Subequivariant Reinforcement Learning Framework for Coordinated Motion Control

Effective coordination is crucial for motion control with reinforcement learning, especially as the complexity of agents and their motions increases. However, many existing methods struggle to account for the intricate dependencies between joints. We introduce CoordiGraph, a novel architecture that leverages subequivariant principles from physics to enhance coordination of motion control with reinforcement learning. This method embeds the principles of equivariance as inherent patterns in the learning process under gravity influence, which aids in modeling the nuanced relationships between joints vital for motion control. Through extensive experimentation with sophisticated agents in diverse environments, we highlight the merits of our approach. Compared to current leading methods, CoordiGraph notably enhances generalization and sample efficiency.

PILLOW: Enhancing Efficient Instruction Fine-tuning via Prompt Matching

Instruction fine-tuning has conventionally been employed to adapt Large Language Models (LLMs) to a variety of tasks. Nonetheless, this technique often necessitates substantial computational resources, making it impractical for deployment by individuals or small-scale entities. Recently, Low-Rank Adaptation (LoRA) has become a promising alternative, offering high capabilities on par with full tuning with reduced resource overhead. However, attaining satisfactory performance through the fine-tuning of LoRA is a non-trivial challenge. In this paper, we propose PILLOW, which aims to improve LoRA's performance by a discrimination-based prompting method, leveraging LLMs' In-Context Learning ability. PILLOW incorporates a matching network that selects prompts from a user-defined prompt pool, concatenates the selected prompts with the user instruction as input, and performs inference using the LoRA-fine-tuned LLMs. Trained with Reinforcement Learning, PILLOW exhibits commensurate performance on various evaluation metrics compared with typical instruction fine-tuning methods, utilizing only consumer-grade GPU resources and exhibiting a large reduction in computational costs.

LogicMP: A Neuro-symbolic Approach for Encoding First-order Logic Constraints

Integrating first-order logic constraints (FOLCs) with neural networks is a crucial but challenging problem since it involves modeling intricate correlations to satisfy the constraints. This paper proposes a novel neural layer, LogicMP, whose layers perform mean-field variational inference over an MLN. It can be plugged into any off-the-shelf neural network to encode FOLCs while retaining modularity and efficiency. By exploiting the structure and symmetries in MLNs, we theoretically demonstrate that our well-designed, efficient mean-field iterations effectively mitigate the difficulty of MLN inference, reducing the inference from sequential calculation to a series of parallel tensor operations. Empirical results in three kinds of tasks over graphs, images, and text show that LogicMP outperforms advanced competitors in both performance and efficiency.

A Meta Reinforcement Learning Approach for Predictive Autoscaling in the Cloud

Predictive autoscaling (autoscaling with workload forecasting) is an important mechanism that supports autonomous adjustment of computing resources in accordance with fluctuating workload demands in the Cloud. In recent works, Reinforcement Learning (RL) has been introduced as a promising approach to learn the resource management policies to guide the scaling actions under the dynamic and uncertain cloud environment. However, RL methods face the following challenges in steering predictive autoscaling, such as lack of accuracy in decision-making, inefficient sampling and significant variability in workload patterns that may cause policies to fail at test time. To this end, we propose an end-to-end predictive meta model-based RL algorithm, aiming to optimally allocate resource to maintain a stable CPU utilization level, which incorporates a specially-designed deep periodic workload prediction model as the input and embeds the Neural Process to guide the learning of the optimal scaling actions over numerous application services in the Cloud. Our algorithm not only ensures the predictability and accuracy of the scaling strategy, but also enables the scaling decisions to adapt to the changing workloads with high sample efficiency. Our method has achieved significant performance improvement compared to the existing algorithms and has been deployed online at Alipay, supporting the autoscaling of applications for the world-leading payment platform.

DSOL: A Fast Direct Sparse Odometry Scheme

In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved version of Direct Sparse Odometry (DSO). We propose several algorithmic and implementation enhancements which speed up computation by a significant factor (on average 5x) even on resource constrained platforms. The increase in speed allows us to process images at higher frame rates, which in turn provides better results on rapid motions. Our open-source implementation is available at https://github.com/versatran01/dsol.

Bellman Meets Hawkes: Model-Based Reinforcement Learning via Temporal Point Processes

We consider a sequential decision making problem where the agent faces the environment characterized by the stochastic discrete events and seeks an optimal intervention policy such that its long-term reward is maximized. This problem exists ubiquitously in social media, finance and health informatics but is rarely investigated by the conventional research in reinforcement learning. To this end, we present a novel framework of the model-based reinforcement learning where the agent's actions and observations are asynchronous stochastic discrete events occurring in continuous-time. We model the dynamics of the environment by Hawkes process with external intervention control term and develop an algorithm to embed such process in the Bellman equation which guides the direction of the value gradient. We demonstrate the superiority of our method in both synthetic simulator and real-world problem.

LLOL: Low-Latency Odometry for Spinning Lidars

In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectively distributes expensive operations across time, resulting in a very fast and lightweight system with much higher throughput and lower latency. Our open-source implementation is available at \url{https://github.com/versatran01/llol}.

Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy

In this letter, we propose an integrated autonomous flight and semantic SLAM system that can perform long-range missions and real-time semantic mapping in highly cluttered, unstructured, and GPS-denied under-canopy environments. First, tree trunks and ground planes are detected from LIDAR scans. We use a neural network and an instance extraction algorithm to enable semantic segmentation in real time onboard the UAV. Second, detected tree trunk instances are modeled as cylinders and associated across the whole LIDAR sequence. This semantic data association constraints both robot poses as well as trunk landmark models. The output of semantic SLAM is used in state estimation, planning, and control algorithms in real time. The global planner relies on a sparse map to plan the shortest path to the global goal, and the local trajectory planner uses a small but finely discretized robot-centric map to plan a dynamically feasible and collision-free trajectory to the local goal. Both the global path and local trajectory lead to drift-corrected goals, thus helping the UAV execute its mission accurately and safely.

Bayesian Deep Basis Fitting for Depth Completion with Uncertainty

In this work we investigate the problem of uncertainty estimation for image-guided depth completion. We extend Deep Basis Fitting (DBF) for depth completion within a Bayesian evidence framework to provide calibrated per-pixel variance. The DBF approach frames the depth completion problem in terms of a network that produces a set of low-dimensional depth bases and a differentiable least squares fitting module that computes the basis weights using the sparse depths. By adopting a Bayesian treatment, our Bayesian Deep Basis Fitting (BDBF) approach is able to 1) predict high-quality uncertainty estimates and 2) enable depth completion with few or no sparse measurements. We conduct controlled experiments to compare BDBF against commonly used techniques for uncertainty estimation under various scenarios. Results show that our method produces better uncertainty estimates with accurate depth prediction.

Model Embedding Model-Based Reinforcement Learning

Model-based reinforcement learning (MBRL) has shown its advantages in sample-efficiency over model-free reinforcement learning (MFRL). Despite the impressive results it achieves, it still faces a trade-off between the ease of data generation and model bias. In this paper, we propose a simple and elegant model-embedding model-based reinforcement learning (MEMB) algorithm in the framework of the probabilistic reinforcement learning. To balance the sample-efficiency and model bias, we exploit both real and imaginary data in the training. In particular, we embed the model in the policy update and learn $Q$ and $V$ functions from the real data set. We provide the theoretical analysis of MEMB with the Lipschitz continuity assumption on the model and policy. At last, we evaluate MEMB on several benchmarks and demonstrate our algorithm can achieve state-of-the-art performance.