Fixes to code style (use the same style tests as either PettingZoo does or SB3 does and that to CI tests once they're properly functioning) (Thanks @cclauss!) Removal of old and entirely unused code Bug fixes (they'll actually be merged now!) Useful non-breaking extensions to or entirely new action/observation spaces Built in API compliance testing (Similar to what PettingZoo has for environments and what SB3 added for Gym environments) Nonbreaking and useful additions of environment arguments, similar to what most third party Gym environments now have or what PettingZoo environments generally have by default (e.g. Lycon is a Python library that's just took the C image resizing logic from OpenCV and put it in it's own repo. This makes it run slightly faster, and more importantly it gets rid of all the horrifying installation issues associated with OpenCV (and most RL libraries only depended on OpenCV for this functionality). However, Lycon is no longer maintained and does not generate wheels with the C already compiled (though Ben Black added the logic for this- ethereon/lycon#25). Dealing with all flavors of MuJuCo problems (I am objectively not qualified for this) Create a new, in depth, documentation website.

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To build challenging multi-hop question answering datasets, we propose a bottom-up semi-automatic process of constructing multi-hop question via composition of single-hop questions. Constructing multi-hop questions as composition of single-hop questions allows us to exercise greater control over the quality of the resulting multi-hop questions. This process allows building a dataset with (i) connected reasoning where each step needs the answer from a previous step; (ii) minimal train-test leakage by eliminating even partial overlap of reasoning steps; (iii) variable number of hops and composition structures; and (iv) contrasting unanswerable questions by modifying the context. We use this process to construct a new multihop QA dataset: MuSiQue-Ans with ~25K 2-4 hop questions using seed questions from 5 existing single-hop datasets. Our experiments demonstrate that MuSique is challenging for state-of-the-art QA models (e.g., human-machine gap of $~$30 F1 pts), significantly harder than existing datasets (2x human-machine gap), and substantially less cheatable (e.g., a single-hop model is worse by 30 F1 pts). We also build an even more challenging dataset, MuSiQue-Full, consisting of answerable and unanswerable contrast question pairs, where model performance drops further by 13+ F1 pts. For data and code, see \url{https://github.com/stonybrooknlp/musique}.

In music and speech, meaning is derived at multiple levels of context. Affect, for example, can be inferred both by a short sound token and by sonic patterns over a longer temporal window such as an entire recording. In this letter, we focus on inferring meaning from this dichotomy of contexts. We show how contextual representations of short sung vocal lines can be implicitly learned from fundamental frequency ($F_0$) and thus be used as a meaningful feature space for downstream Music Information Retrieval (MIR) tasks. We propose three self-supervised deep learning paradigms which leverage pseudotask learning of these two levels of context to produce latent representation spaces. We evaluate the usefulness of these representations by embedding unseen pitch contours into each space and conducting downstream classification tasks. Our results show that contextual representation can enhance downstream classification by as much as 15\% as compared to using traditional statistical contour features.

Energy disaggregation, also known as non-intrusive load monitoring (NILM), challenges the problem of separating the whole-home electricity usage into appliance-specific individual consumptions, which is a typical application of data analysis. {NILM aims to help households understand how the energy is used and consequently tell them how to effectively manage the energy, thus allowing energy efficiency which is considered as one of the twin pillars of sustainable energy policy (i.e., energy efficiency and renewable energy).} Although NILM is unidentifiable, it is widely believed that the NILM problem can be addressed by data science. Most of the existing approaches address the energy disaggregation problem by conventional techniques such as sparse coding, non-negative matrix factorization, and hidden Markov model. Recent advances reveal that deep neural networks (DNNs) can get favorable performance for NILM since DNNs can inherently learn the discriminative signatures of the different appliances. In this paper, we propose a novel method named adversarial energy disaggregation (AED) based on DNNs. We introduce the idea of adversarial learning into NILM, which is new for the energy disaggregation task. Our method trains a generator and multiple discriminators via an adversarial fashion. The proposed method not only learns shard representations for different appliances, but captures the specific multimode structures of each appliance. Extensive experiments on real-world datasets verify that our method can achieve new state-of-the-art performance.

In this paper, the design of a rational decision support system (RDSS) for a connected and autonomous vehicle charging infrastructure (CAV-CI) is studied. In the considered CAV-CI, the distribution system operator (DSO) deploys electric vehicle supply equipment (EVSE) to provide an EV charging facility for human-driven connected vehicles (CVs) and autonomous vehicles (AVs). The charging request by the human-driven EV becomes irrational when it demands more energy and charging period than its actual need. Therefore, the scheduling policy of each EVSE must be adaptively accumulated the irrational charging request to satisfy the charging demand of both CVs and AVs. To tackle this, we formulate an RDSS problem for the DSO, where the objective is to maximize the charging capacity utilization by satisfying the laxity risk of the DSO. Thus, we devise a rational reward maximization problem to adapt the irrational behavior by CVs in a data-informed manner. We propose a novel risk adversarial multi-agent learning system (RAMALS) for CAV-CI to solve the formulated RDSS problem. In RAMALS, the DSO acts as a centralized risk adversarial agent (RAA) for informing the laxity risk to each EVSE. Subsequently, each EVSE plays the role of a self-learner agent to adaptively schedule its own EV sessions by coping advice from RAA. Experiment results show that the proposed RAMALS affords around 46.6% improvement in charging rate, about 28.6% improvement in the EVSE's active charging time and at least 33.3% more energy utilization, as compared to a currently deployed ACN EVSE system, and other baselines.

The bucketed PCA neural network (PCA-NN) with transforms is developed here in an effort to benchmark deep neural networks (DNN's), for problems on supervised classification. Most classical PCA models apply PCA to the entire training data set to establish a reductive representation and then employ non-network tools such as high-order polynomial classifiers. In contrast, the bucketed PCA-NN applies PCA to individual buckets which are constructed in two consecutive phases, as well as retains a genuine architecture of a neural network. This facilitates a fair apple-to-apple comparison to DNN's, esp. to reveal that a major chunk of accuracy achieved by many impressive DNN's could possibly be explained by the bucketed PCA-NN (e.g., 96% out of 98% for the MNIST data set as an example). Compared with most DNN's, the three building blocks of the bucketed PCA-NN are easier to comprehend conceptually - PCA, transforms, and bucketing for error correction. Furthermore, unlike the somewhat quasi-random neurons ubiquitously observed in DNN's, the PCA neurons resemble or mirror the input signals and are more straightforward to decipher as a result.

Coastal water autonomous boats rely on robust perception methods for obstacle detection and timely collision avoidance. The current state-of-the-art is based on deep segmentation networks trained on large datasets. Per-pixel ground truth labeling of such datasets, however, is labor-intensive and expensive. We observe that far less information is required for practical obstacle avoidance - the location of water edge on static obstacles like shore and approximate location and bounds of dynamic obstacles in the water is sufficient to plan a reaction. We propose a new scaffolding learning regime (SLR) that allows training obstacle detection segmentation networks only from such weak annotations, thus significantly reducing the cost of ground-truth labeling. Experiments show that maritime obstacle segmentation networks trained using SLR substantially outperform the same networks trained with dense ground truth labels. Thus accuracy is not sacrificed for labelling simplicity but is in fact improved, which is a remarkable result.

Tracking the 6D pose of objects in video sequences is important for robot manipulation. Most prior efforts, however, often assume that the target object's CAD model, at least at a category-level, is available for offline training or during online template matching. This work proposes BundleTrack, a general framework for 6D pose tracking of novel objects, which does not depend upon 3D models, either at the instance or category-level. It leverages the complementary attributes of recent advances in deep learning for segmentation and robust feature extraction, as well as memory-augmented pose graph optimization for spatiotemporal consistency. This enables long-term, low-drift tracking under various challenging scenarios, including significant occlusions and object motions. Comprehensive experiments given two public benchmarks demonstrate that the proposed approach significantly outperforms state-of-art, category-level 6D tracking or dynamic SLAM methods. When compared against state-of-art methods that rely on an object instance CAD model, comparable performance is achieved, despite the proposed method's reduced information requirements. An efficient implementation in CUDA provides a real-time performance of 10Hz for the entire framework. Code is available at: https://github.com/wenbowen123/BundleTrack