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Drawing a direct analogy with the well-studied vibration or elastic modes, we introduce an object's fracture modes, which constitute its preferred or most natural ways of breaking. We formulate a sparsified eigenvalue problem, which we solve iteratively to obtain the n lowest-energy modes. These can be precomputed for a given shape to obtain a prefracture pattern that can substitute the state of the art for realtime applications at no runtime cost but significantly greater realism. Furthermore, any realtime impact can be projected onto our modes to obtain impact-dependent fracture patterns without the need for any online crack propagation simulation. We not only introduce this theoretically novel concept, but also show its fundamental and practical superiority in a diverse set of examples and contexts.

How much credit (or blame) should an action taken in a state get for a future reward? This is the fundamental temporal credit assignment problem in Reinforcement Learning (RL). One of the earliest and still most widely used heuristics is to assign this credit based on a scalar coefficient, $\lambda$ (treated as a hyperparameter), raised to the power of the time interval between the state-action and the reward. In this empirical paper, we explore heuristics based on more general pairwise weightings that are functions of the state in which the action was taken, the state at the time of the reward, as well as the time interval between the two. Of course it isn't clear what these pairwise weight functions should be, and because they are too complex to be treated as hyperparameters we develop a metagradient procedure for learning these weight functions during the usual RL training of a policy. Our empirical work shows that it is often possible to learn these pairwise weight functions during learning of the policy to achieve better performance than competing approaches.

Due to the importance of the lower bounding distances and the attractiveness of symbolic representations, the family of symbolic aggregate approximations (SAX) has been used extensively for encoding time series data. However, typical SAX-based methods rely on two restrictive assumptions; the Gaussian distribution and equiprobable symbols. This paper proposes two novel data-driven SAX-based symbolic representations, distinguished by their discretization steps. The first representation, oriented for general data compaction and indexing scenarios, is based on the combination of kernel density estimation and Lloyd-Max quantization to minimize the information loss and mean squared error in the discretization step. The second method, oriented for high-level mining tasks, employs the Mean-Shift clustering method and is shown to enhance anomaly detection in the lower-dimensional space. Besides, we verify on a theoretical basis a previously observed phenomenon of the intrinsic process that results in a lower than the expected variance of the intermediate piecewise aggregate approximation. This phenomenon causes an additional information loss but can be avoided with a simple modification. The proposed representations possess all the attractive properties of the conventional SAX method. Furthermore, experimental evaluation on real-world datasets demonstrates their superiority compared to the traditional SAX and an alternative data-driven SAX variant.

Differentiable physics enables efficient gradient-based optimizations of neural network (NN) controllers. However, existing work typically only delivers NN controllers with limited capability and generalizability. We present a practical learning framework that outputs unified NN controllers capable of tasks with significantly improved complexity and diversity. To systematically improve training robustness and efficiency, we investigated a suite of improvements over the baseline approach, including periodic activation functions, and tailored loss functions. In addition, we find our adoption of batching and an Adam optimizer effective in training complex locomotion tasks. We evaluate our framework on differentiable mass-spring and material point method (MPM) simulations, with challenging locomotion tasks and multiple robot designs. Experiments show that our learning framework, based on differentiable physics, delivers better results than reinforcement learning and converges much faster. We demonstrate that users can interactively control soft robot locomotion and switch among multiple goals with specified velocity, height, and direction instructions using a unified NN controller trained in our system.

Randomized clinical trials with time-to-event outcomes have traditionally used the log-rank test followed by the Cox proportional hazards (PH) model to estimate the hazard ratio between the treatment groups. These are valid under the assumption that the right-censoring mechanism is non-informative, i.e. independent of the time-to-event of interest within each treatment group. More generally, the censoring time might depend on additional covariates, and inverse probability of censoring weighting (IPCW) can be used to correct for the bias resulting from the informative censoring. IPCW requires a correctly specified censoring time model conditional on the treatment and the covariates. Doubly robust inference in this setting has not been plausible previously due to the non-collapsibility of the Cox model. However, with the recent development of data-adaptive machine learning methods we derive an augmented IPCW (AIPCW) estimator that has the following doubly robust (DR) properties: it is model doubly robust, in that it is consistent and asymptotic normal (CAN), as long as one of the two models, one for the failure time and one for the censoring time, is correctly specified; it is also rate doubly robust, in that it is CAN as long as the product of the estimation error rates under these two models is faster than root-$n$. We investigate the AIPCW estimator using extensive simulation in finite samples.

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as people's goals, attention, and willingness to cooperate. Dual control theory addresses this challenge by treating unknown parameters of a predictive model as stochastic hidden states and inferring their values at runtime using information gathered during system operation. While able to optimally and automatically trade off exploration and exploitation, dual control is computationally intractable for general interactive motion planning, mainly due to the fundamental coupling between robot trajectory optimization and human intent inference. In this paper, we present a novel algorithmic approach to enable active uncertainty reduction for interactive motion planning based on the implicit dual control paradigm. Our approach relies on sampling-based approximation of stochastic dynamic programming, leading to a model predictive control problem that can be readily solved by real-time gradient-based optimization methods. The resulting policy is shown to preserve the dual control effect for a broad class of predictive human models with both continuous and categorical uncertainty. The efficacy of our approach is demonstrated with simulated driving examples.

Wireless communications systems are impacted by multi-path fading and Doppler shift in dynamic environments, where the channel becomes doubly-dispersive and its estimation becomes an arduous task. Only a few pilots are used for channel estimation in conventional approaches to preserve high data rate transmission. Consequently, such estimators experience a significant performance degradation in high mobility scenarios. Recently, deep learning has been employed for doubly-dispersive channel estimation due to its low-complexity, robustness, and good generalization ability. Against this backdrop, the current paper presents a comprehensive survey on channel estimation techniques based on deep learning by deeply investigating different methods. The study also provides extensive experimental simulations followed by a computational complexity analysis. After considering different parameters such as modulation order, mobility, frame length, and deep learning architecture, the performance of the studied estimators is evaluated in several mobility scenarios. In addition, the source codes are made available online in order to make the results reproducible.

Bionic underwater robots have demonstrated their superiority in many applications. Yet, training their intelligence for a variety of tasks that mimic the behavior of underwater creatures poses a number of challenges in practice, mainly due to lack of a large amount of available training data as well as the high cost in real physical environment. Alternatively, simulation has been considered as a viable and important tool for acquiring datasets in different environments, but it mostly targeted rigid and soft body systems. There is currently dearth of work for more complex fluid systems interacting with immersed solids that can be efficiently and accurately simulated for robot training purposes. In this paper, we propose a new platform called "FishGym", which can be used to train fish-like underwater robots. The framework consists of a robotic fish modeling module using articulated body with skinning, a GPU-based high-performance localized two-way coupled fluid-structure interaction simulation module that handles both finite and infinitely large domains, as well as a reinforcement learning module. We leveraged existing training methods with adaptations to underwater fish-like robots and obtained learned control policies for multiple benchmark tasks. The training results are demonstrated with reasonable motion trajectories, with comparisons and analyses to empirical models as well as known real fish swimming behaviors to highlight the advantages of the proposed platform.

This paper presents Pix2Seq, a simple and generic framework for object detection. Unlike existing approaches that explicitly integrate prior knowledge about the task, we simply cast object detection as a language modeling task conditioned on the observed pixel inputs. Object descriptions (e.g., bounding boxes and class labels) are expressed as sequences of discrete tokens, and we train a neural net to perceive the image and generate the desired sequence. Our approach is based mainly on the intuition that if a neural net knows about where and what the objects are, we just need to teach it how to read them out. Beyond the use of task-specific data augmentations, our approach makes minimal assumptions about the task, yet it achieves competitive results on the challenging COCO dataset, compared to highly specialized and well optimized detection algorithms.

The goal of text generation is to make machines express in human language. It is one of the most important yet challenging tasks in natural language processing (NLP). Since 2014, various neural encoder-decoder models pioneered by Seq2Seq have been proposed to achieve the goal by learning to map input text to output text. However, the input text alone often provides limited knowledge to generate the desired output, so the performance of text generation is still far from satisfaction in many real-world scenarios. To address this issue, researchers have considered incorporating various forms of knowledge beyond the input text into the generation models. This research direction is known as knowledge-enhanced text generation. In this survey, we present a comprehensive review of the research on knowledge enhanced text generation over the past five years. The main content includes two parts: (i) general methods and architectures for integrating knowledge into text generation; (ii) specific techniques and applications according to different forms of knowledge data. This survey can have broad audiences, researchers and practitioners, in academia and industry.