Studies on artificial neural networks rarely address both vanishing gradients and overfitting issues. In this study, we follow the pupil learning procedure, which has the features of interpreting, picking, understanding, cramming, and organizing, to derive the pupil learning mechanism (PLM) by which to modify the network structure and weights of 2-layer neural networks (2LNNs). The PLM consists of modules for sequential learning, adaptive learning, perfect learning, and less-overfitted learning. Based upon a copper price forecasting dataset, we conduct an experiment to validate the PLM module design modules, and an experiment to evaluate the performance of PLM. The empirical results indeed approve the PLM module design and show the superiority of the proposed PLM model over the linear regression model and the conventional backpropagation-based 2LNN model.

Accurate shape reconstruction of transparent objects is a challenging task due to their non-Lambertian surfaces and yet necessary for robots for accurate pose perception and safe manipulation. As vision-based sensing can produce erroneous measurements for transparent objects, the tactile modality is not sensitive to object transparency and can be used for reconstructing the object's shape. We propose ACTOR, a novel framework for ACtive tactile-based category-level Transparent Object Reconstruction. ACTOR leverages large datasets of synthetic object with our proposed self-supervised learning approach for object shape reconstruction as the collection of real-world tactile data is prohibitively expensive. ACTOR can be used during inference with tactile data from category-level unknown transparent objects for reconstruction. Furthermore, we propose an active-tactile object exploration strategy as probing every part of the object surface can be sample inefficient. We also demonstrate tactile-based category-level object pose estimation task using ACTOR. We perform an extensive evaluation of our proposed methodology with real-world robotic experiments with comprehensive comparison studies with state-of-the-art approaches. Our proposed method outperforms these approaches in terms of tactile-based object reconstruction and object pose estimation.

Plastic has imbibed itself as an indispensable part of our day to day activities, becoming a source of problems due to its non-biodegradable nature and cheaper production prices. With these problems, comes the challenge of mitigating and responding to the aftereffects of disposal or the lack of proper disposal which leads to waste concentrating in locations and disturbing ecosystems for both plants and animals. As plastic debris levels continue to rise with the accumulation of waste in garbage patches in landfills and more hazardously in natural water bodies, swift action is necessary to plug or cease this flow. While manual sorting operations and detection can offer a solution, they can be augmented using highly advanced computer imagery linked with robotic appendages for removing wastes. The primary application of focus in this report are the much-discussed Computer Vision and Open Vision which have gained novelty for their light dependence on internet and ability to relay information in remote areas. These applications can be applied to the creation of edge-based mobility devices that can as a counter to the growing problem of plastic debris in oceans and rivers, demanding little connectivity and still offering the same results with reasonably timed maintenance. The principal findings of this project cover the various methods that were tested and deployed to detect waste in images, as well as comparing them against different waste types. The project has been able to produce workable models that can perform on time detection of sampled images using an augmented CNN approach. Latter portions of the project have also achieved a better interpretation of the necessary preprocessing steps required to arrive at the best accuracies, including the best hardware for expanding waste detection studies to larger environments.

Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior can be encoded as a model to benefit the autonomous driving system. Besides, an increasing number of data-driven works have been studied in the decision-making and motion planning module. However, the reliability and the stability of the neural network is still full of uncertainty. In this paper, we introduce a hierarchical planning architecture including a high-level grid-based behavior planner and a low-level trajectory planner, which is highly interpretable and controllable. As the high-level planner is responsible for finding a consistent route, the low-level planner generates a feasible trajectory. We evaluate our method both in closed-loop simulation and real world driving, and demonstrate the neural network planner has outstanding performance in complex urban autonomous driving scenarios.

Operational constraint violations may occur when deep reinforcement learning (DRL) agents interact with real-world active distribution systems to learn their optimal policies during training. This letter presents a universal distributionally robust safety filter (DRSF) using which any DRL agent can reduce the constraint violations of distribution systems significantly during training while maintaining near-optimal solutions. The DRSF is formulated as a distributionally robust optimization problem with chance constraints of operational limits. This problem aims to compute near-optimal actions that are minimally modified from the optimal actions of DRL-based Volt/VAr control by leveraging the distribution system model, thereby providing constraint satisfaction guarantee with a probability level under the model uncertainty. The performance of the proposed DRSF is verified using the IEEE 33-bus and 123-bus systems.

The adaptability of soft robots makes them ideal candidates to maneuver through unstructured environments. However, locomotion challenges arise due to complexities in modeling the body mechanics, actuation, and robot-environment dynamics. These factors contribute to the gap between their potential and actual autonomous field deployment. A closed-loop path planning framework for soft robot locomotion is critical to close the real-world realization gap. This paper presents a generic path planning framework applied to TerreSoRo (Tetra-Limb Terrestrial Soft Robot) with pose feedback. It employs a gait-based, lattice trajectory planner to facilitate navigation in the presence of obstacles. The locomotion gaits are synthesized using a data-driven optimization approach that allows for learning from the environment. The trajectory planner employs a greedy breadth-first search strategy to obtain a collision-free trajectory. The synthesized trajectory is a sequence of rotate-then-translate gait pairs. The control architecture integrates high-level and low-level controllers with real-time localization (using an overhead webcam). TerreSoRo successfully navigates environments with obstacles where path re-planning is performed. To best of our knowledge, this is the first instance of real-time, closed-loop path planning of a non-pneumatic soft robot.

Machine learning practitioners often fine-tune generative pre-trained models like GPT-3 to improve model performance at specific tasks. Previous works, however, suggest that fine-tuned machine learning models memorize and emit sensitive information from the original fine-tuning dataset. Companies such as OpenAI offer fine-tuning services for their models, but no prior work has conducted a memorization attack on any closed-source models. In this work, we simulate a privacy attack on GPT-3 using OpenAI's fine-tuning API. Our objective is to determine if personally identifiable information (PII) can be extracted from this model. We (1) explore the use of naive prompting methods on a GPT-3 fine-tuned classification model, and (2) we design a practical word generation task called Autocomplete to investigate the extent of PII memorization in fine-tuned GPT-3 within a real-world context. Our findings reveal that fine-tuning GPT3 for both tasks led to the model memorizing and disclosing critical personally identifiable information (PII) obtained from the underlying fine-tuning dataset. To encourage further research, we have made our codes and datasets publicly available on GitHub at: https://github.com/albertsun1/gpt3-pii-attacks

Predict and optimize is an increasingly popular decision-making paradigm that employs machine learning to predict unknown parameters of optimization problems. Instead of minimizing the prediction error of the parameters, it trains predictive models using task performance as a loss function. In the convex optimization domain, predict and optimize has seen significant progress due to recently developed methods for differentiating optimization problem solutions over the problem parameters. This paper identifies a yet unnoticed drawback of this approach -- the zero-gradient problem -- and introduces a method to solve it. The suggested method is based on the mathematical properties of differential optimization and is verified using two real-world benchmarks.

Recently emerged technologies based on Deep Learning (DL) achieved outstanding results on a variety of tasks in the field of Artificial Intelligence (AI). However, these encounter several challenges related to robustness to adversarial inputs, ecological impact, and the necessity of huge amounts of training data. In response, researchers are focusing more and more interest on biologically grounded mechanisms, which are appealing due to the impressive capabilities exhibited by biological brains. This survey explores a range of these biologically inspired models of synaptic plasticity, their application in DL scenarios, and the connections with models of plasticity in Spiking Neural Networks (SNNs). Overall, Bio-Inspired Deep Learning (BIDL) represents an exciting research direction, aiming at advancing not only our current technologies but also our understanding of intelligence.

In this paper, we propose physics-informed neural operators (PINO) that combine training data and physics constraints to learn the solution operator of a given family of parametric Partial Differential Equations (PDE). PINO is the first hybrid approach incorporating data and PDE constraints at different resolutions to learn the operator. Specifically, in PINO, we combine coarse-resolution training data with PDE constraints imposed at a higher resolution. The resulting PINO model can accurately approximate the ground-truth solution operator for many popular PDE families and shows no degradation in accuracy even under zero-shot super-resolution, i.e., being able to predict beyond the resolution of training data. PINO uses the Fourier neural operator (FNO) framework that is guaranteed to be a universal approximator for any continuous operator and discretization-convergent in the limit of mesh refinement. By adding PDE constraints to FNO at a higher resolution, we obtain a high-fidelity reconstruction of the ground-truth operator. Moreover, PINO succeeds in settings where no training data is available and only PDE constraints are imposed, while previous approaches, such as the Physics-Informed Neural Network (PINN), fail due to optimization challenges, e.g., in multi-scale dynamic systems such as Kolmogorov flows.