A fundamental challenge in imperfect-information games is that states do not have well-defined values. As a result, depth-limited search algorithms used in single-agent settings and perfect-information games do not apply. This paper introduces a principled way to conduct depth-limited solving in imperfect-information games by allowing the opponent to choose among a number of strategies for the remainder of the game at the depth limit. Each one of these strategies results in a different set of values for leaf nodes. This forces an agent to be robust to the different strategies an opponent may employ. We demonstrate the effectiveness of this approach by building a master-level heads-up no-limit Texas hold'em poker AI that defeats two prior top agents using only a 4-core CPU and 16 GB of memory. Developing such a powerful agent would have previously required a supercomputer.
This paper studies an unmanned aerial vehicle (UAV)-assisted wireless network, where a UAV is dispatched to gather information from ground sensor nodes (SN) and transfer the collected data to the depot. The information freshness is captured by the age of information (AoI) metric, whilst the energy consumption of the UAV is seen as another performance criterion. Most importantly, the AoI and energy efficiency are inherently competing metrics, since decreasing the AoI requires the UAV returning to the depot more frequently, leading to a higher energy consumption. To this end, we design UAV paths that optimize these two competing metrics and reveal the Pareto frontier. To formulate this problem, a multi-objective mixed integer linear programming (MILP) is proposed with a flow-based constraint set and we apply Bender's decomposition on the proposed formulation. The overall outcome shows that the proposed method allows deriving non-dominated solutions for decision making for UAV based wireless data collection. Numerical results are provided to corroborate our study by presenting the Pareto front of the two objectives and the effect on the UAV trajectory.
Recently, ergodic control has been suggested as a means to guide mobile sensors for information gathering tasks. In ergodic control, a mobile sensor follows a trajectory that is ergodic with respect to some information density distribution. A trajectory is ergodic if time spent in a state space region is proportional to the information density of the region. Although ergodic control has shown promising experimental results, there is little understanding of why it works or when it is optimal. In this paper, we study a problem class under which optimal information gathering trajectories are ergodic. This class relies on a submodularity assumption for repeated measurements from the same state. It is assumed that information available in a region decays linearly with time spent there. This assumption informs selection of the horizon used in ergodic trajectory generation. We support our claims with a set of experiments that demonstrate the link between ergodicity, optimal information gathering, and submodularity.
Inverse problems are notoriously difficult to solve because they can have no solutions, multiple solutions, or have solutions that vary significantly in response to small perturbations in measurements. Bayesian inference, which poses an inverse problem as a stochastic inference problem, addresses these difficulties and provides quantitative estimates of the inferred field and the associated uncertainty. However, it is difficult to employ when inferring vectors of large dimensions, and/or when prior information is available through previously acquired samples. In this paper, we describe how deep generative adversarial networks can be used to represent the prior distribution in Bayesian inference and overcome these challenges. We apply these ideas to inverse problems that are diverse in terms of the governing physical principles, sources of prior knowledge, type of measurement, and the extent of available information about measurement noise. In each case we apply the proposed approach to infer the most likely solution and quantitative estimates of uncertainty.
To understand and explain process behaviour we need to be able to see it, and decide its significance, i.e. be able to tell a story about its behaviours. This paper describes a few of the modelling challenges that underlie monitoring and observation of processes in IT, by human or by software. The topic of the observability of systems has been elevated recently in connection with computer monitoring and tracing of processes for debugging and forensics. It raises the issue of well-known principles of measurement, in bounded contexts, but these issues have been left implicit in the Computer Science literature. This paper aims to remedy this omission, by laying out a simple promise theoretic model, summarizing a long standing trail of work on the observation of distributed systems, based on elementary distinguishability of observations, and classical causality, with history. Three distinct views of a system are sought, across a number of scales, that described how information is transmitted (and lost) as it moves around the system, aggregated into journals and logs.
While enormous progress has been made to Variational Autoencoder (VAE) in recent years, similar to other deep networks, VAE with deep networks suffers from the problem of degeneration, which seriously weakens the correlation between the input and the corresponding latent codes, deviating from the goal of the representation learning. To investigate how degeneration affects VAE from a theoretical perspective, we illustrate the information transmission in VAE and analyze the intermediate layers of the encoders/decoders. Specifically, we propose a Fisher Information measure for the layer-wise analysis. With such measure, we demonstrate that information loss is ineluctable in feed-forward networks and causes the degeneration in VAE. We show that skip connections in VAE enable the preservation of information without changing the model architecture. We call this class of VAE equipped with skip connections as SCVAE and perform a range of experiments to show its advantages in information preservation and degeneration mitigation.
Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. It has attracted increasing attention with the recent success of learning-based models. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper, we show that feature-based visual SLAM systems can also benefit from the presence of dynamic articulated objects by taking advantage of two observations: (1) The 3D structure of an articulated object remains consistent over time; (2) The points on the same object follow the same motion. In particular, we present AirDOS, a dynamic object-aware system that introduces rigidity and motion constraints to model articulated objects. By jointly optimizing the camera pose, object motion, and the object 3D structure, we can rectify the camera pose estimation, preventing tracking loss, and generate 4D spatio-temporal maps for both dynamic objects and static scenes. Experiments show that our algorithm improves the robustness of visual SLAM algorithms in challenging crowded urban environments. To the best of our knowledge, AirDOS is the first dynamic object-aware SLAM system demonstrating that camera pose estimation can be improved by incorporating dynamic articulated objects.
A recent variation of Transformer, Performer, scales Transformer to longer sequences with a linear attention mechanism. However, it is not compatible with relative position encoding, which has advantages over absolute position encoding. In this paper, we discuss possible ways to add relative position encoding to Performer. Based on the analysis, we propose PermuteFormer, a Performer-based model with relative position encoding that scales linearly on long sequences. PermuteFormer applies position-dependent transformation on queries and keys to encode positional information into the attention module. This transformation is carefully crafted so that the final output of self-attention is not affected by absolute positions of tokens. PermuteFormer introduces negligible computational overhead by design that it runs as fast as Performer. We evaluate PermuteFormer on Long-Range Arena, a dataset for long sequences, as well as WikiText-103, a language modeling dataset. The experiments show that PermuteFormer uniformly improves the performance of Performer with almost no computational overhead and outperforms vanilla Transformer on most of the tasks.
We study a novel multi-terminal source coding setup motivated by the biclustering problem. Two separate encoders observe two i.i.d. sources $X^n$ and $Z^n$, respectively. The goal is to find rate-limited encodings $f(x^n)$ and $g(z^n)$ that maximize the mutual information $I(f(X^n); g(Z^n))/n$. We provide inner and outer bounds on the achievable region and discuss connections of this problem with hypothesis testing against independence, pattern recognition, the information bottleneck method, and lossy source coding with logarithmic-loss distortion. Improving previous cardinality bounds allows us to thoroughly study the special case of a binary symmetric source and to quantify the gap between the inner and the outer bound in this special case. Furthermore, we generalize our results to the case of more than two i.i.d. sources. As a special case of this generalization we investigate a multiple description (MD) extension of the CEO problem with log-loss distortion. Surprisingly, this MD-CEO problem permits a tight single-letter characterization of the achievable region.
With the increasing demands of personalized learning, knowledge tracing has become important which traces students' knowledge states based on their historical practices. Factor analysis methods mainly use two kinds of factors which are separately related to students and questions to model students' knowledge states. These methods use the total number of attempts of students to model students' learning progress and hardly highlight the impact of the most recent relevant practices. Besides, current factor analysis methods ignore rich information contained in questions. In this paper, we propose Multi-Factors Aware Dual-Attentional model (MF-DAKT) which enriches question representations and utilizes multiple factors to model students' learning progress based on a dual-attentional mechanism. More specifically, we propose a novel student-related factor which records the most recent attempts on relevant concepts of students to highlight the impact of recent exercises. To enrich questions representations, we use a pre-training method to incorporate two kinds of question information including questions' relation and difficulty level. We also add a regularization term about questions' difficulty level to restrict pre-trained question representations to fine-tuning during the process of predicting students' performance. Moreover, we apply a dual-attentional mechanism to differentiate contributions of factors and factor interactions to final prediction in different practice records. At last, we conduct experiments on several real-world datasets and results show that MF-DAKT can outperform existing knowledge tracing methods. We also conduct several studies to validate the effects of each component of MF-DAKT.