Improved Differentially Private and Lazy Online Convex Optimization

We study the task of $(\epsilon, \delta)$-differentially private online convex optimization (OCO). In the online setting, the release of each distinct decision or iterate carries with it the potential for privacy loss. This problem has a long history of research starting with Jain et al. [2012] and the best known results for the regime of {\epsilon} not being very small are presented in Agarwal et al. [2023]. In this paper we improve upon the results of Agarwal et al. [2023] in terms of the dimension factors as well as removing the requirement of smoothness. Our results are now the best known rates for DP-OCO in this regime. Our algorithms builds upon the work of [Asi et al., 2023] which introduced the idea of explicitly limiting the number of switches via rejection sampling. The main innovation in our algorithm is the use of sampling from a strongly log-concave density which allows us to trade-off the dimension factors better leading to improved results.

Diffusion Handles: Enabling 3D Edits for Diffusion Models by Lifting Activations to 3D

Diffusion Handles is a novel approach to enabling 3D object edits on diffusion images. We accomplish these edits using existing pre-trained diffusion models, and 2D image depth estimation, without any fine-tuning or 3D object retrieval. The edited results remain plausible, photo-real, and preserve object identity. Diffusion Handles address a critically missing facet of generative image based creative design, and significantly advance the state-of-the-art in generative image editing. Our key insight is to lift diffusion activations for an object to 3D using a proxy depth, 3D-transform the depth and associated activations, and project them back to image space. The diffusion process applied to the manipulated activations with identity control, produces plausible edited images showing complex 3D occlusion and lighting effects. We evaluate Diffusion Handles: quantitatively, on a large synthetic data benchmark; and qualitatively by a user study, showing our output to be more plausible, and better than prior art at both, 3D editing and identity control. Project Webpage: https://diffusionhandles.github.io/

Online Nonstochastic Model-Free Reinforcement Learning

In this work, we explore robust model-free reinforcement learning algorithms for environments that may be dynamic or even adversarial. Conventional state-based policies fail to accommodate the challenge imposed by the presence of unmodeled disturbances in such settings. Additionally, optimizing linear state-based policies pose obstacle for efficient optimization, leading to nonconvex objectives even in benign environments like linear dynamical systems. Drawing inspiration from recent advancements in model-based control, we introduce a novel class of policies centered on disturbance signals. We define several categories of these signals, referred to as pseudo-disturbances, and corresponding policy classes based on them. We provide efficient and practical algorithms for optimizing these policies. Next, we examine the task of online adaptation of reinforcement learning agents to adversarial disturbances. Our methods can be integrated with any black-box model-free approach, resulting in provable regret guarantees if the underlying dynamics is linear. We evaluate our method over different standard RL benchmarks and demonstrate improved robustness.

Variance-Reduced Conservative Policy Iteration

We study the sample complexity of reducing reinforcement learning to a sequence of empirical risk minimization problems over the policy space. Such reductions-based algorithms exhibit local convergence in the function space, as opposed to the parameter space for policy gradient algorithms, and thus are unaffected by the possibly non-linear or discontinuous parameterization of the policy class. We propose a variance-reduced variant of Conservative Policy Iteration that improves the sample complexity of producing a $\varepsilon$-functional local optimum from $O(\varepsilon^{-4})$ to $O(\varepsilon^{-3})$. Under state-coverage and policy-completeness assumptions, the algorithm enjoys $\varepsilon$-global optimality after sampling $O(\varepsilon^{-2})$ times, improving upon the previously established $O(\varepsilon^{-3})$ sample requirement.

Best of Both Worlds in Online Control: Competitive Ratio and Policy Regret

We consider the fundamental problem of online control of a linear dynamical system from two different viewpoints: regret minimization and competitive analysis. We prove that the optimal competitive policy is well-approximated by a convex parameterized policy class, known as a disturbance-action control (DAC) policies. Using this structural result, we show that several recently proposed online control algorithms achieve the best of both worlds: sublinear regret vs. the best DAC policy selected in hindsight, and optimal competitive ratio, up to an additive correction which grows sublinearly in the time horizon. We further conclude that sublinear regret vs. the optimal competitive policy is attainable when the linear dynamical system is unknown, and even when a stabilizing controller for the dynamics is not available a priori.

Introduction to Online Nonstochastic Control

This text presents an introduction to an emerging paradigm in control of dynamical systems and differentiable reinforcement learning called online nonstochastic control. The new approach applies techniques from online convex optimization and convex relaxations to obtain new methods with provable guarantees for classical settings in optimal and robust control. The primary distinction between online nonstochastic control and other frameworks is the objective. In optimal control, robust control, and other control methodologies that assume stochastic noise, the goal is to perform comparably to an offline optimal strategy. In online nonstochastic control, both the cost functions as well as the perturbations from the assumed dynamical model are chosen by an adversary. Thus the optimal policy is not defined a priori. Rather, the target is to attain low regret against the best policy in hindsight from a benchmark class of policies. This objective suggests the use of the decision making framework of online convex optimization as an algorithmic methodology. The resulting methods are based on iterative mathematical optimization algorithms, and are accompanied by finite-time regret and computational complexity guarantees.

Machine Learning for Mechanical Ventilation Control (Extended Abstract)

Mechanical ventilation is one of the most widely used therapies in the ICU. However, despite broad application from anaesthesia to COVID-related life support, many injurious challenges remain. We frame these as a control problem: ventilators must let air in and out of the patient's lungs according to a prescribed trajectory of airway pressure. Industry-standard controllers, based on the PID method, are neither optimal nor robust. Our data-driven approach learns to control an invasive ventilator by training on a simulator itself trained on data collected from the ventilator. This method outperforms popular reinforcement learning algorithms and even controls the physical ventilator more accurately and robustly than PID. These results underscore how effective data-driven methodologies can be for invasive ventilation and suggest that more general forms of ventilation (e.g., non-invasive, adaptive) may also be amenable.

A Boosting Approach to Reinforcement Learning

We study efficient algorithms for reinforcement learning in Markov decision processes whose complexity is independent of the number of states. This formulation succinctly captures large scale problems, but is also known to be computationally hard in its general form. Previous approaches attempt to circumvent the computational hardness by assuming structure in either transition function or the value function, or by relaxing the solution guarantee to a local optimality condition. We consider the methodology of boosting, borrowed from supervised learning, for converting weak learners into an accurate policy. The notion of weak learning we study is that of sampled-based approximate optimization of linear functions over policies. Under this assumption of weak learnability, we give an efficient algorithm that is capable of improving the accuracy of such weak learning methods, till global optimality is reached. We prove sample complexity and running time bounds on our method, that are polynomial in the natural parameters of the problem: approximation guarantee, discount factor, distribution mismatch and number of actions. In particular, our bound does not depend on the number of states. A technical difficulty in applying previous boosting results, is that the value function over policy space is not convex. We show how to use a non-convex variant of the Frank-Wolfe method, coupled with recent advances in gradient boosting that allow incorporating a weak learner with multiplicative approximation guarantee, to overcome the non-convexity and attain global convergence.

SurgeonAssist-Net: Towards Context-Aware Head-Mounted Display-Based Augmented Reality for Surgical Guidance

We present SurgeonAssist-Net: a lightweight framework making action-and-workflow-driven virtual assistance, for a set of predefined surgical tasks, accessible to commercially available optical see-through head-mounted displays (OST-HMDs). On a widely used benchmark dataset for laparoscopic surgical workflow, our implementation competes with state-of-the-art approaches in prediction accuracy for automated task recognition, and yet requires 7.4x fewer parameters, 10.2x fewer floating point operations per second (FLOPS), is 7.0x faster for inference on a CPU, and is capable of near real-time performance on the Microsoft HoloLens 2 OST-HMD. To achieve this, we make use of an efficient convolutional neural network (CNN) backbone to extract discriminative features from image data, and a low-parameter recurrent neural network (RNN) architecture to learn long-term temporal dependencies. To demonstrate the feasibility of our approach for inference on the HoloLens 2 we created a sample dataset that included video of several surgical tasks recorded from a user-centric point-of-view. After training, we deployed our model and cataloged its performance in an online simulated surgical scenario for the prediction of the current surgical task. The utility of our approach is explored in the discussion of several relevant clinical use-cases. Our code is publicly available at https://github.com/doughtmw/surgeon-assist-net.

Machine Learning for Mechanical Ventilation Control

We consider the problem of controlling an invasive mechanical ventilator for pressure-controlled ventilation: a controller must let air in and out of a sedated patient's lungs according to a trajectory of airway pressures specified by a clinician. Hand-tuned PID controllers and similar variants have comprised the industry standard for decades, yet can behave poorly by over- or under-shooting their target or oscillating rapidly. We consider a data-driven machine learning approach: First, we train a simulator based on data we collect from an artificial lung. Then, we train deep neural network controllers on these simulators.We show that our controllers are able to track target pressure waveforms significantly better than PID controllers. We further show that a learned controller generalizes across lungs with varying characteristics much more readily than PID controllers do.