Despite being the cornerstone of deep learning, backpropagation is criticized for its inherent sequentiality, which can limit the scalability of very deep models. Such models faced convergence issues due to vanishing gradient, later resolved using residual connections. Variants of these are now widely used in modern architecture. However, the computational cost of backpropagation remains a major burden, accounting for most of the training time. Taking advantage of residual-like architectural designs, we introduce Highway backpropagation, a parallelizable iterative algorithm that approximates backpropagation, by alternatively i) accumulating the gradient estimates along the residual path, and ii) backpropagating them through every layer in parallel. This algorithm is naturally derived from a decomposition of the gradient as the sum of gradients flowing through all paths and is adaptable to a diverse set of common architectures, ranging from ResNets and Transformers to recurrent neural networks. Through an extensive empirical study on a large selection of tasks and models, we evaluate Highway-BP and show that major speedups can be achieved with minimal performance degradation.

Recent works in Learning-Based Model Predictive Control of dynamical systems show impressive sample complexity performances using criteria from Information Theory to accelerate the learning procedure. However, the sequential exploration opportunities are limited by the system local state, restraining the amount of information of the observations from the current exploration trajectory. This article resolves this limitation by introducing temporal abstraction through the framework of Semi-Markov Decision Processes. The framework increases the total information of the gathered data for a fixed sampling budget, thus reducing the sample complexity.

Designing the physical encoder is crucial for accurate image reconstruction in computational imaging (CI) systems. Currently, these systems are designed via end-to-end (E2E) optimization, where the encoder is modeled as a neural network layer and is jointly optimized with the decoder. However, the performance of E2E optimization is significantly reduced by the physical constraints imposed on the encoder. Also, since the E2E learns the parameters of the encoder by backpropagating the reconstruction error, it does not promote optimal intermediate outputs and suffers from gradient vanishing. To address these limitations, we reinterpret the concept of knowledge distillation (KD) for designing a physically constrained CI system by transferring the knowledge of a pretrained, less-constrained CI system. Our approach involves three steps: (1) Given the original CI system (student), a teacher system is created by relaxing the constraints on the student's encoder. (2) The teacher is optimized to solve a less-constrained version of the student's problem. (3) The teacher guides the training of the student through two proposed knowledge transfer functions, targeting both the encoder and the decoder feature space. The proposed method can be employed to any imaging modality since the relaxation scheme and the loss functions can be adapted according to the physical acquisition and the employed decoder. This approach was validated on three representative CI modalities: magnetic resonance, single-pixel, and compressive spectral imaging. Simulations show that a teacher system with an encoder that has a structure similar to that of the student encoder provides effective guidance. Our approach achieves significantly improved reconstruction performance and encoder design, outperforming both E2E optimization and traditional non-data-driven encoder designs.

We investigate a family of gradient flows of positive and probability measures, focusing on the Hellinger-Kantorovich (HK) geometry, which unifies transport mechanism of Otto-Wasserstein, and the birth-death mechanism of Hellinger (or Fisher-Rao). A central contribution is a complete characterization of global exponential decay behaviors of entropy functionals (e.g. KL, $\chi^2$) under Otto-Wasserstein and Hellinger-type gradient flows. In particular, for the more challenging analysis of HK gradient flows on positive measures -- where the typical log-Sobolev arguments fail -- we develop a specialized shape-mass decomposition that enables new analysis results. Our approach also leverages the (Polyak-)\L{}ojasiewicz-type functional inequalities and a careful extension of classical dissipation estimates. These findings provide a unified and complete theoretical framework for gradient flows and underpin applications in computational algorithms for statistical inference, optimization, and machine learning.

A promising approach to optimal control of nonlinear systems involves iteratively linearizing the system and solving an optimization problem at each time instant to determine the optimal control input. Since this approach relies on online optimization, it can be computationally expensive, and thus unrealistic for systems with limited computing resources. One potential solution to this issue is to incorporate a Neural Network (NN) into the control loop to emulate the behavior of the optimal control scheme. Ensuring stability and reference tracking in the resulting NN-based closed-loop system requires modifications to the primary optimization problem. These modifications often introduce non-convexity and nonlinearity with respect to the decision variables, which may surpass the capabilities of existing solvers and complicate the generation of the training dataset. To address this issue, this paper develops a Neural Optimization Machine (NOM) to solve the resulting optimization problems. The central concept of a NOM is to transform the optimization challenges into the problem of training a NN. Rigorous proofs demonstrate that when a NN trained on data generated by the NOM is used in the control loop, all signals remain bounded and the system states asymptotically converge to a neighborhood around the desired equilibrium point, with a tunable proximity threshold. Simulation and experimental studies are provided to illustrate the effectiveness of the proposed methodology.

Hair styling is a crucial aspect of personal grooming, significantly influenced by the appearance of front hair. While brushing is commonly used both to detangle hair and for styling purposes, existing research primarily focuses on robotic systems for detangling hair, with limited exploration into robotic hair styling. This research presents a novel robotic system designed to automatically adjust front hairstyles, with an emphasis on path planning for root-centric strand adjustment. The system utilizes images to compare the current hair state with the desired target state through an orientation map of hair strands. By concentrating on the differences in hair orientation and specifically targeting adjustments at the root of each strand, the system performs detailed styling tasks. The path planning approach ensures effective alignment of the hairstyle with the target, and a closed-loop mechanism refines these adjustments to accurately evolve the hairstyle towards the desired outcome. Experimental results demonstrate that the proposed system achieves a high degree of similarity and consistency in front hair styling, showing promising results for automated, precise hairstyle adjustments.

Printed Electronics (PE) provide a mechanically flexible and cost-effective solution for machine learning (ML) circuits, compared to silicon-based technologies. However, due to large feature sizes, printed classifiers are limited by high power, area, and energy overheads, which restricts the realization of battery-powered systems. In this work, we design sequential printed bespoke Support Vector Machine (SVM) circuits that adhere to the power constraints of existing printed batteries while minimizing energy consumption, thereby boosting battery life. Our results show 6.5x energy savings while maintaining higher accuracy compared to the state of the art.

Abstract--In the near future, autonomous space systems will compose a large number of the spacecraft being deployed. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections or assembly of orbiting space stations and maintenance and human-assistance tasks over shared workspaces. To promote replicable and reliable scientific results for autonomous control of spacecraft, we present the design of a space systems laboratory based on open-source and modular software and hardware. The simulation software provides a software-in-the-loop (SITL) architecture that seamlessly transfers simulated results to the ATMOS platforms, developed for testing of multi-agent autonomy schemes for microgravity. The manuscript presents the KTH space systems laboratory facilities and the ATMOS platform as open-source hardware and software contributions. To the left, we see the tethers of the low-pressure compressor system. Software and hardware contributions can be found in: 1. PX4Space: Athens [6] proposed a similar test bed, where the platforms https://atmos.discower.io The facility also provides a vision-based I. This The space sector has experienced significant growth [1] in facility was recently upgraded to more modern avionics, motion the last decade, in part due to the decreased costs of access to capture ground-truth positioning, and robotics communication space through multiple commercial operators [2], but also due software through the Robotics Operating System (ROS) [7]. to the maturation of existing technologies and, consequently, Stanford University's Autonomous Systems Laboratory freeflyer reduced pricing of the deployed equipment. In the last twenty testbed [8], [9], [10] uses a similar, round platform as to thirty years, a few academic and industrial research facilities a free-flying robotic system for path planning, docking and have been created to test space systems by replicating motion capturing of space systems, paired with an open-source Python in microgravity on Earth.

In this paper, a novel neural network architecture is proposed to address the challenges in energy disaggregation algorithms. These challenges include the limited availability of data and the complexity of disaggregating a large number of appliances operating simultaneously. The proposed model utilizes independent component analysis as the backbone of the neural network and is evaluated using the F1-score for varying numbers of appliances working concurrently. Our results demonstrate that the model is less prone to overfitting, exhibits low complexity, and effectively decomposes signals with many individual components. Furthermore, we show that the proposed model outperforms existing algorithms when applied to real-world data.

Real-world radar signals are frequently corrupted by various artifacts, including sensor noise, echoes, interference, and intentional jamming, differing in type, severity, and duration. This pilot study introduces a novel model, called Co-Operational Regressor Network (CoRe-Net) for blind radar signal restoration, designed to address such limitations and drawbacks. CoRe-Net replaces adversarial training with a novel cooperative learning strategy, leveraging the complementary roles of its Apprentice Regressor (AR) and Master Regressor (MR). The AR restores radar signals corrupted by various artifacts, while the MR evaluates the quality of the restoration and provides immediate and task-specific feedback, ensuring stable and efficient learning. The AR, therefore, has the advantage of both self-learning and assistive learning by the MR. The proposed model has been extensively evaluated over the benchmark Blind Radar Signal Restoration (BRSR) dataset, which simulates diverse real-world artifact scenarios. Under the fair experimental setup, this study shows that the CoRe-Net surpasses the Op-GANs over a 1 dB mean SNR improvement. To further boost the performance gain, this study proposes multi-pass restoration by cascaded CoRe-Nets trained with a novel paradigm called Progressive Transfer Learning (PTL), which enables iterative refinement, thus achieving an additional 2 dB mean SNR enhancement. Multi-pass CoRe-Net training by PTL consistently yields incremental performance improvements through successive restoration passes whilst highlighting CoRe-Net ability to handle such a complex and varying blend of artifacts.