We propose a path-tracking Hybrid A* planner and a coupled hierarchical Model Predictive Control (MPC) controller in scenarios involving the path smoothing of agricultural vehicles. For agricultural vehicles following reference paths on farmlands, especially during cross-furrow operations, a minimum deviation from the reference path is desired, in addition to the curvature constraints and body scale collision avoidance. Our contribution is threefold. (1) We propose the path-tracking Hybrid A*, which satisfies nonholonomic constraints and vehicle size collision avoidance, and devise new cost and heuristic functions to minimize the deviation degree. The path-tracking Hybrid A* can not only function in offline smoothing but also the real-time adjustment when confronted with unexpected obstacles. (2) We propose the hierarchical MPC to safely track the smoothed trajectory, using the initial solution solved by linearized MPC and nonlinear local adjustments around the initial solution. (3) We carry out extensive simulations with baseline comparisons based on real-world farm datasets to evaluate the performance of our algorithm.

How can robots learn and adapt to new tasks and situations with little data? Systematic exploration and simulation are crucial tools for efficient robot learning. We present a novel black-box policy search algorithm focused on data-efficient policy improvements. The algorithm learns directly on the robot and treats simulation as an additional information source to speed up the learning process. At the core of the algorithm, a probabilistic model learns the dependence of the policy parameters and the robot learning objective not only by performing experiments on the robot, but also by leveraging data from a simulator. This substantially reduces interaction time with the robot. Using this model, we can guarantee improvements with high probability for each policy update, thereby facilitating fast, goal-oriented learning. We evaluate our algorithm on simulated fine-tuning tasks and demonstrate the data-efficiency of the proposed dual-information source optimization algorithm. In a real robot learning experiment, we show fast and successful task learning on a robot manipulator with the aid of an imperfect simulator.

This paper presents an advanced mathematical problem-solving framework, LLaMA-Berry, for enhancing the mathematical reasoning ability of Large Language Models (LLMs). The framework combines Monte Carlo Tree Search (MCTS) with iterative Self-Refine to optimize the reasoning path and utilizes a pairwise reward model to evaluate different paths globally. By leveraging the self-critic and rewriting capabilities of LLMs, Self-Refine applied to MCTS (SR-MCTS) overcomes the inefficiencies and limitations of conventional step-wise and greedy search algorithms by fostering a more efficient exploration of solution spaces. Pairwise Preference Reward Model~(PPRM), inspired by Reinforcement Learning from Human Feedback (RLHF), is then used to model pairwise preferences between solutions, utilizing an Enhanced Borda Count (EBC) method to synthesize these preferences into a global ranking score to find better answers. This approach addresses the challenges of scoring variability and non-independent distributions in mathematical reasoning tasks. The framework has been tested on general and advanced benchmarks, showing superior performance in terms of search efficiency and problem-solving capability compared to existing methods like ToT and rStar, particularly in complex Olympiad-level benchmarks, including GPQA, AIME24 and AMC23.

The advent of foundation models have revolutionized various fields, enabling unprecedented task accuracy and flexibility in computational linguistics, computer vision and other domains. Attention mechanism has become an essential component of foundation models, due to their superb capability of capturing correlations in a sequence. However, attention results in quadratic complexity in memory and compute as the context length grows. Although many fusion-based exact attention acceleration algorithms have been developed for datacenter-grade GPUs and accelerators leveraging multi-core parallelism and data locality, yet it remains a significant challenge to accelerate attention on resource-constrained edge neural accelerators with limited compute units and stringent on-chip caches. In this paper, we propose a scheme for exact attention inference acceleration on memory-constrained edge accelerators, by parallelizing the utilization of heterogeneous compute units, i.e., vector processing units and matrix processing units. Our method involves scheduling workloads onto these different compute units in a multi-tiered tiling scheme to process tiled vector workloads and matrix workloads in attention as two streams, respecting the workload dependencies. We search for tiling factors to maximize the parallelization of both compute units while considering I/O overhead, and propose a proactive cache overwrite strategy to avoid undesirable cache spills in reality. Extensive results based on open-sourced simulation frameworks show up to 2.75x speedup and 54% reduction in energy consumption as compared to the state-of-the-art attention fusion method (FLAT) in the edge computing scenario. Further experiments on a real-world edge neural processing unit demonstrate speedup of up to 1.76x for attention as compared to FLAT, without affecting model output accuracy.

Determining the maximal density $m_1(\mathbb{R}^2)$ of planar sets without unit distances is a fundamental problem in combinatorial geometry. This paper investigates lower bounds for this quantity. We introduce a novel approach to estimating $m_1(\mathbb{R}^2)$ by reformulating the problem as a Maximal Independent Set (MIS) problem on graphs constructed from flat torus, focusing on periodic sets with respect to two non-collinear vectors. Our experimental results supported by theoretical justifications of proposed method demonstrate that for a sufficiently wide range of parameters this approach does not improve the known lower bound $0.22936 \le m_1(\mathbb{R}^2)$. The best discrete sets found are approximations of Croft's construction. In addition, several open source software packages for MIS problem are compared on this task.

Recently, several universal methods have been proposed for online convex optimization, and attain minimax rates for multiple types of convex functions simultaneously. However, they need to design and optimize one surrogate loss for each type of functions, making it difficult to exploit the structure of the problem and utilize existing algorithms. In this paper, we propose a simple strategy for universal online convex optimization, which avoids these limitations. The key idea is to construct a set of experts to process the original online functions, and deploy a meta-algorithm over the linearized losses to aggregate predictions from experts. Specifically, the meta-algorithm is required to yield a second-order bound with excess losses, so that it can leverage strong convexity and exponential concavity to control the meta-regret. In this way, our strategy inherits the theoretical guarantee of any expert designed for strongly convex functions and exponentially concave functions, up to a double logarithmic factor. As a result, we can plug in off-the-shelf online solvers as black-box experts to deliver problem-dependent regret bounds. For general convex functions, it maintains the minimax optimality and also achieves a small-loss bound. Furthermore, we extend our universal strategy to online composite optimization, where the loss function comprises a time-varying function and a fixed regularizer. To deal with the composite loss functions, we employ a meta-algorithm based on the optimistic online learning framework, which not only possesses a second-order bound, but also can utilize estimations for upcoming loss functions. With appropriate configurations, we demonstrate that the additional regularizer does not contribute to the meta-regret, thus maintaining the universality in the composite setting.

In the measurement-constrained problems, despite the availability of large datasets, we may be only affordable to observe the labels on a small portion of the large dataset. This poses a critical question that which data points are most beneficial to label given a budget constraint. In this paper, we focus on the estimation of the optimal individualized threshold in a measurement-constrained M-estimation framework. Our goal is to estimate a high-dimensional parameter $\theta$ in a linear threshold $\theta^T Z$ for a continuous variable $X$ such that the discrepancy between whether $X$ exceeds the threshold $\theta^T Z$ and a binary outcome $Y$ is minimized. We propose a novel $K$-step active subsampling algorithm to estimate $\theta$, which iteratively samples the most informative observations and solves a regularized M-estimator. The theoretical properties of our estimator demonstrate a phase transition phenomenon with respect to $\beta\geq 1$, the smoothness of the conditional density of $X$ given $Y$ and $Z$. For $\beta>(1+\sqrt{3})/2$, we show that the two-step algorithm yields an estimator with the parametric convergence rate $O_p((s \log d /N)^{1/2})$ in $l_2$ norm. The rate of our estimator is strictly faster than the minimax optimal rate with $N$ i.i.d. samples drawn from the population. For the other two scenarios $1<\beta\leq (1+\sqrt{3})/2$ and $\beta=1$, the estimator from the two-step algorithm is sub-optimal. The former requires to run $K>2$ steps to attain the same parametric rate, whereas in the latter case only a near parametric rate can be obtained. Furthermore, we formulate a minimax framework for the measurement-constrained M-estimation problem and prove that our estimator is minimax rate optimal up to a logarithmic factor. Finally, we demonstrate the performance of our method in simulation studies and apply the method to analyze a large diabetes dataset.

In a variety of domains, from robotics to finance, Quality-Diversity algorithms have been used to generate collections of both diverse and high-performing solutions. Multi-Objective Quality-Diversity algorithms have emerged as a promising approach for applying these methods to complex, multi-objective problems. However, existing methods are limited by their search capabilities. For example, Multi-Objective Map-Elites depends on random genetic variations which struggle in high-dimensional search spaces. Despite efforts to enhance search efficiency with gradient-based mutation operators, existing approaches consider updating solutions to improve on each objective separately rather than achieving desired trade-offs. In this work, we address this limitation by introducing Multi-Objective Map-Elites with Preference-Conditioned Policy-Gradient and Crowding Mechanisms: a new Multi-Objective Quality-Diversity algorithm that uses preference-conditioned policy-gradient mutations to efficiently discover promising regions of the objective space and crowding mechanisms to promote a uniform distribution of solutions on the Pareto front. We evaluate our approach on six robotics locomotion tasks and show that our method outperforms or matches all state-of-the-art Multi-Objective Quality-Diversity methods in all six, including two newly proposed tri-objective tasks. Importantly, our method also achieves a smoother set of trade-offs, as measured by newly-proposed sparsity-based metrics. This performance comes at a lower computational storage cost compared to previous methods.

This paper proposes a Graph Neural Network-guided algorithm for solving word equations, based on the well-known Nielsen transformation for splitting equations. The algorithm iteratively rewrites the first terms of each side of an equation, giving rise to a tree-like search space. The choice of path at each split point of the tree significantly impacts solving time, motivating the use of Graph Neural Networks (GNNs) for efficient split decision-making. Split decisions are encoded as multi-classification tasks, and five graph representations of word equations are introduced to encode their structural information for GNNs. The algorithm is implemented as a solver named DragonLi. Experiments are conducted on artificial and real-world benchmarks. The algorithm performs particularly well on satisfiable problems. For single word \mbox{equations}, DragonLi can solve significantly more problems than well-established string solvers. For the conjunction of multiple word equations, DragonLi is competitive with state-of-the-art string solvers.

Nearest neighbor (NN) algorithms have been extensively used for missing data problems in recommender systems and sequential decision-making systems. Prior theoretical analysis has established favorable guarantees for NN when the underlying data is sufficiently smooth and the missingness probabilities are lower bounded. Here we analyze NN with non-smooth non-linear functions with vast amounts of missingness. In particular, we consider matrix completion settings where the entries of the underlying matrix follow a latent non-linear factor model, with the non-linearity belonging to a \Holder function class that is less smooth than Lipschitz. Our results establish following favorable properties for a suitable two-sided NN: (1) The mean squared error (MSE) of NN adapts to the smoothness of the non-linearity, (2) under certain regularity conditions, the NN error rate matches the rate obtained by an oracle equipped with the knowledge of both the row and column latent factors, and finally (3) NN's MSE is non-trivial for a wide range of settings even when several matrix entries might be missing deterministically. We support our theoretical findings via extensive numerical simulations and a case study with data from a mobile health study, HeartSteps.