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We propose a threshold decision-making framework for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dynamics model that represents the evolution of an agent's preference for a particular task with the physical dynamics of the agent. We prove the bifurcation that governs the behavior of the coupled dynamics. We show by means of the bifurcation behavior how the coupled dynamics are adaptive to the physical constraints of the agent. We also show how the bifurcation can be modulated to allow the agent to switch tasks based on thresholds adaptive to environmental conditions. We illustrate the benefits of the approach through a decentralized multi-robot task allocation application for trash collection.

We explore an error-bounded lossy compression approach for reducing scientific data associated with 2D/3D unstructured meshes. While existing lossy compressors offer a high compression ratio with bounded error for regular grid data, methodologies tailored for unstructured mesh data are lacking; for example, one can compress nodal data as 1D arrays, neglecting the spatial coherency of the mesh nodes. Inspired by the SZ compressor, which predicts and quantizes values in a multidimensional array, we dynamically reorganize nodal data into sequences. Each sequence starts with a seed cell; based on a predefined traversal order, the next cell is added to the sequence if the current cell can predict and quantize the nodal data in the next cell with the given error bound. As a result, one can efficiently compress the quantized nodal data in each sequence until all mesh nodes are traversed. This paper also introduces a suite of novel error metrics, namely continuous mean squared error (CMSE) and continuous peak signal-to-noise ratio (CPSNR), to assess compression results for unstructured mesh data. The continuous error metrics are defined by integrating the error function on all cells, providing objective statistics across nonuniformly distributed nodes/cells in the mesh. We evaluate our methods with several scientific simulations ranging from ocean-climate models and computational fluid dynamics simulations with both traditional and continuous error metrics. We demonstrated superior compression ratios and quality than existing lossy compressors.

Survival Analysis (SA) constitutes the default method for time-to-event modeling due to its ability to estimate event probabilities of sparsely occurring events over time. In this work, we show how to improve the training and inference of SA models by decoupling their full expression into (1) an aggregated baseline hazard, which captures the overall behavior of a given population, and (2) independently distributed survival scores, which model idiosyncratic probabilistic dynamics of its given members, in a fully parametric setting. The proposed inference method is shown to dynamically handle right-censored observation horizons, and to achieve competitive performance when compared to other state-of-the-art methods in a variety of real-world datasets, including computationally inefficient Deep Learning-based SA methods and models that require MCMC for inference. Nevertheless, our method achieves robust results from the outset, while not being subjected to fine-tuning or hyperparameter optimization.

Modeling spatial-temporal interactions among neighboring agents is at the heart of multi-agent problems such as motion forecasting and crowd navigation. Despite notable progress, it remains unclear to which extent modern representations can capture the causal relationships behind agent interactions. In this work, we take an in-depth look at the causal awareness of these representations, from computational formalism to real-world practice. First, we cast doubt on the notion of non-causal robustness studied in the recent CausalAgents benchmark. We show that recent representations are already partially resilient to perturbations of non-causal agents, and yet modeling indirect causal effects involving mediator agents remains challenging. To address this challenge, we introduce a metric learning approach that regularizes latent representations with causal annotations. Our controlled experiments show that this approach not only leads to higher degrees of causal awareness but also yields stronger out-of-distribution robustness. To further operationalize it in practice, we propose a sim-to-real causal transfer method via cross-domain multi-task learning. Experiments on pedestrian datasets show that our method can substantially boost generalization, even in the absence of real-world causal annotations. We hope our work provides a new perspective on the challenges and potential pathways towards causally-aware representations of multi-agent interactions. Our code is available at //github.com/socialcausality.

We address the problem of parameter estimation for degenerate diffusion processes defined via the solution of Stochastic Differential Equations (SDEs) with diffusion matrix that is not full-rank. For this class of hypo-elliptic diffusions recent works have proposed contrast estimators that are asymptotically normal, provided that the step-size in-between observations $\Delta=\Delta_n$ and their total number $n$ satisfy $n \to \infty$, $n \Delta_n \to \infty$, $\Delta_n \to 0$, and additionally $\Delta_n = o (n^{-1/2})$. This latter restriction places a requirement for a so-called `rapidly increasing experimental design'. In this paper, we overcome this limitation and develop a general contrast estimator satisfying asymptotic normality under the weaker design condition $\Delta_n = o(n^{-1/p})$ for general $p \ge 2$. Such a result has been obtained for elliptic SDEs in the literature, but its derivation in a hypo-elliptic setting is highly non-trivial. We provide numerical results to illustrate the advantages of the developed theory.

Graph Neural Networks (GNNs) have received considerable attention on graph-structured data learning for a wide variety of tasks. The well-designed propagation mechanism which has been demonstrated effective is the most fundamental part of GNNs. Although most of GNNs basically follow a message passing manner, litter effort has been made to discover and analyze their essential relations. In this paper, we establish a surprising connection between different propagation mechanisms with a unified optimization problem, showing that despite the proliferation of various GNNs, in fact, their proposed propagation mechanisms are the optimal solution optimizing a feature fitting function over a wide class of graph kernels with a graph regularization term. Our proposed unified optimization framework, summarizing the commonalities between several of the most representative GNNs, not only provides a macroscopic view on surveying the relations between different GNNs, but also further opens up new opportunities for flexibly designing new GNNs. With the proposed framework, we discover that existing works usually utilize naive graph convolutional kernels for feature fitting function, and we further develop two novel objective functions considering adjustable graph kernels showing low-pass or high-pass filtering capabilities respectively. Moreover, we provide the convergence proofs and expressive power comparisons for the proposed models. Extensive experiments on benchmark datasets clearly show that the proposed GNNs not only outperform the state-of-the-art methods but also have good ability to alleviate over-smoothing, and further verify the feasibility for designing GNNs with our unified optimization framework.

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.

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.

The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem have benefited from the representational power of deep models. This paper provides a comprehensive survey on works that employ Deep Learning models to solve the task of MOT on single-camera videos. Four main steps in MOT algorithms are identified, and an in-depth review of how Deep Learning was employed in each one of these stages is presented. A complete experimental comparison of the presented works on the three MOTChallenge datasets is also provided, identifying a number of similarities among the top-performing methods and presenting some possible future research directions.

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.