Predictor feedback designs are critical for delay-compensating controllers in nonlinear systems. However, these designs are limited in practical applications as predictors cannot be directly implemented, but require numerical approximation schemes. These numerical schemes, typically combining finite difference and successive approximations, become computationally prohibitive when the dynamics of the system are expensive to compute. To alleviate this issue, we propose approximating the predictor mapping via a neural operator. In particular, we introduce a new perspective on predictor designs by recasting the predictor formulation as an operator learning problem. We then prove the existence of an arbitrarily accurate neural operator approximation of the predictor operator. Under the approximated-predictor, we achieve semiglobal practical stability of the closed-loop nonlinear system. The estimate is semiglobal in a unique sense - namely, one can increase the set of initial states as large as desired but this will naturally increase the difficulty of training a neural operator approximation which appears practically in the stability estimate. Furthermore, we emphasize that our result holds not just for neural operators, but any black-box predictor satisfying a universal approximation error bound. From a computational perspective, the advantage of the neural operator approach is clear as it requires training once, offline and then is deployed with very little computational cost in the feedback controller. We conduct experiments controlling a 5-link robotic manipulator with different state-of-the-art neural operator architectures demonstrating speedups on the magnitude of $10^2$ compared to traditional predictor approximation schemes.

The huge amount of energy required to train artificial intelligence (AI) is becoming a concern. To train the large language model (LLM) powering Chat GPT-3, for example, almost 1,300 megawatt hours of energy was used, according to an estimate by researchers from Google and the University of California, Berkeley, a similar quantity of energy to what is used by 130 American homes in one year. Furthermore, an analysis by OpenAI suggests that the amount of power needed to train AI models has been growing exponentially since 2012, doubling roughly every 3.4 months as the models become bigger and more sophisticated. However, our energy production capacity is not increasing as steeply, and doing so is likely to further contribute to global warming: generating electricity is the single biggest contributor to climate change given that coal, oil, and gas are still widely used to generate electricity, compared to cleaner energy sources. "At this rate, we are running into a brick wall in terms of the ability to scale up machine learning networks," said Menachem Stern, a theoretical physicist at the AMOLF research institute in the Netherlands.

Our study investigates the impact of isotropy on semantic code search performance and explores post-processing techniques to mitigate this issue. We analyze various code language models, examine isotropy in their embedding spaces, and its influence on search effectiveness. We propose a modified ZCA whitening technique to control isotropy levels in embeddings. Our results demonstrate that Soft-ZCA whitening improves the performance of pre-trained code language models and can complement contrastive fine-tuning.

Tracking the full body motions of users in XR (AR/VR) devices is a fundamental challenge to bring a sense of authentic social presence. Due to the absence of dedicated leg sensors, currently available body tracking methods adopt a synthesis approach to generate plausible motions given a 3-point signal from the head and controller tracking. In order to enable mixed reality features, modern XR devices are capable of estimating depth information of the headset surroundings using available sensors combined with dedicated machine learning models. Such egocentric depth sensing cannot drive the body directly, as it is not registered and is incomplete due to limited field-of-view and body self-occlusions. For the first time, we propose to leverage the available depth sensing signal combined with self-supervision to learn a multi-modal pose estimation model capable of tracking full body motions in real time on XR devices. We demonstrate how current 3-point motion synthesis models can be extended to point cloud modalities using a semantic point cloud encoder network combined with a residual network for multi-modal pose estimation. These modules are trained jointly in a self-supervised way, leveraging a combination of real unregistered point clouds and simulated data obtained from motion capture. We compare our approach against several state-of-the-art systems for XR body tracking and show that our method accurately tracks a diverse range of body motions. XR-MBT tracks legs in XR for the first time, whereas traditional synthesis approaches based on partial body tracking are blind.

Ubiquitous mobile devices have catalyzed the development of vehicle crowd sensing (VCS). In particular, vehicle sensing systems show great potential in the flexible acquisition of spatio-temporal urban data through built-in sensors under diverse sensing scenarios. However, vehicle systems often exhibit biased coverage due to the heterogeneous nature of trip requests and routes. To achieve a high sensing coverage, a critical challenge lies in optimally relocating vehicles to minimize the divergence between vehicle distributions and target sensing distributions. Conventional approaches typically employ a two-stage predict-then-optimize (PTO) process: first predicting real-time vehicle distributions and subsequently generating an optimal relocation strategy based on the predictions. However, this approach can lead to suboptimal decision-making due to the propagation of errors from upstream prediction. To this end, we develop an end-to-end Smart Predict-then-Optimize (SPO) framework by integrating optimization into prediction within the deep learning architecture, and the entire framework is trained by minimizing the task-specific matching divergence rather than the upstream prediction error. Methodologically, we formulate the vehicle relocation problem by quadratic programming (QP) and incorporate a novel unrolling approach based on the Alternating Direction Method of Multipliers (ADMM) within the SPO framework to compute gradients of the QP layer, facilitating backpropagation and gradient-based optimization for end-to-end learning. The effectiveness of the proposed framework is validated by real-world taxi datasets in Hong Kong. Utilizing the alternating differentiation method, the general SPO framework presents a novel concept of addressing decision-making problems with uncertainty, demonstrating significant potential for advancing applications in intelligent transportation systems.

Large vision-language models (LVLMs) have demonstrated exceptional performance on complex multimodal tasks. However, they continue to suffer from significant hallucination issues, including object, attribute, and relational hallucinations. To accurately detect these hallucinations, we investigated the variations in cross-modal attention patterns between hallucination and non-hallucination states. Leveraging these distinctions, we developed a lightweight detector capable of identifying hallucinations. Our proposed method, Detecting Hallucinations by Cross-modal Attention Patterns (DHCP), is straightforward and does not require additional LVLM training or extra LVLM inference steps. Experimental results show that DHCP achieves remarkable performance in hallucination detection. By offering novel insights into the identification and analysis of hallucinations in LVLMs, DHCP contributes to advancing the reliability and trustworthiness of these models.

State-of-the-art model-based control designs have been shown to be successful in realizing dynamic locomotion behaviors for robotic systems. The precision of the realized behaviors in terms of locomotion performance via fly, hopping, or walking has not yet been well investigated, despite the fact that the difference between the robot model and physical hardware is doomed to produce inaccurate trajectory tracking. To address this inaccuracy, we propose a referencing-steering method to bridge the model-to-real gap by establishing a data-driven input-output (DD-IO) model on top of the existing model-based design. The DD-IO model takes the reference tracking trajectories as the input and the realized tracking trajectory as the output. By utilizing data-driven predictive control, we steer the reference input trajectories online so that the realized output ones match the actual desired ones. We demonstrate our method on the robot PogoX to realize hyper-accurate hopping and flying behaviors in both simulation and hardware. This data-driven reference-steering approach is straightforward to apply to general robotic systems for performance improvement via hyper-accurate trajectory tracking.

The early stopping strategy consists in stopping the training process of a neural network (NN) on a set $S$ of input data before training error is minimal. The advantage is that the NN then retains good generalization properties, i.e. it gives good predictions on data outside $S$, and a good estimate of the statistical error (``population loss'') is obtained. We give here an analytical estimation of the optimal stopping time involving basically the initial training error vector and the eigenvalues of the ``neural tangent kernel''. This yields an upper bound on the population loss which is well-suited to the underparameterized context (where the number of parameters is moderate compared with the number of data). Our method is illustrated on the example of an NN simulating the MPC control of a Van der Pol oscillator.

Reinforcement Learning (RL) has emerged as a powerful paradigm in Artificial Intelligence (AI), enabling agents to learn optimal behaviors through interactions with their environments. Drawing from the foundations of trial and error, RL equips agents to make informed decisions through feedback in the form of rewards or penalties. This paper presents a comprehensive survey of RL, meticulously analyzing a wide range of algorithms, from foundational tabular methods to advanced Deep Reinforcement Learning (DRL) techniques. We categorize and evaluate these algorithms based on key criteria such as scalability, sample efficiency, and suitability. We compare the methods in the form of their strengths and weaknesses in diverse settings. Additionally, we offer practical insights into the selection and implementation of RL algorithms, addressing common challenges like convergence, stability, and the exploration-exploitation dilemma. This paper serves as a comprehensive reference for researchers and practitioners aiming to harness the full potential of RL in solving complex, real-world problems.

Atomistic simulations are a powerful tool for studying the dynamics of molecules, proteins, and materials on wide time and length scales. Their reliability and predictiveness, however, depend directly on the accuracy of the underlying potential energy surface (PES). Guided by the principle of parsimony this work introduces KerNN, a combined kernel/neural network-based approach to represent molecular PESs. Compared to state-of-the-art neural network PESs the number of learnable parameters of KerNN is significantly reduced. This speeds up training and evaluation times by several orders of magnitude while retaining high prediction accuracy. Importantly, using kernels as the features also improves the extrapolation capabilities of KerNN far beyond the coverage provided by the training data which solves a general problem of NN-based PESs. KerNN applied to spectroscopy and reaction dynamics shows excellent performance on test set statistics and observables including vibrational bands computed from classical and quantum simulations.