10,973 research outputs found
Improved information criteria for Bayesian model averaging in lattice field theory
Bayesian model averaging is a practical method for dealing with uncertainty
due to model specification. Use of this technique requires the estimation of
model probability weights. In this work, we revisit the derivation of
estimators for these model weights. Use of the Kullback-Leibler divergence as a
starting point leads naturally to a number of alternative information criteria
suitable for Bayesian model weight estimation. We explore three such criteria,
known to the statistics literature before, in detail: a Bayesian analogue of
the Akaike information criterion which we call the BAIC, the Bayesian
predictive information criterion (BPIC), and the posterior predictive
information criterion (PPIC). We compare the use of these information criteria
in numerical analysis problems common in lattice field theory calculations. We
find that the PPIC has the most appealing theoretical properties and can give
the best performance in terms of model-averaging uncertainty, particularly in
the presence of noisy data.Comment: 69 pages, 13 figures. v2: corrections to data subset formulas for
BPIC and PPIC; edits for clarity. Submitted to PR
Beam scanning by liquid-crystal biasing in a modified SIW structure
A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium
Reinforcement learning in large state action spaces
Reinforcement learning (RL) is a promising framework for training intelligent agents which learn to optimize long term utility by directly interacting with the environment. Creating RL methods which scale to large state-action spaces is a critical problem towards ensuring real world deployment of RL systems. However, several challenges limit the applicability of RL to large scale settings. These include difficulties with exploration, low sample efficiency, computational intractability, task constraints like decentralization and lack of guarantees about important properties like performance, generalization and robustness in potentially unseen scenarios.
This thesis is motivated towards bridging the aforementioned gap. We propose several principled algorithms and frameworks for studying and addressing the above challenges RL. The proposed methods cover a wide range of RL settings (single and multi-agent systems (MAS) with all the variations in the latter, prediction and control, model-based and model-free methods, value-based and policy-based methods). In this work we propose the first results on several different problems: e.g. tensorization of the Bellman equation which allows exponential sample efficiency gains (Chapter 4), provable suboptimality arising from structural constraints in MAS(Chapter 3), combinatorial generalization results in cooperative MAS(Chapter 5), generalization results on observation shifts(Chapter 7), learning deterministic policies in a probabilistic RL framework(Chapter 6). Our algorithms exhibit provably enhanced performance and sample efficiency along with better scalability. Additionally, we also shed light on generalization aspects of the agents under different frameworks. These properties have been been driven by the use of several advanced tools (e.g. statistical machine learning, state abstraction, variational inference, tensor theory).
In summary, the contributions in this thesis significantly advance progress towards making RL agents ready for large scale, real world applications
Safe Reinforcement Learning as Wasserstein Variational Inference: Formal Methods for Interpretability
Reinforcement Learning or optimal control can provide effective reasoning for
sequential decision-making problems with variable dynamics. Such reasoning in
practical implementation, however, poses a persistent challenge in interpreting
the reward function and corresponding optimal policy. Consequently, formalizing
the sequential decision-making problems as inference has a considerable value,
as probabilistic inference in principle offers diverse and powerful
mathematical tools to infer the stochastic dynamics whilst suggesting a
probabilistic interpretation of the reward design and policy convergence. In
this study, we propose a novel Adaptive Wasserstein Variational Optimization
(AWaVO) to tackle these challenges in sequential decision-making. Our approach
utilizes formal methods to provide interpretations of reward design,
transparency of training convergence, and probabilistic interpretation of
sequential decisions. To demonstrate practicality, we show convergent training
with guaranteed global convergence rates not only in simulation but also in
real robot tasks, and empirically verify a reasonable tradeoff between high
performance and conservative interpretability.Comment: 24 pages, 8 figures, containing Appendi
Introduction to Facial Micro Expressions Analysis Using Color and Depth Images: A Matlab Coding Approach (Second Edition, 2023)
The book attempts to introduce a gentle introduction to the field of Facial
Micro Expressions Recognition (FMER) using Color and Depth images, with the aid
of MATLAB programming environment. FMER is a subset of image processing and it
is a multidisciplinary topic to analysis. So, it requires familiarity with
other topics of Artifactual Intelligence (AI) such as machine learning, digital
image processing, psychology and more. So, it is a great opportunity to write a
book which covers all of these topics for beginner to professional readers in
the field of AI and even without having background of AI. Our goal is to
provide a standalone introduction in the field of MFER analysis in the form of
theorical descriptions for readers with no background in image processing with
reproducible Matlab practical examples. Also, we describe any basic definitions
for FMER analysis and MATLAB library which is used in the text, that helps
final reader to apply the experiments in the real-world applications. We
believe that this book is suitable for students, researchers, and professionals
alike, who need to develop practical skills, along with a basic understanding
of the field. We expect that, after reading this book, the reader feels
comfortable with different key stages such as color and depth image processing,
color and depth image representation, classification, machine learning, facial
micro-expressions recognition, feature extraction and dimensionality reduction.
The book attempts to introduce a gentle introduction to the field of Facial
Micro Expressions Recognition (FMER) using Color and Depth images, with the aid
of MATLAB programming environment.Comment: This is the second edition of the boo
Gaussian Control Barrier Functions : A Gaussian Process based Approach to Safety for Robots
In recent years, the need for safety of autonomous and intelligent robots has increased. Today, as robots are being increasingly deployed in closer proximity to humans, there is an exigency for safety since human lives may be at risk, e.g., self-driving vehicles or surgical robots. The objective of this thesis is to present a safety framework for dynamical systems that leverages tools from control theory and machine learning. More formally, the thesis presents a data-driven framework for designing safety function candidates which ensure properties of forward invariance. The potential benefits of the results presented in this thesis are expected to help applications such as safe exploration, collision avoidance problems, manipulation tasks, and planning, to name some.
We utilize Gaussian processes (GP) to place a prior on the desired safety function candidate, which is to be utilized as a control barrier function (CBF). The resultant formulation is called Gaussian CBFs and they reside in a reproducing kernel Hilbert space. A key concept behind Gaussian CBFs is the incorporation of both safety belief as well as safety uncertainty, which former barrier function formulations did not consider. This is achieved by using robust posterior estimates from a GP where the posterior mean and variance serve as surrogates for the safety belief and uncertainty respectively. We synthesize safe controllers by framing a convex optimization problem where the kernel-based representation of GPs allows computing the derivatives in closed-form analytically.
Finally, in addition to the theoretical and algorithmic frameworks in this thesis, we rigorously test our methods in hardware on a quadrotor platform. The platform used is a Crazyflie 2.1 which is a versatile palm-sized quadrotor. We provide our insights and detailed discussions on the hardware implementations which will be useful for large-scale deployment of the techniques presented in this dissertation.Ph.D
Runway Safety Improvements Through a Data Driven Approach for Risk Flight Prediction and Simulation
Runway overrun is one of the most frequently occurring flight accident types threatening the safety of aviation. Sensors have been improved with recent technological advancements and allow data collection during flights. The recorded data helps to better identify the characteristics of runway overruns. The improved technological capabilities and the growing air traffic led to increased momentum for reducing flight risk using artificial intelligence. Discussions on incorporating artificial intelligence to enhance flight safety are timely and critical. Using artificial intelligence, we may be able to develop the tools we need to better identify runway overrun risk and increase awareness of runway overruns. This work seeks to increase attitude, skill, and knowledge (ASK) of runway overrun risks by predicting the flight states near touchdown and simulating the flight exposed to runway overrun precursors.
To achieve this, the methodology develops a prediction model and a simulation model. During the flight training process, the prediction model is used in flight to identify potential risks and the simulation model is used post-flight to review the flight behavior. The prediction model identifies potential risks by predicting flight parameters that best characterize the landing performance during the final approach phase. The predicted flight parameters are used to alert the pilots for any runway overrun precursors that may pose a threat. The predictions and alerts are made when thresholds of various flight parameters are exceeded. The flight simulation model simulates the final approach trajectory with an emphasis on capturing the effect wind has on the aircraft. The focus is on the wind since the wind is a relatively significant factor during the final approach; typically, the aircraft is stabilized during the final approach. The flight simulation is used to quickly assess the differences between fight patterns that have triggered overrun precursors and normal flights with no abnormalities. The differences are crucial in learning how to mitigate adverse flight conditions. Both of the models are created with neural network models. The main challenges of developing a neural network model are the unique assignment of each model design space and the size of a model design space. A model design space is unique to each problem and cannot accommodate multiple problems. A model design space can also be significantly large depending on the depth of the model. Therefore, a hyperparameter optimization algorithm is investigated and used to design the data and model structures to best characterize the aircraft behavior during the final approach.
A series of experiments are performed to observe how the model accuracy change with different data pre-processing methods for the prediction model and different neural network models for the simulation model. The data pre-processing methods include indexing the data by different frequencies, by different window sizes, and data clustering. The neural network models include simple Recurrent Neural Networks, Gated Recurrent Units, Long Short Term Memory, and Neural Network Autoregressive with Exogenous Input. Another series of experiments are performed to evaluate the robustness of these models to adverse wind and flare. This is because different wind conditions and flares represent controls that the models need to map to the predicted flight states. The most robust models are then used to identify significant features for the prediction model and the feasible control space for the simulation model. The outcomes of the most robust models are also mapped to the required landing distance metric so that the results of the prediction and simulation are easily read. Then, the methodology is demonstrated with a sample flight exposed to an overrun precursor, and high approach speed, to show how the models can potentially increase attitude, skill, and knowledge of runway overrun risk.
The main contribution of this work is on evaluating the accuracy and robustness of prediction and simulation models trained using Flight Operational Quality Assurance (FOQA) data. Unlike many studies that focused on optimizing the model structures to create the two models, this work optimized both data and model structures to ensure that the data well capture the dynamics of the aircraft it represents. To achieve this, this work introduced a hybrid genetic algorithm that combines the benefits of conventional and quantum-inspired genetic algorithms to quickly converge to an optimal configuration while exploring the design space. With the optimized model, this work identified the data features, from the final approach, with a higher contribution to predicting airspeed, vertical speed, and pitch angle near touchdown. The top contributing features are altitude, angle of attack, core rpm, and air speeds. For both the prediction and the simulation models, this study goes through the impact of various data preprocessing methods on the accuracy of the two models. The results may help future studies identify the right data preprocessing methods for their work. Another contribution from this work is on evaluating how flight control and wind affect both the prediction and the simulation models. This is achieved by mapping the model accuracy at various levels of control surface deflection, wind speeds, and wind direction change. The results saw fairly consistent prediction and simulation accuracy at different levels of control surface deflection and wind conditions. This showed that the neural network-based models are effective in creating robust prediction and simulation models of aircraft during the final approach. The results also showed that data frequency has a significant impact on the prediction and simulation accuracy so it is important to have sufficient data to train the models in the condition that the models will be used. The final contribution of this work is on demonstrating how the prediction and the simulation models can be used to increase awareness of runway overrun.Ph.D
Singularity Formation in the High-Dimensional Euler Equations and Sampling of High-Dimensional Distributions by Deep Generative Networks
High dimensionality brings both opportunities and challenges to the study of applied mathematics. This thesis consists of two parts. The first part explores the singularity formation of the axisymmetric incompressible Euler equations with no swirl in ℝⁿ, which is closely related to the Millennium Prize Problem on the global singularity of the Navier-Stokes equations. In this part, the high dimensionality contributes to the singularity formation in finite time by enhancing the strength of the vortex stretching term. The second part focuses on sampling from a high-dimensional distribution using deep generative networks, which has wide applications in the Bayesian inverse problem and the image synthesis task. The high dimensionality in this part becomes a significant challenge to the numerical algorithms, known as the curse of dimensionality.
In the first part of this thesis, we consider the singularity formation in two scenarios. In the first scenario, for the axisymmetric Euler equations with no swirl, we consider the case when the initial condition for the angular vorticity is Cα Hölder continuous. We provide convincing numerical examples where the solutions develop potential self-similar blow-up in finite time when the Hölder exponent α < α*, and this upper bound α* can asymptotically approach 1 - 2/n. This result supports a conjecture from Drivas and Elgindi [37], and generalizes it to the high-dimensional case. This potential blow-up is insensitive to the perturbation of initial data. Based on assumptions summarized from numerical experiments, we study a limiting case of the Euler equations, and obtain α* = 1 - 2/n which agrees with the numerical result. For the general case, we propose a relatively simple one-dimensional model and numerically verify its approximation to the Euler equations. This one-dimensional model might suggest a possible way to show this finite-time blow-up scenario analytically. Compared to the first proved blow-up result of the 3D axisymmetric Euler equations with no swirl and Hölder continuous initial data by Elgindi in [40], our potential blow-up scenario has completely different scaling behavior and regularity of the initial condition. In the second scenario, we consider using smooth initial data, but modify the Euler equations by adding a factor ε as the coefficient of the convection terms to weaken the convection effect. The new model is called the weak convection model. We provide convincing numerical examples of the weak convection model where the solutions develop potential self-similar blow-up in finite time when the convection strength ε < ε*, and this upper bound ε* should be close to 1 - 2/n. This result is closely related to the infinite-dimensional case of an open question [37] stated by Drivas and Elgindi. Our numerical observations also inspire us to approximate the weak convection model with a one-dimensional model. We give a rigorous proof that the one-dimensional model will develop finite-time blow-up if ε < 1 - 2/n, and study the approximation quality of the one-dimensional model to the weak convection model numerically, which could be beneficial to a rigorous proof of the potential finite-time blow-up.
In the second part of the thesis, we propose the Multiscale Invertible Generative Network (MsIGN) to sample from high-dimensional distributions by exploring the low-dimensional structure in the target distribution. The MsIGN models a transport map from a known reference distribution to the target distribution, and thus is very efficient in generating uncorrelated samples compared to MCMC-type methods. The MsIGN captures multiple modes in the target distribution by generating new samples hierarchically from a coarse scale to a fine scale with the help of a novel prior conditioning layer. The hierarchical structure of the MsIGN also allows training in a coarse-to-fine scale manner. The Jeffreys divergence is used as the objective function in training to avoid mode collapse. Importance sampling based on the prior conditioning layer is leveraged to estimate the Jeffreys divergence, which is intractable in previous deep generative networks. Numerically, when applied to two Bayesian inverse problems, the MsIGN clearly captures multiple modes in the high-dimensional posterior and approximates the posterior accurately, demonstrating its superior performance compared with previous methods. We also provide an ablation study to show the necessity of our proposed network architecture and training algorithm for the good numerical performance. Moreover, we also apply the MsIGN to the image synthesis task, where it achieves superior performance in terms of bits-per-dimension value over other flow-based generative models and yields very good interpretability of its neurons in intermediate layers.</p
Complexity Science in Human Change
This reprint encompasses fourteen contributions that offer avenues towards a better understanding of complex systems in human behavior. The phenomena studied here are generally pattern formation processes that originate in social interaction and psychotherapy. Several accounts are also given of the coordination in body movements and in physiological, neuronal and linguistic processes. A common denominator of such pattern formation is that complexity and entropy of the respective systems become reduced spontaneously, which is the hallmark of self-organization. The various methodological approaches of how to model such processes are presented in some detail. Results from the various methods are systematically compared and discussed. Among these approaches are algorithms for the quantification of synchrony by cross-correlational statistics, surrogate control procedures, recurrence mapping and network models.This volume offers an informative and sophisticated resource for scholars of human change, and as well for students at advanced levels, from graduate to post-doctoral. The reprint is multidisciplinary in nature, binding together the fields of medicine, psychology, physics, and neuroscience
FlaKat: A Machine Learning-Based Categorization Framework for Flaky Tests
Flaky tests can pass or fail non-deterministically, without alterations to a software system. Such tests are frequently encountered by developers and hinder the credibility of test suites. Thus, flaky tests have caught the attention of researchers in recent years. Numerous approaches have been published on defining, locating, and categorizing flaky tests, along with auto-repairing strategies for specific types of flakiness. Practitioners have developed several techniques to detect flaky tests automatically. The most traditional approaches adopt repeated execution of test suites accompanied by techniques such as shuffled execution order, and random distortion of environment. State-of-the-art research also incorporates machine learning solutions into flaky test detection and achieves reasonably good accuracy. Moreover, strategies for repairing flaky tests have also been published for specific flaky test categories and the process has been automated as well. However, there is a research gap between flaky test detection and category-specific flakiness repair.
To address the aforementioned gap, this thesis proposes a novel categorization framework, called FlaKat, which uses machine-learning classifiers for fast and accurate categorization of a given flaky test case. FlaKat first parses and converts raw flaky tests into vector embeddings. The dimensionality of embeddings is reduced and then used for training machine learning classifiers. Sampling techniques are applied to address the imbalance between flaky test categories in the dataset.
The evaluation of FlaKat was conducted to determine its performance with different combinations of configurations using known flaky tests from 108 open-source Java projects. Notably, Implementation-Dependent and Order-Dependent flaky tests, which represent almost 75% of the total dataset, achieved F1 scores (harmonic mean of precision and recall) of 0.94 and 0.90 respectively while the overall macro average (no weight difference between categories) is at 0.67.
This research work also proposes a new evaluation metric, called Flakiness Detection Capacity (FDC), for measuring the accuracy of classifiers from the perspective of information theory and provides proof for its effectiveness. The final obtained results for FDC also aligns with F1 score regarding which classifier yields the best flakiness classification
- …