A scene may have long range non-local interactions, rotation equivariance may be violated by a preferred camera angle, or a dynamical system may occasionally have discontinuous transitions.

Models such as convolutional neural networks restrict the hypothesis space to a set of functions satisfying equivariance constraints, and improve generalization in problems by capturing relevant symmetries. However, symmetries are often only partially respected, preventing models with restriction biases from fitting the data. We introduce Residual Pathway Priors (RPPs) as a method for converting hard architectural constraints into soft priors, guiding models towards structured solutions while retaining the ability to capture additional complexity. RPPs are resilient to approximate or misspecified symmetries, and are as effective as fully constrained models even when symmetries are exact. We show that RPPs provide compelling performance on both model-free and model-based reinforcement learning problems, where contact forces and directional rewards violate the assumptions of equivariant networks. Finally, we demonstrate that RPPs have broad applicability, including dynamical systems, regression, and classification.

Models such as convolutional neural networks restrict the hypothesis space to a set of functions satisfying equivariance constraints, and improve generalization in problems by capturing relevant symmetries. However, symmetries are often only partially respected, preventing models with restriction biases from fitting the data. We introduce Residual Pathway Priors (RPPs) as a method for converting hard architectural constraints into soft priors, guiding models towards structured solutions while retaining the ability to capture additional complexity. RPPs are resilient to approximate or misspecified symmetries, and are as effective as fully constrained models even when symmetries are exact. We show that RPPs provide compelling performance on both model-free and model-based reinforcement learning problems, where contact forces and directional rewards violate the assumptions of equivariant networks. Finally, we demonstrate that RPPs have broad applicability, including dynamical systems, regression, and classification.

Models such as convolutional neural networks restrict the hypothesis space to a set of functions satisfying equivariance constraints, and improve generalization in problems by capturing relevant symmetries. However, symmetries are often only partially respected, preventing models with restriction biases from fitting the data. We introduce Residual Pathway Priors (RPPs) as a method for converting hard architectural constraints into soft priors, guiding models towards structured solutions while retaining the ability to capture additional complexity. RPPs are resilient to approximate or misspecified symmetries, and are as effective as fully constrained models even when symmetries are exact. We show that RPPs provide compelling performance on both model-free and model-based reinforcement learning problems, where contact forces and directional rewards violate the assumptions of equivariant networks. Finally, we demonstrate that RPPs have broad applicability, including dynamical systems, regression, and classification.

Datasets often have their intrinsic symmetries, and particular deep-learning models called equivariant or invariant models have been developed to exploit these symmetries. However, if some or all of these symmetries are only approximate, which frequently happens in practice, these models may be suboptimal due to the architectural restrictions imposed on them. We tackle this issue of approximate symmetries in a setup where symmetries are mixed, i.e., they are symmetries of not single but multiple different types and the degree of approximation varies across these types. Instead of proposing a new architectural restriction as in most of the previous approaches, we present a regularizer-based method for building a model for a dataset with mixed approximate symmetries. The key component of our method is what we call equivariance regularizer for a given type of symmetries, which measures how much a model is equivariant with respect to the symmetries of the type. Our method is trained with these regularizers, one per each symmetry type, and the strength of the regularizers is automatically tuned during training, leading to the discovery of the approximation levels of some candidate symmetry types without explicit supervision. Using synthetic function approximation and motion forecasting tasks, we demonstrate that our method achieves better accuracy than prior approaches while discovering the approximate symmetry levels correctly.

The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While most formulations of Dynamic Window Approach and Model Predictive Control can progress along paths and optimize for additional criteria, the use of pure path tracking algorithms is still commonplace. Decades later, Pure Pursuit and its variants continues to be one of the most commonly utilized classes of local trajectory planners. However, few Pure Pursuit variants have been proposed with schema for variable linear velocities - they either assume a constant velocity or fails to address the point at all. This paper presents a variant of Pure Pursuit designed with additional heuristics to regulate linear velocities, built atop the existing Adaptive variant. The Regulated Pure Pursuit algorithm makes incremental improvements on state of the art by adjusting linear velocities with particular focus on safety in constrained and partially observable spaces commonly negotiated by deployed robots. We present experiments with the Regulated Pure Pursuit algorithm on industrial-grade service robots. We also provide a high-quality reference implementation that is freely included ROS 2 Nav2 framework at https://github.com/ros-planning/navigation2 for fast evaluation.

The U.S. Department of Defense (DoD) has issued a third Request for Prototype Proposal (RPPs) in support of electromagnetic spectrum research related to the capabilities of the over 400 members of the National Spectrum Consortium. Issued under the DoD's Spectrum Access Research & Development (SAR&DP) Program, the RPP is part of a series of requirements to develop near real time spectrum management technologies that leverage machine learning (ML) and artificial intelligence (AI) to more efficiently allocate spectrum assignments based on operational planning and intended operational outcomes. Officials claim that this specific RPP is centered on the Operational Spectrum Comprehension, Analytics, and Response (OSCAR) effort. This project will aim to create a software application with unified graphical user interface, automated workflows, sensor network, and extensible framework needed at testing and training ranges for aerial combat training to ensure that spectrum is available when and where needed for AWS-3 impacted systems and incumbent systems. According to officials, the goal is to provide advanced spectrum management capabilities to the incumbent systems in the AWS-3 bands; however, this prototype will be applicable to all spectrum being managed on range.

These pre-trained language representations can create state-of-the-art results on a wide range of downstream tasks. Along with continuous significant performance improvement, the size and complexity of these pre-trained neural models continue to increase rapidly. Is it possible to compress these large-scale language representation models? How will the pruned language representation affect the downstream multi-task transfer learning objectives? In this paper, we propose Reweighted Proximal Pruning (RPP), a new pruning method specifically designed for a large-scale language representation model. Through experiments on SQuAD and the GLUE benchmark suite, we show that proximal pruned BERT keeps high accuracy for both the pre-training task and the downstream multiple fine-tuning tasks at high prune ratio. RPP provides a new perspective to help us analyze what large-scale language representation might learn. Additionally, RPP makes it possible to deploy a large state-of-the-art language representation model such as BERT on a series of distinct devices (e.g., online servers, mobile phones, and edge devices). More interestingly, the pre-trained BERT model can be fine-tuned with just one additional output layer to create state-of-the-art models for a wide range of tasks, such as question answering (Rajpurkar et al., 2016; 2018), and language inference (Bowman et al., 2015; Williams et al., 2017), without substantial task-specific architecture modifications. BERT is conceptually simple and empirically powerful (Devlin et al., 2019).

Young isolated neutron stars (INS) most commonly manifest themselves as rotationally powered pulsars (RPPs) which involve conventional radio pulsars as well as gamma-ray pulsars (GRPs) and rotating radio transients (RRATs). Some other young INS families manifest themselves as anomalous X-ray pulsars (AXPs) and soft gamma-ray repeaters (SGRs) which are commonly accepted as magnetars, i.e.\ magnetically powered neutron stars with decaying super-strong fields. Yet some other young INS are identified as central compact objects (CCOs) and X-ray dim isolated neutron stars (XDINs) which are cooling objects powered by their thermal energy. Older pulsars, as a result of a previous long episode of accretion from a companion, manifest themselves as millisecond pulsars and more commonly appear in binary systems. We use Dirichlet process Gaussian mixture model (DPGMM), an unsupervised machine learning algorithm, for analyzing the distribution of these pulsar families in period $P$ and period derivative $\dot{P}$ parameter space. We compare the average values of the characteristic age, magnetic dipole field strength, surface temperature and proper motion of all discovered components. We verify that DPGMM is robust and provides hints for inferring relations between different classes of pulsars. We discuss the implications of our findings for the magnetothermal spin evolution models and fallback discs.

Motivation: Modelling methods that find structure in data are necessary with the current large volumes of genomic data, and there have been various efforts to find subsets of genes exhibiting consistent patterns over subsets of treatments. These biclustering techniques have focused on one data source, often gene expression data. We present a Bayesian approach for joint biclustering of multiple data sources, extending a recent method Group Factor Analysis (GFA) to have a biclustering interpretation with additional sparsity assumptions. The resulting method enables data-driven detection of linear structure present in parts of the data sources. Results: Our simulation studies show that the proposed method reliably infers bi-clusters from heterogeneous data sources. We tested the method on data from the NCI-DREAM drug sensitivity prediction challenge, resulting in an excellent prediction accuracy. Moreover, the predictions are based on several biclusters which provide insight into the data sources, in this case on gene expression, DNA methylation, protein abundance, exome sequence, functional connectivity fingerprints and drug sensitivity.