$\mathcal{B}$-Coder: Value-Based Deep Reinforcement Learning for Program Synthesis

Program synthesis aims to create accurate, executable code from natural language descriptions. This field has leveraged the power of reinforcement learning (RL) in conjunction with large language models (LLMs), significantly enhancing code generation capabilities. This integration focuses on directly optimizing functional correctness, transcending conventional supervised losses. While current literature predominantly favors policy-based algorithms, attributes of program synthesis suggest a natural compatibility with value-based methods. This stems from rich collection of off-policy programs developed by human programmers, and the straightforward verification of generated programs through automated unit testing (i.e. easily obtainable rewards in RL language). Diverging from the predominant use of policy-based algorithms, our work explores the applicability of value-based approaches, leading to the development of our $\mathcal{B}$-Coder (pronounced Bellman coder). Yet, training value-based methods presents challenges due to the enormous search space inherent to program synthesis. To this end, we propose an initialization protocol for RL agents utilizing pre-trained LMs and a conservative Bellman operator to reduce training complexities. Moreover, we demonstrate how to leverage the learned value functions as a dual strategy to post-process generated programs. Our empirical evaluations demonstrated $\mathcal{B}$-Coder's capability in achieving state-of-the-art performance compared with policy-based methods. Remarkably, this achievement is reached with minimal reward engineering effort, highlighting the effectiveness of value-based RL, independent of reward designs.

Stability and Generalization for Minibatch SGD and Local SGD

The increasing scale of data propels the popularity of leveraging parallelism to speed up the optimization. Minibatch stochastic gradient descent (minibatch SGD) and local SGD are two popular methods for parallel optimization. The existing theoretical studies show a linear speedup of these methods with respect to the number of machines, which, however, is measured by optimization errors. As a comparison, the stability and generalization of these methods are much less studied. In this paper, we pioneer the stability and generalization analysis of minibatch and local SGD to understand their learnability. We incorporate training errors into the stability analysis, which shows how small training errors help generalization for overparameterized models. Our stability bounds imply optimistic risk bounds which decay fast under a low noise condition. We show both minibatch and local SGD achieve a linear speedup to attain the optimal risk bounds.

Towards Understanding the Generalizability of Delayed Stochastic Gradient Descent

Stochastic gradient descent (SGD) performed in an asynchronous manner plays a crucial role in training large-scale machine learning models. However, the generalization performance of asynchronous delayed SGD, which is an essential metric for assessing machine learning algorithms, has rarely been explored. Existing generalization error bounds are rather pessimistic and cannot reveal the correlation between asynchronous delays and generalization. In this paper, we investigate sharper generalization error bound for SGD with asynchronous delay $\tau$. Leveraging the generating function analysis tool, we first establish the average stability of the delayed gradient algorithm. Based on this algorithmic stability, we provide upper bounds on the generalization error of $\tilde{\mathcal{O}}(\frac{T-\tau}{n\tau})$ and $\tilde{\mathcal{O}}(\frac{1}{n})$ for quadratic convex and strongly convex problems, respectively, where $T$ refers to the iteration number and $n$ is the amount of training data. Our theoretical results indicate that asynchronous delays reduce the generalization error of the delayed SGD algorithm. Analogous analysis can be generalized to the random delay setting, and the experimental results validate our theoretical findings.

MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimation

We propose a novel framework for RGB-based category-level 6D object pose and size estimation. Our approach relies on the prediction of normalized object coordinate space (NOCS), which serves as an efficient and effective object canonical representation that can be extracted from RGB images. Unlike previous approaches that heavily relied on additional depth readings as input, our novelty lies in leveraging multi-view information, which is commonly available in practical scenarios where a moving camera continuously observes the environment. By introducing multi-view constraints, we can obtain accurate camera pose and depth estimation from a monocular dense SLAM framework. Additionally, by incorporating constraints on the camera relative pose, we can apply trimming strategies and robust pose averaging on the multi-view object poses, resulting in more accurate and robust estimations of category-level object poses even in the absence of direct depth readings. Furthermore, we introduce a novel NOCS prediction network that significantly improves performance. Our experimental results demonstrate the strong performance of our proposed method, even comparable to state-of-the-art RGB-D methods across public dataset sequences. Additionally, we showcase the generalization ability of our method by evaluating it on self-collected datasets.

DSformer: A Double Sampling Transformer for Multivariate Time Series Long-term Prediction

Multivariate time series long-term prediction, which aims to predict the change of data in a long time, can provide references for decision-making. Although transformer-based models have made progress in this field, they usually do not make full use of three features of multivariate time series: global information, local information, and variables correlation. To effectively mine the above three features and establish a high-precision prediction model, we propose a double sampling transformer (DSformer), which consists of the double sampling (DS) block and the temporal variable attention (TVA) block. Firstly, the DS block employs down sampling and piecewise sampling to transform the original series into feature vectors that focus on global information and local information respectively. Then, TVA block uses temporal attention and variable attention to mine these feature vectors from different dimensions and extract key information. Finally, based on a parallel structure, DSformer uses multiple TVA blocks to mine and integrate different features obtained from DS blocks respectively. The integrated feature information is passed to the generative decoder based on a multi-layer perceptron to realize multivariate time series long-term prediction. Experimental results on nine real-world datasets show that DSformer can outperform eight existing baselines.

Scale jump-aware pose graph relaxation for monocular SLAM with re-initializations

Pose graph relaxation has become an indispensable addition to SLAM enabling efficient global registration of sensor reference frames under the objective of satisfying pair-wise relative transformation constraints. The latter may be given by incremental motion estimation or global place recognition. While the latter case enables loop closures and drift compensation, care has to be taken in the monocular case in which local estimates of structure and displacements can differ from reality not just in terms of noise, but also in terms of a scale factor. Owing to the accumulation of scale propagation errors, this scale factor is drifting over time, hence scale-drift aware pose graph relaxation has been introduced. We extend this idea to cases in which the relative scale between subsequent sensor frames is unknown, a situation that can easily occur if monocular SLAM enters re-initialization and no reliable overlap between successive local maps can be identified. The approach is realized by a hybrid pose graph formulation that combines the regular similarity consistency terms with novel, scale-blind constraints. We apply the technique to the practically relevant case of small indoor service robots capable of effectuating purely rotational displacements, a condition that can easily cause tracking failures. We demonstrate that globally consistent trajectories can be recovered even if multiple re-initializations occur along the loop, and present an in-depth study of success and failure cases.

Network Architecture Design toward Convergence of Mobile Applications and Networks

With the quick proliferation of extended reality (XR) services, the mobile communications networks are faced with gigantic challenges to meet the diversified and challenging service requirements. A tight coordination or even convergence of applications and mobile networks is highly motivated. In this paper, a multi-domain (e.g. application layer, transport layer, the core network, radio access network, user equipment) coordination scheme is first proposed, which facilitates a tight coordination between applications and networks based on the current 5G networks. Toward the convergence of applications and networks, a network architectures with cross-domain joint processing capability is further proposed for 6G mobile communications and beyond. Both designs are able to provide more accurate information of the quality of experience (QoE) and quality of service (QoS), thus paving the path for the joint optimization of applications and networks. The benefits of the QoE assisted scheduling are further investigated via simulations. A new QoE-oriented fairness metric is further proposed, which is capable of ensuring better fairness when different services are scheduled. Future research directions and their standardization impacts are also identified. Toward optimized end-to-end service provision, the paradigm shift from loosely coupled to converged design of applications and wireless communication networks is indispensable.

Temporal Contrastive Learning for Spiking Neural Networks

Biologically inspired spiking neural networks (SNNs) have garnered considerable attention due to their low-energy consumption and spatio-temporal information processing capabilities. Most existing SNNs training methods first integrate output information across time steps, then adopt the cross-entropy (CE) loss to supervise the prediction of the average representations. However, in this work, we find the method above is not ideal for the SNNs training as it omits the temporal dynamics of SNNs and degrades the performance quickly with the decrease of inference time steps. One tempting method to model temporal correlations is to apply the same label supervision at each time step and treat them identically. Although it can acquire relatively consistent performance across various time steps, it still faces challenges in obtaining SNNs with high performance. Inspired by these observations, we propose Temporal-domain supervised Contrastive Learning (TCL) framework, a novel method to obtain SNNs with low latency and high performance by incorporating contrastive supervision with temporal domain information. Contrastive learning (CL) prompts the network to discern both consistency and variability in the representation space, enabling it to better learn discriminative and generalizable features. We extend this concept to the temporal domain of SNNs, allowing us to flexibly and fully leverage the correlation between representations at different time steps. Furthermore, we propose a Siamese Temporal-domain supervised Contrastive Learning (STCL) framework to enhance the SNNs via augmentation, temporal and class constraints simultaneously. Extensive experimental results demonstrate that SNNs trained by our TCL and STCL can achieve both high performance and low latency, achieving state-of-the-art performance on a variety of datasets (e.g., CIFAR-10, CIFAR-100, and DVS-CIFAR10).

Synthesizing PET images from High-field and Ultra-high-field MR images Using Joint Diffusion Attention Model

MRI and PET are crucial diagnostic tools for brain diseases, as they provide complementary information on brain structure and function. However, PET scanning is costly and involves radioactive exposure, resulting in a lack of PET. Moreover, simultaneous PET and MRI at ultra-high-field are currently hardly infeasible. Ultra-high-field imaging has unquestionably proven valuable in both clinical and academic settings, especially in the field of cognitive neuroimaging. These motivate us to propose a method for synthetic PET from high-filed MRI and ultra-high-field MRI. From a statistical perspective, the joint probability distribution (JPD) is the most direct and fundamental means of portraying the correlation between PET and MRI. This paper proposes a novel joint diffusion attention model which has the joint probability distribution and attention strategy, named JDAM. JDAM has a diffusion process and a sampling process. The diffusion process involves the gradual diffusion of PET to Gaussian noise by adding Gaussian noise, while MRI remains fixed. JPD of MRI and noise-added PET was learned in the diffusion process. The sampling process is a predictor-corrector. PET images were generated from MRI by JPD of MRI and noise-added PET. The predictor is a reverse diffusion process and the corrector is Langevin dynamics. Experimental results on the public Alzheimer's Disease Neuroimaging Initiative (ADNI) dataset demonstrate that the proposed method outperforms state-of-the-art CycleGAN for high-field MRI (3T MRI). Finally, synthetic PET images from the ultra-high-field (5T MRI and 7T MRI) be attempted, providing a possibility for ultra-high-field PET-MRI imaging.

Efficient Uncertainty Estimation in Spiking Neural Networks via MC-dropout

Spiking neural networks (SNNs) have gained attention as models of sparse and event-driven communication of biological neurons, and as such have shown increasing promise for energy-efficient applications in neuromorphic hardware. As with classical artificial neural networks (ANNs), predictive uncertainties are important for decision making in high-stakes applications, such as autonomous vehicles, medical diagnosis, and high frequency trading. Yet, discussion of uncertainty estimation in SNNs is limited, and approaches for uncertainty estimation in artificial neural networks (ANNs) are not directly applicable to SNNs. Here, we propose an efficient Monte Carlo(MC)-dropout based approach for uncertainty estimation in SNNs. Our approach exploits the time-step mechanism of SNNs to enable MC-dropout in a computationally efficient manner, without introducing significant overheads during training and inference while demonstrating high accuracy and uncertainty quality.