The robust constrained Markov decision process (RCMDP) is a recent task-modelling framework for reinforcement learning that incorporates behavioural constraints and that provides robustness to errors in the transition dynamics model through the use of an uncertainty set. Simulating RCMDPs requires computing the worst-case dynamics based on value estimates for each state, an approach which has previously been used in the Robust Constrained Policy Gradient (RCPG). Highlighting potential downsides of RCPG such as not robustifying the full constrained objective and the lack of incremental learning, this paper introduces two algorithms, called RCPG with Robust Lagrangian and Adversarial RCPG. RCPG with Robust Lagrangian modifies RCPG by taking the worst-case dynamics based on the Lagrangian rather than either the value or the constraint. Adversarial RCPG also formulates the worst-case dynamics based on the Lagrangian but learns this directly and incrementally as an adversarial policy through gradient descent rather than indirectly and abruptly through constrained optimisation on a sorted value list. A theoretical analysis first derives the Lagrangian policy gradient for the policy optimisation of both proposed algorithms and then the adversarial policy gradient to learn the adversary for Adversarial RCPG. Empirical experiments injecting perturbations in inventory management and safe navigation tasks demonstrate the competitive performance of both algorithms compared to traditional RCPG variants as well as non-robust and non-constrained ablations. In particular, Adversarial RCPG ranks among the top two performing algorithms on all tests.
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Conformal prediction is a statistical framework that generates prediction sets containing ground-truth labels with a desired coverage guarantee. The predicted probabilities produced by machine learning models are generally miscalibrated, leading to large prediction sets in conformal prediction. In this paper, we empirically and theoretically show that disregarding the probabilities' value will mitigate the undesirable effect of miscalibrated probability values. Then, we propose a novel algorithm named $\textit{Sorted Adaptive prediction sets}$ (SAPS), which discards all the probability values except for the maximum softmax probability. The key idea behind SAPS is to minimize the dependence of the non-conformity score on the probability values while retaining the uncertainty information. In this manner, SAPS can produce sets of small size and communicate instance-wise uncertainty. Theoretically, we provide a finite-sample coverage guarantee of SAPS and show that the expected value of set size from SAPS is always smaller than APS. Extensive experiments validate that SAPS not only lessens the prediction sets but also broadly enhances the conditional coverage rate and adaptation of prediction sets.
Computer representations of three-dimensional (3D) geometries are crucial for simulating systems and processes in engineering and science. In medicine, and more specifically, biomechanics and orthopaedics, obtaining and using 3D geometries is critical to many workflows. However, while many tools exist to obtain 3D geometries of organic structures, little has been done to make them usable for their intended medical purposes. Furthermore, many of the proposed tools are proprietary, limiting their use. This work introduces two novel algorithms based on Generalized Regression Neural Networks (GRNN) and 4 processes to perform mesh morphing and overclosure adjustment. These algorithms were implemented, and test cases were used to validate them against existing algorithms to demonstrate improved performance. The resulting algorithms demonstrate improvements to existing techniques based on Radial Basis Function (RBF) networks by converting to GRNN-based implementations. Implementations in MATLAB of these algorithms and the source code are publicly available at the following locations: //github.com/thor-andreassen/femors //simtk.org/projects/femors-rbf //www.mathworks.com/matlabcentral/fileexchange/120353-finite-element-morphing-overclosure-reduction-and-slicing
Federated averaging (FedAvg) is a widely employed paradigm for collaboratively training models from distributed clients without sharing data. Nowadays, the neural network has achieved remarkable success due to its extraordinary performance, which makes it a preferred choice as the model in FedAvg. However, the optimization problem of the neural network is often non-convex even non-smooth. Furthermore, FedAvg always involves multiple clients and local updates, which results in an inaccurate updating direction. These properties bring difficulties in analyzing the convergence of FedAvg in training neural networks. Recently, neural tangent kernel (NTK) theory has been proposed towards understanding the convergence of first-order methods in tackling the non-convex problem of neural networks. The deep linear neural network is a classical model in theoretical subject due to its simple formulation. Nevertheless, there exists no theoretical result for the convergence of FedAvg in training the deep linear neural network. By applying NTK theory, we make a further step to provide the first theoretical guarantee for the global convergence of FedAvg in training deep linear neural networks. Specifically, we prove FedAvg converges to the global minimum at a linear rate $\mathcal{O}\big((1-\eta K /N)^t\big)$, where $t$ is the number of iterations, $\eta$ is the learning rate, $N$ is the number of clients and $K$ is the number of local updates. Finally, experimental evaluations on two benchmark datasets are conducted to empirically validate the correctness of our theoretical findings.
Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense by large-scale heterogeneous robotic teams is considered. The tasks include exploration, capture of dynamic targets, and perimeter defense over valuable resources. Since each robot can choose among many tasks, it remains a challenging problem to coordinate jointly these robots such that the overall utility is maximized. This work proposes a generic coalition strategy called K-serial stable coalition algorithm. Different from centralized approaches, it is distributed and complete, meaning that only local communication is required and a K-serial Stable solution is ensured. Furthermore, to accelerate adaptation to dynamic targets and resource distribution that are only perceived online, a heterogeneous graph attention network based heuristic is learned to select more appropriate parameters and promising initial solutions during local optimization. Compared with manual heuristics or end-to-end predictors, it is shown to both improve online adaptability and retain the quality guarantee. The proposed methods are validated via large-scale simulations with 170 robots and hardware experiments of 13 robots, against several strong baselines such as GreedyNE and FastMaxSum.
Federated learning (FL) is a distributed machine learning framework where the global model of a central server is trained via multiple collaborative steps by participating clients without sharing their data. While being a flexible framework, where the distribution of local data, participation rate, and computing power of each client can greatly vary, such flexibility gives rise to many new challenges, especially in the hyperparameter tuning on the client side. We propose $\Delta$-SGD, a simple step size rule for SGD that enables each client to use its own step size by adapting to the local smoothness of the function each client is optimizing. We provide theoretical and empirical results where the benefit of the client adaptivity is shown in various FL scenarios.
A foundation model is a machine learning model trained on a large and diverse set of data, typically using self-supervised learning-based pre-training techniques, that can be adapted to various downstream tasks. However, current research on time series pre-training has mostly focused on models pre-trained solely on data from a single domain, resulting in a lack of knowledge about other types of time series. However, current research on time series pre-training has predominantly focused on models trained exclusively on data from a single domain. As a result, these models possess domain-specific knowledge that may not be easily transferable to time series from other domains. In this paper, we aim to develop an effective time series foundation model by leveraging unlabeled samples from multiple domains. To achieve this, we repurposed the publicly available UCR Archive and evaluated four existing self-supervised learning-based pre-training methods, along with a novel method, on the datasets. We tested these methods using four popular neural network architectures for time series to understand how the pre-training methods interact with different network designs. Our experimental results show that pre-training improves downstream classification tasks by enhancing the convergence of the fine-tuning process. Furthermore, we found that the proposed pre-training method, when combined with the Transformer model, outperforms the alternatives.
Data augmentation, the artificial creation of training data for machine learning by transformations, is a widely studied research field across machine learning disciplines. While it is useful for increasing the generalization capabilities of a model, it can also address many other challenges and problems, from overcoming a limited amount of training data over regularizing the objective to limiting the amount data used to protect privacy. Based on a precise description of the goals and applications of data augmentation (C1) and a taxonomy for existing works (C2), this survey is concerned with data augmentation methods for textual classification and aims to achieve a concise and comprehensive overview for researchers and practitioners (C3). Derived from the taxonomy, we divided more than 100 methods into 12 different groupings and provide state-of-the-art references expounding which methods are highly promising (C4). Finally, research perspectives that may constitute a building block for future work are given (C5).
Neural machine translation (NMT) is a deep learning based approach for machine translation, which yields the state-of-the-art translation performance in scenarios where large-scale parallel corpora are available. Although the high-quality and domain-specific translation is crucial in the real world, domain-specific corpora are usually scarce or nonexistent, and thus vanilla NMT performs poorly in such scenarios. Domain adaptation that leverages both out-of-domain parallel corpora as well as monolingual corpora for in-domain translation, is very important for domain-specific translation. In this paper, we give a comprehensive survey of the state-of-the-art domain adaptation techniques for NMT.
We propose a new method for event extraction (EE) task based on an imitation learning framework, specifically, inverse reinforcement learning (IRL) via generative adversarial network (GAN). The GAN estimates proper rewards according to the difference between the actions committed by the expert (or ground truth) and the agent among complicated states in the environment. EE task benefits from these dynamic rewards because instances and labels yield to various extents of difficulty and the gains are expected to be diverse -- e.g., an ambiguous but correctly detected trigger or argument should receive high gains -- while the traditional RL models usually neglect such differences and pay equal attention on all instances. Moreover, our experiments also demonstrate that the proposed framework outperforms state-of-the-art methods, without explicit feature engineering.
Dynamic programming (DP) solves a variety of structured combinatorial problems by iteratively breaking them down into smaller subproblems. In spite of their versatility, DP algorithms are usually non-differentiable, which hampers their use as a layer in neural networks trained by backpropagation. To address this issue, we propose to smooth the max operator in the dynamic programming recursion, using a strongly convex regularizer. This allows to relax both the optimal value and solution of the original combinatorial problem, and turns a broad class of DP algorithms into differentiable operators. Theoretically, we provide a new probabilistic perspective on backpropagating through these DP operators, and relate them to inference in graphical models. We derive two particular instantiations of our framework, a smoothed Viterbi algorithm for sequence prediction and a smoothed DTW algorithm for time-series alignment. We showcase these instantiations on two structured prediction tasks and on structured and sparse attention for neural machine translation.
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