This paper presents a method for optimal motion planning of continuum robots by employing Bernstein surfaces to approximate the system's dynamics and impose complex constraints, including collision avoidance. The main contribution is the approximation of infinite-dimensional continuous problems into their discrete counterparts, facilitating their solution using standard optimization solvers. This discretization leverages the unique properties of Bernstein surface, providing a framework that extends previous works which focused on ODEs approximated by Bernstein polynomials. Numerical validations are conducted through several numerical scenarios. The presented methodology offers a promising direction for solving complex optimal control problems in the realm of soft robotics.
This paper studies the principal components (PC) estimator for high dimensional approximate factor models with weak factors in that the factor loading ($\boldsymbol{\Lambda}^0$) scales sublinearly in the number $N$ of cross-section units, i.e., $\boldsymbol{\Lambda}^{0\top} \boldsymbol{\Lambda}^0 / N^\alpha$ is positive definite in the limit for some $\alpha \in (0,1)$. While the consistency and asymptotic normality of these estimates are by now well known when the factors are strong, i.e., $\alpha=1$, the statistical properties for weak factors remain less explored. Here, we show that the PC estimator maintains consistency and asymptotical normality for any $\alpha\in(0,1)$, provided suitable conditions regarding the dependence structure in the noise are met. This complements earlier result by Onatski (2012) that the PC estimator is inconsistent when $\alpha=0$, and the more recent work by Bai and Ng (2023) who established the asymptotic normality of the PC estimator when $\alpha \in (1/2,1)$. Our proof strategy integrates the traditional eigendecomposition-based approach for factor models with leave-one-out analysis similar in spirit to those used in matrix completion and other settings. This combination allows us to deal with factors weaker than the former and at the same time relax the incoherence and independence assumptions often associated with the later.
We propose a functional accelerated failure time model to characterize effects of both functional and scalar covariates on the time to event of interest, and provide regularity conditions to guarantee model identifiability. For efficient estimation of model parameters, we develop a sieve maximum likelihood approach where parametric and nonparametric coefficients are bundled with an unknown baseline hazard function in the likelihood function. Not only do the bundled parameters cause immense numerical difficulties, but they also result in new challenges in theoretical development. By developing a general theoretical framework, we overcome the challenges arising from the bundled parameters and derive the convergence rate of the proposed estimator. Furthermore, we prove that the finite-dimensional estimator is $\sqrt{n}$-consistent, asymptotically normal and achieves the semiparametric information bound. The proposed inference procedures are evaluated by extensive simulation studies and illustrated with an application to the sequential organ failure assessment data from the Improving Care of Acute Lung Injury Patients study.
This paper introduces a novel unsupervised technique that utilizes large language models (LLMs) to determine the most suitable dense retriever for a specific test(target) corpus. Selecting the appropriate dense retriever is vital for numerous IR applications that employ these retrievers, trained on public datasets, to encode or conduct searches within a new private target corpus. The effectiveness of a dense retriever can significantly diminish when applied to a target corpus that diverges in domain or task from the original training set. The problem becomes more pronounced in cases where the target corpus is unlabeled, e.g. in zero-shot scenarios, rendering direct evaluation of the model's effectiveness on the target corpus unattainable. Therefore, the unsupervised selection of an optimally pre-trained dense retriever, especially under conditions of domain shift, emerges as a critical challenge. Existing methodologies for ranking dense retrievers fall short in addressing these domain shift scenarios. To tackle this, our method capitalizes on LLMs to create pseudo-relevant queries, labels, and reference lists by analyzing a subset of documents from the target corpus. This allows for the ranking of dense retrievers based on their performance with these pseudo-relevant signals. Significantly, this strategy is the first to depend exclusively on the target corpus data, removing the necessity for training data and test labels. We assessed the effectiveness of our approach by compiling a comprehensive pool of cutting-edge dense retrievers and comparing our method against traditional dense retriever selection benchmarks. The findings reveal that our proposed solution surpasses the existing benchmarks in both the selection and ranking of dense retrievers.
Obtaining meaningful solutions for inverse problems has been a major challenge with many applications in science and engineering. Recent machine learning techniques based on proximal and diffusion-based methods have shown promising results. However, as we show in this work, they can also face challenges when applied to some exemplary problems. We show that similar to previous works on over-complete dictionaries, it is possible to overcome these shortcomings by embedding the solution into higher dimensions. The novelty of the work proposed is that we jointly design and learn the embedding and the regularizer for the embedding vector. We demonstrate the merit of this approach on several exemplary and common inverse problems.
This paper proposes a latent prompt Transformer model for solving challenging optimization problems such as molecule design, where the goal is to find molecules with optimal values of a target chemical or biological property that can be computed by an existing software. Our proposed model consists of three components. (1) A latent vector whose prior distribution is modeled by a Unet transformation of a Gaussian white noise vector. (2) A molecule generation model that generates the string-based representation of molecule conditional on the latent vector in (1). We adopt the causal Transformer model that takes the latent vector in (1) as prompt. (3) A property prediction model that predicts the value of the target property of a molecule based on a non-linear regression on the latent vector in (1). We call the proposed model the latent prompt Transformer model. After initial training of the model on existing molecules and their property values, we then gradually shift the model distribution towards the region that supports desired values of the target property for the purpose of molecule design. Our experiments show that our proposed model achieves state of the art performances on several benchmark molecule design tasks.
This paper surveys research works in the quickly advancing field of instruction tuning (IT), a crucial technique to enhance the capabilities and controllability of large language models (LLMs). Instruction tuning refers to the process of further training LLMs on a dataset consisting of \textsc{(instruction, output)} pairs in a supervised fashion, which bridges the gap between the next-word prediction objective of LLMs and the users' objective of having LLMs adhere to human instructions. In this work, we make a systematic review of the literature, including the general methodology of IT, the construction of IT datasets, the training of IT models, and applications to different modalities, domains and applications, along with an analysis on aspects that influence the outcome of IT (e.g., generation of instruction outputs, size of the instruction dataset, etc). We also review the potential pitfalls of IT along with criticism against it, along with efforts pointing out current deficiencies of existing strategies and suggest some avenues for fruitful research.
This paper presents a new approach for assembling graph neural networks based on framelet transforms. The latter provides a multi-scale representation for graph-structured data. With the framelet system, we can decompose the graph feature into low-pass and high-pass frequencies as extracted features for network training, which then defines a framelet-based graph convolution. The framelet decomposition naturally induces a graph pooling strategy by aggregating the graph feature into low-pass and high-pass spectra, which considers both the feature values and geometry of the graph data and conserves the total information. The graph neural networks with the proposed framelet convolution and pooling achieve state-of-the-art performance in many types of node and graph prediction tasks. Moreover, we propose shrinkage as a new activation for the framelet convolution, which thresholds the high-frequency information at different scales. Compared to ReLU, shrinkage in framelet convolution improves the graph neural network model in terms of denoising and signal compression: noises in both node and structure can be significantly reduced by accurately cutting off the high-pass coefficients from framelet decomposition, and the signal can be compressed to less than half its original size with the prediction performance well preserved.
We advocate the use of implicit fields for learning generative models of shapes and introduce an implicit field decoder for shape generation, aimed at improving the visual quality of the generated shapes. An implicit field assigns a value to each point in 3D space, so that a shape can be extracted as an iso-surface. Our implicit field decoder is trained to perform this assignment by means of a binary classifier. Specifically, it takes a point coordinate, along with a feature vector encoding a shape, and outputs a value which indicates whether the point is outside the shape or not. By replacing conventional decoders by our decoder for representation learning and generative modeling of shapes, we demonstrate superior results for tasks such as shape autoencoding, generation, interpolation, and single-view 3D reconstruction, particularly in terms of visual quality.
Deep neural network architectures have traditionally been designed and explored with human expertise in a long-lasting trial-and-error process. This process requires huge amount of time, expertise, and resources. To address this tedious problem, we propose a novel algorithm to optimally find hyperparameters of a deep network architecture automatically. We specifically focus on designing neural architectures for medical image segmentation task. Our proposed method is based on a policy gradient reinforcement learning for which the reward function is assigned a segmentation evaluation utility (i.e., dice index). We show the efficacy of the proposed method with its low computational cost in comparison with the state-of-the-art medical image segmentation networks. We also present a new architecture design, a densely connected encoder-decoder CNN, as a strong baseline architecture to apply the proposed hyperparameter search algorithm. We apply the proposed algorithm to each layer of the baseline architectures. As an application, we train the proposed system on cine cardiac MR images from Automated Cardiac Diagnosis Challenge (ACDC) MICCAI 2017. Starting from a baseline segmentation architecture, the resulting network architecture obtains the state-of-the-art results in accuracy without performing any trial-and-error based architecture design approaches or close supervision of the hyperparameters changes.
In this paper, we propose a conceptually simple and geometrically interpretable objective function, i.e. additive margin Softmax (AM-Softmax), for deep face verification. In general, the face verification task can be viewed as a metric learning problem, so learning large-margin face features whose intra-class variation is small and inter-class difference is large is of great importance in order to achieve good performance. Recently, Large-margin Softmax and Angular Softmax have been proposed to incorporate the angular margin in a multiplicative manner. In this work, we introduce a novel additive angular margin for the Softmax loss, which is intuitively appealing and more interpretable than the existing works. We also emphasize and discuss the importance of feature normalization in the paper. Most importantly, our experiments on LFW BLUFR and MegaFace show that our additive margin softmax loss consistently performs better than the current state-of-the-art methods using the same network architecture and training dataset. Our code has also been made available at //github.com/happynear/AMSoftmax