We aim to maximize the energy efficiency, gauged as average energy cost per job, in a large-scale server farm with various storage or/and computing components modeled as parallel abstracted servers. Each server operates in multiple power modes characterized by potentially different service and energy consumption rates. The heterogeneity of servers and multiple power modes complicate the maximization problem, where optimal solutions are generally intractable. Relying on the Whittle relaxation technique,we resort to a near-optimal, scalable job-assignment policy. Under a mild condition related to the service and energy consumption rates of the servers, we prove that our proposed policy approaches optimality as the size of the entire system tends to infinity; that is, it is asymptotically optimal. For the nonasymptotic regime, we show the effectiveness of the proposed policy through numerical simulations, where the policy outperforms all the tested baselines, and we numerically demonstrate its robustness against heavy-tailed job-size distributions.
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Inverse propensity weighting (IPW) is a popular method for estimating treatment effects from observational data. However, its correctness relies on the untestable (and frequently implausible) assumption that all confounders have been measured. This paper introduces a robust sensitivity analysis for IPW that estimates the range of treatment effects compatible with a given amount of unobserved confounding. The estimated range converges to the narrowest possible interval (under the given assumptions) that must contain the true treatment effect. Our proposal is a refinement of the influential sensitivity analysis by Zhao, Small, and Bhattacharya (2019), which we show gives bounds that are too wide even asymptotically. This analysis is based on new partial identification results for Tan (2006)'s marginal sensitivity model.
The diffusion model is capable of generating high-quality data through a probabilistic approach. However, it suffers from the drawback of slow generation speed due to the requirement of a large number of time steps. To address this limitation, recent models such as denoising diffusion implicit models (DDIM) focus on generating samples without directly modeling the probability distribution, while models like denoising diffusion generative adversarial networks (GAN) combine diffusion processes with GANs. In the field of speech synthesis, a recent diffusion speech synthesis model called DiffGAN-TTS, utilizing the structure of GANs, has been introduced and demonstrates superior performance in both speech quality and generation speed. In this paper, to further enhance the performance of DiffGAN-TTS, we propose a speech synthesis model with two discriminators: a diffusion discriminator for learning the distribution of the reverse process and a spectrogram discriminator for learning the distribution of the generated data. Objective metrics such as structural similarity index measure (SSIM), mel-cepstral distortion (MCD), F0 root mean squared error (F0 RMSE), short-time objective intelligibility (STOI), perceptual evaluation of speech quality (PESQ), as well as subjective metrics like mean opinion score (MOS), are used to evaluate the performance of the proposed model. The evaluation results show that the proposed model outperforms recent state-of-the-art models such as FastSpeech2 and DiffGAN-TTS in various metrics. Our implementation and audio samples are located on GitHub.
Driving scene understanding is to obtain comprehensive scene information through the sensor data and provide a basis for downstream tasks, which is indispensable for the safety of self-driving vehicles. Specific perception tasks, such as object detection and scene graph generation, are commonly used. However, the results of these tasks are only equivalent to the characterization of sampling from high-dimensional scene features, which are not sufficient to represent the scenario. In addition, the goal of perception tasks is inconsistent with human driving that just focuses on what may affect the ego-trajectory. Therefore, we propose an end-to-end Interpretable Implicit Driving Scene Understanding (II-DSU) model to extract implicit high-dimensional scene features as scene understanding results guided by a planning module and to validate the plausibility of scene understanding using auxiliary perception tasks for visualization. Experimental results on CARLA benchmarks show that our approach achieves the new state-of-the-art and is able to obtain scene features that embody richer scene information relevant to driving, enabling superior performance of the downstream planning.
Trust-aware human-robot interaction (HRI) has received increasing research attention, as trust has been shown to be a crucial factor for effective HRI. Research in trust-aware HRI discovered a dilemma -- maximizing task rewards often leads to decreased human trust, while maximizing human trust would compromise task performance. In this work, we address this dilemma by formulating the HRI process as a two-player Markov game and utilizing the reward-shaping technique to improve human trust while limiting performance loss. Specifically, we show that when the shaping reward is potential-based, the performance loss can be bounded by the potential functions evaluated at the final states of the Markov game. We apply the proposed framework to the experience-based trust model, resulting in a linear program that can be efficiently solved and deployed in real-world applications. We evaluate the proposed framework in a simulation scenario where a human-robot team performs a search-and-rescue mission. The results demonstrate that the proposed framework successfully modifies the robot's optimal policy, enabling it to increase human trust at a minimal task performance cost.
The accuracy of dynamic modelling of unmanned aerial vehicles, specifically quadrotors, is gaining importance since strict conditionalities are imposed on rotorcraft control. The system identification plays a crucial role as an effective approach for the problem of the fine-tuning dynamic models for applications such control system design and as handling quality evaluation. This paper focuses on black-box identification, describing the quadrotor dynamics based on experimental setup through sensor preparation for data collection, modelling, control design, and verification stages.
We present SEIF, a methodology that combines static analysis with symbolic execution to verify and explicate information flow paths in a hardware design. SEIF begins with a statically built model of the information flow through a design and uses guided symbolic execution to recognize and eliminate non-flows with high precision or to find corresponding paths through the design state for true flows. We evaluate SEIF on two open-source CPUs, an AES core, and the AKER access control module. SEIF can exhaustively explore 10-12 clock cycles deep in 4-6 seconds on average, and can automatically account for 86-90% of the paths in the statically built model. Additionally, SEIF can be used to find multiple violating paths for security properties, providing a new angle for security verification.
Analyzing observational data from multiple sources can be useful for increasing statistical power to detect a treatment effect; however, practical constraints such as privacy considerations may restrict individual-level information sharing across data sets. This paper develops federated methods that only utilize summary-level information from heterogeneous data sets. Our federated methods provide doubly-robust point estimates of treatment effects as well as variance estimates. We derive the asymptotic distributions of our federated estimators, which are shown to be asymptotically equivalent to the corresponding estimators from the combined, individual-level data. We show that to achieve these properties, federated methods should be adjusted based on conditions such as whether models are correctly specified and stable across heterogeneous data sets.
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.
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.
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