- talks - lists.cs.princeton.edu

Thomas Macrina will present his FPO "Precise Alignment of Serial Section Electron Microscopy Images and Analysis of Neural Circuits" on Monday, May 2, 2022 at 6:00 PM via Zoom.
by Louis W. Riehl 26 Apr '22

26 Apr '22

Thomas Macrina will present his FPO "Precise Alignment of Serial Section Electron Microscopy Images and Analysis of Neural Circuits" on Monday, May 2, 2022 at 6:00 PM via Zoom. Zoom link: [ https://princeton.zoom.us/j/95405661874 | https://princeton.zoom.us/j/95405661874 ] The members of his committee are as follows: Examiners: H. Sebastian Seung (Adviser), Mala Murthy, Felix Heide Readers: Kai Li, Stephan Saalfeld (HHMI Janelia) A copy of his thesis is available upon request. Please email gradinfo(a)cs.princeton.edu if you would like a copy of the thesis. Everyone is invited to attend his talk. Abstract follows below: Neural circuits provide a means to test how the structure of a brain is related to its function, but reconstructing complete circuits in a whole mammalian brain is currently not possible. A promising path is to image a brain with serial section electron microscopy and use automatic methods to reconstruct circuits from the data. The imaging process introduces significant physical distortion that causes the automatic methods to make errors, so it’s crucial to remove the distortion in a step called alignment. There are existing approaches to alignment, and by augmenting them with human-in-the-loop intervention we were able to produce a very accurate alignment of a five teravoxel mouse cortex dataset. This approach failed to correct distortion caused by cracks and folds, and the amount of human effort involved made it prohibitively expensive to process larger datasets. To overcome these limitations, our group developed a new alignment pipeline that uses deep optic flow models to predict more precise distortion measurements. Using this new alignment pipeline, we have been able to accurately align much larger datasets, including a 100 teravoxel whole fly brain and a one petavoxel cubic millimeter of mouse cortex. These alignments enabled high quality automatic reconstructions that are now being proofread with manageable human effort to produce some of the largest neural circuits to date. With improvements in the reconstruction technology, like our new alignment pipeline, neural circuits are becoming more accessible, and there will be more effort put toward analyzing them. We analyzed a neural circuit reconstructed from the terascale mouse cortex dataset, finding that sizes of synapses in a shared layer 2/3 pyramidal neuron connection have a correlated binary component, and that the network of these pyramidal neurons is well-described by a configuration model. Both results may have implications for how to constrain biological models of memory or neural network organization. Louis Riehl Graduate Administrator Computer Science Department, CS213 Princeton University (609) 258-8014

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Anja Kalaba will present her General Exam "Achieving High Availability for Cloud Applications with Disaggregated Storage" on 5/10/22 at 2pm via Zoom.
by Nicki Mahler 25 Apr '22

25 Apr '22

Anja Kalaba will present her General Exam "Achieving High Availability for Cloud Applications with Disaggregated Storage" on 5/10/22 at 2pm via Zoom. Zoom link: https://princeton.zoom.us/j/9544802809 Committee members: Amit Levy (adviser), Wyatt Lloyd, Ravi Netravali Abstract: The ubiquity of disaggregated storage in cloud computing has led to a nascent technique for fault tolerance: instead of utilizing application-level replication, newly-launched backup instances recover application state from disaggregated storage (REDS) after a primary’s failure. Attractively, REDS provides fault tolerance at much lower cost than traditional replication schemes, wherein at least two instances are running. Failover in REDS is slow, however, because it sequentially first detects primary failure and only then starts recovery on a backup. We propose speculative recovery to accelerate failover and thus increase the availability of applications using REDS. Instead of proceeding with failover sequentially, speculative recovery safely and efficiently parallelizes detecting primary failure and running recovery on a backup, by employing our new super and collapse primitives for disaggregated storage. Our implementation and evaluation of speculative recovery demonstrate that it considerably reduces failover time. [ https://docs.google.com/document/d/1R3sTjOaTBvFijwbzwy1kCDiGKYLuWvHjA_3NWDd… | https://docs.google.com/document/d/1R3sTjOaTBvFijwbzwy1kCDiGKYLuWvHjA_3NWDd… ]

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Nicolas Koh will present his General Exam "A theory of non-linear integer arithmetic" on May 3, 2022 at 3pm in CS 302 and via Zoom
by Nicki Mahler 25 Apr '22

25 Apr '22

Nicolas Koh will present his General Exam "A theory of non-linear integer arithmetic" on May 3, 2022 at 3pm in CS 302 and via Zoom Zoom link: https://princeton.zoom.us/j/9776564874 The members of his committee are as follows: Zak Kincaid (adviser), David Walker, Aarti Gupta A theory of non-linear integer arithmetic Inferring and verifying non-linear arithmetic invariants in programs is fundamentally challenging not only because of high computational complexity, but in the case of integers, the theory is not even recursively axiomatizable. Nevertheless, invariants that arise in practice and the attendant reasoning involved may be far more tractable. In this talk, we give an axiomatization of a “weak” theory of non-linear integer arithmetic, and show how satisfiability for this theory can be decided using a mix of polynomial algebra and polyhedral geometry. At heart, the axioms enable the reduction of non-linear arithmetic to the linear setting, allowing standard techniques to be employed. [ https://docs.google.com/document/d/1yeSMXQq_-JWJDxNxSG2M8BzCOrAjgSrnTAa_kGM… | https://docs.google.com/document/d/1yeSMXQq_-JWJDxNxSG2M8BzCOrAjgSrnTAa_kGM… ] [ https://docs.google.com/document/d/1FWtbJwFMBV41njmMRS2IvtWa7i1s1OoFMnKPaED… | https://docs.google.com/document/d/1FWtbJwFMBV41njmMRS2IvtWa7i1s1OoFMnKPaED… ]

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Sobhan Mir Yoosefi will present his FPO "Provable Reinforcement Learning with Constraints and Function Approximation" on Monday, 5/2/2022 at 3pm via Zoom.
by Nicki Mahler 25 Apr '22

25 Apr '22

Sobhan Mir Yoosefi will present his FPO "Provable Reinforcement Learning with Constraints and Function Approximation" on Monday, 5/2/2022 at 3pm via Zoom. Zoom Link: https://princeton.zoom.us/j/5269962765 Committee Members: Examiners: Chi Jin (adviser), Matthew Weinberg, Karthik Narasimhan Readers: Elad Hazan, Jason Lee All are welcome to attend. Abstract: Reinforcement learning (RL) has gained a surge of interest over the past years, fueled mainly by practical success and new applications in various domains. However, there is still a gap between our theoretical understanding of these RL techniques and their empirical success. In this thesis, we advance our understanding by studying reinforcement learning from a primarily theoretical point of view and designing provably efficient algorithms for two challenging settings of 1) reinforcement learning with constraints and 2) reinforcement learning with function approximation. 1) In standard reinforcement learning (RL), a learning agent seeks to optimize the overall reward. However, many key aspects of the desired behavior are more naturally expressed as constraints. For instance, the designer may want to limit the use of unsafe actions, increase the diversity of trajectories to enable exploration, or approximate expert trajectories when rewards are sparse. First, we propose an algorithmic scheme that can handle RL tasks with general convex constraints improving upon prior works that are either limited to linear constraints or lack theoretical guarantees. Second, focusing on sample-efficient exploration, we develop the first provably efficient algorithm for tabular episodic constrained RL with the ability to handle convex constraints as well as the knapsack setting. Finally, motivated by recent advances in reward-free RL, we propose a simple meta-algorithm such that given any reward-free RL oracle, the constrained RL problems can be directly solved with negligible overheads in sample complexity. 2) Finding the minimal structural assumptions that empower sample-efficient learning is one of RL's most important research directions. This thesis advances our understanding of this fundamental question by introducing a new complexity measure---Bellman Eluder (BE) dimension. We show that the family of RL problems of low BE dimension is remarkably rich, which subsumes a vast majority of existing tractable RL problems, including but not limited to tabular MDPs, linear MDPs, reactive POMDPs, low Bellman rank problems as well as low Eluder dimension problems. We further design a new optimization-based algorithm—GOLF, and reanalyze a hypothesis elimination-based algorithm—OLIVE (proposed in Jiang et al., 2017) . We prove that both algorithms learn the near-optimal policies of low BE dimension problems in a number of samples that is polynomial in all relevant parameters but independent of the size of state-action space. Our regret and sample complexity results match or improve the best existing results for several well-known subclasses of low BE dimension problems. Furthermore, moving towards a more challenging setting of partially observable RL, we study a new subclass of Partially Observable Markov Decision Processes (POMDPs). More specifically, motivated by the problem structure in several physical applications and a commonly used technique known as "frame stacking'', this work proposes to study a new subclass of POMDPs, whose latent states can be decoded by the most recent history of a short length m. We establish a set of upper and lower bounds on the sample complexity for learning near-optimal policies for this class of problems in both tabular and rich-observation settings (where the number of observations is enormous). Our results show that a short-term memory suffices for reinforcement learning in these environments.

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Zeyu Ma will present his General Exam "Multiview Stereo with Cascaded Epipolar RAFT" on Monday, May 2, 2022 at 10:00 AM in CS 402 and via zoom.
by Louis W. Riehl 25 Apr '22

25 Apr '22

Zeyu Ma will present his General Exam "Multiview Stereo with Cascaded Epipolar RAFT" on Monday, May 2, 2022 at 10:00 AM in CS 402 and via zoom. Zoom link: https://princeton.zoom.us/j/4673688313 Committee Members: Jia Deng (advisor), Szymon Rusinkiewicz, Felix Heide Abstract: Multiview stereo (MVS) is an important task in 3D computer vision. It seeks to reconstruct a full 3D model, typically in the form of a dense 3D point cloud, from multiple RGB images with known camera intrinsics and poses. It is a difficult task that remains unsolved; the main challenge is producing a 3D model that is not only accurate but also complete, that is, no parts should be missing and all fine details should be recovered. Classical methods essentially formulate multiview stereo as an optimization problem, which seeks to find a 3D model that is most compatible with the observed images. The compatibility is typically based on some hand-designed notion of photo-consistency, assuming that pixels that are projections of the same 3D point should have similar appearance. Many of the latest results of multiview stereo are achieved by deep networks. In particular, many recent leading methods are variants of MVSNet, a deep architecture that consists of two main steps: (1) constructing a 3D cost volume in the frustum of a reference view, by warping features from other views, and (2) using 3D convolutional layers to transform, or regularize, the cost volume before using it to predict a depth map. The resulting depth maps, one from each reference view, are then combined to form a single 3D point cloud through a heuristic procedure. However, a drawback of MVSNet is that regularizing the 3D plane-sweeping cost volume using 3D convolutions can be costly in terms of computation and memory. Therefore, We propose CER-MVS (Cascaded Epipolar RAFT Multiview Stereo), a new approach based on the RAFT (Recurrent All-Pairs Field Transforms) architecture developed for optical flow. CER-MVS introduces five new changes to RAFT: epipolar cost volumes, cost volume cascading, multiview fusion of cost volumes, dynamic supervision, and multiresolution fusion of depth maps. CER-MVS is significantly different from prior work in multiview stereo as it operates by updating a disparity field. Experiments show that our approach achieves state-of-the-art performance on the DTU and Tanks-and-Temples benchmarks (both intermediate and advanced set). Reading List: https://docs.google.com/document/d/1ELU3MmNlojf4FnyrLcFScN7AsARx7cJCA0VvAnQ… Everyone is invited to attend the talk, and those faculty wishing to remain for the oral exam following are welcome to do so. Louis Riehl Graduate Administrator Computer Science Department, CS213 Princeton University (609) 258-8014

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Joshua Gardner will present his MSE talk "The Prophet Paradox: Optimal Stopping with Multi-Dimensional Comparative Loss Aversion." on April 22, 2022 at 1:50pm via Zoom
by Nicki Mahler 22 Apr '22

22 Apr '22

Joshua Gardner will present his MSE talk "The Prophet Paradox: Optimal Stopping with Multi-Dimensional Comparative Loss Aversion." on April 22, 2022 at 1:50pm via Zoom Zoom link: [ https://princeton.zoom.us/j/7993507333 | https://princeton.zoom.us/j/7993507333 ] Committee members: Matt Weinberg (adviser) and Mark Braverman (reader) All are welcome to attend. Abstract: Recent work by Kleinberg et al. [9] explores the effects of loss aversion and reference dependence on the prophet inequality problem, where an online decision maker sees options one by one in sequence and must decide immediately whether to select the current option or forego it and lose it forever. In their model, the online decision-maker forms a reference point equal to the best candidate previously rejected, and the decision-maker suffers from loss aversion based on the quality of their reference point, and a parameter 1 that quantifies their loss aversion. We consider the same prophet inequality setup, but with options that have multiple features. The decision maker still forms a reference point, and still suffers loss aversion in comparison to that reference point as a function of 1, but now that reference point is a (hypothetical) combination of the best candidate seen so far in each feature. Despite having the same basic prophet inequality setup and model of loss aversion, conclusions in our multi-dimensional model differs drastically from the one-dimensional model of Kleinberg et al. [9]. For example, Kleinberg et al. [9] gives a tight closed-form on the competitive ratio that an online decision-maker can achieve as a function of 1, for any 1 ≥ 0. In our multi-dimensional model, there is a sharp phase transition: if k denotes the number of dimensions, then when ^ ≥ 7_,, no non-trivial competitive ratio is possible. On the other hand, when 1 <E, we give a tight bound on the achievable competitive ratio (similar to [91). As another example, 9 uncovers an exponential improvement in their competitive ratio for the random- order vs. worst-case prophet inequality problem. In our model with k ≥ 2 dimensions, the gap is at most a constant-factor. We uncover several additional key differences in the multi- and single-dimensional models.

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Princeton Robotics Seminar: Mac Schwager, TODAY at 3pm
by Emily C. Lawrence 22 Apr '22

22 Apr '22

***** Princeton Robotics Seminar: Mac Schwager, TODAY at 3pm ***** Time: 3pm EST, Friday Apr 22, 2022 Location: Zoom [ https://princeton.zoom.us/my/robotics | link ] Speaker: [ https://web.stanford.edu/~schwager/ | Mac Schwager ] , Stanford AeroAstro Title: Reimagining Robot Autonomy with Neural Environment Representations Abstract: New developments in computer vision and deep learning have led to the rise of neural environment representations: 3D maps that are stored as deep networks that spatially register occupancy, color, texture, and other physical properties. These environment models can generate photo-realistic synthetic images from unseen view points, and can store 3D information in exquisite detail. In this talk, I investigate the question: How can robots use neural environment representations for perception, motion planning, manipulation, and simulation? I will show recent work from my lab in which we build a robot navigation pipeline using a Neural Radiance Field (NeRF) map of an environment. We develop a trajectory optimization algorithm that interfaces with the NeRF model to find dynamically feasible, collision-free trajectories for a robot moving through a NeRF world. We also develop an optimization-based state estimator that uses the NeRF model to give full dynamic state estimates for a robot from only on board images. I will also discuss preliminary results using NeRF models for grasp planning, and for tracking the poses of multiple 3D objects in a scene. Finally, I will discuss a new differentiable robot physics simulator called Dojo that can use NeRFs as a geometry description for objects, leading to physically interpretable motion prediction from NeRF models. I will conclude with future opportunities and challenges in integrating neural environment representations into the robot autonomy stack. Bio: Mac Schwager is an Associate Professor of Aeronautics and Astronautics at Stanford University. He directs the Multi-robot Systems Lab (MSL) where he studies distributed algorithms for control, perception, and learning in groups of robots and autonomous systems. He is interested in a range of applications including cooperative surveillance with teams of UAVs, autonomous driving in traffic, cooperative robotic manipulation, distributed SLAM, distributed trajectory planning, and autonomous drone and car racing. He obtained his BS degree from Stanford, and his MS and PhD degrees from MIT. He was a postdoctoral researcher at the University of Pennsylvania and at MIT. Prior to joining Stanford, he was an assistant professor at Boston University from 2012 to 2015. He received the NSF CAREER award in 2014, the DARPA YFA in 2018, and has received numerous best paper awards in conferences and journals including the IEEE Transactions on Robotics best paper award in 2016, the Best Paper Award in Robot Manipulation in ICRA 2018, and the Best Paper Award in Multi-Robot Systems in ICRA 2020.

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Nikunj Saunshi will present his Pre FPO "Towards understanding self-supervised representation learning" on Monday, April 25, 2022 at 1:30pm via Zoom.
by Nicki Mahler 21 Apr '22

21 Apr '22

Nikunj Saunshi will present his Pre FPO "Towards understanding self-supervised representation learning" on Monday, April 25, 2022 at 1:30pm via Zoom. Zoom link: https://princeton.zoom.us/j/93697691837 His committee is as follows: Prof. Sanjeev Arora (adviser), Prof. Danqi Chen (examiner), Prof. Chi Jin (examiner), Prof. Elad Hazan (reader), Prof. Jason Lee (reader). Title: Towards understanding self-supervised representation learning Abstract: While supervised learning sparked the deep learning boom, it has some critical pitfalls: (1) it requires an abundance of expensive labeled data, and (2) it solves tasks from scratch rather than the human-like approach of leveraging knowledge and skills acquired from prior experiences. Pre-training has emerged as an alternative and effective paradigm, where a model is first trained using easily acquirable data, and later used to solve downstream tasks of interest with much fewer labeled data than supervised learning. Pre-training using unlabeled data, a.k.a. self-supervised learning, has been especially revolutionary, with successes in diverse domains (text, vision, speech, etc.). This raises an interesting and challenging question: why should pre-training on unlabeled data help with seemingly unrelated downstream tasks? In this talk I will present my works that initiate and build theoretical frameworks to study self-supervised learning methods like contrastive learning, language modeling and self-prediction based methods. Central to the framework is the idea that pre-training helps learn low-dimensional representations of data that help solve downstream tasks of interest with linear classifiers, thus requiring little labeled data. A common theme is to mathematically show how appropriate pre-training objectives can extract the downstream signal that is implicitly encoded in the unlabeled data distribution, and how this signal can be decoded from the learned representations using linear classifiers, thus providing a formalization for transference of “skills and knowledge” across tasks. All are welcome to attend.

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Mona Wang will present her General Exam on April 27, 2022 at 3pm via Zoom.
by Nicki Mahler 19 Apr '22

19 Apr '22

Mona Wang will present her General Exam on April 27, 2022 at 3pm via Zoom. Zoom link: [ https://princeton.zoom.us/my/monamon?pwd=UDhNd3RQVmlISGZXeDhBSCsyVU9iUT09 | https://princeton.zoom.us/my/monamon?pwd=UDhNd3RQVmlISGZXeDhBSCsyVU9iUT09 ] The members of her committee are as follows: Jonathan Mayer (adviser), Prateek Mittal, and Roya Ensafi Abstract: [ https://docs.google.com/document/d/1h22DDjrwMzaGZs477DBm3ho3ayT7Yx04x68SMKj… | https://docs.google.com/document/d/1h22DDjrwMzaGZs477DBm3ho3ayT7Yx04x68SMKj… ] Censorship and surveillance events continue to increase at an unprecedented scale, enabled by the proliferation of censorship-capable network devices that can quickly inspect and interfere with large amounts of network traffic. Advancements in networking device technology and the commoditization of deep packet inspection (DPI) devices for the purpose of enterprise network monitoring have made this censorship capability available to a growing number of countries, including those with poor human rights records. While these censorship technologies have proliferated, techniques to identify and monitor them are still relatively limited. In particular, many of these techniques focus on what is blocked, and discovering how the blocking occurs, but there are very few large-scale surveys on the censorship network devices themselves, and their vendors. This work aims to develop techniques to identify and monitor the deployment of devices that perform network censorship at Internet-scale. We perform large-scale probing of network censorship-capable middleboxes to develop accurate network-level fingerprints of censorship middleboxes, and discover how many network devices on the Internet are built on devices capable of network censorship. Reading List: [ https://docs.google.com/document/d/1_MG8cxDLGJ8XP88M2kFe0C456LFM7DnaOHrVXyp… | https://docs.google.com/document/d/1_MG8cxDLGJ8XP88M2kFe0C456LFM7DnaOHrVXyp… ] Everyone is invited to attend the talk, and those faculty wishing to remain for the oral exam following are welcome to do so.

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Zhou Lu will present his General Exam on Tuesday, April 26, 2022 at 11am via Zoom and in CS 301
by Nicki Mahler 19 Apr '22

19 Apr '22

Zhou Lu will present his General Exam on Tuesday, April 26, 2022 at 11am via Zoom and in CS 301. Zoom link: [ https://princeton.zoom.us/j/8104170458 | https://princeton.zoom.us/j/8104170458 ] The members of his committee are as follows: Elad Hazan (adviser), Sanjeev Arora, and Jason Lee Abstract: [ https://docs.google.com/document/d/1iu2XuYnC48Lk9_qdl3sDDOYTGLrcRP9GMk2FQEX… | https://docs.google.com/document/d/1iu2XuYnC48Lk9_qdl3sDDOYTGLrcRP9GMk2FQEX… ] Adaptive gradient methods are the most popular method for optimization in machine learning, but existing bounds didn't take (possible) changing environments into consideration. We study the problem of learning a local preconditioner, that can change as the data is changing along the optimization trajectory. We propose an adaptive gradient method that has provable adaptive regret guarantees vs. the best local preconditioner. To derive this guarantee, we prove a new adaptive regret bound in online learning that improves upon previous adaptive online learning methods. We demonstrate the robustness of our method in automatically choosing the optimal learning rate schedule for popular benchmarking tasks in vision and language domains. Without the need to manually tune a learning rate schedule, our method can, in a single run, achieve comparable and stable task accuracy as a fine-tuned optimizer. Reading List: [ https://sites.google.com/view/intro-oco/ver-2-0?authuser=0 | https://sites.google.com/view/intro-oco/ver-2-0?authuser=0 ] Everyone is invited to attend the talk, and those faculty wishing to remain for the oral exam following are welcome to do so.

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