Humans possess a remarkable ability to react to sudden and unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to perform auto-corrective movements to maintain balance. In this paper, we propose a novel design of a robotic leg inspired by this mechanism. We develop multi-material fibre jammed tendons, and demonstrate their use as passive compliant mechanisms to achieve variable joint stiffness and improve stability. Through numerical simulations and extensive experimentation, we demonstrate the ability for our system to achieve a wide range of potentially beneficial compliance regimes. We show the role and contribution of each tendon quantitatively by evaluating their individual force contribution in resisting rotational perturbations. We also perform walking experiments with programmed bioinspired gaits that varying the stiffness of the tendons throughout the gait cycle, demonstrating a stable and consistent behaviour. We show the potential of such systems when integrated into legged robots, where compliance and shock absorption can be provided entirely through the morphological properties of the leg.
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Stochastic volatility models, where the volatility is a stochastic process, can capture most of the essential stylized facts of implied volatility surfaces and give more realistic dynamics of the volatility smile/skew. However, they come with the significant issue that they take too long to calibrate. Alternative calibration methods based on Deep Learning (DL) techniques have been recently used to build fast and accurate solutions to the calibration problem. Huge and Savine developed a Differential Machine Learning (DML) approach, where Machine Learning models are trained on samples of not only features and labels but also differentials of labels to features. The present work aims to apply the DML technique to price vanilla European options (i.e. the calibration instruments), more specifically, puts when the underlying asset follows a Heston model and then calibrate the model on the trained network. DML allows for fast training and accurate pricing. The trained neural network dramatically reduces Heston calibration's computation time. In this work, we also introduce different regularisation techniques, and we apply them notably in the case of the DML. We compare their performance in reducing overfitting and improving the generalisation error. The DML performance is also compared to the classical DL (without differentiation) one in the case of Feed-Forward Neural Networks. We show that the DML outperforms the DL. The complete code for our experiments is provided in the GitHub repository: //github.com/asridi/DML-Calibration-Heston-Model
The performance of Hamiltonian Monte Carlo crucially depends on its parameters, in particular the integration timestep and the number of integration steps. We present an adaptive general-purpose framework to automatically tune these parameters based on a loss function which promotes the fast exploration of phase-space. For this, we make use of a fully-differentiable set-up and use backpropagation for optimization. An attention-like loss is defined which allows for the gradient driven learning of the distribution of integration steps. We also highlight the importance of jittering for a smooth loss-surface. Our approach is demonstrated for the one-dimensional harmonic oscillator and alanine dipeptide, a small protein common as a test-case for simulation methods. We find a good correspondence between our loss and the autocorrelation times, resulting in well-tuned parameters for Hamiltonian Monte Carlo.
Ordered sequences of data, specified with a join operation to combine sequences, serve as a foundation for the implementation of parallel functional algorithms. This abstract data type can be elegantly and efficiently implemented using balanced binary trees, where a join operation is provided to combine two trees and rebalance as necessary. In this work, we present a verified implementation and cost analysis of joinable red-black trees in $\textbf{calf}$, a dependent type theory for cost analysis. We implement red-black trees and auxiliary intermediate data structures in such a way that all correctness invariants are intrinsically maintained. Then, we describe and verify precise cost bounds on the operations, making use of the red-black tree invariants. Finally, we implement standard algorithms on sequences using the simple join-based signature and bound their cost in the case that red-black trees are used as the underlying implementation. All proofs are formally mechanized using the embedding of $\textbf{calf}$ in the Agda theorem prover.
Contrastive speaker embedding assumes that the contrast between the positive and negative pairs of speech segments is attributed to speaker identity only. However, this assumption is incorrect because speech signals contain not only speaker identity but also linguistic content. In this paper, we propose a contrastive learning framework with sequential disentanglement to remove linguistic content by incorporating a disentangled sequential variational autoencoder (DSVAE) into the conventional SimCLR framework. The DSVAE aims to disentangle speaker factors from content factors in an embedding space so that only the speaker factors are used for constructing a contrastive loss objective. Because content factors have been removed from the contrastive learning, the resulting speaker embeddings will be content-invariant. Experimental results on VoxCeleb1-test show that the proposed method consistently outperforms SimCLR. This suggests that applying sequential disentanglement is beneficial to learning speaker-discriminative embeddings.
To make effective decisions in novel environments with long-horizon goals, it is crucial to engage in hierarchical reasoning across spatial and temporal scales. This entails planning abstract subgoal sequences, visually reasoning about the underlying plans, and executing actions in accordance with the devised plan through visual-motor control. We propose Compositional Foundation Models for Hierarchical Planning (HiP), a foundation model which leverages multiple expert foundation model trained on language, vision and action data individually jointly together to solve long-horizon tasks. We use a large language model to construct symbolic plans that are grounded in the environment through a large video diffusion model. Generated video plans are then grounded to visual-motor control, through an inverse dynamics model that infers actions from generated videos. To enable effective reasoning within this hierarchy, we enforce consistency between the models via iterative refinement. We illustrate the efficacy and adaptability of our approach in three different long-horizon table-top manipulation tasks.
Stablecoins, which are primarily intended to function as a global reserve of value are insubstantial in their design and present many failure points. The primary mechanism to enable these coins to hold on to a fixed value is by backing them with collateral. Fiat collateralized stablecoins require users to trust a centralized entity, which breaks the total concept of decentralization. Crypto collateralized stablecoins have issues involving high collateral requirements and introduces risks of auto-liquidation. In this paper we aim to propose an alternative architecture for the creation of a functional and secure stablecoin.
Knowledge graph embedding, which aims to represent entities and relations as low dimensional vectors (or matrices, tensors, etc.), has been shown to be a powerful technique for predicting missing links in knowledge graphs. Existing knowledge graph embedding models mainly focus on modeling relation patterns such as symmetry/antisymmetry, inversion, and composition. However, many existing approaches fail to model semantic hierarchies, which are common in real-world applications. To address this challenge, we propose a novel knowledge graph embedding model---namely, Hierarchy-Aware Knowledge Graph Embedding (HAKE)---which maps entities into the polar coordinate system. HAKE is inspired by the fact that concentric circles in the polar coordinate system can naturally reflect the hierarchy. Specifically, the radial coordinate aims to model entities at different levels of the hierarchy, and entities with smaller radii are expected to be at higher levels; the angular coordinate aims to distinguish entities at the same level of the hierarchy, and these entities are expected to have roughly the same radii but different angles. Experiments demonstrate that HAKE can effectively model the semantic hierarchies in knowledge graphs, and significantly outperforms existing state-of-the-art methods on benchmark datasets for the link prediction task.
Benefit from the quick development of deep learning techniques, salient object detection has achieved remarkable progresses recently. However, there still exists following two major challenges that hinder its application in embedded devices, low resolution output and heavy model weight. To this end, this paper presents an accurate yet compact deep network for efficient salient object detection. More specifically, given a coarse saliency prediction in the deepest layer, we first employ residual learning to learn side-output residual features for saliency refinement, which can be achieved with very limited convolutional parameters while keep accuracy. Secondly, we further propose reverse attention to guide such side-output residual learning in a top-down manner. By erasing the current predicted salient regions from side-output features, the network can eventually explore the missing object parts and details which results in high resolution and accuracy. Experiments on six benchmark datasets demonstrate that the proposed approach compares favorably against state-of-the-art methods, and with advantages in terms of simplicity, efficiency (45 FPS) and model size (81 MB).
Collaborative filtering often suffers from sparsity and cold start problems in real recommendation scenarios, therefore, researchers and engineers usually use side information to address the issues and improve the performance of recommender systems. In this paper, we consider knowledge graphs as the source of side information. We propose MKR, a Multi-task feature learning approach for Knowledge graph enhanced Recommendation. MKR is a deep end-to-end framework that utilizes knowledge graph embedding task to assist recommendation task. The two tasks are associated by cross&compress units, which automatically share latent features and learn high-order interactions between items in recommender systems and entities in the knowledge graph. We prove that cross&compress units have sufficient capability of polynomial approximation, and show that MKR is a generalized framework over several representative methods of recommender systems and multi-task learning. Through extensive experiments on real-world datasets, we demonstrate that MKR achieves substantial gains in movie, book, music, and news recommendation, over state-of-the-art baselines. MKR is also shown to be able to maintain a decent performance even if user-item interactions are sparse.
Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.
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