Motion planning is the soul of robot decision making. Classical planning algorithms like graph search and reaction-based algorithms face challenges in cases of dense and dynamic obstacles. Deep learning algorithms generate suboptimal one-step predictions that cause many collisions. Reinforcement learning algorithms generate optimal or near-optimal time-sequential predictions. However, they suffer from slow convergence, suboptimal converged results, and overfittings. This paper introduces a hybrid algorithm for robotic motion planning: long short-term memory (LSTM) pooling and skip connection for attention-based discrete soft actor critic (LSA-DSAC). First, graph network (relational graph) and attention network (attention weight) interpret the environmental state for the learning of the discrete soft actor critic algorithm. The expressive power of attention network outperforms that of graph in our task by difference analysis of these two representation methods. However, attention based DSAC faces the overfitting problem in training. Second, the skip connection method is integrated to attention based DSAC to mitigate overfitting and improve convergence speed. Third, LSTM pooling is taken to replace the sum operator of attention weigh and eliminate overfitting by slightly sacrificing convergence speed at early-stage training. Experiments show that LSA-DSAC outperforms the state-of-the-art in training and most evaluations. The physical robot is also implemented and tested in the real world.
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We propose a simple method for simulating a general class of non-unitary dynamics as a linear combination of Hamiltonian simulation (LCHS) problems. LCHS does not rely on converting the problem into a dilated linear system problem, or on the spectral mapping theorem. The latter is the mathematical foundation of many quantum algorithms for solving a wide variety of tasks involving non-unitary processes, such as the quantum singular value transformation (QSVT). The LCHS method can achieve optimal cost in terms of state preparation. We also demonstrate an application for open quantum dynamics simulation using the complex absorbing potential method with near-optimal dependence on all parameters.
Obtaining the solutions of partial differential equations based on machine learning methods has drawn more and more attention in the fields of scientific computation and engineering applications. In this work, we first propose a coupled Extreme Learning Machine(called CELM) method incorporated with the physical laws to solve a class of fourth-order biharmonic equations by reformulating it into two well-posed Poisson problems. In addition, some activation functions including tangent, gaussian, sine, and trigonometric functions are introduced to assess our CELM method. Furthermore, we introduce several activation functions, such as tangent, Gaussian, sine, and trigonometric functions, to evaluate the performance of our CELM method. Notably, the sine and trigonometric functions demonstrate a remarkable ability to effectively minimize the approximation error of the CELM model. In the end, several numerical experiments are performed to study the initializing ways for both the weights and biases of the hidden units in our CELM model and explore the required number of hidden units. Numerical results show the proposed CELM algorithm is high-precision and efficient to address the biharmonic equations on both regular and irregular domains.
Measurement-based quantum computation (MBQC) offers a fundamentally unique paradigm to design quantum algorithms. Indeed, due to the inherent randomness of quantum measurements, the natural operations in MBQC are not deterministic and unitary, but are rather augmented with probabilistic byproducts. Yet, the main algorithmic use of MBQC so far has been to completely counteract this probabilistic nature in order to simulate unitary computations expressed in the circuit model. In this work, we propose designing MBQC algorithms that embrace this inherent randomness and treat the random byproducts in MBQC as a resource for computation. As a natural application where randomness can be beneficial, we consider generative modeling, a task in machine learning centered around generating complex probability distributions. To address this task, we propose a variational MBQC algorithm equipped with control parameters that allow to directly adjust the degree of randomness to be admitted in the computation. Our numerical findings indicate that this additional randomness can lead to significant gains in learning performance in certain generative modeling tasks. These results highlight the potential advantages in exploiting the inherent randomness of MBQC and motivate further research into MBQC-based algorithms.
We observe a large variety of robots in terms of their bodies, sensors, and actuators. Given the commonalities in the skill sets, teaching each skill to each different robot independently is inefficient and not scalable when the large variety in the robotic landscape is considered. If we can learn the correspondences between the sensorimotor spaces of different robots, we can expect a skill that is learned in one robot can be more directly and easily transferred to the other robots. In this paper, we propose a method to learn correspondences between robots that have significant differences in their morphologies: a fixed-based manipulator robot with joint control and a differential drive mobile robot. For this, both robots are first given demonstrations that achieve the same tasks. A common latent representation is formed while learning the corresponding policies. After this initial learning stage, the observation of a new task execution by one robot becomes sufficient to generate a latent space representation pertaining to the other robot to achieve the same task. We verified our system in a set of experiments where the correspondence between two simulated robots is learned (1) when the robots need to follow the same paths to achieve the same task, (2) when the robots need to follow different trajectories to achieve the same task, and (3) when complexities of the required sensorimotor trajectories are different for the robots considered. We also provide a proof-of-the-concept realization of correspondence learning between a real manipulator robot and a simulated mobile robot.
A numerical method is proposed for simulation of composite open quantum systems. It is based on Lindblad master equations and adiabatic elimination. Each subsystem is assumed to converge exponentially towards a stationary subspace, slightly impacted by some decoherence channels and weakly coupled to the other subsystems. This numerical method is based on a perturbation analysis with an asymptotic expansion. It exploits the formulation of the slow dynamics with reduced dimension. It relies on the invariant operators of the local and nominal dissipative dynamics attached to each subsystem. Second-order expansion can be computed only with local numerical calculations. It avoids computations on the tensor-product Hilbert space attached to the full system. This numerical method is particularly well suited for autonomous quantum error correction schemes. Simulations of such reduced models agree with complete full model simulations for typical gates acting on one and two cat-qubits (Z, ZZ and CNOT) when the mean photon number of each cat-qubit is less than 8. For larger mean photon numbers and gates with three cat-qubits (ZZZ and CCNOT), full model simulations are almost impossible whereas reduced model simulations remain accessible. In particular, they capture both the dominant phase-flip error-rate and the very small bit-flip error-rate with its exponential suppression versus the mean photon number.
Differential geometric approaches are ubiquitous in several fields of mathematics, physics and engineering, and their discretizations enable the development of network-based mathematical and computational frameworks, which are essential for large-scale data science. The Forman-Ricci curvature (FRC) - a statistical measure based on Riemannian geometry and designed for networks - is known for its high capacity for extracting geometric information from complex networks. However, extracting information from dense networks is still challenging due to the combinatorial explosion of high-order network structures. Motivated by this challenge we sought a set-theoretic representation theory for high-order network cells and FRC, as well as their associated concepts and properties, which together provide an alternative and efficient formulation for computing high-order FRC in complex networks. We provide a pseudo-code, a software implementation coined FastForman, as well as a benchmark comparison with alternative implementations. Crucially, our representation theory reveals previous computational bottlenecks and also accelerates the computation of FRC. As a consequence, our findings open new research possibilities in complex systems where higher-order geometric computations are required.
We present a semi-Lagrangian characteristic mapping method for the incompressible Euler equations on a rotating sphere. The numerical method uses a spatio-temporal discretization of the inverse flow map generated by the Eulerian velocity as a composition of sub-interval flows formed by $C^1$ spherical spline interpolants. This approximation technique has the capacity of resolving sub-grid scales generated over time without increasing the spatial resolution of the computational grid. The numerical method is analyzed and validated using standard test cases yielding third-order accuracy in the supremum norm. Numerical experiments illustrating the unique resolution properties of the method are performed and demonstrate the ability to reproduce the forward energy cascade at sub-grid scales by upsampling the numerical solution.
Twitter bots are a controversial element of the platform, and their negative impact is well known. In the field of scientific communication, they have been perceived in a more positive light, and the accounts that serve as feeds alerting about scientific publications are quite common. However, despite being aware of the presence of bots in the dissemination of science, no large-scale estimations have been made nor has it been evaluated if they can truly interfere with altmetrics. Analyzing a dataset of 3,744,231 papers published between 2017 and 2021 and their associated 51,230,936 Twitter mentions, our goal was to determine the volume of publications mentioned by bots and whether they skew altmetrics indicators. Using the BotometerLite API, we categorized Twitter accounts based on their likelihood of being bots. The results showed that 11,073 accounts (0.23% of total users) exhibited automated behavior, contributing to 4.72% of all mentions. A significant bias was observed in the activity of bots. Their presence was particularly pronounced in disciplines such as Mathematics, Physics, and Space Sciences, with some specialties even exceeding 70% of the tweets. However, these are extreme cases, and the impact of this activity on altmetrics varies by speciality, with minimal influence in Arts & Humanities and Social Sciences. This research emphasizes the importance of distinguishing between specialties and disciplines when using Twitter as an altmetric.
Insurers usually turn to generalized linear models for modelling claim frequency and severity data. Due to their success in other fields, machine learning techniques are gaining popularity within the actuarial toolbox. Our paper contributes to the literature on frequency-severity insurance pricing with machine learning via deep learning structures. We present a benchmark study on four insurance data sets with frequency and severity targets in the presence of multiple types of input features. We compare in detail the performance of: a generalized linear model on binned input data, a gradient-boosted tree model, a feed-forward neural network (FFNN), and the combined actuarial neural network (CANN). Our CANNs combine a baseline prediction established with a GLM and GBM, respectively, with a neural network correction. We explain the data preprocessing steps with specific focus on the multiple types of input features typically present in tabular insurance data sets, such as postal codes, numeric and categorical covariates. Autoencoders are used to embed the categorical variables into the neural network and we explore their potential advantages in a frequency-severity setting. Finally, we construct global surrogate models for the neural nets' frequency and severity models. These surrogates enable the translation of the essential insights captured by the FFNNs or CANNs to GLMs. As such, a technical tariff table results that can easily be deployed in practice.
Most state-of-the-art machine learning techniques revolve around the optimisation of loss functions. Defining appropriate loss functions is therefore critical to successfully solving problems in this field. We present a survey of the most commonly used loss functions for a wide range of different applications, divided into classification, regression, ranking, sample generation and energy based modelling. Overall, we introduce 33 different loss functions and we organise them into an intuitive taxonomy. Each loss function is given a theoretical backing and we describe where it is best used. This survey aims to provide a reference of the most essential loss functions for both beginner and advanced machine learning practitioners.
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