In this paper we show an effective means of integrating data driven frameworks to sampling based optimal control to vastly reduce the compute time for easy adoption and adaptation to real time applications such as on-road autonomous driving in the presence of dynamic actors. Presented with training examples, a spatio-temporal CNN learns to predict the optimal mean control over a finite horizon that precludes further resampling, an iterative process that makes sampling based optimal control formulations difficult to adopt in real time settings. Generating control samples around the network-predicted optimal mean retains the advantage of sample diversity while enabling real time rollout of trajectories that avoids multiple dynamic obstacles in an on-road navigation setting. Further the 3D CNN architecture implicitly learns the future trajectories of the dynamic agents in the scene resulting in successful collision free navigation despite no explicit future trajectory prediction. We show performance gain over multiple baselines in a number of on-road scenes through closed loop simulations in CARLA. We also showcase the real world applicability of our system by running it on our custom Autonomous Driving Platform (AutoDP).

Data-driven black-box model-based optimization (MBO) problems arise in a great number of practical application scenarios, where the goal is to find a design over the whole space maximizing a black-box target function based on a static offline dataset. In this work, we consider a more general but challenging MBO setting, named constrained MBO (CoMBO), where only part of the design space can be optimized while the rest is constrained by the environment. A new challenge arising from CoMBO is that most observed designs that satisfy the constraints are mediocre in evaluation. Therefore, we focus on optimizing these mediocre designs in the offline dataset while maintaining the given constraints rather than further boosting the best observed design in the traditional MBO setting. We propose retrieval-enhanced offline model-based optimization (ROMO), a new derivable forward approach that retrieves the offline dataset and aggregates relevant samples to provide a trusted prediction, and use it for gradient-based optimization. ROMO is simple to implement and outperforms state-of-the-art approaches in the CoMBO setting. Empirically, we conduct experiments on a synthetic Hartmann (3D) function dataset, an industrial CIO dataset, and a suite of modified tasks in the Design-Bench benchmark. Results show that ROMO performs well in a wide range of constrained optimization tasks.

We introduce Inference-Time Intervention (ITI), a technique designed to enhance the "truthfulness" of large language models (LLMs). ITI operates by shifting model activations during inference, following a set of directions across a limited number of attention heads. This intervention significantly improves the performance of LLaMA models on the TruthfulQA benchmark. On an instruction-finetuned LLaMA called Alpaca, ITI improves its truthfulness from 32.5% to 65.1%. We identify a trade-off between truthfulness and helpfulness and demonstrate how to balance it by tuning the intervention strength. ITI is minimally invasive and computationally inexpensive. Moreover, the technique is data efficient: while approaches like RLHF require extensive annotations, ITI locates truthful directions using only few hundred examples. Our findings suggest that LLMs may have an internal representation of the likelihood of something being true, even as they produce falsehoods on the surface.

Electric consumption prediction methods are investigated for many reasons such as decision-making related to energy efficiency as well as for anticipating demand in the energy market dynamics. The objective of the present work is the comparison between two Deep Learning models, namely the Long Short-Term Memory (LSTM) and Bi-directional LSTM (BLSTM) for univariate electric consumption Time Series (TS) short-term forecast. The Data Sets (DSs) were selected for their different contexts and scales, aiming the assessment of the models' robustness. Four DSs were used, related to the power consumption of: (a) a household in France; (b) a university building in Santar\'em, Brazil; (c) the T\'etouan city zones, in Morocco; and (c) the Singapore aggregated electric demand. The metrics RMSE, MAE, MAPE and R2 were calculated in a TS cross-validation scheme. The Friedman's test was applied to normalized RMSE (NRMSE) results, showing that BLSTM outperforms LSTM with statistically significant difference (p = 0.0455), corroborating the fact that bidirectional weight updating improves significantly the LSTM performance concerning different scales of electric power consumption.

Federated optimization, wherein several agents in a network collaborate with a central server to achieve optimal social cost over the network with no requirement for exchanging information among agents, has attracted significant interest from the research community. In this context, agents demand resources based on their local computation. Due to the exchange of optimization parameters such as states, constraints, or objective functions with a central server, an adversary may infer sensitive information of agents. We develop a differentially-private additive-increase and multiplicative-decrease algorithm to allocate multiple divisible shared heterogeneous resources to agents in a network. The developed algorithm provides a differential privacy guarantee to each agent in the network. The algorithm does not require inter-agent communication, and the agents do not need to share their cost function or their derivatives with other agents or a central server; however, they share their allocation states with a central server that keeps track of the aggregate consumption of resources. The algorithm incurs very little communication overhead; for m heterogeneous resources in the system, the asymptotic upper bound on the communication complexity is O(m) bits at a time step. Furthermore, if the algorithm converges in K time steps, then the upper bound communication complexity will be O(mK) bits. The algorithm can find applications in several areas, including smart cities, smart energy systems, resource management in the sixth generation (6G) wireless networks with privacy guarantees, etc. We present experimental results to check the efficacy of the algorithm. Furthermore, we present empirical analyses for the trade-off between privacy and algorithm efficiency.

As two cornerstones of modern day technologies, speech processing and natural language processing (NLP) are innately sequence learning problems to extract information from these linguistic or speech signals and provide insights into interactive systems to communicate in human understandable languages. The sequential and interactive nature of these problems can make them well-suited into the algorithmic framework of reinforcement learning (RL). In a reinforcement learning setting, an agent interacts with an environment through observations and actions, and based on the reward feedback attributed by the underlying reward function of this environment, the agent learns how to perform the task of interest through trials and errors. While the successful applications of reinforcement learning have been highlighted by a wide range of surveys in many real-world engineering domains such as robotics [1], vision [2], finance [3], healthcare [4], linguistics [5], and energy management [6], there have not been one for the rich community of both the speech and language domains. This is the first survey that emphasizes the synergy among the growing fields of the speech processing, natural language processing and the reinforcement learning. We aim to fill this gap by adopting a complete, timely and classical view of the reinforcement learning problems and their connections to speech and language processing.

Although the Bayesian paradigm offers a formal framework for estimating the entire probability distribution over uncertain parameters, its online implementation can be challenging due to high computational costs. We suggest the Adaptive Recursive Markov Chain Monte Carlo (ARMCMC) method, which eliminates the shortcomings of conventional online techniques while computing the entire probability density function of model parameters. The limitations to Gaussian noise, the application to only linear in the parameters (LIP) systems, and the persistent excitation (PE) needs are some of these drawbacks. In ARMCMC, a temporal forgetting factor (TFF)-based variable jump distribution is proposed. The forgetting factor can be presented adaptively using the TFF in many dynamical systems as an alternative to a constant hyperparameter. By offering a trade-off between exploitation and exploration, the specific jump distribution has been optimised towards hybrid/multi-modal systems that permit inferences among modes. These trade-off are adjusted based on parameter evolution rate. We demonstrate that ARMCMC requires fewer samples than conventional MCMC methods to achieve the same precision and reliability. We demonstrate our approach using parameter estimation in a soft bending actuator and the Hunt-Crossley dynamic model, two challenging hybrid/multi-modal benchmarks. Additionally, we compare our method with recursive least squares and the particle filter, and show that our technique has significantly more accurate point estimates as well as a decrease in tracking error of the value of interest.

Offline constrained reinforcement learning (RL) aims to learn a decision making policy that performs well while satisfying safety constraints given a dataset of trajectories collected from historical experiments. It enjoys the benefits of offline RL [22]: not requiring interaction with the environment enables real-world applications where collecting interaction data is expensive (e.g., robotics [18, 23]) or dangerous (e.g., healthcare [30]). It also enjoys the benefits of constrained RL [1]: being able to specify constraints to the behavior of the agent enables real-world applications with safety concerns (e.g., smart grid [31], robotics [14]). Offline constrained RL with function approximation (e.g., neural networks) is of particular interest because function approximation can encode inductive biases to allow sample-efficient learning in large state spaces. As is the case for offline unconstrained RL [29, 32], offline constrained RL with function approximation requires two classes of assumptions for sample-efficient learning.

Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only ensure accurate tracking of the target commands, but also minimize fluctuations in the robot's attitude and motors' current while tracking. In this paper, model predictive control (MPC) is applied to the control of spherical robots and an MPC-based motion control framework is designed. There are two controllers in the framework, an optimal velocity controller ESO-MPC which combines extend states observers (ESO) and MPC, and an optimal orientation controller that uses multilayer perceptron (MLP) to generate accurate trajectories and MPC with changing weights to achieve optimal control. Finally, the performance of individual controllers and the whole control framework are verified by physical experiments. The experimental results show that the MPC-based motion control framework proposed in this work is much better than PID in terms of rapidity and accuracy, and has great advantages over sliding mode controller (SMC) for overshoot, attitude stability, current stability and energy consumption.

Friction drag from a turbulent fluid moving past or inside an object plays a crucial role in domains as diverse as transportation, public utility infrastructure, energy technology, and human health. As a direct measure of the shear-induced friction forces, an accurate prediction of the wall-shear stress can contribute to sustainability, conservation of resources, and carbon neutrality in civil aviation as well as enhanced medical treatment of vascular diseases and cancer. Despite such importance for our modern society, we still lack adequate experimental methods to capture the instantaneous wall-shear stress dynamics. In this contribution, we present a holistic approach that derives velocity and wall-shear stress fields with impressive spatial and temporal resolution from flow measurements using a deep optical flow estimator with physical knowledge. The validity and physical correctness of the derived flow quantities is demonstrated with synthetic and real-world experimental data covering a range of relevant fluid flows.