Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their effectiveness for precise control tasks. In this work, we propose a novel approach that dynamically adjusts simulation environment parameters online using in-context learning. By leveraging past interaction histories as context, our method adapts the simulation environment dynamics to real-world dynamics without requiring gradient updates, resulting in faster and more accurate alignment between simulated and real-world performance. We validate our approach across two tasks: object scooping and table air hockey. In the sim-to-sim evaluations, our method significantly outperforms the baselines on environment parameter estimation by 80% and 42% in the object scooping and table air hockey setups, respectively. Furthermore, our method achieves at least 70% success rate in sim-to-real transfer on object scooping across three different objects. By incorporating historical interaction data, our approach delivers efficient and smooth system identification, advancing the deployment of robots in dynamic real-world scenarios. Demos are available on our project page: https://sim2real-capture.github.io/

The advent of quantum computing has opened new possibilities in data science, offering unique capabilities for addressing complex, data-intensive problems. Traditional machine learning algorithms often face challenges in high-dimensional or limited-quality datasets, which are common in healthcare. Quantum Machine Learning leverages quantum properties, such as superposition and entanglement, to enhance pattern recognition and classification, potentially surpassing classical approaches. This paper explores QML's application in healthcare, focusing on quantum kernel methods and hybrid quantum-classical networks for heart disease prediction and COVID-19 detection, assessing their feasibility and performance.

Federated learning (FL) is a machine learning paradigm that allows multiple FL participants (FL-PTs) to collaborate on training models without sharing private data. Due to data heterogeneity, negative transfer may occur in the FL training process. This necessitates FL-PT selection based on their data complementarity. In cross-silo FL, organizations that engage in business activities are key sources of FL-PTs. The resulting FL ecosystem has two features: (i) self-interest, and (ii) competition among FL-PTs. This requires the desirable FL-PT selection strategy to simultaneously mitigate the problems of free riders and conflicts of interest among competitors. To this end, we propose an optimal FL collaboration formation strategy -- FedEgoists -- which ensures that: (1) a FL-PT can benefit from FL if and only if it benefits the FL ecosystem, and (2) a FL-PT will not contribute to its competitors or their supporters. It provides an efficient clustering solution to group FL-PTs into coalitions, ensuring that within each coalition, FL-PTs share the same interest. We theoretically prove that the FL-PT coalitions formed are optimal since no coalitions can collaborate together to improve the utility of any of their members. Extensive experiments on widely adopted benchmark datasets demonstrate the effectiveness of FedEgoists compared to nine state-of-the-art baseline methods, and its ability to establish efficient collaborative networks in cross-silos FL with FL-PTs that engage in business activities.

Seawater intrusion into coastal aquifers poses a significant threat to groundwater resources, especially with rising sea levels due to climate change. Accurate modeling and uncertainty quantification of this process are crucial but are often hindered by the high computational costs of traditional numerical simulations. In this work, we develop GeoFUSE, a novel deep-learning-based surrogate framework that integrates the U-Net Fourier Neural Operator (U-FNO) with Principal Component Analysis (PCA) and Ensemble Smoother with Multiple Data Assimilation (ESMDA). GeoFUSE enables fast and efficient simulation of seawater intrusion while significantly reducing uncertainty in model predictions. We apply GeoFUSE to a 2D cross-section of the Beaver Creek tidal stream-floodplain system in Washington State. Using 1,500 geological realizations, we train the U-FNO surrogate model to approximate salinity distribution and accumulation. The U-FNO model successfully reduces the computational time from hours (using PFLOTRAN simulations) to seconds, achieving a speedup of approximately 360,000 times while maintaining high accuracy. By integrating measurement data from monitoring wells, the framework significantly reduces geological uncertainty and improves the predictive accuracy of the salinity distribution over a 20-year period. Our results demonstrate that GeoFUSE improves computational efficiency and provides a robust tool for real-time uncertainty quantification and decision making in groundwater management. Future work will extend GeoFUSE to 3D models and incorporate additional factors such as sea-level rise and extreme weather events, making it applicable to a broader range of coastal and subsurface flow systems.

Inaccuracies in polygraph tests often lead to wrongful convictions, false information, and bias, all of which have significant consequences for both legal and political systems. Recently, analyzing facial micro-expressions has emerged as a method for detecting deception; however, current models have not reached high accuracy and generalizability. The purpose of this study is to aid in remedying these problems. The unique multimodal transformer architecture used in this study improves upon previous approaches by using auditory inputs, visual facial micro-expressions, and manually transcribed gesture annotations, moving closer to a reliable non-invasive lie detection model. Visual and auditory features were extracted using the Vision Transformer and OpenSmile models respectively, which were then concatenated with the transcriptions of participants micro-expressions and gestures. Various models were trained for the classification of lies and truths using these processed and concatenated features. The CNN Conv1D multimodal model achieved an average accuracy of 95.4%. However, further research is still required to create higher-quality datasets and even more generalized models for more diverse applications.

Stochastic optimal control (SOC) aims to direct the behavior of noisy systems and has widespread applications in science, engineering, and artificial intelligence. In particular, reward fine-tuning of diffusion and flow matching models and sampling from unnormalized methods can be recast as SOC problems. A recent work has introduced Adjoint Matching (Domingo-Enrich et al., 2024), a loss function for SOC problems that vastly outperforms existing loss functions in the reward fine-tuning setup. The goal of this work is to clarify the connections between all the existing (and some new) SOC loss functions. Namely, we show that SOC loss functions can be grouped into classes that share the same gradient in expectation, which means that their optimization landscape is the same; they only differ in their gradient variance. We perform simple SOC experiments to understand the strengths and weaknesses of different loss functions.

Despite growing efforts to halt distasteful content on social media, multilingualism has added a new dimension to this problem. The scarcity of resources makes the challenge even greater when it comes to low-resource languages. This work focuses on providing a novel method for abusive content detection in multiple low-resource Indic languages. Our observation indicates that a post's tendency to attract abusive comments, as well as features such as user history and social context, significantly aid in the detection of abusive content. The proposed method first learns social and text context features in two separate modules. The integrated representation from these modules is learned and used for the final prediction. To evaluate the performance of our method against different classical and state-of-the-art methods, we have performed extensive experiments on SCIDN and MACI datasets consisting of 1.5M and 665K multilingual comments, respectively. Our proposed method outperforms state-of-the-art baseline methods with an average increase of 4.08% and 9.52% in F1-scores on SCIDN and MACI datasets, respectively.

We consider the problem of high-dimensional heavy-tailed statistical estimation in the streaming setting, which is much harder than the traditional batch setting due to memory constraints. We cast this problem as stochastic convex optimization with heavy tailed stochastic gradients, and prove that the widely used Clipped-SGD algorithm attains near-optimal sub-Gaussian statistical rates whenever the second moment of the stochastic gradient noise is finite. More precisely, with $T$ samples, we show that Clipped-SGD, for smooth and strongly convex objectives, achieves an error of $\sqrt{\frac{\mathsf{Tr}(\Sigma)+\sqrt{\mathsf{Tr}(\Sigma)\|\Sigma\|_2}\log(\frac{\log(T)}{\delta})}{T}}$ with probability $1-\delta$, where $\Sigma$ is the covariance of the clipped gradient. Note that the fluctuations (depending on $\frac{1}{\delta}$) are of lower order than the term $\mathsf{Tr}(\Sigma)$. This improves upon the current best rate of $\sqrt{\frac{\mathsf{Tr}(\Sigma)\log(\frac{1}{\delta})}{T}}$ for Clipped-SGD, known only for smooth and strongly convex objectives. Our results also extend to smooth convex and lipschitz convex objectives. Key to our result is a novel iterative refinement strategy for martingale concentration, improving upon the PAC-Bayes approach of Catoni and Giulini.

New intent discovery is a crucial capability for task-oriented dialogue systems. Existing methods focus on transferring in-domain (IND) prior knowledge to out-of-domain (OOD) data through pre-training and clustering stages. They either handle the two processes in a pipeline manner, which exhibits a gap between intent representation and clustering process or use typical contrastive clustering that overlooks the potential supervised signals from the whole data. Besides, they often individually deal with open intent discovery or OOD settings. To this end, we propose a Pseudo-Label enhanced Prototypical Contrastive Learning (PLPCL) model for uniformed intent discovery. We iteratively utilize pseudo-labels to explore potential positive/negative samples for contrastive learning and bridge the gap between representation and clustering. To enable better knowledge transfer, we design a prototype learning method integrating the supervised and pseudo signals from IND and OOD samples. In addition, our method has been proven effective in two different settings of discovering new intents. Experiments on three benchmark datasets and two task settings demonstrate the effectiveness of our approach.

In this paper, we address the challenge of certifying the performance of a machine learning model on an unseen target network, using measurements from an available source network. We focus on a scenario where heterogeneous datasets are distributed across a source network of clients, all connected to a central server. Specifically, consider a source network "A" composed of $K$ clients, each holding private data from unique and heterogeneous distributions, which are assumed to be independent samples from a broader meta-distribution $\mu$. Our goal is to provide certified guarantees for the model's performance on a different, unseen target network "B," governed by another meta-distribution $\mu'$, assuming the deviation between $\mu$ and $\mu'$ is bounded by either the Wasserstein distance or an $f$-divergence. We derive theoretical guarantees for the model's empirical average loss and provide uniform bounds on the risk CDF, where the latter correspond to novel and adversarially robust versions of the Glivenko-Cantelli theorem and the Dvoretzky-Kiefer-Wolfowitz (DKW) inequality. Our bounds are computable in polynomial time with a polynomial number of queries to the $K$ clients, preserving client privacy by querying only the model's (potentially adversarial) loss on private data. We also establish non-asymptotic generalization bounds that consistently converge to zero as both $K$ and the minimum client sample size grow. Extensive empirical evaluations validate the robustness and practicality of our bounds across real-world tasks.