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We propose a diffusion approximation method to the continuous-state Markov Decision Processes (MDPs) that can be utilized to address autonomous navigation and control in unstructured off-road environments. In contrast to most decision-theoretic planning frameworks that assume fully known state transition models, we design a method that eliminates such a strong assumption that is often extremely difficult to engineer in reality. We first take the second-order Taylor expansion of the value function. The Bellman optimality equation is then approximated by a partial differential equation, which only relies on the first and second moments of the transition model. By combining the kernel representation of the value function, we design an efficient policy iteration algorithm whose policy evaluation step can be represented as a linear system of equations characterized by a finite set of supporting states. We first validate the proposed method through extensive simulations in 2D obstacle avoidance and 2.5D terrain navigation problems. The results show that the proposed approach leads to a much superior performance over several baselines. We then develop a system that integrates our decision-making framework with onboard perception and conduct real-world experiments in both cluttered indoor and unstructured outdoor environments. The results from the physical systems further demonstrate the applicability of our method in challenging real-world environments.

Printed Electronics (PE) stands out as a promisingtechnology for widespread computing due to its distinct attributes, such as low costs and flexible manufacturing. Unlike traditional silicon-based technologies, PE enables stretchable, conformal,and non-toxic hardware. However, PE are constrained by larger feature sizes, making it challenging to implement complex circuits such as machine learning (ML) classifiers. Approximate computing has been proven to reduce the hardware cost of ML circuits such as Multilayer Perceptrons (MLPs). In this paper, we maximize the benefits of approximate computing by integrating hardware approximation into the MLP training process. Due to the discrete nature of hardware approximation, we propose and implement a genetic-based, approximate, hardware-aware training approach specifically designed for printed MLPs. For a 5% accuracy loss, our MLPs achieve over 5x area and power reduction compared to the baseline while outperforming state of-the-art approximate and stochastic printed MLPs.

The Gottesman-Kitaev-Preskill (GKP) code, being information theoretically near optimal for quantum communication over Gaussian thermal-loss optical channels, is likely to be the encoding of choice for advanced quantum networks of the future. Quantum repeaters based on GKP-encoded light have been shown to support high end-to-end entanglement rates across large distances despite realistic finite squeezing in GKP code preparation and homodyne detection inefficiencies. Here, we introduce a quantum switch for GKP-qubit-based quantum networks, whose architecture involves multiplexed GKP-qubit-based entanglement link generation with clients, and their all-photonic storage, together enabled by GKP-qubit graph state resources. For bipartite entanglement distribution between clients via entanglement swapping, the switch uses a multi-client generalization of a recently introduced $\textit{entanglement-ranking-based link matching}$ protocol heuristic. Since generating the GKP-qubit graph state resource is hardware intensive, given a total resource budget and an arbitrary layout of clients, we address the question of their optimal allocation towards the different client-pair connections served by the switch such that the sum throughput of the switch is maximized while also being fair in terms of the individual entanglement rates. We illustrate our results for an exemplary data center network, where the data center is a client of a switch and all of its other clients aim to connect to the data center alone -- a scenario that also captures the general case of a gateway router connecting a local area network to a global network. Together with compatible quantum repeaters, our quantum switch provides a way to realize quantum networks of arbitrary topology.

Influence Maximization (IM) is a crucial problem in data science. The goal is to find a fixed-size set of highly-influential seed vertices on a network to maximize the influence spread along the edges. While IM is NP-hard on commonly-used diffusion models, a greedy algorithm can achieve $(1-1/e)$-approximation, repeatedly selecting the vertex with the highest marginal gain in influence as the seed. Due to theoretical guarantees, rich literature focuses on improving the performance of the greedy algorithm. To estimate the marginal gain, existing work either runs Monte Carlo (MC) simulations of influence spread or pre-stores hundreds of sketches (usually per-vertex information). However, these approaches can be inefficient in time (MC simulation) or space (storing sketches), preventing the ideas from scaling to today's large-scale graphs. This paper significantly improves the scalability of IM using two key techniques. The first is a sketch-compression technique for the independent cascading model on undirected graphs. It allows combining the simulation and sketching approaches to achieve a time-space tradeoff. The second technique includes new data structures for parallel seed selection. Using our new approaches, we implemented PaC-IM: Parallel and Compressed IM. We compare PaC-IM with state-of-the-art parallel IM systems on a 96-core machine with 1.5TB memory. PaC-IM can process large-scale graphs with up to 900M vertices and 74B edges in about 2 hours. On average across all tested graphs, our uncompressed version is 5--18$\times$ faster and about 1.4$\times$ more space-efficient than existing parallel IM systems. Using compression further saves 3.8$\times$ space with only 70% overhead in time on average.

In this study, we explore a robust testing procedure for the high-dimensional location parameters testing problem. Initially, we introduce a spatial-sign based max-type test statistic, which exhibits excellent performance for sparse alternatives. Subsequently, we demonstrate the asymptotic independence between this max-type test statistic and the spatial-sign based sum-type test statistic (Feng and Sun, 2016). Building on this, we propose a spatial-sign based max-sum type testing procedure, which shows remarkable performance under varying signal sparsity. Our simulation studies underscore the superior performance of the procedures we propose.

We propose a hierarchical architecture designed for scalable real-time Model Predictive Control (MPC) in complex, multi-modal traffic scenarios. This architecture comprises two key components: 1) RAID-Net, a novel attention-based Recurrent Neural Network that predicts relevant interactions along the MPC prediction horizon between the autonomous vehicle and the surrounding vehicles using Lagrangian duality, and 2) a reduced Stochastic MPC problem that eliminates irrelevant collision avoidance constraints, enhancing computational efficiency. Our approach is demonstrated in a simulated traffic intersection with interactive surrounding vehicles, showcasing a 12x speed-up in solving the motion planning problem. A video demonstrating the proposed architecture in multiple complex traffic scenarios can be found here: //youtu.be/-TcMeolCLWc

In Multi-Label Text Classification (MLTC), one sample can belong to more than one class. It is observed that most MLTC tasks, there are dependencies or correlations among labels. Existing methods tend to ignore the relationship among labels. In this paper, a graph attention network-based model is proposed to capture the attentive dependency structure among the labels. The graph attention network uses a feature matrix and a correlation matrix to capture and explore the crucial dependencies between the labels and generate classifiers for the task. The generated classifiers are applied to sentence feature vectors obtained from the text feature extraction network (BiLSTM) to enable end-to-end training. Attention allows the system to assign different weights to neighbor nodes per label, thus allowing it to learn the dependencies among labels implicitly. The results of the proposed model are validated on five real-world MLTC datasets. The proposed model achieves similar or better performance compared to the previous state-of-the-art models.

Recently, ensemble has been applied to deep metric learning to yield state-of-the-art results. Deep metric learning aims to learn deep neural networks for feature embeddings, distances of which satisfy given constraint. In deep metric learning, ensemble takes average of distances learned by multiple learners. As one important aspect of ensemble, the learners should be diverse in their feature embeddings. To this end, we propose an attention-based ensemble, which uses multiple attention masks, so that each learner can attend to different parts of the object. We also propose a divergence loss, which encourages diversity among the learners. The proposed method is applied to the standard benchmarks of deep metric learning and experimental results show that it outperforms the state-of-the-art methods by a significant margin on image retrieval tasks.

Automatic License Plate Recognition (ALPR) has been a frequent topic of research due to many practical applications. However, many of the current solutions are still not robust in real-world situations, commonly depending on many constraints. This paper presents a robust and efficient ALPR system based on the state-of-the-art YOLO object detection. The Convolutional Neural Networks (CNNs) are trained and fine-tuned for each ALPR stage so that they are robust under different conditions (e.g., variations in camera, lighting, and background). Specially for character segmentation and recognition, we design a two-stage approach employing simple data augmentation tricks such as inverted License Plates (LPs) and flipped characters. The resulting ALPR approach achieved impressive results in two datasets. First, in the SSIG dataset, composed of 2,000 frames from 101 vehicle videos, our system achieved a recognition rate of 93.53% and 47 Frames Per Second (FPS), performing better than both Sighthound and OpenALPR commercial systems (89.80% and 93.03%, respectively) and considerably outperforming previous results (81.80%). Second, targeting a more realistic scenario, we introduce a larger public dataset, called UFPR-ALPR dataset, designed to ALPR. This dataset contains 150 videos and 4,500 frames captured when both camera and vehicles are moving and also contains different types of vehicles (cars, motorcycles, buses and trucks). In our proposed dataset, the trial versions of commercial systems achieved recognition rates below 70%. On the other hand, our system performed better, with recognition rate of 78.33% and 35 FPS.

Attention mechanism has been used as an ancillary means to help RNN or CNN. However, the Transformer (Vaswani et al., 2017) recently recorded the state-of-the-art performance in machine translation with a dramatic reduction in training time by solely using attention. Motivated by the Transformer, Directional Self Attention Network (Shen et al., 2017), a fully attention-based sentence encoder, was proposed. It showed good performance with various data by using forward and backward directional information in a sentence. But in their study, not considered at all was the distance between words, an important feature when learning the local dependency to help understand the context of input text. We propose Distance-based Self-Attention Network, which considers the word distance by using a simple distance mask in order to model the local dependency without losing the ability of modeling global dependency which attention has inherent. Our model shows good performance with NLI data, and it records the new state-of-the-art result with SNLI data. Additionally, we show that our model has a strength in long sentences or documents.