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Multi-robot collaborative navigation is an essential ability where teamwork and synchronization are keys. In complex and uncertain environments, adaptive formation is vital, as rigid formations prove to be inadequate. The ability of robots to dynamically adjust their formation enables navigation through unpredictable spaces, maintaining cohesion, and effectively responding to environmental challenges. In this paper, we introduce a novel approach that uses bi-level learning framework. Specifically, we use graph learning at a high level for group coordination and reinforcement learning for individual navigation. We innovate by integrating a spring-damper model within the reinforcement learning reward mechanism, addressing the rigidity of traditional formation control methods. During execution, our approach enables a team of robots to successfully navigate challenging environments, maintain a desired formation shape, and dynamically adjust their formation scale based on environmental information. We conduct extensive experiments to evaluate our approach across three distinct formation scenarios in multi-robot navigation: circle, line, and wedge. Experimental results show that our approach achieves promising results and scalability on multi-robot navigation with formation adaptation.

Modern DNN-based recommendation systems rely on training-derived embeddings of sparse features. Input sparsity makes obtaining high-quality embeddings for rarely-occurring categories harder as their representations are updated infrequently. We demonstrate a training-time technique to produce superior embeddings via effective cross-category learning and theoretically explain its surprising effectiveness. The scheme, termed the multi-layer embeddings training (MLET), trains embeddings using factorization of the embedding layer, with an inner dimension higher than the target embedding dimension. For inference efficiency, MLET converts the trained two-layer embedding into a single-layer one thus keeping inference-time model size unchanged. Empirical superiority of MLET is puzzling as its search space is not larger than that of the single-layer embedding. The strong dependence of MLET on the inner dimension is even more surprising. We develop a theory that explains both of these behaviors by showing that MLET creates an adaptive update mechanism modulated by the singular vectors of embeddings. When tested on multiple state-of-the-art recommendation models for click-through rate (CTR) prediction tasks, MLET consistently produces better models, especially for rare items. At constant model quality, MLET allows embedding dimension, and model size, reduction by up to 16x, and 5.8x on average, across the models., Comment: This is the preprint of our paper accepted at ACML 2023

Large Language Models (LLMs) have shown immense potential in multimodal applications, yet the convergence of textual and musical domains remains not well-explored. To address this gap, we present MusiLingo, a novel system for music caption generation and music-related query responses. MusiLingo employs a single projection layer to align music representations from the pre-trained frozen music audio model MERT with a frozen LLM, bridging the gap between music audio and textual contexts. We train it on an extensive music caption dataset and fine-tune it with instructional data. Due to the scarcity of high-quality music Q&A datasets, we created the MusicInstruct (MI) dataset from captions in the MusicCaps datasets, tailored for open-ended music inquiries. Empirical evaluations demonstrate its competitive performance in generating music captions and composing music-related Q&A pairs. Our introduced dataset enables notable advancements beyond previous ones.

Quantization is commonly used to compress and accelerate deep neural networks. Quantization assigning the same bit-width to all layers leads to large accuracy degradation at low precision and is wasteful at high precision settings. Mixed-precision quantization (MPQ) assigns varied bit-widths to layers to optimize the accuracy-efficiency trade-off. Existing methods simplify the MPQ problem by assuming that quantization errors at different layers act independently. We show that this assumption does not reflect the true behavior of quantized deep neural networks. We propose the first MPQ algorithm that captures the cross-layer dependency of quantization error. Our algorithm (CLADO) enables a fast approximation of pairwise cross-layer error terms by solving linear equations that require only forward evaluations of the network on a small amount of data. Decisions on layerwise bit-width assignments are then determined by optimizing a new MPQ formulation dependent on these cross-layer quantization errors via the Integer Quadratic Program (IQP), which can be solved within seconds. We conduct experiments on multiple networks on the Imagenet dataset and demonstrate an improvement, in top-1 classification accuracy, of up to 27% over uniform precision quantization, and up to 15% over existing MPQ methods.

In a wide range of multimodal tasks, contrastive learning has become a particularly appealing approach since it can successfully learn representations from abundant unlabeled data with only pairing information (e.g., image-caption or video-audio pairs). Underpinning these approaches is the assumption of multi-view redundancy - that shared information between modalities is necessary and sufficient for downstream tasks. However, in many real-world settings, task-relevant information is also contained in modality-unique regions: information that is only present in one modality but still relevant to the task. How can we learn self-supervised multimodal representations to capture both shared and unique information relevant to downstream tasks? This paper proposes FactorCL, a new multimodal representation learning method to go beyond multi-view redundancy. FactorCL is built from three new contributions: (1) factorizing task-relevant information into shared and unique representations, (2) capturing task-relevant information via maximizing MI lower bounds and removing task-irrelevant information via minimizing MI upper bounds, and (3) multimodal data augmentations to approximate task relevance without labels. On large-scale real-world datasets, FactorCL captures both shared and unique information and achieves state-of-the-art results on six benchmarks, Comment: NeurIPS 2023. Code available at: https://github.com/pliang279/FactorCL

The recent explosion of interest in multimodal applications has resulted in a wide selection of datasets and methods for representing and integrating information from different modalities. Despite these empirical advances, there remain fundamental research questions: How can we quantify the interactions that are necessary to solve a multimodal task? Subsequently, what are the most suitable multimodal models to capture these interactions? To answer these questions, we propose an information-theoretic approach to quantify the degree of redundancy, uniqueness, and synergy relating input modalities with an output task. We term these three measures as the PID statistics of a multimodal distribution (or PID for short), and introduce two new estimators for these PID statistics that scale to high-dimensional distributions. To validate PID estimation, we conduct extensive experiments on both synthetic datasets where the PID is known and on large-scale multimodal benchmarks where PID estimations are compared with human annotations. Finally, we demonstrate their usefulness in (1) quantifying interactions within multimodal datasets, (2) quantifying interactions captured by multimodal models, (3) principled approaches for model selection, and (4) three real-world case studies engaging with domain experts in pathology, mood prediction, and robotic perception where our framework helps to recommend strong multimodal models for each application., Comment: NeurIPS 2023. Code available at: https://github.com/pliang279/PID

The promise of multimodal models for real-world applications has inspired research in visualizing and understanding their internal mechanics with the end goal of empowering stakeholders to visualize model behavior, perform model debugging, and promote trust in machine learning models. However, modern multimodal models are typically black-box neural networks, which makes it challenging to understand their internal mechanics. How can we visualize the internal modeling of multimodal interactions in these models? Our paper aims to fill this gap by proposing MultiViz, a method for analyzing the behavior of multimodal models by scaffolding the problem of interpretability into 4 stages: (1) unimodal importance: how each modality contributes towards downstream modeling and prediction, (2) cross-modal interactions: how different modalities relate with each other, (3) multimodal representations: how unimodal and cross-modal interactions are represented in decision-level features, and (4) multimodal prediction: how decision-level features are composed to make a prediction. MultiViz is designed to operate on diverse modalities, models, tasks, and research areas. Through experiments on 8 trained models across 6 real-world tasks, we show that the complementary stages in MultiViz together enable users to (1) simulate model predictions, (2) assign interpretable concepts to features, (3) perform error analysis on model misclassifications, and (4) use insights from error analysis to debug models. MultiViz is publicly available, will be regularly updated with new interpretation tools and metrics, and welcomes inputs from the community., Comment: ICLR 2023. Code available at: https://github.com/pliang279/MultiViz

The ability for a human to understand an Artificial Intelligence (AI) model's decision-making process is critical in enabling stakeholders to visualize model behavior, perform model debugging, promote trust in AI models, and assist in collaborative human-AI decision-making. As a result, the research fields of interpretable and explainable AI have gained traction within AI communities as well as interdisciplinary scientists seeking to apply AI in their subject areas. In this paper, we focus on advancing the state-of-the-art in interpreting multimodal models - a class of machine learning methods that tackle core challenges in representing and capturing interactions between heterogeneous data sources such as images, text, audio, and time-series data. Multimodal models have proliferated numerous real-world applications across healthcare, robotics, multimedia, affective computing, and human-computer interaction. By performing model disentanglement into unimodal contributions (UC) and multimodal interactions (MI), our proposed approach, DIME, enables accurate and fine-grained analysis of multimodal models while maintaining generality across arbitrary modalities, model architectures, and tasks. Through a comprehensive suite of experiments on both synthetic and real-world multimodal tasks, we show that DIME generates accurate disentangled explanations, helps users of multimodal models gain a deeper understanding of model behavior, and presents a step towards debugging and improving these models for real-world deployment. Code for our experiments can be found at https://github.com/lvyiwei1/DIME., Comment: Code available at https://github.com/lvyiwei1/DIME

We propose a modular architecture for the lifelong learning of hierarchically structured tasks. Specifically, we prove that our architecture is theoretically able to learn tasks that can be solved by functions that are learnable given access to functions for other, previously learned tasks as subroutines. We empirically show that some tasks that we can learn in this way are not learned by standard training methods in practice; indeed, prior work suggests that some such tasks cannot be learned by any efficient method without the aid of the simpler tasks. We also consider methods for identifying the tasks automatically, without relying on explicitly given indicators.

Cryo-Electron Tomography (cryo-ET) is a 3D imaging technology that enables the visualization of subcellular structures in situ at near-atomic resolution. Cellular cryo-ET images help in resolving the structures of macromolecules and determining their spatial relationship in a single cell, which has broad significance in cell and structural biology. Subtomogram classification and recognition constitute a primary step in the systematic recovery of these macromolecular structures. Supervised deep learning methods have been proven to be highly accurate and efficient for subtomogram classification, but suffer from limited applicability due to scarcity of annotated data. While generating simulated data for training supervised models is a potential solution, a sizeable difference in the image intensity distribution in generated data as compared to real experimental data will cause the trained models to perform poorly in predicting classes on real subtomograms. In this work, we present Cryo-Shift, a fully unsupervised domain adaptation and randomization framework for deep learning-based cross-domain subtomogram classification. We use unsupervised multi-adversarial domain adaption to reduce the domain shift between features of simulated and experimental data. We develop a network-driven domain randomization procedure with `warp' modules to alter the simulated data and help the classifier generalize better on experimental data. We do not use any labeled experimental data to train our model, whereas some of the existing alternative approaches require labeled experimental samples for cross-domain classification. Nevertheless, Cryo-Shift outperforms the existing alternative approaches in cross-domain subtomogram classification in extensive evaluation studies demonstrated herein using both simulated and experimental data., Comment: 14 pages

DNNs deployed on analog processing in memory (PIM) architectures are subject to fabrication-time variability. We developed a new joint variability- and quantization-aware DNN training algorithm for highly quantized analog PIM-based models that is significantly more effective than prior work. It outperforms variability-oblivious and post-training quantized models on multiple computer vision datasets/models. For low-bitwidth models and high variation, the gain in accuracy is up to 35.7% for ResNet-18 over the best alternative. We demonstrate that, under a realistic pattern of within- and between-chip components of variability, training alone is unable to prevent large DNN accuracy loss (of up to 54% on CIFAR-100/ResNet-18). We introduce a self-tuning DNN architecture that dynamically adjusts layer-wise activations during inference and is effective in reducing accuracy loss to below 10%., Comment: This is the preprint version of our paper accepted in DATE 2022

The II-IV-N$_2$ class of heterovalent ternary nitrides have gained significant interest as alternatives to the III-nitrides for electronic and optoelectronic applications. In this study, we apply first-principles calculations based on density functional theory to systematically investigate the effects of structural distortions due to cation size mismatch on the configurational disorder of the cation sublattice and the valence band structure in this class of materials. We find that larger size mismatch between the group-II and the group-IV cations results in stronger lattice distortions from the ideal hexagonal ratio, which in turn inhibits the propensity of these materials towards octet-rule violating cation disorder. We also demonstrate that the formation energy of a single cation antisite pair, which is fast and simple to calculate, is a strong indicator of a material's propensity towards disorder. Furthermore, the breaking of in-plane symmetry leads to a splitting of the top three valence bands at $\Gamma$, which is also directly related to the magnitude of structural distortions. Our work demonstrates that the structural and functional properties of the II-IV-N$_2$ materials can be finely tuned through controllable structural distortions that stem from the choice of cations.

Many reinforcement learning (RL) environments in practice feature enormous state spaces that may be described compactly by a "factored" structure, that may be modeled by Factored Markov Decision Processes (FMDPs). We present the first polynomial-time algorithm for RL in Factored State MDPs (generalizing FMDPs) that neither relies on an oracle planner nor requires a linear transition model; it only requires a linear value function with a suitable local basis with respect to the factorization, permitting efficient variable elimination. With this assumption, we can solve this family of Factored State MDPs in polynomial time by constructing an efficient separation oracle for convex optimization. Importantly, and in contrast to prior work on FMDPs, we do not assume that the transitions on various factors are conditionally independent., Comment: 29 pages, 1 figure

Lanthanum nitride (LaN) has attracted research interest in catalysis due to its ability to activate the triple bonds of N$_2$ molecules, enabling efficient and cost-effective synthesis of ammonia from N$_2$ gas. While exciting progress has been made to use LaN in functional applications, the electronic character of LaN (metallic, semi-metallic, or semiconducting) and magnitude of its band gap have so far not been conclusively determined. Here, we investigate the electronic properties of LaN with hybrid density functional theory calculations. In contrast to previous claims that LaN is semi-metallic, our calculations show that LaN is a direct-band-gap semiconductor with a band-gap value of 0.62 eV at the X point of the Brillouin zone. The dispersive character of the bands near the band edges leads to light electron and hole effective masses, making LaN promising for electronic and optoelectronic applications. Our calculations also reveal that nitrogen vacancies and substitutional oxygen atoms are two unintentional shallow donors with low formation energies that can explain the origin of the previously reported electrical conductivity. Our calculations clarify the semiconducting nature of LaN and reveal candidate unintentional point defects that are likely responsible for its measured electrical conductivity., Comment: 16 pages, 4 figures

Modern recommendation systems rely on real-valued embeddings of categorical features. Increasing the dimension of embedding vectors improves model accuracy but comes at a high cost to model size. We introduce a multi-layer embedding training (MLET) architecture that trains embeddings via a sequence of linear layers to derive superior embedding accuracy vs. model size trade-off. Our approach is fundamentally based on the ability of factorized linear layers to produce superior embeddings to that of a single linear layer. We focus on the analysis and implementation of a two-layer scheme. Harnessing the recent results in dynamics of backpropagation in linear neural networks, we explain the ability to get superior multi-layer embeddings via their tendency to have lower effective rank. We show that substantial advantages are obtained in the regime where the width of the hidden layer is much larger than that of the final embedding (d). Crucially, at conclusion of training, we convert the two-layer solution into a single-layer one: as a result, the inference-time model size scales as d. We prototype the MLET scheme within Facebook's PyTorch-based open-source Deep Learning Recommendation Model. We show that it allows reducing d by 4-8X, with a corresponding improvement in memory footprint, at given model accuracy. The experiments are run on two publicly available click-through-rate prediction benchmarks (Criteo-Kaggle and Avazu). The runtime cost of MLET is 25%, on average., Comment: 10 pages, 3 figures

BAs is III-V semiconductor with ultra-high thermal conductivity, but many of its electronic properties are unknown. This work applies predictive atomistic calculations to investigate the properties of BAs heterostructures, such as strain effects on band alignments and carrier mobility, considering BAs as both a thin film and a substrate for lattice-matched materials. The results show that strain decreases the band gap independent of sign or direction. In addition, biaxial tensile strain increases the in-plane electron and hole mobilities by more than 60% compared to the unstrained values due to a reduction of the electron effective mass and of hole interband scattering. Moreover, BAs is shown to be nearly lattice-matched with InGaN and ZnSnN2, two important optoelectronic semiconductors with tunable band gaps by alloying and cation disorder, respectively. The results predict type-II band alignments and determine the absolute band offsets of these two materials with BAs. The combination of the ultra-high thermal conductivity and intrinsic p-type character of BAs, with its high electron and hole mobilities that can be further increased by tensile strain, as well as the lattice-match and the type-II band alignment with intrinsically n-type InGaN and ZnSnN2 demonstrate the potential of BAs heterostructures for electronic and optoelectronic devices.

We study numerical (in)stability of the Method of characteristics (MoC) applied to a system of non-dissipative hyperbolic partial differential equations (PDEs) with periodic boundary conditions. We consider three different solvers along the characteristics: simple Euler (SE), modified Euler (ME), and Leap-frog (LF). The two former solvers are well known to exhibit a mild, but unconditional, numerical instability for non-dissipative ordinary differential equations (ODEs). They are found to have a similar (or stronger, for the MoC-ME) instability when applied to non-dissipative PDEs. On the other hand, the LF solver is known to be stable when applied to non-dissipative ODEs. However, when applied to non-dissipative PDEs within the MoC framework, it was found to have by far the strongest instability among all three solvers. We also comment on the use of the fourth-order Runge--Kutta solver within the MoC framework., Comment: 20 pages, 5 figures

We show that imposition of non-periodic, in place of periodic, boundary conditions (BC) can alter stability of modes in the Method of characteristics (MoC) employing certain ordinary-differential equation (ODE) numerical solvers. Thus, using non-periodic BC may render some of the MoC schemes stable for most practical computations, even though they are unstable for periodic BC. This fact contradicts a statement, found in some literature, that an instability detected by the von Neumann analysis for a given numerical scheme implies an instability of that scheme with arbitrary (i.e., non-periodic) BC. We explain the mechanism behind this contradiction. We also show that, and explain why, for the MoC employing some other ODE solvers, stability of the modes may be unaffected by the BC., Comment: 38 pages, 13 figures