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Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like complex joint friction lack clear first-principles models and are usually ignored by physics simulators. Further, numerically-stiff contact dynamics can make common model-building approaches struggle. We propose a method to simultaneously learn contact and continuous dynamics of a novel, possibly multi-link object by observing its motion through contact-rich trajectories. We formulate a system identification process with a loss that infers unmeasured contact forces, penalizing their violation of physical constraints and laws of motion given current model parameters. Our loss is unlike prediction-based losses used in differentiable simulation. Using a new dataset of real articulated object trajectories and an existing cube toss dataset, our method outperforms differentiable simulation and end-to-end alternatives with more data efficiency. See our project page for code, datasets, and media: //sites.google.com/view/continuous-contact-nets/home

We investigate the randomized and quantum communication complexities of the well-studied Equality function with small error probability $\epsilon$, getting optimal constant factors in the leading terms in a number of different models. In the randomized model, 1) we give a general technique to convert public-coin protocols to private-coin protocols by incurring a small multiplicative error, at a small additive cost. This is an improvement over Newman's theorem [Inf. Proc. Let.'91] in the dependence on the error parameter. 2) Using this we obtain a $(\log(n/\epsilon^2)+4)$-cost private-coin communication protocol that computes the $n$-bit Equality function, to error $\epsilon$. This improves upon the $\log(n/\epsilon^3)+O(1)$ upper bound implied by Newman's theorem, and matches the best known lower bound, which follows from Alon [Comb. Prob. Comput.'09], up to an additive $\log\log(1/\epsilon)+O(1)$. In the quantum model, 1) we exhibit a one-way protocol of cost $\log(n/\epsilon)+4$, that uses only pure states and computes the $n$-bit Equality function to error $\epsilon$. This bound was implicitly already shown by Nayak [PhD thesis'99]. 2) We show that any $\epsilon$-error one-way protocol for $n$-bit Equality that uses only pure states communicates at least $\log(n/\epsilon)-\log\log(1/\epsilon)-O(1)$ qubits. 3) We exhibit a one-way protocol of cost $\log(\sqrt{n}/\epsilon)+3$, that uses mixed states and computes the $n$-bit Equality function to error $\epsilon$. This is also tight up to an additive $\log\log(1/\epsilon)+O(1)$, which follows from Alon's result. 4) We study the number of EPR pairs required to be shared in an entanglement-assisted one-way protocol. Our upper bounds also yield upper bounds on the approximate rank and related measures of the Identity matrix.

A classical problem of statistical inference is the valid specification of a model that can account for the statistical dependencies between observations when the true structure is dense, intractable, or unknown. To address this problem, a new variance identity is presented, which is closely related to the Moulton factor. This identity does not require the specification of an entire covariance structure and instead relies on the choice of two summary constants. Using this result, a weak law of large numbers is also established for additive statistics and common variance estimators under very general conditions of statistical dependence. Furthermore, this paper proves a sharper version of Hoeffding's inequality for symmetric and bounded random variables under these same conditions of statistical dependence. Put otherwise, it is shown that, under relatively mild conditions, finite sample inference is possible in common settings such as linear regression, and even when every outcome variable is statistically dependent with all others. All results are extended to estimating equations. Simulation experiments and an application to climate data are also provided.

Recently, machine learning of the branch and bound algorithm has shown promise in approximating competent solutions to NP-hard problems. In this paper, we utilize and comprehensively compare the outcomes of three neural networks--graph convolutional neural network (GCNN), GraphSAGE, and graph attention network (GAT)--to solve the capacitated vehicle routing problem. We train these neural networks to emulate the decision-making process of the computationally expensive Strong Branching strategy. The neural networks are trained on six instances with distinct topologies from the CVRPLIB and evaluated on eight additional instances. Moreover, we reduced the minimum number of vehicles required to solve a CVRP instance to a bin-packing problem, which was addressed in a similar manner. Through rigorous experimentation, we found that this approach can match or improve upon the performance of the branch and bound algorithm with the Strong Branching strategy while requiring significantly less computational time. The source code that corresponds to our research findings and methodology is readily accessible and available for reference at the following web address: //isotlaboratory.github.io/ml4vrp

Handwritten document analysis is an area of forensic science, with the goal of establishing authorship of documents through examination of inherent characteristics. Law enforcement agencies use standard protocols based on manual processing of handwritten documents. This method is time-consuming, is often subjective in its evaluation, and is not replicable. To overcome these limitations, in this paper we present a framework capable of extracting and analyzing intrinsic measures of manuscript documents related to text line heights, space between words, and character sizes using image processing and deep learning techniques. The final feature vector for each document involved consists of the mean and standard deviation for every type of measure collected. By quantifying the Euclidean distance between the feature vectors of the documents to be compared, authorship can be discerned. We also proposed a new and challenging dataset consisting of 362 handwritten manuscripts written on paper and digital devices by 124 different people. Our study pioneered the comparison between traditionally handwritten documents and those produced with digital tools (e.g., tablets). Experimental results demonstrate the ability of our method to objectively determine authorship in different writing media, outperforming the state of the art.

Stochastic collocation (SC) is a well-known non-intrusive method of constructing surrogate models for uncertainty quantification. In dynamical systems, SC is especially suited for full-field uncertainty propagation that characterizes the distributions of the high-dimensional primary solution fields of a model with stochastic input parameters. However, due to the highly nonlinear nature of the parameter-to-solution map in even the simplest dynamical systems, the constructed SC surrogates are often inaccurate. This work presents an alternative approach, where we apply the SC approximation over the dynamics of the model, rather than the solution. By combining the data-driven sparse identification of nonlinear dynamics (SINDy) framework with SC, we construct dynamics surrogates and integrate them through time to construct the surrogate solutions. We demonstrate that the SC-over-dynamics framework leads to smaller errors, both in terms of the approximated system trajectories as well as the model state distributions, when compared against full-field SC applied to the solutions directly. We present numerical evidence of this improvement using three test problems: a chaotic ordinary differential equation, and two partial differential equations from solid mechanics.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

As soon as abstract mathematical computations were adapted to computation on digital computers, the problem of efficient representation, manipulation, and communication of the numerical values in those computations arose. Strongly related to the problem of numerical representation is the problem of quantization: in what manner should a set of continuous real-valued numbers be distributed over a fixed discrete set of numbers to minimize the number of bits required and also to maximize the accuracy of the attendant computations? This perennial problem of quantization is particularly relevant whenever memory and/or computational resources are severely restricted, and it has come to the forefront in recent years due to the remarkable performance of Neural Network models in computer vision, natural language processing, and related areas. Moving from floating-point representations to low-precision fixed integer values represented in four bits or less holds the potential to reduce the memory footprint and latency by a factor of 16x; and, in fact, reductions of 4x to 8x are often realized in practice in these applications. Thus, it is not surprising that quantization has emerged recently as an important and very active sub-area of research in the efficient implementation of computations associated with Neural Networks. In this article, we survey approaches to the problem of quantizing the numerical values in deep Neural Network computations, covering the advantages/disadvantages of current methods. With this survey and its organization, we hope to have presented a useful snapshot of the current research in quantization for Neural Networks and to have given an intelligent organization to ease the evaluation of future research in this area.

We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.