors that are typical of robot onboard observation. Our simulation-based results demonstrate that morphologies optimized holistically improve the robot performance by 15-20% on various manipulation tasks, and require 25x less data to match human-expert made morphology performance. In summary, our work contributes to the growing trend of learning-based approaches in robotics and emphasizes the potential in designing robots that facilitate better learning.

Electricity grids have become an essential part of daily life, even if they are often not noticed in everyday life. We usually only become particularly aware of this dependence by the time the electricity grid is no longer available. However, significant changes, such as the transition to renewable energy (photovoltaic, wind turbines, etc.) and an increasing number of energy consumers with complex load profiles (electric vehicles, home battery systems, etc.), pose new challenges for the electricity grid. To address these challenges, we propose two first-of-its-kind datasets based on measurements in a broadband powerline communications (PLC) infrastructure. Both datasets FiN-1 and FiN-2, were collected during real practical use in a part of the German low-voltage grid that supplies around 4.4 million people and show more than 13 billion datapoints collected by more than 5100 sensors. In addition, we present different use cases in asset management, grid state visualization, forecasting, predictive maintenance, and novelty detection to highlight the benefits of these types of data. For these applications, we particularly highlight the use of novel machine learning architectures to extract rich information from real-world data that cannot be captured using traditional approaches. By publishing the first large-scale real-world dataset, we aim to shed light on the previously largely unrecognized potential of PLC data and emphasize machine-learning-based research in low-voltage distribution networks by presenting a variety of different use cases.

With the increasing ubiquity of cameras and smart sensors, humanity is generating data at an exponential rate. Access to this trove of information, often covering yet-underrepresented use-cases (e.g., AI in medical settings) could fuel a new generation of deep-learning tools. However, eager data scientists should first provide satisfying guarantees w.r.t. the privacy of individuals present in these untapped datasets. This is especially important for images or videos depicting faces, as their biometric information is the target of most identification methods. While a variety of solutions have been proposed to de-identify such images, they often corrupt other non-identifying facial attributes that would be relevant for downstream tasks. In this paper, we propose Disguise, a novel algorithm to seamlessly de-identify facial images while ensuring the usability of the altered data. Unlike prior arts, we ground our solution in both differential privacy and ensemble-learning research domains. Our method extracts and swaps depicted identities with fake ones, synthesized via variational mechanisms to maximize obfuscation and non-invertibility; while leveraging the supervision from a mixture-of-experts to disentangle and preserve other utility attributes. We extensively evaluate our method on multiple datasets, demonstrating higher de-identification rate and superior consistency than prior art w.r.t. various downstream tasks.

We present a call-by-need $\lambda$-calculus that enables strong reduction (that is, reduction inside the body of abstractions) and guarantees that arguments are only evaluated if needed and at most once. This calculus uses explicit substitutions and subsumes the existing strong-call-by-need strategy, but allows for more reduction sequences, and often shorter ones, while preserving the neededness. The calculus is shown to be normalizing in a strong sense: Whenever a $\lambda$-term t admits a normal form n in the $\lambda$-calculus, then any reduction sequence from t in the calculus eventually reaches a representative of the normal form n. We also exhibit a restriction of this calculus that has the diamond property and that only performs reduction sequences of minimal length, which makes it systematically better than the existing strategy. We have used the Abella proof assistant to formalize part of this calculus, and discuss how this experiment affected its design. In particular, it led us to derive a new description of call-by-need reduction based on inductive rules.

Most of the literature on learning in games has focused on the restrictive setting where the underlying repeated game does not change over time. Much less is known about the convergence of no-regret learning algorithms in dynamic multiagent settings. In this paper, we characterize the convergence of optimistic gradient descent (OGD) in time-varying games. Our framework yields sharp convergence bounds for the equilibrium gap of OGD in zero-sum games parameterized on natural variation measures of the sequence of games, subsuming known results for static games. Furthermore, we establish improved second-order variation bounds under strong convexity-concavity, as long as each game is repeated multiple times. Our results also apply to time-varying general-sum multi-player games via a bilinear formulation of correlated equilibria, which has novel implications for meta-learning and for obtaining refined variation-dependent regret bounds, addressing questions left open in prior papers. Finally, we leverage our framework to also provide new insights on dynamic regret guarantees in static games.

Control Barrier Functions offer safety certificates by dictating controllers that enforce safety constraints. However, their response depends on the classK function that is used to restrict the rate of change of the barrier function along the system trajectories. This paper introduces the notion of Rate Tunable Control Barrier Function (RT-CBF), which allows for online tuning of the response of CBF-based controllers. In contrast to the existing CBF approaches that use a fixed (predefined) classK function to ensure safety, we parameterize and adapt the classK function parameters online. Furthermore, we discuss the challenges associated with multiple barrier constraints, namely ensuring that they admit a common control input that satisfies them simultaneously for all time. In practice, RT-CBF enables designing parameter dynamics for (1) a better-performing response, where performance is defined in terms of the cost accumulated over a time horizon, or (2) a less conservative response. We propose a model-predictive framework that computes the sensitivity of the future states with respect to the parameters and uses Sequential Quadratic Programming for deriving an online law to update the parameters in the direction of improving the performance. When prediction is not possible, we also provide point-wise sufficient conditions to be imposed on any user-given parameter dynamics so that multiple CBF constraints continue to admit common control input with time. Finally, we introduce RT-CBFs for decentralized uncooperative multi-agent systems, where a trust factor, computed based on the instantaneous ease of constraint satisfaction, is used to update parameters online for a less conservative response.

Transformers are state-of-the-art networks for most sequence processing tasks. However, the self-attention mechanism often used in Transformers requires large time windows for each computation step and thus makes them less suitable for online signal processing compared to Recurrent Neural Networks (RNNs). In this paper, instead of the self-attention mechanism, we use a sliding window attention mechanism. We show that this mechanism is more efficient for continuous signals with finite-range dependencies between input and target, and that we can use it to process sequences element-by-element, this making it compatible with online processing. We test our model on a finger position regression dataset (NinaproDB8) with Surface Electromyographic (sEMG) signals measured on the forearm skin to estimate muscle activities. Our approach sets the new state-of-the-art in terms of accuracy on this dataset while requiring only very short time windows of 3.5 ms at each inference step. Moreover, we increase the sparsity of the network using Leaky-Integrate and Fire (LIF) units, a bio-inspired neuron model that activates sparsely in time solely when crossing a threshold. We thus reduce the number of synaptic operations up to a factor of $\times5.3$ without loss of accuracy. Our results hold great promises for accurate and fast online processing of sEMG signals for smooth prosthetic hand control and is a step towards Transformers and Spiking Neural Networks (SNNs) co-integration for energy efficient temporal signal processing.

Explicit exploration in the action space was assumed to be indispensable for online policy gradient methods to avoid a drastic degradation in sample complexity, for solving general reinforcement learning problems over finite state and action spaces. In this paper, we establish for the first time an $\tilde{\mathcal{O}}(1/\epsilon^2)$ sample complexity for online policy gradient methods without incorporating any exploration strategies. The essential development consists of two new on-policy evaluation operators and a novel analysis of the stochastic policy mirror descent method (SPMD). SPMD with the first evaluation operator, called value-based estimation, tailors to the Kullback-Leibler divergence. Provided the Markov chains on the state space of generated policies are uniformly mixing with non-diminishing minimal visitation measure, an $\tilde{\mathcal{O}}(1/\epsilon^2)$ sample complexity is obtained with a linear dependence on the size of the action space. SPMD with the second evaluation operator, namely truncated on-policy Monte Carlo (TOMC), attains an $\tilde{\mathcal{O}}(\mathcal{H}_{\mathcal{D}}/\epsilon^2)$ sample complexity, where $\mathcal{H}_{\mathcal{D}}$ mildly depends on the effective horizon and the size of the action space with properly chosen Bregman divergence (e.g., Tsallis divergence). SPMD with TOMC also exhibits stronger convergence properties in that it controls the optimality gap with high probability rather than in expectation. In contrast to explicit exploration, these new policy gradient methods can prevent repeatedly committing to potentially high-risk actions when searching for optimal policies.

Existing research on merging behavior generally prioritize the application of various algorithms, but often overlooks the fine-grained process and analysis of trajectories. This leads to the neglect of surrounding vehicle matching, the opaqueness of indicators definition, and reproducible crisis. To address these gaps, this paper presents a reproducible approach to merging behavior analysis. Specifically, we outline the causes of subjectivity and irreproducibility in existing studies. Thereafter, we employ lanelet2 High Definition (HD) map to construct a reproducible framework, that minimizes subjectivities, defines standardized indicators, identifies alongside vehicles, and divides scenarios. A comparative macroscopic and microscopic analysis is subsequently conducted. More importantly, this paper adheres to the Reproducible Research concept, providing all the source codes and reproduction instructions. Our results demonstrate that although scenarios with alongside vehicles occur in less than 6% of cases, their characteristics are significantly different from others, and these scenarios are often accompanied by high risk. This paper refines the understanding of merging behavior, raises awareness of reproducible studies, and serves as a watershed moment.

Unsupervised domain adaptation has recently emerged as an effective paradigm for generalizing deep neural networks to new target domains. However, there is still enormous potential to be tapped to reach the fully supervised performance. In this paper, we present a novel active learning strategy to assist knowledge transfer in the target domain, dubbed active domain adaptation. We start from an observation that energy-based models exhibit free energy biases when training (source) and test (target) data come from different distributions. Inspired by this inherent mechanism, we empirically reveal that a simple yet efficient energy-based sampling strategy sheds light on selecting the most valuable target samples than existing approaches requiring particular architectures or computation of the distances. Our algorithm, Energy-based Active Domain Adaptation (EADA), queries groups of targe data that incorporate both domain characteristic and instance uncertainty into every selection round. Meanwhile, by aligning the free energy of target data compact around the source domain via a regularization term, domain gap can be implicitly diminished. Through extensive experiments, we show that EADA surpasses state-of-the-art methods on well-known challenging benchmarks with substantial improvements, making it a useful option in the open world. Code is available at //github.com/BIT-DA/EADA.