arXiv subjects

Yinan Li

Publications and source records attributed to Yinan Li.

At least 55 records · Page 3Linked to original sources

arXiv2022

A Specification-Guided Framework for Temporal Logic Control of Nonlinear Systems

This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the winning set, i.e., the set of initial conditions from which a given LTL formula can be realized, over the continuous state space of the system via a monotonic operator. Following this characterization, an algorithm is proposed to practically approximate the operator via an adaptive interval subdivision scheme, which yields a finite-memory control strategy. We show that the proposed algorithm is sound for full LTL specifications, and robustly complete for specifications recognizable by deterministic Büchi automata (DBA), the latter in the sense that control strategies can be found whenever the given specification can be satisfied with additional bounded disturbances. Without having to compute and store the abstraction and the resulting product system with the DBA, the proposed method is more memory efficient, which is demonstrated by complexity analysis and performance tests. A pre-processing stage is also devised to reduce computational cost via a decomposition of the specification. We show that the proposed method can effectively solve real-world control problems such as jet engine compressor control and motion planning for manipulators and mobile robots.

eess.SY↗

arXiv2022

A Piecewise Learning Framework for Control of Unknown Nonlinear Systems with Stability Guarantees

We propose a piecewise learning framework for controlling nonlinear systems with unknown dynamics. While model-based reinforcement learning techniques in terms of some basis functions are well known in the literature, when it comes to more complex dynamics, only a local approximation of the model can be obtained using a limited number of bases. The complexity of the identifier and the controller can be considerably high if obtaining an approximation over a larger domain is desired. To overcome this limitation, we propose a general piecewise nonlinear framework where each piece is responsible for locally learning and controlling over some region of the domain. We obtain rigorous uncertainty bounds for the learned piecewise models. The piecewise affine (PWA) model is then studied as a special case, for which we propose an optimization-based verification technique for stability analysis of the closed-loop system. Accordingly, given a time-discretization of the learned {PWA} system, we iteratively search for a common piecewise Lyapunov function in a set of positive definite functions, where a non-monotonic convergence is allowed. This Lyapunov candidate is verified on the uncertain system to either provide a certificate for stability or find a counter-example when it fails. This counter-example is added to a set of samples to facilitate the further learning of a Lyapunov function. We demonstrate the results on two examples and show that the proposed approach yields a less conservative region of attraction (ROA) compared with alternative state-of-the-art approaches. Moreover, we provide the runtime results to demonstrate potentials of the proposed framework in real-world implementations.

math.OC↗

arXiv2022

Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments

Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level locomotion decisions and achieving complex maneuvering behaviors with correctness guarantees. This study takes a first step toward formally devising an architecture composed of task planning and control of whole-body dynamic locomotion behaviors in constrained and dynamically changing environments. At the high level, we formulate a two-player temporal logic game between the multi-limb locomotion planner and its dynamic environment to synthesize a winning strategy that delivers symbolic locomotion actions. These locomotion actions satisfy the desired high-level task specifications expressed in a fragment of temporal logic. Those actions are sent to a robust finite transition system that synthesizes a locomotion controller that fulfills state reachability constraints. This controller is further executed via a low-level motion planner that generates feasible locomotion trajectories. We construct a set of dynamic locomotion models for legged robots to serve as a template library for handling diverse environmental events. We devise a replanning strategy that takes into consideration sudden environmental changes or large state disturbances to increase the robustness of the resulting locomotion behaviors. We formally prove the correctness of the layered locomotion framework guaranteeing a robust implementation by the motion planning layer. Simulations of reactive locomotion behaviors in diverse environments indicate that our framework has the potential to serve as a theoretical foundation for intelligent locomotion behaviors.

cs.RO↗

arXiv2021

Smooth Converse Lyapunov-Barrier Theorems for Asymptotic Stability with Safety Constraints and Reach-Avoid-Stay Specifications

Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can be characterized by Lyapunov functions. Reachability properties can also be naturally captured by Lyapunov functions for finite-time stability. Motivated by safety-critical control applications, such as in autonomous systems and robotics, there has been a recent surge of interests in characterizing safety properties using barrier functions. Lyapunov and barrier functions conditions, however, are sometimes viewed as competing objectives. In this paper, we provide a unified theoretical treatment of Lyapunov and barrier functions in terms of converse theorems for stability properties with safety guarantees and reach-avoid-stay type specifications. We show that if a system (modeled as a dynamical system with measurable perturbations) possesses a stability with safety property, then there exists a smooth Lyapunov function to certify such a property. This Lyapunov function is shown to be defined on the entire set of initial conditions from which solutions satisfy this property. A similar but slightly weaker statement is made for reach-avoid-stay specifications. We show by a simple example that the latter statement cannot be strengthened without additional assumptions. We further extend the results for systems with control inputs and prove existence of converse Lyapunov-barrier functions for reach-and-avoid specifications. While the converse Lyapunov-barrier theorems are not constructive, as with classical converse Lyapunov theorems, we believe that the unified necessary and sufficient conditions with a single Lyapunov-barrier function are of theoretical interest and can hopefully shed some light on computational approaches.

eess.SY↗

arXiv2021

Noise-Augmented Privacy-Preserving Empirical Risk Minimization with Dual-purpose Regularizer and Privacy Budget Retrieval and Recycling

We propose Noise-Augmented Privacy-Preserving Empirical Risk Minimization (NAPP-ERM) that solves ERM with differential privacy guarantees. Existing privacy-preserving ERM approaches may be subject to over-regularization with the employment of an l2 term to achieve strong convexity on top of the target regularization. NAPP-ERM improves over the current approaches and mitigates over-regularization by iteratively realizing target regularization through appropriately designed augmented data and delivering strong convexity via a single adaptively weighted dual-purpose l2 regularizer. When the target regularization is for variable selection, we propose a new regularizer that achieves both privacy and sparsity guarantees simultaneously. Finally, we propose a strategy to retrieve privacy budget when the strong convexity requirement is met, which can be returned to users such that the DP of ERM is guaranteed at a lower privacy cost than originally planned, or be recycled to the ERM optimization procedure to reduce the injected DP noise and improve the utility of DP-ERM. From an implementation perspective, NAPP-ERM can be achieved by optimizing a non-perturbed object function given noise-augmented data and can thus leverage existing tools for non-private ERM optimization. We illustrate through extensive experiments the mitigation effect of the over-regularization and private budget retrieval by NAPP-ERM on variable selection and prediction.

stat.ML↗

arXiv2021

Improved Algorithms for Efficient Active Learning Halfspaces with Massart and Tsybakov noise

We give a computationally-efficient PAC active learning algorithm for $d$-dimensional homogeneous halfspaces that can tolerate Massart noise (Massart and Nédélec, 2006) and Tsybakov noise (Tsybakov, 2004). Specialized to the $η$-Massart noise setting, our algorithm achieves an information-theoretically near-optimal label complexity of $\tilde{O}\left( \frac{d}{(1-2η)^2} \mathrm{polylog}(\frac1ε) \right)$ under a wide range of unlabeled data distributions (specifically, the family of "structured distributions" defined in Diakonikolas et al. (2020)). Under the more challenging Tsybakov noise condition, we identify two subfamilies of noise conditions, under which our efficient algorithm provides label complexity guarantees strictly lower than passive learning algorithms.

cs.LG↗

arXiv2020

Continuous-time Markov-switching GARCH Process with Robust and Efficient State Path and Volatility Estimation

We propose a continuous-time Markov-switching generalized autoregressive conditional heteroskedasticity (COMS-GARCH) process for handling irregularly spaced time series (TS) with multiple volatilities states. We employ a Gibbs sampler in the Bayesian framework to estimate the COMS-GARCH model parameters, the latent state path and volatilities. To improve the inferential robustness and computational efficiency for obtaining the maximum a posteriori estimates for the state path and volatilities, we suggest a multi-path sampling scheme and incorporate the Bernoulli noise injection in the computational algorithm. We provide theoretical justifications for the improved stability and robustness with the Bernoulli noise injection through the concept of ensemble learning and the low sensitivity of the objective function to external perturbation in the TS. We apply the proposed COMS-GARCH process and the computational procedure to simulated TS, a real currency exchange rate TS, and a real blood volume amplitude TS. The empirical results demonstrate that the COMS-GARCH process and the computational procedure are able to predict volatility regimes and volatilities in a TS with satisfactory accuracy.

stat.ME↗

arXiv2020

Quantum algorithms for matrix scaling and matrix balancing

Matrix scaling and matrix balancing are two basic linear-algebraic problems with a wide variety of applications, such as approximating the permanent, and pre-conditioning linear systems to make them more numerically stable. We study the power and limitations of quantum algorithms for these problems. We provide quantum implementations of two classical (in both senses of the word) methods: Sinkhorn's algorithm for matrix scaling and Osborne's algorithm for matrix balancing. Using amplitude estimation as our main tool, our quantum implementations both run in time $\tilde O(\sqrt{mn}/\varepsilon^4)$ for scaling or balancing an $n \times n$ matrix (given by an oracle) with $m$ non-zero entries to within $\ell_1$-error $\varepsilon$. Their classical analogs use time $\tilde O(m/\varepsilon^2)$, and every classical algorithm for scaling or balancing with small constant $\varepsilon$ requires $Ω(m)$ queries to the entries of the input matrix. We thus achieve a polynomial speed-up in terms of $n$, at the expense of a worse polynomial dependence on the obtained $\ell_1$-error $\varepsilon$. We emphasize that even for constant $\varepsilon$ these problems are already non-trivial (and relevant in applications). Along the way, we extend the classical analysis of Sinkhorn's and Osborne's algorithm to allow for errors in the computation of marginals. We also adapt an improved analysis of Sinkhorn's algorithm for entrywise-positive matrices to the $\ell_1$-setting, leading to an $\tilde O(n^{1.5}/\varepsilon^3)$-time quantum algorithm for $\varepsilon$-$\ell_1$-scaling in this case. We also prove a lower bound, showing that our quantum algorithm for matrix scaling is essentially optimal for constant $\varepsilon$: every quantum algorithm for matrix scaling that achieves a constant $\ell_1$-error with respect to uniform marginals needs to make at least $Ω(\sqrt{mn})$ queries.

quant-ph↗

arXiv2020

Learning Control Barrier Functions with High Relative Degree for Safety-Critical Control

Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an online quadratic programming problem. However, model uncertainty is a big challenge in synthesizing controllers. This may lead to the generation of unsafe control actions, resulting in severe consequences. In this paper, we develop a learning framework to deal with system uncertainty. Our method mainly focuses on learning the dynamics of the control barrier function, especially for high relative degree with respect to a system. We show that for each order, the time derivative of the control barrier function can be separated into the time derivative of the nominal control barrier function and a remainder. This implies that we can use a neural network to learn the remainder so that we can approximate the dynamics of the real control barrier function. We show by simulation that our method can generate safe trajectories under parametric uncertainty using a differential drive robot model.

eess.SY↗

arXiv2020

Quantum asymptotic spectra of graphs and non-commutative graphs, and quantum Shannon capacities

We study quantum versions of the Shannon capacity of graphs and non-commutative graphs. We introduce the asymptotic spectrum of graphs with respect to quantum and entanglement-assisted homomorphisms, and we introduce the asymptotic spectrum of non-commutative graphs with respect to entanglement-assisted homomorphisms. We apply Strassen's spectral theorem (J. Reine Angew. Math., 1988) in order to obtain dual characterizations of the corresponding Shannon capacities and asymptotic preorders in terms of their asymptotic spectra. This work extends the study of the asymptotic spectrum of graphs initiated by Zuiddam (Combinatorica, 2019) to the quantum domain. We then exhibit spectral points in the new quantum asymptotic spectra and discuss their relations with the asymptotic spectrum of graphs. In particular, we prove that the (fractional) real and complex Haemers bounds upper bound the quantum Shannon capacity, which is defined as the regularization of the quantum independence number (Mančinska and Roberson, J. Combin. Theory Ser. B, 2016), and that the fractional real and complex Haemers bounds are elements in the quantum asymptotic spectrum of graphs. This is in contrast to the Haemers bounds defined over certain finite fields, which can be strictly smaller than the quantum Shannon capacity. Moreover, since the Haemers bound can be strictly smaller than the Lovász theta function (Haemers, IEEE Trans. Inf. Theory, 1979), we find that the quantum Shannon capacity and the Lovász theta function do not coincide. As a consequence, two well-known conjectures in quantum information theory cannot both be true.

quant-ph↗

arXiv2020

Continuous Motion Planning with Temporal Logic Specifications using Deep Neural Networks

In this paper, we propose a model-free reinforcement learning method to synthesize control policies for motion planning problems with continuous states and actions. The robot is modelled as a labeled discrete-time Markov decision process (MDP) with continuous state and action spaces. Linear temporal logics (LTL) are used to specify high-level tasks. We then train deep neural networks to approximate the value function and policy using an actor-critic reinforcement learning method. The LTL specification is converted into an annotated limit-deterministic Büchi automaton (LDBA) for continuously shaping the reward so that dense rewards are available during training. A naïve way of solving a motion planning problem with LTL specifications using reinforcement learning is to sample a trajectory and then assign a high reward for training if the trajectory satisfies the entire LTL formula. However, the sampling complexity needed to find such a trajectory is too high when we have a complex LTL formula for continuous state and action spaces. As a result, it is very unlikely that we get enough reward for training if all sample trajectories start from the initial state in the automata. In this paper, we propose a method that samples not only an initial state from the state space, but also an arbitrary state in the automata at the beginning of each training episode. We test our algorithm in simulation using a car-like robot and find out that our method can learn policies for different working configurations and LTL specifications successfully.

cs.AI↗

arXiv2020

Interior-point methods for unconstrained geometric programming and scaling problems

We provide a condition-based analysis of two interior-point methods for unconstrained geometric programs, a class of convex programs that arise naturally in applications including matrix scaling, matrix balancing, and entropy maximization. Our condition numbers are natural geometric quantities associated with the Newton polytope of the geometric program, and lead to diameter bounds on approximate minimizers. We also provide effective bounds on the condition numbers both in general and under combinatorial assumptions on the Newton polytope. In this way, we generalize the iteration complexity of recent interior-point methods for matrix scaling and matrix balancing. Recently, there has been much work on algorithms for certain optimization problems on Lie groups, known as capacity and scaling problems. For commutative groups, these problems reduce to unconstrained geometric programs, which serves as a particular source of motivation for our work.

math.OC↗

arXiv2020

ALEX: An Updatable Adaptive Learned Index

Recent work on "learned indexes" has changed the way we look at the decades-old field of DBMS indexing. The key idea is that indexes can be thought of as "models" that predict the position of a key in a dataset. Indexes can, thus, be learned. The original work by Kraska et al. shows that a learned index beats a B+Tree by a factor of up to three in search time and by an order of magnitude in memory footprint. However, it is limited to static, read-only workloads. In this paper, we present a new learned index called ALEX which addresses practical issues that arise when implementing learned indexes for workloads that contain a mix of point lookups, short range queries, inserts, updates, and deletes. ALEX effectively combines the core insights from learned indexes with proven storage and indexing techniques to achieve high performance and low memory footprint. On read-only workloads, ALEX beats the learned index from Kraska et al. by up to 2.2X on performance with up to 15X smaller index size. Across the spectrum of read-write workloads, ALEX beats B+Trees by up to 4.1X while never performing worse, with up to 2000X smaller index size. We believe ALEX presents a key step towards making learned indexes practical for a broader class of database workloads with dynamic updates.

cs.DB↗

arXiv2020

Qd-tree: Learning Data Layouts for Big Data Analytics

Corporations today collect data at an unprecedented and accelerating scale, making the need to run queries on large datasets increasingly important. Technologies such as columnar block-based data organization and compression have become standard practice in most commercial database systems. However, the problem of best assigning records to data blocks on storage is still open. For example, today's systems usually partition data by arrival time into row groups, or range/hash partition the data based on selected fields. For a given workload, however, such techniques are unable to optimize for the important metric of the number of blocks accessed by a query. This metric directly relates to the I/O cost, and therefore performance, of most analytical queries. Further, they are unable to exploit additional available storage to drive this metric down further. In this paper, we propose a new framework called a query-data routing tree, or qd-tree, to address this problem, and propose two algorithms for their construction based on greedy and deep reinforcement learning techniques. Experiments over benchmark and real workloads show that a qd-tree can provide physical speedups of more than an order of magnitude compared to current blocking schemes, and can reach within 2X of the lower bound for data skipping based on selectivity, while providing complete semantic descriptions of created blocks.

cs.DB↗

arXiv2020

Robustly Complete Synthesis of Memoryless Controllers for Nonlinear Systems with Reach-and-Stay Specifications

This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is desirable as the commonly used abstraction-based methods are sound but not complete for systems that are not incrementally stable. Fundamental to the proposed method is a fixed-point characterization of the winning set of the system with respect to a given specification, i.e., the initial states that can be controlled to satisfy the specification. The use of an adaptive partitioning scheme not only guarantees the approximation precision of the winning set but also reduces computational time. The effectiveness and efficiency are illustrated by several benchmarking examples.

math.OC↗

arXiv2020

The Haemers bound of noncommutative graphs

We continue the study of the quantum channel version of Shannon's zero-error capacity problem. We generalize the celebrated Haemers bound to noncommutative graphs (obtained from quantum channels). We prove basic properties of this bound, such as additivity under the direct sum and submultiplicativity under the tensor product. The Haemers bound upper bounds the Shannon capacity of noncommutative graphs, and we show that it can outperform other known upper bounds, including noncommutative analogues of the Lovász theta function (Duan-Severini-Winter, IEEE Trans. Inform. Theory, 2013 and Boreland-Todorov-Winter, arXiv, 2019).

quant-ph↗

arXiv2019

A Quantum-inspired Classical Algorithm for Separable Non-negative Matrix Factorization

Non-negative Matrix Factorization (NMF) asks to decompose a (entry-wise) non-negative matrix into the product of two smaller-sized nonnegative matrices, which has been shown intractable in general. In order to overcome this issue, the separability assumption is introduced which assumes all data points are in a conical hull. This assumption makes NMF tractable and is widely used in text analysis and image processing, but still impractical for huge-scale datasets. In this paper, inspired by recent development on dequantizing techniques, we propose a new classical algorithm for separable NMF problem. Our new algorithm runs in polynomial time in the rank and logarithmic in the size of input matrices, which achieves an exponential speedup in the low-rank setting.

cs.DS↗

arXiv2019

Group-theoretic generalisations of vertex and edge connectivities

Let $p$ be an odd prime. Let $P$ be a finite $p$-group of class $2$ and exponent $p$, whose commutator quotient $P/[P,P]$ is of order $p^n$. We define two parameters for $P$ related to central decompositions. The first parameter, $κ(P)$, is the smallest integer $s$ for the existence of a subgroup $S$ of $P$ satisfying (1) $S\cap [P,P]=[S,S]$, (2) $|S/[S,S]|=p^{n-s}$, and (3) $S$ admits a non-trivial central decomposition. The second parameter, $λ(P)$, is the smallest integer $s$ for the existence of a central subgroup $N$ of order $p^s$, such that $P/N$ admits a non-trivial central decomposition. While defined in purely group-theoretic terms, these two parameters generalise respectively the vertex and edge connectivities of graphs: For a simple undirected graph $G$, through the classical procedures of Baer (Trans. Am. Math. Soc., 1938), Tutte (J. Lond. Math. Soc., 1947) and Lovász (B. Braz. Math. Soc., 1989), there is a $p$-group of class $2$ and exponent $p$ $P_G$ that is naturally associated with $G$. Our main results show that the vertex connectivity $κ(G)$ is equal to $κ(P_G)$, and the edge connectivity $λ(G)$ is equal to $λ(P_G)$. We also discuss the relation between $κ(P)$ and $λ(P)$ for a general $p$-group $P$ of class $2$ and exponent $p$, as well as the computational aspects of these parameters.

math.CO↗