Spiking Neural Networks (SNNs) are biologically plausible models that have been identified as potentially apt for deploying energy-efficient intelligence at the edge, particularly for sequential learning tasks. However, training of SNNs poses significant challenges due to the necessity for precise temporal and spatial credit assignment. Back-propagation through time (BPTT) algorithm, whilst the most widely used method for addressing these issues, incurs a high computational cost due to its temporal dependency. In this work, we propose S-TLLR, a novel threefactor temporal local learning rule inspired by the Spike-Timing Dependent Plasticity (STDP) mechanism, aimed at training deep SNNs on event-based learning tasks. Furthermore, S-TLLR is designed to have low memory and time complexities, which are independent of the number of time steps, rendering it suitable for online learning on low-power edge devices. To demonstrate the scalability of our proposed method, we have conducted extensive evaluations on event-based datasets spanning a wide range of applications, such as image and gesture recognition, audio classification, and optical flow estimation. In all the experiments, S-TLLR achieved high accuracy, comparable to BPTT, with a reduction in memory between 5 50 and multiply-accumulate (MAC) operations between 1.3 6.6 . Over the past decade, the field of artificial intelligence has undergone a remarkable transformation, driven by a prevalent trend of continuously increasing the size and complexity of neural network models. While this approach has yielded remarkable advancements in various cognitive tasks (Brown et al., 2020; Dosovitskiy et al., 2021), it has come at a significant cost: AI systems now demand substantial energy and computational resources. This inherent drawback becomes increasingly apparent when comparing the energy efficiency of current AI systems with the remarkable efficiency exhibited by the human brain (Roy et al., 2019; Gerstner et al., 2014; Christensen et al., 2022; Eshraghian et al., 2023).

Backpropagation (BP) is the dominant and most successful method for training parameters of deep neural network models. However, BP relies on two computationally distinct phases, does not provide a satisfactory explanation of biological learning, and can be challenging to apply for training of networks with discontinuities or noisy node dynamics. By comparison, node perturbation (NP) proposes learning by the injection of noise into the network activations, and subsequent measurement of the induced loss change. NP relies on two forward (inference) passes, does not make use of network derivatives, and has been proposed as a model for learning in biological systems. However, standard NP is highly data inefficient and unstable due to its unguided noise-based search process. In this work, we investigate different formulations of NP and relate it to the concept of directional derivatives as well as combining it with a decorrelating mechanism for layer-wise inputs. We find that a closer alignment with directional derivatives together with input decorrelation at every layer significantly enhances performance of NP learning, making its performance on the train set competitive with BP and allowing its application to noisy systems in which the noise process itself is inaccessible. Backpropagation (BP) is the workhorse of modern artificial intelligence.

B-spline-based trajectory optimization is widely used for robot navigation due to its computational efficiency and convex-hull property (ensures dynamic feasibility), especially as quadrotors, which have circular body shapes (enable efficient movement) and freedom to move each axis (enables convex-hull property utilization). However, using the B-spline curve for trajectory optimization is challenging for autonomous vehicles (AVs) because of their vehicle kinodynamics (rectangular body shapes and constraints to move each axis). In this study, we propose a novel trajectory optimization approach for AVs to circumvent this difficulty using an incremental path flattening (IPF), a disc type swept volume (SV) estimation method, and kinodynamic feasibility constraints. IPF is a new method that can find a collision-free path for AVs by flattening path and reducing SV using iteratively increasing curvature penalty around vehicle collision points. Additionally, we develop a disc type SV estimation method to reduce SV over-approximation and enable AVs to pass through a narrow corridor efficiently. Furthermore, a clamped B-spline curvature constraint, which simplifies a B-spline curvature constraint, is added to dynamical feasibility constraints (e.g., velocity and acceleration) for obtaining the kinodynamic feasibility constraints. Our experimental results demonstrate that our method outperforms state-of-the-art baselines in various simulated environments. We also conducted a real-world experiment using an AV, and our results validate the simulated tracking performance of the proposed approach.

In our study, we delve into the realm of evaluating Despite large language models (Arkoudas, 2023; large language models' (LLMs) ability to generate OpenAI, 2022) perform strikingly in plenty of reasoning counterfactually coherent thoughts. Specifically, benchmarks (Cobbe et al., 2021; Hendrycks we proposed an innovative evaluation system et al., 2021a), late studies observe an internal inconsistency that quantitatively measures the evolution of information in their reasoning processes (Saparov and in statement pairs, ensuring that they adhere He, 2023; Arkoudas, 2023). The inconsistency is to a specified logical relationship. Our approach attributed to misunderstanding and misapplication includes designing a specialized task where models of logical relations. However, logical relations in are presented with mismatched argument-premise complex language reasoning are not yet properly pairs bound by a specific logical relation. The objective quantified and evaluated.

Embedding graphs in continous spaces is a key factor in designing and developing algorithms for automatic information extraction to be applied in diverse tasks (e.g., learning, inferring, predicting). The reliability of graph embeddings directly depends on how much the geometry of the continuous space matches the graph structure. Manifolds are mathematical structure that can enable to incorporate in their topological spaces the graph characteristics, and in particular nodes distances. State-of-the-art of manifold-based graph embedding algorithms take advantage of the assumption that the projection on a tangential space of each point in the manifold (corresponding to a node in the graph) would locally resemble a Euclidean space. Although this condition helps in achieving efficient analytical solutions to the embedding problem, it does not represent an adequate set-up to work with modern real life graphs, that are characterized by weighted connections across nodes often computed over sparse datasets with missing records. In this work, we introduce a new class of manifold, named soft manifold, that can solve this situation. In particular, soft manifolds are mathematical structures with spherical symmetry where the tangent spaces to each point are hypocycloids whose shape is defined according to the velocity of information propagation across the data points. Using soft manifolds for graph embedding, we can provide continuous spaces to pursue any task in data analysis over complex datasets. Experimental results on reconstruction tasks on synthetic and real datasets show how the proposed approach enable more accurate and reliable characterization of graphs in continuous spaces with respect to the state-of-the-art.

Artificial Intelligence for Science (AI4S) is an emerging research field that utilizes machine learning advancements to tackle complex scientific computational issues, aiming to enhance computational efficiency and accuracy. However, the data-driven nature of AI4S lacks the correctness or accuracy assurances of conventional scientific computing, posing challenges when deploying AI4S models in real-world applications. To mitigate these, more comprehensive benchmarking procedures are needed to better understand AI4S models. This paper introduces a novel benchmarking approach, known as structural interpretation, which addresses two key requirements: identifying the trusted operating range in the problem space and tracing errors back to their computational components. This method partitions both the problem and metric spaces, facilitating a structural exploration of these spaces. The practical utility and effectiveness of structural interpretation are illustrated through its application to three distinct AI4S workloads: machine-learning force fields (MLFF), jet tagging, and precipitation nowcasting. The benchmarks effectively model the trusted operating range, trace errors, and reveal novel perspectives for refining the model, training process, and data sampling strategy. This work is part of the SAIBench project, an AI4S benchmarking suite.

We present ReLU-QP, a GPU-accelerated solver for quadratic programs (QPs) that is capable of solving high-dimensional control problems at real-time rates. ReLU-QP is derived by exactly reformulating the Alternating Direction Method of Multipliers (ADMM) algorithm for solving QPs as a deep, weight-tied neural network with rectified linear unit (ReLU) activations. This reformulation enables the deployment of ReLU-QP on GPUs using standard machine-learning toolboxes. We evaluate the performance of ReLU-QP across three model-predictive control (MPC) benchmarks: stabilizing random linear dynamical systems with control limits, balancing an Atlas humanoid robot on a single foot, and tracking whole-body reference trajectories on a quadruped equipped with a six-degree-of-freedom arm. These benchmarks indicate that ReLU-QP is competitive with state-of-the-art CPU-based solvers for small-to-medium-scale problems and offers order-of-magnitude speed improvements for larger-scale problems.

We consider a multi-class queueing model of a telephone call center, in which a system manager dynamically allocates available servers to customer calls. Calls can terminate through either service completion or customer abandonment, and the manager strives to minimize the expected total of holding costs plus abandonment costs over a finite horizon. Focusing on the Halfin-Whitt heavy traffic regime, we derive an approximating diffusion control problem, and building on earlier work by Han et al. (2018), develop a simulation-based computational method for solution of such problems, one that relies heavily on deep neural network technology. Using this computational method, we propose a policy for the original (pre-limit) call center scheduling problem. Finally, the performance of this policy is assessed using test problems based on publicly available call center data. For the test problems considered so far, our policy does as well as the best benchmark we could find. Moreover, our method is computationally feasible at least up to dimension 100, that is, for call centers with 100 or more distinct customer classes.

Traffic prediction is a crucial topic because of its broad scope of applications in the transportation domain. Recently, various studies have achieved promising results. However, most studies assume the prediction locations have complete or at least partial historical records and cannot be extended to non-historical recorded locations. In real-life scenarios, the deployment of sensors could be limited due to budget limitations and installation availability, which makes most current models not applicable. Though few pieces of literature tried to impute traffic states at the missing locations, these methods need the data simultaneously observed at the locations with sensors, making them not applicable to prediction tasks. Another drawback is the lack of measurement of uncertainty in prediction, making prior works unsuitable for risk-sensitive tasks or involving decision-making. To fill the gap, inspired by the previous inductive graph neural network, this work proposed an uncertainty-aware framework with the ability to 1) extend prediction to missing locations with no historical records and significantly extend spatial coverage of prediction locations while reducing deployment of sensors and 2) generate probabilistic prediction with uncertainty quantification to help the management of risk and decision making in the down-stream tasks. Through extensive experiments on real-life datasets, the result shows our method achieved promising results on prediction tasks, and the uncertainty quantification gives consistent results which highly correlated with the locations with and without historical data. We also show that our model could help support sensor deployment tasks in the transportation field to achieve higher accuracy with a limited sensor deployment budget.

Online active learning is a paradigm in machine learning that aims to select the most informative data points to label from a data stream. The problem of minimizing the cost associated with collecting labeled observations has gained a lot of attention in recent years, particularly in real-world applications where data is only available in an unlabeled form. Annotating each observation can be time-consuming and costly, making it difficult to obtain large amounts of labeled data. To overcome this issue, many active learning strategies have been proposed in the last decades, aiming to select the most informative observations for labeling in order to improve the performance of machine learning models. These approaches can be broadly divided into two categories: static pool-based and stream-based active learning. Pool-based active learning involves selecting a subset of observations from a closed pool of unlabeled data, and it has been the focus of many surveys and literature reviews. However, the growing availability of data streams has led to an increase in the number of approaches that focus on online active learning, which involves continuously selecting and labeling observations as they arrive in a stream. This work aims to provide an overview of the most recently proposed approaches for selecting the most informative observations from data streams in real time. We review the various techniques that have been proposed and discuss their strengths and limitations, as well as the challenges and opportunities that exist in this area of research.