In this paper we present a layered approach for multi-agent control problem, decomposed into three stages, each building upon the results of the previous one. First, a high-level plan for a coarse abstraction of the system is computed, relying on parametric timed automata augmented with stopwatches as they allow to efficiently model simplified dynamics of such systems. In the second stage, the high-level plan, based on SMT-formulation, mainly handles the combinatorial aspects of the problem, provides a more dynamically accurate solution. These stages are collectively referred to as the SWA-SMT solver. They are correct by construction but lack a crucial feature: they cannot be executed in real time. To overcome this, we use SWA-SMT solutions as the initial training dataset for our last stage, which aims at obtaining a neural network control policy. We use reinforcement learning to train the policy, and show that the initial dataset is crucial for the overall success of the method.
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Markov categories have recently turned out to be a powerful high-level framework for probability and statistics. They accommodate purely categorical definitions of notions like conditional probability and almost sure equality, as well as proofs of fundamental results such as the Hewitt-Savage 0/1 Law, the de Finetti Theorem and the Ergodic Decomposition Theorem. In this work, we develop additional relevant notions from probability theory in the setting of Markov categories. This comprises improved versions of previously introduced definitions of absolute continuity and supports, as well as a detailed study of idempotents and idempotent splitting in Markov categories. Our main result on idempotent splitting is that every idempotent measurable Markov kernel between standard Borel spaces splits through another standard Borel space, and we derive this as an instance of a general categorical criterion for idempotent splitting in Markov categories.
In this paper, we study functional approximations where we choose the so-called radial basis function method and more specifically, quasi-interpolation. From the various available approaches to the latter, we form new quasi-Lagrange functions when the orders of the singularities of the radial function's Fourier transforms at zero do not match the parity of the dimension of the space, and therefore new expansions and coefficients are needed to overcome this problem. We develop explicit constructions of infinite Fourier expansions that provide these coefficients and make an extensive comparison of the approximation qualities and - with a particular focus - polynomial precision and uniform approximation order of the various formulae. One of the interesting observations concerns the link between algebraic conditions of expansion coefficients and analytic properties of localness and convergence.
Human emotion recognition plays an important role in human-computer interaction. In this paper, we present our approach to the Valence-Arousal (VA) Estimation Challenge, Expression (Expr) Classification Challenge, and Action Unit (AU) Detection Challenge of the 5th Workshop and Competition on Affective Behavior Analysis in-the-wild (ABAW). Specifically, we propose a novel multi-modal fusion model that leverages Temporal Convolutional Networks (TCN) and Transformer to enhance the performance of continuous emotion recognition. Our model aims to effectively integrate visual and audio information for improved accuracy in recognizing emotions. Our model outperforms the baseline and ranks 3 in the Expression Classification challenge.
In this paper, we develop a non-asymptotic local normal approximation for multinomial probabilities. First, we use it to find non-asymptotic total variation bounds between the measures induced by uniformly jittered multinomials and the multivariate normals with the same means and covariances. From the total variation bounds, we also derive a comparison of the cumulative distribution functions and quantile coupling inequalities between Pearson's chi-square statistic (written as the normalized quadratic form of a multinomial vector) and its multivariate normal analogue. We apply our results to find confidence intervals for the negative entropy of discrete distributions. Our method can be applied more generally to find confidence intervals for strictly convex functions of the weights of discrete distributions.
In this paper, we introduce a new first-order mixture integer-valued threshold autoregressive process, based on the binomial and negative binomial thinning operators. Basic probabilistic and statistical properties of this model are discussed. Conditional least squares (CLS) and conditional maximum likelihood (CML) estimators are derived and the asymptotic properties of the estimators are established. The inference for the threshold parameter is obtained based on the CLS and CML score functions. Moreover, the Wald test is applied to detect the existence of the piecewise structure. Simulation studies are considered, along with an application: the number of criminal mischief incidents in the Pittsburgh dataset.
We suggest a global perspective on dynamic network flow problems that takes advantage of the similarities to port-Hamiltonian dynamics. Dynamic minimum cost flow problems are formulated as open-loop optimal control problems for general port-Hamiltonian systems with possibly state-dependent system matrices. We prove well-posedness of these systems and characterize optimal controls by the first-order optimality system, which is the starting point for the derivation of an adjoint-based gradient descent algorithm. Our theoretical analysis is complemented by a proof of concept, where we apply the proposed algorithm to static minimum cost flow problems and dynamic minimum cost flow problems on a simple directed acyclic graph. We present numerical results to validate the approach.
In this paper, we evaluate the different fully homomorphic encryption schemes, propose an implementation, and numerically analyze the applicability of gradient descent algorithms to solve quadratic programming in a homomorphic encryption setup. The limit on the multiplication depth of homomorphic encryption circuits is a major challenge for iterative procedures such as gradient descent algorithms. Our analysis not only quantifies these limitations on prototype examples, thus serving as a benchmark for future investigations, but also highlights additional trade-offs like the ones pertaining the choice of gradient descent or accelerated gradient descent methods, opening the road for the use of homomorphic encryption techniques in iterative procedures widely used in optimization based control. In addition, we argue that, among the available homomorphic encryption schemes, the one adopted in this work, namely CKKS, is the only suitable scheme for implementing gradient descent algorithms. The choice of the appropriate step size is crucial to the convergence of the procedure. The paper shows firsthand the feasibility of homomorphically encrypted gradient descent algorithms.
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed approach to shape formation is proposed. Flocking into strategic formations is observed in migratory birds and fish to avoid predators and also for energy conservation. The formation is maintained throughout long periods without collapsing and is advantageous for communicating within the flock. Similar behaviour can be deployed in multi-agent systems to enhance coordination within the swarm. Existing methods for formation control are either dependent on the size and geometry of the formation or rely on maintaining the formation with a single reference in the swarm (the leader). These methods are not resilient to failure and involve a high degree of deformation upon obstacle encounter before the shape is recovered again. To improve the performance, artificial force-based interaction amongst the entities of the swarm to maintain shape integrity while encountering obstacles is elucidated.
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been investigated and successfully deployed in multi-agent systems to perform distributed averaging in synchronous and asynchronous settings. This study proposes a heuristic approach to estimate the convergence rate of averaging algorithms in a distributed manner, relying on the computation and propagation of local graph metrics while entailing simple data elaboration and small message passing. The protocol enables nodes to predict the time (or the number of interactions) needed to estimate the global average with the desired accuracy. Consequently, nodes can make informed decisions on their use of measured and estimated data while gaining awareness of the global structure of the network, as well as their role in it. The study presents relevant applications to outliers identification and performance evaluation in switching topologies.
Neural networks have been able to generate high-quality single-sentence speech with substantial expressiveness. However, it remains a challenge concerning paragraph-level speech synthesis due to the need for coherent acoustic features while delivering fluctuating speech styles. Meanwhile, training these models directly on over-length speech leads to a deterioration in the quality of synthesis speech. To address these problems, we propose a high-quality and expressive paragraph speech synthesis system with a multi-step variational autoencoder. Specifically, we employ multi-step latent variables to capture speech information at different grammatical levels before utilizing these features in parallel to generate speech waveform. We also propose a three-step training method to improve the decoupling ability. Our model was trained on a single-speaker French audiobook corpus released at Blizzard Challenge 2023. Experimental results underscore the significant superiority of our system over baseline models.
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