1,040 research outputs found
SDRL: Interpretable and Data-efficient Deep Reinforcement Learning Leveraging Symbolic Planning
Deep reinforcement learning (DRL) has gained great success by learning
directly from high-dimensional sensory inputs, yet is notorious for the lack of
interpretability. Interpretability of the subtasks is critical in hierarchical
decision-making as it increases the transparency of black-box-style DRL
approach and helps the RL practitioners to understand the high-level behavior
of the system better. In this paper, we introduce symbolic planning into DRL
and propose a framework of Symbolic Deep Reinforcement Learning (SDRL) that can
handle both high-dimensional sensory inputs and symbolic planning. The
task-level interpretability is enabled by relating symbolic actions to
options.This framework features a planner -- controller -- meta-controller
architecture, which takes charge of subtask scheduling, data-driven subtask
learning, and subtask evaluation, respectively. The three components
cross-fertilize each other and eventually converge to an optimal symbolic plan
along with the learned subtasks, bringing together the advantages of long-term
planning capability with symbolic knowledge and end-to-end reinforcement
learning directly from a high-dimensional sensory input. Experimental results
validate the interpretability of subtasks, along with improved data efficiency
compared with state-of-the-art approaches
Variance-Constrained finite-horizon filtering for multi-rate time-varying networked systems based on stochastic protocols
summary:In this paper, the variance-constrained finite-horizon filtering problem is investigated for a class of time-varying nonlinear system under muti-rate communication network and stochastic protocol (SP). The stochastic protocol is employed to determine which sensor obtains access to the muti-rate communication network in order to relieve communication burden. A novel mapping technology is applied to characterize the randomly switching behavior of the data transmission resulting from the utilization of the SP in muti-rate communication network. By using relaxation method, sufficient conditions are derived for the existence of the finite-horizon filter satisfying both the prescribed performance and the covariance requirement of filtering errors, and the solutions of filters satisfying the above indexes are obtained by using linear matrix inequalities. Finally, the validity and effectiveness of the proposed filter scheme are verified by numerical simulation
MATLABER: Material-Aware Text-to-3D via LAtent BRDF auto-EncodeR
Based on powerful text-to-image diffusion models, text-to-3D generation has
made significant progress in generating compelling geometry and appearance.
However, existing methods still struggle to recover high-fidelity object
materials, either only considering Lambertian reflectance, or failing to
disentangle BRDF materials from the environment lights. In this work, we
propose Material-Aware Text-to-3D via LAtent BRDF auto-EncodeR
(\textbf{MATLABER}) that leverages a novel latent BRDF auto-encoder for
material generation. We train this auto-encoder with large-scale real-world
BRDF collections and ensure the smoothness of its latent space, which
implicitly acts as a natural distribution of materials. During appearance
modeling in text-to-3D generation, the latent BRDF embeddings, rather than BRDF
parameters, are predicted via a material network. Through exhaustive
experiments, our approach demonstrates the superiority over existing ones in
generating realistic and coherent object materials. Moreover, high-quality
materials naturally enable multiple downstream tasks such as relighting and
material editing. Code and model will be publicly available at
\url{https://sheldontsui.github.io/projects/Matlaber}
Reconstructive Neuron Pruning for Backdoor Defense
Deep neural networks (DNNs) have been found to be vulnerable to backdoor
attacks, raising security concerns about their deployment in mission-critical
applications. While existing defense methods have demonstrated promising
results, it is still not clear how to effectively remove backdoor-associated
neurons in backdoored DNNs. In this paper, we propose a novel defense called
\emph{Reconstructive Neuron Pruning} (RNP) to expose and prune backdoor neurons
via an unlearning and then recovering process. Specifically, RNP first unlearns
the neurons by maximizing the model's error on a small subset of clean samples
and then recovers the neurons by minimizing the model's error on the same data.
In RNP, unlearning is operated at the neuron level while recovering is operated
at the filter level, forming an asymmetric reconstructive learning procedure.
We show that such an asymmetric process on only a few clean samples can
effectively expose and prune the backdoor neurons implanted by a wide range of
attacks, achieving a new state-of-the-art defense performance. Moreover, the
unlearned model at the intermediate step of our RNP can be directly used to
improve other backdoor defense tasks including backdoor removal, trigger
recovery, backdoor label detection, and backdoor sample detection. Code is
available at \url{https://github.com/bboylyg/RNP}.Comment: Accepted by ICML2
Fault Detection of Networked Control Systems Based on Sliding Mode Observer
This paper is concerned with the network-based fault detection problem for a class of nonlinear discrete-time networked control systems with multiple communication delays and bounded disturbances. First, a sliding mode based nonlinear discrete observer is proposed. Then the sufficient conditions of sliding motion asymptotical stability are derived by means of the linear matrix inequality (LMI) approach on a designed surface. Then a discrete-time sliding-mode fault observer is designed that is capable of guaranteeing the discrete-time sliding-mode reaching condition of the specified sliding surface. Finally, an illustrative example is provided to show the usefulness and effectiveness of the proposed design method
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