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Recent work in time-frequency analysis proposed to switch the focus from the maxima of the spectrogram toward its zeros, which, for signals corrupted by Gaussian noise, form a random point pattern with a very stable structure leveraged by modern spatial statistics tools to perform component disentanglement and signal detection. The major bottlenecks of this approach are the discretization of the Short-Time Fourier Transform and the boundedness of the time-frequency observation window deteriorating the estimation of summary statistics of the zeros, on which signal processing procedures rely. To circumvent these limitations, we introduce the Kravchuk transform, a generalized time-frequency representation suited to discrete signals, providing a covariant and numerically tractable counterpart to a recently proposed discrete transform, with a compact phase space, particularly amenable to spatial statistics. Interesting properties of the Kravchuk transform are demonstrated, among which covariance under the action of SO(3) and invertibility. We further show that the point process of the zeros of the Kravchuk transform of white Gaussian noise coincides with those of the spherical Gaussian Analytic Function, implying its invariance under isometries of the sphere. Elaborating on this theorem, we develop a procedure for signal detection based on the spatial statistics of the zeros of the Kravchuk spectrogram, whose statistical power is assessed by intensive numerical simulations, and compares favorably to state-of-the-art zeros-based detection procedures. Furthermore it appears to be particularly robust to both low signal-to-noise ratio and small number of samples.

Any optimization alogrithm programming interface can be seen as a black-box function with additional free parameters. In this spirit, simulated annealing (SA) can be implemented in pseudo-code within the dimensions of single slide with free parameters relating to the annealing schedule. Such an implementation however, neglects necessarily much of the structure necessary to take advantage of advances in computing resources, and algorithmic breakthroughs. Simulated annealing is often introduced in myriad disciplines, from discrete examples like the Traveling Salesman Problem (TSP) to molecular cluster potential energy exploration or even explorations of a protein's configurational space. Theoretical guarantees also demand a stricter structure in terms of statistical quantities, which cannot simply be left to the user. We will introduce several standard paradigms and demonstrate how these can be "lifted" into a unified framework using object oriented programming in Python. We demonstrate how clean, interoperable, reproducible programming libraries can be used to access and rapidly iterate on variants of Simulated Annealing in a manner which can be extended to serve as a best practices blueprint or design pattern for a data-driven optimization library.

In this paper, we propose SCANING, an unsupervised framework for paraphrasing via controlled noise injection. We focus on the novel task of paraphrasing algebraic word problems having practical applications in online pedagogy as a means to reduce plagiarism as well as ensure understanding on the part of the student instead of rote memorization. This task is more complex than paraphrasing general-domain corpora due to the difficulty in preserving critical information for solution consistency of the paraphrased word problem, managing the increased length of the text and ensuring diversity in the generated paraphrase. Existing approaches fail to demonstrate adequate performance on at least one, if not all, of these facets, necessitating the need for a more comprehensive solution. To this end, we model the noising search space as a composition of contextual and syntactic aspects and sample noising functions consisting of either one or both aspects. This allows for learning a denoising function that operates over both aspects and produces semantically equivalent and syntactically diverse outputs through grounded noise injection. The denoising function serves as a foundation for learning a paraphrasing function which operates solely in the input-paraphrase space without carrying any direct dependency on noise. We demonstrate SCANING considerably improves performance in terms of both semantic preservation and producing diverse paraphrases through extensive automated and manual evaluation across 4 datasets.

Manipulating deformable linear objects (DLOs) to achieve desired shapes in constrained environments with obstacles is a meaningful but challenging task. Global planning is necessary for such a highly-constrained task; however, accurate models of DLOs required by planners are difficult to obtain owing to their deformable nature, and the inevitable modeling errors significantly affect the planning results, probably resulting in task failure if the robot simply executes the planned path in an open-loop manner. In this paper, we propose a coarse-to-fine framework to combine global planning and local control for dual-arm manipulation of DLOs, capable of precisely achieving desired configurations and avoiding potential collisions between the DLO, robot, and obstacles. Specifically, the global planner refers to a simple yet effective DLO energy model and computes a coarse path to find a feasible solution efficiently; then the local controller follows that path as guidance and further shapes it with closed-loop feedback to compensate for the planning errors and improve the task accuracy. Both simulations and real-world experiments demonstrate that our framework can robustly achieve desired DLO configurations in constrained environments with imprecise DLO models, which may not be reliably achieved by only planning or control.

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear dynamics. The algorithm is based on distributed cooperative optimisation and output regulation, and it achieves global optimum by utilising only information shared among neighbouring robots. Technically, a high-level distributed optimisation algorithm for multi-robot systems is presented, which will serve as an optimal reference generator for each individual agent. Then, based on the distributed optimisation algorithm, an output regulation method is utilised to solve the optimal coordination problem for general linear dynamic systems. The convergence of the proposed algorithm is theoretically proved. Both numerical simulations and real-time physical robot experiments are conducted to validate the effectiveness of the proposed cooperative control algorithms.

The problem of covering the ground set of two matroids by a minimum number of common independent sets is notoriously hard even in very restricted settings, i.e.\ when the goal is to decide if two common independent sets suffice or not. Nevertheless, as the problem generalizes several long-standing open questions, identifying tractable cases is of particular interest. Strongly base orderable matroids form a class for which a basis-exchange condition that is much stronger than the standard axiom is met. As a result, several problems that are open for arbitrary matroids can be solved for this class. In particular, Davies and McDiarmid showed that if both matroids are strongly base orderable, then the covering number of their intersection coincides with the maximum of their covering numbers. Motivated by their result, we propose relaxations of strongly base orderability in two directions. First we weaken the basis-exchange condition, which leads to the definition of a new, complete class of matroids with distinguished algorithmic properties. Second, we introduce the notion of covering the circuits of a matroid by a graph, and consider the cases when the graph is ought to be 2-regular or a path. We give an extensive list of results explaining how the proposed relaxations compare to existing conjectures and theorems on coverings by common independent sets.

Traffic systems are multi-agent cyber-physical systems whose performance is closely related to human welfare. They work in open environments and are subject to uncertainties from various sources, making their performance hard to verify by traditional model-based approaches. Alternatively, statistical model checking (SMC) can verify their performance by sequentially drawing sample data until the correctness of a performance specification can be inferred with desired statistical accuracy. This work aims to verify traffic systems with privacy, motivated by the fact that the data used may include personal information (e.g., daily itinerary) and get leaked unintendedly by observing the execution of the SMC algorithm. To formally capture data privacy in SMC, we introduce the concept of expected differential privacy (EDP), which constrains how much the algorithm execution can change in the expectation sense when data change. Accordingly, we introduce an exponential randomization mechanism for the SMC algorithm to achieve the EDP. Our case study on traffic intersections by Vissim simulation shows the high accuracy of SMC in traffic model verification without significantly sacrificing computing efficiency. The case study also shows EDP successfully bounding the algorithm outputs to guarantee privacy.

Recommendation systems are dynamic economic systems that balance the needs of multiple stakeholders. A recent line of work studies incentives from the content providers' point of view. Content providers, e.g., vloggers and bloggers, contribute fresh content and rely on user engagement to create revenue and finance their operations. In this work, we propose a contextual multi-armed bandit setting to model the dependency of content providers on exposure. In our model, the system receives a user context in every round and has to select one of the arms. Every arm is a content provider who must receive a minimum number of pulls every fixed time period (e.g., a month) to remain viable in later rounds; otherwise, the arm departs and is no longer available. The system aims to maximize the users' (content consumers) welfare. To that end, it should learn which arms are vital and ensure they remain viable by subsidizing arm pulls if needed. We develop algorithms with sub-linear regret, as well as a lower bound that demonstrates that our algorithms are optimal up to logarithmic factors.

The Q-learning algorithm is known to be affected by the maximization bias, i.e. the systematic overestimation of action values, an important issue that has recently received renewed attention. Double Q-learning has been proposed as an efficient algorithm to mitigate this bias. However, this comes at the price of an underestimation of action values, in addition to increased memory requirements and a slower convergence. In this paper, we introduce a new way to address the maximization bias in the form of a "self-correcting algorithm" for approximating the maximum of an expected value. Our method balances the overestimation of the single estimator used in conventional Q-learning and the underestimation of the double estimator used in Double Q-learning. Applying this strategy to Q-learning results in Self-correcting Q-learning. We show theoretically that this new algorithm enjoys the same convergence guarantees as Q-learning while being more accurate. Empirically, it performs better than Double Q-learning in domains with rewards of high variance, and it even attains faster convergence than Q-learning in domains with rewards of zero or low variance. These advantages transfer to a Deep Q Network implementation that we call Self-correcting DQN and which outperforms regular DQN and Double DQN on several tasks in the Atari 2600 domain.

Medical image segmentation requires consensus ground truth segmentations to be derived from multiple expert annotations. A novel approach is proposed that obtains consensus segmentations from experts using graph cuts (GC) and semi supervised learning (SSL). Popular approaches use iterative Expectation Maximization (EM) to estimate the final annotation and quantify annotator's performance. Such techniques pose the risk of getting trapped in local minima. We propose a self consistency (SC) score to quantify annotator consistency using low level image features. SSL is used to predict missing annotations by considering global features and local image consistency. The SC score also serves as the penalty cost in a second order Markov random field (MRF) cost function optimized using graph cuts to derive the final consensus label. Graph cut obtains a global maximum without an iterative procedure. Experimental results on synthetic images, real data of Crohn's disease patients and retinal images show our final segmentation to be accurate and more consistent than competing methods.