We present an expository overview of technical and cultural challenges to the development and adoption of automation at various stages in the data science prediction lifecycle, restricting focus to supervised learning with structured datasets. In addition, we review popular open source Python tools implementing common solution patterns for the automation challenges and highlight gaps where we feel progress still demands to be made.

In this work, we consider a federated learning model in a wireless system with multiple base stations and inter-cell interference. We apply a differential private scheme to transmit information from users to their corresponding base station during the learning phase. We show the convergence behavior of the learning process by deriving an upper bound on its optimality gap. Furthermore, we define an optimization problem to reduce this upper bound and the total privacy leakage. To find the locally optimal solutions of this problem, we first propose an algorithm that schedules the resource blocks and users. We then extend this scheme to reduce the total privacy leakage by optimizing the differential privacy artificial noise. We apply the solutions of these two procedures as parameters of a federated learning system. In this setting, we assume that each user is equipped with a classifier. Moreover, the communication cells are assumed to have mostly fewer resource blocks than numbers of users. The simulation results show that our proposed scheduler improves the average accuracy of the predictions compared with a random scheduler. Furthermore, its extended version with noise optimizer significantly reduces the amount of privacy leakage.

The impossibility theorem of fairness is a foundational result in the algorithmic fairness literature. It states that outside of special cases, one cannot exactly and simultaneously satisfy all three common and intuitive definitions of fairness - demographic parity, equalized odds, and predictive rate parity. This result has driven most works to focus on solutions for one or two of the metrics. Rather than follow suit, in this paper we present a framework that pushes the limits of the impossibility theorem in order to satisfy all three metrics to the best extent possible. We develop an integer-programming based approach that can yield a certifiably optimal post-processing method for simultaneously satisfying multiple fairness criteria under small violations. We show experiments demonstrating that our post-processor can improve fairness across the different definitions simultaneously with minimal model performance reduction. We also discuss applications of our framework for model selection and fairness explainability, thereby attempting to answer the question: who's the fairest of them all?

The recent focus on the efficiency of deep neural networks (DNNs) has led to significant work on model compression approaches, of which weight pruning is one of the most popular. At the same time, there is rapidly-growing computational support for efficiently executing the unstructured-sparse models obtained via pruning. Yet, most existing pruning methods minimize just the number of remaining weights, i.e. the size of the model, rather than optimizing for inference time. We address this gap by introducing SPDY, a new compression method which automatically determines layer-wise sparsity targets achieving a desired inference speedup on a given system, while minimizing accuracy loss. SPDY is composed of two new techniques: the first is an efficient dynamic programming algorithm for solving the speedup-constrained layer-wise compression problem assuming a set of given layer-wise sensitivity scores; the second is a local search procedure for determining accurate layer-wise sensitivity scores. Experiments across popular vision and language models show that SPDY guarantees speedups while recovering higher accuracy relative to existing strategies, both for one-shot and gradual pruning scenarios, and is compatible with most existing pruning approaches. We also extend our approach to the recently-proposed task of pruning with very little data, where we achieve the best known accuracy recovery when pruning to the GPU-supported 2:4 sparsity pattern.

Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory optimization framework for legged robots performing aggressive 3D jumping. In our method, we firstly utilize an effective optimization framework using simplified rigid body dynamics to solve for contact timings and a reference trajectory of the robot body. The solution of this module is then used to formulate a full-body trajectory optimization based on the full nonlinear dynamics of the robot. This combination allows us to effectively optimize for contact timings while ensuring that the jumping trajectory can be effectively realized in the robot hardware. We first validate the efficiency of the proposed framework on the A1 robot model for various 3D jumping tasks such as double-backflips off the high altitude of 2m. Experimental validation was then successfully conducted for various aggressive 3D jumping motions such as diagonal jumps, barrel roll, and double barrel roll from a box of heights 0.4m and 0.9m, respectively.

While most frameworks for online sequential decision-making focus on the objective of maximizing reward, in practice this is rarely the sole objective. Other considerations may involve budget constraints, ensuring fair treatment, or estimating various population characteristics. There has been growing recognition that these other objectives must be formally integrated into sequential decision-making frameworks, especially if such algorithms are to be used in sensitive application areas [21]. In this work, we focus on the problem of maximizing reward while simultaneously estimating the population total (equivalently, mean) in a structured bandit setting. The most natural approach to this problem from a machine learning perspective is to use a model to predict the mean. However, this method is subject to the problem that adaptively collected data are subject to bias, which in turn biases the model estimates [29].

Once we load a DataFrame into the Python environment, we typically perform a wide range of modifications on the DataFrame, don't we? These include adding new columns, renaming headers, deleting columns, altering row values, replacing NaN values, and many more. Standard Assignment intends to create a new copy of the DataFrame after transformation, leaving the original DataFrame untouched. As a result of the standard assignment, two distinct Pandas DataFrames (original and transformed) co-exist in the environment (df and df_copy above), doubling the memory utilization. In contrast to the standard assignment operations, inplace assignment operations intend to modify the original DataFrame itself without creating a new Pandas DataFrame object.

Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and variable shape stiffness, so having a unique algorithm for all these issues would be extremely beneficial. In this work, we adapt Model Predictive Control (MPC), popular for rigid robots, to a soft robotic arm called SoPrA. We address the challenges that current control methods are facing, by proposing a framework that handles these in a modular manner. While previous work focused on Joint-Space formulations, we show through simulation and experimental results that Task-Space MPC can be successfully implemented for dynamic soft robotic control. We provide a way to couple the Piece-wise Constant Curvature and Augmented Rigid Body Model assumptions with internal and external constraints and actuation dynamics, delivering an algorithm that unites these aspects and optimizes over them. We believe that a MPC implementation based on our approach could be the way to address most of model-based soft robotics control issues within a unified and modular framework, while allowing to include improvements that usually belong to other control domains such as machine learning techniques.

This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to enable data offload to the corresponding destination. The robot needs to minimize the average time that data waits at a source before being serviced. We are interested in finding optimal robotic routing policies consisting of 1) locations where the robot stops to relay (relay positions) and 2) conditional transition probabilities that determine the sequence in which the pairs are serviced. We first pose this problem as a non-convex problem that optimizes over both relay positions and transition probabilities. To find approximate solutions, we propose a novel algorithm which alternately optimizes relay positions and transition probabilities. For the former, we find efficient convex partitions of the non-convex relay regions, then formulate a mixed-integer second-order cone problem. For the latter, we find optimal transition probabilities via sequential least squares programming. We extensively analyze the proposed approach and mathematically characterize important system properties related to the robot's long-term energy consumption and service rate. Finally, through extensive simulation with real channel parameters, we verify the efficacy of our approach. Significant advances in robotics over the past several years have created new possibilities in the design of communication systems.

In this work, we propose FedSSO, a server-side second-order optimization method for federated learning (FL). In contrast to previous works in this direction, we employ a server-side approximation for the Quasi-Newton method without requiring any training data from the clients. In this way, we not only shift the computation burden from clients to server, but also eliminate the additional communication for second-order updates between clients and server entirely. We provide theoretical guarantee for convergence of our novel method, and empirically demonstrate our fast convergence and communication savings in both convex and non-convex settings.