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Forecasting the behaviour of complex dynamical systems such as interconnected sensor networks characterized by high-dimensional multivariate time series(MTS) is of paramount importance for making informed decisions and planning for the future in a broad spectrum of applications. Graph forecasting networks(GFNs) are well-suited for forecasting MTS data that exhibit spatio-temporal dependencies. However, most prior works of GFN-based methods on MTS forecasting rely on domain-expertise to model the nonlinear dynamics of the system, but neglect the potential to leverage the inherent relational-structural dependencies among time series variables underlying MTS data. On the other hand, contemporary works attempt to infer the relational structure of the complex dependencies between the variables and simultaneously learn the nonlinear dynamics of the interconnected system but neglect the possibility of incorporating domain-specific prior knowledge to improve forecast accuracy. To this end, we propose a hybrid architecture that combines explicit prior knowledge with implicit knowledge of the relational structure within the MTS data. It jointly learns intra-series temporal dependencies and inter-series spatial dependencies by encoding time-conditioned structural spatio-temporal inductive biases to provide more accurate and reliable forecasts. It also models the time-varying uncertainty of the multi-horizon forecasts to support decision-making by providing estimates of prediction uncertainty. The proposed architecture has shown promising results on multiple benchmark datasets and outperforms state-of-the-art forecasting methods by a significant margin. We report and discuss the ablation studies to validate our forecasting architecture., Comment: Paper accepted at ML4IoT Workshop, International Conference on Learning Representations(ICLR) 2023

Accurately predicting the behavior of complex dynamical systems, characterized by high-dimensional multivariate time series(MTS) in interconnected sensor networks, is crucial for informed decision-making in various applications to minimize risk. While graph forecasting networks(GFNs) are ideal for forecasting MTS data that exhibit spatio-temporal dependencies, prior works rely solely on the domain-specific knowledge of time-series variables inter-relationships to model the nonlinear dynamics, neglecting inherent relational structural dependencies among the variables within the MTS data. In contrast, contemporary works infer relational structures from MTS data but neglect domain-specific knowledge. The proposed hybrid architecture addresses these limitations by combining both domain-specific knowledge and implicit knowledge of the relational structure underlying the MTS data using Knowledge-Based Compositional Generalization. The hybrid architecture shows promising results on multiple benchmark datasets, outperforming state-of-the-art forecasting methods. Additionally, the architecture models the time varying uncertainty of multi-horizon forecasts., Comment: Paper is accepted at Knowledge-Based Compositional Generalization Workshop, International Joint Conferences on Artificial Intelligence(IJCAI-23)

Digital Twin technology creates virtual replicas of physical objects, processes, or systems by replicating their properties, data, and behaviors. This advanced technology offers a range of intelligent functionalities, such as modeling, simulation, and data-driven decision-making, that facilitate design optimization, performance estimation, and monitoring operations. Forecasting plays a pivotal role in Digital Twin technology, as it enables the prediction of future outcomes, supports informed decision-making, minimizes risks, driving improvements in efficiency, productivity, and cost reduction. Recently, Digital Twin technology has leveraged Graph forecasting techniques in large-scale complex sensor networks to enable accurate forecasting and simulation of diverse scenarios, fostering proactive and data-driven decision making. However, existing Graph forecasting techniques lack scalability for many real-world applications. They have limited ability to adapt to non-stationary environments, retain past knowledge, lack a mechanism to capture the higher order spatio-temporal dynamics, and estimate uncertainty in model predictions. To surmount the challenges, we introduce a hybrid architecture that enhances the hypergraph representation learning backbone by incorporating fast adaptation to new patterns and memory-based retrieval of past knowledge. This balance aims to improve the slowly-learned backbone and achieve better performance in adapting to recent changes. In addition, it models the time-varying uncertainty of multi-horizon forecasts, providing estimates of prediction uncertainty. Our forecasting architecture has been validated through ablation studies and has demonstrated promising results across multiple benchmark datasets, surpassing state-ofthe-art forecasting methods by a significant margin., Comment: Paper accepted at AI for Digital Twins and Cyber-Physical Applications Workshop, International Joint Conferences on Artificial Intelligence(IJCAI-23). arXiv admin note: text overlap with arXiv:2408.12409

Microrobotics is an attractive area of research as small-scale robots have the potential to improve the precision and dexterity offered by minimally invasive surgeries. One example of such a tool is a pair of micro-surgical scissors that was developed for cutting of tumors or cancerous tissues present deep inside the body such as in the brain. This task is often deemed difficult or impossible with conventional robotic tools due to their size and dexterity. The scissors are designed with two magnets placed a specific distance apart to maximize deflection and generate cutting forces. However, remote actuation and size requirements of the micro-surgical scissors limits the force that can be generated to puncture the tissue. To address the limitation of small output forces, we use an evolutionary algorithm to further optimize the performance of the scissors. In this study, the design of the previously developed untethered micro-surgical scissors has been modified and their performance is enhanced by determining the optimal position of the magnets as well as the direction of each magnetic moment. The developed algorithm is successfully applied to a 4-magnet configuration which results in increased net torque. This improvement in net torque is directly translated into higher cutting forces. The new configuration generates a cutting force of 58 mN from 80 generations of the evolutionary algorithm which is a 1.65 times improvement from the original design. Furthermore, the developed algorithm has the advantage that it can be deployed with minor modifications to other microrobotic tools and systems, opening up new possibilities for various medical procedures and applications., Comment: Accepted for presentation at the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) 2024, Delft, Netherlands

The rapid growth of data from edge devices has catalyzed the performance of machine learning algorithms. However, the data generated resides at client devices thus there are majorly two challenge faced by traditional machine learning paradigms - centralization of data for training and secondly for most the generated data the class labels are missing and there is very poor incentives to clients to manually label their data owing to high cost and lack of expertise. To overcome these issues, there have been initial attempts to handle unlabelled data in a privacy preserving distributed manner using unsupervised federated data clustering. The goal is partition the data available on clients into $k$ partitions (called clusters) without actual exchange of data. Most of the existing algorithms are highly dependent on data distribution patterns across clients or are computationally expensive. Furthermore, due to presence of skewed nature of data across clients in most of practical scenarios existing models might result in clients suffering high clustering cost making them reluctant to participate in federated process. To this, we are first to introduce the idea of personalization in federated clustering. The goal is achieve balance between achieving lower clustering cost and at same time achieving uniform cost across clients. We propose p-FClus that addresses these goal in a single round of communication between server and clients. We validate the efficacy of p-FClus against variety of federated datasets showcasing it's data independence nature, applicability to any finite $\ell$-norm, while simultaneously achieving lower cost and variance.

We have designed a Python-based Domain Specific Language (DSL) for modeling synchronous digital circuits. In this DSL, hardware is modeled as a collection of transactions -- running in series, parallel, and loops. When the model is executed by a Python interpreter, synthesizable and behavioural Verilog is generated as output, which can be integrated with other RTL designs or directly used for FPGA and ASIC flows. In this paper, we describe - 1) the language (DSL), which allows users to express computation in series/parallel/loop constructs, with explicit cycle boundaries, 2) the internals of a simple Python implementation to produce synthesizable Verilog, and 3) several design examples and case studies for applications in post-quantum cryptography, stereo-vision, digital signal processing and optimization techniques. In the end, we list ideas to extend this framework., Comment: 9 pages, 13 figures

Sampling algorithms play an important role in controlling the quality and runtime of diffusion model inference. In recent years, a number of works~\cite{chen2023sampling,chen2023ode,benton2023error,lee2022convergence} have proposed schemes for diffusion sampling with provable guarantees; these works show that for essentially any data distribution, one can approximately sample in polynomial time given a sufficiently accurate estimate of its score functions at different noise levels. In this work, we propose a new scheme inspired by Shen and Lee's randomized midpoint method for log-concave sampling~\cite{ShenL19}. We prove that this approach achieves the best known dimension dependence for sampling from arbitrary smooth distributions in total variation distance ($\widetilde O(d^{5/12})$ compared to $\widetilde O(\sqrt{d})$ from prior work). We also show that our algorithm can be parallelized to run in only $\widetilde O(\log^2 d)$ parallel rounds, constituting the first provable guarantees for parallel sampling with diffusion models. As a byproduct of our methods, for the well-studied problem of log-concave sampling in total variation distance, we give an algorithm and simple analysis achieving dimension dependence $\widetilde O(d^{5/12})$ compared to $\widetilde O(\sqrt{d})$ from prior work.

Diffusion models are a remarkably effective way of learning and sampling from a distribution $p(x)$. In posterior sampling, one is also given a measurement model $p(y \mid x)$ and a measurement $y$, and would like to sample from $p(x \mid y)$. Posterior sampling is useful for tasks such as inpainting, super-resolution, and MRI reconstruction, so a number of recent works have given algorithms to heuristically approximate it; but none are known to converge to the correct distribution in polynomial time. In this paper we show that posterior sampling is \emph{computationally intractable}: under the most basic assumption in cryptography -- that one-way functions exist -- there are instances for which \emph{every} algorithm takes superpolynomial time, even though \emph{unconditional} sampling is provably fast. We also show that the exponential-time rejection sampling algorithm is essentially optimal under the stronger plausible assumption that there are one-way functions that take exponential time to invert.

Diffusion models have become the most popular approach to deep generative modeling of images, largely due to their empirical performance and reliability. From a theoretical standpoint, a number of recent works~\cite{chen2022,chen2022improved,benton2023linear} have studied the iteration complexity of sampling, assuming access to an accurate diffusion model. In this work, we focus on understanding the \emph{sample complexity} of training such a model; how many samples are needed to learn an accurate diffusion model using a sufficiently expressive neural network? Prior work~\cite{BMR20} showed bounds polynomial in the dimension, desired Total Variation error, and Wasserstein error. We show an \emph{exponential improvement} in the dependence on Wasserstein error and depth, along with improved dependencies on other relevant parameters.

We study the fundamental problem of estimating the mean of a $d$-dimensional distribution with covariance $\Sigma \preccurlyeq \sigma^2 I_d$ given $n$ samples. When $d = 1$, \cite{catoni} showed an estimator with error $(1+o(1)) \cdot \sigma \sqrt{\frac{2 \log \frac{1}{\delta}}{n}}$, with probability $1 - \delta$, matching the Gaussian error rate. For $d>1$, a natural estimator outputs the center of the minimum enclosing ball of one-dimensional confidence intervals to achieve a $1-\delta$ confidence radius of $\sqrt{\frac{2 d}{d+1}} \cdot \sigma \left(\sqrt{\frac{d}{n}} + \sqrt{\frac{2 \log \frac{1}{\delta}}{n}}\right)$, incurring a $\sqrt{\frac{2d}{d+1}}$-factor loss over the Gaussian rate. When the $\sqrt{\frac{d}{n}}$ term dominates by a $\sqrt{\log \frac{1}{\delta}}$ factor, \cite{lee2022optimal-highdim} showed an improved estimator matching the Gaussian rate. This raises a natural question: Is the $\sqrt{\frac{2 d}{d+1}}$ loss \emph{necessary} when the $\sqrt{\frac{2 \log \frac{1}{\delta}}{n}}$ term dominates? We show that the answer is \emph{no} -- we construct an estimator that improves over the above naive estimator by a constant factor. We also consider robust estimation, where an adversary is allowed to corrupt an $\epsilon$-fraction of samples arbitrarily: in this case, we show that the above strategy of combining one-dimensional estimates and incurring the $\sqrt{\frac{2d}{d+1}}$-factor \emph{is} optimal in the infinite-sample limit.

The mean of an unknown variance-$\sigma^2$ distribution $f$ can be estimated from $n$ samples with variance $\frac{\sigma^2}{n}$ and nearly corresponding subgaussian rate. When $f$ is known up to translation, this can be improved asymptotically to $\frac{1}{n\mathcal I}$, where $\mathcal I$ is the Fisher information of the distribution. Such an improvement is not possible for general unknown $f$, but [Stone, 1975] showed that this asymptotic convergence $\textit{is}$ possible if $f$ is $\textit{symmetric}$ about its mean. Stone's bound is asymptotic, however: the $n$ required for convergence depends in an unspecified way on the distribution $f$ and failure probability $\delta$. In this paper we give finite-sample guarantees for symmetric mean estimation in terms of Fisher information. For every $f, n, \delta$ with $n > \log \frac{1}{\delta}$, we get convergence close to a subgaussian with variance $\frac{1}{n \mathcal I_r}$, where $\mathcal I_r$ is the $r$-$\textit{smoothed}$ Fisher information with smoothing radius $r$ that decays polynomially in $n$. Such a bound essentially matches the finite-sample guarantees in the known-$f$ setting., Comment: COLT 2023

In location estimation, we are given $n$ samples from a known distribution $f$ shifted by an unknown translation $\lambda$, and want to estimate $\lambda$ as precisely as possible. Asymptotically, the maximum likelihood estimate achieves the Cram\'er-Rao bound of error $\mathcal N(0, \frac{1}{n\mathcal I})$, where $\mathcal I$ is the Fisher information of $f$. However, the $n$ required for convergence depends on $f$, and may be arbitrarily large. We build on the theory using \emph{smoothed} estimators to bound the error for finite $n$ in terms of $\mathcal I_r$, the Fisher information of the $r$-smoothed distribution. As $n \to \infty$, $r \to 0$ at an explicit rate and this converges to the Cram\'er-Rao bound. We (1) improve the prior work for 1-dimensional $f$ to converge for constant failure probability in addition to high probability, and (2) extend the theory to high-dimensional distributions. In the process, we prove a new bound on the norm of a high-dimensional random variable whose 1-dimensional projections are subgamma, which may be of independent interest.

Adhesion between two surfaces depend on the chemical and the mechanical properties of both the materials. However, heterogeneities (surface or bulk) affect the adhesion between the two surfaces tremendously. In this work, we study the role of externally deposited nanoscale heterogeneities on their adhesion behavior. Silica nanoparticles in the bulk polydimethylsiloxane (PDMS) polymer matrix act as external heterogeneities, which subsequently affect their adhesion. The nanoscale heterogeneities change the polymer environment locally, which subsequently modify its mechanical properties, e.g. elastic modulus, as a result, it affects its adhesion behavior. We observe that the adhesion behavior vary in nonlinear manner with increasing nanoparticle concentration. Therefore, probing these heterogeneities may allow us to understand the emergence of processing-induced deviations and the role of external defects in the macroscopic properties of a polymer., Comment: 6 pages, 6 figures

Due to the slow dynamics of the wetting ridge, it is challenging to predict the wetting morphology of liquid drops on thin lubricant coated surfaces. It is hypothesized that when a drop sinks on a lubricated surface, quasi-static wetting morphology can be numerically computed only from the knowledge of interfacial energies, lubricant thickness, and drop volume. We used Surface Evolver software for the numerical computation of the interface profiles for a four-phase system. For the experiments, we used drops of 80 wt% formamide on silicone oil coated substrates with varying lubricant thickness, substrate wettability and drop volume. Optical images of drops were used to compare the experimental interfacial profiles and apparent contact angles with the numerically computed ones. We found good agreement between the experiments and the simulations for the interfacial profiles and apparent contact angles as a function of various systems parameters except for very thin lubricating films. Apparent contact angles varied non-linearly as a function of substrate wettability and lubricant thickness, however, were found constant with the drop volume.

Uniformity testing is one of the most well-studied problems in property testing, with many known test statistics, including ones based on counting collisions, singletons, and the empirical TV distance. It is known that the optimal sample complexity to distinguish the uniform distribution on $m$ elements from any $\epsilon$-far distribution with $1-\delta$ probability is $n = \Theta\left(\frac{\sqrt{m \log (1/\delta)}}{\epsilon^2} + \frac{\log (1/\delta)}{\epsilon^2}\right)$, which is achieved by the empirical TV tester. Yet in simulation, these theoretical analyses are misleading: in many cases, they do not correctly rank order the performance of existing testers, even in an asymptotic regime of all parameters tending to $0$ or $\infty$. We explain this discrepancy by studying the \emph{constant factors} required by the algorithms. We show that the collisions tester achieves a sharp maximal constant in the number of standard deviations of separation between uniform and non-uniform inputs. We then introduce a new tester based on the Huber loss, and show that it not only matches this separation, but also has tails corresponding to a Gaussian with this separation. This leads to a sample complexity of $(1 + o(1))\frac{\sqrt{m \log (1/\delta)}}{\epsilon^2}$ in the regime where this term is dominant, unlike all other existing testers., Comment: COLT 2022

We consider 1-dimensional location estimation, where we estimate a parameter $\lambda$ from $n$ samples $\lambda + \eta_i$, with each $\eta_i$ drawn i.i.d. from a known distribution $f$. For fixed $f$ the maximum-likelihood estimate (MLE) is well-known to be optimal in the limit as $n \to \infty$: it is asymptotically normal with variance matching the Cram\'er-Rao lower bound of $\frac{1}{n\mathcal{I}}$, where $\mathcal{I}$ is the Fisher information of $f$. However, this bound does not hold for finite $n$, or when $f$ varies with $n$. We show for arbitrary $f$ and $n$ that one can recover a similar theory based on the Fisher information of a smoothed version of $f$, where the smoothing radius decays with $n$., Comment: Corrected an inaccuracy in the description of the experimental setup. Also updated funding acknowledgements

The stability of thin liquid films on a surface depends on the excess free energy of the system involving various short-range and long-range interactions. In an unstable condition, thin liquid films may dewet into multiple small-sized droplets via spinodal, homogeneous, or heterogeneous nucleation process. However, if the total excess free energy of the system can be manipulated using an external stimulus, one can control the stability of thin liquid films on demand. Here, we study the reversible dewetting process of thin lubricating films underneath aqueous drops on slippery surfaces using an external electric field. Upon applying voltage, stable thin lubricating films dewet in a manner identical to the spinodal dewetting of nanometer-thick liquid films. Upon removing the applied voltage, the dewetted droplets spread, coalesce with neighboring ones, and form a uniform film again, however the time taken during rewetting is very different compared to dewetting. The characteristic features of both the dewetting and rewetting processes are present over multiple cycles. Due to the random nature of the spinodal dewetting process, the final dewetting pattern does not show any correlation over multiple dewetting cycles., Comment: 19 pages, 4 figures