Learning to Control under Uncertainty with Data-Based Iterative Linear Quadratic Regulator

This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design closed-loop feedback control for high-dimensional dynamical systems with partial state observation. This method required perfect simulation rollouts which are not realistic in real applications. In this work, we briefly introduce this method and explore its efficacy under process and sensing uncertainties. We prove that in the fully observed case where the system dynamics are corrupted with noise but the measurements are perfect, it still converges to the global minimum. However, in the partially observed case where both process and measurement noise exist in the system, this method converges to a biased "optimum". Thus multiple rollouts need to be averaged to retrieve the true optimum. The analysis is verified in two nonlinear robotic examples simulated in the above cases.

Large-scale Foundation Models and Generative AI for BigData Neuroscience

Recent advances in machine learning have made revolutionary breakthroughs in computer games, image and natural language understanding, and scientific discovery. Foundation models and large-scale language models (LLMs) have recently achieved human-like intelligence thanks to BigData. With the help of self-supervised learning (SSL) and transfer learning, these models may potentially reshape the landscapes of neuroscience research and make a significant impact on the future. Here we present a mini-review on recent advances in foundation models and generative AI models as well as their applications in neuroscience, including natural language and speech, semantic memory, brain-machine interfaces (BMIs), and data augmentation. We argue that this paradigm-shift framework will open new avenues for many neuroscience research directions and discuss the accompanying challenges and opportunities.

CharacterChat: Learning towards Conversational AI with Personalized Social Support

In our modern, fast-paced, and interconnected world, the importance of mental well-being has grown into a matter of great urgency. However, traditional methods such as Emotional Support Conversations (ESC) face challenges in effectively addressing a diverse range of individual personalities. In response, we introduce the Social Support Conversation (S2Conv) framework. It comprises a series of support agents and the interpersonal matching mechanism, linking individuals with persona-compatible virtual supporters. Utilizing persona decomposition based on the MBTI (Myers-Briggs Type Indicator), we have created the MBTI-1024 Bank, a group that of virtual characters with distinct profiles. Through improved role-playing prompts with behavior preset and dynamic memory, we facilitate the development of the MBTI-S2Conv dataset, which contains conversations between the characters in the MBTI-1024 Bank. Building upon these foundations, we present CharacterChat, a comprehensive S2Conv system, which includes a conversational model driven by personas and memories, along with an interpersonal matching plugin model that dispatches the optimal supporters from the MBTI-1024 Bank for individuals with specific personas. Empirical results indicate the remarkable efficacy of CharacterChat in providing personalized social support and highlight the substantial advantages derived from interpersonal matching. The source code is available in \url{https://github.com/morecry/CharacterChat}.

Multiobjective Hydropower Reservoir Operation Optimization with Transformer-Based Deep Reinforcement Learning

Due to shortage of water resources and increasing water demands, the joint operation of multireservoir systems for balancing power generation, ecological protection, and the residential water supply has become a critical issue in hydropower management. However, the numerous constraints and nonlinearity of multiple reservoirs make solving this problem time-consuming. To address this challenge, a deep reinforcement learning approach that incorporates a transformer framework is proposed. The multihead attention mechanism of the encoder effectively extracts information from reservoirs and residential areas, and the multireservoir attention network of the decoder generates suitable operational decisions. The proposed method is applied to Lake Mead and Lake Powell in the Colorado River Basin. The experimental results demonstrate that the transformer-based deep reinforcement learning approach can produce appropriate operational outcomes. Compared to a state-of-the-art method, the operation strategies produced by the proposed approach generate 10.11% more electricity, reduce the amended annual proportional flow deviation by 39.69%, and increase water supply revenue by 4.10%. Consequently, the proposed approach offers an effective method for the multiobjective operation of multihydropower reservoir systems.

Learned Lossless Image Compression With Combined Autoregressive Models And Attention Modules

Lossless image compression is an essential research field in image compression. Recently, learning-based image compression methods achieved impressive performance compared with traditional lossless methods, such as WebP, JPEG2000, and FLIF. However, there are still many impressive lossy compression methods that can be applied to lossless compression. Therefore, in this paper, we explore the methods widely used in lossy compression and apply them to lossless compression. Inspired by the impressive performance of the Gaussian mixture model (GMM) shown in lossy compression, we generate a lossless network architecture with GMM. Besides noticing the successful achievements of attention modules and autoregressive models, we propose to utilize attention modules and add an extra autoregressive model for raw images in our network architecture to boost the performance. Experimental results show that our approach outperforms most classical lossless compression methods and existing learning-based methods.

Multi-label Classification with High-rank and High-order Label Correlations

Exploiting label correlations is important to multi-label classification. Previous methods capture the high-order label correlations mainly by transforming the label matrix to a latent label space with low-rank matrix factorization. However, the label matrix is generally a full-rank or approximate full-rank matrix, making the low-rank factorization inappropriate. Besides, in the latent space, the label correlations will become implicit. To this end, we propose a simple yet effective method to depict the high-order label correlations explicitly, and at the same time maintain the high-rank of the label matrix. Moreover, we estimate the label correlations and infer model parameters simultaneously via the local geometric structure of the input to achieve mutual enhancement. Comparative studies over ten benchmark data sets validate the effectiveness of the proposed algorithm in multi-label classification. The exploited high-order label correlations are consistent with common sense empirically. Our code is publicly available at https://github.com/601175936/HOMI.

Ensemble Clustering via Co-association Matrix Self-enhancement

Ensemble clustering integrates a set of base clustering results to generate a stronger one. Existing methods usually rely on a co-association (CA) matrix that measures how many times two samples are grouped into the same cluster according to the base clusterings to achieve ensemble clustering. However, when the constructed CA matrix is of low quality, the performance will degrade. In this paper, we propose a simple yet effective CA matrix self-enhancement framework that can improve the CA matrix to achieve better clustering performance. Specifically, we first extract the high-confidence (HC) information from the base clusterings to form a sparse HC matrix. By propagating the highly-reliable information of the HC matrix to the CA matrix and complementing the HC matrix according to the CA matrix simultaneously, the proposed method generates an enhanced CA matrix for better clustering. Technically, the proposed model is formulated as a symmetric constrained convex optimization problem, which is efficiently solved by an alternating iterative algorithm with convergence and global optimum theoretically guaranteed. Extensive experimental comparisons with twelve state-of-the-art methods on eight benchmark datasets substantiate the effectiveness, flexibility and efficiency of the proposed model in ensemble clustering. The codes and datasets can be downloaded at https://github.com/Siritao/EC-CMS.

ViT-P: Rethinking Data-efficient Vision Transformers from Locality

Recent advances of Transformers have brought new trust to computer vision tasks. However, on small dataset, Transformers is hard to train and has lower performance than convolutional neural networks. We make vision transformers as data-efficient as convolutional neural networks by introducing multi-focal attention bias. Inspired by the attention distance in a well-trained ViT, we constrain the self-attention of ViT to have multi-scale localized receptive field. The size of receptive field is adaptable during training so that optimal configuration can be learned. We provide empirical evidence that proper constrain of receptive field can reduce the amount of training data for vision transformers. On Cifar100, our ViT-P Base model achieves the state-of-the-art accuracy (83.16%) trained from scratch. We also perform analysis on ImageNet to show our method does not lose accuracy on large data sets.

Partially-Observed Decoupled Data-based Control (POD2C) for Complex Robotic Systems

This paper develops a systematic data-based approach to the closed-loop feedback control of high-dimensional robotic systems using only partial state observation. We first develop a model-free generalization of the iterative Linear Quadratic Regulator (iLQR) to partially-observed systems using an Autoregressive Moving Average (ARMA) model, that is generated using only the input-output data. The ARMA model results in an information state, which has dimension less than or equal to the underlying actual state dimension. This open-loop trajectory optimization solution is then used to design a local feedback control law, and the composite law then provides a solution to the partially observed feedback design problem. The efficacy of the developed method is shown by controlling complex high dimensional nonlinear robotic systems in the presence of model and sensing uncertainty and for which analytical models are either unavailable or inaccurate.

PDWN: Pyramid Deformable Warping Network for Video Interpolation

Video interpolation aims to generate a non-existent intermediate frame given the past and future frames. Many state-of-the-art methods achieve promising results by estimating the optical flow between the known frames and then generating the backward flows between the middle frame and the known frames. However, these methods usually suffer from the inaccuracy of estimated optical flows and require additional models or information to compensate for flow estimation errors. Following the recent development in using deformable convolution (DConv) for video interpolation, we propose a light but effective model, called Pyramid Deformable Warping Network (PDWN). PDWN uses a pyramid structure to generate DConv offsets of the unknown middle frame with respect to the known frames through coarse-to-fine successive refinements. Cost volumes between warped features are calculated at every pyramid level to help the offset inference. At the finest scale, the two warped frames are adaptively blended to generate the middle frame. Lastly, a context enhancement network further enhances the contextual detail of the final output. Ablation studies demonstrate the effectiveness of the coarse-to-fine offset refinement, cost volumes, and DConv. Our method achieves better or on-par accuracy compared to state-of-the-art models on multiple datasets while the number of model parameters and the inference time are substantially less than previous models. Moreover, we present an extension of the proposed framework to use four input frames, which can achieve significant improvement over using only two input frames, with only a slight increase in the model size and inference time.