This work tackles force control for contact-rich manipulation tasks with rigid robots using RL.
problem Challenges in working with real robotic hardware, especially position-controlled robots.
method Combines RL with traditional force control techniques, implementing parallel position/force control and admittance control.
result Validated methods on both simulation and real robot (UR3 e-series) for force control.
BagCert efficiently certifies robustness against adversarial patches on image classifiers.
problem Adversarial patches pose a threat to autonomous systems' perception component.
method BagCert combines model architecture and certification procedure for efficient inference.
result BagCert certifies 10,000 examples in 43 seconds on a single GPU, achieving 86% clean and 60% certified accuracy against 5x5 patches.
The paper introduces a simple way of recording and manipulating general stochastic processes without explicit reference to a probability measure. In the new calculus, operations traditionally presented in a measure-specific way are instead captured by tracing the behaviour of jumps (also when no jumps are physically pr…
Safe imitation learning with a safety layer for flexible training.
problem Flexible yet safe imitation learning for complex tasks.
method Theory and modular method with a safety layer for continuous policy, adversarial training, and worst-case safety guarantees.
result Robustness advantage of safety layer during training compared to test time.
Hybrid method improves accuracy and speed of breast model parameter estimation.
problem Accurate estimation of breast mechanical parameters for surgical simulations.
method Combines deep learning (MNN) with iterative solvers to ensure accuracy and speed.
result Hybrid method achieves both real-time performance and reliability.
In this paper we study dynamic pricing mechanisms of financial derivatives. A typical model of such pricing mechanism is the so-called g--expectation defined by solutions of a backward stochastic differential equation with g as its generating function. Black-Scholes pricing model is a special linear case of this pricin…
A solution for the Weinstein's Problem in the general framework of generalized Lie algebroids is the target of this paper. We present the mechanical systems called by use, mechanical (?; ?)-systems, Lagrange mechanical (?; ?)-systems or Finsler mechanical (?; ?)-systems and we develop their geometries. We obtain the ca…
New mechanics on non-associative octonions discovered.
problem Discrete mechanics on non-associative groups.
method Generalized Lagrangian and Hamiltonian mechanics to non-associative objects.
result Discrete mechanics on unitary octonions achieved.
A new description, different by the classical theory of Hamiltonian Mechanics, in the general framework of generalized Lie algebroids is presented. In the particular case of Lie algebroids, new and important results are obtained. We present the \emph{dual mechanical systems} called by use, \emph{dual mechanical}$(ρ,η) …
This paper assesses Gaussian and Exponential mechanisms for certifying adversarial robustness.
problem Certifying adversarial robustness using randomized smoothing mechanisms.
method Proposes a generic framework to assess the appropriateness of randomized smoothing mechanisms.
result Gaussian mechanism is an appropriate option for certifying both ℓ2-norm and ℓ∞-norm robustness. We propose a new input perturbation mechanism for publishing a covariance matrix to achieve (ε,0)-differential privacy. Our mechanism uses a Wishart distribution to generate matrix noise. In particular, We apply this mechanism to principal component analysis. Our mechanism is able to keep the positive semi-definitene…
New mechanisms improve differential privacy for scalar queries.
problem Improving differential privacy for scalar, real-valued query functions.
method Mixing multiple Gaussian distributions to satisfy differential privacy.
result Mechanisms yield lower noise amplitudes and variances compared to the analytic Gaussian mechanism.
We design two mechanisms for the recommender system to collect user ratings. One is modified Laplace mechanism, and the other is randomized response mechanism. We prove that they are both differentially private and preserve the data utility.
Quantum mechanics models for financial Black-Scholes model.
problem Modeling financial derivatives using quantum mechanics.
method Noncommutative quantum mechanics applied to specific mechanical systems.
result Generalized noncommutative quantum mechanics of financial models.
Differential privacy mechanism design has traditionally been tailored for a scalar-valued query function. Although many mechanisms such as the Laplace and Gaussian mechanisms can be extended to a matrix-valued query function by adding i.i.d. noise to each element of the matrix, this method is often suboptimal as it for…
Expands differential privacy mechanisms to include the Generalized Gaussian mechanism for improved private machine learning.
problem Improving privacy in machine learning algorithms while maintaining utility.
method Introduces and analyzes the Generalized Gaussian (GG) mechanism for differential privacy.
result The GG mechanism provides better performance than the Laplace and Gaussian mechanisms across various values of β.
Optimal DP mechanisms for vector queries are found to be staircase distributions.
problem Designing optimal additive mechanisms for vector-valued queries under differential privacy.
method Reduction to radially symmetric distributions and convex rearrangement theory.
result Staircase mechanisms are optimal for any norm and cost function.
New approach identifies latent properties from mechanisms, not just data.
problem Identifying latent properties from data generating processes.
method Equivariance perspective on identifiable representation learning.
result Identification of latent properties is possible up to shared equivariances in known mechanisms.
New RL approach learns dynamic VCG mechanisms in unknown MDP environments.
problem Learning dynamic VCG mechanisms in unknown MDP environments.
method Reward-free online RL for exploration, combined with function approximation.
result Regret bound of O~(T2/3) for dynamic VCG mechanism learning. Paper connects dynamics of mechanical systems to Reeb dynamics.
problem Understanding dynamics in mechanical systems with Poisson structures.
method Using Jacobi bundle metrics and linear Poisson structures.
result Extends classical results on Reeb dynamics to mechanical systems.
Exact discrete mechanics for nonholonomic systems defined.
problem Discrete mechanics for nonholonomic systems.
method Constructing an exponential map and deriving exact discrete nonholonomic integrators.
result Reproduces continuous nonholonomic flow as discrete flow on constraint submanifold.
A new Gaussian mechanism for differential privacy in the shuffle model is introduced.
problem Improving differential privacy in distributed learning environments.
method Characterization and upper-bounding of Rényi differential privacy (RDP) for the shuffle Gaussian mechanism.
result The shuffle Gaussian mechanism provides improved privacy guarantees compared to existing methods.
Active-memory mechanisms can replace self-attention in Transformers, but optimal results often require both.
problem Replacing self-attention with active-memory mechanisms in Transformers.
method Evaluation of various active-memory mechanisms in a Transformer model.
result Active-memory mechanisms can achieve comparable results to self-attention for language modeling, but optimal results are often achieved by combining both mechanisms.
We study the problem of what causes prices to change. We define the mechanical impact of a trading order as the change in future prices in the absence of any future changes in decision making, and its it informational impact as the remainder of the total impact once mechanical impact is removed. We introduce a method o…
New mechanism for pure differential privacy on functional summaries using Laplace-like process.
problem Challenges in achieving differential privacy for complex, structured functional summaries.
method Independent Component Laplace Process (ICLP) mechanism for infinite-dimensional Hilbert space.
result Effective enhancement of utility of private summaries through oversmoothing.
Unified framework for subsampling mechanisms with tighter privacy guarantees.
problem Improving privacy in machine learning models through subsampling.
method Conditional optimal transport for deriving mechanism-specific subsampling guarantees.
result Tighter privacy bounds for subsampled mechanisms compared to traditional methods.
New geometric mechanism solves four envelope problems.
problem Four basic problems on envelopes created by hyperplane families.
method Simple geometric mechanism of intersections of perpendicular bisectors and normal lines.
result Solves all four basic problems on envelopes at once.
This text explains how fiber bundle structure is fundamental for classical physics.
problem None explicitly stated, but implied as understanding fiber bundles is crucial for physics.
method Explains the fiber bundle structure and its universality for physics laws.
result Fiber bundle structure is fundamental for classical physics laws.
The paper improves privacy accounting for discrete-valued mechanisms and the subsampled Gaussian mechanism.
problem Improving the accuracy and efficiency of differential privacy accounting for discrete outputs.
method Uses fast Fourier transform (FFT) for rigorous error analysis and accounting of privacy loss.
result Provides strict lower and upper bounds for (ε,δ)-values, demonstrating up to 75% reduction in noise variance. This paper examines allocation mechanisms in markets with transfer costs, showing how these costs affect economic efficiency.
problem Transfer costs in decentralized exchange markets reduce economic efficiency.
method An axiomatic study of allocation mechanisms in the presence of transfer costs, providing robust and conditional mean allocation mechanisms.
result Robust and conditional mean allocation mechanisms are identified, relating to risk sharing in agent pools.
The Gaussian mechanism is an essential building block used in multitude of differentially private data analysis algorithms. In this paper we revisit the Gaussian mechanism and show that the original analysis has several important limitations. Our analysis reveals that the variance formula for the original mechanism is …
Paper introduces a new deep-learning method for quantum mechanics.
problem Simulating time-evolving Schrödinger equations efficiently.
method Generative diffusion models and stochastic mechanics.
result Significantly lower computational complexity compared to existing methods.
Associating stock mechanics to real economy, in terms of volume, number of transactions, and cost, i.e. money flow for shares, we obtained the fundamental laws of stock mechanics.
CICME estimates common and domain-specific causal mechanisms from multi-sensor data.
problem Inferring causal mechanisms from heterogeneous multi-sensor data across multiple domains.
method Three-step approach using Causal Transfer Learning (CTL).
result CICME reliably detects domain-invariant causal mechanisms and guides individual domain causal mechanism estimation.
New method compares DP mechanisms beyond (ε,δ) pairs.
problem Current DP mechanism comparisons overlook substantial differences.
method Introduces Δ-divergence for robust comparison. result Demonstrates gaps in current DP-SGD practices.
Many modern databases include personal and sensitive correlated data, such as private information on users connected together in a social network, and measurements of physical activity of single subjects across time. However, differential privacy, the current gold standard in data privacy, does not adequately address p…
Mechanism designs for unknown agent values in stochastic bandit settings.
problem Designing truthful mechanisms for maximizing social welfare in settings with unknown agent values and stochastic feedback.
method Developed a VCG-like mechanism with regret bounds for multi-round allocations, balancing agent and seller welfare.
result Achieved an $Ω(T^{ rac{2}{3}})$ lower bound for the maximum of welfare, agent utilities, and mechanism utility after T rounds. This work uses statistical mechanics to explain AI learning.
problem Understanding the statistical principles behind AI learning.
method Starting from sample concentration behaviors, the study applies statistical mechanics principles to AI and machine learning.
result Exponential families and statistical quantities are key in AI and machine learning.
Introduces Q-structures for mechanics using advanced geometry.
problem Challenges in classical differential geometric constructions in mechanics.
method Explains the use of Q-structures and differential graded manifolds.
result Q-structure preserving integrators can be useful in mechanics.
The Dirichlet mechanism protects privacy while minimizing KL divergence.
problem Minimizing KL divergence while protecting sensitive data privacy.
method Using the exponential mechanism with the KL divergence loss function, resulting in the Dirichlet mechanism.
result Proved a probability tail bound on KL divergence and derived a lower bound for sample complexity.
Paper tackles dynamic behavior of variable topology mechanisms, presenting new transition conditions.
problem Dynamic behavior of mechanisms with changing kinematic topology.
method Presented new transition conditions for variable topology mechanisms using projected motion equations and Voronets equations.
result Results show the dynamic behavior of joint locking in 3R and 6DOF mechanisms.
Frustration causes buckling-like behavior in tubular foldable mechanisms.
problem Kinematic coupling and geometric confinement in tubular foldable mechanisms.
method Analytical and numerical solutions of exact kinematics.
result Frustration propagates axially as if by buckling in tubular states.
A new discrete privacy mechanism for federated learning.
problem Differentially private federated learning with communication constraints.
method Skellam mechanism based on Poisson distributions.
result Skellam mechanism provides similar privacy-accuracy trade-offs as Gaussian mechanism.
Investigates the fundamental components of attention mechanisms.
problem Understanding the building blocks of attention in deep learning.
method Classified and studied three key mechanisms: additive, multiplicative output, and synaptic attention.
result Additive activation attention is central in proofs of lower bounds.
Study investigates OOD generalization methods for mechanics problems.
problem Real-world mechanics problems with unknown test environments and data distribution shifts.
method Investigates OOD generalization methods for regression problems in mechanics.
result OOD generalization methods perform better than traditional ML methods on mechanics-specific regression problems.
Examines quantum mechanics equivalence with Newtonian geometry.
problem Equivalence principle in quantum mechanics.
method Newton--Cartan geometry, non--relativistic twistor theory.
result Discusses equivalence in quantum mechanics.
Proposes a new method for estimating counterfactual treatment effects.
problem Uncertainty in identifying causal mechanisms from observational data.
method Introduces a parameterized family of causal mechanisms that generalize Gumbel-max, trained to minimize counterfactual effect variance.
result Trained mechanisms yield lower variance estimates of counterfactual treatment effects.
Mechanism design for large item sets using topic models.
problem Designing optimal mechanisms for large item sets when exact priors are unknown or intractable.
method Proposes a framework that disentangles statistical estimation and mechanism design, leveraging topic models to reduce complexity.
result Reduces the complexity of mechanism design for large item sets, making it feasible with topic models.