Quantum federated learning (QFL) is a quantum extension of the classical federated learning model across multiple local quantum devices. An efficient optimization algorithm is always expected to minimize the communication overhead among different quantum participants. In this work, we propose an efficient optimization algorithm, namely federated quantum natural gradient descent (FQNGD), and further, apply it to a QFL framework that is composed of a variational quantum circuit (VQC)-based quantum neural networks (QNN). Compared with stochastic gradient descent methods like Adam and Adagrad, the FQNGD algorithm admits much fewer training iterations for the QFL to get converged. Moreover, it can significantly reduce the total communication overhead among local quantum devices. Our experiments on a handwritten digit classification dataset justify the effectiveness of the FQNGD for the QFL framework in terms of a faster convergence rate on the training set and higher accuracy on the test set.

Uncertainty is prevalent in robotics. Due to measurement noise and complex dynamics, we cannot estimate the exact system and environment state. Since conservative motion planners are not guaranteed to find a safe control strategy in a crowded, uncertain environment, we propose a density-based method. Our approach uses a neural network and the Liouville equation to learn the density evolution for a system with an uncertain initial state. We can plan for feasible and probably safe trajectories by applying a gradient-based optimization procedure to minimize the collision risk. We conduct motion planning experiments on simulated environments and environments generated from real-world data and outperform baseline methods such as model predictive control and nonlinear programming. While our method requires offline planning, the online run time is 100 times smaller compared to model predictive control.

Interactive exploration of large, multidimensional datasets plays a very important role in various scientific fields. It makes it possible not only to identify important structural features and forms, such as clusters of vertices and their connection patterns, but also to evaluate their interrelationships in terms of position, distance, shape and connection density. We argue that the visualization of multidimensional data is well approximated by the problem of two-dimensional embedding of undirected nearest-neighbor graphs. The size of complex networks is a major challenge for today's computer systems and still requires more efficient data embedding algorithms. Existing reduction methods are too slow and do not allow interactive manipulation. We show that high-quality embeddings are produced with minimal time and memory complexity. We present very efficient IVHD algorithms (CPU and GPU) and compare them with the latest and most popular dimensionality reduction methods. We show that the memory and time requirements are dramatically lower than for base codes. At the cost of a slight degradation in embedding quality, IVHD preserves the main structural properties of the data well with a much lower time budget. We also present a meta-algorithm that allows the use of any unsupervised data embedding method in a supervised manner.

In this paper, we introduce and explore augmented quaternions and augmented unit quaternions, and present an augmented unit quaternion optimization model. An augmented quaternion consist of a quaternion and a translation vector. The multiplication rule of augmented quaternion is defined. An augmented unit quaternion consists of a unit quaternion and a translation vector. The augmented unit quaternions form a Lie group. By means of augmented unit quaternions, we study the error model and kinematics. Then we formulate two classical problems in robot research, i.e., the hand-eye calibration problem and the simultaneous localization and mapping (SLAM) problem as augmented unit quaternion optimization problems, which are actually real smooth spherical equality constrained optimization problems. Comparing with the corresponding unit dual quaternion optimization model, the augmented unit quaternion optimization model has less variables and removes the orthogonality constraints.

The design of algorithms or protocols that are able to align the goals of the planner with the selfish interests of the agents involved in these protocols is of paramount importance in almost every decentralized setting (such as, computer networks, markets, etc.) as shown by the rich literature in Mechanism Design. Recently, huge interest has been devoted to the design of mechanisms for imperfectly rational agents, i.e., mechanisms for which agents are able to easily grasp that there is no action different from following the protocol that would satisfy their interests better. This work has culminated in the definition of Obviously Strategyproof (OSP) Mechanisms, that have been shown to capture the incentives of agents without contingent reasoning skills. Without an understanding of the algorithmic nature of OSP mechanisms, it is hard to assess how well these mechanisms can satisfy the goals of the planner. For the case of binary allocation problems and agents whose private type is a single number, recent work has shown that a generalization of greedy completely characterizes OSP. In this work, we strengthen the connection between greedy and OSP by providing a characterization of OSP mechanisms for all optimization problems involving these single-parameter agents. Specifically, we prove that OSP mechanisms must essentially work as follows: they either greedily look for agents with ``better'' types and allocate them larger outcomes; or reverse greedily look for agents with ``worse'' types and allocate them smaller outcomes; or, finally, split the domain of agents in ``good'' and ``bad'' types, and subsequently proceed in a reverse greedy fashion for the former and greedily for the latter. We further demonstrate how to use this characterization to give bounds on the approximation guarantee of OSP mechanisms for the well known scheduling related machines problem.

We introduce a computational method to optimize target physical properties in the full configuration space regarding atomic composition, chemical stoichiometry, and crystal structure. The approach combines the universal potential of the crystal graph neural network and Bayesian optimization. The proposed approach effectively obtains the crystal structure with the strongest atomic cohesion from all possible crystals. Several new crystals with high atomic cohesion are identified and confirmed by density functional theory for thermodynamic and dynamic stability. Our method introduces a novel approach to inverse materials design with additional functional properties for practical applications.

In this paper, we present an automated parameter optimization method for trajectory generation. We formulate parameter optimization as a constrained optimization problem that can be effectively solved using Bayesian optimization. While the approach is generic to any trajectory generation method, we showcase it using optimization fabrics. Optimization fabrics are a geometric trajectory generation method based on non-Riemannian geometry. By symbolically pre-solving the structure of the tree of fabrics, we obtain a parameterized trajectory generator, called symbolic fabrics. We show that autotuned symbolic fabrics reach expert-level performance in a few trials. Additionally, we show that tuning transfers across different robots, motion planning problems and between simulation and real world. Finally, we qualitatively showcase that the framework could be used for coupled mobile manipulation.

The mobile communication enabled by cellular networks is the one of the main foundations of our modern society. Optimizing the performance of cellular networks and providing massive connectivity with improved coverage and user experience has a considerable social and economic impact on our daily life. This performance relies heavily on the configuration of the network parameters. However, with the massive increase in both the size and complexity of cellular networks, network management, especially parameter configuration, is becoming complicated. The current practice, which relies largely on experts' prior knowledge, is not adequate and will require lots of domain experts and high maintenance costs. In this work, we propose a learning-based framework for handover parameter configuration. The key challenge, in this case, is to tackle the complicated dependencies between neighboring cells and jointly optimize the whole network. Our framework addresses this challenge in two ways. First, we introduce a novel approach to imitate how the network responds to different network states and parameter values, called auto-grouping graph convolutional network (AG-GCN). During the parameter configuration stage, instead of solving the global optimization problem, we design a local multi-objective optimization strategy where each cell considers several local performance metrics to balance its own performance and its neighbors. We evaluate our proposed algorithm via a simulator constructed using real network data. We demonstrate that the handover parameters our model can find, achieve better average network throughput compared to those recommended by experts as well as alternative baselines, which can bring better network quality and stability. It has the potential to massively reduce costs arising from human expert intervention and maintenance.

In targeted poisoning attacks, an attacker manipulates an agent-environment interaction to force the agent into adopting a policy of interest, called target policy. Prior work has primarily focused on attacks that modify standard MDP primitives, such as rewards or transitions. In this paper, we study targeted poisoning attacks in a two-agent setting where an attacker implicitly poisons the effective environment of one of the agents by modifying the policy of its peer. We develop an optimization framework for designing optimal attacks, where the cost of the attack measures how much the solution deviates from the assumed default policy of the peer agent. We further study the computational properties of this optimization framework. Focusing on a tabular setting, we show that in contrast to poisoning attacks based on MDP primitives (transitions and (unbounded) rewards), which are always feasible, it is NP-hard to determine the feasibility of implicit poisoning attacks. We provide characterization results that establish sufficient conditions for the feasibility of the attack problem, as well as an upper and a lower bound on the optimal cost of the attack. We propose two algorithmic approaches for finding an optimal adversarial policy: a model-based approach with tabular policies and a model-free approach with parametric/neural policies. We showcase the efficacy of the proposed algorithms through experiments.

The empirical success of Reinforcement Learning (RL) in the setting of contact-rich manipulation leaves much to be understood from a model-based perspective, where the key difficulties are often attributed to (i) the explosion of contact modes, (ii) stiff, non-smooth contact dynamics and the resulting exploding / discontinuous gradients, and (iii) the non-convexity of the planning problem. The stochastic nature of RL addresses (i) and (ii) by effectively sampling and averaging the contact modes. On the other hand, model-based methods have tackled the same challenges by smoothing contact dynamics analytically. Our first contribution is to establish the theoretical equivalence of the two methods for simple systems, and provide qualitative and empirical equivalence on a number of complex examples. In order to further alleviate (ii), our second contribution is a convex, differentiable and quasi-dynamic formulation of contact dynamics, which is amenable to both smoothing schemes, and has proven through experiments to be highly effective for contact-rich planning. Our final contribution resolves (iii), where we show that classical sampling-based motion planning algorithms can be effective in global planning when contact modes are abstracted via smoothing. Applying our method on a collection of challenging contact-rich manipulation tasks, we demonstrate that efficient model-based motion planning can achieve results comparable to RL with dramatically less computation. Video: https://youtu.be/12Ew4xC-VwA