Trajectory prediction and generation are crucial for autonomous robots in dynamic environments. While prior research has typically focused on either prediction or generation, our approach unifies these tasks to provide a versatile framework and achieve state-of-the-art performance. While diffusion models excel in trajectory generation, their iterative sampling process is computationally intensive, hindering robotic systems' dynamic capabilities. We introduce Trajectory Conditional Flow Matching (T-CFM), a novel approach using flow matching techniques to learn a solver time-varying vector field for efficient, fast trajectory generation. T-CFM demonstrates effectiveness in adversarial tracking, real-world aircraft trajectory forecasting, and long-horizon planning, outperforming state-of-the-art baselines with 35% higher predictive accuracy and 142% improved planning performance. Crucially, T-CFM achieves up to 100$\times$ speed-up compared to diffusion models without sacrificing accuracy, enabling real-time decision making in robotics. Codebase: //github.com/CORE-Robotics-Lab/TCFM
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Automated reasoners, such as SAT/SMT solvers and first-order provers, are becoming the backbones of rigorous systems engineering, being used for example in applications of system verification, program synthesis, and cybersecurity. Automation in these domains crucially depends on the efficiency of the underlying reasoners towards finding proofs and/or counterexamples of the task to be enforced. In order to gain efficiency, automated reasoners use dedicated proof rules to keep proof search tractable. To this end, (variants of) subsumption is one of the most important proof rules used by automated reasoners, ranging from SAT solvers to first-order theorem provers and beyond. It is common that millions of subsumption checks are performed during proof search, necessitating efficient implementations. However, in contrast to propositional subsumption as used by SAT solvers and implemented using sophisticated polynomial algorithms, first-order subsumption in first-order theorem provers involves NP-complete search queries, turning the efficient use of first-order subsumption into a huge practical burden. In this paper we argue that the integration of a dedicated SAT solver opens up new venues for efficient implementations of first-order subsumption and related rules. We show that, by using a flexible learning approach to choose between various SAT encodings of subsumption variants, we greatly improve the scalability of first-order theorem proving. Our experimental results demonstrate that, by using a tailored SAT solver within first-order reasoning, we gain a large speedup in solving state-of-the-art benchmarks.
Vulnerability detection is crucial for maintaining software security, and recent research has explored the use of Language Models (LMs) for this task. While LMs have shown promising results, their performance has been inconsistent across datasets, particularly when generalizing to unseen code. Moreover, most studies have focused on the C/C++ programming language, with limited attention given to other popular languages. This paper addresses this gap by investigating the effectiveness of LMs for vulnerability detection in JavaScript, Java, Python, PHP, and Go, in addition to C/C++ for comparison. We utilize the CVEFixes dataset to create a diverse collection of language-specific vulnerabilities and preprocess the data to ensure quality and integrity. We fine-tune and evaluate state-of-the-art LMs across the selected languages and find that the performance of vulnerability detection varies significantly. JavaScript exhibits the best performance, with considerably better and more practical detection capabilities compared to C/C++. We also examine the relationship between code complexity and detection performance across the six languages and find only a weak correlation between code complexity metrics and the models' F1 scores.
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints, given the numerous physical phenomena affecting the underlying friction dynamics which result into nonlinear characteristics and hysteresis behaviour in particular. These phenomena proof difficult to be modelled and captured accurately using physical analogies alone. This has motivated researchers to shift from physics-based to data-driven models. Currently, these methods are still limited in their ability to generalize effectively to typical industrial robot deployement, characterized by high- and low-velocity operations and frequent direction reversals. Empirical observations motivate the use of dynamic friction models but these remain particulary challenging to establish. To address the current limitations, we propose to account for unidentified dynamics in the robot joints using latent dynamic states. The friction model may then utilize both the dynamic robot state and additional information encoded in the latent state to evaluate the friction torque. We cast this stochastic and partially unsupervised identification problem as a standard probabilistic representation learning problem. In this work both the friction model and latent state dynamics are parametrized as neural networks and integrated in the conventional lumped parameter dynamic robot model. The complete dynamics model is directly learned from the noisy encoder measurements in the robot joints. We use the Expectation-Maximisation (EM) algorithm to find a Maximum Likelihood Estimate (MLE) of the model parameters. The effectiveness of the proposed method is validated in terms of open-loop prediction accuracy in comparison with baseline methods, using the Kuka KR6 R700 as a test platform.
Understanding causal relations in dynamic systems is essential in epidemiology. While causal inference methods have been extensively studied, they often rely on fully specified causal graphs, which may not always be available in complex dynamic systems. Partially specified causal graphs, and in particular summary causal graphs (SCGs), provide a simplified representation of causal relations between time series when working spacio-temporal data, omitting temporal information and focusing on causal structures between clusters of of temporal variables. Unlike fully specified causal graphs, SCGs can contain cycles, which complicate their analysis and interpretation. In addition, their cluster-based nature introduces new challenges concerning the types of queries of interest: macro queries, which involve relationships between clusters represented as vertices in the graph, and micro queries, which pertain to relationships between variables that are not directly visible through the vertices of the graph. In this paper, we first clearly distinguish between macro conditional independencies and micro conditional independencies and between macro total effects and micro total effects. Then, we demonstrate the soundness and completeness of the d-separation to identify macro conditional independencies in SCGs. Furthermore, we establish that the do-calculus is sound and complete for identifying macro total effects in SCGs. Finally, we give a graphical characterization for the non-identifiability of macro total effects in SCGs.
Previous research has shown that constraining the gradient of loss function with respect to model-predicted probabilities can enhance the model robustness against noisy labels. These methods typically specify a fixed optimal threshold for gradient clipping through validation data to obtain the desired robustness against noise. However, this common practice overlooks the dynamic distribution of gradients from both clean and noisy-labeled samples at different stages of training, significantly limiting the model capability to adapt to the variable nature of gradients throughout the training process. To address this issue, we propose a simple yet effective approach called Optimized Gradient Clipping (OGC), which dynamically adjusts the clipping threshold based on the ratio of noise gradients to clean gradients after clipping, estimated by modeling the distributions of clean and noisy samples. This approach allows us to modify the clipping threshold at each training step, effectively controlling the influence of noise gradients. Additionally, we provide statistical analysis to certify the noise-tolerance ability of OGC. Our extensive experiments across various types of label noise, including symmetric, asymmetric, instance-dependent, and real-world noise, demonstrate the effectiveness of our approach.
Concurrent computation and communication (C3) is a pervasive paradigm in ML and other domains, making its performance optimization crucial. In this paper, we carefully characterize C3 in ML on GPUs, which are most widely deployed for ML training and inference. We observe that while C3 leads to performance uplifts, the uplifts are far lower than ideal speedups (serial computation and communication versus maximum of computation or communication; all times from isolated executions). C3 on average achieves only 21% of ideal speedup, this is due to known challenges of compute and memory interference between concurrent GPU kernels (that is, sharing of GPU's compute units, caches and HBM). To attain better performance for C3, first, we evaluate dual strategies of schedule prioritization and careful resource partitioning of compute units on GPUs to push performance attained with C3 (on average 42% of ideal speedup). We also provide heuristics that can guide a runtime while employing these strategies. To further enhance C3 performance, we propose to mitigate C3 interference by offloading communication tasks to the GPU's DMA engines. To this end, we build Concurrent Communication CoLlectives (ConCCL) proof-of-concepts that harness DMA engines for communication. We show how ConCCL considerably closes the gap between realized and ideal speedup for C3 (on average 72% of ideal speedup is realized, up to 1.67x speedup). Overall, our work makes a strong case for GPU DMA engine advancements to better support C3 on GPUs.
Object detection is a critical task in computer vision, with applications in various domains such as autonomous driving and urban scene monitoring. However, deep learning-based approaches often demand large volumes of annotated data, which are costly and difficult to acquire, particularly in complex and unpredictable real-world environments. This dependency significantly hampers the generalization capability of existing object detection techniques. To address this issue, we introduce a novel single-domain object detection generalization method, named GoDiff, which leverages a pre-trained model to enhance generalization in unseen domains. Central to our approach is the Pseudo Target Data Generation (PTDG) module, which employs a latent diffusion model to generate pseudo-target domain data that preserves source domain characteristics while introducing stylistic variations. By integrating this pseudo data with source domain data, we diversify the training dataset. Furthermore, we introduce a cross-style instance normalization technique to blend style features from different domains generated by the PTDG module, thereby increasing the detector's robustness. Experimental results demonstrate that our method not only enhances the generalization ability of existing detectors but also functions as a plug-and-play enhancement for other single-domain generalization methods, achieving state-of-the-art performance in autonomous driving scenarios.
By generating new yet effective data, data augmentation has become a promising method to mitigate the data sparsity problem in sequential recommendation. Existing works focus on augmenting the original data but rarely explore the issue of imbalanced relevance and diversity for augmented data, leading to semantic drift problems or limited performance improvements. In this paper, we propose a novel Balanced data Augmentation Plugin for Sequential Recommendation (BASRec) to generate data that balance relevance and diversity. BASRec consists of two modules: Single-sequence Augmentation and Cross-sequence Augmentation. The former leverages the randomness of the heuristic operators to generate diverse sequences for a single user, after which the diverse and the original sequences are fused at the representation level to obtain relevance. Further, we devise a reweighting strategy to enable the model to learn the preferences based on the two properties adaptively. The Cross-sequence Augmentation performs nonlinear mixing between different sequence representations from two directions. It produces virtual sequence representations that are diverse enough but retain the vital semantics of the original sequences. These two modules enhance the model to discover fine-grained preferences knowledge from single-user and cross-user perspectives. Extensive experiments verify the effectiveness of BASRec. The average improvement is up to 72.0% on GRU4Rec, 33.8% on SASRec, and 68.5% on FMLP-Rec. We demonstrate that BASRec generates data with a better balance between relevance and diversity than existing methods. The source code is available at //github.com/KingGugu/BASRec.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Pre-trained deep neural network language models such as ELMo, GPT, BERT and XLNet have recently achieved state-of-the-art performance on a variety of language understanding tasks. However, their size makes them impractical for a number of scenarios, especially on mobile and edge devices. In particular, the input word embedding matrix accounts for a significant proportion of the model's memory footprint, due to the large input vocabulary and embedding dimensions. Knowledge distillation techniques have had success at compressing large neural network models, but they are ineffective at yielding student models with vocabularies different from the original teacher models. We introduce a novel knowledge distillation technique for training a student model with a significantly smaller vocabulary as well as lower embedding and hidden state dimensions. Specifically, we employ a dual-training mechanism that trains the teacher and student models simultaneously to obtain optimal word embeddings for the student vocabulary. We combine this approach with learning shared projection matrices that transfer layer-wise knowledge from the teacher model to the student model. Our method is able to compress the BERT_BASE model by more than 60x, with only a minor drop in downstream task metrics, resulting in a language model with a footprint of under 7MB. Experimental results also demonstrate higher compression efficiency and accuracy when compared with other state-of-the-art compression techniques.
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