text
stringlengths 481
13.8k
| embedding
sequencelengths 1.02k
1.02k
|
|---|---|
Imitation Learning from Observation (ILfO) is a setting in which a learner
tries to imitate the behavior of an expert, using only observational data and
without the direct guidance of demonstrated actions. In this paper, we
re-examine the use of optimal transport for IL, in which a reward is generated
based on the Wasserstein distance between the state trajectories of the learner
and expert. We show that existing methods can be simplified to generate a
reward function without requiring learned models or adversarial learning.
Unlike many other state-of-the-art methods, our approach can be integrated with
any RL algorithm, and is amenable to ILfO. We demonstrate the effectiveness of
this simple approach on a variety of continuous control tasks and find that it
surpasses the state of the art in the IlfO setting, achieving expert-level
performance across a range of evaluation domains even when observing only a
single expert trajectory without actions. | [
-0.03125765919685364,
-0.012600057758390903,
-0.03780932351946831,
-0.04022502154111862,
-0.048423752188682556,
-0.015015755780041218,
0.02472429722547531,
0.028951767832040787,
-0.14069607853889465,
0.02915307506918907,
-0.018959565088152885,
-0.047106098383665085,
0.026719076558947563,
-0.041323065757751465,
-0.018813159316778183,
0.03566813841462135,
0.02408377081155777,
0.03619885817170143,
-0.04739890992641449,
-0.03702239319682121,
0.06526043266057968,
-0.011831426993012428,
-0.03023281879723072,
0.0547558069229126,
-0.0012147114612162113,
-0.011218352243304253,
0.062149304896593094,
-0.00015069513756316155,
-0.06679769605398178,
0.02832954190671444,
0.0535113587975502,
0.02909817360341549,
-0.03693088889122009,
-0.020661532878875732,
-0.02353474870324135,
-0.05025382712483406,
0.01879485696554184,
0.021119050681591034,
-0.021119050681591034,
0.08023043721914291,
-0.011200051754713058,
0.009745143353939056,
-0.024651093408465385,
-0.041908688843250275,
-0.030470728874206543,
-0.048460353165864944,
-0.013524245470762253,
0.03872436285018921,
-0.0035366176161915064,
-0.028494248166680336,
0.0013679801486432552,
-0.06910358369350433,
0.03488120809197426,
-0.01586673967540264,
-0.019984405487775803,
0.06225911155343056,
0.07700950652360916,
0.014237973839044571,
0.038248542696237564,
-0.05581725016236305,
-0.03425898030400276,
-0.05226690694689751,
-0.029079873114824295,
-0.015235364437103271,
0.0495217964053154,
-0.05611006170511246,
0.045568838715553284,
0.016973935067653656,
0.007352321408689022,
0.007585655897855759,
-0.03294132649898529,
-0.001807197812013328,
-0.03799233213067055,
-0.022930825129151344,
-0.008052324876189232,
0.011392209678888321,
0.0319896899163723,
-0.013203982263803482,
0.015024906024336815,
0.016525566577911377,
0.0038568805903196335,
-0.001315365545451641,
-0.00720591563731432,
-0.012352998368442059,
0.011328157037496567,
-0.005439894273877144,
0.00899023748934269,
-0.05072964355349541,
0.04157927632331848,
-0.027176596224308014,
-0.01916087232530117,
-0.027817120775580406,
0.001391999889165163,
0.028000129386782646,
-0.0031477268785238266,
-0.013972613029181957,
0.024742597714066505,
-0.019124271348118782,
-0.06291794031858444,
0.04095705226063728,
0.03532042354345322,
-0.004941199440509081,
-0.09274814277887344,
0.0470694974064827,
0.043262943625450134,
-0.015098108910024166,
-0.03050732985138893,
0.0073477462865412235,
-0.011566066183149815,
0.13776795566082,
0.019087670370936394,
0.05955060198903084,
-0.04586165025830269,
0.03347204998135567,
0.009507233276963234,
0.0028251763433218002,
-0.02064323239028454,
-0.033234141767024994,
0.10973122715950012,
-0.019545188173651695,
0.05523162707686424,
0.06903038173913956,
0.06873757392168045,
-0.002957856748253107,
-0.02119225449860096,
-0.0056503526866436005,
-0.03462499752640724,
0.009772594086825848,
0.04908257722854614,
0.021137353032827377,
0.01421052310615778,
-0.006569964811205864,
0.012051035650074482,
0.0042251828126609325,
-0.016388310119509697,
0.024980507791042328,
-0.02977530099451542,
-0.006739246658980846,
-0.008779779076576233,
-0.0040192995220422745,
-0.04040803015232086,
-0.04117666184902191,
-0.003623546101152897,
0.04077404364943504,
0.015885040163993835,
0.02082623913884163,
0.014539936557412148,
0.03356355428695679,
-0.04051783308386803,
0.016379160806536674,
-0.006071269977837801,
0.02540142461657524,
-0.0032987080048769712,
0.055012017488479614,
0.03451519086956978,
0.030470728874206543,
-0.006007217336446047,
-0.0003511453978717327,
0.029811901971697807,
-0.06009962409734726,
0.03171517699956894,
-0.028750458732247353,
0.020002705976366997,
0.039419788867235184,
0.05530482903122902,
-0.0006410977221094072,
0.060941457748413086,
0.0028183136601001024,
-0.01803537644445896,
0.029793601483106613,
-0.014933401718735695,
-0.035906046628952026,
0.03241060674190521,
-0.023058930411934853,
0.014832748100161552,
-0.018419692292809486,
0.05252311751246452,
0.027323001995682716,
-0.025566130876541138,
0.008162128739058971,
-0.029171375557780266,
0.011483713053166866,
-0.0061947996728122234,
0.015894191339612007,
0.04231130704283714,
0.04044463112950325,
0.0510590597987175,
0.010943841189146042,
0.03054393082857132,
-0.044434189796447754,
-0.012773915193974972,
0.044031575322151184,
0.012673260644078255,
0.04359235614538193,
0.021448465064167976,
-0.016754325479269028,
-0.0250720102339983,
0.0040513258427381516,
0.02770731784403324,
0.028036730363965034,
-0.04655707627534866,
-0.06683429330587387,
-0.0006022086599841714,
-0.0036898863036185503,
-0.0005970615893602371,
-0.0335269533097744,
0.0033924991730600595,
-0.035723041743040085,
0.012956922873854637,
-0.060172826051712036,
-0.016617070883512497,
-0.04692309349775314,
-0.04809433966875076,
0.02770731784403324,
-0.015336018055677414,
-0.05223030596971512,
-0.01333208754658699,
-0.02106414921581745,
-0.016882430762052536,
-0.016333408653736115,
-0.030214518308639526,
0.03513741493225098,
0.004611785989254713,
-0.027689015492796898,
-0.08484221994876862,
0.004593485035002232,
0.024962207302451134,
-0.05911138281226158,
0.01396346278488636,
0.0329047255218029,
-0.007645133417099714,
-0.007366046775132418,
0.004495118744671345,
-0.04066424071788788,
-0.08103566616773605,
0.00791049376130104,
0.028658956289291382,
0.009406579658389091,
0.001472065574489534,
-0.03974920138716698,
0.001975335879251361,
-0.02294912561774254,
-0.03125765919685364,
0.013624899089336395,
0.04571524262428284,
0.020771337673068047,
-0.036766182631254196,
0.04348255321383476,
0.05241331458091736,
0.0011152011575177312,
-0.0034931532572954893,
-0.022436704486608505,
0.011968682520091534,
0.03638186678290367,
-0.06412578374147415,
0.1002880409359932,
0.040188420563936234,
0.011017044074833393,
0.02466939389705658,
-0.04033482447266579,
0.008843831717967987,
0.03989560902118683,
0.06599245965480804,
-0.022894222289323807,
0.02792692556977272,
-0.03795573115348816,
0.044434189796447754,
-0.04084724560379982,
0.033453747630119324,
-0.012096787802875042,
-0.051534876227378845,
0.03200799226760864,
-0.02743280678987503,
0.0033124336041510105,
0.0007428955868817866,
-0.05676889047026634,
0.0022738666739314795,
-0.02626155875623226,
0.05746431648731232,
0.004623224027454853,
-0.0021903696469962597,
-0.06189309433102608,
-0.011840577237308025,
0.041872087866067886,
0.017285047098994255,
0.020405322313308716,
0.01087063830345869,
0.05984341353178024,
0.006698070093989372,
-0.01138305850327015,
-0.002289879834279418,
-0.04655707627534866,
-0.007361471652984619,
-0.006666043773293495,
0.023516448214650154,
-0.00424577109515667,
-0.0016379160806536674,
0.02611515298485756,
0.009973902255296707,
0.03890736773610115,
-0.036619774997234344,
0.03321583941578865,
0.028219737112522125,
0.023479847237467766,
-0.021887682378292084,
0.005540548358112574,
0.012984373606741428,
-0.008825531229376793,
0.03746160864830017,
-0.0418354868888855,
0.016470663249492645,
0.008907884359359741,
0.028164835646748543,
-0.053657762706279755,
-0.02002100646495819,
0.01441183127462864,
0.025950446724891663,
-0.021759577095508575,
-0.05069304257631302,
-0.0033833489287644625,
-0.01702883653342724,
-0.0005084173753857613,
-0.0479845330119133,
-0.014512484893202782,
-0.02399226650595665,
-0.02150336652994156,
0.03515571728348732,
0.00417943112552166,
0.02386416308581829,
-0.01780661754310131,
-0.055744048207998276,
-0.018831459805369377,
-0.025547830387949944,
0.01202358491718769,
-0.0015063794562593102,
0.02340664342045784,
-0.07280033826828003,
0.005101330578327179,
-0.05859896168112755,
-0.06994541734457016,
0.0017740278271958232,
0.001044857781380415,
0.0026009923312813044,
-0.05281592905521393,
0.03275832161307335,
-0.024321680888533592,
0.0018415116937831044,
-0.014997454360127449,
-0.010358218103647232,
0.012352998368442059,
0.0009665077086538076,
0.02607855200767517,
-0.04791133105754852,
0.007109836675226688,
0.04739890992641449,
-0.01798047497868538,
-0.0329047255218029,
-0.02589554339647293,
-0.00254837772808969,
0.0335269533097744,
0.007567354943603277,
-0.06471140682697296,
-0.056549280881881714,
0.0427505224943161,
-0.09494423121213913,
0.03200799226760864,
-0.01626935601234436,
0.004364726133644581,
0.018959565088152885,
0.011437960900366306,
-0.008999387733638287,
0.005147082731127739,
0.021851081401109695,
0.017468053847551346,
-0.00038803284405730665,
0.018593549728393555,
-0.008262783288955688,
-0.010861488059163094,
-0.029903406277298927,
0.05797673761844635,
-0.02241840399801731,
-0.03656487539410591,
-0.05815974622964859,
0.027231497690081596,
-0.017779167741537094,
0.055780649185180664,
0.002098865807056427,
-0.045166220515966415,
-0.007864742539823055,
0.008820955641567707,
0.023973966017365456,
-0.028183136135339737,
-0.019362181425094604,
-0.008706576190888882,
0.00023547901946585625,
0.03438708558678627,
0.0032689692452549934,
0.012435351498425007,
0.017733415588736534,
0.012920320965349674,
0.0008292521815747023,
0.0060209427028894424,
-0.0016024584183469415,
0.013551696203649044,
0.011996133252978325,
-0.0030150464735925198,
-0.007114411797374487,
0.049192383885383606,
-0.04509301856160164,
0.07825395464897156,
-0.044580597430467606,
-0.011785674840211868,
-0.020350420847535133,
-0.025145214051008224,
0.009983052499592304,
-0.03636356443166733,
-0.017001384869217873,
-0.003449689131230116,
-0.0005332949222065508,
-0.00003449260111665353,
-0.003927795682102442,
0.021228855475783348,
0.03683938458561897,
0.02869555726647377,
0.004119953606277704,
0.03385636582970619,
0.026041949167847633,
0.042055096477270126,
-0.03407597541809082,
-0.02574913762509823,
0.047838129103183746,
0.014119019731879234,
0.047838129103183746,
-0.018200084567070007,
0.0301413144916296,
0.035045914351940155,
-0.0006994313444010913,
0.0290615726262331,
-0.02078963816165924,
-0.055012017488479614,
-0.04201849550008774,
-0.03094654716551304,
0.0009991058614104986,
-0.01721184328198433,
0.0028572026640176773,
-0.06262512505054474,
0.017248446121811867,
-0.04410477727651596,
0.012499404139816761,
-0.023699454963207245,
-0.07788793742656708,
0.017147790640592575,
-0.01780661754310131,
-0.023168733343482018,
0.021448465064167976,
0.011831426993012428,
0.0005704683135263622,
-0.043994974344968796,
-0.036857686936855316,
0.0017934723291546106,
0.007187614683061838,
-0.03370995819568634,
0.01740400120615959,
-0.024815799668431282,
0.04271392151713371,
0.009049714542925358,
-0.04194528982043266,
-0.0015578502789139748,
-0.0026764830108731985,
0.04165247827768326,
0.012545155361294746,
-0.01258175726979971,
-0.0433727502822876,
0.055158425122499466,
0.016644520685076714,
0.05523162707686424,
-0.021576570346951485,
0.0011586655164137483,
-0.011822276748716831,
-0.06972581148147583,
0.06310094147920609,
0.003399362089112401,
0.017559558153152466,
-0.10175210237503052,
0.0364367701113224,
-0.016049746423959732,
0.0695062056183815,
0.010577826760709286,
-0.012682410888373852,
-0.005000676494091749,
0.02995830774307251,
-0.056146662682294846,
-0.012590907514095306,
-0.0013165093259885907,
-0.04253091663122177,
-0.06917678564786911,
0.017870670184493065,
-0.05647607892751694,
0.03949299082159996,
-0.037351805716753006,
0.03396616876125336,
0.007311144843697548,
0.017339948564767838,
-0.016736024990677834,
0.0023882463574409485,
0.004689563997089863,
0.0018403679132461548,
-0.007379772607237101,
0.00025420868769288063,
0.0057052550837397575,
0.039602797478437424,
0.005755581893026829,
0.017733415588736534,
-0.011666720733046532,
0.026462867856025696,
0.016205303370952606,
-0.000880151113960892,
-0.020167412236332893,
0.06709050387144089,
-0.007603956386446953,
-0.018190933391451836,
0.02331514097750187,
0.027396203950047493,
0.004481393378227949,
-0.024651093408465385,
0.07188529521226883,
0.03579624369740486,
-0.031166156753897667,
0.02823803946375847,
-0.004854270722717047,
-0.009836646728217602,
0.0241386741399765,
-0.006647742819041014,
-0.028530851006507874,
0.0015612817369401455,
0.0028457646258175373,
0.011630118824541569,
0.010111157782375813,
-0.005691529251635075,
0.017733415588736534,
-0.012279795482754707,
0.007901343517005444,
-0.010385668836534023,
0.0038134162314236164,
0.019691593945026398,
-0.020313819870352745,
0.03383806347846985,
-0.015985693782567978,
-0.009552985429763794,
0.03438708558678627,
0.00472159031778574,
0.04359235614538193,
0.0008452653419226408,
0.047289106994867325,
-0.02218049392104149,
0.0021068723872303963,
-0.033819764852523804,
-0.023607952520251274,
-0.01654386706650257,
-0.019179172813892365,
0.016607919707894325,
-0.0083817383274436,
-0.004680413752794266,
0.023333441466093063,
0.02574913762509823,
-0.00944318063557148,
0.04666688293218613,
-0.0011375052854418755,
-0.027103392407298088,
0.010522924363613129,
-0.006368656642735004,
0.01648896560072899,
-0.04494661092758179,
0.0020965782459825277,
0.04527602717280388,
0.0470694974064827,
-0.012105938047170639,
-0.015528175979852676,
0.01879485696554184,
-0.01798047497868538,
-0.012892870232462883,
-0.04666688293218613,
0.010769984684884548,
0.04318974167108536,
-0.042055096477270126,
-0.0405910350382328,
-0.0719585046172142,
-0.010779134929180145,
0.05834275111556053,
-0.005444469396024942,
-0.03248380869626999,
0.021851081401109695,
0.02368115447461605,
0.018181782215833664,
-0.01934387907385826,
-0.02232689969241619,
0.027323001995682716,
0.03500931337475777,
-0.0009636482573114336,
-0.053804170340299606,
-0.005426168907433748,
0.02417527511715889,
0.001857524854131043,
0.022473305463790894,
0.018831459805369377,
-0.0017111189663410187,
0.008130102418363094,
0.008802655152976513,
0.008038599044084549,
-0.014658890664577484,
-0.022747816517949104,
0.05310874059796333,
-0.025511229410767555,
0.022747816517949104,
0.036308664828538895,
0.013478493317961693,
0.03533872589468956,
0.0442877858877182,
0.006181074306368828,
-0.06815195083618164,
0.030287722125649452,
-0.004547733347862959,
0.017010536044836044,
-0.01174907386302948,
-0.01617785170674324,
-0.010577826760709286,
0.01425627525895834,
-0.06533363461494446,
-0.038614556193351746,
-0.0058791120536625385,
0.00031740343547426164,
0.003726487746462226,
0.004671263508498669,
-0.018383091315627098,
-0.008331410586833954,
0.024028869345784187,
0.00007384633499896154,
-0.014677192084491253,
0.016708573326468468,
-0.020661532878875732,
-0.0069542801938951015,
0.018181782215833664,
0.016873279586434364,
0.06046563759446144,
0.003349035046994686,
0.01111769862473011,
-0.035631537437438965,
0.000041355378925800323,
0.0467400848865509,
0.03241060674190521,
-0.04157927632331848,
0.04878976568579674,
0.0014228823129087687,
0.03832174465060234,
0.02530992031097412,
0.018007926642894745,
-0.03392956778407097,
-0.008756903000175953,
-0.01996610499918461,
0.004973225295543671,
0.06866437196731567,
-0.011630118824541569,
0.026627574115991592,
0.006510487291961908,
-0.011868028901517391,
0.011767374351620674,
0.014302026480436325,
-0.01848374493420124,
-0.027085091918706894,
-0.007439250126481056,
-0.0193804819136858,
-0.054829008877277374,
-0.006382382474839687,
0.01400921493768692,
0.0326119139790535,
-0.03358185291290283,
0.0033192962873727083,
0.045751843601465225,
0.027487708255648613,
-0.03257531300187111,
-0.044800207018852234,
-0.01091639045625925,
-0.017788317054510117,
-0.0005315792514011264,
0.008294809609651566,
-0.007846441119909286,
-0.023241937160491943,
0.03570473939180374,
-0.036985792219638824,
0.009827496483922005,
0.0009808051399886608,
-0.006858201697468758,
-0.01416477095335722,
0.008738602511584759,
0.029848502948880196,
0.015976544469594955,
-0.027103392407298088,
-0.018593549728393555,
0.0473623089492321,
0.029940007254481316,
-0.048826370388269424,
0.02291252464056015,
-0.026828881353139877,
-0.009118342772126198,
0.06778593361377716,
-0.027579212561249733,
0.00813467800617218,
-0.012600057758390903,
-0.006409833673387766,
0.013707252219319344,
0.0008710007532499731,
0.009534684009850025,
0.017102040350437164,
0.01206933706998825,
0.03004981204867363,
0.040371429175138474,
0.02005760930478573,
-0.013899410143494606,
0.01416477095335722,
0.044031575322151184,
0.011264104396104813,
0.012343848124146461,
0.01825498603284359,
-0.04070084169507027,
0.00690395338460803,
0.017870670184493065,
0.009681090712547302,
-0.01536346971988678,
0.021851081401109695,
0.004316686652600765,
0.04066424071788788,
0.0004981232341378927,
-0.03407597541809082,
-0.006318329833447933,
0.020167412236332893,
0.038248542696237564,
0.0013828495284542441,
0.011575216427445412,
0.026243258267641068,
-0.06024602800607681,
0.024010568857192993,
0.012352998368442059,
0.01756870746612549,
0.03519231826066971,
-0.04359235614538193,
0.0198379997164011,
0.027725618332624435,
0.055378030985593796,
-0.012362148612737656,
-0.025675935670733452,
0.053072139620780945,
-0.0027428229805082083,
-0.0035777941811829805,
0.0036853111814707518,
-0.014082417823374271,
-0.00030567951034754515,
-0.009909849613904953,
-0.02607855200767517,
0.024779198691248894,
-0.022162193432450294,
0.03780932351946831,
0.0071647390723228455,
0.039383187890052795,
-0.018996166065335274,
0.016607919707894325,
-0.013066726736724377,
-0.006084995344281197,
0.005828785244375467,
0.0341491773724556,
-0.04033482447266579,
0.006217675749212503,
0.0501440204679966,
0.0759846642613411,
-0.041908688843250275,
-0.034460291266441345,
0.03758971393108368,
-0.006743821781128645,
-0.047289106994867325,
-0.020094210281968117,
-0.016818378120660782,
-0.011721622198820114,
-0.0001764305488904938,
-0.003220929764211178,
-0.001616183901205659,
-0.006464735604822636,
0.03530212491750717,
0.00016084633534774184,
0.02390076406300068,
-0.014000064693391323,
-0.015244514681398869,
0.04791133105754852,
0.003058510832488537,
-0.019636692479252815,
-0.035631537437438965,
0.045202821493148804,
0.020716436207294464,
0.00885755755007267,
0.003941521514207125,
-0.0002858060470316559,
-0.006821600254625082,
-0.0017969036707654595,
-0.003246093401685357,
-0.014704642817378044,
0.021997487172484398,
-0.039017174392938614,
0.010056255385279655,
0.015079808421432972,
-0.036583174020051956,
-0.015756934881210327,
-0.03118445724248886,
-0.02617005445063114,
0.06800553947687149,
-0.010788285173475742,
-0.0055313981138169765,
-0.026462867856025696,
-0.03499101102352142,
-0.02485240250825882,
-0.019307278096675873,
0.006094145588576794,
-0.04176228493452072,
0.00482224440202117,
-0.045385830104351044,
-0.0014503335114568472,
0.026224957779049873,
-0.02322363667190075,
0.051315270364284515,
0.038211941719055176,
0.014237973839044571,
0.006432709284126759,
-0.03288642689585686,
-0.008660824038088322,
0.04992441460490227,
-0.027524309232831,
-0.023388342931866646,
0.0030653735157102346,
0.0627349317073822,
0.0073157199658453465,
-0.03145897015929222,
0.005394142586737871,
0.03134916350245476,
0.029885105788707733,
-0.02503540925681591,
0.016022296622395515,
-0.05728130787611008,
-0.019417082890868187,
0.04088384658098221,
-0.01626935601234436,
-0.013817057013511658,
-0.006258852314203978,
0.0012398749822750688,
0.010724232532083988,
0.020441923290491104,
0.02020401507616043,
0.0010471453424543142,
-0.02860405296087265,
0.01987460069358349,
-0.007828140631318092,
0.0611976683139801,
-0.005439894273877144,
-0.007832716219127178,
0.009809195064008236,
-0.005526822991669178,
0.010102007538080215,
-0.0037722396664321423,
-0.006940554827451706,
-0.015665432438254356,
-0.030653735622763634,
-0.036272063851356506,
-0.03993220999836922,
-0.03989560902118683,
0.008249057456851006,
0.0007949382998049259,
-0.03407597541809082,
0.03171517699956894,
-0.044763606041669846,
0.049778006970882416,
-0.0032003414817154408,
0.002946418710052967,
0.0001951602171175182,
-0.06840816140174866,
0.0015281116357073188,
0.041140057146549225,
0.008619647473096848,
-0.01253600511699915,
0.02115565352141857,
0.027872024103999138,
-0.031513869762420654,
-0.012005284428596497,
0.007260817568749189,
-0.02598704770207405,
0.04161587730050087,
0.03211779519915581,
-0.08301214873790741,
0.01159351784735918,
0.050546638667583466,
0.003655572421848774,
-0.044177982956171036,
-0.030891645699739456,
0.0005244305357336998,
0.010257563553750515,
0.00131879688706249,
0.01663537137210369,
-0.0010208380408585072,
-0.032428909093141556,
0.01016606017947197,
0.012471952475607395,
-0.0025094887241721153,
0.011511163786053658,
0.04604465514421463,
0.002783999778330326,
0.0011678158771246672,
0.024193575605750084,
0.0578303299844265,
-0.04223810136318207,
0.009008537977933884,
0.02051512710750103,
-0.046703483909368515,
-0.037077296525239944,
-0.010879788547754288,
0.01142881065607071,
-0.011840577237308025,
0.011959532275795937,
0.04410477727651596,
0.04077404364943504,
0.002699358854442835,
-0.012673260644078255,
0.025419725105166435,
0.04911918193101883,
0.03361845389008522,
0.00765885878354311,
-0.0023882463574409485,
0.03063543513417244,
-0.009836646728217602,
0.025492927059531212,
0.039968810975551605,
0.050583239644765854,
0.00022847327636554837,
-0.0013004961656406522,
-0.019545188173651695,
0.002239552792161703,
0.004218319896608591,
0.0030356349889189005,
0.0218327809125185,
0.005435319151729345,
0.0195268876850605,
0.0021652060095220804,
0.026517769321799278,
0.04004201292991638,
0.004273222293704748,
0.02543802559375763,
-0.029317781329154968,
-0.030690336599946022,
0.015372619964182377,
-0.002321906154975295,
-0.024468086659908295,
-0.051534876227378845,
-0.012792215682566166,
-0.0033513226080685854,
-0.027890324592590332,
0.07078725099563599,
0.03890736773610115,
0.03343544900417328,
-0.03396616876125336,
-0.013661500997841358,
-0.05493881553411484,
0.04630086570978165,
-0.03746160864830017,
-0.05029042810201645,
0.006730096414685249,
0.019600089639425278,
-0.023919064551591873,
-0.027780519798398018,
-0.00042777974158525467,
0.0009224715759046376,
0.038431551307439804,
-0.000768059107940644,
-0.03894396871328354,
0.003204916836693883,
-0.062295712530612946,
-0.015702033415436745,
0.0043898895382881165,
-0.01758700981736183,
-0.006931404583156109,
0.02435828186571598,
-0.019545188173651695,
-0.0025826916098594666,
-0.03213609755039215,
0.025474626570940018,
-0.03493610769510269,
0.004675838630646467,
0.025053709745407104,
-0.016013145446777344,
0.02177787758409977,
-0.034862905740737915,
-0.035906046628952026,
-0.049045976251363754,
-0.0030836742371320724,
0.017925573512911797,
0.01925237663090229,
-0.008034024387598038,
-0.05299893766641617,
0.03171517699956894,
0.0064235590398311615,
0.01906936801970005,
0.022107291966676712,
0.010111157782375813,
0.04077404364943504,
-0.011218352243304253,
-0.03387466445565224,
0.01448503416031599,
0.015427522361278534,
0.006089570466428995,
-0.02368115447461605,
-0.04124986380338669,
-0.035045914351940155,
-0.01258175726979971,
0.031166156753897667,
-0.08030363917350769,
-0.03171517699956894,
-0.0076725841499865055,
0.017925573512911797,
-0.035540033131837845,
0.012618359178304672,
-0.030342623591423035
] |
We present Mini-BEHAVIOR, a novel benchmark for embodied AI that challenges
agents to use reasoning and decision-making skills to solve complex activities
that resemble everyday human challenges. The Mini-BEHAVIOR environment is a
fast, realistic Gridworld environment that offers the benefits of rapid
prototyping and ease of use while preserving a symbolic level of physical
realism and complexity found in complex embodied AI benchmarks. We introduce
key features such as procedural generation, to enable the creation of countless
task variations and support open-ended learning. Mini-BEHAVIOR provides
implementations of various household tasks from the original BEHAVIOR
benchmark, along with starter code for data collection and reinforcement
learning agent training. In essence, Mini-BEHAVIOR offers a fast, open-ended
benchmark for evaluating decision-making and planning solutions in embodied AI.
It serves as a user-friendly entry point for research and facilitates the
evaluation and development of solutions, simplifying their assessment and
development while advancing the field of embodied AI. Code is publicly
available at https://github.com/StanfordVL/mini_behavior. | [
-0.005281573161482811,
-0.018844731152057648,
-0.02854379452764988,
-0.07087405025959015,
0.023456398397684097,
0.010572854429483414,
0.02617485448718071,
0.040388498455286026,
-0.0357477068901062,
0.0011128681944683194,
0.00810682587325573,
-0.015427242033183575,
0.06178663671016693,
0.03106807731091976,
-0.0024745238479226828,
0.026679711416363716,
0.015553455799818039,
-0.00694177346304059,
-0.019922403618693352,
-0.05537884682416916,
-0.047844838351011276,
0.009553433395922184,
-0.06275751441717148,
0.03765062615275383,
0.04015548899769783,
-0.013446652330458164,
-0.018815603107213974,
0.005873808171600103,
-0.06345655024051666,
0.06396140158176422,
0.04687396064400673,
0.007000025827437639,
-0.003815548261627555,
0.009548579342663288,
-0.03877684473991394,
0.0020485513377934694,
0.030252540484070778,
0.028854476287961006,
-0.06516528874635696,
0.0767381489276886,
0.034971002489328384,
-0.02716515026986599,
-0.03710693493485451,
-0.05883517116308212,
-0.003885936690494418,
-0.006563131231814623,
-0.022446684539318085,
-0.00827187579125166,
-0.02900981716811657,
0.01568937860429287,
0.007660222705453634,
-0.033592358231544495,
0.07829155027866364,
0.021126292645931244,
-0.018145699054002762,
-0.009703919291496277,
0.016582585871219635,
0.007946631871163845,
0.04574774205684662,
0.00864080898463726,
-0.027068061754107475,
-0.04706813767552376,
-0.04912639781832695,
0.015407823957502842,
0.021728236228227615,
-0.04434967786073685,
-0.006257304921746254,
0.004458754323422909,
0.020466094836592674,
0.0028398162685334682,
-0.04582541435956955,
0.0026237962301820517,
-0.06796141713857651,
-0.00674274330958724,
0.02848554216325283,
-0.023495232686400414,
0.08295176178216934,
0.0390486903488636,
0.012776746414601803,
-0.018708806484937668,
0.010553437285125256,
0.0017378705088049173,
-0.014621413312852383,
0.015611708164215088,
0.07079637795686722,
-0.04469919577240944,
0.004169918596744537,
-0.09134014695882797,
0.0018665117677301168,
-0.021864159032702446,
-0.03005836345255375,
-0.000999396899715066,
0.025436988100409508,
0.016980646178126335,
0.020291337743401527,
0.030621472746133804,
-0.005572836380451918,
0.021728236228227615,
-0.01879618689417839,
-0.038932181894779205,
0.016786471009254456,
0.014737918972969055,
-0.00440050195902586,
-0.032796237617731094,
0.008286438882350922,
0.004247588571161032,
-0.01774763874709606,
0.007242745254188776,
-0.02961176075041294,
0.05044678971171379,
0.002327678492292762,
-0.0004314336401876062,
-0.017854435369372368,
-0.005747594404965639,
-0.0733206644654274,
-0.017359288409352303,
-0.02631077729165554,
-0.04073801636695862,
0.03332051262259483,
-0.03796130791306496,
0.047572992742061615,
0.035106927156448364,
0.030369045212864876,
-0.07557309418916702,
-0.03493217006325722,
-0.003572828834876418,
-0.019679684191942215,
0.007708766497671604,
0.015388406813144684,
0.022116586565971375,
0.018097154796123505,
-0.0003822829748969525,
-0.002279134700074792,
0.016534041613340378,
0.010233047418296337,
-0.032077789306640625,
0.03093215450644493,
0.050796303898096085,
-0.03231079876422882,
-0.03400012478232384,
-0.042563263326883316,
-0.03361177444458008,
-0.050485625863075256,
0.022582607343792915,
-0.021475808694958687,
-0.047844838351011276,
0.011242760345339775,
0.062213823199272156,
-0.03163118660449982,
0.016000060364603996,
-0.05114582180976868,
0.054174959659576416,
0.02565058134496212,
0.017330162227153778,
0.003315546317026019,
-0.021864159032702446,
-0.03700984641909599,
0.04706813767552376,
0.009776735678315163,
-0.005436913575977087,
0.06722354888916016,
-0.03219429403543472,
0.02023308537900448,
0.0017524337163195014,
0.03935936838388443,
0.01378645934164524,
0.003361663082614541,
0.022776784375309944,
-0.07382551580667496,
0.04376715421676636,
-0.04516521468758583,
0.003283992875367403,
0.007951485924422741,
0.0582914799451828,
0.003558265743777156,
0.04034966602921486,
0.06415557861328125,
0.002023065695539117,
-0.026194272562861443,
-0.01549520343542099,
-0.014728209935128689,
-0.012844707816839218,
0.0167379267513752,
0.04772833362221718,
0.023980671539902687,
0.02557291090488434,
0.054485637694597244,
-0.03285448998212814,
-0.027786511927843094,
-0.0001059621645254083,
0.0533982552587986,
0.028446707874536514,
0.014835006557404995,
0.00015867777983658016,
0.03332051262259483,
-0.08178671449422836,
-0.047106970101594925,
0.029844770208001137,
-0.02537873573601246,
0.041242871433496475,
-0.03541760891675949,
-0.012271890416741371,
0.0037014700938016176,
0.022912707179784775,
0.036174893379211426,
0.047184642404317856,
-0.02537873573601246,
-0.06664102524518967,
0.047572992742061615,
-0.04636910557746887,
0.026330195367336273,
-0.0014259761665016413,
-0.07363133877515793,
-0.04699046537280083,
-0.04990309849381447,
-0.0120388800278306,
0.010621398687362671,
0.009548579342663288,
-0.03516517952084541,
-0.0010212416527792811,
-0.002941758604720235,
0.0021953964605927467,
0.031359340995550156,
-0.0040873936377465725,
-0.03182535991072655,
-0.002575252205133438,
0.04846619814634323,
0.00563594326376915,
0.03225254639983177,
-0.010563146322965622,
-0.02848554216325283,
-0.021805906668305397,
0.016563167795538902,
0.014893258921802044,
0.04240792617201805,
0.02234959788620472,
0.014417529106140137,
-0.00549031188711524,
-0.015621417202055454,
0.02413601242005825,
0.03450498357415199,
0.04582541435956955,
-0.07223327457904816,
-0.058446820825338364,
0.07304881513118744,
0.00524273794144392,
-0.008810712024569511,
0.05099048092961311,
0.007490319199860096,
0.012320433743298054,
-0.02559232898056507,
0.003861664794385433,
-0.034116633236408234,
0.010747612453997135,
-0.003793703392148018,
0.026990391314029694,
0.08085466921329498,
0.016631130129098892,
0.018291329964995384,
0.04675745591521263,
0.05677691102027893,
0.05623321980237961,
0.010951496660709381,
0.047495320439338684,
-0.047378815710544586,
0.01833016611635685,
0.05289340019226074,
0.012922378256917,
-0.008825275115668774,
0.004405356012284756,
0.02427193522453308,
-0.050213780254125595,
-0.021475808694958687,
0.03500983864068985,
0.02570883370935917,
-0.01054372824728489,
0.023747660219669342,
-0.011223342269659042,
0.03633023053407669,
0.032213710248470306,
0.0416700579226017,
-0.027980687096714973,
0.061475954949855804,
0.02361173741519451,
-0.03943704068660736,
-0.019631141796708107,
0.011825286783277988,
-0.031553514301776886,
-0.06823326647281647,
-0.023631155490875244,
-0.024155430495738983,
0.00913110189139843,
-0.05576719716191292,
0.03702926263213158,
0.053048741072416306,
0.02840787172317505,
-0.014601996168494225,
-0.016786471009254456,
0.029126321896910667,
-0.015019473619759083,
-0.02372824400663376,
0.009053431451320648,
0.031009823083877563,
-0.02143697254359722,
0.004415065050125122,
0.02044667862355709,
-0.05184485390782356,
0.04535939171910286,
-0.05184485390782356,
-0.0065437136217951775,
0.058990512043237686,
-0.015029181726276875,
-0.022000081837177277,
0.0001950856822077185,
0.026194272562861443,
-0.0024466109462082386,
0.07316531985998154,
-0.025534074753522873,
-0.01833016611635685,
-0.038330238312482834,
-0.021048622205853462,
-0.009301005862653255,
-0.07254395633935928,
0.06434975564479828,
-0.008116534911096096,
0.009281587786972523,
0.021475808694958687,
-0.03718460351228714,
-0.014116557314991951,
-0.024970967322587967,
-0.0039320532232522964,
-0.01431073248386383,
-0.05207786336541176,
0.002514572348445654,
0.0012754901545122266,
-0.07413619756698608,
-0.020854447036981583,
-0.012980630621314049,
-0.001373791485093534,
0.0027111750096082687,
-0.02967001311480999,
-0.04345647245645523,
0.00018249460845254362,
-0.0416700579226017,
0.029786517843604088,
-0.0417865626513958,
-0.021145708858966827,
0.05242737755179405,
0.000834954553283751,
-0.006961191073060036,
0.0012063151225447655,
-0.017893269658088684,
0.019029196351766586,
-0.04396132752299309,
0.10702952742576599,
-0.02479620836675167,
-0.03215545788407326,
0.011932083405554295,
0.002152920700609684,
0.07926242798566818,
0.03627197816967964,
-0.07464105635881424,
0.005092252045869827,
0.0013288884656503797,
-0.08085466921329498,
-0.000499395071528852,
-0.053437091410160065,
-0.010669942945241928,
-0.0069029382430016994,
0.019699102267622948,
-0.030077781528234482,
0.014825297519564629,
0.003449041862040758,
-0.03658265992999077,
0.040854521095752716,
0.014815589413046837,
0.042951617389917374,
-0.026213688775897026,
-0.0749128982424736,
0.04858270660042763,
-0.04283510893583298,
-0.008116534911096096,
-0.013757332228124142,
-0.0249321311712265,
-0.008470905013382435,
0.05471865087747574,
0.028446707874536514,
0.009398093447089195,
0.027903016656637192,
-0.02058260142803192,
0.02611660212278366,
-0.040388498455286026,
-0.10151494294404984,
0.0031019533053040504,
0.01800977624952793,
0.00800973828881979,
0.027514664456248283,
-0.061553627252578735,
0.00942721962928772,
0.005257301032543182,
0.008325274102389812,
0.00533982552587986,
0.023378727957606316,
0.0027136022690683603,
-0.00035224645398557186,
-0.012203929014503956,
0.006771869957447052,
0.018174825236201286,
-0.003769431496039033,
-0.029106903821229935,
0.013087427243590355,
-0.06291285157203674,
0.01700977236032486,
0.029184574261307716,
-0.0038106937427073717,
-0.0018361718393862247,
-0.019223371520638466,
-0.009868968278169632,
0.02617485448718071,
-0.02683505043387413,
-0.043223462998867035,
0.02287387102842331,
-0.014388402923941612,
0.011262177489697933,
-0.042757440358400345,
0.013893255963921547,
-0.03085448406636715,
0.02372824400663376,
-0.028000103309750557,
-0.052388545125722885,
-0.029378749430179596,
0.0023835040628910065,
-0.002490300452336669,
-0.06419441103935242,
0.0010564359836280346,
0.023301057517528534,
0.020252501592040062,
0.048310860991477966,
-0.008553429506719112,
-0.02840787172317505,
0.010834991931915283,
-0.030679725110530853,
0.010796156711876392,
-0.035301100462675095,
-0.007592261303216219,
-0.036038968712091446,
-0.00893692672252655,
-0.0023980671539902687,
0.024873878806829453,
0.0013677235692739487,
-0.08419448882341385,
0.0007930854917503893,
-0.049359407275915146,
-0.00005298108226270415,
0.04431084543466568,
-0.018145699054002762,
0.0145728699862957,
-0.005946624092757702,
-0.02710689604282379,
-0.037145767360925674,
0.0017694240668788552,
0.008281583897769451,
0.045320555567741394,
-0.00021526172349695116,
0.024038923904299736,
-0.009383530355989933,
-0.008320419117808342,
-0.010563146322965622,
-0.010786447674036026,
0.0028737972024828196,
-0.0196408499032259,
-0.0014769472181797028,
-0.029262244701385498,
0.0179903581738472,
0.007378668058663607,
-0.00039138493593782187,
-0.05025261268019676,
-0.05285456404089928,
0.03535935655236244,
0.01476704515516758,
0.017446666955947876,
-0.03660207614302635,
0.02551465854048729,
-0.037281692028045654,
0.005597108043730259,
-0.026019513607025146,
0.008034010417759418,
-0.018951525911688805,
0.02967001311480999,
0.008922363631427288,
-0.04745648801326752,
-0.06434975564479828,
0.002030347241088748,
-0.006616529542952776,
0.006208761129528284,
-0.028369037434458733,
-0.03572828695178032,
-0.027242818847298622,
0.0032184584997594357,
0.0013628691667690873,
-0.05689341574907303,
-0.027320489287376404,
0.006825268268585205,
0.010466058738529682,
-0.014019469730556011,
0.03619430959224701,
0.01773793064057827,
0.06093226373195648,
0.04753415659070015,
-0.03697101026773453,
0.0018240358913317323,
0.02906806953251362,
0.022194257006049156,
-0.02275736629962921,
0.014854423701763153,
-0.047378815710544586,
0.02716515026986599,
-0.03706809878349304,
0.07708766311407089,
0.04291278123855591,
0.03512634336948395,
0.02788359858095646,
0.023844748735427856,
0.013223350048065186,
-0.025844756513834,
0.014398111961781979,
0.023961253464221954,
-0.03864092007279396,
0.029650595039129257,
-0.010378679260611534,
0.02413601242005825,
0.031204000115394592,
-0.06485460698604584,
-0.05184485390782356,
-0.03013603389263153,
-0.030485549941658974,
0.057514775544404984,
0.025029219686985016,
0.02440785802900791,
-0.030679725110530853,
-0.037553537636995316,
0.025242812931537628,
0.01826220378279686,
0.030757395550608635,
-0.022369015961885452,
-0.013767041265964508,
0.05033028498291969,
0.006087401416152716,
0.020524347200989723,
0.02683505043387413,
0.039262283593416214,
0.019281625747680664,
0.005359243135899305,
0.033398181200027466,
-0.026349611580371857,
-0.035242848098278046,
-0.027320489287376404,
0.008888382464647293,
0.008155370131134987,
-0.050796303898096085,
0.03380595147609711,
-0.02394183725118637,
-0.0012063151225447655,
0.027398159727454185,
0.00989324040710926,
-0.021747654303908348,
-0.021669983863830566,
0.01866997219622135,
0.0309127364307642,
0.02176707051694393,
-0.006305848713964224,
-0.003970888443291187,
-0.007781582418829203,
-0.021262215450406075,
-0.006771869957447052,
-0.0008841052185744047,
-0.014048595912754536,
-0.016572877764701843,
-0.0266991276293993,
-0.02458261512219906,
0.017689386382699013,
-0.040388498455286026,
0.03702926263213158,
0.02603893168270588,
0.016233069822192192,
-0.03005836345255375,
-0.01649520732462406,
-0.03567003458738327,
0.005966041702777147,
0.028582630679011345,
0.003026710357517004,
0.06481577455997467,
-0.019631141796708107,
0.03899043798446655,
0.014737918972969055,
-0.02306804619729519,
-0.04279627650976181,
0.015252484008669853,
0.017563171684741974,
-0.034971002489328384,
0.024951549246907234,
-0.01700977236032486,
0.041631221771240234,
0.013737915083765984,
-0.046912796795368195,
0.001724520931020379,
0.019485509023070335,
0.01407772209495306,
-0.005640797782689333,
-0.02631077729165554,
-0.021242797374725342,
0.01859230175614357,
0.01984473317861557,
-0.012281599454581738,
0.030310792848467827,
0.02763117104768753,
0.02526222914457321,
-0.015980642288923264,
-0.01365053653717041,
-0.05732060223817825,
-0.02036900818347931,
-0.0062961396761238575,
0.028310785070061684,
-0.007893233560025692,
-0.017961231991648674,
0.00850003119558096,
-0.024951549246907234,
-0.042485594749450684,
0.01388354692608118,
0.017446666955947876,
0.04846619814634323,
0.012660241685807705,
-0.021203963086009026,
-0.018553467467427254,
0.018767060711979866,
0.004958756268024445,
-0.034388478845357895,
0.05064096674323082,
0.02097095176577568,
-0.02683505043387413,
-0.0007402939954772592,
-0.02122337929904461,
-0.0013992770109325647,
0.06869928538799286,
-0.02058260142803192,
0.014165101572871208,
0.035961300134658813,
-0.01466995757073164,
0.027514664456248283,
-0.038466162979602814,
-0.013194223865866661,
0.03295157849788666,
0.028602048754692078,
0.04660211503505707,
-0.012514609843492508,
0.023048629984259605,
0.006446626037359238,
-0.016990354284644127,
-0.01886414736509323,
0.014165101572871208,
0.0485050342977047,
-0.03522343188524246,
-0.03724285587668419,
0.023165134713053703,
0.026155436411499977,
-0.012155384756624699,
0.035572946071624756,
0.009771880693733692,
-0.0025582618545740843,
0.025339899584650993,
0.010699069127440453,
-0.003723314730450511,
-0.04159238934516907,
-0.0027208838146179914,
-0.009072849527001381,
-0.021592313423752785,
-0.015786467120051384,
0.02928166277706623,
-0.011068002320826054,
-0.03508750721812248,
-0.011582567356526852,
0.0023507368750870228,
-0.0154563682153821,
-0.03299041464924812,
-0.02716515026986599,
-0.01034955307841301,
0.013233059085905552,
0.009558288380503654,
0.015941806137561798,
0.018446670845150948,
-0.054757483303546906,
-0.011398100294172764,
0.022038916125893593,
0.021456390619277954,
0.014330150559544563,
0.0224272683262825,
-0.03555352985858917,
-0.029514672234654427,
0.037145767360925674,
-0.056000206619501114,
-0.0027014664374291897,
0.018825313076376915,
-0.007228182163089514,
0.013203932903707027,
0.04706813767552376,
0.004252443090081215,
0.002309474628418684,
-0.02730107307434082,
0.011951500549912453,
0.005097106099128723,
0.009898095391690731,
0.006368955597281456,
0.03361177444458008,
0.016339866444468498,
0.036038968712091446,
-0.0027038934640586376,
-0.025417570024728775,
-0.016912683844566345,
0.0014648112701252103,
0.034912750124931335,
0.020757358521223068,
-0.028970981016755104,
0.017436958849430084,
-0.054563309997320175,
-0.010456349700689316,
0.04403899982571602,
0.01588355377316475,
-0.007490319199860096,
0.015271901153028011,
-0.014825297519564629,
0.03285448998212814,
-0.08605857193470001,
-0.02427193522453308,
0.014747628010809422,
0.036699164658784866,
-0.000577672035433352,
-0.014747628010809422,
0.028912728652358055,
0.005946624092757702,
0.013718497939407825,
0.00016156006313394755,
-0.015106852166354656,
-0.0028762242291122675,
-0.014825297519564629,
0.027611752972006798,
0.024699121713638306,
-0.01223305519670248,
0.008135952986776829,
0.026136020198464394,
-0.0005573442904278636,
0.07945660501718521,
-0.013203932903707027,
-0.00723789120092988,
-0.028699135407805443,
-0.06574781984090805,
-0.017893269658088684,
0.04287394508719444,
-0.013436943292617798,
0.006723326165229082,
0.002504863776266575,
0.0021893284283578396,
0.03060205467045307,
-0.0007275512325577438,
0.033728279173374176,
0.017106859013438225,
-0.01067965105175972,
0.02557291090488434,
0.005810701288282871,
0.03401954472064972,
-0.010281591676175594,
0.0485050342977047,
-0.02466028556227684,
0.012378687039017677,
-0.03976713865995407,
0.01926220767199993,
-0.02565058134496212,
-0.009655375964939594,
-0.027184566482901573,
-0.0450875461101532,
-0.028932146728038788,
-0.010660233907401562,
0.006320411805063486,
0.017262199893593788,
0.05848565325140953,
-0.04885455220937729,
-0.042951617389917374,
-0.034718576818704605,
-0.018815603107213974,
0.04978659376502037,
0.04267977178096771,
-0.0006753666093572974,
-0.043417636305093765,
0.006208761129528284,
0.014747628010809422,
0.039339952170848846,
-0.04411666840314865,
-0.04458269104361534,
-0.03038846328854561,
0.0018956380663439631,
0.006398082245141268,
0.042757440358400345,
0.0309127364307642,
-0.006621384061872959,
0.028058357536792755,
-0.03217487782239914,
0.006058274768292904,
-0.04970892146229744,
0.0023543776478618383,
-0.03535935655236244,
0.04128170758485794,
-0.015058308839797974,
0.004604386165738106,
0.007014589384198189,
0.014417529106140137,
0.008116534911096096,
-0.004912639502435923,
0.011893248185515404,
0.018825313076376915,
0.005907788872718811,
-0.01553403865545988,
-0.017058316618204117,
-0.044077832251787186,
0.024893296882510185,
0.027262236922979355,
-0.04959241673350334,
-0.008373817428946495,
-0.03196128457784653,
-0.0008203914039768279,
-0.03434964269399643,
-0.05506816506385803,
0.063534215092659,
0.016854431480169296,
-0.05735943466424942,
-0.008815567009150982,
-0.034310806542634964,
0.04333996772766113,
0.011970918625593185,
-0.015466077253222466,
-0.004808270372450352,
0.04003898426890373,
0.03106807731091976,
-0.0038446744438260794,
-0.011873830109834671,
0.004667493049055338,
-0.04803901165723801,
-0.059184685349464417,
-0.000024973545805551112,
0.02702922746539116,
-0.010077707469463348,
0.037145767360925674,
0.03380595147609711,
0.00787867046892643,
0.06139828637242317,
-0.0006905365735292435,
-0.07471872121095657,
0.0053106993436813354,
0.037087514996528625,
0.004594677127897739,
-0.06473810225725174,
-0.0038810824044048786,
-0.014485490508377552,
0.0028203988913446665,
0.030427297577261925,
-0.05405845493078232,
0.05704875662922859,
0.006830122321844101,
-0.01351461373269558,
-0.011631111614406109,
-0.008354400284588337,
-0.06535946577787399,
-0.02031075581908226,
-0.005160213448107243,
-0.018893273547291756,
0.04462152346968651,
-0.034446731209754944,
0.009970910847187042,
0.012611697427928448,
0.012582571245729923,
0.0035461296793073416,
0.005985459312796593,
0.009301005862653255,
0.01959230564534664,
0.017524337396025658,
0.023436980322003365,
0.03258264437317848,
0.0032572937197983265,
0.0006137765594758093,
-0.03198070079088211,
0.019757354632019997,
-0.028252532705664635,
-0.045126382261514664,
0.008567992597818375,
-0.019815606996417046,
-0.0701361820101738,
0.0023422418162226677,
-0.015174813568592072,
-0.03300983086228371,
0.06252450495958328,
-0.02176707051694393,
0.0003950257378164679,
0.028116609901189804,
0.009218480437994003,
-0.018349582329392433,
-0.03264089673757553,
-0.0007597115472890437,
0.03922344744205475,
0.013902964070439339,
0.00926702469587326,
0.05374777317047119,
0.0030242830980569124,
-0.004827687982469797,
-0.037223439663648605,
0.038000140339136124,
-0.031611766666173935,
-0.006402936298400164,
0.0034927313681691885,
0.02293212339282036,
-0.05413612350821495,
0.036757417023181915,
-0.02636902965605259,
-0.003560692770406604,
0.03920402750372887,
-0.014388402923941612,
0.00044660360435955226,
-0.02920399233698845,
0.01720394752919674,
0.0004517613851930946,
0.02400008961558342,
0.015320445410907269,
-0.0014405393740162253,
-0.015728212893009186,
0.01526219304651022,
0.019922403618693352,
0.015854427590966225,
-0.014621413312852383,
-0.04116520285606384,
-0.061747800558805466,
-0.01325247623026371,
-0.037689462304115295,
0.009388384409248829,
-0.029242826625704765,
-0.0060922554694116116,
-0.013135971501469612,
0.0031165163964033127,
-0.02551465854048729,
0.0037572954315692186,
0.04213608056306839,
-0.0027670005802065134,
-0.00563594326376915,
0.01067965105175972,
0.015650544315576553,
-0.0449710413813591,
-0.011058293282985687,
-0.014825297519564629,
-0.04547589644789696,
-0.00473059993237257,
-0.018883565440773964,
-0.027514664456248283,
0.01860201172530651,
0.04318462684750557,
0.034854497760534286,
0.05332058668136597,
-0.06454393267631531,
-0.01641753688454628,
-0.0011134750675410032,
0.023495232686400414,
0.015145687386393547,
-0.043417636305093765,
0.0029587489552795887,
0.01278645545244217,
-0.026407865807414055,
-0.0016444235807284713,
0.02782534621655941,
0.002592242555692792,
-0.03085448406636715,
-0.02755350060760975,
-0.03547586128115654,
-0.007927213795483112,
-0.03605838492512703,
0.006767015438526869,
0.06982550024986267,
-0.03178652748465538,
0.0017220937879756093,
0.01476704515516758,
0.004788852762430906,
0.012456356547772884,
0.004618949256837368,
0.017572881653904915,
-0.0029708847869187593,
-0.014068013057112694,
0.021378720179200172,
0.005922351963818073,
0.021572895348072052,
-0.06691286712884903,
-0.053514763712882996,
0.0002424159465590492,
0.039844807237386703,
-0.004720891360193491,
0.010233047418296337,
-0.013427234254777431,
-0.0199806559830904,
-0.08318477869033813,
-0.040194325149059296,
0.03456323593854904,
0.02452436275780201,
-0.018252495676279068,
0.03968946635723114,
-0.02807777374982834,
-0.04811668395996094,
0.04854387044906616,
-0.02275736629962921,
0.015922389924526215,
0.03330109640955925,
-0.026407865807414055,
0.009155374020338058,
-0.012932087294757366,
-0.02275736629962921,
-0.011912665329873562,
-0.01904861442744732,
-0.020077744498848915,
0.009961201809346676,
-0.01596122421324253,
0.0076844943687319756,
-0.04590308293700218
] |
Highly autonomous generative agents powered by large language models promise
to simulate intricate social behaviors in virtual societies. However, achieving
real-time interactions with humans at a low computational cost remains
challenging. Here, we introduce Lyfe Agents. They combine low-cost with
real-time responsiveness, all while remaining intelligent and goal-oriented.
Key innovations include: (1) an option-action framework, reducing the cost of
high-level decisions; (2) asynchronous self-monitoring for better
self-consistency; and (3) a Summarize-and-Forget memory mechanism, prioritizing
critical memory items at a low cost. We evaluate Lyfe Agents' self-motivation
and sociability across several multi-agent scenarios in our custom LyfeGame 3D
virtual environment platform. When equipped with our brain-inspired techniques,
Lyfe Agents can exhibit human-like self-motivated social reasoning. For
example, the agents can solve a crime (a murder mystery) through autonomous
collaboration and information exchange. Meanwhile, our techniques enabled Lyfe
Agents to operate at a computational cost 10-100 times lower than existing
alternatives. Our findings underscore the transformative potential of
autonomous generative agents to enrich human social experiences in virtual
worlds. | [
0.012847780250012875,
-0.04130352661013603,
-0.026887008920311928,
-0.017206493765115738,
-0.026211854070425034,
0.0544888861477375,
-0.009630871005356312,
0.02674800530076027,
-0.009725193493068218,
0.014019370079040527,
-0.01797100529074669,
0.023491380736231804,
0.030957788228988647,
0.0018244045786559582,
0.012023694813251495,
0.01962910406291485,
-0.03639873489737511,
-0.0024362627882510424,
-0.014942742884159088,
-0.022478651255369186,
-0.01908302493393421,
0.016680270433425903,
-0.042097825556993484,
0.0098195169121027,
0.051629409193992615,
-0.028237314894795418,
0.018249010667204857,
-0.005828165914863348,
-0.04924651235342026,
0.016392337158322334,
0.019619176164269447,
0.038027044385671616,
0.06322617083787918,
-0.012808064930140972,
-0.0003104280331172049,
-0.0634644627571106,
0.08387793600559235,
0.001290735206566751,
0.028932327404618263,
0.06548991799354553,
-0.01649162545800209,
-0.02885289676487446,
-0.07267832010984421,
-0.05575976148247719,
0.03723274916410446,
0.0031474081333726645,
-0.01277827937155962,
-0.013314430601894855,
-0.06846854090690613,
-0.03165280073881149,
0.043924711644649506,
-0.03260595723986626,
0.07688810676336288,
0.0036959706339985132,
-0.029567765071988106,
-0.0025541663635522127,
0.08538710325956345,
-0.03830505162477493,
0.024424681439995766,
0.006528141908347607,
-0.011765548028051853,
-0.010196808725595474,
-0.04042980074882507,
-0.031811658293008804,
0.01858658716082573,
-0.018060363829135895,
-0.01028616726398468,
0.07335347682237625,
-0.005550161469727755,
-0.029607480391860008,
-0.011507401242852211,
0.0028867789078503847,
-0.011477614752948284,
-0.06402046978473663,
0.018477370962500572,
0.00968547910451889,
0.06552963703870773,
0.060724128037691116,
0.026211854070425034,
-0.03496899455785751,
0.026529572904109955,
-0.017812145873904228,
0.023471523076295853,
0.01112018059939146,
0.09420381486415863,
-0.07013656944036484,
0.035783153027296066,
-0.08753170818090439,
0.029905343428254128,
-0.001957201398909092,
-0.006905433721840382,
0.016432052478194237,
-0.028535177931189537,
0.01089181937277317,
-0.01588597148656845,
-0.01767314411699772,
-0.02496083453297615,
-0.012579704634845257,
-0.031990375369787216,
-0.04126381129026413,
-0.010961321182549,
-0.03989364951848984,
-0.005336693953722715,
-0.05834123119711876,
-0.043606992810964584,
0.018924163654446602,
-0.01648169569671154,
0.05695120990276337,
0.011010964401066303,
0.10945434868335724,
-0.025278553366661072,
-0.04162124544382095,
-0.0862608328461647,
-0.003705899463966489,
-0.020036183297634125,
-0.022458793595433235,
-0.013195285573601723,
-0.010564171709120274,
0.018566729500889778,
-0.032427240163087845,
0.017017846927046776,
-0.017355425283312798,
0.03973478823900223,
-0.05643491819500923,
0.0016072136349976063,
0.023411951959133148,
-0.0020676585845649242,
0.004666504450142384,
-0.006905433721840382,
0.04001279175281525,
-0.039357494562864304,
-0.001329209073446691,
-0.034273985773324966,
0.07367119938135147,
0.018258938565850258,
-0.0132449297234416,
0.021505635231733322,
-0.014634951949119568,
0.05226484686136246,
0.034849852323532104,
-0.051311690360307693,
-0.023828959092497826,
-0.02130706049501896,
0.005783486645668745,
-0.005014009773731232,
-0.05969154089689255,
0.007828805595636368,
-0.004860114771872759,
-0.026827435940504074,
0.019599318504333496,
-0.029091186821460724,
0.049643661826848984,
0.013364073820412159,
0.01949010230600834,
-0.004517573397606611,
0.0007831287803128362,
-0.005644484423100948,
0.0020142917055636644,
0.04009222239255905,
0.023233234882354736,
0.05575976148247719,
0.0018541908357292414,
0.0003574343863874674,
-0.011358469724655151,
0.06695937365293503,
0.021068770438432693,
-0.015270390547811985,
-0.02829688787460327,
-0.046625327318906784,
0.05711007118225098,
-0.024384967982769012,
0.0033931443467736244,
-0.039853934198617935,
0.002906636567786336,
0.023967960849404335,
0.05401230603456497,
0.038622770458459854,
0.021247487515211105,
-0.017593713477253914,
0.030957788228988647,
-0.0018392977071925998,
0.003733203513547778,
-0.0004564114206004888,
0.018368154764175415,
0.05417116358876228,
0.06592678278684616,
0.09333008527755737,
-0.025199122726917267,
0.04158153384923935,
0.03260595723986626,
0.012500273995101452,
-0.0020974448416382074,
0.012659134343266487,
-0.019261742010712624,
-0.02466297149658203,
-0.03943692520260811,
0.016253335401415825,
-0.01195419393479824,
-0.016362551599740982,
0.008801821619272232,
-0.009139398112893105,
-0.06894511729478836,
-0.022597795352339745,
0.014783882535994053,
0.025953706353902817,
-0.00023425603285431862,
0.0004011828568764031,
-0.02613242343068123,
0.02144606225192547,
-0.060088690370321274,
0.07458464056253433,
-0.033201683312654495,
-0.029250046238303185,
-0.04253469035029411,
-0.09197977930307388,
-0.013721508905291557,
0.02102905511856079,
0.010454955510795116,
0.0038399372715502977,
-0.0009264748659916222,
-0.024682829156517982,
0.053456295281648636,
0.01399951335042715,
-0.005048760678619146,
-0.01617390476167202,
0.007262867875397205,
0.009169184602797031,
0.02917061559855938,
-0.0037083816714584827,
-0.059929829090833664,
0.037709325551986694,
0.051629409193992615,
0.05413145199418068,
0.007843698374927044,
0.01148754358291626,
0.011765548028051853,
0.07057343423366547,
-0.007764269132167101,
-0.010762746445834637,
-0.019311385229229927,
-0.017653286457061768,
-0.038622770458459854,
-0.018388012424111366,
0.010405311360955238,
0.03691502660512924,
-0.041343241930007935,
-0.03389669209718704,
0.028793323785066605,
0.04825364053249359,
-0.0031474081333726645,
-0.014575379900634289,
-0.02178363874554634,
0.028396176174283028,
-0.03719303384423256,
-0.028356460854411125,
0.0362597331404686,
0.07454492151737213,
-0.021088628098368645,
0.015766827389597893,
0.03534628823399544,
0.03157337009906769,
-0.007148687727749348,
-0.007957879453897476,
0.0498819537460804,
-0.055878907442092896,
-0.04126381129026413,
0.0619552917778492,
0.015141317620873451,
0.03528671711683273,
0.04305098578333855,
-0.04118438437581062,
-0.04646646976470947,
-0.05127197504043579,
-0.009774837642908096,
0.029448620975017548,
-0.02345166727900505,
-0.019092952832579613,
0.021207772195339203,
0.04702247679233551,
0.018556801602244377,
0.04884936287999153,
-0.025199122726917267,
0.055561188608407974,
-0.007382012903690338,
-0.00017483877309132367,
-0.0423361174762249,
-0.01797100529074669,
-0.056315772235393524,
-0.07792069017887115,
0.015051959082484245,
-0.012520131655037403,
0.024087104946374893,
-0.014227873645722866,
-0.0124704884365201,
0.024543827399611473,
0.006974934600293636,
0.03040177933871746,
0.015598039142787457,
0.016690200194716454,
-0.008498995564877987,
0.01134854182600975,
0.036835599690675735,
0.051351405680179596,
-0.018239082768559456,
-0.029091186821460724,
0.011944265104830265,
-0.0021048912312835455,
0.05234427750110626,
-0.02587427757680416,
-0.01600511744618416,
0.03582286834716797,
-0.0010940221836790442,
0.008742248639464378,
0.011596759781241417,
0.016908632591366768,
0.026271427050232887,
0.0362398736178875,
-0.039357494562864304,
0.03987378999590874,
-0.04297155514359474,
0.0264501441270113,
0.04567217081785202,
-0.08387793600559235,
0.04551330953836441,
0.045870743691921234,
0.05158969387412071,
0.02164463698863983,
0.019152525812387466,
-0.0057090213522315025,
-0.02345166727900505,
-0.10413254797458649,
-0.011983980424702168,
-0.023650242015719414,
0.0033161966130137444,
-0.012132911011576653,
-0.03518742695450783,
0.0012082026805728674,
0.024901261553168297,
-0.033281110227108,
-0.006071419920772314,
-0.013731436803936958,
-0.020334044471383095,
-0.004192407242953777,
-0.003075425047427416,
-0.003199534025043249,
0.00475834496319294,
-0.04960394650697708,
0.04714162275195122,
0.023967960849404335,
0.010931534692645073,
0.0011871041497215629,
-0.01556825265288353,
-0.0063941036351025105,
-0.01452573575079441,
0.024523969739675522,
0.0007918164483271539,
0.025159409269690514,
0.02295522950589657,
-0.0332413986325264,
0.0680316761136055,
0.04551330953836441,
-0.006011847406625748,
-0.0002890191972255707,
0.04138295724987984,
-0.10508570820093155,
-0.03536614403128624,
-0.0635438859462738,
-0.018844734877347946,
0.038602910935878754,
0.022716939449310303,
-0.022478651255369186,
-0.009928732179105282,
-0.0035569684114307165,
-0.018546871840953827,
-0.02190278470516205,
0.030501065775752068,
0.06521191447973251,
-0.04293183982372284,
0.0015910794027149677,
0.051192544400691986,
0.04364670813083649,
0.014515806920826435,
0.0066373576410114765,
0.016074618324637413,
-0.02160492166876793,
0.03594201058149338,
-0.0012168902903795242,
-0.03965535759925842,
0.031235793605446815,
0.04368642345070839,
0.016263263300061226,
-0.023650242015719414,
-0.03459170460700989,
-0.04328927397727966,
0.04138295724987984,
0.046506185084581375,
0.049365658313035965,
-0.006940184161067009,
0.0019845054484903812,
0.01919223926961422,
-0.0249409768730402,
-0.001533989212475717,
0.01369172241538763,
-0.004837775137275457,
-0.014128586277365685,
-0.03596187010407448,
0.02811817079782486,
0.0026882044039666653,
-0.015836328268051147,
-0.04805506765842438,
0.017136992886662483,
-0.01633276604115963,
-0.034551989287137985,
-0.015846258029341698,
0.027721021324396133,
0.011159895919263363,
-0.016054760664701462,
-0.016739843413233757,
-0.008439422585070133,
-0.03143436834216118,
-0.007243010681122541,
0.016352621838450432,
0.02436511032283306,
0.026668576523661613,
-0.0740286335349083,
-0.008672747761011124,
0.027462873607873917,
-0.01377115212380886,
-0.08332192152738571,
-0.0740683451294899,
-0.024305537343025208,
0.02658914588391781,
0.038801487535238266,
-0.04344813525676727,
-0.03496899455785751,
0.021247487515211105,
0.0018181991763412952,
0.06707851588726044,
0.004656575620174408,
0.00308038922958076,
-0.012371201068162918,
0.02235950529575348,
-0.03206980600953102,
0.021406346932053566,
-0.03967521712183952,
-0.010047877207398415,
0.011318755336105824,
0.00016397923172917217,
0.051192544400691986,
-0.03596187010407448,
-0.06362331658601761,
0.017107205465435982,
-0.052383992820978165,
-0.02386867254972458,
0.034849852323532104,
-0.03806675970554352,
-0.0006366799934767187,
-0.028058597818017006,
-0.049206800758838654,
-0.018060363829135895,
0.05008052662014961,
0.017007919028401375,
0.033062681555747986,
0.006106170359998941,
0.003616540925577283,
0.026966437697410583,
-0.028674179688096046,
-0.040588658303022385,
0.02889261208474636,
0.036200158298015594,
-0.004718630108982325,
-0.03340025618672371,
-0.013810867443680763,
0.0015488823410123587,
-0.04396442696452141,
-0.029607480391860008,
-0.008677712641656399,
0.0011368398554623127,
0.012460559606552124,
-0.009040110744535923,
-0.00162458885461092,
0.012619419023394585,
0.05083511024713516,
-0.020612049847841263,
-0.008940823376178741,
0.03913906589150429,
0.02708558179438114,
0.02859475091099739,
0.022716939449310303,
-0.06719766557216644,
-0.042852409183979034,
0.0007434138678945601,
0.00291160074993968,
0.007262867875397205,
-0.047379910945892334,
-0.02418639324605465,
0.006984863430261612,
-0.06568849831819534,
0.02658914588391781,
0.026330998167395592,
-0.01857665926218033,
-0.04912737011909485,
-0.006026740651577711,
-0.0027999025769531727,
-0.006786288693547249,
0.06453676521778107,
0.024087104946374893,
0.009496833197772503,
-0.013781080953776836,
-0.058301519602537155,
-0.010494670830667019,
0.0362795889377594,
-0.029686911031603813,
-0.02857489325106144,
0.015468965284526348,
-0.014376805163919926,
-0.008707498200237751,
-0.019102880731225014,
0.03884120285511017,
0.017722787335515022,
-0.0009370241314172745,
0.027184870094060898,
0.0008706257212907076,
0.022141072899103165,
-0.04777706041932106,
0.09642785042524338,
0.03610087186098099,
-0.003921849187463522,
0.012232198379933834,
0.007094079628586769,
-0.03191094845533371,
0.044520437717437744,
-0.0634644627571106,
-0.028813181445002556,
-0.01573704183101654,
-0.0154888229444623,
0.05413145199418068,
0.032744958996772766,
0.012281842529773712,
-0.004924651235342026,
-0.022637510672211647,
0.034412987530231476,
-0.007962843403220177,
0.05000109598040581,
-0.02283608540892601,
-0.0332215391099453,
0.060843273997306824,
-0.031057076528668404,
-0.04567217081785202,
0.012311628088355064,
0.0022910551633685827,
-0.010037948377430439,
0.02587427757680416,
-0.023213377222418785,
0.004068298265337944,
-0.003120104316622019,
0.005723914597183466,
0.00046075525460764766,
-0.024245964363217354,
-0.0332413986325264,
0.008325242437422276,
-0.00571398576721549,
-0.00966562144458294,
0.01467466726899147,
-0.014694523997604847,
-0.00623524421826005,
0.0423361174762249,
0.03383712098002434,
-0.0041601387783885,
0.02013546973466873,
-0.015478894114494324,
-0.027721021324396133,
-0.021426204591989517,
-0.03208966553211212,
-0.0059969546273350716,
0.018805019557476044,
-0.022617653012275696,
-0.016988061368465424,
-0.032864104956388474,
-0.0017822075169533491,
0.012043552473187447,
0.017871718853712082,
-0.0012311628088355064,
0.03284424915909767,
-0.05031881853938103,
0.011835048906505108,
-0.002497076289728284,
-0.021088628098368645,
0.03052092343568802,
0.014535664580762386,
0.016213620081543922,
0.054210878908634186,
0.0015588110545650125,
0.0020192558877170086,
0.009268471971154213,
-0.02676786296069622,
0.016680270433425903,
-0.005282085854560137,
0.012261984869837761,
-0.06592678278684616,
-0.02220064587891102,
0.00883657205849886,
0.030580496415495872,
0.018070293590426445,
-0.04880965128540993,
-0.02766144834458828,
0.07688810676336288,
0.018705733120441437,
0.005982061382383108,
-0.002149570733308792,
0.01089181937277317,
-0.008558567613363266,
-0.012649205513298512,
-0.05333715304732323,
0.009963483549654484,
-0.013453432358801365,
0.00756072998046875,
-0.03467113524675369,
-0.012073338963091373,
0.006483462639153004,
-0.00953158363699913,
0.0019745766185224056,
0.03266553208231926,
0.0347704216837883,
-0.010752817615866661,
0.021664494648575783,
-0.02992520108819008,
-0.011169823817908764,
0.020473046228289604,
0.017434854060411453,
0.00714372331276536,
0.023511238396167755,
-0.055878907442092896,
0.020155327394604683,
0.034234270453453064,
-0.010087592527270317,
-0.03008406050503254,
0.04102552309632301,
0.04221697151660919,
-0.0046416823752224445,
-0.04039008542895317,
0.015935616567730904,
-0.01707741990685463,
0.04515587538480759,
-0.0006739127566106617,
0.04249497503042221,
-0.001100227702409029,
-0.015965402126312256,
0.043487850576639175,
0.03206980600953102,
0.021505635231733322,
0.03822562098503113,
0.03385697677731514,
0.04412328824400902,
0.005530304275453091,
0.01724620908498764,
0.029408905655145645,
-0.04368642345070839,
0.009541512466967106,
0.021267345175147057,
0.03852348402142525,
-0.0030878358520567417,
-0.004269354976713657,
-0.008811750449240208,
0.019301455467939377,
0.009114576503634453,
0.04916708543896675,
0.011854906566441059,
-0.002782527357339859,
0.03993336111307144,
-0.016749771311879158,
0.008906072936952114,
-0.016858987510204315,
0.019708534702658653,
0.027860023081302643,
0.004055887460708618,
0.009189042262732983,
0.009640799835324287,
0.010881890542805195,
-0.0030183347407728434,
-0.03840433806180954,
-0.02388853020966053,
-0.008538709953427315,
-0.029667053371667862,
-0.0004002520290669054,
-0.03357897326350212,
0.011338612996041775,
0.010032984428107738,
0.02555655874311924,
0.011656331829726696,
-0.0377490408718586,
0.001489309943281114,
0.028078455477952957,
-0.020214900374412537,
0.00938265211880207,
0.020334044471383095,
-0.04857135936617851,
0.003775400575250387,
0.023650242015719414,
-0.04495730251073837,
-0.04352756217122078,
-0.00022215538774617016,
0.039099350571632385,
0.040906377136707306,
0.009551440365612507,
-0.019718462601304054,
-0.002703097416087985,
0.03945678472518921,
-0.029667053371667862,
0.028495462611317635,
0.014009442180395126,
0.059929829090833664,
0.004386017564684153,
0.04495730251073837,
0.039218492805957794,
0.0038498661015182734,
0.014853384345769882,
-0.009258543141186237,
-0.057229213416576385,
0.02573527581989765,
0.04416300356388092,
-0.029210330918431282,
-0.0041104950942099094,
-0.05472717434167862,
-0.02875361032783985,
0.04102552309632301,
-0.0060168118216097355,
-0.0018082704627886415,
-0.008692605420947075,
-0.01752421259880066,
0.027184870094060898,
-0.023809101432561874,
-0.010514527559280396,
0.029607480391860008,
0.004976777359843254,
0.02631114237010479,
-0.008017451502382755,
-0.0010865756776183844,
0.017474569380283356,
-0.0453544519841671,
0.008409636095166206,
0.01125918235629797,
0.055402327328920364,
-0.015419322066009045,
-0.02448425441980362,
0.0059125605039298534,
-0.022438935935497284,
0.04495730251073837,
-0.02315380424261093,
0.011815192177891731,
0.002916565164923668,
0.008131631650030613,
0.006543034687638283,
-0.0257154181599617,
-0.01949010230600834,
0.01586611568927765,
0.030759213492274284,
-0.0008613175596110523,
0.024226108565926552,
-0.02841603197157383,
0.023550953716039658,
0.04773734509944916,
-0.029369190335273743,
0.0348101370036602,
0.04320984333753586,
-0.04094609245657921,
-0.0154888229444623,
-0.032705243676900864,
-0.0044679297134280205,
0.015012243762612343,
0.059334106743335724,
-0.022895658388733864,
0.01489309873431921,
-0.04126381129026413,
0.0035569684114307165,
-0.01458530779927969,
-0.00472607696428895,
0.005679234862327576,
-0.029686911031603813,
-0.03052092343568802,
-0.05413145199418068,
0.014654809609055519,
-0.01067338790744543,
0.0529797188937664,
0.01632283627986908,
0.024742402136325836,
0.015051959082484245,
-0.027621734887361526,
0.028058597818017006,
0.04146238788962364,
0.030183346942067146,
-0.01588597148656845,
-0.0151214599609375,
0.039238352328538895,
0.003085353644564748,
-0.0079479506239295,
-0.010693244636058807,
-0.019023451954126358,
-0.01755400002002716,
-0.02102905511856079,
0.025437412783503532,
0.006612536031752825,
0.015439178794622421,
0.02674800530076027,
-0.02206164412200451,
-0.008459280245006084,
-0.033519402146339417,
-0.033042822033166885,
0.02885289676487446,
0.03056063875555992,
-0.006339496001601219,
0.05349601060152054,
-0.017921362072229385,
0.028455747291445732,
0.004502680152654648,
-0.010862033814191818,
-0.018695803359150887,
0.026966437697410583,
-0.02235950529575348,
-0.05234427750110626,
-0.032744958996772766,
-0.022319791838526726,
0.012122982181608677,
0.044679295271635056,
-0.024980692192912102,
-0.01405908539891243,
0.0310173612087965,
0.012420844286680222,
0.007451513782143593,
-0.03594201058149338,
0.030143631622195244,
0.04189925268292427,
-0.03147408366203308,
-0.01042516902089119,
-0.04265383630990982,
0.04940537363290787,
0.018844734877347946,
0.037570323795080185,
0.01620369218289852,
0.023074375465512276,
-0.051907412707805634,
0.015459036454558372,
0.010911677032709122,
0.00008276529115391895,
-0.02766144834458828,
-0.018268868327140808,
-0.027323871850967407,
0.0034651276655495167,
-0.00021626020316034555,
-0.023054517805576324,
0.014178230427205563,
-0.015230676159262657,
0.04027093946933746,
-0.001453318283893168,
-0.02738344483077526,
-0.00020090170437470078,
0.052542854100465775,
0.051947128027677536,
-0.01619376242160797,
0.0008501477423124015,
-0.03981421887874603,
0.0025988458655774593,
-0.011418042704463005,
-0.03022306226193905,
0.006617500446736813,
-0.038622770458459854,
0.012023694813251495,
-0.04396442696452141,
-0.010723031125962734,
-0.043170128017663956,
-0.00290911877527833,
0.016362551599740982,
-0.013473290018737316,
0.04598988965153694,
0.004400910809636116,
0.01399951335042715,
0.019420601427555084,
-0.028972042724490166,
0.014843455515801907,
-0.046943046152591705,
0.0024660490453243256,
0.023491380736231804,
0.01725613698363304,
-0.002708061831071973,
0.028674179688096046,
-0.031970519572496414,
0.002072622999548912,
-0.04475872591137886,
0.01755400002002716,
-0.03083864413201809,
-0.012887494638562202,
0.01707741990685463,
-0.04718133807182312,
-0.024603400379419327,
0.017027776688337326,
0.015081744641065598,
0.00039994175313040614,
0.02573527581989765,
0.002574024023488164,
0.02676786296069622,
0.016710057854652405,
0.012420844286680222,
-0.038483768701553345,
0.020949626341462135,
-0.011616617441177368,
0.0033633580897003412,
0.03191094845533371,
-0.021287202835083008,
0.024523969739675522,
0.002616221085190773,
-0.03693488612771034,
0.026072852313518524,
0.04368642345070839,
-0.013602363876998425,
0.02012554183602333,
0.018388012424111366,
-0.023372236639261246,
-0.002361797261983156,
0.03377754986286163,
0.04253469035029411,
0.03570372238755226,
0.017136992886662483,
0.001055548433214426,
0.036815740168094635,
-0.04515587538480759,
0.05397259071469307,
0.006567856762558222,
-0.021962355822324753,
-0.01163647510111332,
0.0005885876598767936,
-0.055124323815107346,
0.03612072765827179,
0.03614058718085289,
-0.007158616092056036,
0.019390814006328583,
-0.01784193329513073,
-0.055878907442092896,
-0.00000927909877646016,
-0.05047767609357834,
0.01497252844274044,
-0.034710850566625595,
-0.03719303384423256,
0.0063742464408278465,
0.036081016063690186,
-0.017802217975258827,
-0.02315380424261093,
0.0294684786349535,
0.03361868858337402,
-0.006965005770325661,
-0.01906316727399826,
-0.037411466240882874,
0.025437412783503532,
-0.00290911877527833,
-0.010742888785898685,
-0.031672656536102295,
0.009486904367804527,
-0.007769233081489801,
-0.040588658303022385,
0.006364317610859871,
0.07442577928304672,
0.015895901247859,
0.04313041642308235,
-0.010092556476593018,
-0.007009685039520264,
-0.030282635241746902,
0.04336870461702347,
-0.03540585935115814,
-0.019023451954126358,
-0.021743925288319588,
0.019718462601304054,
-0.010931534692645073,
-0.007898306474089622,
0.012768350541591644,
0.032883960753679276,
0.022438935935497284,
-0.022498508915305138,
-0.051311690360307693,
-0.020006395876407623,
-0.0604461245238781,
0.010981177911162376,
0.05051739141345024,
-0.032566241919994354,
0.025675702840089798,
0.02059219218790531,
-0.008364956825971603,
-0.028495462611317635,
-0.03165280073881149,
0.021863069385290146,
-0.01270877756178379,
-0.006155814044177532,
-0.0575072206556797,
0.034571848809719086,
-0.030878357589244843,
-0.0544094555079937,
-0.05325772240757942,
-0.020214900374412537,
-0.0030878358520567417,
-0.0019745766185224056,
0.0136122927069664,
0.03451227396726608,
-0.031513798981904984,
-0.04745934158563614,
0.0059721325524151325,
0.054052021354436874,
-0.008786928839981556,
0.01322507206350565,
-0.002658418146893382,
-0.0057288785465061665,
-0.06417933106422424,
0.017782360315322876,
0.005336693953722715,
0.020949626341462135,
0.024424681439995766,
-0.005026421044021845,
-0.001579909585416317,
0.026092709973454475,
-0.022895658388733864,
-0.015131388790905476,
-0.0013937458861619234,
-0.02160492166876793,
0.03314210847020149,
-0.014436377212405205,
-0.027780594304203987,
-0.038027044385671616
] |
Although pervasive spread of misinformation on social media platforms has
become a pressing challenge, existing platform interventions have shown limited
success in curbing its dissemination. In this study, we propose a stance-aware
graph neural network (stance-aware GNN) that leverages users' stances to
proactively predict misinformation spread. As different user stances can form
unique echo chambers, we customize four information passing paths in
stance-aware GNN, while the trainable attention weights provide explainability
by highlighting each structure's importance. Evaluated on a real-world dataset,
stance-aware GNN outperforms benchmarks by 32.65% and exceeds advanced GNNs
without user stance by over 4.69%. Furthermore, the attention weights indicate
that users' opposition stances have a higher impact on their neighbors'
behaviors than supportive ones, which function as social correction to halt
misinformation propagation. Overall, our study provides an effective predictive
model for platforms to combat misinformation, and highlights the impact of user
stances in the misinformation propagation. | [
-0.012540871277451515,
-0.00909972283989191,
-0.04456931725144386,
-0.04928019642829895,
0.075300432741642,
0.014767496846616268,
-0.0472927950322628,
0.038423094898462296,
-0.024143246933817863,
0.01438105758279562,
-0.022947126999497414,
-0.010268241167068481,
0.0046188682317733765,
-0.0408889465034008,
-0.026940330862998962,
-0.004018507432192564,
0.016074029728770256,
-0.012034820392727852,
0.049169786274433136,
-0.04272913187742233,
0.04512137547135353,
-0.03308655321598053,
-0.043796438723802567,
-0.009863399900496006,
-0.00446475250646472,
0.02140136994421482,
0.019763603806495667,
0.012062422931194305,
-0.051230791956186295,
0.09237736463546753,
0.0018988425144925714,
0.0055159591138362885,
0.01390260923653841,
-0.020536482334136963,
-0.05597847327589989,
0.008754687383770943,
0.07014790922403336,
0.03934318944811821,
-0.008952507749199867,
0.04173542931675911,
-0.008257837034761906,
0.021327761933207512,
0.006771886721253395,
-0.0010115274926647544,
0.004515357781201601,
-0.025578593835234642,
0.00002237336229882203,
-0.04548941180109978,
-0.0009706984274089336,
-0.03514756262302399,
0.030105451121926308,
-0.0020150041673332453,
0.025118546560406685,
0.009605773724615574,
-0.018217846751213074,
0.05667774751782417,
0.040116067975759506,
-0.03857031092047691,
0.04758722335100174,
0.03908556327223778,
-0.021014930680394173,
0.06849174201488495,
0.00956896971911192,
0.03387783467769623,
-0.033767424523830414,
-0.027381975203752518,
0.023370368406176567,
0.011445960029959679,
0.025284163653850555,
-0.0018263851525261998,
-0.06459055095911026,
0.06433292478322983,
0.04390685260295868,
-0.020223651081323624,
-0.01611083373427391,
-0.006997309159487486,
-0.0017815305618569255,
-0.0014606480253860354,
0.019837211817502975,
0.02276310697197914,
0.04140419885516167,
0.009789792820811272,
-0.05873875319957733,
-0.007204330526292324,
0.05568404495716095,
-0.07496920228004456,
0.04092574864625931,
-0.058849167078733444,
0.03636208549141884,
0.01438105758279562,
-0.014767496846616268,
0.04214027151465416,
-0.030418284237384796,
-0.05807628855109215,
-0.024897724390029907,
-0.011998016387224197,
0.04471653327345848,
-0.008837495930492878,
-0.020775705575942993,
-0.017674991860985756,
0.031246367841959,
0.0752636268734932,
0.01946917362511158,
0.02883572317659855,
0.021585388109087944,
-0.013451763428747654,
-0.039306383579969406,
0.019340360537171364,
0.03709816187620163,
0.1713581681251526,
0.011795596219599247,
0.0124212596565485,
0.005759784020483494,
0.03341778740286827,
0.010314245708286762,
0.035368386656045914,
-0.037374187260866165,
-0.01422464195638895,
0.04077853262424469,
-0.03218486160039902,
-0.002960400190204382,
0.08060017228126526,
-0.014813501387834549,
0.011574773117899895,
-0.01827305182814598,
0.07150965183973312,
-0.028890928253531456,
-0.0488753542304039,
0.020646892488002777,
0.004844291135668755,
-0.021125340834259987,
0.025707406923174858,
-0.016166038811206818,
-0.027418779209256172,
0.016957318410277367,
0.012338451109826565,
0.012522469274699688,
0.048507317900657654,
0.009205533191561699,
-0.03669331967830658,
0.05895957723259926,
-0.00239224242977798,
-0.020297257229685783,
-0.012366053648293018,
-0.05329180136322975,
-0.004161121789366007,
0.034245871007442474,
0.05866514891386032,
-0.0320376493036747,
-0.01819024421274662,
-0.04188264533877373,
0.018723897635936737,
0.01779460348188877,
0.012890506535768509,
0.030896732583642006,
-0.05583126097917557,
0.0014410960720852017,
-0.011556371115148067,
-0.007839194498956203,
-0.023296762257814407,
0.000026326888473704457,
-0.029185358434915543,
0.019119538366794586,
0.012218838557600975,
-0.007011110894382,
0.02107013575732708,
0.02092292159795761,
0.023278359323740005,
-0.03555240482091904,
0.05134120583534241,
0.009072119370102882,
0.02491612546145916,
-0.043796438723802567,
0.034577105194330215,
-0.025284163653850555,
0.020168444141745567,
0.006932902615517378,
-0.02219264954328537,
-0.004572863690555096,
0.015126333571970463,
-0.04342840239405632,
-0.026940330862998962,
-0.004372743424028158,
0.015825605019927025,
-0.0037332784850150347,
0.07445394992828369,
0.07574208080768585,
0.01730695366859436,
0.044348496943712234,
0.03371221944689751,
-0.016681291162967682,
-0.040815338492393494,
0.03590203821659088,
-0.044826943427324295,
0.004437149967998266,
-0.02883572317659855,
-0.05630970746278763,
-0.022615892812609673,
0.00733314361423254,
-0.01714133843779564,
-0.028743714094161987,
-0.018052229657769203,
0.025100145488977432,
-0.03194563835859299,
-0.010673082433640957,
-0.00367577257566154,
0.04118337482213974,
0.02316794916987419,
-0.05575765296816826,
0.007954206317663193,
-0.0030478090047836304,
-0.07596290111541748,
-0.012007216922938824,
-0.016727296635508537,
-0.0021392167545855045,
0.017435766756534576,
0.026866722851991653,
-0.015475968830287457,
0.046740736812353134,
0.0080186128616333,
-0.006192227825522423,
0.013083726167678833,
0.012264843098819256,
-0.013773796148598194,
-0.01937716454267502,
-0.043796438723802567,
-0.014583478681743145,
0.017426567152142525,
-0.03293934091925621,
0.02732677012681961,
-0.0020989628974348307,
0.0033652412239462137,
0.029424583539366722,
0.022579088807106018,
0.03805505856871605,
-0.028706910088658333,
-0.03868072107434273,
-0.028578097000718117,
-0.01133554894477129,
-0.04350201040506363,
-0.07173047214746475,
0.02300233207643032,
0.005226129665970802,
0.021180547773838043,
0.03260810673236847,
0.047071970999240875,
-0.006978907622396946,
-0.027289966121315956,
0.021603791043162346,
0.02556019090116024,
-0.06194068118929863,
-0.034889936447143555,
0.01658008061349392,
-0.011041119694709778,
-0.002185221528634429,
-0.01961638778448105,
0.011961212381720543,
-0.05491116642951965,
0.0344666950404644,
-0.040116067975759506,
0.05498477444052696,
0.0008263587951660156,
-0.02924056351184845,
0.04158821702003479,
-0.023535985499620438,
-0.010452259331941605,
0.07338663935661316,
0.006744283717125654,
0.03864391893148422,
0.039784833788871765,
-0.0030225063674151897,
-0.017325356602668762,
-0.021511780098080635,
-0.02916695736348629,
-0.05881236121058464,
-0.010516665875911713,
0.028725313022732735,
-0.022579088807106018,
-0.012494866736233234,
-0.009021515026688576,
0.013644983060657978,
0.03494514152407646,
-0.0005293411668390036,
0.01961638778448105,
0.0041864244267344475,
-0.022928724065423012,
-0.00255555915646255,
-0.04110976681113243,
-0.05575765296816826,
-0.00016072879952844232,
-0.04092574864625931,
-0.03534998372197151,
-0.017500173300504684,
0.022634293884038925,
0.005230730399489403,
0.014031422324478626,
0.01634085737168789,
0.04479014128446579,
-0.0005480305408127606,
-0.06289757788181305,
-0.03993204981088638,
0.008198031224310398,
-0.007540164515376091,
0.03915917128324509,
-0.02876211516559124,
0.021272556856274605,
0.05590486899018288,
0.07504280656576157,
-0.08398611098527908,
-0.07169366627931595,
0.060210902243852615,
0.01946917362511158,
-0.052886962890625,
0.04361242055892944,
-0.018880313262343407,
0.027915630489587784,
0.006675276905298233,
0.011243539862334728,
0.04534219577908516,
-0.022303061559796333,
-0.010645478963851929,
-0.026075443252921104,
-0.0236463975161314,
0.04537900164723396,
-0.07942245155572891,
0.05958523973822594,
-0.034337881952524185,
0.029774218797683716,
-0.01330454833805561,
0.008027813397347927,
-0.028467686846852303,
0.010912306606769562,
-0.011445960029959679,
-0.027105947956442833,
-0.0015837105456739664,
-0.060689352452754974,
0.020610088482499123,
0.05321819335222244,
-0.03558920696377754,
0.022799910977482796,
-0.010801895521581173,
-0.07224572449922562,
-0.0440908707678318,
-0.019763603806495667,
-0.029516592621803284,
-0.02381201460957527,
0.026645900681614876,
-0.007875998504459858,
0.018089033663272858,
-0.019432369619607925,
0.0008844396797940135,
0.011142329312860966,
-0.02797083556652069,
0.024952929466962814,
0.061241406947374344,
-0.015089529566466808,
-0.014151034876704216,
-0.01353457197546959,
-0.0030478090047836304,
0.050273895263671875,
0.0043313391506671906,
-0.06293438374996185,
-0.012246441096067429,
0.030031844973564148,
-0.04975864291191101,
-0.03476112335920334,
-0.04302356019616127,
0.015991220250725746,
-0.013322950340807438,
-0.030823124572634697,
-0.02250548079609871,
0.01753697730600834,
-0.028946135193109512,
0.029387779533863068,
-0.022560687735676765,
0.04144100099802017,
0.019929220899939537,
0.0232231542468071,
0.005152522120624781,
0.05200367048382759,
-0.03131997585296631,
0.022947126999497414,
0.061020586639642715,
-0.042434703558683395,
-0.04361242055892944,
-0.008202631957828999,
0.03179842233657837,
0.02460329420864582,
0.008391250856220722,
0.00909972283989191,
-0.03643569350242615,
-0.033068154007196426,
-0.01849387399852276,
-0.033933039754629135,
0.02493452839553356,
-0.01978200487792492,
-0.013801399618387222,
-0.04545260965824127,
0.0336754135787487,
-0.03704295679926872,
-0.05082595348358154,
-0.023020733147859573,
0.03398824483156204,
0.023627994582057,
-0.027363574132323265,
-0.0013663384597748518,
-0.018880313262343407,
-0.05642012134194374,
0.007563166785985231,
-0.049316998571157455,
0.008584470488131046,
0.03189043328166008,
-0.02221105247735977,
0.011261941865086555,
0.018245449289679527,
0.06120460480451584,
-0.04438529908657074,
0.012651282362639904,
0.024235256016254425,
-0.019892416894435883,
0.04994266480207443,
0.020407669246196747,
0.07831834256649017,
-0.0050191087648272514,
-0.02795243449509144,
-0.010507465340197086,
-0.009541367180645466,
-0.03919597342610359,
-0.013985417783260345,
0.0028338872361928225,
0.031375180929899216,
-0.023848818615078926,
0.016773300245404243,
0.00223467661999166,
-0.0057091787457466125,
-0.006436052266508341,
0.017288552597165108,
0.0033491395879536867,
-0.003618266899138689,
-0.014233843423426151,
-0.0051157185807824135,
-0.041146572679281235,
0.017334558069705963,
0.018282253295183182,
-0.02108853869140148,
0.0003223201783839613,
0.007379148155450821,
-0.025817817077040672,
0.003917297348380089,
-0.027179555967450142,
-0.0456734299659729,
0.05248212069272995,
-0.06528981775045395,
-0.038975149393081665,
-0.03319696709513664,
-0.030418284237384796,
0.0030547096394002438,
-0.06930142641067505,
0.06897018849849701,
-0.018549080938100815,
0.008400451391935349,
0.028909331187605858,
-0.016524875536561012,
-0.03290253505110741,
-0.021824613213539124,
-0.022450275719165802,
-0.014795100316405296,
-0.003376742359250784,
0.011850801296532154,
0.023278359323740005,
-0.008667279034852982,
-0.02049967832863331,
0.0024382472038269043,
-0.04629909247159958,
0.0042669326066970825,
0.004653371870517731,
-0.04276593402028084,
-0.04442210495471954,
0.017987823113799095,
0.012402857653796673,
-0.024492882192134857,
0.05542641878128052,
0.005419349297881126,
0.03500034660100937,
-0.035534001886844635,
-0.021585388109087944,
-0.0038597912061959505,
-0.03834948688745499,
-0.0769198015332222,
-0.05634651333093643,
-0.006813290528953075,
-0.030547097325325012,
-0.017113734036684036,
-0.02026045322418213,
0.013396558351814747,
0.012274044565856457,
-0.01273409090936184,
0.021732604131102562,
0.05947482958436012,
0.04383324459195137,
0.03974802792072296,
-0.01545756682753563,
0.026480285450816154,
-0.007710381876677275,
0.03271851688623428,
-0.034245871007442474,
0.0633392184972763,
0.040263280272483826,
-0.0063946484588086605,
0.03293934091925621,
-0.01133554894477129,
0.02861490100622177,
0.005718379747122526,
0.004982305224984884,
-0.016488071531057358,
0.005203127395361662,
-0.010507465340197086,
0.03270011395215988,
0.0512675978243351,
0.05097316578030586,
0.008874299935996532,
0.011648381128907204,
-0.029829423874616623,
0.0424715057015419,
-0.05296057090163231,
0.05737701803445816,
-0.007599970325827599,
-0.015439164824783802,
-0.029056545346975327,
-0.008745486848056316,
-0.02252388373017311,
0.026572294533252716,
-0.007871397770941257,
0.03319696709513664,
0.012071623466908932,
0.017205744981765747,
-0.011758792214095592,
0.015199940651655197,
-0.03391463682055473,
-0.015880810096859932,
-0.0272531621158123,
-0.026793116703629494,
-0.009233135730028152,
0.0464463084936142,
-0.0011771443532779813,
0.03222166746854782,
0.012044020928442478,
-0.041956253349781036,
0.006187627092003822,
0.0023899422958493233,
0.011648381128907204,
0.007719582412391901,
0.018208645284175873,
-0.03557080775499344,
-0.012044020928442478,
-0.0553160086274147,
-0.017334558069705963,
0.03674852475523949,
-0.03573642298579216,
0.013819800689816475,
0.0252473596483469,
0.005879396107047796,
-0.015880810096859932,
-0.031688012182712555,
-0.011363152414560318,
-0.0003312335757073015,
-0.02907494828104973,
0.05137800797820091,
-0.0016251147026196122,
0.024713706225156784,
-0.01001061499118805,
-0.023333566263318062,
-0.01930355653166771,
0.025357769802212715,
0.038827937096357346,
-0.018779104575514793,
0.006500458810478449,
-0.015135534107685089,
0.0070387134328484535,
-0.010130226612091064,
0.02051807940006256,
-0.005327340215444565,
0.004220928065478802,
0.03871752694249153,
-0.033528197556734085,
-0.004793685860931873,
-0.04022647812962532,
-0.06937503069639206,
0.00872708484530449,
0.0011363151716068387,
0.002295632613822818,
0.07014790922403336,
-0.01657087914645672,
-0.026958733797073364,
-0.030271068215370178,
0.008874299935996532,
0.004554461687803268,
0.0029811023268848658,
0.04685115069150925,
-0.04471653327345848,
0.005594166927039623,
0.02620425634086132,
0.06271355599164963,
0.016874510794878006,
-0.040741730481386185,
-0.056935373693704605,
-0.01715053804218769,
0.028909331187605858,
0.010203834623098373,
0.010829498060047626,
-0.025339368730783463,
0.0014238443691283464,
0.054763950407505035,
-0.05513199046254158,
0.006587868090718985,
-0.01465708576142788,
0.027124349027872086,
0.01090310513973236,
0.002953499322757125,
-0.01245806273072958,
0.04133059084415436,
-0.08118902891874313,
0.10444898903369904,
-0.018687093630433083,
-0.028412479907274246,
0.01577039808034897,
-0.01097671315073967,
0.006164624821394682,
0.008823694661259651,
0.017582982778549194,
-0.05399107187986374,
0.04144100099802017,
-0.020389266312122345,
-0.004368142690509558,
-0.021658996120095253,
-0.03557080775499344,
-0.011556371115148067,
0.033288974314928055,
-0.0009868000634014606,
0.02493452839553356,
-0.01930355653166771,
0.029442984610795975,
-0.023701602593064308,
0.022468678653240204,
-0.003574562491849065,
0.03165121003985405,
-0.009265339002013206,
0.013230941258370876,
0.02219264954328537,
0.04677754268050194,
0.029424583539366722,
0.025596994906663895,
0.0037332784850150347,
0.0232231542468071,
-0.012752492912113667,
-0.026958733797073364,
0.01932195946574211,
0.031688012182712555,
0.017279351130127907,
-0.022395070642232895,
0.009596573188900948,
0.008630475029349327,
0.033362582325935364,
-0.006463655270636082,
0.027676405385136604,
-0.05200367048382759,
-0.04412767291069031,
-0.00351475621573627,
0.025854621082544327,
0.06819731742143631,
0.02925896644592285,
-0.01405902486294508,
-0.003914996981620789,
0.06160944700241089,
0.032424088567495346,
-0.02587302215397358,
-0.01370018906891346,
-0.0150251230224967,
-0.03109915368258953,
-0.0376870222389698,
0.00040369093767367303,
-0.0074711572378873825,
-0.04412767291069031,
0.009228535927832127,
-0.029516592621803284,
-0.004522258415818214,
-0.002585462061688304,
0.007687379140406847,
0.008101421408355236,
-0.009752988815307617,
-0.02620425634086132,
-0.04582064598798752,
-0.01518153864890337,
0.0038643917068839073,
0.004391144961118698,
-0.05240851268172264,
0.006721281446516514,
0.002458949340507388,
0.004559062421321869,
-0.03419066593050957,
-0.028081247583031654,
0.019027529284358025,
-0.0035400588531047106,
-0.02467690221965313,
-0.014592679217457771,
0.04957462474703789,
0.01833745837211609,
0.009283741004765034,
-0.03398824483156204,
-0.030271068215370178,
0.0038620915729552507,
-0.002248477889224887,
0.0020794107113033533,
0.061499033123254776,
0.008303841575980186,
0.0320376493036747,
0.03798145055770874,
0.026259461417794228,
-0.01438105758279562,
0.017610585317015648,
-0.001522754319012165,
0.0007470007403753698,
0.015282749198377132,
-0.04361242055892944,
-0.032571300864219666,
-0.010148628614842892,
-0.024069640785455704,
-0.018144238740205765,
0.011519568040966988,
0.005976005923002958,
0.04077853262424469,
-0.001127689378336072,
-0.008303841575980186,
0.0020288056693971157,
-0.03454030305147171,
0.007346944883465767,
0.025707406923174858,
0.04110976681113243,
0.061020586639642715,
-0.03757660835981369,
0.03853350505232811,
-0.04548941180109978,
0.011482764035463333,
0.005069714039564133,
0.027271565049886703,
0.012264843098819256,
-0.026093846186995506,
0.04913298040628433,
-0.041072964668273926,
0.02099652774631977,
0.002104713348671794,
-0.0188251081854105,
0.05255572870373726,
-0.06396488100290298,
-0.043870046734809875,
-0.009495362639427185,
0.02539457380771637,
0.0008988160989247262,
-0.025302564725279808,
-0.0073239426128566265,
-0.004600466229021549,
0.00785299576818943,
-0.00017927442968357354,
0.01053506787866354,
0.048360101878643036,
-0.013792198151350021,
-0.06293438374996185,
0.01482270285487175,
-0.0156323853880167,
-0.033362582325935364,
-0.0028775916434824467,
-0.01058107241988182,
0.007379148155450821,
-0.031246367841959,
-0.031246367841959,
0.016773300245404243,
0.043060366064310074,
-0.009352748282253742,
-0.024713706225156784,
-0.03901195526123047,
-0.04721918702125549,
0.00033525898470543325,
-0.0296454057097435,
0.04442210495471954,
-0.007733384147286415,
0.018935520201921463,
-0.041551411151885986,
-0.005097316578030586,
-0.03879113122820854,
0.003933398984372616,
0.0036573708057403564,
-0.006482057273387909,
-0.027124349027872086,
0.0118231987580657,
0.006123220548033714,
0.028044443577528,
0.024400873109698296,
0.004798286594450474,
-0.005258332937955856,
-0.007774788420647383,
0.0118231987580657,
-0.0536966435611248,
0.008308442309498787,
0.02283671498298645,
-0.013819800689816475,
-0.034650713205337524,
-0.05362303555011749,
0.01145516149699688,
0.013065324164927006,
-0.001341035938821733,
0.015724394470453262,
0.02348078042268753,
-0.01857668347656727,
0.0014410960720852017,
-0.02491612546145916,
0.013368954882025719,
-0.06186707317829132,
-0.01429824996739626,
-0.005078915040940046,
0.0008286589873023331,
0.007158325519412756,
-0.05159883201122284,
-0.014831903390586376,
-0.03218486160039902,
-0.06823411583900452,
0.006183026824146509,
0.024640098214149475,
0.024879321455955505,
0.0633392184972763,
-0.009430956095457077,
0.005097316578030586,
0.06429611891508102,
-0.058370716869831085,
0.054211895912885666,
-0.046998362988233566,
0.025192154571413994,
-0.003634368535131216,
0.010820296593010426,
0.04184584319591522,
0.0033675413578748703,
0.0034457494039088488,
0.014491468667984009,
0.0043313391506671906,
-0.028338873758912086,
0.004517658147960901,
-0.004455551505088806,
0.017767000943422318,
0.012274044565856457,
0.06135182082653046,
-0.014721492305397987,
-0.0204444732517004,
0.048912160098552704,
0.016874510794878006,
0.018079832196235657,
0.006334842182695866,
-0.013184936717152596,
0.032258469611406326,
0.014390259049832821,
0.00846025813370943,
-0.01470309030264616,
0.04791845753788948,
-0.03404344990849495,
-0.039048757404088974,
-0.007682778872549534,
0.016009623184800148,
-0.0033790424931794405,
0.005778185557574034,
-0.0697062686085701,
-0.022376667708158493,
-0.028154853731393814,
-0.021125340834259987,
-0.0009361949050799012,
-0.07434353977441788,
0.08229314535856247,
0.026057042181491852,
0.01908273436129093,
0.009817395359277725,
0.008699482306838036,
-0.005396347027271986,
0.008993911556899548,
0.025707406923174858,
0.013571375980973244,
-0.008961708284914494,
-0.041220176964998245,
0.04493735730648041,
-0.058297108858823776,
-0.016938917338848114,
-0.03494514152407646,
-0.04442210495471954,
-0.03356500342488289,
-0.025928229093551636,
-0.010939909145236015,
0.003040908370167017,
-0.0504579171538353,
0.014555875211954117,
0.03341778740286827,
-0.023204753175377846,
-0.020168444141745567,
-0.003760881256312132,
0.024732107296586037,
0.005782786291092634,
-0.02467690221965313,
0.0058655948378145695,
-0.007098519708961248,
0.0268483217805624,
0.037208572030067444,
0.004177223425358534,
-0.006845493800938129,
0.020131640136241913,
0.01594521664083004,
-0.01747257076203823,
-0.035626012831926346,
-0.02386721968650818,
-0.02049967832863331,
0.02876211516559124,
0.009725386276841164,
0.013957815244793892,
0.007434353698045015,
0.043391600251197815,
0.03166960924863815,
0.01390260923653841,
0.013414960354566574,
-0.013764595612883568,
0.016791703179478645,
-0.019340360537171364,
0.04905937239527702,
0.016120033338665962,
0.05792907252907753,
-0.023039136081933975,
0.022247854620218277,
-0.023848818615078926,
-0.0056447722017765045,
0.001934496103785932,
0.028338873758912086,
0.04453251510858536,
-0.018319057300686836,
-0.03028947114944458,
0.026811517775058746,
-0.0070387134328484535,
0.018733099102973938,
-0.002617665333673358,
-0.007264136336743832,
0.005520559847354889,
-0.0004151921020820737,
0.01177719421684742,
0.001640066271647811,
0.04629909247159958,
-0.02500813454389572,
-0.02429046295583248,
0.04526858776807785,
-0.03568121790885925,
-0.02195342630147934,
0.02340717241168022,
0.042250681668519974,
-0.012108427472412586,
0.0200212299823761,
-0.018125837668776512,
-0.023351967334747314,
-0.0066062696278095245,
0.023057537153363228,
0.017030926421284676,
-0.02723476104438305,
-0.005028309766203165,
-0.023094341158866882,
-0.024051237851381302,
0.0036941745784133673,
0.024860920384526253,
-0.06223510950803757,
-0.006316440179944038,
0.018769903108477592,
0.020462874323129654,
-0.022155845537781715,
0.03108075074851513,
-0.001051781582646072,
-0.00558956665918231,
0.01626724936068058,
0.007144524250179529,
-0.02314954623579979,
-0.012200436554849148,
0.05222449451684952,
0.04824969172477722,
0.01658008061349392,
0.053549427539110184,
-0.004414147697389126,
0.0236463975161314,
-0.04607827216386795,
0.0568985678255558,
0.01683770678937435,
-0.0005635571433231235,
0.045563019812107086,
-0.010415456257760525,
-0.0013375856215134263,
-0.012770894914865494,
0.0051065175794065,
-0.028706910088658333,
0.015567977912724018,
0.010939909145236015,
-0.021180547773838043,
0.013819800689816475,
0.032571300864219666,
0.011740390211343765,
-0.04865453392267227,
-0.019524378702044487,
0.05807628855109215,
-0.024419276043772697,
0.00793120451271534,
0.03150399401783943,
0.02620425634086132,
-0.04975864291191101,
0.05093636363744736,
0.014013020321726799,
0.0006555664585903287,
-0.017905015498399734,
0.005575765389949083,
-0.014151034876704216,
-0.030657507479190826,
-0.0456734299659729,
0.013598978519439697,
0.014795100316405296,
-0.030878329649567604,
-0.021898219361901283,
-0.01908273436129093,
-0.0005126644973643124,
-0.03661971166729927
] |
We present AstroCLIP, a strategy to facilitate the construction of
astronomical foundation models that bridge the gap between diverse
observational modalities. We demonstrate that a cross-modal contrastive
learning approach between images and optical spectra of galaxies yields highly
informative embeddings of both modalities. In particular, we apply our method
on multi-band images and optical spectra from the Dark Energy Spectroscopic
Instrument (DESI), and show that: (1) these embeddings are well-aligned between
modalities and can be used for accurate cross-modal searches, and (2) these
embeddings encode valuable physical information about the galaxies -- in
particular redshift and stellar mass -- that can be used to achieve competitive
zero- and few- shot predictions without further finetuning. Additionally, in
the process of developing our approach, we also construct a novel,
transformer-based model and pretraining approach for processing galaxy spectra. | [
0.03336084261536598,
-0.0007500911015085876,
-0.041519470512866974,
-0.0517895445227623,
0.016317253932356834,
-0.02874944545328617,
-0.013242987915873528,
0.04040462523698807,
-0.01619056612253189,
-0.0024534999392926693,
-0.038039807230234146,
-0.015219300985336304,
-0.005278614349663258,
-0.06479604542255402,
0.003977963700890541,
0.03042171150445938,
0.005996506195515394,
0.035877685993909836,
-0.005472867749631405,
-0.0234454944729805,
0.018073976039886475,
-0.04520183056592941,
0.006140084471553564,
-0.004075090400874615,
0.0032685180194675922,
0.025219108909368515,
0.0015107394428923726,
0.0017757259774953127,
-0.1035790890455246,
0.022077277302742004,
0.06993108242750168,
0.015802061185240746,
0.01699291542172432,
0.007685662712901831,
-0.05297195166349411,
-0.03972896561026573,
0.0508773997426033,
0.01555713266134262,
0.008285312913358212,
0.033225711435079575,
0.00152129668276757,
-0.048005830496549606,
-0.008479566313326359,
-0.021131349727511406,
-0.020810410380363464,
-0.00825153011828661,
-0.01944219321012497,
-0.0006381844868883491,
0.000059219455579295754,
-0.040742456912994385,
-0.032972339540719986,
-0.04364780709147453,
0.025996120646595955,
-0.05060713365674019,
-0.06895137578248978,
0.015430445782840252,
0.04743151739239693,
0.025455590337514877,
0.07060674577951431,
-0.03131696581840515,
0.02854674682021141,
0.01903679594397545,
0.0013217651285231113,
-0.017584120854735374,
0.02422250621020794,
-0.07878226786851883,
0.041384339332580566,
-0.01699291542172432,
0.019459083676338196,
-0.018411807715892792,
-0.007035337388515472,
-0.039593830704689026,
0.004890108481049538,
-0.021384723484516144,
-0.026401517912745476,
0.037837110459804535,
0.0249150600284338,
0.02667178399860859,
0.01610610820353031,
-0.045674797147512436,
0.03374934941530228,
0.03239802271127701,
-0.010734590701758862,
0.06401903927326202,
0.0762147456407547,
-0.05763402581214905,
-0.03641821816563606,
-0.052701685577631,
0.006731289438903332,
0.008450006134808064,
-0.01702669821679592,
-0.03190816938877106,
-0.034492578357458115,
-0.008994759060442448,
-0.011891663074493408,
0.022246193140745163,
0.017871277406811714,
-0.006904427893459797,
-0.07134997844696045,
-0.0040856474079191685,
-0.02825959026813507,
0.010557228699326515,
-0.017617903649806976,
-0.0018654624000191689,
-0.0011813539313152432,
0.005679788999259472,
0.00825153011828661,
0.02307388000190258,
-0.00632166862487793,
0.08283624053001404,
0.03695874661207199,
-0.009341035969555378,
-0.014568976126611233,
0.005810698959976435,
0.03466149419546127,
0.020100964233279228,
-0.03483041003346443,
0.012812253087759018,
0.049762554466724396,
-0.07114727795124054,
0.0060809641145169735,
-0.002114613074809313,
0.03462770953774452,
-0.0307933259755373,
-0.04668828845024109,
0.03275274857878685,
-0.034205421805381775,
-0.026283277198672295,
0.04324240982532501,
0.026485975831747055,
-0.055404338985681534,
-0.041350554674863815,
-0.016207458451390266,
0.0023901567328721285,
0.04050597548484802,
0.021334048360586166,
-0.007043783087283373,
0.0029750270769000053,
0.0011560166021808982,
0.01178186759352684,
-0.030489277094602585,
-0.013724397867918015,
-0.0025654067285358906,
0.05922183021903038,
0.01673109643161297,
0.0007997101056389511,
0.0508098304271698,
0.04807339981198311,
-0.010700806975364685,
-0.06003262847661972,
-0.06162043288350105,
0.05293817073106766,
-0.006296331528574228,
-0.00010379075683886185,
0.0001830359542509541,
0.03749927878379822,
0.005937385372817516,
-0.016308806836605072,
-0.030438601970672607,
0.0012900934088975191,
0.05226250737905502,
-0.042938362807035446,
0.03854655474424362,
-0.0371614471077919,
0.02977983094751835,
-0.03234735131263733,
0.011418699286878109,
-0.014746337197721004,
-0.038985736668109894,
0.03672226518392563,
0.028901470825076103,
0.0977683886885643,
-0.03170546889305115,
0.00884273461997509,
-0.023749541491270065,
0.04283701255917549,
0.04901932552456856,
-0.028732554987072945,
-0.023631300777196884,
-0.007588536012917757,
-0.06405282020568848,
-0.05124901235103607,
0.025371132418513298,
-0.009594409726560116,
0.06699195504188538,
0.037803325802087784,
0.051721975207328796,
0.03891816735267639,
-0.007723668590188026,
-0.002007985021919012,
0.04553966224193573,
0.011300457641482353,
0.03493176028132439,
-0.03133385628461838,
-0.01500815711915493,
-0.022685373201966286,
0.003167168702930212,
-0.02290496416389942,
-0.03143520653247833,
-0.021300265565514565,
0.017499662935733795,
-0.03668848052620888,
0.012525096535682678,
0.01619056612253189,
0.004974566400051117,
0.030725758522748947,
0.013563928194344044,
0.013530144467949867,
0.019340842962265015,
-0.08580915629863739,
-0.032854095101356506,
0.008441559970378876,
-0.013690614141523838,
-0.0022845843341201544,
0.019982723519206047,
-0.005874042399227619,
0.022719155997037888,
-0.059525880962610245,
0.0035704548936337233,
0.003061596304178238,
0.0069086505100131035,
-0.004983012098819017,
0.02209416963160038,
-0.024374529719352722,
-0.009146783500909805,
-0.003638021182268858,
0.04949228838086128,
-0.020371228456497192,
0.045100484043359756,
0.0016870452091097832,
-0.003167168702930212,
0.033343952149152756,
0.032330457121133804,
-0.05550568550825119,
0.03797224164009094,
-0.03378313407301903,
0.03430677205324173,
-0.061451517045497894,
0.013513253070414066,
-0.0033593103289604187,
-0.008635813370347023,
-0.036046601831912994,
0.016283469274640083,
-0.008247307501733303,
0.06803923100233078,
-0.008471120148897171,
-0.050742264837026596,
0.03543850779533386,
0.009467722848057747,
0.017448987811803818,
0.03756684437394142,
0.01837802492082119,
-0.03533715754747391,
0.02102999947965145,
-0.009560626931488514,
-0.007660325150936842,
0.01780371181666851,
0.02520221658051014,
-0.02667178399860859,
-0.02381710894405842,
0.07006622105836868,
-0.012829144485294819,
-0.002550626639276743,
0.038816820830106735,
0.020388120785355568,
-0.013048735447227955,
0.028242699801921844,
-0.006921319290995598,
-0.019746242091059685,
-0.010286963544785976,
-0.08749831467866898,
-0.039222218096256256,
-0.04537074640393257,
0.0008614698890596628,
0.009729541838169098,
-0.006727066356688738,
-0.0027406567241996527,
0.02993185631930828,
0.03712766245007515,
0.015405108220875263,
0.05199224129319191,
-0.032043300569057465,
0.03756684437394142,
-0.024391422048211098,
-0.0380735918879509,
0.01964489184319973,
-0.021790120750665665,
-0.013226096518337727,
0.03364799916744232,
-0.0009042266756296158,
-0.007204253226518631,
-0.051890891045331955,
-0.04516804963350296,
0.01809086836874485,
-0.003243180690333247,
-0.048208530992269516,
-0.043884288519620895,
0.009957578033208847,
0.020658385008573532,
-0.039965447038412094,
-0.043884288519620895,
0.025421807542443275,
0.010810602456331253,
0.018192216753959656,
-0.03787089139223099,
0.041755951941013336,
0.017381422221660614,
0.09006582945585251,
-0.012930493801832199,
-0.03956004977226257,
-0.02597922831773758,
-0.020185422152280807,
-0.010430541820824146,
-0.015979422256350517,
-0.0011201220331713557,
0.03790467604994774,
0.008893409743905067,
-0.04827609658241272,
0.023107662796974182,
-0.020371228456497192,
0.03396894037723541,
-0.03298923000693321,
-0.09743055701255798,
-0.019898265600204468,
0.020675277337431908,
0.007276042364537716,
0.02548937313258648,
-0.022854289039969444,
-0.02977983094751835,
0.005755801219493151,
-0.08614698797464371,
-0.02679002471268177,
0.0303034707903862,
0.03312436118721962,
0.005557325202971697,
0.04111407324671745,
-0.016950687393546104,
0.005814921576529741,
-0.019678674638271332,
-0.026333952322602272,
0.00757586769759655,
0.02920551784336567,
-0.04807339981198311,
0.006456801202148199,
0.0022444669157266617,
-0.057397544384002686,
0.013251434080302715,
0.022854289039969444,
-0.008120620623230934,
-0.02508397586643696,
0.0009348426247015595,
0.005827590357512236,
-0.036046601831912994,
-0.03945869952440262,
0.028529856353998184,
-0.02185768634080887,
-0.014518301002681255,
-0.08675508201122284,
0.015126397833228111,
0.01650306023657322,
-0.01621590368449688,
-0.07364723086357117,
-0.023901566863059998,
-0.02021920494735241,
-0.05101253092288971,
0.04479643329977989,
0.010033590719103813,
-0.01639326475560665,
-0.04942472279071808,
-0.01630036160349846,
0.0033086356706917286,
0.04111407324671745,
-0.0014927921583876014,
-0.006511698942631483,
-0.028479181230068207,
-0.04418833926320076,
0.015117951668798923,
-0.024391422048211098,
0.02422250621020794,
0.03577633947134018,
-0.08337677270174026,
0.047195035964250565,
0.030354144051671028,
-0.011410253122448921,
0.0391208678483963,
0.047228820621967316,
-0.025590723380446434,
-0.017415205016732216,
-0.047600433230400085,
0.003969518002122641,
0.03486419469118118,
-0.09351170808076859,
-0.028107566758990288,
0.0019309171475470066,
0.08249840885400772,
0.024898169562220573,
0.04580992832779884,
0.00042360881343483925,
0.008247307501733303,
0.05314086750149727,
0.009873121045529842,
0.004094093572348356,
-0.04746530205011368,
0.027600819244980812,
0.015531795099377632,
-0.0035979037638753653,
0.0027533252723515034,
0.019915156066417694,
0.07263373583555222,
0.051721975207328796,
-0.016781771555542946,
0.03678983077406883,
0.035303372889757156,
0.0035683433525264263,
0.06533657759428024,
-0.014999710954725742,
-0.006456801202148199,
-0.0018031747313216329,
0.003608460770919919,
0.04854636266827583,
0.039019517600536346,
0.06540414690971375,
-0.03577633947134018,
0.03543850779533386,
0.024121155962347984,
-0.013420349918305874,
0.03797224164009094,
0.005658674985170364,
0.004089870490133762,
-0.024357639253139496,
0.043681591749191284,
0.01874963939189911,
0.01739831268787384,
-0.061485301703214645,
-0.07053918391466141,
0.01303184311836958,
-0.0015909743960946798,
-0.011688963510096073,
-0.03386759012937546,
0.00028161407681182027,
-0.013420349918305874,
-0.019138144329190254,
-0.013420349918305874,
-0.013555482029914856,
-0.055775951594114304,
-0.04398563876748085,
-0.031063590198755264,
0.025759639218449593,
-0.034526363015174866,
-0.05918804928660393,
-0.06104611977934837,
0.037431709468364716,
-0.11080867797136307,
-0.04439103603363037,
0.04023570939898491,
-0.010751482099294662,
-0.023462384939193726,
0.024661686271429062,
0.04844501242041588,
-0.03493176028132439,
0.05256655439734459,
0.02744879573583603,
-0.032330457121133804,
-0.0176010113209486,
-0.04202621802687645,
-0.009602855890989304,
-0.04790448397397995,
-0.022111060097813606,
-0.023800216615200043,
0.04824231192469597,
-0.013006506487727165,
-0.04611397534608841,
0.033225711435079575,
0.023496169596910477,
0.000698360672686249,
-0.02275294065475464,
-0.055235423147678375,
-0.04374915733933449,
0.005810698959976435,
-0.035134457051754,
-0.005447530187666416,
-0.0215198565274477,
-0.007301379460841417,
-0.0032051748130470514,
0.021959036588668823,
0.05439084395766258,
-0.019053686410188675,
0.024442097172141075,
-0.03635065257549286,
-0.028327157720923424,
0.07256616652011871,
0.004497379530221224,
-0.03628308326005936,
-0.021840795874595642,
0.009197457693517208,
-0.025016410276293755,
-0.0007463960791938007,
-0.031350746750831604,
0.026435300707817078,
-0.004379138816148043,
-0.005181488115340471,
0.03141831234097481,
-0.021502964198589325,
-0.017018252983689308,
-0.011857879348099232,
0.014788566157221794,
-0.000854079844430089,
-0.006739735137671232,
-0.004974566400051117,
0.026148144155740738,
0.023800216615200043,
-0.026435300707817078,
0.04577614367008209,
-0.021992819383740425,
0.009298807010054588,
0.006524367723613977,
0.03695874661207199,
-0.022888071835041046,
0.012525096535682678,
-0.03356354311108589,
0.005705126561224461,
-0.015101060271263123,
0.028242699801921844,
0.011562277562916279,
0.005772692617028952,
0.039357349276542664,
0.0722283348441124,
-0.0028039999306201935,
0.0016902124043554068,
0.00917212013155222,
-0.024661686271429062,
0.027144746854901314,
-0.021587422117590904,
-0.049931470304727554,
0.008099505677819252,
-0.01543889194726944,
0.007892584428191185,
0.016916904598474503,
0.026165036484599113,
-0.03972896561026573,
0.006241433788090944,
0.026333952322602272,
0.035674989223480225,
0.0380735918879509,
-0.006216096226125956,
-0.03255004808306694,
0.05043821781873703,
-0.03736414387822151,
-0.028969036415219307,
0.025337349623441696,
-0.021840795874595642,
-0.010050482116639614,
0.03018523007631302,
0.009729541838169098,
-0.02842850610613823,
-0.024002915248274803,
-0.016807109117507935,
-0.05141792818903923,
-0.04692476987838745,
0.005232162773609161,
-0.04097893834114075,
0.023715758696198463,
0.024188723415136337,
0.009535289369523525,
-0.017533445730805397,
0.007630764972418547,
0.03263450786471367,
0.02270226553082466,
-0.014416951686143875,
0.016165228560566902,
-0.039357349276542664,
0.010810602456331253,
-0.05280303582549095,
0.004294680897146463,
-0.024678578600287437,
0.023107662796974182,
0.041755951941013336,
-0.002333147684112191,
0.01722095161676407,
-0.015523349866271019,
0.03349597752094269,
0.013901758939027786,
0.04922202602028847,
0.010810602456331253,
0.03638443350791931,
0.017161831259727478,
0.011528493836522102,
-0.038039807230234146,
0.013842638581991196,
-0.0031312741339206696,
0.04168838635087013,
0.07797147333621979,
0.027499470859766006,
0.022634699940681458,
-0.012795361690223217,
0.007322493940591812,
0.01776992715895176,
-0.02045568637549877,
0.021908361464738846,
-0.07249860465526581,
-0.01239840965718031,
-0.013918650336563587,
0.016427047550678253,
0.007111349608749151,
-0.004725415725260973,
-0.03385069966316223,
0.05395166203379631,
-0.007183138746768236,
0.030759543180465698,
0.0239691324532032,
-0.010911951772868633,
0.020269880071282387,
-0.005063246935606003,
-0.0401005782186985,
0.012854482047259808,
0.015675373375415802,
0.01944219321012497,
0.032533157616853714,
-0.007504078559577465,
-0.02241510897874832,
0.012677120976150036,
-0.0020259323064237833,
0.04830988124012947,
0.02920551784336567,
0.01137647032737732,
0.028985928744077682,
0.011672072112560272,
-0.03287098929286003,
-0.011097759008407593,
-0.005620668642222881,
-0.007833464071154594,
-0.017204061150550842,
-0.057194843888282776,
-0.04006679728627205,
-0.0004763949546031654,
-0.019695566967129707,
0.009450831450521946,
0.01736452989280224,
0.05574217066168785,
-0.015548686496913433,
-0.032533157616853714,
-0.027110964059829712,
-0.008851180784404278,
-0.015751386061310768,
0.005177265033125877,
0.04064111039042473,
-0.01153694000095129,
-0.005464421585202217,
0.04043840989470482,
0.053647615015506744,
-0.019594216719269753,
0.014813903719186783,
0.018969228491187096,
0.04087759181857109,
0.019087469205260277,
0.00015228803385980427,
0.009205903857946396,
0.03858033940196037,
-0.037026312202215195,
0.01590340957045555,
0.05452597513794899,
-0.025371132418513298,
0.030573735013604164,
-0.026739349588751793,
0.03956004977226257,
-0.020557036623358727,
0.0005516152014024556,
-0.029053494334220886,
-0.008433114737272263,
0.023293470963835716,
0.023310361430048943,
-0.03192505985498428,
-0.011891663074493408,
-0.03668848052620888,
0.04962742328643799,
-0.01751655526459217,
-0.004030750133097172,
0.009045434184372425,
0.011182216927409172,
-0.004801427945494652,
-0.04594505950808525,
0.00458606006577611,
-0.00010398870654171333,
-0.027026506140828133,
-0.05243142321705818,
-0.02454344555735588,
0.017035145312547684,
-0.015514903701841831,
-0.005198379512876272,
-0.015244638547301292,
-0.03356354311108589,
-0.04209378361701965,
-0.0025654067285358906,
0.01809086836874485,
0.03553985431790352,
-0.019982723519206047,
-0.01572604849934578,
-0.009999806992709637,
0.028783230111002922,
-0.023175228387117386,
0.02434074692428112,
-0.013741289265453815,
0.021215807646512985,
0.026519758626818657,
0.001548745553009212,
0.00554465688765049,
0.009231241419911385,
-0.0027659940533339977,
-0.0685121938586235,
0.017246289178729057,
-0.031350746750831604,
0.004193331580609083,
0.05476245656609535,
0.024273181334137917,
0.05351248383522034,
0.022313758730888367,
-0.005413746926933527,
0.013141638599336147,
-0.017009807750582695,
0.043681591749191284,
0.04658694192767143,
0.022854289039969444,
0.0014526747399941087,
-0.02189147099852562,
-0.00869915634393692,
-0.0013407680671662092,
0.004864770919084549,
-0.0420599989593029,
-0.0030404820572584867,
0.011916999705135822,
0.004526939708739519,
-0.0459112785756588,
0.03496554121375084,
-0.010827493853867054,
0.02928997576236725,
-0.026232602074742317,
-0.02266848273575306,
0.028090674430131912,
-0.0061485301703214645,
-0.04047219455242157,
0.02802310883998871,
-0.03864790499210358,
0.02189147099852562,
-0.013884867541491985,
0.008792060427367687,
0.04148568585515022,
0.03533715754747391,
0.025759639218449593,
0.00419755419716239,
0.0008963087457232177,
0.04905311018228531,
-0.03425609692931175,
-0.0038280512671917677,
0.016123000532388687,
-0.050539568066596985,
-0.03493176028132439,
-0.02119891531765461,
-0.00226769270375371,
0.023209013044834137,
-0.03401961550116539,
0.014476072043180466,
0.02356373518705368,
0.000499884772580117,
0.07013378292322159,
0.013403457589447498,
0.043107278645038605,
0.005143481772392988,
0.006262548267841339,
0.020641494542360306,
-0.006317446008324623,
0.019982723519206047,
-0.014096012338995934,
0.03401961550116539,
-0.011384915560483932,
0.012043686583638191,
0.06124882027506828,
0.006439909804612398,
0.033631108701229095,
-0.010447434149682522,
0.009501506574451923,
0.0008561912691220641,
0.0020628825295716524,
-0.022330651059746742,
-0.03006698749959469,
0.00584025913849473,
0.02385089173913002,
-0.0016543178353458643,
-0.027752842754125595,
0.010016699321568012,
-0.007250704802572727,
0.013420349918305874,
-0.03221221640706062,
-0.003661246970295906,
0.02417183108627796,
0.0958765298128128,
0.027583928778767586,
-0.004220779985189438,
-0.01878342218697071,
-0.06398525089025497,
-0.06084342300891876,
0.0008577748667448759,
-0.025016410276293755,
0.03503311052918434,
-0.010371421463787556,
-0.014062228612601757,
-0.016038542613387108,
-0.029104169458150864,
-0.013943987898528576,
0.04361402615904808,
-0.013124747201800346,
0.06999865174293518,
0.004328463692218065,
0.00802349392324686,
0.023175228387117386,
0.03945869952440262,
-0.02569207176566124,
-0.04178973659873009,
0.02111445739865303,
0.035641204565763474,
-0.04219513386487961,
-0.013859529979526997,
0.023665085434913635,
0.007014222908765078,
0.014172024093568325,
-0.0449991337954998,
-0.027229204773902893,
0.02143539860844612,
0.002248689765110612,
0.02474614419043064,
0.005493981763720512,
-0.0298473984003067,
0.007875693030655384,
0.012829144485294819,
0.10216019302606583,
-0.029222410172224045,
0.09689002484083176,
-0.02805689163506031,
-0.008433114737272263,
-0.039357349276542664,
0.03949248418211937,
0.006781964097172022,
-0.012322397902607918,
-0.010405205190181732,
-0.04611397534608841,
0.013927096500992775,
0.014248035848140717,
-0.030725758522748947,
0.019796915352344513,
-0.016139890998601913,
0.03283720463514328,
0.021756337955594063,
0.022938746958971024,
0.02793865092098713,
0.0307933259755373,
-0.0005605888436548412,
0.0239353496581316,
-0.040539760142564774,
0.052870601415634155,
-0.0026055241469293833,
-0.003836496965959668,
0.04928959161043167,
-0.006140084471553564,
0.0019129698630422354,
-0.030860891565680504,
0.02021920494735241,
0.03614795207977295,
0.02707718126475811,
-0.028310265392065048,
-0.08844424039125443,
-0.027465686202049255,
0.0028314488008618355,
0.020033398643136024,
0.019121253862977028,
0.0180570837110281,
-0.011266674846410751,
0.01976313255727291,
-0.02690826542675495,
-0.014324048534035683,
-0.005869819317013025,
-0.020117854699492455,
0.01800641044974327,
0.006524367723613977,
0.06243123114109039,
0.027989326044917107,
0.015422000549733639,
0.028884578496217728,
-0.02940821647644043,
-0.0038555001374334097,
-0.018817204982042313,
-0.006587710697203875,
-0.00855557806789875,
0.029070386663079262,
-0.01935773529112339,
-0.0014125572051852942,
0.005401078145951033,
0.018192216753959656,
-0.03753305971622467,
0.007803903892636299,
-0.029256192967295647,
-0.012694012373685837,
0.009619747288525105,
-0.058140773326158524,
0.010785264894366264,
-0.02197592705488205,
0.034526363015174866,
0.03628308326005936,
0.022651590406894684,
-0.02854674682021141,
0.04844501242041588,
-0.03516824170947075,
0.01212814450263977,
-0.022482674568891525,
-0.0013639939716085792,
0.021013109013438225,
-0.002112501533702016,
-0.0171111561357975,
-0.014915253035724163,
-0.007681439630687237,
0.035472288727760315,
-0.009459277614951134,
0.027550144121050835,
0.022820506244897842,
0.024763036519289017,
0.04908689111471176,
-0.03119872324168682,
0.009222795255482197,
-0.005257499869912863,
0.01809086836874485,
0.021266482770442963,
0.03148588165640831,
-0.03165479376912117,
0.03199262544512749,
0.040776241570711136,
-0.008238861337304115,
0.016283469274640083,
-0.03298923000693321,
-0.021249590441584587,
-0.021300265565514565,
0.03628308326005936,
-0.014053783379495144,
0.006883313413709402,
0.01211125310510397,
-0.0014991265488788486,
-0.0010140218073502183,
0.017060482874512672,
-0.036620914936065674,
-0.007056451868265867,
0.02903660200536251,
-0.013918650336563587,
0.038208723068237305,
-0.01217037346214056,
-0.008526017889380455,
-0.03337773680686951,
0.02368197590112686,
-0.017668578773736954,
0.02687448263168335,
-0.012423747219145298,
0.023665085434913635,
0.01696757785975933,
0.010236289352178574,
0.015472674742341042,
0.008585138246417046,
-0.006173867732286453,
0.00607674103230238,
0.00604295777156949,
-0.0021684549283236265,
-0.037837110459804535,
-0.01788816973567009,
-0.029914963990449905,
0.009366373531520367,
0.03442501276731491,
0.03790467604994774,
0.03651956841349602,
-0.03827628865838051,
0.035877685993909836,
-0.03983031213283539,
0.004919668659567833,
0.031789928674697876,
-0.017634795978665352,
-0.00009494907862972468,
0.04966120421886444,
-0.03160412237048149,
0.03601282089948654,
0.042330265045166016,
-0.02108067460358143,
-0.027381228283047676,
0.07067431509494781,
-0.02520221658051014,
-0.013918650336563587,
0.0008810007711872458,
-0.013648386113345623,
0.007010000292211771,
0.004429813474416733,
-0.0645933523774147,
-0.027499470859766006,
0.02851296402513981,
-0.02483060210943222,
0.01598786748945713,
0.03543850779533386,
-0.0035028886049985886,
-0.013166976161301136,
-0.01288826484233141,
0.009822445921599865,
0.06553927809000015,
0.00020942902483511716,
0.010075819678604603,
0.01650306023657322,
0.009721096605062485,
-0.04452617093920708,
0.027465686202049255,
0.025455590337514877,
-0.010362976230680943,
-0.0030130331870168447,
-0.006596156861633062,
-0.02589477226138115,
0.009602855890989304,
0.004324241075664759,
-0.03332706168293953,
-0.024813711643218994,
0.009036988019943237,
0.0032769639510661364,
-0.06080963835120201,
0.0029813614673912525,
-0.008492235094308853
] |
Sparse deep learning has become a popular technique for improving the
performance of deep neural networks in areas such as uncertainty
quantification, variable selection, and large-scale network compression.
However, most existing research has focused on problems where the observations
are independent and identically distributed (i.i.d.), and there has been little
work on the problems where the observations are dependent, such as time series
data and sequential data in natural language processing. This paper aims to
address this gap by studying the theory for sparse deep learning with dependent
data. We show that sparse recurrent neural networks (RNNs) can be consistently
estimated, and their predictions are asymptotically normally distributed under
appropriate assumptions, enabling the prediction uncertainty to be correctly
quantified. Our numerical results show that sparse deep learning outperforms
state-of-the-art methods, such as conformal predictions, in prediction
uncertainty quantification for time series data. Furthermore, our results
indicate that the proposed method can consistently identify the autoregressive
order for time series data and outperform existing methods in large-scale model
compression. Our proposed method has important practical implications in fields
such as finance, healthcare, and energy, where both accurate point estimates
and prediction uncertainty quantification are of concern. | [
0.0014136737445369363,
0.04556824266910553,
-0.03826012834906578,
-0.005807636305689812,
0.06845156848430634,
0.01178888138383627,
-0.01937807723879814,
0.0004337643040344119,
-0.00963943637907505,
0.015600014477968216,
0.032175544649362564,
-0.033547885715961456,
0.02329668216407299,
-0.002219715854153037,
0.010705891996622086,
0.011573937721550465,
0.06329290568828583,
-0.008457241579890251,
0.06957589834928513,
-0.0729488730430603,
0.03492022305727005,
0.022205425426363945,
0.004604773595929146,
-0.013723382726311684,
-0.003990941680967808,
0.018683642148971558,
0.027033410966396332,
0.01077202893793583,
-0.07394092530012131,
0.025942154228687286,
0.05512500926852226,
0.031944066286087036,
-0.0023561229463666677,
-0.0029017513152211905,
-0.04451005533337593,
0.0003591020649764687,
0.056150130927562714,
0.04087253287434578,
-0.004261689260601997,
0.029530074447393417,
0.02731449156999588,
-0.00483211874961853,
-0.004728780128061771,
-0.032903049141168594,
0.06587223708629608,
-0.030290646478533745,
-0.0009207480470649898,
-0.013921793550252914,
-0.008188560605049133,
-0.00029580711270682514,
-0.010714159347116947,
0.010300803929567337,
0.03351481631398201,
-0.005981245543807745,
-0.017377439886331558,
0.03171258792281151,
0.0370035320520401,
-0.014409552328288555,
0.07076635956764221,
0.04735393822193146,
-0.005427349824458361,
0.04232754185795784,
-0.04765155166387558,
-0.04110401123762131,
0.010920836590230465,
-0.04963565617799759,
0.03505249693989754,
-0.0003911370877176523,
0.0009067973005585372,
-0.03773103654384613,
-0.08273711800575256,
-0.02121337316930294,
-0.005567890591919422,
0.04140162840485573,
-0.008564713411033154,
0.045105285942554474,
-0.029612746089696884,
0.04837905615568161,
0.003561052493751049,
0.037367284297943115,
0.05324011296033859,
0.03759876266121864,
-0.03162991628050804,
-0.0027736113406717777,
0.04391482472419739,
-0.03326680138707161,
-0.0020781417842954397,
-0.024966636672616005,
0.06001913174986839,
0.03131576627492905,
-0.02615709789097309,
-0.000034198659704998136,
0.020254390314221382,
-0.007564394734799862,
0.03136536851525307,
0.006799688097089529,
-0.006841023452579975,
-0.0024635952431708574,
-0.01782386377453804,
0.014707167632877827,
0.008312567137181759,
0.013028946705162525,
0.00834563560783863,
0.007241977844387293,
-0.02761210687458515,
-0.05079305171966553,
-0.02576027810573578,
0.028538022190332413,
0.018088409677147865,
0.13637405633926392,
0.01922927051782608,
-0.017989205196499825,
-0.00388553598895669,
0.03680511936545372,
-0.018435629084706306,
-0.011780614964663982,
-0.05816730111837387,
-0.050098612904548645,
-0.026520850136876106,
-0.026372043415904045,
-0.012086497619748116,
0.06977430731058121,
0.031795259565114975,
0.04616347700357437,
-0.036342162638902664,
0.028008928522467613,
0.014690632931888103,
-0.02605789341032505,
-0.008002551272511482,
-0.008796192705631256,
-0.029050583019852638,
-0.031216561794281006,
-0.0354493148624897,
-0.04140162840485573,
-0.027049945667386055,
-0.021676331758499146,
0.08611009269952774,
-0.02382577583193779,
-0.060415953397750854,
-0.053736139088869095,
-0.019626090303063393,
-0.011400328017771244,
-0.004555170889943838,
-0.00669634947553277,
0.04097173735499382,
0.0038979367818683386,
-0.05694377049803734,
0.06540928035974503,
-0.05142135173082352,
0.013673780485987663,
-0.062499262392520905,
0.03535011038184166,
0.022800656035542488,
0.08796191960573196,
0.019311940297484398,
-0.0005166936316527426,
-0.020700814202427864,
-0.04417937248945236,
0.02726488932967186,
-0.024338336661458015,
0.05191737413406372,
0.018518298864364624,
-0.023362819105386734,
0.022635314613580704,
-0.01554214395582676,
0.042062994092702866,
-0.006692215800285339,
-0.012938008643686771,
-0.08465508371591568,
0.015856293961405754,
-0.0035755198914557695,
-0.008370436728000641,
-0.03796251490712166,
0.03614375367760658,
0.01810494437813759,
0.05863025784492493,
-0.025991756469011307,
-0.028356146067380905,
-0.009325286373496056,
0.01574055477976799,
0.005910974927246571,
0.014517024159431458,
0.020320527255535126,
0.023743106052279472,
0.030985083431005478,
-0.0007533393218182027,
0.05049543455243111,
0.006026714574545622,
0.017212098464369774,
0.01593896560370922,
-0.03501942753791809,
0.011673142202198505,
0.029844224452972412,
-0.03482101857662201,
-0.0030898279510438442,
-0.04365027695894241,
0.004542770329862833,
0.02101496234536171,
-0.00170095544308424,
0.02547919563949108,
-0.03667284548282623,
-0.04953645169734955,
0.0458989292383194,
0.000548211915884167,
0.011731011793017387,
0.004249288234859705,
0.0286702960729599,
0.017856931313872337,
0.03007570281624794,
-0.04497301205992699,
0.023991119116544724,
-0.03095201589167118,
-0.022833725437521935,
-0.032192081212997437,
-0.01591416448354721,
-0.017939602956175804,
-0.005324011202901602,
0.013467102311551571,
-0.025925619527697563,
-0.04513835534453392,
-0.04503915086388588,
-0.00022734519734513015,
0.03647443652153015,
0.0037842642050236464,
0.030670933425426483,
-0.006026714574545622,
-0.02794279158115387,
-0.0030774271581321955,
0.0245036780834198,
0.04004582390189171,
0.05952310562133789,
0.015533877536654472,
0.0013444367796182632,
-0.015757089480757713,
-0.016509395092725754,
-0.046957116574048996,
-0.009465827606618404,
-0.015881095081567764,
-0.006456603761762381,
-0.006737684831023216,
0.007494124583899975,
0.013045480474829674,
-0.023511627689003944,
0.0044476985931396484,
0.009424491785466671,
0.0033585086930543184,
-0.005613359622657299,
0.029860757291316986,
0.03197713568806648,
0.04398095980286598,
-0.04527062922716141,
-0.037168871611356735,
-0.008622583001852036,
0.012516386806964874,
-0.04315425083041191,
0.009870914742350578,
0.0028976178728044033,
-0.04636188596487045,
-0.001230764202773571,
-0.05694377049803734,
0.10383474826812744,
-0.03027411364018917,
0.019725296646356583,
0.01815454661846161,
-0.010565351694822311,
-0.004121148493140936,
0.058332644402980804,
0.03941752389073372,
0.050726912915706635,
0.008213361725211143,
0.05856412276625633,
-0.05066077783703804,
-0.018270285800099373,
-0.06097811460494995,
-0.00469984533265233,
-0.011053110472857952,
0.04897429049015045,
-0.040078889578580856,
-0.017228633165359497,
0.02490049973130226,
0.005088398698717356,
0.03568079695105553,
-0.05171896517276764,
-0.02435487136244774,
0.0005177269922569394,
-0.006006046663969755,
-0.055819444358348846,
-0.019394611939787865,
-0.036011479794979095,
-0.0093914233148098,
0.004852786660194397,
-0.016683004796504974,
-0.04761848598718643,
0.03670591488480568,
0.0401119589805603,
0.038723088800907135,
-0.07850436121225357,
-0.0417323112487793,
0.019774898886680603,
-0.043021976947784424,
-0.019741829484701157,
-0.004063278902322054,
0.011342458426952362,
-0.0005141101428307593,
-0.0017350572161376476,
-0.05820037052035332,
0.03620988875627518,
0.017360905185341835,
-0.003013357287272811,
0.017757726833224297,
-0.02073388174176216,
0.058762531727552414,
0.00739905284717679,
-0.0009843013249337673,
0.008279498666524887,
0.06964203715324402,
-0.011119246482849121,
0.022073151543736458,
0.04616347700357437,
-0.03501942753791809,
0.037896376103162766,
0.023478558287024498,
-0.0709647685289383,
0.005303343292325735,
0.006795554421842098,
0.0258098803460598,
0.015748821198940277,
0.022122753784060478,
-0.011507800780236721,
0.014583161100745201,
-0.006448336411267519,
-0.026851534843444824,
-0.066665880382061,
0.013673780485987663,
-0.017608918249607086,
-0.0024015919771045446,
0.025264251977205276,
0.025776810944080353,
-0.012342777103185654,
-0.07314728200435638,
-0.012938008643686771,
-0.04179844632744789,
-0.026223234832286835,
-0.007494124583899975,
0.048643603920936584,
-0.031844861805438995,
-0.10727386176586151,
-0.004340226296335459,
0.006072183605283499,
-0.0034701144322752953,
0.000817926018498838,
0.013210822828114033,
0.01820415072143078,
-0.009953586384654045,
0.0578366182744503,
-0.05026395618915558,
-0.01951035112142563,
0.012260106392204762,
-0.02967888116836548,
0.05241340026259422,
0.005080131813883781,
-0.01865057274699211,
-0.09107035398483276,
-0.01581495814025402,
-0.04199685901403427,
-0.022800656035542488,
-0.026801932603120804,
-0.0056050922721624374,
0.016740873456001282,
0.04312118515372276,
-0.02562800422310829,
0.04933804273605347,
0.022453438490629196,
-0.012789200991392136,
-0.009763442911207676,
0.006555808708071709,
-0.031464576721191406,
0.017790794372558594,
-0.029993031173944473,
0.040607985109090805,
-0.027959326282143593,
0.003062959760427475,
-0.009292217902839184,
0.004943724721670151,
0.0007254378288052976,
0.007374251261353493,
-0.01428554579615593,
0.05264487862586975,
-0.01011892780661583,
0.058035027235746384,
-0.006456603761762381,
-0.08200961351394653,
-0.014269011095166206,
-0.05340545251965523,
0.06653360277414322,
0.003414311446249485,
0.0025772678200155497,
0.0029286195058375597,
0.013376164250075817,
0.02934819832444191,
-0.06643439829349518,
-0.03667284548282623,
-0.01477330457419157,
-0.007824808359146118,
0.015236261300742626,
0.02967888116836548,
0.010276002809405327,
0.0017939602257683873,
0.07076635956764221,
-0.000474324740935117,
0.0022589846048504114,
0.019923705607652664,
-0.05532342195510864,
0.002378857461735606,
0.033630553632974625,
0.0310016181319952,
-0.029579676687717438,
-0.03478794917464256,
0.00014467420987784863,
0.009540230967104435,
0.004042610991746187,
0.01508745364844799,
0.030191441997885704,
0.019444214180111885,
-0.007783473003655672,
0.0077752056531608105,
-0.03245662525296211,
-0.02954660914838314,
0.05720831826329231,
-0.035614658147096634,
0.05201658234000206,
0.016410188749432564,
0.03578000143170357,
-0.059886857867240906,
-0.04047571122646332,
0.010986973531544209,
-0.058035027235746384,
0.061771757900714874,
-0.027380628511309624,
0.011011774651706219,
-0.009358354844152927,
-0.003242769278585911,
-0.04315425083041191,
0.04751927778124809,
-0.007903345860540867,
0.007676000706851482,
-0.002808746648952365,
-0.010623221285641193,
-0.015385069884359837,
-0.012045161798596382,
-0.03316759690642357,
0.045072220265865326,
-0.05413295701146126,
-0.008622583001852036,
0.007456922437995672,
-0.016277916729450226,
-0.02319747768342495,
-0.008130691014230251,
0.0245036780834198,
0.010474413633346558,
0.030290646478533745,
-0.00037227774737402797,
0.01177234761416912,
-0.014831174165010452,
-0.01029253751039505,
-0.0029100184328854084,
-0.02571067586541176,
-0.046229612082242966,
0.008639117702841759,
0.0016947550466284156,
-0.044344715774059296,
-0.050197821110486984,
-0.0375656932592392,
0.0333990752696991,
0.016286183148622513,
0.07129545509815216,
-0.019841035827994347,
-0.08227416127920151,
-0.0015387135790660977,
-0.0054728188551962376,
-0.013086816295981407,
-0.002825280651450157,
0.04037650674581528,
0.01995677500963211,
-0.06964203715324402,
0.013839121907949448,
-0.045072220265865326,
0.00818442739546299,
-0.01273959781974554,
-0.005274408496916294,
0.01692274957895279,
0.06607064604759216,
-0.04576665535569191,
-0.004881721455603838,
0.021924344822764397,
-0.010416543111205101,
-0.027579039335250854,
-0.041137080639600754,
0.07070022076368332,
0.036342162638902664,
0.03055519424378872,
-0.001680287648923695,
0.009713840670883656,
0.03282037749886513,
-0.01383085548877716,
-0.02769477851688862,
0.00358998728916049,
-0.02073388174176216,
-0.04470846801996231,
0.012962809763848782,
0.05575330927968025,
0.06484711915254593,
-0.008324967697262764,
-0.012731331400573254,
-0.012127832509577274,
-0.014682366512715816,
0.00596884498372674,
0.034457266330718994,
0.030819742009043694,
-0.006080450490117073,
0.022073151543736458,
0.005361212883144617,
-0.008353902958333492,
0.07222136855125427,
-0.07394092530012131,
0.009531963616609573,
0.008862328715622425,
-0.030737070366740227,
0.03687125816941261,
-0.0041976189240813255,
-0.014963447116315365,
0.012326243333518505,
-0.040277302265167236,
-0.05866332724690437,
-0.00011858118523377925,
0.01102004200220108,
0.01704675704240799,
0.05820037052035332,
-0.02304866909980774,
-0.019262338057160378,
-0.016079505905508995,
0.023164408281445503,
0.010970438830554485,
0.06097811460494995,
0.028306543827056885,
0.0035114497877657413,
-0.014302079565823078,
-0.04679177328944206,
-0.03492022305727005,
0.02465248666703701,
-0.05069384351372719,
-0.004989193752408028,
-0.0013310028007254004,
0.005013994872570038,
-0.018171081319451332,
0.04761848598718643,
-0.037268079817295074,
-0.005696030333638191,
-0.0485113300383091,
-0.059787653386592865,
-0.016740873456001282,
0.019841035827994347,
-0.012235305272042751,
-0.0258098803460598,
0.026603521779179573,
-0.06015140563249588,
0.04305504634976387,
0.0740070641040802,
0.031448040157556534,
0.040409576147794724,
-0.02533038891851902,
0.00741972029209137,
-0.03492022305727005,
0.0034804483875632286,
0.01985756866633892,
-0.0017774261068552732,
0.058762531727552414,
0.0036457902751863003,
0.02751290239393711,
0.026074428111314774,
0.014996515586972237,
-0.008366303518414497,
0.013979663141071796,
0.04556824266910553,
0.024784760549664497,
-0.0036044546868652105,
0.01339269895106554,
-0.025694141164422035,
0.021081099286675453,
-0.052281126379966736,
0.03568079695105553,
0.01903085969388485,
0.01850176602602005,
0.01053228322416544,
-0.04593199864029884,
0.009482361376285553,
0.01084643229842186,
0.014913844875991344,
0.030257578939199448,
-0.07493297755718231,
0.004716379567980766,
0.0025566001422703266,
-0.0037553291767835617,
0.026967274025082588,
-0.013971395790576935,
-0.001761925290338695,
0.0317787267267704,
0.008358036167919636,
0.016112573444843292,
0.048015303909778595,
0.017311302945017815,
-0.0006851357757113874,
0.028885239735245705,
-0.04804837331175804,
0.04004582390189171,
-0.014583161100745201,
-0.005166936200112104,
0.007704935502260923,
-0.005613359622657299,
0.03134883567690849,
0.03442419692873955,
0.017129426822066307,
0.027033410966396332,
0.00011302673374302685,
0.025892551988363266,
0.02643818035721779,
-0.006700483150780201,
-0.001594516565091908,
0.025462662801146507,
-0.03035678341984749,
-0.03812785446643829,
0.04202992469072342,
0.011375526897609234,
-0.012317975983023643,
-0.013558040373027325,
-0.02043626643717289,
0.027959326282143593,
0.013070281594991684,
0.01084643229842186,
-0.024139925837516785,
-0.02698380872607231,
0.01692274957895279,
0.009556765668094158,
0.01742704212665558,
-0.013772984966635704,
-0.007353583816438913,
-0.03720194101333618,
0.025462662801146507,
0.06402041018009186,
0.025793345645070076,
0.030406387522816658,
0.04338572919368744,
0.03419271856546402,
0.043749481439590454,
-0.028604159131646156,
-0.027083013206720352,
0.08141437917947769,
-0.006010180339217186,
0.030621331185102463,
0.002349922666326165,
-0.01245024986565113,
0.02842228300869465,
0.023809242993593216,
0.014417818747460842,
0.05965537950396538,
-0.03442419692873955,
0.003835933515802026,
0.0055017536506056786,
-0.00796948280185461,
0.04576665535569191,
-0.00790747907012701,
-0.013797787018120289,
-0.0354493148624897,
0.029282061383128166,
0.06111038848757744,
-0.03548238426446915,
0.006783153861761093,
0.0015511142555624247,
0.029017513617873192,
-0.017757726833224297,
-0.014641030691564083,
-0.010697624646127224,
0.028339611366391182,
0.0004867253883276135,
-0.001961369067430496,
0.0005931642954237759,
0.04136855900287628,
-0.004294757265597582,
-0.04543597251176834,
-0.009118609130382538,
-0.04074025899171829,
-0.052181921899318695,
0.051752034574747086,
0.014186340384185314,
0.048643603920936584,
0.00015655816241633147,
-0.00680382177233696,
0.031166959553956985,
0.0002446544240228832,
0.026173632591962814,
-0.003507316345348954,
-0.008878863416612148,
0.027132615447044373,
0.01734437234699726,
0.055621035397052765,
0.015318932943046093,
0.006130053196102381,
0.011218451894819736,
-0.04781689494848251,
0.0258098803460598,
0.02610749565064907,
0.02842228300869465,
0.00526614161208272,
-0.009168211370706558,
0.05495966970920563,
0.04983406886458397,
0.030241044238209724,
-0.02334628440439701,
-0.012516386806964874,
0.008564713411033154,
0.016558997333049774,
0.03667284548282623,
0.0028996847104281187,
-0.03260543569922447,
-0.011516067199409008,
-0.006927828304469585,
0.007919879630208015,
0.006729417946189642,
-0.029116719961166382,
0.008746589533984661,
0.011648341082036495,
-0.029959963634610176,
0.03607761487364769,
-0.007642932236194611,
0.03196060284972191,
-0.07109704613685608,
-0.027297956869006157,
0.04897429049015045,
-0.01888205111026764,
0.020618142560124397,
0.005080131813883781,
-0.03766489773988724,
0.008118290454149246,
-0.000014636962077929638,
0.029860757291316986,
0.04209606349468231,
-0.04335266351699829,
0.00032603368163108826,
-0.007605730090290308,
0.012483318336308002,
0.00020926092111039907,
-0.042492885142564774,
0.05152055621147156,
-0.0026103362906724215,
-0.03630909323692322,
0.02537999115884304,
0.01498824916779995,
-0.028554556891322136,
-0.015070919878780842,
-0.02698380872607231,
0.02319747768342495,
0.039979685097932816,
0.003761529689654708,
-0.02799239382147789,
0.0750652477145195,
0.01684834621846676,
-0.018683642148971558,
0.0031828328501433134,
0.010896035470068455,
-0.027033410966396332,
0.056976839900016785,
0.020800018683075905,
0.06792248040437698,
-0.017129426822066307,
-0.013450568541884422,
0.00253593223169446,
-0.000813792459666729,
0.009961852803826332,
0.019642625004053116,
-0.0012359311804175377,
-0.03244009241461754,
0.020452801138162613,
-0.0037553291767835617,
0.03617681935429573,
0.0002741059579420835,
-0.002783945295959711,
-0.022007014602422714,
-0.038425471633672714,
-0.01742704212665558,
-0.003422578563913703,
-0.02460288442671299,
-0.015178391709923744,
-0.023412421345710754,
-0.018336422741413116,
0.04880894720554352,
-0.04384868964552879,
-0.006158987991511822,
0.03766489773988724,
-0.012061696499586105,
-0.022354234009981155,
-0.03670591488480568,
-0.03406044468283653,
-0.0003115662548225373,
0.03060479648411274,
-0.017179029062390327,
-0.010623221285641193,
-0.004030210431665182,
0.009333553723990917,
0.0750652477145195,
0.008002551272511482,
0.03371322527527809,
-0.013880457729101181,
-0.007151039782911539,
0.0037325946614146233,
0.003193166572600603,
-0.017063289880752563,
-0.03384549915790558,
0.03153071179986,
-0.025776810944080353,
-0.05042929947376251,
-0.011325924657285213,
-0.00043247255962342024,
-0.021345647051930428,
-0.018468696624040604,
-0.016129108145833015,
-0.05730752274394035,
-0.00910207536071539,
-0.011689676903188229,
0.033481746912002563,
-0.009035938419401646,
0.020204788073897362,
0.007560261059552431,
-0.04890815168619156,
-0.0037325946614146233,
-0.0002689390385057777,
-0.008639117702841759,
-0.06339211016893387,
0.02465248666703701,
0.010689358226954937,
0.035184770822525024,
-0.021428318694233894,
-0.018055342137813568,
-0.04596506431698799,
-0.02144485153257847,
0.01634405367076397,
-0.002930686343461275,
-0.011317657306790352,
0.054066821932792664,
0.013698581606149673,
0.02367696911096573,
0.005394281353801489,
0.02261877991259098,
-0.01193768996745348,
-0.006650880444794893,
-0.022701451554894447,
-0.013111617416143417,
0.039880480617284775,
0.015021316707134247,
0.019741829484701157,
-0.03282037749886513,
0.03341561183333397,
0.049040425568819046,
0.017890000715851784,
-0.011945956386625767,
0.013351363129913807,
-0.01674913987517357,
-0.0024305267725139856,
-0.05214885622262955,
-0.0077173360623419285,
-0.06547541916370392,
0.03181179240345955,
0.018915120512247086,
-0.008854062296450138,
0.051553621888160706,
0.024735158309340477,
0.019063927233219147,
-0.0017433243338018656,
-0.03371322527527809,
-0.03210940957069397,
-0.037268079817295074,
-0.0020461068488657475,
-0.006568209268152714,
0.032572366297245026,
-0.0009512329706922174,
0.07777685672044754,
0.009292217902839184,
0.024239132180809975,
-0.04576665535569191,
-0.02967888116836548,
-0.026868069544434547,
0.017460111528635025,
0.03085280954837799,
-0.0192788727581501,
-0.015848027542233467,
0.010201599448919296,
0.03558158874511719,
-0.002682673279196024,
0.012400646694004536,
-0.0007368050864897668,
0.004670910537242889,
-0.0074073197320103645,
-0.03816092386841774,
-0.015608280897140503,
-0.028356146067380905,
0.015145323239266872,
-0.00259173521772027,
0.0031042953487485647,
-0.006555808708071709,
0.023792708292603493,
-0.0022465838119387627,
-0.05204964801669121,
-0.01576535589993,
0.0008122423896566033,
-0.05264487862586975,
0.05902707949280739,
0.04160003736615181,
0.01288013905286789,
-0.010375208221375942,
0.043319594115018845,
0.00849857646971941,
0.03095201589167118,
0.005464551970362663,
-0.023462023586034775,
0.04209606349468231,
0.003536251140758395,
0.022899862378835678,
0.03123309649527073,
0.0004371227987576276,
-0.02518158033490181,
0.04570051655173302,
-0.021957412362098694,
0.032423559576272964,
0.0004750998050440103,
0.021395249292254448,
0.059456970542669296,
0.026239769533276558,
-0.011540869250893593,
0.0221392884850502,
-0.00018213450675830245,
0.0009470994118601084,
-0.05095839127898216,
-0.003740861779078841,
-0.027810517698526382,
0.002637204248458147,
0.01176408026367426,
-0.02769477851688862,
0.043947894126176834,
0.014128470793366432,
0.0008644284680485725,
0.012623858638107777,
0.019774898886680603,
0.02751290239393711,
0.009556765668094158,
0.002395391697064042,
0.011110980063676834,
0.03733421489596367,
-0.027231821790337563,
-0.0007404219941236079,
-0.03994661942124367,
0.04626268148422241,
-0.02078348398208618,
-0.000764706579502672,
-0.016310984268784523,
-0.013103350065648556,
-0.0022341832518577576,
0.02934819832444191,
-0.010209865868091583,
-0.004629574716091156,
-0.0588948056101799,
0.0009543331107124686,
0.026041358709335327,
-0.04556824266910553,
-0.00888713076710701,
-0.032522764056921005,
0.013467102311551571,
0.04031037166714668,
-0.0001466118119424209,
-0.014260743744671345,
0.04183151572942734,
-0.01036694087088108,
-0.008754856884479523,
0.0004456482420209795,
-0.007837208919227123,
-0.021395249292254448,
-0.012822269462049007,
-0.022486506029963493,
0.03458953648805618,
-0.0032117676455527544,
-0.02949700504541397,
0.005332278087735176,
-0.036838188767433167,
-0.0008391104638576508,
0.024619417265057564,
-0.002941020065918565,
-0.044245507568120956,
0.038193993270397186,
-0.014409552328288555,
-0.017691589891910553,
-0.009044204838573933,
0.03564772754907608,
-0.007721469737589359,
-0.009573299437761307,
-0.00028650660533457994,
0.0760572999715805,
0.008225762285292149,
-0.0008664951892569661,
0.07599116861820221,
0.03687125816941261,
-0.012797467410564423,
0.043418798595666885,
0.011408595368266106,
-0.016583798453211784,
-0.029563141986727715,
-0.005646428093314171,
-0.02513197809457779,
0.021510988473892212,
-0.018683642148971558,
-0.01654246263206005,
-0.016112573444843292,
-0.046031203120946884,
0.016434991732239723,
0.018948188051581383,
-0.01614564284682274,
-0.020072514191269875
] |
This work investigates the predictive potential of bipolar
electroencephalogram (EEG) recordings towards efficient prediction of poor
neurological outcomes. A retrospective design using a hybrid deep learning
approach is utilized to optimize an objective function aiming for high
specificity, i.e., true positive rate (TPR) with reduced false positives (<
0.05). A multi-channel EEG array of 18 bipolar channel pairs from a randomly
selected 5-minute segment in an hour is kept. In order to determine the outcome
prediction, a combination of a feature encoder with 1-D convolutional layers,
learnable position encoding, a context network with attention mechanisms, and
finally, a regressor and classifier blocks are used. The feature encoder
extricates local temporal and spatial features, while the following position
encoding and attention mechanisms attempt to capture global temporal
dependencies. Results: The proposed framework by our team, OUS IVS, when
validated on the challenge hidden validation data, exhibited a score of 0.57. | [
-0.0025679331738501787,
0.021640628576278687,
-0.018812593072652817,
-0.06234922632575035,
-0.04252459481358528,
0.03090978041291237,
0.034390442073345184,
0.07892020046710968,
-0.04649708792567253,
0.03333110734820366,
0.041578762233257294,
-0.04683758690953255,
-0.00552838621661067,
-0.02517803944647312,
0.021016379818320274,
0.0365847684442997,
-0.00222861603833735,
-0.0016977678751572967,
0.008621255867183208,
-0.028204701840877533,
-0.0035468689166009426,
-0.02695620432496071,
-0.01692092977464199,
-0.06193305924534798,
-0.01260793674737215,
0.02368362620472908,
0.058830730617046356,
0.026634620502591133,
-0.06174389272928238,
-0.007774736732244492,
0.07578003406524658,
0.01428205892443657,
-0.02843170054256916,
-0.03548760712146759,
0.010886522941291332,
-0.026237372308969498,
0.01928550750017166,
0.007382216397672892,
0.003324598539620638,
0.01645747199654579,
0.03395535796880722,
0.008900276385247707,
0.01150131318718195,
-0.02854520082473755,
0.020959630608558655,
-0.031042195856571198,
-0.005935093853622675,
-0.03499577194452286,
0.032858192920684814,
0.012617395259439945,
0.004927783273160458,
-0.0487670823931694,
0.016968220472335815,
0.014433391392230988,
0.0245727077126503,
-0.0007608033483847976,
0.06068456172943115,
0.05546357110142708,
0.11455913633108139,
0.06268972158432007,
0.021735211834311485,
0.04596742242574692,
-0.035052523016929626,
-0.007585570216178894,
0.01808430254459381,
-0.042335428297519684,
0.01258901972323656,
0.003939389251172543,
-0.040746428072452545,
0.026710286736488342,
-0.05466907098889351,
-0.021016379818320274,
-0.02769395150244236,
0.06862954795360565,
0.019058508798480034,
0.042297594249248505,
0.0349201075732708,
0.06393822282552719,
0.003847170388326049,
0.01629668101668358,
0.03766302019357681,
0.03719010204076767,
-0.023551208898425102,
0.02619953826069832,
0.07460720092058182,
-0.0013123415410518646,
0.019427383318543434,
-0.09859349578619003,
0.011576980352401733,
0.012816019356250763,
-0.04275159165263176,
0.02442137524485588,
-0.03728468716144562,
0.03387968987226486,
-0.012295812368392944,
-0.047859083861112595,
0.02372145839035511,
0.018727468326687813,
-0.01179452147334814,
-0.04207059368491173,
-0.0002490197657607496,
0.016892554238438606,
-0.01742221973836422,
-0.0005131136858835816,
0.03420127555727959,
-0.044605422765016556,
-0.03002069890499115,
0.019276050850749016,
0.01647638902068138,
0.15708373486995697,
-0.07434237003326416,
0.012040437199175358,
0.0027476411778479815,
-0.05864156410098076,
-0.019900299608707428,
-0.029396450147032738,
-0.035203855484724045,
0.01463201642036438,
-0.012087728828191757,
-0.0054479907266795635,
0.012097187340259552,
0.044756755232810974,
-0.017857301980257034,
0.023210709914565086,
-0.0043933880515396595,
0.033463526517152786,
0.028583034873008728,
0.04131392762064934,
-0.024156542494893074,
0.05444207414984703,
-0.015265723690390587,
0.0090989014133811,
-0.07854186743497849,
-0.03815485164523125,
0.025613121688365936,
0.04494592174887657,
0.004201857373118401,
0.01961654983460903,
0.019172009080648422,
-0.0025821204762905836,
-0.03310411050915718,
-0.025045624002814293,
0.000046626548282802105,
0.019351717084646225,
0.041578762233257294,
0.009694774635136127,
0.03401210904121399,
0.03310411050915718,
-0.02599145472049713,
0.01263631135225296,
-0.04135176166892052,
0.08981617540121078,
-0.04256242513656616,
0.005807406734675169,
0.016504762694239616,
-0.04210842773318291,
0.007580840960144997,
-0.010754106566309929,
-0.04006543010473251,
-0.02837495133280754,
0.033558107912540436,
0.008219277486205101,
0.018188344314694405,
0.016561513766646385,
-0.0009103629854507744,
0.0441514253616333,
-0.01664663851261139,
0.0014648569049313664,
-0.03893043100833893,
0.05996572971343994,
-0.0020678245928138494,
-0.018746383488178253,
0.000004715303475677501,
0.028110118582844734,
0.0032489318400621414,
0.04169226065278053,
0.024061959236860275,
0.02599145472049713,
-0.09526416659355164,
-0.007561924401670694,
-0.016580428928136826,
0.03923309966921806,
0.012172853574156761,
-0.04176792874932289,
0.028999200090765953,
-0.013260560110211372,
0.09935016185045242,
-0.010054190643131733,
0.02776961959898472,
0.010025816038250923,
0.021697379648685455,
-0.011529688723385334,
0.04645925387740135,
-0.015634598210453987,
-0.011567521840333939,
-0.053193576633930206,
0.03486335650086403,
0.03847643360495567,
0.024156542494893074,
0.011747229844331741,
0.01112298108637333,
-0.0519072450697422,
-0.01309976913034916,
0.01223906222730875,
-0.056560736149549484,
0.05372324213385582,
0.05149107798933983,
-0.0064931344240903854,
0.011737771332263947,
-0.030550364404916763,
-0.03849535062909126,
-0.03946010023355484,
-0.06681355088949203,
0.007046446204185486,
-0.03603618964552879,
0.002641235012561083,
-0.0018041739240288734,
-0.02366470918059349,
0.0410112626850605,
-0.0023255636915564537,
0.0254050400108099,
0.053382739424705505,
0.032971691340208054,
-0.012503894977271557,
-0.01544543169438839,
0.04173009470105171,
-0.024118708446621895,
0.026445453986525536,
0.011737771332263947,
-0.025423957034945488,
0.0021245745010674,
-0.0005408974830061197,
0.055766236037015915,
0.013610518537461758,
0.011510771699249744,
0.0332554429769516,
0.054101575165987015,
-0.02835603430867195,
-0.010035274550318718,
-0.016826346516609192,
-0.039195265620946884,
-0.010593314655125141,
-0.013506476767361164,
0.018746383488178253,
-0.00536759477108717,
0.010602773167192936,
-0.00255374563857913,
0.09980416297912598,
0.02599145472049713,
0.05224774405360222,
-0.010848689824342728,
-0.0074626123532652855,
-0.035222772508859634,
0.039989765733480453,
0.0030503072775900364,
-0.006223572418093681,
0.025821205228567123,
-0.004627481568604708,
0.05833889916539192,
0.04899408295750618,
0.0598522312939167,
0.011926937848329544,
-0.01302410289645195,
0.01967329904437065,
-0.010773022659122944,
0.014300975017249584,
0.061138562858104706,
0.013695643283426762,
0.0369441844522953,
-0.045475587248802185,
0.002629412105306983,
-0.02534828893840313,
-0.009638025425374508,
-0.046383585780858994,
0.06431655585765839,
-0.012579561211168766,
0.08966484665870667,
-0.014859016053378582,
-0.017583010718226433,
0.020240798592567444,
-0.003189817303791642,
0.042259760200977325,
0.05954956263303757,
0.014509058557450771,
-0.02775070257484913,
-0.004847387317568064,
0.018018094822764397,
-0.008791505359113216,
-0.02459162473678589,
-0.01629668101668358,
0.025159122422337532,
-0.0002924689033534378,
-0.015019807033240795,
0.0036390875466167927,
0.002991192741319537,
-0.0011805162066593766,
-0.018396425992250443,
-0.016797970980405807,
-0.0014222944155335426,
0.01112298108637333,
0.0011952947825193405,
0.00336716091260314,
-0.02689945325255394,
0.04195709526538849,
-0.08731918036937714,
-0.01845317706465721,
0.023172875866293907,
0.0522855781018734,
-0.06030622869729996,
-0.019957048818469048,
-0.002409506356343627,
0.017100637778639793,
0.008280756883323193,
-0.037454936653375626,
0.004729158710688353,
0.013317310251295567,
0.03790893405675888,
0.012749811634421349,
0.0037525873631238937,
0.01144456397742033,
0.012352561578154564,
-0.01073518954217434,
-0.029472116380929947,
0.06893221288919449,
-0.02610495500266552,
-0.007935527712106705,
0.012910602614283562,
0.058755066245794296,
-0.007079550065100193,
0.008753672242164612,
-0.006620822008699179,
-0.011387813836336136,
-0.035203855484724045,
-0.010801398195326328,
-0.02279454469680786,
0.0034641085658222437,
-0.06435438990592957,
0.029850449413061142,
0.010858148336410522,
-0.0042657009325921535,
0.004776449874043465,
-0.032687943428754807,
-0.035128191113471985,
-0.03482552245259285,
-0.0031117862090468407,
-0.012693061493337154,
-0.03478768840432167,
-0.028072284534573555,
-0.012711978517472744,
-0.03764410316944122,
0.0010510555002838373,
0.027031870558857918,
0.009198212996125221,
0.04963724687695503,
-0.006814717315137386,
0.004641668871045113,
-0.02534828893840313,
-0.0023610324133187532,
-0.001352539286017418,
-0.041465260088443756,
-0.053269241005182266,
-0.010110940784215927,
-0.009472504258155823,
-0.014111809432506561,
-0.06015489622950554,
-0.01864234358072281,
-0.004178211558610201,
-0.01845317706465721,
-0.007358570583164692,
0.011170272715389729,
-0.00768488273024559,
0.03923309966921806,
-0.043848756700754166,
-0.003750222735106945,
-0.01463201642036438,
0.007954444736242294,
-0.00694240489974618,
0.019484132528305054,
-0.027429118752479553,
0.05917122960090637,
-0.03783326968550682,
-0.015540014952421188,
-0.06223572418093681,
0.028110118582844734,
0.0022321627475321293,
0.04903191700577736,
0.0045234402641654015,
0.00871110986918211,
-0.05077224597334862,
0.027977701276540756,
0.0071126543916761875,
-0.07267770916223526,
-0.025783373042941093,
-0.03781435266137123,
0.05674990266561508,
0.04112476110458374,
0.044756755232810974,
0.04093559458851814,
0.03569568693637848,
-0.002858776366338134,
-0.029623448848724365,
0.028639784082770348,
-0.004960887134075165,
0.0009097718866541982,
-0.0259536225348711,
-0.005868885666131973,
-0.03544977307319641,
0.0025726621970534325,
0.0083138607442379,
0.01891663484275341,
-0.009046880528330803,
0.010432523675262928,
-0.010801398195326328,
-0.02514020726084709,
0.03242311254143715,
0.023248543962836266,
0.023305293172597885,
0.019153092056512833,
-0.04362175986170769,
-0.015511640347540379,
-0.10237682610750198,
0.02207571268081665,
0.054858237504959106,
0.00691875908523798,
-0.005211532581597567,
0.017923511564731598,
-0.02616170421242714,
-0.011879646219313145,
-0.0054054283536970615,
-0.010971647687256336,
-0.00008276027074316517,
0.005008178763091564,
-0.0049845329485833645,
-0.002048908034339547,
-0.0029746408108621836,
0.06439222395420074,
-0.017299260944128036,
0.019190926104784012,
-0.05833889916539192,
-0.01191747933626175,
-0.03236636146903038,
0.0338040255010128,
-0.021205546334385872,
-0.03073953092098236,
-0.03302844241261482,
-0.035109274089336395,
0.024345707148313522,
0.035241689532995224,
0.004960887134075165,
0.0029840990900993347,
-0.03802243620157242,
-0.0021233921870589256,
-0.017223594710230827,
-0.011170272715389729,
0.00009266194683732465,
0.01030956581234932,
0.017649220302700996,
-0.055690571665763855,
0.06586772203445435,
-0.0230026263743639,
-0.05440424010157585,
0.027050787582993507,
0.008644902147352695,
-0.014906307682394981,
0.024875374510884285,
0.03957359865307808,
-0.015785930678248405,
-0.07252637296915054,
0.02523479051887989,
0.032082609832286835,
-0.019427383318543434,
0.0003804016741923988,
-0.03070169687271118,
0.05451773852109909,
0.03342569246888161,
0.04835091531276703,
-0.008900276385247707,
-0.005868885666131973,
0.01142564695328474,
0.03885476663708687,
0.02765611931681633,
-0.028053367510437965,
0.00792606920003891,
0.013695643283426762,
-0.0015381588600575924,
0.02453487366437912,
-0.0081294234842062,
0.02517803944647312,
0.029566699638962746,
0.0016126430127769709,
-0.05705256760120392,
-0.05463124066591263,
-0.004213680047541857,
-0.011860729195177555,
0.003984316252171993,
0.011331063695251942,
-0.026729203760623932,
-0.007803111337125301,
0.07468286901712418,
0.0244781244546175,
0.04089776426553726,
-0.04653491824865341,
0.02298371121287346,
0.026558954268693924,
-0.031117862090468407,
0.0345417745411396,
0.049485914409160614,
0.046232253313064575,
-0.036074019968509674,
0.04566475376486778,
0.0626140609383583,
-0.03698201850056648,
-0.00752409128472209,
-0.035828106105327606,
0.016797970980405807,
0.007793653290718794,
-0.013251102529466152,
0.013941559009253979,
0.016116973012685776,
0.012816019356250763,
0.012201229110360146,
0.05459340661764145,
0.009742066264152527,
0.11130547523498535,
-0.04290292412042618,
0.0043508256785571575,
0.023229626938700676,
-0.02279454469680786,
0.032063696533441544,
0.017233053222298622,
-0.015152223408222198,
0.0087300268933177,
-0.014178017154335976,
-0.027296703308820724,
-0.012163395993411541,
-0.02052454836666584,
-0.009198212996125221,
0.006639738567173481,
-0.017583010718226433,
-0.060457561165094376,
-0.041654426604509354,
0.06681355088949203,
0.000035117696825182065,
-0.013724017888307571,
-0.02307829260826111,
0.011851271614432335,
0.04169226065278053,
-0.04271376132965088,
-0.005509469658136368,
0.014064517803490162,
-0.0018301843665540218,
0.0009789358591660857,
0.002221522154286504,
0.008290214464068413,
-0.013563226908445358,
-0.03497685492038727,
0.009160379879176617,
-0.02922619879245758,
-0.009344817139208317,
-0.007457883097231388,
0.007665965706110001,
-0.03730360046029091,
-0.006464759819209576,
-0.035147104412317276,
-0.0056182402186095715,
-0.022340545430779457,
-0.022681044414639473,
0.0667000487446785,
0.0022026055958122015,
0.015227890573441982,
-0.01112298108637333,
-0.009453588165342808,
-0.024894289672374725,
0.0004939014906994998,
0.016797970980405807,
0.0410112626850605,
0.03319869190454483,
-0.008507756516337395,
0.020770464092493057,
0.018358593806624413,
0.015521097928285599,
-0.008105778135359287,
0.03815485164523125,
0.03930876404047012,
-0.024761874228715897,
-0.05141540989279747,
0.001837278134189546,
-0.06601905077695847,
0.004960887134075165,
-0.03145836293697357,
0.002858776366338134,
0.043924424797296524,
0.0064789471216499805,
0.001298154005780816,
-0.07725553214550018,
-0.04891841486096382,
-0.01973005011677742,
0.008578693494200706,
0.012324186973273754,
-0.06371122598648071,
-0.0460052527487278,
0.037417102605104446,
0.0018219082849100232,
0.0618952251970768,
0.014461766928434372,
0.008484110236167908,
-0.014338808134198189,
0.0003251296584494412,
0.029396450147032738,
0.031250279396772385,
0.03304735943675041,
-0.024345707148313522,
0.0009659306379035115,
0.006162093486636877,
0.01423476729542017,
-0.002629412105306983,
0.03734143450856209,
-0.01140672992914915,
-0.00532030314207077,
-0.06000356376171112,
0.03416344150900841,
-0.01231472846120596,
0.05391240864992142,
0.01423476729542017,
0.0677972137928009,
0.04112476110458374,
0.004589648451656103,
-0.024913206696510315,
0.007670694962143898,
-0.020902881398797035,
-0.029623448848724365,
0.008455735631287098,
-0.011671563610434532,
-0.0181978028267622,
-0.009723150171339512,
-0.01806538552045822,
-0.019134175032377243,
-0.007178862579166889,
0.007963903248310089,
0.03295277804136276,
-0.02678595297038555,
0.014083433896303177,
-0.032725777477025986,
0.010101482272148132,
-0.0012473155511543155,
0.0033931711222976446,
-0.0023894072510302067,
0.003336421214044094,
0.09117817878723145,
0.024705123156309128,
0.02218921110033989,
0.01730871945619583,
0.03775760158896446,
0.03790893405675888,
-0.03397427499294281,
-0.021564962342381477,
0.023456625640392303,
0.03352027386426926,
-0.010668981820344925,
-0.03501468896865845,
0.002858776366338134,
0.01843426004052162,
0.006843092385679483,
-0.020997464656829834,
0.016192639246582985,
-0.012399853207170963,
0.024667290970683098,
-0.014527974650263786,
0.007377487141638994,
-0.011558063328266144,
0.024099791422486305,
-0.09397783875465393,
-0.03073953092098236,
-0.00592090655118227,
0.03077736310660839,
-0.02699403651058674,
0.00013086468970868737,
0.05152891203761101,
-0.012513353489339352,
-0.007382216397672892,
-0.0013478101463988423,
0.003648545825853944,
-0.005457448773086071,
-0.02758045308291912,
0.005755385849624872,
-0.025915788486599922,
0.024856457486748695,
0.012882228009402752,
-0.03862776607275009,
0.005358136724680662,
-0.0178289283066988,
-0.021110963076353073,
-0.007202508393675089,
0.043924424797296524,
0.03469310700893402,
-0.016779053956270218,
-0.0308530293405056,
-0.013979392126202583,
0.0027358182705938816,
0.028620867058634758,
-0.022605378180742264,
0.00629450986161828,
0.00045133905950933695,
0.020316464826464653,
-0.005987114738672972,
0.013430810533463955,
0.016116973012685776,
-0.015246806666254997,
-0.052663907408714294,
-0.02220812812447548,
-0.006332343444228172,
0.02453487366437912,
-0.012078271247446537,
0.010035274550318718,
0.027315620332956314,
-0.002731089014559984,
-0.004532898310571909,
0.032120443880558014,
-0.02128121256828308,
0.038438599556684494,
0.0024922664742916822,
0.013411893509328365,
-0.020278630778193474,
-0.04422708973288536,
-0.017185762524604797,
0.06359772384166718,
0.005017637275159359,
0.0026648808270692825,
-0.0005006996798329055,
0.007297091651707888,
0.06526238471269608,
0.0004628663882613182,
-0.029074866324663162,
0.006932946387678385,
0.007065362762659788,
-0.028091201558709145,
-0.00875840149819851,
0.036074019968509674,
0.015313015319406986,
0.0018987571820616722,
0.00806321483105421,
-0.0458160862326622,
-0.021148797124624252,
0.028583034873008728,
0.02843170054256916,
0.03181777894496918,
0.006228301674127579,
0.012352561578154564,
-0.03930876404047012,
-0.029093783348798752,
0.004171117674559355,
0.019228758290410042,
0.03889260068535805,
-0.05160457640886307,
-0.022359460592269897,
0.04555125534534454,
-0.010300107300281525,
-0.01862342655658722,
0.007992277853190899,
-0.00966167077422142,
0.014594183303415775,
0.01742221973836422,
-0.009987982921302319,
0.02852628380060196,
0.04339475929737091,
0.019597632810473442,
0.005906718783080578,
-0.019503049552440643,
0.03488227352499962,
-0.02846953459084034,
0.03172319382429123,
0.046232253313064575,
0.07952553033828735,
-0.08512485027313232,
0.006672842428088188,
0.008521943353116512,
0.009316442534327507,
-0.0174600537866354,
-0.0009357822127640247,
-0.008531401865184307,
-0.012967352755367756,
-0.002771286992356181,
0.013724017888307571,
0.010867605917155743,
-0.007211966905742884,
-0.016675012186169624,
0.026350870728492737,
-0.031269196420907974,
-0.024705123156309128,
0.009779899381101131,
-0.04260025918483734,
-0.03567676991224289,
0.011671563610434532,
-0.003483025124296546,
0.02218921110033989,
-0.006852550897747278,
-0.015284640714526176,
0.06178172677755356,
-0.0629923939704895,
-0.025783373042941093,
0.0015712629538029432,
-0.03490119054913521,
-0.03469310700893402,
0.02922619879245758,
-0.008777318522334099,
-0.02606712095439434,
-0.05553923919796944,
-0.01961654983460903,
-0.034220192581415176,
0.009278609417378902,
-0.01784784346818924,
-0.049372415989637375,
0.025045624002814293,
-0.006578259635716677,
0.023135043680667877,
-0.007216695696115494,
-0.06155472621321678,
0.053344909101724625,
0.004769356455653906,
-0.025007789954543114,
-0.009236046113073826,
-0.0036390875466167927,
-0.02440245822072029,
-0.009713691659271717,
-0.008999588899314404,
-0.005173699464648962,
-0.006568801123648882,
0.02462945692241192,
-0.00984610803425312,
0.005797948222607374,
0.051831576973199844,
0.005518928170204163,
0.007003883831202984,
-0.01982463337481022,
-0.02930186688899994,
0.04320559278130531,
-0.0019093977753072977,
-0.028166867792606354,
0.010375773534178734,
0.032101526856422424,
0.030323363840579987,
0.004518711008131504,
-0.04827525094151497,
0.0020394495222717524,
0.04880491644144058,
-0.0034546502865850925,
-0.0030101092997938395,
-0.019540883600711823,
0.0174600537866354,
0.00797336082905531,
0.02362687513232231,
-0.029547782614827156,
0.05398807302117348,
0.0025702975690364838,
-0.03664151951670647,
-0.018963925540447235,
0.07823919504880905,
0.02538612298667431,
0.002506454009562731,
0.0071552167646586895,
0.04990208148956299,
-0.012078271247446537,
-0.024156542494893074,
-0.004809554200619459,
0.022491877898573875,
-0.05788490176200867,
0.01978679932653904,
-0.02523479051887989,
-0.01645747199654579,
-0.029074866324663162,
-0.018500467762351036,
0.030682779848575592,
0.019153092056512833,
0.049410246312618256,
0.028147950768470764,
-0.008545589633286,
-0.06007922813296318,
0.0017958979588001966,
-0.000046330973418662325,
-0.0036934728268533945,
0.05557706952095032,
0.05379890650510788,
0.034466106444597244,
-0.019001759588718414,
0.04574042186141014,
0.01627776399254799,
-0.03535518795251846,
0.001937772729434073,
-0.011993145570158958,
-0.036773934960365295,
-0.01991921477019787,
0.029093783348798752,
0.03628210350871086,
-0.0027358182705938816,
0.04044376313686371,
0.013459185138344765,
0.0039961389265954494,
-0.008181444369256496,
0.008058486506342888,
-0.020127298310399055,
0.02046779729425907,
-0.011813437566161156,
0.018765300512313843,
0.011255397461354733,
-0.021621713414788246,
-0.055047404021024704,
-0.015208973549306393,
0.012797103263437748,
-0.028223618865013123,
-0.01986246556043625,
-0.03949793055653572,
-0.03707660362124443,
-0.0020004340913146734,
-0.04574042186141014,
0.039119597524404526,
-0.023229626938700676,
0.011908020824193954,
-0.042221926152706146,
0.022472960874438286,
-0.034352608025074005,
0.049296747893095016,
0.02837495133280754,
-0.007694340776652098,
0.02920728363096714,
-0.018405884504318237,
-0.02442137524485588,
-0.021716296672821045,
-0.01868017576634884,
0.0027996618300676346,
0.03488227352499962,
0.008805693127214909,
0.029812615364789963,
0.03577135503292084,
0.05796056613326073,
0.022756710648536682,
-0.058074068278074265,
-0.0026767037343233824,
0.007935527712106705,
0.025783373042941093,
-0.028810033574700356,
0.0039039202965795994,
0.039876263588666916,
0.014963057823479176,
0.005003449507057667,
0.008545589633286,
-0.0308530293405056,
0.03189344331622124,
-0.06011706218123436,
0.019115258008241653,
0.011198647320270538,
0.03335002437233925,
0.0018006270984187722,
0.021602796390652657,
0.0038400767371058464,
-0.03618752211332321,
0.02198112942278385,
-0.022416211664676666,
-0.03927093371748924,
-0.02222704514861107,
0.011283772066235542,
-0.024080874398350716,
-0.014509058557450771,
-0.039081767201423645,
-0.007443695329129696,
0.023059377446770668,
0.018831510096788406,
-0.04290292412042618,
-0.023551208898425102,
-0.0005799130885861814,
-0.011974229477345943,
0.02523479051887989,
-0.008564505726099014,
-0.006904571317136288,
0.034447189420461655,
0.001735601224936545,
0.011851271614432335,
0.00003860914512188174,
-0.01991921477019787,
0.005514198914170265,
-0.006530968006700277,
0.05152891203761101,
-0.013544309884309769,
0.01139727234840393,
-0.03611185401678085,
0.0172708872705698,
-0.037473853677511215,
-0.013610518537461758,
0.007722715847194195,
-0.0676080510020256,
-0.0033695255406200886,
0.021640628576278687,
0.017299260944128036,
0.012456603348255157,
-0.029377533122897148,
-0.02769395150244236,
0.030493613332509995,
-0.015899430960416794,
-0.013913184404373169,
0.048540081828832626,
-0.004788273014128208,
0.02440245822072029,
0.0018963925540447235,
0.0009954879060387611,
0.03862776607275009,
-0.034371525049209595,
0.014811724424362183,
0.01297681126743555,
-0.011813437566161156,
-0.001860923832282424,
0.015530556440353394,
0.021167714148759842,
-0.02294587716460228,
0.00016788512584753335,
-0.0003357702516950667,
-0.05686340108513832,
-0.02689945325255394,
-0.046951085329055786,
-0.004516346380114555,
0.04029243066906929,
-0.023891707882285118,
0.006904571317136288,
-0.008233465254306793,
-0.019938131794333458,
-0.04649708792567253
] |
The extensive ubiquitous availability of sensors in smart devices and the
Internet of Things (IoT) has opened up the possibilities for implementing
sensor-based activity recognition. As opposed to traditional sensor time-series
processing and hand-engineered feature extraction, in light of deep learning's
proven effectiveness across various domains, numerous deep methods have been
explored to tackle the challenges in activity recognition, outperforming the
traditional signal processing and traditional machine learning approaches. In
this work, by performing extensive experimental studies on two human activity
recognition datasets, we investigate the performance of common deep learning
and machine learning approaches as well as different training mechanisms (such
as contrastive learning), and various feature representations extracted from
the sensor time-series data and measure their effectiveness for the human
activity recognition task. | [
0.06398923695087433,
0.040006596595048904,
-0.03204791247844696,
-0.03719973936676979,
0.010285887867212296,
0.02268580161035061,
-0.0017942568520084023,
0.0035063510295003653,
0.010543479584157467,
-0.00045855698408558965,
0.00848274864256382,
-0.07511007785797119,
0.049137767404317856,
-0.004079269710928202,
-0.030910959467291832,
-0.014966944232583046,
0.010303652845323086,
-0.007074879016727209,
-0.0022594756446778774,
-0.043275341391563416,
0.030484601855278015,
-0.01659243367612362,
-0.05492912977933884,
-0.00902457907795906,
0.02117578312754631,
0.02730468101799488,
0.04288451373577118,
-0.000564591318834573,
-0.03677338361740112,
0.05652797222137451,
0.045336075127124786,
0.010117121040821075,
-0.026771733537316322,
-0.04039742797613144,
-0.08633750677108765,
-0.03265191987156868,
0.08001319319009781,
0.05531995743513107,
0.003830560715869069,
0.0283172819763422,
0.055426549166440964,
0.017862625420093536,
-0.04927988722920418,
-0.041463322937488556,
-0.007154821418225765,
-0.03801692649722099,
-0.038905173540115356,
-0.022437093779444695,
0.005564860999584198,
-0.018102452158927917,
-0.01368787046521902,
-0.038159046322107315,
0.030822135508060455,
0.014833707362413406,
-0.06505513191223145,
0.05336581543087959,
0.06718692183494568,
-0.011573844589293003,
0.03423300012946129,
0.04721915349364281,
-0.02147778682410717,
0.02588348649442196,
-0.05901506170630455,
-0.007781034801155329,
0.009601938538253307,
-0.01884857937693596,
0.035831842571496964,
-0.07361782342195511,
0.048462700098752975,
0.02275686152279377,
-0.04803634062409401,
0.030289188027381897,
-0.0285482257604599,
0.006182191893458366,
0.0008527160971425474,
0.002866813912987709,
0.0287791695445776,
0.07972896099090576,
0.00845166016370058,
-0.01925717294216156,
0.03929600119590759,
0.05649244412779808,
0.0052095623686909676,
0.010241475887596607,
0.07177027314901352,
0.00454559875652194,
-0.019541410729289055,
-0.06910553574562073,
-0.017800448462367058,
-0.012284441851079464,
-0.02201073430478573,
0.05080766975879669,
0.006777316797524691,
-0.010143768973648548,
-0.04764551296830177,
-0.0007794358534738421,
0.026114430278539658,
-0.010321417823433876,
-0.04370170086622238,
-0.05308157950639725,
0.040113188326358795,
0.005764716304838657,
0.014043168164789677,
-0.017285266891121864,
-0.0025226185098290443,
-0.04334640130400658,
-0.03869199380278587,
0.015491009689867496,
-0.02279239147901535,
0.08264240622520447,
-0.005267298314720392,
-0.019097287207841873,
0.004010430537164211,
-0.01643254980444908,
-0.067329041659832,
0.035227835178375244,
-0.01838669180870056,
-0.04213838651776314,
0.04562031105160713,
-0.02016318403184414,
0.033273693174123764,
0.11007143557071686,
-0.00964635144919157,
0.008176304399967194,
-0.016334842890501022,
0.08967731148004532,
-0.02414252609014511,
0.01673455350100994,
0.010374712757766247,
0.03382440656423569,
-0.00647087162360549,
0.05436065420508385,
0.00023136031813919544,
0.06228380650281906,
0.01303056813776493,
-0.021797556430101395,
0.04757445305585861,
0.03473041579127312,
-0.02504853531718254,
-0.019470350816845894,
-0.008336188271641731,
-0.02982729859650135,
-0.05567525699734688,
0.0005801356164738536,
0.0021484449971467257,
0.016006192192435265,
-0.03425076603889465,
0.051020849496126175,
-0.001616607652977109,
-0.02629208005964756,
-0.02629208005964756,
0.020891545340418816,
0.03567195683717728,
0.0035618662368506193,
0.03224333003163338,
0.004685497377067804,
0.006128896959125996,
-0.07859200239181519,
-0.05173144489526749,
0.0009754050988703966,
0.04935094714164734,
-0.021566612645983696,
0.0015588717069476843,
0.03087542951107025,
0.05240651220083237,
0.014282994903624058,
-0.021619906648993492,
-0.0054449476301670074,
-0.06619209051132202,
0.04999048262834549,
-0.054964661598205566,
-0.036951031535863876,
-0.006732904352247715,
0.012275558896362782,
0.030004948377609253,
0.03126625716686249,
0.0838504210114479,
-0.03245650604367256,
-0.026611849665641785,
0.01335033681243658,
-0.012044615112245083,
0.06089814379811287,
-0.011538314633071423,
0.011129721999168396,
0.05592396482825279,
0.02298780530691147,
0.04341746121644974,
-0.018901873379945755,
0.019381526857614517,
0.004312434233725071,
-0.008167421445250511,
0.0013101628283038735,
0.040077656507492065,
0.022294973954558372,
-0.020056594163179398,
-0.049670714884996414,
0.02012765407562256,
0.010694481432437897,
0.005991219077259302,
0.002544824732467532,
-0.0831398218870163,
-0.08498737215995789,
0.024995241314172745,
-0.03481924161314964,
0.01884857937693596,
-0.023343103006482124,
0.02463994361460209,
-0.06903447955846786,
-0.0010148209985345602,
-0.021904144436120987,
-0.01598842814564705,
0.026451963931322098,
-0.02384052239358425,
-0.008056391030550003,
-0.013554633595049381,
-0.0047654397785663605,
0.04956412315368652,
-0.004383493680506945,
-0.014034286141395569,
-0.027517858892679214,
0.01314604002982378,
0.022614741697907448,
0.028743639588356018,
-0.036986563354730606,
-0.01398987416177988,
-0.045265015214681625,
0.06075602397322655,
-0.005973454099148512,
0.026682907715439796,
-0.006728463340550661,
0.00981511827558279,
-0.04920882731676102,
-0.004854264203459024,
-0.0422094464302063,
0.008460543118417263,
-0.023076629266142845,
0.03510348126292229,
-0.02222391404211521,
-0.04729021340608597,
0.003994886297732592,
0.0067817578092217445,
0.020074358209967613,
-0.06025860458612442,
-0.05087872967123985,
0.03467712178826332,
-0.03298945352435112,
-0.00863375049084425,
0.09713857620954514,
0.002944535342976451,
0.0032887307461351156,
-0.03773268684744835,
-0.010676716454327106,
-0.04341746121644974,
0.006182191893458366,
-0.025776898488402367,
0.0011042007245123386,
0.0780235230922699,
-0.0681462287902832,
0.009655233472585678,
-0.06260357797145844,
0.0665118545293808,
0.010481302626430988,
-0.01279074139893055,
0.043310873210430145,
-0.020092124119400978,
0.014913649298250675,
0.03490806743502617,
0.00736355921253562,
0.038798581808805466,
-0.05258416011929512,
0.0074479421600699425,
-0.00201964913867414,
-0.06590785086154938,
0.00020304747158661485,
0.030751075595617294,
-0.030893193557858467,
0.009841765277087688,
-0.03190579637885094,
0.0379103384912014,
0.063847117125988,
0.014034286141395569,
-0.00041025859536603093,
0.059405889362096786,
-0.01346580870449543,
-0.027713274583220482,
-0.03572525084018707,
-0.017720507457852364,
0.00807859655469656,
-0.02238379791378975,
-0.013119393028318882,
-0.018901873379945755,
-0.0404684841632843,
-0.04743233323097229,
0.04601114243268967,
0.001269081374630332,
0.031994618475437164,
-0.019772354513406754,
-0.014966944232583046,
-0.0001820904144551605,
-0.04178309068083763,
-0.01279074139893055,
0.011511667631566525,
0.035831842571496964,
0.0524420402944088,
0.010863248258829117,
-0.005520448554307222,
0.05727409943938255,
0.03851434588432312,
0.006648520939052105,
-0.043808288872241974,
-0.009202227927744389,
0.017294147983193398,
0.01344804372638464,
0.009082314558327198,
-0.011183016933500767,
0.04274239391088486,
0.02362734265625477,
0.006088925991207361,
0.008709251880645752,
-0.03922494128346443,
0.02023424208164215,
0.030076008290052414,
-0.07240980863571167,
0.07194792479276657,
-0.0028423871845006943,
-0.013083863072097301,
0.01955917663872242,
-0.024249114096164703,
-0.00321100908331573,
-0.029400940984487534,
-0.02501300536096096,
0.012115675024688244,
-0.033984288573265076,
0.02380499243736267,
0.05706091970205307,
0.010339182801544666,
-0.01348357368260622,
0.020252007991075516,
0.003819457720965147,
-0.04615325853228569,
-0.013385866768658161,
-0.004441229626536369,
-0.03766162693500519,
-0.00695940712466836,
-0.007705533877015114,
-0.0181113351136446,
-0.03355793282389641,
-0.006239927839487791,
-0.019594706594944,
-0.025474894791841507,
0.0009004593593999743,
-0.07354676723480225,
-0.044661007821559906,
-0.023041099309921265,
0.034623827785253525,
-0.004065945744514465,
-0.03716421127319336,
-0.010552361607551575,
0.0007094864849932492,
-0.0015000253915786743,
-0.003757280297577381,
-0.05954800918698311,
0.006937201134860516,
0.031053079292178154,
-0.08328194171190262,
-0.043275341391563416,
-0.019772354513406754,
-0.026647379621863365,
0.04093037545681,
0.06032966449856758,
-0.03487253561615944,
-0.007328029256314039,
-0.03158602491021156,
0.0021673201117664576,
-0.038834113627672195,
0.01740073785185814,
0.00914005097001791,
-0.020856015384197235,
0.037519510835409164,
0.050985317677259445,
-0.019399290904402733,
-0.00618663290515542,
0.015304477885365486,
0.026149960234761238,
0.008060832507908344,
0.03716421127319336,
0.03929600119590759,
-0.015579834580421448,
0.012160087004303932,
0.07738398760557175,
0.015473244711756706,
-0.004092593211680651,
-0.04125014320015907,
-0.030484601855278015,
0.05976118892431259,
-0.00851383712142706,
0.0276777446269989,
0.0166013166308403,
0.020820485427975655,
0.006062278524041176,
-0.067329041659832,
0.015197888016700745,
0.016041722148656845,
-0.0383722260594368,
0.009219992905855179,
-0.0013690090272575617,
0.012879566289484501,
0.058091286569833755,
0.024995241314172745,
-0.007216998375952244,
-0.00444345036521554,
-0.02828175202012062,
-0.016654612496495247,
0.03911835327744484,
-0.03830116614699364,
0.003997107036411762,
-0.014052051119506359,
0.02019871398806572,
-0.026434199884533882,
-0.0460466705262661,
-0.011609374545514584,
0.035032421350479126,
0.052868399769067764,
-0.035707488656044006,
-0.020642835646867752,
0.02746456488966942,
0.028406105935573578,
-0.01565089449286461,
-0.0010386926587671041,
0.03350463882088661,
0.023609576746821404,
0.015562069602310658,
0.05389876663684845,
-0.01006382703781128,
-0.01835116185247898,
-0.021602142602205276,
0.054218534380197525,
0.028761403635144234,
-0.07109520584344864,
0.004447891842573881,
-0.03417970612645149,
-0.010516832582652569,
-0.016787849366664886,
-0.013225981965661049,
-0.02433793991804123,
-0.020784955471754074,
-0.02286345139145851,
0.027322445064783096,
-0.04036189615726471,
-0.03103531338274479,
-0.07219663262367249,
0.048960115760564804,
-0.031994618475437164,
-0.0332026332616806,
0.014433996751904488,
-0.01740073785185814,
0.03922494128346443,
-0.03201238438487053,
-0.03869199380278587,
-0.06452218443155289,
0.023041099309921265,
0.05784257501363754,
0.024835357442498207,
0.010090474039316177,
0.03053789585828781,
-0.003073330968618393,
-0.059903308749198914,
-0.03858540579676628,
-0.01350133866071701,
0.04675726592540741,
0.04213838651776314,
-0.06018754467368126,
-0.04597561061382294,
-0.01881304942071438,
-0.00027924231835640967,
0.019399290904402733,
-0.01884857937693596,
-0.04931541532278061,
-0.004614437930285931,
-0.03505018725991249,
0.05215780436992645,
0.023911580443382263,
0.0486048199236393,
-0.025741368532180786,
-0.021015899255871773,
-0.013208216987550259,
0.08065273612737656,
0.009877295233309269,
-0.004769880790263414,
-0.06960295140743256,
0.032172270119190216,
0.020678365603089333,
-0.028299516066908836,
0.03588513657450676,
-0.009237757883965969,
-0.04565584287047386,
0.002241710666567087,
-0.03719973936676979,
0.086053267121315,
0.0255814827978611,
-0.024924181401729584,
0.002128459280356765,
0.0032976132351905107,
0.03997106850147247,
-0.03380664065480232,
-0.03268745169043541,
0.0010792188113555312,
-0.015899602323770523,
0.009797353297472,
-0.005134061444550753,
0.01653025671839714,
0.009708528406918049,
-0.026771733537316322,
-0.03204791247844696,
0.0051251789554953575,
0.03801692649722099,
-0.00663963844999671,
-0.008824723772704601,
-0.001933045219630003,
0.009584173560142517,
0.001983009045943618,
0.06260357797145844,
-0.010854365304112434,
0.01038359571248293,
-0.05112743750214577,
0.03140837699174881,
0.017933685332536697,
0.01932823285460472,
0.0357607826590538,
0.023236515000462532,
-0.0090556675568223,
-0.01929270289838314,
-0.020749425515532494,
-0.025830192491412163,
0.018564339727163315,
0.015997309237718582,
0.03801692649722099,
0.03114190325140953,
-0.00039166095666587353,
-0.004823175724595785,
-0.024213584139943123,
0.026149960234761238,
0.00951311457902193,
0.01430964283645153,
-0.0570964515209198,
0.018404455855488777,
0.021282372996211052,
-0.06921212375164032,
-0.02080271951854229,
0.06633421033620834,
-0.0043146549724042416,
-0.00674178684130311,
-0.008065273053944111,
0.008376159705221653,
-0.0029489765875041485,
-0.004077048972249031,
-0.03513900935649872,
0.019772354513406754,
-0.01801362819969654,
-0.0013978771166875958,
-0.045265015214681625,
0.002791312988847494,
-0.024178054183721542,
0.002387160900980234,
0.031497202813625336,
-0.05382770672440529,
0.02083824947476387,
0.055533137172460556,
0.04156991094350815,
0.00021345660206861794,
-0.020625071600079536,
-0.01368787046521902,
0.006866141222417355,
-0.037483979016542435,
0.02595454640686512,
0.02106919325888157,
0.015668658539652824,
-0.03961576893925667,
-0.009868412278592587,
0.021015899255871773,
0.019665764644742012,
0.005134061444550753,
0.020340831950306892,
0.04597561061382294,
0.01009935699403286,
0.021495552733540535,
0.017791567370295525,
-0.015348889864981174,
0.05055895820260048,
0.04117908328771591,
0.027926452457904816,
-0.004809851758182049,
0.0020474069751799107,
0.023893816396594048,
-0.03382440656423569,
-0.036311496049165726,
0.0013123834505677223,
0.03188803046941757,
0.011129721999168396,
-0.046437498182058334,
0.023236515000462532,
0.024462293833494186,
0.036986563354730606,
0.063847117125988,
0.04959965497255325,
-0.03158602491021156,
0.013661222532391548,
-0.01589071936905384,
-0.004205844830721617,
0.0066085499711334705,
-0.0004335750709287822,
-0.006484195590019226,
0.05144720524549484,
-0.02410699613392353,
-0.015082416124641895,
0.02888575941324234,
0.07194792479276657,
0.030022714287042618,
-0.006737345829606056,
-0.01626378297805786,
0.0046899388544261456,
0.0332559272646904,
0.03958024084568024,
0.027819862589240074,
-0.0064353421330451965,
0.01891963928937912,
0.019470350816845894,
-0.029134467244148254,
0.0005740289343520999,
-0.03497912734746933,
-0.006315428763628006,
-0.023911580443382263,
0.011271840892732143,
-0.01440734975039959,
0.005542655009776354,
-0.03099978342652321,
0.02158437669277191,
-0.0015166800003498793,
0.025545954704284668,
-0.014211934991180897,
-0.025972312316298485,
-0.007812123280018568,
-0.048462700098752975,
0.03549430891871452,
-0.012781859375536442,
-0.00013094687892589718,
-0.05617267265915871,
-0.02467547357082367,
0.014993592165410519,
-0.017960334196686745,
0.041889678686857224,
0.020305301994085312,
0.03126625716686249,
0.03483700752258301,
-0.013172687962651253,
-0.019470350816845894,
0.042706865817308426,
-0.012062380090355873,
0.01367010548710823,
0.006786199286580086,
-0.011529432609677315,
-0.014478408731520176,
-0.010303652845323086,
0.020713895559310913,
0.032438743859529495,
0.054289594292640686,
0.042600277811288834,
0.010801071301102638,
0.019950004294514656,
0.046437498182058334,
0.022366033867001534,
-0.08306876569986343,
-0.041356731206178665,
-0.010960955172777176,
0.02945423685014248,
-0.03705762326717377,
-0.010694481432437897,
0.03446394205093384,
0.0014134213561192155,
-0.048427168279886246,
-0.03762609884142876,
-0.02602560631930828,
0.027446800842881203,
0.001840889803133905,
-0.011556079611182213,
-0.010801071301102638,
0.007159262429922819,
0.023005571216344833,
-0.028370575979351997,
0.021690966561436653,
-0.02737574093043804,
-0.00907343253493309,
0.01760503463447094,
-0.0018342279363423586,
0.02410699613392353,
0.02986282855272293,
-0.054289594292640686,
-0.00964635144919157,
0.03766162693500519,
-0.01581966131925583,
-0.012888449244201183,
-0.0071992333978414536,
0.0011591609800234437,
-0.0015111283864825964,
0.014771530404686928,
-0.0019852297846227884,
0.015935132279992104,
0.027180327102541924,
-0.02279239147901535,
0.0038016927428543568,
0.012053498066961765,
0.036169376224279404,
-0.009051226079463959,
0.03378887474536896,
0.06086261197924614,
0.0004344077897258103,
-0.035334423184394836,
-0.012728564441204071,
0.008611544966697693,
0.013456926681101322,
0.015872955322265625,
-0.004119240678846836,
-0.016521375626325607,
-0.0404684841632843,
-0.04117908328771591,
0.02504853531718254,
0.030857665464282036,
-0.0029800652991980314,
0.008949077688157558,
-0.0008743671351112425,
0.05894400179386139,
-0.034019820392131805,
-0.04800081253051758,
0.018022511154413223,
0.02494194731116295,
-0.005955689121037722,
0.03281180560588837,
0.05524889752268791,
0.01626378297805786,
-0.005165150389075279,
-0.014531703665852547,
-0.06576573103666306,
0.01422081794589758,
0.01006382703781128,
0.021637670695781708,
0.003584072459489107,
0.032936159521341324,
0.048462700098752975,
-0.035867370665073395,
-0.06562361121177673,
0.04949306324124336,
-0.01422081794589758,
0.04210285842418671,
-0.06668950617313385,
-0.020856015384197235,
-0.007567855529487133,
0.0349435955286026,
-0.007399088703095913,
-0.00662187347188592,
0.02753562480211258,
0.03099978342652321,
-0.00317769986577332,
-0.013314806856215,
0.010205945931375027,
0.004501186311244965,
0.006213280372321606,
-0.02252591773867607,
-0.004372390918433666,
0.035565368831157684,
0.02332533895969391,
0.04800081253051758,
-0.012231146916747093,
0.0822160467505455,
-0.00843389518558979,
-0.007887624204158783,
0.010783306322991848,
-0.0072702933102846146,
0.018475515767931938,
-0.03385993465781212,
-0.00814521498978138,
-0.033273693174123764,
0.018972933292388916,
0.002210622187703848,
0.035298895090818405,
-0.010570126585662365,
-0.005005266051739454,
-0.04284898564219475,
-0.03572525084018707,
0.022277208045125008,
0.0006772875203751028,
0.030715545639395714,
-0.03389546647667885,
0.016334842890501022,
0.006972730625420809,
0.018475515767931938,
-0.03249203786253929,
-0.034090880304574966,
0.017249736934900284,
-0.029329881072044373,
-0.004456774331629276,
0.03167485073208809,
-0.027695508673787117,
-0.021762026473879814,
0.024622177705168724,
0.017782684415578842,
0.0035596457310020924,
-0.016636846587061882,
-0.011938025243580341,
0.018599869683384895,
0.01284403633326292,
0.03194132447242737,
0.006168868392705917,
-0.005471595097333193,
0.018333395943045616,
0.014966944232583046,
0.014469526708126068,
-0.030022714287042618,
-0.010694481432437897,
-0.005449389107525349,
-0.01398987416177988,
0.044554416090250015,
-0.043914880603551865,
-0.019719060510396957,
0.0070882029831409454,
-0.03840775415301323,
-0.010570126585662365,
0.010259240865707397,
0.007709974888712168,
-0.002775768516585231,
-0.018066922202706337,
0.0366312637925148,
0.011067545041441917,
0.013536868616938591,
0.005724745336920023,
-0.022579211741685867,
0.024551117792725563,
-0.005675891879945993,
0.04402146860957146,
0.023343103006482124,
0.05635032430291176,
0.03073330968618393,
0.0074479421600699425,
-0.035298895090818405,
-0.023112159222364426,
-0.01343027874827385,
-0.008456101641058922,
-0.04103696346282959,
0.04931541532278061,
-0.0016277107642963529,
0.016281548887491226,
0.0562792643904686,
0.01797809824347496,
0.02783762849867344,
0.002491530030965805,
-0.019683530554175377,
0.05144720524549484,
0.01346580870449543,
-0.016050605103373528,
0.025066301226615906,
-0.02430240996181965,
0.016974380239844322,
-0.030751075595617294,
-0.01884857937693596,
0.01858210563659668,
-0.0019086184911429882,
-0.0315149649977684,
-0.027091501280665398,
0.0021473346278071404,
-0.002028531627729535,
-0.03162155672907829,
0.006195515394210815,
0.014922532252967358,
0.016317078843712807,
0.021495552733540535,
0.024622177705168724,
0.027393504977226257,
-0.021868616342544556,
-0.02087377943098545,
-0.020411891862750053,
-0.01666349358856678,
-0.010703363455832005,
0.032332152128219604,
0.08157651126384735,
0.06086261197924614,
0.07201898097991943,
0.005675891879945993,
0.0062043978832662106,
-0.029329881072044373,
0.03501465544104576,
-0.03126625716686249,
0.008624868467450142,
0.034694887697696686,
0.014460643753409386,
-0.019097287207841873,
0.040752723813056946,
-0.02888575941324234,
-0.007527884561568499,
0.014780412428081036,
0.003852766938507557,
-0.006128896959125996,
0.011733729392290115,
-0.04032636806368828,
-0.028459399938583374,
0.00711040897294879,
-0.0027580037713050842,
0.02087377943098545,
-0.008371718227863312,
-0.026682907715439796,
0.007407971192151308,
0.016814496368169785,
-0.02151331678032875,
-0.018333395943045616,
0.030573425814509392,
-0.008993490599095821,
0.023041099309921265,
-0.01750732772052288,
-0.009539761580526829,
-0.048356108367443085,
0.0664052665233612,
-0.046508558094501495,
0.038230106234550476,
0.003541880752891302,
-0.020713895559310913,
-0.006515284068882465,
-0.00917558092623949,
-0.00822959840297699,
-0.03316710516810417,
-0.0344817079603672,
-0.011387312784790993,
0.030324716120958328,
-0.0038350019603967667,
0.04149885103106499,
0.015091299079358578,
-0.0004274683597031981,
0.04483865574002266,
-0.02948976494371891,
-0.01615719310939312,
0.024959711357951164,
-0.034357354044914246,
-0.0026158844120800495,
0.016512492671608925,
0.0015855190576985478,
-0.035902902483940125,
0.007994214072823524,
0.013288159854710102,
-0.011671551503241062,
0.03322039917111397,
-0.016574669629335403,
0.0007494575111195445,
0.022703567519783974,
-0.014167523011565208,
0.006346517242491245,
0.004929765127599239,
-0.0026780616026371717,
0.004054842982441187,
-0.0332026332616806,
-0.02730468101799488,
0.018457751721143723,
0.016556905582547188,
0.02362734265625477,
0.0014100904809311032,
0.02444452792406082,
0.02527947910130024,
0.01376781240105629,
-0.015881838276982307,
0.02780209854245186,
-0.0035507632419466972,
-0.008051949553191662,
0.011422842741012573,
-0.00801197811961174,
-0.028654813766479492,
-0.0253505390137434,
0.0047965282574296,
-0.025510424748063087,
-0.03625819832086563,
-0.005214003846049309,
0.019576940685510635,
-0.03380664065480232,
-0.024195820093154907,
0.02632761001586914,
-0.01429187785834074,
0.01645919680595398,
-0.011351783759891987,
-0.005094090476632118,
-0.010854365304112434,
0.004405700135976076,
-0.003146611386910081,
-0.007292499300092459,
-0.052832867950201035,
0.03805245831608772,
0.02241932787001133,
-0.006430900655686855,
0.006750669330358505,
0.006231045350432396,
-0.02591901645064354,
-0.003566307481378317,
0.04359511286020279,
0.01740962080657482,
0.04039742797613144,
0.0276777446269989,
-0.02531500905752182,
0.031248493120074272,
-0.024835357442498207,
0.010952072218060493,
-0.021531082689762115,
0.023787226527929306,
0.03805245831608772,
0.0009804015280678868,
0.010747776366770267,
0.04490971565246582,
0.04181861877441406,
-0.0011802568333223462,
-0.015091299079358578,
0.008242922835052013,
0.06420242041349411,
0.014798177406191826,
-0.010694481432437897,
-0.008376159705221653,
-0.00811412651091814,
-0.04021977633237839,
0.028832463547587395,
-0.024426763877272606,
0.04057507589459419,
-0.027695508673787117
] |
On-device machine learning (ML) promises to improve the privacy,
responsiveness, and proliferation of new, intelligent user experiences by
moving ML computation onto everyday personal devices. However, today's large ML
models must be drastically compressed to run efficiently on-device, a hurtle
that requires deep, yet currently niche expertise. To engage the broader
human-centered ML community in on-device ML experiences, we present the results
from an interview study with 30 experts at Apple that specialize in producing
efficient models. We compile tacit knowledge that experts have developed
through practical experience with model compression across different hardware
platforms. Our findings offer pragmatic considerations missing from prior work,
covering the design process, trade-offs, and technical strategies that go into
creating efficient models. Finally, we distill design recommendations for
tooling to help ease the difficulty of this work and bring on-device ML into to
more widespread practice. | [
0.026952816173434258,
0.010803556069731712,
-0.022093085572123528,
-0.045457176864147186,
0.04407402127981186,
0.04814872145652771,
-0.019663220271468163,
0.03641059994697571,
0.03570033237338066,
0.04160677641630173,
-0.007242868654429913,
-0.04747583344578743,
0.0402236208319664,
-0.017794093117117882,
-0.0044088042341172695,
0.020130502060055733,
0.022018320858478546,
-0.023588387295603752,
-0.024803319945931435,
-0.06325127184391022,
0.055699996650218964,
-0.0806715339422226,
-0.0266350656747818,
0.019868824630975723,
0.046130064874887466,
0.04527026414871216,
-0.017009058967232704,
0.012999780476093292,
-0.00911666825413704,
0.0157100148499012,
0.040859125554561615,
0.00792042724788189,
-0.09629744291305542,
-0.045644089579582214,
-0.08635368198156357,
-0.03125181049108505,
0.033849895000457764,
0.03411157429218292,
-0.03224244713783264,
0.040261004120111465,
-0.01951368898153305,
-0.0359807014465332,
-0.052634626626968384,
0.006429797969758511,
0.017859511077404022,
-0.037457313388586044,
-0.05966254696249962,
-0.023868756368756294,
0.002471921034157276,
0.0118222301825881,
0.02590610459446907,
-0.03635452687740326,
0.06220455840229988,
-0.042391806840896606,
-0.06799885630607605,
0.04235442727804184,
0.06695213913917542,
-0.006621383596211672,
0.07783046364784241,
0.011401676572859287,
-0.02962566912174225,
-0.04056006297469139,
-0.03801805153489113,
0.019345467910170555,
0.00685969740152359,
-0.03123311884701252,
-0.00879424437880516,
0.046989861875772476,
0.0024485569447278976,
-0.006079336628317833,
-0.038055431097745895,
-0.022728588432073593,
-0.04029838740825653,
0.021812716498970985,
-0.012411005795001984,
-0.03661620616912842,
0.01551375724375248,
0.04676556587219238,
-0.004745246842503548,
-0.028691105544567108,
0.030392011627554893,
0.0045022605918347836,
0.0009538390440866351,
0.012280167080461979,
0.05233556404709816,
0.008803590200841427,
-0.016139915212988853,
-0.0639241561293602,
-0.0004702023579739034,
-0.008546585217118263,
-0.06126999482512474,
0.034055501222610474,
0.013766122981905937,
0.005378413945436478,
-0.019999662414193153,
0.06426060199737549,
-0.05521402135491371,
-0.03667227923870087,
-0.02242952771484852,
-0.035849861800670624,
0.002244120929390192,
0.022859428077936172,
0.02177533321082592,
-0.01109327096492052,
-0.022392146289348602,
-0.02857895754277706,
0.030130332335829735,
-0.011738119646906853,
-0.019868824630975723,
0.08829757571220398,
0.02263513207435608,
-0.008168086409568787,
-0.009373673237860203,
-0.005224211141467094,
-0.025681810453534126,
0.00397890480235219,
-0.012055871076881886,
-0.08246590197086334,
-0.041644155979156494,
-0.01368201244622469,
0.03951335325837135,
0.028410736471414566,
-0.0001674913364695385,
0.011738119646906853,
-0.0415320098400116,
0.03973764926195145,
0.009513857774436474,
-0.052036505192518234,
0.004878422245383263,
0.030410701408982277,
0.007032591849565506,
0.03644798323512077,
0.022822044789791107,
-0.03222375735640526,
0.02470986358821392,
-0.011411022394895554,
0.13210992515087128,
0.07409220933914185,
-0.008822280913591385,
0.06048496067523956,
0.0625036209821701,
0.026018252596259117,
-0.0132894953712821,
-0.00895311962813139,
-0.030149023979902267,
-0.020280031487345695,
-0.0066961487755179405,
0.08627891540527344,
-0.03708348795771599,
0.004289647098630667,
-0.044522613286972046,
0.006663438864052296,
0.017794093117117882,
0.056746706366539,
0.048784222453832626,
0.016616541892290115,
-0.04067221283912659,
-0.03128919005393982,
-0.017766054719686508,
0.05285892263054848,
0.0007540760561823845,
-0.040261004120111465,
-0.0038947940338402987,
0.02790607139468193,
0.033532146364450455,
0.0038340475875884295,
0.009812918491661549,
-0.015214696526527405,
-0.05308321863412857,
0.04100865498185158,
-0.012280167080461979,
0.021756641566753387,
-0.003376111388206482,
-0.036186303943395615,
0.00100757647305727,
0.018635200336575508,
-0.016065150499343872,
0.012121290899813175,
-0.030261171981692314,
-0.004348057322204113,
-0.025980869308114052,
0.03231721371412277,
0.03988717868924141,
-0.012625955045223236,
0.05846630409359932,
0.008420418947935104,
0.015326844528317451,
0.014018455520272255,
0.03237328678369522,
-0.005602709017693996,
0.000005211287771089701,
0.008513875305652618,
-0.031532179564237595,
-0.016074495390057564,
0.014093220233917236,
-0.05158791318535805,
0.014934327453374863,
-0.02063516527414322,
0.02336409129202366,
-0.001108042080886662,
-0.04814872145652771,
-0.03596201166510582,
0.01684083789587021,
0.014102566055953503,
-0.012205401435494423,
-0.05166267976164818,
-0.005485888570547104,
0.027550937607884407,
0.008897046558558941,
-0.05412992835044861,
0.011261492036283016,
0.038317110389471054,
-0.038261037319898605,
-0.040859125554561615,
0.006023263093084097,
-0.006812969222664833,
-0.004453195724636316,
-0.03244804963469505,
-0.013382951728999615,
-0.012934361584484577,
0.01504647545516491,
0.021868789568543434,
0.004995242692530155,
-0.03398073464632034,
0.040784358978271484,
0.0005522686988115311,
-0.010214781388640404,
0.04014885425567627,
0.03069107048213482,
0.006158774718642235,
0.026878051459789276,
0.03437325358390808,
0.016896910965442657,
0.0061027007177472115,
0.070017509162426,
-0.03670966252684593,
0.02330801822245121,
-0.019345467910170555,
-0.025793956592679024,
0.025663118809461594,
0.006406433880329132,
-0.04934496060013771,
-0.033270467072725296,
-0.01911182701587677,
0.07857811450958252,
-0.026821978390216827,
-0.022261306643486023,
0.0520738884806633,
0.002425192855298519,
-0.004177499562501907,
0.002527994802221656,
0.011896995827555656,
0.011579244397580624,
0.022653823718428612,
-0.029999494552612305,
0.06306435912847519,
0.02237345464527607,
-0.05341966077685356,
-0.0314200296998024,
-0.017616525292396545,
0.04321422427892685,
-0.06560637056827545,
0.004999915603548288,
0.03614892438054085,
-0.016551122069358826,
-0.01461657602339983,
0.051961738616228104,
-0.004883095156401396,
0.002028003102168441,
-0.010065251030027866,
-0.019494999200105667,
-0.04900851845741272,
0.012373623438179493,
-0.010943740606307983,
-0.02170056849718094,
-0.027793923392891884,
-0.028952782973647118,
0.02642946131527424,
0.002553695347160101,
0.030466776341199875,
0.03723301738500595,
0.014747414737939835,
0.01148578803986311,
-0.04927019774913788,
-0.033064864575862885,
-0.04115818440914154,
-0.07487723976373672,
-0.02904623933136463,
-0.023083722218871117,
0.01052318699657917,
-0.029868654906749725,
-0.0044648777693510056,
-0.04220489412546158,
0.009364328347146511,
0.0651203989982605,
-0.0219061728566885,
0.0007178617524914443,
0.033812515437603,
0.018962297588586807,
-0.0011985779274255037,
-0.015467029064893723,
-0.03084060177206993,
-0.009569931775331497,
0.03577509894967079,
0.0071494122967123985,
0.02876587025821209,
0.0006559469038620591,
0.050840262323617935,
-0.024354729801416397,
0.021681876853108406,
0.047849658876657486,
-0.005668128840625286,
-0.03614892438054085,
-0.03687788173556328,
-0.04209274798631668,
0.040186237543821335,
0.02385006472468376,
0.008831626735627651,
0.003123779082670808,
-0.045457176864147186,
0.039662882685661316,
-0.00659334659576416,
-0.11192334443330765,
-0.031999461352825165,
0.013672666624188423,
0.0073316521011292934,
0.006499890238046646,
0.000241088229813613,
-0.04014885425567627,
-0.019681911915540695,
-0.055027108639478683,
-0.04474690929055214,
-0.023532314226031303,
0.025139762088656425,
0.0016541776712983847,
0.017560452222824097,
-0.021214595064520836,
0.03190600499510765,
0.007822297513484955,
0.046055298298597336,
-0.02164449542760849,
-0.047102008014917374,
-0.08328831195831299,
-0.008901719003915787,
0.015177314169704914,
-0.014027800410985947,
-0.09854039549827576,
0.017093170434236526,
-0.01830810308456421,
-0.0462048277258873,
0.0010659866966307163,
-0.027008891105651855,
0.007817625068128109,
-0.0038877849001437426,
0.01099046878516674,
0.0020093119237571955,
-0.014242750592529774,
0.024093052372336388,
-0.017551105469465256,
0.037943284958601,
0.049307581037282944,
-0.042391806840896606,
0.006098027806729078,
-0.031532179564237595,
-0.03827972710132599,
-0.004439177457243204,
-0.013728740625083447,
-0.004109743982553482,
-0.020018354058265686,
0.06384938955307007,
0.013635284267365932,
0.04056006297469139,
-0.015934310853481293,
-0.022336071357131004,
-0.007616694085299969,
-0.010448422282934189,
-0.015167968347668648,
-0.04310207813978195,
-0.0052802846767008305,
0.03977502882480621,
-0.017803438007831573,
0.0015724033582955599,
0.032391976565122604,
-0.01451377384364605,
0.0007348007056862116,
0.017532413825392723,
0.0030069586355239153,
-0.0003013967943843454,
-0.03936382383108139,
0.09495166689157486,
-0.009728807955980301,
-0.051176708191633224,
0.021121138706803322,
-0.08919475972652435,
0.050915028899908066,
0.01738288439810276,
0.011878304183483124,
-0.009326945059001446,
0.013205384835600853,
0.0026307967491447926,
-0.057232677936553955,
0.023214561864733696,
-0.025027615949511528,
0.01977536827325821,
0.053980398923158646,
-0.008135376498103142,
0.05166267976164818,
-0.0037803100422024727,
0.04534503072500229,
-0.024878084659576416,
0.022728588432073593,
-0.0023866419214755297,
-0.014392280951142311,
0.01724269986152649,
0.027270568534731865,
-0.028205132111907005,
-0.004859731066972017,
-0.01870996505022049,
0.039662882685661316,
0.013485753908753395,
-0.010027868673205376,
-0.006948480848222971,
0.03854140639305115,
-0.03403680771589279,
-0.030877983197569847,
0.000962600577622652,
-0.033401306718587875,
-0.02403697744011879,
-0.014354897662997246,
-0.01857912540435791,
-0.020336106419563293,
-0.0031938713509589434,
0.011513824574649334,
-0.0543542243540287,
0.01843894086778164,
-0.0007645899313502014,
0.0029649033676832914,
0.06239147111773491,
-0.05528878793120384,
0.034261103719472885,
-0.058503687381744385,
-0.026990199461579323,
-0.05547570064663887,
0.043774962425231934,
-0.0745781809091568,
0.0212519783526659,
-0.03637321665883064,
-0.02870979532599449,
-0.00935965497046709,
-0.0733819380402565,
-0.08246590197086334,
0.01428947877138853,
-0.07102683931589127,
-0.05368133634328842,
-0.004100398160517216,
-0.08949381858110428,
-0.007373707368969917,
-0.012055871076881886,
-0.03474707901477814,
-0.12321287393569946,
0.011859613470733166,
0.020934225991368294,
0.0366348959505558,
0.025494897738099098,
-0.0009018539567478001,
0.015878237783908844,
-0.04874684289097786,
-0.03588724508881569,
0.006453162059187889,
0.0290275476872921,
-0.01632682792842388,
-0.005644764751195908,
-0.02424258179962635,
-0.016822146251797676,
0.006238212343305349,
0.01292501576244831,
0.014420317485928535,
-0.052522480487823486,
-0.016616541892290115,
-0.02983127348124981,
0.053382277488708496,
0.004985897336155176,
0.003310691798105836,
-0.004971878603100777,
0.010747482068836689,
-0.014560502022504807,
-0.01930808648467064,
0.03788721188902855,
0.036130230873823166,
-0.03560687601566315,
-0.02915838733315468,
-0.014018455520272255,
0.03160694241523743,
-0.019289394840598106,
-0.021139830350875854,
-0.021139830350875854,
-0.010747482068836689,
-0.00925685279071331,
-0.003376111388206482,
0.042130131274461746,
-0.013532482087612152,
-0.004490578547120094,
-0.03869093582034111,
0.03977502882480621,
0.024336038157343864,
-0.059101805090904236,
-0.01599038392305374,
0.013990418054163456,
0.03269103914499283,
0.06949415802955627,
0.014915636740624905,
0.010233472101390362,
0.022093085572123528,
-0.02702758088707924,
-0.0023889783769845963,
0.05012999475002289,
-0.015495065599679947,
-0.015588521957397461,
0.014915636740624905,
0.03536389023065567,
-0.009364328347146511,
-0.0342424139380455,
-0.03248543292284012,
0.03751338645815849,
-0.034130264073610306,
0.03788721188902855,
0.042578719556331635,
-0.022653823718428612,
0.070877306163311,
0.0007470668642781675,
0.006943807937204838,
0.014822179451584816,
-0.03951335325837135,
-0.024466877803206444,
-0.013831542804837227,
-0.031214427202939987,
0.04949449375271797,
0.05282153934240341,
0.0007096842746250331,
-0.01275679375976324,
-0.003623770549893379,
0.020074427127838135,
-0.010233472101390362,
0.02383137308061123,
0.0069251167587935925,
0.010981122963130474,
0.03371905907988548,
-0.045045968145132065,
0.005747566465288401,
0.016812801361083984,
-0.02644815295934677,
-0.015298807062208652,
0.03622368723154068,
-0.010074596852064133,
-0.02642946131527424,
-0.03816758096218109,
0.03624238073825836,
0.005214865319430828,
-0.0013294168747961521,
-0.03710217773914337,
-0.03568164259195328,
0.009925066493451595,
0.028616338968276978,
-0.009354982525110245,
-0.009981140494346619,
-0.03564425930380821,
0.010971777141094208,
0.03622368723154068,
-0.025868723168969154,
0.023887448012828827,
-0.019551072269678116,
0.007364361546933651,
-0.0748024731874466,
-0.016354864463210106,
0.004252264741808176,
0.016868874430656433,
0.010401694104075432,
-0.04642912372946739,
0.003703208640217781,
0.006476526148617268,
0.01611187867820263,
0.02910231240093708,
0.018280064687132835,
-0.008705460466444492,
0.01318669319152832,
0.03884046524763107,
-0.01551375724375248,
-0.03827972710132599,
0.0033177011646330357,
-0.007098011206835508,
0.01885014958679676,
0.02910231240093708,
-0.03601808473467827,
-0.026597682386636734,
-0.03721432387828827,
0.007140066474676132,
0.05981207638978958,
-0.007700804620981216,
0.015812817960977554,
-0.030859293416142464,
-0.0020782360807061195,
0.04583100229501724,
0.056634560227394104,
0.03282187506556511,
-0.0028901381883770227,
-0.014130602590739727,
0.05278415605425835,
-0.03809281438589096,
0.007130720652639866,
0.023812683299183846,
0.019326776266098022,
0.02977519854903221,
0.03128919005393982,
0.011999798007309437,
0.01856978051364422,
0.03323308378458023,
0.0029508848674595356,
-0.009981140494346619,
0.017672598361968994,
-0.052111271768808365,
0.0059204609133303165,
0.02130805142223835,
0.042653486132621765,
0.026466842740774155,
-0.015831509605050087,
0.007429781369864941,
-0.020803388208150864,
-0.03160694241523743,
0.004469550680369139,
-0.0027849997859448195,
-0.005593363661319017,
0.05267200991511345,
-0.020280031487345695,
0.0011851435992866755,
0.03209291771054268,
0.022990265861153603,
-0.013233421370387077,
0.015747398138046265,
-0.03708348795771599,
-0.045008584856987,
-0.019831441342830658,
-0.016756726428866386,
-0.007752205710858107,
0.07454080134630203,
0.0000024824348656693473,
0.006009244360029697,
0.0058737327344715595,
-0.03736385703086853,
0.011476442217826843,
-0.010691408067941666,
0.04627959430217743,
0.01325211301445961,
-0.0006162279169075191,
0.03693395480513573,
-0.007892390713095665,
0.012065216898918152,
0.04134509712457657,
-0.02442949451506138,
0.007691459264606237,
0.019551072269678116,
0.04227966070175171,
0.05506449192762375,
0.021364126354455948,
0.04100865498185158,
0.010812901891767979,
-0.0401114746928215,
-0.016625888645648956,
0.0462048277258873,
-0.027195803821086884,
0.03936382383108139,
0.0035887244157493114,
-0.021270669996738434,
-0.041195567697286606,
-0.012663337402045727,
0.016485704109072685,
-0.05214865133166313,
-0.005696165841072798,
-0.007140066474676132,
-0.000981875928118825,
0.006200829986482859,
-0.011083925142884254,
-0.013467062264680862,
0.0014275460271164775,
0.030392011627554893,
-0.027719158679246902,
-0.009607314132153988,
-0.033532146364450455,
0.0403357669711113,
-0.04953187331557274,
-0.0016495048766955733,
-0.016700653359293938,
-0.0007943790988065302,
-0.014429663307964802,
0.011812885291874409,
-0.003530314192175865,
0.018597817048430443,
0.01838286779820919,
-0.04074697569012642,
-0.008140049874782562,
-0.007551274728029966,
0.015074511989951134,
0.010495150461792946,
0.018270719796419144,
-0.005238229408860207,
-0.003310691798105836,
0.001249978900887072,
0.00935965497046709,
0.0017195971449837089,
0.004745246842503548,
0.006467180792242289,
-0.0013948362320661545,
0.01031758263707161,
0.030803218483924866,
0.032410670071840286,
0.10325059294700623,
0.00832228921353817,
0.014644612558186054,
0.02097160927951336,
-0.025195837020874023,
0.06059711053967476,
0.010756827890872955,
0.007476509548723698,
0.02809298411011696,
-0.048036571592092514,
-0.07117637246847153,
0.03768160566687584,
0.024074360728263855,
-0.012196055613458157,
0.000872648844961077,
-0.0008714806172065437,
0.029532212764024734,
-0.03743861988186836,
-0.012018488720059395,
0.002915838733315468,
0.05375610291957855,
-0.0030069586355239153,
0.03056023269891739,
0.03743861988186836,
0.003817692631855607,
-0.0021062728483229876,
-0.018261374905705452,
-0.029139695689082146,
-0.010140015743672848,
-0.0337003655731678,
0.005070007871836424,
0.004822348710149527,
0.021289359778165817,
0.022055702283978462,
-0.026279930025339127,
-0.021663185209035873,
0.017691290006041527,
-0.01852305233478546,
0.023494930937886238,
-0.02390613965690136,
-0.05113932490348816,
0.00233056815341115,
0.02585003152489662,
0.029382681474089622,
0.039064761251211166,
0.021139830350875854,
0.04160677641630173,
0.022410836070775986,
0.0115231703966856,
0.012868941761553288,
0.0675128772854805,
0.039662882685661316,
-0.006897079758346081,
-0.0025233218912035227,
0.0052709393203258514,
0.02497154101729393,
0.0020315079018473625,
0.019158555194735527,
0.0026518243830651045,
-0.06799885630607605,
-0.03556949272751808,
-0.02310241386294365,
-0.011139999143779278,
0.006714839953929186,
-0.042989928275346756,
0.012196055613458157,
-0.03069107048213482,
0.013924999162554741,
0.0032990097533911467,
0.02970043383538723,
-0.012485770508646965,
0.0248407032340765,
0.01378481462597847,
-0.02343885786831379,
-0.0017756710294634104,
-0.008378363214433193,
0.0115231703966856,
0.027756541967391968,
0.03876570239663124,
-0.008696114644408226,
0.0638120099902153,
-0.05072811618447304,
0.05241033062338829,
0.00003637862027972005,
-0.011065233498811722,
-0.03827972710132599,
0.0648960992693901,
-0.021065065637230873,
0.009579277597367764,
0.020149193704128265,
-0.07192402333021164,
-0.021756641566753387,
0.005112063139677048,
-0.0402236208319664,
-0.01031758263707161,
0.00928489025682211,
0.053643956780433655,
0.012775485403835773,
-0.005953170824795961,
0.02325194515287876,
-0.0004681579885073006,
-0.01245773397386074,
-0.03084060177206993,
0.033382613211870193,
-0.05162529647350311,
-0.017812782898545265,
0.018962297588586807,
-0.00792042724788189,
0.039924561977386475,
0.0007423940114676952,
-0.0314200296998024,
-0.038391876965761185,
0.003728909185156226,
0.008443783037364483,
0.004413477145135403,
-0.019289394840598106,
-0.004270955920219421,
0.018607161939144135,
-0.01805577054619789,
0.036204997450113297,
-0.011738119646906853,
0.023214561864733696,
0.007481182459741831,
0.0319620780646801,
-0.009214797988533974,
0.042728252708911896,
-0.009280216880142689,
0.020878152921795845,
-0.03648536652326584,
-0.021756641566753387,
0.025999560952186584,
0.011065233498811722,
-0.02743878960609436,
0.01618664339184761,
-0.010280200280249119,
0.011270837858319283,
0.01804642379283905,
-0.012027834542095661,
-0.023663152009248734,
0.02211177721619606,
-0.02297157607972622,
0.001964920200407505,
-0.010298891924321651,
-0.0021354779601097107,
-0.008915737271308899,
-0.009429747238755226,
0.004436841234564781,
-0.0045419796369969845,
-0.045045968145132065,
-0.028672413900494576,
0.013915653340518475,
-0.03487791493535042,
-0.02536405809223652,
-0.014812834560871124,
-0.02730794996023178,
-0.018261374905705452,
0.0026985525619238615,
-0.0057802763767540455,
-0.003796664997935295,
0.012569881044328213,
-0.011037196964025497,
0.03295271471142769,
0.014037146233022213,
-0.0020046390127390623,
0.02297157607972622,
0.02052301913499832,
0.0335882194340229,
0.04313945770263672,
0.0212519783526659,
0.007864353246986866,
0.05652241036295891,
-0.025812648236751556,
0.00942507479339838,
-0.04642912372946739,
-0.016467012465000153,
-0.009925066493451595,
0.015027783811092377,
0.0002275078441016376,
0.042915165424346924,
-0.013093236833810806,
0.00995310302823782,
0.0014380598440766335,
-0.024261273443698883,
-0.015738051384687424,
0.012672683224081993,
-0.008513875305652618,
0.005182155407965183,
-0.053307510912418365,
-0.0078550074249506,
-0.05312059819698334,
0.013018472120165825,
0.04201798141002655,
-0.01843894086778164,
-0.022728588432073593,
0.009915720671415329,
-0.012560536153614521,
-0.013467062264680862,
0.004436841234564781,
-0.009270871989428997,
-0.01579412631690502,
0.002415847033262253,
-0.0076120211742818356,
0.030205098912119865,
-0.039662882685661316,
0.06919509172439575,
0.030934058129787445,
-0.020336106419563293,
0.03429848700761795,
0.012411005795001984,
0.05319536477327347,
-0.012607264332473278,
0.01271941140294075,
0.061755966395139694,
0.0012254465837031603,
-0.021794024854898453,
0.008079303428530693,
-0.04115818440914154,
0.048634693026542664,
0.01830810308456421,
-0.00571018410846591,
0.08351261168718338,
0.0021237959153950214,
0.013868925161659718,
0.01605580374598503,
-0.008705460466444492,
0.009887684136629105,
-0.02829858846962452,
-0.02097160927951336,
0.011560552753508091,
0.04422355443239212,
0.013420334085822105,
-0.042242277413606644,
-0.003974231891334057,
0.061905499547719955,
-0.026934124529361725,
0.014990401454269886,
-0.008710133843123913,
0.024541642516851425,
0.03650405630469322,
0.00644381670281291,
-0.010728791356086731,
-0.00780827971175313,
-0.0019871159456670284,
0.039662882685661316,
-0.022392146289348602,
0.027999527752399445,
0.02596217952668667,
-0.012392314150929451,
0.023737916722893715,
-0.002955557545647025,
0.013364261016249657,
0.016803454607725143,
-0.04127033054828644,
-0.02824251353740692,
-0.004513942636549473,
-0.007032591849565506,
0.0169062577188015,
-0.030186407268047333,
0.0079624829813838,
-0.005915788002312183,
0.02289680950343609,
-0.023551004007458687,
0.027513554319739342,
-0.028541574254631996,
0.01645766571164131,
0.008682096377015114,
0.03482184186577797,
0.02336409129202366,
-0.02037348784506321,
0.0035536782816052437,
0.008901719003915787,
-0.014242750592529774,
0.0029508848674595356,
-0.028672413900494576,
-0.05155053362250328,
0.016476357355713844,
0.00869144219905138,
-0.025158453732728958,
0.03973764926195145,
-0.018326792865991592,
-0.03162563592195511,
-0.04156939312815666,
0.026205165311694145,
-0.024878084659576416,
0.05495234578847885,
-0.011289529502391815,
-0.0013773131649941206,
-0.0014859562506899238,
0.0002469292376190424,
0.05233556404709816,
-0.024616407230496407,
0.045718856155872345,
0.02811167575418949,
0.0031518160831183195,
-0.033457379788160324,
0.024934159591794014,
0.0006366714951582253,
0.02317717857658863,
0.017485685646533966,
0.004686836618930101,
0.0013235758524388075,
0.03884046524763107,
-0.005584017839282751,
-0.011009160429239273,
-0.035064827650785446,
-0.031139662489295006,
0.04242919012904167,
0.015467029064893723,
-0.03616761416196823,
-0.050840262323617935
] |
Recommender systems have emerged as a crucial component of the modern web
ecosystem. The effectiveness and accuracy of such systems are critical for
providing users with personalized recommendations that meet their specific
interests and needs. In this paper, we introduce a novel model that utilizes a
Graph Neural Network (GNN) in conjunction with sentence transformer embeddings
to predict anime recommendations for different users. Our model employs the
task of link prediction to create a recommendation system that considers both
the features of anime and user interactions with different anime. The
hybridization of the GNN and transformer embeddings enables us to capture both
inter-level and intra-level features of anime data.Our model not only
recommends anime to users but also predicts the rating a specific user would
give to an anime. We utilize the GraphSAGE network for model building and
weighted root mean square error (RMSE) to evaluate the performance of the
model. Our approach has the potential to significantly enhance the accuracy and
effectiveness of anime recommendation systems and can be extended to other
domains that require personalized recommendations. | [
0.005352523643523455,
0.017841745167970657,
-0.03614293411374092,
-0.017428245395421982,
0.030491771176457405,
-0.014196821488440037,
0.007018008269369602,
0.008905557915568352,
-0.03537719324231148,
0.0004568118310999125,
0.022696537896990776,
-0.00795604009181261,
-0.028715254738926888,
-0.044198520481586456,
0.03724559769034386,
0.04030856117606163,
-0.01207572128623724,
-0.017811115831136703,
-0.036418598145246506,
-0.03605104610323906,
-0.01489364542067051,
-0.01285677682608366,
0.013974756933748722,
-0.015353089198470116,
0.05099829286336899,
0.033968232572078705,
0.0042077419348061085,
0.02134883403778076,
-0.07547134906053543,
0.029741346836090088,
0.03301871567964554,
-0.04854792356491089,
0.052774809300899506,
-0.00974787212908268,
-0.04104366898536682,
-0.010138398967683315,
0.08998978137969971,
0.10328302532434464,
-0.031119678169488907,
0.005429097451269627,
0.014357627369463444,
0.03896085545420647,
-0.0018406477756798267,
0.019679520279169083,
0.019572317600250244,
-0.05868632346391678,
-0.0022015029098838568,
-0.009257798083126545,
0.03418263792991638,
-0.02992512285709381,
0.01291037816554308,
-0.012963980436325073,
0.009908677078783512,
0.013277933932840824,
-0.07957570999860764,
0.03709245100617409,
0.07492001354694366,
-0.028470218181610107,
0.045484963804483414,
0.02018490992486477,
-0.020904704928398132,
0.0339069738984108,
0.004169454798102379,
-0.001888506580144167,
-0.006815087050199509,
-0.039359040558338165,
0.012052749283611774,
0.007465966045856476,
0.032161083072423935,
-0.0478128120303154,
-0.05896198749542236,
0.01209869422018528,
0.02856210619211197,
-0.015268857590854168,
-0.03157912194728851,
0.02925127185881138,
0.029327847063541412,
0.01278785988688469,
-0.004931366536766291,
-0.0024273961316794157,
0.037398748099803925,
0.04422914981842041,
-0.03409074991941452,
0.027949513867497444,
0.05543958395719528,
-0.0206290390342474,
0.0029729860834777355,
-0.04870107024908066,
0.0014108761679381132,
0.022742481902241707,
-0.02337038889527321,
0.02281905524432659,
-0.005712421145290136,
-0.05001814290881157,
-0.05626658350229263,
0.004020135384052992,
0.006057004444301128,
-0.018255244940519333,
-0.018255244940519333,
0.09930118173360825,
0.008032613433897495,
-0.052100956439971924,
0.011401870287954807,
-0.014028359204530716,
0.012849119491875172,
-0.03981848433613777,
-0.027765735983848572,
0.02669369988143444,
-0.020828131586313248,
0.09139873832464218,
-0.0017736455192789435,
0.006991207133978605,
-0.013576571829617023,
-0.019128188490867615,
0.011945545673370361,
0.012198240496218204,
-0.07375609129667282,
-0.008438455872237682,
0.02684684842824936,
-0.07473623752593994,
0.020200224593281746,
-0.015146339312195778,
-0.03660237789154053,
-0.016340894624590874,
-0.01787237450480461,
0.04995688423514366,
-0.02611173875629902,
0.020981280133128166,
0.006665767636150122,
0.0331106036901474,
-0.02003176137804985,
0.06401587277650833,
-0.003778927493840456,
-0.044596705585718155,
0.021808277815580368,
0.03335563838481903,
-0.03378445282578468,
0.005406125448644161,
0.03317186236381531,
-0.024258647114038467,
-0.011271694675087929,
-0.021777648478746414,
-0.029863864183425903,
-0.05905387923121452,
0.020123649388551712,
0.030828697606921196,
0.004866278264671564,
0.027076570317149162,
-0.03831763565540314,
-0.019817354157567024,
-0.03170163929462433,
0.02620362676680088,
-0.012182924896478653,
0.016294950619339943,
-0.0002323542721569538,
-0.016126487404108047,
0.01787237450480461,
0.00019263150170445442,
-0.02889903262257576,
0.006956749130040407,
0.055378325283527374,
-0.018285874277353287,
-0.008162789978086948,
0.02502438612282276,
0.010896481573581696,
0.019557002931833267,
0.028087347745895386,
-0.03032330796122551,
-0.10101643949747086,
0.04674077779054642,
-0.024228017777204514,
0.017030060291290283,
-0.030476456508040428,
0.0670175775885582,
-0.021593870595097542,
0.0687328353524208,
0.06328076124191284,
-0.053111735731363297,
-0.04162563383579254,
0.042054448276758194,
-0.04965059086680412,
0.013683775439858437,
0.027888255193829536,
0.01150907389819622,
0.01241264771670103,
0.0343664176762104,
0.05746113881468773,
0.009319057688117027,
0.009502834640443325,
0.027306292206048965,
0.02507033199071884,
0.004908394068479538,
0.040431078523397446,
-0.04738399758934975,
-0.002226389478892088,
-0.0019181789830327034,
0.00706395274028182,
-0.02199205569922924,
-0.0021727876737713814,
0.0001395082799717784,
-0.03669426590204239,
-0.02938910573720932,
0.044596705585718155,
-0.05237662419676781,
0.07142823934555054,
0.029771976172924042,
0.047292109578847885,
-0.022742481902241707,
-0.0049619958736002445,
-0.05525580793619156,
0.0022991346195340157,
-0.044749852269887924,
-0.07075438648462296,
0.009885705076158047,
0.033141233026981354,
-0.005069199483841658,
-0.004345575347542763,
-0.007190299686044455,
-0.022497445344924927,
-0.00625609653070569,
-0.027934199199080467,
0.008683493360877037,
0.0687328353524208,
0.003566434606909752,
0.028623364865779877,
-0.04257515072822571,
-0.04514803737401962,
-0.007837350480258465,
-0.00006921572639839724,
-0.010000566020607948,
-0.020782187581062317,
0.030736807733774185,
0.013446396216750145,
0.01379097905009985,
-0.004514038097113371,
-0.006543249357491732,
0.003166335402056575,
-0.04104366898536682,
-0.045913778245449066,
0.025698238983750343,
-0.0694679468870163,
-0.006305869668722153,
0.00683423038572073,
-0.004682500846683979,
0.09421666711568832,
0.010498297400772572,
-0.016049912199378014,
0.04079863429069519,
0.018837206065654755,
-0.029557568952441216,
-0.014388256706297398,
-0.03007827140390873,
0.02179296314716339,
0.03948156163096428,
-0.0347646027803421,
0.01626431941986084,
0.043524667620658875,
-0.020093020051717758,
0.03491774946451187,
-0.00734727643430233,
-0.0043570613488554955,
0.03090527094900608,
-0.02894497662782669,
0.03795007988810539,
0.019878612831234932,
-0.0013544028624892235,
0.039114005863666534,
-0.020353373140096664,
0.018148040398955345,
0.03213045373558998,
0.003124219598248601,
-0.05458195507526398,
-0.030062956735491753,
-0.057767435908317566,
-0.051457736641168594,
-0.023569481447339058,
0.048027221113443375,
-0.008928529918193817,
0.0915825143456459,
-0.016693133860826492,
0.023676684126257896,
-0.04992625489830971,
-0.05213158577680588,
0.03148723393678665,
-0.0034956035669893026,
-0.0327124185860157,
-0.042054448276758194,
-0.019679520279169083,
-0.04530118405818939,
-0.03128813952207565,
-0.020093020051717758,
-0.011838342063128948,
-0.028378328308463097,
0.006615994498133659,
0.044841740280389786,
0.03164038062095642,
-0.011639249511063099,
0.003003615653142333,
0.043371520936489105,
-0.07124446332454681,
-0.014089617878198624,
-0.012159952893853188,
0.0032620530109852552,
0.014549062587320805,
-0.042299482971429825,
-0.01989392749965191,
0.02718377485871315,
0.10395687818527222,
0.005907685030251741,
-0.026188312098383904,
0.040247298777103424,
0.006386272609233856,
-0.034213267266750336,
0.003928246907889843,
-0.022895628586411476,
-0.007722489070147276,
0.019970502704381943,
-0.027505384758114815,
0.043126482516527176,
-0.031089048832654953,
-0.01944979839026928,
-0.032559268176555634,
-0.06683379411697388,
0.03032330796122551,
-0.0032180228736251593,
0.0670175775885582,
-0.007722489070147276,
0.0068725175224244595,
0.032161083072423935,
0.025437885895371437,
0.0014845787081867456,
-0.010720361955463886,
0.002394852228462696,
-0.0015984824858605862,
-0.02101190946996212,
0.00214215787127614,
0.02072092704474926,
0.011999147944152355,
0.011233407072722912,
-0.012994609773159027,
-0.0025996877811849117,
-0.03908337652683258,
-0.02825581096112728,
-0.007320475298911333,
-0.016294950619339943,
-0.010337491519749165,
-0.009579408913850784,
0.018255244940519333,
0.00243122479878366,
0.009678955189883709,
0.000755211163777858,
0.02551446110010147,
-0.028240496292710304,
0.004085223656147718,
0.03317186236381531,
-0.023768573999404907,
0.04334089159965515,
-0.017121948301792145,
-0.0002634624543134123,
0.05014066398143768,
-0.007940725423395634,
-0.02203799970448017,
-0.04625070467591286,
0.05347929149866104,
-0.07884060591459274,
-0.01572830229997635,
-0.02507033199071884,
0.005038570147007704,
0.02076687105000019,
-0.06818149983882904,
-0.033141233026981354,
0.00746979471296072,
-0.017749855294823647,
-0.026218941435217857,
-0.0029749004170298576,
-0.002628403017297387,
0.017719225957989693,
0.025728868320584297,
-0.024702776223421097,
0.04174815118312836,
0.014296367764472961,
-0.026877477765083313,
-0.012619396671652794,
0.008055586367845535,
-0.020093020051717758,
0.0551639162003994,
0.049987513571977615,
-0.03433578833937645,
-0.012290128506720066,
0.04563811048865318,
0.007787576876580715,
-0.043708447366952896,
-0.013905840925872326,
-0.04848666489124298,
0.014970219694077969,
0.023339759558439255,
0.0010863938368856907,
0.02943504974246025,
0.0588700994849205,
0.00541378278285265,
-0.05164151266217232,
-0.027490070089697838,
0.016830967739224434,
0.015590468421578407,
-0.05421439930796623,
0.019924558699131012,
-0.0222830381244421,
-0.04003289341926575,
0.06315824389457703,
-0.021287575364112854,
0.014518432319164276,
0.028577420860528946,
-0.042391374707221985,
-0.05510265752673149,
0.03375382348895073,
0.03730686008930206,
-0.048364147543907166,
0.016524672508239746,
0.021333519369363785,
-0.0020253825932741165,
0.0018770204624161124,
0.01621837541460991,
0.08239363878965378,
-0.020782187581062317,
-0.03448893502354622,
0.03844015300273895,
0.0001440548658138141,
-0.01724446751177311,
-0.032252974808216095,
-0.0445660762488842,
0.04931366443634033,
-0.03669426590204239,
0.038623932749032974,
-0.039665337651968,
0.0005939271650277078,
-0.0057430509477853775,
-0.013829266652464867,
-0.0056703053414821625,
-0.015552181750535965,
-0.014564377255737782,
-0.022267723456025124,
-0.051610883325338364,
-0.05078388378024101,
0.015850819647312164,
-0.005264463368803263,
-0.011294666677713394,
0.03727623075246811,
-0.0000819581255200319,
-0.007733975071460009,
-0.03335563838481903,
-0.04897673800587654,
-0.003610464744269848,
-0.03482586145401001,
-0.0687328353524208,
0.0192047618329525,
-0.0018779776291921735,
0.025805441662669182,
0.0047016441822052,
0.012259499169886112,
-0.01680033840239048,
-0.0367555245757103,
0.07841178774833679,
-0.03096652962267399,
-0.02865399606525898,
-0.018132725730538368,
0.0012357131345197558,
0.02032274194061756,
-0.01640215329825878,
-0.003085932694375515,
0.008162789978086948,
-0.024473054334521294,
0.02321724034845829,
0.06043221056461334,
-0.01526120025664568,
-0.020552463829517365,
-0.0012883577728644013,
0.011493759229779243,
-0.046893924474716187,
0.015958024188876152,
0.07596141844987869,
0.014411228708922863,
0.07369482517242432,
0.036663636565208435,
0.006604508496820927,
-0.020200224593281746,
0.01675439439713955,
0.031916048377752304,
0.0023067921865731478,
-0.012159952893853188,
-0.007201785687357187,
-0.00738556357100606,
0.019020983949303627,
-0.0686715766787529,
-0.021440723910927773,
-0.012749573215842247,
-0.03611230477690697,
0.0009423389565199614,
0.0073549337685108185,
0.053908105939626694,
-0.006581536494195461,
0.009441575966775417,
0.032161083072423935,
-0.011577990837395191,
0.028623364865779877,
0.021226316690444946,
0.05932954326272011,
0.011003685183823109,
0.046802036464214325,
-0.034703340381383896,
-0.0011208520736545324,
0.01601928286254406,
0.008928529918193817,
0.013140100054442883,
0.03549971058964729,
-0.03746000677347183,
-0.016157116740942,
-0.010689731687307358,
-0.00884429831057787,
-0.013040553778409958,
0.027413496747612953,
-0.02919001318514347,
0.008798354305326939,
-0.044351667165756226,
0.05225410684943199,
-0.06481224298477173,
0.031272824853658676,
0.027245033532381058,
0.00808621570467949,
0.02885308675467968,
0.021639816462993622,
0.000871507974807173,
-0.0004556153726298362,
-0.005968944169580936,
-0.01811741106212139,
-0.036510489881038666,
-0.023768573999404907,
0.010084797628223896,
0.020414631813764572,
0.00030653533758595586,
-0.04324900358915329,
-0.03923652321100235,
0.04465796425938606,
-0.030154846608638763,
0.014564377255737782,
0.0035511197056621313,
-0.018500281497836113,
0.06122858077287674,
-0.04937492311000824,
-0.011187463067471981,
0.020552463829517365,
-0.007190299686044455,
0.0169534869492054,
0.06263754516839981,
-0.015276514925062656,
0.010253259912133217,
-0.028485532850027084,
-0.04493362829089165,
-0.012190582230687141,
-0.016233690083026886,
-0.011378898285329342,
0.053264882415533066,
0.01978672482073307,
-0.017030060291290283,
-0.023446962237358093,
-0.007462137378752232,
-0.02027679793536663,
0.04563811048865318,
0.022053316235542297,
0.0150161636993289,
-0.013951784931123257,
-0.01713726297020912,
0.015238228254020214,
-0.03571411967277527,
-0.0013534456957131624,
-0.017887689173221588,
0.008982131257653236,
0.004896908067166805,
-0.031762901693582535,
0.025652293115854263,
-0.004016306716948748,
-0.0028600392397493124,
-0.04710833355784416,
0.01016902830451727,
0.03467271104454994,
0.01738230139017105,
-0.012810831889510155,
-0.03525467589497566,
-0.04355529695749283,
-0.03409074991941452,
-0.01964889094233513,
0.0035166614688932896,
0.055623363703489304,
-0.009012761525809765,
-0.03326375037431717,
-0.033570047467947006,
-0.024182073771953583,
0.0013534456957131624,
-0.010758648626506329,
0.06269880384206772,
-0.09133747965097427,
-0.00820873398333788,
-0.0013716319808736444,
0.05543958395719528,
0.005341037176549435,
-0.017749855294823647,
-0.008583947084844112,
0.0494668111205101,
0.029266586527228355,
0.042146336287260056,
0.02263527736067772,
-0.02615768276154995,
0.04184003919363022,
0.03292682394385338,
-0.04153374210000038,
-0.0036410943139344454,
0.0040392791852355,
0.020659668371081352,
-0.008637548424303532,
-0.02399829588830471,
-0.016478726640343666,
-0.0032007936388254166,
-0.015881450846791267,
0.09250140935182571,
0.0020445261616259813,
-0.016739079728722572,
0.006738513242453337,
0.01914350315928459,
-0.015804875642061234,
-0.0031376201659440994,
0.03237549215555191,
-0.03565286099910736,
0.0286080501973629,
-0.05363243818283081,
-0.016769709065556526,
-0.005651162005960941,
-0.03795007988810539,
-0.007611456792801619,
0.02531536854803562,
0.04162563383579254,
0.03672489523887634,
-0.013974756933748722,
-0.018132725730538368,
-0.016371523961424828,
0.04128870740532875,
0.004544667433947325,
0.03629608079791069,
0.014924274757504463,
-0.02297220379114151,
-0.008407826535403728,
0.03262053057551384,
0.02448836900293827,
0.01138655561953783,
-0.008660520426928997,
0.037643782794475555,
0.024702776223421097,
-0.01827055960893631,
0.04903799667954445,
0.028975605964660645,
-0.0015075508272275329,
-0.003020844655111432,
0.004575297236442566,
0.04128870740532875,
-0.005727736279368401,
-0.040247298777103424,
0.038777079433202744,
-0.028531476855278015,
-0.043187741190195084,
-0.025208164006471634,
0.010513612069189548,
0.02428927645087242,
0.012006805278360844,
-0.022206462919712067,
-0.048364147543907166,
0.05883947014808655,
0.033570047467947006,
-0.0343664176762104,
0.003001701319590211,
0.03170163929462433,
-0.041411224752664566,
-0.015429663471877575,
-0.03709245100617409,
-0.008897900581359863,
-0.031165622174739838,
0.008354224264621735,
-0.008836640976369381,
-0.012504535727202892,
0.012726600281894207,
-0.00788712315261364,
0.009510491974651814,
0.014549062587320805,
-0.032896194607019424,
-0.04187066853046417,
-0.024993756785988808,
0.018393076956272125,
0.03889959678053856,
0.01837776228785515,
-0.008001984097063541,
0.03222234547138214,
0.04003289341926575,
0.010100112296640873,
-0.03301871567964554,
0.030062956735491753,
-0.002031125593930483,
0.015161653980612755,
-0.012175267562270164,
0.01310181338340044,
0.014885988086462021,
0.03929778188467026,
-0.04481111094355583,
-0.01310181338340044,
0.01067441701889038,
0.024090183898806572,
-0.031043104827404022,
0.020644353702664375,
0.0400635227560997,
0.02482529543340206,
-0.018454337492585182,
0.03703119233250618,
-0.00783352181315422,
0.03467271104454994,
-0.0013524885289371014,
0.017412930727005005,
0.04937492311000824,
-0.02482529543340206,
-0.03647986054420471,
-0.032161083072423935,
0.017152579501271248,
0.014671580865979195,
0.005115143954753876,
0.0022933916188776493,
0.016494041308760643,
0.004575297236442566,
-0.018929095938801765,
0.009028076194226742,
-0.015322459861636162,
0.04089052230119705,
-0.026019848883152008,
0.021869538351893425,
-0.014120248146355152,
-0.04634259268641472,
-0.02038400247693062,
-0.019710151478648186,
-0.03507089614868164,
-0.006960577797144651,
0.01207572128623724,
0.004912222735583782,
-0.018730003386735916,
0.01508508063852787,
-0.024059554561972618,
-0.026770275086164474,
0.039205893874168396,
-0.00760379945859313,
0.024273961782455444,
-0.035193417221307755,
-0.08410889655351639,
0.010268574580550194,
-0.004816505126655102,
-0.01336982287466526,
-0.009809130802750587,
-0.012833804823458195,
0.009717241860926151,
0.06113669276237488,
-0.017275096848607063,
0.037000562995672226,
0.0169534869492054,
-0.027811681851744652,
-0.02208394557237625,
0.0033903142903000116,
-0.03580600768327713,
-0.044596705585718155,
0.019909242168068886,
0.031916048377752304,
0.05859443545341492,
-0.053172994405031204,
0.012129323557019234,
0.002877268474549055,
0.021716389805078506,
-0.04030856117606163,
-0.05158025398850441,
0.002433139132335782,
-0.02551446110010147,
0.006749999243766069,
-0.008637548424303532,
0.06836527585983276,
-0.009296084754168987,
0.0035606916062533855,
-0.030507085844874382,
-0.055133286863565445,
0.006236953195184469,
0.024656832218170166,
-0.02283436991274357,
-0.022313667461276054,
-0.0013936470495536923,
0.006378615275025368,
0.05335677042603493,
0.016034597530961037,
0.013852238655090332,
-0.0012883577728644013,
0.0017478017834946513,
-0.04110492765903473,
0.01481707114726305,
-0.01914350315928459,
0.03770504519343376,
0.018837206065654755,
-0.011555017903447151,
0.01572830229997635,
-0.026555867865681648,
0.03194667771458626,
0.003309911582618952,
0.03819511830806732,
0.030844012275338173,
0.01768859662115574,
-0.01998581737279892,
-0.021685760468244553,
0.02752069942653179,
0.009250140748918056,
-0.05525580793619156,
-0.03850141167640686,
-0.03234486281871796,
-0.02831706963479519,
0.020506519824266434,
0.005834939889609814,
-0.016432782635092735,
-0.0478128120303154,
-0.014640950597822666,
-0.026754960417747498,
0.01111854612827301,
0.041411224752664566,
0.057185471057891846,
0.021440723910927773,
0.000871507974807173,
0.030108900740742683,
-0.02081281691789627,
0.001909564365632832,
-0.013446396216750145,
0.04040044918656349,
-0.0012462420854717493,
-0.0037616982590407133,
0.0339069738984108,
0.008744752034544945,
-0.0017028145957738161,
0.04422914981842041,
0.007661229930818081,
-0.010988370515406132,
-0.004598269239068031,
0.022650592029094696,
-0.021777648478746414,
-0.024028925225138664,
0.053418029099702835,
0.04502552002668381,
-0.0363573394715786,
0.047537147998809814,
0.026310831308364868,
-0.004380033351480961,
-0.0011074516223743558,
0.0060761477798223495,
0.025284739211201668,
0.02268122136592865,
0.013017581775784492,
-0.004046936519443989,
0.03752126544713974,
-0.026019848883152008,
0.014204478822648525,
-0.0025116275064647198,
0.03124219737946987,
0.025897331535816193,
0.007534882985055447,
-0.03736811876296997,
-0.03752126544713974,
-0.018929095938801765,
-0.02914406917989254,
0.030399883165955544,
-0.05920702591538429,
0.057032324373722076,
-0.01974078081548214,
0.01958763226866722,
0.017903003841638565,
-0.008499715477228165,
-0.006815087050199509,
-0.04600566625595093,
-0.01183068472892046,
0.002218731911852956,
-0.020261483266949654,
-0.007561683654785156,
0.02330912835896015,
-0.048272255808115005,
-0.032161083072423935,
-0.029312532395124435,
-0.03360067680478096,
-0.04928303509950638,
-0.0032180228736251593,
-0.009855075739324093,
-0.010199658572673798,
-0.03991037607192993,
0.021915482357144356,
-0.0014223622856661677,
0.005911513697355986,
0.05001814290881157,
-0.01310181338340044,
0.05700169503688812,
0.005666476674377918,
-0.059237655252218246,
0.00815513264387846,
-0.039604078978300095,
0.04600566625595093,
-0.003507089801132679,
-0.020307427272200584,
-0.0662212073802948,
-0.023891091346740723,
-0.020123649388551712,
-0.020399317145347595,
-0.041809409856796265,
0.02292625978589058,
-0.04824162647128105,
0.0141049325466156,
-0.0263567753136158,
0.003043816890567541,
0.02174701914191246,
0.05139647796750069,
-0.009916334412992,
-0.01258876733481884,
0.04551559314131737,
0.0036238650791347027,
0.024212703108787537,
-0.030782753601670265,
0.020736241713166237,
-0.009150594472885132,
0.04634259268641472,
-0.027352236211299896,
-0.011945545673370361,
-0.03021610528230667,
0.004636556375771761,
-0.00960238091647625,
-0.026555867865681648,
0.03081338293850422,
-0.0343664176762104,
-0.04514803737401962,
0.0016654847422614694,
0.0060302033089101315,
0.021930797025561333,
-0.028301754966378212,
0.003216108540073037,
0.012558137997984886,
0.0404617078602314,
-0.042391374707221985,
-0.004908394068479538,
0.033079974353313446,
0.02297220379114151,
0.04520929604768753,
0.0046288990415632725,
-0.027750421315431595,
-0.00827765092253685,
-0.02203799970448017,
0.009701927192509174,
-0.03134940192103386,
0.0033635133877396584,
-0.017749855294823647,
-0.017903003841638565,
-0.004272829741239548,
0.018837206065654755,
-0.01690754108130932,
0.017259782180190086,
-0.011968517675995827,
-0.015307145193219185,
-0.0543675497174263,
-0.029618827626109123,
-0.037735674530267715,
-0.02252807468175888,
-0.023630740121006966,
0.01807146705687046,
0.01954168826341629,
0.014349970035254955,
0.04285081848502159,
-0.012205897830426693,
-0.003924418240785599,
0.025254109874367714,
-0.007025665603578091,
0.008216391317546368,
-0.021624501794576645,
0.02811797708272934,
0.033141233026981354,
0.013660803437232971,
0.046220071613788605,
0.016249004751443863,
0.02591264620423317,
-0.06634372472763062,
0.009250140748918056,
-0.002664775587618351,
-0.017259782180190086,
-0.012611739337444305,
-0.04272829741239548,
-0.009625352919101715,
0.03834826499223709,
-0.019112873822450638,
-0.06370957940816879,
0.05458195507526398,
0.016968801617622375,
0.003193136304616928,
0.002605430781841278,
0.03099716082215309,
-0.0063901012763381,
-0.08576289564371109,
-0.021088482812047005,
0.012803174555301666,
-0.04324900358915329,
0.0029155556112527847,
0.06591490656137466,
-0.03654111921787262,
0.009219511412084103,
0.05764491483569145,
0.027076570317149162,
-0.0018310761079192162,
-0.039205893874168396,
0.01016137097030878,
-0.05519454926252365,
0.022788425907492638,
0.030981844291090965,
0.03893022611737251,
-0.012726600281894207,
-0.023891091346740723,
0.011853656731545925,
-0.0056205326691269875,
0.0033845712896436453,
-0.037735674530267715
] |
Diffusion-based generative models in SE(3)-invariant space have demonstrated
promising performance in molecular conformation generation, but typically
require solving stochastic differential equations (SDEs) with thousands of
update steps. Till now, it remains unclear how to effectively accelerate this
procedure explicitly in SE(3)-invariant space, which greatly hinders its wide
application in the real world. In this paper, we systematically study the
diffusion mechanism in SE(3)-invariant space via the lens of approximate errors
induced by existing methods. Thereby, we develop more precise approximate in
SE(3) in the context of projected differential equations. Theoretical analysis
is further provided as well as empirical proof relating hyper-parameters with
such errors. Altogether, we propose a novel acceleration scheme for generating
molecular conformations in SE(3)-invariant space. Experimentally, our scheme
can generate high-quality conformations with 50x--100x speedup compared to
existing methods. | [
-0.0192075427621603,
-0.008088118396699429,
-0.026883143931627274,
-0.01692711003124714,
0.050243668258190155,
0.009752091951668262,
-0.03198166936635971,
0.049539145082235336,
-0.05076279118657112,
0.019337322562932968,
0.006716150790452957,
-0.010512236505746841,
0.08283716440200806,
-0.03170356899499893,
0.021525055170059204,
0.061145246028900146,
0.007420674432069063,
-0.0019443929195404053,
0.037710562348365784,
-0.027105623856186867,
0.022767242044210434,
-0.00497801648452878,
-0.02999787963926792,
0.0624801330268383,
0.05246847867965698,
0.03411378338932991,
-0.013775293715298176,
0.005492504220455885,
-0.03498516604304314,
0.09878164529800415,
0.022693080827593803,
0.0128112081438303,
-0.009130998514592648,
-0.009423005394637585,
-0.022062717005610466,
0.022730160504579544,
0.05888335406780243,
0.03926793113350868,
-0.08550693839788437,
0.02169191651046276,
-0.03187042847275734,
0.00031518167816102505,
-0.0060626124031841755,
-0.046832289546728134,
-0.002155286492779851,
0.013821643777191639,
-0.019708124920725822,
0.03314969688653946,
0.008866802789270878,
0.032037291675806046,
-0.0037265599239617586,
0.025585336610674858,
0.009446180425584316,
-0.006424144376069307,
-0.03652399405837059,
-0.007462389767169952,
0.01892017014324665,
0.0849878117442131,
0.0624801330268383,
0.0023325763177126646,
0.0531730055809021,
-0.06566902995109558,
-0.07582900673151016,
0.01395142450928688,
-0.05895751342177391,
-0.022340819239616394,
0.041752301156520844,
-0.020542429760098457,
0.01625039614737034,
-0.007670965977013111,
-0.04705477133393288,
-0.02363862656056881,
0.022025637328624725,
-0.019615424796938896,
0.04056573659181595,
-0.044347915798425674,
0.0667443573474884,
0.014173905365169048,
-0.013849454000592232,
-0.017650173977017403,
0.034373342990875244,
0.038711726665496826,
-0.07853586226701736,
-0.03205583244562149,
0.06733763962984085,
-0.08906663209199905,
0.0040857745334506035,
-0.02712416462600231,
0.07668185234069824,
-0.02200709842145443,
-0.05810467153787613,
-0.0009403306758031249,
0.0021784615237265825,
-0.036116112023591995,
-0.0002385589323239401,
0.026364021003246307,
0.027068544179201126,
0.013413761742413044,
-0.04164106398820877,
-0.026493800804018974,
-0.0011187790660187602,
-0.003541158977895975,
0.04000953212380409,
0.03283451497554779,
-0.01589813455939293,
-0.006549289915710688,
0.01107770949602127,
0.005390533711761236,
0.023861108347773552,
0.1265176385641098,
0.022062717005610466,
-0.03020182065665722,
0.038748808205127716,
0.020542429760098457,
-0.07720097154378891,
-0.027179785072803497,
-0.01944856345653534,
-0.06863544881343842,
0.02022724784910679,
-0.0508369505405426,
0.00374973495490849,
0.0173628032207489,
-0.029775399714708328,
0.015230691060423851,
-0.02868153341114521,
0.037432458251714706,
0.011151869781315327,
-0.06151605024933815,
0.008134468458592892,
-0.017594553530216217,
-0.05128191411495209,
-0.03179626911878586,
0.011828582733869553,
0.005580569617450237,
0.04052865505218506,
0.0011610736837610602,
0.021432355046272278,
0.034762684255838394,
-0.03368736058473587,
-0.018540099263191223,
-0.043457992374897,
-0.02438022941350937,
-0.02321220375597477,
0.014210985973477364,
0.023898188024759293,
0.024584170430898666,
-0.06896916776895523,
0.025993218645453453,
-0.03963873162865639,
0.005877211224287748,
-0.10345375537872314,
-0.010540046729147434,
-0.005283928010612726,
0.0072769890539348125,
0.009084648452699184,
0.010697636753320694,
-0.01859571970999241,
0.01803024671971798,
0.0628509372472763,
-0.0694512128829956,
0.06800508499145508,
-0.015202880837023258,
0.028440512716770172,
0.04045449569821358,
-0.019893527030944824,
0.02608591876924038,
0.024120667949318886,
-0.014461277052760124,
-0.005858671385794878,
0.03543012961745262,
0.0399724543094635,
-0.015175070613622665,
0.003990756347775459,
-0.034095242619514465,
-0.04130734130740166,
0.04560864344239235,
0.05213475972414017,
-0.04349507391452789,
0.00928395427763462,
-0.002326782327145338,
-0.06292509287595749,
-0.007902717217803001,
0.04957622289657593,
0.047907616943120956,
0.0842462107539177,
0.02211833745241165,
0.04405127465724945,
-0.006090422626584768,
0.03131422773003578,
0.011624641716480255,
0.030072040855884552,
0.027958469465374947,
0.047870535403490067,
0.02899671532213688,
0.03496662527322769,
-0.040936537086963654,
-0.0034391884692013264,
-0.010818148031830788,
0.0031634042970836163,
-0.02701292373239994,
-0.06044072285294533,
-0.013626973144710064,
0.011930554173886776,
-0.03170356899499893,
0.03194459155201912,
-0.008032497949898243,
-0.035838011652231216,
-0.020579509437084198,
0.013432301580905914,
-0.02973831817507744,
0.028588833287358284,
-0.03830384463071823,
-0.029126495122909546,
-0.05829007178544998,
-0.0004400376637931913,
-0.012496027164161205,
-0.032704733312129974,
-0.003117054235190153,
-0.005353453569114208,
-0.0423085056245327,
-0.035652611404657364,
-0.0018180884653702378,
0.057696789503097534,
-0.04171522334218025,
0.015369742177426815,
0.044347915798425674,
0.01086449809372425,
0.029664158821105957,
-0.017705794423818588,
0.001662815106101334,
0.012792668305337429,
-0.0017103240825235844,
0.02565949782729149,
-0.017260832712054253,
-0.021951477974653244,
-0.031647950410842896,
-0.003765957662835717,
-0.035615529865026474,
0.01178223267197609,
-0.009093918837606907,
-0.013664052821695805,
0.03101758472621441,
0.0052144029177725315,
-0.0040695518255233765,
0.025214534252882004,
0.056102339178323746,
-0.01944856345653534,
0.07979658246040344,
0.03978705406188965,
0.018901631236076355,
-0.005130972247570753,
-0.05725182592868805,
0.004173839930444956,
-0.016982730478048325,
-0.01647287793457508,
0.0687096044421196,
-0.010261944495141506,
-0.017121780663728714,
-0.011624641716480255,
-0.03937917202711105,
0.05639898031949997,
-0.026141539216041565,
0.013154200278222561,
0.03511494770646095,
0.008222534321248531,
0.0022688445169478655,
0.058549631386995316,
0.05209767818450928,
0.03769202157855034,
0.009659391827881336,
0.003293185029178858,
-0.03331655636429787,
-0.04623900726437569,
-0.00995603296905756,
-0.02293410338461399,
-0.053432565182447433,
0.00686910655349493,
-0.020153088495135307,
0.1082741767168045,
-0.029868099838495255,
0.02336052432656288,
-0.012449676170945168,
-0.028440512716770172,
0.017399882897734642,
0.056028179824352264,
-0.04249390587210655,
-0.00869530625641346,
-0.023861108347773552,
-0.07631104439496994,
-0.004996556788682938,
0.015592223033308983,
0.01647287793457508,
-0.032463714480400085,
0.03442896530032158,
0.036820635199546814,
-0.010642017237842083,
-0.05495285242795944,
-0.035652611404657364,
-0.030535543337464333,
-0.027309566736221313,
-0.06044072285294533,
0.0636296197772026,
0.03754369914531708,
0.03797012194991112,
-0.01302441954612732,
-0.026790443807840347,
0.002901525469496846,
0.04056573659181595,
0.016806600615382195,
-0.013599162921309471,
0.03826676309108734,
0.0109664686024189,
0.04482996091246605,
0.005506409332156181,
0.04171522334218025,
-0.004574769642204046,
0.04642440751194954,
-0.05625066161155701,
-0.0076848710887134075,
-0.04913126304745674,
-0.004081139340996742,
0.003596779191866517,
-0.10679096728563309,
-0.07312215119600296,
0.035615529865026474,
0.031926050782203674,
0.0157220046967268,
-0.014210985973477364,
-0.03175919130444527,
0.02712416462600231,
-0.019745204597711563,
-0.059402476996183395,
-0.06819048523902893,
-0.002570121316239238,
-0.0582159124314785,
-0.004558546934276819,
-0.01187493372708559,
0.020876150578260422,
-0.0430871918797493,
-0.03020182065665722,
0.008616510778665543,
-0.017334992066025734,
-0.018252726644277573,
0.016157696023583412,
0.03216707333922386,
-0.03314969688653946,
0.0228970218449831,
0.015666384249925613,
0.030758025124669075,
-0.04475579783320427,
0.0009287431021220982,
-0.02755058743059635,
-0.01075325720012188,
-0.013385951519012451,
0.04127025976777077,
-0.06388918310403824,
0.005867941305041313,
0.0005327381659299135,
-0.01948564313352108,
0.036690857261419296,
-0.0036222718190401793,
-0.06989617645740509,
0.03151816874742508,
0.004359240643680096,
-0.0372655987739563,
-0.0030498462729156017,
-0.06696683913469315,
0.016306016594171524,
0.014470547437667847,
-0.002018553204834461,
0.014025584794580936,
0.02271162159740925,
0.018058056011795998,
0.008968773297965527,
-0.0032352472189813852,
0.017307182773947716,
0.024472931399941444,
-0.00439400365576148,
-0.01764090359210968,
0.023453224450349808,
0.011318730190396309,
0.024472931399941444,
-0.011133329011499882,
0.003967581316828728,
0.016139157116413116,
0.005353453569114208,
0.006832026410847902,
0.007253813557326794,
-0.0016268936451524496,
0.025678036734461784,
0.03194459155201912,
-0.07456827908754349,
-0.010011653415858746,
-0.04457039758563042,
0.008741656318306923,
-0.03294575586915016,
0.00560837984085083,
-0.02044972963631153,
0.03795158118009567,
0.04471872001886368,
-0.003724242327734828,
-0.037247058004140854,
-0.023879647254943848,
0.006711516063660383,
0.020394109189510345,
0.003997708670794964,
-0.020282868295907974,
-0.054433729499578476,
0.04590528458356857,
-0.01913338154554367,
0.004486703779548407,
-0.012496027164161205,
0.04842673987150192,
-0.005742795765399933,
0.009789172559976578,
-0.029793938621878624,
-0.04397711530327797,
0.001141374814324081,
0.023768406361341476,
-0.01304295938462019,
0.018734769895672798,
-0.013144929893314838,
0.050132427364587784,
-0.002210906706750393,
-0.0067300559021532536,
0.05458205193281174,
0.061812691390514374,
-0.009112458676099777,
-0.006373159121721983,
-0.015351202338933945,
0.009316399693489075,
0.028811313211917877,
0.011124059557914734,
-0.09848500788211823,
-0.04401419684290886,
0.011559751816093922,
-0.020357029512524605,
-0.028848394751548767,
0.0055156792514026165,
-0.0014727790839970112,
-0.01991206593811512,
0.026846064254641533,
-0.0016917840112000704,
-0.008292059414088726,
0.0203755684196949,
0.015963025391101837,
-0.06162728741765022,
0.0008563208393752575,
-0.023731326684355736,
-0.0659656748175621,
-0.028347810730338097,
0.0504661500453949,
-0.021487975493073463,
-0.030943425372242928,
0.05825299024581909,
-0.008472825400531292,
-0.05580569803714752,
-0.00424104742705822,
-0.004078821744769812,
-0.047685135155916214,
0.05087403208017349,
0.0037636400666087866,
0.05643606185913086,
-0.04312426969408989,
0.025881977751851082,
0.03374297916889191,
0.0269758440554142,
-0.03124006651341915,
-0.021803155541419983,
0.012319895438849926,
0.02161775529384613,
-0.04082529619336128,
-0.01657484844326973,
-0.035652611404657364,
0.011578291654586792,
-0.008389394730329514,
-0.03769202157855034,
-0.06144188717007637,
-0.015555143356323242,
0.010104353539645672,
0.0011019771918654442,
-0.041084859520196915,
0.025492636486887932,
0.005969911813735962,
-0.07338171452283859,
-0.003877198090776801,
0.03830384463071823,
0.014572517946362495,
0.009575961157679558,
0.031036125496029854,
0.0015121768228709698,
0.02910795621573925,
-0.08261468261480331,
0.0010480949422344565,
0.03967581316828728,
-0.07809089869260788,
-0.01270923763513565,
-0.03276035562157631,
0.04746265336871147,
0.06885793060064316,
-0.010271214880049229,
-0.047648053616285324,
-0.01618550717830658,
-0.022841401398181915,
-0.013070769608020782,
-0.012839018367230892,
0.017520394176244736,
0.013330331072211266,
-0.005603745114058256,
-0.030257441103458405,
0.004709185101091862,
0.009084648452699184,
-0.035652611404657364,
-0.026382561773061752,
-0.0005773502634838223,
0.038711726665496826,
-0.0322226919233799,
-0.010067273862659931,
0.0036709397099912167,
0.06896916776895523,
0.01065128669142723,
0.009168079122900963,
-0.01902214251458645,
0.018447399139404297,
0.012514567002654076,
0.02771744877099991,
0.019615424796938896,
-0.027420805767178535,
0.051875196397304535,
-0.0029965434223413467,
-0.009613041765987873,
0.016667548567056656,
-0.01646360754966736,
-0.03431772440671921,
-0.011022089049220085,
0.002099666278809309,
0.002706854371353984,
-0.0012746318243443966,
0.007819286547601223,
0.012356976047158241,
0.012217924930155277,
0.015610763803124428,
-0.03418794274330139,
0.013858724385499954,
-0.01777995564043522,
-0.003951358608901501,
-0.004690645262598991,
-0.02185877598822117,
-0.014248065650463104,
0.00917734857648611,
0.019708124920725822,
0.004173839930444956,
-0.025937598198652267,
-0.02069075033068657,
-0.014433466829359531,
-0.023545926436781883,
-0.0345587432384491,
-0.02356446534395218,
0.005826225969940424,
-0.020857611671090126,
-0.023583006113767624,
0.027179785072803497,
0.017084700986742973,
-0.05669562146067619,
-0.0231009628623724,
-0.03644983470439911,
0.021321114152669907,
0.03808136284351349,
0.030183281749486923,
0.001487842993810773,
-0.01346938218921423,
-0.012273545376956463,
-0.005260752979665995,
-0.001111826510168612,
-0.019541263580322266,
0.004271175246685743,
0.01449835766106844,
0.01678805984556675,
0.02356446534395218,
0.012366246432065964,
0.011754422448575497,
-0.03800720348954201,
0.02623423933982849,
0.005464693997055292,
-0.02391672693192959,
0.004229459911584854,
-0.03077656403183937,
-0.04957622289657593,
-0.019318783655762672,
-0.0012920130975544453,
0.026141539216041565,
0.06311050057411194,
0.030961966142058372,
0.05810467153787613,
0.0036547170020639896,
-0.020523888990283012,
0.009112458676099777,
0.0036037317477166653,
-0.011253840290009975,
-0.03140692785382271,
-0.014776458963751793,
0.00867676641792059,
0.008310599252581596,
-0.020078927278518677,
-0.056881025433540344,
0.02797701023519039,
0.03244517371058464,
0.03303845599293709,
0.004252635408192873,
0.005427613854408264,
0.00015628723485860974,
0.018160026520490646,
0.015258501283824444,
-0.03772910311818123,
0.010438075289130211,
0.019930606707930565,
0.003334900364279747,
0.02875569276511669,
0.015823975205421448,
-0.03986121341586113,
0.02740226686000824,
-0.021358193829655647,
0.02875569276511669,
0.025103293359279633,
0.004690645262598991,
0.05321008339524269,
-0.010058003477752209,
0.03418794274330139,
-0.026419641450047493,
-0.028514672070741653,
-0.006674435455352068,
0.029552917927503586,
-0.05625066161155701,
0.023156583309173584,
0.04546032100915909,
0.01859571970999241,
-0.01799316518008709,
0.01593521423637867,
0.014600328169763088,
0.05569445714354515,
-0.015953755006194115,
0.0059930868446826935,
0.02705000527203083,
-0.029756858944892883,
0.002567803720012307,
0.001874867477454245,
0.02499205432832241,
0.017483312636613846,
0.03372443839907646,
0.037247058004140854,
0.024083588272333145,
0.03531888872385025,
0.005895751528441906,
0.05309884250164032,
0.018503019586205482,
-0.0038076727651059628,
0.0160093754529953,
-0.012579456903040409,
-0.005534219555556774,
-0.005979181732982397,
0.0013302521547302604,
0.030924884602427483,
-0.0004574189952109009,
0.012597997672855854,
0.01166172232478857,
0.030442843213677406,
0.022062717005610466,
0.002922383137047291,
-0.03350196033716202,
0.037636399269104004,
0.005098527297377586,
-0.012125224806368351,
-0.035448670387268066,
0.015963025391101837,
0.03993537276983261,
-0.029589997604489326,
0.0021263177040964365,
0.007582900580018759,
0.029126495122909546,
-0.024083588272333145,
-0.0019548216369003057,
-0.012746318243443966,
-0.02643818035721779,
-0.003202802035957575,
-0.032352473586797714,
-0.017223751172423363,
-0.010308295488357544,
-0.025177454575896263,
-0.01267215795814991,
-0.007378959562629461,
-0.031499627977609634,
-0.021172793582081795,
0.03845216706395149,
0.00588184641674161,
0.03198166936635971,
0.012282815761864185,
-0.0036871621850878,
0.012533106841146946,
-0.0175667442381382,
0.028811313211917877,
-0.005682540126144886,
0.0281438697129488,
0.020394109189510345,
0.016482148319482803,
-0.015073100104928017,
0.021209873259067535,
0.007624615915119648,
0.0062897284515202045,
-0.016630468890070915,
-0.03003496117889881,
0.00823180377483368,
0.039416249841451645,
-0.03808136284351349,
0.02491789311170578,
0.04631316661834717,
-0.010975738987326622,
-0.00285749277099967,
-0.036857716739177704,
-0.04972454532980919,
0.041937705129384995,
-0.018252726644277573,
0.02491789311170578,
-0.011012818664312363,
-0.06826464086771011,
0.029219195246696472,
0.0060996925458312035,
0.023416144773364067,
-0.03733975812792778,
-0.012607267126441002,
0.011569022201001644,
0.030109120532870293,
-0.04086237773299217,
0.012597997672855854,
0.02371278591454029,
0.000002226984634035034,
0.008366219699382782,
-0.03416940197348595,
0.038637567311525345,
-0.0009246874251402915,
-0.005093892104923725,
-0.0038795156870037317,
0.00031460230820812285,
0.04019493609666824,
0.020505350083112717,
-0.016445068642497063,
-0.004716137889772654,
-0.011819313280284405,
0.026827523484826088,
-0.022303739562630653,
0.007068412844091654,
0.06437122076749802,
0.012996609322726727,
0.009395195171236992,
-0.020598050206899643,
-0.04983578622341156,
-0.02460271120071411,
0.015165801160037518,
0.01714032143354416,
-0.01944856345653534,
-0.02790284901857376,
0.03641275316476822,
0.0407511368393898,
0.01614842563867569,
0.02363862656056881,
0.016166966408491135,
0.02690168283879757,
-0.021636296063661575,
-0.010030193254351616,
-0.00510316202417016,
0.001203947700560093,
0.02274870127439499,
0.033594660460948944,
0.040269095450639725,
-0.03429918363690376,
0.009650121442973614,
-0.007573630660772324,
-0.008528445847332478,
-0.01633382774889469,
-0.021710455417633057,
0.04312426969408989,
0.011810042895376682,
-0.0012931718956679106,
0.01371967326849699,
0.024639790877699852,
0.003814625320956111,
0.008811182342469692,
-0.03311261534690857,
0.016389448195695877,
-0.009798442013561726,
-0.010549316182732582,
-0.008931692689657211,
0.013163470663130283,
0.02293410338461399,
0.008968773297965527,
0.037395380437374115,
0.021951477974653244,
-0.03808136284351349,
0.0016071947757154703,
-0.03478122502565384,
-0.005307103507220745,
-0.006832026410847902,
0.02367570623755455,
-0.01884601078927517,
0.0049177613109350204,
0.007592170499265194,
0.022767242044210434,
0.004498291295021772,
-0.021061552688479424,
0.033131156116724014,
0.003752052551135421,
0.003506396198645234,
0.007545820437371731,
0.03287159651517868,
0.006044072099030018,
0.02973831817507744,
-0.0043499707244336605,
0.017399882897734642,
-0.03834092617034912,
0.015944484621286392,
0.005362723488360643,
-0.003937453497201204,
-0.029627079144120216,
-0.005149512551724911,
0.02616007998585701,
-0.012839018367230892,
-0.05417416989803314,
0.02189585752785206,
0.0021935254335403442,
0.031110286712646484,
-0.007944432087242603,
0.04349507391452789,
-0.00661881547421217,
-0.03923084959387779,
0.0008823928656056523,
-0.021339653059840202,
0.018261997029185295,
0.014813539572060108,
0.022656001150608063,
-0.011847123503684998,
0.02235936000943184,
-0.0013337283162400126,
0.010549316182732582,
0.006322173867374659,
0.0061321379616856575,
-0.0430871918797493,
0.019856445491313934,
-0.01325617078691721,
0.00474626524373889,
0.0025724386796355247,
-0.048463817685842514,
0.0024264354724437,
-0.0046141669154167175,
0.03756223991513252,
-0.0004559705557767302,
-0.023583006113767624,
0.00428508035838604,
0.024973513558506966,
0.027735987678170204,
-0.011939823627471924,
-0.03548574820160866,
0.022618921473622322,
0.02484373189508915,
0.00005087663885205984,
-0.0033580753952264786,
0.060107000172138214,
0.017687253654003143,
-0.002180779119953513,
-0.036542534828186035,
-0.005464693997055292,
-0.04212310537695885,
0.0002925859298557043,
0.015777625143527985,
-0.018734769895672798,
0.0362829752266407,
0.019763745367527008,
0.01795608550310135,
-0.006702245678752661,
-0.032704733312129974,
0.013877264223992825,
-0.037358298897743225,
0.029089415445923805,
-0.01796535588800907,
-0.0015249231364578009,
-0.022025637328624725,
0.06633647531270981,
-0.02732810564339161,
-0.02122841402888298,
-0.04490412026643753,
-0.027383726090192795,
-0.02708708494901657,
-0.0010336105478927493,
-0.001425270107574761,
-0.05321008339524269,
-0.015258501283824444,
0.025362854823470116,
0.017010541632771492,
-0.018224917352199554,
0.019114842638373375,
0.005501774605363607,
-0.018484478816390038,
-0.006201663054525852,
-0.01612061634659767,
-0.01781703531742096,
-0.015814704820513725,
0.006322173867374659,
0.002077649813145399,
0.02612300030887127,
-0.023193662986159325,
0.06652187556028366,
0.015128720551729202,
-0.007263083942234516,
0.01199544407427311,
0.0008603764581494033,
0.011263109743595123,
0.02495497278869152,
0.029905179515480995,
0.003923548385500908,
0.0034415058325976133,
0.03020182065665722,
-0.013423032127320766,
-0.0450153611600399,
-0.03038722276687622,
0.006275823339819908,
0.027235405519604683,
-0.018484478816390038,
0.028978174552321434,
-0.014878429472446442,
0.027105623856186867,
-0.005200497806072235,
0.046980611979961395,
0.004512196406722069,
0.011949094012379646,
0.041233181953430176,
-0.00791662186384201,
0.0396016500890255,
-0.003990756347775459,
0.003911960870027542,
-0.048686299473047256,
0.020208707079291344,
0.010373185388743877,
-0.016973460093140602,
-0.02996079996228218,
0.023267824202775955,
0.02690168283879757,
-0.018642069771885872,
0.013580622151494026,
0.059328317642211914,
0.07445703446865082,
-0.006591005250811577,
0.018197108060121536,
-0.03517056629061699,
-0.04716601222753525,
0.01395142450928688,
-0.03329801931977272,
0.030961966142058372,
0.02480665221810341,
-0.019745204597711563,
0.030758025124669075,
-0.0446445569396019,
0.06314757466316223,
0.0203755684196949,
0.04045449569821358,
-0.0547303706407547,
-0.016491418704390526,
-0.025474095717072487,
-0.0028551751747727394,
-0.010178514756262302,
-0.01810440607368946,
-0.06670727580785751,
-0.02399088814854622,
-0.0359121710062027,
-0.03255641460418701,
0.046980611979961395,
0.04416251555085182,
-0.009659391827881336,
-0.014776458963751793,
-0.02565949782729149,
-0.0194114837795496,
-0.015054560266435146,
-0.0012560917530208826,
-0.006373159121721983,
-0.021636296063661575,
0.0009212111472152174,
-0.009538880549371243,
0.020968852564692497,
-0.05506409332156181,
-0.030146200209856033,
-0.06058904528617859,
-0.04805593565106392,
0.031610868871212006,
-0.017909735441207886,
0.025974677875638008,
0.04990994557738304,
-0.05914291739463806,
0.0063268085941672325,
-0.018753310665488243,
-0.01018778420984745,
0.009993113577365875,
0.043643392622470856,
-0.025047672912478447,
0.037080198526382446,
-0.07742345333099365,
-0.04382879287004471,
0.07601440697908401,
0.023119503632187843,
0.003916596062481403,
0.05061446875333786,
-0.009163443930447102,
-0.012523836456239223,
-0.009613041765987873,
-0.018688419833779335,
-0.020894691348075867,
0.024695411324501038,
-0.01587032526731491,
-0.012857558205723763,
0.0067671360448002815,
-0.04089945927262306,
0.02208125777542591,
0.007976877503097057,
-0.005673270206898451,
0.0768301710486412,
-0.08780591189861298,
0.0028992078732699156,
-0.047870535403490067
] |
The capability to transfer mastered skills to accomplish a range of similar
yet novel tasks is crucial for intelligent robots. In this work, we introduce
$\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics
simulation to efficiently transfer robotic skills. Specifically,
$\textit{Diff-Transfer}$ discovers a feasible path within the task space that
brings the source task to the target task. At each pair of adjacent points
along this task path, which is two sub-tasks, $\textit{Diff-Transfer}$ adapts
known actions from one sub-task to tackle the other sub-task successfully. The
adaptation is guided by the gradient information from differentiable physics
simulations. We propose a novel path-planning method to generate sub-tasks,
leveraging $Q$-learning with a task-level state and reward. We implement our
framework in simulation experiments and execute four challenging transfer tasks
on robotic manipulation, demonstrating the efficacy of $\textit{Diff-Transfer}$
through comprehensive experiments. Supplementary and Videos are on the website
https://sites.google.com/view/difftransfer | [
0.002902477979660034,
-0.006751742213964462,
-0.012012617662549019,
-0.02080359123647213,
0.002482636133208871,
0.040407635271549225,
0.011755571700632572,
0.0192955881357193,
-0.07032778859138489,
0.023733915761113167,
0.005183761473745108,
-0.00244407937861979,
0.0047382148914039135,
-0.02435082569718361,
-0.006828856188803911,
0.02873774617910385,
0.009090861305594444,
0.06319905072450638,
0.03626062721014023,
-0.03677471727132797,
0.02657855860888958,
0.01653662696480751,
-0.04164145514369011,
0.03106829524040222,
-0.035917896777391434,
-0.000055793712817830965,
0.012672369368374348,
-0.032730527222156525,
-0.08184345066547394,
0.03913954272866249,
0.04760492220520973,
0.01958690769970417,
-0.0012680937070399523,
0.04452037066221237,
0.020255226641893387,
-0.0019214190542697906,
0.02969738468527794,
0.05617312341928482,
-0.06381595879793167,
0.07015642523765564,
-0.0002736469032242894,
0.0016568758292123675,
-0.051306385546922684,
-0.049592744559049606,
-0.020426589995622635,
-0.01045320462435484,
0.01843876764178276,
0.017633358016610146,
-0.0006495767156593502,
-0.007921301759779453,
0.001737202750518918,
-0.04314946010708809,
0.0574754923582077,
0.015868308022618294,
0.010633137077093124,
0.06679769605398178,
0.0920567512512207,
0.043526459485292435,
0.059566132724285126,
-0.012663801200687885,
0.004781056195497513,
-0.032593436539173126,
-0.030605612322688103,
-0.028497835621237755,
0.04846174269914627,
-0.08547636866569519,
0.04911292716860771,
-0.024265144020318985,
0.04928429052233696,
-0.051957570016384125,
-0.042806729674339294,
-0.01645951345562935,
-0.07272689044475555,
-0.008936633355915546,
0.01004193164408207,
-0.018455903977155685,
0.05178620666265488,
-0.018130313605070114,
0.013811939395964146,
-0.042841002345085144,
-0.014591645449399948,
0.0423269122838974,
-0.0348554402589798,
-0.047399286180734634,
0.0498669296503067,
0.001263809623196721,
0.020683636888861656,
-0.0499354749917984,
0.0461311936378479,
0.0064347186125814915,
-0.06285632401704788,
-0.01643380895256996,
0.008533927612006664,
-0.0020831439178436995,
-0.02274000458419323,
0.07444053143262863,
0.01502862386405468,
0.011344297789037228,
-0.025344738736748695,
-0.02992015704512596,
0.033381711691617966,
0.006336184684187174,
-0.0005687143420800567,
-0.0047596353106200695,
0.0037528718821704388,
-0.0423269122838974,
-0.017993221059441566,
0.03367302939295769,
-0.015328511595726013,
0.07608561962842941,
0.05596748739480972,
0.0020627942867577076,
-0.032730527222156525,
0.06662633270025253,
0.000024985007257782854,
-0.03626062721014023,
0.008996610529720783,
-0.0998024046421051,
0.0648784190416336,
-0.11049551516771317,
0.039002448320388794,
0.06587232649326324,
0.022465823218226433,
-0.045822735875844955,
-0.01639096811413765,
-0.013006528839468956,
-0.022191639989614487,
-0.011704162694513798,
0.023648234084248543,
0.03701462596654892,
-0.006875981111079454,
0.05058665573596954,
-0.011798412539064884,
0.04397200793027878,
0.039653632789850235,
-0.009973385371267796,
-0.02352827973663807,
0.005025249905884266,
-0.06786014884710312,
-0.005560762248933315,
0.03670617192983627,
0.00037592981243506074,
0.005976320244371891,
0.018747223541140556,
0.048838745802640915,
-0.014540236443281174,
-0.0144202820956707,
0.019466951489448547,
0.009793453849852085,
0.016759401187300682,
-0.06467278301715851,
0.0016782963648438454,
-0.05226602405309677,
-0.008868088014423847,
0.025516102090477943,
0.002544755581766367,
-0.021900320425629616,
0.030211476609110832,
0.026338649913668633,
-0.02546469308435917,
0.10837060213088989,
0.0006404729792848229,
0.041058819741010666,
0.0578182190656662,
0.06450141221284866,
0.0071201748214662075,
0.05391111969947815,
-0.009262224659323692,
-0.0420527309179306,
0.03694608062505722,
-0.06772305816411972,
-0.004333367571234703,
0.018627269193530083,
0.05870931223034859,
-0.010795933194458485,
0.004866737872362137,
0.008156927302479744,
-0.013657712377607822,
-0.02378532476723194,
-0.039687905460596085,
-0.06292486935853958,
-0.01747056096792221,
0.013443507254123688,
0.05305429920554161,
0.07375507056713104,
0.054288119077682495,
0.030194340273737907,
-0.003303041448816657,
0.006297627463936806,
-0.014737305231392384,
-0.008979474194347858,
0.013152188621461391,
0.04928429052233696,
0.036500535905361176,
0.029474610462784767,
-0.03948226943612099,
0.0006029871292412281,
0.018284540623426437,
0.056618671864271164,
0.022140230983495712,
-0.027315424755215645,
-0.047296468168497086,
0.00685884477570653,
0.012937983497977257,
0.000029402985092019662,
-0.005813524127006531,
0.0013409233652055264,
-0.021900320425629616,
0.05750976502895355,
-0.0773879885673523,
0.022448686882853508,
0.023613961413502693,
-0.06292486935853958,
-0.028669198974967003,
-0.051991842687129974,
-0.029388928785920143,
0.007917017675936222,
0.001957833766937256,
-0.023511143401265144,
-0.0020178111735731363,
-0.04534291848540306,
-0.02532760240137577,
0.007167299743741751,
0.014505963772535324,
-0.05456230416893959,
0.016990741714835167,
0.0014137531397864223,
-0.003309467574581504,
-0.0576125830411911,
0.019569771364331245,
-0.0075400169007480145,
-0.019312724471092224,
0.054973576217889786,
-0.024128053337335587,
-0.033021844923496246,
-0.012835164554417133,
-0.010427500121295452,
0.017770448699593544,
-0.0154227614402771,
0.003986355382949114,
0.023339778184890747,
0.006100559141486883,
0.03303898125886917,
-0.018610132858157158,
0.07478325814008713,
0.013871917501091957,
-0.02030663564801216,
0.09164547175168991,
0.032370664179325104,
-0.015448465943336487,
0.004138440825045109,
-0.038899630308151245,
0.003990639466792345,
0.023374050855636597,
-0.027572469785809517,
0.015662670135498047,
0.008422541432082653,
-0.01135286595672369,
0.007295822724699974,
-0.08102090656757355,
0.023631097748875618,
0.008653882890939713,
0.03948226943612099,
-0.00425839563831687,
0.013400666415691376,
0.018781496211886406,
0.013383529148995876,
0.020786454901099205,
-0.011130092665553093,
0.0054665119387209415,
-0.06707187741994858,
-0.019141361117362976,
-0.06498123705387115,
-0.010881614871323109,
-0.0066146510653197765,
-0.0846538245677948,
0.05243738740682602,
0.029645973816514015,
0.0775250792503357,
0.031548116356134415,
0.00015570026880595833,
0.008996610529720783,
0.013340688310563564,
0.007257265970110893,
-0.008495370857417583,
-0.0383855402469635,
-0.019055679440498352,
0.005166625138372183,
-0.046679556369781494,
0.01371768955141306,
-0.011250047944486141,
-0.03482116758823395,
-0.006451854947954416,
0.005826376378536224,
0.057406947016716,
-0.03249061852693558,
-0.03770008310675621,
-0.04527437314391136,
0.0307084321975708,
0.01151566207408905,
-0.02460787259042263,
-0.011635616421699524,
0.051272112876176834,
-0.00035558032686822116,
-0.03598644211888313,
0.02198600396513939,
0.010410363785922527,
0.05236884206533432,
0.004234833177179098,
-0.052780117839574814,
0.04996974766254425,
-0.008019835688173771,
-0.029388928785920143,
-0.014694464392960072,
-0.016296718269586563,
-0.0027032673824578524,
0.06295914202928543,
0.015825467184185982,
-0.028703473508358,
-0.015474170446395874,
-0.034015756100416183,
0.019501224160194397,
-0.06693478673696518,
0.023613961413502693,
0.0923309326171875,
0.030468521639704704,
-0.003761440049856901,
0.010401795618236065,
-0.03182229772210121,
-0.010641705244779587,
-0.008431109599769115,
-0.05997740477323532,
-0.03694608062505722,
-0.009853431023657322,
0.01975827105343342,
0.022688595578074455,
-0.06409014016389847,
0.03245634585618973,
-0.05209466069936752,
-0.04184709116816521,
0.004665385466068983,
0.048907291144132614,
-0.002399096265435219,
0.0008873443002812564,
0.023271232843399048,
-0.060320135205984116,
-0.006301911547780037,
0.03951654210686684,
-0.06230795755982399,
0.029097609221935272,
0.0008771695429459214,
-0.0015647676773369312,
0.005612171720713377,
-0.014814418740570545,
0.0027503925375640392,
-0.08561345934867859,
0.013743394054472446,
-0.01645951345562935,
-0.03500966727733612,
-0.010941592045128345,
0.0033480245620012283,
-0.05990885943174362,
-0.02769242413341999,
0.04229263961315155,
-0.08972619473934174,
-0.007968426682054996,
-0.011678457260131836,
-0.0502096563577652,
-0.01968972571194172,
0.03494112193584442,
-0.04143581911921501,
0.03146243467926979,
0.06333614140748978,
-0.008782405406236649,
-0.0385226309299469,
0.02342546172440052,
-0.0001570390595588833,
-0.025481829419732094,
-0.0124838687479496,
0.03163379803299904,
-0.03691180795431137,
-0.00783990416675806,
-0.030622748658061028,
-0.004412623587995768,
0.012261095456779003,
0.058195218443870544,
0.014625919051468372,
-0.020100999623537064,
-0.06028585880994797,
0.035677988082170486,
0.04465746134519577,
-0.012243959121406078,
-0.07354943454265594,
-0.038111358880996704,
0.00014191083027981222,
0.005625023972243071,
0.009099429473280907,
-0.06247932091355324,
0.019706862047314644,
-0.021420501172542572,
-0.014368873089551926,
0.00964779406785965,
-0.004643965046852827,
0.006794583052396774,
0.035677988082170486,
0.01621103659272194,
-0.0007454334408976138,
-0.026064466685056686,
-0.04938710853457451,
0.0289776548743248,
-0.005248023197054863,
-0.00044822398922406137,
0.033553075045347214,
-0.013966167345643044,
0.04835892468690872,
0.0055222054943442345,
0.003793570911511779,
0.03221643343567848,
-0.048153288662433624,
-0.03560944274067879,
0.027281152084469795,
0.0036072125658392906,
0.022397276014089584,
0.025636056438088417,
-0.03937945142388344,
0.02388814464211464,
0.03800853714346886,
0.018592996522784233,
-0.004682521801441908,
-0.05469939485192299,
0.014814418740570545,
-0.0017404158134013414,
0.033313166350126266,
-0.006259070709347725,
-0.007998415268957615,
0.0649469643831253,
0.05363693833351135,
0.02500201016664505,
-0.04335509613156319,
-0.027281152084469795,
0.014728737063705921,
-0.022037412971258163,
-0.00814407505095005,
-0.06073140725493431,
-0.005046670325100422,
-0.06364459544420242,
0.01189266238361597,
-0.0009018031414598227,
0.010436068288981915,
-0.017307765781879425,
-0.02543042041361332,
0.01699930988252163,
-0.033021844923496246,
-0.006203377153724432,
0.02765815146267414,
0.0006228010752238333,
-0.0012723777908831835,
-0.017599083483219147,
-0.009065156802535057,
-0.04458891600370407,
0.040373362600803375,
-0.005633592139929533,
0.002596164820715785,
-0.061245497316122055,
-0.0023262666072696447,
0.014428850263357162,
-0.01876435987651348,
-0.011849821545183659,
-0.019792543724179268,
0.038933902978897095,
0.022431548684835434,
-0.008486802689731121,
-0.01022186316549778,
0.027486788108944893,
0.0381799042224884,
0.033021844923496246,
-0.014677328057587147,
-0.0770452618598938,
0.007809915114194155,
-0.025961648672819138,
0.01425748597830534,
0.006344752851873636,
0.0500725656747818,
-0.0847223699092865,
0.02001531608402729,
-0.007535732351243496,
0.04407482594251633,
0.014137531630694866,
0.0006672486197203398,
-0.004566851072013378,
0.03756299242377281,
-0.0695737898349762,
-0.005685001146048307,
0.0006988438544794917,
-0.0035836498718708754,
-0.03009152039885521,
-0.029063336551189423,
-0.0008380771614611149,
0.06367886811494827,
-0.011969776824116707,
0.013503484427928925,
-0.049695566296577454,
-0.001596898422576487,
-0.009305066429078579,
-0.006340468768030405,
0.014171804301440716,
-0.0021463343873620033,
0.025961648672819138,
0.0498669296503067,
-0.04609692096710205,
0.020512273535132408,
-0.006177672650665045,
0.0017029298469424248,
-0.006773162633180618,
-0.008928065188229084,
0.014068985357880592,
0.02818937972187996,
-0.04171000048518181,
0.02238013967871666,
0.020135272294282913,
0.011078683659434319,
0.02184891141951084,
0.0047167944721877575,
0.009964817203581333,
-0.02352827973663807,
0.06847705692052841,
0.011849821545183659,
-0.00651183258742094,
0.027315424755215645,
0.025807419791817665,
0.015337079763412476,
0.03379298374056816,
0.020289499312639236,
-0.013143619522452354,
-0.015611262060701847,
0.006507548503577709,
0.03992781415581703,
-0.02654428593814373,
0.020923545584082603,
0.015971126034855843,
-0.04009918123483658,
0.027349697425961494,
-0.021643275395035744,
0.029851611703634262,
0.004279816057533026,
-0.007180152460932732,
0.02044372633099556,
-0.03209647908806801,
0.020169544965028763,
0.05528203025460243,
0.00018582284974399954,
-0.027109786868095398,
-0.001514429459348321,
0.01750483363866806,
-0.022859958931803703,
-0.055659033358097076,
-0.009150838479399681,
-0.03369016572833061,
-0.002596164820715785,
-0.024436509236693382,
0.00948499795049429,
-0.005457943771034479,
0.010470340959727764,
0.023511143401265144,
0.012972256168723106,
-0.044143371284008026,
0.015165715478360653,
0.023219823837280273,
0.03038283996284008,
0.03410143777728081,
-0.006374741438776255,
-0.010770228691399097,
-0.00941645260900259,
0.005166625138372183,
0.037391629070043564,
0.036603353917598724,
-0.023733915761113167,
-0.030194340273737907,
-0.008422541432082653,
-0.0063918777741491795,
0.026030194014310837,
-0.041881363838911057,
-0.004022770095616579,
0.03920808807015419,
-0.002591880736872554,
-0.017564810812473297,
-0.047467831522226334,
-0.02450505457818508,
0.00358793418854475,
-0.003632917068898678,
-0.004434044007211924,
0.03557517006993294,
0.007621414493769407,
0.06439859420061111,
-0.013426370918750763,
-0.02640719525516033,
0.002414090558886528,
-0.03602071478962898,
0.027469651773571968,
-0.04832465201616287,
-0.030160067602992058,
0.02585883066058159,
0.007715664803981781,
0.022825686261057854,
0.0007486465619876981,
-0.011181501671671867,
0.006905969697982073,
-0.0026111591141670942,
-0.040270544588565826,
-0.025961648672819138,
0.003073842031881213,
0.02937179245054722,
0.031942252069711685,
0.00039761807420291007,
0.04702228680253029,
0.03519816696643829,
0.028703473508358,
0.02188318409025669,
0.016562331467866898,
-0.01678510569036007,
-0.024453645572066307,
0.006366173271089792,
0.01571408100426197,
-0.011130092665553093,
-0.027161195874214172,
0.04054472595453262,
0.0032280697487294674,
-0.055727578699588776,
-0.010573159903287888,
-0.000044179785618325695,
0.015551283955574036,
0.03680898994207382,
0.0014608781784772873,
-0.004468316677957773,
0.030434248968958855,
0.02070077322423458,
0.03533526137471199,
0.030194340273737907,
0.018353085964918137,
0.03790571913123131,
-0.017941812053322792,
-0.011301456950604916,
0.004472600761801004,
0.045068737119436264,
-0.016879355534911156,
0.01371768955141306,
0.027846653014421463,
-0.011575639247894287,
0.01567123830318451,
0.020752182230353355,
-0.07464616745710373,
0.026304377242922783,
0.00918511115014553,
0.05624166876077652,
0.0162881501019001,
0.00197711237706244,
-0.018061766400933266,
-0.021386228501796722,
0.02392241731286049,
0.030262885615229607,
0.014900101348757744,
-0.003086694283410907,
-0.009030883200466633,
0.015482738614082336,
0.007771357893943787,
-0.02008386328816414,
0.03468407690525055,
0.003915667533874512,
0.006211945787072182,
0.030571339651942253,
0.007133027072995901,
-0.0540139377117157,
0.0007834548596292734,
0.06179386377334595,
0.01932986080646515,
0.01506289653480053,
0.050415292382240295,
0.0006592159625142813,
0.017907539382576942,
-0.0697108805179596,
-0.01807890273630619,
-0.03317607194185257,
-0.03130820393562317,
-0.0164252407848835,
0.00880811084061861,
-0.010033363476395607,
0.010401795618236065,
0.0034015756100416183,
-0.02837788127362728,
0.018884314224123955,
-0.032730527222156525,
-0.00981059018522501,
0.013751962222158909,
0.02661283127963543,
-0.014300326816737652,
0.015765490010380745,
-0.02680133283138275,
-0.037288811057806015,
0.05538484826683998,
-0.0034636950585991144,
-0.0004048474947921932,
-0.015628397464752197,
-0.015302806161344051,
0.024659281596541405,
0.0576125830411911,
-0.006117695476859808,
0.007227277383208275,
0.004324799403548241,
-0.022928506135940552,
0.020923545584082603,
0.009399316273629665,
0.012878005392849445,
0.01581689901649952,
0.013803371228277683,
0.004798192530870438,
0.05140920355916023,
-0.002399096265435219,
-0.03749444708228111,
-0.01801035739481449,
0.0616225004196167,
-0.04407482594251633,
0.011095819994807243,
0.01101013831794262,
-0.028292199596762657,
-0.023905280977487564,
0.011532798409461975,
0.027555333450436592,
-0.031325340270996094,
0.03274766355752945,
-0.012338208965957165,
0.018421631306409836,
-0.04561709985136986,
0.022465823218226433,
-0.012886573560535908,
0.006289059296250343,
0.015662670135498047,
-0.007030208595097065,
0.01101013831794262,
0.011078683659434319,
-0.026784196496009827,
0.020752182230353355,
-0.034564122557640076,
0.024487918242812157,
0.01558555755764246,
-0.010093340650200844,
0.0015005061868578196,
-0.032799072563648224,
0.035917896777391434,
0.008632462471723557,
-0.007351516280323267,
0.08074672520160675,
-0.022482959553599358,
0.01483155507594347,
-0.004708226304501295,
-0.015611262060701847,
0.014531668275594711,
0.019826816394925117,
-0.009502134285867214,
0.026955559849739075,
0.026664240285754204,
0.005689285229891539,
0.032079342752695084,
0.029457474127411842,
0.035849351435899734,
-0.00029212210210971534,
-0.0069359587505459785,
-0.06696905940771103,
0.02933751977980137,
0.01639096811413765,
-0.031445298343896866,
0.01625387743115425,
-0.022123094648122787,
0.03876253962516785,
-0.040339089930057526,
-0.001102084876038134,
0.030588475987315178,
0.010393227450549603,
-0.03321034461259842,
-0.056584399193525314,
0.014814418740570545,
0.0029174722731113434,
0.0106160007417202,
0.005706421565264463,
-0.009125133976340294,
-0.028789155185222626,
0.026235830038785934,
0.01818172261118889,
-0.006888833362609148,
0.003502252046018839,
0.004472600761801004,
0.006301911547780037,
0.017547674477100372,
-0.012209686450660229,
0.02700696885585785,
0.033947210758924484,
-0.03497539460659027,
-0.037357356399297714,
0.01189266238361597,
0.008782405406236649,
-0.042635366320610046,
0.03134247660636902,
0.02345973439514637,
0.00848251860588789,
-0.010487477295100689,
0.03687753528356552,
0.031479571014642715,
-0.01801035739481449,
-0.013177893124520779,
0.00682457210496068,
-0.008486802689731121,
0.009287930093705654,
-0.017856130376458168,
-0.009030883200466633,
0.007291538640856743,
0.0034251383040100336,
0.014857260510325432,
0.012209686450660229,
-0.025978785008192062,
0.014514531940221786,
-0.018815768882632256,
-0.003564371494576335,
-0.048084743320941925,
0.04013345390558243,
0.05404821038246155,
-0.03333030268549919,
-0.019107088446617126,
-0.00860675796866417,
-0.013957599177956581,
0.02421373501420021,
-0.004003491718322039,
0.01468589622527361,
0.03428994119167328,
-0.03185657039284706,
-0.027949471026659012,
0.00197711237706244,
-0.002038160804659128,
0.00321521726436913,
0.0022191640455275774,
-0.032370664179325104,
0.03422139212489128,
0.0021516894921660423,
-0.00984486285597086,
0.0035343829076737165,
-0.03615780547261238,
-0.0329190269112587,
-0.02729828841984272,
-0.02320268750190735,
0.05230029672384262,
0.021609002724289894,
0.015242828987538815,
-0.01138713862746954,
0.03763153776526451,
0.02769242413341999,
0.012792323715984821,
-0.02625296637415886,
0.04870165139436722,
0.02270573191344738,
0.03523244336247444,
-0.025379011407494545,
-0.006923106033354998,
-0.0034251383040100336,
-0.002617585239931941,
0.01081306952983141,
0.002570460317656398,
0.030588475987315178,
0.01646808162331581,
0.04870165139436722,
-0.028720609843730927,
-0.034666940569877625,
-0.02493346482515335,
0.004943851847201586,
0.041127365082502365,
-0.03180516138672829,
0.04565137252211571,
-0.012826596386730671,
0.02998870238661766,
-0.020358044654130936,
-0.057406947016716,
0.024487918242812157,
-0.04314946010708809,
0.00170614302624017,
0.01797608472406864,
0.025241918861865997,
-0.03982499614357948,
-0.0015187135431915522,
0.012878005392849445,
-0.002581170527264476,
-0.020495135337114334,
-0.01018759049475193,
0.011952640488743782,
0.0006950952811166644,
0.014574509114027023,
-0.04242973029613495,
-0.046645283699035645,
0.027195468544960022,
-0.008118370547890663,
-0.03691180795431137,
-0.013469211757183075,
-0.016408104449510574,
0.005967751611024141,
-0.000837541650980711,
0.015902580693364143,
-0.01596255786716938,
-0.02618442103266716,
-0.013340688310563564,
0.0066360714845359325,
-0.004476884845644236,
-0.022551504895091057,
0.07149306684732437,
-0.008028403855860233,
-0.02726401574909687,
0.020649364218115807,
0.030245749279856682,
-0.017564810812473297,
0.02159186638891697,
0.01382907573133707,
0.0004385847714729607,
-0.03490684926509857,
0.04472600668668747,
-0.030211476609110832,
0.012740914709866047,
-0.028360744938254356,
0.00507665891200304,
0.045754190534353256,
-0.019638316705822945,
0.010333250276744366,
0.019741134718060493,
0.012818028219044209,
0.030759841203689575,
0.00043162310612387955,
-0.018524449318647385,
0.0074843233451247215,
-0.01797608472406864,
-0.013657712377607822,
0.005599319003522396,
0.007917017675936222,
-0.01675083301961422,
-0.008045540191233158,
-0.044211916625499725,
-0.025875966995954514,
-0.001420179265551269,
-0.017890403047204018,
-0.006117695476859808,
0.016039671376347542,
0.033381711691617966,
0.020169544965028763,
0.0026968412566930056,
0.06552959978580475,
-0.027966607362031937,
0.012818028219044209,
-0.02861778996884823,
-0.0000567308597965166,
0.025910239666700363,
-0.04092172533273697,
-0.016005398705601692,
0.010067636147141457,
-0.01499435119330883,
0.01558555755764246,
-0.025019146502017975,
0.027641015127301216,
0.06361032277345657,
0.05288293585181236,
-0.06066286191344261,
-0.007531448267400265,
-0.07334379851818085,
0.020940681919455528,
-0.031016886234283447,
-0.04925001785159111,
-0.010624568909406662,
0.017007878050208092,
-0.016656583175063133,
-0.017838994041085243,
0.03500966727733612,
0.011164365336298943,
-0.016168195754289627,
0.024453645572066307,
-0.04383491352200508,
-0.022551504895091057,
-0.06919679045677185,
-0.02618442103266716,
0.0026304377242922783,
-0.05291720852255821,
0.03240493685007095,
0.002773954998701811,
-0.0031445296481251717,
0.00619480898603797,
-0.018267404288053513,
-0.02837788127362728,
-0.007685676217079163,
-0.021420501172542572,
-0.005033818073570728,
-0.010316113941371441,
0.03288475424051285,
-0.014874396845698357,
-0.02263718657195568,
-0.028206516057252884,
-0.010358954779803753,
-0.002887483686208725,
0.03171947970986366,
0.0042326911352574825,
-0.048221834003925323,
-0.018301676958799362,
-0.012826596386730671,
0.05298575386404991,
0.029903020709753036,
0.027452515438199043,
0.06768878549337387,
-0.02740110643208027,
0.0021217006724327803,
0.02356255240738392,
-0.013597734272480011,
0.007672823965549469,
0.01468589622527361,
-0.02428228035569191,
-0.04184709116816521,
0.009090861305594444,
-0.04075036197900772,
-0.012578118592500687,
-0.020615091547369957,
-0.02349400706589222,
0.020683636888861656,
-0.051135022193193436,
0.047262195497751236,
-0.020238090306520462
] |
In the context of inferring a Bayesian network structure (directed acyclic
graph, DAG for short), we devise a non-reversible continuous time Markov chain,
the "Causal Zig-Zag sampler", that targets a probability distribution over
classes of observationally equivalent (Markov equivalent) DAGs. The classes are
represented as completed partially directed acyclic graphs (CPDAGs). The
non-reversible Markov chain relies on the operators used in Chickering's Greedy
Equivalence Search (GES) and is endowed with a momentum variable, which
improves mixing significantly as we show empirically. The possible target
distributions include posterior distributions based on a prior over DAGs and a
Markov equivalent likelihood. We offer an efficient implementation wherein we
develop new algorithms for listing, counting, uniformly sampling, and applying
possible moves of the GES operators, all of which significantly improve upon
the state-of-the-art. | [
-0.011431288905441761,
-0.040226083248853683,
-0.04591348022222519,
0.0031120600178837776,
0.030828697606921196,
0.05883252993226051,
-0.03887014836072922,
0.034953001886606216,
-0.059887148439884186,
0.020791009068489075,
0.002744827652350068,
-0.006459525786340237,
0.0022010409738868475,
-0.041017044335603714,
-0.032485950738191605,
0.008893618360161781,
-0.018549948930740356,
0.008356893435120583,
0.032448288053274155,
0.001709043513983488,
0.018333377316594124,
0.021619636565446854,
0.002956692362204194,
0.05224117636680603,
0.05148788169026375,
0.04666677489876747,
0.00938796903938055,
-0.000988702871836722,
-0.054802387952804565,
0.029359767213463783,
0.011327710002660751,
0.044143229722976685,
-0.009166688658297062,
-0.008074406534433365,
-0.017843732610344887,
-0.009971775114536285,
0.035028330981731415,
0.04192100092768669,
-0.0012547110673040152,
-0.0021327733993530273,
0.007344650104641914,
0.017871981486678123,
0.019510403275489807,
0.00491055753082037,
-0.01578158140182495,
0.020037712529301643,
0.0025494410656392574,
0.038192179054021835,
-0.02101699821650982,
0.039322126656770706,
0.0017043354455381632,
0.0050847576931118965,
-0.021619636565446854,
0.004246714524924755,
-0.011205299757421017,
-0.003940687049180269,
0.017542414367198944,
0.042146991938352585,
0.06862539798021317,
0.025254296138882637,
-0.007142201531678438,
-0.012966131791472435,
-0.0710359513759613,
0.020414359867572784,
0.06203404441475868,
-0.06866306066513062,
-0.005141254980117083,
-0.003142662812024355,
0.05303214117884636,
-0.02988707646727562,
-0.1148778572678566,
-0.03651609271764755,
-0.021412480622529984,
-0.02118649147450924,
0.03342757374048233,
-0.03408670797944069,
0.04203399643301964,
-0.004915265832096338,
-0.03510366007685661,
-0.02713754028081894,
0.028964286670088768,
0.005630898289382458,
-0.03890781104564667,
-0.011120553128421307,
0.02709987573325634,
-0.06768377870321274,
0.04045207425951958,
-0.05404909327626228,
0.030339054763317108,
-0.012909634970128536,
-0.013691181316971779,
-0.022881409153342247,
-0.0007550629670731723,
-0.021581972017884254,
-0.044934190809726715,
0.0052495417185127735,
0.04986828938126564,
0.015828661620616913,
-0.02992474101483822,
0.001378298969939351,
0.009293806739151478,
-0.027288200333714485,
-0.011064056307077408,
0.013013212941586971,
-0.020000047981739044,
0.02627124823629856,
-0.04455754533410072,
-0.00813561212271452,
0.03177031874656677,
0.1547272950410843,
0.0056261904537677765,
0.03284376859664917,
0.01645013317465782,
0.07826760411262512,
-0.11216598749160767,
-0.010000023990869522,
-0.013314532116055489,
-0.10003790259361267,
0.03239179030060768,
-0.009279683232307434,
0.008305104449391365,
0.06003780663013458,
0.017504749819636345,
-0.027288200333714485,
-0.0455368310213089,
0.038361672312021255,
-0.014011332765221596,
-0.0493033193051815,
-0.022410599514842033,
-0.006346530746668577,
0.0019103152444586158,
-0.008564050309360027,
-0.0027024545706808567,
-0.023710036650300026,
0.07751430571079254,
0.002890778938308358,
0.0434652641415596,
-0.021638469770550728,
-0.025819269940257072,
-0.018116803839802742,
0.012325829826295376,
-0.02197745256125927,
0.04587581381201744,
-0.03596995398402214,
0.05374777317047119,
0.012325829826295376,
-0.019453905522823334,
0.04975529760122299,
-0.04237298294901848,
0.0496046356856823,
-0.010564996860921383,
0.019755225628614426,
0.022843744605779648,
0.04824870079755783,
0.005211876705288887,
0.040527403354644775,
-0.07661034911870956,
-0.03772136941552162,
0.05178919807076454,
-0.02954809181392193,
0.07386081665754318,
0.014698715880513191,
0.0027307032141834497,
0.08534859865903854,
0.004729295615106821,
0.01413374301046133,
-0.013088542968034744,
-0.06730712950229645,
-0.055367361754179,
0.025367291644215584,
0.0187759380787611,
0.025461453944444656,
-0.00952921248972416,
0.03250478580594063,
0.016845613718032837,
0.040904052555561066,
0.04433155432343483,
0.036365434527397156,
0.017457667738199234,
-0.005621482152491808,
-0.03039555251598358,
-0.011704359203577042,
0.04365358501672745,
0.019679896533489227,
0.06598885357379913,
0.007528266403824091,
0.045649826526641846,
0.008724126033484936,
0.02885129116475582,
-0.02259892411530018,
0.043314602226018906,
0.05273082107305527,
0.08429398387670517,
-0.017749570310115814,
0.009562169201672077,
0.017504749819636345,
-0.057589590549468994,
-0.02210927940905094,
-0.06500957161188126,
-0.000803909613750875,
-0.053220465779304504,
-0.006403028033673763,
-0.019548067823052406,
-0.020659182220697403,
0.02593226358294487,
0.052504830062389374,
0.021789127960801125,
-0.033653564751148224,
0.007226947229355574,
-0.06470824778079987,
0.036742083728313446,
-0.011930348351597786,
-0.015291937626898289,
-0.0316384918987751,
0.02338988520205021,
-0.03254244849085808,
-0.015141278505325317,
0.035687465220689774,
-0.0014830543659627438,
0.007438812404870987,
0.02097933366894722,
-0.048474691808223724,
0.05672329664230347,
-0.009204353205859661,
0.05570634454488754,
0.06798509508371353,
0.017514165490865707,
-0.015932241454720497,
-0.02527312934398651,
-0.004284379072487354,
0.02834281697869301,
-0.020960500463843346,
0.007890790700912476,
0.005899260751903057,
0.018926598131656647,
0.0237665344029665,
-0.004804625175893307,
-0.025536783039569855,
0.04757073521614075,
-0.048851337283849716,
-0.029171442613005638,
0.020094208419322968,
-0.06647849828004837,
0.004272609017789364,
0.05193985998630524,
0.02290024235844612,
0.014896457083523273,
0.029604589566588402,
0.03629010543227196,
0.0007821345934644341,
0.019001927226781845,
0.020960500463843346,
0.003250949317589402,
-0.012429407797753811,
-0.02676089107990265,
0.0793222188949585,
0.01415257528424263,
-0.05227884277701378,
-0.022617755457758904,
-0.038531165570020676,
0.04222232103347778,
0.04459520801901817,
-0.08188343048095703,
0.01021659653633833,
-0.021958621218800545,
-0.009340887889266014,
0.05499071255326271,
0.020791009068489075,
-0.011600780300796032,
-0.004373833071440458,
-0.04591348022222519,
-0.03595111891627312,
0.013926586136221886,
-0.03333341330289841,
0.0476083979010582,
-0.07574405521154404,
0.025951096788048744,
-0.004239652305841446,
0.02531079389154911,
-0.011478370055556297,
-0.0315631628036499,
0.0035452060401439667,
-0.011544283479452133,
0.02822982147336006,
0.04696809500455856,
-0.015725083649158478,
-0.0020386110991239548,
-0.020828673616051674,
-0.052806150168180466,
0.02256125770509243,
-0.009496255777776241,
0.014557473361492157,
-0.0148587916046381,
0.026779724285006523,
0.04188333824276924,
-0.0236912053078413,
-0.040150754153728485,
0.0009045454207807779,
0.05393609777092934,
-0.03359706699848175,
-0.06323932111263275,
-0.01298496499657631,
0.0236912053078413,
0.060339126735925674,
-0.047646064311265945,
0.01693977601826191,
0.031619660556316376,
0.08467063307762146,
-0.0023540544789284468,
-0.033239249140024185,
-0.005541444290429354,
0.01257065124809742,
0.00017361152276862413,
0.016506630927324295,
0.013710013590753078,
-0.01773073896765709,
0.06139374151825905,
-0.010546164587140083,
-0.04459520801901817,
-0.01527310535311699,
0.006497190333902836,
-0.030000070109963417,
-0.04655378311872482,
0.01697744056582451,
-0.0034227953292429447,
0.03625243902206421,
-0.013286283239722252,
0.03337107598781586,
-0.015226024203002453,
0.048474691808223724,
0.006977417506277561,
-0.04082871973514557,
-0.02431267499923706,
0.016789115965366364,
-0.027740178629755974,
-0.019265582785010338,
0.00934559665620327,
0.034783508628606796,
0.004084284417331219,
-0.03126184269785881,
-0.015480262227356434,
-0.007674217689782381,
0.03308859094977379,
-0.03497183322906494,
-0.011421872302889824,
-0.010056520812213421,
0.0037429467774927616,
-0.034614019095897675,
0.08150678128004074,
-0.0011993907392024994,
0.000826273113489151,
-0.017580078914761543,
0.0513748861849308,
-0.013323948718607426,
0.13310766220092773,
-0.02448216639459133,
0.034444525837898254,
-0.0038253385573625565,
-0.00278955465182662,
-0.01244824007153511,
0.03135600686073303,
-0.053182799369096756,
-0.001001650234684348,
0.033823054283857346,
-0.03764604032039642,
-0.014811711385846138,
-0.021073495969176292,
-0.03197747468948364,
-0.03800385445356369,
0.0026412492152303457,
-0.030188394710421562,
0.036647919565439224,
-0.050508592277765274,
-0.029736416414380074,
-0.022033950313925743,
0.002742473501712084,
0.07480243593454361,
0.05894552543759346,
0.01188326720148325,
0.03412437438964844,
-0.08346536010503769,
-0.018926598131656647,
-0.012928467243909836,
0.0187759380787611,
0.01442564558237791,
0.03790969401597977,
0.014322067610919476,
0.0198117233812809,
-0.028003832325339317,
0.0019362098537385464,
0.021619636565446854,
-0.05073458328843117,
-0.02627124823629856,
-0.01753299869596958,
0.005602649878710508,
-0.017335256561636925,
0.01640305109322071,
-0.01315445639193058,
0.008738250471651554,
0.00002907625093939714,
0.022843744605779648,
-0.009482131339609623,
0.0054284497164189816,
0.048851337283849716,
-0.02984941191971302,
0.008314520120620728,
-0.026704395189881325,
-0.04956697300076485,
0.012796640396118164,
0.0002816037740558386,
0.02035786397755146,
-0.03924679756164551,
0.031902145594358444,
0.004957638680934906,
-0.007749547250568867,
0.02555561624467373,
-0.05450107157230377,
0.03630893677473068,
0.02984941191971302,
-0.03201514109969139,
-0.008083823136985302,
-0.03645959496498108,
0.032241132110357285,
0.0025565032847225666,
-0.05924684554338455,
0.05133721977472305,
0.07559339702129364,
-0.0060593364760279655,
-0.0013818299630656838,
-0.03414320573210716,
0.05258016288280487,
0.09401152282953262,
-0.00980228278785944,
-0.0751790851354599,
-0.04956697300076485,
-0.0734088346362114,
0.005150671117007732,
0.006195871625095606,
-0.01960456557571888,
-0.007306985091418028,
-0.05227884277701378,
0.028116827830672264,
-0.04587581381201744,
0.010546164587140083,
-0.00755651481449604,
-0.033691227436065674,
-0.05664796754717827,
-0.015612089075148106,
-0.005240125115960836,
0.0013418110320344567,
-0.03380422294139862,
0.050018951296806335,
0.018465204164385796,
-0.04474586620926857,
0.0029543384443968534,
-0.018220381811261177,
-0.018295710906386375,
-0.02414318360388279,
0.03828634321689606,
0.0005979298730380833,
0.0207345113158226,
0.0456121601164341,
-0.0031073519494384527,
-0.10154449194669724,
0.02273075096309185,
0.06610184907913208,
0.01607348397374153,
0.025028306990861893,
-0.01456688903272152,
0.0108663160353899,
0.024124350398778915,
-0.04158201813697815,
-0.034444525837898254,
0.010141266509890556,
-0.023992523550987244,
0.038192179054021835,
-0.020470857620239258,
-0.024783486500382423,
0.03088519535958767,
-0.010941645130515099,
0.0024317381903529167,
-0.001792612485587597,
-0.014934121631085873,
0.02527312934398651,
-0.007594179827719927,
-0.019755225628614426,
0.07672334462404251,
0.016177061945199966,
-0.02297557145357132,
0.012410575523972511,
-0.02617708593606949,
-0.00044373926357366145,
-0.021054662764072418,
0.009411510080099106,
0.05581934005022049,
0.008182693272829056,
0.0031120600178837776,
-0.0692657008767128,
0.009990607388317585,
-0.025819269940257072,
0.036779746413230896,
0.010480250231921673,
-0.0006302981055341661,
-0.015969906002283096,
-0.022165777161717415,
-0.014802294783294201,
-0.000410193984862417,
0.029529260471463203,
0.010649742558598518,
-0.05468939244747162,
-0.02393602579832077,
0.001237055636011064,
-0.01145012117922306,
-0.0454615019261837,
0.029661087319254875,
-0.025875767692923546,
-0.04836169630289078,
-0.028964286670088768,
0.04870067909359932,
0.04602647200226784,
0.05589466914534569,
-0.025706274434924126,
-0.03039555251598358,
0.030791033059358597,
-0.017909646034240723,
0.04519784823060036,
-0.004472703672945499,
0.02393602579832077,
0.032071638852357864,
-0.005574401002377272,
0.003596995258703828,
0.03414320573210716,
0.0010410805698484182,
-0.012297580949962139,
-0.036855075508356094,
0.015951072797179222,
-0.04192100092768669,
0.0238041989505291,
-0.008907741867005825,
0.008615839295089245,
0.0010646211449056864,
0.04693043231964111,
-0.022372933104634285,
0.041356030851602554,
-0.033615898340940475,
-0.02252359315752983,
0.025084804743528366,
0.016845613718032837,
0.033276915550231934,
-0.021751463413238525,
-0.04986828938126564,
0.02280608005821705,
0.011233547702431679,
-0.037156395614147186,
-0.00573447672650218,
-0.017203429713845253,
-0.00529662286862731,
-0.03504716232419014,
0.024463335052132607,
-0.05190219357609749,
0.04067806154489517,
0.030696870759129524,
0.03849349915981293,
-0.013832423835992813,
-0.030565043911337852,
-0.0033827763982117176,
0.0027636599261313677,
0.060301460325717926,
0.010376672260463238,
0.0025376707781106234,
-0.024670490995049477,
0.028418146073818207,
-0.015593256801366806,
-0.05367244407534599,
0.03250478580594063,
-0.004343230742961168,
-0.0021798545494675636,
-0.01354993786662817,
-0.04041440784931183,
0.005108298268169165,
-0.004390311427414417,
-0.01257065124809742,
0.048022713512182236,
0.01893601380288601,
0.011986845172941685,
-0.002326982794329524,
-0.014444478787481785,
-0.024049021303653717,
-0.0008980717975646257,
-0.01159136462956667,
-0.027608351781964302,
0.04286262392997742,
-0.024406837299466133,
0.009717537090182304,
-0.02792850323021412,
-0.04500952363014221,
-0.05254249647259712,
-0.014632802456617355,
0.06161973252892494,
-0.042598970234394073,
0.04900199919939041,
0.011525451205670834,
-0.004564511589705944,
-0.036026451736688614,
-0.019623398780822754,
0.018173301592469215,
0.0054284497164189816,
0.011619613505899906,
-0.01960456557571888,
-0.03510366007685661,
-0.011374791152775288,
-0.03583812713623047,
0.015018867328763008,
-0.060376789420843124,
0.02235410176217556,
-0.008521676994860172,
-0.01258948352187872,
0.012259915471076965,
-0.0217702966183424,
-0.038644157350063324,
0.02854997292160988,
-0.002890778938308358,
0.03992476314306259,
0.017184598371386528,
-0.015517927706241608,
-0.007740131113678217,
0.003674678970128298,
0.006257076747715473,
-0.016553711146116257,
-0.017890814691781998,
-0.013484024442732334,
0.010084769688546658,
-0.02060268446803093,
-0.029698751866817474,
-0.011647861450910568,
0.016261808574199677,
-0.01864411123096943,
0.0256874430924654,
-0.0083898501470685,
0.007561223115772009,
-0.08670453727245331,
-0.008573466911911964,
0.029209109023213387,
-0.011619613505899906,
-0.013389862142503262,
-0.010546164587140083,
0.011327710002660751,
-0.007038623094558716,
0.019256165251135826,
0.029001951217651367,
0.029661087319254875,
0.050470929592847824,
0.010574412532150745,
0.05453873425722122,
0.0035499141085892916,
-0.026817388832569122,
0.014472726732492447,
-0.020998166874051094,
-0.02273075096309185,
0.015395516529679298,
0.013455775566399097,
-0.04467053711414337,
0.01219400204718113,
0.036817412823438644,
-0.005386076867580414,
0.004444454796612263,
0.01568741910159588,
0.00017022756219375879,
-0.03005656786262989,
0.026233583688735962,
-0.015376684255897999,
-0.016327721998095512,
-0.0020562666468322277,
-0.017890814691781998,
-0.002467049052938819,
-0.004161968361586332,
-0.026742059737443924,
-0.01342752669006586,
0.0021104097831994295,
0.009180812165141106,
-0.013126207515597343,
-0.012900218367576599,
-0.015423765406012535,
-0.0015454367967322469,
0.013182705268263817,
-0.012015094049274921,
0.004665736109018326,
-0.00328390602953732,
-0.019001927226781845,
0.012730726972222328,
-0.02143131196498871,
-0.0317138209939003,
-0.004298503510653973,
0.0316384918987751,
0.025706274434924126,
-0.012222250923514366,
-0.01639363542199135,
0.023088566958904266,
-0.0026459572836756706,
-0.014887040480971336,
-0.024162014946341515,
0.026610232889652252,
0.061544399708509445,
-0.02242943085730076,
-0.020659182220697403,
0.033615898340940475,
0.013785343617200851,
0.021337149664759636,
-0.036949239671230316,
-0.004809333477169275,
0.00799436867237091,
0.027401193976402283,
-0.02926560491323471,
0.024067852646112442,
0.04380424693226814,
-0.0040372032672166824,
0.017787236720323563,
-0.03451985493302345,
0.013681764714419842,
0.00559794157743454,
0.022297604009509087,
-0.004326752386987209,
0.040941715240478516,
-0.04440688341856003,
0.017335256561636925,
0.04508485272526741,
-0.0024764654226601124,
0.004585698246955872,
0.041732680052518845,
-0.0026224167086184025,
-0.0035381438210606575,
-0.03920913115143776,
-0.008644088171422482,
0.014350316487252712,
0.043766580522060394,
-0.002006831578910351,
-0.02606409229338169,
0.02843697927892208,
0.018427537754178047,
-0.020169539377093315,
-0.002507067983970046,
-0.008479304611682892,
-0.023860696703195572,
0.020075377076864243,
0.02355937659740448,
0.030000070109963417,
0.01656312681734562,
0.02892662212252617,
-0.022297604009509087,
0.012532985769212246,
0.012476488947868347,
0.014632802456617355,
-0.011271213181316853,
-0.01494353823363781,
-0.010329591110348701,
-0.026779724285006523,
0.031186513602733612,
-0.032278794795274734,
0.04037674143910408,
-0.00008842417446430773,
-0.004580989945679903,
0.03291909769177437,
0.01519777625799179,
0.02039552852511406,
0.028173323720693588,
0.0733335092663765,
-0.02152547426521778,
0.012354077771306038,
0.007613012101501226,
-0.039397455751895905,
0.012203418649733067,
-0.011836186051368713,
0.03193981200456619,
0.02139364741742611,
-0.014039580710232258,
0.003674678970128298,
0.003559330478310585,
0.0034486898221075535,
-0.004934098105877638,
-0.0022292896173894405,
0.011327710002660751,
-0.013333364389836788,
0.0395481139421463,
0.01843695528805256,
0.00046639706124551594,
-0.0376272089779377,
-0.012344662100076675,
-0.0052071684040129185,
-0.005706228315830231,
-0.0013971313601359725,
-0.03890781104564667,
-0.02465165965259075,
0.05822989344596863,
-0.023823032155632973,
0.03133717179298401,
0.01935974508523941,
-0.00976461824029684,
-0.009444466792047024,
-0.057175274938344955,
-0.028870124369859695,
-0.02210927940905094,
-0.01661020889878273,
-0.011986845172941685,
-0.001591340871527791,
-0.04192100092768669,
-0.06568753719329834,
-0.031111184507608414,
0.010621493682265282,
-0.008752374909818172,
-0.029698751866817474,
-0.03516015782952309,
0.008314520120620728,
-0.02077217772603035,
-0.04504718631505966,
0.011770272627472878,
0.02318272925913334,
-0.011393623426556587,
0.00755651481449604,
-0.02314506471157074,
-0.042146991938352585,
-0.04798504710197449,
-0.03704340010881424,
0.024745820090174675,
-0.015367267653346062,
-0.02389836125075817,
-0.016290057450532913,
0.012928467243909836,
0.0069162119179964066,
0.0037194062024354935,
-0.04907732829451561,
0.01939740963280201,
0.008187401108443737,
-0.0148587916046381,
-0.00026512538897804916,
-0.028568806126713753,
0.022824913263320923,
-0.015499094501137733,
-0.023239227011799812,
0.005729768890887499,
0.0006273555336520076,
-0.005409617442637682,
-0.003879481926560402,
-0.02359704300761223,
-0.029943574219942093,
-0.02410551905632019,
0.01943507418036461,
-0.012391743250191212,
-0.01952923648059368,
-0.007820169441401958,
-0.037156395614147186,
0.015000035054981709,
0.039397455751895905,
0.03717522695660591,
-0.006101709324866533,
-0.020339030772447586,
-0.005513195879757404,
0.042975619435310364,
0.01525427307933569,
0.005979298613965511,
-0.04391724243760109,
-0.004750481806695461,
-0.02256125770509243,
-0.013013212941586971,
-0.02593226358294487,
0.02005654387176037,
0.060339126735925674,
0.018210966140031815,
-0.08067815750837326,
-0.016421884298324585,
-0.03580046072602272,
0.018201548606157303,
0.05732593685388565,
-0.04500952363014221,
0.059284508228302,
-0.008860660716891289,
0.01581924594938755,
-0.0038630033377557993,
0.0018173301359638572,
-0.00851226132363081,
-0.017297592014074326,
0.04308861494064331,
0.03966110944747925,
0.0276836808770895,
-0.06787209957838058,
0.0345575213432312,
0.013399277813732624,
-0.0009410333004780114,
-0.00503767654299736,
-0.03359706699848175,
-0.04873834550380707,
-0.003253303235396743,
-0.015583841130137444,
-0.06621484458446503,
0.013455775566399097,
0.008403974585235119,
0.03529198467731476,
-0.020828673616051674,
-0.010772153735160828,
-0.008686461485922337,
-0.020131874829530716,
-0.02664789743721485,
0.03414320573210716,
-0.007561223115772009,
0.022881409153342247,
0.024237345904111862,
-0.021092329174280167,
0.02077217772603035,
0.007768379990011454,
0.020339030772447586,
0.0007415271829813719,
0.023088566958904266,
-0.01652546226978302,
0.0014077245723456144,
-0.008879493921995163,
0.023258058354258537,
-0.010301342234015465,
-0.010546164587140083,
-0.014105494134128094,
0.017749570310115814,
0.002243414055556059,
0.006068752612918615,
0.052467167377471924,
0.03280610218644142,
0.01898309588432312,
0.05054625868797302,
-0.002883716719225049,
-0.006610184907913208,
-0.01797555945813656,
0.020489690825343132,
0.041356030851602554,
-0.043352268636226654,
0.010941645130515099,
-0.016412468627095222,
0.025329627096652985,
-0.007518850266933441,
-0.024049021303653717,
0.01121471542865038,
-0.01636538654565811,
-0.003401608671993017,
-0.021167658269405365,
-0.03367239609360695,
0.02864413522183895,
0.02493414469063282,
0.04403023421764374,
-0.0027471815701574087,
-0.0045456793159246445,
0.009048985317349434,
0.03512249141931534,
-0.020000047981739044,
0.00557910930365324,
-0.00573447672650218,
-0.017504749819636345,
-0.006012255325913429,
-0.002311681630089879,
-0.022128112614154816,
-0.01213750522583723,
-0.009298515506088734,
0.0029260898008942604,
-0.007815460674464703,
0.0632016584277153,
0.03167615830898285,
-0.006906795781105757,
-0.033484071493148804,
0.0007156325737014413,
0.016177061945199966,
-0.017382338643074036,
-0.012222250923514366,
0.01050849910825491,
-0.03951045125722885,
0.02410551905632019,
0.0028413438703864813,
-0.00853109359741211,
-0.0047245873138308525,
0.04512251541018486,
-0.013126207515597343,
0.017033938318490982,
-0.001141127897426486,
-0.009971775114536285,
-0.059623491019010544,
0.0276836808770895,
0.018079139292240143,
0.00656781205907464,
0.032448288053274155,
-0.046478454023599625,
0.004251422360539436,
0.00356403854675591,
0.004515076521784067,
0.001596048939973116,
0.0006767906597815454,
0.0022904949728399515,
-0.02589459903538227,
0.032203465700149536,
0.033691227436065674,
-0.030753368511795998,
0.0006685514817945659,
0.004390311427414417,
-0.05291914567351341,
0.00027542439056560397,
-0.019133755937218666,
-0.01998121477663517,
-0.002737765433266759,
-0.021299485117197037,
-0.011939764022827148,
0.009830531664192677,
-0.019849387928843498,
-0.00822035875171423,
0.056421976536512375,
0.024237345904111862,
-0.0019103152444586158,
-0.011873850598931313,
-0.029905907809734344,
-0.0394727848470211,
0.0045127226039767265,
0.004359709098935127,
-0.061167750507593155,
0.0034769384656101465,
-0.025725107640028,
-0.012485905550420284,
0.04395490512251854,
0.0024599870666861534,
-0.00560735771432519,
-0.055179037153720856,
-0.03700573742389679,
-0.04229765012860298
] |
Deep generative models are key-enabling technology to computer vision, text
generation and large language models. Denoising diffusion probabilistic models
(DDPMs) have recently gained much attention due to their ability to generate
diverse and high-quality samples in many computer vision tasks, as well as to
incorporate flexible model architectures and relatively simple training scheme.
Quantum generative models, empowered by entanglement and superposition, have
brought new insight to learning classical and quantum data. Inspired by the
classical counterpart, we propose the quantum denoising diffusion probabilistic
models (QuDDPM) to enable efficiently trainable generative learning of quantum
data. QuDDPM adopts sufficient layers of circuits to guarantee expressivity,
while introduces multiple intermediate training tasks as interpolation between
the target distribution and noise to avoid barren plateau and guarantee
efficient training. We demonstrate QuDDPM's capability in learning correlated
quantum noise model and learning topological structure of nontrivial
distribution of quantum data. | [
-0.033262427896261215,
0.0035392872523516417,
-0.025088850408792496,
0.05376967787742615,
0.04427659884095192,
-0.026096804067492485,
0.009905423037707806,
0.012306181713938713,
-0.007527571637183428,
0.043726805597543716,
0.01763000339269638,
0.007958241738379002,
0.024355795234441757,
0.0006122165359556675,
-0.013497398234903812,
0.07726413011550903,
-0.03126484900712967,
-0.01942599192261696,
0.014936021529138088,
-0.04559610038995743,
0.013268318958580494,
0.024117551743984222,
-0.05717838928103447,
0.015604935586452484,
0.02857086807489395,
0.039475079625844955,
0.018628792837262154,
-0.004432699643075466,
-0.0617966428399086,
0.0725359171628952,
-0.02628006786108017,
0.0033812220208346844,
0.0038874889723956585,
-0.0469522550702095,
-0.02961547300219536,
0.02717806212604046,
0.026829859241843224,
0.007083156146109104,
-0.039841607213020325,
-0.0020663023460656404,
0.03067840449512005,
-0.01964590884745121,
-0.03951173275709152,
0.006817423272877932,
0.013002585619688034,
-0.026884838938713074,
-0.011261576786637306,
-0.010885885916650295,
0.02197336219251156,
-0.024997219443321228,
-0.00825604610145092,
-0.02622508816421032,
-0.0004418382013682276,
-0.001669993856921792,
-0.06531531363725662,
0.005268841981887817,
0.041490983217954636,
0.03170468285679817,
0.0880400612950325,
-0.018619628623127937,
0.007481755688786507,
0.012315344996750355,
-0.06509539484977722,
-0.01732761785387993,
-0.011903000995516777,
0.012965932488441467,
0.02213829942047596,
-0.024539059028029442,
0.029322251677513123,
-0.01175639033317566,
-0.06366593390703201,
-0.015834014862775803,
0.010015381500124931,
0.037184279412031174,
0.01642962358891964,
0.05560231953859329,
0.011793042533099651,
0.04295709729194641,
0.03747750073671341,
0.0053971270099282265,
-0.0063363551162183285,
0.004166966769844294,
-0.04028144106268883,
-0.032364435493946075,
0.06938377767801285,
-0.05373302474617958,
-0.006789933890104294,
-0.04570605978369713,
0.07638446241617203,
-0.008246882818639278,
-0.019920803606510162,
0.030403509736061096,
0.01852799765765667,
-0.04746539518237114,
0.008104853332042694,
0.020745491608977318,
-0.03553490340709686,
-0.011252413503825665,
-0.004279215820133686,
0.0028726642485708,
-0.0029253526590764523,
0.000864777306560427,
0.0366528145968914,
0.03047681413590908,
0.004345649387687445,
-0.05208364874124527,
-0.015375855378806591,
0.04555944725871086,
0.025931864976882935,
0.09331806004047394,
-0.008049874566495419,
-0.003310207277536392,
-0.049664560705423355,
0.06051379442214966,
-0.023604411631822586,
0.022706417366862297,
-0.06366593390703201,
-0.04116110876202583,
-0.009268580004572868,
-0.08202899992465973,
0.007632948458194733,
0.032199498265981674,
-0.02124030515551567,
0.020947083830833435,
-0.007545898202806711,
0.060550447553396225,
-0.016356317326426506,
0.015064306557178497,
0.0037500408943742514,
0.022541480138897896,
-0.049078118056058884,
0.008764604106545448,
-0.03595640882849693,
-0.012773505412042141,
0.009942075237631798,
-0.029029028490185738,
0.018802892416715622,
-0.006088948808610439,
-0.005763655062764883,
-0.048015184700489044,
0.030989954248070717,
-0.059377558529376984,
0.01573321968317032,
-0.02649998478591442,
0.0023411985021084547,
0.011673920787870884,
-0.011967143975198269,
0.060293879359960556,
0.017813267186284065,
0.003223156789317727,
-0.04057466611266136,
0.06392250955104828,
0.008645482361316681,
0.005772818345576525,
0.034746866673231125,
0.04156428948044777,
-0.0046778153628110886,
-0.015348365530371666,
0.01622803322970867,
-0.09075236320495605,
0.01981084607541561,
-0.027251366525888443,
0.02224825695157051,
0.03366560861468315,
-0.039218511432409286,
0.007678764406591654,
0.07462512701749802,
-0.011096639558672905,
-0.014129659160971642,
0.009749648161232471,
0.028589194640517235,
0.056188762187957764,
-0.023274537175893784,
-0.03540661931037903,
-0.03344569355249405,
0.05442942678928375,
0.033628955483436584,
-0.009538894519209862,
-0.04273718222975731,
0.012306181713938713,
-0.036121346056461334,
0.01718100719153881,
0.03881533071398735,
0.07535818219184875,
0.0923650935292244,
0.03689105808734894,
0.08056288212537766,
0.008970776572823524,
0.04735543578863144,
0.04354354366660118,
0.022853029891848564,
0.023219557479023933,
0.037404194474220276,
-0.0229813139885664,
0.07579801976680756,
-0.02893739566206932,
-0.03518670052289963,
-0.014422882348299026,
-0.013561541214585304,
0.02717806212604046,
-0.06909055262804031,
-0.03179631754755974,
0.03307916596531868,
-0.025180483236908913,
0.005873613525182009,
0.025418726727366447,
-0.010125339962542057,
0.028332624584436417,
0.014102170243859291,
-0.03346401825547218,
0.0229813139885664,
-0.014908531680703163,
-0.02659161575138569,
-0.06307949125766754,
0.02255980670452118,
-0.034215401858091354,
-0.04962791129946709,
-0.019352685660123825,
-0.011160781607031822,
-0.0409778468310833,
-0.02288968116044998,
-0.015229243785142899,
0.037184279412031174,
0.005823215935379267,
-0.030183592811226845,
-0.03416042402386665,
-0.045999281108379364,
0.03174133598804474,
-0.04805183783173561,
0.02644500508904457,
0.007284746505320072,
0.03146643936634064,
0.018436364829540253,
-0.019847499206662178,
0.045156266540288925,
0.0039378865621984005,
0.0071243904531002045,
0.0203239843249321,
0.019939130172133446,
-0.013708151876926422,
-0.016081422567367554,
0.01348823495209217,
-0.049298033118247986,
-0.034581929445266724,
0.029743758961558342,
0.03285924717783928,
-0.011463167145848274,
0.0035644860472530127,
0.062016561627388,
0.017171842977404594,
-0.019737539812922478,
-0.002010177820920944,
-0.019297705963253975,
-0.03218116983771324,
-0.06315279752016068,
-0.01942599192261696,
0.012095428071916103,
-0.04592597484588623,
-0.07968321442604065,
-0.07689760625362396,
0.012031286023557186,
0.05431947112083435,
0.0054475245997309685,
0.03340904042124748,
-0.05409955233335495,
0.016154726967215538,
0.021680139005184174,
0.004006610717624426,
0.03822888433933258,
0.03291422501206398,
-0.008705043233931065,
0.0012576496228575706,
-0.04343358427286148,
-0.03529665991663933,
0.03322577476501465,
-0.04841836541891098,
0.014404555782675743,
-0.010455215349793434,
0.032511044293642044,
-0.005209281109273434,
0.018592139706015587,
-0.027947770431637764,
0.0024167948868125677,
-0.043616849929094315,
-0.012874300591647625,
-0.029560493305325508,
-0.03359230235219002,
-0.012251202948391438,
-0.08004974573850632,
0.021533528342843056,
-0.005332984495908022,
0.03689105808734894,
-0.046695683151483536,
0.00711522763594985,
0.06806427240371704,
-0.000014201175872585736,
-0.04962791129946709,
-0.016163891181349754,
0.03461858257651329,
0.04288379102945328,
-0.033995483070611954,
0.014963511377573013,
0.00848054513335228,
0.02840593084692955,
-0.07030009478330612,
0.01077592745423317,
0.007784141227602959,
0.016869457438588142,
0.024997219443321228,
-0.017895735800266266,
0.029688779264688492,
-0.009383120574057102,
-0.004615963902324438,
-0.024594038724899292,
-0.039694998413324356,
0.01606309600174427,
0.039841607213020325,
0.0014225873164832592,
-0.0180515106767416,
-0.019206074997782707,
0.03767909109592438,
0.029597146436572075,
-0.1036541536450386,
-0.01900448463857174,
0.04548614099621773,
-0.009099060669541359,
0.0283509511500597,
0.04830840975046158,
-0.03951173275709152,
0.03749582916498184,
0.018702097237110138,
-0.08202899992465973,
-0.042553916573524475,
0.01192132756114006,
0.045156266540288925,
-0.004418954718858004,
-0.027379652485251427,
0.0406479686498642,
-0.0030628007370978594,
-0.03749582916498184,
0.022010015323758125,
-0.004879405722022057,
-0.02532709389925003,
0.00270085409283638,
0.013634846545755863,
-0.06121020019054413,
-0.030146939679980278,
0.031613051891326904,
0.008952450007200241,
0.011591452173888683,
0.001003943500109017,
0.001401970162987709,
-0.04438655823469162,
0.039475079625844955,
0.03951173275709152,
-0.018353896215558052,
0.030220244079828262,
0.015165101736783981,
-0.010455215349793434,
0.0012736852513626218,
-0.018729588016867638,
-0.017721636220812798,
-0.005795726086944342,
0.027892790734767914,
-0.09661681950092316,
-0.01629217527806759,
-0.05197368934750557,
-0.054172858595848083,
-0.04189416766166687,
0.01199463289231062,
0.03483849763870239,
0.0714363306760788,
-0.09031253308057785,
0.06458225846290588,
-0.024942239746451378,
-0.03291422501206398,
-0.06454560160636902,
-0.02644500508904457,
-0.029084008187055588,
0.03630461171269417,
-0.048015184700489044,
0.06186994910240173,
0.009960401803255081,
-0.010730111040174961,
0.0028337205294519663,
-0.0037614949978888035,
-0.0034980529453605413,
0.010464378632605076,
-0.046329155564308167,
0.0025886050425469875,
-0.007358052302151918,
-0.031026607379317284,
-0.031191544607281685,
-0.005694930907338858,
0.030641751363873482,
0.006427987013012171,
0.002118990756571293,
-0.038888636976480484,
0.02866250090301037,
-0.028369277715682983,
-0.01620054431259632,
0.024832280352711678,
-0.016695355996489525,
0.02213829942047596,
0.010262787342071533,
-0.011426514945924282,
0.004336486104875803,
0.0030330203007906675,
0.03372059017419815,
-0.031979579478502274,
-0.036176327615976334,
-0.04310370981693268,
-0.009538894519209862,
0.016466276720166206,
0.02893739566206932,
-0.034911803901195526,
-0.04288379102945328,
0.060183919966220856,
-0.007390123326331377,
-0.01305756438523531,
0.04039140045642853,
0.02017737366259098,
0.04028144106268883,
0.0042975423857569695,
-0.03238276019692421,
0.07682429999113083,
0.05915763974189758,
-0.004020355641841888,
0.04559610038995743,
-0.0614667683839798,
0.0717662125825882,
0.021221978589892387,
0.0002780459471978247,
-0.057105083018541336,
-0.045742712914943695,
0.008164414204657078,
-0.032364435493946075,
0.021790098398923874,
-0.02659161575138569,
0.048015184700489044,
-0.002286219270899892,
0.013689826242625713,
-0.003967666998505592,
-0.003353732405230403,
-0.04720882326364517,
0.013158360496163368,
-0.06740452349185944,
-0.035388290882110596,
-0.07352554053068161,
-0.03276761621236801,
-0.0366528145968914,
-0.009456425905227661,
-0.05124063417315483,
-0.013818110339343548,
0.04358019679784775,
-0.023915961384773254,
-0.013204175978899002,
0.004957293160259724,
0.06088032200932503,
-0.01693359948694706,
0.05028766021132469,
0.045412834733724594,
0.016970252618193626,
-0.0569218210875988,
0.011142455041408539,
0.0181339792907238,
0.0025473705027252436,
-0.04222404211759567,
-0.017813267186284065,
0.02336616814136505,
0.03456360474228859,
-0.04981117323040962,
-0.0464024618268013,
0.002797067863866687,
0.008792093954980373,
0.045156266540288925,
0.010656805709004402,
-0.07667768746614456,
0.006203488912433386,
-0.00888830702751875,
0.03848545253276825,
-0.02813103422522545,
0.007426776457577944,
0.002691691042855382,
-0.015559119172394276,
0.019499296322464943,
0.09683673083782196,
0.005355892237275839,
0.0027512519154697657,
0.026481658220291138,
-0.035168375819921494,
-0.03707432001829147,
0.03885198384523392,
0.019829172641038895,
0.0051634651608765125,
-0.0359380841255188,
0.010950027965009212,
-0.006986942607909441,
0.07125306874513626,
0.03078836388885975,
0.021166998893022537,
-0.06865072250366211,
-0.009286906570196152,
-0.010336093604564667,
-0.015467487275600433,
0.01154563669115305,
0.020269006490707397,
-0.043873418122529984,
-0.05354975908994675,
-0.00680825999006629,
0.021460222080349922,
0.04343358427286148,
-0.03837549686431885,
-0.04735543578863144,
0.005296331364661455,
-0.011600615456700325,
-0.07990313321352005,
-0.03540661931037903,
0.011389861814677715,
0.04434990510344505,
0.012663546949625015,
-0.024923913180828094,
0.021588508039712906,
0.014624472707509995,
-0.061136893928050995,
0.06472887098789215,
0.02739797718822956,
-0.031979579478502274,
-0.013002585619688034,
-0.019627582281827927,
-0.04050135985016823,
0.051680468022823334,
0.019499296322464943,
-0.057581569999456406,
-0.0066387406550347805,
0.006240141578018665,
-0.017868246883153915,
-0.026848185807466507,
-0.0365428552031517,
-0.022266583517193794,
0.03205288574099541,
0.040904540568590164,
0.02188172936439514,
0.003477435791864991,
0.039218511432409286,
-0.016777824610471725,
-0.014028863981366158,
-0.04061131924390793,
-0.0055987173691391945,
-0.012461956590414047,
-0.008993684314191341,
-0.022211605682969093,
-0.006652485579252243,
0.003985993564128876,
-0.056188762187957764,
-0.04522957280278206,
-0.05549236014485359,
-0.03335405886173248,
-0.004819844849407673,
-0.06674477458000183,
-0.004354812204837799,
0.028149360790848732,
0.024557385593652725,
0.010913374833762646,
-0.005305494647473097,
-0.03122819773852825,
0.047392088919878006,
0.06165003404021263,
-0.011179108172655106,
0.02395261451601982,
-0.00694112665951252,
-0.0027993586845695972,
-0.031136564910411835,
-0.0015863795997574925,
0.0115731256082654,
0.01136237196624279,
0.037605784833431244,
-0.014505350962281227,
-0.008366004563868046,
0.005690349265933037,
0.00026931226602755487,
-0.03896193951368332,
0.0026183854788541794,
0.06073371320962906,
0.03452695161104202,
-0.03186962008476257,
-0.013240829110145569,
-0.026481658220291138,
0.012718526646494865,
-0.007857446558773518,
-0.02241319604218006,
0.05267009139060974,
-0.0051863729022443295,
0.002195732668042183,
-0.020415617153048515,
-0.006551690399646759,
0.04405668005347252,
-0.030861668288707733,
0.027782833203673363,
-0.04024478793144226,
-0.02463068999350071,
0.017501719295978546,
0.020837124437093735,
0.008146087639033794,
-0.00971299596130848,
0.014569493010640144,
0.02712308242917061,
-0.005630788393318653,
0.0068724025040864944,
-0.01869293488562107,
-0.00933272298425436,
-0.0042471447959542274,
0.042443957179784775,
-0.03333573415875435,
0.004194456152617931,
0.01855548657476902,
-0.03142978623509407,
-0.01852799765765667,
-0.024172531440854073,
0.0064646401442587376,
0.010336093604564667,
-0.006913636811077595,
0.0356631875038147,
-0.033738914877176285,
-0.00046732337796129286,
-0.0036148836370557547,
-0.05197368934750557,
-0.009062408469617367,
0.017162680625915527,
-0.021936709061264992,
-0.02675655297935009,
0.009286906570196152,
-0.016182217746973038,
-0.0058507053181529045,
-0.00659750634804368,
-0.019774192944169044,
0.01260856818407774,
0.023806001991033554,
0.05468599870800972,
0.0026527473237365484,
-0.014202965423464775,
0.0023148541804403067,
-0.013763131573796272,
0.0027283437084406614,
-0.019077789038419724,
0.02437412180006504,
0.013222502544522285,
0.01844552904367447,
0.035498250275850296,
0.06073371320962906,
0.037514153867959976,
0.018821218982338905,
-0.009428936056792736,
0.055565666407346725,
-0.01369898859411478,
0.0003565058868844062,
0.02703144960105419,
-0.015357528813183308,
0.004606800619512796,
-0.0006099257152527571,
0.04816179722547531,
-0.0000597039979766123,
0.0259685181081295,
0.02138691581785679,
0.01611807383596897,
-0.008883725851774216,
0.019920803606510162,
0.01589815877377987,
0.011463167145848274,
0.02037896402180195,
0.04240730404853821,
-0.05021435394883156,
-0.011252413503825665,
0.016548745334148407,
0.027049776166677475,
-0.03210786357522011,
0.01536669209599495,
-0.009758811444044113,
0.01782243140041828,
-0.010070360265672207,
0.013854763470590115,
-0.05080080032348633,
-0.002510717837139964,
0.013094217516481876,
-0.03282259404659271,
-0.005617043469101191,
0.004815263208001852,
-0.014202965423464775,
-0.014908531680703163,
0.011050823144614697,
-0.03412377089262009,
-0.07447851449251175,
-0.008411820977926254,
0.01248028315603733,
-0.02017737366259098,
-0.011985469609498978,
-0.05673855543136597,
0.017529208213090897,
-0.008026965893805027,
0.00813234318047762,
-0.01927937939763069,
-0.023879308253526688,
0.0102994404733181,
-0.0010262788273394108,
0.02543705329298973,
0.01536669209599495,
0.017135189846158028,
0.037825703620910645,
-0.03590143099427223,
0.0024167948868125677,
0.02675655297935009,
0.0259685181081295,
-0.013763131573796272,
0.012452793307602406,
0.005099322646856308,
0.01573321968317032,
0.005305494647473097,
-0.031136564910411835,
-0.002721471479162574,
0.005094741005450487,
-0.016209706664085388,
0.04094119369983673,
0.03815557807683945,
-0.03668946772813797,
0.05453938618302345,
0.044203292578458786,
0.0015153647400438786,
-0.031026607379317284,
0.03335405886173248,
-0.0031338154803961515,
-0.004829008132219315,
-0.02792944386601448,
0.01933435909450054,
0.002407631604000926,
-0.007064829580485821,
-0.0285158883780241,
0.019920803606510162,
0.05058088153600693,
0.03855875879526138,
-0.014303760603070259,
0.027966096997261047,
-0.027837811037898064,
-0.02882743813097477,
0.016246359795331955,
-0.024997219443321228,
-0.004306705668568611,
-0.03243774175643921,
0.028259318321943283,
0.015934810042381287,
0.019261052832007408,
0.025180483236908913,
-0.0006242432282306254,
0.016365481540560722,
-0.02532709389925003,
-0.006964034400880337,
0.030641751363873482,
0.02347612753510475,
-0.03419707342982292,
0.02415420487523079,
-0.023402821272611618,
0.028222667053341866,
0.02398926578462124,
0.0027512519154697657,
0.03430703282356262,
0.03031187690794468,
-0.03419707342982292,
-0.03526000678539276,
-0.015559119172394276,
0.000799489498604089,
-0.015797361731529236,
0.05278005078434944,
0.019187748432159424,
0.007527571637183428,
0.015971463173627853,
0.030385183170437813,
-0.03441699221730232,
-0.005635370034724474,
-0.029505515471100807,
0.02628006786108017,
0.016072258353233337,
-0.0030925811734050512,
0.0229813139885664,
0.01626468636095524,
0.010427725501358509,
-0.014422882348299026,
-0.027471283450722694,
-0.004565566312521696,
-0.010876722633838654,
0.007298491429537535,
-0.013075890950858593,
-0.02538207359611988,
-0.0002671646361704916,
0.033573977649211884,
-0.03339071199297905,
0.07480838894844055,
0.03153974562883377,
0.0018841837299987674,
0.0625663548707962,
-0.034380339086055756,
-0.03870537132024765,
0.011948817409574986,
-0.00761920353397727,
-0.0046778153628110886,
0.004778610542416573,
-0.008233138360083103,
-0.03238276019692421,
-0.012929280288517475,
-0.03775239735841751,
0.03366560861468315,
0.011765552684664726,
0.03696436062455177,
0.008645482361316681,
0.0102994404733181,
-0.0049114772118628025,
0.01375396829098463,
-0.02706810273230076,
-0.0714363306760788,
0.015568282455205917,
-0.0037202604580670595,
-0.031154891476035118,
-0.043140362948179245,
-0.017025232315063477,
0.00202506803907454,
-0.00715646194294095,
-0.030036980286240578,
0.008650063537061214,
-0.013873090036213398,
-0.01836306042969227,
-0.0022587296552956104,
0.021955035626888275,
0.010418562218546867,
0.028607521206140518,
-0.033793892711400986,
0.005232189316302538,
-0.008146087639033794,
0.037294238805770874,
-0.002549661323428154,
0.036817751824855804,
0.023127924650907516,
-0.002721471479162574,
-0.031723011285066605,
-0.02320123091340065,
-0.004270053002983332,
-0.024539059028029442,
-0.017840756103396416,
0.04423994570970535,
0.029652126133441925,
0.004418954718858004,
-0.007527571637183428,
-0.0023251627571880817,
0.04900481179356575,
-0.033793892711400986,
0.002499263733625412,
-0.0007857446908019483,
-0.025528684258461,
0.0006328337476588786,
-0.03797231614589691,
0.021478548645973206,
-0.0205988809466362,
-0.015806525945663452,
0.017730798572301865,
-0.0009226200636476278,
-0.028699152171611786,
0.02628006786108017,
0.002519880887120962,
0.0030124031472951174,
0.025931864976882935,
-0.039365120232105255,
-0.012095428071916103,
-0.01242530345916748,
-0.00022908009123057127,
0.03153974562883377,
-0.0406479686498642,
0.01573321968317032,
-0.015962300822138786,
0.0050351801328361034,
-0.008159833028912544,
-0.03701934218406677,
-0.008883725851774216,
-0.023384494706988335,
0.0009077298454940319,
0.006061458960175514,
0.018115652725100517,
-0.003177340840920806,
0.03515004739165306,
-0.037605784833431244,
-0.026903165504336357,
0.006858657579869032,
0.015330038964748383,
0.009204437956213951,
0.0012061066227033734,
-0.009978728368878365,
-0.006854075938463211,
0.02798442356288433,
0.03557155653834343,
0.0012083974434062839,
-0.030348530039191246,
-0.021221978589892387,
0.011554799042642117,
-0.016502929851412773,
-0.005245933774858713,
-0.0356631875038147,
-0.021276958286762238,
-0.017785778269171715,
0.025675296783447266,
-0.0414176806807518,
0.023182904347777367,
-0.029505515471100807,
0.021533528342843056,
0.0011053114430978894,
0.0008911215118132532,
0.008869980461895466,
0.038412149995565414,
0.010821742936968803,
0.0416375957429409,
0.006684557069092989,
0.015907321125268936,
-0.011673920787870884,
0.08048957586288452,
-0.017593350261449814,
0.008178158663213253,
0.01863795518875122,
0.0016035606386139989,
0.03254769742488861,
-0.022449849173426628,
-0.05849789083003998,
0.015549955889582634,
-0.0011253559496253729,
-0.014725267887115479,
0.0458526685833931,
-0.012654383666813374,
0.026261741295456886,
0.04200412333011627,
0.006533363834023476,
0.053586412221193314,
-0.009520567953586578,
-0.022633112967014313,
-0.00786660984158516,
-0.026096804067492485,
-0.02664659544825554,
-0.016392970457673073,
-0.031832966953516006,
-0.03137480840086937,
0.017419248819351196,
0.011774715967476368,
-0.028552541509270668,
0.03932846710085869,
0.009044081903994083,
-0.019096115604043007,
0.005181791726499796,
-0.038888636976480484,
0.0001948612480191514,
0.0003335978835821152,
0.014514514245092869,
0.0363229364156723,
-0.016273848712444305,
-0.020140720531344414,
0.00655627204105258,
-0.04783192276954651,
0.010326930321753025,
0.003637791844084859,
0.007394704967737198,
-0.035974737256765366,
-0.013442419469356537,
0.005914847832173109,
-0.005974408704787493,
-0.039365120232105255,
-0.01723598502576351,
-0.05146054923534393,
-0.004462480079382658,
-0.04783192276954651,
-0.04772196337580681,
0.018711261451244354,
0.0016092875739559531,
0.03465523570775986,
0.011005007661879063,
0.02404424548149109,
0.0021522073075175285,
-0.025931864976882935,
-0.015513303689658642,
0.04127106815576553,
-0.03031187690794468,
-0.0028062311466783285,
0.01375396829098463,
0.02765454724431038,
0.015357528813183308,
0.02706810273230076,
-0.018711261451244354,
-0.009296069853007793,
0.004439571872353554,
0.016026442870497704,
-0.03234610706567764,
0.06989691406488419,
0.018857872113585472,
0.024300815537571907,
0.007971987128257751,
-0.0208737775683403,
-0.02941388264298439,
-0.003880616743117571,
0.02336616814136505,
-0.02367771789431572,
-0.03700101375579834,
0.00814150646328926,
0.054869260638952255,
0.05113067477941513,
0.028002750128507614,
0.06249304860830307,
-0.0040890793316066265,
-0.028057727962732315,
0.03472854197025299,
-0.04486304521560669,
-0.04380011186003685,
0.002650456503033638,
0.011701410636305809,
-0.04178420826792717,
0.012471119873225689,
-0.038082271814346313,
0.012855974026024342,
0.006258467677980661,
-0.0031040350440889597,
0.0511673279106617,
-0.03789900988340378,
0.013424092903733253,
-0.028021076694130898
] |
The development of ethical AI systems is currently geared toward setting
objective functions that align with human objectives. However, finding such
functions remains a research challenge, while in RL, setting rewards by hand is
a fairly standard approach. We present a methodology for dynamic value
alignment, where the values that are to be aligned with are dynamically
changing, using a multiple-objective approach. We apply this approach to extend
Deep $Q$-Learning to accommodate multiple objectives and evaluate this method
on a simplified two-leg intersection controlled by a switching agent.Our
approach dynamically accommodates the preferences of drivers on the system and
achieves better overall performance across three metrics (speeds, stops, and
waits) while integrating objectives that have competing or conflicting actions. | [
-0.008805526420474052,
0.007371621206402779,
-0.03216182440519333,
-0.02606050856411457,
0.0029087108559906483,
0.0899222269654274,
-0.02785048447549343,
0.039918385446071625,
-0.05135113373398781,
-0.001992069883272052,
0.007867232896387577,
-0.015936559066176414,
0.0262337327003479,
-0.028678108006715775,
-0.06982830911874771,
0.029024554416537285,
-0.017110629007220268,
0.049426428973674774,
-0.0043859221041202545,
-0.03728153929114342,
-0.0005464358255267143,
-0.019064204767346382,
-0.008906573057174683,
0.08437907695770264,
0.004799733869731426,
0.014752865768969059,
0.022211099043488503,
-0.011009314097464085,
-0.0933866947889328,
0.06178303807973862,
-0.012087148614227772,
0.03397104889154434,
-0.009373314678668976,
0.012048655189573765,
-0.0033634223509579897,
-0.033162672072649,
0.06251442432403564,
-0.013501807115972042,
0.00032058372744359076,
0.09677417576313019,
-0.010624373331665993,
0.020902298390865326,
-0.04677033796906471,
-0.06771112978458405,
0.016937406733632088,
-0.013395948335528374,
-0.018987217918038368,
0.03718530386686325,
-0.026888132095336914,
-0.019141193479299545,
0.03360535204410553,
-0.03031410649418831,
0.04103471711277962,
-0.03293170779943466,
-0.022519052028656006,
-0.004667410161346197,
-0.0023806197568774223,
0.001953575760126114,
0.04596196115016937,
0.016908535733819008,
0.0160039234906435,
-0.0007205615402199328,
-0.03443297743797302,
-0.014310183003544807,
0.014329430647194386,
-0.03843636438250542,
0.04053429141640663,
-0.011509736999869347,
0.019170064479112625,
0.013530678115785122,
-0.037146810442209244,
0.008083761669695377,
-0.09792900085449219,
-0.0024251285940408707,
0.010605125688016415,
-0.03676186874508858,
0.013819383457303047,
0.016417736187577248,
-0.0308530256152153,
0.02323119156062603,
0.014897218905389309,
0.014733618125319481,
-0.014800983481109142,
-0.006394833326339722,
0.08137653768062592,
-0.03474092856049538,
0.059973813593387604,
-0.050311796367168427,
0.0016805082559585571,
-0.03264300152659416,
-0.044306714087724686,
0.0017755405278876424,
-0.0037579869385808706,
-0.002117175841704011,
-0.03757024556398392,
-0.010797596536576748,
0.02502116747200489,
0.0044508809223771095,
-0.0576641671359539,
-0.010066208429634571,
0.0006766541628167033,
-0.0028196931816637516,
-0.0037844516336917877,
0.022750016301870346,
0.002301225671544671,
-0.04057278484106064,
-0.01921818219125271,
0.02288474515080452,
-0.007905726321041584,
0.12749247252941132,
-0.007535221055150032,
0.03984139859676361,
-0.028697354719042778,
0.004159769043326378,
-0.07687272876501083,
0.018573405221104622,
-0.024713214486837387,
-0.05454614758491516,
0.027484791353344917,
-0.03304718807339668,
0.016427358612418175,
0.023731615394353867,
0.06155207380652428,
-0.08368618041276932,
0.00254301680251956,
-0.006293786223977804,
-0.033008694648742676,
0.016427358612418175,
0.017947876825928688,
0.012626065872609615,
0.02588728442788124,
-0.0018922258168458939,
-0.04769419506192207,
-0.02323119156062603,
0.03298944607377052,
0.020440369844436646,
0.007746938616037369,
-0.022865498438477516,
0.003464469453319907,
0.03354761376976967,
-0.026426203548908234,
-0.04526906833052635,
-0.037974435836076736,
0.05654783919453621,
0.03972591459751129,
0.0116733368486166,
0.041650619357824326,
0.0466933473944664,
0.01652359403669834,
-0.006072444841265678,
-0.06963583827018738,
0.019555004313588142,
-0.028216179460287094,
0.036858104169368744,
0.05431518331170082,
0.0073764328844845295,
-0.04230502247810364,
-0.00700592715293169,
0.015734465792775154,
-0.04022634029388428,
0.066325344145298,
0.0031661400571465492,
-0.027985213324427605,
0.07433211803436279,
0.05504656955599785,
0.0032647813204675913,
0.04449918493628502,
-0.017582181841135025,
-0.09130801260471344,
0.06624835729598999,
-0.034105777740478516,
-0.032258059829473495,
0.010306796059012413,
0.03805142268538475,
0.01956462860107422,
0.004102027975022793,
0.07706519961357117,
-0.026137497276067734,
-0.008367655798792839,
-0.00004255403109709732,
-0.045230571180582047,
-0.024174297228455544,
-0.0005735020386055112,
0.05978134274482727,
0.0397644117474556,
-0.0010688129113987088,
0.06420816481113434,
-0.06016628444194794,
0.0346061997115612,
-0.029909919947385788,
0.01069173775613308,
0.035587798804044724,
0.058934472501277924,
-0.022692274302244186,
0.006202362477779388,
-0.03350911661982536,
-0.050350289791822433,
0.00596658606082201,
-0.013193854130804539,
-0.004037069156765938,
0.016677571460604668,
-0.02040187455713749,
-0.017120253294706345,
0.032431282103061676,
0.020247898995876312,
-0.031334202736616135,
0.00520151574164629,
-0.03585726022720337,
0.023308180272579193,
-0.09546537697315216,
-0.026426203548908234,
-0.036415424197912216,
-0.06236045062541962,
-0.026676414534449577,
-0.042074054479599,
-0.007323503494262695,
0.03624219819903374,
0.028678108006715775,
-0.007578526623547077,
-0.06532449275255203,
-0.015638230368494987,
0.006635421421378851,
-0.026772649958729744,
0.010123949497938156,
-0.028793590143322945,
-0.014262066222727299,
0.038243893533945084,
-0.010845714248716831,
-0.0397644117474556,
-0.011009314097464085,
-0.04122718423604965,
0.00034103370853699744,
-0.0007476276950910687,
0.00222183158621192,
0.026599425822496414,
0.007260950282216072,
0.028678108006715775,
-0.010374161414802074,
0.025502344593405724,
-0.046038947999477386,
-0.02155669778585434,
-0.01274154894053936,
-0.02357763983309269,
-0.042689960449934006,
0.0806836411356926,
0.012808913365006447,
-0.010624373331665993,
0.060050804167985916,
0.027600273489952087,
-0.0036280693020671606,
0.013078371994197369,
-0.023712368682026863,
0.0002879539388231933,
-0.05223650112748146,
-0.010874584317207336,
0.04992685467004776,
0.0337400808930397,
-0.039802905172109604,
0.0019631993491202593,
-0.09377163648605347,
0.036915846168994904,
0.0611286386847496,
0.003190198913216591,
0.08522594720125198,
-0.0233466736972332,
-0.015493877232074738,
0.04480713605880737,
0.0233466736972332,
-0.01574408821761608,
0.0066306097432971,
-0.018130723387002945,
-0.006755715236067772,
-0.0495804063975811,
0.043498337268829346,
0.026676414534449577,
-0.013540301471948624,
-0.0004489976563490927,
0.001060993759892881,
0.027542531490325928,
-0.033355142921209335,
0.005658633541315794,
-0.019728228449821472,
0.08206943422555923,
-0.034048035740852356,
-0.042574480175971985,
-0.022576792165637016,
0.01661020703613758,
-0.04041881114244461,
-0.06994378566741943,
-0.00101828936021775,
0.013521053828299046,
0.00434021046385169,
0.0495804063975811,
-0.003644910641014576,
0.034336742013692856,
-0.007795056328177452,
0.001631187740713358,
-0.035895753651857376,
0.026676414534449577,
-0.009599467739462852,
0.002882246160879731,
-0.01282816007733345,
0.04827160760760307,
-0.015445759519934654,
0.021999381482601166,
-0.005437292158603668,
-0.00117226573638618,
0.030583566054701805,
-0.04542304202914238,
0.002656093332916498,
-0.044537678360939026,
0.027196085080504417,
-0.038417115807533264,
-0.03019862435758114,
0.014916465617716312,
0.030275613069534302,
0.037223801016807556,
-0.00017532861966174096,
-0.012087148614227772,
0.02109476923942566,
-0.001910269958898425,
-0.0009052129462361336,
-0.05100468918681145,
0.018862111493945122,
-0.0023505461867898703,
0.029428742825984955,
0.021114015951752663,
0.002538205124437809,
-0.07106011360883713,
0.004530274774879217,
-0.08052966743707657,
0.003101181238889694,
-0.012654936872422695,
0.012212255038321018,
-0.011172913946211338,
0.02155669778585434,
-0.0006856762338429689,
-0.0009846070315688848,
-0.03953344374895096,
-0.0362999401986599,
-0.0071165976114571095,
0.032027095556259155,
-0.032835472375154495,
0.018159594386816025,
-0.002005302347242832,
-0.041650619357824326,
-0.008771844208240509,
-0.01259719580411911,
0.05777965113520622,
0.03606897592544556,
0.001026108511723578,
-0.022730769589543343,
-0.011682961136102676,
-0.0017743376083672047,
0.003507775254547596,
0.0071839625015854836,
-0.011124796234071255,
0.00027968373615294695,
-0.013405571691691875,
-0.011731077916920185,
0.04503810405731201,
-0.07179150730371475,
-0.04773268848657608,
-0.0013184230774641037,
-0.05643235892057419,
0.019862957298755646,
0.017688041552901268,
0.008439832367002964,
0.016080912202596664,
-0.007843174040317535,
-0.0541996993124485,
0.02403956837952137,
0.05743320286273956,
0.029428742825984955,
-0.043806292116642,
0.01812109909951687,
-0.02294248715043068,
-0.04807913675904274,
-0.01910270005464554,
0.04057278484106064,
0.0011199378641322255,
-0.024193543940782547,
-0.021479710936546326,
0.01066286675632,
-0.01066286675632,
0.047655701637268066,
0.032431282103061676,
-0.04022634029388428,
0.040264833718538284,
0.004282468929886818,
0.023192698135972023,
0.0011157275876030326,
-0.02017091028392315,
-0.009219338186085224,
0.02727307379245758,
0.04503810405731201,
0.03256601095199585,
-0.04195857420563698,
-0.02409731037914753,
-0.029736695811152458,
0.03246977552771568,
-0.013886747881770134,
0.009411809034645557,
0.03504888340830803,
0.0256563201546669,
0.005321810021996498,
-0.0829932913184166,
-0.02985217794775963,
0.01916044019162655,
0.04011085629463196,
0.03408652916550636,
-0.015272536315023899,
0.0017514817882329226,
0.012847407720983028,
0.01103818416595459,
-0.01620601862668991,
-0.03649241104722023,
-0.023365922272205353,
-0.028986060991883278,
-0.05123565346002579,
-0.00848313793540001,
0.033990293741226196,
0.03416351601481438,
-0.009840055368840694,
0.024289779365062714,
0.018688887357711792,
-0.031199472025036812,
0.010653243400156498,
0.0016420141328126192,
-0.05616289749741554,
0.04757871478796005,
-0.0069145034067332745,
0.06909691542387009,
-0.02230733446776867,
-0.02785048447549343,
0.034567706286907196,
0.006467009428888559,
0.03377857804298401,
-0.018717758357524872,
-0.0377434678375721,
-0.010220184922218323,
-0.0766417607665062,
-0.023962579667568207,
-0.0015554024139419198,
0.015724841505289078,
0.011134419590234756,
0.021864650771021843,
-0.05604741722345352,
0.0016299847047775984,
-0.00007243958680192009,
-0.02317345142364502,
0.062398944050073624,
-0.04834859445691109,
-0.023442909121513367,
0.06913541257381439,
-0.040726762264966965,
0.022037874907255173,
-0.045692503452301025,
0.015407265163958073,
-0.006033950950950384,
0.015060818754136562,
0.05100468918681145,
0.015330277383327484,
-0.025232885032892227,
0.02507890947163105,
-0.005538339260965586,
-0.03912925720214844,
-0.057510193437337875,
0.005701939109712839,
-0.018852487206459045,
-0.00801639724522829,
0.011009314097464085,
0.03071829490363598,
0.017033642157912254,
-0.0037435516715049744,
0.07044421136379242,
0.025175144895911217,
-0.011808066628873348,
-0.017091382294893265,
-0.017765028402209282,
0.06763414293527603,
0.010585878975689411,
0.04288243129849434,
-0.06416967511177063,
0.004373892676085234,
0.03987989202141762,
0.05839555710554123,
0.0077661857940256596,
-0.0013460906920954585,
-0.011663713492453098,
-0.000177133028046228,
-0.031064743176102638,
0.015984676778316498,
0.005572021473199129,
-0.032489024102687836,
0.0016444200882688165,
0.00939256139099598,
-0.08422510325908661,
0.024636227637529373,
0.0038830928970128298,
0.0007572512258775532,
-0.018708134070038795,
-0.016052041202783585,
0.008473514579236507,
0.027542531490325928,
0.0149838300421834,
0.02871660143136978,
-0.007285009138286114,
-0.010749478824436665,
-0.02779274433851242,
0.013646160252392292,
0.01337670162320137,
0.023558391258120537,
-0.022634534165263176,
0.0074341739527881145,
0.02323119156062603,
0.042920928448438644,
-0.02328893356025219,
0.035838011652231216,
0.03926398605108261,
0.013598042540252209,
-0.022095616906881332,
0.029274767264723778,
-0.029621213674545288,
-0.04931094869971275,
0.01583070121705532,
0.026734156534075737,
-0.03227730840444565,
0.011634843423962593,
0.01080721989274025,
-0.08599583059549332,
0.047424737364053726,
-0.03293170779943466,
-0.03683885931968689,
-0.05581645295023918,
-0.008425396867096424,
-0.006288974545896053,
0.03874431550502777,
-0.014800983481109142,
-0.03556855395436287,
0.004104434046894312,
0.08753559738397598,
0.01461813598871231,
-0.03037184849381447,
-0.024232039228081703,
0.005716374609619379,
0.05077372491359711,
-0.036049727350473404,
-0.01921818219125271,
0.03083377704024315,
0.014608512632548809,
-0.028735850006341934,
0.01811147667467594,
0.017428206279873848,
-0.03556855395436287,
0.007058856543153524,
-0.021171757951378822,
-0.01450265385210514,
-0.0036882164422422647,
-0.04045730456709862,
0.024636227637529373,
-0.045692503452301025,
-0.019862957298755646,
0.017688041552901268,
0.022846251726150513,
0.012616442516446114,
0.01184656098484993,
0.04161212593317032,
0.007131033111363649,
-0.002431143308058381,
-0.03227730840444565,
-0.055085062980651855,
-0.0059377155266702175,
-0.05042727664113045,
-0.020132416859269142,
-0.0013665406731888652,
0.012058278545737267,
-0.02894756756722927,
-0.04588497430086136,
-0.0343174934387207,
0.009382938034832478,
-0.0210370272397995,
0.021229498088359833,
0.050812218338251114,
0.010162443853914738,
-0.029159285128116608,
-0.0449611134827137,
-0.01782277040183544,
0.002653687261044979,
-0.01233736053109169,
-0.013290089555084705,
0.015060818754136562,
0.008569750003516674,
0.009224149398505688,
0.0026416578330099583,
-0.005230386275798082,
0.012298866175115108,
-0.0071839625015854836,
0.008555314503610134,
-0.03697358816862106,
0.007804679684340954,
0.013732771389186382,
0.032258059829473495,
0.036935094743967056,
-0.041419655084609985,
-0.009483984671533108,
0.01550350058823824,
0.05316035822033882,
0.03291245922446251,
-0.0012835378292948008,
0.020324887707829475,
0.016311876475811005,
0.021518204361200333,
-0.02559858001768589,
0.028504883870482445,
0.008098197169601917,
0.027773495763540268,
0.04623141884803772,
0.01643698289990425,
-0.026657167822122574,
-0.013790513388812542,
-0.02507890947163105,
0.042805444449186325,
-0.00811744388192892,
-0.0077661857940256596,
0.02484794519841671,
0.031276460736989975,
-0.0276772603392601,
0.022557545453310013,
-0.03131495416164398,
-0.01747632399201393,
-0.024770956486463547,
0.023481404408812523,
-0.009724573232233524,
-0.003262375481426716,
0.002182134659960866,
0.02132573351264,
0.05458464100956917,
0.017947876825928688,
0.008358032442629337,
-0.03212333098053932,
0.022750016301870346,
-0.0001166852525784634,
0.07394717633724213,
-0.010268302634358406,
0.017351217567920685,
0.005908844992518425,
-0.032258059829473495,
0.022345827892422676,
-0.011856184341013432,
-0.036107469350099564,
0.007862420752644539,
0.026965120807290077,
0.049772877246141434,
-0.001405034796334803,
0.007280197460204363,
-0.011124796234071255,
-0.01718761771917343,
0.02871660143136978,
0.04650087654590607,
-0.024078061804175377,
0.008834397420287132,
0.0007951438310556114,
0.0041838278993964195,
0.021941639482975006,
0.016735311597585678,
0.08453305065631866,
0.035376083105802536,
0.002800446003675461,
0.05377626419067383,
-0.03279697895050049,
-0.009921855293214321,
-0.000976787880063057,
0.010566631332039833,
0.033162672072649,
-0.005081221926957369,
0.006799021270126104,
0.04218953847885132,
-0.00991223193705082,
0.015320654027163982,
0.00817518588155508,
-0.027061356231570244,
-0.010932325385510921,
0.005576833616942167,
-0.04399876296520233,
-0.029197778552770615,
-0.0299676600843668,
0.018583029508590698,
-0.01881399378180504,
0.010037337429821491,
-0.023192698135972023,
-0.02219185046851635,
0.013819383457303047,
0.0013460906920954585,
0.015474630519747734,
0.020709827542304993,
-0.01236623153090477,
-0.004677033517509699,
0.01814034767448902,
-0.02582954429090023,
0.013453689403831959,
-0.03964892774820328,
0.0034668752923607826,
0.0064621977508068085,
0.040380313992500305,
0.01294364221394062,
0.012500960379838943,
0.03060281276702881,
-0.022461310029029846,
-0.01796712353825569,
-0.002841346198692918,
0.027754249051213264,
0.02063284069299698,
0.004429228138178587,
0.050003841519355774,
0.02017091028392315,
0.014088842086493969,
0.005278503987938166,
-0.02484794519841671,
-0.004686657339334488,
0.025675566866993904,
-0.008478326722979546,
0.06274539232254028,
-0.005822233390063047,
-0.016716064885258675,
0.005904033314436674,
0.03443297743797302,
-0.00917122047394514,
-0.007414926774799824,
-0.008588996715843678,
0.017919005826115608,
-0.02178766392171383,
-0.05816459283232689,
0.006106127519160509,
0.006688350811600685,
0.01692778244614601,
0.0034211636520922184,
0.0019812434911727905,
0.009787126444280148,
-0.012722301296889782,
0.03524135425686836,
-0.018053734675049782,
0.039918385446071625,
0.010460772551596165,
-0.02438601478934288,
0.02877434343099594,
0.003512586932629347,
0.015532371588051319,
0.004994609858840704,
-0.01193317212164402,
0.07044421136379242,
0.01777465268969536,
0.03310493007302284,
0.009801561012864113,
-0.0015710406005382538,
-0.002800446003675461,
0.02080606296658516,
-0.012905148789286613,
0.05088920518755913,
0.004166986793279648,
-0.0004234351508785039,
0.019603122025728226,
0.007472667843103409,
0.0038277574349194765,
0.041881587356328964,
-0.026387708261609077,
-0.008348409086465836,
0.010345290414988995,
0.009426243603229523,
0.03476017713546753,
0.021017780527472496,
-0.012144889682531357,
0.017765028402209282,
-0.09061512351036072,
-0.01360766589641571,
-0.04449918493628502,
-0.006245668511837721,
-0.022692274302244186,
0.00494168046861887,
0.032489024102687836,
-0.0233466736972332,
0.031969353556632996,
-0.010749478824436665,
0.01640811190009117,
-0.002370996167883277,
0.007039609365165234,
-0.003469281131401658,
-0.029775189235806465,
0.0308530256152153,
0.014031101018190384,
-0.006957809440791607,
-0.01069173775613308,
-0.0014218760188668966,
0.0242127925157547,
0.033008694648742676,
-0.01707213558256626,
-0.06347677856683731,
-0.00038644473534077406,
0.020729076117277145,
-0.05269842967391014,
0.016369618475437164,
-0.0020762758795171976,
0.026368461549282074,
0.013800136744976044,
-0.055085062980651855,
-0.0455385260283947,
-0.009517667815089226,
0.007068479899317026,
-0.007111785933375359,
-0.010710984468460083,
0.019920699298381805,
0.015262912027537823,
0.04099621996283531,
0.006587303709238768,
0.012520207092165947,
0.004224727861583233,
0.00037050576065666974,
0.04526906833052635,
-0.00570675078779459,
0.007169527001678944,
-0.012539454735815525,
-0.025983519852161407,
-0.026041261851787567,
0.009344443678855896,
-0.06066671013832092,
-0.02606050856411457,
0.019314417615532875,
0.002327690366655588,
-0.0017586994217708707,
0.00546135101467371,
0.039802905172109604,
0.08638077229261398,
-0.03468318656086922,
0.020267145708203316,
-0.05115866661071777,
0.029217025265097618,
0.033874813467264175,
-0.00330086937174201,
-0.03164215385913849,
0.03822464495897293,
-0.0016552464803680778,
-0.0019126757979393005,
0.0034740930423140526,
-0.019555004313588142,
-0.039167750626802444,
0.004686657339334488,
0.0038036988116800785,
0.002197772730141878,
-0.02686888538300991,
-0.014175454154610634,
0.019458770751953125,
0.037974435836076736,
0.06597889214754105,
0.005480598192662001,
0.012626065872609615,
0.04319038614630699,
0.025868037715554237,
0.05481560528278351,
0.010210561566054821,
-0.021171757951378822,
-0.0032310988754034042,
0.004025039728730917,
-0.015291783027350903,
-0.05215951055288315,
0.019978439435362816,
-0.07194548100233078,
0.022634534165263176,
-0.06813456863164902,
-0.018563782796263695,
-0.030795283615589142,
0.019468393176794052,
0.06035875529050827,
-0.005466162692755461,
0.04665485396981239,
-0.010884207673370838,
-0.015214795246720314,
0.019381782039999962,
0.004205481149256229,
0.062398944050073624,
0.011769572272896767,
0.024001074954867363,
-0.018506040796637535,
-0.002944798907265067,
-0.04626991227269173,
0.06062821298837662,
0.012279619462788105,
-0.052313487976789474,
0.04138116165995598,
0.01900646463036537,
-0.04022634029388428,
0.002704210812225938,
0.03683885931968689,
-0.045115090906620026,
0.02011317014694214,
0.0305643193423748,
0.023712368682026863,
-0.04757871478796005,
-0.028581872582435608,
0.007573714945465326,
-0.015695970505475998,
0.005682692397385836,
-0.04692431166768074,
-0.018332816660404205,
-0.0461159385740757,
0.04057278484106064,
-0.0024455785751342773,
-0.00020284588390495628,
-0.007270574104040861,
0.035818763077259064,
-0.00022991205332800746,
0.009214526042342186,
-0.00021487529738806188,
0.04750172421336174,
-0.027638766914606094,
0.04369080811738968,
-0.005187080707401037,
-0.06636383384466171,
-0.03096850775182247,
0.0007879261975176632,
0.028331661596894264,
0.005138962995260954,
0.03337438777089119,
-0.017293475568294525,
0.03264300152659416,
-0.02144121564924717,
0.009921855293214321,
-0.015301406383514404,
-0.03995687887072563,
-0.004215104505419731,
0.010460772551596165,
-0.00040990207344293594,
0.008916197344660759,
0.021402722224593163,
0.020536605268716812,
0.035587798804044724,
0.029736695811152458,
-0.007337938528507948,
0.010884207673370838,
-0.0443837009370327,
-0.004809357225894928,
-0.05689428746700287,
-0.00041230794158764184,
-0.004479751456528902,
0.013068748638033867,
0.05400722846388817,
-0.05985833331942558,
-0.013164984062314034,
0.003404322313144803,
0.003760392777621746,
-0.006871197838336229,
-0.04854106530547142,
-0.00343078700825572,
-0.013164984062314034,
-0.01863114722073078,
-0.04345984384417534,
0.019198935478925705,
-0.006808644626289606,
-0.013357453979551792,
-0.020132416859269142,
0.04561551287770271,
0.005519092082977295,
-0.004886345472186804,
-0.04607744142413139,
-0.035433825105428696,
-0.07125258445739746,
0.05916544049978256,
-0.0073186918161809444,
0.01323234848678112,
-0.039283234626054764,
0.018169216811656952,
0.0210370272397995,
-0.011538607999682426,
0.0008366453112103045,
-0.01640811190009117,
-0.009402184747159481,
-0.012606819160282612,
-0.03535683453083038,
-0.007063668221235275,
-0.03483716398477554,
-0.015955805778503418,
0.03454845771193504,
-0.000658610078971833,
0.010046961717307568,
-0.04796365275979042,
-0.02288474515080452,
0.0058366684243083,
0.04126568138599396,
-0.012260372750461102,
-0.018948722630739212,
0.02929401397705078,
-0.007554468233138323,
0.0011915127979591489,
-0.010268302634358406,
-0.010672490112483501,
0.01028754934668541,
0.01864076964557171,
0.032719988375902176,
-0.010470396839082241,
0.019612746313214302,
0.019295169040560722,
-0.028678108006715775,
-0.016417736187577248,
0.0008204056066460907,
0.05269842967391014,
0.0048959688283503056,
-0.020247898995876312,
-0.0018296729540452361,
0.01626375876367092,
-0.027581026777625084,
-0.027696508914232254,
0.016889289021492004,
0.007592962123453617,
0.024174297228455544,
0.009483984671533108,
-0.04796365275979042,
-0.003404322313144803,
-0.01274154894053936,
-0.012346983887255192,
-0.031045494601130486,
-0.04484563320875168,
0.001815237570554018,
-0.02496342733502388,
0.003577545750886202,
0.010123949497938156
] |
Recent advancements in deep learning techniques have opened new possibilities
for designing solutions for autonomous cyber defence. Teams of intelligent
agents in computer network defence roles may reveal promising avenues to
safeguard cyber and kinetic assets. In a simulated game environment, agents are
evaluated on their ability to jointly mitigate attacker activity in host-based
defence scenarios. Defender systems are evaluated against heuristic attackers
with the goals of compromising network confidentiality, integrity, and
availability. Value-based Independent Learning and Centralized Training
Decentralized Execution (CTDE) cooperative Multi-Agent Reinforcement Learning
(MARL) methods are compared revealing that both approaches outperform a simple
multi-agent heuristic defender. This work demonstrates the ability of
cooperative MARL to learn effective cyber defence tactics against varied
threats. | [
-0.03265238180756569,
-0.009735885076224804,
-0.034501656889915466,
-0.020704619586467743,
0.027050167322158813,
0.0732095018029213,
-0.030585546046495438,
0.009427672252058983,
-0.02703203819692135,
0.04169932007789612,
-0.011938696727156639,
-0.0664650946855545,
0.02433064766228199,
-0.03161896392703056,
-0.047138363122940063,
0.036550361663103104,
0.035099949687719345,
0.004595990292727947,
-0.01469447836279869,
-0.06240393966436386,
0.041409239172935486,
-0.006739879492670298,
-0.018927866593003273,
0.034610435366630554,
-0.02683260664343834,
0.015111471526324749,
0.01228316966444254,
0.003002804471179843,
-0.09434924274682999,
0.06650134921073914,
0.026198051869869232,
0.027013907209038734,
0.012944919988512993,
-0.012618577107787132,
-0.0059557510539889336,
-0.029008222743868828,
-0.03018668293952942,
0.01533809769898653,
-0.0047591617330908775,
0.03587954491376877,
0.008049782365560532,
-0.055514488369226456,
-0.04311347007751465,
-0.06719029694795609,
0.043185994029045105,
0.0032248985953629017,
-0.05076438933610916,
-0.07143274694681168,
-0.03234416991472244,
-0.025690408423542976,
0.007968196645379066,
-0.05536944791674614,
0.032035958021879196,
-0.016199279576539993,
-0.047500964254140854,
0.017713146284222603,
0.05359269306063652,
-0.034900519996881485,
0.006282093469053507,
-0.013860492035746574,
0.007805025205016136,
0.014059923589229584,
0.005094569176435471,
0.010597066953778267,
-0.005978413391858339,
-0.04626811668276787,
0.03288807347416878,
-0.03553507477045059,
0.010515481233596802,
-0.02574479766190052,
-0.05928555503487587,
0.018157334998250008,
-0.062258899211883545,
-0.05163463577628136,
0.011766460724174976,
0.021973729133605957,
0.0401763878762722,
0.048842597752809525,
0.002522355644032359,
0.037891991436481476,
0.005842437501996756,
0.03446539491415024,
-0.0016702391440048814,
0.013633864931762218,
0.10529985278844833,
-0.016625337302684784,
0.0010844089556485415,
-0.08528417348861694,
0.01422309409826994,
-0.03015042282640934,
-0.0463043749332428,
0.049857884645462036,
0.011059384793043137,
0.0033835372887551785,
-0.02610740065574646,
0.0035013831220567226,
-0.04478144645690918,
-0.030585546046495438,
-0.03192717581987381,
-0.005352923646569252,
-0.005661136005073786,
0.008571023121476173,
-0.003376738401129842,
0.016915420070290565,
-0.018293309956789017,
-0.03693109378218651,
-0.06925713270902634,
0.075348861515522,
-0.016915420070290565,
0.1456938087940216,
-0.04615933448076248,
0.008951756171882153,
-0.047500964254140854,
0.05003918334841728,
-0.05468050017952919,
-0.011875241063535213,
-0.031745873391628265,
-0.02226381190121174,
-0.029969120398163795,
-0.04057525098323822,
-0.022481372579932213,
0.02764846198260784,
0.04260582849383354,
-0.07136023044586182,
-0.034048400819301605,
0.05022048577666283,
-0.0006203906959854066,
0.0350455604493618,
-0.0022186757996678352,
0.02768472395837307,
-0.031093189492821693,
0.005434509366750717,
-0.03649597242474556,
0.03185465559363365,
-0.009998772293329239,
0.02991473115980625,
0.03123822994530201,
-0.022662675008177757,
0.027104558423161507,
0.023877393454313278,
0.013996467925608158,
-0.03412092104554176,
-0.015791350975632668,
0.029479606077075005,
0.02347853034734726,
0.025273414328694344,
0.028826922178268433,
0.04623185470700264,
-0.03120196983218193,
-0.02946147695183754,
0.006776139605790377,
0.08745979517698288,
0.010143812745809555,
0.02538219466805458,
-0.004695706069469452,
-0.02752155251801014,
0.03310563415288925,
0.008670738898217678,
-0.02393178455531597,
0.014431591145694256,
0.06461581587791443,
0.02732212096452713,
-0.00787301268428564,
0.06849566847085953,
0.04652193933725357,
0.02995099127292633,
0.0016441770130768418,
0.024421298876404762,
-0.06008328124880791,
0.05703742057085037,
-0.03015042282640934,
-0.0374206081032753,
-0.004858877509832382,
0.048153650015592575,
0.05605839192867279,
0.015238381922245026,
0.02880879119038582,
-0.04978536441922188,
-0.003723477479070425,
-0.012156258337199688,
-0.041844360530376434,
0.02048705704510212,
-0.04260582849383354,
0.025327805429697037,
0.05881417170166969,
0.015446878969669342,
0.07168657332658768,
-0.03399401158094406,
0.03325067460536957,
0.008244681172072887,
-0.015202121809124947,
0.01242821104824543,
0.037239305675029755,
-0.046014294028282166,
0.023949913680553436,
-0.04731966555118561,
-0.0022152764722704887,
0.037964511662721634,
-0.017830992117524147,
-0.04612307623028755,
0.006472459994256496,
-0.050293006002902985,
0.025762928649783134,
0.003073058556765318,
0.03248921036720276,
-0.01617208495736122,
0.011730200611054897,
0.022463243454694748,
0.01936298981308937,
-0.045252829790115356,
-0.0324166901409626,
0.0014776063617318869,
-0.03281555324792862,
0.014649152755737305,
-0.025998620316386223,
0.0004164266574662179,
-0.0020158449187874794,
0.024638859555125237,
-0.015727896243333817,
0.0028169704601168633,
0.017404934391379356,
0.045978035777807236,
-0.03063993528485298,
-0.03713052719831467,
-0.03205408528447151,
0.003150111762806773,
0.02913513407111168,
-0.016298996284604073,
-0.03613336756825447,
-0.04971284419298172,
-0.07542137801647186,
0.04314973205327988,
0.024276256561279297,
0.0030186681542545557,
0.06316540390253067,
-0.07074380666017532,
0.06878574937582016,
-0.00912399310618639,
-0.018800955265760422,
-0.004867942538112402,
0.007814089767634869,
-0.04967658221721649,
-0.03890727832913399,
-0.05246862396597862,
0.05250488594174385,
-0.024910811334848404,
-0.023369750007987022,
0.052359841763973236,
0.0371667854487896,
0.009998772293329239,
-0.03337758779525757,
-0.03218099847435951,
-0.019091036170721054,
-0.02679634653031826,
-0.010089422576129436,
-0.011521703563630581,
0.0465581975877285,
-0.04079281538724899,
0.022626414895057678,
-0.03948744386434555,
0.010615197010338306,
0.004976723343133926,
0.004663978237658739,
0.02666943520307541,
0.00787301268428564,
-0.0037393413949757814,
0.03669540211558342,
0.08194822818040848,
0.014866714365780354,
0.00528493570163846,
-0.04717462137341499,
-0.020015673711895943,
-0.07447861135005951,
-0.0036282942164689302,
0.0072792512364685535,
0.0038027968257665634,
-0.0031161177903413773,
0.025110242888331413,
-0.02182868868112564,
0.02242698334157467,
0.025490976870059967,
-0.07030867785215378,
0.07179535180330276,
-0.02186494879424572,
-0.03439287468791008,
-0.03464669734239578,
-0.06037336587905884,
0.00005382385279517621,
-0.03285181149840355,
-0.015936393290758133,
-0.015329033136367798,
0.035099949687719345,
0.012818008661270142,
-0.03435661271214485,
0.052722446620464325,
0.030096031725406647,
-0.026198051869869232,
-0.01002596691250801,
0.0038322582840919495,
-0.010642391629517078,
-0.03551694378256798,
0.028355538845062256,
0.0015093340771272779,
0.02235446125268936,
-0.06882201135158539,
0.004727433901280165,
0.014585697092115879,
0.07752447575330734,
-0.0017042331164702773,
-0.020396407693624496,
-0.020994702354073524,
0.0005005618440918624,
-0.03810955211520195,
0.0053121307864785194,
-0.042497046291828156,
0.023569181561470032,
0.02877253107726574,
0.009232773445546627,
0.010887148790061474,
0.016589077189564705,
0.032199129462242126,
0.02877253107726574,
-0.040031347423791885,
0.04195314273238182,
-0.0075693330727517605,
-0.0109506044536829,
0.032235387712717056,
0.02853683941066265,
-0.0743335708975792,
-0.0008895099745132029,
-0.04264208674430847,
0.037239305675029755,
-0.05783514678478241,
-0.01608143374323845,
-0.008475840091705322,
0.010016902349889278,
-0.01608143374323845,
0.04485396668314934,
-0.011612354777753353,
0.0011320005869492888,
-0.042460788041353226,
-0.025237154215574265,
-0.021121611818671227,
0.020015673711895943,
-0.04902389645576477,
-0.02327909879386425,
-0.06751663982868195,
0.016425905749201775,
0.02235446125268936,
-0.004482677206397057,
0.0010005570948123932,
-0.044962745159864426,
-0.0066175009123981,
-0.016942614689469337,
0.009853730909526348,
-0.00011735015868907794,
-0.016851965337991714,
0.010896214284002781,
-0.041481759399175644,
-0.0009586311061866581,
0.0020203774329274893,
-0.06573988497257233,
-0.0481899119913578,
-0.03343197703361511,
-0.018338635563850403,
-0.004482677206397057,
0.015220251865684986,
0.02877253107726574,
0.012636707164347172,
0.08100546151399612,
0.022735195234417915,
0.04126419872045517,
0.015465009026229382,
0.008090575225651264,
-0.021792428568005562,
0.010270724073052406,
-0.01818452961742878,
-0.02104909159243107,
-0.04046647250652313,
0.03209034726023674,
0.0070707546547055244,
0.03031359426677227,
-0.012827074155211449,
0.0036010988987982273,
0.004253784194588661,
0.06262150406837463,
0.07737943530082703,
-0.009337021969258785,
0.044926486909389496,
0.029243914410471916,
0.0192723385989666,
0.008231082931160927,
-0.07520382106304169,
0.0297878198325634,
0.01805761829018593,
-0.0174593236297369,
0.01507521141320467,
-0.008172160014510155,
0.0030458634719252586,
-0.03439287468791008,
-0.03426596522331238,
0.042823389172554016,
-0.003097987500950694,
0.011440117843449116,
-0.04441884160041809,
-0.019290467724204063,
0.02202812023460865,
-0.046413157135248184,
-0.026850735768675804,
-0.010578936897218227,
0.03778320923447609,
-0.03239855915307999,
-0.009608973748981953,
-0.04304094985127449,
0.05964815989136696,
0.051670897752046585,
-0.00017931840557139367,
-0.02255389280617237,
-0.013570409268140793,
-0.04547039046883583,
0.01769501529633999,
0.009214643388986588,
0.08216579258441925,
-0.021230394020676613,
-0.01863778382539749,
0.01818452961742878,
0.00643619941547513,
-0.039705004543066025,
-0.010850888676941395,
0.0132350018247962,
0.03127449005842209,
0.00030764579423703253,
0.01863778382539749,
-0.041735582053661346,
-0.012546056881546974,
-0.03573450446128845,
0.023786742240190506,
0.037855733186006546,
0.011784590780735016,
-0.007451487239450216,
0.03499116748571396,
-0.025690408423542976,
-0.04209818318486214,
-0.01887347549200058,
0.00480901962146163,
-0.025998620316386223,
0.015510334633290768,
-0.0008504168363288045,
0.04895137622952461,
0.011567029170691967,
-0.09188354760408401,
-0.00848490558564663,
-0.04967658221721649,
-0.026179920881986618,
0.06465207785367966,
0.021230394020676613,
-0.009133057668805122,
-0.048878856003284454,
0.012863334268331528,
0.03435661271214485,
-0.002395444782450795,
0.048806335777044296,
-0.007981793954968452,
-0.06312914937734604,
-0.008639011532068253,
0.003934240434318781,
-0.06479711830615997,
-0.09681494534015656,
0.001865138066932559,
-0.0021234925370663404,
0.0609535276889801,
-0.05642099305987358,
0.027757244184613228,
0.014087118208408356,
-0.009382347576320171,
0.0056112781167030334,
0.010678651742637157,
-0.07360836863517761,
-0.011104710400104523,
-0.0018753362819552422,
0.04456388205289841,
0.025472845882177353,
0.004589191637933254,
-0.019508030265569687,
-0.004439617972820997,
0.02433064766228199,
-0.003664554562419653,
-0.04731966555118561,
-0.031872786581516266,
-0.03205408528447151,
0.03745687007904053,
-0.03031359426677227,
0.008430514484643936,
-0.020831530913710594,
-0.004949528258293867,
0.002381847007200122,
0.014241225086152554,
-0.010642391629517078,
0.06098978966474533,
0.03346823900938034,
-0.026361223310232162,
-0.07197665423154831,
0.04412876069545746,
0.024312516674399376,
0.012518861331045628,
0.015156797133386135,
0.041844360530376434,
0.009835600852966309,
0.013661060482263565,
0.039705004543066025,
-0.00011706687655532733,
0.03627840802073479,
0.00003057690628338605,
0.012419145554304123,
0.00297560915350914,
0.02222755178809166,
0.030585546046495438,
0.004319505766034126,
0.025799188762903214,
0.032761164009571075,
0.017078591510653496,
-0.007737037260085344,
0.027467161417007446,
0.011313207447528839,
-0.0052078827284276485,
-0.0007727972115390003,
0.019471770152449608,
-0.037601910531520844,
0.012473535723984241,
-0.004414688795804977,
-0.018891604617238045,
0.03221725672483444,
-0.042859651148319244,
-0.058741651475429535,
-0.00959990918636322,
-0.0049993861466646194,
0.010869018733501434,
0.01394207775592804,
-0.019381118938326836,
-0.005384651478379965,
-0.010524545796215534,
0.06613875180482864,
0.0148939099162817,
-0.001186390989460051,
-0.037003614008426666,
-0.02094031125307083,
0.07462365180253983,
-0.011784590780735016,
0.017241762951016426,
0.006422602105885744,
-0.02057770825922489,
-0.0028690944891422987,
0.010986864566802979,
-0.04760974645614624,
-0.035825155675411224,
-0.021248523145914078,
0.0050356462597846985,
-0.016987940296530724,
-0.003211301052942872,
-0.056275952607393265,
0.013126221485435963,
0.010316049680113792,
-0.008770454674959183,
0.01173926517367363,
-0.0128905288875103,
-0.02065022848546505,
0.03011416271328926,
0.02679634653031826,
0.031981565058231354,
-0.0012441808357834816,
-0.020668359473347664,
-0.035063691437244415,
0.015129601582884789,
0.004745563957840204,
0.0007988592842593789,
0.020432667806744576,
-0.01768595166504383,
0.022535763680934906,
0.013506953604519367,
-0.01190243661403656,
-0.028754401952028275,
-0.030603675171732903,
0.012038412503898144,
0.0063591464422643185,
0.0026334028225392103,
-0.014558502472937107,
-0.011104710400104523,
0.026723826304078102,
-0.012917724438011646,
-0.02958838827908039,
0.005044711288064718,
-0.016625337302684784,
0.006109857000410557,
-0.028645619750022888,
0.006173312664031982,
0.012763618491590023,
0.00697103887796402,
-0.01834770105779171,
0.0011518304236233234,
-0.06751663982868195,
-0.01976185292005539,
0.021883077919483185,
0.030222943052649498,
0.02084966003894806,
-0.03310563415288925,
-0.009998772293329239,
0.015383423306047916,
0.032307907938957214,
-0.014522241428494453,
-0.01847461238503456,
0.0401763878762722,
0.018538067117333412,
0.033486366271972656,
-0.02913513407111168,
0.025327805429697037,
-0.005679266061633825,
-0.0015478606801480055,
-0.01696981117129326,
-0.01584574207663536,
-0.015564724802970886,
0.023260969668626785,
-0.013108090497553349,
0.037565648555755615,
-0.001605650526471436,
0.027140818536281586,
-0.010152878239750862,
0.04935023933649063,
-0.04895137622952461,
0.013933012261986732,
-0.01742306351661682,
0.0030186681542545557,
-0.021973729133605957,
0.00845317728817463,
-0.011965892277657986,
-0.006590305827558041,
-0.029769688844680786,
-0.010452025569975376,
0.0479360893368721,
0.027539681643247604,
0.012201583944261074,
-0.0234060101211071,
0.021230394020676613,
-0.009133057668805122,
0.035498812794685364,
-0.0029393488075584173,
0.029171394184231758,
-0.04159054160118103,
-0.01794883795082569,
0.034701086580753326,
0.03294246271252632,
0.00412687286734581,
0.004067949950695038,
0.004312707111239433,
0.04434632137417793,
0.01153983362019062,
-0.008471307344734669,
-0.005407314281910658,
-0.025146503001451492,
0.025799188762903214,
0.01491203997284174,
0.00978121068328619,
-0.030821237713098526,
-0.02946147695183754,
0.012482601217925549,
0.027594072744250298,
-0.03985004499554634,
0.09282631427049637,
0.026053011417388916,
-0.03038611449301243,
0.05174341797828674,
-0.06135239079594612,
-0.019834373146295547,
-0.01943551003932953,
0.0290988739579916,
0.014277485199272633,
0.010189138352870941,
0.06443451344966888,
0.0595756396651268,
-0.0515621155500412,
-0.05740002170205116,
-0.035825155675411224,
-0.0020237767603248358,
-0.033450108021497726,
-0.008480372838675976,
-0.04057525098323822,
-0.0155193991959095,
0.00792287103831768,
0.0415542796254158,
-0.015999848023056984,
-0.0074061620980501175,
-0.0199612844735384,
-0.0031727743335068226,
0.03644157946109772,
-0.016489362344145775,
0.0032588925678282976,
0.016480296850204468,
-0.01634432002902031,
-0.017631560564041138,
-0.014059923589229584,
-0.011585159227252007,
-0.013289391994476318,
-0.011820850893855095,
-0.021357303485274315,
0.046376895159482956,
0.01798509806394577,
-0.03337758779525757,
0.017812862992286682,
0.0032974190544337034,
-0.008802182972431183,
0.019816242158412933,
-0.02130291424691677,
0.056964900344610214,
0.012836138717830181,
0.012473535723984241,
0.0387984998524189,
0.01992502249777317,
0.04550664871931076,
-0.009717755019664764,
-0.020196976140141487,
0.0056475386954844,
0.04967658221721649,
-0.016353385522961617,
-0.0025767460465431213,
-0.05163463577628136,
-0.004337635822594166,
-0.0021608860697597265,
0.012129063718020916,
-0.013905816711485386,
-0.026977647095918655,
-0.02311592735350132,
0.033450108021497726,
-0.03281555324792862,
-0.048443734645843506,
0.02012445405125618,
-0.004208458587527275,
-0.03412092104554176,
0.05080065131187439,
0.016017979010939598,
0.01305370032787323,
0.008503035642206669,
0.0479360893368721,
0.012682032771408558,
0.037674430757761,
-0.03442913666367531,
0.022680804133415222,
-0.04840747267007828,
-0.014957365579903126,
-0.0001584970741532743,
0.04365737736225128,
0.012391950003802776,
0.017114851623773575,
0.009069602005183697,
0.04695706069469452,
-0.02922578528523445,
0.005756319500505924,
0.03539003059267998,
0.025889839977025986,
0.014576632529497147,
0.012944919988512993,
-0.04137297719717026,
0.00659937085583806,
0.03850841522216797,
-0.025636017322540283,
0.026542523875832558,
0.06109857186675072,
-0.05109073221683502,
-0.0022198089864104986,
0.0011648614890873432,
0.045651692897081375,
0.008385189808905125,
0.03100253827869892,
0.02505585364997387,
0.02860935963690281,
-0.032108478248119354,
-0.03439287468791008,
-0.009445802308619022,
0.016090499237179756,
-0.04264208674430847,
0.0011999886482954025,
-0.0015421949792653322,
-0.05384651571512222,
-0.0053121307864785194,
-0.029280174523591995,
0.03350449725985527,
0.008706999942660332,
0.011068450286984444,
0.02630683220922947,
0.00512176426127553,
-0.039342403411865234,
0.029189525172114372,
0.0012521127937361598,
0.02501959167420864,
-0.02581731788814068,
0.0054843672551214695,
-0.0015852540964260697,
0.006137052085250616,
-0.06632004678249359,
0.04590551182627678,
-0.0001711031945887953,
-0.005040179006755352,
0.027467161417007446,
-0.01627179980278015,
-0.012274104170501232,
0.023351619020104408,
-0.008058846928179264,
-0.04688454046845436,
-0.037203047424554825,
-0.021846817806363106,
0.01919981837272644,
0.01890973560512066,
0.010379505343735218,
0.009155720472335815,
0.012881464324891567,
0.040756553411483765,
-0.005443574395030737,
-0.008348929695785046,
-0.02570853754878044,
0.06588492542505264,
-0.001995448488742113,
-0.050256747752428055,
-0.0011263348860666156,
-0.011793655343353748,
-0.026578783988952637,
0.029533997178077698,
-0.07349958270788193,
-0.019634941592812538,
0.005638473201543093,
0.020015673711895943,
0.033123765140771866,
0.004367097280919552,
0.01269109733402729,
0.0794825330376625,
-0.03807329386472702,
0.012119998224079609,
-0.07578398287296295,
0.03865345939993858,
0.014431591145694256,
0.02607114054262638,
-0.013751710765063763,
0.001291772467084229,
0.0013461628695949912,
0.0022266078740358353,
0.005502497311681509,
-0.0017200970323756337,
-0.014123378321528435,
-0.03908858075737953,
-0.03127449005842209,
0.01456756703555584,
-0.00396143551915884,
0.014540371485054493,
0.005620343144983053,
-0.01847461238503456,
0.01874656416475773,
-0.0004039621853735298,
0.0013631598558276892,
0.0010062227956950665,
0.020994702354073524,
0.02712268941104412,
-0.01959868147969246,
-0.02376861311495304,
-0.027231469750404358,
0.024675119668245316,
0.0168972909450531,
-0.041771840304136276,
0.04398372024297714,
0.0021574865095317364,
0.006164247635751963,
-0.04082907363772392,
0.04188062250614166,
-0.015872936695814133,
0.021937469020485878,
-0.004607321694493294,
0.012500731274485588,
0.05330261215567589,
-0.032597992569208145,
-0.010678651742637157,
0.0029053548350930214,
-0.007469617296010256,
0.014640087261795998,
-0.01307183038443327,
-0.017087657004594803,
-0.016978874802589417,
0.03738434612751007,
0.007573865819722414,
0.018782824277877808,
-0.0053121307864785194,
-0.028482450172305107,
-0.040067609399557114,
0.0034152651205658913,
-0.021520474925637245,
-0.01435000542551279,
-0.0006130253314040601,
-0.02501959167420864,
-0.01343443337827921,
0.02853683941066265,
0.014241225086152554,
-0.042859651148319244,
0.00659937085583806,
-0.022862106561660767,
0.04557917267084122,
-0.008421449922025204,
-0.04420128092169762,
-0.02199186012148857,
0.027539681643247604,
0.02558162622153759,
0.01091434434056282,
-0.011503573507070541,
-0.035462554544210434,
0.03147392347455025,
0.009241838939487934,
-0.01654375158250332,
-0.017078591510653496,
-0.0011648614890873432,
-0.023043407127261162,
-0.002821502974256873,
0.0039002462290227413,
0.004163133446127176,
-0.014649152755737305,
0.02893570251762867,
0.06436199694871902,
0.05192472040653229,
0.005751786753535271,
-0.054499197751283646,
0.00746508501470089,
-0.023097798228263855,
0.014032728038728237,
-0.05986572057008743,
-0.011050320230424404,
-0.007206730544567108,
-0.014014597982168198,
-0.03745687007904053,
0.01696981117129326,
0.029733428731560707,
0.01224690955132246,
-0.00009355435031466186,
0.006612968631088734,
-0.006631098687648773,
0.030984409153461456,
-0.04304094985127449,
-0.029370825737714767,
-0.042895909398794174,
-0.019417379051446915,
0.02068648859858513,
0.0005084937438368797,
0.04507152736186981,
-0.00016076334577519447,
0.043185994029045105,
0.013688255101442337,
-0.011476377956569195,
0.014277485199272633,
-0.016598142683506012,
-0.009178383275866508,
0.0019138628849759698,
-0.010497351177036762,
-0.03107505850493908,
-0.004541600123047829,
-0.025327805429697037,
-0.05816148594021797,
0.016861028969287872,
0.033160023391246796,
-0.0004679842386394739,
0.028482450172305107,
-0.04891511797904968,
-0.006386341527104378,
-0.02133917436003685,
0.04235200583934784,
0.005153492093086243,
0.0022368058562278748,
-0.06138865277171135,
0.013525083661079407,
0.02695951797068119,
-0.05761758238077164,
-0.04028517007827759,
0.03290620446205139,
0.014232159592211246,
0.03015042282640934,
-0.028283018618822098,
-0.005688331089913845,
0.00460278894752264,
-0.004296842962503433,
0.025291545316576958,
-0.027739113196730614,
-0.007950066588819027,
-0.01356134470552206,
-0.034737348556518555,
0.006399939302355051,
0.02242698334157467,
0.02873627096414566,
-0.005402781534940004,
0.01002596691250801,
-0.028192367404699326,
0.027866024523973465,
-0.02351479046046734,
-0.0072928485460579395,
-0.04061151295900345,
0.02084966003894806,
0.010742107406258583,
-0.01805761829018593,
-0.006535915192216635,
0.000002717750476222136,
-0.0031365142203867435,
0.006486057303845882,
0.013389107771217823,
0.05747254192829132,
-0.00007315794937312603,
0.0035013831220567226,
0.011929632164537907,
-0.007057156879454851,
-0.010016902349889278,
-0.0019863834604620934,
-0.017441194504499435,
0.02396804466843605,
0.0142049640417099,
-0.0038639858830720186,
0.002937082666903734,
0.04343981295824051,
-0.018819084390997887,
0.0024135748390108347,
-0.02469325065612793,
-0.0374206081032753,
0.009078667499125004,
0.000282433582469821,
0.017477454617619514,
0.015002690255641937
] |
Backdoor adjustment is a technique in causal inference for estimating
interventional quantities from purely observational data. For example, in
medical settings, backdoor adjustment can be used to control for confounding
and estimate the effectiveness of a treatment. However, high dimensional
treatments and confounders pose a series of potential pitfalls: tractability,
identifiability, optimization. In this work, we take a generative modeling
approach to backdoor adjustment for high dimensional treatments and
confounders. We cast backdoor adjustment as an optimization problem in
variational inference without reliance on proxy variables and hidden
confounders. Empirically, our method is able to estimate interventional
likelihood in a variety of high dimensional settings, including semi-synthetic
X-ray medical data. To the best of our knowledge, this is the first application
of backdoor adjustment in which all the relevant variables are high
dimensional. | [
-0.0031263004057109356,
-0.021429453045129776,
-0.03363468125462532,
-0.0010481543140485883,
0.03273475542664528,
0.03299723193049431,
-0.03485332801938057,
0.028966320678591728,
-0.021504446864128113,
0.010414752177894115,
0.011324050836265087,
-0.018673434853553772,
0.04102155938744545,
-0.00598543556407094,
0.0069697280414402485,
0.015814298763871193,
0.00818837620317936,
0.0008829337893985212,
0.025722842663526535,
-0.05283306911587715,
0.048445940017700195,
0.01030226144939661,
-0.03772183880209923,
0.056057799607515335,
0.02039828896522522,
0.06651942431926727,
0.059132542461156845,
0.0058682579547166824,
-0.004419941920787096,
0.04387132078409195,
-0.039296705275774,
0.008094633929431438,
-0.028497610241174698,
-0.031422365456819534,
-0.032865993678569794,
0.021710678935050964,
-0.02343553490936756,
0.027635183185338974,
0.01752978004515171,
0.05103322118520737,
-0.009064865298569202,
0.021898163482546806,
0.0013651199406012893,
0.027372704818844795,
0.00598543556407094,
-0.04649610072374344,
-0.048745911568403244,
-0.03057868592441082,
-0.023773007094860077,
0.03200356662273407,
0.0040426296181976795,
-0.011080320924520493,
0.04000914469361305,
0.031684841960668564,
-0.06670691072940826,
0.04945835471153259,
0.019760843366384506,
0.05568283051252365,
0.05065825209021568,
-0.01613302156329155,
-0.0032692572567611933,
-0.021373208612203598,
0.006571324076503515,
-0.01444566436111927,
0.025179138407111168,
0.018195349723100662,
0.018842170014977455,
0.0663694366812706,
-0.021279465407133102,
0.039409197866916656,
-0.0525330975651741,
-0.007100967224687338,
0.010142900049686432,
-0.006941605359315872,
-0.018139103427529335,
0.02182316966354847,
0.029491277411580086,
-0.00573701923713088,
-0.04645860567688942,
0.008961748331785202,
0.037778083235025406,
0.04578366130590439,
-0.03742186352610588,
-0.008216498419642448,
0.023341793566942215,
-0.05163317173719406,
0.008994558826088905,
-0.06644442677497864,
-0.012486453168094158,
-0.008985184133052826,
-0.045183710753917694,
0.011108444072306156,
0.032828498631715775,
-0.04672108218073845,
-0.0008190719527192414,
0.05020828917622566,
0.03479708358645439,
0.006004184018820524,
-0.05519537255167961,
0.03699064999818802,
-0.009786679409444332,
-0.012130233459174633,
0.007747787982225418,
0.03903422877192497,
0.01876717619597912,
-0.055607836693525314,
-0.060819901525974274,
0.014558154158294201,
0.05020828917622566,
0.1270393431186676,
-0.054182957857847214,
-0.003105208510532975,
-0.00994604080915451,
0.06216978654265404,
-0.051295697689056396,
0.03549077361822128,
-0.05283306911587715,
-0.09194229543209076,
0.008169627748429775,
-0.0690317153930664,
0.049608342349529266,
0.061719827353954315,
0.022835586220026016,
-0.0322660431265831,
-0.03892173618078232,
0.025179138407111168,
-0.027822667732834816,
-0.007869652472436428,
0.024016736075282097,
-0.011914625763893127,
-0.018814047798514366,
0.013095777481794357,
0.04289640486240387,
-0.032603517174720764,
0.02536662295460701,
-0.02936003915965557,
0.07386880367994308,
-0.03220979869365692,
-0.020079566165804863,
-0.010911584831774235,
0.009889795444905758,
-0.03361593186855316,
-0.05763266980648041,
0.05767016485333443,
-0.034947071224451065,
0.027316460385918617,
0.01258019544184208,
0.05193314701318741,
-0.004823033232241869,
0.0549703910946846,
-0.03764684498310089,
0.029472529888153076,
0.014014449901878834,
0.028253881260752678,
0.08661773800849915,
-0.017379792407155037,
0.036821912974119186,
-0.04390881955623627,
0.05703271925449371,
-0.04567117244005203,
0.02609781175851822,
-0.002453700639307499,
-0.014455038122832775,
0.04668358713388443,
0.052270617336034775,
0.01754852943122387,
-0.009871046990156174,
-0.026491528376936913,
0.011464663781225681,
0.03489082306623459,
0.04045910760760307,
-0.029003817588090897,
-0.017942246049642563,
0.052458103746175766,
-0.041621509939432144,
0.02208564803004265,
0.08279305696487427,
0.02231062948703766,
0.027166472747921944,
-0.06160733476281166,
-0.04188399016857147,
0.0026669639628380537,
0.007649358827620745,
-0.009917918592691422,
0.04248393699526787,
0.02604156732559204,
0.08946749567985535,
-0.04098406434059143,
0.07476872950792313,
0.0012959850719198585,
0.0035012690350413322,
0.02821638435125351,
-0.009078926406800747,
0.012139607220888138,
0.013583236373960972,
0.016929831355810165,
-0.029959987848997116,
-0.0626947432756424,
0.057257700711488724,
-0.018645312637090683,
-0.047508515417575836,
-0.06588197499513626,
0.04979582503437996,
0.005132382269948721,
0.05718270689249039,
0.005193314515054226,
0.062207285314798355,
-0.05470791459083557,
0.02133571170270443,
-0.06580698490142822,
-0.038265541195869446,
0.010377255268394947,
-0.06951916962862015,
-0.025516610592603683,
-0.012777053751051426,
-0.034965816885232925,
-0.04402130842208862,
0.006074490956962109,
-0.008853944949805737,
-0.004963646177202463,
0.003810618072748184,
0.014614399522542953,
0.04792098328471184,
0.013302009552717209,
0.004173868801444769,
0.05789514631032944,
-0.016161145642399788,
-0.011867755092680454,
-0.001890075858682394,
0.010021034628152847,
-0.03564076125621796,
-0.012833299115300179,
-0.014839380979537964,
-0.02724146656692028,
0.006922856904566288,
0.002753675449639559,
0.0045277453027665615,
-0.008853944949805737,
0.09456707537174225,
-0.05043327063322067,
-0.01918901689350605,
0.024729177355766296,
-0.06295721977949142,
0.029697509482502937,
0.024110479280352592,
0.06231977418065071,
-0.025685345754027367,
0.05167066678404808,
0.06213229149580002,
0.016208015382289886,
-0.005123008042573929,
0.014951871708035469,
-0.003646569326519966,
-0.015176852233707905,
-0.04975832998752594,
-0.003177858656272292,
-0.023041818290948868,
-0.03571575507521629,
-0.004752726759761572,
0.006641630548983812,
0.04004664346575737,
-0.0038973295595496893,
0.030166221782565117,
-0.0024349521845579147,
0.020773258060216904,
-0.022610604763031006,
0.05905754864215851,
0.002234578365460038,
0.006205729674547911,
0.028010152280330658,
-0.021148227155208588,
-0.04788348451256752,
-0.013686352409422398,
-0.019704598933458328,
0.03397215157747269,
-0.024785421788692474,
-0.020941995084285736,
-0.029266295954585075,
0.018551569432020187,
-0.023266799747943878,
-0.029041314497590065,
-0.005751080345362425,
0.025047900155186653,
-0.000944452069234103,
0.015608066692948341,
-0.0032669135835021734,
0.0009081269963644445,
-0.02082950435578823,
-0.029453780502080917,
-0.0312536284327507,
0.006365091539919376,
-0.012589569203555584,
0.003784838831052184,
0.01459565106779337,
0.04889589920639992,
0.010517868213355541,
-0.02060452289879322,
-0.017445411533117294,
0.020304547622799873,
-0.04788348451256752,
-0.04724603891372681,
-0.018626563251018524,
0.036634430289268494,
0.08534284681081772,
-0.030166221782565117,
0.008933626115322113,
0.025985321030020714,
0.08076822757720947,
-0.030878661200404167,
-0.00031843033502809703,
0.010246016085147858,
0.004061378072947264,
-0.00890550296753645,
-0.055345360189676285,
0.016686100512742996,
0.008211812004446983,
0.01565493829548359,
-0.011858380399644375,
-0.019367126747965813,
-0.03507830947637558,
-0.03459085151553154,
-0.0005882319528609514,
-0.028760088607668877,
-0.025441616773605347,
-0.004626174457371235,
-0.014126940630376339,
-0.057970140129327774,
0.039184216409921646,
0.01845782808959484,
0.03515330329537392,
-0.0020576398819684982,
0.0012748930603265762,
-0.06561949849128723,
-0.02274184301495552,
-0.06618195027112961,
0.022160641849040985,
-0.05234561115503311,
-0.021916912868618965,
-0.06366965919733047,
-0.027691427618265152,
0.005596405826508999,
-0.011539657600224018,
0.011042824015021324,
-0.002936472650617361,
0.00551672512665391,
0.0019217139342799783,
-0.048033472150564194,
0.006866612005978823,
0.001959210727363825,
-0.03059743531048298,
0.0009426944307051599,
-0.05099572613835335,
-0.009767930954694748,
0.010761598125100136,
0.0020072537008672953,
-0.01112719252705574,
-0.05197064206004143,
-0.004326199647039175,
-0.03181608393788338,
-0.008989871479570866,
0.02774767391383648,
-0.04480874165892601,
-0.047058556228876114,
0.06141985207796097,
-0.059807486832141876,
0.024954158812761307,
0.014276928268373013,
0.0013756658881902695,
-0.0030981777235865593,
0.004619143903255463,
-0.020941995084285736,
0.013761346228420734,
0.019067151471972466,
-0.03391590714454651,
0.01820472441613674,
-0.04150902107357979,
-0.030222466215491295,
-0.019076526165008545,
-0.009646066464483738,
0.05050826445221901,
-0.07660607993602753,
0.008347737602889538,
-0.03256601840257645,
0.00853522215038538,
-0.017192307859659195,
-0.03367217630147934,
0.011539657600224018,
-0.005526099354028702,
0.042071472853422165,
0.04855842888355255,
0.0336909256875515,
-0.046083636581897736,
-0.013133274391293526,
-0.0749187171459198,
0.013302009552717209,
-0.016414249315857887,
-0.006688501685857773,
0.004380101338028908,
0.00286850961856544,
-0.005708896555006504,
0.007682168390601873,
0.02204815112054348,
-0.007794659119099379,
-0.03247227892279625,
0.02184191904962063,
0.022460617125034332,
-0.009964789263904095,
-0.05054576322436333,
0.017717264592647552,
0.0036582869943231344,
-0.014726890251040459,
-0.013348881155252457,
0.0068478635512292385,
-0.01962960511445999,
0.055082883685827255,
0.03910922259092331,
-0.044471271336078644,
0.012345840223133564,
0.03577199950814247,
-0.04402130842208862,
0.017145438119769096,
-0.027635183185338974,
0.01469876803457737,
-0.038021814078092575,
-0.01348949410021305,
0.018110981211066246,
0.04818345978856087,
0.0028614788316190243,
0.05002080649137497,
-0.027691427618265152,
0.04109655320644379,
0.07083155959844589,
-0.02084825187921524,
-0.0535455122590065,
0.02204815112054348,
0.03160984814167023,
-0.010105403140187263,
-0.029922490939497948,
0.0004502552328631282,
-0.012486453168094158,
-0.017426664009690285,
0.002973969327285886,
0.007766536436975002,
0.042746417224407196,
0.003105208510532975,
-0.05144568532705307,
-0.015120606869459152,
-0.030184969305992126,
0.03243478015065193,
0.018410956487059593,
-0.11256556212902069,
0.01942337118089199,
-0.09096737205982208,
-0.01827971823513508,
0.008502412587404251,
-0.013883210718631744,
0.02604156732559204,
-0.06910670548677444,
0.05099572613835335,
-0.014201934449374676,
-0.06400713324546814,
0.021279465407133102,
-0.0027255527675151825,
-0.021016988903284073,
0.027841415256261826,
0.029041314497590065,
-0.03346594423055649,
-0.018579691648483276,
0.002276762155815959,
0.01610489934682846,
0.011642773635685444,
0.036371950060129166,
-0.03442211449146271,
-0.012889544479548931,
0.023829251527786255,
0.02487916499376297,
-0.02846011333167553,
-0.0643446072936058,
0.021991906687617302,
-0.05358300730586052,
0.019367126747965813,
-0.03243478015065193,
-0.01198024582117796,
-0.01210211031138897,
-0.021373208612203598,
0.00474335253238678,
0.021673183888196945,
0.07049409300088882,
0.0021068546921014786,
-0.0017705546924844384,
0.02562910132110119,
-0.05099572613835335,
-0.021204471588134766,
0.003055993700399995,
-0.0034122138749808073,
-0.005680773872882128,
-0.013002035208046436,
0.026829000562429428,
0.047770995646715164,
0.029959987848997116,
0.06753183901309967,
-0.04900839179754257,
-0.06258225440979004,
-0.013564487919211388,
0.013498867861926556,
-0.005802638363093138,
0.012430207803845406,
0.009786679409444332,
-0.012589569203555584,
-0.049195874482393265,
0.0054651666432619095,
0.022235635668039322,
-0.03057868592441082,
0.0021584127098321915,
-0.015767427161335945,
-0.04570866748690605,
0.006097926292568445,
-0.04165900871157646,
0.023791754618287086,
0.013433248735964298,
0.06194480508565903,
-0.04923337325453758,
-0.06213229149580002,
0.04364633932709694,
0.009767930954694748,
0.0800182893872261,
-0.004579303786158562,
-0.03564076125621796,
0.025254132226109505,
0.031647346913814545,
0.02722271718084812,
0.055345360189676285,
0.0049402108415961266,
-0.06464458256959915,
0.0005841306992806494,
0.0023400383070111275,
-0.020192056894302368,
0.06835676729679108,
-0.0037520292680710554,
-0.012345840223133564,
-0.011539657600224018,
0.05238310992717743,
0.03952168673276901,
0.0008723877836018801,
-0.015336214564740658,
-0.0032622264698147774,
0.03770308941602707,
-0.02135445922613144,
0.03265976160764694,
-0.0014740951592102647,
0.006576010957360268,
0.006997850723564625,
0.0057135834358632565,
0.023997988551855087,
0.002054124604910612,
-0.016779843717813492,
-0.05054576322436333,
0.010217892937362194,
0.03807805851101875,
-0.005507350899279118,
0.04060909524559975,
-0.008066510781645775,
-0.023585522547364235,
0.011774012818932533,
-0.021973157301545143,
-0.035434529185295105,
0.0028942886274307966,
0.047995977103710175,
-0.02416672371327877,
0.011895877309143543,
0.005943251773715019,
0.034009650349617004,
-0.016048654913902283,
-0.03820929676294327,
0.03010997548699379,
0.01727667637169361,
0.01609552465379238,
-0.04852093383669853,
-0.026004070416092873,
0.00002310597301402595,
0.020042069256305695,
-0.05189564824104309,
-0.017454786226153374,
0.033597182482481,
0.004696481395512819,
-0.014080069959163666,
-0.01588929258286953,
-0.01779225841164589,
-0.0075978003442287445,
0.015383085235953331,
-0.023754257708787918,
0.023997988551855087,
-0.004201991483569145,
-0.002276762155815959,
-0.015129981562495232,
0.012720808386802673,
0.003006779123097658,
0.0224981140345335,
0.010246016085147858,
-0.006702563259750605,
0.000022977810658630915,
-0.01494249701499939,
0.010414752177894115,
-0.005376111716032028,
-0.03843427821993828,
0.0003597354516386986,
0.011586528271436691,
-0.002601344371214509,
-0.003091147169470787,
0.04810846596956253,
0.028141390532255173,
-0.03389715775847435,
0.023060565814375877,
-0.04057160019874573,
0.010808468796312809,
-0.01435192208737135,
-0.0038574892096221447,
-0.028872579336166382,
-0.005919815972447395,
-0.018270343542099,
0.06625694781541824,
-0.02487916499376297,
0.011877128854393959,
0.010827217251062393,
-0.0006720139645040035,
0.024241717532277107,
-0.05005830153822899,
-0.028778837993741035,
-0.002079903846606612,
-0.009416397660970688,
-0.023510528728365898,
-0.007560303434729576,
-0.027916409075260162,
-0.009041429497301579,
0.06546951085329056,
-0.011408418416976929,
-0.02726021409034729,
0.036146968603134155,
-0.009167981334030628,
-0.009571072645485401,
-0.041396528482437134,
0.013883210718631744,
-0.017136063426733017,
0.009289845824241638,
-0.03997164964675903,
0.004117623437196016,
0.05305805057287216,
-0.032828498631715775,
0.031159887090325356,
-0.002137320814654231,
-0.03820929676294327,
0.023997988551855087,
0.004150433465838432,
0.030934905633330345,
-0.02846011333167553,
0.012111485004425049,
0.0037614034954458475,
0.028291378170251846,
0.009496078826487064,
0.0312536284327507,
0.013189518824219704,
-0.01847657561302185,
0.025741592049598694,
0.03509705886244774,
0.023098062723875046,
0.007686855737119913,
0.033053480088710785,
0.013808216899633408,
0.0657694861292839,
0.022910580039024353,
0.008839883841574192,
-0.018532821908593178,
-0.04668358713388443,
0.03009122796356678,
0.029772503301501274,
-0.03937169909477234,
-0.032828498631715775,
0.016498615965247154,
-0.011755264364182949,
-0.052045635879039764,
-0.031909823417663574,
-0.04083407670259476,
-0.03477833420038223,
0.013470745645463467,
0.0065900725312530994,
-0.009589821100234985,
-0.016873585060238838,
0.017895374447107315,
-0.017651645466685295,
0.02486041560769081,
-0.040684089064598083,
-0.03597823530435562,
0.05973249301314354,
0.010321009904146194,
0.008174315094947815,
-0.04619612544775009,
-0.010217892937362194,
-0.020792007446289062,
0.040421612560749054,
0.02418547309935093,
-0.023041818290948868,
0.01554244663566351,
-0.011005327105522156,
0.032378535717725754,
0.02634154073894024,
0.0056526511907577515,
0.0016873584827408195,
0.002591970143839717,
-0.013002035208046436,
0.030447447672486305,
-0.014576902613043785,
0.02561035379767418,
-0.01614239625632763,
0.02532912604510784,
-0.04724603891372681,
0.010311635211110115,
0.029247548431158066,
-0.019254636019468307,
0.0170516949146986,
0.010827217251062393,
-0.0057463934645056725,
0.0384717732667923,
0.023135559633374214,
-0.04128403961658478,
0.04522120952606201,
-0.0007487653638236225,
0.020904498174786568,
0.0020717012230306864,
0.033990900963544846,
-0.002299026120454073,
0.002439639298245311,
-0.020042069256305695,
-0.01706106960773468,
-0.004944897722452879,
0.050095800310373306,
-0.011989619582891464,
-0.023810504004359245,
0.013920707628130913,
0.0021841919515281916,
-0.0021490384824573994,
0.024297963827848434,
-0.01923588663339615,
0.03744061291217804,
-0.015364336781203747,
-0.014539405703544617,
0.04593364894390106,
0.021973157301545143,
0.03445960953831673,
0.022366873919963837,
0.008141504600644112,
0.05429544672369957,
-0.02343553490936756,
-0.003391121979802847,
0.031141139566898346,
-0.018382834270596504,
-0.04454626515507698,
-0.006674440577626228,
-0.007780597545206547,
0.030147472396492958,
-0.00219473778270185,
0.0388842411339283,
0.049608342349529266,
-0.01434254739433527,
-0.016911081969738007,
0.038546767085790634,
0.033503443002700806,
-0.0435713455080986,
0.013217641972005367,
0.007489996962249279,
-0.021448202431201935,
-0.029041314497590065,
0.010096028447151184,
-0.0068478635512292385,
-0.052495598793029785,
-0.006608820986002684,
-0.03395340219140053,
0.009692937135696411,
-0.01183963194489479,
0.0027208656538277864,
0.004954271949827671,
0.019385874271392822,
0.013883210718631744,
-0.011136566288769245,
0.00913985911756754,
0.0073212613351643085,
-0.016892334446310997,
-0.035453278571367264,
-0.016789216548204422,
0.04645860567688942,
0.031234880909323692,
-0.003944200463593006,
0.01244895625859499,
0.035678260028362274,
-0.03982166200876236,
0.02152319625020027,
-0.03406589478254318,
0.006946292705833912,
-0.03224729746580124,
-0.0331847183406353,
-0.0021666153334081173,
-0.007133776787668467,
0.007879027165472507,
-0.020229553803801537,
0.025966573506593704,
0.0059713744558393955,
-0.03389715775847435,
-0.02037954144179821,
-0.022404370829463005,
-0.015476827509701252,
0.01871093176305294,
-0.012139607220888138,
0.031891077756881714,
-0.012608317658305168,
0.0010065562091767788,
0.009458581916987896,
-0.007874339818954468,
-0.019554611295461655,
0.03869675472378731,
0.022104397416114807,
-0.05287056788802147,
-0.019648352637887,
-0.05613279342651367,
0.007883713580667973,
-0.011202185414731503,
0.019948327913880348,
0.014061321504414082,
-0.030447447672486305,
-0.0006104956846684217,
0.054632920771837234,
-0.0037356242537498474,
0.01896403543651104,
0.025947824120521545,
-0.030934905633330345,
0.032116059213876724,
-0.015486201271414757,
0.03794682025909424,
-0.03702814504504204,
-0.00937890075147152,
0.008122756145894527,
0.008230559527873993,
0.008371173404157162,
-0.010667855851352215,
-0.04668358713388443,
-0.01775476150214672,
0.025760339573025703,
-0.0007546242559328675,
0.033559687435626984,
-0.0010147587163373828,
-0.016283009201288223,
-0.0005296430899761617,
0.037815578281879425,
0.017623523250222206,
0.013920707628130913,
0.00828211847692728,
0.016676727682352066,
0.003133330959826708,
0.025216635316610336,
-0.0034309623297303915,
-0.03012872487306595,
-0.008849258534610271,
0.019985824823379517,
0.04473374783992767,
0.027597686275839806,
-0.045821160078048706,
0.004555867984890938,
0.03239728510379791,
0.05047076940536499,
-0.09321718662977219,
0.01757665164768696,
-0.06918170303106308,
-0.03438461571931839,
0.008080572821199894,
0.02652902528643608,
0.04237144812941551,
0.02109198085963726,
0.04075908288359642,
0.032828498631715775,
-0.0021607563830912113,
0.014548780396580696,
-0.03265976160764694,
0.017407916486263275,
0.02321055345237255,
0.03395340219140053,
-0.04079657793045044,
0.027635183185338974,
-0.04747102037072182,
0.003002092009410262,
-0.039709169417619705,
-0.0059713744558393955,
0.0061869812197983265,
0.023416787385940552,
0.016957953572273254,
-0.011014701798558235,
0.0009497250430285931,
-0.017023572698235512,
-0.010864714160561562,
-0.01554244663566351,
-0.0032622264698147774,
-0.011239682324230671,
-0.013808216899633408,
-0.006927544251084328,
0.009374214336276054,
-0.015458079054951668,
0.002852104604244232,
0.01434254739433527,
0.012936415150761604,
0.009167981334030628,
0.03505956009030342,
0.010714726522564888,
-0.0036793791223317385,
0.008094633929431438,
-0.021035736426711082,
0.00711034145206213,
0.03622196242213249,
0.019292132928967476,
-0.0016873584827408195,
-0.023154309019446373,
-0.004926149733364582,
0.0028216384816914797,
-0.01942337118089199,
-0.0027935157995671034,
0.06303221732378006,
0.0175579022616148,
-0.0017752418061718345,
0.013705100864171982,
0.012655189260840416,
0.013198893517255783,
0.043271373957395554,
-0.007541555445641279,
0.10116651654243469,
-0.030184969305992126,
0.013086402788758278,
0.03550952300429344,
0.03678441792726517,
0.03858426585793495,
0.037815578281879425,
-0.020567025989294052,
-0.02367926388978958,
0.03937169909477234,
-0.022610604763031006,
0.015748679637908936,
0.02272309549152851,
0.004178556147962809,
0.005830761045217514,
0.025272881612181664,
-0.0403091199696064,
0.0170516949146986,
-0.0296225156635046,
-0.050845738500356674,
-0.014023824594914913,
-0.02201065421104431,
-0.01551432441920042,
0.014267553575336933,
-0.026116561144590378,
-0.01447378657758236,
0.03884674236178398,
-0.02439170517027378,
0.05290806293487549,
0.004511340521275997,
0.01245833095163107,
0.025029150769114494,
-0.03575325384736061,
-0.027410201728343964,
-0.015814298763871193,
0.009964789263904095,
0.01528934296220541,
0.007335322443395853,
-0.028141390532255173,
-0.028628850355744362,
-0.021710678935050964,
-0.002427921397611499,
-0.020454535260796547,
-0.006871298886835575,
0.020229553803801537,
0.0322660431265831,
0.007850904017686844,
-0.004757413640618324,
-0.003475489793345332,
-0.019329629838466644,
0.009510139934718609,
0.04308388754725456,
0.0048699043691158295,
0.013723849318921566,
0.019610855728387833,
0.0036793791223317385,
-0.03174109011888504,
0.030709926038980484,
0.010602235794067383,
-0.022479364648461342,
0.014520657248795033,
-0.011464663781225681,
-0.014745638705790043,
0.03865925967693329,
-0.05208313465118408,
-0.02532912604510784,
-0.024804171174764633,
0.00818837620317936,
-0.0014600338181480765,
0.011952122673392296,
-0.007672794163227081,
0.017651645466685295,
-0.031853578984737396,
0.00581201259046793,
0.03297848626971245,
0.03830303996801376,
-0.01779225841164589,
0.06760682910680771,
0.021166974678635597,
-0.017970368266105652,
0.015964286401867867,
-0.007518119644373655,
-0.045633673667907715,
-0.03382216393947601,
0.016967328265309334,
-0.06734435260295868,
0.026135308668017387,
-0.04979582503437996,
-0.028572604060173035,
0.02847886271774769,
-0.004731634631752968,
0.02675400674343109,
-0.01562681421637535,
-0.021279465407133102,
-0.07116903364658356
] |
Speech separation remains an important topic for multi-speaker technology
researchers. Convolution augmented transformers (conformers) have performed
well for many speech processing tasks but have been under-researched for speech
separation. Most recent state-of-the-art (SOTA) separation models have been
time-domain audio separation networks (TasNets). A number of successful models
have made use of dual-path (DP) networks which sequentially process local and
global information. Time domain conformers (TD-Conformers) are an analogue of
the DP approach in that they also process local and global context sequentially
but have a different time complexity function. It is shown that for realistic
shorter signal lengths, conformers are more efficient when controlling for
feature dimension. Subsampling layers are proposed to further improve
computational efficiency. The best TD-Conformer achieves 14.6 dB and 21.2 dB
SISDR improvement on the WHAMR and WSJ0-2Mix benchmarks, respectively. | [
0.015889160335063934,
0.004800912458449602,
-0.029657045379281044,
-0.06147615611553192,
-0.003324689343571663,
-0.001917305518873036,
-0.010769546031951904,
0.02559806779026985,
-0.0726536437869072,
0.05327661707997322,
-0.038284920156002045,
-0.012727645225822926,
0.013145781122148037,
-0.048381369560956955,
-0.02914712391793728,
-0.021253535524010658,
0.018816109746694565,
-0.04344532638788223,
-0.016745828092098236,
-0.01813281513750553,
0.0325126051902771,
0.026169180870056152,
-0.05694805458188057,
-0.04154841974377632,
0.01861214078962803,
0.04393485188484192,
0.03612285107374191,
-0.007455055136233568,
-0.04801422730088234,
0.011962763033807278,
0.013563917018473148,
0.04829978197813034,
-0.007123605813831091,
-0.09211225062608719,
-0.09097002446651459,
0.01471633929759264,
0.04197675362229347,
0.03528657928109169,
-0.008097556419670582,
0.04658644646406174,
-0.03573531284928322,
-0.018561149016022682,
-0.0357557088136673,
-0.058906152844429016,
0.029493870213627815,
0.006093563977628946,
-0.042221516370773315,
0.014624553732573986,
0.03865206241607666,
0.003151315962895751,
0.014206417836248875,
-0.0237419530749321,
0.0031742623541504145,
0.019428016617894173,
-0.03436871990561485,
0.016490867361426353,
0.06339346617460251,
0.01920364983379841,
0.06216965243220329,
-0.005111964885145426,
0.056132178753614426,
-0.012952011078596115,
-0.03820333257317543,
-0.011983159929513931,
-0.0028632101602852345,
-0.03906000033020973,
-0.0486261323094368,
-0.013910663314163685,
-0.000626566237770021,
-0.011493634432554245,
-0.06221044436097145,
-0.033450860530138016,
-0.022599728778004646,
0.023619571700692177,
-0.008898133412003517,
-0.0011511482298374176,
0.06543315201997757,
0.03343046456575394,
-0.0030875757802277803,
0.013716893270611763,
-0.027902914211153984,
0.010728752240538597,
0.022477347403764725,
-0.006659577134996653,
0.09480463713407516,
-0.023476794362068176,
-0.051481693983078,
-0.046015333384275436,
0.050584230571985245,
-0.04177278280258179,
-0.0165418591350317,
0.02355838194489479,
0.00307227810844779,
-0.04409802705049515,
-0.03716309368610382,
0.009790495969355106,
0.004092121496796608,
0.02443544752895832,
-0.03859087452292442,
-0.04475072771310806,
-0.006542295217514038,
-0.017622893676161766,
0.012278914451599121,
-0.008378013037145138,
0.05193042382597923,
0.0319414958357811,
0.0004261033027432859,
0.014624553732573986,
0.0035618029069155455,
0.13249805569648743,
0.024088699370622635,
0.00035949479206465185,
0.019438214600086212,
0.02898394875228405,
-0.049972325563430786,
-0.006644279696047306,
-0.08252572268247604,
-0.08334159851074219,
-0.020713018253445625,
-0.013064193539321423,
-0.03406276926398277,
0.06571870297193527,
-0.002262777416035533,
-0.0022156096529215574,
-0.005843702703714371,
0.04878930747509003,
0.0031462167389690876,
0.034919437021017075,
-0.0285556148737669,
0.014746935106813908,
-0.04630088806152344,
0.007791603449732065,
-0.01917305588722229,
-0.03014656901359558,
0.022354966029524803,
-0.01695999503135681,
-0.013778083957731724,
0.0031691633630543947,
-0.032288242131471634,
0.0026184478774666786,
0.01434919610619545,
0.0020231143571436405,
-0.006669775582849979,
0.060537900775671005,
-0.0015119177987799048,
0.03381800651550293,
-0.04772866889834404,
0.08338239043951035,
0.024047905579209328,
0.0000022956435259402497,
-0.034491103142499924,
0.008944026194512844,
-0.016501065343618393,
0.03542935848236084,
0.02753577008843422,
-0.029840616509318352,
0.005435765255242586,
-0.04381247237324715,
-0.008826744742691517,
-0.021722663193941116,
0.05331741273403168,
-0.042221516370773315,
0.013818877749145031,
-0.01565459556877613,
0.0103208152577281,
0.02223258465528488,
0.04878930747509003,
0.017684083431959152,
0.0014966201269999146,
0.05429646000266075,
0.03626563027501106,
0.04016143083572388,
0.0021901135332882404,
-0.027046246454119682,
-0.0045026084408164024,
-0.004219601862132549,
0.020967978984117508,
-0.0360412634909153,
-0.05523471534252167,
0.055561065673828125,
-0.060537900775671005,
0.05772313475608826,
0.01156502403318882,
0.0030493317171931267,
0.018948689103126526,
0.04287421330809593,
0.033308085054159164,
-0.018102219328284264,
0.0015348643064498901,
0.016317494213581085,
-0.006226143799722195,
0.02751537412405014,
0.05458201840519905,
0.004089572001248598,
0.002830065321177244,
-0.031553953886032104,
0.0045000589452683926,
0.025700053200125694,
-0.001736283302307129,
0.02384393848478794,
-0.051318518817424774,
0.03440951555967331,
0.03587808832526207,
-0.0016470470000058413,
0.03220665454864502,
0.028372041881084442,
0.01163641270250082,
0.039141587913036346,
-0.023395206779241562,
-0.06620822846889496,
-0.019101666286587715,
-0.060537900775671005,
-0.0025661808904260397,
-0.012911217287182808,
0.02488417737185955,
-0.03261459246277809,
0.0013767885975539684,
-0.00699612544849515,
0.04687200114130974,
0.01874472014605999,
0.00523179629817605,
0.0008318097679875791,
0.029024742543697357,
-0.02486378140747547,
-0.020407065749168396,
-0.033614035695791245,
-0.028433233499526978,
0.017500512301921844,
0.023089254274964333,
0.05552027374505997,
-0.053643759340047836,
0.0213555209338665,
-0.0020677323918789625,
-0.041058894246816635,
0.00578251201659441,
-0.039875876158475876,
0.054949160665273666,
0.012982605956494808,
-0.04377167671918869,
0.014094235375523567,
-0.021865442395210266,
0.015573007985949516,
-0.02661791257560253,
-0.022783299908041954,
-0.0074295587837696075,
-0.009657916612923145,
0.022518141195178032,
0.04287421330809593,
-0.04454675689339638,
-0.0031972089782357216,
-0.04303738847374916,
0.014563363045454025,
-0.013625107705593109,
-0.009341765195131302,
-0.023476794362068176,
0.016929399222135544,
-0.0038881527725607157,
-0.05193042382597923,
0.02620997466146946,
-0.037836190313100815,
0.04332294687628746,
0.008607477881014347,
0.004472013097256422,
0.06045631319284439,
-0.00392129784449935,
0.01597074791789055,
0.0020243891049176455,
0.007455055136233568,
0.0327981635928154,
-0.014532768167555332,
-0.025720449164509773,
0.008485096506774426,
-0.0183061882853508,
0.02623037062585354,
0.022762903943657875,
-0.021702267229557037,
-0.0036408407613635063,
-0.0007126155542209744,
0.034205544739961624,
0.003992686979472637,
0.0025598069187253714,
0.027902914211153984,
-0.029167519882321358,
-0.023762350901961327,
-0.013257963582873344,
-0.0286983922123909,
0.01842856965959072,
-0.019101666286587715,
-0.01252367626875639,
-0.048258986324071884,
0.0018765118438750505,
0.007806900888681412,
-0.07701857388019562,
0.03498062863945961,
0.03128879517316818,
-0.031003238633275032,
0.02635275200009346,
-0.025822434574365616,
0.009122499264776707,
-0.019387222826480865,
-0.03357324376702309,
-0.009540634229779243,
0.033593639731407166,
-0.03481745347380638,
-0.0506250262260437,
0.03104403242468834,
-0.005354177672415972,
0.11438563466072083,
-0.012860224582254887,
-0.025006558746099472,
0.022130601108074188,
-0.019662579521536827,
0.00585390068590641,
0.021702267229557037,
-0.05282788723707199,
-0.01552201621234417,
0.008949125185608864,
-0.03351205214858055,
-0.027760136872529984,
-0.061272189021110535,
0.02168186940252781,
0.02547568641602993,
-0.07175617665052414,
0.017225153744220734,
0.01695999503135681,
0.022803697735071182,
0.06461727619171143,
-0.03149276226758957,
0.06755442172288895,
0.03294093906879425,
-0.020284684374928474,
0.0024310515727847815,
-0.024394653737545013,
-0.041630007326602936,
-0.010871530510485172,
0.008689065463840961,
-0.03236982971429825,
-0.019723771139979362,
-0.03646959736943245,
-0.044995490461587906,
0.02533290907740593,
-0.00996387004852295,
-0.038264524191617966,
0.007653924636542797,
-0.015450626611709595,
-0.012615462765097618,
0.008515692315995693,
-0.015919754281640053,
-0.01039730291813612,
0.023884732276201248,
0.0010905950330197811,
-0.05751916393637657,
0.01353332120925188,
0.04727993905544281,
0.017796266824007034,
-0.08468779176473618,
-0.05576503649353981,
0.007001224905252457,
0.034327927976846695,
0.01126926951110363,
0.026821879670023918,
-0.053929317742586136,
-0.05241994932293892,
0.021722663193941116,
-0.052215978503227234,
-0.03426673635840416,
-0.02606719546020031,
-0.026821879670023918,
0.02268131636083126,
0.04752470180392265,
0.02912672609090805,
0.016796819865703583,
-0.006537195760756731,
-0.017102772369980812,
0.0006096751312725246,
0.006965530104935169,
0.046015333384275436,
-0.0333692766726017,
0.0489116869866848,
0.048381369560956955,
-0.0286983922123909,
0.05552027374505997,
0.05372534692287445,
-0.018663134425878525,
0.017959441989660263,
0.005379673559218645,
0.0018255196046084166,
0.045485012233257294,
-0.06221044436097145,
0.02986101433634758,
0.019377022981643677,
-0.03906000033020973,
-0.058049485087394714,
-0.0363268218934536,
0.004094670992344618,
-0.007699817419052124,
-0.004321586340665817,
0.026250768452882767,
0.025944815948605537,
-0.016276700422167778,
-0.052909474819898605,
-0.01962178573012352,
0.000287946400931105,
-0.021008772775530815,
0.027189023792743683,
0.007123605813831091,
-0.015919754281640053,
0.02153909206390381,
0.0506250262260437,
0.018194004893302917,
0.03679594770073891,
0.00555814616382122,
-0.03528657928109169,
0.008112854324281216,
0.0184489656239748,
-0.016623446717858315,
-0.03473586589097977,
-0.028637202456593513,
0.007699817419052124,
-0.07314316928386688,
-0.010575775988399982,
0.03926397114992142,
0.03934555873274803,
0.0008681416511535645,
0.031146015971899033,
0.032716576009988785,
0.08032286167144775,
-0.02282409369945526,
-0.012952011078596115,
-0.013308956287801266,
0.045158665627241135,
0.028779979795217514,
0.0644541010260582,
-0.05021708831191063,
-0.042833421379327774,
-0.015562810003757477,
-0.018204204738140106,
-0.016450073570013046,
0.02635275200009346,
0.023232031613588333,
-0.03581690043210983,
-0.0009165842202492058,
0.043118976056575775,
-0.007674321532249451,
-0.034470707178115845,
-0.04010023921728134,
0.00040602515218779445,
0.03542935848236084,
0.00644031073898077,
-0.008898133412003517,
-0.026006005704402924,
0.022579332813620567,
-0.09145954996347427,
-0.028208866715431213,
0.046627238392829895,
-0.02459862269461155,
0.016358288004994392,
-0.031084826216101646,
-0.024374255910515785,
-0.042996596544981,
0.009000117890536785,
0.037693411111831665,
0.043853264302015305,
-0.020611034706234932,
0.013390542939305305,
-0.00493604177609086,
-0.034511499106884,
-0.033287689089775085,
-0.014471577480435371,
0.013614908792078495,
0.05025788024067879,
-0.02912672609090805,
-0.0250269565731287,
0.02037646993994713,
-0.017235353589057922,
0.04028381407260895,
-0.015501619316637516,
-0.07069554179906845,
0.013574115000665188,
-0.007735511753708124,
-0.005507154390215874,
0.0181634109467268,
0.03522539138793945,
0.03571491315960884,
-0.021579885855317116,
-0.022599728778004646,
0.0010370531817898154,
0.04352691397070885,
-0.0001775164855644107,
0.017021186649799347,
0.054378047585487366,
0.047361526638269424,
0.019407618790864944,
0.002606974681839347,
-0.0046912794932723045,
-0.022293776273727417,
-0.010891927406191826,
-0.03679594770073891,
0.05972202867269516,
-0.0043547311797738075,
-0.000625291489996016,
-0.010223929770290852,
0.044301994144916534,
-0.01802063174545765,
-0.02284449152648449,
0.02329322323203087,
-0.05225677415728569,
-0.025067750364542007,
-0.03253300487995148,
0.03646959736943245,
0.03440951555967331,
0.004181357566267252,
0.052787091583013535,
-0.029045138508081436,
-0.010963316075503826,
0.015776976943016052,
0.004168609622865915,
0.023905128240585327,
-0.03569451719522476,
-0.008704363368451595,
-0.00457399757578969,
-0.010565577074885368,
-0.02767854928970337,
0.10214751213788986,
-0.019570793956518173,
0.003503161948174238,
0.00699612544849515,
-0.003719878615811467,
0.07049157470464706,
-0.04626009613275528,
0.0028708591125905514,
0.002710233675315976,
-0.033022526651620865,
-0.01382907573133707,
0.026699500158429146,
-0.02298726886510849,
-0.045485012233257294,
0.0383257120847702,
-0.0327981635928154,
-0.01493050716817379,
0.022518141195178032,
0.017112972214818,
-0.04401643946766853,
0.007704916410148144,
-0.004953889176249504,
-0.008214837871491909,
0.02886156737804413,
-0.052338361740112305,
-0.004367479123175144,
0.03057490475475788,
-0.007123605813831091,
0.00702672079205513,
-0.03408316522836685,
0.029473472386598587,
-0.04360850155353546,
-0.016643844544887543,
-0.04952359199523926,
0.0250269565731287,
-0.00797007605433464,
-0.03047291934490204,
0.0014647500356659293,
0.03298173472285271,
0.03512340411543846,
0.008505493402481079,
0.006027274299412966,
0.013155979104340076,
0.05254232883453369,
0.030860459432005882,
0.006669775582849979,
0.012166731059551239,
-0.02737259678542614,
-0.03473586589097977,
-0.021763456985354424,
0.0017311840783804655,
-0.01104490365833044,
0.018214402720332146,
0.04012063890695572,
-0.0014277807204052806,
0.01127946749329567,
0.0029014544561505318,
0.04132405295968056,
-0.011106094345450401,
0.024129493162035942,
0.007302078418433666,
-0.01535884104669094,
0.0069094388745725155,
-0.03132958710193634,
-0.04536263272166252,
-0.004675981588661671,
-0.014379790984094143,
0.04087532311677933,
0.05356217175722122,
0.06947173178195953,
-0.02604679949581623,
0.02094758301973343,
-0.04320056363940239,
0.004681081045418978,
-0.01815321110188961,
0.036367613822221756,
-0.06371981650590897,
-0.031003238633275032,
0.04336373880505562,
-0.02661791257560253,
0.018194004893302917,
-0.06783998012542725,
-0.02604679949581623,
0.014736736193299294,
0.022640522569417953,
-0.004178808070719242,
0.0279845017939806,
-0.00022803060710430145,
0.00791908334940672,
0.008505493402481079,
-0.0200705174356699,
0.0325126051902771,
-0.010728752240538597,
0.010127044282853603,
-0.00951003935188055,
-0.017765671014785767,
-0.04581136256456375,
0.02841283567249775,
-0.039733096957206726,
0.05523471534252167,
0.0005883221165277064,
0.01610332727432251,
-0.0020422362722456455,
0.0041201673448085785,
-0.039590317755937576,
-0.00201036618091166,
-0.02343600057065487,
0.018081823363900185,
0.031839508563280106,
-0.002227082848548889,
-0.020284684374928474,
0.010514585301280022,
0.01120807882398367,
0.03428713232278824,
-0.017755473032593727,
0.017643289640545845,
0.0003263498656451702,
-0.00879614893347025,
0.0020511599723249674,
-0.0022755255922675133,
0.0001465228124288842,
0.00307227810844779,
0.00958142802119255,
0.016133921220898628,
-0.008301525376737118,
0.07554999738931656,
0.05274629965424538,
0.03322649747133255,
0.03118680976331234,
0.0021098009310662746,
0.05955885350704193,
-0.010473791509866714,
-0.022150997072458267,
0.03646959736943245,
-0.0008910881588235497,
0.01918325386941433,
-0.02370115928351879,
0.01769428327679634,
-0.0330837182700634,
0.009984266944229603,
-0.01769428327679634,
0.03567412123084068,
-0.03265538439154625,
0.0006788332248106599,
-0.025536878034472466,
-0.05078819766640663,
0.04079373553395271,
-0.025434892624616623,
-0.034633882343769073,
0.0025394100230187178,
-0.056866466999053955,
-0.0156851913779974,
-0.04097730666399002,
0.0045000589452683926,
0.0391823835670948,
0.02633235603570938,
-0.042099133133888245,
-0.01368629839271307,
-0.030207760632038116,
-0.028800375759601593,
0.062414415180683136,
0.04197675362229347,
-0.007424459792673588,
0.022069409489631653,
-0.04116087779402733,
0.00797517504543066,
-0.01111629232764244,
-0.006246540695428848,
0.015338444150984287,
-0.01988694630563259,
-0.009953671135008335,
-0.021273933351039886,
0.05343979224562645,
-0.026087593287229538,
0.01815321110188961,
0.023007666692137718,
0.028596408665180206,
0.024068303406238556,
0.02400711365044117,
0.04140564054250717,
-0.005282788537442684,
0.047198351472616196,
0.009974068030714989,
-0.00863297376781702,
-0.05025788024067879,
-0.02943267859518528,
0.007730412762612104,
0.038427699357271194,
0.007271483074873686,
-0.0037938172463327646,
0.009861885569989681,
-0.01742912270128727,
-0.0021008772309869528,
0.02680148370563984,
0.011656809598207474,
-0.0494828000664711,
0.005091567989438772,
-0.005004881415516138,
0.027556167915463448,
0.0285556148737669,
-0.06510680168867111,
0.009831289760768414,
0.05919170752167702,
0.047239143401384354,
0.011075498536229134,
-0.015542413108050823,
-0.009168392047286034,
0.02633235603570938,
-0.0483405739068985,
-0.017806464806199074,
0.032879751175642014,
0.006062968634068966,
-0.03028934821486473,
-0.012329906225204468,
0.03459308668971062,
0.039325159043073654,
-0.005583642516285181,
0.012554272077977657,
0.003408826421946287,
0.024639416486024857,
0.012278914451599121,
0.02547568641602993,
0.02386433444917202,
0.031574349850416183,
0.030330142006278038,
0.009428451769053936,
-0.005930389277637005,
-0.015511817298829556,
-0.04585215821862221,
0.0299833957105875,
-0.016470469534397125,
-0.05348058417439461,
0.05976282060146332,
-0.03522539138793945,
-0.030982840806245804,
-0.016613248735666275,
-0.06131298467516899,
0.024680210277438164,
-0.0024539981968700886,
0.02310965023934841,
-0.02592441812157631,
0.005206300411373377,
-0.02253853902220726,
-0.03634721785783768,
-0.014186020940542221,
0.03683674335479736,
-0.02969783917069435,
0.05992599576711655,
0.019937938079237938,
0.034205544739961624,
-0.023068856447935104,
0.017225153744220734,
0.017163963988423347,
0.02286488749086857,
-0.021885838359594345,
-0.03383840247988701,
-0.023639969527721405,
-0.04577057063579559,
0.024088699370622635,
-0.06947173178195953,
-0.015134475193917751,
-0.03324689343571663,
-0.0007234513759613037,
0.01493050716817379,
-0.05368455499410629,
0.0029142023995518684,
0.03557213768362999,
0.03683674335479736,
-0.021743061020970345,
0.03934555873274803,
-0.022130601108074188,
0.05413328483700752,
-0.02139631286263466,
-0.0030161866452544928,
0.02472100220620632,
-0.0424254834651947,
-0.030228156596422195,
-0.014736736193299294,
0.012176929973065853,
0.0013780633453279734,
0.052909474819898605,
0.013798480853438377,
-0.040181826800107956,
-0.012176929973065853,
-0.03763221949338913,
0.0509105809032917,
0.03691833093762398,
0.018377577885985374,
0.0045077078975737095,
0.05772313475608826,
0.01756170205771923,
0.04483231529593468,
0.006323028821498156,
-0.017235353589057922,
-0.018122617155313492,
-0.02971823513507843,
-0.07775285840034485,
0.02168186940252781,
-0.009759901091456413,
-0.023925526067614555,
-0.030228156596422195,
-0.03808094933629036,
-0.01427780743688345,
0.04772866889834404,
-0.02490457519888878,
0.04173199087381363,
0.03685713931918144,
0.005629535298794508,
0.01536903902888298,
-0.03716309368610382,
0.0038014661986380816,
-0.014206417836248875,
0.04768787696957588,
0.04065095633268356,
-0.02065182849764824,
0.0000353558971255552,
0.046464063227176666,
-0.013033597730100155,
0.02325242944061756,
-0.023211635649204254,
-0.038305316120386124,
0.007210292387753725,
-0.027474580332636833,
-0.02563886158168316,
-0.03640840947628021,
-0.04230310395359993,
-0.026597514748573303,
0.06176171451807022,
0.014328799210488796,
0.0374690443277359,
0.014971300959587097,
-0.024822987616062164,
0.03995746374130249,
-0.02618957683444023,
0.003243101993575692,
-0.0008082258864305913,
-0.04760628938674927,
0.06498441845178604,
0.029514266178011894,
-0.026964658871293068,
0.007398963440209627,
-0.02459862269461155,
-0.021314727142453194,
0.005272590089589357,
-0.030778871849179268,
0.028168072924017906,
-0.04528104513883591,
-0.004028381314128637,
-0.00885733962059021,
-0.05735599249601364,
-0.04479151964187622,
-0.006542295217514038,
-0.010667561553418636,
-0.03410356119275093,
-0.04036540165543556,
0.021273933351039886,
-0.007694717962294817,
0.03498062863945961,
0.017969639971852303,
-0.005004881415516138,
-0.0012856400571763515,
0.0712258592247963,
-0.004474562592804432,
0.026271164417266846,
-0.036510393023490906,
-0.01353332120925188,
-0.022518141195178032,
-0.0213555209338665,
0.02910633012652397,
-0.02106996439397335,
-0.068451888859272,
0.026434339582920074,
0.03134998679161072,
-0.030942047014832497,
-0.0069043394178152084,
0.013298757374286652,
0.005619336850941181,
-0.009601824916899204,
-0.07640666514635086,
-0.01757190190255642,
-0.03848888725042343,
-0.005106865428388119,
-0.017979837954044342,
-0.019244443625211716,
-0.009938373230397701,
0.018673332408070564,
-0.05547947809100151,
-0.024333462119102478,
-0.006965530104935169,
-0.012768439017236233,
-0.022497745230793953,
-0.024088699370622635,
-0.01412483025342226,
-0.019703373312950134,
-0.0243130661547184,
0.0011479611275717616,
0.013655702583491802,
0.0013920861529186368,
0.011830182746052742,
-0.009785396978259087,
0.022885285317897797,
-0.00457399757578969,
0.013961656019091606,
-0.02223258465528488,
0.023925526067614555,
0.03075847588479519,
0.0021595184225589037,
-0.01536903902888298,
0.026148783043026924,
0.051481693983078,
0.010045456700026989,
0.03424634039402008,
0.018051227554678917,
-0.043241359293460846,
0.02268131636083126,
-0.02121274173259735,
0.004357280675321817,
-0.013370146043598652,
-0.0024578224401921034,
0.0014469027519226074,
0.02310965023934841,
-0.005262391641736031,
-0.03239022567868233,
0.012370700016617775,
-0.010019960813224316,
-0.0019542749505490065,
0.0383257120847702,
0.0140636395663023,
0.009188788942992687,
-0.017531108111143112,
-0.0060884649865329266,
0.00013696178211830556,
0.013594511896371841,
-0.03438911959528923,
-0.008372914046049118,
0.023395206779241562,
0.009326467290520668,
0.012238120660185814,
0.04760628938674927,
0.0059507861733436584,
-0.0006769210449419916,
0.025679655373096466,
0.011952564120292664,
-0.008678867481648922,
0.004367479123175144,
-0.02372155711054802,
0.03320610150694847,
0.015471023507416248,
-0.040467385202646255,
0.02037646993994713,
-0.03073807805776596,
0.017041582614183426,
-0.009097002446651459,
0.01104490365833044,
-0.03118680976331234,
0.019428016617894173,
-0.000014510856999550015,
-0.0013678648974746466,
-0.032145462930202484,
-0.008184242993593216,
0.005476559046655893,
0.021559488028287888,
0.012023952789604664,
-0.009912877343595028,
0.008148548193275928,
-0.0497683547437191,
-0.03161514550447464,
-0.021702267229557037,
0.014175822958350182,
0.040916115045547485,
-0.0041125183925032616,
-0.011004109866917133,
-0.027025848627090454,
0.0009184964001178741,
-0.05266471207141876,
0.04348612204194069,
0.011289666406810284,
-0.019560595974326134,
-0.042099133133888245,
0.06478045135736465,
0.02578164078295231,
-0.02606719546020031,
0.005481658037751913,
0.0014953453792259097,
0.014787728898227215,
-0.012941812165081501,
0.0012078769505023956,
-0.020886391401290894,
0.003821863094344735,
0.009046010673046112,
-0.03275736793875694,
-0.024537431076169014,
0.01583816669881344,
-0.0011779190972447395,
0.00001510842139396118,
0.0016712682554498315,
0.00640971539542079,
-0.012829629704356194,
-0.015328246168792248,
-0.04226230829954147,
0.004293540492653847
] |
AI models are increasing in size and recent advancement in the community has
shown that unlike HPC applications where double precision datatype are
required, lower-precision datatypes such as fp8 or int4 are sufficient to bring
the same model quality both for training and inference. Following these trends,
GPU vendors such as NVIDIA and AMD have added hardware support for fp16, fp8
and int8 GeMM operations with an exceptional performance via Tensor Cores.
However, this paper proposes a new algorithm called msGeMM which shows that AI
models with low-precision datatypes can run with ~2.5x fewer multiplication and
add instructions. Efficient implementation of this algorithm requires special
CUDA cores with the ability to add elements from a small look-up table at the
rate of Tensor Cores. | [
0.022983087226748466,
0.017995106056332588,
-0.027280425652861595,
0.025055019184947014,
0.05026351287961006,
0.018944740295410156,
0.0034220435190945864,
0.04738583043217659,
0.020105404779314995,
0.04730909317731857,
0.029947077855467796,
0.008848872035741806,
0.08717457950115204,
0.02066175825893879,
-0.08694437146186829,
0.049035701900720596,
-0.008172617293894291,
-0.014091050252318382,
-0.026110168546438217,
-0.03612450137734413,
-0.03547222912311554,
-0.0037505789659917355,
0.005328508093953133,
-0.014004719443619251,
0.02223489060997963,
-0.012517916969954967,
-0.015635406598448753,
0.021832015365362167,
-0.0481148436665535,
0.051069263368844986,
-0.0007877654861658812,
-0.001746992813423276,
-0.055366601794958115,
-0.048153214156627655,
-0.015788882970809937,
-0.024613773450255394,
0.04888222739100456,
0.027088580653071404,
-0.05003330111503601,
0.0077697415836155415,
0.02760656364262104,
0.01413901150226593,
-0.00006459796713897958,
0.049764715135097504,
0.008709784597158432,
0.01999029889702797,
0.019856005907058716,
0.012882423587143421,
-0.02290634997189045,
-0.008364462293684483,
0.010704977437853813,
-0.02743390202522278,
0.016517894342541695,
-0.009410020895302296,
-0.018800856545567513,
-0.002139077056199312,
0.02447948232293129,
0.0664169043302536,
0.03027321584522724,
-0.015117423608899117,
-0.024134160950779915,
0.007779333740472794,
-0.043203599750995636,
0.0012433985248208046,
-0.05214359983801842,
-0.06315553188323975,
0.026455489918589592,
0.03572162613272667,
-0.01056109368801117,
-0.005649849306792021,
-0.07973098009824753,
-0.025304418057203293,
0.02584158442914486,
-0.05141458660364151,
-0.04964960739016533,
-0.024824803695082664,
0.11272840201854706,
0.031750425696372986,
0.03209574893116951,
0.004820117726922035,
0.07950076460838318,
0.017112616449594498,
0.012421994470059872,
0.0253427866846323,
0.06967827677726746,
-0.008441200479865074,
-0.025956692174077034,
-0.05279587581753731,
-0.039155662059783936,
-0.011597058735787868,
-0.045045316219329834,
0.04826832190155983,
-0.016278088092803955,
0.03251780942082405,
-0.004916040226817131,
0.04934265464544296,
-0.03614368662238121,
-0.004290144424885511,
-0.03975038230419159,
0.02177446149289608,
-0.030023816972970963,
0.031961455941200256,
0.08863260596990585,
0.01314141508191824,
0.04243621975183487,
-0.03125162795186043,
0.01905025541782379,
0.038982998579740524,
-0.0016198952216655016,
0.07182694226503372,
-0.04423956573009491,
-0.026839181780815125,
-0.03952016681432724,
0.0003273363399785012,
0.005606683902442455,
0.018023882061243057,
-0.06864231079816818,
-0.0377168208360672,
-0.015539483167231083,
-0.024805620312690735,
0.018465125933289528,
0.03205737844109535,
-0.004179833456873894,
0.00787525624036789,
-0.05417716130614281,
0.04527553170919418,
-0.014234934002161026,
-0.027510641142725945,
-0.006484377197921276,
-0.023021457716822624,
-0.015817658975720406,
0.035875104367733,
0.02676244266331196,
-0.005386061500757933,
-0.017007101327180862,
0.00008707986125955358,
0.04527553170919418,
0.036738406866788864,
0.011971157975494862,
-0.030887121334671974,
-0.03923239931464195,
-0.007798518519848585,
0.017774483188986778,
-0.0012541897594928741,
-0.02133321575820446,
-0.01167379692196846,
-0.013362037017941475,
0.09730402380228043,
0.017179762944579124,
0.006892048753798008,
-0.08088205009698868,
0.024843988940119743,
0.025937508791685104,
-0.04692540317773819,
0.008681007660925388,
0.030158108100295067,
-0.012709762901067734,
0.02515094168484211,
0.018561050295829773,
-0.0013740932336077094,
0.016690555959939957,
-0.030177293345332146,
0.000035708737414097413,
0.02131403237581253,
0.00488006928935647,
-0.022810427471995354,
0.0578605942428112,
0.04895896464586258,
0.01974090002477169,
0.06330900639295578,
0.03765926510095596,
0.012306886725127697,
-0.0043237172067165375,
-0.012939977459609509,
0.015549075789749622,
0.014656994491815567,
0.014186972752213478,
0.01997111365199089,
-0.01707424782216549,
-0.002889672527089715,
-0.017659375444054604,
0.003302140161395073,
0.034685660153627396,
0.0026210888754576445,
0.03990385681390762,
-0.029045404866337776,
0.014887209050357342,
0.014234934002161026,
0.05682462826371193,
0.007726576644927263,
0.04469999670982361,
-0.024863174185156822,
0.01664259470999241,
-0.015539483167231083,
-0.003266169223934412,
-0.0516064316034317,
-0.037390682846307755,
-0.029141327366232872,
-0.02309819497168064,
0.014752916991710663,
-0.02465214394032955,
-0.03925158455967903,
0.0047146026045084,
-0.013055084273219109,
0.007366866338998079,
-0.007208593655377626,
0.0168344397097826,
-0.005366877187043428,
0.06599484384059906,
-0.044546518474817276,
-0.006868068128824234,
0.017342830076813698,
-0.022580211982131004,
-0.07374539971351624,
0.03959690406918526,
0.013275707140564919,
0.010378840379416943,
-0.01932843215763569,
-0.0014376420294865966,
-0.034877508878707886,
-0.0013309279456734657,
-0.039174847304821014,
0.018302058801054955,
-0.039194028824567795,
-0.011616243049502373,
-0.03794703632593155,
0.010436393320560455,
0.0026522637344896793,
-0.03391828015446663,
-0.005966394208371639,
0.0016366817289963365,
0.031309179961681366,
-0.0197792686522007,
0.014551479369401932,
0.071750208735466,
-0.05659441277384758,
0.01688240095973015,
-0.03971201181411743,
-0.018915964290499687,
0.03169287368655205,
-0.02311738021671772,
0.016959140077233315,
-0.02693510428071022,
-0.018695341423153877,
-0.018772078678011894,
-0.0009046713239513338,
-0.007170224562287331,
0.04961124062538147,
-0.030004631727933884,
0.0010851259576156735,
0.011702573858201504,
-0.061160337179899216,
-0.009630642831325531,
0.009803303517401218,
-0.011261329054832458,
0.03407175466418266,
0.06983175128698349,
-0.02536197192966938,
-0.056901365518569946,
-0.012575470842421055,
0.05045535787940025,
-0.000531471916474402,
-0.029122142121195793,
0.01492557767778635,
-0.027990253642201424,
0.021889569237828255,
0.04692540317773819,
0.02472888119518757,
0.013832058757543564,
0.01593276672065258,
-0.004944817163050175,
-0.0032158098183572292,
0.012652209028601646,
-0.00909827183932066,
0.030925489962100983,
-0.047232355922460556,
-0.05302608758211136,
0.06829699128866196,
0.027280425652861595,
0.031750425696372986,
0.0034843934699892998,
0.02540034055709839,
0.05486780405044556,
-0.026359567418694496,
0.02131403237581253,
-0.021409954875707626,
-0.044815100729465485,
-0.018282873556017876,
-0.09362059086561203,
-0.028604160994291306,
-0.0017949541797861457,
0.012047896161675453,
-0.03865686431527138,
0.038253989070653915,
0.013841650448739529,
-0.047500938177108765,
-0.013736136257648468,
-0.019184546545147896,
0.002381281927227974,
-0.05931862071156502,
-0.05406205356121063,
0.019146177917718887,
0.04289664700627327,
-0.03441707789897919,
0.003640267765149474,
0.0040982989594340324,
-0.009457982145249844,
0.03307415917515755,
-0.026186907663941383,
-0.014973538927733898,
0.037812743335962296,
0.016767295077443123,
-0.002877682214602828,
-0.029083773493766785,
-0.039155662059783936,
0.034206047654151917,
0.05459922179579735,
-0.02112218737602234,
-0.07439767569303513,
-0.03746742010116577,
0.01592317409813404,
-0.016546672210097313,
-0.08633046597242355,
0.06234977766871452,
-0.014829655177891254,
0.022292444482445717,
-0.026839181780815125,
0.04339544475078583,
-0.03856094181537628,
-0.05429226905107498,
-0.02467132732272148,
-0.0364314541220665,
-0.07593243569135666,
0.03595184162259102,
-0.007980771362781525,
-0.015338045544922352,
0.03293986618518829,
0.0036834331694990396,
-0.04730909317731857,
0.030254030600190163,
0.03476240113377571,
-0.024843988940119743,
-0.029467465355992317,
0.022580211982131004,
-0.025899138301610947,
-0.006119870580732822,
-0.023539438843727112,
-0.011040707118809223,
-0.017237314954400063,
-0.001521574449725449,
0.0011049100430682302,
-0.0014220545999705791,
0.02630201354622841,
-0.002678642515093088,
0.02988952398300171,
-0.01999029889702797,
0.02465214394032955,
0.006043132394552231,
-0.019011886790394783,
0.011079075746238232,
0.02827802300453186,
-0.039827119559049606,
-0.02942909486591816,
-0.009582681581377983,
-0.07501158118247986,
0.00817741360515356,
-0.023903945460915565,
-0.03925158455967903,
-0.02557300217449665,
0.02651304379105568,
0.007261351216584444,
0.0471939854323864,
0.03710291534662247,
0.015529891476035118,
-0.023424332961440086,
-0.030004631727933884,
0.04469999670982361,
0.016278088092803955,
0.012441178783774376,
0.04036428779363632,
-0.024959096685051918,
0.031520210206508636,
-0.008254151791334152,
-0.04132351651787758,
0.030599353834986687,
0.005491576623171568,
0.015443560667335987,
-0.03792785108089447,
0.020719310268759727,
0.04082471504807472,
0.015031092800199986,
-0.04239784926176071,
0.0012421994470059872,
-0.02584158442914486,
0.009496350772678852,
0.06914111226797104,
-0.007405235432088375,
-0.06000926345586777,
0.017198946326971054,
-0.0011492742924019694,
0.008460385724902153,
0.020373988896608353,
-0.04527553170919418,
0.09645990282297134,
-0.03480076789855957,
0.038042958825826645,
-0.021870383992791176,
0.005918432958424091,
0.05091578885912895,
-0.03125162795186043,
0.020738495513796806,
-0.023251671344041824,
-0.045889437198638916,
-0.024134160950779915,
0.0476544164121151,
-0.025246864184737206,
-0.05118437111377716,
-0.02403823845088482,
-0.021927937865257263,
-0.00966901145875454,
-0.020354805514216423,
0.03203819319605827,
0.030023816972970963,
-0.032441068440675735,
0.0313667356967926,
-0.001666657510213554,
0.023462701588869095,
0.0066330572590231895,
0.04347218573093414,
-0.01573132909834385,
0.026340384036302567,
0.006537134293466806,
0.03913647681474686,
-0.0363355316221714,
-0.056709520518779755,
-0.007539527025073767,
0.0020491494797170162,
0.021640168502926826,
-0.021601799875497818,
-0.05874308571219444,
-0.018695341423153877,
-0.004865680821239948,
-0.01821572706103325,
0.03472403064370155,
-0.044776733964681625,
-0.006585096009075642,
-0.0578605942428112,
-0.017246907576918602,
-0.01616298034787178,
-0.03589428961277008,
-0.07481973618268967,
0.02490154281258583,
-0.04730909317731857,
-0.056901365518569946,
0.029697678983211517,
0.017170170322060585,
0.029026219621300697,
-0.012997530400753021,
0.031289998441934586,
-0.05686299875378609,
0.0395585373044014,
-0.008647434413433075,
0.05387020856142044,
-0.02399986796081066,
0.01928047090768814,
0.015213346108794212,
-0.019606607034802437,
-0.04174557328224182,
0.007942402735352516,
0.0529877208173275,
0.011971157975494862,
0.03531875088810921,
0.05582703277468681,
-0.006436415482312441,
0.028412314131855965,
-0.0034052571281790733,
0.0057601602748036385,
-0.00421340623870492,
-0.051299478858709335,
-0.01860901154577732,
0.05770711973309517,
0.020930340513586998,
0.0031726444140076637,
0.03478158265352249,
-0.0028417110443115234,
0.04446978121995926,
0.03911729156970978,
0.02020132914185524,
-0.00966901145875454,
-0.01200952660292387,
-0.019242100417613983,
-0.0042301928624510765,
0.06215793266892433,
-0.03867604583501816,
-0.041208408772945404,
0.009232562966644764,
-0.020316435024142265,
0.008263743482530117,
0.002101907040923834,
0.04239784926176071,
-0.03729476034641266,
-0.038042958825826645,
-0.032671283930540085,
0.04147699102759361,
0.00690164091065526,
0.02557300217449665,
0.03349621966481209,
-0.023059826344251633,
-0.01621094159781933,
0.029064590111374855,
0.009323690086603165,
0.02449866756796837,
0.021409954875707626,
0.005803325679153204,
0.005117477849125862,
0.022138968110084534,
-0.029007036238908768,
-0.035817548632621765,
0.038042958825826645,
0.026532229036092758,
0.020719310268759727,
0.0012985540088266134,
-0.020297251641750336,
0.046119652688503265,
0.016911178827285767,
0.0031462658662348986,
0.03209574893116951,
-0.03416767716407776,
0.0818796455860138,
0.001910061459057033,
-0.05225870758295059,
0.007621061522513628,
-0.03520364314317703,
-0.016469933092594147,
-0.04147699102759361,
0.005237381439656019,
-0.004517960827797651,
-0.0028345168102532625,
-0.024517850950360298,
-0.026090985164046288,
0.007865664549171925,
-0.006441211793571711,
0.016978323459625244,
0.011510728858411312,
-0.026992658153176308,
0.01505027711391449,
0.05237381532788277,
-0.035587336868047714,
-0.004199017770588398,
0.01505986973643303,
-0.024594590067863464,
-0.016738517209887505,
-0.004465203266590834,
-0.0425896942615509,
-0.0066570378839969635,
-0.001159466104581952,
-0.00012072776007698849,
-0.057822227478027344,
0.0028057401068508625,
-0.026359567418694496,
0.02735716477036476,
-0.019836822524666786,
0.036258794367313385,
-0.0008555108797736466,
-0.04335707798600197,
-0.026206091046333313,
0.03347703441977501,
0.031078966334462166,
-0.012210964225232601,
-0.017918366938829422,
0.008916018530726433,
-0.023251671344041824,
0.0012985540088266134,
0.02850823663175106,
0.014637809246778488,
0.011117445304989815,
-0.03370724990963936,
-0.010196587070822716,
-0.021601799875497818,
0.023750469088554382,
-0.017131799831986427,
-0.04696377366781235,
0.034877508878707886,
0.048805490136146545,
0.012604247778654099,
0.00577454874292016,
-0.04151536151766777,
-0.02739553339779377,
-0.004673835355788469,
-0.016469933092594147,
-0.01688240095973015,
0.057131581008434296,
-0.06380780786275864,
-0.017179762944579124,
-0.016239719465374947,
-0.014302080497145653,
-0.010196587070822716,
-0.0029903913382440805,
0.04738583043217659,
-0.05908840522170067,
-0.010637831874191761,
0.02714613452553749,
0.07140488177537918,
-0.019817637279629707,
-0.02154424600303173,
-0.00252276798710227,
0.02758737839758396,
0.04684866592288017,
-0.011050298810005188,
0.0024963892064988613,
-0.007731372490525246,
-0.058704715222120285,
0.016517894342541695,
0.0035611316561698914,
-0.010829676873981953,
0.0014088652096688747,
0.026608966290950775,
0.01010066457092762,
-0.032690469175577164,
-0.02940991148352623,
0.07973098009824753,
-0.012959161773324013,
-0.0015803270507603884,
0.0511460043489933,
0.012872830964624882,
0.0096354391425848,
0.006460396107286215,
0.009788915514945984,
0.008805707097053528,
-0.028009438887238503,
-0.015031092800199986,
-0.027913516387343407,
-0.04957287013530731,
-0.0026450695004314184,
0.02242673560976982,
-0.004657048732042313,
0.008115063421428204,
0.010043110698461533,
-0.011961565352976322,
-0.030369138345122337,
-0.008172617293894291,
0.004964001476764679,
0.03666166961193085,
0.019683346152305603,
0.004232590552419424,
0.010139033198356628,
-0.003467606846243143,
-0.0023057428188622,
0.02225407399237156,
0.049726348370313644,
0.03777437284588814,
0.012748131528496742,
0.041170038282871246,
0.028661713004112244,
0.025496263056993484,
-0.01222055684775114,
0.03764008358120918,
0.028162915259599686,
0.04462325572967529,
0.021678538993000984,
-0.03282476216554642,
0.06434497237205505,
0.004328513517975807,
-0.017793668434023857,
0.041400253772735596,
0.0010947182308882475,
0.02133321575820446,
0.022273259237408638,
-0.05137621611356735,
0.0260334312915802,
-0.04895896464586258,
-0.0481148436665535,
0.001966416137292981,
0.009577885270118713,
0.023232486099004745,
-0.07113630324602127,
0.011424398049712181,
0.040057335048913956,
0.013899204321205616,
0.006052724551409483,
-0.027107765898108482,
0.0002598906576167792,
-0.05997089669108391,
-0.03923239931464195,
-0.03593265637755394,
-0.007083894219249487,
-0.007400439120829105,
0.0001874989684438333,
-0.02513175643980503,
-0.020565833896398544,
-0.014570663683116436,
-0.036719225347042084,
0.017995106056332588,
0.05168316885828972,
0.0012098255101591349,
0.05302608758211136,
-0.013975942507386208,
0.023520255461335182,
0.024134160950779915,
-0.02630201354622841,
-0.0462731271982193,
-0.009165417402982712,
-0.007429216057062149,
-0.01338122133165598,
0.0031894310377538204,
0.03125162795186043,
0.010503539815545082,
0.005486780311912298,
-0.0186761561781168,
-0.016748109832406044,
-0.0007685809396207333,
0.02424926869571209,
-0.024632958695292473,
0.04485347121953964,
0.01526130735874176,
-0.015357229858636856,
0.008987960405647755,
0.008254151791334152,
-0.057361796498298645,
-0.012210964225232601,
0.026417121291160583,
0.05674789100885391,
-0.022138968110084534,
-0.05548170953989029,
0.004263765644282103,
0.021409954875707626,
0.015798475593328476,
0.02559218555688858,
-0.018321242183446884,
-0.015760105103254318,
0.007318904623389244,
-0.03437870740890503,
-0.016498710960149765,
0.019385984167456627,
-0.00105335155967623,
0.018321242183446884,
0.04017244279384613,
0.025899138301610947,
0.03008137084543705,
-0.015529891476035118,
0.019232507795095444,
0.0305417999625206,
-0.0023573013022542,
-0.01517497655004263,
0.01842675730586052,
0.0008878848166204989,
0.024824803695082664,
0.03810051083564758,
-0.020258881151676178,
0.03123244270682335,
0.027050212025642395,
0.00656591122969985,
0.03234514594078064,
-0.03800458833575249,
-0.03497343137860298,
-0.04999493062496185,
-0.0006384857115335763,
0.005242177750915289,
-0.011721758171916008,
-0.04178394377231598,
-0.020585019141435623,
0.020335620269179344,
-0.03257536143064499,
0.04665682092308998,
0.05014840513467789,
-0.022081414237618446,
-0.062273040413856506,
0.01391838863492012,
-0.013899204321205616,
0.020258881151676178,
0.03232596069574356,
0.0014664188493043184,
0.026819996535778046,
-0.01134765986353159,
-0.01838838867843151,
0.0390021838247776,
0.009328486397862434,
0.042321112006902695,
-0.0020587416365742683,
-0.01840757392346859,
-0.019597014412283897,
0.023539438843727112,
-0.021851198747754097,
0.059587202966213226,
-0.02741471864283085,
0.01412941887974739,
0.02465214394032955,
-0.01910780929028988,
0.011529913172125816,
0.04757767915725708,
0.004563524387776852,
-0.02108381688594818,
0.010695384815335274,
0.005745771806687117,
0.035817548632621765,
-0.004894457757472992,
-0.008978367783129215,
-0.01929006166756153,
-0.02513175643980503,
-0.051529694348573685,
0.04362566024065018,
-0.033361926674842834,
0.026800813153386116,
0.015462744981050491,
-0.06196608766913414,
-0.019203731790184975,
-0.01246995572000742,
-0.021716907620429993,
0.03748660534620285,
0.006158239673823118,
0.03257536143064499,
0.0161917582154274,
0.019213324412703514,
0.01572173647582531,
0.02601424604654312,
-0.010839269496500492,
-0.05302608758211136,
-0.015817658975720406,
-0.033534590154886246,
-0.012997530400753021,
0.002928041620180011,
-0.009616253897547722,
0.015242123045027256,
-0.02942909486591816,
-0.027913516387343407,
0.001983202528208494,
0.04577432945370674,
-0.00538126565515995,
0.01704546995460987,
0.0024748065043240786,
0.005410042125731707,
-0.056479308754205704,
-0.023040641099214554,
0.0006181021453812718,
-0.03232596069574356,
0.06587973237037659,
-0.02714613452553749,
0.01289201620966196,
-0.055558450520038605,
0.02513175643980503,
0.00016891394625417888,
0.01658504083752632,
-0.03499261289834976,
-0.018369203433394432,
0.004182231146842241,
-0.050378620624542236,
-0.004573116544634104,
-0.006225385703146458,
0.009899226017296314,
0.008618657477200031,
0.03307415917515755,
0.02960175648331642,
0.023712100461125374,
-0.012431587092578411,
-0.03856094181537628,
-0.016709741204977036,
0.017601821571588516,
-0.042551327496767044,
0.0014951956691220403,
-0.04216763377189636,
-0.027011843398213387,
0.02177446149289608,
-0.007021544501185417,
0.0028393128886818886,
0.0007332094246521592,
0.008062305860221386,
-0.01022536400705576,
0.012191779911518097,
-0.012124634347856045,
-0.03574081137776375,
0.01951068453490734,
-0.01776489056646824,
-0.0034004610497504473,
0.027261242270469666,
-0.03681514784693718,
0.0017997503746300936,
-0.026206091046333313,
-0.01472414005547762,
0.028182100504636765,
0.021851198747754097,
0.005055128131061792,
-0.020930340513586998,
0.016546672210097313,
0.011731350794434547,
0.06921784579753876,
0.022043045610189438,
-0.029026219621300697,
-0.019433947280049324,
-0.02357780933380127,
-0.0011936385417357087,
0.003928035963326693,
0.01704546995460987,
0.053294673562049866,
0.018724117428064346,
0.042321112006902695,
-0.017419569194316864,
0.011808088980615139,
0.016306865960359573,
0.05371673405170441,
-0.018561050295829773,
-0.01289201620966196,
-0.05095415934920311,
-0.03928995132446289,
0.02426845207810402,
0.019491499289870262,
-0.0005080907722003758,
0.0069927675649523735,
0.011107852682471275,
0.02181283012032509,
0.008076694793999195,
0.00875294953584671,
0.015002315863966942,
-0.008469977416098118,
-0.03840746358036995,
0.053985316306352615,
0.003647461999207735,
-0.00550596509128809,
0.0023561022244393826,
0.014292487874627113,
-0.013093453831970692,
0.00022421940229833126,
0.03677677735686302,
0.029947077855467796,
-0.0140526806935668,
-0.026628151535987854,
-0.004163046833127737,
-0.059395357966423035,
0.009194194339215755,
0.007606673054397106,
0.005726587492972612,
-0.06304042041301727,
0.05874308571219444,
0.04193742200732231,
-0.00026498656370677054,
0.05586540326476097,
-0.05417716130614281,
-0.031807977706193924,
0.026167722418904305,
-0.06737612932920456,
0.0024939910508692265,
-0.07033055275678635,
0.01222055684775114,
0.03190390393137932,
0.031788796186447144,
-0.006019151769578457,
-0.06112196668982506,
0.020354805514216423,
0.04036428779363632,
-0.0011972356587648392,
0.06914111226797104,
-0.027299610897898674,
0.012911200523376465,
0.04151536151766777,
-0.013400406576693058,
0.02196630649268627,
-0.021237293258309364,
-0.008824891410768032,
0.0010503539815545082,
0.012498732656240463,
0.039174847304821014,
0.017908774316310883,
-0.003098304383456707,
0.0017074247589334846,
-0.01976008340716362,
0.015299676917493343,
-0.001183446729555726,
-0.041208408772945404,
-0.020297251641750336,
-0.07539527118206024,
-0.0035227625630795956,
-0.02181283012032509,
-0.03150102496147156,
0.005856083240360022,
-0.007088690064847469,
-0.02087278664112091,
-0.021486692130565643,
0.007453196682035923,
-0.018532272428274155,
0.018561050295829773,
0.018369203433394432,
0.03754415735602379,
0.0008081490523181856,
0.023961499333381653,
0.023673731833696365,
0.0200094822794199,
0.007918422110378742,
0.019251693040132523,
-0.013659398071467876,
-0.08433526754379272,
0.035875104367733,
-0.037122100591659546,
0.017621006816625595,
0.03867604583501816,
-0.04527553170919418,
-0.029467465355992317,
0.015481929294764996,
-0.022580211982131004,
-0.011856050230562687,
0.01426371093839407,
-0.00012934581900481135,
-0.004019162617623806,
-0.07600917667150497,
-0.008172617293894291,
0.011731350794434547,
-0.04934265464544296,
0.01972171477973461,
0.02449866756796837,
0.03775518760085106,
-0.05728505924344063,
0.03341948240995407,
0.033131714910268784,
-0.047232355922460556,
0.006772145163267851,
0.006594688165932894,
0.007457992993295193,
0.0047721560113132,
-0.014983131550252438,
-0.02399986796081066,
-0.000024186767404899,
-0.004719398450106382,
0.03451300039887428,
-0.023539438843727112,
-0.07950076460838318,
0.012057487852871418
] |
Good posture and form are essential for safe and productive exercising. Even
in gym settings, trainers may not be readily available for feedback.
Rehabilitation therapies and fitness workouts can thus benefit from recommender
systems that provide real-time evaluation. In this paper, we present an
algorithmic pipeline that can diagnose problems in exercise techniques and
offer corrective recommendations, with high sensitivity and specificity in
real-time. We use MediaPipe for pose recognition, count repetitions using
peak-prominence detection, and use a learnable physics simulator to track
motion evolution for each exercise. A test video is diagnosed based on
deviations from the prototypical learned motion using statistical learning. The
system is evaluated on six full and upper body exercises. These real-time
recommendations, counseled via low-cost equipment like smartphones, will allow
exercisers to rectify potential mistakes making self-practice feasible while
reducing the risk of workout injuries. | [
0.0424332395195961,
0.050323233008384705,
-0.026555122807621956,
-0.05244293436408043,
0.013238308019936085,
0.011952749453485012,
-0.029440268874168396,
0.026103705167770386,
-0.009366912767291069,
0.039626602083444595,
0.00014344464580062777,
0.0037487274967134,
0.08156917244195938,
-0.02822340466082096,
-0.0010647564195096493,
0.010058758780360222,
-0.020411919802427292,
-0.012090137228369713,
-0.03413108363747597,
-0.05338502302765846,
0.013836926780641079,
-0.04035279527306557,
-0.027085047215223312,
-0.0045681484043598175,
0.026005571708083153,
0.04439592733979225,
-0.0006630193674936891,
0.010372787714004517,
0.011413010768592358,
0.009155923500657082,
0.034700263291597366,
0.027085047215223312,
-0.028439300134778023,
0.041491150856018066,
-0.010127452202141285,
-0.014857522211968899,
0.023846618831157684,
0.08321782946586609,
-0.053659796714782715,
0.014023381285369396,
0.012806517072021961,
0.0038027013652026653,
0.03208989277482033,
-0.007502362132072449,
-0.002629997441545129,
-0.04078458622097969,
-0.007379693910479546,
-0.006045068614184856,
0.018017444759607315,
-0.027065420523285866,
0.049027860164642334,
-0.017104797065258026,
0.010245213285088539,
-0.017899682745337486,
0.0031010417733341455,
-0.006781075149774551,
0.08753573149442673,
0.018419794738292694,
0.095072440803051,
-0.03699660673737526,
-0.017830990254878998,
0.046868909150362015,
-0.06103949248790741,
-0.004587775096297264,
0.00698715727776289,
-0.03356190770864487,
0.027987882494926453,
-0.007477828301489353,
-0.01758565381169319,
0.03780130669474602,
-0.05797770246863365,
-0.017752481624484062,
-0.023846618831157684,
0.008802640251815319,
-0.022551245987415314,
-0.013797672465443611,
0.013149986974895,
0.04459219425916672,
-0.010951779782772064,
-0.05055875703692436,
0.014661254361271858,
0.07889991998672485,
-0.02229609712958336,
0.01462200004607439,
0.08887036144733429,
-0.01950908452272415,
0.03183474391698837,
-0.07473903149366379,
-0.023277439177036285,
0.04522025212645531,
-0.044160403311252594,
0.019077293574810028,
0.006000908091664314,
0.033522654324769974,
-0.01928337663412094,
0.041334137320518494,
-0.024769078940153122,
-0.013581777922809124,
0.0026103705167770386,
0.024572812020778656,
0.02902810461819172,
-0.022335350513458252,
0.048517562448978424,
-0.007703537121415138,
0.021864306181669235,
-0.032560937106609344,
0.0019136174814775586,
0.005515143740922213,
-0.004688363056629896,
0.11281511187553406,
-0.0076397499069571495,
-0.06516113132238388,
0.019136175513267517,
-0.0554262138903141,
-0.037977948784828186,
0.009607341140508652,
-0.024062512442469597,
-0.0768979862332344,
0.00025116230244748294,
-0.03711436688899994,
0.033404890447854996,
-0.005475889891386032,
-0.022040948271751404,
0.054287854582071304,
-0.03636854514479637,
0.06414053589105606,
0.0020694055128842592,
0.026888778433203697,
-0.007580869365483522,
0.04655487835407257,
0.05048024654388428,
0.03599563613533974,
0.012119577266275883,
0.009057789109647274,
0.06896873563528061,
0.009514113888144493,
0.005417009349912405,
0.03195250406861305,
0.04396413639187813,
-0.037310633808374405,
0.01507341768592596,
-0.028380420058965683,
-0.02007826417684555,
0.0023822083603590727,
0.022531619295477867,
-0.008871334604918957,
0.007345347199589014,
0.011275622993707657,
-0.03458250313997269,
0.010284467600286007,
-0.12592583894729614,
0.007934152148663998,
-0.00420014513656497,
0.007492548320442438,
0.046240851283073425,
-0.04663338512182236,
-0.009764355607330799,
-0.014317784458398819,
-0.018743637949228287,
-0.014150955714285374,
0.005078446585685015,
-0.017467893660068512,
-0.014209836721420288,
0.027163555845618248,
0.026555122807621956,
-0.004089743830263615,
0.01720293052494526,
0.01544632762670517,
-0.022649381309747696,
0.03937145322561264,
-0.05471964552998543,
-0.01021577324718237,
-0.015475768595933914,
0.03954809531569481,
-0.0037021138705313206,
0.05157935246825218,
0.08447394520044327,
0.011108795180916786,
-0.03874339535832405,
-0.03195250406861305,
-0.06402277201414108,
0.008218741975724697,
-0.053149498999118805,
-0.03689847141504288,
0.03458250313997269,
0.048910100013017654,
0.053777556866407394,
-0.010480735450983047,
0.04859606921672821,
0.020451173186302185,
0.035210561007261276,
-0.025024229660630226,
0.02765422686934471,
-0.00014382798690348864,
-0.010902713052928448,
-0.030186088755726814,
0.037330262362957,
-0.03377780318260193,
0.027575718238949776,
0.010235399939119816,
-0.08368887007236481,
-0.06260964274406433,
0.0497736819088459,
-0.04290428385138512,
0.028380420058965683,
-0.026103705167770386,
0.0379190668463707,
-0.01770341582596302,
-0.008351222611963749,
-0.08321782946586609,
-0.0022276469971984625,
0.008037193678319454,
-0.025318631902337074,
-0.0447099544107914,
-0.0206474419683218,
-0.02732056938111782,
-0.007404227741062641,
0.011785920709371567,
-0.019263749942183495,
0.018135204911231995,
0.016251029446721077,
0.008066633716225624,
0.013856553472578526,
-0.009911557659506798,
0.004322812892496586,
0.014857522211968899,
0.005829173140227795,
0.005966561380773783,
0.014847708866000175,
0.026574749499559402,
-0.00476687029004097,
0.004857644438743591,
-0.006216803565621376,
-0.044670701026916504,
0.01021577324718237,
0.00029900274239480495,
0.007443481590598822,
-0.02524012327194214,
-0.03756578266620636,
0.0030544279143214226,
-0.035504963248968124,
0.026182211935520172,
0.023885872215032578,
0.034700263291597366,
0.051736366003751755,
0.009445419535040855,
0.01720293052494526,
0.08887036144733429,
0.014298157766461372,
-0.03152071312069893,
-0.04894935339689255,
-0.043414585292339325,
0.002222740324214101,
-0.01021577324718237,
0.0065259262919425964,
0.006530832964926958,
0.11886017769575119,
-0.09522945433855057,
0.012953718192875385,
-0.004607402253895998,
0.03750690445303917,
0.010166706517338753,
-0.02533825859427452,
-0.004730070009827614,
0.03477877005934715,
0.010814392007887363,
0.034602127969264984,
0.03191325068473816,
0.05848800018429756,
-0.0017382025253027678,
0.009116670116782188,
-0.013836926780641079,
0.03155997022986412,
-0.05554397404193878,
-0.00605488196015358,
-0.03155997022986412,
-0.01860624924302101,
-0.011815361678600311,
0.07787932455539703,
0.0039204624481499195,
0.004793857224285603,
-0.013081292621791363,
0.06602471321821213,
0.03271795064210892,
-0.009631874971091747,
-0.09059752523899078,
-0.012237338349223137,
0.02076520398259163,
-0.025613034144043922,
0.007311000023037195,
0.00806172750890255,
0.01269856933504343,
-0.025809302926063538,
0.010431668721139431,
0.06547515839338303,
0.0041388110257685184,
-0.0656321719288826,
0.040823839604854584,
-0.011638719588518143,
-0.01069663092494011,
-0.033797428011894226,
0.03144220635294914,
0.010088198818266392,
0.00385422189719975,
-0.0006850995705462992,
0.012482673861086369,
0.007943966425955296,
0.05087278410792351,
-0.051343828439712524,
-0.055347707122564316,
0.05837024003267288,
-0.0005556850810535252,
-0.05566173419356346,
-0.04337532818317413,
0.005348315462470055,
0.011344317346811295,
0.0028851462993770838,
-0.023807363584637642,
-0.009514113888144493,
-0.028478553518652916,
0.0316777303814888,
0.02031378634274006,
-0.06092172861099243,
0.07046037912368774,
-0.0010494228918105364,
-0.0052158343605697155,
-0.015456140972673893,
-0.03411145880818367,
0.002479115966707468,
-0.03705548495054245,
-0.03208989277482033,
-0.0011432637693360448,
-0.021118486300110817,
-0.005147140473127365,
-0.01317942701280117,
0.00040204368997365236,
-0.04035279527306557,
-0.031069297343492508,
-0.06523963809013367,
-0.003984249662607908,
-0.0010935832979157567,
-0.020863337442278862,
0.00822855532169342,
-0.005022019147872925,
0.03817421570420265,
-0.029381388798356056,
-0.00474969670176506,
0.028949597850441933,
-0.0251812431961298,
-0.030127208679914474,
0.0011677973670884967,
-0.03780130669474602,
-0.009425792843103409,
-0.012826143763959408,
0.00557402428239584,
-0.03330675885081291,
-0.02143251523375511,
-0.007271746639162302,
0.025613034144043922,
-0.009013629518449306,
0.025495273992419243,
-0.05746740475296974,
-0.017399199306964874,
0.042747270315885544,
-0.02659437619149685,
-0.008032286539673805,
-0.04573054984211922,
-0.020804457366466522,
0.026378480717539787,
0.0011739307083189487,
-0.004330173134803772,
-0.030696386471390724,
0.024474676698446274,
0.03293384611606598,
-0.056878600269556046,
0.006236430257558823,
-0.029518775641918182,
-0.04667263850569725,
-0.015269686467945576,
0.05012696608901024,
-0.06614246964454651,
0.000857447856105864,
0.0684584379196167,
-0.0074974549934268,
-0.00474969670176506,
0.05589725822210312,
0.013709352351725101,
0.0029612004291266203,
0.015750544145703316,
0.037330262362957,
0.019989943131804466,
-0.03660406917333603,
-0.035661980509757996,
-0.008282529190182686,
0.0035254722461104393,
-0.00479631032794714,
-0.0006390991620719433,
0.028753329068422318,
0.023689603433012962,
-0.046868909150362015,
0.0009733688784763217,
-0.04679040238261223,
-0.03248243033885956,
0.030343104153871536,
-0.024690572172403336,
0.026182211935520172,
0.005235461052507162,
-0.012266778387129307,
0.05004845932126045,
0.0014143595471978188,
-0.001680548652075231,
0.0034028044901788235,
-0.009896837174892426,
0.026771018281579018,
0.031128177419304848,
0.02109885960817337,
0.007109825033694506,
0.02816452458500862,
0.008468983694911003,
-0.07309037446975708,
-0.01176629401743412,
0.024239154532551765,
0.00459513533860445,
-0.026339227333664894,
-0.03077489510178566,
0.04522025212645531,
-0.010382601991295815,
0.003687393618747592,
0.01758565381169319,
-0.020274532958865166,
-0.0003425497852731496,
-0.028360793367028236,
-0.006138296332210302,
-0.07568112015724182,
0.020490426570177078,
0.016309909522533417,
0.05385606735944748,
-0.007561242673546076,
-0.0582524798810482,
-0.0013002785854041576,
-0.04745771363377571,
0.004904258064925671,
-0.00011507771705510095,
0.01360140461474657,
0.022413859143853188,
-0.05491591617465019,
0.027065420523285866,
0.00093718187417835,
-0.01725199818611145,
-0.030853401869535446,
-0.021864306181669235,
0.02936176210641861,
-0.011560212820768356,
0.0007740337168797851,
-0.012090137228369713,
-0.01567203737795353,
-0.020667068660259247,
-0.05283546820282936,
-0.0356227271258831,
-0.09554348886013031,
-0.05004845932126045,
0.026044825091958046,
-0.01224715169519186,
-0.0006482992321252823,
0.006673127878457308,
0.030912281945347786,
-0.038782648742198944,
-0.04290428385138512,
0.014023381285369396,
0.00828743539750576,
0.002867972943931818,
-0.026456989347934723,
0.019195055589079857,
-0.02370923012495041,
0.033228252083063126,
-0.0509120374917984,
-0.024965347722172737,
-0.020804457366466522,
-0.005019566044211388,
-0.0155542753636837,
0.015416887588799,
0.03560309857130051,
0.025043856352567673,
-0.02641773410141468,
-0.05632904917001724,
-0.032678697258234024,
0.03344414755702019,
0.011167675256729126,
0.0291262399405241,
-0.044435180723667145,
-0.018566995859146118,
-0.0050931666046381,
-0.07619141787290573,
-0.00405785022303462,
-0.024199901148676872,
-0.07100992649793625,
-0.04765398055315018,
-0.009759449400007725,
0.03760503605008125,
0.021079232916235924,
0.05888053774833679,
-0.003277683397755027,
-0.038095708936452866,
0.03438623622059822,
-0.024121394380927086,
-0.010677004233002663,
-0.015161738730967045,
0.015151925384998322,
-0.03104967065155506,
-0.025985945016145706,
0.031481459736824036,
0.04039204865694046,
-0.01607438735663891,
-0.005274714902043343,
-0.012659315951168537,
-0.005147140473127365,
0.002183486707508564,
-0.03053937293589115,
0.03858637809753418,
0.023728856816887856,
-0.02704579383134842,
0.017909497022628784,
-0.052364423871040344,
0.014612186700105667,
-0.09483692049980164,
0.036859218031167984,
-0.01998012885451317,
0.01400375459343195,
0.00003350363840581849,
0.0407453328371048,
0.005397382657974958,
0.02840004675090313,
-0.014700507745146751,
0.012090137228369713,
-0.004607402253895998,
-0.026280347257852554,
-0.028949597850441933,
0.012659315951168537,
-0.03556384518742561,
-0.027791613712906837,
-0.038782648742198944,
0.034307725727558136,
0.013846740126609802,
0.008915495127439499,
-0.08957692235708237,
0.0667312741279602,
0.014680881053209305,
-0.05362054333090782,
-0.0007918205810710788,
0.052756961435079575,
-0.01997031643986702,
-0.0040872907266020775,
-0.0034886719658970833,
-0.0009193950681947172,
-0.007477828301489353,
-0.027222435921430588,
-0.04655487835407257,
-0.044160403311252594,
-0.008415009826421738,
0.020608188584446907,
-0.018881026655435562,
-0.030362730845808983,
0.018409982323646545,
0.015976252034306526,
0.015829050913453102,
-0.05385606735944748,
-0.019145987927913666,
0.046594131737947464,
0.025436392053961754,
-0.00007570902380393818,
-0.04333607479929924,
-0.01072607096284628,
0.007463108282536268,
-0.01684964820742607,
0.013444389216601849,
-0.013503270223736763,
0.01405282225459814,
-0.030225342139601707,
-0.00402841018512845,
0.014779015444219112,
-0.027300942689180374,
-0.017683789134025574,
-0.008218741975724697,
0.008518051356077194,
-0.049420397728681564,
0.012737822718918324,
-0.00684486236423254,
-0.05848800018429756,
0.022158708423376083,
0.011942936107516289,
-0.0007875271840021014,
0.04832129552960396,
0.018409982323646545,
0.026221467182040215,
-0.053267259150743484,
-0.028890717774629593,
0.000666086096316576,
0.02788974903523922,
0.000048300440539605916,
-0.010402228683233261,
0.003049521241337061,
0.009141203947365284,
0.02635885402560234,
0.03666294738650322,
-0.015230432152748108,
-0.0009157150634564459,
0.05464113876223564,
0.0028875996358692646,
-0.014464985579252243,
0.04337532818317413,
0.021138112992048264,
0.027457958087325096,
0.03835085779428482,
0.00585370697081089,
0.007762417662888765,
-0.034818023443222046,
0.01968572661280632,
0.03664332255721092,
0.025220496580004692,
0.007850738242268562,
0.04054906591773033,
-0.009906650520861149,
0.018743637949228287,
-0.052246663719415665,
-0.020667068660259247,
0.03978361561894417,
-0.03599563613533974,
-0.04145189747214317,
0.0012266779085621238,
-0.013513083569705486,
0.0009966758079826832,
0.012875211425125599,
0.000681419565808028,
-0.04384637251496315,
0.00925405789166689,
0.00973491556942463,
-0.007438574451953173,
0.03383668139576912,
0.028380420058965683,
0.014043007977306843,
-0.009312938898801804,
-0.019675912335515022,
-0.013002785854041576,
0.057388897985219955,
-0.014190210029482841,
0.018017444759607315,
0.021982068195939064,
0.04023503512144089,
0.04368935897946358,
0.034818023443222046,
0.03511242941021919,
0.01448461227118969,
0.023669976741075516,
0.026339227333664894,
-0.013375695794820786,
-0.016143081709742546,
0.042747270315885544,
-0.016780953854322433,
-0.0003726034192368388,
-0.005838986951857805,
0.06096098572015762,
0.013110733591020107,
0.03892003744840622,
-0.018115578219294548,
0.02563266083598137,
0.03144220635294914,
-0.02143251523375511,
0.012276592664420605,
0.0033169370144605637,
0.031540341675281525,
-0.01713423617184162,
-0.06209934130311012,
-0.028301911428570747,
0.009891930036246777,
0.0018633237341418862,
-0.01456311997026205,
0.01950908452272415,
0.01066719088703394,
-0.028360793367028236,
-0.023100797086954117,
-0.0066584073938429356,
-0.04078458622097969,
-0.02822340466082096,
0.024474676698446274,
-0.014043007977306843,
-0.013100920245051384,
0.007286466658115387,
0.007904712110757828,
-0.028321538120508194,
-0.030696386471390724,
-0.012011629529297352,
0.003449418116360903,
0.04282577708363533,
0.017536586150527,
0.035053547471761703,
-0.0009549687383696437,
0.0020730856340378523,
-0.03258056566119194,
0.024298034608364105,
-0.015534648671746254,
-0.034307725727558136,
-0.007100011687725782,
-0.03008795529603958,
-0.007811484858393669,
0.003574539441615343,
0.011697600595653057,
0.006305124145001173,
0.021883932873606682,
-0.0231989324092865,
-0.0037855280097573996,
0.015436514280736446,
-0.011265809647738934,
-0.0311085507273674,
0.045691296458244324,
0.05632904917001724,
-0.006280590780079365,
-0.018625877797603607,
-0.017860429361462593,
-0.055072929710149765,
0.08549454063177109,
-0.009057789109647274,
-0.006628967355936766,
-0.019047854468226433,
-0.017389385029673576,
-0.03793869540095329,
0.03750690445303917,
0.013032225891947746,
0.011383570730686188,
0.018763264641165733,
-0.005461169872432947,
0.023375574499368668,
-0.029145866632461548,
-0.005873333662748337,
0.013885993510484695,
0.006329657975584269,
0.026633629575371742,
0.04039204865694046,
0.027359822764992714,
0.00278701214119792,
0.034641385078430176,
-0.007153985556215048,
-0.013081292621791363,
0.030873028561472893,
-0.018733825534582138,
-0.0130125992000103,
0.002244820585474372,
0.04062757268548012,
0.05106905475258827,
-0.016084199771285057,
-0.06029367074370384,
0.0486353263258934,
0.04039204865694046,
0.04730070009827614,
-0.029263626784086227,
-0.05244293436408043,
-0.0027747454587370157,
0.009406166151165962,
-0.0007237399695441127,
-0.003996516577899456,
-0.024769078940153122,
0.020048823207616806,
0.08078409731388092,
0.005451356526464224,
0.03218802809715271,
0.010235399939119816,
0.04600532725453377,
-0.032894592732191086,
0.0026692510582506657,
-0.00021160193136893213,
-0.017016476020216942,
0.01114804856479168,
0.011471891775727272,
0.04690816253423691,
-0.021746546030044556,
-0.0322469100356102,
-0.021118486300110817,
0.07340440154075623,
-0.0052011143416166306,
-0.03813496232032776,
-0.03212914615869522,
-0.03144220635294914,
-0.009764355607330799,
-0.029950566589832306,
0.04027428850531578,
0.003105948446318507,
-0.02206057496368885,
-0.04855681583285332,
-0.013395322486758232,
-0.031010417267680168,
-0.0011604372411966324,
-0.005088259931653738,
0.043257568031549454,
-0.00822855532169342,
-0.013424762524664402,
-0.010539616458117962,
-0.002843439346179366,
-0.043532345443964005,
-0.019783860072493553,
-0.017693601548671722,
-0.020922217518091202,
0.01798800379037857,
-0.01355233695358038,
-0.013130360282957554,
0.009749636054039001,
-0.007149078883230686,
0.019774047657847404,
-0.028772955760359764,
0.004227132070809603,
-0.021196993067860603,
0.02506348304450512,
-0.007732977159321308,
-0.02331669256091118,
-0.004295825958251953,
0.00048116440302692354,
0.00812060758471489,
0.02608407847583294,
0.002081672428175807,
0.00588314700871706,
0.008125514723360538,
-0.017909497022628784,
0.009661315008997917,
-0.02533825859427452,
-0.02879258245229721,
0.008282529190182686,
-0.016143081709742546,
-0.04824278876185417,
0.006059788633137941,
0.050715770572423935,
0.004052943550050259,
-0.011962562799453735,
-0.01462200004607439,
-0.012021442875266075,
0.010127452202141285,
0.02308117039501667,
-0.0014609734062105417,
-0.0032359762117266655,
-0.022256843745708466,
0.0480857715010643,
0.03366003930568695,
0.020451173186302185,
-0.019214682281017303,
0.009769262745976448,
-0.06496486067771912,
-0.016260841861367226,
-0.03458250313997269,
0.026888778433203697,
-0.01360140461474657,
0.04459219425916672,
0.005873333662748337,
0.030166462063789368,
0.023218559101223946,
-0.023885872215032578,
0.043532345443964005,
-0.011746667325496674,
-0.00684486236423254,
0.005475889891386032,
0.03976399078965187,
0.045455776154994965,
0.008351222611963749,
0.005991094745695591,
-0.01684964820742607,
-0.05566173419356346,
-0.010362974368035793,
-0.013915433548390865,
0.044670701026916504,
-0.017566027119755745,
0.007438574451953173,
-0.02816452458500862,
-0.06590694934129715,
-0.0639050081372261,
-0.058173973113298416,
0.04553428292274475,
0.03157959505915642,
0.016928154975175858,
0.0009193950681947172,
0.005829173140227795,
-0.0316973552107811,
0.017909497022628784,
-0.036564815789461136,
0.018282407894730568,
0.02596631832420826,
0.004165797960013151,
0.0018694570753723383,
0.012688755989074707,
0.05004845932126045,
-0.012865398079156876,
-0.006403258536010981,
-0.026947660371661186,
-0.034307725727558136,
-0.0291262399405241,
0.02070632204413414,
0.015505208633840084,
0.025828929618000984,
-0.004926338326185942,
0.048910100013017654,
-0.004406226798892021,
-0.06359098106622696,
0.009906650520861149,
-0.024965347722172737,
0.03762466460466385,
-0.0010849966201931238,
-0.03246280178427696,
-0.06465083360671997,
0.0003318163799121976,
0.003888568840920925,
0.0077280704863369465,
0.016133267432451248,
-0.04047055542469025,
0.039744362235069275,
0.00891058798879385,
0.011854615062475204,
-0.020627815276384354,
-0.011746667325496674,
0.0030544279143214226,
0.026123331859707832,
0.007993033155798912,
-0.009960624389350414,
0.02145214192569256,
0.03411145880818367,
-0.025887809693813324,
-0.040588319301605225,
0.009097043424844742,
-0.02902810461819172,
-0.0062560574151575565,
-0.02160915732383728,
0.025436392053961754,
0.013307001441717148,
0.014857522211968899,
-0.011893868446350098,
0.03252168372273445,
-0.03660406917333603,
0.038900408893823624,
-0.019204868003726006,
0.004906711634248495,
0.07269784063100815,
0.03128519281744957,
-0.002917039906606078,
-0.00677616847679019,
-0.012943904846906662,
-0.013130360282957554,
0.05016621947288513,
-0.009357098489999771,
0.011687787249684334,
0.005755572579801083,
-0.009234431199729443,
-0.025299005210399628,
0.04400338977575302,
0.027693480253219604,
0.01601550728082657,
-0.02573079615831375,
-0.047614727169275284,
-0.08400290459394455,
0.041608914732933044,
-0.00024472223594784737,
-0.019646473228931427,
-0.0018792705377563834,
-0.002403062069788575,
0.04859606921672821,
0.0040872907266020775,
-0.002387115266174078,
-0.039803244173526764,
-0.018409982323646545,
-0.006756541784852743,
-0.018792705610394478,
-0.012855583801865578,
0.015691664069890976,
-0.010853646323084831,
-0.04310055449604988,
-0.022099828347563744,
-0.008994001895189285,
-0.004739883355796337,
0.009607341140508652,
0.0350928008556366,
0.002454582368955016,
-0.011727040633559227,
-0.011550398543477058,
-0.009317845106124878,
-0.04628010466694832,
-0.05664307624101639,
0.012011629529297352,
0.033581532537937164,
-0.04102011024951935,
0.007428761105984449,
-0.013375695794820786,
-0.011648532934486866,
-0.02472982555627823,
-0.008022473193705082,
0.002858159365132451,
-0.04745771363377571,
0.007649563252925873,
-0.01640804298222065,
-0.014749574474990368,
0.009940997697412968,
-0.015652410686016083,
-0.052364423871040344,
0.021020352840423584,
0.02194281481206417,
0.0183805413544178,
0.0020914857741445303,
-0.014926216565072536,
-0.0022987944539636374,
0.012423793785274029,
-0.028027135878801346,
0.05986187979578972,
-0.027811240404844284,
0.009847770445048809,
0.06606396287679672,
-0.04502398520708084,
0.0029587470926344395,
0.04463144764304161,
0.001446253270842135,
0.022472739219665527,
0.007885085418820381,
-0.024474676698446274,
0.015770170837640762,
-0.003184455679729581,
-0.05248218774795532,
0.022276470437645912,
0.0316777303814888,
-0.018655316904187202,
0.022924156859517097,
-0.015338379889726639,
0.02427840791642666,
-0.053777556866407394
] |
Fatigue crack growth is one of the most common types of deterioration in
metal structures with significant implications on their reliability. Recent
advances in Structural Health Monitoring (SHM) have motivated the use of
structural response data to predict future crack growth under uncertainty, in
order to enable a transition towards predictive maintenance. Accurately
representing different sources of uncertainty in stochastic crack growth (SCG)
processes is a non-trivial task. The present work builds on previous research
on physics-based SCG modeling under both material and load-related uncertainty.
The aim here is to construct computationally efficient, probabilistic surrogate
models for SCG processes that successfully encode these different sources of
uncertainty. An approach inspired by latent variable modeling is employed that
utilizes Gaussian Process (GP) regression models to enable the surrogates to be
used to generate prior distributions for different Bayesian SHM tasks as the
application of interest. Implementation is carried out in a numerical setting
and model performance is assessed for two fundamental crack SHM problems;
namely crack length monitoring (damage quantification) and crack growth
monitoring (damage prognosis). | [
-0.010157886892557144,
0.023038705810904503,
-0.040863286703825,
-0.033042099326848984,
0.04495733976364136,
0.0019227084703743458,
-0.03458702564239502,
0.03196065127849579,
-0.011760747991502285,
0.03564916178584099,
0.065388984978199,
-0.019552966579794884,
0.011538664810359478,
-0.016453459858894348,
0.0063341958448290825,
0.024429138749837875,
0.021262042224407196,
-0.03914455696940422,
0.06392130255699158,
-0.007135625928640366,
0.039936333894729614,
-0.004649261012673378,
-0.003956458531320095,
0.028600439429283142,
0.023135263472795486,
0.06110181659460068,
0.0324048176407814,
0.011567631736397743,
-0.04024531692266464,
0.016559673473238945,
0.023367002606391907,
0.02240142412483692,
-0.0477382056415081,
0.014358154498040676,
0.06720427423715591,
-0.012426996603608131,
0.010157886892557144,
0.0032781395129859447,
-0.012398029677569866,
0.0071501098573207855,
0.002843629103153944,
-0.07029412686824799,
-0.008081893436610699,
0.045382194221019745,
0.05944101884961128,
-0.022806966677308083,
-0.030628154054284096,
0.040515679866075516,
0.00768117792904377,
0.01594170369207859,
-0.02228555455803871,
0.0213006641715765,
-0.017419038340449333,
-0.010592397302389145,
0.015140272676944733,
-0.026669282466173172,
0.0766669437289238,
0.06689529120922089,
0.07214803248643875,
0.043682776391506195,
0.0027325875125825405,
0.02657272480428219,
-0.021513091400265694,
-0.023560117930173874,
0.02311595156788826,
-0.014734730124473572,
0.055385589599609375,
-0.05125291272997856,
0.03989771008491516,
-0.012166290543973446,
-0.05820507928729057,
-0.009042643941938877,
0.02645685523748398,
-0.001214215182699263,
0.02369529940187931,
0.030415726825594902,
0.009095750749111176,
0.08597511798143387,
0.015574783086776733,
-0.01547822542488575,
0.06299435347318649,
0.09068714827299118,
-0.0693671703338623,
0.021513091400265694,
0.0069280266761779785,
-0.03671129792928696,
0.02908322773873806,
-0.07392469793558121,
0.04557530954480171,
0.02369529940187931,
-0.021455157548189163,
0.03937629610300064,
0.059247903525829315,
0.061642538756132126,
0.03769619017839432,
0.03049297258257866,
-0.009375768713653088,
-0.0004492957959882915,
0.01767008937895298,
-0.013682249002158642,
0.004439247772097588,
0.02580026164650917,
0.006367991212755442,
-0.006343851797282696,
-0.007541168946772814,
-0.06979202479124069,
-0.024680189788341522,
0.03516637533903122,
0.019581934437155724,
0.16391663253307343,
-0.030763335525989532,
0.009564056061208248,
0.05554008111357689,
-0.034490469843149185,
-0.0046927123330533504,
0.008810904808342457,
0.0025056765880435705,
-0.07075760513544083,
0.0070680356584489346,
-0.01524648629128933,
0.009240587241947651,
0.05700776353478432,
-0.008482608012855053,
0.02487330511212349,
-0.029855690896511078,
0.06874919682741165,
0.03821760043501854,
-0.05646703764796257,
0.022131063044071198,
0.015623061917722225,
-0.005503798369318247,
0.011026907712221146,
0.017081085592508316,
-0.015256142243742943,
-0.0033240043558180332,
0.010659988038241863,
0.02597406506538391,
-0.057548485696315765,
0.00756530836224556,
-0.014435400255024433,
-0.011596599593758583,
-0.04727473109960556,
0.015343044884502888,
-0.018799815326929092,
0.0460001677274704,
-0.01864532381296158,
0.005629323422908783,
0.050982553511857986,
-0.009597851894795895,
0.013025655411183834,
-0.021860700100660324,
0.022806966677308083,
0.049592118710279465,
0.017187299206852913,
0.03860383480787277,
-0.012967720627784729,
-0.035842277109622955,
-0.00518032955005765,
0.0318254716694355,
-0.0031188190914690495,
-0.0043982104398310184,
-0.006367991212755442,
0.021435845643281937,
0.03576503321528435,
0.0063341958448290825,
-0.01486025471240282,
0.053802039474248886,
-0.08103135973215103,
0.007719801273196936,
0.020489579066634178,
-0.0023234235122799873,
-0.011133121326565742,
0.012542866170406342,
-0.006720427423715591,
-0.012272504158318043,
0.04592292010784149,
-0.00677353423088789,
0.02657272480428219,
0.029623951762914658,
0.0721866562962532,
-0.043335169553756714,
0.06272398680448532,
0.019041210412979126,
0.014242284931242466,
0.05893892049789429,
0.007507374044507742,
0.05341580882668495,
-0.0003542466729413718,
-0.006324539892375469,
-0.04179024323821068,
0.0337759405374527,
-0.04851067066192627,
0.06334196031093597,
-0.039472855627536774,
0.030937138944864273,
0.004888241644948721,
-0.06565934419631958,
-0.015671340748667717,
0.0019154666224494576,
-0.024429138749837875,
-0.011683501303195953,
-0.04287169128656387,
0.021165482699871063,
-0.025529898703098297,
0.027480367571115494,
0.0366726778447628,
0.07713042199611664,
0.011432451196014881,
0.00539758475497365,
-0.022671787068247795,
0.020702006295323372,
-0.037136152386665344,
-0.05465175211429596,
-0.005711397621780634,
-0.01810459978878498,
-0.014242284931242466,
0.032269638031721115,
0.013296017423272133,
0.024023596197366714,
-0.00903781596571207,
-0.01579686626791954,
0.024950552731752396,
0.06708840280771255,
-0.03271380439400673,
0.020489579066634178,
0.005112738814204931,
0.009385424666106701,
-0.032037898898124695,
-0.04213785007596016,
0.008178451098501682,
-0.013508444651961327,
0.026225116103887558,
0.03205721080303192,
0.01873222552239895,
-0.047892700880765915,
0.03644093871116638,
-0.002604648470878601,
-0.013151180930435658,
0.0032322744373232126,
0.0013602589024230838,
0.00665766466408968,
0.011625566519796848,
-0.017737679183483124,
-0.04893552511930466,
0.004043360706418753,
0.022420736029744148,
-0.029276344925165176,
0.05179363861680031,
0.02077925205230713,
0.025954753160476685,
-0.07496752589941025,
-0.05376341938972473,
0.06179703399538994,
0.03989771008491516,
0.008497091941535473,
0.029179785400629044,
0.0703713670372963,
0.0017404555110260844,
0.05816645547747612,
-0.018693601712584496,
-0.01881912723183632,
-0.03752238675951958,
-0.04306480661034584,
0.04190611094236374,
-0.03031916916370392,
-0.0017839064821600914,
0.010109608061611652,
-0.002488778904080391,
0.014464368112385273,
-0.0009185066446661949,
-0.00620384281501174,
-0.004992041736841202,
0.003985425923019648,
-0.03485738858580589,
-0.05190950632095337,
-0.039279740303754807,
0.015043715015053749,
-0.01830737106502056,
-0.009544745087623596,
0.009568884037435055,
-0.012533210217952728,
0.02603200078010559,
-0.02966257557272911,
0.013247738592326641,
-0.01112346537411213,
-0.03792792931199074,
-0.02674652822315693,
0.014049168676137924,
-0.014522302895784378,
-0.01931157335639,
-0.018345994874835014,
-0.049476247280836105,
-0.009462670423090458,
0.01939847506582737,
0.014435400255024433,
-0.00860330555588007,
-0.007420471869409084,
-0.018809471279382706,
-0.01830737106502056,
-0.022961460053920746,
-0.026823773980140686,
0.03447115793824196,
-0.029063917696475983,
-0.014811975881457329,
-0.008390878327190876,
0.02850388176739216,
0.06233775615692139,
0.0028581127990037203,
0.007377020549029112,
-0.05036458000540733,
-0.036305755376815796,
-0.01199248619377613,
-0.053802039474248886,
-0.012224225327372551,
0.029121851548552513,
0.040863286703825,
-0.013073934242129326,
-0.050596319139003754,
-0.005291370674967766,
-0.04870378598570824,
-0.013392576016485691,
0.005730709061026573,
-0.07230252772569656,
-0.00905229989439249,
0.04545944184064865,
-0.034026991575956345,
-0.022517293691635132,
0.06446202844381332,
-0.029971560463309288,
-0.0024622255004942417,
0.003698166226968169,
-0.0346449613571167,
-0.019186047837138176,
-0.0465795136988163,
-0.02608993463218212,
-0.0070680356584489346,
-0.0295467060059309,
0.026939643546938896,
-0.001585962949320674,
-0.006001071073114872,
-0.03962734714150429,
-0.05094392970204353,
0.011442107148468494,
0.03282967209815979,
-0.02031577378511429,
-0.05109842121601105,
-0.019871607422828674,
0.013614658266305923,
0.0030029495246708393,
-0.0035291898529976606,
0.0009722170070745051,
-0.02193794585764408,
-0.007473578676581383,
-0.008535714820027351,
0.0058900294825434685,
0.014599548652768135,
0.03962734714150429,
0.007183905225247145,
-0.008038441650569439,
-0.020103346556425095,
0.058127835392951965,
-0.059711381793022156,
0.035494670271873474,
-0.01108484249562025,
-0.003519534133374691,
0.013913988135755062,
-0.021223418414592743,
-0.04236958920955658,
0.04078604280948639,
-0.012098699808120728,
-0.00608797324821353,
0.11378378421068192,
0.06735876202583313,
0.02761554904282093,
-0.041635751724243164,
0.03700097277760506,
-0.002785694319754839,
0.014435400255024433,
-0.05832095071673393,
0.03398836776614189,
-0.05206400156021118,
0.0025925785303115845,
0.0002754916495177895,
0.00012446912296582013,
-0.0010597225045785308,
0.0624922476708889,
-0.014522302895784378,
0.0414426364004612,
0.026997579261660576,
0.07689867913722992,
0.017766647040843964,
-0.026958955451846123,
0.002145998412743211,
-0.02703620120882988,
0.05905478820204735,
-0.03955009952187538,
0.07871396839618683,
-0.01775699108839035,
0.002446534810587764,
0.0318254716694355,
-0.04870378598570824,
0.017979074269533157,
-0.03707822039723396,
0.08775178343057632,
0.005769332405179739,
0.018461862578988075,
0.026765840128064156,
-0.023038705810904503,
-0.029623951762914658,
-0.0213006641715765,
0.034548401832580566,
-0.013353952206671238,
0.0044633871875703335,
-0.06168116256594658,
0.01651139371097088,
0.04032256454229355,
-0.04893552511930466,
-0.020740628242492676,
0.0022244518622756004,
-0.023482872173190117,
-0.024564320221543312,
-0.0043233782052993774,
0.05422689765691757,
-0.0056582908146083355,
0.034084927290678024,
0.03381456434726715,
-0.013846397399902344,
0.008579165674746037,
-0.04476422443985939,
-0.0321151465177536,
0.04885827749967575,
0.020180594176054,
0.009617162868380547,
-0.01873222552239895,
0.03564916178584099,
-0.02224693074822426,
-0.004429591819643974,
0.015091993845999241,
-0.002855698810890317,
0.018683945760130882,
-0.04279444366693497,
0.03217307850718498,
0.0035243621096014977,
0.03308072313666344,
-0.012533210217952728,
-0.01850048638880253,
-0.021686896681785583,
-0.02193794585764408,
-0.005827267188578844,
-0.039820462465286255,
-0.041635751724243164,
0.030415726825594902,
-0.01252355519682169,
0.00994545966386795,
0.003886454040184617,
-0.036421626806259155,
0.01135520450770855,
-0.02721000649034977,
0.017660433426499367,
0.013421542942523956,
0.04557530954480171,
0.08682482689619064,
0.008960569277405739,
-0.001132744480855763,
0.019968166947364807,
0.053106825798749924,
0.03819829225540161,
0.006725254934281111,
-0.011538664810359478,
0.012629768811166286,
-0.0016632091719657183,
-0.06013623625040054,
-0.015922391787171364,
0.004772372543811798,
0.025414029136300087,
-0.0038333472330123186,
-0.008192935027182102,
-0.03535949066281319,
0.023212511092424393,
-0.01591273583471775,
0.023251133039593697,
0.061912901699543,
-0.049592118710279465,
0.009390252642333508,
-0.025027798488736153,
-0.014174694195389748,
0.019147424027323723,
-0.006367991212755442,
0.010602053254842758,
0.04182886704802513,
-0.02977844513952732,
-0.04070879518985748,
-0.044146254658699036,
-0.04252408444881439,
0.029643263667821884,
-0.026495477184653282,
0.040361188352108,
0.0017006254056468606,
0.05785747244954109,
0.028426634147763252,
0.005378272850066423,
0.012909785844385624,
-0.026611346751451492,
0.03340902179479599,
-0.04557530954480171,
-0.002527402015402913,
-0.02182207629084587,
0.005021008662879467,
0.032810360193252563,
0.01893499679863453,
0.0272679403424263,
0.014213317073881626,
-0.014725074172019958,
-0.058243703097105026,
0.032269638031721115,
0.021744830533862114,
0.03651818260550499,
-0.032733116298913956,
-0.010109608061611652,
0.02856181561946869,
0.04796994477510452,
0.007396332453936338,
0.012967720627784729,
0.05283646285533905,
-0.01524648629128933,
0.019495032727718353,
0.009887524880468845,
-0.015545816160738468,
0.07295912504196167,
0.035436734557151794,
-0.009462670423090458,
0.022382112219929695,
-0.029990872368216515,
-0.035494670271873474,
0.0028339733835309744,
-0.010544118471443653,
0.004316136706620455,
0.01743835024535656,
-0.05407240241765976,
-0.0009390251943841577,
-0.025491276755928993,
0.02176414243876934,
-0.00048218583106063306,
0.01907983422279358,
-0.02398497238755226,
0.04963074252009392,
0.015951359644532204,
-0.04468698054552078,
0.017283856868743896,
-0.03213445842266083,
-0.021088236942887306,
0.03165166825056076,
0.01726454682648182,
-0.011722124181687832,
-0.053917910903692245,
0.0033505577594041824,
-0.011316581629216671,
-0.033969055861234665,
0.00769566185772419,
-0.0318254716694355,
0.029295654967427254,
-0.0073142582550644875,
-0.011277958750724792,
0.019524000585079193,
0.033563513308763504,
0.006493516266345978,
0.03107232041656971,
0.049360379576683044,
-0.03603539615869522,
0.05167776718735695,
0.0164920836687088,
-0.02493124082684517,
-0.031806159764528275,
-0.025201601907610893,
0.028426634147763252,
-0.03485738858580589,
0.08566613495349884,
-0.023424938321113586,
-0.00033402987173758447,
0.04314205422997475,
0.0026818946935236454,
-0.0115000419318676,
0.021513091400265694,
0.019243981689214706,
-0.013643626123666763,
-0.022864902392029762,
0.024139465764164925,
0.008072237484157085,
-0.007285290863364935,
-0.04182886704802513,
0.006508000195026398,
-0.006001071073114872,
-0.03184478357434273,
0.0036498871631920338,
-0.03678854554891586,
-0.02294214814901352,
0.0016463116044178605,
0.005716225598007441,
0.0215903390198946,
-0.026592034846544266,
0.005218952428549528,
0.03505050390958786,
-0.00399266742169857,
0.03284898400306702,
-0.03879695013165474,
0.025838883593678474,
0.0493990033864975,
-0.00043843305320478976,
-0.022806966677308083,
0.026534100994467735,
0.031284745782613754,
-0.008289492689073086,
0.05048045143485069,
-0.01386570930480957,
0.029005981981754303,
-0.004731335211545229,
0.022903524339199066,
0.04225372150540352,
0.015777554363012314,
0.010109608061611652,
0.06774500012397766,
0.0012009383644908667,
0.04306480661034584,
-0.017602497711777687,
0.004740991163998842,
0.009187480434775352,
-0.04553668946027756,
0.027229316532611847,
0.00014189479406923056,
-0.02510504424571991,
-0.07330673187971115,
-0.005716225598007441,
-0.020412331447005272,
-0.06264673918485641,
0.024081531912088394,
0.024332581087946892,
-0.015961015596985817,
0.028928736224770546,
-0.000513868872076273,
-0.01229181606322527,
0.013382920064032078,
0.016472771763801575,
-0.051986753940582275,
0.010486183688044548,
-0.007570136338472366,
0.012764949351549149,
-0.022517293691635132,
0.004407866392284632,
0.038468651473522186,
0.030473660677671432,
0.03899006545543671,
0.03254000097513199,
0.0036571291275322437,
0.05044182762503624,
0.012446308508515358,
-0.038526587188243866,
0.008067409507930279,
-0.018529454246163368,
-0.04213785007596016,
-0.043682776391506195,
-0.019968166947364807,
0.019852297380566597,
0.014927845448255539,
-0.00456960080191493,
-0.00975717231631279,
0.015323732979595661,
0.01735144853591919,
-0.00389128178358078,
-0.058127835392951965,
0.03732927143573761,
0.02873562090098858,
-0.03167098015546799,
-0.03072471171617508,
0.04476422443985939,
0.021899323910474777,
-0.0068700918927788734,
-0.003188823349773884,
0.026553412899374962,
0.021030303090810776,
0.00561483995988965,
-0.01830737106502056,
-0.02464156597852707,
-0.01683003641664982,
0.023965662345290184,
-0.022922836244106293,
-0.00912471767514944,
0.007386676501482725,
0.010717922821640968,
-0.04329654574394226,
-0.005431379657238722,
-0.019437097012996674,
0.00699078943580389,
0.012330438941717148,
0.026340985670685768,
0.027943845838308334,
0.0027567269280552864,
-0.008289492689073086,
-0.020045412704348564,
0.022150373086333275,
0.05364754796028137,
-0.003292623208835721,
-0.008067409507930279,
-0.03740651533007622,
-0.029566017910838127,
0.07207079231739044,
0.059943120926618576,
-0.0061941868625581264,
-0.00343745993450284,
-0.009192308411002159,
0.0018394272774457932,
-0.004173713736236095,
0.014551269821822643,
-0.04314205422997475,
0.030859893187880516,
0.03674992173910141,
0.0011200711596757174,
0.03383387625217438,
0.0263989195227623,
-0.016385870054364204,
0.03282967209815979,
0.0027470712084323168,
0.002754312939941883,
-0.01767008937895298,
-0.04236958920955658,
-0.024796059355139732,
0.035726409405469894,
0.011162089183926582,
-0.037947241216897964,
-0.028059715405106544,
0.0009281624807044864,
0.020180594176054,
-0.03310003504157066,
0.0018490831134840846,
0.013122214004397392,
0.0346449613571167,
0.015140272676944733,
0.02060544863343239,
0.04553668946027756,
0.010688955895602703,
0.028542503714561462,
0.023077329620718956,
-0.028890112414956093,
0.016675543040037155,
-0.02510504424571991,
0.04337379336357117,
-0.006155563984066248,
-0.0009903216268867254,
0.00378024042584002,
-0.0036426454316824675,
0.026128558441996574,
0.016395526006817818,
-0.014618860557675362,
0.0647323951125145,
-0.03089851699769497,
-0.06237637996673584,
-0.01454161386936903,
-0.01916673593223095,
-0.024004284292459488,
-0.002546713687479496,
-0.03219239041209221,
-0.04565255716443062,
0.06959890574216843,
-0.00798533484339714,
0.016192752867937088,
0.07288187742233276,
0.03926042839884758,
-0.03885488584637642,
0.001453195814974606,
0.03933767229318619,
-0.051059797406196594,
-0.020624758675694466,
0.035262931138277054,
0.05048045143485069,
-0.028832178562879562,
-0.009467498399317265,
0.0018527039792388678,
0.009216448292136192,
0.0324048176407814,
0.0349346362054348,
0.01588376797735691,
-0.017737679183483124,
-0.0034229762386530638,
-0.042446836829185486,
-0.005706569645553827,
-0.01683003641664982,
0.028117649257183075,
0.0060300384648144245,
-0.06720427423715591,
0.0074639227241277695,
0.010708266869187355,
-0.03692372515797615,
0.0215903390198946,
0.009718548506498337,
0.012282160110771656,
0.028310764580965042,
0.006116940639913082,
-0.032211702316999435,
0.05882304906845093,
-0.02006472460925579,
0.015922391787171364,
-0.03690441697835922,
0.018442552536725998,
-0.019186047837138176,
0.02352149598300457,
-0.03644093871116638,
-0.029469460248947144,
0.0035533292684704065,
-0.06179703399538994,
-0.011277958750724792,
-0.019031554460525513,
-0.012977376580238342,
-0.03165166825056076,
0.002246177289634943,
-0.013691904954612255,
0.027943845838308334,
-0.02340562641620636,
0.01099794078618288,
0.0363830029964447,
-0.05874580517411232,
-0.023154575377702713,
-0.05086668208241463,
-0.011683501303195953,
0.02427464723587036,
-0.006396958604454994,
0.0179018285125494,
-0.016752788797020912,
-0.017737679183483124,
0.018481174483895302,
0.04229234531521797,
-0.020257839933037758,
0.015333388932049274,
-0.003401250811293721,
-0.03937629610300064,
-0.013180147856473923,
-0.019408131018280983,
0.01709074154496193,
-0.03506981581449509,
0.043914515525102615,
-0.04511183500289917,
0.02574232593178749,
-0.017081085592508316,
-0.008965397253632545,
0.01085310336202383,
-0.019243981689214706,
-0.018529454246163368,
0.00994545966386795,
0.034953948110342026,
0.013209115713834763,
-0.012987032532691956,
0.002730173524469137,
0.06125630810856819,
0.011374516412615776,
-0.0014471609611064196,
-0.002183414762839675,
-0.0054362076334655285,
-0.002191863488405943,
-0.002270316705107689,
-0.01395261101424694,
-0.0011158467968925834,
-0.012890474870800972,
0.03487670049071312,
-0.003104335395619273,
-0.006005899049341679,
-0.025780949741601944,
0.03541742265224457,
-0.002457397524267435,
-0.007116314489394426,
-0.026901019737124443,
-0.010418593883514404,
-0.04294893890619278,
0.009375768713653088,
-0.007193560712039471,
0.004164057783782482,
0.006619041319936514,
0.029102539643645287,
-0.019272949546575546,
-0.00412784842774272,
0.03176753595471382,
-0.018954308703541756,
0.0008074651123024523,
-0.03084058128297329,
0.008395706303417683,
0.026997579261660576,
-0.03926042839884758,
0.03485738858580589,
-0.04012944921851158,
0.007333569694310427,
0.028291454538702965,
-0.01480232086032629,
-0.02259453944861889,
-0.04843342304229736,
0.010051673278212547,
-0.035610541701316833,
-0.02545265294611454,
0.0026263738982379436,
0.02527884766459465,
0.008168795146048069,
0.019186047837138176,
-0.0061700474470853806,
-0.008429501205682755,
-0.014667139388620853,
-0.019272949546575546,
-0.03132336959242821,
-0.04387589171528816,
-0.016192752867937088,
-0.002089270856231451,
0.05700776353478432,
-0.023618053644895554,
0.023965662345290184,
0.003343316027894616,
-0.0018659806810319424,
0.0015557885635644197,
0.01261045690625906,
-0.001132744480855763,
0.016849346458911896,
0.025182290002703667,
0.012871162965893745,
-0.008159139193594456,
-0.004176127724349499,
0.02796315774321556,
-0.0003364438016433269,
-0.036421626806259155,
-0.06021348387002945,
0.010457216762006283,
-0.040052201598882675,
0.013392576016485691,
0.020508890971541405,
-0.012707014568150043,
0.040824662894010544,
0.02616718038916588,
-0.01767008937895298,
0.0087336590513587,
0.027016889303922653,
0.007888777181506157,
0.004622707609087229,
0.02288421429693699,
0.031284745782613754,
0.003483325010165572,
-0.00022313918452709913,
-0.0716073140501976,
-0.06137217953801155,
-0.009762000292539597,
-0.02328975684940815,
-0.0019625385757535696,
-0.030628154054284096,
-0.014319530688226223,
0.031033696606755257,
0.012398029677569866,
-0.03167098015546799,
0.02427464723587036,
0.04615465924143791,
-0.02253660559654236,
0.0038502446841448545,
-0.04862653836607933,
-0.013344296254217625,
0.04735197499394417,
-0.019736427813768387,
-0.022497981786727905,
-0.04669538140296936,
0.02539471723139286,
-0.009428875520825386,
-0.0033071069046854973,
-0.04545944184064865,
-0.005527937784790993,
0.013527756556868553,
0.015449258498847485,
-0.05917065963149071,
-0.02767348289489746,
-0.02164827287197113,
-0.014821631833910942,
0.03049297258257866,
-0.005933480802923441,
0.004132676403969526,
0.02972050942480564,
0.01723557896912098,
0.016936250030994415,
-0.02608993463218212,
-0.04372140020132065,
0.01697487197816372,
0.04793132469058037,
-0.011055875569581985,
-0.008048097603023052,
0.006942510139197111,
-0.03985908627510071,
0.0204316433519125,
-0.0017368345288559794,
0.008221901953220367,
0.018288059160113335,
-0.03586158901453018,
0.015526504255831242,
-0.036653365939855576,
-0.031033696606755257,
0.004432005807757378,
-0.032037898898124695,
-0.03597746044397354,
-0.03196065127849579,
0.009935803711414337,
-0.009216448292136192,
-0.010090297088027,
0.013479477725923061,
-0.020528201013803482,
0.055385589599609375,
-0.013247738592326641,
0.050982553511857986,
0.023482872173190117,
-0.009916492737829685,
0.008540542796254158,
0.06345782428979874,
-0.016897626221179962,
0.019794361665844917,
-0.04406900703907013,
-0.08458469063043594,
0.010669643990695477,
0.018925340846180916,
-0.06021348387002945,
-0.030859893187880516,
-0.06002036854624748,
-0.02749967947602272,
0.014290563762187958,
-0.021628960967063904,
0.022015193477272987,
-0.031748224049806595,
0.028117649257183075,
0.0077535961754620075
] |
This work proposes a novel approach to social robot navigation by learning to
generate robot controls from a social motion latent space. By leveraging this
social motion latent space, the proposed method achieves significant
improvements in social navigation metrics such as success rate, navigation
time, and trajectory length while producing smoother (less jerk and angular
deviations) and more anticipatory trajectories. The superiority of the proposed
method is demonstrated through comparison with baseline models in various
scenarios. Additionally, the concept of humans' awareness towards the robot is
introduced into the social robot navigation framework, showing that
incorporating human awareness leads to shorter and smoother trajectories owing
to humans' ability to positively interact with the robot. | [
-0.009443212300539017,
-0.02079363353550434,
-0.026650281623005867,
-0.04097966104745865,
-0.024135466665029526,
0.008071878924965858,
-0.03459979593753815,
0.022650206461548805,
-0.10990919917821884,
-0.0016772461822256446,
-0.03935937583446503,
0.013417969457805157,
-0.0005981122958473861,
-0.011131007224321365,
-0.01193271018564701,
0.030819134786725044,
-0.0005002729594707489,
-0.03169678896665573,
-0.00429754750803113,
-0.027561690658330917,
-0.00981452688574791,
-0.010785008780658245,
-0.013865235261619091,
0.03881928324699402,
0.056034788489341736,
-0.027781102806329727,
0.01601717248558998,
0.013814601115882397,
-0.10207783430814743,
0.06241465359926224,
-0.032861366868019104,
0.027764225378632545,
-0.026498379185795784,
-0.02079363353550434,
-0.019240861758589745,
-0.018903302028775215,
0.07790861278772354,
0.05866774916648865,
-0.001444119494408369,
0.015029813162982464,
0.026717793196439743,
0.0280342735350132,
-0.034346625208854675,
-0.08303950726985931,
-0.0037068193778395653,
-0.017671212553977966,
-0.07412794977426529,
0.02248142845928669,
-0.02234640344977379,
0.021283093839883804,
0.041148439049720764,
0.008936873637139797,
0.010422132909297943,
-0.009274432435631752,
-0.05883653089404106,
0.0246586836874485,
0.04654938355088234,
-0.0134010910987854,
0.05313178151845932,
0.04381515458226204,
0.01657414622604847,
0.0205573420971632,
-0.06130070984363556,
-0.0335027277469635,
-0.03493735194206238,
-0.04405144602060318,
0.07345283031463623,
-0.006316572427749634,
-0.009063458070158958,
-0.0517815463244915,
-0.0227008406072855,
0.021620651707053185,
-0.04692069813609123,
-0.062043339014053345,
-0.022548940032720566,
-0.004793337546288967,
0.03709772974252701,
0.042667455971241,
0.03245629370212555,
-0.00993267260491848,
0.04124970734119415,
-0.043983932584524155,
-0.005029628518968821,
-0.01497917901724577,
0.07851621508598328,
-0.04256618767976761,
0.07662588357925415,
-0.0697396844625473,
0.05218661576509476,
-0.03341833874583244,
-0.06376489251852036,
0.06595902144908905,
-0.02089489996433258,
0.033232681453228,
0.014641620218753815,
-0.02178943157196045,
0.03294575586915016,
-0.004805996082723141,
-0.05616981163620949,
0.022954009473323822,
0.009350383654236794,
0.008046561852097511,
-0.00969638116657734,
-0.013823039829730988,
0.0280342735350132,
-0.01794125884771347,
-0.03777284920215607,
-0.011595150455832481,
0.013620504178106785,
0.12786734104156494,
-0.02258269488811493,
-0.06018676608800888,
-0.006911519914865494,
0.00953604094684124,
-0.05529215931892395,
0.012278707697987556,
-0.03881928324699402,
-0.04766332730650902,
0.044220224022865295,
-0.02313966676592827,
0.05053257942199707,
0.07108992338180542,
0.0022510963026434183,
-0.026970962062478065,
-0.03007650375366211,
-0.0335027277469635,
0.021603774279356003,
0.009966428391635418,
0.03973069041967392,
0.013848356902599335,
0.024034198373556137,
0.0033861384727060795,
0.014987618662416935,
0.02045607380568981,
0.01681043766438961,
-0.002548570279031992,
-0.023004643619060516,
-0.014388451352715492,
-0.0035739056766033173,
0.0322706364095211,
-0.06896329671144485,
-0.03895430639386177,
-0.05188281461596489,
0.012953825294971466,
-0.019713444635272026,
0.08000147342681885,
-0.019797833636403084,
0.03215249255299568,
-0.07372287660837173,
0.0035739056766033173,
-0.0392918661236763,
0.04908107593655586,
0.007185786496847868,
0.04259994253516197,
0.0876978188753128,
0.0017310446128249168,
-0.059646669775247574,
-0.010759692639112473,
-0.0045486073940992355,
-0.058870285749435425,
0.09593425691127777,
-0.0615370012819767,
0.042397405952215195,
0.04459153860807419,
0.06049056723713875,
-0.005595040041953325,
0.020607976242899895,
0.01692858338356018,
-0.025013120844960213,
0.04087839275598526,
-0.04550294950604439,
-0.040270786732435226,
-0.037063974887132645,
0.004784898366779089,
-0.0185994990170002,
0.007898880168795586,
0.06457503139972687,
0.004814434796571732,
-0.04884478449821472,
0.003970537334680557,
-0.0569799542427063,
0.026532135903835297,
-0.0008644674089737236,
0.0356462262570858,
0.048203419893980026,
0.037874117493629456,
0.0801365002989769,
-0.015072008594870567,
0.06416995823383331,
-0.013358896598219872,
0.022987766191363335,
-0.00200953078456223,
0.017789358273148537,
-0.006156231742352247,
-0.019477153196930885,
-0.02349410392343998,
-0.022312648594379425,
-0.006641472689807415,
-0.017637455835938454,
0.02224513702094555,
-0.006708984728902578,
-0.07379039376974106,
-0.013063532300293446,
-0.026650281623005867,
0.023578494787216187,
0.008995946496725082,
0.040000736713409424,
0.008190024644136429,
-0.03262507542967796,
-0.043308816850185394,
0.042734965682029724,
-0.07473555952310562,
-0.04006825014948845,
-0.029823334887623787,
-0.04675191640853882,
-0.030565965920686722,
0.030228406190872192,
-0.01816067285835743,
0.03807665407657623,
0.0027933004312217236,
-0.00683556916192174,
0.01520703174173832,
0.0606255903840065,
-0.010514962486922741,
-0.04516538977622986,
-0.001114999526180327,
0.031629275530576706,
0.010388377122581005,
-0.020928656682372093,
-0.008173146285116673,
-0.005708965938538313,
-0.016962338238954544,
0.1032930463552475,
-0.01044744998216629,
0.010860959999263287,
0.025907650589942932,
0.03463355079293251,
-0.008447413332760334,
-0.03282761201262474,
-0.019730322062969208,
-0.009004385210573673,
-0.005531747825443745,
0.006379864644259214,
0.03240566328167915,
0.07628832757472992,
-0.013595188036561012,
-0.0347348190844059,
0.029468897730112076,
0.00027584898634813726,
-0.010599351488053799,
-0.02567135915160179,
0.008392560295760632,
-0.028338076546788216,
-0.019797833636403084,
-0.01083564292639494,
0.0034072359558194876,
0.0031983712688088417,
-0.06234714388847351,
0.048540979623794556,
0.025519458577036858,
0.031139815226197243,
0.06457503139972687,
0.01056559570133686,
0.04108092561364174,
-0.011240714229643345,
-0.015924343839287758,
0.0294013861566782,
0.02916509471833706,
0.03394155576825142,
-0.020186027511954308,
-0.0636298656463623,
-0.04101341590285301,
-0.006793374195694923,
0.029840214177966118,
-0.03345209360122681,
-0.003778550773859024,
-0.0025696677621454,
-0.011046617291867733,
0.049789950251579285,
-0.023089034482836723,
0.04303877055644989,
-0.03517364338040352,
0.017299897968769073,
0.006046525202691555,
0.00007555519550805911,
-0.026397110894322395,
-0.0447603203356266,
0.010852521285414696,
-0.0688282772898674,
0.024692438542842865,
-0.0490473173558712,
0.01726614125072956,
-0.00010726727487053722,
-0.0053756264969706535,
0.03346897289156914,
0.0134010910987854,
-0.01907208189368248,
-0.00847694929689169,
0.013375774025917053,
-0.040709611028432846,
-0.016363171860575676,
0.029114460572600365,
0.02475995011627674,
-0.02428736910223961,
0.012076172046363354,
0.014515035785734653,
-0.005565503612160683,
0.047967128455638885,
-0.04732576757669449,
-0.012160561978816986,
0.019915979355573654,
0.03520740196108818,
0.03019464947283268,
-0.055325914174318314,
-0.027426667511463165,
0.035815007984638214,
0.06211085245013237,
-0.003941000904887915,
-0.03166303038597107,
-0.021991966292262077,
-0.0663640946149826,
0.04509788006544113,
-0.049654923379421234,
-0.013831478543579578,
0.011291347444057465,
0.04351135343313217,
0.03530867025256157,
0.04459153860807419,
0.003816526150330901,
-0.025181898847222328,
-0.012945386581122875,
0.005071823485195637,
-0.035950031131505966,
-0.02816929668188095,
0.003179383696988225,
0.013325140811502934,
0.014439085498452187,
0.010911594144999981,
-0.008498047478497028,
-0.019696565344929695,
0.004443120211362839,
-0.028675634413957596,
0.041283462196588516,
0.001164578483439982,
0.004506412427872419,
-0.044321492314338684,
0.002822836861014366,
0.01780623570084572,
0.04145224019885063,
-0.0383804552257061,
0.0007246969034895301,
-0.03363775089383125,
0.0286250002682209,
-0.04543543606996536,
0.030836012214422226,
-0.061030663549900055,
0.014152159914374352,
-0.009358822368085384,
-0.027224130928516388,
-0.013257628306746483,
0.020152270793914795,
-0.0399332270026207,
-0.01708892360329628,
0.027983639389276505,
-0.04486158862709999,
0.012877875007689,
-0.02678530476987362,
-0.021401239559054375,
0.011620467528700829,
0.04914858564734459,
-0.05927535519003868,
0.022160746157169342,
0.010017062537372112,
-0.025840139016509056,
0.019207105040550232,
0.004434681031852961,
0.026430867612361908,
-0.016084685921669006,
0.021637530997395515,
0.045131634920835495,
-0.007054982706904411,
0.013443286530673504,
-0.013949624262750149,
-0.001466271816752851,
-0.022869620472192764,
0.05235539749264717,
0.03878552466630936,
-0.025384435430169106,
0.01770496740937233,
0.06055808067321777,
0.025384435430169106,
-0.020742999389767647,
0.008253317326307297,
0.004632996860891581,
0.04249867424368858,
0.014160598628222942,
0.03304702416062355,
-0.02033792808651924,
-0.005249042063951492,
0.001488424139097333,
-0.02987396903336048,
0.002647728193551302,
0.025806384161114693,
-0.017553066834807396,
0.009308189153671265,
-0.033097658306360245,
-0.03146049752831459,
-0.00618576817214489,
0.024709315970540047,
-0.022785231471061707,
0.001361839473247528,
-0.004814434796571732,
-0.038414210081100464,
-0.019105838611721992,
-0.02077675424516201,
0.017139557749032974,
-0.01544332318007946,
0.03306389972567558,
0.02384854108095169,
-0.08641509711742401,
0.021991966292262077,
0.018683889880776405,
0.04783210530877113,
0.031139815226197243,
-0.026042675599455833,
0.04030454158782959,
0.027646079659461975,
-0.0008059220272116363,
-0.04189106822013855,
-0.04158726707100868,
0.0444902740418911,
0.004257462453097105,
0.04030454158782959,
-0.05505586788058281,
0.028219930827617645,
0.012692217715084553,
0.014093087054789066,
-0.02702159620821476,
-0.03281073272228241,
-0.01748555526137352,
-0.03326643630862236,
-0.007886221632361412,
0.0075950766913592815,
-0.0245236586779356,
0.010531839914619923,
-0.03370526432991028,
0.038886792957782745,
-0.021890699863433838,
-0.03493735194206238,
-0.027983639389276505,
-0.08121668547391891,
0.04381515458226204,
0.03373901918530464,
-0.03676017373800278,
0.012202756479382515,
-0.02533380128443241,
-0.00760351587086916,
-0.03240566328167915,
-0.04469280689954758,
-0.02916509471833706,
0.03932562097907066,
0.019038327038288116,
-0.02167128585278988,
-0.020574219524860382,
0.03780660405755043,
-0.0323212705552578,
-0.040372055023908615,
-0.001049070036970079,
-0.007569760084152222,
0.023932931944727898,
0.06761306524276733,
-0.03949439898133278,
0.015595224685966969,
-0.040810879319906235,
0.00011623368482105434,
0.08749528974294662,
-0.053536854684352875,
-0.025266289710998535,
-0.01794125884771347,
-0.012514999136328697,
0.016067806631326675,
0.0185994990170002,
0.05073511227965355,
-0.01849823258817196,
-0.0059030624106526375,
0.012126806192100048,
0.03662514686584473,
-0.010827204212546349,
-0.020742999389767647,
-0.037975385785102844,
0.010523401200771332,
-0.05164652317762375,
-0.034329745918512344,
-0.008493827655911446,
-0.005405162926763296,
-0.014607864432036877,
0.0026709353551268578,
-0.01974719949066639,
0.07392541319131851,
0.02783173695206642,
0.0004169380699750036,
-0.050363797694444656,
-0.0016677522799000144,
0.018886424601078033,
-0.0016624779673293233,
0.028422465547919273,
0.04816966503858566,
0.014540352858603,
-0.022616451606154442,
-0.001197279430925846,
0.043443839997053146,
-0.0011266031069681048,
-0.006759618408977985,
-0.04097966104745865,
0.01146012730896473,
0.03362087532877922,
0.025485701858997345,
-0.0208780225366354,
0.035950031131505966,
0.008379901759326458,
-0.01704672910273075,
0.012008660472929478,
-0.028439342975616455,
0.027409788221120834,
-0.052963003516197205,
0.06484507769346237,
0.012557193636894226,
-0.027089107781648636,
-0.014084648340940475,
-0.006561302579939365,
-0.029333874583244324,
0.03120732679963112,
-0.03919059783220291,
-0.06190831586718559,
-0.03618632256984711,
-0.04860849305987358,
0.020354805514216423,
0.015384250320494175,
-0.0017637456767261028,
-0.005552845075726509,
0.0010337743442505598,
-0.019713444635272026,
-0.022650206461548805,
0.005666771437972784,
-0.014515035785734653,
0.009130970574915409,
0.04482783004641533,
-0.025586970150470734,
-0.04043956473469734,
0.01613531820476055,
0.0140171367675066,
0.011316664516925812,
0.0213337279856205,
-0.010379938408732414,
-0.021958211436867714,
-0.0009805032750591636,
-0.02531692385673523,
0.02075987681746483,
-0.0025992041919380426,
-0.04141848534345627,
-0.03292887657880783,
-0.012126806192100048,
-0.01169641874730587,
-0.024996241554617882,
0.010523401200771332,
-0.02020290493965149,
0.007877782918512821,
0.036523882299661636,
-0.0018091051606461406,
0.04199233651161194,
-0.016565706580877304,
-0.04668440669775009,
-0.001950457924976945,
-0.021266214549541473,
0.04324130341410637,
0.010860959999263287,
0.050802625715732574,
-0.031190449371933937,
0.04054083302617073,
-0.014109965413808823,
-0.009215359576046467,
-0.004476875998079777,
0.013831478543579578,
0.015493957325816154,
-0.018008770421147346,
0.008261756040155888,
-0.019730322062969208,
-0.010320865549147129,
0.010725936852395535,
-0.016683852300047874,
0.02325781248509884,
0.04087839275598526,
0.025131264701485634,
0.030245283618569374,
-0.005468455608934164,
-0.0058524287305772305,
0.006831349804997444,
-0.0017669103108346462,
0.01780623570084572,
-0.07979894429445267,
-0.03949439898133278,
0.05026252940297127,
0.0029789579566568136,
0.028540611267089844,
-0.008557120338082314,
-0.02442239224910736,
0.05684493109583855,
0.04874351620674133,
-0.028304319828748703,
0.030245283618569374,
-0.03211873769760132,
0.003949440084397793,
-0.0073798829689621925,
-0.011654223315417767,
0.020810510963201523,
0.016422243788838387,
0.04823717847466469,
0.02212699130177498,
0.019223984330892563,
-0.015131081454455853,
0.01225339062511921,
0.0245236586779356,
0.018413841724395752,
0.02611018717288971,
-0.04246491938829422,
0.038414210081100464,
0.018278818577528,
0.00854446180164814,
0.00965418666601181,
0.02043919637799263,
0.008371462114155293,
0.041621021926403046,
0.009012824855744839,
-0.009974868036806583,
-0.0035950031597167253,
0.023089034482836723,
0.015249226242303848,
0.04222862794995308,
0.03483608737587929,
0.03750280290842056,
-0.022734597325325012,
0.0003420421853661537,
-0.007683685980737209,
0.023595372214913368,
-0.011333542875945568,
-0.004158304538577795,
-0.01738428696990013,
-0.02168816328048706,
0.020607976242899895,
0.018565744161605835,
0.01004237961024046,
0.02394980937242508,
-0.0026624964084476233,
0.027865493670105934,
0.01659102365374565,
0.014844155870378017,
0.024135466665029526,
-0.005388285033404827,
-0.023122789338231087,
0.01942651905119419,
0.011384176090359688,
-0.01919022761285305,
-0.009502285160124302,
0.02408483251929283,
0.021097436547279358,
0.03019464947283268,
0.0636298656463623,
0.015072008594870567,
-0.05076887086033821,
0.055697232484817505,
-0.00846429169178009,
-0.007139372173696756,
-0.026278967037796974,
0.023899175226688385,
0.023021522909402847,
0.0178231131285429,
0.028810657560825348,
0.032287515699863434,
0.0231565460562706,
-0.0053418707102537155,
-0.015409567393362522,
-0.010067696683108807,
-0.041283462196588516,
0.005578162148594856,
-0.013924308121204376,
-0.02474307268857956,
0.03692895174026489,
-0.019122716039419174,
-0.01988222263753414,
-0.006468473933637142,
-0.09478656202554703,
-0.011654223315417767,
-0.014346256852149963,
0.06396742910146713,
0.04506412148475647,
0.009367261081933975,
-0.023544738069176674,
-0.003107652300968766,
0.038110408931970596,
-0.006561302579939365,
-0.01623658649623394,
-0.016523512080311775,
-0.031156692653894424,
0.008375681936740875,
0.05016126483678818,
-0.015595224685966969,
-0.0010200609685853124,
0.03881928324699402,
0.0010970666771754622,
0.013038215227425098,
-0.012008660472929478,
0.030481575056910515,
-0.036152567714452744,
0.07642335444688797,
0.006814471911638975,
-0.003158286213874817,
0.008337706327438354,
-0.01685263216495514,
-0.08020401000976562,
0.03380653262138367,
0.028473099693655968,
-0.014945423230528831,
-0.012818802148103714,
-0.05201783776283264,
-0.031392984092235565,
-0.008135171607136726,
0.03303014487028122,
-0.014861034229397774,
0.004333413206040859,
-0.00405492726713419,
0.07203508168458939,
-0.024709315970540047,
0.00009197163308272138,
0.021620651707053185,
0.02928324043750763,
0.007877782918512821,
0.013924308121204376,
0.007886221632361412,
0.01158671174198389,
-0.02283586375415325,
0.017890624701976776,
-0.019578419625759125,
0.048102155327796936,
-0.036388859152793884,
-0.011401054449379444,
0.02541819028556347,
0.015873711556196213,
0.011941148899495602,
-0.023460349068045616,
0.0002842879621312022,
0.05947789177298546,
0.0009082446340471506,
0.03723275661468506,
-0.05417821556329727,
-0.02145187370479107,
0.01863325573503971,
-0.01441376842558384,
-0.04860849305987358,
0.0056878686882555485,
0.004249023739248514,
0.029080705717206,
0.021097436547279358,
0.017401164397597313,
0.052287884056568146,
0.00981452688574791,
-0.042161114513874054,
-0.004048597998917103,
-0.004679411184042692,
0.018582621589303017,
-0.03716524317860603,
-0.01578088290989399,
0.0038755990099161863,
0.06558770686388016,
-0.04249867424368858,
-0.03225376084446907,
0.030279040336608887,
-0.03544369339942932,
0.0033312852028757334,
-0.034701064229011536,
0.01316479966044426,
-0.025975162163376808,
-0.023409714922308922,
-0.008709021843969822,
0.052861735224723816,
-0.04236365109682083,
0.017283018678426743,
-0.0061309146694839,
-0.016742924228310585,
-0.032760098576545715,
-0.010607791133224964,
-0.017333652824163437,
-0.008536022156476974,
-0.0064473762176930904,
0.013654260896146297,
0.044118959456682205,
0.021975088864564896,
-0.020388562232255936,
0.03176429867744446,
0.006080280989408493,
-0.029249485582113266,
-0.013426408171653748,
0.007599296513944864,
-0.034802328795194626,
0.036051299422979355,
-0.025232532992959023,
0.006679448299109936,
-0.01390742976218462,
-0.0006577125750482082,
-0.0023692420218139887,
0.02644774504005909,
-0.01849823258817196,
-0.004557046107947826,
-0.02916509471833706,
-0.029080705717206,
0.0031603958923369646,
-0.024321123957633972,
-0.011780807748436928,
0.016270343214273453,
-0.00559082068502903,
-0.03932562097907066,
-0.0010358841391280293,
-0.012455926276743412,
0.008375681936740875,
-0.0019304153975099325,
-0.025468824431300163,
0.016245026141405106,
-0.002324937377125025,
0.016042489558458328,
0.07622081786394119,
-0.0205573420971632,
0.031713664531707764,
0.05218661576509476,
-0.04141848534345627,
0.00994111131876707,
-0.002152993343770504,
-0.003757453290745616,
0.032523807138204575,
-0.00027426666929386556,
-0.017232386395335197,
0.026363356038928032,
-0.001065420568920672,
0.0020010918378829956,
0.02724100835621357,
-0.0010559266665950418,
-0.030110260471701622,
-0.00097206438658759,
-0.04155350849032402,
0.011114128865301609,
0.03497111052274704,
-0.016211269423365593,
0.021266214549541473,
0.04151975363492966,
0.0325913205742836,
0.005510650109499693,
-0.023662883788347244,
0.029722068458795547,
0.024236734956502914,
0.050566334277391434,
0.026970962062478065,
-0.023240935057401657,
-0.00029246319900266826,
-0.012945386581122875,
-0.025586970150470734,
-0.002833385718986392,
-0.020709242671728134,
-0.01954466477036476,
-0.010903154499828815,
-0.03243941813707352,
-0.0682881772518158,
-0.06339357793331146,
0.001615008688531816,
0.04985745996236801,
-0.05600103363394737,
0.006168890278786421,
0.009206920862197876,
0.03043094091117382,
0.026160821318626404,
-0.007755417376756668,
0.019240861758589745,
-0.014160598628222942,
-0.019375884905457497,
-0.016548829153180122,
0.009924233891069889,
-0.020810510963201523,
0.06626282632350922,
-0.010970667004585266,
-0.009662625379860401,
-0.022616451606154442,
0.004464217461645603,
-0.02951953187584877,
-0.00033307576086372137,
-0.013375774025917053,
-0.042971257120370865,
-0.024034198373556137,
0.005945257376879454,
-0.010076135396957397,
-0.011721735820174217,
0.02351098321378231,
-0.01942651905119419,
0.03233814984560013,
0.011055056005716324,
-0.02771359123289585,
-0.007029665634036064,
-0.01673448644578457,
-0.00732502993196249,
0.020945534110069275,
0.005873525980859995,
0.004865068942308426,
0.025755750015378,
0.003088664496317506,
0.011249152943491936,
-0.009282872080802917,
-0.007793392986059189,
0.004170963075011969,
0.028776902705430984,
-0.020287293940782547,
-0.026768427342176437,
-0.03292887657880783,
0.02850685454905033,
-0.0017637456767261028,
0.04192482307553291,
0.005464235786348581,
-0.029367631301283836,
0.005519089289009571,
-0.023004643619060516,
-0.0033418338280171156,
-0.01543488446623087,
-0.03176429867744446,
0.03665890544652939,
0.009038141928613186,
-0.005476894322782755,
0.016683852300047874,
-0.009873599745333195,
0.009730137884616852,
0.018312573432922363,
-0.014481279999017715,
-0.017350532114505768,
-0.016042489558458328,
-0.0201016366481781,
0.03662514686584473,
-0.03178117796778679,
0.00448953453451395,
0.01670916937291622,
0.04050707817077637,
0.021181825548410416,
0.009662625379860401,
0.04438900575041771,
0.056709907948970795,
0.0055401865392923355,
0.01647287793457508,
-0.031021669507026672,
-0.03078537806868553,
0.005801795050501823,
-0.012675339356064796,
-0.0059030624106526375,
0.019240861758589745,
-0.020641731098294258,
-0.025131264701485634,
-0.01919022761285305,
0.051038917154073715,
0.023359080776572227,
0.03205122426152229,
-0.026734670624136925,
-0.012177440337836742,
-0.033097658306360245,
0.03588251769542694,
-0.031376104801893234,
-0.015072008594870567,
-0.01442220713943243,
0.029350752010941505,
-0.00942633394151926,
-0.016894826665520668,
0.02054046280682087,
0.016143757849931717,
-0.005371407140046358,
0.03463355079293251,
-0.006759618408977985,
-0.011080373078584671,
-0.04698820784687996,
-0.017772480845451355,
0.018886424601078033,
-0.014109965413808823,
0.031291715800762177,
0.015848394483327866,
0.00650222972035408,
-0.02325781248509884,
-0.01686950959265232,
-0.01335045788437128,
0.002542241010814905,
0.034110333770513535,
-0.04371388629078865,
-0.00014267141523305327,
0.008962190710008144,
-0.02292025461792946,
-0.03088664636015892,
0.004367168992757797,
0.00012908993812743574,
-0.015949660912156105,
0.049452390521764755,
0.0008649948867969215,
-0.04371388629078865,
-0.03662514686584473,
-0.004953677766025066,
0.030363429337739944,
0.018329452723264694,
0.017991892993450165,
0.05110642686486244,
-0.007177347782999277,
-0.031713664531707764,
0.007700563874095678,
-0.009392578154802322,
0.028911925852298737,
0.013806162402033806,
-0.05687868595123291,
0.0012489681830629706,
0.027325399219989777,
-0.0371989980340004,
0.009966428391635418,
0.0179581381380558,
-0.059444136917591095,
0.026278967037796974,
-0.06660038232803345,
0.06656663119792938,
-0.012498120777308941
] |
Knowledge Graphs (KG) are the backbone of many data-intensive applications
since they can represent data coupled with its meaning and context. Aligning
KGs across different domains and providers is necessary to afford a fuller and
integrated representation. A severe limitation of current KG alignment (KGA)
algorithms is that they fail to articulate logical thinking and reasoning with
lexical, structural, and semantic data learning. Deep learning models are
increasingly popular for KGA inspired by their good performance in other tasks,
but they suffer from limitations in explainability, reasoning, and data
efficiency. Hybrid neurosymbolic learning models hold the promise of
integrating logical and data perspectives to produce high-quality alignments
that are explainable and support validation through human-centric approaches.
This paper examines the current state of the art in KGA and explores the
potential for neurosymbolic integration, highlighting promising research
directions for combining these fields. | [
0.03720441088080406,
-0.0033215307630598545,
-0.027209196239709854,
-0.0016730144852772355,
0.043247271329164505,
0.00011024134437320754,
0.0013116678455844522,
0.0031561688520014286,
-0.02529834769666195,
0.0034358552657067776,
0.047330282628536224,
-0.03240278735756874,
0.01594008132815361,
-0.01301664486527443,
-0.0548756904900074,
0.016070738434791565,
0.014462031424045563,
-0.005197675433009863,
-0.00799862202256918,
-0.018847186118364334,
-0.04066680744290352,
-0.027944140136241913,
-0.004977192729711533,
0.01405373029410839,
0.045337773859500885,
0.0023824379313737154,
0.027045875787734985,
0.020611047744750977,
-0.06709206849336624,
0.044455841183662415,
0.014339541085064411,
-0.03361136093735695,
0.05405908823013306,
-0.034623946994543076,
-0.038968272507190704,
-0.03245178610086441,
0.029707999899983406,
0.02126432955265045,
-0.004634219687432051,
0.04269197955727577,
0.0277971513569355,
0.018471550196409225,
-0.041842713952064514,
-0.0037155416794121265,
0.004707713611423969,
-0.045501094311475754,
-0.009766566567122936,
0.0011942812707275152,
-0.047166962176561356,
-0.07682596892118454,
-0.01267367135733366,
-0.022456569597125053,
0.06898657977581024,
-0.017785603180527687,
-0.03769437223672867,
0.004381072707474232,
0.027372516691684723,
-0.0146090192720294,
0.07022781670093536,
0.058501407504081726,
-0.0019853650592267513,
0.011277281679213047,
-0.05879538506269455,
-0.021182669326663017,
0.03870696201920509,
-0.09949485212564468,
0.020937688648700714,
-0.013882243074476719,
0.034362636506557465,
-0.01781826838850975,
0.015531780198216438,
0.03152085840702057,
0.023763135075569153,
-0.0900222659111023,
0.03121054917573929,
-0.009415427222847939,
0.013669926673173904,
0.05716217681765556,
0.04667700082063675,
0.0006757386145181954,
0.03439529985189438,
0.006508322432637215,
0.01786726340651512,
0.005993862636387348,
0.055953606963157654,
-0.02069270797073841,
0.037073757499456406,
-0.05232788994908333,
-0.035832520574331284,
-0.033578697592020035,
-0.029675336554646492,
-0.045501094311475754,
-0.025837304070591927,
-0.06918256729841232,
0.013473941944539547,
-0.019010506570339203,
-0.008096613921225071,
-0.016756683588027954,
-0.010999636724591255,
0.0037849529180675745,
-0.008202772587537766,
-0.014576355926692486,
-0.020251743495464325,
0.009603246115148067,
-0.0358651839196682,
-0.008402840234339237,
-0.011571258306503296,
0.04154873639345169,
-0.04510912671685219,
0.1320936232805252,
0.010966972447931767,
-0.004907781258225441,
-0.015621607191860676,
-0.025363674387335777,
-0.04448850825428963,
-0.015637937933206558,
-0.06572017073631287,
-0.031128888949751854,
0.09753500670194626,
-0.04409653693437576,
-0.016136066988110542,
0.033268388360738754,
0.010697493329644203,
-0.05167460814118385,
-0.032582443207502365,
0.062159787863492966,
-0.03339904546737671,
-0.029642673209309578,
-0.03544054925441742,
0.05634557455778122,
-0.012681837193667889,
0.03250078111886978,
0.006818631198257208,
-0.001114662503823638,
0.055169668048620224,
0.01870019920170307,
0.031226880848407745,
0.018732862547039986,
-0.011514095589518547,
0.0025620905216783285,
-0.016323884949088097,
-0.06617747247219086,
0.00021218907204456627,
-0.0420386977493763,
0.038380321115255356,
-0.031700510531663895,
-0.013139135204255581,
0.0952485203742981,
0.01682201214134693,
0.013490274548530579,
-0.03268043324351311,
0.03704109042882919,
-0.004348408430814743,
-0.009154114872217178,
0.04592572897672653,
-0.0013371866662055254,
0.012085718102753162,
-0.04004618898034096,
0.041156768798828125,
0.021247997879981995,
0.04497846961021423,
0.0147886723279953,
0.014225216582417488,
0.05948133021593094,
0.013188131153583527,
0.049682099372148514,
0.017850931733846664,
-0.019663790240883827,
-0.02237490937113762,
0.04778758063912392,
-0.03691043704748154,
0.018798191100358963,
-0.027780819684267044,
0.007806720212101936,
-0.023485489189624786,
-0.009113284759223461,
0.07153438031673431,
-0.007353506051003933,
-0.02080703340470791,
-0.004170797299593687,
-0.00013205994036979973,
-0.04540310055017471,
-0.011407937854528427,
0.011301779188215733,
0.028891397640109062,
0.014862166717648506,
0.03057359904050827,
0.00007968254794832319,
0.03834765404462814,
-0.04354124888777733,
0.0358651839196682,
0.014731509611010551,
0.015662437304854393,
-0.03821700066328049,
0.0014709053793922067,
-0.03204348310828209,
-0.013441277667880058,
0.010534172877669334,
0.002998972777277231,
-0.037073757499456406,
0.056933529675006866,
-0.018536878749728203,
0.007982290349900723,
0.0019057461759075522,
0.053863104432821274,
-0.012053053826093674,
0.006998283788561821,
-0.040013525635004044,
0.02392645552754402,
-0.029414024204015732,
-0.050662022083997726,
0.011930563487112522,
-0.05536565184593201,
-0.07937376946210861,
0.006977868732064962,
-0.016029907390475273,
-0.013580100610852242,
0.0028723995201289654,
-0.047166962176561356,
-0.014821336604654789,
0.022342246025800705,
-0.01647087372839451,
0.07349423319101334,
-0.00004140430246479809,
0.02048039250075817,
0.029724333435297012,
0.014796838164329529,
-0.05435306578874588,
0.036093831062316895,
0.019729116931557655,
-0.02413877099752426,
0.04765692353248596,
0.027356185019016266,
-0.009554250165820122,
0.025526994839310646,
0.0006639999337494373,
0.023142516613006592,
-0.05412441864609718,
-0.02988765388727188,
0.009758400730788708,
0.01060766726732254,
-0.08303214609622955,
-0.014902996830642223,
-0.04762426018714905,
0.05513700470328331,
-0.02848309651017189,
-0.02012108638882637,
-0.007035030983388424,
0.036355145275592804,
0.019451472908258438,
0.022603558376431465,
0.03228846564888954,
0.025624988600611687,
-0.013857745565474033,
-0.026278270408511162,
0.020447727292776108,
0.057978782802820206,
0.03612649813294411,
0.015695100650191307,
-0.029463019222021103,
0.041254762560129166,
-0.00716160424053669,
0.028777074068784714,
0.014135390520095825,
-0.01855321042239666,
0.017164984717965126,
0.05356912687420845,
0.008696816861629486,
-0.0010023795766755939,
0.018406221643090248,
-0.042365338653326035,
-0.0035052665043622255,
-0.056574225425720215,
-0.025069698691368103,
0.011889733374118805,
-0.04233267530798912,
0.037498388439416885,
0.00446681585162878,
0.027895143255591393,
-0.0008513081702403724,
-0.004138133488595486,
-0.06702673435211182,
-0.009072454646229744,
0.026882555335760117,
0.00851716473698616,
-0.01990877091884613,
-0.007153438404202461,
-0.02586996927857399,
-0.035669200122356415,
0.029201706871390343,
0.015147977508604527,
0.014543691650032997,
-0.041058775037527084,
0.005826459266245365,
-0.002962225815281272,
-0.0017373219598084688,
0.02529834769666195,
-0.019925102591514587,
0.02765016257762909,
-0.02681722864508629,
-0.02456340380012989,
0.009129616431891918,
0.002611086703836918,
-0.00984822679311037,
-0.016234058886766434,
0.04435785114765167,
-0.02644159086048603,
0.09903755784034729,
-0.0021047929767519236,
-0.013620930723845959,
0.012044887989759445,
-0.01683834381401539,
0.004956777673214674,
0.02273421548306942,
-0.009644076228141785,
0.02183595299720764,
0.03161885216832161,
0.01238786056637764,
0.02497170679271221,
-0.029348695650696754,
-0.01463351771235466,
-0.009341932833194733,
-0.133530855178833,
0.030279623344540596,
-0.0003710437740664929,
0.035048581659793854,
0.06474024802446365,
0.014845834113657475,
-0.02800946682691574,
-0.03873962536454201,
-0.05033538118004799,
0.039327580481767654,
-0.047689590603113174,
0.028025800362229347,
0.03351336717605591,
0.0016607653815299273,
0.015474618412554264,
0.060755230486392975,
-0.00642666220664978,
-0.025331011041998863,
0.01860220544040203,
-0.00042667484376579523,
-0.04700364172458649,
-0.012232705950737,
-0.01178357470780611,
-0.04635035991668701,
0.007455581333488226,
0.028466764837503433,
0.07741392403841019,
0.00745966425165534,
0.0009732881444506347,
0.03808634355664253,
-0.032958079129457474,
-0.007900630123913288,
0.01016670186072588,
-0.03442796319723129,
-0.04488047584891319,
0.018536878749728203,
0.005389576777815819,
0.0018710405565798283,
0.010803651995956898,
-0.10138937085866928,
-0.018520545214414597,
0.013882243074476719,
-0.11073130369186401,
-0.04801623150706291,
0.008476334623992443,
0.030230626463890076,
0.0063654170371592045,
-0.032696764916181564,
0.00997888296842575,
0.03517923876643181,
-0.00883563980460167,
-0.0007681167917326093,
0.038968272507190704,
0.010411682538688183,
0.017279310151934624,
-0.006545069627463818,
0.004438234958797693,
0.058403413742780685,
-0.038119006901979446,
0.01280432753264904,
-0.019467804580926895,
0.00021588930394500494,
0.011309945024549961,
0.06500156223773956,
0.03769437223672867,
0.03691043704748154,
0.03361136093735695,
0.0498780831694603,
-0.03251711279153824,
-0.018357224762439728,
-0.03495058789849281,
-0.040634144097566605,
0.06225777789950371,
0.009423593059182167,
-0.026457922533154488,
0.039686884731054306,
0.0238774586468935,
0.020937688648700714,
-0.02916904352605343,
0.0011932604247704148,
-0.016740351915359497,
-0.011138458736240864,
0.024645065888762474,
-0.0010324917966499925,
-0.005663138814270496,
-0.04083012789487839,
0.017475293949246407,
0.0010039107874035835,
-0.015858421102166176,
0.003893152577802539,
0.011661084368824959,
-0.07238364964723587,
0.003554262686520815,
0.03978487476706505,
-0.06963986903429031,
0.03981754183769226,
0.029283367097377777,
0.005879538133740425,
-0.017785603180527687,
-0.012820660136640072,
0.011424269527196884,
-0.033007074147462845,
-0.0574888177216053,
0.020104754716157913,
0.009897222742438316,
-0.010060543194413185,
0.0014300752663984895,
-0.07545407861471176,
0.048048894852399826,
0.004973109345883131,
0.05543098226189613,
-0.032419122755527496,
-0.02408977597951889,
-0.01866753399372101,
0.003346028970554471,
0.02394278720021248,
-0.00012178861652500927,
0.024955373257398605,
-0.022717883810400963,
-0.046383023262023926,
0.0005241567851044238,
0.011318111792206764,
-0.06647145003080368,
0.02242390625178814,
0.013220795430243015,
-0.013269791379570961,
-0.027568502351641655,
-0.04399854689836502,
-0.02670290321111679,
0.0012004057643935084,
-0.09753500670194626,
-0.03785769268870354,
0.026980549097061157,
-0.00015694080502726138,
0.03292541578412056,
-0.030655259266495705,
0.012510350905358791,
-0.06578550487756729,
-0.0031888328958302736,
0.04148340970277786,
-0.011375273577868938,
-0.026196610182523727,
-0.012461354956030846,
0.05667221546173096,
-0.06160449609160423,
-0.005483486223965883,
0.00799862202256918,
0.03000197745859623,
0.0274378452450037,
-0.00710852537304163,
0.007720977067947388,
-0.04233267530798912,
-0.0658181682229042,
-0.005062935873866081,
0.049616772681474686,
-0.02111734263598919,
0.0010768945794552565,
-0.006067357026040554,
0.025265682488679886,
0.08897701650857925,
-0.025020701810717583,
0.00013078399933874607,
-0.04327993467450142,
0.0070921932347118855,
0.040634144097566605,
0.02472672611474991,
0.008851971477270126,
-0.04886549711227417,
-0.04233267530798912,
0.013637262396514416,
-0.05696619302034378,
-0.011987725272774696,
0.01640554517507553,
-0.0016444333596155047,
-0.038445647805929184,
-0.011661084368824959,
0.03413398563861847,
0.04657901078462601,
-0.018406221643090248,
-0.02890773117542267,
0.013375950045883656,
0.03606116771697998,
0.00501802284270525,
0.03521190211176872,
-0.002362022874876857,
0.054843027144670486,
0.010117705911397934,
-0.013792417012155056,
-0.014911162666976452,
-0.059350673109292984,
-0.031112557277083397,
-0.01149776391685009,
-0.0020547760650515556,
0.019043171778321266,
0.017916260287165642,
-0.04265931621193886,
0.048930823802948,
-0.01317179948091507,
-0.0025253433268517256,
-0.05425507202744484,
-0.0037073756102472544,
0.030034642666578293,
-0.022979196161031723,
0.06562218070030212,
0.0032153725624084473,
-0.005630474537611008,
0.007153438404202461,
-0.028711745515465736,
0.0007864903309382498,
0.0005818293429911137,
-0.008533496409654617,
-0.012224540114402771,
0.019353481009602547,
-0.006843129172921181,
0.030589930713176727,
-0.004846536088734865,
-0.0007880214834585786,
-0.031390201300382614,
-0.028205452486872673,
0.03789035975933075,
-0.008925465866923332,
0.015139811672270298,
0.02513502724468708,
-0.023959118872880936,
0.06242109835147858,
-0.06042858958244324,
0.009725736454129219,
0.013212629593908787,
0.021541975438594818,
-0.02634359896183014,
-0.012510350905358791,
-0.024596069008111954,
0.010779153555631638,
-0.01682201214134693,
-0.0023191513027995825,
-0.006410330068320036,
-0.025331011041998863,
-0.04354124888777733,
0.019418809562921524,
0.026327265426516533,
-0.004119759891182184,
-0.0039952280931174755,
0.011162957176566124,
-0.05765214189887047,
0.05951399356126785,
0.03553854301571846,
0.0019945516251027584,
0.004511728882789612,
-0.002988765249028802,
-0.008566160686314106,
-0.00453214393928647,
0.007096276152879,
-0.01491932850331068,
-0.0055896444246172905,
0.017736608162522316,
0.0038196584209799767,
0.012616509571671486,
0.015294965356588364,
0.023011859506368637,
0.02827078104019165,
0.019304484128952026,
0.038380321115255356,
0.0235181525349617,
0.010746489278972149,
-0.05556163936853409,
-0.023403828963637352,
0.011775408871471882,
0.030018309131264687,
-0.009660407900810242,
0.003309281775727868,
-0.03171684220433235,
-0.056312911212444305,
-0.006585899740457535,
-0.010828149504959583,
0.035832520574331284,
-0.03429730609059334,
0.06506688892841339,
-0.05062935873866081,
0.016070738434791565,
-0.020774368196725845,
0.061179861426353455,
0.02810746058821678,
-0.0301652979105711,
-0.009635910391807556,
-0.01588292047381401,
0.004034016747027636,
0.034199316054582596,
0.0007609715103171766,
-0.05383044108748436,
-0.011456933803856373,
0.04621970281004906,
-0.07630334049463272,
-0.002519218949601054,
-0.01374342106282711,
0.03413398563861847,
-0.018896182999014854,
-0.02101934887468815,
-0.03323572501540184,
0.00499352440237999,
0.005671304650604725,
0.012779830023646355,
-0.050041403621435165,
-0.009913555346429348,
0.02095402218401432,
0.061114534735679626,
0.002680497942492366,
-0.005883621517568827,
0.007333090994507074,
-0.014486528933048248,
-0.016005409881472588,
-0.02696421556174755,
-0.013604598119854927,
0.048114221543073654,
-0.015515448525547981,
-0.034101322293281555,
0.062225114554166794,
0.022407574579119682,
-0.016119733452796936,
-0.03691043704748154,
-0.000859984545968473,
-0.01651170291006565,
0.02582097239792347,
-0.01014220342040062,
0.0009773711208254099,
0.01682201214134693,
-0.008917300030589104,
0.0067492201924324036,
0.0321904718875885,
0.02570664882659912,
0.034623946994543076,
0.017638614401221275,
0.03655112907290459,
0.006524654570966959,
0.02843410149216652,
0.009701238013803959,
-0.024481743574142456,
-0.013294289819896221,
0.03936024382710457,
-0.008631489239633083,
0.04024217277765274,
-0.007063611876219511,
-0.007235098630189896,
0.005863206461071968,
-0.029185375198721886,
-0.019206492230296135,
0.016969000920653343,
0.022668886929750443,
0.009374597109854221,
0.014690679498016834,
-0.04416186735033989,
-0.053177159279584885,
0.016756683588027954,
0.02456340380012989,
-0.02028440684080124,
0.026735568419098854,
-0.02299552783370018,
0.02325684018433094,
-0.0005986717296764255,
-0.004764875862747431,
-0.013090139254927635,
-0.004952694289386272,
-0.05428773909807205,
-0.02178695611655712,
-0.012322532944381237,
-0.020464060828089714,
0.011122127063572407,
-0.0427573099732399,
-0.005679470952600241,
-0.024857381358742714,
-0.0016822012839838862,
-0.05990596488118172,
0.009529751725494862,
0.012894154526293278,
0.03083491139113903,
0.0004996586940251291,
-0.009938052855432034,
0.0160380732268095,
-0.0014760091435164213,
-0.01767127960920334,
-0.01175907626748085,
0.030230626463890076,
0.036191824823617935,
0.02168896421790123,
0.04687298461794853,
0.031161554157733917,
-0.00744741503149271,
-0.03254977613687515,
-0.010942474007606506,
-0.019614793360233307,
0.025853637605905533,
0.010346353985369205,
0.045958392322063446,
-0.004062597639858723,
0.03377468138933182,
0.013865911401808262,
-0.011693748645484447,
0.004307578317821026,
0.003493017517030239,
-0.023011859506368637,
0.006120435893535614,
0.04239800572395325,
-0.01625039055943489,
-0.05837075039744377,
0.03455862030386925,
-0.00754949077963829,
-0.012649173848330975,
0.009227609261870384,
-0.004425985738635063,
0.017801934853196144,
-0.03981754183769226,
-0.020088423043489456,
0.012151045724749565,
0.056312911212444305,
-0.02038239873945713,
0.015760429203510284,
0.022652555257081985,
-0.02043139562010765,
-0.05886071175336838,
-0.03648580238223076,
0.015695100650191307,
-0.01400473341345787,
-0.03130854293704033,
-0.011269114911556244,
0.02786247991025448,
0.019892437383532524,
-0.012771664187312126,
-0.03121054917573929,
0.040536150336265564,
0.017491627484560013,
-0.024106107652187347,
-0.0015535863349214196,
-0.010550504550337791,
0.014429367147386074,
0.003805367974564433,
0.016397379338741302,
-0.02116633765399456,
0.0032990742474794388,
-0.023142516613006592,
-0.013326953165233135,
0.007128940429538488,
-0.0056917197071015835,
0.0574888177216053,
0.06369499862194061,
0.02263622358441353,
-0.044815149158239365,
0.017524290829896927,
-0.028287112712860107,
0.010909809730947018,
0.04569707810878754,
-0.0375310517847538,
0.040013525635004044,
-0.034623946994543076,
0.009791065007448196,
-0.018879851326346397,
-0.019271820783615112,
-0.013392281718552113,
-0.0365837924182415,
0.0048506190069019794,
-0.02394278720021248,
0.013947571627795696,
-0.0015025486936792731,
0.06539352983236313,
-0.0005116525571793318,
0.013653595000505447,
0.010640331543982029,
-0.030459275469183922,
0.03014896623790264,
0.010934308171272278,
-0.0046097212471067905,
-0.028156455606222153,
0.010199366137385368,
0.0384783111512661,
0.05115198343992233,
-0.023763135075569153,
-0.01225720439106226,
0.03036128357052803,
-0.017997920513153076,
-0.02456340380012989,
0.007892463356256485,
-0.03746572509407997,
0.010983304120600224,
-0.0040870956145226955,
-0.0565415620803833,
-0.04213669151067734,
-0.009374597109854221,
0.005814210046082735,
0.015572610311210155,
0.05961198732256889,
-0.0031949575059115887,
0.017916260287165642,
0.025886300951242447,
-0.005838708020746708,
0.02681722864508629,
-0.04318194463849068,
-0.056574225425720215,
-0.012771664187312126,
-0.010093207471072674,
-0.017540622502565384,
-0.06235577166080475,
-0.01750795915722847,
-0.013073806650936604,
-0.004197337199002504,
-0.0451417900621891,
-0.02622927352786064,
0.01193872932344675,
0.02853209339082241,
0.01850421354174614,
-0.03014896623790264,
-0.019533133134245872,
0.033268388360738754,
-0.03370935469865799,
0.020529387518763542,
-0.009456257335841656,
0.07081577181816101,
0.025788309052586555,
-0.03808634355664253,
0.010419848375022411,
0.005528399255126715,
-0.043083950877189636,
-0.008868304081261158,
0.01646270789206028,
-0.0003276617790106684,
-0.04814688488841057,
0.018438884988427162,
-0.010975138284265995,
-0.047754917293787,
0.002007821574807167,
0.041254762560129166,
0.03691043704748154,
0.03962155431509018,
0.019876105710864067,
0.0013974111061543226,
0.004483147989958525,
0.00392173370346427,
0.024628732353448868,
0.05680287256836891,
0.019680121913552284,
-0.02033340372145176,
0.05650889500975609,
-0.02038239873945713,
0.00005378093192121014,
-0.027209196239709854,
-0.0022170760203152895,
-0.0331377312541008,
0.04174472391605377,
-0.041842713952064514,
-0.0005165011389181018,
0.01060766726732254,
0.014862166717648506,
0.013653595000505447,
-0.00870498362928629,
0.05827275663614273,
-0.002447766251862049,
0.001407618634402752,
-0.0060469419695436954,
0.000659406534396112,
0.0075127435848116875,
0.002404894446954131,
0.02095402218401432,
0.011097628623247147,
-0.004425985738635063,
0.0038482395466417074,
0.01299214642494917,
0.011857069097459316,
-0.016593363136053085,
-0.03256611153483391,
0.015907417982816696,
-0.017899928614497185,
-0.020137418061494827,
-0.006769635248929262,
0.00033914524829015136,
-0.0016362674068659544,
0.021052014082670212,
0.011440602131187916,
-0.013212629593908787,
0.03351336717605591,
-0.011040466837584972,
-0.005867289379239082,
-0.00038661027792841196,
-0.0051323468796908855,
-0.040144182741642,
-0.0217379592359066,
0.021247997879981995,
-0.03756371885538101,
0.005340580828487873,
-0.010721991769969463,
0.04216935485601425,
-0.0042749145068228245,
-0.017328307032585144,
-0.024318423122167587,
0.04187537729740143,
0.0005848915898241103,
0.020986685529351234,
-0.007986373268067837,
-0.03736773133277893,
-0.023142516613006592,
-0.012053053826093674,
0.048832833766937256,
0.04504379630088806,
0.05062935873866081,
0.005328331608325243,
0.03439529985189438,
-0.045958392322063446,
0.023583481088280678,
-0.054222408682107925,
-0.024269428104162216,
0.022962864488363266,
-0.002366105793043971,
-0.01997409760951996,
0.017916260287165642,
0.011171123012900352,
-0.00012389391486067325,
0.023697806522250175,
-0.02461240068078041,
-0.007986373268067837,
0.016013575717806816,
0.008313014172017574,
0.0016036032466217875,
-0.03756371885538101,
-0.04282263666391373,
0.02503703348338604,
0.032386455684900284,
0.02978966012597084,
-0.017001664265990257,
0.04902881756424904,
0.031847499310970306,
0.033840008080005646,
0.023387497290968895,
0.016029907390475273,
-0.004740377888083458,
0.023436492308974266,
-0.01415988802909851,
-0.026882555335760117,
-0.03121054917573929,
-0.018144909292459488,
-0.01661786250770092,
-0.021868616342544556,
-0.01614423282444477,
0.022293249145150185,
0.011538594029843807,
-0.010101373307406902,
-0.00896629597991705,
0.00026590621564537287,
-0.0217379592359066,
0.009170446544885635,
-0.011603922583162785,
-0.06042858958244324,
0.012273536063730717,
0.015270467847585678,
0.04576240852475166,
0.0033746100962162018,
0.01969645358622074,
0.005279335658997297,
-0.026898888871073723,
-0.0036542965099215508,
0.024498077109456062,
0.0063817487098276615,
-0.016029907390475273,
0.02168896421790123,
0.029463019222021103,
-0.04981275647878647,
0.033742018043994904,
0.010444346815347672,
-0.0036359229125082493,
0.07016249001026154,
0.03186383098363876,
-0.007214683573693037,
0.045337773859500885,
0.020447727292776108,
0.013310621492564678,
-0.0016495371237397194,
0.012600176967680454,
-0.04729761928319931,
0.054222408682107925,
0.0069533707574009895,
0.03655112907290459,
0.04866951331496239,
0.004364740569144487,
0.010264693759381771,
-0.06072256714105606,
0.03606116771697998,
0.011873400770127773,
-0.0146090192720294,
-0.035930510610342026,
0.0460890494287014,
0.006308254785835743,
-0.011130292899906635,
0.040274836122989655,
0.03413398563861847,
0.016152398660779,
-0.014837668277323246,
-0.00130350177641958,
-0.02420409955084324,
-0.021509312093257904,
-0.0529811717569828,
-0.0238774586468935,
-0.03873962536454201,
-0.03432996943593025,
-0.016266722232103348,
-0.05183792859315872,
-0.05183792859315872,
-0.035407885909080505
] |
Rollator walkers allow people with physical limitations to increase their
mobility and give them the confidence and independence to participate in
society for longer. However, rollator walker users often have poor posture,
leading to further health problems and, in the worst case, falls. Integrating
sensors into rollator walker designs can help to address this problem and
results in a platform that allows several other interesting use cases. This
paper briefly overviews existing systems and the current research directions
and challenges in this field. We also present our early HealthWalk rollator
walker prototype for data collection with older people, rheumatism, multiple
sclerosis and Parkinson patients, and individuals with visual impairments. | [
-0.00863148458302021,
0.05164153128862381,
-0.023875365033745766,
-0.06170259043574333,
0.033759571611881256,
-0.012763003818690777,
-0.00327672204002738,
-0.00014024013944435865,
-0.043663427233695984,
-0.005949190817773342,
0.04279880225658417,
0.008754300884902477,
0.07596886157989502,
-0.020475827157497406,
0.01732192188501358,
-0.025270551443099976,
-0.043309714645147324,
-0.012340517714619637,
0.044685252010822296,
-0.017253145575523376,
0.033346910029649734,
0.032973550260066986,
-0.04810443893074989,
0.018088290467858315,
0.022657034918665886,
-0.014521724544465542,
0.03635343536734581,
0.004576111678034067,
-0.05026599392294884,
0.03165696561336517,
0.0037213147152215242,
-0.006283249240368605,
-0.02967226505279541,
-0.008267950266599655,
-0.027746515348553658,
-0.004084849264472723,
0.03444733843207359,
-0.02711769938468933,
-0.015435473062098026,
0.05678996443748474,
0.0019920701161026955,
-0.01914941892027855,
-0.017921261489391327,
0.01574988104403019,
-0.004676820710301399,
-0.02633167803287506,
-0.01953260414302349,
0.033052150160074234,
-0.028493234887719154,
-0.019493302330374718,
-0.0070397937670350075,
0.024189773947000504,
-0.0019564535468816757,
-0.018795710057020187,
0.004129062872380018,
0.014718228951096535,
0.07097762823104858,
0.0492834709584713,
0.06826586276292801,
0.025388455018401146,
0.05643625557422638,
-0.055257223546504974,
-0.027530359104275703,
-0.01569093018770218,
0.01153484731912613,
-0.08355395495891571,
-0.012743353843688965,
0.03234473243355751,
-0.0166243277490139,
-0.04118746146559715,
-0.013843782246112823,
0.05557163432240486,
-0.006239035632461309,
0.05820479989051819,
-0.012428944930434227,
0.01641799882054329,
0.050580404698848724,
0.07007370889186859,
0.015573026612401009,
-0.0030138965230435133,
0.029947372153401375,
0.03338621184229851,
-0.08866308629512787,
-0.0573008768260479,
0.013431121595203876,
-0.04150186851620674,
0.07042741775512695,
-0.07168504595756531,
0.03523335978388786,
0.0018397786188870668,
-0.07431821525096893,
0.04570707678794861,
-0.006636958569288254,
0.01668328046798706,
0.02027932181954384,
-0.030379682779312134,
-0.04877255856990814,
-0.004202751908451319,
0.021694159135222435,
-0.0024980707094073296,
0.042012784630060196,
0.025643911212682724,
-0.042877405881881714,
0.0078307269141078,
0.08182471245527267,
0.007928979583084583,
0.03411328047513962,
0.026783639565110207,
-0.009348728694021702,
0.0785234272480011,
0.004330480471253395,
-0.05631835013628006,
0.019650505855679512,
-0.022303324192762375,
-0.0335434153676033,
0.014246617443859577,
0.00600814213976264,
-0.07518284022808075,
0.0085725337266922,
0.04315251111984253,
0.006155521143227816,
0.04103025794029236,
-0.03910450637340546,
0.025958318263292313,
-0.005890239495784044,
0.007742299698293209,
0.020534779876470566,
-0.015995511785149574,
-0.015730230137705803,
-0.00779633829370141,
0.009712263010442257,
0.09337920695543289,
-0.04562847688794136,
0.048340246081352234,
0.06995580345392227,
-0.00013609511370304972,
0.056396953761577606,
-0.032187528908252716,
-0.017646154388785362,
0.01137764286249876,
-0.0565541572868824,
-0.03144080936908722,
-0.010552321560680866,
0.08292514085769653,
-0.010365642607212067,
-0.005590569227933884,
-0.06461086869239807,
0.004151169676333666,
-0.07758019864559174,
-0.02548670768737793,
-0.013146189041435719,
-0.017488950863480568,
-0.006312725134193897,
0.028787992894649506,
0.06689032167196274,
-0.00995298195630312,
0.01153484731912613,
0.023167947307229042,
-0.02136010117828846,
0.015062113292515278,
-0.013156014494597912,
-0.0001668757904553786,
0.011888556182384491,
0.05054110288619995,
0.012399469502270222,
-0.012311042286455631,
0.0353316105902195,
0.025860067456960678,
0.03900625556707382,
0.015848133713006973,
-0.07632257044315338,
-0.041894879192113876,
-0.01906099170446396,
-0.01252719759941101,
0.04063724726438522,
0.004811917897313833,
0.08842728286981583,
0.042877405881881714,
-0.017557727172970772,
0.00848410651087761,
-0.01909046620130539,
0.03519405797123909,
-0.014944210648536682,
0.009982457384467125,
0.03588182479143143,
-0.008906591683626175,
0.05930522829294205,
-0.007865115068852901,
0.021654857322573662,
-0.0779339075088501,
0.05128782242536545,
-0.017125416547060013,
0.004929821006953716,
0.006072006653994322,
-0.0156221529468894,
-0.023757463321089745,
-0.005737947765737772,
-0.09903855621814728,
0.019581729546189308,
0.018726931884884834,
-0.06020915135741234,
0.02440592832863331,
-0.010630924254655838,
0.039163459092378616,
0.018726931884884834,
0.008376028388738632,
0.034250833094120026,
-0.04496035724878311,
0.024739988148212433,
-0.04291670769453049,
-0.013205140829086304,
-0.022440878674387932,
0.03307180106639862,
-0.003121974179521203,
0.006067093927413225,
-0.013706228695809841,
0.037296660244464874,
0.005114044528454542,
-0.013568675145506859,
0.039949480444192886,
0.005003510043025017,
0.02810022421181202,
0.05140572413802147,
-0.0388883538544178,
-0.011642925441265106,
0.018235670402646065,
0.016309920698404312,
0.014000985771417618,
0.03373992070555687,
-0.003546916414052248,
-0.030261779204010963,
0.021026041358709335,
0.025565309450030327,
-0.016840483993291855,
-0.014551199972629547,
0.04653239995241165,
0.03322900831699371,
-0.038573943078517914,
-0.018461650237441063,
0.025643911212682724,
-0.015936560928821564,
0.006833463441580534,
-0.021831713616847992,
-0.026253076270222664,
0.07612606137990952,
0.025152647867798805,
-0.0342901349067688,
0.06299952417612076,
-0.044685252010822296,
0.026508532464504242,
0.015130889602005482,
0.03149976208806038,
0.017764057964086533,
-0.03153906390070915,
-0.0020731284748762846,
0.023384103551506996,
0.020122118294239044,
-0.019159244373440742,
0.058401305228471756,
0.038573943078517914,
0.060169849544763565,
0.005335112567991018,
-0.042327191680669785,
-0.0020473371259868145,
-0.03996913135051727,
-0.03039933368563652,
0.04000842943787575,
0.0725889727473259,
0.061073772609233856,
-0.017626503482460976,
-0.029298905283212662,
-0.025467056781053543,
-0.025565309450030327,
0.006302900146692991,
0.01746929995715618,
0.00874938815832138,
-0.0149540351703763,
0.007383677642792463,
0.0538816899061203,
-0.015641802921891212,
0.010611273348331451,
-0.06288161873817444,
0.03222683072090149,
0.027648262679576874,
-0.008665873669087887,
-0.03155871480703354,
-0.015209492295980453,
-0.017184367403388023,
-0.028119875118136406,
-0.004757878836244345,
-0.04240579158067703,
-0.002039968268945813,
-0.03350411355495453,
-0.04146257042884827,
0.0699165016412735,
-0.023737812414765358,
0.003763071959838271,
0.006789249833673239,
-0.01801951415836811,
0.02324654906988144,
-0.019738933071494102,
-0.009668049402534962,
-0.022106820717453957,
-0.009903855621814728,
0.007133133709430695,
-0.012232440523803234,
-0.009333990514278412,
0.00992350559681654,
-0.02772686444222927,
-0.05529652535915375,
0.03051723726093769,
-0.0018618855392560363,
-0.039536818861961365,
-0.05097341537475586,
-0.006076918914914131,
0.03853464499115944,
-0.005315462127327919,
0.02136010117828846,
-0.022558782249689102,
-0.025408104062080383,
-0.04480315372347832,
0.009009757079184055,
-0.07270687073469162,
-0.007943716831505299,
-0.06728333234786987,
-0.029888421297073364,
0.05690786615014076,
0.02305004373192787,
-0.036982253193855286,
-0.017793534323573112,
-0.011053410358726978,
0.0433490164577961,
-0.01123026479035616,
-0.004929821006953716,
-0.0296133141964674,
-0.04441014304757118,
-0.09518705308437347,
-0.022126469761133194,
-0.008901679888367653,
0.008140222169458866,
0.010670225135982037,
-0.0316176638007164,
-0.05368518456816673,
0.030202828347682953,
0.006779424846172333,
-0.029200652614235878,
0.06539688259363174,
0.006862939335405827,
0.023816414177417755,
-0.004993685055524111,
0.001114552142098546,
0.011014108546078205,
-0.0613095797598362,
0.005988491699099541,
0.00696119200438261,
-0.02845393307507038,
0.027294553816318512,
-0.016840483993291855,
-0.0013964141253381968,
-0.03884905204176903,
-0.010404943488538265,
-0.06885537505149841,
-0.00895080529153347,
0.04370272532105446,
-0.038377437740564346,
0.012959509156644344,
-0.029023798182606697,
-0.01827497035264969,
-0.05887291580438614,
0.028552185744047165,
-0.01929679699242115,
-0.007801251020282507,
0.01610358990728855,
-0.05344937741756439,
-0.03289494663476944,
-0.022440878674387932,
0.05116992071270943,
0.023089345544576645,
0.005831287708133459,
0.032128579914569855,
-0.0022929685655981302,
-0.012979159131646156,
0.000011302879102004226,
0.005659346003085375,
0.019483476877212524,
0.0431918129324913,
0.025074046105146408,
-0.008503756485879421,
0.08489018678665161,
0.06075936555862427,
-0.002456313231959939,
-0.042877405881881714,
0.019041340798139572,
-0.01553372573107481,
-0.017272794619202614,
0.014148364774882793,
-0.01999439112842083,
0.0048389374278485775,
-0.031833820044994354,
-0.0335434153676033,
0.00184714759234339,
-0.060169849544763565,
-0.054471205919981,
0.005300723947584629,
0.03865254670381546,
0.02027932181954384,
-0.02118324674665928,
0.011004284024238586,
0.015189841389656067,
-0.05513932183384895,
-0.002660187426954508,
0.010007020086050034,
0.0023985898587852716,
0.005104219075292349,
0.02080988697707653,
0.014433297328650951,
-0.04425293952226639,
0.045235466212034225,
-0.003318479284644127,
-0.0479472354054451,
-0.03254123777151108,
0.0003957734734285623,
0.012920208275318146,
0.0045957621186971664,
-0.026901543140411377,
0.0672440305352211,
-0.13723914325237274,
-0.00560039421543479,
0.030418984591960907,
-0.032501935958862305,
0.038023728877305984,
-0.04181627929210663,
0.017076289281249046,
-0.02179241180419922,
0.030753042548894882,
-0.0026872067246586084,
0.05486421287059784,
0.031205004081130028,
-0.028473583981394768,
0.006199734751135111,
-0.07860202342271805,
0.06284231692552567,
-0.03609798103570938,
-0.0431918129324913,
-0.003370061982423067,
-0.05800829455256462,
0.02865043841302395,
0.0010494599118828773,
0.0068875025026500225,
-0.02171381004154682,
-0.008248300291597843,
0.03877044841647148,
-0.0025226338766515255,
-0.005340025294572115,
-0.012664751149713993,
-0.01723349466919899,
0.043781328946352005,
-0.05010879039764404,
0.010788127779960632,
-0.04543197154998779,
-0.004072567448019981,
0.02627272717654705,
0.011367818340659142,
0.003318479284644127,
0.0565541572868824,
-0.0118001289665699,
0.0141385393217206,
-0.041305363178253174,
-0.011240089312195778,
0.04264159873127937,
-0.02167450822889805,
-0.016585027799010277,
-0.04975508153438568,
-0.0033921687863767147,
0.011151662096381187,
-0.01586778461933136,
-0.004735772032290697,
0.027078397572040558,
-0.05164153128862381,
0.00995298195630312,
-0.041894879192113876,
0.017331747338175774,
-0.03442768752574921,
-0.00984981656074524,
-0.059187326580286026,
-0.044685252010822296,
0.019306622445583344,
0.018461650237441063,
0.029397157952189445,
-0.04963717982172966,
-0.02984911948442459,
-0.02688189223408699,
0.0062341233715415,
-0.012586149387061596,
0.0028493234422057867,
-0.05368518456816673,
-0.052584756165742874,
-0.0035493727773427963,
-0.0164769496768713,
0.004868412856012583,
0.024484531953930855,
-0.034683145582675934,
-0.027707213535904884,
0.04083375260233879,
-0.00878868903964758,
0.009658223949372768,
-0.0009905083570629358,
-0.00928486417979002,
0.011063234880566597,
-0.018402699381113052,
0.06244930997490883,
0.005669170990586281,
-0.032973550260066986,
-0.013775005005300045,
0.002450172556564212,
-0.011642925441265106,
0.00800758134573698,
-0.0019552253652364016,
0.023560957983136177,
0.00979577749967575,
-0.028591487556695938,
0.017881961539387703,
-0.011485720984637737,
0.04091235622763634,
-0.032737743109464645,
0.05466770753264427,
-0.052466850727796555,
0.01298898458480835,
0.008852553553879261,
-0.0013018460012972355,
-0.013863432221114635,
0.050030190497636795,
-0.023521656170487404,
0.033582717180252075,
-0.0265674851834774,
0.035901475697755814,
0.017361221835017204,
-0.0005093779764138162,
-0.017046814784407616,
-0.0187760591506958,
-0.01592673547565937,
0.0584799088537693,
-0.005315462127327919,
0.014521724544465542,
-0.01259597484022379,
0.03708050400018692,
0.031047800555825233,
0.007432803977280855,
-0.028866594657301903,
-0.003989052958786488,
-0.029515061527490616,
0.014492248184978962,
-0.02354130707681179,
-0.0057919868268072605,
0.010424593463540077,
-0.043231114745140076,
-0.0187760591506958,
0.011151662096381187,
0.0067352112382650375,
-0.015789182856678963,
0.025683211162686348,
-0.01201628427952528,
-0.012026109732687473,
-0.010110185481607914,
0.015651628375053406,
-0.029534710571169853,
-0.030851295217871666,
0.0405193455517292,
0.00921117514371872,
0.001533967675641179,
-0.0014909821329638362,
-0.010542497038841248,
0.02918100170791149,
-0.0202596727758646,
0.011652749963104725,
-0.02464173547923565,
0.02603692188858986,
-0.035351261496543884,
0.006813813000917435,
-0.007526143919676542,
-0.0265674851834774,
0.03688400238752365,
-0.005659346003085375,
0.0055070542730391026,
-0.044017136096954346,
0.038750797510147095,
-0.013293568044900894,
-0.009171874262392521,
0.002069443929940462,
-0.013509723357856274,
-0.0031317993998527527,
0.0149933360517025,
-0.003387256059795618,
-0.0024329782463610172,
-0.05812619999051094,
-0.05506071820855141,
0.013539198786020279,
0.04904766380786896,
-0.005055092740803957,
-0.032796695828437805,
-0.0426022969186306,
0.04374202713370323,
-0.0004679276898968965,
0.02208716981112957,
0.011063234880566597,
-0.014020636677742004,
0.004409082233905792,
0.023639559745788574,
-0.00496175279840827,
0.02833602949976921,
0.025074046105146408,
-0.015582852065563202,
0.034309785813093185,
-0.014403820969164371,
0.006695909891277552,
-0.020593730732798576,
0.02865043841302395,
0.025506356731057167,
0.031224654987454414,
-0.025860067456960678,
-0.05635765194892883,
-0.0056396955624222755,
0.007747212424874306,
0.015052287839353085,
-0.003907994367182255,
0.0074524544179439545,
0.022244373336434364,
-0.026606785133481026,
-0.008071445859968662,
-0.0026749251410365105,
0.02365921065211296,
-0.044331543147563934,
0.04248439520597458,
-0.05050180107355118,
0.019611205905675888,
0.04421364143490791,
-0.02098674140870571,
0.03706085681915283,
0.0007657556561753154,
-0.01741034910082817,
-0.010404943488538265,
0.01880553551018238,
0.017538076266646385,
0.033956076949834824,
-0.01550424937158823,
0.04146257042884827,
0.019454002380371094,
0.015140715055167675,
0.018766233697533607,
0.010906031355261803,
-0.011141837574541569,
0.00953049585223198,
0.012821955606341362,
0.0054923165589571,
0.017282620072364807,
0.013912558555603027,
-0.014855782501399517,
0.012173488736152649,
-0.02208716981112957,
0.02644958160817623,
0.023639559745788574,
0.002179978182539344,
-0.0018139873864129186,
-0.00464243208989501,
-0.03214822709560394,
0.022067518904805183,
0.0166243277490139,
-0.013185489922761917,
0.0040406351909041405,
-0.038141634315252304,
-0.02548670768737793,
-0.05230964720249176,
-0.07278547435998917,
0.0005581972072832286,
-0.0038760623428970575,
-0.023443054407835007,
-0.008975368924438953,
-0.016673455014824867,
-0.04916556552052498,
0.01950312778353691,
0.004362412262707949,
-0.03405432775616646,
0.00834164023399353,
0.04134466499090195,
-0.03678574785590172,
-0.017095940187573433,
-0.05183803662657738,
0.013735704123973846,
-0.04370272532105446,
0.002888624556362629,
-0.051720134913921356,
0.05635765194892883,
-0.02141905203461647,
0.028807641938328743,
-0.007000492885708809,
0.003318479284644127,
-0.010178962722420692,
-0.05836200341582298,
0.040440741926431656,
-0.016899434849619865,
0.009594359435141087,
-0.0196701567620039,
0.011849255301058292,
0.00536950072273612,
0.026115523651242256,
0.03263949230313301,
-0.009206262417137623,
-0.04028353840112686,
-0.012340517714619637,
-0.024739988148212433,
-0.019041340798139572,
0.03169626742601395,
-0.038259536027908325,
0.05285986140370369,
0.06704752892255783,
-0.029829468578100204,
-0.00791915412992239,
-0.0029230129439383745,
-0.03672679513692856,
0.06983789801597595,
-0.039772626012563705,
0.023344801738858223,
0.04731842130422592,
0.00012389030598569661,
-0.017007512971758842,
0.02644958160817623,
0.015317569486796856,
-0.028355680406093597,
-0.00011260661267442629,
0.0060621812008321285,
0.01950312778353691,
-0.0351744070649147,
-0.02499544434249401,
0.024130821228027344,
-0.031774867326021194,
0.06826586276292801,
-0.005408802069723606,
0.03228578343987465,
0.0017771426355466247,
0.02136010117828846,
0.027392806485295296,
-0.040755148977041245,
0.016722580417990685,
-0.04731842130422592,
-0.006548531353473663,
-0.03578357398509979,
-0.012468246743083,
-0.0022855994757264853,
-0.023698510602116585,
-0.08489018678665161,
0.024307675659656525,
0.02584041655063629,
0.034860000014305115,
-0.0626458153128624,
-0.005836200434714556,
0.007781600579619408,
0.013421296142041683,
0.017184367403388023,
-0.014433297328650951,
-0.020475827157497406,
-0.004020984750241041,
0.02888624370098114,
0.01624114438891411,
0.04680750519037247,
0.023737812414765358,
0.02020072005689144,
-0.0932219997048378,
0.0068875025026500225,
0.025093697011470795,
-0.02464173547923565,
0.0002589875366538763,
0.008656048215925694,
0.02299109287559986,
-0.01996491476893425,
-0.017655979841947556,
-0.031047800555825233,
0.03411328047513962,
0.017911436036229134,
-0.06111307442188263,
-0.03409362956881523,
-0.0852045938372612,
-0.022598082199692726,
-0.038868702948093414,
-0.026803290471434593,
-0.004448383580893278,
0.004269072320312262,
-0.021143944934010506,
0.0016985406400635839,
-0.014364520087838173,
-0.051012713462114334,
-0.017312096431851387,
0.024622084572911263,
0.02246052958071232,
0.015140715055167675,
0.0418555773794651,
0.014010811224579811,
-0.006808900739997625,
0.004934733267873526,
-0.009392942301928997,
-0.011308866553008556,
-0.024464881047606468,
0.020534779876470566,
-0.048025839030742645,
0.026370979845523834,
-0.03774862363934517,
0.0032054889015853405,
-0.042680900543928146,
-0.0019429437816143036,
0.004065198358148336,
0.01610358990728855,
-0.00570355961099267,
-0.0063471137546002865,
0.00896554347127676,
-0.004129062872380018,
0.01854025200009346,
0.0017906524008139968,
0.017803359776735306,
-0.02086883783340454,
-0.009466631338000298,
0.033641666173934937,
-0.003627974772825837,
-0.05022669583559036,
-0.013450771570205688,
0.019719284027814865,
0.01686013489961624,
-0.037532467395067215,
-0.00163836102001369,
0.017036989331245422,
0.04350621998310089,
0.008159873075783253,
0.015877610072493553,
0.002211910206824541,
0.0036672758869826794,
-0.06869816780090332,
-0.02136010117828846,
0.01741034910082817,
0.01137764286249876,
0.0506197065114975,
-0.04877255856990814,
0.05266335606575012,
0.010906031355261803,
-0.013126538135111332,
0.027078397572040558,
-0.0003214699972886592,
-0.002039968268945813,
0.016820833086967468,
-0.027687564492225647,
0.03672679513692856,
0.061506085097789764,
0.0075703575275838375,
0.029397157952189445,
-0.02584041655063629,
0.029338207095861435,
0.028689740225672722,
-0.001021826290525496,
0.03582287207245827,
0.038436390459537506,
-0.004350130911916494,
-0.001348515972495079,
-0.020672332495450974,
0.002930381800979376,
-0.05722227320075035,
-0.015435473062098026,
-0.025958318263292313,
-0.015464948490262032,
0.0014639627188444138,
0.005502142012119293,
-0.03348446264863014,
-0.05223104730248451,
-0.014403820969164371,
0.006754861678928137,
0.03641238808631897,
0.0023985898587852716,
-0.024366628378629684,
-0.018609030172228813,
0.0027805466670542955,
-0.001945400144904852,
0.04362412542104721,
-0.00517299585044384,
-0.009903855621814728,
0.02306969463825226,
-0.014973686076700687,
-0.013047936372458935,
0.010365642607212067,
0.0306547898799181,
-0.04417433962225914,
-0.04944067448377609,
-0.004369781352579594,
0.050344597548246384,
-0.009569796733558178,
0.0332486554980278,
0.02743210643529892,
0.029711565002799034,
-0.023226898163557053,
0.04865465313196182,
0.038986604660749435,
-0.02699979580938816,
0.0226373840123415,
-0.04889046028256416,
0.01396168489009142,
0.02403256855905056,
-0.023678859695792198,
-0.024857889860868454,
-0.007909328676760197,
-0.01656537689268589,
0.02633167803287506,
0.006381501909345388,
-0.015071938745677471,
-0.01120078843086958,
-0.016319746151566505,
-0.02798232063651085,
-0.020043516531586647,
-0.03476174548268318,
-0.03981192782521248,
0.054824914783239365,
-0.027707213535904884,
0.02039722539484501,
-0.01644747331738472,
0.026744339615106583,
-0.003907994367182255,
0.03983157500624657,
0.03739491477608681,
-0.006081831641495228,
0.011544672772288322,
-0.027746515348553658,
0.016899434849619865,
-0.03360236436128616,
-0.04114815965294838,
0.018314272165298462,
0.0004476631002034992,
0.004630150739103556,
0.007167522329837084,
-0.0006257458007894456,
0.04028353840112686,
0.02118324674665928,
0.011888556182384491,
0.03171591833233833,
0.0026257990393787622,
-0.048458147794008255,
-0.030851295217871666,
-0.027530359104275703,
-0.002611061092466116,
-0.018147243186831474,
0.045903582125902176,
0.019070817157626152,
-0.012615624815225601,
0.0598161406815052,
0.032501935958862305,
0.02658713608980179,
0.030124226585030556,
-0.017105765640735626,
-0.02306969463825226,
-0.024189773947000504,
-0.03275739401578903,
0.01438417099416256,
0.004792267456650734,
-0.017017338424921036,
0.010925681330263615,
-0.02371816150844097,
0.031165704131126404,
-0.00506491819396615,
0.007270687259733677,
0.007108570542186499,
-0.016604678705334663,
-0.026017270982265472,
0.025624260306358337,
-0.0164769496768713,
0.006985755171626806,
-0.009540321305394173,
-0.006931716110557318,
-0.02955436147749424,
0.024071870371699333,
0.0163295716047287,
0.023737812414765358,
-0.03112640231847763,
-0.01621166802942753,
-0.015229142270982265,
-0.01577935740351677,
-0.022362276911735535,
0.03835779055953026,
0.0029721390455961227,
-0.06677242368459702,
-0.041305363178253174,
-0.03118535317480564,
-0.02525090053677559,
0.009166961535811424,
-0.02324654906988144,
-0.019679982215166092,
-0.0412660650908947,
0.03521370887756348,
-0.01396168489009142,
-0.004674364347010851,
0.03362201526761055,
-0.009073621593415737,
-0.026233425363898277,
0.0296133141964674,
0.009162048809230328,
0.005138607230037451,
-0.01741034910082817,
-0.014079587534070015,
-0.015523900277912617,
-0.04625729098916054,
-0.006995580159127712,
0.015386346727609634,
-0.06154538691043854,
0.005428452510386705,
0.048693954944610596,
0.006067093927413225,
-0.013146189041435719,
0.01089620590209961,
0.026469232514500618,
-0.009304515086114407,
-0.02031862363219261,
-0.021340450271964073,
0.008641310036182404,
-0.0037139456253498793,
-0.03894730284810066,
0.005983579438179731,
-0.01235034316778183,
-0.04484245553612709,
0.02810022421181202,
0.018559902906417847,
0.01723349466919899,
0.0008529548067599535
] |
Geological carbon and energy storage are pivotal for achieving net-zero
carbon emissions and addressing climate change. However, they face
uncertainties due to geological factors and operational limitations, resulting
in possibilities of induced seismic events or groundwater contamination. To
overcome these challenges, we propose a specialized machine-learning (ML) model
to manage extensive reservoir models efficiently.
While ML approaches hold promise for geological carbon storage, the
substantial computational resources required for large-scale analysis are the
obstacle. We've developed a method to reduce the training cost for deep neural
operator models, using domain decomposition and a topology embedder to link
spatio-temporal points. This approach allows accurate predictions within the
model's domain, even for untrained data, enhancing ML efficiency for
large-scale geological storage applications. | [
0.0037326656747609377,
0.03946734219789505,
-0.019162820652127266,
-0.03328642249107361,
0.014763345010578632,
0.013139376416802406,
-0.044959306716918945,
0.014812556095421314,
-0.04334517940878868,
0.045746684074401855,
0.05114022642374039,
-0.029940063133835793,
-0.011800833977758884,
-0.010629608295857906,
-0.01736169308423996,
0.0024445638991892338,
0.007947600446641445,
-0.03364074230194092,
0.0266133900731802,
-0.05893527343869209,
0.04472309350967407,
-0.03515644371509552,
-0.017164848744869232,
0.04779386892914772,
-0.013838174752891064,
0.021121425554156303,
0.012676792219281197,
0.009335354901850224,
-0.07838352024555206,
0.08133618533611298,
0.06995856761932373,
0.00259342766366899,
-0.022440284490585327,
-0.02395598776638508,
-0.03438875079154968,
-0.015836147591471672,
0.05460469052195549,
0.025806326419115067,
-0.032321881502866745,
0.01434997096657753,
0.042164113372564316,
-0.020009253174066544,
0.019241558387875557,
0.015058611519634724,
0.032105352729558945,
-0.03610130026936531,
-0.0359635092318058,
-0.05058906227350235,
-0.0008292078855447471,
0.00010418923193356022,
-0.02037341520190239,
-0.05114022642374039,
-0.0012007519835606217,
-0.011820518411695957,
-0.06180920451879501,
0.016318416222929955,
0.10180802643299103,
0.07885594666004181,
0.036357197910547256,
0.0202946774661541,
0.04342391714453697,
0.044093187898397446,
-0.03629814460873604,
-0.0017519169487059116,
-0.030038485303521156,
-0.02978258766233921,
0.02517642453312874,
0.006112024653702974,
0.012972058728337288,
-0.015826305374503136,
-0.05432910844683647,
-0.030806180089712143,
0.0479513444006443,
-0.05999823287129402,
0.004943259991705418,
0.04283338412642479,
-0.009394408203661442,
-0.007662175688892603,
0.020983634516596794,
-0.016505420207977295,
0.0186313409358263,
0.03169197961688042,
-0.034841492772102356,
-0.0571243017911911,
0.10314656794071198,
0.04649469256401062,
-0.018296705558896065,
-0.056218817830085754,
0.01804080791771412,
0.0224599689245224,
-0.027322029694914818,
0.01651526242494583,
-0.02188911847770214,
0.004918654449284077,
-0.024940209463238716,
0.0025614402256906033,
0.006530319340527058,
-0.007352145854383707,
-0.05531333014369011,
0.021652905270457268,
-0.027440136298537254,
0.008154287002980709,
0.0011441592359915376,
0.02438904531300068,
-0.028758995234966278,
-0.0004026087117381394,
-0.029152683913707733,
0.067596435546875,
0.024211885407567024,
0.12881509959697723,
0.03783353045582771,
0.010915032587945461,
-0.0018749447772279382,
0.012735845521092415,
-0.027636980637907982,
-0.014753502793610096,
0.0021369941532611847,
-0.0414554737508297,
0.02188911847770214,
-0.02088521234691143,
-0.016013307496905327,
0.0027730483561754227,
0.0003789258480537683,
0.000468121055746451,
-0.005098274908959866,
0.047400180250406265,
-0.026239383965730667,
-0.061100561171770096,
0.044526249170303345,
0.05554954335093498,
-0.055943235754966736,
0.040077559649944305,
0.0024937749840319157,
-0.019172662869095802,
0.03121955320239067,
0.019704144448041916,
0.06696653366088867,
0.018385285511612892,
0.006476187147200108,
-0.00496294442564249,
-0.03395569324493408,
-0.01966477558016777,
-0.02956605888903141,
-0.025511059910058975,
-0.03470370173454285,
0.01890692301094532,
-0.03346358239650726,
0.10456384718418121,
-0.033916324377059937,
-0.023365452885627747,
-0.05551017448306084,
0.032597463577985764,
0.013188587501645088,
0.03974292427301407,
0.02734171412885189,
-0.009492830373346806,
-0.03862091153860092,
0.03438875079154968,
-0.0366130955517292,
-0.00044013222213834524,
0.0470852293074131,
-0.05358109995722771,
0.0032503963448107243,
0.03151481971144676,
-0.02547169104218483,
0.04480183124542236,
0.03208566829562187,
0.0002909609174821526,
-0.028089724481105804,
0.049919791519641876,
0.01793254353106022,
-0.01771601289510727,
-0.007740913890302181,
-0.06192731112241745,
-0.03732173517346382,
0.01768648624420166,
0.03757763281464577,
-0.005157328210771084,
-0.009930809959769249,
0.02403472550213337,
-0.02883773297071457,
0.01535387896001339,
0.06003760173916817,
0.01611172966659069,
-0.008454475551843643,
0.059014011174440384,
0.010541028343141079,
0.010088285431265831,
0.05633692443370819,
-0.01782427728176117,
0.028365306556224823,
-0.046888381242752075,
0.043660130351781845,
-0.02137732319533825,
0.018651025369763374,
-0.03425095975399017,
-0.02864088863134384,
0.032676201313734055,
0.025727588683366776,
-0.04263653978705406,
-0.044447511434555054,
-0.08606045693159103,
0.03399506211280823,
0.033050209283828735,
-0.019900988787412643,
0.012401209212839603,
0.01662352681159973,
0.03108176216483116,
0.02194817177951336,
-0.04417192563414574,
-0.021003318950533867,
0.016200309619307518,
-0.038483116775751114,
-0.0418885312974453,
0.03328642249107361,
0.025885064154863358,
0.019566353410482407,
0.0005099505069665611,
-0.01779475063085556,
-0.0060923402197659016,
0.0019032411510124803,
0.017420746386051178,
0.033483266830444336,
-0.041731055825948715,
0.012430735863745213,
-0.05763609707355499,
0.0038089428562670946,
0.015501512214541435,
-0.01657431572675705,
0.023148924112319946,
0.007224196568131447,
0.008749742060899734,
0.005093353800475597,
0.019841935485601425,
-0.007553911302238703,
-0.024861471727490425,
0.014094073325395584,
0.0075194635428488255,
-0.021042687818408012,
-0.0342312753200531,
0.045313626527786255,
-0.014064546674489975,
-0.03316831588745117,
-0.0270464476197958,
0.00848892331123352,
-0.017538852989673615,
-0.07976143062114716,
0.08393453806638718,
0.047400180250406265,
-0.0014234324917197227,
-0.021633220836520195,
-0.027322029694914818,
0.023188292980194092,
0.0038433908484876156,
-0.009886519983410835,
-0.02921173721551895,
0.06657284498214722,
-0.002471629995852709,
-0.013483854942023754,
0.002531913574784994,
0.0479513444006443,
-0.04472309350967407,
-0.011712253093719482,
0.06417133659124374,
0.009935731068253517,
0.047321442514657974,
0.04736081138253212,
0.041219256818294525,
0.02519610896706581,
0.023581983521580696,
-0.04436877369880676,
-0.03995945304632187,
0.006879718508571386,
-0.04625847935676575,
-0.03724299743771553,
-0.06527366489171982,
-0.006023444700986147,
0.02468431182205677,
-0.012529158964753151,
0.009999705478549004,
0.020708052441477776,
-0.004547110293060541,
0.036199722439050674,
0.02934953011572361,
-0.041809793561697006,
-0.04551047086715698,
-0.021003318950533867,
-0.002167751081287861,
-0.07361987978219986,
-0.07606074959039688,
-0.05653376877307892,
0.012037047185003757,
0.00478086294606328,
-0.008154287002980709,
0.045313626527786255,
-0.0009313210030086339,
-0.012942532077431679,
-0.03501865267753601,
-0.016741633415222168,
0.004967865534126759,
-0.046888381242752075,
0.003334055421873927,
0.060667503625154495,
0.019025029614567757,
-0.042872752994298935,
0.0036686912644654512,
0.023995356634259224,
0.017460115253925323,
-0.02625906839966774,
0.020767105743288994,
0.034467488527297974,
0.0183065477758646,
0.010039074346423149,
-0.0270464476197958,
-0.013050796464085579,
0.06208478659391403,
-0.010275287553668022,
0.0003721593238878995,
-0.01972382888197899,
-0.013454328291118145,
0.012332313694059849,
0.01595425419509411,
-0.10141433775424957,
0.019221873953938484,
0.025885064154863358,
-0.03913270682096481,
-0.023641036823391914,
0.035746980458498,
0.0231095552444458,
-0.0015747568104416132,
-0.05783294141292572,
-0.03049122728407383,
-0.029073946177959442,
0.039939768612384796,
0.05302993580698967,
-0.06129740551114082,
-0.05956517532467842,
0.021711958572268486,
-0.024703996255993843,
0.018454181030392647,
-0.026436230167746544,
-0.09409171342849731,
-0.07598201185464859,
-0.034487172961235046,
0.02663307450711727,
-0.0205112062394619,
-0.0016891726991161704,
-0.01657431572675705,
-0.01790301688015461,
-0.012361840344965458,
0.0010764938779175282,
-0.0010543488897383213,
-0.012952374294400215,
0.02116079442203045,
-0.009172958321869373,
-0.010216234251856804,
0.005979154724627733,
0.005900416988879442,
-0.020983634516596794,
-0.018188441172242165,
0.0027878116816282272,
-0.08094249665737152,
-0.013405117206275463,
-0.003388187615200877,
-0.017164848744869232,
0.04009724408388138,
-0.0006372843636199832,
-0.013798805885016918,
0.049250517040491104,
-0.021042687818408012,
0.047754500061273575,
0.04692775011062622,
0.025845695286989212,
0.01528498250991106,
-0.0004890357959084213,
0.018887238577008247,
0.023936303332448006,
0.04822692647576332,
-0.032912418246269226,
0.05802978575229645,
-0.04062872380018234,
0.04885682836174965,
0.04133736342191696,
0.014576341956853867,
0.007731071673333645,
0.02151511423289776,
-0.011731937527656555,
-0.00021483741875272244,
0.03854217380285263,
0.039565764367580414,
-0.022637128829956055,
-0.029388898983597755,
-0.019054556265473366,
-0.05228192359209061,
0.048463139683008194,
-0.005014616064727306,
0.018454181030392647,
0.03647530451416969,
0.03421159088611603,
0.03417222201824188,
-0.020412784069776535,
0.007982048206031322,
-0.028227515518665314,
0.05047095566987991,
-0.035845402628183365,
0.0021640602499246597,
-0.009797940030694008,
-0.060234446078538895,
-0.024881156161427498,
0.04743954911828041,
0.006987983360886574,
-0.03854217380285263,
-0.002477781381458044,
-0.041140519082546234,
0.02807004004716873,
0.02734171412885189,
-0.01399565115571022,
-0.021554483100771904,
-0.028798364102840424,
0.021692274138331413,
0.003380805952474475,
-0.004534807521849871,
0.024152832105755806,
0.0005822294042445719,
0.02338513731956482,
0.016643211245536804,
0.0649980828166008,
0.003493991680443287,
-0.004874364472925663,
-0.023739458993077278,
0.04901430383324623,
-0.00008942588465288281,
-0.021908802911639214,
0.010954401455819607,
-0.024054409936070442,
0.01651526242494583,
-0.002033650642260909,
0.00015347727457992733,
-0.028030671179294586,
0.005250829737633467,
0.01269647665321827,
0.018956134095788002,
-0.0017408444546163082,
0.020087990909814835,
-0.014064546674489975,
-0.012105942703783512,
-0.025707904249429703,
-0.02718423865735531,
0.00920740608125925,
-0.03637688234448433,
-0.01774553954601288,
0.03133765980601311,
-0.025648850947618484,
0.009384565986692905,
-0.026239383965730667,
-0.002284627640619874,
-0.006668110843747854,
-0.027440136298537254,
0.03582571819424629,
-0.029388898983597755,
0.02970384992659092,
0.07456473261117935,
0.033266738057136536,
-0.010806768201291561,
0.013414959423244,
-0.018109703436493874,
-0.035117074847221375,
-0.0012733384501188993,
0.026967709884047508,
0.03625877574086189,
-0.0025614402256906033,
-0.023936303332448006,
-0.014015335589647293,
0.03092428669333458,
0.006864955183118582,
-0.01855260320007801,
-0.021219847723841667,
-0.05468342825770378,
0.0009805321460589767,
-0.023011133074760437,
0.032105352729558945,
0.005211460869759321,
-0.032912418246269226,
-0.016377469524741173,
-0.02023562416434288,
0.049329254776239395,
0.027302345260977745,
-0.014901136048138142,
0.019162820652127266,
0.009866835549473763,
-0.02883773297071457,
-0.005619913339614868,
-0.029369214549660683,
-0.04098304361104965,
0.011141404509544373,
-0.011033139191567898,
-0.00907453615218401,
-0.019841935485601425,
0.05283309146761894,
0.013375590555369854,
-0.035983193665742874,
-0.019999410957098007,
-0.008926902897655964,
-0.0202946774661541,
-0.0009793018689379096,
0.004357647150754929,
0.06310837715864182,
-0.01980256661772728,
0.006308869458734989,
0.01338543277233839,
-0.01646605134010315,
0.018601814284920692,
0.0034743070136755705,
-0.01387754362076521,
0.02690865658223629,
0.04468372464179993,
0.019595880061388016,
-0.011722095310688019,
0.014192495495080948,
0.018641183152794838,
0.014881451614201069,
-0.0045028203167021275,
0.037557948380708694,
0.05728177726268768,
-0.05035284906625748,
0.07338366657495499,
0.008961350657045841,
-0.058226630091667175,
0.04141610488295555,
-0.027656665071845055,
0.005600228905677795,
0.055785760283470154,
-0.03686899319291115,
-0.015157033689320087,
-0.000716022215783596,
0.002221883274614811,
0.018070334568619728,
0.050982750952243805,
-0.02159385196864605,
-0.017804592847824097,
-0.03434938192367554,
0.04547110199928284,
-0.009704438969492912,
0.00865131989121437,
0.036987099796533585,
-0.02913299947977066,
0.011348091065883636,
-0.010885505937039852,
0.032184090465307236,
-0.0035555055364966393,
-0.03301084041595459,
-0.049919791519641876,
0.07830478250980377,
-0.00848892331123352,
-0.019330140203237534,
-0.011722095310688019,
-0.005496885161846876,
-0.03395569324493408,
-0.025806326419115067,
-0.04429003596305847,
-0.0038483119569718838,
0.03545171022415161,
-0.060234446078538895,
-0.02956605888903141,
-0.00995541550219059,
-0.015363721176981926,
0.025432322174310684,
0.07003730535507202,
-0.013749594800174236,
-0.027105500921607018,
-0.009286143817007542,
-0.03966418653726578,
-0.036928046494722366,
0.020432468503713608,
0.007647412363439798,
0.00039891788037493825,
0.03106207773089409,
-0.0020484139677137136,
0.006594293750822544,
0.006943692918866873,
-0.01717469096183777,
-0.06767517328262329,
0.046022266149520874,
0.01855260320007801,
0.04377823695540428,
-0.02842435985803604,
-0.03086523339152336,
-0.028601519763469696,
-0.008060785941779613,
-0.013464170508086681,
-0.019763197749853134,
-0.007834414951503277,
-0.015727883204817772,
0.005496885161846876,
0.006638584192842245,
0.02015688642859459,
-0.0023559837136417627,
-0.016554631292819977,
0.006146472413092852,
-0.050195373594760895,
-0.004724270198494196,
0.03537297248840332,
0.008931824006140232,
0.004313357174396515,
-0.024133147671818733,
0.00638760719448328,
0.03761700168251991,
0.009610936976969242,
-0.008862927556037903,
0.005388620775192976,
0.0038064823020249605,
0.020353730767965317,
0.08802890032529831,
-0.013572434894740582,
0.032597463577985764,
0.029743218794465065,
-0.015777094289660454,
0.053148042410612106,
-0.012037047185003757,
-0.04499867558479309,
0.005546096712350845,
0.032971471548080444,
0.031121131032705307,
0.006638584192842245,
0.04389634355902672,
0.03539265692234039,
0.011072508990764618,
-0.03805005922913551,
-0.008926902897655964,
-0.03366042673587799,
-0.04283338412642479,
-0.020393099635839462,
-0.02072773687541485,
-0.04066809266805649,
0.04633721709251404,
-0.030255014076828957,
-0.013926755636930466,
0.04759702458977699,
-0.0024445638991892338,
0.018168756738305092,
-0.004242001101374626,
-0.0016977846389636397,
-0.04456561803817749,
0.02259775996208191,
0.02417251653969288,
0.008198576979339123,
-0.03507770597934723,
0.027164554223418236,
0.0483844019472599,
-0.01882818527519703,
0.01094455923885107,
-0.006230131257325411,
0.0038876808248460293,
0.06995856761932373,
0.026593705639243126,
-0.03409348428249359,
0.013798805885016918,
0.004305975511670113,
0.010954401455819607,
0.018788816407322884,
0.025452006608247757,
0.039073653519153595,
0.04527425765991211,
0.00873497873544693,
0.022479653358459473,
0.016416840255260468,
0.0025417557917535305,
0.032459672540426254,
-0.0014787950785830617,
0.046534061431884766,
-0.01649557799100876,
0.010157180950045586,
-0.035746980458498,
-0.01619046740233898,
0.017676644027233124,
-0.03243998810648918,
-0.027085816487669945,
0.02053089067339897,
0.019871462136507034,
-0.00023682865139562637,
-0.014989716000854969,
-0.012253575958311558,
0.01963524892926216,
0.009295986033976078,
-0.023129239678382874,
-0.011525250971317291,
-0.013257483951747417,
0.016741633415222168,
-0.021790696308016777,
-0.014497604221105576,
0.003626861609518528,
-0.041297994554042816,
0.025570113211870193,
-0.04236095771193504,
0.002341220388188958,
0.03501865267753601,
-0.0073915147222578526,
-0.0009897592244669795,
0.049604836851358414,
0.0009190182317979634,
-0.06212415546178818,
0.03236125037074089,
-0.024487467482686043,
0.04684901237487793,
0.04062872380018234,
0.023404821753501892,
0.013700383715331554,
0.011436671018600464,
0.0026524809654802084,
0.00467259855940938,
0.0010199010139331222,
0.03464464843273163,
-0.011052824556827545,
0.03316831588745117,
0.02862120419740677,
-0.015344036743044853,
0.0025688218884170055,
-0.016751475632190704,
0.022066278383135796,
0.02927079237997532,
0.010324498638510704,
-0.03765637055039406,
-0.025806326419115067,
-0.06909245252609253,
-0.06684842705726624,
0.010432763956487179,
0.04440814256668091,
-0.009989863261580467,
-0.042597170919179916,
0.00931567046791315,
-0.011298879981040955,
0.0001643959985813126,
-0.014812556095421314,
0.007381672505289316,
0.00758835906162858,
-0.03905396908521652,
0.021200163289904594,
0.05188823491334915,
-0.011318564414978027,
0.00705195777118206,
0.0013422340853139758,
-0.013119691982865334,
0.019517142325639725,
-0.038286272436380386,
0.02417251653969288,
0.027459820732474327,
-0.016367627307772636,
0.005678966641426086,
-0.0018294245237484574,
0.03590445592999458,
0.036416251212358475,
-0.038286272436380386,
0.007544069085270166,
-0.03680993989109993,
-0.04369949921965599,
0.02842435985803604,
0.004775941837579012,
-0.03236125037074089,
0.015107822604477406,
-0.0231095552444458,
-0.002716455375775695,
0.05610071122646332,
0.010053837671875954,
0.0019918212201446295,
0.06393512338399887,
0.006215367931872606,
-0.03492023050785065,
-0.014044862240552902,
0.01474366057664156,
0.019713986665010452,
0.04988041892647743,
0.02045215293765068,
0.049407992511987686,
-0.040864937007427216,
-0.04106178134679794,
0.01022607646882534,
-0.008931824006140232,
0.0079082315787673,
-0.04421129822731018,
-0.021416692063212395,
-0.013375590555369854,
0.001954912906512618,
-0.006791138555854559,
0.02074742130935192,
-0.03281399607658386,
0.012863794341683388,
0.005949628073722124,
-0.016525104641914368,
0.02411346323788166,
0.027971617877483368,
-0.06137614697217941,
0.005236066412180662,
-0.0005539329722523689,
0.02490084059536457,
0.028857417404651642,
0.022578075528144836,
-0.0059348647482693195,
-0.02919205278158188,
-0.038935862481594086,
-0.04877809062600136,
0.006353159435093403,
-0.026829918846488,
0.02015688642859459,
-0.029467636719346046,
-0.023641036823391914,
-0.008607029914855957,
-0.005659282207489014,
-0.04869935289025307,
0.026003170758485794,
-0.011525250971317291,
0.056297555565834045,
0.02137732319533825,
0.0068059018813073635,
0.001926616532728076,
0.071493960916996,
-0.03035343624651432,
-0.031672295182943344,
0.03549107909202576,
-0.03738078847527504,
0.004960483871400356,
-0.0007744604372419417,
-0.013680699281394482,
-0.0051228804513812065,
-0.007937758229672909,
-0.0159247275441885,
0.03135734423995018,
0.016426682472229004,
-0.01985177770256996,
0.07314745336771011,
-0.01589520089328289,
0.008173971436917782,
0.037420157343149185,
-0.05984075739979744,
0.044093187898397446,
-0.027007078751921654,
0.021633220836520195,
0.008262552320957184,
0.01784396357834339,
-0.0353139191865921,
-0.012598054483532906,
-0.02720392309129238,
-0.03594382479786873,
-0.022125333547592163,
-0.01825733669102192,
0.012263418175280094,
0.02295207977294922,
0.0035628871992230415,
-0.023365452885627747,
-0.035766664892435074,
-0.0005416302010416985,
0.02216470241546631,
0.0004964174586348236,
-0.015521196648478508,
0.03854217380285263,
-0.04440814256668091,
-0.01640699803829193,
0.03322736918926239,
0.031101446598768234,
-0.021298585459589958,
0.008774347603321075,
-0.006180920172482729,
-0.0025368346832692623,
0.016859740018844604,
-0.02123953215777874,
0.053659837692976,
-0.0008058325620368123,
-0.007859020493924618,
-0.0263968612998724,
0.030235329642891884,
-0.016840055584907532,
-0.020196255296468735,
-0.046022266149520874,
-0.007937758229672909,
0.033109262585639954,
0.03873901814222336,
-0.003850772511214018,
-0.020865527912974358,
-0.01966477558016777,
0.0012684173416346312,
0.0024876235984265804,
0.026711812242865562,
0.03582571819424629,
0.046809643507003784,
-0.012351998127996922,
0.02037341520190239,
0.009660148993134499,
-0.0423215888440609,
-0.005910259205847979,
0.00835605338215828,
-0.02684960328042507,
-0.03330610692501068,
0.02826688438653946,
-0.028463728725910187,
-0.022578075528144836,
0.02742045186460018,
0.011416986584663391,
-0.011564619839191437,
0.02173164300620556,
-0.00006239819776965305,
0.012794898822903633,
0.002782890573143959,
-0.08661162108182907,
-0.051848866045475006,
-0.026593705639243126,
0.008257631212472916,
0.005920101422816515,
0.008114918135106564,
-0.044447511434555054,
0.037715423852205276,
0.026574021205306053,
-0.011712253093719482,
0.0056297555565834045,
-0.018247494474053383,
-0.0015181639464572072,
0.007101168856024742,
0.022774919867515564,
0.024487467482686043,
-0.027026763185858727,
0.008602108806371689,
0.005895495880395174,
-0.0030978417489677668,
0.002556519117206335,
0.0035899532958865166,
0.023837881162762642,
-0.05964391306042671,
0.023778827860951424,
0.02381819672882557,
0.032105352729558945,
0.03346358239650726,
0.05523459240794182,
0.0030978417489677668,
0.029369214549660683,
0.08629667013883591,
0.03974292427301407,
0.05078590661287308,
-0.0068846396170556545,
0.036908362060785294,
0.005329567473381758,
-0.02354261465370655,
-0.02303081750869751,
-0.044604986906051636,
-0.00716022215783596,
0.011407144367694855,
0.009748728945851326,
-0.005752783268690109,
-0.01682037115097046,
0.04247906431555748,
0.004611084703356028,
-0.03659341111779213,
0.02497958019375801,
0.0222434401512146,
0.00909914169460535,
0.03582571819424629,
-0.002556519117206335,
0.010747714899480343,
0.018838027492165565,
-0.026160646229982376,
-0.036337513476610184,
-0.015944411978125572,
0.005910259205847979,
0.005659282207489014,
-0.004059919621795416,
-0.060234446078538895,
0.008129681460559368,
0.023700090125203133,
0.024585889652371407,
-0.07220260053873062,
0.008513528853654861,
-0.04090430587530136,
-0.018021123483777046,
0.02238123118877411,
0.002940366044640541,
0.010688661597669125,
0.038266588002443314,
0.0427546463906765,
0.0226764976978302,
0.035471394658088684,
-0.026357490569353104,
0.009660148993134499,
0.024782733991742134,
0.015373563393950462,
-0.004362568259239197,
0.014162968844175339,
-0.0007473943405784667,
-0.023719774559140205,
-0.039290182292461395,
-0.004168184474110603,
-0.017834121361374855,
-0.03121955320239067,
-0.0055067273788154125,
-0.01136777549982071,
-0.005383699666708708,
0.0540928952395916,
-0.0157081987708807,
-0.032676201313734055,
0.015590092167258263,
0.010688661597669125,
-0.06539177149534225,
0.009143431670963764,
0.018867554143071175,
0.017460115253925323,
-0.00529511971399188,
0.04228221997618675,
0.05173075944185257,
0.03236125037074089,
-0.0296447966247797,
0.05240003019571304,
-0.01882818527519703,
0.028365306556224823,
0.040353141725063324,
-0.007125774398446083,
0.0013065560488030314,
-0.0063974494114518166,
-0.049407992511987686,
-0.017853805795311928,
0.009704438969492912,
-0.003624401055276394,
-0.027735402807593346,
-0.009733965620398521,
-0.05676998198032379,
-0.014910978265106678,
-0.04850250855088234,
-0.011062666773796082,
-0.00934519711881876
] |
Counterfactuals can offer valuable insights by answering what would have been
observed under altered circumstances, conditional on a factual observation.
Whereas the classical interventional interpretation of counterfactuals has been
studied extensively, backtracking constitutes a less studied alternative the
backtracking principle has emerged as an alternative philosophy where all
causal laws are kept intact. In the present work, we introduce a practical
method for computing backtracking counterfactuals in structural causal models
that consist of deep generative components. To this end, we impose conditions
on the structural assignments that enable the generation of counterfactuals by
solving a tractable constrained optimization problem in the structured latent
space of a causal model. Our formulation also facilitates a comparison with
methods in the field of counterfactual explanations. Compared to these, our
method represents a versatile, modular and causally compliant alternative. We
demonstrate these properties experimentally on a modified version of MNIST and
CelebA. | [
0.017952565103769302,
-0.034845270216464996,
-0.03588653728365898,
-0.019430793821811676,
0.02513916976749897,
0.027946874499320984,
-0.007140119560062885,
0.013610852882266045,
-0.03997723013162613,
-0.00039744804962538183,
0.04150194302201271,
0.008702020160853863,
0.036797646433115005,
-0.017673654481768608,
-0.012151218950748444,
-0.020509248599410057,
0.015321506187319756,
0.032632578164339066,
0.012690446339547634,
-0.037745945155620575,
0.0343618243932724,
-0.012420833110809326,
-0.048790816217660904,
-0.004206906072795391,
0.013201783411204815,
0.04793548956513405,
0.010514941066503525,
0.0046903518959879875,
-0.04492324963212013,
0.03720671683549881,
0.004434683360159397,
0.034584954380989075,
-0.07006242126226425,
-0.046113271266222,
-0.029955031350255013,
-0.011007684282958508,
0.008906555362045765,
0.0023056636564433575,
0.014931030571460724,
0.04800986498594284,
0.006554406601935625,
0.03203756734728813,
0.01895664446055889,
-0.020174555480480194,
-0.026887012645602226,
-0.017766624689102173,
-0.0388987772166729,
0.00462759705260396,
-0.01623261533677578,
-0.0057130251079797745,
0.024711506441235542,
-0.059463806450366974,
0.07898756861686707,
0.023540081456303596,
0.01674395240843296,
0.005689782556146383,
0.018101317808032036,
-0.03088473528623581,
0.03570059686899185,
-0.03335774689912796,
-0.027426239103078842,
0.014865951612591743,
-0.06493046134710312,
-0.008836827240884304,
-0.00044306160998530686,
-0.036481548100709915,
-0.008432406932115555,
-0.0012004791060462594,
0.014968219213187695,
-0.04057224094867706,
-0.04306384548544884,
-0.020193150267004967,
0.005708376877009869,
-0.01417797151952982,
-0.005266767926514149,
-0.014363911934196949,
0.04983208328485489,
0.05615406483411789,
0.02179223857820034,
-0.026998575776815414,
-0.005187742877751589,
0.02021174505352974,
-0.053662460297346115,
-0.02318679355084896,
0.04284071549773216,
-0.05704657733440399,
0.02988065592944622,
-0.04466293379664421,
0.016660278663039207,
-0.012904278002679348,
0.019914239645004272,
-0.0350126177072525,
0.020379090681672096,
-0.012141921557486057,
-0.0038280521985143423,
0.03311602398753166,
0.05191461741924286,
0.009919931180775166,
-0.04440261796116829,
0.011732852086424828,
0.029583150520920753,
-0.0036537330597639084,
-0.012643961235880852,
0.01957954652607441,
0.026756852865219116,
-0.06176947057247162,
-0.02363305166363716,
0.04938582703471184,
0.054666537791490555,
0.16600777208805084,
-0.03239085525274277,
0.03235366567969322,
-0.04893956705927849,
-0.012048951350152493,
-0.04072099179029465,
0.02571558579802513,
-0.04388198256492615,
-0.03772734850645065,
0.03700217977166176,
-0.03188881278038025,
0.017357556149363518,
0.09349093586206436,
0.012736931443214417,
-0.03133099153637886,
-0.03082895278930664,
0.03417588397860527,
-0.039382219314575195,
-0.01862195134162903,
0.01124010980129242,
0.01811991259455681,
-0.004046532325446606,
-0.016018783673644066,
-0.0055782184936106205,
0.007972203195095062,
0.010143060237169266,
-0.02426525019109249,
0.028765011578798294,
-0.010282515548169613,
-0.010366189293563366,
-0.04139037802815437,
-0.02045346610248089,
-0.049869272857904434,
-0.03272554650902748,
0.004641542676836252,
-0.03763438016176224,
-0.03826657682657242,
0.01957954652607441,
0.028950951993465424,
0.011500426568090916,
0.006340574938803911,
-0.036611706018447876,
0.023893367499113083,
-0.00646143639460206,
0.06905834376811981,
0.06396356970071793,
0.009301679208874702,
-0.032688360661268234,
-0.024860259145498276,
0.024618536233901978,
-0.019542358815670013,
0.031851626932621,
-0.001939592999406159,
-0.003804809646680951,
0.02690560556948185,
0.07370685786008835,
0.005489896517246962,
0.0002321352221770212,
-0.016344180330634117,
-0.014642822556197643,
0.04484887421131134,
0.027686556801199913,
0.016771843656897545,
-0.03882439807057381,
-0.007098282687366009,
0.0070657432079315186,
0.07199620455503464,
0.06552547216415405,
0.004669433459639549,
-0.02387477457523346,
-0.006870505400002003,
-0.054740916937589645,
-0.05667469650506973,
-0.008683426305651665,
-0.029601745307445526,
0.03443619981408119,
0.06262479722499847,
0.06455858051776886,
0.0042440942488610744,
0.06333137303590775,
0.010440565645694733,
-0.012625367380678654,
0.03547746688127518,
0.023261170834302902,
0.04882800579071045,
0.022443031892180443,
0.0002915490767918527,
-0.09349093586206436,
-0.025529645383358,
0.006949530448764563,
0.007577079813927412,
-0.019412199035286903,
-0.07712816447019577,
0.012569584883749485,
0.03702077642083168,
0.04351010173559189,
0.026366379112005234,
0.011602694168686867,
-0.017701545730233192,
0.00113714300096035,
-0.09111090004444122,
-0.036667488515377045,
-0.014215159229934216,
-0.028820794075727463,
-0.08538392931222916,
-0.04458855837583542,
0.008190684020519257,
-0.022071151062846184,
0.046522341668605804,
-0.044625747948884964,
-0.04912550747394562,
-0.004950668662786484,
0.010821743868291378,
0.029638933017849922,
-0.011993168853223324,
0.020825348794460297,
0.039196278899908066,
0.027816714718937874,
-0.013378426432609558,
0.02091831900179386,
0.00715406471863389,
-0.012011763639748096,
0.013713119551539421,
0.009892040863633156,
-0.049683332443237305,
0.031740061938762665,
0.0029285645578056574,
-0.018714921548962593,
0.02192239835858345,
0.02930423989892006,
-0.05098491534590721,
-0.04711734876036644,
0.018268665298819542,
-0.031033487990498543,
0.005671188700944185,
0.07363247871398926,
0.0025706288870424032,
-0.019244853407144547,
0.015516743995249271,
0.03650014102458954,
-0.024841666221618652,
-0.017413338646292686,
-0.000822206144221127,
0.023093823343515396,
-0.013638744130730629,
-0.03683483600616455,
0.000861137465108186,
-0.013908357359468937,
-0.044365428388118744,
-0.013675931841135025,
-0.0223686546087265,
0.042803529649972916,
0.010905416682362556,
-0.0375228151679039,
0.02956455759704113,
-0.004697324708104134,
-0.01171425823122263,
0.04998083412647247,
-0.03304164484143257,
-0.018110616132616997,
0.07742566615343094,
0.007814154028892517,
-0.0470057874917984,
-0.058013468980789185,
0.002849539741873741,
-0.010096575133502483,
-0.03146114945411682,
0.01045915950089693,
0.026384972035884857,
0.011333080008625984,
0.012606773525476456,
-0.018277961760759354,
0.001633953070268035,
-0.005568921100348234,
0.022405844181776047,
0.01730177365243435,
-0.01944938860833645,
0.009780475869774818,
0.0005586934275925159,
-0.05857129022479057,
-0.017924673855304718,
-0.008920500986278057,
0.010552129708230495,
-0.05704657733440399,
0.004857698455452919,
0.004829807206988335,
0.003939616493880749,
-0.025436675176024437,
-0.016214020550251007,
0.048418935388326645,
-0.049237072467803955,
-0.046262022107839584,
-0.06690143048763275,
0.02155051752924919,
0.05210055783390999,
-0.04284071549773216,
0.040014419704675674,
0.04648515209555626,
0.056377191096544266,
-0.04477449879050255,
-0.014568447135388851,
0.031795844435691833,
-0.039828479290008545,
0.0282443780452013,
-0.048604875802993774,
-0.00814884714782238,
-0.00617322837933898,
0.015098377130925655,
-0.05526154860854149,
-0.09557346999645233,
-0.008827530778944492,
-0.0025659804232418537,
-0.036221232265233994,
-0.09654036164283752,
-0.014085001312196255,
0.00013328164641279727,
-0.010096575133502483,
0.008409163914620876,
0.03782032057642937,
0.03994004428386688,
-0.005819940939545631,
-0.05191461741924286,
-0.001208613975904882,
-0.020825348794460297,
0.009938525967299938,
-0.07024836540222168,
0.010552129708230495,
-0.03897315263748169,
0.013880466111004353,
-0.011621288023889065,
-0.0332275852560997,
0.010998386889696121,
0.008344084955751896,
-0.019728299230337143,
0.012114030309021473,
0.011035575531423092,
-0.033004458993673325,
-0.0372810922563076,
-0.013118109665811062,
-0.01831514947116375,
0.0372810922563076,
0.0009866473264992237,
-0.01118432730436325,
-0.02495322935283184,
-0.002751921070739627,
0.08426828682422638,
-0.022963665425777435,
0.015033298172056675,
-0.007944312877953053,
0.001185952452942729,
0.04339853674173355,
0.05526154860854149,
-0.05250962823629379,
-0.05128242075443268,
0.06485608220100403,
-0.0885821059346199,
-0.03229788318276405,
-0.01519134733825922,
0.012160515412688255,
-0.04618764668703079,
0.018603358417749405,
-0.002109263790771365,
0.05552186444401741,
0.0012783416314050555,
-0.0059315054677426815,
0.0015444691525772214,
-0.013443506322801113,
-0.009603832848370075,
-0.017208803445100784,
0.0013085569953545928,
0.048865191638469696,
-0.08612769097089767,
-0.009380703791975975,
0.04845612123608589,
0.034715112298727036,
-0.05343933030962944,
0.0033864432480186224,
-0.011621288023889065,
0.022703347727656364,
-0.005113366525620222,
0.021959586068987846,
-0.005229579750448465,
-0.04187382385134697,
-0.044737309217453,
-0.059724122285842896,
0.038062043488025665,
-0.02634778432548046,
-0.0008158144191838801,
-0.015451665036380291,
-0.004055829718708992,
0.008994877338409424,
0.056451570242643356,
0.044179487973451614,
0.009594535455107689,
0.0024799827951937914,
-0.03967972472310066,
0.044179487973451614,
-0.006796129047870636,
0.023168200626969337,
0.0478982999920845,
0.04882800579071045,
0.022907882928848267,
-0.07631002366542816,
0.006335926242172718,
-0.022721942514181137,
0.012606773525476456,
0.008130253292620182,
-0.05578218400478363,
-0.016818327829241753,
0.03469651937484741,
-0.042096953839063644,
-0.03536590561270714,
-0.018231477588415146,
-0.0015735224587842822,
-0.013266862370073795,
-0.01383398100733757,
-0.007140119560062885,
-0.018798595294356346,
-0.010598614811897278,
-0.010756663978099823,
0.027128735557198524,
0.06470733135938644,
0.03082895278930664,
-0.0029355373699218035,
-0.018612654879689217,
-0.01611175388097763,
0.019858457148075104,
-0.0036118964198976755,
-0.01098909042775631,
-0.02424665540456772,
0.0029076463542878628,
0.016697466373443604,
0.023093823343515396,
-0.0144661795347929,
0.0424688346683979,
0.0011359809432178736,
-0.022833507508039474,
-0.04369604215025902,
-0.021569110453128815,
-0.006354520097374916,
-0.02943439781665802,
-0.07564064115285873,
0.04510919004678726,
-0.03860127180814743,
-0.051393985748291016,
0.013638744130730629,
-0.005303956102579832,
0.031163645908236504,
-0.039456598460674286,
0.030587229877710342,
-0.006661322433501482,
-0.011863010935485363,
0.0659717246890068,
-0.004199933726340532,
-0.04243164882063866,
0.017264585942029953,
0.022982260212302208,
-0.0814419835805893,
0.043621666729450226,
-0.016437150537967682,
0.028579071164131165,
0.08880523592233658,
0.02790968492627144,
-0.05373683571815491,
-0.02203396148979664,
0.0515427365899086,
0.015451665036380291,
-0.03845251724123955,
-0.022015368565917015,
-0.007144767791032791,
-0.04458855837583542,
0.0687236487865448,
0.014391803182661533,
0.017413338646292686,
-0.083152636885643,
0.008390570059418678,
0.03025253675878048,
-0.004502086900174618,
0.018305853009223938,
0.020825348794460297,
-0.02735186368227005,
-0.004741485696285963,
-0.05024115368723869,
-0.03365524858236313,
-0.003914049826562405,
0.016650982201099396,
-0.000425629667006433,
-0.020230337977409363,
0.006233659107238054,
0.02153192274272442,
0.014763684011995792,
0.045518260449171066,
-0.013592258095741272,
0.01222559530287981,
-0.01731107011437416,
0.04648515209555626,
0.03361806273460388,
-0.023837586864829063,
-0.009910634718835354,
-0.0011179678840562701,
-0.07162432372570038,
0.0059315054677426815,
0.00432776752859354,
-0.012420833110809326,
-0.041018497198820114,
0.002498576883226633,
-0.01870562508702278,
0.027705151587724686,
-0.03125661611557007,
0.03544028103351593,
0.015079783275723457,
0.02437681332230568,
-0.05704657733440399,
-0.0117514468729496,
0.02885798178613186,
-0.027147328481078148,
0.08114448189735413,
0.02292647771537304,
-0.018584763631224632,
0.01876140758395195,
-0.020230337977409363,
0.023205388337373734,
0.042171329259872437,
-0.003388767596334219,
-0.0013120434014126658,
0.016028080135583878,
-0.016251210123300552,
0.005866426043212414,
0.038117825984954834,
-0.04641077667474747,
-0.027686556801199913,
0.0026728962548077106,
-0.012727634981274605,
0.025566833093762398,
0.040460675954818726,
-0.042989470064640045,
-0.009854852221906185,
0.023707427084445953,
0.02153192274272442,
0.008585807867348194,
-0.02658950723707676,
0.016316289082169533,
-0.011323783546686172,
0.013462100178003311,
0.026180438697338104,
0.011323783546686172,
0.003802485531195998,
-0.02292647771537304,
0.03359946981072426,
0.016018783673644066,
0.019151883199810982,
0.016753248870372772,
-0.0030192106496542692,
-0.007604971062391996,
0.01636277325451374,
-0.01586073450744152,
0.0021882886067032814,
-0.0037838914431631565,
0.08702020347118378,
-0.003830376546829939,
-0.0003701380337588489,
-0.03415729105472565,
0.04131600260734558,
-0.008283654227852821,
-0.015070486813783646,
0.03339493274688721,
0.0264593493193388,
0.0016932216240093112,
-0.041353192180395126,
-0.03291148692369461,
-0.00385361909866333,
0.0035003318917006254,
-0.04258039966225624,
-0.03166568651795387,
0.013331941328942776,
-0.01585143618285656,
-0.04198538884520531,
-0.012104733847081661,
0.014354615472257137,
-0.008120955899357796,
-0.02521354705095291,
-0.01731107011437416,
0.036853428930044174,
0.03235366567969322,
0.005866426043212414,
-0.03941940888762474,
-0.011100654490292072,
-0.025418080389499664,
-0.007972203195095062,
0.00756313418969512,
-0.030773170292377472,
0.03655592352151871,
-0.023131011053919792,
0.00415112404152751,
-0.025920120999217033,
0.004941371735185385,
-0.014670713804662228,
0.005810644011944532,
-0.005429465789347887,
0.0178688932210207,
0.013741010800004005,
-0.008306896314024925,
-0.012309268116950989,
-0.002310312120243907,
-0.04410511255264282,
-0.012792713940143585,
-0.017794515937566757,
0.02835594303905964,
-0.04053505137562752,
-0.03164708986878395,
-0.055112797766923904,
0.0727771520614624,
-0.028690636157989502,
0.051393985748291016,
0.010115168988704681,
-0.02975049801170826,
0.02052784338593483,
-0.017404040321707726,
-0.03043847717344761,
0.01035689190030098,
0.007781614549458027,
-0.008288302458822727,
-0.015609714202582836,
-0.0002040988765656948,
-0.03986566513776779,
0.025734180584549904,
0.018352339044213295,
-0.05117085576057434,
0.02880220115184784,
-0.00912968348711729,
0.00947367399930954,
-0.009743288159370422,
0.008771748282015324,
-0.022331466898322105,
0.02129019983112812,
-0.023279763758182526,
-0.014354615472257137,
0.012495208531618118,
-0.023409923538565636,
0.007628213614225388,
0.019226258620619774,
-0.05135679617524147,
0.04220851883292198,
0.02482307143509388,
0.04287790507078171,
0.02071378380060196,
0.002572953235358,
0.05433184653520584,
0.027333268895745277,
0.03512418270111084,
0.03975410386919975,
0.024209467694163322,
-0.028783606365323067,
-0.018872972577810287,
0.04258039966225624,
0.01868703030049801,
-0.014456882141530514,
0.05693501606583595,
0.005173797253519297,
0.010263921692967415,
0.020620813593268394,
0.0037490276154130697,
-0.023856179788708687,
-0.0368720218539238,
0.043621666729450226,
0.022145526483654976,
-0.01035689190030098,
-0.03114505112171173,
0.017915377393364906,
0.031740061938762665,
-0.004602029919624329,
-0.032874301075935364,
-0.024339625611901283,
-0.023149605840444565,
0.015293614938855171,
0.009069252759218216,
-0.01159339677542448,
-0.005782752763479948,
0.01736685261130333,
-0.0038419978227466345,
-0.004622948355972767,
-0.026942795142531395,
-0.02482307143509388,
0.03343212231993675,
-0.0038652403745800257,
0.009380703791975975,
-0.05756721273064613,
-0.021067071706056595,
-0.022721942514181137,
0.014438288286328316,
0.0004526491684373468,
0.0015398206887766719,
0.014112892560660839,
-0.030494259670376778,
0.014977515675127506,
0.017208803445100784,
-0.011974574998021126,
0.016762545332312584,
-0.013945546001195908,
-0.04243164882063866,
0.011426050215959549,
0.017673654481768608,
0.06344293802976608,
-0.02008158527314663,
0.030029408633708954,
-0.008706669323146343,
0.013778199441730976,
0.05775315314531326,
-0.007646807469427586,
0.0284861009567976,
0.02147614024579525,
0.004034911282360554,
-0.0077351294457912445,
0.031684279441833496,
-0.028597665950655937,
0.01124010980129242,
0.05369964614510536,
0.016902001574635506,
0.01541447639465332,
0.04864206165075302,
-0.003584005171433091,
0.016223318874835968,
-0.033469308167696,
0.01093330793082714,
-0.004560193512588739,
0.018212882801890373,
0.013861872255802155,
-0.02026752568781376,
-0.024097902700304985,
0.014605634845793247,
-0.003925671335309744,
0.01093330793082714,
0.020434873178601265,
0.024302437901496887,
-0.010719476267695427,
-0.023465704172849655,
0.0033608765807002783,
-0.025529645383358,
0.007316763047128916,
-0.005248173605650663,
0.037355467677116394,
0.03293008357286453,
-0.03867564722895622,
0.022889288142323494,
0.016186129301786423,
-0.0497577078640461,
-0.010068683885037899,
-0.0352543406188488,
0.04585295543074608,
0.021680675446987152,
-0.03655592352151871,
0.005136609543114901,
0.05425747111439705,
0.006875154096633196,
0.014224456623196602,
0.021048476919531822,
0.020248932763934135,
-0.036537330597639084,
0.00884612463414669,
0.0341201014816761,
-0.049794893711805344,
-0.024916041642427444,
0.01666957512497902,
0.03482667729258537,
-0.02887657657265663,
-0.00308661418966949,
-0.008860070258378983,
-0.01831514947116375,
-0.008725263178348541,
0.003030831925570965,
0.027779527008533478,
0.035458873957395554,
0.0035816810559481382,
-0.02521354705095291,
0.034770894795656204,
-0.00041749476804398,
0.021885208785533905,
-0.04856768622994423,
-0.013350536115467548,
0.018138505518436432,
0.033506497740745544,
-0.004518356639891863,
0.0002334426244487986,
0.014735793694853783,
-0.03897315263748169,
0.012560288421809673,
-0.028839388862252235,
-0.062438856810331345,
0.005866426043212414,
-0.009125035256147385,
-0.039196278899908066,
0.04139037802815437,
-0.021141447126865387,
-0.0452207550406456,
-0.027333268895745277,
0.06002162769436836,
-0.021755050867795944,
0.004657812416553497,
-0.009520159102976322,
0.027649369090795517,
0.010394079610705376,
-0.016306990757584572,
0.017664358019828796,
-0.016781140118837357,
0.008609049953520298,
0.012383644469082355,
-0.003288824576884508,
-0.011835119687020779,
0.023670239374041557,
0.001033132546581328,
-0.010840337723493576,
-0.041167251765728,
-0.040014419704675674,
0.008283654227852821,
-0.05950099602341652,
-0.013062328100204468,
-0.021513327956199646,
0.003116829553619027,
0.007070391438901424,
0.021271605044603348,
-0.06050507351756096,
0.014438288286328316,
0.09185466170310974,
-0.03064301237463951,
-0.012550991028547287,
-0.04477449879050255,
0.05667469650506973,
-0.03601669520139694,
-0.03564481437206268,
-0.0033422824926674366,
0.01093330793082714,
-0.011370268650352955,
-0.00906460452824831,
-0.004211554769426584,
-0.032744139432907104,
0.010979793034493923,
-0.0038582675624638796,
0.0015688738785684109,
-0.002751921070739627,
-0.04559263586997986,
-0.056191250681877136,
0.011955981142818928,
0.044365428388118744,
0.04194820299744606,
0.017264585942029953,
-0.007567782886326313,
0.0006844938616268337,
0.04094412177801132,
0.0253251101821661,
-0.02980628050863743,
-0.018872972577810287,
-0.016902001574635506,
0.036481548100709915,
0.056302815675735474,
-0.038117825984954834,
0.007670050021260977,
0.017422635108232498,
0.041167251765728,
-0.025380892679095268,
-0.017450526356697083,
-0.05038990452885628,
-0.010189545340836048,
0.031052080914378166,
-0.028765011578798294,
0.028393130749464035,
0.034399013966321945,
0.02432103082537651,
0.015386585146188736,
-0.031163645908236504,
0.018277961760759354,
-0.04455136880278587,
0.0184360109269619,
0.034213073551654816,
0.02355867438018322,
-0.0023254198022186756,
0.0041371784172952175,
-0.012504505924880505,
-0.015516743995249271,
-0.031219428405165672,
0.009329570457339287,
-0.030717387795448303,
-0.026310596615076065,
0.04529513418674469,
-0.02102988213300705,
-0.06396356970071793,
0.003639787435531616,
0.01706005074083805,
-0.005489896517246962,
0.010682287625968456,
0.009966416284441948,
0.0015026325127109885,
0.0085904560983181,
0.007614267989993095,
-0.01939360611140728,
0.000057634326367406175,
0.02988065592944622,
-0.01642785221338272,
0.008060525171458721,
-0.004113935865461826,
0.03733687475323677,
0.004955317359417677,
0.019170476123690605,
-0.018854377791285515,
0.010589317418634892,
0.01001290138810873,
0.001081941882148385,
-0.0011476022191345692,
-0.06314542889595032,
0.03339493274688721,
-0.013527179136872292,
0.013620149344205856,
0.026942795142531395,
0.045964520424604416,
0.053402144461870193,
0.001280665979720652,
-0.02817000262439251,
0.007274926174432039,
0.018026942387223244,
0.029917843639850616,
-0.00737719377502799,
0.08724333345890045,
-0.019040318205952644,
-0.01064509991556406,
-0.007358599454164505,
0.052398063242435455,
0.0012934493133798242,
0.04600170627236366,
-0.03514277562499046,
-0.014540555886924267,
0.007302817422896624,
-0.005183094646781683,
0.025678398087620735,
-0.008292951621115208,
0.005038990639150143,
-0.0021046153269708157,
0.01635347679257393,
-0.05325338989496231,
0.036165449768304825,
-0.01793397217988968,
-0.033190399408340454,
-0.03248382359743118,
-0.019189070910215378,
-0.03397135064005852,
-0.010542832314968109,
-0.018277961760759354,
-0.046968597918748856,
0.0226103775203228,
-0.02142035774886608,
0.014047812670469284,
-0.03674186393618584,
0.015330803580582142,
0.02039768546819687,
0.01045915950089693,
-0.016957784071564674,
-0.02355867438018322,
0.016074566170573235,
-0.0033910919446498156,
-0.023279763758182526,
-0.03705796226859093,
-0.01586073450744152,
-0.00015223887749016285,
-0.006735698785632849,
0.003135423408821225,
-0.012764822691679,
0.033469308167696,
0.020992694422602654,
0.008237169124186039,
0.034324634820222855,
-0.016967080533504486,
-0.04938582703471184,
0.02880220115184784,
0.07363247871398926,
0.021327387541532516,
0.06396356970071793,
0.028207190334796906,
0.012420833110809326,
-0.01567479409277439,
0.03778313100337982,
0.008441703394055367,
0.008697371929883957,
0.004399819765239954,
0.014354615472257137,
0.006331277545541525,
0.017589980736374855,
-0.025064794346690178,
-0.006363817490637302,
-0.028021249920129776,
0.03343212231993675,
0.0029076463542878628,
0.045629825443029404,
-0.0055782184936106205,
0.0016060620546340942,
0.0010011739796027541,
0.0016583577962592244,
0.006958827376365662,
0.038750022649765015,
-0.000040238708606921136,
0.033636655658483505,
0.014205862767994404,
-0.025027606636285782,
0.027426239103078842,
-0.011667773127555847,
-0.027965467423200607,
-0.018352339044213295,
0.005475950893014669,
-0.04972051829099655,
-0.004072099458426237,
-0.055038418620824814,
-0.03956816345453262,
-0.03657451644539833,
-0.015572525560855865,
0.01364804059267044,
-0.05161711201071739,
0.0325767956674099,
-0.04139037802815437
] |
Symbolic music is widely used in various deep learning tasks, including
generation, transcription, synthesis, and Music Information Retrieval (MIR). It
is mostly employed with discrete models like Transformers, which require music
to be tokenized, i.e., formatted into sequences of distinct elements called
tokens. Tokenization can be performed in different ways. As Transformer can
struggle at reasoning, but capture more easily explicit information, it is
important to study how the way the information is represented for such model
impact their performances. In this work, we analyze the common tokenization
methods and experiment with time and note duration representations. We compare
the performances of these two impactful criteria on several tasks, including
composer and emotion classification, music generation, and sequence
representation learning. We demonstrate that explicit information leads to
better results depending on the task. | [
0.01031616423279047,
-0.06934017688035965,
-0.0379054918885231,
-0.04158289358019829,
-0.02862359769642353,
0.017052168026566505,
-0.018687549978494644,
0.003619939321652055,
-0.028765035793185234,
0.022170471027493477,
0.007425516378134489,
0.005202281288802624,
0.011041035875678062,
0.0038276768755167723,
-0.025918588042259216,
0.026696499437093735,
0.03673862665891647,
0.022205829620361328,
-0.021127361804246902,
-0.01939474232494831,
-0.01939474232494831,
0.030833572149276733,
-0.010528321377933025,
-0.057459354400634766,
0.03244243562221527,
0.03493528813123703,
0.013268690556287766,
0.028022484853863716,
-0.06492023169994354,
0.028800396248698235,
0.04504813253879547,
-0.009140457026660442,
-0.02690865658223629,
-0.008884100243449211,
-0.031788282096385956,
-0.01602673903107643,
0.04681611433625221,
0.07807400077581406,
-0.05512562021613121,
0.015045510604977608,
-0.001718255691230297,
-0.0071912589482963085,
-0.011757067404687405,
-0.027032416313886642,
-0.009547092951834202,
0.00779237225651741,
-0.03440489247441292,
-0.02611306682229042,
0.035165123641490936,
-0.037269022315740585,
-0.013631126843392849,
0.0017878698417916894,
0.06343512237071991,
-0.011624469421803951,
-0.015063190832734108,
0.011226673610508442,
0.007416676729917526,
-0.05420627072453499,
0.025511952117085457,
0.03709222376346588,
0.01598254032433033,
-0.005281840451061726,
-0.06520310789346695,
-0.04069890081882477,
0.025352833792567253,
-0.05516098067164421,
0.04292655736207962,
-0.04762938246130943,
0.05371123552322388,
0.03670326620340347,
-0.06955233961343765,
0.014347158372402191,
-0.016910729929804802,
-0.015478665940463543,
0.05537313595414162,
-0.021693116053938866,
0.05600960925221443,
0.05265044793486595,
0.016539454460144043,
0.043951984494924545,
-0.010050966404378414,
0.06824403256177902,
-0.040981777012348175,
0.0295075885951519,
0.0294545479118824,
0.020437849685549736,
-0.010546001605689526,
-0.03396289795637131,
-0.04826585575938225,
0.021286480128765106,
-0.04582604393362999,
-0.051518939435482025,
-0.055302418768405914,
0.0067713637836277485,
0.0005906158476136625,
-0.04264368116855621,
0.03583695739507675,
0.0020574869122356176,
-0.02353181503713131,
0.006143731065094471,
0.04451774060726166,
-0.009927208535373211,
-0.022400308400392532,
-0.046957552433013916,
0.022948382422327995,
-0.03336178511381149,
0.0029989362228661776,
-0.005374659318476915,
-0.022082071751356125,
0.07354797422885895,
-0.0015536125283688307,
-0.004057514481246471,
0.004225472453981638,
0.001594497007317841,
-0.03566015884280205,
0.002598930848762393,
-0.03818837180733681,
-0.07248718291521072,
-0.011474191211163998,
0.017388084903359413,
-0.0336800217628479,
0.013091892935335636,
-0.04706363007426262,
-0.003087335266172886,
-0.03329106420278549,
0.11612093448638916,
-0.04048674553632736,
-0.027845686301589012,
-0.00005238331505097449,
0.05770687013864517,
-0.04006242752075195,
0.06909266114234924,
0.007549275178462267,
0.03290211036801338,
0.023673253133893013,
0.02563571184873581,
0.009706210345029831,
0.015169269405305386,
0.007549275178462267,
0.0104752816259861,
-0.05187253654003143,
-0.035182803869247437,
-0.024097569286823273,
-0.013569246977567673,
-0.04076962172985077,
-0.06071243807673454,
-0.03230099752545357,
0.08585311472415924,
0.018280914053320885,
-0.000473763415357098,
-0.03226563706994057,
0.01513390988111496,
0.021781515330076218,
0.030391577631235123,
-0.004693987313657999,
0.02232958935201168,
0.019571539014577866,
-0.046497877687215805,
-0.0230898205190897,
-0.011421151459217072,
0.03394521772861481,
0.01179242692887783,
0.04671003296971321,
0.010766998864710331,
0.025529632344841957,
0.014453236944973469,
0.025547312572598457,
0.018351633101701736,
-0.017432283610105515,
0.06587494164705276,
0.010652080178260803,
0.03392753750085831,
-0.019147224724292755,
0.035465680062770844,
-0.026749538257718086,
-0.07475019991397858,
0.04992775619029999,
-0.021975992247462273,
-0.07284078001976013,
0.010263124480843544,
-0.020349450409412384,
0.06184394285082817,
0.07383085042238235,
0.02565339207649231,
0.05081174895167351,
0.03659718856215477,
0.05120070278644562,
0.0168753694742918,
0.013206811621785164,
-0.007947070524096489,
-0.003966905176639557,
0.0758109837770462,
0.020703047513961792,
-0.027845686301589012,
0.01805107668042183,
-0.009228856302797794,
-0.04543709009885788,
-0.0714617520570755,
-0.023867731913924217,
-0.008654262870550156,
-0.04030994698405266,
-0.019677618518471718,
0.028022484853863716,
-0.02188759297132492,
0.007991270162165165,
-0.023761652410030365,
0.001623226678930223,
0.025900907814502716,
-0.011253193020820618,
-0.07701320946216583,
0.022152790799736977,
-0.0014618985587731004,
-0.0022199200466275215,
-0.04151217266917229,
-0.006762523669749498,
-0.022417986765503883,
-0.014126161113381386,
0.018174834549427032,
-0.014462077058851719,
-0.019872095435857773,
0.05523169785737991,
0.038082290440797806,
0.04575532674789429,
-0.0052464809268713,
-0.015487506054341793,
-0.03398057818412781,
-0.004055304452776909,
0.0011403472162783146,
0.011023355647921562,
0.033008188009262085,
0.01983673684298992,
0.034776169806718826,
-0.03967347368597984,
-0.04094642028212547,
-0.002419922733679414,
-0.014161520637571812,
0.07545739412307739,
-0.012137182988226414,
-0.0420425683259964,
0.009370294399559498,
0.01717592589557171,
-0.003222143743187189,
-0.012994653545320034,
-0.0038387267850339413,
-0.04292655736207962,
-0.021551677957177162,
-0.034228093922138214,
0.008243206888437271,
0.005701735615730286,
0.01426759921014309,
-0.05926269292831421,
0.000893382471986115,
0.017034487798810005,
0.03237171471118927,
-0.041476812213659286,
0.031328607350587845,
0.0419364869594574,
-0.0030961751472204924,
0.02061464823782444,
-0.07821544259786606,
0.0756695494055748,
0.03673862665891647,
0.006921641994267702,
0.00945869367569685,
-0.02895951457321644,
-0.003447561291977763,
0.005135982297360897,
-0.037162940949201584,
0.025865549221634865,
-0.05173109844326973,
-0.02151631750166416,
-0.028305361047387123,
-0.0759524255990982,
-0.014462077058851719,
-0.027828006073832512,
0.0029260071460157633,
0.026820257306098938,
0.03336178511381149,
0.08033701777458191,
0.014355998486280441,
0.025105318054556847,
0.015346067026257515,
0.020278731361031532,
0.017529523000121117,
-0.013374769128859043,
0.0009016698459163308,
0.034228093922138214,
-0.028835754841566086,
-0.027580490335822105,
-0.020384810864925385,
-0.019624579697847366,
-0.001782344887033105,
-0.04787690192461014,
0.040981777012348175,
-0.011633308604359627,
-0.00421884236857295,
-0.013869804330170155,
-0.027562810108065605,
0.04494205489754677,
-0.05926269292831421,
-0.04430558159947395,
-0.03878948464989662,
0.014559316448867321,
0.011677508242428303,
-0.05707039684057236,
0.009149297140538692,
0.018581470474600792,
0.017830079421401024,
-0.058661580085754395,
-0.007668613456189632,
-0.05215541273355484,
-0.01303001306951046,
0.016663212329149246,
0.03737509995698929,
0.0126410573720932,
0.01594717986881733,
0.020543929189443588,
-0.020720725879073143,
0.011270873248577118,
-0.04384590685367584,
0.01030732411891222,
-0.0073194378055632114,
-0.08175139874219894,
0.006987941451370716,
-0.022612465545535088,
0.03903700038790703,
0.0421486459672451,
-0.015867620706558228,
0.055656012147665024,
-0.03702150285243988,
-0.0011232198448851705,
0.0058475942350924015,
0.0009386869496665895,
0.012870894744992256,
0.026714179664850235,
0.0049194046296179295,
-0.021321840584278107,
0.008393485099077225,
-0.020791446790099144,
-0.09589523822069168,
-0.0038718765135854483,
0.010820038616657257,
-0.028446799144148827,
-0.044376298785209656,
0.03325570747256279,
0.003500600578263402,
-0.04699290916323662,
-0.0011613419046625495,
-0.020879844203591347,
-0.015363747254014015,
0.0009552617557346821,
-0.03451097011566162,
0.04328015446662903,
-0.030161740258336067,
0.002983466489240527,
-0.03832980990409851,
-0.0013757095439359546,
-0.022824622690677643,
0.052332211285829544,
0.07425516098737717,
-0.04282047972083092,
-0.04586140438914299,
-0.040981777012348175,
-0.0629400908946991,
-0.03394521772861481,
-0.04165361076593399,
-0.05371123552322388,
0.017980357632040977,
0.040557462722063065,
-0.0006878547719679773,
-0.035536400973796844,
-0.018616830930113792,
-0.01028964389115572,
0.0013182502007111907,
0.000021719912183471024,
0.05226149037480354,
-0.0032088838052004576,
-0.02314285933971405,
-0.03822372853755951,
0.06873906403779984,
-0.030904291197657585,
0.011615629307925701,
0.007164739537984133,
0.015098550356924534,
-0.0421486459672451,
0.0631876066327095,
0.010590201243758202,
0.016910729929804802,
0.0017967097228392959,
0.054524507373571396,
-0.0038210470229387283,
0.006117211189121008,
-0.09214711934328079,
-0.06110139191150665,
0.004477409645915031,
0.027173854410648346,
-0.032141879200935364,
0.005370239727199078,
0.01724664494395256,
0.01767096109688282,
-0.02941918931901455,
0.003980165347456932,
-0.025034599006175995,
0.0015370376640930772,
-0.0053216200321912766,
-0.0021160512696951628,
0.00861006323248148,
0.0058520142920315266,
0.05593889206647873,
-0.03161148354411125,
-0.015257668681442738,
-0.03392753750085831,
0.00841558538377285,
-0.08175139874219894,
-0.024999238550662994,
-0.031310927122831345,
-0.08620671182870865,
0.02697937563061714,
0.023637894541025162,
0.012826696038246155,
-0.002859707921743393,
0.03504136577248573,
-0.005980192683637142,
0.009573612362146378,
0.028711996972560883,
0.0033238024916499853,
0.014550476334989071,
-0.01812179572880268,
0.00134476984385401,
0.0008099558763206005,
0.012313981540501118,
0.01601789891719818,
0.07807400077581406,
-0.03741046041250229,
-0.006621085572987795,
-0.02105664275586605,
-0.020526248961687088,
0.030179420486092567,
-0.048619452863931656,
0.015010151080787182,
-0.05144822224974632,
0.000715479429345578,
0.02478708140552044,
0.002866337774321437,
-0.020826805382966995,
0.014568155631422997,
-0.020384810864925385,
-0.07231038808822632,
-0.012579178437590599,
-0.011191314086318016,
-0.016972608864307404,
-0.045224931091070175,
-0.08373153954744339,
-0.01808643713593483,
0.05183717608451843,
0.013127252459526062,
0.06912802159786224,
-0.03981491178274155,
-0.016610173508524895,
-0.043492309749126434,
0.018174834549427032,
0.017759360373020172,
0.02183455415070057,
-0.008247626945376396,
0.03832980990409851,
-0.030391577631235123,
-0.04663931578397751,
-0.013781405054032803,
-0.03067445382475853,
0.03451097011566162,
-0.010360362939536572,
-0.06046491861343384,
-0.010413402691483498,
0.01772399991750717,
-0.013843283988535404,
-0.018316274508833885,
0.024539563804864883,
-0.07871047407388687,
-0.012473099865019321,
-0.02185223437845707,
0.06644069403409958,
-0.061985380947589874,
0.014453236944973469,
0.01770632155239582,
0.01980137638747692,
-0.018174834549427032,
-0.028835754841566086,
0.0009607867104932666,
0.009794609621167183,
0.016203537583351135,
0.016123978421092033,
0.012278622016310692,
-0.01390516385436058,
0.01050180196762085,
-0.0004337076097726822,
-0.01592066138982773,
0.013401289470493793,
-0.017874278128147125,
0.04596748203039169,
0.002408872824162245,
-0.009688531048595905,
-0.03737509995698929,
0.05254437029361725,
0.025953948497772217,
0.04554316774010658,
0.016230057924985886,
-0.03313194587826729,
0.0274036917835474,
0.0038718765135854483,
-0.001257475814782083,
-0.02225887030363083,
-0.024097569286823273,
-0.008137128315865993,
0.0189350675791502,
-0.05852014198899269,
0.013339409604668617,
-0.021728474646806717,
-0.0022099751513451338,
0.0027713088784366846,
0.015443306416273117,
0.008561443537473679,
-0.03161148354411125,
0.022099751979112625,
0.0632583275437355,
-0.040663544088602066,
0.03226563706994057,
0.0673600435256958,
0.004057514481246471,
-0.02858823910355568,
-0.04317407310009003,
-0.06909266114234924,
-0.02151631750166416,
0.0008199007716029882,
-0.06817331165075302,
0.020331772044301033,
-0.015664303675293922,
-0.004760286305099726,
0.02901255339384079,
-0.03907236084342003,
0.012146023102104664,
0.017114046961069107,
0.0545598641037941,
-0.0504227913916111,
0.016256576403975487,
0.007394576910883188,
-0.0031425845809280872,
0.06842082738876343,
-0.040522102266550064,
-0.013259850442409515,
-0.024221327155828476,
-0.01154491025954485,
0.032601553946733475,
-0.013931683264672756,
0.0005124379531480372,
-0.0712142363190651,
-0.045224931091070175,
0.000544482609257102,
0.006404507905244827,
-0.010360362939536572,
0.01644221507012844,
-0.017918478697538376,
0.042254723608493805,
0.0021248911507427692,
0.04373982921242714,
0.05678752064704895,
0.005997872445732355,
0.011067555285990238,
0.034705448895692825,
0.04130001366138458,
-0.014612355269491673,
-0.0026585999876260757,
-0.0004770783707499504,
-0.03191203996539116,
0.022806942462921143,
-0.003098385175690055,
-0.006948161870241165,
0.014135001227259636,
0.006015552207827568,
-0.014037761837244034,
0.029295429587364197,
0.019854417070746422,
0.019447781145572662,
-0.025034599006175995,
0.036455750465393066,
0.037622615694999695,
-0.006970261689275503,
-0.006545946467667818,
-0.027951765805482864,
0.05554993450641632,
0.053180839866399765,
0.008282986469566822,
0.04833657667040825,
0.00863216258585453,
-0.027050094678997993,
-0.05721183493733406,
0.010183565318584442,
-0.00745645584538579,
-0.03502368554472923,
0.04419950395822525,
-0.038966283202171326,
-0.019942816346883774,
0.024893159046769142,
-0.004579068627208471,
0.0042055826634168625,
-0.013286370784044266,
-0.030904291197657585,
0.040133148431777954,
0.003403361653909087,
0.005989032797515392,
0.04465917870402336,
0.04363374784588814,
-0.012287462130188942,
0.043456949293613434,
-0.02056160941720009,
0.020543929189443588,
0.035465680062770844,
0.01847539283335209,
-0.03456401079893112,
-0.019412420690059662,
-0.017556041479110718,
0.020756086334586143,
0.034334175288677216,
0.026608100160956383,
-0.05438306927680969,
0.00026837384211830795,
0.04869017377495766,
0.016725091263651848,
-0.04338623210787773,
0.006254229694604874,
-0.024946199730038643,
-0.01639801450073719,
-0.012455419637262821,
-0.02393845096230507,
-0.03408665582537651,
0.023637894541025162,
0.025511952117085457,
0.015010151080787182,
0.04497741535305977,
0.036809343844652176,
-0.01927098259329796,
-0.021251121535897255,
0.03617287427186966,
-0.02524675615131855,
0.03291979059576988,
0.006939321756362915,
0.03463473170995712,
-0.02270086482167244,
0.019571539014577866,
0.038506604731082916,
0.02773960866034031,
0.06276329606771469,
0.05417091026902199,
0.003982375375926495,
0.06612245738506317,
-0.0335916206240654,
0.019606899470090866,
0.006294009275734425,
-0.03840052708983421,
-0.01638033613562584,
0.004179062787443399,
0.04462381824851036,
0.03956739604473114,
0.015496345236897469,
-0.03074517473578453,
0.0336977019906044,
-0.005692895967513323,
-0.004108343739062548,
-0.005679636262357235,
-0.017494162544608116,
0.045260291546583176,
0.008786860853433609,
-0.04671003296971321,
-0.043916624039411545,
-0.030975012108683586,
0.017379244789481163,
-0.025847868993878365,
0.021693116053938866,
0.045189570635557175,
-0.03815301135182381,
0.027156174182891846,
-0.040981777012348175,
-0.02938382886350155,
-0.03337946534156799,
0.015735022723674774,
0.055726733058691025,
-0.021604716777801514,
-0.0030342957470566034,
0.015169269405305386,
-0.016751611605286598,
0.005352559965103865,
0.030586056411266327,
-0.032583873718976974,
-0.021268799901008606,
0.023001421242952347,
0.011270873248577118,
0.04023922607302666,
-0.02484012022614479,
0.013286370784044266,
-0.0034851308446377516,
0.003997845109552145,
0.0029105371795594692,
-0.01559358462691307,
-0.004492879379540682,
0.003239823505282402,
0.036031436175107956,
0.02181687392294407,
0.017087528482079506,
-0.032194916158914566,
-0.009105097502470016,
-0.02980814501643181,
0.019235624000430107,
0.02906559221446514,
-0.0034298812970519066,
0.025989307090640068,
0.0038718765135854483,
0.017379244789481163,
0.03504136577248573,
0.03702150285243988,
-0.05936877056956291,
-0.009741570800542831,
-0.0026873296592384577,
0.0006237654597498477,
-0.0058475942350924015,
-0.03267227113246918,
-0.019094185903668404,
0.0336446613073349,
0.00965317152440548,
0.040133148431777954,
-0.01983673684298992,
0.0003295625501777977,
0.04048674553632736,
-0.0420779250562191,
0.012711777351796627,
0.02179919369518757,
-0.014020082540810108,
-0.015222308225929737,
-0.016557132825255394,
0.05936877056956291,
0.00727081811055541,
-0.009034378454089165,
0.023885410279035568,
0.0018000247655436397,
0.01427643932402134,
0.015788061544299126,
0.007080760318785906,
0.012031104415655136,
0.034245774149894714,
0.014603515155613422,
-0.013091892935335636,
-0.0048752049915492535,
0.04992775619029999,
-0.011704028584063053,
0.034281134605407715,
-0.018006877973675728,
-0.009237696416676044,
-0.0031182749662548304,
0.03203579783439636,
0.02400917001068592,
-0.0335916206240654,
-0.023726293817162514,
-0.0063558886758983135,
-0.0274213720113039,
-0.01069627981632948,
0.023001421242952347,
0.023248938843607903,
0.03730437904596329,
-0.005250900983810425,
0.009361454285681248,
-0.005224381107836962,
-0.029684385284781456,
0.024557244032621384,
0.011049875989556313,
0.0421486459672451,
0.017989197745919228,
0.011394632048904896,
-0.006660865154117346,
0.0035823697689920664,
-0.0503874346613884,
0.020738406106829643,
-0.0028994872700423002,
-0.05933341383934021,
0.04759402573108673,
0.003023246070370078,
0.05795438587665558,
-0.017096366733312607,
0.019129544496536255,
0.010218924842774868,
-0.03322034701704979,
-0.015664303675293922,
0.033874500542879105,
0.018581470474600792,
-0.03560711815953255,
0.031028050929307938,
0.007155899424105883,
0.05625712499022484,
-0.042290084064006805,
-0.01927098259329796,
-0.011562589555978775,
-0.018722908571362495,
-0.0072089387103915215,
-0.019465461373329163,
-0.01219906285405159,
0.016990289092063904,
0.022011352702975273,
0.04451774060726166,
-0.015054350718855858,
-0.031222527846693993,
-0.016062099486589432,
0.026236824691295624,
0.027633529156446457,
0.03201812133193016,
0.014196880161762238,
-0.005007803440093994,
-0.006926062051206827,
0.04462381824851036,
-0.015628943219780922,
-0.018828988075256348,
0.055302418768405914,
-0.016283096745610237,
-0.0013900743797421455,
0.025441233068704605,
-0.010422242805361748,
0.009927208535373211,
0.017140567302703857,
-0.019978174939751625,
-0.015089710243046284,
0.04996311664581299,
0.02231190912425518,
0.032194916158914566,
0.015717342495918274,
0.0167958103120327,
-0.03995634987950325,
-0.02390309050679207,
0.0032818131148815155,
-0.06223290041089058,
0.005432118661701679,
0.04168897122144699,
-0.02986118383705616,
-0.016583653166890144,
0.05314548313617706,
-0.026625780388712883,
0.006324948742985725,
-0.028393760323524475,
-0.007889611646533012,
-0.032636914402246475,
0.006957001518458128,
0.004671887494623661,
-0.04529564827680588,
-0.027934085577726364,
-0.02144559845328331,
0.02600698731839657,
0.024627963081002235,
0.06700644642114639,
0.016954928636550903,
-0.022170471027493477,
0.017989197745919228,
0.037657976150512695,
0.04250224307179451,
0.0015536125283688307,
-0.004453099798411131,
0.02819928340613842,
-0.026590419933199883,
-0.008994598872959614,
-0.005719415843486786,
0.021993672475218773,
-0.007098440080881119,
0.011368111707270145,
-0.029171671718358994,
-0.006652025040239096,
-0.0419718474149704,
-0.03505904600024223,
0.03836516663432121,
0.01198690477758646,
0.020685367286205292,
0.011571429669857025,
0.040168508887290955,
-0.03311426565051079,
-0.0012298511574044824,
-0.009149297140538692,
-0.037233661860227585,
-0.009131616912782192,
-0.008282986469566822,
0.04741722717881203,
0.04239616170525551,
0.011403471231460571,
0.01218138262629509,
0.0052995202131569386,
0.008287406526505947,
0.019217943772673607,
-0.04080498218536377,
0.010837717913091183,
0.041759688407182693,
-0.029189351946115494,
-0.04529564827680588,
0.03184132277965546,
-0.02609538659453392,
-0.010059806518256664,
0.015911821275949478,
0.002271854318678379,
0.002939266851171851,
-0.008358125574886799,
-0.030621415004134178,
-0.03065677545964718,
-0.032530833035707474,
-0.0037525377701967955,
-0.025883229449391365,
-0.0007513915188610554,
-0.01069627981632948,
0.03967347368597984,
-0.050245992839336395,
-0.013118412345647812,
-0.06145498901605606,
0.008340446278452873,
-0.015346067026257515,
-0.007947070524096489,
-0.016689732670783997,
-0.01934170164167881,
0.02316053956747055,
0.0094675337895751,
-0.009697371162474155,
-0.026342904195189476,
0.017458803951740265,
0.007323857396841049,
0.04879625141620636,
-0.024557244032621384,
-0.006466387305408716,
-0.04094642028212547,
0.035182803869247437,
0.03829444944858551,
-0.027845686301589012,
-0.0294722281396389,
0.019553860649466515,
-0.018722908571362495,
-0.0029414768796414137,
0.015611263923346996,
0.025847868993878365,
0.027828006073832512,
0.055762093514204025,
-0.030851252377033234,
-0.007770272437483072,
-0.006550366058945656,
0.023850051686167717,
0.002309424104169011,
0.004033204633742571,
0.005745935253798962,
-0.05219077318906784,
0.043563030660152435,
0.019659938290715218,
0.0015536125283688307,
0.017944997176527977,
-0.025016918778419495,
-0.02901255339384079,
-0.020703047513961792,
-0.004676307551562786,
-0.007765852380543947,
-0.0007038770709186792,
-0.029984941706061363,
-0.019253302365541458,
-0.01348968781530857,
0.011951545253396034,
0.023036779835820198,
0.024168288335204124,
-0.015779223293066025,
-0.0010878602042794228,
-0.015346067026257515,
-0.00567521620541811,
-0.011376951821148396,
-0.028676636517047882,
0.0335209034383297,
0.05286260321736336,
-0.0003118827298749238,
-0.023797012865543365,
-0.0462857186794281,
0.000006401158316293731,
0.026590419933199883,
-0.021533997729420662,
-0.034245774149894714,
0.0010414507705718279,
0.014373677782714367,
-0.018846668303012848,
0.0017878698417916894,
-0.012446579523384571,
-0.0008088509202934802,
0.014833353459835052,
0.003284023143351078,
-0.05770687013864517,
0.02013729326426983,
-0.020048893988132477,
-0.05356979742646217,
0.01286205556243658,
0.030409257858991623,
-0.025953948497772217,
-0.01930634304881096,
-0.006939321756362915,
-0.05381731316447258,
-0.035554081201553345,
-0.018652189522981644,
-0.011297392658889294,
0.017458803951740265,
0.0014884182019159198,
-0.07531595230102539,
-0.03435185179114342,
-0.02192295342683792,
0.0421840064227581,
0.010130525566637516,
0.026643460616469383,
0.022806942462921143,
-0.013074212707579136,
-0.025971626862883568,
-0.024698682129383087,
0.028800396248698235,
0.005131562240421772,
-0.007076340261846781,
0.0210212841629982,
-0.027226893231272697,
0.004289561882615089,
-0.006342628505080938,
-0.025370514020323753,
-0.017494162544608116,
-0.021339518949389458,
0.030815893784165382,
-0.0335209034383297,
0.00430503161624074,
-0.027439050376415253
] |
Recent advancements in AI foundation models have made it possible for them to
be utilized off-the-shelf for creative tasks, including ideating design
concepts or generating visual prototypes. However, integrating these models
into the creative process can be challenging as they often exist as standalone
applications tailored to specific tasks. To address this challenge, we
introduce Jigsaw, a prototype system that employs puzzle pieces as metaphors to
represent foundation models. Jigsaw allows designers to combine different
foundation model capabilities across various modalities by assembling
compatible puzzle pieces. To inform the design of Jigsaw, we interviewed ten
designers and distilled design goals. In a user study, we showed that Jigsaw
enhanced designers' understanding of available foundation model capabilities,
provided guidance on combining capabilities across different modalities and
tasks, and served as a canvas to support design exploration, prototyping, and
documentation. | [
0.012280993163585663,
-0.023347174748778343,
-0.030522160232067108,
-0.02002542093396187,
0.039671216160058975,
0.037830013781785965,
0.026839759200811386,
0.040430471301078796,
-0.044036947190761566,
0.058121178299188614,
0.007492924574762583,
-0.032078638672828674,
0.021392086520791054,
-0.05068045109510422,
-0.03756427392363548,
0.06730819493532181,
0.008166765794157982,
0.032344378530979156,
-0.02983882836997509,
-0.05443877726793289,
0.006211677100509405,
-0.033464282751083374,
-0.029914753511548042,
-0.029800863936543465,
0.07429336756467819,
0.015384458936750889,
0.03811473771929741,
-0.016343021765351295,
-0.10022201389074326,
0.03940547630190849,
0.018032370135188103,
0.021790696308016777,
-0.02547309547662735,
-0.02346106246113777,
-0.006994661409407854,
-0.020386070013046265,
0.0416073203086853,
0.04961749166250229,
0.004788069054484367,
0.05200915411114693,
0.0058035762049257755,
-0.07045911252498627,
0.013154139742255211,
-0.026308279484510422,
0.03655825927853584,
0.008166765794157982,
-0.01966477371752262,
-0.0518193393945694,
-0.0345272421836853,
0.0009585628286004066,
0.016390476375818253,
0.007089568767696619,
0.0903516635298729,
-0.014520803466439247,
-0.017035843804478645,
0.0014081858098506927,
0.009457503445446491,
0.0047216336242854595,
0.06427116692066193,
-0.013249047100543976,
-0.006667231675237417,
0.0036942632868885994,
-0.018677739426493645,
0.002664519939571619,
0.030370308086276054,
-0.05842487886548042,
-0.008859587833285332,
0.014909923076629639,
-0.007227184250950813,
-0.01216710451990366,
0.02048097550868988,
-0.01334395445883274,
-0.0075830863788723946,
-0.013951360248029232,
-0.01573561504483223,
-0.032780952751636505,
0.04115176573395729,
0.03128141537308693,
-0.005115498788654804,
-0.01412219274789095,
0.009974747896194458,
0.05595729127526283,
-0.03940547630190849,
0.0022754003293812275,
0.005006355233490467,
-0.030427252873778343,
-0.00856063049286604,
-0.0621832050383091,
0.043011948466300964,
-0.058576732873916626,
-0.06913041323423386,
0.037450384348630905,
-0.011255995370447636,
-0.05124989524483681,
0.017339548096060753,
-0.019550886005163193,
0.005333785433322191,
-0.012736547738313675,
-0.029003644362092018,
-0.027712905779480934,
0.024827726185321808,
-0.0024319973308593035,
0.0018862808356061578,
-0.02308143489062786,
-0.026270316913723946,
-0.057817474007606506,
0.012774510309100151,
-0.01102821808308363,
0.014302517287433147,
0.05899432301521301,
-0.004285060800611973,
0.0037488348316401243,
-0.01921871118247509,
0.026517074555158615,
-0.029819846153259277,
0.005338530521839857,
0.01845945231616497,
-0.04248046875,
0.06529616564512253,
-0.055084146559238434,
0.0454036109149456,
0.01128446776419878,
0.016362003982067108,
0.003559020347893238,
-0.03502076119184494,
0.08283501118421555,
-0.007322091609239578,
-0.01456825714558363,
0.03528650104999542,
0.08647945523262024,
-0.021505974233150482,
0.022929582744836807,
-0.002121176104992628,
0.018355054780840874,
0.062335055321455,
0.036311499774456024,
0.028358275070786476,
0.021012457087635994,
-0.01737751066684723,
0.017529362812638283,
0.01551732886582613,
-0.023726802319288254,
-0.027845775708556175,
-0.0041687991470098495,
0.04210083931684494,
0.017652740702033043,
0.007948478683829308,
0.12003864347934723,
0.008603339083492756,
0.03483094647526741,
-0.10644792765378952,
0.022929582744836807,
-0.04027862101793289,
0.020822642371058464,
0.023404117673635483,
0.01966477371752262,
-0.0035020760260522366,
0.02023421786725521,
0.03735547885298729,
0.015090246684849262,
0.09202203154563904,
-0.07949428260326385,
0.044340647757053375,
0.022720785811543465,
0.020632827654480934,
-0.035400390625,
0.01800389774143696,
0.005860520526766777,
-0.04703601449728012,
0.029876790940761566,
0.026593001559376717,
0.04005084186792374,
0.014340479858219624,
-0.004088127985596657,
-0.028586052358150482,
0.024505041539669037,
0.008655537851154804,
-0.026460131630301476,
-0.02061384730041027,
-0.03352122753858566,
-0.039974916726350784,
-0.0022623506374657154,
0.07516650855541229,
-0.011844419874250889,
0.04665638506412506,
0.05143970996141434,
0.11639420688152313,
-0.0014686890644952655,
0.0049446658231318,
-0.016039319336414337,
0.0014497076626867056,
0.032344378530979156,
0.04327768832445145,
-0.017719175666570663,
0.010155071504414082,
-0.07763409614562988,
-0.036880943924188614,
-0.022644860669970512,
-0.023499025031924248,
-0.010743496008217335,
0.016210151836276054,
-0.013391407206654549,
0.0058035762049257755,
-0.0018269638530910015,
0.00594119168817997,
0.007360054180026054,
-0.03342631831765175,
0.005210406146943569,
0.011056690476834774,
-0.07683687657117844,
0.05986746773123741,
0.047187864780426025,
0.033084653317928314,
-0.042328618466854095,
0.008176255971193314,
-0.02465689368546009,
-0.012945343740284443,
0.032211508601903915,
-0.023783747106790543,
0.007450215984135866,
0.010629607364535332,
0.03653927519917488,
-0.0062543852254748344,
-0.035495296120643616,
0.03841843828558922,
-0.01270807534456253,
-0.0014947885647416115,
0.04187306389212608,
0.012280993163585663,
0.049086011946201324,
-0.0027878994587808847,
0.016713159158825874,
0.04935175180435181,
-0.04286009818315506,
0.05318600311875343,
-0.058007288724184036,
0.018317092210054398,
-0.032401323318481445,
0.0041379546746611595,
0.020955512300133705,
0.021980511024594307,
-0.029743921011686325,
-0.04893415793776512,
-0.03621659055352211,
0.09559054672718048,
0.0072604017332196236,
0.007227184250950813,
0.022549953311681747,
0.006244894582778215,
-0.03242030367255211,
0.0022979408968240023,
0.06195542961359024,
0.003286162158474326,
0.038532327860593796,
0.01592542976140976,
0.04768138378858566,
0.038266588002443314,
-0.020765697583556175,
0.014947885647416115,
0.03152817487716675,
0.030237438157200813,
0.02306245267391205,
-0.03190780431032181,
-0.00792949739843607,
-0.06427116692066193,
-0.01517566293478012,
0.01630505919456482,
-0.01851639710366726,
0.015507838688790798,
0.010781459510326385,
0.00630658445879817,
-0.013296500779688358,
-0.01631454937160015,
0.004118972923606634,
0.033027708530426025,
-0.029535124078392982,
0.025928650051355362,
0.03813371807336807,
0.05777950957417488,
0.02571985498070717,
0.001503092935308814,
-0.01877264678478241,
0.041759174317121506,
0.028396237641572952,
-0.024049486964941025,
-0.050604525953531265,
-0.022075418382883072,
0.002036946127191186,
-0.022151343524456024,
0.04483416676521301,
-0.0073647997342050076,
0.016343021765351295,
-0.03242030367255211,
0.008878570050001144,
0.04236657917499542,
0.004363358952105045,
-0.009908312931656837,
0.0009591560228727758,
0.021202271804213524,
-0.00900669489055872,
-0.048820268362760544,
-0.05409711226820946,
-0.02818744257092476,
0.02718142606317997,
-0.03228743374347687,
0.008128802292048931,
0.020253198221325874,
0.06734615564346313,
-0.01756732538342476,
-0.024182356894016266,
0.049275822937488556,
-0.010990255512297153,
-0.04646657034754753,
0.003077366389334202,
-0.028775867074728012,
0.013790017925202847,
0.037507329136133194,
-0.04513787105679512,
0.0017344292718917131,
-0.0035803746432065964,
-0.030749937519431114,
-0.023309212177991867,
-0.11920345574617386,
0.038076773285865784,
0.026137446984648705,
-0.01574510708451271,
0.007815608754754066,
0.0014947885647416115,
-0.01870621182024479,
-0.027029573917388916,
-0.04844064265489578,
-0.035742055624723434,
0.006520125549286604,
0.038456402719020844,
-0.01397034153342247,
-0.011901364661753178,
-0.013514786958694458,
0.01017405278980732,
-0.05607118085026741,
-0.028472162783145905,
-0.015783069655299187,
-0.02023421786725521,
-0.03689992427825928,
-0.025966612622141838,
-0.01349580567330122,
-0.04722582921385765,
0.020689772441983223,
0.016219642013311386,
0.014900431968271732,
-0.040999915450811386,
0.001157867955043912,
-0.05011100694537163,
-0.042138803750276566,
-0.032591138035058975,
-0.025074485689401627,
-0.043961022049188614,
0.08678315579891205,
-0.01688399352133274,
0.024998560547828674,
0.06343597918748856,
0.046048980206251144,
-0.08761833608150482,
-0.007625794503837824,
0.0012118464801460505,
-0.043467503041028976,
0.0151092279702425,
-0.05037674680352211,
-0.02794068306684494,
-0.052426744252443314,
0.020120328292250633,
0.011075671762228012,
0.05884247273206711,
0.0010570291196927428,
0.0016395221464335918,
-0.015346496365964413,
0.005542580969631672,
0.022644860669970512,
-0.034868910908699036,
-0.03680501505732536,
0.02674485184252262,
-0.034925855696201324,
-0.01839301735162735,
0.008873824030160904,
0.03913973271846771,
-0.031129565089941025,
0.03541937097907066,
0.008067113347351551,
-0.002287263749167323,
-0.03054114058613777,
0.04456842690706253,
0.03614066541194916,
-0.01833607256412506,
-0.020898567512631416,
-0.00022080756025388837,
0.0761915072798729,
-0.006728921551257372,
0.029497161507606506,
-0.04684619978070259,
0.025321243330836296,
-0.013941869139671326,
-0.04601101577281952,
0.04536564648151398,
-0.014909923076629639,
0.029174476861953735,
-0.0019930514972656965,
-0.03008558601140976,
-0.01618167944252491,
0.028680959716439247,
-0.03059808537364006,
0.012565715238451958,
0.016286076977849007,
-0.012584696523845196,
0.0014817388728260994,
0.00758783146739006,
0.04179713502526283,
-0.0059317005798220634,
0.012005762197077274,
0.021468011662364006,
-0.0033525973558425903,
-0.006425218190997839,
0.008214219473302364,
0.05246470868587494,
0.03369206190109253,
-0.0010012710699811578,
-0.032591138035058975,
-0.010952292010188103,
-0.0362735353410244,
-0.002143716672435403,
-0.062297094613313675,
-0.02249300852417946,
0.029193459078669548,
-0.025397170335054398,
0.015460385009646416,
-0.023669859394431114,
0.0357610359787941,
-0.010439793579280376,
0.05090823024511337,
0.044036947190761566,
-0.06662486493587494,
0.033103637397289276,
-0.006539106834679842,
-0.03450826182961464,
-0.00755461398512125,
-0.030825862661004066,
-0.0070136431604623795,
-0.011616642586886883,
-0.04582120105624199,
-0.050794340670108795,
-0.011664096266031265,
-0.02262588031589985,
-0.07729243487119675,
0.022094398736953735,
-0.11836827546358109,
-0.0639294981956482,
0.025435132905840874,
-0.04722582921385765,
0.016276586800813675,
-0.002515041036531329,
0.0162386242300272,
-0.08928870409727097,
0.009485975839197636,
0.039861030876636505,
0.002367934910580516,
-0.017776120454072952,
0.014995339326560497,
0.011199050582945347,
0.00976595189422369,
-0.03367307782173157,
0.00578459445387125,
0.026270316913723946,
-0.007070587482303381,
-0.0011637996649369597,
0.018630286678671837,
0.00932463351637125,
-0.0023216677363961935,
-0.027295313775539398,
0.0045958817936480045,
-0.011853910982608795,
0.025454115122556686,
-0.05645081028342247,
-0.008389797993004322,
0.016532836481928825,
0.015887467190623283,
0.000566180853638798,
0.04684619978070259,
-0.004631471820175648,
-0.0006074061384424567,
-0.022663842886686325,
0.018858063966035843,
0.013524278067052364,
-0.012385391630232334,
-0.06651097536087036,
0.011768494732677937,
0.01712126098573208,
-0.025757817551493645,
-0.04354342818260193,
-0.014720108360052109,
-0.042442504316568375,
0.006278112065047026,
0.03355919197201729,
-0.021657826378941536,
-0.005523599684238434,
-0.06081654131412506,
0.005794085096567869,
0.05880450829863548,
-0.04331565275788307,
-0.007193966768682003,
0.0031888822559267282,
0.01558376383036375,
0.019987458363175392,
-0.05337581783533096,
-0.001467502792365849,
0.019304126501083374,
-0.022284213453531265,
0.028149480000138283,
-0.02465689368546009,
-0.03902584686875343,
-0.011815947480499744,
-0.0007835776777938008,
-0.0288328118622303,
-0.005300567951053381,
-0.010506228543817997,
-0.013827980495989323,
0.04475824162364006,
-0.06529616564512253,
0.05280637368559837,
0.0067099398002028465,
0.00538598420098424,
0.015460385009646416,
0.013856452889740467,
-0.02256893552839756,
0.029364291578531265,
-0.039291586726903915,
-0.006154732778668404,
-0.01422659121453762,
0.007193966768682003,
0.036880943924188614,
0.04039251059293747,
0.003803406609222293,
-0.017871027812361717,
0.009694771841168404,
0.014805525541305542,
0.0022920090705156326,
0.01757681556046009,
-0.01116108801215887,
-0.0049399202689528465,
0.03917769715189934,
-0.026915686205029488,
0.02799762785434723,
-0.013865943998098373,
0.03841843828558922,
0.0070326244458556175,
0.015128209255635738,
-0.013116177171468735,
-0.0029136515222489834,
-0.003364460775628686,
0.000660198274999857,
0.0012634522281587124,
0.005395474843680859,
-0.027276333421468735,
0.020367087796330452,
-0.013277518562972546,
0.004415558185428381,
0.03585594519972801,
0.012366409413516521,
-0.01611524447798729,
0.0283203125,
0.031129565089941025,
-0.021012457087635994,
0.040620286017656326,
0.004574527498334646,
-0.0034854672849178314,
-0.05052860081195831,
0.036311499774456024,
0.010050673969089985,
-0.012024743482470512,
0.047757308930158615,
-0.03754529356956482,
-0.0023892889730632305,
0.007492924574762583,
0.042138803750276566,
0.000670282170176506,
-0.009305652230978012,
0.04380916804075241,
0.0020974494982510805,
0.03699482977390289,
-0.004716888535767794,
-0.005580544006079435,
-0.005680196452885866,
-0.020196255296468735,
0.0259096696972847,
0.04487213119864464,
0.03122447244822979,
-0.01587797701358795,
-0.032534193247556686,
-0.0026336752343922853,
0.019370561465620995,
-0.02110736444592476,
0.00685704592615366,
-0.05846284329891205,
0.01680806651711464,
0.00409287353977561,
0.012689094059169292,
0.013182612136006355,
-0.04950360208749771,
-0.02002542093396187,
0.03608372062444687,
-0.00024735191254876554,
0.01985458843410015,
-0.01707380823791027,
0.028927719220519066,
0.01624811440706253,
0.06373968720436096,
-0.024865688756108284,
0.009462249465286732,
-0.05421099811792374,
0.012546733021736145,
-0.02327124774456024,
-0.04407490789890289,
0.02110736444592476,
0.008195238187909126,
-0.01330599095672369,
0.03409067168831825,
0.004761969204992056,
0.03008558601140976,
0.042062874883413315,
0.0015541055472567677,
-0.022265231236815453,
-0.0077017201110720634,
-0.01017405278980732,
-0.022170323878526688,
0.016324041411280632,
-0.004873485304415226,
-0.009946275502443314,
-0.00038793322164565325,
-0.02497957833111286,
-0.0008434878545813262,
0.0632082000374794,
0.030199475586414337,
-0.05937395244836807,
-0.056412845849990845,
0.015355986542999744,
-0.01695042848587036,
0.07395169883966446,
-0.0050443182699382305,
0.0557674765586853,
0.0044914837926626205,
-0.03496381640434265,
0.03285687789320946,
0.046618424355983734,
-0.004667062312364578,
0.023859672248363495,
-0.011483772657811642,
0.05121193081140518,
-0.03369206190109253,
-0.020499957725405693,
0.02093653194606304,
0.016893483698368073,
-0.015393950045108795,
-0.02199949137866497,
0.031262435019016266,
0.021126344799995422,
0.0014307262608781457,
0.0311675276607275,
-0.012375900521874428,
-0.008351834490895271,
-0.01330599095672369,
0.020822642371058464,
-0.02403050661087036,
0.030996695160865784,
0.013989322818815708,
-0.01403677649796009,
-0.04589712619781494,
0.023233285173773766,
0.05724802985787392,
-0.025397170335054398,
0.011967799626290798,
0.024486061185598373,
-0.003753580152988434,
-0.0040359292179346085,
-0.03989899158477783,
-0.0017190069193020463,
0.0006785865407437086,
-0.026972629129886627,
-0.02826336771249771,
-0.01116108801215887,
0.007061096373945475,
0.016229134052991867,
-0.0016762986779212952,
-0.005134480074048042,
0.0017451064195483923,
0.01229048427194357,
-0.021847641095519066,
0.058690618723630905,
-0.011531226336956024,
0.01638098433613777,
-0.033730022609233856,
-0.04950360208749771,
0.03205965459346771,
-0.029155496507883072,
-0.00980391539633274,
0.0036847724113613367,
-0.008128802292048931,
-0.01600135676562786,
0.05311007425189018,
-0.00008311795681947842,
0.013884925283491611,
0.018108295276761055,
-0.044606391340494156,
-0.0007835776777938008,
0.0012207439867779613,
0.01257520541548729,
-0.0010688924230635166,
0.008423015475273132,
0.024448098614811897,
0.026649944484233856,
0.027921702712774277,
-0.022037453949451447,
0.00047868824913166463,
0.06377764791250229,
0.009191763587296009,
-0.023499025031924248,
-0.00799593236297369,
-0.07858317345380783,
-0.0020903313998132944,
0.0651063472032547,
-0.0032885349355638027,
-0.03862723708152771,
0.01475807186216116,
-0.017662232741713524,
0.032021693885326385,
-0.006292348261922598,
-0.027674943208694458,
0.023992544040083885,
-0.021923566237092018,
-0.029440216720104218,
0.0202911626547575,
0.011607152409851551,
-0.0037132445722818375,
-0.04210083931684494,
0.030066605657339096,
-0.05922210216522217,
-0.01770968548953533,
-0.019949495792388916,
0.0052436236292123795,
-0.015346496365964413,
-0.011369884014129639,
-0.002462842268869281,
-0.0013476824387907982,
0.013353444635868073,
0.03268604353070259,
-0.016010846942663193,
0.052692484110593796,
-0.00913956481963396,
-0.02712448127567768,
-0.03866519778966904,
0.017178205773234367,
0.02516939304769039,
0.028339292854070663,
-0.024049486964941025,
0.008646046742796898,
0.027712905779480934,
-0.011939327232539654,
0.09612202644348145,
0.03619761019945145,
-0.021031437441706657,
0.0028116260655224323,
-0.007094314321875572,
-0.010316413827240467,
0.014492331072688103,
0.01966477371752262,
0.022303195670247078,
0.013230065815150738,
-0.04187306389212608,
-0.0068238284438848495,
-0.017244640737771988,
-0.014245572499930859,
-0.018535379320383072,
0.003976612351834774,
-0.018193712458014488,
-0.025928650051355362,
-0.015014320611953735,
-0.00475722411647439,
0.03646335005760193,
-0.008024404756724834,
0.03528650104999542,
-0.0021721888333559036,
-0.033160578459501266,
-0.0007290060166269541,
0.02262588031589985,
-0.009528684429824352,
0.00711329560726881,
-0.012556224130094051,
-0.012385391630232334,
0.051667485386133194,
-0.011199050582945347,
-0.018886534497141838,
0.010230997577309608,
0.0013595458585768938,
-0.052236929535865784,
0.004444030113518238,
-0.05466655269265175,
0.024941615760326385,
0.0188295915722847,
-0.05743784457445145,
-0.030749937519431114,
-0.03578002005815506,
0.008332853205502033,
-0.007526142057031393,
0.04760545864701271,
0.051553599536418915,
-0.009637827053666115,
0.004887721501290798,
-0.005708668846637011,
0.01807982474565506,
-0.011455300264060497,
-0.020841624587774277,
0.04126565530896187,
-0.019835608080029488,
-0.03317956253886223,
-0.040923990309238434,
-0.030009660869836807,
0.012584696523845196,
0.05071841552853584,
-0.051477670669555664,
-0.007549868896603584,
0.002222015056759119,
0.02661198191344738,
0.027200406417250633,
-0.0036823998671025038,
-0.03156613931059837,
-0.02553004026412964,
-0.032515209168195724,
0.031205492094159126,
-0.026308279484510422,
0.06449893862009048,
-0.030446233227849007,
0.027712905779480934,
0.004422676283866167,
0.046694349497556686,
-0.04122769460082054,
0.02794068306684494,
-0.042062874883413315,
-0.02932632900774479,
-0.018506906926631927,
-0.01191085483878851,
-0.012224049307405949,
0.03224946931004524,
-0.01908584125339985,
-0.011607152409851551,
0.03906380757689476,
0.007791881915181875,
0.006183204706758261,
-0.0017688331427052617,
0.0068048471584916115,
0.019380053505301476,
0.034489281475543976,
0.037146683782339096,
-0.04251842945814133,
-0.01197728980332613,
0.032894838601350784,
0.008109821006655693,
0.0005869417800568044,
-0.02186662144958973,
0.0273712407797575,
-0.04327768832445145,
-0.003217354416847229,
-0.029857808724045753,
-0.018355054780840874,
-0.01422659121453762,
-0.016029827296733856,
0.015697652474045753,
-0.0008565376047044992,
0.01504279300570488,
0.0259096696972847,
0.01229048427194357,
0.005613761488348246,
-0.00527684111148119,
-0.02154393680393696,
-0.030749937519431114,
0.027143463492393494,
0.03894992172718048,
0.012622659094631672,
0.007516651414334774,
0.03786797821521759,
0.013315482065081596,
-0.007791881915181875,
0.014454368501901627,
-0.040582325309515,
-0.05815913900732994,
-0.047377679497003555,
0.012670112773776054,
-0.0023501398973166943,
-0.06981374323368073,
0.0177001953125,
0.018193712458014488,
0.015137700363993645,
0.022398101165890694,
0.007654266897588968,
-0.02731429599225521,
0.01598237454891205,
-0.014947885647416115,
-0.02864299714565277,
-0.02609948255121708,
-0.0032742987386882305,
0.01934208907186985,
0.01390390656888485,
-0.052123039960861206,
0.03570409491658211,
0.005884247366338968,
-0.026460131630301476,
-0.023404117673635483,
-0.025776799768209457,
0.0005104228621348739,
-0.03724158927798271,
-0.004738242365419865,
-0.006880772765725851,
0.019009914249181747,
0.03462215140461922,
0.017519870772957802,
0.046884164214134216,
0.04935175180435181,
0.033160578459501266,
-0.004102364182472229,
-0.05815913900732994,
0.012205067090690136,
-0.029819846153259277,
0.049845267087221146,
0.009319888427853584,
0.016722651198506355,
-0.06415727734565735,
0.055160071700811386,
0.015384458936750889,
-0.005238878075033426,
0.06457486748695374,
-0.0022920090705156326,
-0.005267350468784571,
0.017804592847824097,
0.0001675705425441265,
-0.04088602587580681,
-0.0005928734899498522,
0.0032576899975538254,
0.010449283756315708,
0.03521057590842247,
0.00023252266691997647,
-0.028529107570648193,
0.013173121027648449,
0.047187864780426025,
0.022853657603263855,
0.029800863936543465,
0.002628929680213332,
-0.00497788330540061,
-0.006216422189027071,
-0.004683671053498983,
-0.044378612190485,
-0.01257520541548729,
-0.0055757989175617695,
0.00167867133859545,
-0.012157614342868328,
0.006534361746162176,
0.01308770477771759,
-0.014198118820786476,
-0.033407337963581085,
-0.012280993163585663,
0.04764341935515404,
0.05952580273151398,
-0.007393271662294865,
-0.010230997577309608,
-0.040354546159505844,
0.008665028028190136,
-0.009495466947555542,
0.002655029296875,
-0.020518939942121506,
0.016343021765351295,
0.051098041236400604,
-0.05037674680352211,
-0.002235064748674631,
0.019038386642932892,
-0.03655825927853584,
0.008684010244905949,
0.04342953860759735,
-0.011616642586886883,
0.004992119502276182,
0.008005423471331596,
-0.03179391473531723,
-0.0052626049146056175,
0.017330056056380272,
0.01863977685570717,
-0.05216100439429283,
0.027845775708556175,
-0.018383527174592018,
-0.0037867978680878878,
0.010183543898165226,
-0.014017795212566853,
-0.0643850564956665,
0.02180967666208744,
0.02598559483885765,
0.0162386242300272,
0.017225658521056175,
0.027845775708556175,
-0.03708973899483681,
0.019949495792388916,
-0.02794068306684494,
0.056412845849990845,
-0.011512245051562786,
0.005556817166507244,
0.04172120988368988,
0.011616642586886883,
-0.006221167743206024,
0.023233285173773766,
-0.013837471604347229,
0.036577239632606506,
0.00046801118878647685,
0.030825862661004066,
-0.021411066874861717,
0.009675790555775166,
-0.012005762197077274,
-0.003461740678176284,
-0.010515718720853329,
-0.043847132474184036,
0.02813049778342247,
-0.0033929329365491867,
-0.010525209829211235,
-0.0217527337372303
] |
In this paper, we explore the challenges associated with navigating complex
T-intersections in dense traffic scenarios for autonomous vehicles (AVs).
Reinforcement learning algorithms have emerged as a promising approach to
address these challenges by enabling AVs to make safe and efficient decisions
in real-time. Here, we address the problem of efficiently and safely navigating
T-intersections using a lower-cost, single-agent approach based on the Twin
Delayed Deep Deterministic Policy Gradient (TD3) reinforcement learning
algorithm. We show that our TD3-based method, when trained and tested in the
CARLA simulation platform, demonstrates stable convergence and improved safety
performance in various traffic densities. Our results reveal that the proposed
approach enables the AV to effectively navigate T-intersections, outperforming
previous methods in terms of travel delays, collision minimization, and overall
cost. This study contributes to the growing body of knowledge on reinforcement
learning applications in autonomous driving and highlights the potential of
single-agent, cost-effective methods for addressing more complex driving
scenarios and advancing reinforcement learning algorithms in the future. | [
-0.001489809132181108,
-0.006377109792083502,
-0.03637314215302467,
-0.050072118639945984,
-0.02728894166648388,
0.02725260518491268,
-0.010065295733511448,
0.025036059319972992,
-0.08262989670038223,
0.022619662806391716,
-0.002629876369610429,
-0.025126902386546135,
0.019585538655519485,
-0.047019828110933304,
-0.031631190329790115,
0.036046113818883896,
-0.005827515386044979,
-0.009038780815899372,
0.015724753960967064,
-0.045748040080070496,
0.02463635429739952,
0.01037415862083435,
-0.02698007971048355,
0.08248455077409744,
0.018313750624656677,
0.0165877528488636,
0.02103901095688343,
0.028306372463703156,
-0.08764437586069107,
0.04999944567680359,
-0.013435534201562405,
0.028433552011847496,
0.018104813992977142,
-0.03088628686964512,
-0.0262896791100502,
0.01634247973561287,
0.0553772933781147,
0.009938117116689682,
-0.02866974100470543,
0.06943963468074799,
0.013390113599598408,
0.005091695114970207,
-0.0345926396548748,
-0.0693306252360344,
-0.005968320649117231,
-0.013544544577598572,
-0.0214750524610281,
-0.02298303134739399,
-0.043422482907772064,
0.030232222750782967,
-0.04545734450221062,
-0.00955658033490181,
0.07805146276950836,
-0.004673821851611137,
-0.00823482871055603,
0.03201272711157799,
-0.015170617029070854,
0.047819238156080246,
0.017950382083654404,
0.03333901986479759,
0.06478852778673172,
-0.014634649269282818,
-0.058465924113988876,
0.015951858833432198,
0.006136378273367882,
-0.026507699862122536,
0.038698699325323105,
-0.007639813702553511,
-0.02340090461075306,
-0.06119118258357048,
-0.04247772693634033,
0.017977634444832802,
-0.07565323263406754,
-0.027761319652199745,
0.017668772488832474,
-0.005704878829419613,
0.012636125087738037,
0.05359679087996483,
-0.005059900227934122,
0.008484644815325737,
0.017114635556936264,
0.006122752092778683,
-0.0249270498752594,
-0.013181176967918873,
0.025145070627331734,
-0.024890713393688202,
0.022910356521606445,
-0.06951231509447098,
0.026653047651052475,
0.006894909311085939,
-0.03088628686964512,
-0.013017660938203335,
-0.023019367828965187,
0.015161532908678055,
-0.01894964464008808,
-0.019022317603230476,
0.007126556243747473,
0.004801000468432903,
-0.006372567731887102,
0.01129166316241026,
0.036046113818883896,
0.005904731340706348,
0.037862952798604965,
0.03971612825989723,
0.05581333488225937,
-0.03019588626921177,
-0.047019828110933304,
0.04385852441191673,
0.03475615754723549,
0.10595812648534775,
-0.006327146664261818,
0.00043320286204107106,
-0.028052015230059624,
0.0331936739385128,
-0.09621986746788025,
-0.004260490648448467,
-0.0030500206630676985,
-0.0651518926024437,
0.03724522888660431,
-0.02518140710890293,
0.02866974100470543,
0.04916369915008545,
0.03960711881518364,
-0.055740661919116974,
-0.020584801211953163,
-0.009383980184793472,
-0.01787770912051201,
-0.014670985750854015,
-0.0297780130058527,
0.0025708291213959455,
0.018804296851158142,
-0.022183621302247047,
-0.03003237023949623,
0.026126164942979813,
0.006095499265938997,
0.021693073213100433,
0.02312837727367878,
-0.06667803972959518,
0.025145070627331734,
0.0332663469016552,
-0.014307618141174316,
-0.02505422756075859,
-0.0359734371304512,
0.05792086943984032,
-0.013272019103169441,
0.017977634444832802,
-0.018522687256336212,
0.02229263074696064,
0.02354625053703785,
0.004578437656164169,
-0.04033385589718819,
0.05577699840068817,
0.01065576821565628,
0.05523194745182991,
0.044076547026634216,
-0.013117587193846703,
-0.018331918865442276,
0.0024481923319399357,
-0.015470395796000957,
-0.07558055967092514,
0.07703403383493423,
0.019440190866589546,
-0.031213317066431046,
0.06547892838716507,
0.041750989854335785,
0.030486581847071648,
0.050181131809949875,
-0.01785045675933361,
-0.052397675812244415,
0.031176980584859848,
-0.034683480858802795,
-0.027615973725914955,
-0.0005461876280605793,
0.014752743765711784,
0.013262934982776642,
-0.003947085700929165,
0.058502260595560074,
-0.0207664854824543,
0.024163976311683655,
0.006976666860282421,
-0.08153979480266571,
-0.03898939490318298,
0.007176519371569157,
0.044367242604494095,
0.036609333008527756,
0.007090219296514988,
0.06344406306743622,
-0.01828649826347828,
0.03818998485803604,
0.013680808246135712,
-0.004483053460717201,
0.049490731209516525,
0.041750989854335785,
-0.00790325552225113,
-0.01563391089439392,
-0.056140366941690445,
-0.030068708583712578,
-0.019694549962878227,
0.005336968693882227,
0.020003411918878555,
-0.023073872551321983,
-0.012009314261376858,
-0.009111454710364342,
0.025799132883548737,
0.030940791592001915,
0.057375818490982056,
0.01480724848806858,
-0.009170501492917538,
0.02380060777068138,
-0.05319708585739136,
-0.06104583665728569,
-0.034538134932518005,
-0.03501051291823387,
0.004796458408236504,
-0.051997970789670944,
0.004026572220027447,
0.006272641476243734,
-0.0006767730228602886,
0.011773125268518925,
-0.0017702837940305471,
0.027198100462555885,
0.038953058421611786,
0.005223415791988373,
-0.03368422016501427,
-0.04345881938934326,
-0.03059559129178524,
0.001686254981905222,
0.05435986444354057,
-0.05719413235783577,
-0.024872545152902603,
-0.031921885907649994,
-0.023201052099466324,
0.0008817353518679738,
0.008543691597878933,
0.005218873731791973,
-0.01161869429051876,
0.06595130264759064,
0.0048600477166473866,
0.02463635429739952,
-0.039243750274181366,
-0.004040198866277933,
-0.027034584432840347,
-0.007671608589589596,
-0.034120261669158936,
0.04171465337276459,
0.01378073450177908,
0.03584625944495201,
0.060028403997421265,
0.056394726037979126,
-0.006031909957528114,
-0.04600239917635918,
-0.025653785094618797,
0.0214387159794569,
-0.0374269112944603,
-0.04098792001605034,
0.06431614607572556,
-0.018586276099085808,
-0.0470925010740757,
0.023637093603610992,
-0.058756615966558456,
0.0760892704129219,
0.02272867225110531,
-0.03655482828617096,
0.056685417890548706,
-0.0052461265586316586,
-0.00018480673315934837,
0.003944814670830965,
0.04196901246905327,
0.029850687831640244,
-0.01951286569237709,
-0.04182366654276848,
-0.039098404347896576,
0.00539601594209671,
-0.020566632971167564,
-0.025417596101760864,
-0.05995573103427887,
0.0040629091672599316,
-0.01495259627699852,
-0.012163746170699596,
-0.023473577573895454,
0.004678363911807537,
-0.04854597523808479,
0.0470925010740757,
-0.028869593515992165,
-0.04861864820122719,
-0.0415693074464798,
-0.004476240370422602,
0.020294107496738434,
-0.04665645956993103,
-0.018749792128801346,
0.029941529035568237,
-0.02162040024995804,
-0.01148243062198162,
-0.03450179845094681,
0.0788508728146553,
0.017923129722476006,
0.021929262205958366,
-0.07151083648204803,
-0.048255279660224915,
-0.03642765060067177,
-0.02258332632482052,
-0.011346167884767056,
0.03670017421245575,
-0.003311191452667117,
0.01522512175142765,
-0.011527852155268192,
-0.04069722443819046,
0.007785161025822163,
-0.05704878643155098,
0.0019485612865537405,
-0.017632436007261276,
0.024327492341399193,
0.022910356521606445,
-0.01787770912051201,
-0.023746103048324585,
-0.006658719852566719,
0.04803725704550743,
-0.01446204911917448,
-0.036772847175598145,
-0.0047692060470581055,
0.03700903803110123,
-0.006254472769796848,
-0.04916369915008545,
0.029323803260922432,
-0.009983537718653679,
0.020675642415881157,
-0.0026911948807537556,
-0.028597066178917885,
-0.06184524670243263,
0.0013024474028497934,
-0.01286322996020317,
0.02605349011719227,
-0.10690288990736008,
0.014607395976781845,
0.018023056909441948,
0.0304684117436409,
-0.044367242604494095,
0.01163686253130436,
-0.017232730984687805,
-0.040370192378759384,
-0.0024027712643146515,
0.04694715514779091,
-0.05167093873023987,
-0.005441437009721994,
0.0041492092423141,
-0.03920741379261017,
-0.00878896564245224,
0.03392041102051735,
0.013381029479205608,
-0.02547210082411766,
0.0009322661790065467,
0.001735082478262484,
0.003522399114444852,
-0.022746840491890907,
0.0803770199418068,
-0.022601494565606117,
-0.01812298223376274,
0.011546020396053791,
-0.014689153991639614,
-0.016569584608078003,
0.04807359725236893,
0.007185603491961956,
-0.06173623353242874,
0.02325555682182312,
-0.066460020840168,
0.027179932221770287,
-0.011464262381196022,
-0.01004712749272585,
0.006377109792083502,
0.023491745814681053,
-0.027325278148055077,
0.035791754722595215,
0.040079496800899506,
-0.020130591467022896,
0.028215531259775162,
-0.0062998938374221325,
0.015997279435396194,
-0.07805146276950836,
0.02354625053703785,
0.03268495947122574,
0.00439448282122612,
-0.02919662371277809,
-0.037862952798604965,
0.02231079898774624,
-0.0083029605448246,
0.069257952272892,
-0.007358203642070293,
-0.0033407153096050024,
0.045893386006355286,
0.012508945539593697,
-0.008493728935718536,
-0.009711011312901974,
-0.012190998531877995,
-0.01673309877514839,
0.02783399447798729,
0.011327999643981457,
0.04251406341791153,
-0.04273208603262901,
0.014598311856389046,
-0.019767222926020622,
-0.02327372506260872,
0.02767047844827175,
-0.02605349011719227,
0.036209627985954285,
-0.01369897648692131,
-0.007794245146214962,
-0.025090565904974937,
-0.039788804948329926,
0.01496168039739132,
0.01745075173676014,
0.006036452017724514,
-0.07380005717277527,
-0.02298303134739399,
-0.02687106840312481,
0.014698238112032413,
0.007317324634641409,
-0.0006943736807443202,
-0.03030489757657051,
-0.021693073213100433,
-0.06685972213745117,
-0.017786867916584015,
0.034538134932518005,
0.03312100097537041,
0.006953956559300423,
0.005386931821703911,
0.026834731921553612,
0.032594114542007446,
-0.0005799694918096066,
-0.051707275211811066,
-0.03404758870601654,
0.000025655772333266214,
-0.010773863643407822,
0.02325555682182312,
-0.029832517728209496,
0.002579913241788745,
0.01688753068447113,
0.03310283273458481,
0.0415693074464798,
-0.012899566441774368,
-0.014452964998781681,
0.00011589454516069964,
-0.05138024687767029,
-0.020566632971167564,
-0.0036813728511333466,
-0.024854376912117004,
-0.020148759707808495,
0.00481462711468339,
-0.018767960369586945,
0.04622041806578636,
-0.013907913118600845,
-0.05999206751585007,
0.03484699875116348,
-0.06856755167245865,
-0.050471823662519455,
0.024981554597616196,
-0.04324080049991608,
-0.06337139010429382,
-0.03086811676621437,
-0.04004316031932831,
0.006031909957528114,
0.0539601594209671,
-0.009829106740653515,
-0.0032634995877742767,
-0.05316074937582016,
-0.0065269991755485535,
0.02116619050502777,
-0.0345926396548748,
-0.013807986862957478,
-0.01079203188419342,
0.0009504345944151282,
0.026235174387693405,
-0.003531483467668295,
0.006876740604639053,
0.021802084520459175,
-0.005804805085062981,
0.012908650562167168,
0.01045591663569212,
-0.07365471124649048,
-0.04872765764594078,
-0.02380060777068138,
0.019422022625803947,
0.07082043588161469,
0.034120261669158936,
-0.04171465337276459,
-0.005609494633972645,
0.04098792001605034,
0.09469372034072876,
-0.007948676124215126,
-0.010910126380622387,
-0.029251130297780037,
-0.0003139727341476828,
-0.01911316066980362,
-0.03946177288889885,
-0.0332118421792984,
-0.01578834280371666,
0.016533246263861656,
-0.017923129722476006,
-0.052652034908533096,
0.006949414499104023,
0.04691081866621971,
-0.0009981266921386123,
-0.015733838081359863,
0.025017891079187393,
-0.04334980994462967,
-0.016932951286435127,
0.026398690417408943,
0.05468689277768135,
-0.021420547738671303,
-0.047819238156080246,
-0.018876971676945686,
0.0032680416479706764,
0.014843585900962353,
-0.00248907133936882,
-0.026816563680768013,
0.032049063593149185,
-0.015325048007071018,
0.003179470542818308,
-0.011536936275660992,
0.0016283431323245168,
0.028161024674773216,
0.031049801036715508,
-0.006586046423763037,
0.007389998063445091,
0.008834386244416237,
-0.03502868115901947,
0.04087890684604645,
0.019422022625803947,
-0.05439620092511177,
0.09796403348445892,
0.0074490453116595745,
-0.025363091379404068,
0.0221472829580307,
-0.047274187207221985,
-0.05759383738040924,
-0.020675642415881157,
0.0006489526713266969,
0.023437241092324257,
0.010355990380048752,
-0.004823711235076189,
-0.026889236643910408,
-0.026071658357977867,
0.041750989854335785,
0.02576279640197754,
0.034937839955091476,
0.031067969277501106,
0.006731393281370401,
0.03949810937047005,
-0.025417596101760864,
0.0012002501171082258,
0.009284053929150105,
0.019167665392160416,
0.0030363944824784994,
-0.016315225511789322,
0.016224384307861328,
-0.005913815461099148,
-0.01982172764837742,
-0.0014125934103503823,
-0.0457117035984993,
-0.008625449612736702,
-0.030686434358358383,
0.02158406376838684,
-0.02936013974249363,
0.0021302453242242336,
-0.048945680260658264,
-0.043131791055202484,
-0.008539149537682533,
0.013135755434632301,
0.04938172176480293,
-0.011264409869909286,
-0.0032067231368273497,
-0.019967075437307358,
-0.051997970789670944,
-0.026071658357977867,
-0.0457117035984993,
0.01691478304564953,
-0.012418103404343128,
-0.005832057446241379,
-0.03804463520646095,
-0.006259014829993248,
-0.004121956415474415,
-0.004355874843895435,
-0.003947085700929165,
0.0374269112944603,
0.004969058558344841,
-0.03335718810558319,
0.011364336125552654,
-0.040079496800899506,
-0.034956008195877075,
0.0028865050990134478,
-0.02479987032711506,
-0.007244650740176439,
0.02948731929063797,
0.012944987043738365,
0.014298533089458942,
-0.0025867263320833445,
-0.018213825300335884,
0.018095729872584343,
0.009383980184793472,
-0.009565664455294609,
-0.019858064129948616,
0.01799580454826355,
0.014661901630461216,
0.050726182758808136,
0.03297565132379532,
-0.001148015959188342,
-0.007935049943625927,
-0.009320391342043877,
0.02258332632482052,
0.011591440998017788,
0.01537046954035759,
-0.004446716979146004,
-0.008330212906002998,
-0.0032566862646490335,
-0.03793562576174736,
0.0567580908536911,
0.008598197251558304,
0.03115881234407425,
-0.0017112365458160639,
-0.035392049700021744,
-0.022201789543032646,
0.00014974738587625325,
-0.00914779119193554,
0.023637093603610992,
0.019185833632946014,
-0.0022290360648185015,
0.0636984258890152,
0.02327372506260872,
0.022655999287962914,
-0.01528871152549982,
-0.031921885907649994,
0.026271510869264603,
-0.005305173806846142,
0.0015624826774001122,
-0.00010212630149908364,
0.017414415255188942,
-0.019022317603230476,
-0.0007182197296060622,
0.0373542383313179,
0.01646057330071926,
-0.0006438427953980863,
-0.017759613692760468,
0.006849488243460655,
-0.02271050401031971,
0.0512348972260952,
-0.00047833999269641936,
-0.0010441154008731246,
-0.021402379497885704,
-0.04665645956993103,
0.020312275737524033,
0.040624551475048065,
-0.014080512337386608,
0.05759383738040924,
0.03833533078432083,
0.039389099925756454,
0.00764889782294631,
-0.026689384132623672,
0.012345430441200733,
0.028469888493418694,
0.012127409689128399,
0.040515538305044174,
-0.0008153070812113583,
0.0030613760463893414,
0.005886562634259462,
-0.015107027254998684,
0.03789928928017616,
-0.0001777096913428977,
0.10137969255447388,
0.0016703576548025012,
-0.03359337896108627,
0.041314948350191116,
-0.07383639365434647,
0.013508208096027374,
-0.023836946114897728,
0.009747348725795746,
0.007698860950767994,
-0.00007586727588204667,
-0.0020575716625899076,
0.0539964959025383,
0.02227446250617504,
-0.018386423587799072,
0.008193950168788433,
-0.019876234233379364,
-0.05021746829152107,
0.06191791966557503,
-0.008861638605594635,
-0.017941297963261604,
-0.008143986575305462,
-0.01718731038272381,
-0.0047010742127895355,
0.03293931484222412,
-0.018622614443302155,
-0.0256174486130476,
0.03622779622673988,
0.035501059144735336,
0.018213825300335884,
0.03103163279592991,
0.009347643703222275,
-0.016224384307861328,
0.006695056799799204,
-0.03858968988060951,
0.004362687934190035,
-0.010219726711511612,
0.008225744590163231,
0.01744166761636734,
0.025272250175476074,
0.04255039989948273,
-0.014353038743138313,
0.009756432846188545,
0.012136493809521198,
-0.01031965296715498,
-0.010283316485583782,
0.014907174743711948,
0.046038735657930374,
-0.009701927192509174,
0.047419533133506775,
0.03655482828617096,
0.014970764517784119,
-0.021293368190526962,
-0.051162224262952805,
-0.032067231833934784,
0.002407313557341695,
-0.008157612755894661,
0.03611878678202629,
-0.06482486426830292,
-0.04127861186861992,
-0.02590814419090748,
-0.03375689312815666,
0.024200312793254852,
-0.011500599794089794,
-0.005341510754078627,
0.015479479916393757,
-0.04069722443819046,
0.022256294265389442,
0.018895139917731285,
0.029178455471992493,
-0.015879184007644653,
0.003953898791223764,
0.0016521891811862588,
0.02174757979810238,
-0.04443991556763649,
0.040370192378759384,
-0.027379784733057022,
0.02948731929063797,
0.02116619050502777,
-0.04044286534190178,
0.01911316066980362,
-0.0022937608882784843,
0.045602694153785706,
0.016233468428254128,
0.016033615916967392,
0.0415693074464798,
-0.015688415616750717,
0.018077561631798744,
-0.028215531259775162,
-0.010946462862193584,
-0.0033747809939086437,
-0.0037063544150441885,
0.0024504633620381355,
0.009152333252131939,
-0.020966337993741035,
0.025926312431693077,
-0.0062998938374221325,
-0.040624551475048065,
-0.0003934594860766083,
0.019349349662661552,
-0.03986147791147232,
-0.014353038743138313,
0.0019939823541790247,
0.01717822626233101,
0.038262657821178436,
0.034538134932518005,
0.00030091419466771185,
0.041205938905477524,
-0.020403116941452026,
-0.006794983055442572,
-0.020384948700666428,
0.052833717316389084,
-0.020021580159664154,
-0.04483962059020996,
0.00955658033490181,
-0.01785954087972641,
0.00011965596786467358,
0.0028047473169863224,
0.015152448788285255,
0.006804067175835371,
-0.009883611463010311,
0.013063082471489906,
-0.009279511868953705,
-0.026616711169481277,
0.020148759707808495,
0.025508439168334007,
-0.05054450035095215,
-0.009356727823615074,
0.03253960981965065,
0.03446546196937561,
-0.010510421358048916,
-0.03379322960972786,
0.037045374512672424,
0.012091072276234627,
-0.035101354122161865,
-0.04360416904091835,
0.023873282596468925,
-0.023600755259394646,
0.047855574637651443,
-0.00005922473792452365,
-0.0038403463549911976,
-0.019149497151374817,
-0.024727197363972664,
0.013735312968492508,
0.008289334364235401,
0.02243797853589058,
0.0028024762868881226,
-0.017468919977545738,
0.020166927948594093,
0.005600410513579845,
-0.004117414355278015,
0.021765748038887978,
0.04803725704550743,
-0.0663873478770256,
-0.01786862500011921,
-0.0036745595280081034,
-0.012845061719417572,
-0.01536138541996479,
0.011064557358622551,
-0.03432011604309082,
-0.06148187816143036,
0.03526487201452255,
-0.04458526149392128,
0.0032430600840598345,
-0.001478453865274787,
0.041460298001766205,
0.11344350874423981,
-0.03364788368344307,
0.0030613760463893414,
-0.006127294152975082,
0.031249653548002243,
-0.03608245030045509,
-0.012999492697417736,
-0.00706296693533659,
0.009011528454720974,
0.020166927948594093,
0.014643733389675617,
-0.009947201237082481,
-0.013471871614456177,
-0.03655482828617096,
-0.008743544109165668,
-0.006254472769796848,
-0.013680808246135712,
0.0166331734508276,
-0.013798902742564678,
0.042441390454769135,
0.02863340452313423,
0.04665645956993103,
-0.022201789543032646,
0.0032317047007381916,
0.052797380834817886,
0.03157668560743332,
0.07405441254377365,
-0.006304435897618532,
-0.036900028586387634,
0.02269233576953411,
0.02240164205431938,
-0.0031113391742110252,
-0.02961449697613716,
0.017932213842868805,
0.005182537250220776,
0.035955268889665604,
-0.023437241092324257,
-0.005196163430809975,
-0.03611878678202629,
0.030922623351216316,
0.00764435576274991,
-0.010192474350333214,
0.03906206786632538,
-0.01411684975028038,
0.012300008907914162,
0.029596328735351562,
-0.010837452486157417,
0.017505256459116936,
-0.042441390454769135,
0.041460298001766205,
-0.028342708945274353,
-0.02452734485268593,
-0.009738264605402946,
-0.0024232107680290937,
-0.019131328910589218,
-0.029596328735351562,
-0.026198837906122208,
0.01786862500011921,
0.005523194558918476,
-0.0027774947229772806,
0.0221472829580307,
-0.011945725418627262,
-0.044258229434490204,
0.052942726761102676,
0.03253960981965065,
-0.06017375364899635,
0.0012854145606979728,
-0.005514110438525677,
0.031086137518286705,
-0.0032362467609345913,
0.01286322996020317,
-0.04026118293404579,
0.005886562634259462,
0.02449100837111473,
-0.030922623351216316,
-0.004644297994673252,
0.014353038743138313,
0.02881508879363537,
-0.014634649269282818,
-0.03115881234407425,
-0.0012354514328762889,
0.009711011312901974,
-0.03555556386709213,
0.020403116941452026,
-0.004065180197358131,
-0.03659116476774216,
-0.05305173993110657,
0.047855574637651443,
-0.0033180047757923603,
-0.011845799162983894,
0.0166331734508276,
-0.03804463520646095,
0.02200193703174591,
-0.006249930709600449,
-0.019621875137090683,
-0.01772327721118927,
-0.03437462076544762,
0.014916258864104748,
-0.009438485838472843,
-0.006690514739602804,
0.0263078473508358,
0.04669279605150223,
0.025235911831259727,
0.06427980959415436,
-0.032594114542007446,
0.0011309831170365214,
0.013044913299381733,
-0.03099529631435871,
-0.025562943890690804,
-0.07227391004562378,
-0.010583095252513885,
-0.013953333720564842,
0.015488564036786556,
-0.02300119958817959,
-0.060028403997421265,
0.03381139785051346,
0.03103163279592991,
0.009792769327759743,
0.0304502435028553,
-0.0026662133168429136,
-0.005591326393187046,
0.0019758138805627823,
-0.017259983345866203,
-0.02256515622138977,
-0.00540055800229311,
-0.03017771802842617,
-0.01155510451644659,
-0.007944134064018726,
0.07300064712762833,
-0.003749504219740629,
0.005078068934381008,
-0.013499123975634575,
-0.017196394503116608,
-0.014770912006497383,
0.04912736266851425,
-0.0046874480322003365,
-0.041205938905477524,
-0.04371317848563194,
0.04262307286262512,
0.0007738604326732457,
-0.048509638756513596,
0.011246241629123688,
-0.008325670845806599,
0.016033615916967392,
0.04127861186861992,
-0.02062113769352436,
-0.05839324742555618,
-0.03361154720187187,
0.009919947944581509,
0.017805036157369614,
0.005177995190024376,
-0.025399427860975266,
-0.004832795355468988,
0.0207664854824543,
-0.01487992238253355,
-0.024254819378256798,
-0.0015806511510163546,
0.02865157276391983,
0.0373905748128891,
-0.005464147310703993,
-0.002443650271743536,
0.02452734485268593,
0.012445356696844101,
0.005432352423667908,
-0.00724010867998004,
0.05305173993110657,
-0.01978539116680622,
0.01198206190019846,
0.047819238156080246,
-0.008262081071734428,
-0.036046113818883896,
-0.012209166772663593,
0.03775394335389137,
-0.005409642122685909,
-0.050035782158374786,
0.032212577760219574,
0.038844045251607895,
-0.0214387159794569,
-0.0027048210613429546,
-0.013344692066311836,
0.024563681334257126,
0.0007960031507536769,
-0.0067495619878172874,
-0.011346167884767056,
0.014852670021355152,
-0.07165618240833282,
-0.0010725036263465881,
-0.010028958320617676,
-0.044112883508205414,
0.038298994302749634,
-0.024254819378256798,
0.010782947763800621,
0.03906206786632538
] |
Reinforcement learning (RL) using world models has found significant recent
successes. However, when a sudden change to world mechanics or properties
occurs then agent performance and reliability can dramatically decline. We
refer to the sudden change in visual properties or state transitions as {\em
novelties}. Implementing novelty detection within generated world model
frameworks is a crucial task for protecting the agent when deployed. In this
paper, we propose straightforward bounding approaches to incorporate novelty
detection into world model RL agents, by utilizing the misalignment of the
world model's hallucinated states and the true observed states as an anomaly
score. We first provide an ontology of novelty detection relevant to sequential
decision making, then we provide effective approaches to detecting novelties in
a distribution of transitions learned by an agent in a world model. Finally, we
show the advantage of our work in a novel environment compared to traditional
machine learning novelty detection methods as well as currently accepted RL
focused novelty detection algorithms. | [
0.012438423931598663,
-0.034650541841983795,
-0.025436893105506897,
-0.0197280440479517,
-0.019800309091806412,
0.0108124865218997,
-0.06413421034812927,
0.010911849327385426,
-0.029086221009492874,
0.008563272655010223,
0.00851359125226736,
0.02639438956975937,
-0.0075109293684363365,
-0.017505930736660957,
-0.01807500794529915,
0.025418827310204506,
0.001975966151803732,
0.009475603699684143,
-0.028164856135845184,
-0.004277119413018227,
-0.04151561111211777,
0.008251634426414967,
-0.030820554122328758,
0.08122462779283524,
0.01900540664792061,
0.04032325744628906,
0.016548432409763336,
-0.014525043778121471,
-0.09300363808870316,
0.06460392475128174,
0.011291234754025936,
0.00803484208881855,
-0.021516576409339905,
0.04595984145998955,
-0.039239298552274704,
-0.012853940948843956,
0.06193016469478607,
0.0262317955493927,
-0.016864588484168053,
0.011327366344630718,
0.014543110504746437,
-0.04415324330329895,
-0.053294625133275986,
-0.04787483438849449,
-0.0009422535076737404,
-0.017840150743722916,
-0.04397258535027504,
-0.015292848460376263,
-0.04523720219731331,
0.03380144014954567,
-0.05683555826544762,
-0.08584951609373093,
0.042238250374794006,
-0.03634874150156975,
-0.035337045788764954,
-0.024714253842830658,
0.027189292013645172,
-0.020956531167030334,
0.0361500158905983,
0.001038793590851128,
0.0012533270055428147,
0.03159739077091217,
-0.04079297184944153,
0.010767321102321148,
0.036872655153274536,
-0.026900237426161766,
0.023052183911204338,
-0.05557094141840935,
0.04881426692008972,
-0.010830552317202091,
-0.039781276136636734,
0.023684494197368622,
-0.05264425277709961,
0.03472280502319336,
0.0013831761898472905,
-0.006738608703017235,
0.019547386094927788,
0.04046778380870819,
-0.01043310109525919,
-0.007515445817261934,
0.030423102900385857,
0.020830068737268448,
-0.023756757378578186,
0.06135205179452896,
0.001323332660831511,
-0.04476748779416084,
0.059762246906757355,
-0.04675474390387535,
0.06171337142586708,
-0.048850398510694504,
-0.013504316098988056,
0.024533594027161598,
0.012501655146479607,
0.0008383741369470954,
-0.02989918924868107,
0.02657504938542843,
-0.03322332724928856,
0.0015164128271862864,
-0.056257445365190506,
0.03307880088686943,
0.06482072174549103,
-0.015265748836100101,
0.0025540771894156933,
-0.0015299622900784016,
-0.014642473310232162,
-0.01701814867556095,
-0.03400016576051712,
-0.013513349927961826,
-0.03459634259343147,
0.1568126678466797,
0.05361981317400932,
0.012366159819066525,
-0.027098963037133217,
-0.03217550367116928,
-0.01678329147398472,
0.02028808929026127,
-0.024425199255347252,
-0.015328980050981045,
0.0010139528894796968,
-0.05300557240843773,
0.02251020446419716,
0.056438107043504715,
0.05029567331075668,
0.014245021156966686,
0.0005631503299809992,
0.012275829911231995,
0.019131867215037346,
0.015392211265861988,
-0.009737560525536537,
0.047007668763399124,
0.03837213292717934,
-0.005333979148417711,
0.027857733890414238,
0.03257295489311218,
-0.0055056060664355755,
0.019619649276137352,
-0.0014283411437645555,
0.027803536504507065,
-0.018716350197792053,
0.03652940317988396,
0.0005092346691526473,
-0.07443182170391083,
-0.011535124853253365,
0.032591018825769424,
0.0013786597410216928,
-0.02386515401303768,
-0.018418261781334877,
-0.025563355535268784,
-0.06630212813615799,
0.0032744579948484898,
-0.04397258535027504,
0.05376434326171875,
-0.042780227959156036,
0.021733367815613747,
0.026123400777578354,
0.03221163526177406,
-0.01866215281188488,
0.04599597305059433,
0.004326801281422377,
-0.1015307828783989,
0.03676426038146019,
-0.036872655153274536,
0.02455165982246399,
0.08028519153594971,
0.07092701643705368,
0.00633212411776185,
0.04856134206056595,
-0.025364629924297333,
-0.007885797880589962,
0.04270796477794647,
-0.04473135620355606,
-0.014371483586728573,
0.011426729150116444,
0.03121800534427166,
0.009457537904381752,
0.033638846129179,
0.08534366637468338,
0.002707638079300523,
-0.029122352600097656,
-0.010749255307018757,
-0.02400968037545681,
0.03165159001946449,
0.04390031844377518,
0.05080152302980423,
0.02989918924868107,
0.005410759709775448,
0.0472605898976326,
-0.014814099296927452,
0.030061783269047737,
0.02771320566534996,
0.011788048781454563,
0.00683797150850296,
-0.006553432438522577,
-0.004591016098856926,
0.004511977545917034,
-0.011535124853253365,
-0.07551577687263489,
-0.0030802488327026367,
-0.03286200761795044,
0.004444229882210493,
0.015825795009732246,
-0.046104367822408676,
0.01587999239563942,
-0.03938382491469383,
0.043683528900146484,
-0.005049440078437328,
0.004426164086908102,
-0.011860312893986702,
0.01623227819800377,
-0.014949594624340534,
-0.007632874418050051,
-0.07797274738550186,
-0.04549012705683708,
0.004204855766147375,
-0.03819147124886513,
-0.012899106368422508,
-0.0072218733839690685,
0.029808858409523964,
-0.03159739077091217,
-0.027839668095111847,
0.019077669829130173,
-0.027424151077866554,
0.045526258647441864,
-0.031181873753666878,
-0.016503268852829933,
0.00971046183258295,
0.00011128922778880224,
0.02679184079170227,
0.009177515283226967,
0.018020810559391975,
-0.03165159001946449,
-0.03436148539185524,
0.009547867812216282,
0.027948062866926193,
0.02254633791744709,
0.019655780866742134,
0.038046944886446,
0.046104367822408676,
0.049067188054323196,
-0.040756840258836746,
-0.004462295677512884,
-0.007149609737098217,
0.01756012812256813,
-0.06662731617689133,
0.028490042313933372,
-0.02755061164498329,
-0.0013459151377901435,
0.027803536504507065,
0.04639342427253723,
0.02124558761715889,
-0.03157932311296463,
-0.05268038436770439,
0.006842487957328558,
0.015202518552541733,
-0.07912897318601608,
0.03338592126965523,
0.04433390498161316,
-0.02236567810177803,
0.052535854279994965,
-0.028002262115478516,
0.030368903651833534,
0.020378420129418373,
0.04711606353521347,
0.026882171630859375,
-0.032392293214797974,
0.0026827973779290915,
0.03340398892760277,
0.027008632197976112,
0.047585777938365936,
0.03952835500240326,
-0.02052294835448265,
-0.023160580545663834,
-0.03410856053233147,
0.009493670426309109,
0.04863360524177551,
0.001746753929182887,
0.07457634806632996,
-0.01164352148771286,
-0.015816761180758476,
0.018201470375061035,
0.025256233289837837,
-0.030784422531723976,
-0.02158883959054947,
0.004651988856494427,
-0.0318322479724884,
-0.0142179224640131,
-0.018734415993094444,
0.023395437747240067,
-0.07486540079116821,
0.021281719207763672,
0.012077104300260544,
0.0203242227435112,
-0.04476748779416084,
0.008631019853055477,
0.06930108368396759,
-0.007077345624566078,
-0.043864186853170395,
0.0354454442858696,
-0.015283814631402493,
-0.046465687453746796,
-0.008468425832688808,
-0.04393645003437996,
0.017822084948420525,
0.042744096368551254,
-0.039817407727241516,
-0.011860312893986702,
0.0015243166126310825,
0.025021376088261604,
-0.009593033231794834,
-0.010207275860011578,
-0.020631343126296997,
0.009791758842766285,
0.03732430562376976,
-0.04971756413578987,
-0.013892735354602337,
0.020071297883987427,
0.037613362073898315,
-0.021173322573304176,
0.014949594624340534,
-0.021372048184275627,
0.02126365341246128,
-0.011950642801821232,
-0.08144141733646393,
-0.03858892247080803,
0.052933309227228165,
-0.035373181104660034,
0.06005130335688591,
0.023359306156635284,
-0.0612797886133194,
0.02269086427986622,
-0.09755626320838928,
-0.014805066399276257,
-0.08086330443620682,
-0.05058472976088524,
0.02791193127632141,
-0.0011065410217270255,
-0.04747738316655159,
0.06243601068854332,
-0.004283894319087267,
-0.04050391539931297,
-0.003256391966715455,
-0.0051081543788313866,
-0.012872007675468922,
-0.035373181104660034,
0.00831938162446022,
-0.04957303777337074,
0.004724252503365278,
0.0114628616720438,
0.005708848126232624,
0.01108347624540329,
0.0009326559957116842,
-0.05979837849736214,
0.023937417194247246,
0.0005476248916238546,
0.05044020339846611,
0.004697153344750404,
-0.01807500794529915,
-0.00017035650671459734,
0.004604565445333719,
0.023341240361332893,
0.02236567810177803,
-0.05463150888681412,
-0.02863457053899765,
0.01996290311217308,
-0.059184134006500244,
0.02659311518073082,
-0.0318322479724884,
0.026123400777578354,
0.009032987989485264,
0.02879716455936432,
-0.029826924204826355,
0.03750496357679367,
-0.018589887768030167,
0.016214212402701378,
-0.008761998265981674,
-0.0030441167764365673,
0.0018641827628016472,
0.006851521320641041,
-0.06449553370475769,
0.04191306233406067,
-0.05278877913951874,
-0.01282684225589037,
-0.02124558761715889,
0.008757481351494789,
-0.003238326171413064,
0.02534656412899494,
-0.0009309622691944242,
-0.051271237432956696,
-0.012402292340993881,
0.006973466370254755,
0.005970804952085018,
-0.012040972709655762,
-0.03345818445086479,
0.041840799152851105,
0.030892817303538322,
0.010857651010155678,
-0.002231147838756442,
-0.02643052116036415,
0.030206311494112015,
0.02200435847043991,
-0.011092509143054485,
-0.02252827025949955,
0.03192257881164551,
0.021733367815613747,
-0.0014001131057739258,
0.02643052116036415,
-0.01830986514687538,
0.029465606436133385,
-0.004778450354933739,
0.00008200258889701217,
-0.02126365341246128,
-0.03858892247080803,
0.0057314308360219,
0.07667200267314911,
0.024316802620887756,
-0.03826373443007469,
-0.005148802883923054,
-0.030947014689445496,
-0.00989112164825201,
-0.019890638068318367,
-0.006955400574952364,
0.01607871800661087,
0.09820663928985596,
0.0030870235059410334,
-0.04491201415657997,
-0.012890073470771313,
-0.04820002242922783,
-0.023160580545663834,
-0.009303977712988853,
-0.034271154552698135,
0.021697236225008965,
0.020197760313749313,
0.04932011291384697,
-0.07580482959747314,
-0.02288958989083767,
0.041840799152851105,
0.0021882413420826197,
0.005555287469178438,
0.0030576663557440042,
-0.025454958900809288,
-0.008337447419762611,
0.005943705793470144,
-0.034993793815374374,
-0.015039924532175064,
-0.014299219474196434,
-0.025418827310204506,
0.012474555522203445,
-0.008635535836219788,
-0.02366642840206623,
-0.015193484723567963,
-0.0650736391544342,
0.039636749774217606,
-0.03127220273017883,
-0.004545851144939661,
0.054595377296209335,
0.0015062507009133697,
-0.00913235079497099,
-0.044225506484508514,
0.03273554891347885,
-0.0369449183344841,
0.03586095944046974,
0.041660137474536896,
0.023232843726873398,
-0.04541786015033722,
-0.03698104992508888,
-0.004082910250872374,
-0.0686868354678154,
0.003906767349690199,
-0.005573353264480829,
0.02238374389708042,
0.042202118784189224,
-0.050729259848594666,
-0.04097363352775574,
0.002867973642423749,
0.03732430562376976,
0.0018766032299026847,
-0.00962013192474842,
-0.048886530101299286,
0.04346673563122749,
-0.0634838342666626,
0.061026863753795624,
0.06460392475128174,
-0.008631019853055477,
-0.019168000668287277,
0.00866715144366026,
-0.02238374389708042,
0.044261638075113297,
0.002718929201364517,
0.007542544510215521,
-0.01831889897584915,
-0.045706916600465775,
-0.07551577687263489,
0.036691997200250626,
-0.007054763380438089,
-0.00701863132417202,
-0.035915158689022064,
0.021155256778001785,
-0.05192161351442337,
0.09921833872795105,
0.05618518218398094,
0.006860554218292236,
-0.005415276158601046,
0.00047197361709550023,
-0.0366377979516983,
0.022112753242254257,
0.014588274993002415,
0.003434793557971716,
-0.0017298171296715736,
0.08180273324251175,
-0.049067188054323196,
-0.029863057658076286,
-0.014281153678894043,
-0.023973548784852028,
-0.01119187194854021,
0.03938382491469383,
-0.010947980917990208,
-0.0142179224640131,
-0.03651133552193642,
0.05640197545289993,
0.000750867067836225,
0.037432700395584106,
-0.009358175098896027,
-0.03750496357679367,
0.01358561310917139,
-0.07920123636722565,
0.019258329644799232,
0.053872738033533096,
-0.009177515283226967,
0.05730527266860008,
-0.02751448005437851,
0.004439713433384895,
0.05195774510502815,
-0.03855279088020325,
-0.02028808929026127,
-0.04061231389641762,
-0.02012549713253975,
0.03634874150156975,
0.0181201733648777,
-0.0018325673881918192,
-0.03643907234072685,
0.000623276166152209,
0.039239298552274704,
0.014371483586728573,
-0.033006537705659866,
-0.021570773795247078,
-0.010568595491349697,
0.0704934373497963,
-0.0040467786602675915,
-0.00014650376397185028,
0.008825228549540043,
0.022112753242254257,
-0.0026105334982275963,
-0.018553756177425385,
0.026159532368183136,
-0.01293523795902729,
-0.012429391033947468,
-0.040214862674474716,
0.04335834085941315,
0.018987340852618217,
-0.009809824638068676,
0.020432617515325546,
0.0029176550451666117,
-0.026556983590126038,
0.003881926415488124,
-0.0037373986560851336,
-0.045562390238046646,
0.009394306689500809,
0.017325270920991898,
0.0039045088924467564,
0.008012260310351849,
0.0014825391117483377,
0.009746593423187733,
-0.0332413949072361,
-0.0001937858178280294,
0.018228568136692047,
-0.003520607016980648,
-0.004642955493181944,
-0.025762081146240234,
0.008748448453843594,
-0.027821602299809456,
-0.01172481756657362,
-0.02751448005437851,
0.016855554655194283,
0.020378420129418373,
-0.0173704344779253,
-0.018553756177425385,
-0.03246455639600754,
-0.04299702122807503,
-0.059003476053476334,
-0.04343060404062271,
0.025780146941542625,
0.07114381343126297,
-0.006436003837734461,
0.026141466572880745,
-0.02993532083928585,
0.025707881897687912,
0.014805066399276257,
-0.026177598163485527,
0.03620421513915062,
-0.04241890832781792,
0.009737560525536537,
-0.006436003837734461,
-0.03385563939809799,
0.018535690382122993,
-0.019709978252649307,
-0.04119042307138443,
0.008807162754237652,
0.02675570920109749,
0.017469797283411026,
-0.009845956228673458,
0.015184451825916767,
0.015202518552541733,
0.049609169363975525,
-0.007050246931612492,
0.020071297883987427,
0.04440616816282272,
0.010288572870194912,
-0.00850455742329359,
0.014606340788304806,
0.014651506207883358,
-0.0061604976654052734,
-0.0019217680674046278,
0.038697317242622375,
-0.0011545286979526281,
0.023323174566030502,
0.0674944818019867,
-0.0025766596663743258,
-0.01663876324892044,
0.015798695385456085,
0.005257198587059975,
-0.006706993095576763,
-0.006494718138128519,
-0.03931156173348427,
0.000483264826470986,
0.0030057267285883427,
0.025075573474168777,
0.005993387196213007,
0.014254054054617882,
0.0095117362216115,
0.0009693524916656315,
0.02307024970650673,
0.04043165221810341,
0.033711109310388565,
0.03210323676466942,
-0.007402533199638128,
-0.006323091220110655,
0.0388418473303318,
-0.021552707999944687,
0.03710751235485077,
0.017280105501413345,
-0.048850398510694504,
0.040901366621255875,
-0.0012318736407905817,
0.052210669964551926,
-0.039600618183612823,
-0.004076135810464621,
0.010080814361572266,
-0.012031939812004566,
-0.00707282917574048,
-0.023702559992671013,
-0.003062182804569602,
-0.0003576498420443386,
-0.01682845503091812,
0.019095735624432564,
0.010017583146691322,
-0.010640859603881836,
0.033530451357364655,
0.003330914070829749,
0.01608775183558464,
0.05408953130245209,
-0.04187693074345589,
-0.02290765568614006,
-0.029772726818919182,
0.002660214900970459,
0.015554804354906082,
-0.011959675699472427,
-0.020559079945087433,
0.05629358068108559,
0.011842247098684311,
-0.03710751235485077,
-0.012438423931598663,
-0.03678232431411743,
0.005320429801940918,
0.05665489658713341,
-0.037396568804979324,
0.007610292173922062,
0.02957400120794773,
0.025996938347816467,
-0.03262715041637421,
-0.0007869990658946335,
-0.04346673563122749,
-0.003272199770435691,
0.011616421863436699,
0.002617308171465993,
0.036691997200250626,
-0.025725949555635452,
-0.017090411856770515,
-0.03996193781495094,
0.02419034019112587,
0.02104686200618744,
-0.0114628616720438,
0.0015694815665483475,
-0.011155739426612854,
0.06485684961080551,
0.02034228853881359,
-0.004855230916291475,
0.006580531597137451,
0.010153078474104404,
0.008224534802138805,
-0.01090281642973423,
-0.020613277330994606,
0.06615760177373886,
-0.028598438948392868,
0.030188243836164474,
0.026285994797945023,
0.022058555856347084,
0.014001131057739258,
-0.026285994797945023,
-0.04892266169190407,
0.04541786015033722,
0.004148399457335472,
-0.027369951829314232,
0.03011598065495491,
-0.05701621621847153,
0.007492863107472658,
-0.00906460266560316,
0.008798129856586456,
0.019131867215037346,
-0.012718446552753448,
0.000008627208444522694,
-0.0071586426347494125,
-0.002899589017033577,
-0.022094687446951866,
0.009100735187530518,
0.011986774392426014,
0.009791758842766285,
-0.0420575886964798,
0.021859830245375633,
0.030784422531723976,
-0.028851361945271492,
0.019149933010339737,
-0.0047829668037593365,
0.04393645003437996,
0.028959758579730988,
-0.007501896005123854,
0.0056817494332790375,
-0.005790145136415958,
-0.002001935848966241,
-0.011779015883803368,
-0.007840633392333984,
0.0750821903347969,
0.010234374552965164,
-0.001568352454341948,
-0.02829131670296192,
-0.023323174566030502,
0.035770632326602936,
0.01978224329650402,
0.024262605234980583,
-0.0077051385305821896,
0.004570691846311092,
-0.016530366614460945,
0.013413986191153526,
0.03172385320067406,
0.01776788756251335,
0.052174538373947144,
-0.02677377499639988,
-0.0223295446485281,
0.01627744361758232,
0.015121221542358398,
0.013730141334235668,
0.027460282668471336,
0.01904153823852539,
-0.02568981610238552,
-0.039058636873960495,
-0.005501089617609978,
-0.01072215661406517,
0.02325090952217579,
-0.01662069745361805,
-0.017948545515537262,
0.007565127220004797,
-0.04140721634030342,
-0.00452101044356823,
-0.024822650477290154,
0.036691997200250626,
-0.02680990658700466,
0.004376482684165239,
-0.033711109310388565,
-0.011399630457162857,
-0.007235423196107149,
-0.028959758579730988,
-0.01775885373353958,
-0.010062748566269875,
-0.008183887228369713,
-0.025183970108628273,
0.041082028299570084,
0.030224377289414406,
-0.04762190952897072,
0.03230196237564087,
0.008405194617807865,
-0.011598356068134308,
0.034795068204402924,
0.006169530563056469,
-0.019475121051073074,
0.0016123882960528135,
-0.03714364394545555,
-0.01609678380191326,
-0.017325270920991898,
-0.0306398943066597,
0.02142624743282795,
0.0035725466441363096,
0.02218501828610897,
0.022799260914325714,
0.022672798484563828,
-0.032591018825769424,
0.01719880849123001,
-0.04046778380870819,
0.02066747657954693,
-0.0012081620516255498,
0.008454876020550728,
-0.010315671563148499,
-0.03714364394545555,
-0.037613362073898315,
-0.016394872218370438,
-0.021101059392094612,
-0.01920413225889206,
0.0017738529713824391,
0.010460199788212776,
-0.0008626503404229879,
0.018897010013461113,
-0.020830068737268448,
-0.025220101699233055,
0.03707138076424599,
-0.025075573474168777,
-0.011038310825824738,
-0.04281635954976082,
0.052716515958309174,
-0.036673929542303085,
-0.012601017951965332,
0.03920316696166992,
0.012366159819066525,
-0.0014204373583197594,
0.0038616021629422903,
0.025418827310204506,
-0.03607775270938873,
0.023160580545663834,
0.025780146941542625,
-0.02028808929026127,
0.011706751771271229,
-0.0017275589052587748,
-0.030965082347393036,
-0.02440713346004486,
-0.027243491262197495,
0.04476748779416084,
0.0414433479309082,
-0.013088799081742764,
0.005352044943720102,
0.014208889566361904,
0.06590467691421509,
-0.005934672895818949,
0.019366726279258728,
-0.012655215337872505,
-0.01042406726628542,
0.03210323676466942,
0.029646266251802444,
0.03988967463374138,
0.04671861231327057,
-0.025996938347816467,
-0.038733452558517456,
-0.01756916008889675,
-0.033891770988702774,
0.03248262405395508,
0.02879716455936432,
-0.06182176619768143,
0.03848052769899368,
0.00564110092818737,
0.0002591338416095823,
0.026322126388549805,
-0.003421243978664279,
0.008152271620929241,
-0.03855279088020325,
0.006937334313988686,
0.019854506477713585,
0.01826470158994198,
-0.010297605767846107,
0.02847197651863098,
-0.005058472976088524,
-0.026864105835556984,
0.015410277061164379,
-0.026936369016766548,
-0.062002427875995636,
-0.013847569935023785,
0.014787000603973866,
-0.029682397842407227,
-0.018138239160180092,
0.03956448659300804,
-0.009484636597335339,
-0.02366642840206623,
0.018626021221280098,
0.021914027631282806,
0.014606340788304806,
0.015599969774484634,
-0.037938546389341354,
0.01789434812963009,
0.0030237925238907337,
0.025942740961909294,
0.014922495931386948,
0.009014921262860298,
-0.012320995330810547,
0.024334868416190147,
-0.007885797880589962,
-0.022853458300232887,
0.0008818454225547612,
0.051451899111270905,
-0.06131592020392418,
0.06503751128911972,
-0.00952980201691389,
0.013070733286440372,
0.03858892247080803,
0.030567629262804985,
0.03344012051820755,
0.010577628389000893,
0.0069463676773011684,
0.007127027027308941,
0.06485684961080551,
-0.05914800241589546,
0.02769513987004757,
-0.005609485320746899,
0.009430439211428165,
0.020956531167030334,
-0.05578773096203804,
-0.017849182710051537,
0.05416179448366165,
-0.02567175030708313,
-0.001066457130946219,
0.00017346159438602626,
0.017036214470863342,
-0.005785628687590361,
0.002734737005084753,
-0.004633922595530748,
0.017289137467741966,
-0.027622876688838005,
0.00008235544373746961,
-0.013486250303685665,
0.014570209197700024,
0.02605113573372364,
-0.014181790873408318,
0.038046944886446,
0.011742884293198586,
-0.00971046183258295,
0.016178080812096596,
-0.017605293542146683,
0.008102590218186378,
0.008337447419762611,
-0.00933107640594244,
-0.06554336100816727,
0.004534559790045023,
-0.021137190982699394,
-0.013721108436584473,
-0.05701621621847153,
0.03470473736524582,
0.04231051355600357,
0.02164303883910179,
-0.07099927961826324,
-0.020053232088685036,
-0.027098963037133217,
0.011471894569694996,
-0.03582482784986496,
-0.013034600764513016,
-0.011155739426612854,
0.02420840598642826,
-0.001538995304144919,
-0.02178756706416607,
0.01060472708195448,
0.03011598065495491,
0.03580676391720772,
-0.0059843542985618114,
-0.025924675166606903,
-0.00761480862274766,
-0.03163352236151695,
-0.015663200989365578,
0.04733285680413246,
-0.048850398510694504,
0.01061376091092825,
0.022654732689261436,
0.034253090620040894,
0.023052183911204338,
0.014362450689077377,
-0.01513928733766079,
-0.0010179048404097557,
0.007908380590379238,
0.01918606646358967,
-0.0156722329556942,
0.01812920533120632,
-0.00397225609049201,
-0.033638846129179,
0.02547302469611168,
0.016575532034039497,
-0.019077669829130173,
0.02529236488044262,
0.00530236354097724,
-0.019312527030706406,
-0.006842487957328558,
0.013847569935023785,
0.027803536504507065,
-0.00728962104767561,
-0.02160690724849701,
0.025942740961909294,
0.017984678968787193,
-0.019168000668287277,
0.007547060959041119,
-0.011471894569694996,
-0.012031939812004566,
-0.012862974777817726,
0.002721187425777316,
-0.03145286440849304,
0.012700380757451057,
0.006716026458889246,
0.049970488995313644,
-0.029592067003250122,
-0.04693540185689926,
0.07002372294664383,
0.002526978263631463,
0.049789827316999435,
-0.01753302849829197
] |
Despite recent progress in Reinforcement Learning for robotics applications,
many tasks remain prohibitively difficult to solve because of the expensive
interaction cost. Transfer learning helps reduce the training time in the
target domain by transferring knowledge learned in a source domain. Sim2Real
transfer helps transfer knowledge from a simulated robotic domain to a physical
target domain. Knowledge transfer reduces the time required to train a task in
the physical world, where the cost of interactions is high. However, most
existing approaches assume exact correspondence in the task structure and the
physical properties of the two domains. This work proposes a framework for
Few-Shot Policy Transfer between two domains through Observation Mapping and
Behavior Cloning. We use Generative Adversarial Networks (GANs) along with a
cycle-consistency loss to map the observations between the source and target
domains and later use this learned mapping to clone the successful source task
behavior policy to the target domain. We observe successful behavior policy
transfer with limited target task interactions and in cases where the source
and target task are semantically dissimilar. | [
0.014034817926585674,
0.008768550120294094,
-0.026682425290346146,
-0.056173525750637054,
-0.004713952075690031,
0.01697194017469883,
0.013247018679976463,
0.021887123584747314,
-0.08953511714935303,
0.04195888340473175,
-0.001954513369128108,
-0.038156893104314804,
0.020106012001633644,
-0.0411025807261467,
0.017074696719646454,
0.017400091513991356,
-0.010155762545764446,
0.037060827016830444,
0.004525565076619387,
-0.03341297060251236,
0.04802151396870613,
-0.024319026619195938,
-0.043877001851797104,
0.016680797562003136,
-0.027435971423983574,
0.023788118734955788,
0.03197438269853592,
0.007706733420491219,
-0.04815852269530296,
0.010386964306235313,
0.04997388646006584,
-0.0028793213423341513,
-0.02767573669552803,
0.0053861504420638084,
0.02070542424917221,
-0.01428314670920372,
0.031494852155447006,
0.040657300502061844,
-0.09898871183395386,
0.055968012660741806,
-0.013992003165185452,
0.009727610275149345,
-0.03873918205499649,
-0.04336322098970413,
-0.01364948134869337,
-0.02198988012969494,
0.02250366285443306,
0.05175499618053436,
-0.03433778136968613,
-0.013221330009400845,
-0.024747177958488464,
-0.01947234757244587,
0.05336485058069229,
0.024370403960347176,
-0.04411676898598671,
0.06487356871366501,
0.08330122381448746,
-0.0024383249692618847,
0.05983850359916687,
-0.008109196089208126,
0.0025303775910288095,
-0.036170270293951035,
0.004384275060147047,
-0.024045009166002274,
0.04891207069158554,
-0.07706733793020248,
0.057235341519117355,
-0.015601853840053082,
-0.006747673265635967,
-0.05127546936273575,
-0.03406376391649246,
-0.0260658860206604,
-0.05230303108692169,
-0.01286168210208416,
0.00607547489926219,
0.03361848369240761,
0.0872744768857956,
0.011209015734493732,
0.013366901315748692,
-0.007848023436963558,
0.00807066261768341,
0.061003077775239944,
-0.01767410896718502,
-0.035108454525470734,
0.07165549695491791,
0.02877180464565754,
0.0453498475253582,
-0.04644591361284256,
0.020996566861867905,
-0.01823926903307438,
-0.015927249565720558,
0.022572167217731476,
-0.021904248744249344,
0.003435918828472495,
-0.02498694323003292,
0.024010756984353065,
-0.0005935255321674049,
0.0037334843073040247,
-0.007441279478371143,
0.0010773371905088425,
0.02019164152443409,
0.00674339197576046,
-0.05658455193042755,
-0.0002844533883035183,
0.041171085089445114,
0.016355400905013084,
-0.04743922874331474,
-0.03433778136968613,
-0.012091008946299553,
0.11645730584859848,
0.03610176593065262,
0.025997381657361984,
-0.047404974699020386,
0.07295707613229752,
-0.0061996388249099255,
-0.016038568690419197,
0.003971108701080084,
-0.06542160362005234,
0.043877001851797104,
-0.018616043031215668,
0.07234054058790207,
0.05911920964717865,
0.020328650251030922,
-0.04247266426682472,
-0.014805492013692856,
-0.0025560667272657156,
-0.016911998391151428,
0.00032245187321677804,
0.0327279269695282,
0.0521317720413208,
0.002324864733964205,
0.02553497813642025,
0.017725488170981407,
0.021150702610611916,
0.00815629307180643,
0.024507412686944008,
-0.005347616970539093,
-0.04394550621509552,
-0.04089706763625145,
-0.017511410638689995,
0.018170764669775963,
-0.002797972410917282,
0.02818951942026615,
0.02659679390490055,
0.04480181261897087,
-0.01465135719627142,
-0.031032446771860123,
0.06281844526529312,
-0.00920526497066021,
0.04658292233943939,
-0.04764473810791969,
0.03038165718317032,
0.0069146528840065,
0.048501044511795044,
0.019403843209147453,
0.03068992681801319,
0.002937121782451868,
0.01088362094014883,
0.001075196429155767,
-0.0210821982473135,
0.07706733793020248,
-0.021339088678359985,
0.043294716626405716,
0.07172399759292603,
0.09090520441532135,
-0.007051661144942045,
0.05768061801791191,
-0.03161473572254181,
-0.01947234757244587,
0.051001451909542084,
-0.022212518379092216,
0.003211139002814889,
0.022555040195584297,
0.025432221591472626,
0.002802253933623433,
0.012835993431508541,
0.005754360929131508,
0.04089706763625145,
-0.03664980083703995,
-0.02409638650715351,
-0.04185612499713898,
0.0034294964279979467,
-0.011089133098721504,
0.040965571999549866,
0.039732493460178375,
0.059187714010477066,
0.0370950773358345,
-0.028532041236758232,
-0.02356547862291336,
0.007115884218364954,
0.035827748477458954,
0.0578518807888031,
0.04370574280619621,
-0.015216517262160778,
0.02909720130264759,
-0.06031803414225578,
-0.03108382597565651,
-0.0024468880146741867,
0.02589462511241436,
0.01890718564391136,
-0.04192462936043739,
-0.052234526723623276,
0.006486500613391399,
-0.0024832808412611485,
-0.012741799466311932,
0.009984501637518406,
0.02250366285443306,
-0.0011099837720394135,
0.027435971423983574,
-0.08152011781930923,
0.007603977341204882,
0.0012352181365713477,
-0.03531396761536598,
-0.0411025807261467,
-0.029217083007097244,
-0.002658823039382696,
0.014599978923797607,
0.03952698037028313,
-0.009556349366903305,
0.002907151123508811,
-0.02000325545668602,
0.01767410896718502,
0.03843091055750847,
-0.020962314680218697,
-0.08371224999427795,
0.002036932623013854,
0.04219864681363106,
-0.005189200863242149,
0.006923215929418802,
0.014154700562357903,
-0.023496974259614944,
0.02693931572139263,
0.045623861253261566,
-0.007792363874614239,
-0.02894306555390358,
0.021835744380950928,
0.015670359134674072,
-0.017948126420378685,
-0.0017350853886455297,
-0.015422030352056026,
0.03262517228722572,
0.034577544778585434,
0.009736173786222935,
-0.0024297619238495827,
0.03406376391649246,
0.0060540675185620785,
-0.0156874842941761,
0.0695318654179573,
0.007920810021460056,
0.02661392092704773,
-0.005463217850774527,
-0.035108454525470734,
-0.01564466953277588,
0.05038491263985634,
-0.019592229276895523,
0.06093457341194153,
0.005574537441134453,
-0.014522911049425602,
0.0400407612323761,
-0.040999822318553925,
0.025963129475712776,
0.026151515543460846,
0.05093294754624367,
-0.002003750763833523,
0.0012330773752182722,
0.0071801068261265755,
0.05038491263985634,
-0.005360461305826902,
-0.00013279398262966424,
-0.0210821982473135,
0.0022306712344288826,
0.023479849100112915,
-0.050247903913259506,
0.003566505154594779,
-0.039389971643686295,
-0.055625490844249725,
0.005304801743477583,
-0.012981564737856388,
0.06507908552885056,
0.0697031244635582,
0.05959874019026756,
-0.04733647033572197,
-0.00584855442866683,
-0.02073967643082142,
-0.03106669895350933,
-0.02392512559890747,
-0.04093131795525551,
0.010849368758499622,
-0.06819602847099304,
0.001629117876291275,
-0.0291314534842968,
-0.053501859307289124,
-0.034046635031700134,
0.00692749721929431,
0.05658455193042755,
0.010789426974952221,
-0.013846431858837605,
0.02788124978542328,
0.023976504802703857,
0.017186015844345093,
-0.02248653583228588,
-0.010686670430004597,
0.04000651091337204,
0.011799865402281284,
-0.033293090760707855,
0.03303619846701622,
-0.00892268493771553,
0.024147765710949898,
-0.0017714783316478133,
-0.0561392717063427,
0.044014010578393936,
0.0034509040415287018,
-0.0007690677884966135,
-0.007839460857212543,
-0.009196702390909195,
0.012613354250788689,
0.042780935764312744,
-0.009196702390909195,
-0.04843254014849663,
-0.04572661966085434,
-0.03754035755991936,
0.02483280748128891,
-0.059393227100372314,
0.0014139715349301696,
0.046171896159648895,
0.019181203097105026,
0.022537915036082268,
0.0026524008717387915,
-0.04822702705860138,
-0.041719116270542145,
-0.021390467882156372,
-0.025654859840869904,
-0.020962314680218697,
-0.003166183130815625,
-0.00790796522051096,
0.014437280595302582,
-0.05959874019026756,
0.03959548473358154,
-0.06912083923816681,
-0.045281343162059784,
0.012544849887490273,
0.0035472381860017776,
0.04000651091337204,
0.006135416217148304,
0.016620855778455734,
-0.018153639510273933,
-0.011628604494035244,
0.023496974259614944,
-0.05860542878508568,
0.0022435158025473356,
0.0008215163834393024,
-0.019763490185141563,
0.00028472099802456796,
-0.04880931228399277,
0.021527476608753204,
-0.031032446771860123,
-0.03551948070526123,
0.019249707460403442,
-0.010318459942936897,
-0.03805413842201233,
-0.0035258305724710226,
-0.047987259924411774,
-0.031169455498456955,
0.03839666023850441,
-0.08316422253847122,
0.037437599152326584,
-0.029405470937490463,
-0.0126647325232625,
-0.009265206754207611,
-0.015422030352056026,
-0.01331552304327488,
0.028429284691810608,
0.02966236136853695,
-0.007890839129686356,
-0.036855313926935196,
0.029508227482438087,
0.00661494629457593,
0.001264118356630206,
-0.04661717638373375,
0.04517858475446701,
0.020311525091528893,
0.005112133454531431,
-0.03541672229766846,
0.031118078157305717,
0.01703188195824623,
0.06850429624319077,
0.02498694323003292,
-0.02269204892218113,
-0.014659919776022434,
0.035108454525470734,
0.05137822404503822,
-0.04161636158823967,
-0.03784862533211708,
-0.006863274611532688,
-0.00839177705347538,
0.014325961470603943,
0.03319033235311508,
-0.023154452443122864,
0.021304836496710777,
-0.00938508938997984,
-0.012270832434296608,
0.020808180794119835,
0.014000565744936466,
0.0557282455265522,
-0.005291956942528486,
-0.013127136044204235,
-0.02269204892218113,
0.01195400021970272,
-0.029559604823589325,
0.020602667704224586,
-0.027812745422124863,
-0.020311525091528893,
-0.0010190014727413654,
-0.04713095724582672,
0.03932146728038788,
-0.008802802301943302,
-0.06182513013482094,
-0.03942422568798065,
-0.029405470937490463,
-0.021750114858150482,
-0.008896996267139912,
0.034937191754579544,
-0.011936874128878117,
-0.004452779423445463,
-0.04377424716949463,
0.010104384273290634,
0.05250854417681694,
0.04548685625195503,
-0.050487667322158813,
-0.04288369044661522,
0.022948939353227615,
-0.031118078157305717,
0.04644591361284256,
-0.029902126640081406,
-0.005497470032423735,
0.007942217402160168,
0.03949273005127907,
0.03291631489992142,
-0.043294716626405716,
-0.019078446552157402,
-0.006803333293646574,
-0.019677860662341118,
0.0020915218628942966,
0.021373340860009193,
-0.0180166307836771,
-0.07021690905094147,
0.005754360929131508,
-0.05387863144278526,
0.01293874904513359,
-0.012159513309597969,
-0.08980913460254669,
0.056858569383621216,
-0.03411513939499855,
-0.030484413728117943,
0.0002488632744643837,
-0.008366087451577187,
0.02106507122516632,
-0.03156335651874542,
-0.03637578338384628,
-0.006760518066585064,
0.03986950218677521,
0.011851243674755096,
0.01428314670920372,
-0.02693931572139263,
0.021476097404956818,
-0.00290286960080266,
0.0028664767742156982,
-0.034389156848192215,
0.006221046671271324,
0.03716358169913292,
0.02371961437165737,
0.0018827978055924177,
0.009813240729272366,
-0.00391116738319397,
0.053125083446502686,
0.031118078157305717,
-0.011765613220632076,
-0.0453498475253582,
0.017528537660837173,
-0.03695806860923767,
0.008032129146158695,
0.0037912847474217415,
0.017228830605745316,
-0.035827748477458954,
0.05130971968173981,
0.005129259545356035,
0.038670677691698074,
0.0011656434508040547,
0.0029649517964571714,
-0.018992817029356956,
0.007385619916021824,
-0.030638547614216805,
-0.04531559348106384,
-0.003662839299067855,
-0.003206857480108738,
-0.05141247808933258,
0.010806553065776825,
-0.04202738776803017,
0.07439567148685455,
-0.03514270484447479,
0.015927249565720558,
-0.03730059042572975,
-0.017014754936099052,
-0.006807614583522081,
0.0003170999698340893,
0.023171579465270042,
0.021904248744249344,
0.013187077827751637,
-0.022366654127836227,
-0.013195640407502651,
-0.020225893706083298,
0.012930186465382576,
0.009530660696327686,
-0.05065893009305,
-0.03373836725950241,
0.023308588191866875,
0.010601039975881577,
-0.025637734681367874,
0.03712933138012886,
0.00643084105104208,
0.014462970197200775,
0.012878808192908764,
0.03610176593065262,
-0.002684512175619602,
-0.03911595419049263,
0.058125898241996765,
-0.004272955469787121,
-0.02645978517830372,
0.04415101930499077,
0.01365804485976696,
-0.029525352641940117,
0.014762676320970058,
-0.019523724913597107,
-0.017588479444384575,
-0.0025689112953841686,
-0.012844556011259556,
0.05449517071247101,
0.004709670320153236,
-0.027264710515737534,
-0.010960687883198261,
-0.03354997932910919,
0.03870492801070213,
-0.014069070108234882,
0.007154417689889669,
0.003110523335635662,
0.024353278800845146,
0.034920066595077515,
-0.021887123584747314,
0.036341529339551926,
0.031203707680106163,
0.0035900534130632877,
0.04373999312520027,
0.020859558135271072,
0.04548685625195503,
-0.03409801423549652,
-0.05925621837377548,
-0.011268957518041134,
-0.005283393897116184,
-0.0118683697655797,
-0.033995259553194046,
0.034902941435575485,
0.027984006330370903,
-0.003810551716014743,
-0.004191606771200895,
0.005968437064439058,
-0.02324008382856846,
0.0006192146684043109,
0.025671986863017082,
0.04072580486536026,
-0.01322989258915186,
-0.0046326033771038055,
-0.012750362977385521,
-0.009436466731131077,
-0.015764551237225533,
0.03983524814248085,
0.027984006330370903,
-0.02375386655330658,
0.0024147764779627323,
-0.04250691831111908,
-0.0037356249522417784,
-0.022760553285479546,
-0.0210821982473135,
0.046719931066036224,
0.025980254635214806,
-0.007402746006846428,
-0.0009761862456798553,
-0.046137645840644836,
-0.027213333174586296,
0.032077137380838394,
-0.0071629807353019714,
0.0012544849887490273,
0.039184458553791046,
0.008670075796544552,
0.010789426974952221,
0.01322989258915186,
-0.03128933906555176,
0.012716110795736313,
-0.019540851935744286,
0.012630480341613293,
-0.030450161546468735,
-0.016338275745511055,
0.004354304634034634,
0.0009183857473544776,
0.02481568232178688,
0.016920560970902443,
-0.02430189959704876,
-0.027555854991078377,
0.010207140818238258,
0.0041123987175524235,
-0.00469254469498992,
0.009641979821026325,
0.01668936014175415,
-0.03514270484447479,
-0.06199638918042183,
0.0301932692527771,
0.0022456564474850893,
0.057440854609012604,
0.02106507122516632,
-0.014745550230145454,
-0.03730059042572975,
0.0037506103981286287,
-0.016475284472107887,
0.05381012707948685,
0.032419659197330475,
-0.05175499618053436,
0.01364948134869337,
0.02125345915555954,
-0.05452942103147507,
-0.025243833661079407,
0.007865149527788162,
-0.0002316034078830853,
0.013469657860696316,
-0.026202894747257233,
-0.012416403740644455,
0.0003047906211577356,
-0.008965499699115753,
0.02411351352930069,
0.06600388884544373,
0.01628689654171467,
-0.015036693774163723,
-0.025432221591472626,
-0.005261986516416073,
-0.023616857826709747,
0.08837054669857025,
0.003662839299067855,
0.03712933138012886,
0.0028707582969218493,
-0.011209015734493732,
0.020414281636476517,
0.040999822318553925,
-0.07138147950172424,
0.024575917050242424,
0.014043381437659264,
0.03623877465724945,
0.00678620720282197,
-0.005587381776422262,
-0.014163264073431492,
0.003983953036367893,
-0.03911595419049263,
0.015062382444739342,
0.023342840373516083,
-0.025449346750974655,
0.0025367997586727142,
-0.002763720229268074,
0.038670677691698074,
-0.0187530517578125,
0.013127136044204235,
-0.011799865402281284,
-0.0012844556476920843,
0.03389250114560127,
-0.017263082787394524,
-0.029045822098851204,
0.0034701707772910595,
0.030501538887619972,
-0.003515126882120967,
-0.029576731845736504,
0.023890873417258263,
0.024062134325504303,
-0.0015145872021093965,
-0.06048929691314697,
-0.016149887815117836,
-0.012313648127019405,
-0.005673012230545282,
-0.010609603486955166,
0.026750929653644562,
-0.019044194370508194,
0.004048176109790802,
0.01858179084956646,
-0.006863274611532688,
0.000712872832082212,
-0.06254442781209946,
-0.013435405679047108,
0.013538162223994732,
-0.010215703397989273,
0.021133575588464737,
0.03051866590976715,
-0.0567900650203228,
-0.009504971094429493,
0.06107158213853836,
-0.04038328304886818,
-0.021750114858150482,
-0.01438590232282877,
-0.031186582520604134,
0.030655674636363983,
0.08227366209030151,
0.0014589275233447552,
-0.0024340434465557337,
0.01983199454843998,
-0.019044194370508194,
0.02735034190118313,
0.004906620364636183,
0.005120696499943733,
-0.0057586426846683025,
0.05007664114236832,
-0.011962562799453735,
-0.011508721858263016,
-0.008023565635085106,
0.022281022742390633,
0.008939811028540134,
0.03139209374785423,
-0.018290648236870766,
0.037437599152326584,
0.034372031688690186,
-0.04271243140101433,
-0.0411025807261467,
0.035999007523059845,
0.028857436031103134,
-0.07220353186130524,
-0.016475284472107887,
-0.008074943907558918,
0.029902126640081406,
-0.050624676048755646,
-0.02498694323003292,
-0.008139166980981827,
0.027607232332229614,
-0.02659679390490055,
-0.03414939343929291,
-0.007886557839810848,
0.02394225262105465,
-0.044733308255672455,
0.019044194370508194,
-0.03315608203411102,
0.042164396494627,
-0.03106669895350933,
0.012459219433367252,
-0.021921375766396523,
0.016192704439163208,
0.022075509652495384,
-0.014933937229216099,
-0.004257970489561558,
0.07953348755836487,
-0.006109727080911398,
-0.0025389406364411116,
-0.011688546277582645,
-0.026887936517596245,
-0.005390432197600603,
-0.0027872687205672264,
-0.018787303939461708,
0.018496161326766014,
-0.0051164147444069386,
0.03551948070526123,
0.0678192526102066,
0.024541664868593216,
0.03630727902054787,
0.04247266426682472,
-0.014762676320970058,
-0.0033866812009364367,
0.0023805242963135242,
0.03440628573298454,
-0.02966236136853695,
0.03440628573298454,
0.006041222717612982,
0.04397976025938988,
-0.0034744522999972105,
-0.003453044919297099,
0.05415264889597893,
0.000754082459025085,
-0.015653232112526894,
-0.049014825373888016,
0.01714320108294487,
0.0019191907485947013,
0.03500569611787796,
0.006443685851991177,
0.03358423337340355,
-0.0180166307836771,
0.050453417003154755,
0.010755174793303013,
0.004923746455460787,
-0.0025517852045595646,
-0.00032432505395263433,
0.008605852723121643,
-0.003476593177765608,
-0.01734871417284012,
-0.012741799466311932,
0.03480018302798271,
-0.0009697639616206288,
-0.0360332615673542,
-0.007111602462828159,
0.011919748038053513,
-0.05230303108692169,
-0.01348678395152092,
0.0176912359893322,
0.004495594650506973,
0.02233240194618702,
-0.042575422674417496,
0.006533597595989704,
-0.016929125413298607,
-0.016209829598665237,
-0.010130072943866253,
0.023085948079824448,
0.018359152600169182,
0.023702487349510193,
-0.01744290627539158,
0.009350837208330631,
0.0039004634600132704,
-0.03555373102426529,
-0.0010516480542719364,
-0.024575917050242424,
-0.02121920697391033,
-0.06076331436634064,
-0.022024132311344147,
-0.016757864505052567,
-0.012784615159034729,
0.04692544415593147,
-0.05853692442178726,
0.044219523668289185,
-0.023068822920322418,
-0.015790240839123726,
0.05819440260529518,
0.0032560948748141527,
0.011106259189546108,
0.06867556273937225,
-0.0022306712344288826,
0.008173419162631035,
-0.007150136400014162,
0.04466480389237404,
0.049939632415771484,
0.006336647551506758,
0.00002443476114422083,
0.040623050183057785,
0.02216114103794098,
-0.01720314286649227,
-0.004052457399666309,
-0.03140922263264656,
-0.01704900711774826,
0.00526626780629158,
0.04021202400326729,
0.027778493240475655,
-0.0033823996782302856,
0.01587587036192417,
0.0017233112594112754,
0.018684547394514084,
0.024781430140137672,
0.03682105988264084,
-0.0695318654179573,
0.03565648943185806,
0.018872933462262154,
0.07761537283658981,
-0.03245391324162483,
0.008079226128757,
-0.03053579106926918,
0.01152584794908762,
0.03891044110059738,
-0.022109761834144592,
0.0062424540519714355,
0.02070542424917221,
-0.009607727639377117,
-0.010044442489743233,
-0.053125083446502686,
-0.0260658860206604,
-0.028891688212752342,
0.02342846989631653,
-0.0357934944331646,
0.022435158491134644,
-0.01394062489271164,
0.041308093816041946,
0.02377099171280861,
-0.01088362094014883,
0.00790796522051096,
-0.03593050315976143,
-0.009650543332099915,
0.012630480341613293,
0.011500159278512001,
-0.04891207069158554,
0.020465658977627754,
0.011594352312386036,
-0.007578288204967976,
0.0009606657549738884,
-0.0023484129924327135,
-0.014865432865917683,
-0.013700859621167183,
0.03488581255078316,
-0.04928884282708168,
-0.004983687773346901,
0.04480181261897087,
-0.0003513521223794669,
-0.012073882855474949,
-0.036684051156044006,
0.026339903473854065,
-0.0025646297726780176,
-0.01393206138163805,
0.027932627126574516,
-0.0313749685883522,
-0.03911595419049263,
0.012185201980173588,
0.023616857826709747,
-0.015404904261231422,
0.000786729040555656,
0.014069070108234882,
-0.005339053925126791,
0.004551254212856293,
-0.007218640297651291,
0.026511164382100105,
-0.06480506807565689,
0.01714320108294487,
0.029696613550186157,
0.00321542052552104,
-0.05569399520754814,
0.010823679156601429,
-0.02320583164691925,
0.024935564026236534,
-0.015456282533705235,
-0.002603163244202733,
0.04165061190724373,
-0.021681610494852066,
0.016655107960104942,
0.0353824719786644,
0.03416651859879494,
0.022212518379092216,
0.0019438094459474087,
-0.00714157335460186,
0.023976504802703857,
-0.003219702048227191,
0.01561041735112667,
0.005574537441134453,
0.03176886960864067,
-0.011816991493105888,
0.00633236626163125,
-0.03606751188635826,
-0.0164239052683115,
-0.02252078801393509,
-0.00920526497066021,
0.02305169589817524,
0.01877017877995968,
0.04665142670273781,
-0.033652737736701965,
0.03433778136968613,
0.05014514550566673,
-0.004885212983936071,
-0.01161147840321064,
0.017323024570941925,
0.007980750873684883,
0.03983524814248085,
-0.05415264889597893,
-0.032385408878326416,
-0.003489437745884061,
-0.033686988055706024,
-0.003461607964709401,
-0.044390786439180374,
0.06165386736392975,
0.031494852155447006,
0.03771161660552025,
-0.038328155875205994,
-0.014882558956742287,
-0.06281844526529312,
0.03836240619421005,
-0.036855313926935196,
-0.016792116686701775,
0.027572980150580406,
0.005381869152188301,
-0.020791055634617805,
0.025072572752833366,
0.03089543804526329,
-0.016449594870209694,
-0.016560913994908333,
-0.004572662059217691,
-0.08638392388820648,
-0.0049280282109975815,
-0.054563675075769424,
0.022914687171578407,
0.023274336010217667,
-0.02949110046029091,
0.012767489068210125,
-0.0013893528375774622,
-0.027538727968931198,
-0.032042887061834335,
-0.010498283430933952,
-0.01706613413989544,
-0.0015520504675805569,
-0.049357347190380096,
-0.0030784120317548513,
-0.011191889643669128,
0.037060827016830444,
-0.016569476574659348,
-0.0178967472165823,
-0.04271243140101433,
0.0036478538531810045,
0.005668730940669775,
0.003966826945543289,
-0.007950779981911182,
-0.04288369044661522,
-0.020979441702365875,
0.0006679169018752873,
0.040965571999549866,
0.02248653583228588,
0.03449191525578499,
0.04565811529755592,
0.0006780855474062264,
-0.02231527492403984,
0.04254116863012314,
-0.0022799086291342974,
-0.00818198174238205,
-0.00165052548982203,
-0.04565811529755592,
0.013152825646102428,
0.025123951956629753,
-0.05326209217309952,
-0.03483443707227707,
-0.04113683104515076,
-0.045452602207660675,
-0.006422278005629778,
-0.05432390794157982,
0.05452942103147507,
-0.04356873407959938
] |
Community detection techniques are useful tools for social media platforms to
discover tightly connected groups of users who share common interests. However,
this functionality often comes at the expense of potentially exposing
individuals to privacy breaches by inadvertently revealing their tastes or
preferences. Therefore, some users may wish to safeguard their anonymity and
opt out of community detection for various reasons, such as affiliation with
political or religious organizations.
In this study, we address the challenge of community membership hiding, which
involves strategically altering the structural properties of a network graph to
prevent one or more nodes from being identified by a given community detection
algorithm. We tackle this problem by formulating it as a constrained
counterfactual graph objective, and we solve it via deep reinforcement
learning. We validate the effectiveness of our method through two distinct
tasks: node and community deception. Extensive experiments show that our
approach overall outperforms existing baselines in both tasks. | [
-0.015856804326176643,
-0.03341387212276459,
-0.03343235328793526,
-0.0277586467564106,
0.04723775014281273,
0.022787224501371384,
-0.04660939425230026,
0.014655530452728271,
-0.06893458962440491,
0.017187444493174553,
-0.033081211149692535,
-0.008164036087691784,
-0.031399428844451904,
-0.06139429286122322,
0.011476777493953705,
0.02031075395643711,
0.00952701922506094,
-0.024875592440366745,
0.0459810346364975,
-0.07621615380048752,
0.008838596753776073,
-0.052597276866436005,
0.008644545450806618,
0.004620280582457781,
0.04967726022005081,
0.026723703369498253,
0.024838630110025406,
-0.014378313906490803,
-0.05581299215555191,
0.07954275608062744,
0.05078612640500069,
0.007711248472332954,
0.01619870401918888,
-0.026058383285999298,
-0.058215536177158356,
-0.032693106681108475,
0.021493546664714813,
0.008302644826471806,
0.008519797585904598,
0.04716382548213005,
-0.02031075395643711,
0.01847188174724579,
-0.012881343252956867,
-0.02517128922045231,
0.03642629459500313,
-0.054260578006505966,
-0.004308411851525307,
-0.05670008435845375,
0.0022177346982061863,
-0.01947910338640213,
0.01884150505065918,
-0.07111535966396332,
0.02419178932905197,
-0.01984872668981552,
-0.04213695973157883,
0.010839179158210754,
0.054334502667188644,
-0.03884731978178024,
0.04021492227911949,
-0.020125942304730415,
0.021992536261677742,
0.04250658303499222,
0.01573667675256729,
0.024450525641441345,
-0.008787774480879307,
-0.03027207963168621,
-0.0022616274654865265,
-0.029311060905456543,
-0.008159415796399117,
-0.028202194720506668,
-0.06838015466928482,
0.06424038112163544,
-0.009868919849395752,
-0.013177040964365005,
-0.0029431188013404608,
0.010894621722400188,
0.0020456293132156134,
0.04405899718403816,
-0.03075258806347847,
-0.011680069379508495,
-0.022399121895432472,
-0.004768129903823137,
0.005738388746976852,
-0.003028593957424164,
0.07858173549175262,
-0.030124230310320854,
0.03685135766863823,
-0.06520140171051025,
0.04601799696683884,
-0.013592866249382496,
-0.010441834107041359,
0.0017210545483976603,
0.037036169320344925,
-0.027814090251922607,
-0.004691895097494125,
0.027019402012228966,
0.0017637922428548336,
-0.026742184534668922,
-0.07056092470884323,
0.09151852130889893,
-0.046091921627521515,
-0.0011978078400716186,
0.013380332849919796,
0.008478214964270592,
0.010229301638901234,
-0.05370614305138588,
0.01708579808473587,
0.04206303507089615,
-0.012899823486804962,
0.1732790172100067,
-0.009453094564378262,
0.04339367523789406,
-0.005271740257740021,
0.0561826154589653,
-0.05962010473012924,
0.027906496077775955,
-0.04287620633840561,
-0.006292822305113077,
-0.005456551443785429,
-0.037535160779953,
0.01429514866322279,
0.020015057176351547,
-0.002776788780465722,
-0.007161435205489397,
-0.0415455661714077,
0.006801053415983915,
-0.03467058762907982,
0.007581880781799555,
-0.02251000888645649,
0.05847427248954773,
-0.02596597746014595,
0.03256373852491379,
0.03638933226466179,
-0.06882370263338089,
0.025337619706988335,
0.04856839030981064,
0.06102466955780983,
0.03818200156092644,
-0.002259317319840193,
0.029754608869552612,
-0.007078269962221384,
0.02513432689011097,
-0.06512747704982758,
0.015468699857592583,
-0.02722269482910633,
0.07026523351669312,
-0.012502479366958141,
0.048235733062028885,
-0.030530815944075584,
-0.012271465733647346,
-0.008510557003319263,
0.08723089843988419,
0.0423956960439682,
0.012613366357982159,
0.04509393870830536,
-0.013232484459877014,
0.03333994746208191,
-0.03339539095759392,
-0.0030840374529361725,
-0.061209481209516525,
0.011763234622776508,
-0.020052019506692886,
0.02469078078866005,
0.06235530972480774,
-0.027629278600215912,
0.028701184317469597,
-0.0040173339657485485,
-0.002047939458861947,
-0.04638762027025223,
0.05141448602080345,
-0.006625482812523842,
-0.011781715787947178,
-0.0389951691031456,
0.047792185097932816,
-0.0238406490534544,
0.03862554579973221,
0.04380026087164879,
-0.0793209820985794,
0.03565008565783501,
-0.010922343470156193,
-0.052153728902339935,
0.01799137331545353,
0.020421640947461128,
0.015209964476525784,
-0.011495258659124374,
0.02603990212082863,
0.03670351207256317,
0.007133713457733393,
0.05917655676603317,
0.0017014184268191457,
0.012936785817146301,
0.04442862048745155,
0.020199866965413094,
-0.017769599333405495,
0.019220368936657906,
-0.030013343319296837,
-0.014821860939264297,
-0.01995961368083954,
-0.009850438684225082,
-0.012252984568476677,
-0.026187751442193985,
-0.07045003771781921,
0.030844993889331818,
-0.0041536325588822365,
0.010330948047339916,
-0.014895785599946976,
0.05610869079828262,
-0.03637085109949112,
-0.021752281114459038,
-0.03326602280139923,
-0.018758339807391167,
-0.05341044440865517,
-0.03550223633646965,
-0.0016194083727896214,
-0.0012855931418016553,
-0.0016459750477224588,
-0.010367910377681255,
-0.015348573215305805,
0.03666654974222183,
-0.003984992392361164,
0.010257023386657238,
0.015136039815843105,
0.039956189692020416,
-0.024524450302124023,
-0.04794003441929817,
0.027370544150471687,
0.04590710997581482,
0.059509217739105225,
-0.0476812981069088,
-0.02380368672311306,
-0.023637356236577034,
-0.044317733496427536,
0.039179980754852295,
0.02515280805528164,
0.0553324818611145,
-0.03295184299349785,
-0.0065376972779631615,
0.06091378256678581,
0.04535267502069473,
-0.033543240278959274,
-0.054371464997529984,
-0.0013999451184645295,
-0.036112114787101746,
-0.005040726158767939,
0.05810465291142464,
0.0221403855830431,
-0.010728292167186737,
0.017621750012040138,
-0.015108318068087101,
0.034781474620103836,
0.0029384985100477934,
-0.028756627812981606,
-0.012816659174859524,
0.03162120282649994,
-0.04243265837430954,
-0.0022708680480718613,
-0.047755222767591476,
-0.04032580927014351,
0.0030401446856558323,
-0.03725794330239296,
0.05207980424165726,
0.024395082145929337,
-0.057808954268693924,
0.05444538965821266,
-0.0002694201248232275,
0.005595160182565451,
0.04446558281779289,
-0.01602313295006752,
-0.003444419242441654,
0.02328621596097946,
-0.01777883991599083,
-0.02729661948978901,
-0.04550052434206009,
0.005313322879374027,
0.005354905501008034,
0.009152776561677456,
-0.022251272574067116,
-0.012252984568476677,
0.020218348130583763,
-0.015524143353104591,
0.015357812866568565,
-0.02992093749344349,
0.010229301638901234,
-0.007184536661952734,
0.00021036715770605952,
-0.021475065499544144,
-0.040917206555604935,
-0.021826205775141716,
-0.07495943456888199,
-0.044835206121206284,
-0.03186145797371864,
0.01214209757745266,
-0.017095038667321205,
0.021807724609971046,
-0.021456584334373474,
-0.03071562573313713,
-0.01841644011437893,
0.041286829859018326,
0.01901707611978054,
-0.01538553461432457,
-0.06353810429573059,
-0.04243265837430954,
0.025430025532841682,
0.03029056079685688,
-0.039143018424510956,
0.01316780038177967,
0.05141448602080345,
0.061246443539857864,
-0.03202778473496437,
-0.05492589622735977,
-0.011763234622776508,
-0.010987027548253536,
-0.0396604910492897,
-0.01018309872597456,
-0.04856839030981064,
-0.026169270277023315,
0.04320886731147766,
-0.0406954325735569,
0.03696224465966225,
-0.05071220174431801,
-0.00496218167245388,
0.015237686224281788,
-0.06509051471948624,
-0.007041308097541332,
-0.040067076683044434,
0.015246926806867123,
0.016614530235528946,
0.07909920811653137,
-0.026501931250095367,
-0.0012058932334184647,
-0.06483177840709686,
0.01295526698231697,
-0.039216943085193634,
-0.022417603060603142,
-0.011171839199960232,
0.0024995720013976097,
-0.006861116737127304,
0.02038467861711979,
-0.02947739139199257,
0.01363906916230917,
-0.018065297976136208,
-0.048272695392370224,
-0.030937399715185165,
0.03195386007428169,
-0.000822409987449646,
-0.025670280680060387,
-0.030105749145150185,
0.004696515388786793,
0.011837159283459187,
0.03409767150878906,
0.001047648722305894,
-0.00213341461494565,
-0.006676305551081896,
-0.010478796437382698,
0.05836338549852371,
0.004832813516259193,
-0.011328928172588348,
-0.044761281460523605,
0.0015535694546997547,
0.01607857644557953,
0.049529410898685455,
-0.07577260583639145,
-0.015006671659648418,
0.014895785599946976,
-0.03943871706724167,
-0.0023378620389848948,
-0.06679078191518784,
0.029976380988955498,
-0.0014161160215735435,
0.03637085109949112,
-0.049529410898685455,
-0.007327765226364136,
-0.013768436387181282,
-0.011023989878594875,
0.003857934381812811,
-0.027610797435045242,
0.0011048245942220092,
0.023692799732089043,
-0.013731474056839943,
0.018074538558721542,
-0.028405485674738884,
-0.0076373242773115635,
0.0720394179224968,
0.025762686505913734,
-0.034836918115615845,
0.016633011400699615,
0.020939111709594727,
0.03951264172792435,
0.0010684399167075753,
0.009000306949019432,
-0.0001839449250837788,
-0.04590710997581482,
-0.05200587958097458,
-0.012373112142086029,
-0.004246037919074297,
0.04062150791287422,
-0.020661896094679832,
0.010275504551827908,
0.005100789945572615,
-0.04764433577656746,
-0.017409218475222588,
-0.023119885474443436,
0.002864574082195759,
-0.001947448356077075,
-0.01799137331545353,
-0.009970566257834435,
-0.01233614981174469,
-0.08863546699285507,
0.0051931957714259624,
0.01811150088906288,
0.04405899718403816,
-0.02419178932905197,
-0.014175021089613438,
-0.0077482108026742935,
-0.019349735230207443,
0.01039563212543726,
-0.05710666999220848,
0.019978094846010208,
0.03557616099715233,
-0.014267426915466785,
0.06612545996904373,
-0.003303500823676586,
0.08516101539134979,
-0.04727471247315407,
-0.017871245741844177,
0.023156847804784775,
0.03069714643061161,
-0.042247846722602844,
0.006089529953896999,
-0.04272835701704025,
0.03727642446756363,
0.01733529381453991,
-0.004724237136542797,
-0.018518084660172462,
-0.05226461589336395,
0.009998288005590439,
0.01944214105606079,
-0.011550702154636383,
0.0007767847273498774,
-0.005345664918422699,
0.0035945784766227007,
-0.059546180069446564,
-0.046128883957862854,
-0.004051986150443554,
-0.004400817211717367,
-0.002278953557834029,
-0.018943151459097862,
-0.059139594435691833,
-0.01984872668981552,
-0.0025018821470439434,
-0.07917313277721405,
-0.014221224002540112,
-0.040510620921850204,
-0.06228138506412506,
0.020125942304730415,
-0.020624933764338493,
-0.022232791408896446,
-0.035261981189250946,
0.05673704668879509,
-0.007674286607652903,
0.00048484071157872677,
0.025004958733916283,
-0.006357506383210421,
-0.03751667961478233,
-0.030216636136174202,
0.0023678939323872328,
-0.04849446564912796,
-0.006094150245189667,
0.00746175367385149,
0.00030580483144149184,
0.04228480905294418,
0.028183713555336,
-0.014858823269605637,
0.015191483311355114,
0.004754269029945135,
0.03855162113904953,
-0.02378520555794239,
-0.08013415336608887,
-0.0087461918592453,
-0.013084635138511658,
-0.0071198525838553905,
0.10253327339887619,
0.014332110993564129,
-0.013888563960790634,
-0.009480816312134266,
-0.01101474929600954,
0.0476812981069088,
-0.016522124409675598,
-0.05548033118247986,
-0.05204284191131592,
-0.0006849566125310957,
0.013056913390755653,
0.027795609086751938,
-0.017889726907014847,
0.004181354306638241,
-0.005013004876673222,
0.008127073757350445,
-0.030401447787880898,
0.06072897091507912,
0.03627844527363777,
0.045685335993766785,
-0.035668566823005676,
0.01868441514670849,
-0.003608439350500703,
0.06527532637119293,
-0.03117765486240387,
-0.0071660554967820644,
0.015995411202311516,
0.019312772899866104,
0.003194924211129546,
-0.024579893797636032,
0.052560314536094666,
-0.02862725965678692,
-0.027943458408117294,
-0.0177973210811615,
0.013084635138511658,
0.003384355688467622,
-0.013269446790218353,
-0.018157703801989555,
0.05100790038704872,
0.011301206424832344,
-0.0049760425463318825,
-0.023064441978931427,
0.02082822658121586,
-0.08227796107530594,
0.0580676905810833,
0.03465210646390915,
-0.021068479865789413,
-0.0017349154222756624,
-0.0415455661714077,
-0.012936785817146301,
0.04620280861854553,
-0.02247304655611515,
-0.014138058759272099,
0.0238406490534544,
-0.036500219255685806,
-0.005419589579105377,
0.008334986865520477,
-0.021937092766165733,
-0.022787224501371384,
0.009582462720572948,
0.049972955137491226,
-0.0026959339156746864,
0.009785754606127739,
0.011208801530301571,
0.022657856345176697,
0.033487796783447266,
-0.060433272272348404,
0.010109174065291882,
0.015209964476525784,
0.010136895813047886,
0.036075152456760406,
0.017076557502150536,
-0.021382659673690796,
-0.018157703801989555,
-0.014932747930288315,
-0.0015916867414489388,
0.035705529153347015,
0.013287927955389023,
-0.031806014478206635,
-0.017621750012040138,
-0.002591977594420314,
0.026187751442193985,
0.0031048287637531757,
-0.040917206555604935,
-0.020421640947461128,
0.006958142854273319,
0.04856839030981064,
0.005618261639028788,
-0.0016679213149473071,
0.0009165481897071004,
-0.015209964476525784,
-0.05145144835114479,
-0.019719358533620834,
0.026261676102876663,
-0.002329776529222727,
0.005567438434809446,
-0.003663882613182068,
0.039216943085193634,
-0.00918049830943346,
0.02330469712615013,
-0.02249152772128582,
0.0017730327090248466,
0.01214209757745266,
0.0015882215229794383,
0.009850438684225082,
-0.02683459036052227,
-0.010035249404609203,
-0.004322272725403309,
-0.0014657840365543962,
0.03302576765418053,
0.04967726022005081,
-0.030438410118222237,
0.013260206207633018,
0.040030114352703094,
-0.013121597468852997,
0.007882199250161648,
0.02685307152569294,
0.03152879700064659,
-0.0449460931122303,
0.011948046274483204,
0.019257329404354095,
0.01658680848777294,
0.019608471542596817,
0.007540298160165548,
-0.047792185097932816,
0.000632400915492326,
0.013851601630449295,
-0.0009182807989418507,
-0.024450525641441345,
-0.0068657370284199715,
0.01275197509676218,
0.057808954268693924,
-0.0466463565826416,
0.00896796490997076,
0.04228480905294418,
0.029588278383016586,
0.03112221136689186,
-0.04583318531513214,
-0.050009917467832565,
0.056515272706747055,
-0.036611106246709824,
0.08464354276657104,
0.062170498073101044,
-0.017871245741844177,
0.023544950410723686,
-0.015681233257055283,
-0.019312772899866104,
0.024894073605537415,
0.011088673956692219,
-0.02777712792158127,
0.017834283411502838,
-0.022694818675518036,
0.003971131518483162,
0.0025180529337376356,
-0.03672199323773384,
0.00563674233853817,
0.05577602982521057,
0.0006173850269988179,
0.0026196991093456745,
-0.014230464585125446,
-0.007018206641077995,
-0.008385810069739819,
0.042987093329429626,
-0.00831188540905714,
0.02816523239016533,
0.007581880781799555,
-0.02727813832461834,
0.00013052293797954917,
0.017834283411502838,
-0.01559806801378727,
0.0013803088804706931,
0.01231766864657402,
0.017667952924966812,
-0.007540298160165548,
-0.03735034912824631,
-0.0006318233790807426,
0.0010210820473730564,
0.0017788080731406808,
0.017889726907014847,
0.008468974381685257,
-0.016540605574846268,
-0.016143260523676872,
0.008395049721002579,
0.006694786716252565,
0.014165780507028103,
0.01342653576284647,
-0.03067866526544094,
0.023249253630638123,
0.007863718084990978,
-0.018564287573099136,
0.006362126674503088,
-0.015034393407404423,
0.015903007239103317,
0.0057984525337815285,
-0.005784591659903526,
0.0035645465832203627,
0.04642458260059357,
-0.02117936685681343,
-0.03426400199532509,
-0.04716382548213005,
-0.008399670012295246,
-0.05810465291142464,
0.05137752369046211,
-0.07155890762805939,
-0.020088979974389076,
-0.00404967600479722,
0.034023746848106384,
-0.016568327322602272,
-0.03844073787331581,
-0.048716239631175995,
-0.02903384529054165,
0.022362159565091133,
-0.012724253349006176,
0.025430025532841682,
-0.022657856345176697,
-0.00400578323751688,
-0.03888428211212158,
-0.009000306949019432,
0.01816694438457489,
-0.029773090034723282,
0.03587185963988304,
-0.024080904200673103,
0.06963687390089035,
-0.012853621505200863,
0.00702744722366333,
-0.0020502496045082808,
0.0311591736972332,
-0.038218963891267776,
-0.007840616628527641,
-0.002194633474573493,
0.037849340587854385,
-0.07244600355625153,
0.05200587958097458,
0.016651492565870285,
0.010081452317535877,
0.024561412632465363,
-0.02428419515490532,
0.013777676969766617,
0.013093875721096992,
-0.031806014478206635,
-0.0076373242773115635,
0.04380026087164879,
-0.027924977242946625,
-0.01561654917895794,
0.005622881930321455,
-0.0025781167205423117,
-0.004082018043845892,
-0.022731781005859375,
-0.0005503909196704626,
0.04099113121628761,
-0.013528182171285152,
-0.005895478185266256,
0.025226732715964317,
-0.024746224284172058,
-0.0003791517810896039,
0.0028761248104274273,
0.024358119815587997,
0.06549710035324097,
-0.06106163188815117,
-0.014581605792045593,
-0.01278893742710352,
0.0332845039665699,
-0.01905403845012188,
0.015376294031739235,
0.02515280805528164,
-0.04446558281779289,
0.027481429278850555,
-0.024820148944854736,
0.01490502618253231,
0.0094900568947196,
-0.02210342325270176,
0.008381189778447151,
-0.03685135766863823,
-0.04675723984837532,
0.03169512748718262,
0.010053730569779873,
0.01235463097691536,
0.013833120465278625,
0.011763234622776508,
-0.009850438684225082,
0.03213867172598839,
-0.016974911093711853,
0.050490427762269974,
0.003832523012533784,
-0.024783186614513397,
-0.004624900873750448,
-0.009739551693201065,
0.015052874572575092,
-0.05817857384681702,
0.019645433872938156,
-0.017252128571271896,
0.023637356236577034,
-0.01625414751470089,
-0.0459810346364975,
0.014156539924442768,
0.019626952707767487,
-0.023877611383795738,
-0.033487796783447266,
-0.0011308137327432632,
-0.032693106681108475,
-0.0028668842278420925,
-0.029126249253749847,
0.03910605609416962,
-0.04280228167772293,
0.018721377477049828,
0.004453950561583042,
-0.015450218692421913,
-0.050083842128515244,
0.01642971858382225,
-0.01946062222123146,
-0.011569183319807053,
0.006075669080018997,
-0.008750812150537968,
0.026594337075948715,
0.009453094564378262,
-0.03212019056081772,
0.059435293078422546,
-0.030382966622710228,
-0.0008016187348403037,
0.04642458260059357,
-0.005609021056443453,
-0.0315842404961586,
-0.014082616195082664,
0.0051100305281579494,
-0.06483177840709686,
-0.00855213962495327,
-0.02125329151749611,
0.025356100872159004,
0.012613366357982159,
0.0307341068983078,
0.026649778708815575,
-0.024025460705161095,
-0.0030309041030704975,
-0.026483450084924698,
-0.03600122779607773,
0.023082923144102097,
-0.023138366639614105,
-0.033949822187423706,
-0.025208251550793648,
-0.006024846341460943,
-0.01868441514670849,
0.008857077918946743,
-0.048679277300834656,
-0.018083779141306877,
-0.008626064285635948,
0.01951606571674347,
0.0007207638118416071,
0.021401140838861465,
-0.009443853981792927,
0.034836918115615845,
0.04816180840134621,
-0.02944042906165123,
0.02602142095565796,
-0.02764775976538658,
0.04587014764547348,
-0.002211959334090352,
0.008168656378984451,
0.035594642162323,
0.025226732715964317,
0.049899034202098846,
0.040067076683044434,
-0.0189801137894392,
-0.03036448545753956,
-0.01360210683196783,
0.023175328969955444,
-0.020255310460925102,
0.026298638433218002,
0.02646496891975403,
0.0017441560048609972,
0.030068786814808846,
0.04021492227911949,
0.02374824322760105,
-0.00111002242192626,
0.01407337561249733,
0.006801053415983915,
0.02430267632007599,
-0.021327216178178787,
-0.027629278600215912,
0.015099077485501766,
0.0002626340719871223,
-0.026243194937705994,
-0.021068479865789413,
0.029348023235797882,
0.0027097947895526886,
0.006551558151841164,
0.002042164094746113,
-0.01450768206268549,
0.022713299840688705,
-0.03546527400612831,
0.02297203615307808,
-0.02243608422577381,
-0.058696046471595764,
0.04816180840134621,
0.03295184299349785,
-0.010266263969242573,
0.00768352672457695,
-0.041286829859018326,
-0.006551558151841164,
0.002025993075221777,
0.0013445017393678427,
-0.004218316171318293,
-0.009300624951720238,
-0.03977137804031372,
0.07843388617038727,
-0.042580507695674896,
0.023119885474443436,
-0.01563503034412861,
-0.011975768022239208,
-0.03274855017662048,
-0.05895478278398514,
0.011088673956692219,
-0.04587014764547348,
-0.023045960813760757,
0.022676337510347366,
-0.020680377259850502,
-0.016974911093711853,
0.031380947679281235,
-0.018712136894464493,
0.03779389709234238,
0.006431431043893099,
-0.0343194454908371,
-0.006463772617280483,
-0.000903842446859926,
0.06309455633163452,
0.018157703801989555,
-0.02689003385603428,
-0.013056913390755653,
0.01495122816413641,
0.009554740972816944,
-0.00938379019498825,
-0.0349847674369812,
-0.009933603927493095,
-0.06919332593679428,
0.018037576228380203,
-0.0021207088138908148,
-0.026982439681887627,
0.005013004876673222,
0.0036661927588284016,
-0.010802216827869415,
0.022343678399920464,
0.04017795994877815,
-0.02114240452647209,
0.04923371225595474,
0.005872376728802919,
0.021031517535448074,
0.018730618059635162,
0.019109481945633888,
-0.011800196953117847,
0.044391658157110214,
-0.010950065217912197,
0.02592901512980461,
0.025873571634292603,
0.02550395019352436,
0.0623183473944664,
0.009069611318409443,
-0.053003862500190735,
0.014775658026337624,
-0.0381450392305851,
-0.029329542070627213,
0.01639275625348091,
0.004257588647305965,
0.0007565709529444575,
0.009582462720572948,
0.007304663769900799,
0.006657824385911226,
0.023877611383795738,
0.0004833968705497682,
-0.020052019506692886,
0.03245285153388977,
-0.07821211218833923,
-0.0009835422970354557,
0.013103116303682327,
0.01518224272876978,
-0.006625482812523842,
-0.004426228813827038,
-0.040030114352703094,
0.030142711475491524,
-0.005655223503708839,
0.025004958733916283,
0.009554740972816944,
0.01584756374359131,
-0.009009547531604767,
-0.014202742837369442,
0.0017002633539959788,
0.018407199531793594,
-0.010608164593577385,
-0.030918918550014496,
0.003388975979760289,
0.03635236993432045,
0.024025460705161095,
-0.012289946898818016,
0.003548375563696027,
0.022214310243725777,
-0.017612509429454803,
-0.013084635138511658,
-0.0022154245525598526,
-0.014544643461704254,
0.00003378580368007533,
0.027536872774362564,
0.015995411202311516,
0.01758478954434395,
0.0038625546731054783,
0.02291659265756607,
-0.007364727556705475,
-0.009970566257834435,
0.014332110993564129,
-0.01905403845012188,
-0.040510620921850204,
0.01811150088906288,
0.005978643428534269,
-0.008265682496130466,
0.050046879798173904,
-0.0009084626799449325,
-0.06283582001924515,
0.006496114656329155,
0.01986720785498619,
-0.043245829641819,
-0.0021888581104576588,
0.043467599898576736,
-0.017252128571271896,
0.0058492752723395824,
0.02334165759384632,
0.047385599464178085,
-0.0032572979107499123,
-0.0221403855830431,
0.026058383285999298,
-0.011495258659124374,
-0.019349735230207443,
0.006713267881423235,
0.006232758983969688,
-0.01793592981994152,
-0.012114375829696655,
-0.026538893580436707,
-0.030382966622710228,
-0.02164139598608017,
-0.011310447007417679,
0.043578486889600754,
-0.02859029732644558,
-0.00997980684041977,
0.011162598617374897,
-0.04250658303499222,
0.027888014912605286,
-0.0012555612483993173
] |
The ability to plan at many different levels of abstraction enables agents to
envision the long-term repercussions of their decisions and thus enables
sample-efficient learning. This becomes particularly beneficial in complex
environments from high-dimensional state space such as pixels, where the goal
is distant and the reward sparse. We introduce Forecaster, a deep hierarchical
reinforcement learning approach which plans over high-level goals leveraging a
temporally abstract world model. Forecaster learns an abstract model of its
environment by modelling the transitions dynamics at an abstract level and
training a world model on such transition. It then uses this world model to
choose optimal high-level goals through a tree-search planning procedure. It
additionally trains a low-level policy that learns to reach those goals. Our
method not only captures building world models with longer horizons, but also,
planning with such models in downstream tasks. We empirically demonstrate
Forecaster's potential in both single-task learning and generalization to new
tasks in the AntMaze domain. | [
0.02022004872560501,
-0.01223420538008213,
-0.033234015107154846,
-0.050585974007844925,
0.020022867247462273,
-0.0037934998981654644,
-0.03197922557592392,
0.037679560482501984,
-0.12304115295410156,
0.04101371765136719,
0.010101061314344406,
0.043630849570035934,
0.009975582361221313,
-0.004987791180610657,
-0.031351830810308456,
0.022191861644387245,
0.04388180747628212,
0.05987142026424408,
0.03248114138841629,
-0.04897267371416092,
-0.019144514575600624,
0.01769254356622696,
-0.028483739122748375,
0.015039557591080666,
0.04334403946995735,
0.011929470114409924,
0.04628383740782738,
-0.028698846697807312,
-0.04811224341392517,
0.0851106345653534,
0.028662994503974915,
0.03671157732605934,
-0.0011730048572644591,
-0.01548769697546959,
-0.04861415922641754,
0.024074047803878784,
0.04015328735113144,
-0.009921805933117867,
-0.013650326058268547,
0.05675237253308296,
-0.013471069745719433,
0.03481146693229675,
-0.03206885606050491,
-0.04094201326370239,
0.015021632425487041,
-0.006471132859587669,
-0.014573493041098118,
0.010011433623731136,
-0.031889598816633224,
0.006421837490051985,
-0.055856093764305115,
-0.057397693395614624,
0.042411912232637405,
-0.025956233963370323,
-0.049904800951480865,
0.030204594135284424,
0.02636852115392685,
-0.012440348975360394,
0.029881933704018593,
0.09894917905330658,
0.019252067431807518,
-0.0022675853688269854,
-0.05209172144532204,
0.00666831387206912,
0.006027474533766508,
-0.059441208839416504,
0.026314744725823402,
-0.01803312823176384,
0.003880887059494853,
-0.031710341572761536,
-0.029505496844649315,
0.0035044499672949314,
-0.04535170644521713,
-0.02192297950387001,
-0.005910958629101515,
-0.011553033255040646,
0.033592529594898224,
0.010988377965986729,
-0.005512114614248276,
-0.015227776020765305,
0.014779636636376381,
0.014125353656709194,
-0.06256026029586792,
0.0063725421205163,
0.08532574027776718,
-0.01335455384105444,
0.005852700211107731,
-0.05011991038918495,
0.0390777550637722,
0.010853935964405537,
0.024880697950720787,
0.03350289911031723,
-0.009599145501852036,
0.007443595211952925,
-0.0458536222577095,
0.05660896748304367,
-0.017943501472473145,
0.03097539395093918,
-0.011042154394090176,
-0.03420199826359749,
0.00565103767439723,
0.0002533388033043593,
-0.056537263095378876,
0.004279731307178736,
0.010737420059740543,
-0.017809059470891953,
-0.05424278974533081,
-0.027623312547802925,
-0.01437631156295538,
0.07937444746494293,
0.032750025391578674,
-0.030742362141609192,
-0.011956358328461647,
0.04234020784497261,
-0.007766255643218756,
0.012261093594133854,
-0.00009221868094755337,
-0.035277530550956726,
0.04965384304523468,
-0.019664356485009193,
0.035277530550956726,
0.019610580056905746,
0.03438125178217888,
-0.016697673127055168,
-0.0054673003032803535,
0.01088978722691536,
0.010898750275373459,
0.037858814001083374,
0.03552849218249321,
0.008761124685406685,
0.014690008945763111,
-0.008559462614357471,
-0.010334094054996967,
0.023930642753839493,
-0.015048520639538765,
0.012951227836310863,
0.010172763839364052,
-0.008877641521394253,
0.0063680605962872505,
-0.03276795148849487,
0.005843737628310919,
-0.04176659137010574,
-0.07399677485227585,
0.003768852213397622,
0.06352823972702026,
-0.004665131215006113,
0.03653232380747795,
0.08919766545295715,
-0.0340585932135582,
0.03346705064177513,
-0.04284212365746498,
0.045495111495256424,
0.03604833036661148,
0.03707008808851242,
-0.003074236214160919,
-0.020435156300663948,
-0.03151316195726395,
0.00027280484209768474,
-0.031190501525998116,
-0.0297743808478117,
0.051087889820337296,
-0.013748915866017342,
0.014214981347322464,
0.034614287316799164,
0.05564098432660103,
0.011561996303498745,
0.021134253591299057,
-0.018750151619315147,
-0.047682031989097595,
0.04234020784497261,
-0.02518543414771557,
0.02531091310083866,
-0.010531275533139706,
0.019467175006866455,
-0.019108664244413376,
0.02871677093207836,
0.06187908723950386,
0.02106255106627941,
-0.013811656273901463,
0.050263311713933945,
-0.024755218997597694,
-0.027461981400847435,
-0.009590182453393936,
0.04983310028910637,
0.05696747824549675,
0.09966620057821274,
0.06137717142701149,
0.003629928920418024,
0.054995663464069366,
-0.03167449310421944,
-0.008546018041670322,
0.04330819100141525,
0.03685498237609863,
-0.030867841094732285,
0.021492764353752136,
-0.09142043441534042,
-0.03076028823852539,
0.047215964645147324,
-0.05506736785173416,
0.017074109986424446,
-0.02396649494767189,
-0.011337926611304283,
-0.014546604827046394,
0.06761527061462402,
0.0008256967994384468,
0.010396833531558514,
0.020202122628688812,
-0.01265545655041933,
0.028501665219664574,
-0.06729260832071304,
0.03640684485435486,
-0.05983557179570198,
-0.02756953425705433,
0.004284212365746498,
-0.010110024362802505,
-0.009056896902620792,
-0.015272590331733227,
0.035116203129291534,
-0.01581035740673542,
-0.04578191787004471,
0.007860364392399788,
0.008160618133842945,
0.016554268077015877,
0.007967918179929256,
-0.01333662774413824,
0.06926442682743073,
0.018427491188049316,
-0.021636169403791428,
-0.00028904990176670253,
0.05495981499552727,
-0.029505496844649315,
0.01418809313327074,
0.05202002078294754,
-0.004488116130232811,
0.025741126388311386,
0.012637530453503132,
-0.026243042200803757,
0.040906164795160294,
0.028465813025832176,
-0.025131655856966972,
0.06521324068307877,
-0.038002219051122665,
-0.01885770447552204,
-0.02226356416940689,
0.05115959048271179,
-0.01036098226904869,
-0.03810977190732956,
0.03267832472920418,
0.004642724059522152,
0.0022082068026065826,
-0.01935962215065956,
-0.016617007553577423,
-0.050442568957805634,
0.02127765864133835,
-0.012314870022237301,
0.02228149026632309,
0.04968969523906708,
0.026655331254005432,
0.015451845712959766,
0.020471006631851196,
0.0033901743590831757,
0.020686114206910133,
0.03533130884170532,
0.06621707230806351,
-0.034757692366838455,
0.021044624969363213,
0.01582828350365162,
-0.003983959089964628,
-0.012108726426959038,
0.03538508713245392,
-0.023374950513243675,
-0.033592529594898224,
0.01873222552239895,
0.020704040303826332,
-0.006999937351793051,
-0.041587334126234055,
0.0186963751912117,
0.031549014151096344,
0.046355538070201874,
0.0764346569776535,
0.011660587042570114,
-0.015102297067642212,
0.033915188163518906,
0.0476461797952652,
-0.02228149026632309,
0.010907712392508984,
0.008971750736236572,
-0.004019810352474451,
-0.06474717706441879,
-0.00697753019630909,
-0.00015222735237330198,
0.012682344764471054,
-0.04832735285162926,
-0.015156074427068233,
0.035277530550956726,
0.028770549222826958,
0.029362091794610023,
-0.011947396211326122,
0.044634681195020676,
0.006959604565054178,
-0.009321299381554127,
0.01325596310198307,
0.019825685769319534,
-0.016545306891202927,
0.008886603638529778,
0.012601679190993309,
-0.05990727245807648,
0.013247000053524971,
0.0007433511782437563,
0.0023728979285806417,
0.01598064973950386,
-0.009652921929955482,
-0.0006761302938684821,
-0.011149708181619644,
0.0014127594185993075,
0.03685498237609863,
-0.0003453474200796336,
-0.05080107972025871,
-0.028609218075871468,
-0.06564345955848694,
0.030025338754057884,
0.034775614738464355,
-0.04234020784497261,
-0.003941386006772518,
-0.01251205150038004,
0.023392876610159874,
0.01598961278796196,
0.0017802336951717734,
-0.009079303592443466,
0.012538939714431763,
-0.019108664244413376,
-0.04886511713266373,
-0.009330262430012226,
-0.013739953748881817,
0.02620719186961651,
-0.04033254459500313,
-0.05528247356414795,
0.045172449201345444,
-0.012951227836310863,
-0.04621213302016258,
-0.026117563247680664,
-0.026583628728985786,
-0.003560467390343547,
-0.014331497251987457,
0.017118925228714943,
-0.03534923493862152,
-0.014125353656709194,
-0.03144145756959915,
-0.01817653328180313,
0.04058350250124931,
0.0009427732438780367,
-0.05524662509560585,
-0.023733461275696754,
0.02143898792564869,
0.03692668676376343,
-0.02160031907260418,
-0.015729691833257675,
-0.003560467390343547,
-0.0407986082136631,
0.0015247942646965384,
-0.016527380794286728,
-0.0254901684820652,
-0.03214055672287941,
0.05327481031417847,
-0.09615278989076614,
0.028447888791561127,
-0.000826256989967078,
-0.030204594135284424,
-0.006847569718956947,
0.05184076353907585,
-0.00799032486975193,
-0.0062918770126998425,
0.03199715167284012,
-0.0034394697286188602,
0.005910958629101515,
0.001310807652771473,
-0.0306168831884861,
-0.02226356416940689,
-0.034775614738464355,
0.012010135687887669,
-0.0305989570915699,
0.019969090819358826,
0.01735195703804493,
-0.0005881829420104623,
-0.007273302413523197,
0.061484724283218384,
-0.020435156300663948,
-0.03212263062596321,
-0.039687223732471466,
0.04126467555761337,
0.05284459516406059,
-0.038504134863615036,
-0.04097786545753479,
-0.004848868120461702,
-0.000570817559491843,
0.009142043069005013,
0.02941587008535862,
-0.038360729813575745,
-0.006305321119725704,
-0.024109898135066032,
-0.0012615123996511102,
0.0661812275648117,
0.025454316288232803,
0.06395845115184784,
-0.0442044697701931,
-0.003885368350893259,
0.01181295420974493,
-0.030168743804097176,
-0.013094632886350155,
0.055999498814344406,
0.0040803090669214725,
-0.036639876663684845,
-0.017432622611522675,
-0.025221284478902817,
0.00030921617872081697,
0.0006895744591020048,
-0.0021902811713516712,
-0.06987389177083969,
-0.038539987057447433,
-0.03199715167284012,
-0.04646309092640877,
0.03843243420124054,
0.026924213394522667,
0.06066014617681503,
-0.012691307812929153,
0.03206885606050491,
-0.005301489029079676,
0.02534676343202591,
-0.09586597979068756,
-0.004992272704839706,
0.07406847923994064,
0.0014799803029745817,
0.06478302925825119,
-0.039902329444885254,
0.012718196026980877,
0.04434787482023239,
-0.016760412603616714,
0.028967730700969696,
-0.02210223488509655,
-0.06051674112677574,
-0.011803991161286831,
-0.055174920707941055,
0.00024031475186347961,
-0.011947396211326122,
0.0014542123535647988,
0.002498377114534378,
-0.021313508972525597,
-0.012816786766052246,
0.026762884110212326,
-0.007416706997901201,
-0.04144392907619476,
0.009724624454975128,
-0.02685251273214817,
0.03504449874162674,
0.0476103276014328,
-0.007197118364274502,
0.032212257385253906,
-0.012521014548838139,
0.02160031907260418,
-0.009742550551891327,
0.046857453882694244,
0.02450426109135151,
0.008187506347894669,
-0.06134131923317909,
0.042053401470184326,
-0.03126220405101776,
0.002937553683295846,
-0.03707008808851242,
-0.000548130483366549,
0.004429857712239027,
0.030509328469634056,
-0.06428111344575882,
-0.012395535595715046,
0.05402768403291702,
0.006982011720538139,
0.0458894744515419,
-0.010576089844107628,
-0.04097786545753479,
0.036460619419813156,
-0.03588700294494629,
0.06241685524582863,
-0.0019516469910740852,
0.05413523688912392,
-0.02109840139746666,
0.041945844888687134,
0.02620719186961651,
-0.012270056642591953,
-0.006085732951760292,
0.03789466619491577,
0.027677088975906372,
-0.01214457768946886,
-0.10188896954059601,
0.04732351750135422,
-0.0007797625148668885,
0.018060017377138138,
-0.018929407000541687,
-0.01037890836596489,
-0.008380206301808357,
0.014062614180147648,
0.04273457080125809,
-0.012798860669136047,
-0.004996754229068756,
0.01751328632235527,
0.02789219468832016,
0.013722027651965618,
0.05893929302692413,
-0.021134253591299057,
-0.028143152594566345,
-0.020668188109993935,
-0.03957967087626457,
-0.033413272351026535,
0.02482692152261734,
0.030168743804097176,
-0.030849914997816086,
0.047180116176605225,
-0.01803312823176384,
0.01418809313327074,
0.016617007553577423,
0.04789713770151138,
-0.0073360418900847435,
0.014080539345741272,
0.019807761535048485,
0.025561871007084846,
0.008765606209635735,
-0.03353875130414963,
0.027246873825788498,
0.021313508972525597,
-0.020148346200585365,
0.0356898196041584,
-0.04069105535745621,
0.01512022316455841,
0.05370502546429634,
-0.016894854605197906,
-0.007855883799493313,
-0.03126220405101776,
-0.03488317131996155,
0.043774254620075226,
0.04847075417637825,
0.018821854144334793,
-0.03448880836367607,
0.001812723814509809,
-0.0026619478594511747,
0.021725798025727272,
0.007878290489315987,
-0.015711767598986626,
-0.013094632886350155,
0.05689577758312225,
0.028627144172787666,
-0.008819382637739182,
-0.0034327476751059294,
0.0024177120067179203,
-0.01046853605657816,
0.008281615562736988,
0.010145875625312328,
-0.021851276978850365,
-0.03760785609483719,
-0.025561871007084846,
-0.012037023901939392,
0.011373777873814106,
0.0006772506167180836,
0.062488555908203125,
0.0022754278033971786,
-0.026960065588355064,
0.02111632749438286,
0.02106255106627941,
0.021026700735092163,
0.04388180747628212,
0.0005335659370757639,
0.03244529291987419,
0.03176411986351013,
-0.001096260966733098,
0.04391765967011452,
-0.011920507997274399,
-0.003011496737599373,
0.023357024416327477,
-0.015532511286437511,
0.028806399554014206,
-0.007595962379127741,
-0.04441957548260689,
-0.02925453893840313,
0.018499193713068962,
-0.015442883595824242,
-0.012870563194155693,
0.025759052485227585,
-0.004201306961476803,
-0.04499319568276405,
-0.052629489451646805,
-0.025812828913331032,
-0.013551735319197178,
-0.0340227410197258,
-0.0263326708227396,
0.021152179688215256,
-0.0017029296141117811,
0.009240633808076382,
-0.02278340607881546,
0.012099763378500938,
-0.03025837056338787,
0.004364877473562956,
0.013130484148859978,
-0.043630849570035934,
0.012879526242613792,
-0.006421837490051985,
-0.012556865811347961,
-0.029129059985280037,
0.00789621565490961,
0.03110087290406227,
0.07593273371458054,
0.016867967322468758,
0.014116390608251095,
-0.009074822999536991,
0.025543944910168648,
0.003594077890738845,
0.0008710709516890347,
-0.018257198855280876,
0.03692668676376343,
0.003990681376308203,
-0.02160031907260418,
-0.020972922444343567,
-0.017441585659980774,
-0.029648901894688606,
0.009464703500270844,
-0.002621615305542946,
0.02685251273214817,
0.016097167506814003,
-0.018167570233345032,
0.025812828913331032,
-0.017396770417690277,
-0.0238051638007164,
-0.01326492615044117,
-0.02568734996020794,
-0.011454442515969276,
0.054493747651576996,
-0.003558226628229022,
-0.01901903562247753,
-0.00760940695181489,
-0.008398132398724556,
-0.019485101103782654,
0.05578438937664032,
0.04330819100141525,
-0.029648901894688606,
-0.022586224600672722,
-0.009213745594024658,
0.013793730176985264,
0.04262701794505119,
0.008720792829990387,
-0.003475320991128683,
0.01445697620511055,
-0.036621950566768646,
0.025472242385149002,
-0.005498670041561127,
-0.02229941636323929,
-0.0003604721277952194,
-0.012628567405045033,
0.054995663464069366,
-0.0008990796632133424,
-0.02174372225999832,
0.003493246389552951,
-0.005906477104872465,
-0.040870312601327896,
0.013399367220699787,
0.010029359720647335,
0.009177894331514835,
0.019144514575600624,
0.019144514575600624,
0.02142106182873249,
0.009276485070586205,
0.0170113705098629,
0.0237872377038002,
-0.006453207228332758,
0.09479044377803802,
-0.004111678805202246,
-0.003309509251266718,
-0.02957719936966896,
0.02208430878818035,
0.013587586581707,
0.01987946219742298,
0.027766715735197067,
0.05524662509560585,
-0.019001109525561333,
-0.03671157732605934,
-0.046857453882694244,
-0.015165036544203758,
0.013282851316034794,
-0.01835578866302967,
0.01384750660508871,
-0.017127886414527893,
-0.0005195615813136101,
-0.008671496994793415,
0.013587586581707,
0.0263326708227396,
-0.02989985980093479,
-0.014170167036354542,
0.0070223440416157246,
-0.018077943474054337,
0.01595376245677471,
0.051267147064208984,
-0.07069846987724304,
-0.006318765226751566,
0.058258119970560074,
0.0026373001746833324,
-0.02584867924451828,
0.027461981400847435,
-0.014985781162977219,
0.006076769903302193,
0.08891085535287857,
-0.03169241547584534,
0.005059493705630302,
-0.01684107817709446,
-0.029039431363344193,
-0.02326739765703678,
0.0003663539537228644,
0.04406106472015381,
-0.06356409192085266,
0.018463343381881714,
0.04520830139517784,
0.007573555689305067,
0.04678575322031975,
-0.04323648661375046,
-0.036639876663684845,
0.010836009867489338,
0.017773207277059555,
0.000521802285220474,
-0.008608757518231869,
-0.0035380604676902294,
0.0035447825212031603,
0.03879094496369362,
0.028967730700969696,
0.017047222703695297,
-0.013193223625421524,
-0.015281553380191326,
0.020327601581811905,
-0.02654777653515339,
-0.008245764300227165,
0.014071576297283173,
-0.03296513482928276,
0.034452956169843674,
-0.02226356416940689,
0.009563294239342213,
-0.02023797482252121,
-0.0066817584447562695,
0.031549014151096344,
0.004483634606003761,
0.04778958484530449,
-0.013363516889512539,
0.010074173100292683,
0.032552845776081085,
-0.07593273371458054,
-0.03025837056338787,
0.006318765226751566,
-0.0026014491450041533,
0.07066261768341064,
0.02875262312591076,
0.02228149026632309,
0.007976881228387356,
-0.030903691425919533,
0.03943626582622528,
-0.026655331254005432,
-0.013641363009810448,
-0.017307143658399582,
-0.025956233963370323,
0.023231545463204384,
-0.010423721745610237,
0.036496471613645554,
0.015245702117681503,
0.05478055775165558,
-0.017782170325517654,
-0.05291629955172539,
0.00007415306026814505,
0.04370255395770073,
-0.01614198088645935,
0.03965137153863907,
-0.01333662774413824,
0.012798860669136047,
-0.0424836128950119,
0.00944677833467722,
0.0007136619533412158,
0.007811069488525391,
0.02176164835691452,
-0.020022867247462273,
-0.02739027887582779,
-0.03660402446985245,
-0.016724562272429466,
-0.029648901894688606,
0.017235441133379936,
-0.02735442854464054,
0.06550005078315735,
-0.025275060907006264,
-0.027838418260216713,
0.014080539345741272,
0.006713128183037043,
-0.03728519752621651,
0.02111632749438286,
0.004965384490787983,
0.00003711154204211198,
0.019180364906787872,
-0.02127765864133835,
-0.06403015553951263,
-0.02889602817595005,
0.0035694302059710026,
-0.038181476294994354,
-0.011786065995693207,
0.018768077716231346,
-0.013515884056687355,
0.04628383740782738,
0.001287280349060893,
-0.032033003866672516,
-0.0028165560215711594,
-0.017593951895833015,
0.029630975797772408,
-0.03384348750114441,
0.016545306891202927,
0.06514154374599457,
0.00009782042616279796,
0.02242489531636238,
0.02905735746026039,
-0.021313508972525597,
0.006959604565054178,
0.013811656273901463,
-0.027336502447724342,
-0.10160215944051743,
-0.04979724809527397,
-0.012395535595715046,
0.018499193713068962,
0.049582142382860184,
-0.055533431470394135,
-0.011669549159705639,
0.002022228902205825,
-0.0033588046208024025,
0.033431198447942734,
-0.019969090819358826,
0.005131195764988661,
0.03728519752621651,
-0.05642971023917198,
-0.02706761844456196,
-0.022371118888258934,
0.010405796580016613,
-0.025454316288232803,
-0.010898750275373459,
-0.019126588478684425,
0.04639139026403427,
-0.020273825153708458,
0.005556928459554911,
-0.01699344627559185,
0.0066817584447562695,
0.016751449555158615,
0.0089224549010396,
-0.011203484609723091,
0.021654095500707626,
-0.02785634435713291,
0.018391640856862068,
0.0028120747301727533,
-0.008250245824456215,
0.030383849516510963,
0.01384750660508871,
-0.027175173163414,
0.01651841774582863,
0.006578686181455851,
0.04961799085140228,
0.010405796580016613,
0.0033789710141718388,
0.018131719902157784,
0.031172575429081917,
0.030365925282239914,
-0.07335145771503448,
0.04388180747628212,
-0.007761774118989706,
0.034237850457429886,
-0.014394236728549004,
-0.04370255395770073,
-0.03622758761048317,
0.00933922454714775,
0.009581220336258411,
-0.04406106472015381,
0.0026395409367978573,
0.020865369588136673,
0.027175173163414,
0.020668188109993935,
-0.015711767598986626,
0.014134315773844719,
-0.020542709156870842,
0.02943379431962967,
0.009204782545566559,
0.04560266435146332,
-0.01935962215065956,
0.03979477658867836,
0.019520951434969902,
-0.013148409314453602,
0.017459509894251823,
-0.039723075926303864,
-0.0493670329451561,
0.0011192280799150467,
0.03378970921039581,
-0.03414821997284889,
-0.04065520316362381,
0.013668251223862171,
0.0016659582033753395,
0.008187506347894669,
-0.017988314852118492,
0.019449248909950256,
0.04832735285162926,
0.005830293521285057,
-0.029362091794610023,
0.02482692152261734,
-0.01923414319753647,
0.009500554762780666,
0.0027112432289868593,
0.05356162041425705,
0.008254727348685265,
-0.009231671690940857,
-0.02502410300076008,
-0.018750151619315147,
-0.008738717995584011,
0.03778711333870888,
-0.047359369695186615,
0.005055012181401253,
-0.014905115589499474,
-0.014654157683253288,
-0.03534923493862152,
0.005964735057204962,
-0.019323769956827164,
0.08640127629041672,
-0.04961799085140228,
0.011481330730021,
0.012305907905101776,
-0.01599857583642006,
0.0014318053144961596,
0.024378782138228416,
0.035761523991823196,
0.009419890120625496,
-0.01901903562247753,
-0.03624551370739937,
0.025723200291395187,
0.04961799085140228,
-0.00977840181440115,
-0.010414759628474712,
-0.006775867659598589,
-0.014860302209854126,
-0.009688773192465305,
-0.01214457768946886,
0.01579243130981922,
-0.02160031907260418,
0.03810977190732956,
-0.014116390608251095,
0.038504134863615036,
-0.010432684794068336,
-0.03210470452904701,
0.06496228277683258,
0.034255772829055786,
0.01293330267071724,
0.00046438444405794144,
0.023894792422652245,
0.02432500571012497,
-0.004075827542692423,
-0.006363579072058201,
-0.011284149251878262,
0.01112281996756792,
-0.009164450690150261,
-0.02228149026632309,
0.02160031907260418,
0.04201754927635193,
0.026225116103887558,
0.03757200762629509,
-0.043630849570035934,
-0.027318576350808144,
-0.004786128643900156,
0.02280133217573166,
-0.035259608179330826,
-0.010235503315925598,
-0.03197922557592392,
0.018140682950615883,
0.03215848281979561,
-0.04484979063272476,
0.002249659737572074,
0.00006067387221264653,
0.02773086540400982,
0.00544489361345768,
-0.0009270883747376502,
0.004638242535293102,
-0.009155487641692162,
-0.022406969219446182,
0.03420199826359749,
-0.023016437888145447,
0.03793051838874817,
0.0034977279137820005,
0.004483634606003761,
-0.04219680279493332,
0.0061619165353477,
-0.024522187188267708,
-0.016796264797449112,
-0.033933114260435104,
-0.013031893409788609,
0.006515946704894304,
0.0459611751139164,
-0.032248109579086304,
-0.04879341647028923,
-0.01418809313327074,
-0.03620966151356697,
-0.01138273999094963,
0.04323648661375046,
0.024773145094513893,
-0.04334403946995735,
-0.020990848541259766,
-0.004156492650508881,
-0.008111323229968548,
0.018570896238088608,
-0.0021073755342513323,
0.05582024157047272,
0.0629904717206955,
0.026135489344596863,
0.030545180663466454,
0.013784767128527164,
-0.017567064613103867,
-0.03260662034153938,
-0.001375787891447544,
0.0005061174160800874,
0.03260662034153938,
0.047861285507678986,
0.005637593567371368,
-0.0374644510447979,
-0.039687223732471466,
0.01833786442875862,
-0.05047842115163803,
0.023339098319411278,
-0.009482629597187042
] |
The development of closed-loop systems for glycemia control in type I
diabetes relies heavily on simulated patients. Improving the performances and
adaptability of these close-loops raises the risk of over-fitting the
simulator. This may have dire consequences, especially in unusual cases which
were not faithfully-if at all-captured by the simulator. To address this, we
propose to use offline RL agents, trained on real patient data, to perform the
glycemia control. To further improve the performances, we propose an end-to-end
personalization pipeline, which leverages offline-policy evaluation methods to
remove altogether the need of a simulator, while still enabling an estimation
of clinically relevant metrics for diabetes. | [
-0.014166043139994144,
0.01135147362947464,
-0.03517279401421547,
-0.037204500287771225,
0.03347659483551979,
0.03817375749349594,
-0.025405678898096085,
0.02033572643995285,
-0.025107447057962418,
0.0037115963641554117,
0.04253540560603142,
-0.08149202167987823,
0.02659860998392105,
-0.044809430837631226,
0.029711410403251648,
0.015489449724555016,
-0.009068131446838379,
0.04208805784583092,
0.00607648678123951,
-0.050475846976041794,
0.00604386767372489,
-0.043243709951639175,
-0.05644049495458603,
0.03616068884730339,
0.014986181631684303,
0.016589181497693062,
0.0038047940470278263,
0.03241414204239845,
-0.04178982600569725,
0.018294697627425194,
0.028052492067217827,
0.025275202468037605,
0.004944135434925556,
0.013112909160554409,
-0.05107231065630913,
-0.014399036765098572,
0.04883556813001633,
0.045517731457948685,
0.0160952340811491,
0.024697376415133476,
-0.013532298617064953,
-0.004517755936831236,
-0.021826889365911484,
0.026878202334046364,
0.009552759118378162,
-0.03865838423371315,
-0.06046663597226143,
-0.007982378825545311,
-0.014482914470136166,
0.04141703620553017,
-0.0038304233457893133,
-0.02999100275337696,
0.06162228435277939,
-0.00462493347004056,
-0.0207830760627985,
0.04272180423140526,
0.06803428381681442,
-0.009906910359859467,
0.060541193932294846,
0.0034646226558834314,
-0.009263846091926098,
0.006444617640227079,
-0.05480021610856056,
-0.005237707868218422,
0.04760535806417465,
-0.0768694207072258,
0.0005029760650359094,
0.003217648947611451,
0.002586234826594591,
0.006822067778557539,
-0.03522871062159538,
-0.032246384769678116,
-0.020540762692689896,
0.03409169986844063,
-0.003212988842278719,
0.0025419658049941063,
0.01274011842906475,
0.03414762020111084,
0.012898555025458336,
-0.0053635248914361,
0.01450155396014452,
0.026710446923971176,
0.0018546332139521837,
0.00860680267214775,
0.03110937587916851,
-0.01274011842906475,
0.0643809363245964,
-0.07873337715864182,
0.022814784198999405,
-0.034035783261060715,
-0.0388820581138134,
0.03815511614084244,
-0.03509823605418205,
-0.00024595443392172456,
-0.02587166801095009,
-0.0023975095245987177,
-0.04521949961781502,
-0.0169806107878685,
-0.030419712886214256,
-0.019776541739702225,
-0.04406384751200676,
-0.06143588945269585,
0.022535191848874092,
0.011957257986068726,
-0.02833208627998829,
-0.030401073396205902,
-0.0536445677280426,
0.008839797228574753,
0.0243618655949831,
0.12898553907871246,
-0.0384347103536129,
-0.020130692049860954,
-0.0411188043653965,
0.02423138916492462,
-0.0630016103386879,
-0.053793683648109436,
0.005941350013017654,
-0.07038286328315735,
0.02462281845510006,
-0.054054636508226395,
0.013103589415550232,
0.10676722973585129,
0.019254634156823158,
-0.04152887314558029,
-0.035154152661561966,
0.01245120633393526,
0.0025442957412451506,
0.00929180532693863,
0.03791280463337898,
0.04562956839799881,
0.009627317078411579,
-0.01867680810391903,
-0.03683171048760414,
0.01636550761759281,
0.03768913075327873,
0.04384017363190651,
-0.00008416912896791473,
-0.015610606409609318,
-0.020317086949944496,
0.04626331478357315,
0.028369365260004997,
-0.025442957878112793,
-0.021603215485811234,
-0.01054997369647026,
0.06535018980503082,
0.02065259963274002,
0.005233047995716333,
0.02954365499317646,
-0.03030787594616413,
-0.02033572643995285,
-0.05770798400044441,
0.025182005017995834,
0.004319711122661829,
0.033812105655670166,
0.06356079876422882,
0.02100674994289875,
0.021976005285978317,
0.008508945815265179,
-0.06367263197898865,
-0.03353251516819,
0.06956272572278976,
0.03235822543501854,
0.03230230510234833,
0.06788516789674759,
0.059236425906419754,
0.035415105521678925,
-0.025983504951000214,
-0.02074579708278179,
-0.07142667472362518,
0.046822499483823776,
-0.06650584191083908,
-0.049133799970149994,
0.01774483174085617,
0.03176175802946091,
-0.01517257746309042,
0.04894740507006645,
0.07399893552064896,
-0.03821103647351265,
-0.02717643417418003,
-0.03295468911528587,
-0.03785688430070877,
0.033812105655670166,
-0.013289984315633774,
0.044399358332157135,
0.06151044741272926,
0.02592758648097515,
0.028089771047234535,
0.015675844624638557,
0.05603042617440224,
-0.047754473984241486,
0.026934120804071426,
-0.02685956284403801,
-0.03918028995394707,
-0.022087842226028442,
-0.008056936785578728,
0.031314410269260406,
-0.029040386900305748,
0.0015529058873653412,
0.0286116786301136,
0.014557472430169582,
-0.03155672550201416,
-0.07739132642745972,
-0.023672202602028847,
0.004044778179377317,
-0.010596572421491146,
0.014287199825048447,
0.01733476296067238,
-0.016859455034136772,
-0.002030543750151992,
-0.09066267311573029,
0.0011008972069248557,
0.005335565190762281,
-0.05931098386645317,
-0.026225818321108818,
-0.03146352618932724,
-0.03047563135623932,
0.0072554368525743484,
0.013830531388521194,
0.012628281489014626,
-0.007628227584064007,
-0.025592073798179626,
0.010344939306378365,
0.04249812662601471,
-0.04298275709152222,
0.017418639734387398,
0.020484844222664833,
-0.0005067622405476868,
0.07086749374866486,
-0.022684307768940926,
-0.020727157592773438,
0.011575148440897465,
0.019944297149777412,
0.08507081121206284,
0.0279406551271677,
0.009203268215060234,
0.03353251516819,
0.00029313573031686246,
0.007194858510047197,
0.03422217816114426,
-0.03239550441503525,
0.004755409900099039,
-0.022535191848874092,
-0.014669310301542282,
-0.009529459290206432,
0.02807113155722618,
0.008476326242089272,
-0.03347659483551979,
0.10117536783218384,
0.04499582573771477,
0.03772640973329544,
-0.06180867925286293,
-0.028947189450263977,
-0.009142689406871796,
0.013755973428487778,
-0.05912458896636963,
0.04518222063779831,
0.010242422111332417,
-0.06833251565694809,
0.013094269670546055,
0.005349545273929834,
0.022982539609074593,
0.0020619980059564114,
0.028853992000222206,
0.03906845301389694,
-0.031351689249277115,
0.004841617774218321,
0.0929739773273468,
0.07343974709510803,
0.027959294617176056,
-0.0018383236601948738,
-0.01728816330432892,
-0.011929298751056194,
-0.023579005151987076,
-0.01563856564462185,
0.0384347103536129,
-0.059870168566703796,
-0.029208144173026085,
-0.01026106160134077,
0.06184595823287964,
0.044846709817647934,
-0.02890991047024727,
-0.00595532963052392,
-0.018984360620379448,
-0.008187413215637207,
-0.02266566827893257,
-0.019422389566898346,
-0.03981403633952141,
0.02913358435034752,
-0.0791061669588089,
-0.025815749540925026,
0.0023765400983393192,
-0.052451636642217636,
-0.015209856443107128,
0.013485699892044067,
0.06758693605661392,
0.05461382120847702,
-0.015125978738069534,
-0.018089663237333298,
-0.0013735003303736448,
0.0011975897941738367,
0.030494270846247673,
-0.042162615805864334,
0.0353032685816288,
0.06400814652442932,
0.012106374837458134,
0.004704151302576065,
0.006551794707775116,
0.003422683570533991,
-0.014604072086513042,
-0.026803644374012947,
0.007837922312319279,
0.011882700026035309,
-0.03476272150874138,
-0.05603042617440224,
0.04443663731217384,
0.049096520990133286,
0.05055040493607521,
0.00039113889215514064,
0.00653781509026885,
-0.00897959340363741,
-0.01667306013405323,
0.03289876878261566,
-0.04946931079030037,
-0.002119081560522318,
0.0201120525598526,
-0.015629244968295097,
0.015405571088194847,
-0.00653781509026885,
-0.0057316552847623825,
-0.01962742581963539,
-0.02838800475001335,
-0.00499539403244853,
-0.07813690602779388,
-0.017865989357233047,
0.000534721533767879,
-0.022199679166078568,
-0.04715801030397415,
0.03021467849612236,
-0.03293604776263237,
-0.022591110318899155,
0.026747725903987885,
-0.03884477913379669,
-0.02212512120604515,
-0.02986052632331848,
-0.006822067778557539,
-0.02605806291103363,
-0.004028468392789364,
0.05804349482059479,
-0.02587166801095009,
-0.01918007619678974,
0.0011020621750503778,
-0.02493969164788723,
-0.03222774714231491,
0.017055170610547066,
0.029748689383268356,
-0.0020678227301687002,
0.028798073530197144,
-0.003956240136176348,
-0.05174333602190018,
-0.020615320652723312,
0.035862457007169724,
-0.015703804790973663,
-0.04850005730986595,
0.05103503167629242,
0.002453428227454424,
0.03647755831480026,
-0.010000107809901237,
-0.018043065443634987,
0.026002144441008568,
-0.008858436718583107,
-0.030326515436172485,
-0.0005099658737890422,
0.01894708164036274,
-0.013364543206989765,
0.00922656711190939,
-0.017148368060588837,
-0.03614204749464989,
0.007567649241536856,
-0.047307126224040985,
0.06009384244680405,
-0.02868623659014702,
-0.006565774325281382,
-0.03981403633952141,
0.06408270448446274,
0.0023159615229815245,
0.026430852711200714,
0.02730691060423851,
-0.0006005423492752016,
0.026225818321108818,
0.03407306224107742,
0.024734655395150185,
-0.03705538436770439,
0.012059776112437248,
-0.025032889097929,
-0.006370059214532375,
0.01755843684077263,
0.05576947331428528,
0.0018954072147607803,
0.021025389432907104,
-0.041566152125597,
-0.007371934130787849,
-0.016635781154036522,
-0.07023374736309052,
0.0035764598287642,
-0.0279406551271677,
0.006682271603494883,
-0.0023753750137984753,
0.008793198503553867,
0.007535030134022236,
-0.0176516342908144,
0.027027318254113197,
-0.003755865152925253,
0.011537868529558182,
-0.02238607592880726,
0.006631012540310621,
0.023579005151987076,
-0.06740053743124008,
-0.020988110452890396,
-0.03578789904713631,
-0.04365377873182297,
-0.02001885510981083,
0.04000043123960495,
0.036850351840257645,
-0.008508945815265179,
0.002250723307952285,
-0.013728014193475246,
-0.007050401996821165,
-0.005265667103230953,
0.007208838127553463,
0.007991698570549488,
-0.007362614385783672,
0.05737247318029404,
-0.02068987861275673,
-0.04544317349791527,
-0.03366298973560333,
0.0005993773811496794,
-0.013001072220504284,
0.011025281623005867,
-0.04052233695983887,
-0.00025527417892590165,
0.013681414537131786,
-0.0996842086315155,
-0.017446599900722504,
0.023616284132003784,
0.018443815410137177,
-0.03763321042060852,
0.03370026871562004,
0.021193144842982292,
0.00992554984986782,
0.00043482528417371213,
-0.08283407241106033,
0.012730798684060574,
-0.05565763637423515,
-0.006272201891988516,
-0.05215340480208397,
-0.034744083881378174,
0.044175684452056885,
-0.045294057577848434,
0.0312771312892437,
-0.014389717020094395,
0.03951580449938774,
0.01890048384666443,
0.0344085730612278,
-0.013019711710512638,
0.016523942351341248,
0.03865838423371315,
-0.017539797350764275,
-0.026132620871067047,
0.005386824253946543,
0.025051528587937355,
0.027008678764104843,
0.01271215919405222,
0.04447392001748085,
-0.003331816056743264,
-0.021249063313007355,
-0.00871864054352045,
0.0017148366896435618,
0.004454847425222397,
0.0312771312892437,
-0.019832460209727287,
-0.018611570820212364,
0.006705570966005325,
0.05647777393460274,
-0.026896841824054718,
0.006686931475996971,
0.015834281221032143,
0.04477215185761452,
0.040596894919872284,
0.0076002683490514755,
0.002504686824977398,
-0.012684199959039688,
-0.04678522050380707,
-0.048649173229932785,
0.018248099833726883,
-0.022087842226028442,
-0.02676636539399624,
-0.0016391136450693011,
0.033905304968357086,
0.05263803154230118,
-0.0026584628503769636,
0.03133304789662361,
-0.0460396371781826,
-0.014883664436638355,
0.006104446016252041,
-0.004925495944917202,
0.023001179099082947,
0.018024425953626633,
-0.0024464381858706474,
-0.03373754769563675,
-0.0024394483771175146,
0.014352438040077686,
0.007269416470080614,
-0.0003800716658588499,
-0.04495854675769806,
0.0018546332139521837,
0.04294547811150551,
-0.00934306439012289,
-0.003338805865496397,
0.02810841053724289,
0.02704595774412155,
0.024921052157878876,
0.03970219939947128,
0.016235031187534332,
0.036980826407670975,
-0.06553658843040466,
0.02823888696730137,
0.004457177594304085,
-0.04354194179177284,
0.059422820806503296,
0.020801715552806854,
0.00598794873803854,
0.08253584057092667,
-0.026337655261158943,
-0.03431537374854088,
-0.05953465774655342,
-0.01841585524380207,
0.034166257828474045,
0.039403967559337616,
0.025219283998012543,
-0.03101617842912674,
-0.033681631088256836,
0.04510766267776489,
0.05931098386645317,
-0.016505302861332893,
-0.006999143399298191,
0.02020525000989437,
0.03895661607384682,
-0.026803644374012947,
0.03286148980259895,
0.010400857776403427,
-0.002765640150755644,
0.015545368194580078,
0.02753058634698391,
0.006151044741272926,
-0.022087842226028442,
-0.030270596966147423,
-0.005624478217214346,
-0.018490413203835487,
-0.0060159084387123585,
-0.026878202334046364,
0.027195073664188385,
-0.012674880214035511,
-0.019254634156823158,
-0.021976005285978317,
-0.013923728838562965,
-0.0572233572602272,
0.00869534071534872,
0.04376561567187309,
0.012628281489014626,
0.0028518480248749256,
-0.015517408959567547,
0.011388752609491348,
-0.036719873547554016,
-0.02426866814494133,
0.013849170878529549,
0.029823247343301773,
-0.03137032687664032,
0.0013234065845608711,
-0.021211784332990646,
-0.0225724708288908,
0.0025349759962409735,
-0.003357445355504751,
0.005177129525691271,
0.03504231572151184,
-0.015629244968295097,
-0.004513096064329147,
-0.012768077664077282,
-0.011770863085985184,
0.02382131852209568,
-0.01387713011354208,
0.016160473227500916,
0.011043921113014221,
0.02100674994289875,
-0.006985163781791925,
-0.047940872609615326,
-0.023075737059116364,
0.016197752207517624,
0.025442957878112793,
0.013448420912027359,
-0.06009384244680405,
-0.026673167943954468,
0.0143058393150568,
0.04085784777998924,
0.03379346802830696,
0.009016872383654118,
0.015852920711040497,
0.010344939306378365,
0.036216605454683304,
0.017679594457149506,
0.0028961170464754105,
0.015880879014730453,
-0.022721586748957634,
0.0326191782951355,
-0.01841585524380207,
0.032153189182281494,
-0.021752331405878067,
0.04384017363190651,
-0.009245206601917744,
0.021845528855919838,
-0.002294992096722126,
0.00807091686874628,
-0.019105518236756325,
0.045965079218149185,
-0.040335942059755325,
0.0019734601955860853,
0.0375400148332119,
0.019739262759685516,
-0.06549930572509766,
-0.0046482328325510025,
0.00860214326530695,
-0.015116658993065357,
0.0027283611707389355,
-0.0034087039530277252,
-0.020484844222664833,
0.05002849921584129,
-0.019869739189743996,
-0.03150080516934395,
0.04104424640536308,
-0.01175222359597683,
-0.0015424210578203201,
-0.05163149908185005,
0.03526598960161209,
0.011472630314528942,
0.05703696236014366,
-0.011071880348026752,
0.012003857642412186,
-0.001707846880890429,
0.02423138916492462,
0.025331120938062668,
0.024641457945108414,
0.022647028788924217,
0.01644006557762623,
0.04879828914999962,
0.04671066254377365,
-0.007698125671595335,
-0.007059721741825342,
0.0024487681221216917,
-0.005824853200465441,
-0.006509855855256319,
0.033961221575737,
0.012563043273985386,
0.04014954715967178,
0.01863021031022072,
-0.014138082973659039,
0.006435297895222902,
0.009767113253474236,
0.07295511662960052,
0.030960259959101677,
0.002758650342002511,
0.050475846976041794,
-0.04227445274591446,
-0.04186438396573067,
-0.028481202200055122,
0.020037494599819183,
0.02413819171488285,
0.028630318120121956,
0.03614204749464989,
0.044585756957530975,
-0.012786717154085636,
-0.019198715686798096,
-0.04398928955197334,
-0.0014736878219991922,
-0.011705624870955944,
-0.0006721880636177957,
0.05755886808037758,
-0.012171613052487373,
-0.018779326230287552,
0.03388666361570358,
-0.016589181497693062,
0.06229330971837044,
-0.06404542177915573,
0.001629793900065124,
0.010689770802855492,
-0.01854633167386055,
0.019273273646831512,
0.027195073664188385,
-0.0058994111604988575,
-0.04365377873182297,
0.030736584216356277,
-0.033066526055336,
-0.03865838423371315,
0.009841672144830227,
-0.0031920194160193205,
0.057670705020427704,
0.03603021055459976,
-0.04026138409972191,
0.011323514394462109,
0.0077680242247879505,
0.008956294506788254,
0.007959078997373581,
-0.0009692555759102106,
0.023299412801861763,
-0.036757152527570724,
0.022367436438798904,
0.016747618094086647,
0.007879861630499363,
-0.007614247966557741,
-0.02426866814494133,
-0.024958331137895584,
0.04074601083993912,
0.019329192116856575,
-0.013802572153508663,
0.012395286932587624,
-0.04343010485172272,
-0.049357473850250244,
0.027474667876958847,
-0.030587468296289444,
-0.016067273914813995,
0.0036929568741470575,
-0.003443653229624033,
0.046412430703639984,
-0.016868773847818375,
-0.006919925566762686,
0.00992554984986782,
0.020671239122748375,
-0.015964757651090622,
-0.0031221213284879923,
0.03970219939947128,
0.0021039368584752083,
0.008877076208591461,
0.029040386900305748,
-0.004336020443588495,
0.009301125071942806,
0.014604072086513042,
-0.01627231016755104,
-0.006561114452779293,
0.005000053904950619,
0.027157794684171677,
-0.017372041940689087,
-0.043691057711839676,
0.06326256692409515,
0.02874215506017208,
0.029114944860339165,
0.00018726903363130987,
-0.038546547293663025,
0.02439914457499981,
-0.01886320486664772,
0.001787064946256578,
0.04741896316409111,
-0.002611864125356078,
-0.0047623999416828156,
0.017241565510630608,
0.015321693383157253,
0.029245423153042793,
0.008867756463587284,
0.028276165947318077,
-0.04007498919963837,
0.020633960142731667,
0.014082164503633976,
-0.04003771021962166,
0.044846709817647934,
0.004990734159946442,
0.05916186794638634,
-0.05297354236245155,
0.008630102500319481,
-0.011789502575993538,
0.01988837867975235,
0.03731633722782135,
-0.019403750076889992,
-0.00036492705112323165,
-0.03500503674149513,
-0.002863497706130147,
-0.008397107943892479,
-0.0018010445637628436,
-0.02967413142323494,
0.005219068378210068,
-0.030736584216356277,
-0.020223889499902725,
-0.017996465787291527,
-0.002733021043241024,
0.014734548516571522,
0.019459668546915054,
0.004643572960048914,
0.0268222838640213,
0.01854633167386055,
-0.009645956568419933,
-0.0321718268096447,
-0.00043511652620509267,
-0.011426031589508057,
-0.04197622090578079,
0.006714890711009502,
0.012227531522512436,
-0.0339798629283905,
0.007530370261520147,
-0.031053457409143448,
-0.017064489424228668,
-0.034706804901361465,
0.0015261115040630102,
-0.01581564173102379,
-0.008247992023825645,
-0.024660097435116768,
0.01381189189851284,
0.0008370314026251435,
-0.03226502612233162,
-0.0013711703941226006,
-0.03981403633952141,
0.026673167943954468,
0.07429716736078262,
-0.03347659483551979,
-0.011724264360964298,
-0.0066729518584907055,
-0.0514078214764595,
-0.021976005285978317,
0.03092297911643982,
0.012544403783977032,
-0.03569469973444939,
-0.04615147411823273,
-0.004350000061094761,
0.05532212555408478,
0.009813712909817696,
0.04566684737801552,
0.02037300541996956,
-0.014333798550069332,
-0.0014958222163841128,
-0.0013024371583014727,
0.05028945207595825,
0.028593039140105247,
0.0174372810870409,
0.021193144842982292,
-0.03008420206606388,
0.011258276179432869,
-0.011826781556010246,
-0.017623675987124443,
-0.01782871037721634,
-0.011034601368010044,
-0.03914301097393036,
-0.01707381010055542,
0.007940439507365227,
-0.012693519704043865,
0.03114665485918522,
-0.008150134235620499,
-0.0007222818094305694,
-0.000039900241972645745,
0.034259457141160965,
0.0013886449160054326,
-0.005932030268013477,
0.033849384635686874,
0.04790358990430832,
-0.01728816330432892,
0.014576111920177937,
0.02046620287001133,
0.004219523631036282,
0.052451636642217636,
-0.020894913002848625,
0.027325550094246864,
-0.012954473495483398,
-0.022684307768940926,
-0.048388220369815826,
-0.02631901577115059,
-0.0804482102394104,
-0.02820160798728466,
0.014454955235123634,
-0.01778211072087288,
0.016728978604078293,
-0.013532298617064953,
0.03241414204239845,
0.016747618094086647,
0.012162293307483196,
-0.010745689272880554,
0.0017462909454479814,
0.006351419724524021,
0.011565828695893288,
0.03865838423371315,
-0.027922015637159348,
0.0292827021330595,
0.030140120536088943,
-0.03228366747498512,
-0.025946225970983505,
-0.011099839583039284,
-0.04767991602420807,
0.016924692317843437,
0.00043482528417371213,
-0.013858490623533726,
0.007576968986541033,
0.03936668857932091,
0.028052492067217827,
-0.04003771021962166,
0.05032673105597496,
-0.03433401510119438,
0.06818339973688126,
-0.007260096725076437,
0.009235886856913567,
-0.004643572960048914,
-0.014473594725131989,
0.024510981515049934,
-0.011696305125951767,
0.01685013435781002,
-0.0038397430907934904,
0.013737333938479424,
-0.021435460075736046,
-0.030494270846247673,
-0.02149137854576111,
0.05345817282795906,
-0.005959989503026009,
0.050662241876125336,
-0.017017891630530357,
-0.019776541739702225,
0.00038240160210989416,
0.06292705237865448,
-0.027866097167134285,
0.009058811701834202,
0.007567649241536856,
-0.023075737059116364,
0.01640278659760952,
-0.007558329496532679,
0.023709481582045555,
0.02052212320268154,
-0.02288934215903282,
-0.007535030134022236,
0.02203192375600338,
-0.014361757785081863,
0.022740226238965988,
0.020838994532823563,
0.015275094658136368,
0.041715268045663834,
0.03383074700832367,
0.01934783160686493,
-0.02801521308720112,
-0.01341114193201065,
0.0058062137104570866,
-0.05759614706039429,
-0.04689705744385719,
-0.053793683648109436,
0.029170863330364227,
-0.006179003976285458,
-0.017772791907191277,
-0.006924585439264774,
0.012031816877424717,
-0.019142797216773033,
-0.05755886808037758,
-0.03299196809530258,
-0.016207071021199226,
-0.019552865996956825,
0.0039492505602538586,
-0.005885431542992592,
-0.02823888696730137,
-0.015433530323207378,
-0.008811837993562222,
-0.017940547317266464,
0.07970263063907623,
-0.036048851907253265,
-0.021920086815953255,
-0.05353273078799248,
-0.023448528721928596,
-0.024678736925125122,
0.004608623683452606,
-0.05617954209446907,
0.008648741990327835,
-0.019552865996956825,
-0.010065346024930477,
-0.0054613822139799595,
0.01921735517680645,
0.005386824253946543,
-0.002488377271220088,
0.013280664570629597,
0.0042078737169504166,
-0.02244199439883232,
-0.02065259963274002,
-0.05215340480208397,
0.02717643417418003,
0.03847198933362961,
-0.03491184115409851,
0.013084949925541878,
0.006309480872005224,
-0.048910126090049744,
-0.04700889438390732,
-0.025088807567954063,
-0.01168698538094759,
-0.0044292183592915535,
-0.007069041486829519,
0.02810841053724289,
-0.025498876348137856,
0.0013432111591100693,
-0.05237707868218422,
0.006384038832038641,
-0.04943203181028366,
-0.0011282740160822868,
-0.041006967425346375,
0.041230641305446625,
0.0274933073669672,
0.024604178965091705,
0.0007135444902814925,
0.013001072220504284,
-0.010503374971449375,
0.01631890796124935,
0.03642164170742035,
0.062106914818286896,
0.0014911623438820243,
-0.046188753098249435,
0.038993895053863525,
-0.004906856454908848,
0.002392849652096629,
-0.016691699624061584,
0.02247927337884903,
-0.008998232893645763,
0.026840923354029655,
-0.015666523948311806,
-0.023784039542078972,
-0.013355223461985588,
-0.03284285217523575,
0.016281628981232643,
0.01675693690776825,
0.030289236456155777,
-0.0072647565975785255
] |
In recent years, citizen science has become a larger and larger part of the
scientific community. Its ability to crowd source data and expertise from
thousands of citizen scientists makes it invaluable. Despite the field's
growing popularity, the interactions and structure of citizen science projects
are still poorly understood and under analyzed. We use the iNaturalist citizen
science platform as a case study to analyze the structure of citizen science
projects. We frame the data from iNaturalist as a bipartite network and use
visualizations as well as established network science techniques to gain
insights into the structure and interactions between users in citizen science
projects. Finally, we propose a novel unique benchmark for network science
research by using the iNaturalist data to create a network which has an unusual
structure relative to other common benchmark networks. We demonstrate using a
link prediction task that this network can be used to gain novel insights into
a variety of network science methods. | [
-0.043035898357629776,
-0.015451215207576752,
-0.042277559638023376,
-0.0247788205742836,
0.002675524912774563,
-0.016541332006454468,
0.005279954988509417,
0.013233065605163574,
-0.041026294231414795,
0.060477763414382935,
-0.007630814798176289,
-0.026143835857510567,
0.007441229652613401,
-0.03139535337686539,
-0.015726113691926003,
-0.0009396329405717552,
-0.004815470892935991,
-0.010740016587078571,
0.013185668736696243,
-0.014560163952410221,
0.032305363565683365,
-0.039320025593042374,
-0.0032940474338829517,
-0.008839421905577183,
0.03418225795030594,
0.0015723744872957468,
0.022257333621382713,
0.0030546956695616245,
-0.07382457703351974,
0.03480789065361023,
-0.024020478129386902,
-0.03056117706000805,
0.03818251192569733,
-0.01839926838874817,
-0.015801947563886642,
-0.07810921221971512,
0.02809656597673893,
0.031926192343235016,
-0.014294743537902832,
0.02862740494310856,
-0.03575581684708595,
0.02640925534069538,
0.04421133175492287,
-0.002675524912774563,
0.039320025593042374,
-0.037310417741537094,
-0.01832343451678753,
-0.027129679918289185,
0.007995766587555408,
-0.015280588530004025,
0.07818504422903061,
-0.016143202781677246,
-0.011905967257916927,
-0.02400152012705803,
-0.00934656336903572,
0.047130946069955826,
0.015337464399635792,
-0.0004404899664223194,
0.041329629719257355,
0.007896234281361103,
0.01590622030198574,
0.05782356485724449,
0.004583228379487991,
-0.02709176205098629,
0.041405465453863144,
0.008009986020624638,
-0.03294995427131653,
0.012408368289470673,
0.029745958745479584,
-0.020513147115707397,
0.01733759045600891,
0.026883218437433243,
-0.006071474403142929,
0.011185542680323124,
0.021593784913420677,
0.04940597340464592,
0.05551062524318695,
0.028153441846370697,
-0.058998994529247284,
-0.023868810385465622,
0.014531726017594337,
-0.03621082380414009,
-0.009683077223598957,
0.03080763854086399,
0.0495576411485672,
-0.004438669886440039,
0.02028564363718033,
-0.08235592395067215,
0.010512514039874077,
0.023736100643873215,
-0.019565219059586525,
-0.001543936668895185,
0.01907229796051979,
-0.02661779895424843,
-0.018408749252557755,
0.027622602880001068,
0.04747220128774643,
-0.0024527618661522865,
-0.018076973035931587,
-0.018588853999972343,
-0.028001772239804268,
-0.055396873503923416,
0.005843971855938435,
0.01324254460632801,
0.0073369573801755905,
-0.058240655809640884,
-0.031376395374536514,
0.07253539562225342,
0.010939081199467182,
0.13824571669101715,
0.02555612102150917,
0.027925938367843628,
-0.052363503724336624,
-0.0279448963701725,
-0.027584685012698174,
0.03497851639986038,
-0.015650279819965363,
-0.07765420526266098,
0.00992479920387268,
0.029461581259965897,
0.03440976142883301,
0.050126396119594574,
0.035376645624637604,
0.0007541946833953261,
-0.0335187092423439,
0.01832343451678753,
-0.013261503539979458,
-0.00980156846344471,
0.027034886181354523,
0.01563132181763649,
-0.03996461629867554,
0.03143326938152313,
0.022371085360646248,
-0.01049355510622263,
0.007332217879593372,
0.026674674823880196,
0.07424166798591614,
-0.027451975271105766,
-0.002689743647351861,
-0.08099091053009033,
-0.0007530097500421107,
0.012228262610733509,
-0.08288676291704178,
0.02639029733836651,
0.019489385187625885,
0.004604557063430548,
-0.05289434269070625,
0.012834935449063778,
-0.04163296893239021,
-0.030390549451112747,
-0.006076213903725147,
0.0812184140086174,
0.031129933893680573,
-0.011024395003914833,
-0.018816357478499413,
-0.02316734381020069,
0.0355851911008358,
-0.02053210511803627,
-0.008943694643676281,
0.03272245079278946,
0.009702036157250404,
-0.008308582939207554,
0.02060793898999691,
0.01616216078400612,
-0.0130434799939394,
0.006640230771154165,
-0.009697296656668186,
-0.010142821818590164,
-0.042960066348314285,
0.03943377733230591,
0.0055880313739180565,
-0.0382014699280262,
-0.08326593786478043,
0.059795256704092026,
0.01711008884012699,
0.012057635001838207,
0.013451088219881058,
-0.01255055796355009,
-0.016076847910881042,
0.008924735710024834,
-0.05642063543200493,
-0.010853767395019531,
-0.023186301812529564,
0.012455765157938004,
-0.010740016587078571,
0.05179474875330925,
0.0864509716629982,
0.02191608026623726,
-0.0049671391025185585,
0.034769974648952484,
-0.009247031062841415,
-0.03277932479977608,
0.06900911033153534,
-0.01686362735927105,
0.017555613070726395,
-0.019062818959355354,
-0.021707534790039062,
-0.00036258218460716307,
-0.02502528205513954,
-0.025575079023838043,
-0.08296260237693787,
-0.01315723080188036,
-0.02839990146458149,
-0.0021908970084041357,
0.028361985459923744,
-0.005227819085121155,
-0.01726175658404827,
-0.033689334988594055,
-0.05482811480760574,
0.000968070758972317,
-0.012123990803956985,
-0.025821540504693985,
-0.040722958743572235,
-0.009754172526299953,
-0.015346943400800228,
0.003419647691771388,
0.0061520482413470745,
0.0014823212986811996,
0.06066734716296196,
0.009811047464609146,
-0.024039436131715775,
0.013394213281571865,
0.026750508695840836,
-0.001110259909182787,
-0.007076277397572994,
-0.04220172390341759,
0.07063954323530197,
0.06760617345571518,
0.009493491612374783,
0.0008282514754682779,
-0.008943694643676281,
0.0006706585991196334,
0.0031826659105718136,
0.04807887226343155,
-0.01656029000878334,
-0.012635870836675167,
0.025954250246286392,
-0.02153690904378891,
-0.012522120028734207,
-0.0503159835934639,
0.009683077223598957,
-0.017603009939193726,
-0.04917846992611885,
-0.011204500682651997,
0.09471689909696579,
-0.002504898002371192,
0.00783935934305191,
0.05133974179625511,
0.035793736577034,
0.024835696443915367,
0.008886818774044514,
-0.010066987946629524,
0.024285897612571716,
0.03473205864429474,
-0.045273009687662125,
0.002001311630010605,
0.016550811007618904,
0.02221941575407982,
-0.037784382700920105,
-0.026143835857510567,
0.007858317345380783,
0.047282613813877106,
-0.027888022363185883,
0.055245205760002136,
-0.0184466652572155,
-0.02261754497885704,
0.029935544356703758,
-0.03566102683544159,
0.031774524599313736,
-0.015005689114332199,
-0.002073591109365225,
-0.04360465705394745,
0.010085946880280972,
-0.01037980429828167,
-0.06043984740972519,
0.029215119779109955,
0.08379677683115005,
-0.06608949601650238,
0.011384607292711735,
-0.008498168550431728,
0.005479020066559315,
-0.04345298931002617,
-0.033139538019895554,
0.043945908546447754,
-0.058088984340429306,
0.012787539511919022,
0.018939588218927383,
-0.039471693336963654,
0.004583228379487991,
-0.039092522114515305,
-0.02741405740380287,
-0.05194641649723053,
-0.05164308100938797,
-0.027186555787920952,
-0.01821916364133358,
-0.02430485561490059,
-0.04269464686512947,
0.03958544507622719,
-0.05516937002539635,
0.0033698815386742353,
0.00033799532684497535,
-0.035376645624637604,
-0.02000126615166664,
0.03033367358148098,
-0.04872346296906471,
0.02980283461511135,
0.07154955714941025,
0.054221443831920624,
-0.02269338071346283,
-0.07477250695228577,
0.009735213592648506,
-0.03552831709384918,
-0.030163047835230827,
-0.049519721418619156,
-0.02894970029592514,
-0.00786779634654522,
0.07060162723064423,
-0.0012240111827850342,
0.04754803329706192,
-0.027072804048657417,
-0.0335187092423439,
-0.08470678329467773,
-0.11079374700784683,
0.04292215034365654,
-0.009521929547190666,
0.041329629719257355,
-0.016996337100863457,
0.05380435287952423,
-0.02091127634048462,
-0.02439964935183525,
-0.045348841696977615,
-0.02563195489346981,
-0.01731863245368004,
0.01633278839290142,
0.0439838282763958,
0.00946031417697668,
0.010929602198302746,
0.04641051962971687,
-0.010446159169077873,
0.028286151587963104,
-0.024816736578941345,
0.02130940556526184,
-0.022882966324687004,
-0.019697928801178932,
-0.0023295313585549593,
-0.016996337100863457,
-0.029821792617440224,
0.024266939610242844,
0.01653185300529003,
0.032077860087156296,
0.0010676031233742833,
0.016797272488474846,
-0.024835696443915367,
-0.002299908548593521,
0.02339484542608261,
0.016579248011112213,
0.03996461629867554,
-0.06165319308638573,
0.06529323011636734,
-0.005483759567141533,
0.04902680218219757,
-0.08933266997337341,
0.01041772123426199,
0.008488689549267292,
-0.034087467938661575,
0.02422902174293995,
-0.020475229248404503,
0.0039078304544091225,
0.05990900471806526,
0.00440549198538065,
-0.02100607007741928,
0.04553842917084694,
-0.0652553141117096,
-0.019186049699783325,
-0.06415572017431259,
0.015564966946840286,
0.049519721418619156,
0.019925432279706,
-0.013052958995103836,
0.015441736206412315,
-0.01311931386590004,
-0.06354904919862747,
0.037632714956998825,
0.03928210958838463,
-0.03734833747148514,
0.05482811480760574,
0.0953994020819664,
0.09153186529874802,
-0.016674041748046875,
0.04004044830799103,
0.026219669729471207,
-0.015811428427696228,
-0.03279828652739525,
-0.009687816724181175,
0.04849596321582794,
-0.028816990554332733,
-0.029442623257637024,
-0.01385869737714529,
-0.014806624501943588,
0.02314838580787182,
-0.021707534790039062,
0.012010239064693451,
-0.004289370961487293,
0.008095298893749714,
0.024361731484532356,
-0.010484076105058193,
-0.017688322812318802,
-0.042429227381944656,
-0.024589234963059425,
-0.002314127516001463,
-0.029309913516044617,
0.015991533175110817,
-0.00007102049130480736,
0.016380183398723602,
-0.023868810385465622,
0.017631448805332184,
0.034845806658267975,
-0.011289814487099648,
0.006479083094745874,
-0.01393453124910593,
-0.00913327932357788,
-0.021176695823669434,
0.011223459616303444,
-0.0219919141381979,
-0.05915066599845886,
0.011403565295040607,
-0.046979278326034546,
-0.0029030274599790573,
0.007507584523409605,
-0.030769720673561096,
-0.004552421160042286,
0.011896488256752491,
-0.008379677310585976,
-0.020513147115707397,
0.03880814462900162,
-0.028665322810411453,
0.014067240990698338,
-0.010588347911834717,
0.010360845364630222,
-0.026143835857510567,
-0.023755058646202087,
0.001235860283486545,
-0.021119819954037666,
-0.035016436129808426,
-0.06783367693424225,
0.022257333621382713,
-0.071587473154068,
-0.07526542991399765,
-0.013962969183921814,
-0.01188700832426548,
-0.03966127708554268,
0.03171764686703682,
-0.08228009194135666,
0.010815850459039211,
0.02392568625509739,
-0.004853387828916311,
-0.026428213343024254,
0.006109391339123249,
0.047130946069955826,
0.02978387661278248,
-0.0005231373943388462,
0.051680997014045715,
-0.019641054794192314,
-0.05672397091984749,
0.0017619598656892776,
0.07170122116804123,
-0.032987870275974274,
0.029670124873518944,
0.008720931597054005,
0.03727250173687935,
-0.002488309284672141,
-0.03040950745344162,
-0.026276545599102974,
0.004886565264314413,
-0.011526796035468578,
-0.0028959179762750864,
0.00281771388836205,
-0.01884479448199272,
0.026049042120575905,
-0.04269464686512947,
-0.002969382330775261,
0.08933266997337341,
-0.039092522114515305,
0.020854400470852852,
0.009962716139853,
-0.006351112853735685,
-0.030750762671232224,
-0.00232716160826385,
-0.0007850023102946579,
-0.0253286175429821,
0.005109328310936689,
-0.006028817500919104,
0.003113941289484501,
-0.021821286529302597,
-0.016825709491968155,
0.007469667121767998,
-0.01875000260770321,
-0.03325328975915909,
-0.03025783970952034,
0.0197548046708107,
-0.045728012919425964,
-0.05448686331510544,
0.0014965402660891414,
0.020854400470852852,
-0.01320462767034769,
-0.0234706811606884,
0.03251390531659126,
0.014654956758022308,
0.013631194829940796,
0.0025617736391723156,
0.025423411279916763,
0.014702352695167065,
-0.03063701093196869,
-0.031300559639930725,
-0.01651289314031601,
0.058695659041404724,
-0.014152554795145988,
-0.015337464399635792,
0.03209681808948517,
0.04648635536432266,
0.0014574382221326232,
-0.013707028701901436,
-0.0061899651773273945,
0.011014915071427822,
-0.03543352335691452,
0.03687437251210213,
-0.014692873694002628,
-0.002167198807001114,
0.003727724077180028,
-0.03389788046479225,
-0.019565219059586525,
0.03319641575217247,
-0.029821792617440224,
-0.03196410834789276,
-0.005246777553111315,
-0.0072990404441952705,
0.027433017268776894,
0.056003544479608536,
-0.005692303646355867,
-0.036703746765851974,
-0.005076150875538588,
0.03920627385377884,
0.021631700918078423,
-0.01373546663671732,
-0.003403058974072337,
0.01331837847828865,
0.05797523632645607,
0.013688070699572563,
-0.024020478129386902,
-0.03566102683544159,
-0.015489132143557072,
0.02972700074315071,
0.08000506460666656,
-0.018550937995314598,
0.0005678677116520703,
-0.037632714956998825,
-0.03664686903357506,
-0.01759353093802929,
0.012692746706306934,
-0.016427580267190933,
0.016674041748046875,
0.019385114312171936,
-0.0015711894957348704,
-0.030523259192705154,
-0.029347829520702362,
-0.021669618785381317,
-0.016038930043578148,
0.03713979199528694,
0.019565219059586525,
0.03095930628478527,
-0.004602187313139439,
0.003398319473490119,
-0.04250505939126015,
-0.009156977757811546,
-0.00934656336903572,
-0.0006979114841669798,
0.07439333945512772,
-0.02005814202129841,
0.004521613474935293,
-0.045803848654031754,
0.014124116860330105,
0.009621461853384972,
-0.026769466698169708,
-0.01747030019760132,
-0.05657230317592621,
0.04485592246055603,
-0.007995766587555408,
-0.025992166250944138,
0.03281724452972412,
-0.01834239438176155,
0.04440091550350189,
0.04216380789875984,
0.010123863816261292,
0.00588662875816226,
0.04011628404259682,
0.003064175136387348,
-0.01983063854277134,
0.013953490182757378,
0.0238498505204916,
-0.04205005615949631,
0.05334934964776039,
0.027072804048657417,
0.031205767765641212,
0.03404954820871353,
-0.012891811318695545,
0.004483696073293686,
-0.005185162648558617,
0.014455891214311123,
0.027433017268776894,
0.060250259935855865,
-0.047510117292404175,
-0.03355662524700165,
0.06389030069112778,
0.0038746530190110207,
0.016095805913209915,
0.0366847887635231,
0.039320025593042374,
-0.014806624501943588,
-0.007460188120603561,
-0.01115710474550724,
-0.005109328310936689,
-0.013308899477124214,
0.053918104618787766,
0.01595361717045307,
0.011394086293876171,
-0.024665068835020065,
-0.004794142208993435,
-0.005668605212122202,
0.003092612838372588,
-0.022750254720449448,
-0.015119440853595734,
0.020664814859628677,
-0.016721438616514206,
-0.04595551639795303,
-0.06411780416965485,
0.0019183679251000285,
-0.042884230613708496,
0.047130946069955826,
0.0061330897733569145,
-0.023717140778899193,
0.00527047598734498,
0.03452351316809654,
-0.03078867867588997,
0.02322421967983246,
-0.011090749874711037,
0.03954752907156944,
-0.023262135684490204,
-0.04762386903166771,
0.05338726565241814,
0.06430739164352417,
0.05016431212425232,
0.006009859032928944,
-0.062032364308834076,
0.022750254720449448,
0.006033557467162609,
-0.010322928428649902,
0.017783116549253464,
-0.029537415131926537,
-0.05179474875330925,
0.010834809392690659,
0.022560670971870422,
-0.022181499749422073,
-0.002176678040996194,
-0.0015237932093441486,
0.02185920439660549,
-0.015138398855924606,
-0.003950486890971661,
-0.01119502168148756,
0.017053212970495224,
0.019413551315665245,
-0.008701972663402557,
0.031243683770298958,
-0.03459934890270233,
0.00000947927310335217,
0.028286151587963104,
-0.028361985459923744,
-0.03332912549376488,
0.03719666972756386,
-0.015574445948004723,
-0.06404197216033936,
-0.004004993010312319,
-0.011043353006243706,
-0.0329689122736454,
0.009616722352802753,
-0.06165319308638573,
-0.009356042370200157,
0.012825456447899342,
0.006284757982939482,
0.035547275096178055,
-0.02301567606627941,
-0.019925432279706,
-0.02447548322379589,
0.02424798160791397,
0.04826845973730087,
0.024456525221467018,
-0.031129933893680573,
-0.012161907739937305,
0.019944390282034874,
0.037329379469156265,
-0.0038865020032972097,
-0.04299798235297203,
-0.024342773482203484,
-0.009161717258393764,
-0.0395096093416214,
-0.02771739475429058,
0.013498485088348389,
0.009431877173483372,
-0.012086072936654091,
-0.027660518884658813,
-0.007668732199817896,
0.006597574334591627,
0.017612488940358162,
0.016266433522105217,
0.04515925794839859,
0.03736729547381401,
0.05088473856449127,
-0.002350859809666872,
-0.003004929516464472,
-0.012901290319859982,
0.0017370767891407013,
-0.000674213282763958,
0.029290953651070595,
0.007659252732992172,
0.0011760223424062133,
-0.02324317768216133,
-0.012853894382715225,
-0.0037869696971029043,
-0.020475229248404503,
-0.028153441846370697,
0.0016221406403928995,
0.0041803596541285515,
0.0008472100598737597,
0.0036092333029955626,
0.0068819522857666016,
0.00744596915319562,
0.022864006459712982,
-0.026959052309393883,
0.017451342195272446,
-0.009540888480842113,
-0.003834366099908948,
-0.004291740711778402,
-0.07105663418769836,
-0.018313955515623093,
0.0019491754937916994,
0.03289307653903961,
-0.00555959390476346,
-0.04785137251019478,
0.012882332317531109,
-0.036229781806468964,
-0.01308139692991972,
0.0027703174855560064,
-0.006517000496387482,
0.0035950143355876207,
-0.03842897340655327,
-0.013849218375980854,
0.019413551315665245,
0.03274140879511833,
-0.018276039510965347,
0.02193503826856613,
0.051908500492572784,
-0.014598080888390541,
0.006057255435734987,
-0.007825139909982681,
0.05418352410197258,
0.012455765157938004,
0.013517443090677261,
-0.029935544356703758,
0.003521549981087446,
-0.0015498611610382795,
0.00012330460594967008,
0.008929475210607052,
0.002269101096317172,
0.011062311939895153,
0.01176377758383751,
-0.012863373383879662,
-0.033765170723199844,
0.015138398855924606,
-0.01651289314031601,
-0.04284631460905075,
-0.004595077596604824,
0.01585882343351841,
-0.0034528253600001335,
-0.01570715568959713,
0.011422524228692055,
0.0030357372015714645,
-0.007972069084644318,
0.0014372947625815868,
-0.015422777272760868,
-0.03869439288973808,
0.020361479371786118,
-0.03520601987838745,
-0.03458038717508316,
0.037708546966314316,
-0.01651289314031601,
0.06426947563886642,
-0.005853451322764158,
0.018058015033602715,
-0.0007761155138723552,
-0.033082664012908936,
-0.0029030274599790573,
0.032457031309604645,
-0.045273009687662125,
-0.008901037275791168,
0.0063179354183375835,
-0.019356675446033478,
-0.042580895125865936,
-0.026655716821551323,
0.010901164263486862,
-0.03258974105119705,
0.015697676688432693,
0.03173660486936569,
0.026807384565472603,
-0.013868176378309727,
0.006938828155398369,
-0.009024268016219139,
-0.034769974648952484,
-0.013631194829940796,
-0.02716759778559208,
-0.006744503043591976,
0.013962969183921814,
-0.03359454497694969,
-0.032987870275974274,
-0.001852012937888503,
-0.02301567606627941,
0.011830132454633713,
-0.015318505465984344,
0.042808398604393005,
0.019290320575237274,
0.05061931908130646,
-0.014218909665942192,
-0.004426820669323206,
0.05736856162548065,
-0.005768137518316507,
0.0424671433866024,
0.007237425073981285,
0.010114384815096855,
-0.007289560977369547,
-0.025802580639719963,
0.04307381808757782,
0.027963856235146523,
0.010085946880280972,
0.005374747794121504,
-0.017328111454844475,
-0.01917656883597374,
0.006659189239144325,
0.04254297912120819,
-0.08159758150577545,
-0.022560670971870422,
0.02970804274082184,
0.0301820058375597,
0.007668732199817896,
0.02022876963019371,
0.00623262207955122,
0.01505308598279953,
-0.009119060821831226,
-0.005758658517152071,
0.013716508634388447,
-0.017536655068397522,
-0.03202098608016968,
0.005796575453132391,
0.06119818612933159,
-0.016768833622336388,
0.016200078651309013,
0.020096059888601303,
0.01567871868610382,
-0.029461581259965897,
-0.0032845681998878717,
-0.016190597787499428,
-0.005834492854773998,
-0.003265609499067068,
-0.012105031870305538,
-0.018626771867275238,
0.025442369282245636,
0.07359707355499268,
0.03833417966961861,
-0.012332534417510033,
0.02802073210477829,
0.006844035349786282,
-0.022029830142855644,
0.02098711021244526,
0.01656029000878334,
0.038789186626672745,
0.02185920439660549,
-0.003571316134184599,
0.009555106982588768,
-0.0164844561368227,
-0.0034694140776991844,
-0.013109834864735603,
0.008863120339810848,
-0.04091254249215126,
-0.025423411279916763,
0.011858570389449596,
-0.04345298931002617,
-0.05441102758049965,
0.02176441065967083,
0.02910136803984642,
-0.009858444333076477,
0.008583481423556805,
0.0005687563680112362,
0.035376645624637604,
0.0234706811606884,
-0.045424677431583405,
0.02694009430706501,
-0.047434281557798386,
0.0023425654508173466,
0.042960066348314285,
-0.025764664635062218,
-0.04129171371459961,
0.008882079273462296,
-0.0018413488287478685,
-0.01602945104241371,
0.0049860975705087185,
-0.06419363617897034,
-0.03604019805788994,
0.03552831709384918,
-0.005246777553111315,
-0.01917656883597374,
-0.013602756895124912,
0.026959052309393883,
-0.008720931597054005,
0.07458291947841644,
0.02339484542608261,
-0.009649899788200855,
0.026826342567801476,
-0.019565219059586525,
0.01990647427737713,
0.026996970176696777,
0.02007710002362728,
-0.008100039325654507,
0.002535705454647541,
0.009052705951035023,
0.02601112611591816,
0.03111097402870655,
0.02841886132955551,
-0.006640230771154165,
0.02075960859656334,
0.028816990554332733,
0.015422777272760868,
-0.031679730862379074,
0.013479526154696941,
-0.017858950421214104,
-0.031376395374536514,
-0.014531726017594337,
0.026428213343024254,
-0.0355851911008358,
-0.0020629267673939466,
0.05441102758049965,
0.02824823372066021,
-0.02553716115653515,
0.061880696564912796,
-0.041860468685626984,
-0.02834302745759487,
-0.01628539152443409,
0.010825330391526222,
-0.012493682093918324,
0.0016612425679340959,
-0.01585882343351841,
0.006967265624552965,
-0.04455258324742317,
-0.025821540504693985,
-0.02091127634048462,
0.0119249252602458,
-0.027395099401474,
-0.0036210822872817516,
-0.027812186628580093,
0.05171891301870346,
-0.0006256320048123598,
-0.030504301190376282,
0.00445525860413909,
0.018200203776359558,
0.022939840331673622,
-0.00654069846495986,
0.0065691363997757435,
0.02508215606212616,
-0.0020368588156998158,
0.02894970029592514,
-0.015356422401964664,
0.0034670440945774317,
0.006498041562736034,
0.03139535337686539,
0.03154702112078667,
-0.015062564983963966,
-0.03621082380414009,
0.0021778629161417484,
0.021726494655013084,
-0.02694009430706501,
-0.007071537896990776,
-0.005166203714907169,
-0.04917846992611885,
0.07291457056999207,
-0.0033177456352859735,
-0.007616595830768347,
0.04523508995771408,
-0.007313259411603212,
-0.041329629719257355,
-0.007038360461592674,
0.01671195775270462,
-0.0034741535782814026,
-0.016768833622336388,
-0.0024041805882006884,
-0.0342770516872406,
0.04739636555314064,
0.01377338357269764,
0.03890293836593628,
0.02083544246852398,
-0.006597574334591627,
-0.014361098408699036,
0.037556879222393036,
-0.05323559790849686,
0.04436299949884415,
0.045348841696977615,
0.014285264536738396,
-0.03289307653903961,
-0.020399395376443863,
-0.016655083745718002,
-0.01177325751632452,
-0.03973711282014847,
-0.013384733349084854,
0.024342773482203484,
-0.08303843438625336,
0.001987092662602663,
0.022200457751750946,
-0.009953237138688564,
0.03389788046479225
] |
The growing dependence on machine learning in real-world applications
emphasizes the importance of understanding and ensuring its safety. Backdoor
attacks pose a significant security risk due to their stealthy nature and
potentially serious consequences. Such attacks involve embedding triggers
within a learning model with the intention of causing malicious behavior when
an active trigger is present while maintaining regular functionality without
it. This paper evaluates the effectiveness of any backdoor attack incorporating
a constant trigger, by establishing tight lower and upper boundaries for the
performance of the compromised model on both clean and backdoor test data. The
developed theory answers a series of fundamental but previously underexplored
problems, including (1) what are the determining factors for a backdoor
attack's success, (2) what is the direction of the most effective backdoor
attack, and (3) when will a human-imperceptible trigger succeed. Our derived
understanding applies to both discriminative and generative models. We also
demonstrate the theory by conducting experiments using benchmark datasets and
state-of-the-art backdoor attack scenarios. | [
-0.0376933328807354,
-0.05218227952718735,
-0.013312181457877159,
-0.035008832812309265,
0.03802429884672165,
0.009754299186170101,
-0.014838301576673985,
0.016272487118840218,
-0.002787927631288767,
0.02344341389834881,
-0.025447595864534378,
0.021825358271598816,
0.04600425064563751,
-0.011436708271503448,
-0.037013012915849686,
0.0017674495466053486,
0.010885098949074745,
-0.030209826305508614,
-0.018120380118489265,
-0.059978365898132324,
0.03048563189804554,
-0.011004614643752575,
-0.06869380176067352,
0.0376933328807354,
-0.01641038991510868,
0.0411868616938591,
0.05141002684831619,
-0.012438799254596233,
-0.0011095399968326092,
0.050086162984371185,
-0.006872138008475304,
0.02270793356001377,
-0.038539133965969086,
-0.023590508848428726,
-0.02682662010192871,
-0.04100298881530762,
-0.0058746435679495335,
0.061743516474962234,
-0.04387136176228523,
0.026697911322116852,
0.008959061466157436,
-0.0614493228495121,
0.03598334267735481,
-0.031239498406648636,
0.015343944542109966,
0.011399934068322182,
-0.028518224135041237,
-0.07101055979728699,
-0.042915236204862595,
0.03787720203399658,
0.012098640203475952,
-0.060897715389728546,
0.07281248271465302,
-0.012346864677965641,
-0.04493780806660652,
0.044901032000780106,
0.022634387016296387,
-0.018690375611186028,
0.01229170337319374,
0.038906872272491455,
-0.02024407684803009,
-0.009487687610089779,
0.009115350432693958,
-0.002291478682309389,
-0.025631465017795563,
-0.03469625115394592,
0.04765908047556877,
0.03175433352589607,
0.011850415728986263,
0.0005317862378433347,
-0.006784799508750439,
-0.04048815369606018,
0.011960737407207489,
-0.06005191430449486,
0.000259716238360852,
-0.008945271372795105,
0.029713377356529236,
0.05052745342254639,
-0.011050581932067871,
0.01065526157617569,
0.01847892627120018,
0.02096116915345192,
-0.03309658542275429,
0.004148564767092466,
0.005916014313697815,
0.004286467097699642,
-0.04229008033871651,
-0.06273641437292099,
0.006816977169364691,
-0.020777300000190735,
-0.022781481966376305,
0.03576269745826721,
-0.004111791029572487,
-0.04559973627328873,
0.020207302644848824,
0.038796551525592804,
-0.01582200638949871,
-0.008995835669338703,
-0.06832605600357056,
0.001854787697084248,
-0.009634783491492271,
0.017292965203523636,
-0.015720877796411514,
0.030908532440662384,
-0.02000504545867443,
-0.02050149440765381,
-0.05424162372946739,
0.08649240434169769,
0.037730105221271515,
0.1534210592508316,
-0.05063777416944504,
-0.0062653673812747,
-0.029952408745884895,
0.029511120170354843,
-0.025980819016695023,
0.017725059762597084,
-0.04927713796496391,
-0.05990481749176979,
-0.022450516000390053,
-0.03673720732331276,
-0.017090708017349243,
0.0435771681368351,
0.04556296393275261,
0.0131834726780653,
-0.0348617359995842,
0.0409662164747715,
0.018920212984085083,
-0.012374444864690304,
-0.01277895923703909,
0.0055252909660339355,
0.03909074142575264,
0.015555394813418388,
0.03272884339094162,
-0.02390308864414692,
0.007042217534035444,
-0.019490210339426994,
0.09965749084949493,
0.004415176343172789,
-0.007529472932219505,
0.007966163568198681,
-0.010811550542712212,
-0.03252658620476723,
-0.007216894067823887,
0.020299239084124565,
-0.025447595864534378,
-0.00488634267821908,
-0.017660705372691154,
0.07204023003578186,
-0.01812957413494587,
0.01041623018682003,
-0.018101992085576057,
0.04651908576488495,
0.052108731120824814,
0.07215055078268051,
0.07167249172925949,
0.0055206939578056335,
0.006389479618519545,
0.010581713169813156,
-0.029970794916152954,
-0.04236362874507904,
0.05611709877848625,
-0.041848793625831604,
-0.004040541127324104,
0.014231530949473381,
-0.01253992784768343,
0.06700219213962555,
0.057367414236068726,
0.023608896881341934,
-0.019361501559615135,
0.048799075186252594,
0.04203266277909279,
-0.018626021221280098,
-0.029014671221375465,
0.043025560677051544,
-0.024436311796307564,
0.032912712544202805,
0.0032797795720398426,
-0.007166329771280289,
-0.009496880695223808,
-0.03081659786403179,
-0.037233658134937286,
0.01653909869492054,
-0.02305728755891323,
-0.018901826813817024,
0.043246202170848846,
0.03315174579620361,
0.04368749260902405,
-0.025852110236883163,
0.06001513823866844,
-0.01112412940710783,
-0.01246638037264347,
0.01943504996597767,
0.01987633667886257,
-0.03578108549118042,
0.009335994720458984,
-0.006030933000147343,
-0.061964161694049835,
-0.07862277328968048,
0.025686627253890038,
0.0024155909195542336,
0.04740166291594505,
-0.03499044477939606,
0.03392399847507477,
-0.05957385152578354,
0.0025741788558661938,
0.007295038551092148,
0.03598334267735481,
-0.006159642245620489,
-0.03603850305080414,
-0.010103651322424412,
-0.00900043174624443,
0.008706239983439445,
-0.0610080361366272,
0.0009526759968139231,
-0.040561702102422714,
-0.014829108491539955,
-0.03096369281411171,
0.00524029228836298,
-0.03127627074718475,
-0.011344773694872856,
0.0028430884703993797,
0.028665319085121155,
0.009005028754472733,
-0.028315966948866844,
0.004084210377186537,
0.00524029228836298,
-0.020906008780002594,
0.01429588533937931,
-0.015546200796961784,
-0.04181201756000519,
-0.01865360327064991,
0.011418321169912815,
0.010912679135799408,
0.009285430423915386,
0.03462270274758339,
-0.013376535847783089,
-0.00779608404263854,
-0.04799004644155502,
0.0008952166535891593,
-0.023939862847328186,
-0.006021739449352026,
-0.04905649274587631,
-0.050895191729068756,
-0.06810541450977325,
0.020758913829922676,
0.020207302644848824,
0.008917690254747868,
0.03967912867665291,
0.007635198067873716,
-0.023608896881341934,
-0.022781481966376305,
0.0202624648809433,
0.0034820365253835917,
-0.021145040169358253,
-0.06325124949216843,
0.021273748949170113,
0.02013375610113144,
-0.05464613810181618,
0.025282112881541252,
-0.013082344084978104,
0.07612214237451553,
0.025153404101729393,
-0.030890144407749176,
0.06814219057559967,
0.0010767881758511066,
0.005369001533836126,
0.03675559535622597,
0.033354002982378006,
0.005833272822201252,
0.017357319593429565,
0.0235353484749794,
-0.013496051542460918,
-0.025962430983781815,
-0.023608896881341934,
0.017568770796060562,
0.003118893364444375,
-0.005888434126973152,
-0.006904315203428268,
-0.026900168508291245,
0.04534231871366501,
0.0264772679656744,
0.009073980152606964,
0.0339975468814373,
-0.04501135274767876,
0.029750151559710503,
-0.03351948410272598,
-0.006816977169364691,
-0.02541082166135311,
-0.07093701511621475,
-0.013505244627594948,
-0.012705410830676556,
-0.007161733228713274,
-0.046298444271087646,
-0.012512347660958767,
0.07200345396995544,
0.03741752728819847,
0.026275010779500008,
-0.005847063381224871,
-0.05391065776348114,
-0.046923600137233734,
-0.049975842237472534,
-0.013670727610588074,
0.007989147678017616,
0.05369001254439354,
-0.021696649491786957,
-0.033960770815610886,
0.05828676372766495,
0.022781481966376305,
-0.06258931756019592,
0.03146014362573624,
0.055712584406137466,
-0.07049572467803955,
-0.005824079271405935,
-0.013753469102084637,
-0.0322507806122303,
0.0009704883559606969,
-0.0076260045170784,
-0.011436708271503448,
-0.04328297823667526,
-0.013109924271702766,
0.00017640019359532744,
-0.00442896643653512,
-0.07498215138912201,
0.05063777416944504,
-0.011629771441221237,
-0.04563651233911514,
-0.017872154712677002,
0.019618919119238853,
-0.045857157558202744,
-0.0017685986822471023,
-0.004242798313498497,
-0.014286692254245281,
-0.09884846210479736,
-0.01730215921998024,
-0.03712333366274834,
-0.0035486891865730286,
-0.023516962304711342,
0.032784003764390945,
0.02730468101799488,
0.016805710271000862,
0.010177199728786945,
-0.004104895982891321,
-0.056080322712659836,
0.00668367138132453,
0.0029396202880889177,
-0.05755128338932991,
-0.05446226894855499,
-0.023958249017596245,
-0.042915236204862595,
-0.004169250372797251,
0.000850398326292634,
-0.0006176879978738725,
0.007437537889927626,
-0.011528643779456615,
0.01793650910258293,
-0.011353966780006886,
0.01065526157617569,
0.04501135274767876,
-0.006711251568049192,
0.008885513059794903,
0.03581785783171654,
-0.06935573369264603,
-0.0075754402205348015,
0.03460431843996048,
-0.04434942081570625,
-0.01311911828815937,
-0.05424162372946739,
0.03445722162723541,
0.019747627899050713,
0.007350199855864048,
0.014314272440969944,
0.04251072183251381,
0.029272090643644333,
-0.0021869027987122536,
0.0612286813557148,
-0.039973318576812744,
-0.014075241982936859,
-0.0062653673812747,
-0.05225582793354988,
0.05858095362782478,
-0.03953203186392784,
-0.001252613728865981,
0.04787972569465637,
-0.04673973098397255,
-0.00132386339828372,
-0.00031545181991532445,
0.0013652341440320015,
-0.005755128338932991,
0.00015743861149530858,
0.019214406609535217,
0.012190574780106544,
0.037730105221271515,
-0.03226916864514351,
-0.042768143117427826,
0.0758279487490654,
-0.016263293102383614,
-0.02614630199968815,
-0.05111583694815636,
-0.0024477681145071983,
-0.045857157558202744,
-0.005534484516829252,
0.018791504204273224,
0.02048310823738575,
-0.052550021559000015,
-0.007101975381374359,
0.007428344339132309,
0.012815732508897781,
-0.012227348983287811,
0.04111331328749657,
-0.05530807003378868,
0.03568914905190468,
-0.007745520211756229,
-0.010241554118692875,
0.005244889296591282,
-0.010866711847484112,
0.015233621932566166,
-0.025374047458171844,
-0.008131646551191807,
0.0379139743745327,
-0.02695532888174057,
0.02859177067875862,
0.012319284491240978,
0.03127627074718475,
-0.02859177067875862,
-0.013220246881246567,
0.008513176813721657,
0.04331975057721138,
-0.004440458491444588,
0.03581785783171654,
-0.017734253779053688,
0.06942927837371826,
0.0004231880884617567,
-0.0017410182626917958,
-0.06512672454118729,
-0.0013307584449648857,
-0.027028877288103104,
0.025006307289004326,
0.016465550288558006,
-0.029952408745884895,
-0.021494392305612564,
0.024767277762293816,
0.012769765220582485,
-0.0042795720510184765,
0.021476006135344505,
-0.033832062035799026,
-0.016373615711927414,
0.018396183848381042,
-0.042804915457963943,
0.01856166683137417,
0.006757219322025776,
-0.07332731783390045,
0.06700219213962555,
-0.08340339362621307,
-0.015160074457526207,
0.05659515783190727,
-0.015684103593230247,
0.014967010356485844,
-0.0671125203371048,
0.009662363678216934,
-0.06325124949216843,
0.006035530008375645,
0.09134656935930252,
0.033611420542001724,
0.01336734276264906,
0.023700831457972527,
0.03022821433842182,
-0.038796551525592804,
-0.030081117525696754,
0.011620578356087208,
-0.04887262359261513,
0.05038035660982132,
-0.032894328236579895,
-0.015858780592679977,
0.0005579302669502795,
0.03328045457601547,
0.03568914905190468,
-0.03923783823847771,
-0.05060099810361862,
-0.0021018630359321833,
-0.05144680291414261,
0.02379276603460312,
0.024565020576119423,
-0.014507335610687733,
-0.033390775322914124,
0.019471824169158936,
-0.0059849657118320465,
0.019214406609535217,
-0.0145992711186409,
0.011464289389550686,
-0.03357464447617531,
-0.024436311796307564,
-0.026679523289203644,
-0.023480188101530075,
-0.01235605776309967,
-0.020280851051211357,
0.013165085576474667,
-0.017789414152503014,
-0.024307603016495705,
0.10333488881587982,
0.014203950762748718,
-0.008237372152507305,
-0.04545264318585396,
-0.007455924991518259,
0.06203770637512207,
0.03868623077869415,
-0.015270396135747433,
-0.013459277339279652,
0.007947776466608047,
0.036443017423152924,
0.014203950762748718,
-0.02388470061123371,
-0.00756165012717247,
0.00006525227217935026,
-0.029216928407549858,
0.015445072203874588,
0.005189728457480669,
0.024565020576119423,
-0.003661309601739049,
-0.021843746304512024,
0.012815732508897781,
0.03315174579620361,
-0.04225330427289009,
-0.04434942081570625,
0.06656090915203094,
0.007708746008574963,
0.1065710037946701,
0.023259542882442474,
-0.012806539423763752,
-0.019839564338326454,
-0.043724264949560165,
0.008844142779707909,
0.06659768521785736,
-0.008168420754373074,
-0.030982080847024918,
0.01987633667886257,
-0.007354796398431063,
-0.005635612644255161,
0.06303060799837112,
-0.04037783294916153,
-0.02178858406841755,
-0.014433788135647774,
-0.002468453487381339,
0.027506938204169273,
0.01714586839079857,
0.012162994593381882,
0.0318094938993454,
0.03846558555960655,
-0.018993761390447617,
0.016244906932115555,
0.005019648466259241,
0.02837112732231617,
-0.023572122678160667,
-0.006132061593234539,
-0.02555791847407818,
-0.011041387915611267,
0.026900168508291245,
0.004982874728739262,
0.008743014186620712,
0.0008653377881273627,
-0.02366405725479126,
-0.021402457728981972,
-0.019379889592528343,
-0.016336841508746147,
0.03315174579620361,
0.008733821101486683,
-0.04464361444115639,
0.03416302800178528,
0.04504812881350517,
-0.004454248584806919,
0.029364025220274925,
-0.020427947863936424,
0.003615342080593109,
-0.02050149440765381,
-0.02473050355911255,
0.0044726356863975525,
-0.01518765464425087,
0.009308414533734322,
-0.042437177151441574,
-0.008264952339231968,
0.04622489586472511,
-0.0029924828559160233,
-0.0005636761779896915,
-0.01673216186463833,
0.02943757362663746,
-0.013486858457326889,
0.010342682711780071,
-0.04449651762843132,
-0.02094278298318386,
-0.01725619100034237,
-0.007607617415487766,
-0.03386883810162544,
0.04210621118545532,
0.005327630788087845,
-0.03758300840854645,
-0.022634387016296387,
-0.032066911458969116,
0.03280239179730415,
-0.01647474430501461,
0.04835778847336769,
-0.010912679135799408,
0.010213973931968212,
-0.014249918051064014,
0.048909395933151245,
0.01660345308482647,
-0.004711666610091925,
-0.03510076552629471,
-0.03482495993375778,
0.0007033023866824806,
0.00782366469502449,
0.03868623077869415,
0.02366405725479126,
0.013165085576474667,
0.004098000470548868,
-0.034438833594322205,
0.013514438644051552,
-0.009441720321774483,
0.03175433352589607,
-0.02213793806731701,
0.015766844153404236,
-0.0013801734894514084,
0.03528463467955589,
-0.014029274694621563,
0.03743591532111168,
0.018221508711576462,
0.0035854633897542953,
0.03449399396777153,
-0.022689547389745712,
0.010020909830927849,
0.005833272822201252,
-0.016860870644450188,
-0.01248476654291153,
0.02307567372918129,
-0.04048815369606018,
-0.0029970796313136816,
-0.010370262898504734,
0.028646932914853096,
-0.0027327665593475103,
0.027267908677458763,
-0.0061734323389828205,
-0.04993906617164612,
0.009625589475035667,
0.0027925241738557816,
-0.03294948861002922,
0.0060860938392579556,
-0.020666977390646935,
0.015169267542660236,
-0.010232361033558846,
-0.045379094779491425,
0.02447308599948883,
0.025870496407151222,
-0.014488949440419674,
0.05563903599977493,
0.018157154321670532,
0.021917292848229408,
-0.006122868042439222,
-0.028205644339323044,
0.05931643396615982,
0.03096369281411171,
0.021751809865236282,
0.024215666577219963,
0.013440890237689018,
0.028518224135041237,
-0.008733821101486683,
0.0494610071182251,
0.02708403766155243,
-0.015454266220331192,
0.04188556596636772,
0.00488634267821908,
0.000610792834777385,
0.0590590164065361,
-0.014139596372842789,
-0.008549951016902924,
-0.034769799560308456,
0.002433978021144867,
0.009616396389901638,
-0.035247862339019775,
0.01987633667886257,
0.0649428516626358,
0.014976204372942448,
-0.030632726848125458,
0.017338933423161507,
0.013615567237138748,
0.008623498491942883,
0.00942333322018385,
-0.018221508711576462,
-0.029805311933159828,
-0.005644806195050478,
0.021476006135344505,
-0.05354291945695877,
-0.02507985569536686,
-0.0024385747965425253,
-0.020538268610835075,
-0.02989724837243557,
-0.010710421949625015,
-0.018341023474931717,
-0.005254082847386599,
-0.009345187805593014,
-0.028794027864933014,
0.015573781915009022,
0.04159137234091759,
-0.014157983474433422,
0.011133323423564434,
-0.05545516684651375,
0.022855030372738838,
0.031037241220474243,
0.013808630406856537,
0.012098640203475952,
0.017182642593979836,
0.03026498667895794,
0.02200922928750515,
-0.0017042442923411727,
0.06280995905399323,
0.029878860339522362,
0.04287846386432648,
-0.000867636117618531,
-0.00649980129674077,
0.04927713796496391,
-0.014636045321822166,
-0.013422503136098385,
0.022689547389745712,
0.03482495993375778,
0.008743014186620712,
0.044533293694257736,
-0.052329376339912415,
-0.022891804575920105,
0.0014652133686468005,
-0.0236456710845232,
0.013698308728635311,
-0.006191819440573454,
0.00688133155927062,
0.0234250258654356,
-0.015435879118740559,
0.006697461474686861,
-0.02401341125369072,
0.01649313047528267,
-0.016631033271551132,
0.034567542374134064,
-0.0045507801696658134,
0.00812705047428608,
-0.030687889084219933,
0.005088599864393473,
0.019140858203172684,
0.004431264940649271,
-0.03765655681490898,
-0.007547860033810139,
0.011960737407207489,
0.00918430183082819,
-0.005961982067674398,
-0.008228178136050701,
0.007345602847635746,
0.0645015612244606,
-0.03506399318575859,
0.03956880420446396,
-0.027745969593524933,
-0.0291985422372818,
0.008816562592983246,
-0.006784799508750439,
0.0192879531532526,
-0.020924396812915802,
0.020648591220378876,
0.028757253661751747,
0.06200093403458595,
-0.0062791574746370316,
0.0012020495487377048,
0.057036448270082474,
-0.03199336305260658,
-0.037141721695661545,
0.02552114427089691,
0.021972455084323883,
0.03129465878009796,
0.03272884339094162,
0.009161318652331829,
0.037270430475473404,
-0.047953274101018906,
-0.027837904170155525,
-0.028187258169054985,
0.041628148406744,
-0.011528643779456615,
-0.012981215491890907,
-0.016640227288007736,
-0.014617658220231533,
-0.01649313047528267,
-0.005516097415238619,
0.0318094938993454,
-0.007341006305068731,
0.03756462410092354,
-0.015555394813418388,
-0.004730053246021271,
0.018580054864287376,
0.044533293694257736,
0.009542847983539104,
0.021273748949170113,
-0.020409559831023216,
-0.02305728755891323,
0.03482495993375778,
0.0011963036376982927,
-0.05641128867864609,
0.022744707763195038,
0.00803051795810461,
-0.02706565149128437,
0.05670548230409622,
-0.011868802830576897,
-0.023829540237784386,
0.009598009288311005,
-0.028315966948866844,
-0.03294948861002922,
-0.03828171640634537,
-0.021457618102431297,
-0.016566678881645203,
0.011510256677865982,
0.03931138664484024,
0.0006418208940885961,
-0.011023000814020634,
0.014056854881346226,
-0.006122868042439222,
0.005847063381224871,
0.013440890237689018,
0.01071961596608162,
-0.005566661711782217,
-0.053395822644233704,
0.008375274017453194,
-0.07553376257419586,
-0.014084435068070889,
-0.03905396908521652,
-0.02859177067875862,
-0.025980819016695023,
0.022891804575920105,
-0.0029511121101677418,
0.06391318142414093,
0.007874228991568089,
0.00025813610409386456,
0.021586326882243156,
-0.009974942542612553,
-0.0023041197564452887,
-0.022432129830121994,
0.03462270274758339,
-0.04103976488113403,
0.01041623018682003,
-0.02188051864504814,
0.029382411390542984,
-0.0065503655932843685,
-0.01524281594902277,
-0.005189728457480669,
0.0023213576059788465,
-0.015297976322472095,
0.015858780592679977,
-0.010030103847384453,
-0.017467642202973366,
-0.008821158669888973,
0.020575042814016342,
0.02425244078040123,
0.05277066305279732,
0.02967660315334797,
0.042326852679252625,
-0.03271045908331871,
-0.022634387016296387,
0.0064400434494018555,
0.030062731355428696,
-0.016244906932115555,
-0.016447164118289948,
-0.021733423694968224,
0.041738469153642654,
0.042326852679252625,
0.0025374048855155706,
0.024693729355931282,
0.004210621118545532,
0.020299239084124565,
-0.042437177151441574,
0.007612214423716068,
-0.04626166820526123,
-0.005745934788137674,
-0.04659263417124748,
-0.01246638037264347,
0.03953203186392784,
0.032085299491882324,
0.026550814509391785,
0.014608464203774929,
-0.015877166762948036,
0.002123697428032756,
-0.01976601593196392,
0.06479575484991074,
-0.013266214169561863,
0.03429173678159714,
-0.03283916786313057,
0.017384899780154228,
-0.04251072183251381,
0.025705013424158096,
-0.05060099810361862,
-0.030467243865132332,
-0.022652773186564445,
-0.030448857694864273,
0.033023037016391754,
-0.021696649491786957,
-0.02118181437253952,
0.04434942081570625,
-0.01989472471177578,
0.008168420754373074,
0.009234866127371788,
-0.03191981837153435,
-0.019674081355333328,
0.012889280915260315,
-0.02638533152639866,
-0.03328045457601547,
0.005355210974812508,
0.03214045986533165,
0.035358183085918427,
-0.02002343349158764,
0.01260428223758936,
0.021990841254591942,
-0.00517593789845705,
-0.031717561185359955,
-0.015095720067620277,
-0.02120020054280758,
-0.008117856457829475,
0.022174710407853127,
-0.01447056233882904,
-0.005433355923742056,
-0.014148789457976818,
-0.0018030742648988962,
0.001541059697046876,
-0.0029717974830418825,
-0.004052033182233572,
-0.020795686170458794,
0.03519270196557045,
-0.011427515186369419,
0.006968669593334198,
-0.003270586021244526,
0.06652413308620453,
-0.022781481966376305,
0.03215884789824486,
-0.015739263966679573,
0.00482198828831315,
-0.022671159356832504,
0.031956590712070465,
0.05611709877848625,
0.00911994744092226,
-0.01189638301730156,
0.040561702102422714,
-0.05858095362782478,
-0.038208167999982834,
-0.008241969160735607,
0.014121209271252155,
0.030982080847024918,
-0.005722951143980026,
0.019600532948970795,
-0.048210691660642624,
0.03861268237233162,
0.005323033779859543,
-0.020391173660755157,
0.006504398304969072,
-0.031055627390742302,
-0.007322619203478098,
0.005906820762902498,
-0.03236110508441925,
-0.07207700610160828,
0.08075566589832306,
-0.006941088940948248,
-0.006596332881599665,
-0.005511500407010317,
0.024509858340024948,
0.027047263458371162,
-0.016750548034906387,
-0.014369433745741844,
-0.010618487372994423,
-0.0017364214872941375,
0.0028407901991158724,
-0.002347789006307721,
-0.031257886439561844,
-0.05791902169585228,
0.010783970355987549,
-0.023866314440965652,
-0.049019716680049896,
-0.011868802830576897,
0.00018300801457371563,
0.07553376257419586,
-0.003261392470449209,
0.05085841566324234,
-0.01436023972928524,
0.023461800068616867,
0.033372387290000916,
0.0529545359313488,
0.04144427925348282,
-0.017421673983335495,
0.05085841566324234,
-0.016511518508195877,
-0.045158449560403824,
0.004973681177943945,
0.003861268050968647,
-0.030559178441762924,
0.008811965584754944,
-0.029970794916152954,
-0.005116180516779423,
0.003436069004237652,
0.0033280453644692898,
0.0006912359385751188,
-0.029474345967173576,
0.009267043322324753,
-0.014865882694721222,
0.03037530928850174,
0.0066193169914186,
-0.035376571118831635,
0.019453436136245728,
-0.005580451805144548,
0.0262566227465868,
-0.021715035662055016,
0.05446226894855499,
0.0666712298989296,
-0.023002125322818756,
0.006513591390103102,
-0.003718768944963813,
-0.02022569067776203,
-0.0359465666115284,
-0.02577856183052063,
-0.0035486891865730286,
-0.04769585654139519,
0.00720770051702857,
-0.041150085628032684,
0.011666545644402504,
-0.014829108491539955,
-0.012852506712079048,
0.05155712366104126,
0.021843746304512024,
-0.02638533152639866,
-0.004410579334944487
] |
This report focuses on enhancing a binary code comment quality classification
model by integrating generated code and comment pairs, to improve model
accuracy. The dataset comprises 9048 pairs of code and comments written in the
C programming language, each annotated as "Useful" or "Not Useful."
Additionally, code and comment pairs are generated using a Large Language Model
Architecture, and these generated pairs are labeled to indicate their utility.
The outcome of this effort consists of two classification models: one utilizing
the original dataset and another incorporating the augmented dataset with the
newly generated code comment pairs and labels. | [
-0.017322685569524765,
0.0022995416074991226,
-0.028690699487924576,
0.0037983597721904516,
0.039048220962285995,
-0.024847228080034256,
-0.04756521061062813,
0.03298528119921684,
-0.018513621762394905,
0.0385429784655571,
0.03197479248046875,
-0.046951696276664734,
-0.0055035618133842945,
-0.05027187988162041,
-0.02318713814020157,
0.04132182523608208,
-0.04218795895576477,
-0.03554759547114372,
0.02793283201754093,
-0.011160501278936863,
0.023818694055080414,
0.0317041240632534,
0.0038570044562220573,
0.05608219653367996,
0.037821199744939804,
-0.01148530188947916,
-0.007871897891163826,
0.01334388181567192,
-0.015247573144733906,
0.02416153810918331,
0.020733090117573738,
-0.005544161889702082,
-0.001480773906223476,
-0.07917911559343338,
-0.012937881052494049,
0.018107620999217033,
0.06293909251689911,
0.051895882934331894,
0.000009647797014622483,
0.012558947317302227,
0.006965163629502058,
-0.006667429581284523,
-0.002708925399929285,
0.01901886612176895,
0.03415817394852638,
-0.00005864450940862298,
-0.013740859925746918,
-0.045399874448776245,
-0.011440190486609936,
-0.05997980013489723,
0.0048043387942016125,
0.03058536723256111,
0.02549682930111885,
-0.03368901461362839,
-0.04579685255885124,
0.07932347059249878,
0.004023915622383356,
0.03617915138602257,
0.07109519094228745,
0.03617915138602257,
-0.00017917589866556227,
0.0776633769273758,
-0.009942499920725822,
-0.02177966944873333,
-0.03419426083564758,
-0.026489274576306343,
-0.02154509164392948,
0.005535139702260494,
0.06990426033735275,
0.010574056766927242,
-0.041646625846624374,
0.005891517736017704,
-0.0011012762552127242,
0.06672842800617218,
0.037712931632995605,
0.04496680572628975,
0.061026379466056824,
0.03439275175333023,
-0.03478972986340523,
0.0514267235994339,
0.015229528769850731,
0.01738584227859974,
-0.05276201665401459,
0.0508493036031723,
0.03426643833518028,
0.04366760700941086,
0.010745478793978691,
-0.08394285291433334,
0.02176162414252758,
-0.024720916524529457,
-0.02811327576637268,
0.0025600583758205175,
0.018369264900684357,
-0.010186100378632545,
-0.038903865963220596,
0.002636747434735298,
-0.002257813699543476,
-0.01907300017774105,
-0.041538357734680176,
0.026381008327007294,
-0.00763280875980854,
0.033977728337049484,
0.025153983384370804,
0.002263452624902129,
0.04637427628040314,
-0.013361926190555096,
0.0162490401417017,
-0.0003845726605504751,
0.026146430522203445,
0.11043212562799454,
-0.04092484712600708,
-0.024811139330267906,
-0.02571336179971695,
-0.023548027500510216,
0.035132572054862976,
-0.005115605890750885,
0.0385790653526783,
-0.054422106593847275,
0.0006202784716151655,
-0.02066091261804104,
0.05756184458732605,
0.04702387750148773,
0.0035096483770757914,
-0.01936171017587185,
-0.03561977297067642,
0.015076150186359882,
-0.017340730875730515,
-0.02450438402593136,
0.009319965727627277,
0.04467809572815895,
-0.013885215856134892,
0.02668776363134384,
0.021400734782218933,
0.033995773643255234,
-0.0006512923864647746,
0.009392144158482552,
0.01465210597962141,
-0.030152300372719765,
-0.015500195324420929,
0.012883747927844524,
0.029845545068383217,
-0.04872005432844162,
-0.000757867528591305,
-0.017250508069992065,
-0.027174964547157288,
-0.0255509614944458,
-0.013109304010868073,
0.1273939162492752,
0.002715691924095154,
-0.011864235624670982,
-0.0017683575861155987,
-0.003146503586322069,
-0.0022194692865014076,
-0.0009467705385759473,
0.05001925677061081,
-0.00429683830589056,
0.02318713814020157,
-0.018802331760525703,
-0.010781567543745041,
-0.0005605061887763441,
0.027788475155830383,
0.019127132371068,
-0.013226592913269997,
0.0316319465637207,
0.02430589497089386,
0.016221974045038223,
0.02446829527616501,
0.04009480029344559,
-0.07300790399312973,
0.046807341277599335,
0.03926475718617439,
0.0057471622712910175,
0.013840104453265667,
0.008313987404108047,
-0.014228060841560364,
0.016880596056580544,
0.009135010652244091,
0.015500195324420929,
-0.018874511122703552,
-0.0032051480375230312,
-0.053303349763154984,
0.006838852073997259,
-0.0036224264185875654,
-0.03226350247859955,
0.09253201633691788,
0.03076581284403801,
0.054566461592912674,
0.01731366477906704,
0.040563955903053284,
-0.012333392165601254,
-0.030278611928224564,
-0.025190072134137154,
0.00047648666077293456,
0.014606994576752186,
0.0027608030941337347,
0.037712931632995605,
-0.036287419497966766,
0.03695506602525711,
-0.024757005274295807,
-0.03542128577828407,
-0.023367581889033318,
-0.02282624877989292,
-0.03760466352105141,
-0.014219038188457489,
0.023926960304379463,
0.024017183110117912,
-0.002555547282099724,
0.07419884204864502,
-0.015563351102173328,
-0.05976326763629913,
-0.02704865299165249,
-0.041790980845689774,
-0.040275245904922485,
0.04218795895576477,
0.04615774005651474,
0.023584116250276566,
0.021112024784088135,
0.0035773152485489845,
0.021256379783153534,
-0.03542128577828407,
0.04720431938767433,
-0.04124964773654938,
0.06907421350479126,
-0.030098168179392815,
-0.06030460074543953,
-0.054349929094314575,
0.024937450885772705,
-0.015112238936126232,
0.018928643316030502,
0.051859792321920395,
0.04612165316939354,
0.01154845766723156,
-0.018694065511226654,
0.011061256751418114,
0.030314700677990913,
-0.05395295098423958,
0.028889188542962074,
-0.040419600903987885,
-0.027608031406998634,
0.032389815896749496,
-0.0056388950906693935,
0.008165120147168636,
-0.059474557638168335,
-0.02322322688996792,
0.04514725133776665,
0.016420463100075722,
0.055901750922203064,
0.012134903110563755,
-0.0027630587574094534,
-0.024684827774763107,
0.022357091307640076,
0.01287472527474165,
0.0257855411618948,
0.028474165126681328,
-0.014417527243494987,
0.051931969821453094,
0.08278800547122955,
-0.027716297656297684,
0.008936521597206593,
-0.1024925634264946,
0.03327399492263794,
-0.0080884313210845,
-0.018892554566264153,
0.04882832244038582,
-0.06625927239656448,
0.0068433634005486965,
0.05745357647538185,
-0.07268310338258743,
0.02437807247042656,
-0.033833373337984085,
-0.00038316292921081185,
0.011909347027540207,
-0.0005027074948884547,
0.0013240126427263021,
0.010962012223899364,
-0.055721309036016464,
0.028853099793195724,
0.0015721239615231752,
-0.020877445116639137,
0.02690429799258709,
0.022248825058341026,
0.007880919612944126,
0.037568576633930206,
0.008413231931626797,
-0.017430953681468964,
-0.09570784121751785,
-0.0385068878531456,
-0.02179771289229393,
-0.036395687609910965,
-0.04485854133963585,
-0.015482150949537754,
0.027138875797390938,
-0.05377250537276268,
0.03058536723256111,
0.012270236387848854,
-0.028492210432887077,
0.013849127106368542,
0.020769178867340088,
-0.051895882934331894,
0.011855213902890682,
-0.028925277292728424,
-0.026399051770567894,
-0.0128927705809474,
0.04132182523608208,
-0.008611720986664295,
0.008724498562514782,
0.03482581675052643,
0.028654610738158226,
-0.050560589879751205,
-0.02450438402593136,
0.022050336003303528,
0.004335182718932629,
-0.04453374072909355,
0.0023638249840587378,
-0.04655471816658974,
0.042873647063970566,
0.0384708009660244,
-0.032353725284338,
-0.0017288853414356709,
-0.023764559999108315,
-0.010962012223899364,
-0.013894237577915192,
-0.07939564436674118,
0.04345107078552246,
0.016925707459449768,
0.02414349466562271,
-0.010032722726464272,
0.0762198194861412,
0.02944856695830822,
-0.00966281071305275,
-0.018856465816497803,
-0.00076181476470083,
-0.012549925595521927,
-0.026417097076773643,
-0.014471661299467087,
-0.017358776181936264,
-0.09354250878095627,
0.04106920212507248,
-0.01401152741163969,
-0.03675657510757446,
-0.003132970305159688,
-0.0074884528294205666,
0.002089774701744318,
-0.023421715945005417,
0.04453374072909355,
-0.05388077348470688,
-0.012170991860330105,
0.034176215529441833,
-0.021527046337723732,
-0.040275245904922485,
0.0009315455099567771,
0.017015930265188217,
0.013289748691022396,
-0.0078087421134114265,
0.004235938191413879,
0.014543838798999786,
-0.02446829527616501,
-0.006058428902179003,
0.009040276519954205,
0.059654999524354935,
-0.028401987627148628,
-0.01643850840628147,
0.030206434428691864,
-0.012919836677610874,
-0.02441416122019291,
0.01907300017774105,
-0.0319928377866745,
-0.028618521988391876,
0.013695748522877693,
-0.07571457326412201,
0.03973391279578209,
0.06539314240217209,
-0.02035415731370449,
-0.014886683784425259,
-0.0318123921751976,
0.007826786488294601,
0.010718411765992641,
0.035096485167741776,
0.022140558809041977,
0.044064585119485855,
0.02324127033352852,
0.060918115079402924,
0.011864235624670982,
-0.011322901584208012,
-0.027265187352895737,
0.004118649289011955,
-0.011792058125138283,
0.005075005814433098,
-0.04258493706583977,
0.03746030852198601,
0.05229286104440689,
-0.0004993241745978594,
-0.030062079429626465,
-0.05496343970298767,
0.050416234880685806,
0.04319844767451286,
0.03617915138602257,
0.035313017666339874,
0.03724377602338791,
0.012495791539549828,
-0.05222067981958389,
0.044100672006607056,
-0.018874511122703552,
-0.005241916980594397,
0.013109304010868073,
0.004637427628040314,
-0.004705094266682863,
0.029069632291793823,
-0.02183380350470543,
0.0019623355474323034,
-0.011665746569633484,
-0.012847659178078175,
-0.031072568148374557,
-0.02703060768544674,
0.008972610346972942,
0.01161161344498396,
-0.018179798498749733,
-0.0011046596337109804,
-0.011891302652657032,
0.0386873334646225,
0.005918584298342466,
-0.044064585119485855,
0.04392022639513016,
0.011873258277773857,
0.008539543487131596,
0.03567390888929367,
-0.04872005432844162,
0.022808203473687172,
0.019975222647190094,
-0.04099702462553978,
-0.014616016298532486,
0.027553897351026535,
0.022537536919116974,
-0.02306082658469677,
-0.00609451811760664,
-0.03540324047207832,
-0.02675994113087654,
-0.03296723589301109,
-0.0509936586022377,
-0.00011383520177332684,
-0.007118541281670332,
-0.007132074795663357,
0.021436823531985283,
0.004786294419318438,
-0.08163315802812576,
-0.0509936586022377,
-0.04698778688907623,
-0.02192402444779873,
-0.03753248602151871,
-0.0040284269489347935,
-0.0895727276802063,
0.09253201633691788,
-0.10790590196847916,
-0.02674189768731594,
0.042765382677316666,
-0.0035502484533935785,
-0.011909347027540207,
-0.010655256919562817,
0.050632767379283905,
-0.07178088277578354,
-0.0385068878531456,
0.04558032006025314,
-0.008598187938332558,
0.009635744616389275,
0.03307550400495529,
0.015617484226822853,
-0.010889834724366665,
-0.0387955978512764,
0.00153152400162071,
0.07336879521608353,
-0.027950875461101532,
0.0019352688686922193,
0.019469978287816048,
-0.06557358801364899,
0.005566717591136694,
-0.0029547810554504395,
0.030404923483729362,
-0.06874941289424896,
0.020859401673078537,
-0.027535853907465935,
0.034952130168676376,
-0.011647702194750309,
-0.031523678451776505,
-0.004504349548369646,
0.007384697441011667,
0.04233231395483017,
0.06716150045394897,
-0.03318377211689949,
-0.00791700929403305,
0.0255329180508852,
-0.02544269524514675,
-0.025244206190109253,
-0.04853961244225502,
-0.05218459293246269,
0.025298340246081352,
0.020029356703162193,
0.023421715945005417,
0.003035981208086014,
0.04734867438673973,
-0.029917722567915916,
-0.036485906690359116,
-0.022068381309509277,
-0.014219038188457489,
0.013352904468774796,
0.00705989683046937,
0.03338225930929184,
-0.015491173602640629,
0.020787224173545837,
-0.030260568484663963,
-0.0006574951694346964,
0.008169631473720074,
0.014552860520780087,
-0.015184417366981506,
-0.048178721219301224,
-0.08784045279026031,
0.01656481809914112,
-0.008151587098836899,
-0.019903045147657394,
0.04839525371789932,
0.03450101613998413,
-0.027066698297858238,
-0.004184060264378786,
0.009852278046309948,
0.028726788237690926,
-0.04005871340632439,
0.009283876977860928,
0.04604947566986084,
-0.013758904300630093,
0.04886440932750702,
-0.060845937579870224,
-0.044245027005672455,
0.03619719669222832,
-0.006491496227681637,
-0.047890011221170425,
-0.04731258749961853,
-0.010790590196847916,
0.02423371560871601,
0.012324369512498379,
0.0034013816621154547,
-0.010312411934137344,
-0.03450101613998413,
0.005481006111949682,
-0.011331924237310886,
0.015292683616280556,
-0.01651068590581417,
0.0030247033573687077,
0.015220506116747856,
-0.0014976905658841133,
-0.025298340246081352,
0.010664278641343117,
-0.029087677597999573,
0.005075005814433098,
0.09657397866249084,
0.013280726037919521,
-0.05474690720438957,
-0.03471755236387253,
-0.04074440151453018,
-0.013434103690087795,
-0.024702873080968857,
-0.04207969084382057,
-0.01660090684890747,
0.040311336517333984,
-0.002314202720299363,
-0.006748629733920097,
0.02055264636874199,
-0.04832307621836662,
-0.010592101141810417,
0.015382906422019005,
-0.023818694055080414,
0.008350076153874397,
0.007623786572366953,
-0.04211578145623207,
-0.013055169954895973,
0.018513621762394905,
-0.026344919577240944,
0.02937638945877552,
0.001822490943595767,
-0.04200751334428787,
-0.0013195015490055084,
-0.03168607875704765,
-0.03753248602151871,
-0.009780099615454674,
0.000875156547408551,
0.025875762104988098,
0.026074251160025597,
0.013118325732648373,
-0.01722344197332859,
-0.04244058206677437,
0.0057471622712910175,
-0.02040828950703144,
0.002150674583390355,
0.030206434428691864,
-0.028438076376914978,
-0.05878886580467224,
-0.04637427628040314,
-0.010023700073361397,
0.005462961737066507,
-0.013100281357765198,
0.037893377244472504,
0.0002906850422732532,
-0.036341551691293716,
0.02300669252872467,
0.04904485493898392,
0.025190072134137154,
-0.03451906144618988,
-0.026651674881577492,
0.041754890233278275,
-0.016420463100075722,
0.004335182718932629,
-0.021202245727181435,
-0.032895058393478394,
-0.03211914747953415,
0.027174964547157288,
0.011250724084675312,
-0.04189924895763397,
-0.03475363925099373,
-0.003484837245196104,
-0.04475027322769165,
-0.0005238533485680819,
0.0319928377866745,
0.044028494507074356,
0.010989079251885414,
0.02425176091492176,
-0.016330240294337273,
-0.0021924024913460016,
0.032624393701553345,
-0.017891086637973785,
-0.06636754423379898,
-0.018585799261927605,
0.030477100983262062,
-0.06477963179349899,
0.008652321062982082,
0.007118541281670332,
-0.019722599536180496,
-0.04565249755978584,
0.007858364842832088,
0.0005213158437982202,
-0.001566485152579844,
-0.0015033294912427664,
-0.010781567543745041,
-0.022465359419584274,
0.005210339091718197,
-0.036576129496097565,
0.10862767696380615,
-0.004450215958058834,
0.00426526041701436,
0.009834233671426773,
-0.015500195324420929,
0.06163989380002022,
0.009942499920725822,
0.06625927239656448,
0.0003245184198021889,
-0.027265187352895737,
0.028744833543896675,
-0.046951696276664734,
0.031541723757982254,
0.0035164151340723038,
-0.0012191291898488998,
-0.031307145953178406,
0.011070279404520988,
0.05023578926920891,
0.02675994113087654,
-0.01030338928103447,
-0.04965836927294731,
0.0158520620316267,
-0.007677919697016478,
-0.006432851776480675,
0.011927391402423382,
0.0009901899611577392,
0.01839633285999298,
-0.0018382798880338669,
-0.04309018328785896,
-0.02067895606160164,
-0.01141312438994646,
0.008359098806977272,
-0.01402054913341999,
0.0025262250564992428,
0.04734867438673973,
-0.015680640935897827,
0.02307887002825737,
0.009365077130496502,
-0.012080769054591656,
0.013325837440788746,
0.01734975352883339,
-0.015752818435430527,
0.015148328617215157,
0.011169523932039738,
-0.006649385206401348,
-0.012856680899858475,
-0.01347921509295702,
-0.025099851191043854,
-0.04226013645529747,
0.013587482273578644,
0.03056732378900051,
0.050596680492162704,
-0.005300561431795359,
-0.016609929502010345,
0.023313447833061218,
0.010646234266459942,
0.010700367391109467,
-0.017584331333637238,
-0.014679172076284885,
-0.04774565249681473,
0.010754501447081566,
0.011692813597619534,
0.004233682528138161,
0.013452148996293545,
-0.003455515019595623,
0.02040828950703144,
-0.018477533012628555,
0.0010556011693552136,
0.03987826779484749,
0.0031848479993641376,
-0.027950875461101532,
-0.008859831839799881,
-0.007511008530855179,
0.02307887002825737,
0.014065660536289215,
-0.0191993098706007,
0.02953878976404667,
0.023403670638799667,
-0.0048043387942016125,
-0.038254264742136,
-0.029051588848233223,
-0.00007943793752929196,
-0.003151014680042863,
0.04615774005651474,
-0.022032292559742928,
-0.019812822341918945,
0.002348036039620638,
-0.00577422883361578,
0.0192354004830122,
-0.015572372823953629,
0.0030517701525241137,
0.006888474337756634,
-0.016429485753178596,
0.049333568662405014,
0.031216925010085106,
-0.04882832244038582,
0.012946903705596924,
-0.010104900225996971,
-0.0193977989256382,
0.0055035618133842945,
-0.00613060686737299,
-0.0047502052038908005,
0.02426980622112751,
0.024775050580501556,
0.007853853516280651,
-0.024720916524529457,
0.03614306449890137,
0.012992015108466148,
-0.013731838203966618,
0.02058873511850834,
-0.04384804889559746,
-0.05517997220158577,
-0.004224660340696573,
0.04900876805186272,
-0.016961796209216118,
-0.00416827155277133,
-0.02167140319943428,
-0.01716930791735649,
0.028383944183588028,
0.013037125580012798,
0.007244852837175131,
0.018639931455254555,
-0.008390676230192184,
-0.011124412529170513,
-0.00902223214507103,
0.005214850418269634,
-0.008101964369416237,
0.004817872308194637,
0.03412208333611488,
0.033851414918899536,
-0.018179798498749733,
0.004835916683077812,
-0.03681070730090141,
0.008584653958678246,
-0.03462732955813408,
-0.04309018328785896,
0.008837277069687843,
-0.007628297433257103,
-0.018802331760525703,
0.02322322688996792,
0.027914786711335182,
0.0049396720714867115,
0.01780988648533821,
0.049189209938049316,
-0.014643083326518536,
-0.0510297454893589,
0.0257494505494833,
-0.05019970238208771,
-0.045544229447841644,
0.005467473063617945,
0.0050704944878816605,
0.026002073660492897,
-0.03724377602338791,
0.05460255220532417,
0.009121476672589779,
-0.012631125748157501,
-0.0322093702852726,
0.05514388531446457,
0.014291216619312763,
0.011395080015063286,
-0.010366545058786869,
-0.011187568306922913,
-0.04558032006025314,
-0.08444809913635254,
0.02692234143614769,
-0.00766438664868474,
0.05268983915448189,
0.0321011021733284,
0.005535139702260494,
0.010673301294445992,
0.046951696276664734,
0.015175394713878632,
0.0003515851276461035,
-0.008498943410813808,
0.015184417366981506,
0.02199620194733143,
-0.011440190486609936,
0.004876516759395599,
-0.005914073437452316,
0.018766243010759354,
-0.018639931455254555,
-0.03085603564977646,
0.008539543487131596,
0.023710427805781364,
0.005841895472258329,
0.04698778688907623,
0.035367149859666824,
-0.01083570159971714,
0.0019916577730327845,
-0.002080752281472087,
-0.02055264636874199,
-0.023385627195239067,
0.028943322598934174,
0.014453615993261337,
-0.013199525885283947,
0.0511741042137146,
0.02049851231276989,
-0.02051655575633049,
0.0012428124900907278,
0.007998209446668625,
-0.023566070944070816,
-0.024738961830735207,
-0.012513836845755577,
-0.0020322578493505716,
-0.0019815077539533377,
-0.016113707795739174,
-0.017052019014954567,
0.02932225540280342,
0.04503898322582245,
-0.023999137803912163,
0.008769609965384007,
-0.045183341950178146,
0.03193870186805725,
-0.05019970238208771,
0.004826894495636225,
0.031036479398608208,
-0.0008114370284602046,
0.006942607928067446,
-0.07824079692363739,
-0.013073215261101723,
0.0072403415106236935,
-0.00044688244815915823,
0.01800837554037571,
-0.02174358069896698,
-0.017548242583870888,
0.005115605890750885,
-0.018170775845646858,
-0.03316572681069374,
0.005481006111949682,
-0.01581597328186035,
-0.021166156977415085,
0.012604058720171452,
-0.004511116072535515,
-0.01080863457173109,
-0.013289748691022396,
-0.015716729685664177,
-0.005462961737066507,
0.015211484394967556,
0.008047831244766712,
0.04078049212694168,
-0.03585435077548027,
0.024702873080968857,
-0.009116966277360916,
0.006329095922410488,
0.0063832295127213,
-0.004109627101570368,
-0.058391887694597244,
-0.011927391402423382,
0.02946661040186882,
-0.008688409812748432,
-0.02315104939043522,
0.04709605500102043,
-0.01344312634319067,
0.0007212146883830428,
0.004321649204939604,
-0.0193256214261055,
-0.01606859639286995,
0.000034749693440971896,
-0.07185305655002594,
0.015391928143799305,
-0.007862875238060951,
0.026272740215063095,
0.0033495037350803614,
0.029917722567915916,
-0.027337364852428436,
-0.01806250959634781,
0.0043825493194162846,
0.012026635929942131,
-0.02813132107257843,
-0.014489705674350262,
-0.027102787047624588,
0.001079848501831293,
0.01212588045746088,
-0.00959063321352005,
0.014543838798999786,
0.034952130168676376,
0.012270236387848854,
0.010366545058786869,
0.0632999837398529,
0.023403670638799667,
-0.01208979170769453,
-0.046951696276664734,
-0.0033495037350803614,
0.014300238341093063,
-0.03197479248046875,
-0.008634276688098907,
0.015527262352406979,
-0.0022533026058226824,
0.004075793549418449,
0.004355482757091522,
0.005927606951445341,
0.027716297656297684,
-0.018324153497815132,
-0.00351190404035151,
0.03067559003829956,
-0.02571336179971695,
-0.03302137181162834,
-0.03617915138602257,
0.04186315834522247,
-0.008760587312281132,
-0.00609451811760664,
0.023999137803912163,
0.007659875322133303,
0.01546410657465458,
-0.007592208683490753,
0.0020615800749510527,
0.048034366220235825,
-0.026561452075839043,
-0.03358075022697449,
0.004443449433892965,
0.011728902347385883,
-0.01715126447379589,
0.022483402863144875,
-0.0011898069642484188,
0.0096988994628191,
0.0015371628105640411,
0.001931885490193963,
-0.004314882680773735,
-0.014778416603803635,
-0.01033045630902052,
-0.009356055408716202,
-0.032768748700618744,
-0.03460928425192833,
0.0034893483389168978,
-0.03150563687086105,
-0.019433889538049698,
0.0067847189493477345,
0.012928859330713749,
-0.021039845421910286,
-0.0026029141154140234,
0.0388316884636879,
-0.0054268729873001575,
0.007704986725002527,
0.019993267953395844,
0.0006546757649630308,
-0.003660770831629634,
0.03570999577641487,
0.027824565768241882,
-0.02948465570807457,
-0.003845726605504751,
0.016664063557982445,
0.013208548538386822,
-0.008110987022519112,
-0.0256050955504179,
-0.00322319264523685,
-0.07289963960647583,
0.017746731638908386,
0.00606294022873044,
-0.01279352605342865,
0.025081805884838104,
0.00731251947581768,
-0.02796892076730728,
0.020787224173545837,
-0.002929969923570752,
-0.017024952918291092,
-0.006577207241207361,
0.018712110817432404,
-0.04200751334428787,
0.007195230573415756,
-0.006586229894310236,
-0.018477533012628555,
-0.037785109132528305,
0.03071167878806591,
0.006726074498146772,
0.009301921352744102,
-0.10617363452911377,
0.03583630919456482,
0.01287472527474165,
-0.014137838035821915,
0.0630112737417221,
-0.038903865963220596,
0.01654677465558052,
0.007492964155972004,
-0.032768748700618744,
0.028546342626214027,
0.07008469849824905,
-0.05009143427014351,
0.010150011628866196,
-0.06156771257519722,
-0.010619167238473892,
-0.0255870521068573
] |
In this work, we explore how a real time reading tracker can be built
efficiently for children's voices. While previously proposed reading trackers
focused on ASR-based cascaded approaches, we propose a fully end-to-end model
making it less prone to lags in voice tracking. We employ a pointer network
that directly learns to predict positions in the ground truth text conditioned
on the streaming speech. To train this pointer network, we generate ground
truth training signals by using forced alignment between the read speech and
the text being read on the training set. Exploring different forced alignment
models, we find a neural attention based model is at least as close in
alignment accuracy to the Montreal Forced Aligner, but surprisingly is a better
training signal for the pointer network. Our results are reported on one adult
speech data (TIMIT) and two children's speech datasets (CMU Kids and Reading
Races). Our best model can accurately track adult speech with 87.8% accuracy
and the much harder and disfluent children's speech with 77.1% accuracy on CMU
Kids data and a 65.3% accuracy on the Reading Races dataset. | [
0.003937105648219585,
0.003523469902575016,
-0.03280837461352348,
-0.05129082500934601,
-0.018855733796954155,
0.001310266787186265,
-0.06287262588739395,
0.04378485307097435,
-0.055084168910980225,
0.0200058426707983,
0.04487442970275879,
0.021367814391851425,
0.01128922775387764,
-0.03416025638580322,
-0.026412151753902435,
-0.03103276528418064,
0.05129082500934601,
-0.008212181739509106,
-0.00016063063230831176,
-0.047941386699676514,
-0.008363512344658375,
0.0059472741559147835,
-0.0805479884147644,
-0.03533054143190384,
0.038316790014505386,
0.029378222301602364,
-0.003112356411293149,
-0.011763395741581917,
-0.0355524942278862,
-0.01061328686773777,
0.013004302978515625,
0.04479371756315231,
-0.02919662743806839,
-0.044713009148836136,
-0.04592365026473999,
0.024354062974452972,
0.04701322689652443,
0.04903096333146095,
-0.0014262865297496319,
0.017049862071871758,
0.012530134990811348,
0.029559819027781487,
-0.020802848041057587,
-0.04721499979496002,
0.003263686550781131,
-0.039406366646289825,
-0.035693734884262085,
0.006739235017448664,
-0.003869007108733058,
-0.011087454855442047,
0.04196888953447342,
0.005049381870776415,
-0.01642436347901821,
-0.02976159192621708,
0.02736048772931099,
0.02764297090470791,
0.03627887740731239,
0.002996336668729782,
0.044713009148836136,
0.03744916245341301,
0.04229172691702843,
0.02173100784420967,
-0.006017894949764013,
-0.016010727733373642,
0.020641429349780083,
-0.0812743678689003,
-0.0567387118935585,
0.018310945481061935,
0.011672597378492355,
0.03294961526989937,
-0.031476669013500214,
-0.01591992937028408,
-0.013226253911852837,
0.00358400191180408,
-0.025605058297514915,
-0.02308288961648941,
0.023284662514925003,
0.049515221267938614,
0.026714812964200974,
0.00493588438257575,
0.02816758118569851,
0.0005968082114122808,
-0.015576914884150028,
0.01714066043496132,
0.08131472766399384,
-0.0875697061419487,
-0.02788509987294674,
-0.07150853425264359,
0.01074443943798542,
-0.029902834445238113,
-0.06969256699085236,
-0.00043097560410387814,
0.005871609319001436,
0.028086872771382332,
-0.012489779852330685,
0.0052309781312942505,
0.016384009271860123,
-0.025968249887228012,
-0.008903255686163902,
0.00769765954464674,
0.04330059513449669,
0.011279139667749405,
-0.020843204110860825,
-0.021166041493415833,
0.007137737702578306,
-0.006320555228739977,
-0.06327617168426514,
0.04451123625040054,
0.04221101850271225,
0.08676260709762573,
0.008343334309756756,
-0.02972123771905899,
0.0405362993478775,
-0.009992833249270916,
-0.0337163545191288,
0.03484628349542618,
-0.010946213267743587,
-0.09289652109146118,
0.007621994242072105,
-0.06267084926366806,
0.024596190080046654,
0.09507567435503006,
0.02812722697854042,
0.05976531282067299,
-0.005082170478999615,
0.036521006375551224,
0.028752725571393967,
-0.010663730092346668,
-0.04967663809657097,
-0.019420700147747993,
0.02816758118569851,
0.02576647698879242,
-0.05944247543811798,
0.02439441718161106,
0.044470880180597305,
0.05891786515712738,
-0.0015612224815413356,
-0.02100462280213833,
0.044713009148836136,
0.014588224701583385,
-0.026109492406249046,
-0.005049381870776415,
-0.002538562985137105,
-0.01607125997543335,
-0.014759732410311699,
0.032021455466747284,
-0.0038866621907800436,
0.03589550778269768,
0.025322575122117996,
-0.014679023064672947,
-0.02518133446574211,
0.028752725571393967,
-0.009770882315933704,
0.05129082500934601,
0.0052309781312942505,
-0.018986888229846954,
0.020742317661643028,
-0.016767378896474838,
-0.05871609225869179,
0.017090216279029846,
0.004893007688224316,
-0.018230237066745758,
0.059886377304792404,
0.008116339333355427,
0.03222322836518288,
0.01394254993647337,
0.01498168334364891,
0.01910795085132122,
-0.044188398867845535,
0.03815536946058273,
-0.008292891085147858,
0.036823663860559464,
0.007879255339503288,
-0.02631126530468464,
0.014255298301577568,
0.025100624188780785,
0.024616368114948273,
-0.016716934740543365,
-0.07041895389556885,
-0.022174909710884094,
-0.018028462305665016,
0.06275156140327454,
0.03296979144215584,
-0.041484635323286057,
0.012116499245166779,
0.009594330564141273,
0.02627091109752655,
0.02026814967393875,
0.008545108139514923,
-0.021347638219594955,
0.0017882176907733083,
0.047376420348882675,
0.012086233124136925,
-0.019572030752897263,
-0.010441779159009457,
-0.006956141907721758,
-0.05714225769042969,
-0.018048640340566635,
0.006481973920017481,
-0.0233855489641428,
-0.029923012480139732,
-0.019884780049324036,
0.0023367893882095814,
-0.03365582227706909,
-0.009332024492323399,
0.06553603708744049,
-0.021630119532346725,
0.03081081435084343,
-0.022719698026776314,
-0.0896681472659111,
0.03958796337246895,
-0.04015292972326279,
-0.01582913100719452,
0.018310945481061935,
0.011783572845160961,
-0.001877754693850875,
0.009710350073873997,
0.007233580574393272,
0.035451605916023254,
0.007879255339503288,
0.005911963991820812,
-0.009669995866715908,
0.03615781292319298,
0.0027945630718022585,
-0.06020921468734741,
0.005856476258486509,
-0.02810705080628395,
0.016787556931376457,
0.012842884287238121,
-0.0005261874757707119,
-0.03192057088017464,
0.020106730982661247,
-0.006194446701556444,
0.003056868677958846,
-0.007803590502589941,
-0.05407530069351196,
-0.038639627397060394,
0.0024591146502643824,
0.02812722697854042,
-0.0028929277323186398,
-0.044995494186878204,
-0.05915999412536621,
-0.021367814391851425,
0.016676580533385277,
0.05690012872219086,
-0.02790527604520321,
-0.003732810029760003,
0.014083790592849255,
-0.04568152129650116,
-0.050080183893442154,
-0.04305846616625786,
-0.013539002276957035,
0.020903736352920532,
-0.012055967003107071,
-0.04511655867099762,
0.11436522752046585,
0.010996656492352486,
-0.046851810067892075,
0.07360697537660599,
-0.03759040683507919,
0.06493071466684341,
-0.0009741877438500524,
0.01060319785028696,
0.08329210430383682,
0.008529975078999996,
-0.047093939036130905,
0.038336966186761856,
-0.03290925920009613,
0.04721499979496002,
-0.006391176022589207,
0.002092139096930623,
-0.00365462270565331,
-0.025019915774464607,
-0.05891786515712738,
0.02227579616010189,
-0.04749748483300209,
0.02544363960623741,
-0.02812722697854042,
-0.00524106714874506,
0.03343386948108673,
0.013892105780541897,
0.031759150326251984,
0.03627887740731239,
-0.017130570486187935,
-0.056133389472961426,
-0.04903096333146095,
-0.02703765034675598,
-0.018139438703656197,
-0.011541444808244705,
0.012530134990811348,
0.006522328592836857,
-0.03567355498671532,
-0.03605692461133003,
-0.014235121197998524,
0.0637604296207428,
-0.019047418609261513,
-0.06287262588739395,
-0.06069347262382507,
-0.008368556387722492,
-0.04878883436322212,
-0.02070196159183979,
-0.004673578776419163,
0.03022567182779312,
-0.023466259241104126,
-0.03978973627090454,
-0.018785113468766212,
0.019834335893392563,
0.020278237760066986,
-0.04140392318367958,
-0.020187439396977425,
0.0049056182615458965,
-0.02497955970466137,
0.00914033968001604,
-0.01814952678978443,
0.010305581614375114,
-0.023163599893450737,
-0.010350980795919895,
0.0010321976151317358,
0.0005198820726945996,
-0.0352901853621006,
0.021710829809308052,
-0.0171204824000597,
-0.08539055287837982,
0.0478203222155571,
0.00798014272004366,
-0.016959063708782196,
0.07437371462583542,
-0.009437955915927887,
-0.002686109859496355,
0.001756690675392747,
-0.04907131940126419,
-0.018946532160043716,
-0.037812355905771255,
-0.03083099238574505,
-0.008292891085147858,
-0.05383317172527313,
-0.031113475561141968,
0.028752725571393967,
0.037045616656541824,
-0.018411831930279732,
-0.050281960517168045,
-0.041484635323286057,
0.022417036816477776,
-0.0201369971036911,
-0.023970693349838257,
-0.03341369330883026,
-0.0014426806010305882,
0.02707800455391407,
-0.013882017694413662,
0.014739555306732655,
0.0011822666274383664,
0.009922211989760399,
-0.00198999117128551,
-0.013397760689258575,
0.018230237066745758,
-0.017867043614387512,
-0.0252216886729002,
0.004411273170262575,
-0.007253757677972317,
0.0073243784718215466,
0.03339351713657379,
-0.035189300775527954,
-0.09604419022798538,
0.055124521255493164,
-0.049474865198135376,
-0.03799395263195038,
-0.02443477138876915,
0.0012806312879547477,
-0.02282058447599411,
-0.004020337015390396,
0.017766157165169716,
0.024313708767294884,
-0.015213722363114357,
-0.0123485391959548,
-0.006971274968236685,
-0.03420060873031616,
0.01912812888622284,
0.02006637491285801,
-0.051089052110910416,
0.03026602603495121,
-0.0366017147898674,
0.047618549317121506,
0.0833728164434433,
-0.00650719553232193,
0.02150905691087246,
0.06291297823190689,
0.01912812888622284,
-0.007067117374390364,
-0.007586684077978134,
0.02949928678572178,
0.031960923224687576,
-0.017564384266734123,
-0.03470504283905029,
-0.001974858343601227,
0.047941386699676514,
0.013226253911852837,
-0.009321936406195164,
-0.009392556734383106,
0.045277975499629974,
-0.019269369542598724,
-0.035209476947784424,
0.01552647165954113,
0.003498248290270567,
-0.010043276473879814,
-0.029095740988850594,
-0.004413795657455921,
-0.020883558318018913,
-0.006537461653351784,
0.02021770551800728,
0.028308823704719543,
-0.00564461387693882,
-0.002842484274879098,
-0.030750282108783722,
-0.03962831571698189,
0.02679552137851715,
0.018815379589796066,
-0.040495943278074265,
0.03391812741756439,
-0.046286843717098236,
-0.024313708767294884,
-0.05060479789972305,
0.03972920402884483,
0.050281960517168045,
-0.014245210215449333,
0.023224130272865295,
0.06751341372728348,
0.06242872402071953,
-0.005014071706682444,
-0.01965273916721344,
-0.07663358002901077,
-0.00025410851230844855,
-0.005281421821564436,
0.025685768574476242,
-0.04350236803293228,
0.014789998531341553,
-0.041524987667798996,
0.010129029862582684,
-0.014729466289281845,
-0.025282220914959908,
-0.03391812741756439,
-0.04081878066062927,
-0.00048614805564284325,
-0.0005533007788471878,
-0.023143421858549118,
0.009715394116938114,
-0.02544363960623741,
0.012933681719005108,
0.04277598485350609,
-0.0010315671097487211,
-0.010653641074895859,
-0.030871346592903137,
0.0577879324555397,
-0.03924494609236717,
0.006426486186683178,
0.017786335200071335,
0.00491318479180336,
0.03627887740731239,
-0.042089954018592834,
-0.020580898970365524,
-0.051089052110910416,
0.025019915774464607,
0.032768018543720245,
0.0270578283816576,
-0.030750282108783722,
0.011047099716961384,
-0.05068550631403923,
-0.022699519991874695,
0.04015292972326279,
0.00018380305846221745,
0.022396858781576157,
0.012580578215420246,
-0.033353161066770554,
0.009765838272869587,
0.03829661384224892,
0.03418043255805969,
0.025968249887228012,
-0.017322255298495293,
0.008378645405173302,
0.014638667926192284,
-0.017786335200071335,
0.0020681784953922033,
-0.06154092028737068,
-0.014628579840064049,
-0.0011482173576951027,
-0.016151970252394676,
-0.050967987626791,
-0.011107631959021091,
-0.0206616073846817,
0.01961238496005535,
-0.0441480427980423,
0.03208198770880699,
0.02945893257856369,
-0.022699519991874695,
-0.033857595175504684,
-0.02657357044517994,
-0.00874688196927309,
-0.0024338930379599333,
-0.06279191374778748,
0.04693251848220825,
-0.014648756943643093,
0.004893007688224316,
0.0018802769482135773,
0.006719057913869619,
-0.012015612795948982,
-0.012661287561058998,
0.06359901279211044,
-0.0005422662943601608,
0.0026003560051321983,
-0.06392184644937515,
-0.01075452845543623,
0.04665003716945648,
-0.005488239694386721,
0.034886639565229416,
-0.005669835489243269,
0.04031434655189514,
0.01976371556520462,
0.02310306765139103,
0.03813519328832626,
0.01867413893342018,
0.000939507910516113,
0.0005198820726945996,
-0.0032056765630841255,
-0.007879255339503288,
0.05060479789972305,
-0.02893432229757309,
0.051089052110910416,
0.01893644407391548,
-0.004925795830786228,
0.0004407490196172148,
-0.03708597272634506,
0.027663148939609528,
0.032001279294490814,
-0.006880476605147123,
-0.0073798662051558495,
-0.013004302978515625,
-0.015627358108758926,
-0.010043276473879814,
0.05338926985859871,
-0.010492222383618355,
-0.026452507823705673,
-0.030165139585733414,
-0.015213722363114357,
-0.03246535733342171,
0.025423461571335793,
-0.08450274914503098,
-0.011733129620552063,
0.020742317661643028,
-0.024576013907790184,
0.016605960205197334,
0.03474539890885353,
0.008222270756959915,
-0.01766527071595192,
-0.0072184475138783455,
0.033353161066770554,
0.019551852717995644,
-0.006083471234887838,
-0.06892582774162292,
-0.02891414426267147,
0.011642331257462502,
0.007591728121042252,
-0.015889663249254227,
0.005811077076941729,
0.007102427538484335,
-0.03878086805343628,
0.03642011806368828,
-0.018270591273903847,
0.025302398949861526,
0.036823663860559464,
0.002630622126162052,
0.0026154890656471252,
0.009876813739538193,
-0.02814740501344204,
0.009806192480027676,
-0.0249593835324049,
0.05415600910782814,
0.0019433310953900218,
0.003717676969245076,
-0.009125206619501114,
0.015576914884150028,
-0.03920459374785423,
0.007203314453363419,
-0.02068178541958332,
0.010214784182608128,
0.0023342673666775227,
-0.013892105780541897,
-0.019824247807264328,
-0.026109492406249046,
-0.021852070465683937,
0.0004672317882068455,
-0.021650297567248344,
-0.03639994189143181,
0.03946689888834953,
0.008161738514900208,
-0.03153720125555992,
-0.10129030048847198,
-0.05125047266483307,
-0.022618809714913368,
0.014053525403141975,
0.00390936154872179,
-0.06997505575418472,
0.03613763675093651,
0.05443849414587021,
0.022174909710884094,
0.0478203222155571,
-0.030609041452407837,
-0.029923012480139732,
0.006840121932327747,
0.03734827786684036,
-0.03432167321443558,
0.03248553350567818,
0.035229653120040894,
-0.005599214695394039,
0.04439017176628113,
-0.014416716992855072,
0.0381755493581295,
-0.051048699766397476,
0.03603674843907356,
0.024838319048285484,
0.016081348061561584,
-0.018220147117972374,
0.007985186763107777,
-0.02126692794263363,
0.044955138117074966,
-0.02949928678572178,
0.02465672232210636,
0.023486437276005745,
0.0006106801447458565,
-0.05121011659502983,
-0.0012478430289775133,
-0.04608507081866264,
0.025605058297514915,
-0.010325759649276733,
-0.0004070150025654584,
-0.03103276528418064,
0.016081348061561584,
0.059321410953998566,
-0.013438115827739239,
0.02094409056007862,
0.012822706252336502,
-0.021307282149791718,
-0.011914725415408611,
0.0366017147898674,
0.01672702468931675,
0.054842039942741394,
0.0081012062728405,
-0.007596772629767656,
-0.008212181739509106,
-0.034866463392972946,
0.03420060873031616,
0.025564704090356827,
0.030124785378575325,
0.005251155700534582,
0.039910800755023956,
0.03313121199607849,
-0.025867363438010216,
-0.031960923224687576,
0.02282058447599411,
0.009125206619501114,
0.004098524339497089,
0.005563904531300068,
0.051411889493465424,
-0.0032939526718109846,
0.01812935061752796,
-0.0275824386626482,
0.06000744178891182,
-0.023789096623659134,
-0.015354963950812817,
0.045762233436107635,
0.002486858516931534,
0.03127489238977432,
-0.03617798909544945,
-0.027279779314994812,
-0.02657357044517994,
-0.011470824480056763,
0.017524030059576035,
0.0018310946179553866,
0.019057508558034897,
0.02417246624827385,
-0.019118040800094604,
0.011944991536438465,
0.004406229127198458,
-0.03313121199607849,
0.014628579840064049,
0.011349759995937347,
0.03298996761441231,
-0.0010511138243600726,
-0.0018512719543650746,
-0.0022106810938566923,
-0.04065736383199692,
-0.030649395659565926,
-0.042089954018592834,
-0.024273352697491646,
0.019027242437005043,
0.02203366719186306,
-0.009644773788750172,
0.003341873874887824,
-0.04507620260119438,
0.0483449324965477,
0.023425905033946037,
-0.05476133152842522,
-0.024535659700632095,
0.020126907154917717,
0.021569589152932167,
0.023970693349838257,
0.009700261056423187,
0.02229597233235836,
-0.010804971680045128,
-0.03476557508111,
-0.009654862806200981,
-0.001868927152827382,
-0.002344355918467045,
0.010784794576466084,
0.0026734990533441305,
0.006708969362080097,
0.018855733796954155,
0.00004240396447130479,
0.03946689888834953,
-0.010542665608227253,
-0.02574630081653595,
0.028853612020611763,
-0.006431530695408583,
0.03155737742781639,
0.05274359509348869,
-0.059361767023801804,
-0.016384009271860123,
0.007465620059520006,
0.008358467370271683,
0.011440558359026909,
0.0137912193313241,
0.0011671336833387613,
0.013377583585679531,
-0.04067754000425339,
-0.011904637329280376,
0.0025574793107807636,
0.005432751961052418,
0.02181171625852585,
0.0020442178938537836,
0.032263584434986115,
0.03684384375810623,
-0.028349177911877632,
0.02734031155705452,
-0.0030543464235961437,
-0.025625236332416534,
0.039426542818546295,
-0.01275208592414856,
0.022457391023635864,
-0.016787556931376457,
0.04640790820121765,
0.016010727733373642,
-0.04810280352830887,
-0.015667712315917015,
-0.02893432229757309,
-0.02336537279188633,
-0.04769925773143768,
-0.05367175489664078,
0.012570490129292011,
0.014416716992855072,
-0.04616577923297882,
0.014426806010305882,
-0.054559558629989624,
-0.04560081288218498,
-0.006865343544632196,
0.005427707452327013,
-0.059079281985759735,
0.033010147511959076,
-0.007546329405158758,
-0.030165139585733414,
0.014547870494425297,
-0.007793501950800419,
-0.031738974153995514,
0.02179153822362423,
-0.01734243333339691,
0.09120162576436996,
0.00275168614462018,
-0.003306563477963209,
0.01539531908929348,
-0.0009615768794901669,
0.013185898773372173,
-0.018260503187775612,
-0.047901030629873276,
-0.01941061206161976,
0.04164605215191841,
-0.02336537279188633,
0.023708388209342957,
0.018855733796954155,
0.008070940151810646,
0.017019595950841904,
0.019440878182649612,
-0.01048213429749012,
-0.02417246624827385,
0.04118197411298752,
-0.02974141575396061,
0.010018054395914078,
-0.0008537541725672781,
0.06840121746063232,
-0.025887541472911835,
0.010129029862582684,
0.03708597272634506,
-0.007389954756945372,
-0.02524186670780182,
0.03478575497865677,
0.010633463971316814,
-0.04136357083916664,
0.006774545647203922,
0.028066694736480713,
-0.03736845403909683,
-0.04358307644724846,
0.022477569058537483,
-0.0050998255610466,
0.015879575163125992,
-0.02362767793238163,
0.00282230693846941,
0.015153191052377224,
0.0056647914461791515,
0.034664690494537354,
-0.017715714871883392,
0.0004795273707713932,
0.025120802223682404,
0.000030423661883105524,
-0.047658901661634445,
-0.011864282190799713,
0.0010530054569244385,
0.0049888500943779945,
-0.02546381764113903,
-0.03694472834467888,
-0.01128922775387764,
0.011208518408238888,
-0.02340572699904442,
0.0441480427980423,
0.013347317464649677,
-0.012378805316984653,
0.06263049691915512,
-0.028066694736480713,
0.00970530603080988,
-0.025140980258584023,
-0.004426406230777502,
0.002239685971289873,
0.009493444114923477,
-0.014810175634920597,
0.03218287602066994,
-0.055689487606287,
-0.028006162494421005,
-0.028813257813453674,
-0.022941648960113525,
-0.03236447274684906,
-0.026331443339586258,
-0.02229597233235836,
-0.020369036123156548,
-0.02255827933549881,
-0.03956778720021248,
0.047093939036130905,
0.04067754000425339,
0.08361494541168213,
-0.022356504574418068,
0.006668614689260721,
-0.0016911142738536,
-0.018916266039013863,
0.023022357374429703,
0.007273935247212648,
-0.025019915774464607,
0.03430149704217911,
-0.02173100784420967,
0.01183401606976986,
-0.013972815126180649,
-0.02497955970466137,
0.04588329792022705,
0.009034409187734127,
-0.03575426712632179,
-0.04535868391394615,
-0.0013531435979530215,
-0.017473585903644562,
0.018361389636993408,
-0.05544736236333847,
-0.0005769461276941001,
-0.0005249264067970216,
0.01633356511592865,
-0.02865183912217617,
-0.030588863417506218,
0.02340572699904442,
-0.04830458015203476,
0.043663788586854935,
0.01753411814570427,
0.019097862765192986,
-0.03129507228732109,
0.04273562878370285,
-0.033010147511959076,
-0.02336537279188633,
-0.011127809062600136,
-0.028066694736480713,
-0.09426858276128769,
0.02229597233235836,
0.041524987667798996,
-0.0061742695979774,
-0.025665590539574623,
0.043139178305864334,
-0.010149207897484303,
-0.04459194466471672,
0.011581799946725368,
0.021892426535487175,
0.03151702135801315,
0.008827591314911842,
-0.03557267040014267,
-0.030871346592903137,
-0.05782828852534294,
0.0081012062728405,
0.020036108791828156,
-0.03101258911192417,
-0.013347317464649677,
0.027663148939609528,
-0.004832475446164608,
-0.005538682918995619,
0.001781912287697196,
0.017867043614387512,
-0.004529815167188644,
0.015223811380565166,
-0.012146765366196632,
-0.030306382104754448,
-0.0027996073476970196,
0.019713271409273148,
0.012691553682088852,
0.04241279140114784,
-0.0413232147693634,
-0.010845325887203217,
0.02445494942367077,
-0.021347638219594955,
0.030144961550831795,
0.0008770842105150223,
-0.004320475272834301,
-0.03151702135801315,
0.010083631612360477,
0.025625236332416534,
0.02150905691087246,
-0.014517604373395443,
0.024777786806225777,
0.020318591967225075,
-0.0027037649415433407,
-0.013468381948769093,
0.015839220955967903,
0.007505974732339382,
-0.028490420430898666,
-0.0004161578544881195,
-0.05088727921247482,
-0.036460474133491516,
0.0029433711897581816,
0.027703503146767616,
-0.048990607261657715,
0.04083895683288574,
0.01034089270979166,
0.0072840237990021706,
0.035229653120040894,
0.014356185682117939,
-0.020923912525177002,
-0.0037025439087301493,
-0.023002179339528084,
-0.05088727921247482,
0.03054850921034813,
-0.011228695511817932,
-0.0035209476482123137,
-0.0027844745200127363,
0.019955400377511978,
-0.015476028434932232,
0.037307921797037125,
-0.08240430057048798,
-0.032768018543720245,
0.005407529883086681,
0.04479371756315231,
-0.06569745391607285,
-0.02526204288005829,
-0.032041631639003754,
0.02810705080628395,
-0.015738334506750107,
-0.0027138537261635065,
-0.004519726615399122,
0.058554671704769135,
0.02015717327594757,
0.012731908820569515,
-0.030064253136515617,
-0.02653321623802185,
0.01553656067699194,
-0.0073546445928514,
0.008948654867708683,
-0.058272190392017365,
0.06291297823190689,
0.019440878182649612,
0.008030585944652557,
-0.026351621374487877,
0.033272452652454376,
-0.023446081206202507,
-0.026351621374487877,
0.018109172582626343,
-0.026896409690380096,
0.034926995635032654,
0.000051468010497046635,
-0.014325919561088085,
-0.024737432599067688,
0.038054484874010086,
0.006613126955926418,
-0.050846923142671585,
0.001958464039489627,
0.03155737742781639,
-0.020823026075959206,
-0.003162799868732691,
0.008812458254396915,
0.04987841099500656,
-0.05439813807606697,
0.012651199474930763,
0.014739555306732655,
-0.010815059766173363,
-0.04507620260119438,
0.04346201568841934,
-0.03579461947083473,
-0.0015662668738514185,
-0.007132693659514189,
-0.0126108443364501,
0.011047099716961384,
-0.00791456550359726,
-0.028006162494421005,
-0.00174155761487782,
-0.013165721669793129,
0.004325519781559706,
0.019622473046183586,
0.03234429284930229,
0.09249297529459,
0.005266288761049509
] |
Self-play is a technique for machine learning in multi-agent systems where a
learning algorithm learns by interacting with copies of itself. Self-play is
useful for generating large quantities of data for learning, but has the
drawback that the agents the learner will face post-training may have
dramatically different behavior than the learner came to expect by interacting
with itself. For the special case of two-player constant-sum games, self-play
that reaches Nash equilibrium is guaranteed to produce strategies that perform
well against any post-training opponent; however, no such guarantee exists for
multiplayer games. We show that in games that approximately decompose into a
set of two-player constant-sum games (called constant-sum polymatrix games)
where global $\epsilon$-Nash equilibria are boundedly far from Nash equilibria
in each subgame (called subgame stability), any no-external-regret algorithm
that learns by self-play will produce a strategy with bounded vulnerability.
For the first time, our results identify a structural property of multiplayer
games that enable performance guarantees for the strategies produced by a broad
class of self-play algorithms. We demonstrate our findings through experiments
on Leduc poker. | [
0.003743221750482917,
0.00562780536711216,
-0.040569256991147995,
-0.007514747325330973,
0.01715230569243431,
0.04147499054670334,
-0.008528978563845158,
0.017869342118501663,
-0.05491001904010773,
0.054494891315698624,
-0.04770189896225929,
0.03515373542904854,
0.008222350850701332,
-0.04543757066130638,
-0.003571038134396076,
0.05660826712846756,
0.03460652008652687,
0.011849997565150261,
-0.04653199389576912,
-0.04196559637784958,
0.015218188986182213,
-0.050117187201976776,
-0.06725062429904938,
0.012633077800273895,
-0.006038215011358261,
0.019831763580441475,
0.0021935703698545694,
-0.002736066235229373,
-0.10483851283788681,
0.04011639207601547,
0.016020139679312706,
0.015982400625944138,
-0.029964642599225044,
-0.0008137438562698662,
-0.03745580464601517,
-0.017888212576508522,
-0.016501309350132942,
-0.0128972502425313,
-0.0369085893034935,
0.019850632175803185,
-0.016180530190467834,
0.026190757751464844,
-0.005948585458099842,
-0.033738527446985245,
0.0098404036834836,
-0.009071474894881248,
-0.029228735715150833,
-0.021548880264163017,
-0.06174074858427048,
-0.07744011282920837,
0.0008396892808377743,
-0.03332339972257614,
0.05513645336031914,
0.005325894337147474,
-0.013435028493404388,
0.009595101699233055,
0.030719419941306114,
-0.07970444113016129,
0.022945217788219452,
-0.02473781257867813,
0.0024789704475551844,
-0.006052367389202118,
-0.03992769867181778,
0.009670578874647617,
0.021133752539753914,
-0.007948744110763073,
0.0005985145107842982,
-0.00784024503082037,
0.03054959513247013,
-0.0040050349198281765,
0.0016074388986453414,
0.024926507845520973,
0.00046672337339259684,
0.0206997562199831,
0.022813132032752037,
0.0013019901234656572,
0.021624358370900154,
0.05864616483449936,
-0.01802973262965679,
0.031681761145591736,
-0.027530487626791,
0.014586063101887703,
-0.0069486647844314575,
0.006703362334519625,
0.052721165120601654,
-0.004589986987411976,
0.05491001904010773,
-0.07774201780557632,
0.041852377355098724,
-0.01633148454129696,
-0.016218269243836403,
0.01023666188120842,
-0.00051802460802719,
0.01833164319396019,
-0.03587077185511589,
0.0424184612929821,
-0.05430619791150093,
-0.006453342270106077,
0.006467494647949934,
0.06860922276973724,
-0.021397924050688744,
0.004868310876190662,
0.018256166949868202,
-0.034531041979789734,
0.016039008274674416,
0.0075288997031748295,
-0.060797277837991714,
0.01629374548792839,
0.00694394763559103,
0.15533308684825897,
-0.026945535093545914,
0.008760129101574421,
-0.0379275381565094,
-0.0024176447186619043,
-0.04449409618973732,
-0.02479442022740841,
-0.029115518555045128,
-0.06189170479774475,
0.04136177524924278,
-0.041324034333229065,
-0.032964881509542465,
0.04456957429647446,
0.05475906282663345,
-0.0687224343419075,
0.005825934000313282,
0.013265203684568405,
-0.033719658851623535,
0.042041074484586716,
-0.009519623592495918,
0.03432347998023033,
0.028606044128537178,
-0.009179973974823952,
0.021020537242293358,
0.0505700521171093,
-0.046343300491571426,
0.04502244293689728,
0.04502244293689728,
-0.014595498330891132,
0.023398084565997124,
-0.03988995775580406,
-0.036493461579084396,
-0.003858796786516905,
-0.00884975865483284,
0.026209628209471703,
0.03592738136649132,
-0.020926188677549362,
0.02522841840982437,
0.060004763305187225,
-0.025945454835891724,
0.01659565605223179,
-0.0640428215265274,
0.1037818193435669,
-0.024058513343334198,
0.027889005839824677,
0.018444860354065895,
-0.02347356081008911,
-0.003493201918900013,
0.0186618585139513,
0.010661223903298378,
-0.024379294365644455,
0.03458765149116516,
-0.010566876269876957,
-0.006802426651120186,
0.03494616970419884,
0.000015699948562541977,
0.055211931467056274,
0.021341316401958466,
-0.0023916992358863354,
-0.02177531272172928,
0.04049377888441086,
-0.06147657707333565,
0.022699914872646332,
0.024662334471940994,
0.007297749165445566,
0.05589123070240021,
-0.01966193877160549,
0.0025261440314352512,
-0.023341475054621696,
-0.0064816465601325035,
0.0313987173140049,
-0.03266296908259392,
-0.032474275678396225,
0.0028351307846605778,
0.06498628854751587,
0.05290985852479935,
0.020907320082187653,
0.07026972621679306,
-0.004726790357381105,
0.05483454093337059,
-0.020322367548942566,
-0.012378341518342495,
0.04366384446620941,
0.020662017166614532,
-0.006783557124435902,
-0.021284708753228188,
0.0006899132276885211,
-0.03290827199816704,
0.030379770323634148,
0.024813290685415268,
0.03162515163421631,
-0.01684095896780491,
-0.06264648586511612,
0.010915961116552353,
0.0054674153216183186,
0.017274955287575722,
-0.002206542994827032,
0.011934909969568253,
-0.01062348484992981,
0.01822786219418049,
-0.05989154800772667,
0.0036370812449604273,
0.0035026364494115114,
-0.060004763305187225,
-0.015737097710371017,
-0.036550071090459824,
-0.07121320068836212,
-0.011708476580679417,
0.06909982115030289,
-0.028606044128537178,
-0.06660906225442886,
-0.04290906712412834,
0.01833164319396019,
-0.007816658355295658,
-0.017529692500829697,
0.028172047808766365,
0.05264568701386452,
-0.02853056602180004,
-0.005641957279294729,
-0.030115598812699318,
-0.028209786862134933,
0.03264410048723221,
0.04551304504275322,
0.05713661015033722,
0.010463094338774681,
0.030700549483299255,
-0.005948585458099842,
0.03615381196141243,
-0.006108975503593683,
-0.01528423186391592,
-0.03513486310839653,
-0.012463253922760487,
-0.07947801053524017,
-0.03571981564164162,
-0.011623564176261425,
0.012425514869391918,
0.009109213948249817,
0.014086023904383183,
0.08317641168832779,
0.022303657606244087,
0.010180053301155567,
-0.09261112660169601,
-0.02632284350693226,
-0.04415444657206535,
0.01780330017209053,
-0.05687243863940239,
0.009821534156799316,
0.05491001904010773,
-0.065250463783741,
0.015076668001711369,
-0.04060699790716171,
0.029700471088290215,
-0.021416794508695602,
-0.0000026028378670162056,
0.05664600431919098,
-0.0383426658809185,
0.020907320082187653,
0.02371886372566223,
0.014180370606482029,
-0.017039088532328606,
0.03111567720770836,
-0.02779465913772583,
-0.027662573382258415,
-0.054721325635910034,
-0.05377785488963127,
0.023699995130300522,
-0.06521272659301758,
-0.0006539433961734176,
-0.02296408638358116,
0.007849679328501225,
0.0076185292564332485,
0.046116869896650314,
-0.010189488530158997,
0.050381358712911606,
0.02098279818892479,
-0.011802823282778263,
-0.07091128826141357,
-0.0509851798415184,
0.03898422792553902,
-0.040003176778554916,
0.0012583546340465546,
0.03819170966744423,
-0.04592817276716232,
-0.003379985224455595,
0.015737097710371017,
0.06985460221767426,
0.033021487295627594,
-0.046381041407585144,
0.003804547246545553,
0.021945137530565262,
-0.00403805635869503,
0.01806747168302536,
0.030002381652593613,
0.0040050349198281765,
0.02328486740589142,
-0.04826798290014267,
-0.009774360805749893,
-0.002549730706959963,
0.048871804028749466,
-0.03571981564164162,
0.006524102762341499,
0.002754935761913657,
-0.0011911322362720966,
-0.012925554066896439,
-0.00972718745470047,
-0.01971854642033577,
0.020095935091376305,
0.048117026686668396,
-0.0010908885160461068,
-0.03771997615695,
-0.03281392529606819,
-0.003177138976752758,
-0.014576628804206848,
-0.043361932039260864,
0.0475132055580616,
0.040003176778554916,
-0.01857694610953331,
0.005557044874876738,
0.03992769867181778,
-0.032964881509542465,
0.017284391447901726,
-0.05517419055104256,
-0.002180597512051463,
-0.013708635233342648,
0.023567909374833107,
0.001998979365453124,
0.030228814110159874,
-0.018859988078475,
0.014199240133166313,
0.0018928389763459563,
0.00043606056715361774,
-0.03439895808696747,
0.03698406741023064,
0.049135975539684296,
0.012670816853642464,
0.03207801654934883,
-0.03509712591767311,
-0.04702259972691536,
0.032247841358184814,
-0.03190819174051285,
-0.004523944109678268,
0.0012324091512709856,
0.003219595178961754,
-0.005604218225926161,
-0.03034203127026558,
0.027096491307020187,
-0.08415762335062027,
-0.01941663585603237,
0.028907954692840576,
-0.019888371229171753,
0.028379611670970917,
0.08000635355710983,
-0.03807849436998367,
-0.0479283332824707,
0.004490922670811415,
0.002762011718004942,
-0.03207801654934883,
-0.026605885475873947,
0.017690083011984825,
0.016378657892346382,
0.023341475054621696,
-0.0367010273039341,
-0.01008570659905672,
0.02200174704194069,
-0.010123444721102715,
-0.05109839513897896,
0.030738288536667824,
-0.015303101390600204,
-0.017114566639065742,
-0.05604218319058418,
0.011340523138642311,
-0.0237566027790308,
0.012642513029277325,
-0.02045445330440998,
0.01792595162987709,
0.011925474740564823,
0.020831841975450516,
0.04826798290014267,
-0.0025355785619467497,
0.04845667630434036,
-0.015340840443968773,
0.061816226691007614,
-0.022567829117178917,
-0.06426925212144852,
0.01949211396276951,
0.0002920338010881096,
0.00846293568611145,
0.007057163864374161,
-0.020869581028819084,
-0.019850632175803185,
-0.015255928039550781,
0.01265194732695818,
0.0006645574467256665,
-0.02326599694788456,
-0.04034282639622688,
-0.014746453613042831,
-0.03279505670070648,
-0.02826639451086521,
-0.012321732938289642,
-0.0336441807448864,
0.017322130501270294,
0.05411750450730324,
-0.0540420264005661,
-0.054947756230831146,
0.0051419176161289215,
0.010142314247786999,
0.016369223594665527,
0.01238777581602335,
0.015633316710591316,
0.008481805212795734,
-0.026096411049365997,
-0.011189567856490612,
0.005439111031591892,
0.09313946962356567,
-0.00682129617780447,
-0.03111567720770836,
-0.011689607053995132,
0.004910767078399658,
0.00397673062980175,
-0.026379453018307686,
0.011736780405044556,
0.02902117185294628,
0.009382820688188076,
0.005132482852786779,
0.020265759900212288,
-0.04490922391414642,
-0.04068247601389885,
-0.016076747328042984,
0.02019028179347515,
0.043060023337602615,
-0.0003033849352505058,
0.018407121300697327,
-0.023549038916826248,
0.020265759900212288,
-0.01941663585603237,
0.024643465876579285,
-0.0011539830593392253,
-0.04007865488529205,
-0.048871804028749466,
0.017124000936746597,
-0.00858558714389801,
-0.06536367535591125,
-0.035040516406297684,
-0.09125252813100815,
-0.010104576125741005,
0.0723831057548523,
0.012793468311429024,
-0.043324194848537445,
-0.06653358042240143,
0.04573947936296463,
0.017463650554418564,
-0.0064203208312392235,
-0.005594783928245306,
0.0505700521171093,
-0.013170856982469559,
0.00140695134177804,
0.035549990832805634,
-0.02473781257867813,
-0.05966511368751526,
-0.02498311549425125,
-0.037267107516527176,
0.017548562958836555,
-0.05351368337869644,
-0.008217633701860905,
0.018992073833942413,
0.02600206434726715,
0.029643861576914787,
-0.009472450241446495,
-0.07917609810829163,
-0.02226591855287552,
-0.00580234732478857,
0.05004170909523964,
-0.009628122672438622,
-0.020869581028819084,
-0.0371161550283432,
0.005245699547231197,
0.013944502919912338,
0.025360504165291786,
-0.05189090967178345,
0.0234546922147274,
0.01402941532433033,
-0.013718070462346077,
-0.005821216851472855,
-0.02198287658393383,
0.007684572134166956,
0.017746692523360252,
0.041286297142505646,
-0.005891977343708277,
-0.05491001904010773,
0.06702418625354767,
0.011623564176261425,
0.017510823905467987,
-0.07744011282920837,
0.017973124980926514,
0.028964564204216003,
0.016548482701182365,
-0.021850790828466415,
-0.021530011668801308,
0.0020732777193188667,
0.026605885475873947,
0.0008078471291810274,
0.02981368638575077,
0.05940094217658043,
-0.01741647720336914,
-0.0006026421906426549,
-0.022624436765909195,
0.04830572009086609,
0.033247921615839005,
0.014086023904383183,
0.04392801597714424,
0.011972648091614246,
0.0001763111649779603,
0.014331325888633728,
-0.005929715931415558,
0.03481408581137657,
-0.016935305669903755,
0.043097760528326035,
0.009887577034533024,
-0.0018633553991094232,
0.031927064061164856,
-0.013840720988810062,
-0.00904317107051611,
0.045852694660425186,
-0.023379214107990265,
-0.06906208395957947,
-0.025096330791711807,
-0.004512150771915913,
0.042833589017391205,
0.024888768792152405,
-0.04189011827111244,
0.010189488530158997,
0.023058434948325157,
0.04830572009086609,
0.02377547137439251,
0.021397924050688744,
-0.025417111814022064,
0.019812893122434616,
0.03266296908259392,
-0.012019822373986244,
0.016614526510238647,
0.05555158108472824,
0.00035881384974345565,
-0.01540688332170248,
-0.014425673522055149,
0.01379354763776064,
-0.009203560650348663,
0.009590383619070053,
-0.03622929006814957,
0.02220931090414524,
-0.009590383619070053,
-0.027436140924692154,
0.062306832522153854,
-0.008151590824127197,
-0.05053231120109558,
-0.028096569702029228,
-0.004306945484131575,
-0.011859431862831116,
0.0403805635869503,
0.0237566027790308,
0.005797630175948143,
0.059740591794252396,
-0.05943867936730385,
0.02177531272172928,
0.022379135712981224,
-0.026473799720406532,
0.0031842149328440428,
0.027096491307020187,
-0.07940252870321274,
0.01715230569243431,
0.030115598812699318,
-0.027945615351200104,
0.0037455803249031305,
-0.00719396723434329,
-0.0040663606487214565,
0.037040676921606064,
-0.015510665252804756,
0.017642909660935402,
-0.014529455453157425,
0.006057084538042545,
0.012133038602769375,
-0.06411829590797424,
-0.022888610139489174,
0.01669943891465664,
-0.00024117479915730655,
0.013595419004559517,
-0.0324176661670208,
-0.008745977655053139,
0.01576540246605873,
-0.025152940303087234,
0.04049377888441086,
-0.05147578567266464,
0.03970126435160637,
0.00045050744665786624,
0.03471973538398743,
-0.005373068153858185,
0.021341316401958466,
0.03613494336605072,
0.03226671367883682,
0.012765164487063885,
0.0013173215556889772,
0.014463412575423717,
0.03258749097585678,
0.014218109659850597,
0.01808634214103222,
-0.022039486095309258,
0.02905891090631485,
-0.03338000923395157,
0.02677571028470993,
0.003224312560632825,
-0.01164243370294571,
-0.0340593084692955,
0.03958804905414581,
-0.0336441807448864,
0.05253247171640396,
-0.002294993493705988,
-0.03668215870857239,
0.023926427587866783,
-0.023907558992505074,
-0.024888768792152405,
0.029474038630723953,
-0.007085468154400587,
-0.007344922516494989,
-0.011038611643016338,
-0.02302069589495659,
-0.02830413356423378,
-0.026473799720406532,
-0.02347356081008911,
-0.0032879968639463186,
0.031002460047602654,
0.025586936622858047,
-0.04517339542508125,
-0.02277539297938347,
0.028719261288642883,
0.02904004044830799,
0.027624834328889847,
0.0004743890604004264,
0.010406486690044403,
-0.005108896177262068,
-0.046607472002506256,
-0.006132562179118395,
-0.017076827585697174,
-0.014803062193095684,
0.020624278113245964,
0.037493541836738586,
0.032493144273757935,
-0.027436140924692154,
-0.003162986831739545,
0.04045604169368744,
-0.023888688534498215,
0.020360106602311134,
0.012793468311429024,
-0.00037886263453401625,
-0.01426528301090002,
0.009175256825983524,
-0.019378896802663803,
0.06540141999721527,
-0.01669943891465664,
0.04958884045481682,
0.03004012070596218,
-0.009161104448139668,
0.06121240556240082,
-0.03432347998023033,
0.0002131655055563897,
0.008118568919599056,
0.029964642599225044,
0.004061643034219742,
-0.007694006897509098,
0.02909664995968342,
0.026851188391447067,
-0.009618688374757767,
-0.03958804905414581,
-0.013114248402416706,
-0.010104576125741005,
0.004406010266393423,
-0.03607833385467529,
-0.032247841358184814,
-0.010387617163360119,
0.00018515621195547283,
0.005472132470458746,
-0.008132721297442913,
0.01352937612682581,
-0.02045445330440998,
-0.025586936622858047,
-0.003941350616514683,
0.0007388558005914092,
0.015369144268333912,
0.031813845038414,
-0.0010802744654938579,
-0.0028988150879740715,
-0.018859988078475,
0.07109998166561127,
0.0020320008043199778,
-0.030964722856879234,
0.018444860354065895,
0.011944344267249107,
0.0530230775475502,
-0.02802109159529209,
0.0037102000787854195,
0.009024301543831825,
0.04841893911361694,
0.02628510445356369,
-0.001152214128524065,
0.06355221569538116,
0.01074613630771637,
0.019360028207302094,
0.027945615351200104,
0.010755570605397224,
0.032983750104904175,
-0.06777896732091904,
-0.008887497708201408,
0.024624595418572426,
0.01441623829305172,
-0.009264886379241943,
-0.03132324293255806,
-0.001152214128524065,
0.016690004616975784,
0.01588805392384529,
-0.005184373818337917,
0.01618996448814869,
-0.01994497887790203,
-0.019812893122434616,
0.044607315212488174,
0.0029978794045746326,
-0.019586460664868355,
0.01949211396276951,
-0.00493435375392437,
-0.03917292132973671,
0.00006176787428557873,
0.0013078867923468351,
0.009297908283770084,
-0.022907478734850883,
0.014444543048739433,
0.013982241973280907,
0.056230880320072174,
-0.010585745796561241,
0.00015817882376722991,
-0.04883406683802605,
0.02605867199599743,
0.02096392773091793,
0.005066439975053072,
0.019850632175803185,
0.04396575316786766,
0.026888927444815636,
0.05351368337869644,
-0.026737971231341362,
-0.04279584810137749,
0.011227305978536606,
0.05151352286338806,
-0.008510109037160873,
0.008175177499651909,
0.011359392665326595,
0.04721129313111305,
0.03513486310839653,
-0.00549100199714303,
-0.010906525887548923,
-0.016491875052452087,
0.010953699238598347,
-0.02703988179564476,
0.020624278113245964,
0.03111567720770836,
-0.008576152846217155,
0.007387378718703985,
0.023171650245785713,
-0.01265194732695818,
-0.01633148454129696,
-0.02451138012111187,
0.02530389465391636,
-0.011142393574118614,
-0.03539903461933136,
-0.010774440132081509,
-0.020812973380088806,
-0.07710046321153641,
-0.0035191471688449383,
-0.032210104167461395,
0.007349640130996704,
0.00460885651409626,
0.01161412987858057,
0.0464942567050457,
-0.0002759653143584728,
0.02732292376458645,
0.019303418695926666,
-0.03081376664340496,
-0.011227305978536606,
-0.041550468653440475,
0.011982083320617676,
-0.008962975814938545,
0.021945137530565262,
-0.06498628854751587,
0.02253009006381035,
-0.038795530796051025,
-0.03921065852046013,
0.04226750507950783,
0.014878539368510246,
-0.02347356081008911,
0.000636253331322223,
-0.02856830507516861,
-0.04422992467880249,
-0.011302784085273743,
-0.0244736410677433,
0.011689607053995132,
0.04272037371993065,
0.009915881790220737,
0.011849997565150261,
0.017586302012205124,
-0.003986165393143892,
-0.01235947199165821,
0.01715230569243431,
0.02396416664123535,
0.06498628854751587,
-0.03756901994347572,
-0.017529692500829697,
-0.03354983404278755,
0.007599659729748964,
-0.027417270466685295,
0.03519147261977196,
-0.027379531413316727,
-0.03185158595442772,
0.027473878115415573,
-0.004080512560904026,
0.047135818749666214,
-0.01250099204480648,
0.013784113340079784,
0.04645651951432228,
0.009524340741336346,
0.011170698329806328,
-0.05777817219495773,
0.05189090967178345,
-0.021794183179736137,
0.02832300215959549,
-0.012161342427134514,
-0.017586302012205124,
0.008359153755009174,
-0.03545564413070679,
-0.010840483009815216,
-0.01857694610953331,
-0.02017141319811344,
-0.026643624529242516,
-0.02730405330657959,
0.041324034333229065,
0.005726869683712721,
-0.028945693746209145,
0.01741647720336914,
-0.01898263953626156,
0.052419256418943405,
0.009142234921455383,
-0.020605409517884254,
-0.001785519067198038,
0.014689845032989979,
0.05162673816084862,
-0.03130437061190605,
0.012944423593580723,
-0.0018232578877359629,
0.01566162146627903,
0.028172047808766365,
-0.053211770951747894,
0.01149147842079401,
0.0022714068181812763,
0.023360345512628555,
-0.040757954120635986,
-0.02879473939538002,
-0.043060023337602615,
0.02245461195707321,
0.031247762963175774,
0.030776027590036392,
0.026473799720406532,
-0.0031488349195569754,
0.06174074858427048,
0.010661223903298378,
-0.010793309658765793,
-0.03471973538398743,
-0.026153018698096275,
-0.011312218382954597,
-0.0356820784509182,
0.0054060895927250385,
-0.03822945058345795,
0.007977047935128212,
-0.012567034922540188,
0.006406168919056654,
-0.0901203602552414,
-0.004953223280608654,
0.003462539054453373,
-0.005783477798104286,
-0.0117273461073637,
-0.0464942567050457,
0.020586539059877396,
0.015454056672751904,
0.03662554919719696,
0.00009810625488171354,
-0.05551384016871452,
0.020907320082187653,
0.04041830450296402,
-0.016690004616975784,
0.004523944109678268,
-0.02177531272172928,
0.02300182543694973,
0.049135975539684296,
-0.048381198197603226,
0.0469093844294548,
0.022058354690670967,
0.03162515163421631,
0.011217871680855751,
-0.0037314281798899174,
-0.03307809680700302,
0.010529137216508389,
-0.05936320126056671,
0.03768223524093628,
-0.013812417164444923,
-0.009335646405816078,
-0.01199151761829853,
0.014727584086358547,
-0.008948823437094688,
0.03004012070596218,
-0.025643544271588326,
-0.019284550100564957,
0.018831683322787285,
-0.015425752848386765,
0.018520338460803032,
-0.018709031865000725,
0.010491399094462395,
0.015029494650661945,
-0.016850393265485764,
-0.044871486723423004,
0.032946012914180756,
0.027945615351200104,
-0.011510347947478294,
0.0032974316272884607,
0.03268183767795563,
-0.022926347330212593,
0.014321891590952873,
-0.05838199332356453,
-0.046116869896650314,
0.010680093429982662,
0.00003526960426825099,
0.008731825277209282,
-0.0011858252109959722,
0.01212360430508852,
0.029153257608413696,
0.005358915776014328,
0.0073260534554719925,
0.013312377035617828,
-0.028606044128537178,
-0.011670737527310848,
-0.031228894367814064,
0.01439736969769001,
-0.015520099550485611,
-0.06317482888698578,
-0.020416714251041412,
-0.018690163269639015,
-0.018265601247549057,
0.00777891930192709,
0.03607833385467529,
0.011916040442883968,
-0.004814061336219311,
-0.031964801251888275,
0.002313863020390272,
-0.02124696969985962,
0.00530702481046319,
0.006769405212253332,
-0.0002871690085157752,
-0.023152781650424004,
0.00536835053935647,
0.01034987810999155,
-0.04245619848370552,
0.023360345512628555,
0.05124935135245323,
0.033455487340688705,
-0.009236582554876804,
-0.059287723153829575,
-0.03883327171206474,
-0.0030945853795856237,
0.01439736969769001,
0.022039486095309258,
-0.04279584810137749,
-0.0084110451862216,
0.014255848713219166,
-0.053211770951747894,
0.008283676579594612,
-0.009972489438951015,
0.028738129884004593,
-0.02320938929915428,
-0.017010783776640892,
-0.01655791886150837,
0.016916437074542046,
0.012189647182822227,
-0.050947438925504684,
-0.020888449624180794,
0.01910529099404812,
0.012784034013748169,
-0.021567748859524727,
0.021869661286473274,
-0.014199240133166313,
0.006123127415776253,
-0.011972648091614246,
-0.022114962339401245,
0.025134069845080376,
0.0007087826961651444,
0.008562000468373299,
0.0009057322749868035,
0.004033339209854603,
-0.053626898676157,
-0.016586221754550934,
0.009830969385802746,
0.028172047808766365,
0.0178410392254591,
-0.003679537447169423,
-0.020624278113245964,
0.03234218806028366,
-0.029606124386191368,
-0.012283993884921074,
0.008128003217279911,
0.02530389465391636,
-0.001385723240673542,
-0.013350116088986397,
-0.03030429221689701,
0.03458765149116516
] |
Robots need to estimate the material and dynamic properties of objects from
observations in order to simulate them accurately. We present a Bayesian
optimization approach to identifying the material property parameters of
objects based on a set of observations. Our focus is on estimating these
properties based on observations of scenes with different sets of interacting
objects. We propose an approach that exploits the structure of the reward
function by modeling the reward for each observation separately and using only
the parameters of the objects in that scene as inputs. The resulting
lower-dimensional models generalize better over the parameter space, which in
turn results in a faster optimization. To speed up the optimization process
further, and reduce the number of simulation runs needed to find good parameter
values, we also propose partial evaluations of the reward function, wherein the
selected parameters are only evaluated on a subset of real world evaluations.
The approach was successfully evaluated on a set of scenes with a wide range of
object interactions, and we showed that our method can effectively perform
incremental learning without resetting the rewards of the gathered
observations. | [
0.0132328812032938,
-0.0011992298532277346,
-0.031708020716905594,
-0.036441318690776825,
0.04651866853237152,
0.03459211066365242,
-0.04539896175265312,
0.023055750876665115,
-0.026194319128990173,
0.04387209191918373,
-0.00581483356654644,
-0.010798370465636253,
0.03630559891462326,
-0.029146268963813782,
-0.007392600178718567,
0.021053854376077652,
0.018797477707266808,
0.01595580205321312,
0.008363859727978706,
-0.046722251921892166,
0.05941224470734596,
-0.020222557708621025,
-0.026194319128990173,
0.04424532502889633,
-0.00538646150380373,
0.016490206122398376,
0.026737207546830177,
-0.0047884369269013405,
-0.08767632395029068,
0.05262615159153938,
0.04991171509027481,
-0.003276410512626171,
-0.08862637728452682,
0.03623773530125618,
0.005042915232479572,
0.02229231595993042,
0.03823963552713394,
0.016413861885666847,
0.00030431387131102383,
0.06273742765188217,
0.014064177870750427,
-0.03372688218951225,
-0.06735197454690933,
-0.0324375256896019,
-0.010620235465466976,
-0.024022769182920456,
-0.010068865492939949,
0.02780601568520069,
-0.011392153799533844,
-0.007066019345074892,
-0.020409174263477325,
-0.022529829293489456,
0.01561649702489376,
-0.003789608832448721,
-0.028196217492222786,
0.021681567654013634,
0.04458463191986084,
0.046654388308525085,
0.057240694761276245,
0.008525029756128788,
0.05551024153828621,
0.009067917242646217,
-0.07396841794252396,
0.0035351302940398455,
0.015056643635034561,
-0.02232624590396881,
0.04950454831123352,
0.027483677491545677,
0.0023687705397605896,
-0.005937831476330757,
-0.02717830240726471,
-0.031063340604305267,
-0.03742530196905136,
0.03827356547117233,
0.03711992874741554,
0.020714549347758293,
0.08292605727910995,
-0.0052210502326488495,
-0.01930643431842327,
0.02482013590633869,
0.08224745094776154,
0.07206831127405167,
-0.007893074303865433,
0.003725989256054163,
0.034083154052495956,
-0.029315922409296036,
0.030910653993487358,
-0.044822145253419876,
0.005645181052386761,
-0.01696523278951645,
-0.07987231761217117,
0.0000020792349459952675,
0.018169764429330826,
0.07654713094234467,
0.020629722625017166,
0.038036052137613297,
-0.020035939291119576,
0.006853953935205936,
-0.028620347380638123,
0.011612702161073685,
0.0057893856428563595,
-0.011273397132754326,
0.030774932354688644,
-0.011434567160904408,
0.019662704318761826,
-0.039902228862047195,
-0.037900328636169434,
-0.004801160655915737,
-0.019001061096787453,
0.07905798405408859,
0.018034042790532112,
0.018017077818512917,
-0.02743278071284294,
0.03389653563499451,
-0.046620458364486694,
0.015548636205494404,
-0.030164184048771858,
-0.05635850131511688,
0.06881098449230194,
-0.012096211314201355,
0.017847424373030663,
0.0094157038256526,
0.02941771410405636,
-0.04071655869483948,
-0.02963826060295105,
0.01243551541119814,
-0.006361962296068668,
-0.021528881043195724,
0.01849210448563099,
-0.018067972734570503,
-0.009585356339812279,
-0.004508510697633028,
-0.015641944482922554,
-0.0035987498704344034,
0.02565143257379532,
0.02933288738131523,
0.025057649239897728,
0.0062347231432795525,
-0.02590591087937355,
-0.02799263410270214,
-0.015429879538714886,
0.027127407491207123,
-0.02057882770895958,
0.0008477314841002226,
0.006705508101731539,
0.014556169509887695,
-0.01373335625976324,
0.05771572142839432,
-0.02870517410337925,
0.020494000986218452,
-0.034235838800668716,
0.034982308745384216,
-0.051235001534223557,
0.08713343739509583,
0.044822145253419876,
0.04183626547455788,
-0.061346281319856644,
-0.014776717871427536,
-0.01595580205321312,
0.03885038197040558,
0.07071109116077423,
-0.04611150175333023,
-0.027789050713181496,
0.11366705596446991,
0.052660081535577774,
-0.006531614810228348,
0.032827723771333694,
-0.02259768918156624,
-0.05014922842383385,
0.019594844430685043,
-0.03661097213625908,
-0.03447335213422775,
0.02960433065891266,
0.07539349049329758,
-0.024243317544460297,
0.016778614372015,
0.04801160842180252,
0.017626876011490822,
0.004372788593173027,
-0.020290417596697807,
-0.02524426579475403,
0.008342653512954712,
0.028043529018759727,
0.034015290439128876,
0.03549126535654068,
-0.004898711107671261,
0.019408226013183594,
-0.017491154372692108,
0.015701323747634888,
0.009110329672694206,
-0.013894525356590748,
0.025023717433214188,
0.021783359348773956,
0.038782522082328796,
0.022461967542767525,
-0.05567989498376846,
-0.06009085476398468,
-0.04166661202907562,
-0.026448797434568405,
0.012494893744587898,
-0.008300240151584148,
-0.04712941497564316,
-0.006255929358303547,
-0.016074558719992638,
0.014861543662846088,
-0.035321615636348724,
0.035694848746061325,
-0.04875807836651802,
0.04651866853237152,
-0.047808025032281876,
0.020850270986557007,
-0.052320778369903564,
-0.04784195497632027,
-0.006845471449196339,
-0.04387209191918373,
-0.0008265249198302627,
0.0037705230060964823,
0.02222445420920849,
-0.03296344727277756,
0.009135778062045574,
-0.028314974159002304,
-0.008066968061029911,
0.05920866131782532,
-0.013818182051181793,
-0.0007003460195846856,
0.03374384716153145,
0.04760444164276123,
0.00009542943735141307,
0.04003794863820076,
-0.0031831017695367336,
0.02997756563127041,
0.01811886765062809,
0.030096322298049927,
-0.011612702161073685,
-0.009619287215173244,
0.01055237464606762,
-0.003914727363735437,
-0.029807914048433304,
0.007091467268764973,
0.01871265098452568,
0.011214018799364567,
0.013114124536514282,
-0.008601373061537743,
-0.01964573934674263,
0.060192644596099854,
0.00570455938577652,
-0.00335063342936337,
0.016159383580088615,
0.03939326852560043,
0.0462132953107357,
-0.030316870659589767,
-0.05886935815215111,
-0.014318656176328659,
0.048520565032958984,
0.03745923191308975,
0.036475248634815216,
0.046620458364486694,
0.024701379239559174,
0.020935097709298134,
-0.016125453636050224,
0.03823963552713394,
0.08380825072526932,
0.06752162426710129,
-0.011112227104604244,
0.010594788007438183,
0.03637345880270004,
0.07430771738290787,
-0.03925754874944687,
0.013131090439856052,
0.0040334840305149555,
0.009984039701521397,
-0.003446062793955207,
0.01673620194196701,
0.005878453142940998,
-0.04241308197379112,
-0.026855964213609695,
0.024769239127635956,
-0.0029328647069633007,
0.009593838825821877,
0.004805402364581823,
0.00023035604681354016,
0.01942519098520279,
-0.021936045959591866,
0.050013504922389984,
0.012808750383555889,
-0.0020549139007925987,
-0.023428985849022865,
0.032267872244119644,
-0.013063229620456696,
-0.009695630520582199,
-0.0008153914823196828,
-0.04950454831123352,
-0.0346599705517292,
0.04115765541791916,
0.01599821448326111,
0.010679613798856735,
-0.03868073225021362,
-0.04115765541791916,
0.04410960525274277,
0.005874211899936199,
-0.01815279945731163,
-0.0011250069364905357,
0.006697025615721941,
0.027297059074044228,
0.026906859129667282,
0.022750377655029297,
0.022020872682332993,
0.013750321231782436,
-0.02154584601521492,
-0.07016820460557938,
0.0195778775960207,
0.021969975903630257,
-0.05561203137040138,
0.007010882254689932,
-0.010416653007268906,
0.10335219651460648,
0.039087895303964615,
-0.019883252680301666,
0.0037387132178992033,
-0.018610861152410507,
-0.003918968606740236,
0.019391261041164398,
-0.07647927105426788,
-0.0006208214908838272,
0.013724872842431068,
0.0013519169297069311,
-0.008130587637424469,
0.010416653007268906,
0.0020453708712011576,
-0.0026359730400145054,
-0.030113287270069122,
-0.0229200292378664,
-0.04275238513946533,
0.044788215309381485,
-0.036814555525779724,
-0.014386516995728016,
-0.036407388746738434,
0.03888431191444397,
-0.053847648203372955,
-0.010560857132077217,
-0.002915899269282818,
-0.03562698885798454,
0.030316870659589767,
0.007994865998625755,
-0.014607065357267857,
-0.049267034977674484,
0.0038362632039934397,
0.008168759755790234,
-0.01699916273355484,
-0.029434679076075554,
0.0009261956438422203,
-0.02556660585105419,
-0.010984987951815128,
0.022054802626371384,
0.07328980416059494,
-0.0017887717112898827,
0.02207176759839058,
0.008597131818532944,
-0.03555912896990776,
0.010408170521259308,
0.019747531041502953,
-0.05167609825730324,
0.01436955202370882,
0.019781460985541344,
-0.03885038197040558,
0.05812288820743561,
-0.0035308890510350466,
0.011994419619441032,
-0.029841843992471695,
-0.041429098695516586,
-0.02083330601453781,
-0.0026465763803571463,
0.05259222164750099,
-0.025413919240236282,
-0.05299938842654228,
0.04716334864497185,
-0.00818148348480463,
0.041021931916475296,
-0.060633741319179535,
0.03296344727277756,
-0.020035939291119576,
-0.01781349442899227,
0.0027377645019441843,
0.005187119822949171,
0.02005290426313877,
0.06480719149112701,
0.0035563369747251272,
-0.004133154638111591,
0.015345052815973759,
0.06473932415246964,
0.03935933858156204,
-0.04261666536331177,
0.013589151203632355,
0.009169708006083965,
-0.0075919413939118385,
0.0017442379612475634,
0.05215112492442131,
-0.053881578147411346,
0.028094425797462463,
0.025922875851392746,
0.0005492494092322886,
0.016524136066436768,
-0.0032403594814240932,
-0.0005124030285514891,
0.042582735419273376,
-0.0051107765175402164,
0.004775713197886944,
-0.04451677203178406,
0.005916624795645475,
0.026669345796108246,
0.007740387227386236,
0.021223505958914757,
-0.008122105151414871,
0.004830849822610617,
-0.0018842011922970414,
0.027415815740823746,
-0.02397187426686287,
-0.015675874426960945,
0.02609252743422985,
-0.04797767847776413,
0.005640939809381962,
-0.028043529018759727,
-0.0316740907728672,
-0.009763491339981556,
-0.012036832980811596,
0.02867124229669571,
-0.05337262153625488,
-0.0015024833846837282,
-0.02073151431977749,
-0.056460294872522354,
0.039868295192718506,
0.03150443732738495,
-0.013444947078824043,
-0.01827155612409115,
0.059887271374464035,
0.10124851018190384,
-0.017830459401011467,
0.06847167760133743,
-0.00006965023203520104,
-0.02213962934911251,
0.02176639437675476,
-0.05673173815011978,
-0.03854500874876976,
-0.0018948044162243605,
0.04075048863887787,
-0.02482013590633869,
-0.030096322298049927,
-0.0674876943230629,
-0.011672080494463444,
-0.0186447910964489,
-0.07200044393539429,
-0.0023581674322485924,
-0.05503521487116814,
-0.03410011902451515,
0.024277247488498688,
0.002489647828042507,
0.034507282078266144,
-0.012333723716437817,
-0.032064288854599,
-0.06290708482265472,
-0.005484011489897966,
0.03119906224310398,
-0.020680619403719902,
0.012622132897377014,
0.03045259229838848,
0.060192644596099854,
-0.0285185556858778,
-0.023649534210562706,
0.0021100507583469152,
0.027229199185967445,
-0.04081834852695465,
-0.03209821879863739,
0.009084882214665413,
0.01039968803524971,
0.04716334864497185,
0.034914448857307434,
-0.04909738153219223,
-0.022275350987911224,
0.04974206164479256,
-0.03745923191308975,
0.028009599074721336,
-0.03511803224682808,
0.008541994728147984,
-0.06266956776380539,
0.011960488744080067,
-0.005793626885861158,
0.026923824101686478,
0.0160321444272995,
0.010425135493278503,
-0.006200792733579874,
-0.03583057224750519,
-0.02568536251783371,
-0.017660807818174362,
0.021902116015553474,
0.006209275219589472,
0.038646798580884933,
-0.024633517488837242,
-0.05320296809077263,
0.06650371104478836,
-0.007990624755620956,
0.03902003541588783,
-0.08496188372373581,
-0.06131235137581825,
-0.03674669563770294,
0.0006335453945212066,
-0.008160277269780636,
-0.004027122166007757,
-0.0010523746022954583,
-0.0015141470357775688,
-0.02490496076643467,
-0.007227188907563686,
-0.019917182624340057,
0.024396004155278206,
-0.017694737762212753,
0.017881354317069054,
0.0255326759070158,
-0.0056027681566774845,
-0.03275986388325691,
0.022936994209885597,
0.022241419181227684,
0.014403482899069786,
-0.01539594866335392,
0.0021408002357929945,
0.03773067891597748,
-0.04455070197582245,
0.07403627783060074,
0.021036889404058456,
-0.026363970711827278,
0.02403973415493965,
0.025023717433214188,
-0.0005086918827146292,
0.028789998963475227,
-0.04529717192053795,
-0.08530119061470032,
-0.018661756068468094,
-0.007163569331169128,
0.05371192842721939,
0.025583570823073387,
-0.011841732077300549,
-0.047808025032281876,
-0.013707907870411873,
0.010560857132077217,
0.016159383580088615,
-0.019815390929579735,
0.031521402299404144,
-0.02434510923922062,
0.06321245431900024,
-0.02453172579407692,
0.01114615797996521,
0.037628885358572006,
-0.0017622635932639241,
0.015582566149532795,
0.012537307105958462,
0.012147106230258942,
-0.018763547763228416,
-0.0518118217587471,
-0.038375355303287506,
-0.01961180940270424,
0.0072865672409534454,
-0.032488420605659485,
0.022563759237527847,
-0.04767230525612831,
-0.04220949858427048,
0.010730509646236897,
-0.0006107483641244471,
-0.041327305138111115,
-0.0019902337808161974,
0.013300742022693157,
0.007681008893996477,
0.016354484483599663,
-0.01617634855210781,
-0.015387466177344322,
-0.029248060658574104,
0.013156537897884846,
0.036407388746738434,
-0.006366203539073467,
-0.01886533945798874,
-0.06053195148706436,
-0.026737207546830177,
0.009347843006253242,
0.010679613798856735,
-0.014361069537699223,
-0.0035839052870869637,
0.02889179065823555,
0.002071879105642438,
-0.004979295656085014,
-0.07987231761217117,
-0.029061444103717804,
0.021087784320116043,
0.003200066974386573,
-0.009237568825483322,
0.10389508306980133,
-0.006752162706106901,
0.027721190825104713,
-0.02397187426686287,
-0.006332273129373789,
0.008134828880429268,
-0.028281042352318764,
0.023327194154262543,
-0.006582510191947222,
0.0060353814624249935,
-0.029010547325015068,
0.009661699645221233,
0.024514760822057724,
0.032861657440662384,
0.028264077380299568,
0.04726513847708702,
0.013453429564833641,
-0.025922875851392746,
0.023649534210562706,
-0.04519537836313248,
0.011578771285712719,
0.002915899269282818,
-0.015200848691165447,
0.020561862736940384,
0.010153692215681076,
-0.013020816259086132,
0.00043208326678723097,
0.006442547310143709,
-0.030249010771512985,
0.03045259229838848,
-0.0264657624065876,
0.046722251921892166,
0.01852603442966938,
-0.01759294606745243,
-0.023208437487483025,
0.012053797952830791,
-0.031928569078445435,
0.011985937133431435,
0.01796618103981018,
-0.008711647242307663,
0.0014558290131390095,
-0.018729615956544876,
0.00533132441341877,
0.02091813273727894,
-0.018101902678608894,
0.01088319718837738,
0.08394397050142288,
0.029621295630931854,
-0.012393102049827576,
-0.036848485469818115,
-0.005882694385945797,
0.007435013074427843,
0.06575724482536316,
-0.008173000998795033,
0.02247893251478672,
0.007681008893996477,
0.007761593908071518,
0.05656208470463753,
0.0342867337167263,
-0.028789998963475227,
0.046993695199489594,
0.019594844430685043,
0.029095374047756195,
-0.004699369426816702,
-0.011392153799533844,
-0.04149695858359337,
0.01183324959129095,
-0.0061711035668849945,
0.0032212736550718546,
0.030469557270407677,
-0.023327194154262543,
-0.01771170273423195,
0.011765388771891594,
0.009381773881614208,
0.020256487652659416,
0.01827155612409115,
0.04224342852830887,
0.020002009347081184,
0.06165165454149246,
0.007396841421723366,
-0.010128243826329708,
-0.009653217159211636,
0.012885094620287418,
0.032267872244119644,
-0.010815335437655449,
-0.02073151431977749,
0.0357966423034668,
0.022003905847668648,
-0.02509157918393612,
0.0343036986887455,
0.008830403909087181,
0.01833941601216793,
-0.010806852951645851,
-0.0044788215309381485,
-0.007562252692878246,
-0.024887995794415474,
0.02904447913169861,
-0.008957643061876297,
0.037900328636169434,
-0.05316903814673424,
-0.008130587637424469,
0.008635303005576134,
0.004784195683896542,
0.012995367869734764,
0.020714549347758293,
-0.03045259229838848,
-0.0365431122481823,
0.02970612235367298,
-0.007625872269272804,
-0.055713824927806854,
0.00712963892146945,
-0.024887995794415474,
0.01726212352514267,
0.06351783126592636,
-0.0006049165967851877,
-0.015701323747634888,
0.004512751940637827,
0.009610804729163647,
-0.00803303811699152,
-0.010170657187700272,
0.038714662194252014,
0.012452480383217335,
0.003859590506181121,
0.016269657760858536,
0.03732351213693619,
-0.0037556784227490425,
-0.030299905687570572,
0.014081142842769623,
0.05171002820134163,
0.06575724482536316,
0.01598973199725151,
0.010688096284866333,
-0.0465865284204483,
0.05303331837058067,
0.028789998963475227,
0.055713824927806854,
-0.007456219755113125,
0.006883643101900816,
-0.001587309525348246,
0.030164184048771858,
-0.04190412536263466,
-0.004593336954712868,
0.004686645697802305,
0.02154584601521492,
0.019951114431023598,
-0.000579468731302768,
0.041327305138111115,
0.021783359348773956,
-0.03145354241132736,
0.03331971541047096,
-0.008041520603001118,
0.016634410247206688,
0.02337809093296528,
-0.0033167030196636915,
0.0518118217587471,
0.0003395697276573628,
0.00926301721483469,
-0.0021694290917366743,
-0.011655114591121674,
0.07756504416465759,
-0.03515196219086647,
0.0021397399250417948,
-0.008325687609612942,
-0.04319348186254501,
-0.01964573934674263,
0.01971360109746456,
-0.03820570558309555,
-0.00290741678327322,
0.021121714264154434,
0.034914448857307434,
0.07220403105020523,
0.021986940875649452,
0.044822145253419876,
0.04750265181064606,
0.01845817267894745,
-0.014403482899069786,
-0.014683408662676811,
0.018509069457650185,
-0.020069871097803116,
0.01934036612510681,
0.0003461967862676829,
0.05452625826001167,
-0.046620458364486694,
0.029281992465257645,
0.020035939291119576,
0.004039845895022154,
0.008932194672524929,
-0.047808025032281876,
0.010408170521259308,
-0.01983235776424408,
0.03141961246728897,
0.009890730492770672,
0.04617936164140701,
0.02895965240895748,
0.03097851574420929,
-0.021036889404058456,
0.005950555205345154,
0.019968079403042793,
0.008639545179903507,
-0.007430771831423044,
-0.0244129691272974,
0.0046654390171170235,
0.00333578884601593,
0.04604364186525345,
0.024463865906000137,
-0.03932540863752365,
0.006629164796322584,
0.022987890988588333,
-0.041768401861190796,
0.005802109371870756,
0.010314861312508583,
0.04953847825527191,
0.007888833060860634,
-0.03844321891665459,
0.011841732077300549,
-0.014980300329625607,
-0.03291255235671997,
-0.0057130418717861176,
-0.012808750383555889,
0.004656956531107426,
-0.0018545120256021619,
-0.0007660862756893039,
-0.027500642463564873,
-0.004860538989305496,
-0.03162319213151932,
-0.003918968606740236,
0.038748592138290405,
0.040954072028398514,
-0.0006314247730188072,
-0.018814442679286003,
-0.04458463191986084,
-0.02836586907505989,
0.053881578147411346,
-0.023768290877342224,
0.0372895821928978,
-0.010526927188038826,
0.0011621183948591352,
0.013758803717792034,
-0.011307328008115292,
0.061074838042259216,
0.06948959082365036,
-0.01296992041170597,
0.008219655603170395,
-0.03549126535654068,
0.019628774374723434,
0.0010984988184645772,
0.013690942898392677,
0.0022351692896336317,
0.04899559170007706,
0.015480774454772472,
-0.018780512735247612,
-0.036882415413856506,
-0.029740052297711372,
0.00790155678987503,
-0.005068363156169653,
-0.003872314468026161,
0.054560188204050064,
0.004203136544674635,
0.08570835739374161,
0.007333221845328808,
0.04828305169939995,
0.005242256913334131,
0.012834198772907257,
-0.05065818503499031,
0.012096211314201355,
-0.0034757519606500864,
0.02154584601521492,
-0.03637345880270004,
-0.023496847599744797,
-0.014700374566018581,
-0.01408962532877922,
-0.014030246995389462,
-0.019628774374723434,
0.006883643101900816,
0.009602321311831474,
0.006022657733410597,
-0.020714549347758293,
-0.045229312032461166,
-0.03576270863413811,
-0.005551872309297323,
0.03555912896990776,
-0.041768401861190796,
0.018984096124768257,
-0.006179586052894592,
-0.006955745164304972,
0.0030495005194097757,
-0.012528824619948864,
-0.0038553490303456783,
-0.021783359348773956,
0.008796473033726215,
0.0036114738322794437,
0.029841843992471695,
-0.04980992153286934,
0.03711992874741554,
-0.010187622159719467,
-0.04343099519610405,
0.002345443470403552,
0.014522239565849304,
-0.014004799537360668,
0.014318656176328659,
0.024463865906000137,
-0.04533110186457634,
-0.02259768918156624,
0.009364807978272438,
0.01636296696960926,
0.021647637709975243,
-0.0009627769468352199,
-0.001067749341018498,
0.008771025575697422,
0.008262068033218384,
-0.02509157918393612,
-0.013987834565341473,
-0.03187767043709755,
0.020409174263477325,
0.056087058037519455,
-0.00952597800642252,
0.0244129691272974,
0.023904012516140938,
-0.010247000493109226,
0.007927005179226398,
0.023462917655706406,
0.04078441858291626,
0.00045885652070865035,
0.024514760822057724,
0.003607232589274645,
-0.03783246874809265,
-0.034948378801345825,
0.0059717618860304356,
0.037221722304821014,
-0.00761314807459712,
0.031368713825941086,
0.015345052815973759,
0.02658451907336712,
-0.023327194154262543,
0.035660918802022934,
0.013114124536514282,
0.00726960226893425,
0.03745923191308975,
0.0005434175836853683,
0.004648473579436541,
0.021257435902953148,
0.009364807978272438,
0.02960433065891266,
0.02546481415629387,
0.020969027653336525,
0.0021927563939243555,
-0.06765735149383545,
0.010951058007776737,
-0.018407277762889862,
0.0023518053349107504,
-0.04088621214032173,
0.006650371011346579,
0.02101992256939411,
-0.015209331177175045,
-0.005055639427155256,
0.014624030329287052,
0.06154986470937729,
-0.0022012388799339533,
0.030282940715551376,
0.007201741449534893,
0.00433461694046855,
0.00989921297878027,
-0.028043529018759727,
-0.03623773530125618,
-0.013750321231782436,
-0.0027822982519865036,
0.01721971109509468,
-0.05320296809077263,
0.026041632518172264,
-0.012740889564156532,
-0.008656510151922703,
-0.07410413771867752,
-0.02005290426313877,
-0.05126893147826195,
0.026940789073705673,
-0.011570288799703121,
-0.024989787489175797,
-0.01964573934674263,
-0.02064668759703636,
-0.01740632951259613,
0.008308722637593746,
0.03231876716017723,
0.027449745684862137,
0.0009155924199149013,
-0.01011976134032011,
-0.009924661368131638,
-0.004623026121407747,
-0.0158455278724432,
-0.0075452872551977634,
0.02677113749086857,
-0.03823963552713394,
-0.019883252680301666,
-0.019934147596359253,
0.0061074839904904366,
0.012588202953338623,
0.014394999481737614,
0.003265807405114174,
-0.04526324197649956,
-0.000005343054453987861,
-0.04268452525138855,
-0.03844321891665459,
0.029926670715212822,
-0.01669378951191902,
-0.04159875214099884,
-0.0262791458517313,
-0.024073665961623192,
0.022614656016230583,
0.04729906842112541,
-0.01942519098520279,
-0.005004743579775095,
-0.026160389184951782,
-0.0570371113717556,
0.040682628750801086,
0.03381170704960823,
-0.0024260282516479492,
0.06121055781841278,
-0.038002122193574905,
-0.03187767043709755,
0.048147331923246384,
-0.02232624590396881,
0.008435961790382862,
0.03019811399281025,
-0.013003851287066936,
0.002975277602672577,
0.01377576868981123,
0.02001897431910038,
-0.0055391485802829266,
-0.0029477092903107405,
-0.021308332681655884,
0.05544238165020943,
-0.034235838800668716,
0.057953234761953354,
-0.053474415093660355
] |
Consider the following problem: given a few demonstrations of a task across a
few different objects, how can a robot learn to perform that same task on new,
previously unseen objects? This is challenging because the large variety of
objects within a class makes it difficult to infer the task-relevant
relationship between the new objects and the objects in the demonstrations. We
address this by formulating imitation learning as a conditional alignment
problem between graph representations of objects. Consequently, we show that
this conditioning allows for in-context learning, where a robot can perform a
task on a set of new objects immediately after the demonstrations, without any
prior knowledge about the object class or any further training. In our
experiments, we explore and validate our design choices, and we show that our
method is highly effective for few-shot learning of several real-world,
everyday tasks, whilst outperforming baselines. Videos are available on our
project webpage at https://www.robot-learning.uk/implicit-graph-alignment. | [
0.002506427699699998,
0.02262447401881218,
-0.03955147787928581,
0.011459268629550934,
0.016274550929665565,
0.014197730459272861,
0.020566033199429512,
0.026226745918393135,
-0.04201425239443779,
0.022789884358644485,
-0.01807568594813347,
-0.030417144298553467,
0.03629840537905693,
-0.039477959275245667,
-0.01950005441904068,
0.02052927389740944,
0.003039417089894414,
0.028854934498667717,
-0.015410739928483963,
-0.06495116651058197,
-0.004406350664794445,
-0.04091151803731918,
-0.03574703633785248,
-0.018930306658148766,
0.03032524883747101,
-0.006230460479855537,
0.03688653185963631,
-0.029332786798477173,
-0.07204543799161911,
0.012056583538651466,
0.024554261937737465,
0.008174032904207706,
-0.02304719015955925,
0.015153435058891773,
-0.004420134704560041,
0.02304719015955925,
0.03350480645895004,
0.07042809575796127,
-0.08263170719146729,
0.026759734377264977,
0.009258390404284,
0.007677801884710789,
0.008798916824162006,
-0.04491812735795975,
-0.009860300458967686,
-0.04094827547669411,
-0.045947346836328506,
-0.006666960194706917,
-0.05535736307501793,
-0.03117068111896515,
0.02795436605811119,
-0.0135544678196311,
0.01909571699798107,
-0.02482994645833969,
-0.007480228319764137,
0.03870604559779167,
0.061348896473646164,
-0.012663088738918304,
0.05774662643671036,
0.01929788663983345,
0.004335132427513599,
0.020180074498057365,
-0.026943523436784744,
-0.015530203469097614,
0.044881369918584824,
-0.06803882867097855,
0.08932164311408997,
-0.0398455411195755,
0.04407269507646561,
0.012690656818449497,
-0.01742323487997055,
-0.02021683193743229,
-0.05517357587814331,
-0.019205991178750992,
-0.00017804597155191004,
0.014317193068563938,
0.040396906435489655,
0.010439237579703331,
0.051975637674331665,
-0.045101914554834366,
0.020915232598781586,
0.03911038115620613,
-0.002151484601199627,
0.015171813778579235,
0.09424719959497452,
-0.046976566314697266,
0.03973526507616043,
-0.06377492100000381,
0.010494373738765717,
-0.02378234639763832,
-0.05642334371805191,
0.014197730459272861,
-0.010917089879512787,
0.01820433884859085,
-0.02982901781797409,
-0.007981054484844208,
0.03179556503891945,
-0.02365369349718094,
-0.07414063811302185,
0.00963975302875042,
0.037584930658340454,
0.033192362636327744,
-0.0332842580974102,
0.014969645999372005,
0.030821479856967926,
0.0077421278692781925,
0.0037722771521657705,
-0.019353022798895836,
-0.043116990476846695,
0.05940072983503342,
0.013168510049581528,
0.022881777957081795,
-0.03482808917760849,
0.03822819143533707,
-0.035287562757730484,
-0.006524523254483938,
-0.03616975247859955,
-0.056166037917137146,
0.029957670718431473,
-0.040617454797029495,
0.04433000087738037,
0.022128242999315262,
0.06572308391332626,
0.01250686775892973,
-0.028101397678256035,
0.02108064293861389,
-0.04392566531896591,
-0.03267775475978851,
0.014510172419250011,
0.042271558195352554,
0.01000733207911253,
-0.0018011359497904778,
-0.01418854109942913,
-0.0037148429546505213,
0.06631121039390564,
-0.009988953359425068,
-0.006359112914651632,
0.022367168217897415,
-0.0398455411195755,
0.016403203830122948,
-0.06315003335475922,
-0.026961904019117355,
-0.029479818418622017,
0.03537945821881294,
0.006175323389470577,
-0.025785651057958603,
-0.02074982225894928,
0.050725869834423065,
-0.007677801884710789,
0.007301033474504948,
-0.062304601073265076,
0.04866743087768555,
-0.011275478638708591,
0.07017078995704651,
0.03168528899550438,
0.03808116167783737,
0.01746918074786663,
-0.04006608575582504,
0.03287992253899574,
-0.02918575517833233,
0.12262427806854248,
-0.03933092951774597,
-0.03276964649558067,
0.02501373551785946,
0.038117919117212296,
0.016302118077874184,
0.021246053278446198,
-0.0009086087811738253,
-0.02177904173731804,
0.04091151803731918,
-0.007967269979417324,
-0.020933611318469048,
0.05642334371805191,
0.011238721199333668,
0.0036183535121381283,
0.025068871676921844,
0.018948685377836227,
-0.01938978023827076,
-0.028524113819003105,
-0.047197114676237106,
-0.033210743218660355,
0.0007500904612243176,
0.011790089309215546,
0.06252515316009521,
0.014546929858624935,
0.06884750723838806,
0.05223294347524643,
0.004360403399914503,
0.024554261937737465,
-0.02690676599740982,
0.07167786359786987,
0.03504863753914833,
0.0423450767993927,
0.02471967227756977,
-0.025491587817668915,
-0.062304601073265076,
-0.016403203830122948,
-0.007567528169602156,
0.03346804901957512,
0.017487559467554092,
0.006166134029626846,
-0.06792856007814407,
0.032493963837623596,
-0.017643781378865242,
0.03991905599832535,
0.02128281071782112,
0.0005370096187107265,
-0.04355808347463608,
0.007172381039708853,
-0.0423450767993927,
-0.010512753389775753,
0.020106559619307518,
-0.06120186671614647,
-0.04241859167814255,
-0.017616212368011475,
-0.0123046999797225,
-0.0271089356392622,
-0.010871142148971558,
-0.012525246478617191,
-0.024260198697447777,
-0.027770576998591423,
0.0036160561721771955,
0.03210800513625145,
-0.03815467655658722,
-0.0648408979177475,
0.05973155051469803,
0.05914342403411865,
-0.027880849316716194,
-0.004006608854979277,
0.018930306658148766,
0.020566033199429512,
0.007884564809501171,
0.044256485998630524,
-0.033541563898324966,
0.0027683277148753405,
0.02387424185872078,
0.028836555778980255,
-0.028854934498667717,
0.037713583558797836,
0.007838617078959942,
0.009593806229531765,
0.03514052927494049,
0.02302880957722664,
0.030711207538843155,
0.03866928815841675,
0.07564771175384521,
0.028119776397943497,
0.029645228758454323,
0.029847396537661552,
0.03322912007570267,
-0.0024558857548981905,
-0.025620240718126297,
-0.012442541308701038,
0.04245534911751747,
-0.02868952415883541,
0.06792856007814407,
0.0018631649436429143,
0.007774291094392538,
0.03969850763678551,
-0.08042623847723007,
0.02231203205883503,
0.051240481436252594,
0.008968922309577465,
0.02907548099756241,
0.013830151408910751,
-0.035618383437395096,
0.05403408035635948,
-0.030784722417593002,
-0.01057707890868187,
-0.02097036875784397,
-0.02470129355788231,
-0.0059180185198783875,
-0.02534455619752407,
-0.011146826669573784,
-0.03688653185963631,
-0.05892287939786911,
0.06454683095216751,
-0.02650243043899536,
0.022146621719002724,
-0.028634386137127876,
0.024848325178027153,
-0.009056221693754196,
-0.02429695799946785,
0.010237068869173527,
-0.009272174909710884,
-0.018930306658148766,
-0.08079381287097931,
-0.0009798271348699927,
-0.06212081387639046,
0.00581233948469162,
-0.031648531556129456,
-0.010788436979055405,
-0.009988953359425068,
-0.006078834179788828,
-0.005440165754407644,
-0.020804958418011665,
-0.050836145877838135,
-0.02762354537844658,
0.0473441481590271,
0.013894477859139442,
-0.008334849029779434,
-0.03740113973617554,
-0.008247548714280128,
-0.00397674273699522,
-0.01344419363886118,
-0.003321993164718151,
-0.002277839696034789,
0.0417201928794384,
0.009198659099638462,
-0.03381724655628204,
0.03563676401972771,
-0.015631288290023804,
-0.04341105371713638,
-0.031758807599544525,
-0.015668045729398727,
0.04024987667798996,
0.042381834238767624,
-0.03232855349779129,
0.002107834443449974,
-0.012598762288689613,
-0.005623955279588699,
-0.009198659099638462,
-0.06237811967730522,
0.0048336610198020935,
0.035489730536937714,
0.05057884007692337,
0.02970036491751671,
-0.010255447588860989,
-0.003384022042155266,
-0.07182489335536957,
-0.04392566531896591,
-0.02556510455906391,
-0.014326382428407669,
0.03668436035513878,
0.00638208631426096,
0.004406350664794445,
-0.03210800513625145,
0.035397835075855255,
-0.06539226323366165,
-0.03721735253930092,
-0.017965413630008698,
-0.016338877379894257,
0.02302880957722664,
-0.0202352125197649,
0.030086323618888855,
-0.022146621719002724,
-0.005224213469773531,
0.012065772898495197,
0.0013979480136185884,
0.012176047079265118,
0.001050471211783588,
-0.046645745635032654,
0.019775738939642906,
0.006947238929569721,
0.02117253839969635,
-0.050946418195962906,
-0.044587306678295135,
0.00007006970554357395,
-0.029424680396914482,
0.0024903463199734688,
0.009373258799314499,
-0.08895406126976013,
-0.01356365717947483,
0.023910999298095703,
-0.07704450935125351,
-0.038338467478752136,
-0.019738979637622833,
0.009428395889699459,
-0.02168714813888073,
0.006924265064299107,
-0.05785689875483513,
-0.003841198282316327,
-0.022385546937584877,
-0.025693755596876144,
-0.01443665660917759,
0.018737327307462692,
0.015245329588651657,
0.002733867149800062,
-0.019132474437355995,
0.04682953655719757,
-0.022881777957081795,
-0.022973673418164253,
-0.03493836149573326,
-0.0015334927011281252,
-0.01677997037768364,
0.07697099447250366,
0.017239443957805634,
0.008537016808986664,
-0.019132474437355995,
0.0360962375998497,
0.04668250307440758,
-0.05899639427661896,
-0.07638286799192429,
0.002437506802380085,
0.021099021658301353,
0.011082500219345093,
0.0038894428871572018,
-0.024976978078484535,
0.022128242999315262,
0.009368663653731346,
-0.017919465899467468,
-0.04403593763709068,
-0.0051369136199355125,
0.0014680176973342896,
0.03848549723625183,
0.011817657388746738,
0.003083067014813423,
-0.014280435629189014,
0.008775942958891392,
0.017349718138575554,
-0.024039652198553085,
-0.01439070887863636,
0.02626350335776806,
-0.056460101157426834,
0.018020549789071083,
-0.010237068869173527,
-0.05318864807486534,
-0.0027384618297219276,
0.04377863183617592,
0.00703453877940774,
0.0110549321398139,
-0.03168528899550438,
0.0239845160394907,
-0.008022407069802284,
-0.03764006495475769,
0.035820551216602325,
0.015309656038880348,
0.010540321469306946,
-0.07175137847661972,
-0.06417925655841827,
0.02545483037829399,
-0.005748013034462929,
0.03032524883747101,
-0.018369749188423157,
0.0007098864880390465,
0.0535929873585701,
0.013637172989547253,
0.0003434564277995378,
-0.046461958438158035,
-0.012442541308701038,
-0.032493963837623596,
-0.003181853797286749,
-0.04377863183617592,
-0.012846877798438072,
0.029534954577684402,
-0.024554261937737465,
0.02471967227756977,
-0.010080847889184952,
0.0364086776971817,
-0.06392195075750351,
-0.06201053783297539,
0.00706210732460022,
-0.03313722833991051,
-0.06509820371866226,
0.00600072368979454,
-0.00881270132958889,
-0.00004070647628395818,
-0.014059888198971748,
-0.010816005058586597,
-0.03793412819504738,
-0.01307661458849907,
0.03585730865597725,
-0.0076594226993620396,
-0.030950132757425308,
-0.009221632964909077,
-0.005908828694373369,
-0.035508111119270325,
-0.0258591677993536,
0.010420857928693295,
0.029681986197829247,
0.004188100807368755,
-0.05076262727379799,
-0.06792856007814407,
0.02931440807878971,
0.013113372959196568,
0.00032938504591584206,
-0.035489730536937714,
-0.020308727398514748,
0.045616526156663895,
-0.04366835951805115,
-0.007567528169602156,
0.03197935223579407,
0.033118847757577896,
-0.07278059422969818,
0.02595106139779091,
0.007599691394716501,
0.045212190598249435,
0.01642158254981041,
0.0027292724698781967,
0.010623026639223099,
0.017230255529284477,
-0.0037286272272467613,
-0.0171107929199934,
0.03398265689611435,
0.004546490032225847,
-0.05476923659443855,
-0.02420506253838539,
-0.06462034583091736,
0.04767496883869171,
0.019849253818392754,
0.021742284297943115,
-0.03254910185933113,
0.0050266399048268795,
0.0019504649098962545,
0.026759734377264977,
-0.02920413389801979,
0.06686258316040039,
0.00515988701954484,
0.04793227091431618,
-0.007765101734548807,
0.02824842929840088,
0.03313722833991051,
0.026024578139185905,
-0.012414973229169846,
0.013306351378560066,
-0.0002640536695253104,
0.0053023239597678185,
-0.047086842358112335,
0.042896442115306854,
-0.004560274071991444,
0.010227879509329796,
-0.003983634989708662,
0.0208600964397192,
-0.04223480075597763,
-0.042492106556892395,
0.03648219257593155,
0.010237068869173527,
-0.03313722833991051,
-0.004043366760015488,
0.026612702757120132,
0.007328602019697428,
0.005578008014708757,
-0.051240481436252594,
-0.003806737717241049,
0.0013979480136185884,
0.007654828019440174,
0.06833289563655853,
-0.0014255164423957467,
-0.017257822677493095,
-0.05149778723716736,
-0.02043738029897213,
0.005665307864546776,
-0.004939339589327574,
0.04899825155735016,
-0.004925555549561977,
0.008886217139661312,
0.038963351398706436,
-0.03657408803701401,
0.008215385489165783,
0.043227262794971466,
0.00006368014874169603,
0.024113167077302933,
0.029259270057082176,
0.029755501076579094,
-0.02179742231965065,
-0.0208600964397192,
0.008716211654245853,
-0.023616936057806015,
-0.012525246478617191,
0.006616417784243822,
0.039036866277456284,
-0.026631081476807594,
0.004755550529807806,
0.0178918968886137,
-0.002084860811010003,
-0.06289272755384445,
0.053225405514240265,
0.06866371631622314,
-0.005509086884558201,
0.005963965784758329,
0.004810687154531479,
-0.045837074518203735,
-0.009740837849676609,
0.014225298538804054,
0.028027880936861038,
0.016320496797561646,
0.002710893517360091,
-0.019886011257767677,
0.009630563668906689,
0.002793598687276244,
-0.002869411837309599,
-0.032898299396038055,
0.008739185519516468,
0.058334752917289734,
-0.021521737799048424,
0.011496026068925858,
-0.032898299396038055,
-0.013931235298514366,
-0.0023685856722295284,
-0.004783118609338999,
0.000010302256669092458,
0.020584411919116974,
-0.010448426939547062,
0.0006863385206088424,
-0.03473619371652603,
0.013637172989547253,
0.005656118504703045,
-0.009529479779303074,
0.016660507768392563,
-0.06002561375498772,
-0.007075891364365816,
0.02052927389740944,
0.02617160975933075,
0.022128242999315262,
-0.0158610250800848,
-0.026006197556853294,
0.0034988904371857643,
0.059069909155368805,
0.008950543589890003,
0.02909385971724987,
0.002004452981054783,
0.03607785701751709,
0.009318121708929539,
-0.018801653757691383,
0.04230831563472748,
0.0005571115761995316,
0.04315374791622162,
0.016008054837584496,
0.010806815698742867,
-0.0410953089594841,
0.06660527735948563,
-0.020933611318469048,
0.019738979637622833,
0.00010912495054071769,
-0.01281930971890688,
0.00160241371486336,
-0.0022525687236338854,
-0.03308209031820297,
-0.017616212368011475,
-0.010310584679245949,
0.016118329018354416,
-0.03407455235719681,
-0.03014145977795124,
0.011183584108948708,
0.006781828589737415,
-0.0071999491192400455,
-0.029222512617707253,
0.004080124199390411,
-0.006616417784243822,
0.020823337137699127,
-0.022495821118354797,
0.03525080531835556,
0.01876489631831646,
0.05079938843846321,
0.010604647919535637,
0.05168157443404198,
0.003239287994801998,
-0.040507182478904724,
0.023433146998286247,
0.03697842359542847,
-0.025987818837165833,
0.015052351169288158,
0.0056882817298173904,
0.039661750197410583,
-0.001469166367314756,
-0.012607951648533344,
-0.005692876409739256,
0.0019033688586205244,
-0.033431291580200195,
0.03786061331629753,
0.048851218074560165,
-0.03955147787928581,
0.031115543097257614,
-0.032788027077913284,
0.058555297553539276,
-0.007783480454236269,
0.006832370534539223,
0.006947238929569721,
0.023708831518888474,
0.030950132757425308,
0.0317220501601696,
-0.011817657388746738,
-0.04223480075597763,
-0.0015978190349414945,
0.04491812735795975,
-0.04013960063457489,
0.02826680801808834,
0.03401941433548927,
0.04591058939695358,
-0.0320344902575016,
-0.0006013358943164349,
-0.07800021767616272,
-0.023910999298095703,
-0.033118847757577896,
0.03389076143503189,
-0.004700413439422846,
-0.009648943319916725,
0.05480599403381348,
-0.00659803906455636,
0.008229169994592667,
-0.026134850457310677,
-0.06039319187402725,
0.012010636739432812,
0.031556639820337296,
0.010898711159825325,
0.015493445098400116,
-0.007314817514270544,
-0.030784722417593002,
0.056570373475551605,
-0.00030210381373763084,
-0.06028291955590248,
0.006942644249647856,
-0.00503582926467061,
0.012396594509482384,
0.030178217217326164,
0.0010998646030202508,
0.011082500219345093,
0.027917608618736267,
-0.021962832659482956,
0.013361488468945026,
0.017698917537927628,
0.004966908134520054,
0.030711207538843155,
0.04256562143564224,
0.029553333297371864,
0.030692826956510544,
0.022036347538232803,
0.0032094221096485853,
0.021558495238423347,
0.030509037896990776,
-0.009161900728940964,
0.013894477859139442,
0.02427857741713524,
-0.0392206571996212,
-0.008357822895050049,
0.0002906169684138149,
0.019996285438537598,
-0.04778524115681648,
0.03692328929901123,
-0.01610914058983326,
0.030380384996533394,
-0.03683139383792877,
-0.006359112914651632,
0.010650594718754292,
0.024462368339300156,
0.04892473667860031,
0.006983996834605932,
-0.001579440082423389,
0.021815801039338112,
-0.03212638571858406,
0.04473433643579483,
-0.00014774943701922894,
0.038338467478752136,
-0.01213928870856762,
-0.0051828608848154545,
0.015043161809444427,
0.027164071798324585,
0.024425609037280083,
0.03752979263663292,
0.005247186869382858,
0.05800393223762512,
0.013600414618849754,
0.04693980887532234,
0.017882706597447395,
-0.04903500899672508,
-0.01887517049908638,
0.007783480454236269,
-0.014942076988518238,
0.00043075636494904757,
0.005885855294764042,
0.05252700671553612,
-0.005642333999276161,
-0.006786423269659281,
0.030086323618888855,
0.0277338195592165,
0.009180280379951,
-0.017285391688346863,
-0.0320344902575016,
0.031042028218507767,
0.0004253001243341714,
0.018792465329170227,
-0.024021273478865623,
0.053041618317365646,
-0.029259270057082176,
0.02324935793876648,
0.018057307228446007,
-0.012286320328712463,
0.0104300482198596,
-0.05388704687356949,
-0.010705731809139252,
0.03392752259969711,
-0.018709760159254074,
-0.005679091904312372,
-0.006735880859196186,
-0.014877750538289547,
0.009777595289051533,
-0.0031336089596152306,
-0.0364086776971817,
-0.021411463618278503,
-0.012295509688556194,
-0.02356179989874363,
-0.016917813569307327,
-0.02868952415883541,
0.03151987865567207,
0.05212267115712166,
0.0071631912142038345,
-0.04444027319550514,
-0.0009132035193033516,
-0.0005100155249238014,
-0.06649500131607056,
0.0317220501601696,
-0.030527416616678238,
0.004994476679712534,
-0.019794117659330368,
-0.03732762485742569,
0.01637563481926918,
0.008481880649924278,
-0.012010636739432812,
-0.012543626129627228,
-0.000734583183657378,
0.00513231847435236,
0.024058030918240547,
0.0014657203573733568,
-0.007815644145011902,
0.028946828097105026,
-0.006092618219554424,
-0.03712545707821846,
-0.036224886775016785,
0.02679649367928505,
-0.02199959009885788,
-0.002018237253651023,
-0.02639215625822544,
0.006317760329693556,
0.002517914632335305,
-0.05101993307471275,
0.029847396537661552,
0.0055320607498288155,
0.014317193068563938,
0.013232835568487644,
-0.03699680417776108,
0.02494022063910961,
0.032696131616830826,
-0.02438885159790516,
-0.020510895177721977,
-0.03635353967547417,
0.032383691519498825,
0.019334644079208374,
-0.0035494326148182154,
-0.01382096204906702,
0.07079567015171051,
0.00924920104444027,
-0.027255965396761894,
-0.03892659395933151,
-0.05285782739520073,
0.0036895719822496176,
-0.022881777957081795,
-0.0028579249046742916,
0.05039504915475845,
-0.011165205389261246,
0.025730514898896217,
0.005012855399399996,
0.03192421793937683,
0.0417201928794384,
0.014170161448419094,
-0.009281364269554615,
0.02295529469847679,
0.04223480075597763,
0.0809408500790596,
0.01418854109942913,
0.022992052137851715,
0.08424905687570572,
0.002446696162223816,
-0.02532617747783661,
-0.02742137759923935,
0.02690676599740982,
0.03907362371683121,
0.014648014679551125,
-0.01570480316877365,
-0.03221828117966652,
0.0027660303749144077,
0.02097036875784397,
-0.007360764779150486,
-0.024682914838194847,
0.054475173354148865,
-0.009198659099638462,
0.024664536118507385,
-0.006281002424657345,
-0.01382096204906702,
0.019738979637622833,
-0.0314096063375473,
-0.01032896339893341,
0.00640965485945344,
0.012433351948857307,
-0.05252700671553612,
0.04120558127760887,
0.015851834788918495,
0.0026695409324020147,
-0.029645228758454323,
0.0030210381373763084,
-0.03199773281812668,
-0.01136737409979105,
-0.021099021658301353,
-0.08755726367235184,
-0.014510172419250011,
0.03969850763678551,
-0.02106226421892643,
-0.01213928870856762,
-0.026833251118659973,
0.034681059420108795,
-0.008610532619059086,
0.0031267169397324324,
0.008137275464832783,
-0.009814353659749031,
-0.013058235868811607,
0.005697471089661121,
0.020713064819574356,
0.002467372454702854,
0.0020469543524086475,
0.054695721715688705,
0.01324202585965395,
-0.022661231458187103,
-0.00160241371486336,
0.029038723558187485,
-0.04513867199420929,
0.03635353967547417,
0.01157873123884201,
-0.05403408035635948,
-0.023525042459368706,
0.020566033199429512,
0.01100898440927267,
0.02220175787806511,
0.036022718995809555,
-0.0024489935021847486,
0.04491812735795975,
-0.03534270077943802,
0.00003919882874470204,
-0.010237068869173527,
-0.002421425189822912,
0.023837484419345856,
0.016495097428560257,
-0.004160532262176275,
0.02043738029897213,
-0.012414973229169846,
0.023745588958263397,
0.03096851147711277,
0.027586787939071655,
-0.03580217435956001,
0.0008408364374190569,
-0.032990194857120514,
0.004123774357140064,
-0.01684429682791233,
0.003202530089765787,
0.012038204818964005,
0.008394580334424973,
0.02251419983804226,
0.010090037249028683,
-0.00014437518257182091,
0.02637377753853798,
-0.009795974008738995,
0.007916728034615517,
-0.020290348678827286,
-0.025932682678103447,
0.014142593368887901,
-0.03458916395902634,
-0.005991533864289522,
-0.02554672583937645,
-0.021632010117173195,
0.01870056986808777,
-0.050615597516298294,
0.059290457516908646,
0.03615137189626694,
0.024425609037280083,
-0.05307837575674057,
-0.01737728714942932,
-0.04837336763739586,
0.024333715438842773,
-0.026851629838347435,
-0.04223480075597763,
0.0031405012123286724,
0.016945380717515945,
-0.017818382009863853,
0.014225298538804054,
0.033431291580200195,
0.008546206168830395,
0.001014287699945271,
-0.007567528169602156,
-0.047711726278066635,
0.006460196804255247,
-0.0504685677587986,
0.018507590517401695,
0.05215942859649658,
-0.06285597383975983,
0.017459992319345474,
0.008463500998914242,
-0.013646362349390984,
-0.016743212938308716,
-0.005476923659443855,
-0.023322872817516327,
-0.01673402450978756,
-0.02137470617890358,
-0.014262056909501553,
-0.005421787034720182,
0.019261127337813377,
-0.006662365514785051,
-0.05748932063579559,
0.011652247048914433,
0.023304494097828865,
0.009786784648895264,
0.022771505638957024,
0.009341095574200153,
-0.020382242277264595,
-0.00234790937975049,
-0.004509732127189636,
0.06535550951957703,
0.02137470617890358,
0.007889159955084324,
0.07741209119558334,
-0.0014312599087134004,
-0.03526918217539787,
0.04679277911782265,
-0.017239443957805634,
0.014850182458758354,
-0.026098093017935753,
-0.036665983498096466,
-0.030417144298553467,
-0.04763820767402649,
-0.04212452843785286,
0.0056055765599012375,
-0.03229179605841637,
-0.029645228758454323,
0.03243882581591606,
-0.05693795159459114,
0.03253072127699852,
-0.06903129070997238
] |
Diffusion models have risen as a powerful tool in robotics due to their
flexibility and multi-modality. While some of these methods effectively address
complex problems, they often depend heavily on inference-time obstacle
detection and require additional equipment. Addressing these challenges, we
present a method that, during inference time, simultaneously generates only
reachable goals and plans motions that avoid obstacles, all from a single
visual input. Central to our approach is the novel use of a collision-avoiding
diffusion kernel for training. Through evaluations against behavior-cloning and
classical diffusion models, our framework has proven its robustness. It is
particularly effective in multi-modal environments, navigating toward goals and
avoiding unreachable ones blocked by obstacles, while ensuring collision
avoidance. | [
0.007689679507166147,
-0.014332910068333149,
-0.025869574397802353,
-0.02883736975491047,
0.02715619094669819,
0.015576640143990517,
-0.03808385506272316,
0.03966210409998894,
-0.07760871946811676,
-0.027104726061224937,
-0.021100513637065887,
0.0005848745349794626,
0.027001796290278435,
-0.03149637579917908,
-0.03139344975352287,
0.031753700226545334,
0.02823694795370102,
-0.0044002290815114975,
0.023948226124048233,
-0.03286876901984215,
-0.01534504909068346,
-0.02485743537545204,
-0.030964575707912445,
0.06415928900241852,
0.009066359139978886,
-0.0049320305697619915,
0.010558834299445152,
-0.033554963767528534,
-0.06086554750800133,
0.07479532063007355,
0.06316430121660233,
0.022781694307923317,
0.005073558539152145,
0.0011976257665082812,
-0.015894005075097084,
0.007582461461424828,
0.04014244303107262,
0.017197776585817337,
-0.016065554693341255,
0.06457100808620453,
0.020740261301398277,
-0.004631820134818554,
-0.0221126526594162,
-0.07671666890382767,
-0.050366755574941635,
-0.0125831114128232,
-0.005789775401353836,
0.027670837938785553,
-0.027104726061224937,
0.0033387704752385616,
-0.011253607459366322,
-0.05664544552564621,
0.037569209933280945,
-0.03307462856173515,
-0.009563851170241833,
0.01495906338095665,
0.04810231178998947,
0.02787669561803341,
0.04326463118195534,
0.022249892354011536,
0.015087725594639778,
-0.011159256100654602,
-0.02259298972785473,
-0.025543630123138428,
-0.013380814343690872,
-0.057983528822660446,
0.05674837529659271,
-0.020156994462013245,
0.019779587164521217,
-0.018235648050904274,
-0.03458425775170326,
-0.007702545262873173,
-0.08481377363204956,
-0.017283551394939423,
-0.00199640030041337,
0.02043147385120392,
-0.018046943470835686,
0.040039513260126114,
-0.006548879202455282,
-0.039078839123249054,
0.028562892228364944,
0.014195671305060387,
-0.057022854685783386,
-0.020928965881466866,
0.06089985743165016,
-0.06227225065231323,
0.04854833707213402,
-0.053969282656908035,
0.06776181608438492,
-0.038770049810409546,
-0.04367635026574135,
0.001586827333085239,
0.004468848928809166,
-0.0016500859055668116,
0.00295064109377563,
-0.015387936495244503,
0.016237102448940277,
0.007183609995990992,
-0.05239103361964226,
0.013629559427499771,
0.0019599462393671274,
0.004841967485845089,
0.015696724876761436,
0.056611135601997375,
0.014427262358367443,
-0.03015829622745514,
0.02319341152906418,
0.047553353011608124,
-0.00874041672796011,
0.12365244328975677,
0.005918437149375677,
-0.003947768826037645,
-0.01444441732019186,
0.022078342735767365,
-0.011450888589024544,
0.012994828633964062,
-0.035819411277770996,
-0.02919762209057808,
0.051498979330062866,
-0.054140832275152206,
0.029317706823349,
0.015988357365131378,
0.014976218342781067,
-0.019848207011818886,
-0.034515637904405594,
-0.026761628687381744,
0.02648714929819107,
-0.0035467734560370445,
0.010644609108567238,
0.023159101605415344,
-0.0017390769207850099,
-0.03206248953938484,
-0.02415408380329609,
0.07609909027814865,
0.0294206365942955,
-0.011854028329253197,
0.0020199883729219437,
-0.002573233563452959,
-0.04024537280201912,
0.03185662999749184,
-0.026418529450893402,
-0.015156345441937447,
-0.05537598207592964,
0.002526057418435812,
-0.023039016872644424,
0.04312739148736,
-0.0245658028870821,
-0.008809035643935204,
-0.08522549271583557,
-0.0011890482855960727,
-0.0753442719578743,
0.027945315465331078,
0.016134174540638924,
0.06439945846796036,
0.025698024779558182,
0.002273022895678878,
-0.028151173144578934,
0.018544435501098633,
0.05657682567834854,
-0.08982300013303757,
0.05890989303588867,
-0.043642040342092514,
0.05046968534588814,
0.04178931191563606,
0.06882541626691818,
-0.006677540950477123,
0.02595534734427929,
-0.03319471329450607,
-0.031753700226545334,
0.02763652801513672,
-0.06542874872684479,
0.013380814343690872,
-0.011871183291077614,
0.04415668547153473,
0.006999195087701082,
0.03321186825633049,
0.06134588643908501,
-0.012480182573199272,
-0.04353911057114601,
0.0071321455761790276,
-0.059664707630872726,
-0.03314324840903282,
0.015147767961025238,
0.022318512201309204,
0.03298885375261307,
0.06000780314207077,
0.05221948400139809,
-0.024737350642681122,
0.056851305067539215,
0.013269307091832161,
0.04686715826392174,
0.01754945144057274,
0.021460767835378647,
-0.022455750033259392,
0.04274998605251312,
-0.06131157651543617,
-0.021289218217134476,
0.021718090400099754,
0.0008041354594752192,
0.02228420227766037,
-0.028271257877349854,
-0.08447067439556122,
0.03554493188858032,
0.03791230544447899,
0.010867622680962086,
0.007822629995644093,
0.005305149592459202,
-0.012394407764077187,
0.006377330049872398,
-0.09064643830060959,
-0.0019610184244811535,
-0.002053225878626108,
-0.05839524418115616,
-0.017326438799500465,
-0.022438595071434975,
-0.02715619094669819,
-0.01983105204999447,
0.0028026800137013197,
-0.0029399192426353693,
-0.030192606151103973,
0.013912615366280079,
-0.013252152130007744,
0.01928209513425827,
0.020397163927555084,
-0.04566631466150284,
0.038461264222860336,
0.016357187181711197,
0.031153280287981033,
-0.018458660691976547,
-0.01501910574734211,
-0.0317193903028965,
-0.044362545013427734,
0.03976503387093544,
-0.04738180711865425,
-0.0037590651772916317,
0.024960365146398544,
0.002468159655109048,
0.02612689696252346,
0.03629974648356438,
0.01306344848126173,
-0.030432773754000664,
-0.013166378252208233,
-0.06000780314207077,
0.009495231322944164,
0.10402724891901016,
0.063644640147686,
0.024068310856819153,
0.039319008588790894,
0.02367374859750271,
-0.02348504401743412,
-0.004044265020638704,
-0.019985446706414223,
-0.03448132798075676,
-0.01248876005411148,
-0.008272945880889893,
0.08083383738994598,
0.033057473599910736,
-0.008367297239601612,
-0.005798352882266045,
-0.05424376204609871,
0.039421938359737396,
0.049817800521850586,
0.030432773754000664,
0.007629637140780687,
-0.020277079194784164,
-0.019264942035079002,
0.0455290786921978,
0.04031398892402649,
0.04539183899760246,
0.022146962583065033,
-0.04254412651062012,
-0.016117019578814507,
-0.033846598118543625,
-0.006484548095613718,
-0.005601071286946535,
-0.04350480064749718,
0.0527341291308403,
0.027533598244190216,
0.05866972357034683,
0.00680191395804286,
-0.002277311636134982,
-0.031084660440683365,
0.008041354827582836,
-0.039250388741493225,
-0.004089296795427799,
0.00877472572028637,
-0.015293584205210209,
0.031067505478858948,
-0.058292314410209656,
0.04216671735048294,
-0.0027147613000124693,
0.01279754750430584,
-0.06065969169139862,
0.0030235492158681154,
0.06542874872684479,
0.012771815061569214,
-0.03856419026851654,
-0.02036285400390625,
-0.01676032692193985,
-0.01000130083411932,
-0.007024927530437708,
0.02372521162033081,
0.02295324206352234,
-0.02540639229118824,
0.0233649592846632,
0.00876614823937416,
-0.01486471202224493,
0.01090193260461092,
0.017077691853046417,
-0.0370202511548996,
-0.0018162738997489214,
0.010850467719137669,
-0.024720195680856705,
-0.02835703268647194,
0.05462116748094559,
0.03183947503566742,
0.05029813572764397,
-0.025543630123138428,
-0.008131417445838451,
0.01627141237258911,
-0.024960365146398544,
0.016108442097902298,
-0.025629404932260513,
-0.014684585854411125,
-0.01730070635676384,
0.02583526447415352,
0.012034155428409576,
0.027790920808911324,
-0.06055676192045212,
0.035407692193984985,
-0.0455290786921978,
-0.0502295158803463,
-0.017386481165885925,
-0.017789620906114578,
-0.0062829782254993916,
0.0074066235683858395,
-0.041480522602796555,
0.048857126384973526,
0.003765498287975788,
-0.05232241377234459,
0.021666625514626503,
-0.029266241937875748,
-0.013449433259665966,
-0.004897721111774445,
-0.02948925457894802,
-0.05650820583105087,
0.01270319614559412,
0.03911314904689789,
-0.010610299184918404,
-0.011399424634873867,
0.0009772926568984985,
0.008869078010320663,
-0.07863801717758179,
0.0016061265487223864,
0.03705456107854843,
0.007569595240056515,
-0.027962470427155495,
-0.03063863329589367,
-0.06179191172122955,
-0.006608921103179455,
-0.013226419687271118,
-0.04817093163728714,
-0.03159930557012558,
0.05575339123606682,
-0.09819459170103073,
0.02415408380329609,
-0.0317193903028965,
-0.028803059831261635,
0.005965612828731537,
0.009555273689329624,
0.01777246594429016,
0.015816807746887207,
-0.019899671897292137,
0.010087074711918831,
-0.03273152932524681,
0.013732489198446274,
0.008058509789407253,
-0.027224810793995857,
0.00722220866009593,
0.00028627223218791187,
-0.016056977212429047,
0.03890728950500488,
-0.038289714604616165,
-0.0001419299078406766,
-0.010824735276401043,
0.06285551935434341,
-0.01856159046292305,
0.008663219399750233,
-0.003877005074173212,
0.0027469266206026077,
0.010241469368338585,
-0.05259689316153526,
-0.03280014917254448,
0.034395553171634674,
0.04944039136171341,
-0.010884777642786503,
0.0668354481458664,
-0.06995764374732971,
-0.0044474052265286446,
0.007475242950022221,
-0.002457438036799431,
0.00677189277485013,
0.02823694795370102,
0.015945469960570335,
0.014950485900044441,
0.019367869943380356,
-0.0012040588771924376,
-0.034807272255420685,
-0.02492605522274971,
-0.011545240879058838,
-0.009392302483320236,
-0.058772653341293335,
0.00882619060575962,
0.009838329628109932,
-0.024668730795383453,
-0.015533752739429474,
0.03219972923398018,
0.037877995520830154,
-0.027224810793995857,
-0.045975103974342346,
-0.002442427445203066,
0.04810231178998947,
0.07431498169898987,
0.03561355173587799,
-0.013372236862778664,
0.038529884070158005,
0.04367635026574135,
0.015053415670990944,
-0.03147922083735466,
-0.04950901120901108,
0.020980430766940117,
0.012308632954955101,
0.029626494273543358,
-0.07678528875112534,
-0.018098408356308937,
0.01933356001973152,
-0.02672731876373291,
0.03599095717072487,
-0.035476312041282654,
-0.02053440362215042,
0.007466665934771299,
-0.02708757109940052,
0.006158605217933655,
-0.07060952484607697,
0.007175032515078783,
-0.04216671735048294,
0.011939803138375282,
-0.012505915015935898,
0.01609986461699009,
-0.028820214793086052,
-0.02665869891643524,
0.0479307621717453,
0.02691602148115635,
-0.04024537280201912,
0.033795133233070374,
0.00542094511911273,
-0.04079432785511017,
-0.006613209843635559,
-0.0016747461631894112,
-0.03791230544447899,
0.04655836895108223,
-0.012154239229857922,
-0.013552363030612469,
-0.010893355123698711,
0.027430668473243713,
0.04010813310742378,
-0.02132352814078331,
0.015756765380501747,
-0.014624543488025665,
-0.00255393423140049,
0.022936087101697922,
-0.02180386520922184,
0.003368791425600648,
0.005802641622722149,
0.01837288774549961,
0.02547501027584076,
-0.05825800448656082,
-0.04278429597616196,
0.04065708816051483,
-0.03839264437556267,
-0.0006400918355211616,
0.03087880089879036,
0.02065448649227619,
-0.07211915403604507,
-0.014753204770386219,
-0.02199256792664528,
0.0733543112874031,
0.018064098432660103,
0.011493775993585587,
-0.026624388992786407,
0.02007122151553631,
-0.07788319885730743,
-0.05486133694648743,
-0.009392302483320236,
-0.0043852184899151325,
-0.061002787202596664,
0.002093968680128455,
-0.022421440109610558,
0.023210566490888596,
0.05146466940641403,
0.028803059831261635,
-0.03345203399658203,
0.02655576914548874,
-0.018647365272045135,
0.0014345776289701462,
-0.020637331530451775,
0.03508174791932106,
0.021906794980168343,
0.000814321159850806,
-0.006690407171845436,
0.02252436988055706,
0.004389507230371237,
0.0029656514525413513,
-0.039970893412828445,
0.04648975282907486,
-0.0053609032183885574,
0.009383725002408028,
-0.03938762843608856,
0.030055366456508636,
0.011579550802707672,
0.021117668598890305,
0.01020715944468975,
-0.03285161405801773,
0.009864061139523983,
-0.03698594123125076,
0.07376602292060852,
0.05314584821462631,
-0.04113742709159851,
0.03760351985692978,
-0.010138539597392082,
-0.01981389708817005,
0.024291323497891426,
-0.030964575707912445,
-0.03223403915762901,
-0.026572924107313156,
-0.019848207011818886,
0.039250388741493225,
-0.024771660566329956,
0.028905989602208138,
0.00410001864656806,
0.004601798951625824,
0.018956152722239494,
-0.011279339902102947,
0.025097602978348732,
-0.012214281596243382,
0.01849297061562538,
0.014778937213122845,
-0.04858264699578285,
-0.010833312757313251,
0.02089465595781803,
0.0036475583910942078,
0.02355366386473179,
0.002581810811534524,
0.01664024218916893,
-0.036608535796403885,
-0.029506409540772438,
-0.017944013699889183,
0.006750449072569609,
-0.03743197023868561,
-0.005506719462573528,
0.003398812608793378,
-0.03633405640721321,
0.028134018182754517,
-0.013929770328104496,
0.014212826266884804,
-0.022610144689679146,
0.008097107522189617,
0.01814987324178219,
-0.00882619060575962,
0.026881711557507515,
-0.02756790816783905,
-0.02000260166823864,
-0.0044474052265286446,
-0.03626543655991554,
0.05441531166434288,
-0.04233826696872711,
0.010455905459821224,
0.0016618799418210983,
-0.012634576298296452,
-0.015988357365131378,
-0.008688951842486858,
-0.022438595071434975,
0.01534504909068346,
0.0527341291308403,
-0.0027469266206026077,
-0.010747537948191166,
-0.008791880682110786,
-0.027482133358716965,
-0.0033816576469689608,
-0.008350142277777195,
-0.015130612999200821,
0.05218517407774925,
0.039799343794584274,
0.031016040593385696,
0.006415928713977337,
-0.042132407426834106,
0.01777246594429016,
0.028254102915525436,
0.014684585854411125,
-0.05352325737476349,
-0.02960933931171894,
0.024411408230662346,
0.008127128705382347,
0.0010314377723261714,
-0.017146311700344086,
0.015327894128859043,
0.011193565092980862,
0.017703846096992493,
0.005408078897744417,
-0.045632004737854004,
0.006270112004131079,
0.008654641918838024,
0.007947002537548542,
0.006077119614928961,
0.01849297061562538,
0.045014429837465286,
0.013535208068788052,
0.016022667288780212,
0.016322877258062363,
-0.02156369574368,
0.0031822321470826864,
-0.00735944788902998,
0.03866712003946304,
0.03571648150682449,
-0.018784604966640472,
0.0384269542992115,
-0.001234079827554524,
-0.03453279286623001,
-0.02223273739218712,
0.010524524375796318,
0.0035896606277674437,
0.011845451779663563,
-0.01639149710536003,
0.0033602139446884394,
0.0059441691264510155,
0.019779587164521217,
0.026212671771645546,
0.08831337094306946,
0.026023967191576958,
0.008667508140206337,
-0.010927665047347546,
-0.011279339902102947,
-0.0006465248879976571,
-0.007316560484468937,
-0.02005406655371189,
-0.009632471017539501,
0.019676659256219864,
-0.008972006849944592,
0.053797733038663864,
0.0670413076877594,
-0.001741221291013062,
-0.0016393641708418727,
0.0008014549966901541,
0.050126586109399796,
0.007886960171163082,
0.01983105204999447,
-0.00032353049027733505,
-0.0037526320666074753,
-0.014950485900044441,
0.005476698745042086,
0.01006134320050478,
-0.03123905323445797,
-0.0061028520576655865,
0.03213110938668251,
-0.012274323962628841,
0.023587973788380623,
0.07122710347175598,
-0.027293428778648376,
-0.03616250678896904,
0.0551358163356781,
-0.014581656083464622,
-0.011305072344839573,
-0.05585632100701332,
0.03698594123125076,
0.02053440362215042,
-0.003274439601227641,
0.041103117167949677,
0.04175500199198723,
-0.012986251153051853,
-0.03190809488296509,
0.003257284639403224,
-0.013560940511524677,
-0.037809375673532486,
0.005648247431963682,
-0.03513321280479431,
-0.017009073868393898,
0.005103579722344875,
0.01513919048011303,
-0.02492605522274971,
0.005828373599797487,
-0.07513841986656189,
-0.024668730795383453,
-0.007226497400552034,
0.056439585983753204,
0.01222285907715559,
0.01682036928832531,
-0.03698594123125076,
-0.019007617607712746,
0.053729113191366196,
-0.006510280538350344,
-0.01194838061928749,
0.017944013699889183,
-0.01772100105881691,
0.01694045402109623,
0.0430244617164135,
-0.007835496217012405,
-0.0074066235683858395,
-0.014247136190533638,
-0.028374187648296356,
0.00447313766926527,
-0.03667715564370155,
0.007633925881236792,
-0.000035214430681662634,
0.008350142277777195,
0.026572924107313156,
0.014212826266884804,
0.016108442097902298,
-0.02468588575720787,
-0.014495882205665112,
0.023587973788380623,
-0.003834117902442813,
-0.0004763162287417799,
0.016837524250149727,
-0.07143296301364899,
-0.002538923639804125,
0.0029656514525413513,
-0.0027040394488722086,
-0.03214826434850693,
0.030295535922050476,
-0.0011450889287516475,
0.04350480064749718,
-0.06035090237855911,
0.010250046849250793,
-0.004016388673335314,
-0.022455750033259392,
0.014633120968937874,
0.001305915997363627,
0.026572924107313156,
0.033057473599910736,
-0.024102620780467987,
0.0275164432823658,
-0.03818678483366966,
0.02804824523627758,
0.013192109763622284,
-0.037397660315036774,
0.0012405129382386804,
-0.013946925289928913,
0.05815507471561432,
-0.0016886844532564282,
-0.031187590211629868,
0.06765888631343842,
0.02072310633957386,
0.023862451314926147,
-0.014127051457762718,
-0.002012483077123761,
0.022421440109610558,
0.03698594123125076,
-0.03791230544447899,
0.008380163460969925,
-0.026504304260015488,
0.03506459295749664,
0.006038520950824022,
0.017377903684973717,
0.02744782343506813,
0.04889143630862236,
-0.028631510213017464,
-0.03266290947794914,
-0.014513036236166954,
0.015285006724298,
-0.008401607163250446,
0.029043227434158325,
-0.007170743774622679,
0.024239858612418175,
-0.03945624455809593,
-0.006621787324547768,
0.005326593294739723,
0.001954585313796997,
-0.03183947503566742,
-0.046764228492975235,
0.0035188966430723667,
-0.0466269887983799,
0.013200687244534492,
0.02811686508357525,
0.033554963767528534,
-0.004910587333142757,
0.016777481883764267,
-0.0018034077947959304,
0.017206354066729546,
0.00045594479888677597,
-0.004507447127252817,
-0.02449718303978443,
-0.017257818952202797,
0.01849297061562538,
-0.00345456600189209,
0.03285161405801773,
0.029472099617123604,
-0.02120344340801239,
-0.01820133812725544,
0.017060536891222,
-0.04254412651062012,
-0.008688951842486858,
0.031976714730262756,
-0.03333194926381111,
0.028991764411330223,
-0.03075871802866459,
-0.017429368570446968,
-0.021838175132870674,
-0.00364970276132226,
0.03568217158317566,
0.0031457778532058,
0.019264942035079002,
-0.009975568391382694,
-0.015705302357673645,
-0.01180256437510252,
-0.022918932139873505,
-0.026058277115225792,
0.039421938359737396,
-0.04631820321083069,
-0.03223403915762901,
-0.027653682976961136,
0.018938997760415077,
-0.0372261106967926,
-0.0031543553341180086,
-0.007681102026253939,
-0.03986796364188194,
-0.005142178386449814,
0.020637331530451775,
-0.009443766437470913,
0.023931071162223816,
0.0013520197244361043,
0.02331349439918995,
0.07040366530418396,
-0.02199256792664528,
0.01627998985350132,
-0.005455255042761564,
-0.0008797241607680917,
-0.011991268023848534,
-0.01825280301272869,
0.023021861910820007,
0.018698830157518387,
-0.022267047315835953,
-0.02343357913196087,
-0.008538845926523209,
-0.03801523521542549,
0.013706756755709648,
0.008114262484014034,
-0.019179167225956917,
-0.00946092139929533,
-0.009966990910470486,
0.029180467128753662,
-0.0019578018691390753,
0.03280014917254448,
0.07383464276790619,
-0.023776676505804062,
-0.015602372586727142,
0.02823694795370102,
0.06041952222585678,
0.022798849269747734,
0.0028176906052976847,
-0.004468848928809166,
0.03027838096022606,
0.001362741575576365,
-0.005523874424397945,
0.004704728722572327,
0.014461572282016277,
0.03166792541742325,
0.015619526617228985,
-0.04854833707213402,
-0.0155594851821661,
-0.07561875134706497,
0.009323682636022568,
0.014144206419587135,
-0.03911314904689789,
0.10087075084447861,
-0.008843345567584038,
0.02967795915901661,
-0.0033752245362848043,
-0.02156369574368,
0.03605957701802254,
-0.04264705628156662,
0.010790425352752209,
0.01993398182094097,
-0.016794636845588684,
-0.022747384384274483,
0.05235672369599342,
0.0017916137585416436,
-0.006823357194662094,
-0.012668886221945286,
0.03470434248447418,
0.0010480565251782537,
-0.01615132950246334,
0.012711773626506329,
-0.05520443618297577,
-0.006373041309416294,
0.02216411754488945,
0.006081408355385065,
-0.03726042062044144,
0.007140723057091236,
0.008568867109715939,
-0.017789620906114578,
0.007732566446065903,
-0.011922648176550865,
-0.0018570168176665902,
-0.004312310367822647,
-0.0037933748681098223,
0.027893850579857826,
-0.009752554818987846,
-0.010653186589479446,
0.0222155824303627,
-0.017163466662168503,
0.008551712147891521,
0.015285006724298,
0.02463442087173462,
0.002783380914479494,
0.010558834299445152,
0.03295454382896423,
-0.015808230265975,
-0.04158345237374306,
0.04738180711865425,
0.03105035051703453,
0.01056741178035736,
0.017326438799500465,
-0.0036454140208661556,
0.028991764411330223,
-0.025011830031871796,
-0.0209632758051157,
0.036196816712617874,
-0.0026182651054114103,
0.052116554230451584,
0.039970893412828445,
0.015636682510375977,
0.012677463702857494,
0.006891977041959763,
0.011150678619742393,
0.034927356988191605,
-0.03425831347703934,
0.011939803138375282,
-0.05184207484126091,
-0.007552440278232098,
0.015936892479658127,
0.022730229422450066,
0.012634576298296452,
-0.031153280287981033,
0.020345699042081833,
0.005772620439529419,
-0.03099888563156128,
0.04055415838956833,
0.04480857029557228,
-0.011390847153961658,
0.028494272381067276,
-0.027190500870347023,
-0.017206354066729546,
0.013097758404910564,
-0.0275164432823658,
-0.04906298592686653,
-0.0028112574946135283,
-0.018698830157518387,
-0.008427339605987072,
0.004335898440331221,
0.0825493261218071,
0.04288722574710846,
0.011562395840883255,
-0.005553895607590675,
-0.013295039534568787,
0.02252436988055706,
0.04546045884490013,
-0.039319008588790894,
-0.02312479168176651,
-0.06203208118677139,
0.017875395715236664,
-0.019608039408922195,
-0.06645803898572922,
0.01006134320050478,
0.01700049638748169,
0.03333194926381111,
0.016125597059726715,
-0.013243574649095535,
-0.023450734093785286,
-0.029866663739085197,
-0.05218517407774925,
0.024771660566329956,
-0.016949031502008438,
0.02727627381682396,
-0.03647129610180855,
0.013372236862778664,
-0.018647365272045135,
0.0134837431833148,
-0.009349415078759193,
0.017017651349306107,
0.023467889055609703,
-0.0023845296818763018,
0.009074936620891094,
0.026264136657118797,
-0.024908900260925293,
-0.035476312041282654,
0.006454527378082275,
-0.005511008203029633,
-0.004067853093147278,
0.05544460192322731,
0.007123568095266819,
-0.0020060499664396048,
-0.028923144564032555,
-0.05455254763364792,
0.05592494085431099,
0.015782497823238373,
0.05057261511683464,
0.04223533719778061,
-0.022318512201309204,
-0.013492320664227009,
0.014041277579963207,
-0.01837288774549961,
-0.022558679804205894,
-0.02077457122504711,
0.009186443872749805,
-0.04799938201904297,
-0.03158215060830116,
-0.044293925166130066,
-0.011648169718682766,
-0.015808230265975,
-0.03753490000963211,
0.08838199079036713,
-0.03849557414650917,
0.004072141833603382,
-0.020259924232959747
] |
This paper presents a novel approach to enhance the performance of binary
code comment quality classification models through the application of
Generative Artificial Intelligence (AI). By leveraging the OpenAI API, a
dataset comprising 1239 newly generated code-comment pairs, extracted from
various GitHub repositories and open-source projects, has been labelled as
"Useful" or "Not Useful", and integrated into the existing corpus of 9048 pairs
in the C programming language. Employing a cutting-edge Large Language Model
Architecture, the generated dataset demonstrates notable improvements in model
accuracy. Specifically, when incorporated into the Support Vector Machine (SVM)
model, a 6% increase in precision is observed, rising from 0.79 to 0.85.
Additionally, the Artificial Neural Network (ANN) model exhibits a 1.5%
increase in recall, climbing from 0.731 to 0.746. This paper sheds light on the
potential of Generative AI in augmenting code comment quality classification
models. The results affirm the effectiveness of this methodology, indicating
its applicability in broader contexts within software development and quality
assurance domains. The findings underscore the significance of integrating
generative techniques to advance the accuracy and efficacy of machine learning
models in practical software engineering scenarios. | [
-0.02772359736263752,
0.008244122378528118,
-0.022402038797736168,
0.009698967449367046,
0.06880258768796921,
0.013715884648263454,
-0.03134568780660629,
0.023929841816425323,
-0.019998755306005478,
0.03345714509487152,
0.023569349199533463,
-0.047413356602191925,
0.03033287636935711,
-0.05524119734764099,
-0.041542477905750275,
0.0596701055765152,
-0.006853650789707899,
-0.020393580198287964,
0.005827963352203369,
-0.03955118730664253,
-0.022007213905453682,
0.021766886115074158,
-0.005712090991437435,
0.026109963655471802,
0.04398009553551674,
0.008480158634483814,
0.0009983284398913383,
0.02121756412088871,
-0.03189501166343689,
0.03858987241983414,
0.007802089676260948,
-0.003662862116470933,
0.009741882793605328,
-0.0588461235165596,
0.010342704132199287,
0.03395496681332588,
0.03718223422765732,
0.0651976615190506,
-0.012883318588137627,
-0.005085520446300507,
0.030882198363542557,
-0.009432889521121979,
0.01922627165913582,
0.022247541695833206,
0.012076501734554768,
-0.0023367644753307104,
0.013638636097311974,
-0.053009577095508575,
-0.01938076876103878,
-0.05853712931275368,
0.011158104054629803,
0.02348351664841175,
0.03220400586724281,
-0.014290955848991871,
-0.02108023315668106,
0.0593954436480999,
0.010600198991596699,
-0.0071111456491053104,
0.06481999903917313,
-0.0008529511978849769,
-0.0077334241941571236,
0.07903371006250381,
-0.014162208884954453,
-0.016599824652075768,
-0.031362853944301605,
-0.03477895259857178,
-0.03373180702328682,
-0.013638636097311974,
0.049610648304224014,
0.0011104459408670664,
-0.042538125067949295,
-0.01424804050475359,
-0.024839656427502632,
0.03359447419643402,
0.06320636719465256,
0.043808434158563614,
0.051018282771110535,
0.042263463139534,
-0.0530439093708992,
0.0527692474424839,
0.025903968140482903,
0.01715772971510887,
-0.034469958394765854,
0.01600758731365204,
0.022573702037334442,
0.041130486875772476,
0.035190943628549576,
-0.059086453169584274,
0.005991043522953987,
-0.048271674662828445,
-0.03491628170013428,
0.038212213665246964,
0.01634233072400093,
-0.009801965206861496,
-0.0033238274045288563,
-0.0012735258787870407,
-0.025337478145956993,
-0.029732055962085724,
-0.03752556070685387,
0.025234481319785118,
0.0042765578255057335,
-0.013355392031371593,
0.03404080122709274,
-0.010068043135106564,
0.005368764512240887,
-0.006184164434671402,
-0.0015750093152746558,
-0.026745116338133812,
0.02998954989016056,
0.10025127232074738,
-0.0407528281211853,
-0.026144295930862427,
-0.018436620011925697,
-0.03089936450123787,
0.017174897715449333,
0.004074853844940662,
-0.006789276842027903,
-0.03428112715482712,
0.01938076876103878,
-0.032358501106500626,
0.03594626113772392,
0.06018509715795517,
0.00022007750521879643,
-0.027775095775723457,
-0.036735910922288895,
0.05173926800489426,
-0.010239706374704838,
-0.038727205246686935,
0.06461400538682938,
0.041267819702625275,
-0.04343077540397644,
0.038864534348249435,
0.014024877920746803,
0.055069535970687866,
-0.004677820485085249,
-0.0002961189020425081,
-0.0028388791251927614,
0.0010112031595781446,
0.009776216000318527,
-0.004403159487992525,
0.007862172089517117,
-0.0957193672657013,
0.006420201156288385,
0.004407451022416353,
-0.020668242126703262,
-0.011681676842272282,
-0.020685408264398575,
0.1167309358716011,
-0.009982211515307426,
-0.017784301191568375,
-0.0269339457154274,
0.016265083104372025,
-0.009561636485159397,
-0.021457891911268234,
0.05383355915546417,
0.009853463619947433,
-0.0013486285461112857,
-0.010505784302949905,
-0.003965418320149183,
0.0071712275967001915,
0.037731558084487915,
0.0071712275967001915,
-0.018505286425352097,
0.03738823160529137,
0.0056648836471140385,
0.030075382441282272,
-0.0035105112474411726,
0.03834954649209976,
-0.09022614359855652,
0.0535932295024395,
0.014831694774329662,
0.011587262153625488,
0.00872907042503357,
0.017131980508565903,
-0.025715138763189316,
0.016428161412477493,
0.016531160101294518,
-0.008883567526936531,
-0.011836173012852669,
-0.0028581912629306316,
-0.07148052752017975,
0.010883443057537079,
0.030521705746650696,
-0.01318372879177332,
0.07841572165489197,
0.043877098709344864,
0.07608110457658768,
0.012050752528011799,
0.048615001142024994,
-0.027706429362297058,
-0.024341832846403122,
-0.053558897227048874,
0.030590370297431946,
-0.015140688978135586,
0.005973877385258675,
0.02919990010559559,
-0.053352903574705124,
0.030023882165551186,
-0.06258837878704071,
-0.02291702851653099,
-0.0014559179544448853,
-0.040409501641988754,
-0.023706678301095963,
-0.011132354848086834,
0.02461649291217327,
0.02885657362639904,
-0.02142355963587761,
0.04950764775276184,
-0.01453128457069397,
-0.04363676905632019,
-0.019500931724905968,
-0.025285979732871056,
-0.05376489460468292,
-0.002386117586866021,
0.026436123996973038,
0.001296056667342782,
0.03663291409611702,
0.012368328869342804,
-0.006274287588894367,
-0.019054608419537544,
-0.011999253183603287,
0.008171165362000465,
0.0707252100110054,
-0.04428908973932266,
-0.036392584443092346,
-0.0642363429069519,
0.018264958634972572,
-0.039070531725883484,
0.004870941396802664,
0.06430500745773315,
0.02085707150399685,
0.029526060447096825,
-0.0033066612668335438,
-0.002381826052442193,
0.06303470581769943,
-0.061764396727085114,
0.043018780648708344,
-0.009535887278616428,
-0.024702325463294983,
0.030212711542844772,
-0.016608407720923424,
0.004057687241584063,
-0.05022863298654556,
-0.043018780648708344,
0.06701728701591492,
0.010454284958541393,
0.037731558084487915,
0.015063440427184105,
0.017595471814274788,
-0.006501741241663694,
0.01768130250275135,
0.002069613663479686,
0.019397934898734093,
0.03903619572520256,
-0.049473315477371216,
0.013432640582323074,
0.07292249798774719,
-0.013878964819014072,
0.0016801529563963413,
-0.055206865072250366,
0.029869385063648224,
0.006862233858555555,
0.02574947103857994,
0.05836546793580055,
-0.09242343157529831,
0.0067291948944330215,
0.05465754121541977,
-0.022436371073126793,
0.01414504274725914,
-0.009681801311671734,
-0.02638462372124195,
0.00014148798072710633,
-0.00677211070433259,
-0.00034708139719441533,
0.011870506219565868,
-0.045662395656108856,
0.026436123996973038,
0.006609030999243259,
0.023878341540694237,
0.01354422140866518,
0.0471043661236763,
0.014591366983950138,
0.09482671320438385,
0.006600447464734316,
-0.007707674987614155,
-0.10814777761697769,
-0.07244184613227844,
-0.0027573390398174524,
-0.06773827224969864,
-0.02616146206855774,
-0.009209726937115192,
0.03776589035987854,
-0.05572185292840004,
0.02228187583386898,
-0.00017810049757827073,
-0.02545764297246933,
0.010110958479344845,
0.029388729482889175,
-0.030212711542844772,
0.005776464473456144,
-0.01847095414996147,
-0.048820994794368744,
-0.0089093167334795,
0.036392584443092346,
-0.013346808962523937,
0.01209366787225008,
0.023638013750314713,
0.05005697160959244,
-0.0234148520976305,
0.008475867100059986,
0.061901725828647614,
0.015793008729815483,
-0.0327361598610878,
-0.01489177718758583,
-0.025783803313970566,
0.05393655598163605,
0.028890905901789665,
-0.022453539073467255,
-0.015758676454424858,
-0.011724592186510563,
0.024856822565197945,
-0.03543127328157425,
-0.08432093262672424,
0.04270979017019272,
-0.004785109777003527,
0.03268466144800186,
0.01853961870074272,
0.08644955605268478,
0.0134669728577137,
-0.026058463379740715,
-0.019998755306005478,
-0.020702574402093887,
0.014196541160345078,
-0.03110536001622677,
0.012205248698592186,
-0.016376662999391556,
-0.060494087636470795,
0.01375021692365408,
-0.027466101571917534,
-0.012720238417387009,
0.008883567526936531,
-0.02346635051071644,
-0.01152717974036932,
-0.031998008489608765,
0.012059335596859455,
-0.07608110457658768,
-0.004510448779910803,
0.015089189633727074,
-0.000006801984000048833,
-0.04428908973932266,
0.0009698967332951725,
0.0027809427119791508,
0.011269684880971909,
-0.03380047157406807,
-0.01308073103427887,
-0.005394514184445143,
-0.019191939383745193,
-0.010205373167991638,
-0.0069480654783546925,
0.050537627190351486,
-0.005248600617051125,
-0.02976638823747635,
0.008029542863368988,
-0.0035019279457628727,
-0.0016136334743350744,
-0.0031242691911756992,
-0.023603681474924088,
-0.043671101331710815,
0.0008288110839203,
-0.06173006445169449,
0.04525040462613106,
0.02992088533937931,
0.017337976023554802,
-0.010600198991596699,
-0.03728523477911949,
-0.013312476687133312,
-0.010394202545285225,
0.035122279077768326,
0.029148399829864502,
0.049404650926589966,
0.027981091290712357,
0.05184226855635643,
-0.021887049078941345,
0.008699029684066772,
-0.030779199674725533,
0.02525164745748043,
0.01700323447585106,
-0.013793133199214935,
-0.007772048469632864,
0.04082149267196655,
0.03215250372886658,
0.015020524151623249,
-0.02792959287762642,
-0.08802885562181473,
0.041542477905750275,
0.016290832310914993,
0.033130984753370285,
0.014986191876232624,
0.03704490512609482,
-0.015578429214656353,
-0.030298544093966484,
0.012316830456256866,
-0.005287224426865578,
0.013355392031371593,
-0.030813533812761307,
0.027757929638028145,
-0.02794675901532173,
0.03543127328157425,
-0.028307251632213593,
-0.019758427515625954,
0.006209914106875658,
-0.011827589944005013,
-0.0265219546854496,
-0.0585714615881443,
0.012994899414479733,
0.041988804936409,
-0.008832068182528019,
-0.026830948889255524,
-0.002313160803169012,
0.015947505831718445,
0.012102250941097736,
-0.010660280473530293,
0.037937551736831665,
0.019260603934526443,
0.021612389013171196,
0.01132118422538042,
-0.027637764811515808,
0.03728523477911949,
-0.005171352066099644,
-0.0325988307595253,
-0.035602934658527374,
0.023294687271118164,
0.03374897316098213,
-0.019346434623003006,
-0.016307998448610306,
-0.03862420469522476,
-0.01686590351164341,
-0.026212960481643677,
-0.03393780067563057,
-0.015672843903303146,
0.006716320291161537,
-0.00022825833002571017,
0.00036827108124271035,
0.0120164193212986,
-0.06403034925460815,
-0.05805647373199463,
-0.03656424954533577,
-0.03472745418548584,
-0.042744122445583344,
-0.0267279502004385,
-0.07772906869649887,
0.08212364464998245,
-0.07230450958013535,
-0.031071027740836143,
0.0472416952252388,
-0.0004398867895361036,
0.0004798521113116294,
0.012634406797587872,
0.05393655598163605,
-0.05798780918121338,
-0.0324614979326725,
0.04991963878273964,
-0.03471028804779053,
-0.019260603934526443,
0.030865032225847244,
0.01602475345134735,
0.006287162192165852,
-0.06427067518234253,
0.018093295395374298,
0.06389302015304565,
-0.024994153529405594,
0.006548948585987091,
0.0352252759039402,
-0.05397089198231697,
0.04391143098473549,
-0.0008175456896424294,
0.033491477370262146,
-0.032221172004938126,
0.021028734743595123,
-0.033542975783348083,
0.02248787134885788,
-0.0022552243899554014,
-0.025303145870566368,
-0.03395496681332588,
0.01435103826224804,
0.03529394045472145,
0.05864012613892555,
-0.05723249167203903,
0.024564994499087334,
0.010806194506585598,
-0.05012563616037369,
-0.012754570692777634,
-0.010754695162177086,
-0.04943898320198059,
0.03769722580909729,
0.020616741850972176,
0.010385619476437569,
0.025062818080186844,
0.0817803218960762,
-0.012067918665707111,
-0.034675952047109604,
-0.06729195266962051,
-0.043465107679367065,
0.056683167815208435,
-0.015389599837362766,
0.030590370297431946,
-0.0207197405397892,
0.005986751988530159,
-0.0415768101811409,
0.021028734743595123,
-0.018488120287656784,
0.020324915647506714,
-0.01972409524023533,
-0.03048737347126007,
-0.0584341324865818,
0.04799701273441315,
-0.005300099495798349,
-0.0014816673938184977,
0.055138200521469116,
0.03239283338189125,
-0.00532155716791749,
-0.027637764811515808,
0.013664385303854942,
0.031500186771154404,
-0.02779226191341877,
0.02820425294339657,
0.059361111372709274,
-0.005016854964196682,
0.04236646369099617,
-0.050606291741132736,
-0.05252892151474953,
0.02276253141462803,
-0.03944819048047066,
-0.05002263933420181,
-0.04964498057961464,
-0.021440725773572922,
0.05311257392168045,
0.0017563285073265433,
-0.0294230617582798,
-0.0010122760431841016,
-0.038280878216028214,
0.01811046153306961,
-0.03951685503125191,
0.026693617925047874,
-0.01527801901102066,
-0.00800379365682602,
0.029903719201683998,
-0.012814653106033802,
-0.013312476687133312,
0.014419703744351864,
-0.025989798828959465,
0.0037379649002104998,
0.08796019107103348,
0.0009886723710224032,
-0.050674956291913986,
-0.020736906677484512,
-0.0584341324865818,
-0.024221668019890785,
-0.023500682786107063,
-0.03725090250372887,
-0.04308744892477989,
0.03570593148469925,
-0.03386913612484932,
-0.01704614982008934,
0.018573950976133347,
-0.03649558126926422,
0.0008432951872237027,
0.043602436780929565,
-0.01593892276287079,
0.0022058712784200907,
-0.0038388168904930353,
-0.03131135553121567,
-0.011295434087514877,
0.03294215723872185,
-0.008857818320393562,
0.012162333354353905,
0.03146585449576378,
-0.03790321946144104,
-0.0003135534352622926,
-0.01750105619430542,
-0.028393082320690155,
-0.0030727700795978308,
-0.021869882941246033,
0.03656424954533577,
0.047070033848285675,
0.02169821970164776,
-0.010557282716035843,
-0.02956039272248745,
-0.002366805449128151,
-0.012831819243729115,
0.009038063697516918,
-0.011879089288413525,
-0.02928573079407215,
-0.04689836874604225,
-0.04463241621851921,
0.0056992159225046635,
0.028307251632213593,
-0.0007644374272786081,
0.025079984217882156,
-0.03738823160529137,
-0.016282249242067337,
-0.005536136217415333,
0.06348102539777756,
0.040993157774209976,
-0.04888966307044029,
-0.01756972260773182,
0.009801965206861496,
-0.0013486285461112857,
0.026281626895070076,
-0.018625451251864433,
-0.047276027500629425,
-0.02447916381061077,
0.028307251632213593,
-0.008209789171814919,
-0.03216967359185219,
-0.016677074134349823,
-0.014359621331095695,
-0.03162034973502159,
-0.02645329013466835,
0.017097648233175278,
0.035259608179330826,
0.010042293928563595,
0.02688244730234146,
-0.020067419856786728,
0.020256249234080315,
0.05479487404227257,
-0.035637266933918,
-0.034263961017131805,
-0.026350291445851326,
0.019483765587210655,
-0.0711372047662735,
0.004205747041851282,
-0.031208358705043793,
-0.01924343779683113,
-0.03759422525763512,
0.00009495117410551757,
0.008789152838289738,
0.017217813059687614,
-0.0018958047730848193,
0.021372061222791672,
0.0048022763803601265,
0.022796863690018654,
-0.04418609291315079,
0.10931508243083954,
-0.002798109082505107,
0.012333996593952179,
-0.009286975488066673,
-0.015346684493124485,
0.03841821104288101,
-0.005244308616966009,
0.042812786996364594,
0.002366805449128151,
-0.022676700726151466,
0.03611792251467705,
-0.013698718510568142,
0.016719989478588104,
0.026830948889255524,
0.01704614982008934,
0.009141062386333942,
0.016943151131272316,
0.04456375166773796,
0.03297648951411247,
-0.01704614982008934,
-0.021526556462049484,
0.03294215723872185,
-0.00521855941042304,
0.01684015430510044,
0.015793008729815483,
0.007098270580172539,
0.02708844281733036,
0.0007215216173790395,
-0.05012563616037369,
-0.03266749531030655,
-0.005772172939032316,
0.024908320978283882,
-0.021440725773572922,
-0.00007691312930546701,
0.054005224257707596,
-0.008578864857554436,
0.017578305676579475,
-0.011218185536563396,
-0.018196292221546173,
0.005742131732404232,
-0.0013121501542627811,
-0.011012190021574497,
0.01078044530004263,
0.003175768069922924,
0.010686030611395836,
-0.006171289831399918,
-0.013278143480420113,
-0.03649558126926422,
-0.0209257360547781,
0.02738027088344097,
-0.002328181406483054,
0.06131807342171669,
0.032993655651807785,
-0.033834803849458694,
0.012025002390146255,
0.006398743484169245,
-0.002072832314297557,
-0.004626321606338024,
-0.02391267567873001,
-0.040134839713573456,
0.012059335596859455,
0.016144918277859688,
0.013698718510568142,
0.012394078075885773,
0.022041546180844307,
-0.0052228509448468685,
-0.003677882719784975,
0.01294340007007122,
0.049816641956567764,
-0.009664634242653847,
0.03196367621421814,
-0.013638636097311974,
0.011870506219565868,
0.03184351325035095,
0.03203234076499939,
-0.012248164974153042,
0.024736657738685608,
0.005347306840121746,
-0.0008229101658798754,
-0.048203010112047195,
-0.06159273535013199,
-0.0033474310766905546,
0.010522950440645218,
0.01860828325152397,
-0.007707674987614155,
-0.04785968363285065,
-0.0021178938914090395,
-0.020496578887104988,
0.0010584105039015412,
-0.041988804936409,
0.010265455581247807,
0.0009827715111896396,
-0.017818633466959,
0.029594724997878075,
0.02475382387638092,
-0.026693617925047874,
0.014265206642448902,
-0.023226022720336914,
-0.022899862378835678,
0.01917477324604988,
-0.005433138459920883,
-0.0021672470029443502,
-0.004222913179546595,
0.0011758925393223763,
-0.022110212594270706,
-0.024770990014076233,
0.05163627117872238,
0.06598731130361557,
-0.02396417409181595,
0.06845925748348236,
-0.042469460517168045,
-0.030676202848553658,
-0.02820425294339657,
0.03663291409611702,
0.015029107220470905,
0.011535762809216976,
-0.022934194654226303,
0.01212800107896328,
0.03725090250372887,
-0.00795658677816391,
0.015423933044075966,
0.021749719977378845,
-0.0068665253929793835,
-0.006995272822678089,
-0.012531409040093422,
0.013484138995409012,
0.016239332035183907,
0.0007821401813998818,
0.01229966338723898,
0.05156760662794113,
-0.021766886115074158,
0.04329344257712364,
-0.01625649817287922,
0.011853339150547981,
-0.018900111317634583,
-0.02665928564965725,
-0.012007836252450943,
-0.006317203398793936,
-0.026401789858937263,
-0.019930090755224228,
0.03858987241983414,
-0.012806070037186146,
0.009784799069166183,
0.007480221334844828,
-0.04456375166773796,
-0.00673348642885685,
0.03131135553121567,
-0.05173926800489426,
-0.024873988702893257,
-0.00401262566447258,
-0.011372682638466358,
0.04689836874604225,
-0.027981091290712357,
0.03989451378583908,
0.0017627658089622855,
0.017337976023554802,
-0.04233212769031525,
0.04439208656549454,
0.0011844756081700325,
-0.030315710231661797,
-0.016805820167064667,
-0.01593892276287079,
-0.04439208656549454,
-0.05489787086844444,
0.001038025482557714,
-0.0015245832037180662,
0.052082594484090805,
0.0236208476126194,
0.02271103300154209,
0.013063564896583557,
0.024976985529065132,
0.04037516936659813,
-0.01980992592871189,
-0.028616245836019516,
0.02044508047401905,
0.011432765051722527,
-0.017123397439718246,
-0.024290334433317184,
-0.011115187779068947,
0.020170418545603752,
-0.036392584443092346,
-0.048615001142024994,
0.01902027614414692,
-0.00042647559894248843,
0.008608906529843807,
0.05225425958633423,
0.02586963400244713,
0.007544594816863537,
-0.0013979816576465964,
0.0006732413894496858,
-0.009544470347464085,
-0.031998008489608765,
0.021234730258584023,
0.02447916381061077,
-0.006132665555924177,
0.02001592144370079,
0.0008309568511322141,
-0.03714790195226669,
0.019998755306005478,
-0.013063564896583557,
-0.028753574937582016,
-0.02199004776775837,
-0.029234232380986214,
-0.005630550906062126,
-0.0011061542900279164,
-0.0048623583279550076,
-0.008475867100059986,
0.0330108217895031,
0.007154061459004879,
-0.014574199914932251,
0.017784301191568375,
-0.012917650863528252,
0.03556860238313675,
-0.03510511294007301,
0.016986066475510597,
0.02284836396574974,
-0.017578305676579475,
0.007205560337752104,
-0.043465107679367065,
0.008351411670446396,
-0.007488804403692484,
0.015818757936358452,
-0.032839156687259674,
-0.019123272970318794,
-0.04308744892477989,
0.011870506219565868,
-0.03160318359732628,
-0.04178280755877495,
0.02398134022951126,
-0.013698718510568142,
0.03055603802204132,
0.0035555728245526552,
-0.009106729179620743,
-0.000503187591675669,
0.004682112019509077,
-0.03472745418548584,
-0.0007472711149603128,
0.005094103515148163,
0.0016179250087589025,
0.0354999378323555,
-0.022745365276932716,
0.019827092066407204,
-0.019329268485307693,
-0.01421370729804039,
-0.01527801901102066,
-0.0051971012726426125,
-0.042469460517168045,
-0.022110212594270706,
0.031637515872716904,
-0.02586963400244713,
-0.0046391962096095085,
0.05812513828277588,
-0.004038375336676836,
0.028187086805701256,
0.014668614603579044,
0.012325413525104523,
-0.029646223410964012,
0.01074611209332943,
-0.03501927852630615,
-0.013406891375780106,
-0.017732802778482437,
-0.005051187705248594,
-0.0011909130262210965,
0.04391143098473549,
-0.02482249028980732,
0.011784674599766731,
0.0001625435397727415,
-0.023432018235325813,
-0.0034246796276420355,
-0.0041435188613832,
-0.023500682786107063,
0.002877503400668502,
-0.005270058289170265,
-0.014900360256433487,
0.019912924617528915,
0.04731035977602005,
0.0008508054306730628,
0.04902699217200279,
0.04998830705881119,
0.022178877145051956,
-0.014411120675504208,
-0.0593954436480999,
0.011398431845009327,
-0.01915760524570942,
-0.024925487115979195,
-0.009681801311671734,
-0.024994153529405594,
-0.013715884648263454,
0.030727701261639595,
0.008471575565636158,
-0.00940714031457901,
0.03388630226254463,
-0.025011319667100906,
-0.034899115562438965,
0.03083069995045662,
-0.026968277990818024,
-0.003819504752755165,
-0.0584341324865818,
0.03251299634575844,
0.0008229101658798754,
-0.005428846925497055,
0.03258166462182999,
-0.02001592144370079,
0.004845192190259695,
0.009175394661724567,
-0.007896504364907742,
0.0530439093708992,
-0.008051001466810703,
-0.017921632155776024,
0.016943151131272316,
0.006742069497704506,
-0.05026296526193619,
0.004072708077728748,
0.004203601274639368,
0.0003983121132478118,
0.01279748696833849,
0.019964423030614853,
0.026436123996973038,
0.0006775329238735139,
-0.04428908973932266,
-0.008497325703501701,
-0.0330108217895031,
-0.03622092306613922,
0.010471451096236706,
-0.022539369761943817,
-0.036735910922288895,
-0.021045900881290436,
0.023037193343043327,
-0.04095882549881935,
-0.0030727700795978308,
0.04686403647065163,
0.01915760524570942,
0.003735818900167942,
0.01064311433583498,
-0.012994899414479733,
-0.003403221722692251,
0.004832317121326923,
0.04202313721179962,
-0.028873739764094353,
-0.004845192190259695,
0.04672670736908913,
0.018230624496936798,
-0.05026296526193619,
-0.00551897007972002,
-0.003021271200850606,
-0.07065654546022415,
0.021097399294376373,
-0.013475555926561356,
0.020462246611714363,
0.011261101812124252,
0.011192436330020428,
-0.024341832846403122,
0.02992088533937931,
0.012025002390146255,
-0.01290048472583294,
-0.01092635840177536,
0.019569598138332367,
-0.030367208644747734,
-0.029800720512866974,
0.010711779817938805,
-0.014969025738537312,
-0.03098519705235958,
0.03649558126926422,
0.01738947629928589,
0.014694364741444588,
-0.08143699169158936,
0.053490232676267624,
0.011587262153625488,
-0.017664136365056038,
0.03714790195226669,
-0.016067668795585632,
0.018402287736535072,
0.02156089060008526,
-0.03735389932990074,
-0.005613384768366814,
0.022007213905453682,
-0.0238955095410347,
0.026710784062743187,
-0.04717303067445755,
-0.0037250900641083717,
-0.012720238417387009
] |
Nowadays, transportation networks face the challenge of sub-optimal control
policies that can have adverse effects on human health, the environment, and
contribute to traffic congestion. Increased levels of air pollution and
extended commute times caused by traffic bottlenecks make intersection traffic
signal controllers a crucial component of modern transportation infrastructure.
Despite several adaptive traffic signal controllers in literature, limited
research has been conducted on their comparative performance. Furthermore,
despite carbon dioxide (CO2) emissions' significance as a global issue, the
literature has paid limited attention to this area. In this report, we propose
EcoLight, a reward shaping scheme for reinforcement learning algorithms that
not only reduces CO2 emissions but also achieves competitive results in metrics
such as travel time. We compare the performance of tabular Q-Learning, DQN,
SARSA, and A2C algorithms using metrics such as travel time, CO2 emissions,
waiting time, and stopped time. Our evaluation considers multiple scenarios
that encompass a range of road users (trucks, buses, cars) with varying
pollution levels. | [
-0.0035617146641016006,
-0.029282961040735245,
-0.028149688616394997,
-0.04326673969626427,
-0.0014469465240836143,
0.0038070883601903915,
-0.01568368636071682,
0.009668233804404736,
-0.09511397033929825,
0.012041023932397366,
-0.027664000168442726,
-0.035171933472156525,
-0.008494487032294273,
-0.017687151208519936,
-0.03737776726484299,
0.03628496825695038,
-0.0021324753761291504,
0.00005818141653435305,
0.05808023363351822,
-0.012000549584627151,
-0.010766091756522655,
-0.0071993181481957436,
-0.01598724164068699,
0.022382138296961784,
-0.007022244390100241,
0.0243856031447649,
0.003242981620132923,
0.027036651968955994,
-0.0975424125790596,
0.0622895322740078,
0.019872749224305153,
0.03857174888253212,
-0.018739474937319756,
-0.020307844504714012,
-0.010685143992304802,
-0.0416477769613266,
0.06548698246479034,
0.0017100278055295348,
-0.033897001296281815,
0.06127768009901047,
-0.04067640006542206,
0.014570650644600391,
-0.05710885673761368,
-0.0690082237124443,
0.011869009584188461,
-0.03001149371266365,
-0.029809122905135155,
-0.022989248856902122,
0.008990294300019741,
-0.004743050318211317,
0.006577029824256897,
-0.05306145176291466,
0.0217547919601202,
-0.027583051472902298,
-0.01832461729645729,
0.027664000168442726,
-0.012314223684370518,
0.04122279956936836,
0.04553328454494476,
0.037681322544813156,
0.026915229856967926,
-0.018648410215973854,
-0.06054914742708206,
0.03604212403297424,
0.02746162936091423,
-0.041323985904455185,
0.030719788745045662,
0.0036300146020948887,
0.01041194424033165,
-0.027441391721367836,
-0.07333894073963165,
0.025943852961063385,
-0.09875663369894028,
0.002561247209087014,
0.0403323695063591,
-0.015764635056257248,
0.013923066668212414,
0.018597817048430443,
-0.00714872544631362,
0.04516901820898056,
0.03685160353779793,
0.048528362065553665,
-0.039259810000658035,
-0.003007726278156042,
0.02228095382452011,
-0.015805108472704887,
0.01590629294514656,
-0.09697577357292175,
0.030375760048627853,
-0.01478313934057951,
-0.04124303534626961,
-0.01643245667219162,
-0.05690648779273033,
0.02679380774497986,
-0.040534742176532745,
0.013649866916239262,
0.048002198338508606,
0.0108773959800601,
-0.0008480573887936771,
0.037539660930633545,
-0.015845581889152527,
-0.0362040214240551,
-0.00025612470926716924,
0.04658560827374458,
0.06322043389081955,
-0.024243943393230438,
-0.06662025302648544,
0.03658852353692055,
-0.03786345571279526,
0.12886931002140045,
0.022645220160484314,
0.027664000168442726,
-0.022341664880514145,
0.012668371200561523,
-0.0832955539226532,
-0.011393439024686813,
-0.008332590572535992,
-0.036669470369815826,
0.07236756384372711,
0.06277521699666977,
0.001649316749535501,
0.032014958560466766,
0.0174443069845438,
-0.03800511360168457,
0.0047784652560949326,
-0.00006818134716013446,
-0.002083147643133998,
-0.031124528497457504,
0.07147713750600815,
0.02205834724009037,
-0.008317412808537483,
0.030193626880645752,
-0.012121971696615219,
-0.02266545593738556,
0.021916687488555908,
-0.005858615972101688,
0.018152602016925812,
-0.04019071161746979,
-0.010260166600346565,
-0.04041332006454468,
-0.023454699665308,
-0.04731414094567299,
-0.003533888841047883,
0.07103192061185837,
-0.02986983396112919,
0.011059528216719627,
-0.021815503016114235,
0.07402700185775757,
-0.02671285904943943,
-0.020095355808734894,
-0.029404383152723312,
0.015835464000701904,
0.006045808084309101,
0.0727723091840744,
0.002181803109124303,
0.011848771944642067,
-0.055692266672849655,
-0.017505018040537834,
-0.003685666248202324,
-0.057311225682497025,
0.008276939392089844,
-0.025073662400245667,
-0.0018200664781033993,
0.044521432369947433,
0.04723319411277771,
-0.00545893469825387,
0.012880859896540642,
-0.003791910596191883,
-0.08758579939603806,
0.05018779635429382,
-0.004290247336030006,
-0.04678797721862793,
-0.023798730224370956,
0.050673484802246094,
0.017282411456108093,
0.040130000561475754,
0.057715967297554016,
-0.015400368720293045,
-0.030294811353087425,
0.047556985169649124,
-0.04375242814421654,
0.022078583016991615,
0.006956473924219608,
0.053142402321100235,
0.06119673326611519,
-0.009506337344646454,
0.09033803641796112,
-0.02434512972831726,
0.03450411185622215,
-0.022685693576931953,
0.01256718672811985,
0.05718980357050896,
0.056744590401649475,
-0.03195424750447273,
-0.010472655296325684,
0.0030127856880426407,
-0.019710851833224297,
-0.028898457065224648,
0.009597403928637505,
-0.01806153543293476,
-0.037195634096860886,
0.014337925240397453,
-0.016978856176137924,
0.011828535236418247,
0.012425526976585388,
-0.010164041072130203,
0.029363907873630524,
0.009212900884449482,
0.0476379320025444,
-0.07783155888319016,
-0.024061810225248337,
-0.018354972824454308,
-0.039785970002412796,
0.018000824376940727,
-0.016371745616197586,
-0.00743710296228528,
0.03636591508984566,
-0.020368555560708046,
0.019559074193239212,
-0.022301189601421356,
0.0027218784671276808,
0.06690356880426407,
0.009668233804404736,
-0.014570650644600391,
-0.06305854022502899,
-0.02483081817626953,
-0.014044488780200481,
-0.0005549368797801435,
-0.03946217894554138,
-0.056663643568754196,
-0.04043355584144592,
-0.001204102416522801,
-0.00045470043551176786,
0.018091890960931778,
0.005888971500098705,
0.06609409302473068,
0.028716323897242546,
0.013963540084660053,
0.03027457371354103,
-0.03741823881864548,
-0.026429541409015656,
-0.024102285504341125,
-0.03998834267258644,
-0.029687700793147087,
0.03001149371266365,
-0.0028129450511187315,
0.002815474756062031,
0.07074860483407974,
0.04678797721862793,
0.0044546728022396564,
-0.08119090646505356,
-0.07123429328203201,
0.0024018806871026754,
-0.02394038811326027,
-0.04945926368236542,
0.05917303264141083,
0.057715967297554016,
-0.034949325025081635,
-0.019012674689292908,
-0.026287881657481194,
0.039199098944664,
0.035515960305929184,
-0.025417691096663475,
0.05047111585736275,
-0.07208424806594849,
0.04043355584144592,
0.03604212403297424,
0.01894184574484825,
0.04017047584056854,
0.0009062387980520725,
-0.030193626880645752,
-0.010998818092048168,
-0.030517417937517166,
-0.0012799912365153432,
-0.02329280413687229,
-0.0393812321126461,
-0.01910374127328396,
-0.05180675908923149,
0.020763177424669266,
-0.028230635449290276,
-0.02596409060060978,
-0.07920767366886139,
0.08313366025686264,
-0.006045808084309101,
-0.003961395472288132,
-0.028878221288323402,
0.016725892201066017,
0.0037514367140829563,
-0.06366565078496933,
-0.005762489978224039,
-0.008322472684085369,
-0.019083505496382713,
-0.015461079776287079,
-0.011869009584188461,
0.052616238594055176,
-0.005727075040340424,
-0.010796447284519672,
-0.028271110728383064,
-0.05808023363351822,
0.0002806304837577045,
-0.0202572513371706,
0.011656520888209343,
0.03142808377742767,
0.026206934824585915,
0.004333250690251589,
-0.0021286809351295233,
-0.0242034699767828,
0.003612307133153081,
-0.031792350113391876,
-0.008934642188251019,
0.01673601195216179,
-0.01999417133629322,
-0.006025571376085281,
-0.09519492089748383,
-0.00633924501016736,
0.02412252128124237,
0.03246017172932625,
-0.0186686459928751,
-0.057715967297554016,
0.003240451915189624,
0.011251780204474926,
-0.009617641568183899,
-0.045007120817899704,
0.09487112611532211,
-0.0024284417741000652,
-0.00883345678448677,
0.01625032350420952,
-0.0027218784671276808,
-0.02693546749651432,
-0.0023234623949974775,
-0.024021336808800697,
0.0371551588177681,
-0.03755990043282509,
0.011646402068436146,
0.0363861545920372,
0.009693530388176441,
-0.0431453175842762,
0.033593446016311646,
-0.05706838145852089,
-0.0011307431850582361,
0.0002407888532616198,
-0.024810580536723137,
-0.05557084456086159,
0.0025738952681422234,
-0.00002788518395391293,
-0.07694113254547119,
-0.018992438912391663,
0.011352965608239174,
0.034382689744234085,
-0.018203195184469223,
0.0012262365780770779,
-0.0035920701920986176,
0.06560840457677841,
0.007902554236352444,
0.07483647763729095,
-0.03626473248004913,
0.010685143992304802,
-0.022969011217355728,
0.0018908961210399866,
0.008231406100094318,
0.03148879483342171,
-0.024628447368741035,
-0.011454150080680847,
0.042335834354162216,
-0.04941879212856293,
0.08078616112470627,
0.008049272932112217,
-0.003248040797188878,
0.01281003002077341,
-0.00033011630875989795,
-0.051725808531045914,
0.037236109375953674,
0.014560531824827194,
-0.009855425916612148,
-0.02280711568892002,
-0.002056586556136608,
0.0010871071135625243,
-0.02899964153766632,
-0.03650757670402527,
0.02930319681763649,
0.011848771944642067,
0.03484813868999481,
-0.011444032192230225,
0.03418031707406044,
-0.02404157444834709,
0.06107531115412712,
0.029586516320705414,
-0.04966163635253906,
0.06734878569841385,
0.040534742176532745,
0.014793258160352707,
-0.018911490216851234,
-0.008292117156088352,
-0.026125986129045486,
-0.01607830822467804,
0.03632544353604317,
0.026571201160550117,
-0.03834914416074753,
0.04792125150561333,
-0.047556985169649124,
0.009830130264163017,
0.017626440152525902,
-0.01647293008863926,
0.05532800033688545,
-0.018395446240901947,
0.008297176100313663,
-0.050066374242305756,
-0.033391073346138,
0.013042756356298923,
0.013356429524719715,
-0.02236190065741539,
-0.030861448496580124,
-0.023697543889284134,
-0.00922301970422268,
0.008190931752324104,
0.0514020174741745,
-0.04077758640050888,
0.02855442836880684,
0.01489444263279438,
-0.034342214465141296,
-0.04205251857638359,
0.039118148386478424,
-0.009435508400201797,
0.011970194056630135,
0.028898457065224648,
0.043388161808252335,
0.0375194251537323,
0.028837746009230614,
0.0031417966820299625,
-0.008691797964274883,
0.018779950216412544,
0.015936648473143578,
-0.0014545354060828686,
-0.022564271464943886,
-0.012253512628376484,
0.016007479280233383,
0.00784184318035841,
0.026348592713475227,
-0.005403283052146435,
-0.021289339289069176,
-0.023252330720424652,
-0.03413984552025795,
0.019710851833224297,
-0.034686245024204254,
0.0028888338711112738,
-0.03743847832083702,
0.026287881657481194,
-0.04104066640138626,
0.001040941453538835,
0.0009233137825503945,
-0.035920701920986176,
0.03782298043370247,
-0.006566911470144987,
-0.027744947001338005,
0.025053424760699272,
0.0005805493565276265,
-0.0001690107019385323,
-0.055773213505744934,
0.041809674352407455,
0.02584266848862171,
0.02517484687268734,
0.029242485761642456,
0.015430724248290062,
-0.04431906342506409,
0.008469190448522568,
0.06018488109111786,
-0.01968049630522728,
-0.035252880305051804,
0.005266683176159859,
0.026065275073051453,
-0.007963265292346478,
-0.05698743462562561,
0.011170832440257072,
0.050511591136455536,
0.003096263390034437,
0.010513129644095898,
0.01043218094855547,
-0.06168242171406746,
-0.034564822912216187,
-0.016553878784179688,
0.012334460392594337,
0.036628998816013336,
0.0378836914896965,
-0.03709444776177406,
-0.004629217088222504,
0.04156683012843132,
0.06815826892852783,
-0.013407022692263126,
0.002810415346175432,
-0.028918694704771042,
-0.001430504024028778,
-0.006688333582133055,
-0.020196540281176567,
-0.0076597100123763084,
-0.021977398544549942,
0.011626165360212326,
0.010184277780354023,
-0.04885215312242508,
0.036669470369815826,
0.013730814680457115,
-0.017727624624967575,
0.00491000572219491,
0.024628447368741035,
-0.012921334244310856,
-0.03869317099452019,
-0.010371469892561436,
0.05391140654683113,
-0.004646924789994955,
-0.0806647390127182,
-0.02521532028913498,
0.045452333986759186,
0.027967555448412895,
-0.00035572878550738096,
-0.01880018599331379,
-0.015794990584254265,
0.050511591136455536,
0.012820148840546608,
0.011747587472200394,
0.008195990696549416,
0.05508515611290932,
0.006071104668080807,
-0.014226621948182583,
-0.0032758668530732393,
-0.015127168968319893,
-0.05638032406568527,
0.06581076979637146,
0.011879127472639084,
-0.044885698705911636,
0.07633402198553085,
-0.013498089276254177,
-0.07945051789283752,
0.05030921846628189,
0.002348758513107896,
-0.07532216608524323,
-0.03466600552201271,
-0.019215045496821404,
0.0051402016542851925,
0.05601605772972107,
-0.01791987754404545,
-0.02644977904856205,
-0.002686463762074709,
0.04775935411453247,
0.003999339882284403,
-0.010927988216280937,
0.0039740437641739845,
-0.002625752706080675,
0.05334477126598358,
-0.05152343958616257,
0.023798730224370956,
0.016199730336666107,
-0.006966592278331518,
-0.014904561452567577,
0.027178311720490456,
0.025255795568227768,
-0.03349225968122482,
-0.0014292391715571284,
-0.006885644514113665,
-0.04678797721862793,
-0.021026259288191795,
-0.03537430241703987,
-0.017069922760128975,
-0.03988715633749962,
-0.0015278946375474334,
0.010796447284519672,
0.024223707616329193,
-0.011180950328707695,
0.021451236680150032,
0.043428633362054825,
0.004786054138094187,
0.0008240259485319257,
-0.001225604210048914,
-0.050997279584407806,
-0.0075332289561629295,
-0.046018972992897034,
-0.029019879177212715,
0.022908300161361694,
-0.0015557205770164728,
-0.0062785339541733265,
-0.05285908281803131,
-0.007477576844394207,
0.002282988280057907,
-0.01032593660056591,
0.021957160905003548,
0.042376309633255005,
0.008190931752324104,
-0.026834281161427498,
-0.0335732065141201,
-0.007133547682315111,
0.0008518518297933042,
-0.04156683012843132,
0.025822430849075317,
0.028109213337302208,
-0.026652147993445396,
0.009177486412227154,
-0.007806428708136082,
-0.012020787224173546,
-0.0023677307181060314,
-0.007573702838271856,
0.024102285504341125,
-0.04156683012843132,
0.040797822177410126,
0.037843216210603714,
0.01714075170457363,
0.0442785881459713,
-0.025073662400245667,
-0.0016720833955332637,
0.0358397550880909,
0.051644861698150635,
0.02562006004154682,
-0.025458164513111115,
0.034949325025081635,
-0.008752509020268917,
0.0406966358423233,
-0.02562006004154682,
0.04520948976278305,
0.026024801656603813,
0.0457761287689209,
0.03579927980899811,
0.00595474150031805,
-0.03808606043457985,
0.0031342078000307083,
-0.015461079776287079,
0.04889262840151787,
0.00832753162831068,
-0.005061783362179995,
0.05087585747241974,
-0.02341422624886036,
-0.03705397620797157,
-0.012293986976146698,
-0.014540295116603374,
0.011858890764415264,
-0.053142402321100235,
0.024264181032776833,
-0.027846133336424828,
0.012435645796358585,
-0.031610216945409775,
0.0036578404251486063,
0.06552745401859283,
0.019366823136806488,
-0.001821331330575049,
-0.03711468726396561,
-0.005939563736319542,
-0.01269872672855854,
0.05694695934653282,
0.0024031454231590033,
0.00724991038441658,
-0.011413676664233208,
-0.003192389151081443,
0.024486787617206573,
0.0008885314455255866,
0.01168687641620636,
0.04820457100868225,
0.02319161966443062,
0.05759454518556595,
0.031185239553451538,
-0.03322917968034744,
0.01515752449631691,
-0.011757705360651016,
-0.012263631448149681,
0.031650692224502563,
0.00357436272315681,
-0.01091786939650774,
0.03553619980812073,
-0.02046974003314972,
0.024567736312747,
0.023920152336359024,
0.04075734689831734,
0.008848634548485279,
0.01739371381700039,
-0.0025296269450336695,
-0.03845032677054405,
0.003058318980038166,
-0.025984326377511024,
-0.008464131504297256,
0.03668970987200737,
-0.011555335484445095,
-0.028392532840371132,
0.06880585104227066,
-0.052616238594055176,
-0.020095355808734894,
-0.01805141754448414,
-0.039118148386478424,
-0.03729682043194771,
0.024628447368741035,
-0.017434189096093178,
-0.018648410215973854,
0.004295306280255318,
0.005636008456349373,
-0.049621161073446274,
0.005681541748344898,
-0.023515410721302032,
-0.05897065997123718,
-0.0024183231871575117,
0.010755973868072033,
-0.028534190729260445,
0.006470785476267338,
-0.031185239553451538,
0.03023410029709339,
0.02060128189623356,
-0.022786878049373627,
0.01910374127328396,
-0.022260716184973717,
0.005980038084089756,
0.021451236680150032,
0.00874239020049572,
0.012010668404400349,
-0.0036527812480926514,
0.010052736848592758,
-0.045452333986759186,
-0.017626440152525902,
-0.006860347930341959,
0.0029040116351097822,
0.010285463184118271,
0.020712584257125854,
0.05585416033864021,
-0.010022381320595741,
0.036750420928001404,
0.004313013982027769,
-0.03158998116850853,
-0.0022956363391131163,
0.01678660325706005,
0.02042926661670208,
0.016816958785057068,
-0.04059545323252678,
-0.032014958560466766,
0.010118507780134678,
0.025862904265522957,
-0.019751327112317085,
-0.013386785052716732,
-0.004011988174170256,
0.0066124447621405125,
-0.020287606865167618,
-0.015663448721170425,
0.025903379544615746,
0.016644945368170738,
0.04423811286687851,
-0.01638186350464821,
0.03173163905739784,
0.0021969808731228113,
-0.015582501888275146,
0.014692072756588459,
0.0030861448030918837,
-0.014216503128409386,
0.006506200414150953,
-0.021815503016114235,
0.0335732065141201,
-0.02404157444834709,
0.03567785769701004,
0.006268415600061417,
-0.02772471122443676,
0.03005196712911129,
-0.030072204768657684,
0.027583051472902298,
-0.02240237593650818,
-0.01467183604836464,
0.011413676664233208,
0.004669691435992718,
-0.01919480785727501,
0.02179526537656784,
0.05803975835442543,
-0.002052792115136981,
0.051563914865255356,
-0.02653072588145733,
-0.019275756552815437,
0.011980312876403332,
-0.029505567625164986,
-0.026429541409015656,
0.012030905112624168,
0.012658253312110901,
0.028574666008353233,
0.0031822705641388893,
0.015046220272779465,
0.04460237920284271,
-0.007093073800206184,
-0.0029470152221620083,
-0.009809892624616623,
-0.005079490598291159,
-0.026429541409015656,
-0.01761632226407528,
0.015653330832719803,
-0.004965657368302345,
0.001512716873548925,
0.002390497364103794,
0.007801369298249483,
0.0018706590635702014,
0.019488245248794556,
0.012466001324355602,
-0.020661992952227592,
-0.007887376472353935,
0.004783524200320244,
0.010174158960580826,
-0.019973933696746826,
0.04565470665693283,
0.0303959958255291,
0.0036148368380963802,
-0.01626044139266014,
-0.00615205243229866,
0.034645769745111465,
0.021329814568161964,
-0.022948775440454483,
0.0005890868487767875,
0.046018972992897034,
-0.016189612448215485,
0.0318935364484787,
0.005413401406258345,
-0.04403574392199516,
0.010002144612371922,
-0.024446314200758934,
0.007907613180577755,
0.006506200414150953,
0.038288433104753494,
0.016968736425042152,
0.01919480785727501,
0.010816684924066067,
0.040575213730335236,
-0.05799928307533264,
-0.002155242022126913,
0.017373478040099144,
-0.024183232337236404,
0.0013596744975075126,
-0.0006817344692535698,
-0.03308751806616783,
-0.01030064094811678,
0.01643245667219162,
-0.03557667136192322,
-0.022200005128979683,
0.03298633545637131,
-0.010371469892561436,
0.006521378178149462,
0.009369737468659878,
0.0010181748075410724,
0.07961241900920868,
-0.0476379320025444,
0.024223707616329193,
-0.038247957825660706,
0.043347686529159546,
-0.01538013108074665,
-0.028797272592782974,
0.007578762248158455,
-0.012526712380349636,
0.01219280157238245,
-0.009698589332401752,
0.00033391074975952506,
-0.008590612560510635,
-0.05557084456086159,
0.014732547104358673,
-0.008717094548046589,
-0.031084055081009865,
-0.007386510260403156,
-0.0243856031447649,
0.009683411568403244,
0.058363549411296844,
0.05229244753718376,
-0.022301189601421356,
-0.008712034672498703,
0.01870911940932274,
0.029505567625164986,
0.053628090769052505,
-0.005691660568118095,
-0.030922159552574158,
-0.00019825951312668622,
0.01181841641664505,
0.014520058408379555,
0.0002376268239459023,
0.028352057561278343,
-0.007816546596586704,
-0.005180676002055407,
-0.01968049630522728,
-0.016837196424603462,
-0.015228353440761566,
-0.01467183604836464,
0.01699909195303917,
-0.016189612448215485,
0.019306112080812454,
-0.003685666248202324,
-0.018749594688415527,
0.06160147488117218,
-0.001503863139078021,
0.02434512972831726,
-0.00990601908415556,
0.004085347522050142,
-0.025822430849075317,
-0.016139019280672073,
-0.0038677994161844254,
0.060346778482198715,
-0.003979103174060583,
-0.03970502316951752,
0.018972201272845268,
0.010361352004110813,
-0.053142402321100235,
0.001070664613507688,
0.06281569600105286,
-0.010513129644095898,
0.00371855148114264,
0.035252880305051804,
0.025781957432627678,
-0.022867826744914055,
-0.03128642588853836,
0.021167917177081108,
0.024932002648711205,
0.007639473304152489,
-0.027664000168442726,
-0.03545524924993515,
-0.032358985394239426,
0.005509527400135994,
-0.014722428284585476,
-0.011757705360651016,
0.008408479392528534,
0.06637740880250931,
0.0012357226805761456,
-0.0001330425584455952,
0.01170711312443018,
0.04006928950548172,
-0.015005746856331825,
-0.01871923916041851,
-0.014469465240836143,
-0.03326965123414993,
-0.05184723064303398,
0.026510490104556084,
-0.012557067908346653,
0.0017555610975250602,
-0.0053779869340360165,
-0.03197448328137398,
0.03820748254656792,
-0.03705397620797157,
-0.0017644147155806422,
0.010695262812077999,
0.00475569861009717,
-0.01485396921634674,
-0.021188154816627502,
0.0008493222412653267,
0.020237015560269356,
0.054235201328992844,
-0.005529764108359814,
0.029667463153600693,
0.02228095382452011,
0.03986692056059837,
-0.017687151208519936,
-0.054154250770807266,
0.004219417460262775,
-0.02604503743350506,
-0.01129225455224514,
-0.0075332289561629295,
0.0012989634415134788,
0.0053071570582687855,
-0.009253375232219696,
0.020105473697185516,
0.020368555560708046,
0.002243779134005308,
0.048123620450496674,
-0.05755406990647316,
-0.025235557928681374,
0.008357887156307697,
-0.0020540570840239525,
-0.006116637960076332,
-0.030132915824651718,
-0.02974841184914112,
-0.040575213730335236,
0.003501003608107567,
0.02922224998474121,
0.0006067942595109344,
0.04095971956849098,
-0.023980863392353058,
-0.008094806224107742,
-0.042335834354162216,
0.05561131611466408,
-0.03110429272055626,
-0.01517776120454073,
-0.026389067992568016,
0.007781132124364376,
0.00742698460817337,
-0.02926272340118885,
-0.011413676664233208,
-0.009101597592234612,
-0.004846765194088221,
0.028453243896365166,
0.0038627402391284704,
-0.01937694102525711,
-0.021248865872621536,
0.013842117972671986,
0.01753537356853485,
-0.03462553396821022,
0.002334845717996359,
-0.041141852736473083,
-0.008970056660473347,
-0.02487129159271717,
-0.0025372158270329237,
0.011221424676477909,
0.00362495519220829,
0.012385053560137749,
0.024972476065158844,
-0.001855481299571693,
0.014560531824827194,
0.004636805970221758,
-0.014702191576361656,
-0.01727229170501232,
0.026611674576997757,
0.0068451701663434505,
0.02029772661626339,
0.014509939588606358,
-0.026571201160550117,
0.02618669718503952,
-0.015501553192734718,
0.05824212729930878,
0.009981907904148102,
-0.013751051388680935,
0.036224257200956345,
-0.0020806181710213423,
-0.012233275920152664,
0.011555335484445095,
0.008686739020049572,
-0.015420605428516865,
-0.005322334822267294,
-0.0347064808011055,
-0.01138332113623619,
0.021430999040603638,
0.006202645134180784,
-0.0025903380010277033,
-0.001123154303058982,
-0.03812653571367264,
0.004044873174279928,
-0.029019879177212715,
0.03571833297610283,
0.025943852961063385
] |
Seamless human-robot manipulation in close proximity relies on accurate
forecasts of human motion. While there has been significant progress in
learning forecast models at scale, when applied to manipulation tasks, these
models accrue high errors at critical transition points leading to degradation
in downstream planning performance. Our key insight is that instead of
predicting the most likely human motion, it is sufficient to produce forecasts
that capture how future human motion would affect the cost of a robot's plan.
We present ManiCast, a novel framework that learns cost-aware human forecasts
and feeds them to a model predictive control planner to execute collaborative
manipulation tasks. Our framework enables fluid, real-time interactions between
a human and a 7-DoF robot arm across a number of real-world tasks such as
reactive stirring, object handovers, and collaborative table setting. We
evaluate both the motion forecasts and the end-to-end forecaster-planner system
against a range of learned and heuristic baselines while additionally
contributing new datasets. We release our code and datasets at
https://portal-cornell.github.io/manicast/. | [
0.013808378018438816,
-0.022428153082728386,
-0.022669916972517967,
-0.004835256841033697,
0.0027477277908474207,
-0.004328484646975994,
-0.08413346856832504,
0.01468244381248951,
-0.10883047431707382,
0.012041649781167507,
0.01980595663189888,
-0.0015737831126898527,
-0.005997578147798777,
-0.006513649132102728,
-0.007852642796933651,
0.001547049731016159,
0.019861748442053795,
-0.0038821534253656864,
-0.03607845678925514,
-0.02380434237420559,
-0.023227829486131668,
-0.035315971821546555,
-0.026407942175865173,
0.03213586285710335,
0.029346290975809097,
-0.001073984894901514,
0.024957364425063133,
-0.0180206298828125,
-0.0075829848647117615,
0.057688333094120026,
0.014115231111645699,
0.01051668357104063,
-0.04530263692140579,
0.018634336069226265,
-0.045897748321294785,
0.005118863191455603,
0.034758057445287704,
0.1167900487780571,
0.010535281151533127,
0.039091192185878754,
-0.022651318460702896,
0.05158847197890282,
-0.03747324272990227,
-0.03550194576382637,
0.001153022749349475,
-0.003979788161814213,
-0.07952138036489487,
-0.006550843361765146,
-0.01758359745144844,
0.03849608451128006,
0.02235376462340355,
-0.06434611231088638,
-0.006727516185492277,
-0.031001435592770576,
-0.021051965653896332,
0.01934102736413479,
0.060366321355104446,
0.019434014335274696,
0.04604652523994446,
0.042327094823122025,
0.0002740172785706818,
0.006071967072784901,
-0.044000837951898575,
-0.01129776332527399,
0.009163741953670979,
-0.03327028825879097,
-0.00495148915797472,
-0.017425522208213806,
0.0024385503493249416,
-0.050026312470436096,
-0.011641810648143291,
0.017741672694683075,
-0.005918540526181459,
-0.03304712101817131,
-0.014812624081969261,
-0.01301799900829792,
0.058023083955049515,
-0.008670917712152004,
0.026872869580984116,
-0.008187391795217991,
-0.0019933811854571104,
0.02081020176410675,
0.021740058436989784,
-0.020308079198002815,
0.11039263755083084,
-0.07066913694143295,
0.02190743386745453,
-0.06587107479572296,
0.010767744854092598,
-0.0004376139841042459,
-0.015100879594683647,
0.058469414710998535,
-0.04407522827386856,
0.005583791993558407,
-0.04069054499268532,
0.057018838822841644,
0.0024362255353480577,
-0.00237927190028131,
-0.033195897936820984,
-0.026872869580984116,
-0.03691532835364342,
0.04452155902981758,
0.03250780329108238,
-0.008470998145639896,
0.02938348427414894,
0.00796422641724348,
-0.06404855847358704,
0.008159495890140533,
-0.011502332054078579,
0.10808658599853516,
0.03507421165704727,
-0.021721461787819862,
0.053671352565288544,
0.03883083164691925,
-0.03767780959606171,
-0.0014284929493442178,
-0.05162566527724266,
-0.021554088220000267,
0.045116666704416275,
-0.054006099700927734,
0.002278149826452136,
0.05266710743308067,
0.0187924113124609,
0.047199547290802,
0.001025748671963811,
0.012562368996441364,
-0.01279483363032341,
-0.022093404084444046,
0.022167792543768883,
0.010814238339662552,
0.018290288746356964,
0.03304712101817131,
-0.0009507788927294314,
0.03994666039943695,
0.020196495577692986,
0.014840519055724144,
0.022539736703038216,
0.034776654094457626,
-0.008280377835035324,
0.010879328474402428,
-0.01935962401330471,
-0.006769359577447176,
-0.026724092662334442,
0.04515386000275612,
-0.020289482548832893,
-0.015500717796385288,
0.004109968431293964,
0.06821431964635849,
-0.0505470335483551,
-0.016644442453980446,
-0.06382539123296738,
0.007341221906244755,
0.022409556433558464,
0.018280990421772003,
0.07014842331409454,
-0.044335585087537766,
-0.013538719154894352,
0.024845782667398453,
-0.017434820532798767,
-0.03280535712838173,
0.06404855847358704,
-0.03390258923172951,
0.014756832271814346,
0.021275131031870842,
0.039760690182447433,
-0.04716235399246216,
0.058246247470378876,
-0.014580159448087215,
-0.022335167974233627,
0.06051510199904442,
-0.030127370730042458,
0.009191637858748436,
0.004770166706293821,
-0.03661777079105377,
-0.01484981831163168,
0.05943646654486656,
0.030778270214796066,
0.03717568516731262,
-0.051774442195892334,
0.009451997466385365,
-0.034237340092659,
-0.027616756036877632,
-0.0004817822191398591,
0.02168426848948002,
0.03304712101817131,
0.0670240968465805,
0.05147688835859299,
0.002002679742872715,
0.06973928213119507,
-0.0005922027630731463,
0.009461295790970325,
0.003807764733210206,
0.016532858833670616,
-0.021051965653896332,
-0.025850027799606323,
-0.07044597715139389,
-0.030517909675836563,
0.0049561383202672005,
-0.01312958262860775,
0.032637983560562134,
-0.0748348981142044,
-0.06189128756523132,
-0.02034527249634266,
-0.0014680118765681982,
-0.0006543869385495782,
-0.023116247728466988,
-0.00762017909437418,
-0.07081791758537292,
0.04392644762992859,
-0.07241727411746979,
0.018838904798030853,
-0.02371135540306568,
-0.0030987488571554422,
0.021405311301350594,
-0.017062878236174583,
0.005960383918136358,
-0.020661424845457077,
0.017100071534514427,
-0.02246534824371338,
-0.03658057749271393,
-0.006020824890583754,
-0.02570125088095665,
-0.041322849690914154,
0.00031498909811489284,
-0.05136530473828316,
0.047683071345090866,
0.023413801565766335,
0.00015633222938049585,
-0.009763499721884727,
0.015231058932840824,
0.01704428158700466,
-0.04675321653485298,
0.013269061222672462,
0.019489804282784462,
0.009633319452404976,
0.01034930907189846,
-0.024306464940309525,
-0.005504753906279802,
-0.0435917004942894,
-0.031522154808044434,
0.0069088381715118885,
-0.017183758318424225,
0.0033823552075773478,
0.020047718659043312,
0.068474680185318,
0.03260079026222229,
0.005858099553734064,
0.0665033832192421,
0.011362853460013866,
-0.012590264901518822,
-0.06791676580905914,
-0.013929259032011032,
0.002396706724539399,
0.03094564378261566,
-0.03446050360798836,
0.07185935974121094,
0.02659391239285469,
0.029959995299577713,
0.026500927284359932,
-0.006606634706258774,
0.046120911836624146,
0.02579423598945141,
-0.01769518107175827,
0.06769359856843948,
0.022725706920027733,
-0.03639460727572441,
0.01179058849811554,
-0.008099054917693138,
0.021330920979380608,
0.045005083084106445,
-0.03434891998767853,
-0.024511033669114113,
0.046455658972263336,
-0.003121995134279132,
-0.037231478840112686,
-0.03717568516731262,
0.04418680816888809,
0.022186391055583954,
0.018336782231926918,
-0.010181935504078865,
0.03706410527229309,
0.015965646132826805,
0.04448436200618744,
0.0006038259598426521,
-0.010795640759170055,
-0.03793817013502121,
-0.04169479385018349,
-0.029904203489422798,
-0.05296466127038002,
-0.009094002656638622,
0.0030336587224155664,
-0.0019957057666033506,
-0.007982823066413403,
0.050770197063684464,
0.0567212849855423,
0.027951505035161972,
-0.004574896767735481,
0.01508228201419115,
0.037436045706272125,
0.015333343297243118,
-0.02056843973696232,
0.013222567737102509,
0.045116666704416275,
-0.041769180446863174,
-0.01767658442258835,
0.019303834065794945,
0.03782658651471138,
0.051700055599212646,
0.021219339221715927,
0.005853450391441584,
0.02002912200987339,
-0.02960664965212345,
-0.050770197063684464,
0.01601213961839676,
-0.010544579476118088,
0.07092949748039246,
0.02369275875389576,
-0.0427362322807312,
-0.015565807931125164,
-0.003338187001645565,
0.009698409587144852,
0.034237340092659,
-0.06918136775493622,
-0.00873600784689188,
-0.01969437301158905,
0.003042957279831171,
-0.023320816457271576,
-0.011446541175246239,
0.0054629105143249035,
0.0030499312561005354,
-0.056349340826272964,
-0.014998595230281353,
0.023748550564050674,
-0.010256323963403702,
-0.004574896767735481,
0.01881100982427597,
-0.04593494161963463,
0.011056001298129559,
-0.0310200322419405,
-0.0024641212075948715,
-0.04593494161963463,
-0.01644917204976082,
0.012097440659999847,
0.023990312591195107,
-0.020159302279353142,
-0.0018852852517738938,
0.012850625440478325,
0.034311726689338684,
0.01611442305147648,
0.013055193237960339,
0.0010205181315541267,
-0.053559768944978714,
-0.005211849231272936,
0.011279166676104069,
0.06854906678199768,
-0.01993613690137863,
-0.018718022853136063,
0.01202305220067501,
-0.016095826402306557,
0.011716199107468128,
0.01184637937694788,
-0.02804449014365673,
-0.015305448323488235,
0.0224839448928833,
-0.012878520414233208,
0.030090175569057465,
-0.03230323642492294,
-0.050100699067115784,
-0.0057279197499156,
-0.004960787482559681,
-0.0000301658728858456,
-0.00017609169299248606,
0.028974346816539764,
-0.019824553281068802,
-0.010079651139676571,
0.008540737442672253,
0.005481507629156113,
0.008517490699887276,
-0.023953119292855263,
0.03014596737921238,
-0.017286043614149094,
0.008489595726132393,
0.0014436031924560666,
-0.033549245446920395,
-0.002880232408642769,
0.08614195883274078,
0.014570861123502254,
-0.005518701858818531,
-0.02235376462340355,
0.06051510199904442,
0.05620056390762329,
-0.043666090816259384,
-0.05240674689412117,
0.01084213424474001,
-0.011316360905766487,
-0.02382293902337551,
0.06929294764995575,
0.020401064306497574,
0.03128039464354515,
0.008968471549451351,
-0.02679848112165928,
0.0020050043240189552,
-0.0015354265924543142,
0.06412294507026672,
-0.007359819021075964,
0.011418645270168781,
0.019731568172574043,
-0.05861819162964821,
0.02849082089960575,
0.03823572397232056,
-0.022074807435274124,
-0.01904347352683544,
0.0006939058657735586,
-0.02737499214708805,
0.008754604496061802,
0.003951892722398043,
0.02369275875389576,
-0.017313938587903976,
-0.03146636486053467,
-0.07066913694143295,
0.010618967935442924,
-0.014171021990478039,
0.06936734169721603,
0.011744095012545586,
-0.00817344430834055,
0.06735885143280029,
-0.021107755601406097,
-0.01007035281509161,
-0.10406960546970367,
-0.008168794214725494,
0.06021754443645477,
-0.0057511660270392895,
0.0031498910393565893,
-0.059919990599155426,
0.07100389152765274,
0.029755426570773125,
-0.02293027564883232,
0.012264815159142017,
-0.011279166676104069,
-0.020661424845457077,
-0.018206601962447166,
-0.04202954098582268,
-0.00517465453594923,
0.01089792512357235,
-0.01017263624817133,
-0.024994559586048126,
0.0037357008550316095,
-0.03559492900967598,
0.012311307713389397,
-0.024511033669114113,
-0.08502613008022308,
0.011204778216779232,
-0.044893499463796616,
-0.00706226471811533,
0.012887819670140743,
-0.0017795140156522393,
0.015454225242137909,
-0.020624229684472084,
-0.007201743312180042,
-0.04236428812146187,
0.027189021930098534,
0.022316571325063705,
-0.009275324642658234,
-0.00762017909437418,
0.011316360905766487,
0.012432189658284187,
-0.0025361853186041117,
-0.005760464817285538,
0.003796141594648361,
0.045562997460365295,
0.018606441095471382,
0.008926628157496452,
-0.039537522941827774,
-0.016504963859915733,
0.024287868291139603,
0.0514025017619133,
-0.02056843973696232,
-0.06914417445659637,
0.039574719965457916,
-0.051142141222953796,
0.029625248163938522,
-0.004300589207559824,
-0.011223374865949154,
-0.010367906652390957,
0.029643844813108444,
-0.012766937725245953,
-0.015519315376877785,
0.005411768332123756,
-0.05731639266014099,
-0.0494312047958374,
0.03628302365541458,
-0.08815045654773712,
0.04537702724337578,
0.008085107430815697,
-0.012878520414233208,
-0.042773425579071045,
-0.023413801565766335,
0.025980208069086075,
0.03414435312151909,
-0.023841535672545433,
0.03916558250784874,
-0.01848555915057659,
0.01680251769721508,
0.017881151288747787,
-0.005049123894423246,
-0.00497473543509841,
0.03137337788939476,
-0.03345625847578049,
0.012032350525259972,
-0.03860766813158989,
0.033865395933389664,
0.041322849690914154,
0.059585243463516235,
0.015324044972658157,
0.0435917004942894,
-0.0217958502471447,
0.03401417285203934,
-0.011139688082039356,
0.04325695335865021,
0.013501524925231934,
0.03185690566897392,
0.024771392345428467,
0.012952909804880619,
0.00852214079350233,
-0.037119895219802856,
0.05374573916196823,
-0.023953119292855263,
-0.006071967072784901,
0.046567242592573166,
-0.03317730128765106,
0.0075597381219267845,
0.041657596826553345,
-0.04775746166706085,
0.005872047506272793,
0.030015787109732628,
-0.035873886197805405,
0.04180637374520302,
0.031094420701265335,
0.0034079262986779213,
0.013892064802348614,
-0.03271237388253212,
0.01791834644973278,
-0.013761885464191437,
0.03585528954863548,
-0.03916558250784874,
0.0023141817655414343,
0.026668300852179527,
-0.0043052383698523045,
-0.019991926848888397,
0.012199725024402142,
-0.015640197321772575,
0.0005088062025606632,
0.006448558997362852,
0.03161514177918434,
-0.019657179713249207,
-0.042215511202812195,
-0.020512647926807404,
-0.06486683338880539,
-0.002684962470084429,
-0.017499910667538643,
0.03764061629772186,
-0.005095616914331913,
0.035222988575696945,
-0.0020410362631082535,
-0.009605423547327518,
-0.015547210350632668,
0.006722867023199797,
0.03968629986047745,
-0.017630090937018394,
0.03483244776725769,
0.006834449712187052,
-0.02246534824371338,
0.01591915264725685,
0.02201901562511921,
0.04820379242300987,
0.0028755830135196447,
-0.007866591215133667,
0.014728936366736889,
-0.032768163830041885,
0.012143934145569801,
0.017853256314992905,
-0.0005462910630740225,
0.016951294615864754,
-0.012683250941336155,
0.005686076357960701,
0.01790904812514782,
0.008903381414711475,
-0.03462787717580795,
-0.005118863191455603,
0.009856484830379486,
-0.0055465977638959885,
0.06486683338880539,
-0.015974944457411766,
0.014143126085400581,
-0.024975961074233055,
0.001609815051779151,
-0.05270430073142052,
0.01469174213707447,
0.054340850561857224,
-0.027393590658903122,
-0.010163337923586369,
0.029997190460562706,
-0.018290288746356964,
-0.002323480322957039,
0.005528000649064779,
-0.02112635411322117,
-0.0056070382706820965,
0.05638653412461281,
0.0004181451222393662,
0.009228832088410854,
0.021219339221715927,
-0.0069320849142968655,
0.015314746648073196,
-0.007108757738023996,
0.02661251090466976,
-0.042885009199380875,
0.04236428812146187,
-0.016514262184500694,
0.009828589856624603,
-0.009275324642658234,
0.027877116575837135,
0.051774442195892334,
0.03968629986047745,
0.02425067313015461,
-0.0217958502471447,
0.01703498139977455,
0.02335800975561142,
0.01780676282942295,
-0.015351940877735615,
0.03137337788939476,
-0.024325061589479446,
0.017723076045513153,
-0.01612372137606144,
0.025292113423347473,
0.04798062518239021,
-0.011539526283740997,
-0.0202522873878479,
0.031113019213080406,
0.00818274263292551,
-0.007169198244810104,
-0.017974138259887695,
-0.017202356830239296,
-0.006904189009219408,
0.0653875544667244,
-0.011511631309986115,
0.04995192214846611,
0.02112635411322117,
-0.05024947598576546,
0.04080212861299515,
0.04262464866042137,
0.027430783957242966,
-0.02326502464711666,
0.025552473962306976,
0.04775746166706085,
0.010088949464261532,
-0.0016423601191490889,
0.014310500584542751,
0.04102529585361481,
-0.028992945328354836,
-0.020977575331926346,
0.042885009199380875,
-0.024455241858959198,
0.0262591652572155,
0.017304640263319016,
0.030648089945316315,
0.016532858833670616,
0.010191233828663826,
0.02938348427414894,
-0.052332356572151184,
0.09648197144269943,
0.016086528077721596,
0.024213479831814766,
-0.016439873725175858,
0.035539139062166214,
-0.014812624081969261,
0.015184566378593445,
0.0013087738770991564,
0.02735639549791813,
-0.013045894913375378,
-0.07691778242588043,
-0.012209023348987103,
-0.020196495577692986,
0.0024989908561110497,
0.018439065665006638,
0.004839906003326178,
-0.03572510927915573,
0.023767147213220596,
0.013994349166750908,
0.0038821534253656864,
-0.029216110706329346,
-0.016058631241321564,
-0.03306571766734123,
-0.025775639340281487,
0.019489804282784462,
0.03927716240286827,
0.01748131401836872,
-0.040207020938396454,
-0.020624229684472084,
0.06527596712112427,
-0.018197303637862206,
-0.03760342299938202,
-0.010572475381195545,
-0.04236428812146187,
-0.017332537099719048,
0.025347905233502388,
0.0005753490841016173,
-0.005672128405421972,
-0.0006200984353199601,
-0.04329414665699005,
-0.004314537160098553,
-0.015091580338776112,
0.030443521216511726,
-0.004858503583818674,
0.04686479642987251,
0.04314536973834038,
0.02927190065383911,
0.011930066160857677,
-0.0037357008550316095,
0.012934312224388123,
0.05538228899240494,
0.004970086272805929,
-0.026500927284359932,
0.004553975071758032,
-0.021070562303066254,
-0.027653949335217476,
0.00745745375752449,
0.004551650490611792,
-0.013882766477763653,
0.003224279498681426,
-0.017490612342953682,
0.06523877382278442,
-0.05843222141265869,
-0.018615739420056343,
0.009717007167637348,
-0.010423698462545872,
-0.001042021089233458,
0.003191734431311488,
0.03289834409952164,
-0.008838292211294174,
0.031410571187734604,
0.030685285106301308,
0.016765324398875237,
0.04150881990790367,
-0.043666090816259384,
0.002736104419454932,
0.04043018817901611,
-0.00968911126255989,
0.029234707355499268,
0.029997190460562706,
0.010990911163389683,
0.0353531688451767,
0.009163741953670979,
0.05761394649744034,
-0.008517490699887276,
-0.06981366872787476,
0.023562578484416008,
-0.003710129763931036,
-0.012227620929479599,
0.02315344102680683,
-0.018532052636146545,
0.012348501943051815,
0.031001435592770576,
0.034534893929958344,
0.0091823386028409,
0.03589248284697533,
-0.009577528573572636,
-0.01704428158700466,
-0.02724481374025345,
0.03115021251142025,
0.036041259765625,
0.011911469511687756,
0.0013285332825034857,
-0.0013459681067615747,
-0.02246534824371338,
-0.018885398283600807,
0.030889853835105896,
-0.021219339221715927,
-0.009670513682067394,
-0.04228990152478218,
-0.01714656502008438,
0.009651917032897472,
-0.0025175882037729025,
-0.02056843973696232,
0.05106775090098381,
-0.036747951060533524,
0.05437804386019707,
-0.032005682587623596,
0.01969437301158905,
-0.009447348304092884,
0.03362363204360008,
-0.008336168713867664,
-0.00879179872572422,
0.012106739915907383,
0.007806150242686272,
0.019880345091223717,
-0.024752795696258545,
-0.0018655258463695645,
0.02426926977932453,
-0.021758656948804855,
-0.009995963424444199,
0.014422083273530006,
0.007466752547770739,
-0.016207410022616386,
0.01911786198616028,
0.008517490699887276,
0.0022549035493284464,
-0.016876906156539917,
-0.011539526283740997,
0.00033591088140383363,
0.034869641065597534,
-0.025998804718255997,
0.03314010798931122,
0.000945548468735069,
-0.044447168707847595,
0.010191233828663826,
-0.027319202199578285,
0.012078844010829926,
0.029123123735189438,
0.016402678564190865,
-0.04909645393490791,
0.024287868291139603,
-0.02447383850812912,
0.036878131330013275,
0.02992280200123787,
-0.025310710072517395,
0.018411170691251755,
0.009679812006652355,
-0.021182144060730934,
0.017053579911589622,
-0.01813221350312233,
0.02012210711836815,
0.04920803755521774,
-0.038979608565568924,
0.013427136465907097,
-0.03048071637749672,
-0.03353064879775047,
-0.007824747823178768,
0.023506786674261093,
-0.03459068387746811,
0.017379028722643852,
-0.04928242787718773,
0.00022069577244110405,
-0.037882376462221146,
-0.01859714277088642,
-0.008159495890140533,
-0.022539736703038216,
-0.0038356606382876635,
0.026389343664050102,
-0.012367099523544312,
0.03230323642492294,
-0.024789990857243538,
0.029178915545344353,
0.07338432222604752,
0.027114633470773697,
-0.042215511202812195,
0.0005021228571422398,
0.03302852436900139,
0.04106248915195465,
0.054452430456876755,
0.006081265397369862,
-0.008591879159212112,
-0.018662232905626297,
-0.0014203566825017333,
-0.0163468886166811,
0.04106248915195465,
0.046344079077243805,
-0.01357591338455677,
-0.019657179713249207,
-0.011771990917623043,
-0.06300711631774902,
-0.021721461787819862,
0.04005824401974678,
0.005528000649064779,
0.00995876919478178,
-0.012506578117609024,
0.015565807931125164,
-0.01579827256500721,
0.03860766813158989,
-0.013808378018438816,
-0.04597213491797447,
0.025292113423347473,
0.006327677518129349,
0.018866799771785736,
-0.014542965218424797,
0.059696827083826065,
-0.006880942732095718,
-0.0012030026409775019,
-0.005565194878727198,
-0.014775428920984268,
0.002624521730467677,
-0.03559492900967598,
0.06799115240573883,
-0.03260079026222229,
-0.062337618321180344,
-0.013445734046399593,
-0.02090318687260151,
-0.0402442142367363,
0.01112109050154686,
-0.0025966260582208633,
0.022335167974233627,
-0.006690321955829859,
-0.04251306504011154,
-0.0447075292468071,
-0.001743482076562941,
0.02058703638613224,
0.007085510995239019,
0.004528404213488102,
-0.012143934145569801,
0.04827817901968956,
-0.0045679230242967606,
0.0010995559860020876,
0.01146513782441616,
0.026221970096230507,
-0.023060455918312073,
-0.012599564157426357,
-0.0009124222560785711,
-0.02157268486917019,
-0.04865012317895889,
0.022409556433558464,
-0.02679848112165928,
0.019824553281068802,
-0.015835465863347054,
-0.022223584353923798,
-0.016774622723460197,
0.008819694630801678,
0.054787181317806244,
0.024120492860674858,
0.036115650087594986,
0.03479525446891785,
-0.017499910667538643,
-0.009772798046469688,
0.024492435157299042,
0.011269868351519108,
0.010386504232883453,
0.014338396489620209,
0.010395802557468414,
-0.048129402101039886,
-0.012311307713389397,
0.027877116575837135,
0.0002584712055977434,
0.03615284338593483,
0.004512131679803133,
0.014552263543009758,
0.03202427923679352,
0.024101896211504936,
0.0022700135596096516,
0.017434820532798767,
0.015407731756567955,
-0.014663846231997013,
-0.014728936366736889,
-0.04507947340607643,
-0.02936488762497902,
0.045674581080675125,
-0.009912276640534401,
-0.0405045747756958,
0.013845572248101234,
-0.01590055599808693,
-0.03529737517237663,
-0.004140188917517662,
0.03393978253006935,
0.011669706553220749,
0.030889853835105896,
-0.05620056390762329,
0.0075597381219267845,
-0.012422891333699226,
0.0019259664695709944,
-0.017825361341238022,
-0.054452430456876755,
-0.017955539748072624,
0.009303220547735691,
-0.024511033669114113,
-0.015844764187932014,
-0.0258314311504364,
0.02393452264368534,
-0.02125653252005577,
0.03752903267741203,
-0.01569598726928234,
-0.009847186505794525,
-0.02036387100815773,
0.01185567770153284,
0.06163092702627182,
-0.03473946079611778,
0.09529175609350204,
-0.007085510995239019,
-0.0010530631989240646,
-0.012302009388804436,
-0.012162530794739723,
-0.055679842829704285,
-0.015770375728607178,
0.02447383850812912,
-0.05887855216860771,
-0.006020824890583754,
0.019266638904809952,
-0.051811639219522476,
-0.05527070537209511,
0.00361714418977499,
-0.016886204481124878,
-0.03239621967077255,
0.017639389261603355,
-0.02123793587088585,
-0.0187087245285511,
0.00723428837954998,
-0.016839712858200073,
0.046344079077243805,
0.016951294615864754,
0.03393978253006935,
0.04269903898239136,
0.043666090816259384,
-0.0382729172706604,
0.0030034384690225124,
-0.050658613443374634,
0.020977575331926346,
0.054006099700927734,
-0.060589488595724106,
0.021777253597974777,
0.04909645393490791,
-0.02391592413187027,
0.02503175288438797,
0.01274834107607603,
-0.009414803236722946,
0.013148179277777672,
-0.028118878602981567,
0.03392118588089943,
-0.05103055760264397
] |
We propose a neural network-based meta-learning method to efficiently solve
partial differential equation (PDE) problems. The proposed method is designed
to meta-learn how to solve a wide variety of PDE problems, and uses the
knowledge for solving newly given PDE problems. We encode a PDE problem into a
problem representation using neural networks, where governing equations are
represented by coefficients of a polynomial function of partial derivatives,
and boundary conditions are represented by a set of point-condition pairs. We
use the problem representation as an input of a neural network for predicting
solutions, which enables us to efficiently predict problem-specific solutions
by the forwarding process of the neural network without updating model
parameters. To train our model, we minimize the expected error when adapted to
a PDE problem based on the physics-informed neural network framework, by which
we can evaluate the error even when solutions are unknown. We demonstrate that
our proposed method outperforms existing methods in predicting solutions of PDE
problems. | [
-0.030291521921753883,
-0.015305989421904087,
-0.039500415325164795,
-0.01392296887934208,
0.03990520164370537,
0.06088663637638092,
-0.042435117065906525,
0.03632958605885506,
-0.03189380094408989,
-0.01356878038495779,
0.004878520499914885,
-0.042806170880794525,
0.017304623499512672,
-0.040984634310007095,
0.0015295448247343302,
0.03636331856250763,
-0.012598979286849499,
0.03007226251065731,
0.007526498753577471,
-0.058390453457832336,
0.010161827318370342,
-0.041355688124895096,
0.04891170188784599,
0.0048996033146977425,
-0.027205025777220726,
0.00033732206793501973,
0.02978553995490074,
-0.014774707145988941,
-0.059942133724689484,
0.03199499845504761,
0.05704116448760033,
0.04371694102883339,
-0.0023085479624569416,
-0.0012038181303068995,
-0.013914535753428936,
0.007050031330436468,
-0.001301852404139936,
0.0323154553771019,
-0.025855736806988716,
0.020559780299663544,
0.05535455420613289,
-0.0007542310631833971,
0.013307356275618076,
-0.02081277221441269,
0.007876470685005188,
-0.034609246999025345,
-0.05916629359126091,
-0.0053718541748821735,
0.0025025082286447287,
-0.02118382602930069,
-0.02481003850698471,
-0.0367681048810482,
0.024455850943922997,
-0.016933567821979523,
-0.04445904865860939,
0.0020998299587517977,
0.03636331856250763,
0.05218372493982315,
0.024000465869903564,
-0.005110429599881172,
-0.01129185687750578,
0.0012512541143223643,
-0.007243991829454899,
-0.001093134400434792,
0.028132662177085876,
-0.06830772012472153,
0.009588380344212055,
-0.012506215833127499,
0.03997266665101051,
0.0008164248429238796,
-0.061055295169353485,
-0.019024964421987534,
-0.050530847162008286,
0.0036557279527187347,
0.017844337970018387,
0.012970034033060074,
-0.0170853640884161,
0.034103263169527054,
0.028368785977363586,
-0.004060514736920595,
0.011156927794218063,
0.035081494599580765,
0.04152434691786766,
-0.01103043183684349,
0.03531762212514877,
-0.012379719875752926,
0.03035898692905903,
-0.048574380576610565,
0.07137735188007355,
-0.01559271290898323,
-0.047596145421266556,
0.0360259972512722,
0.024371519684791565,
0.030055398121476173,
0.010507582686841488,
0.02044171839952469,
0.010532882064580917,
-0.0013977783964946866,
-0.06955581158399582,
0.023190893232822418,
-0.02141995169222355,
-0.011502683162689209,
0.04186166822910309,
0.026800239458680153,
0.025872603058815002,
-0.06975820660591125,
-0.06071797385811806,
-0.009529348462820053,
0.01676490716636181,
0.11536414921283722,
-0.009630545042455196,
0.015533681958913803,
0.005131511949002743,
0.057884469628334045,
0.020458584651350975,
-0.0023928785230964422,
-0.024034198373556137,
-0.08635444939136505,
0.031404685229063034,
-0.06385506689548492,
0.06645245105028152,
0.036565713584423065,
-0.0016528782434761524,
-0.006666327361017466,
-0.023308955132961273,
0.01894063502550125,
-0.013939835131168365,
-0.013737441971898079,
-0.02406793087720871,
-0.01606496423482895,
0.004903819877654314,
-0.0046044462360441685,
-0.01638541929423809,
-0.03649824857711792,
0.019986333325505257,
0.04101836308836937,
-0.010499149560928345,
0.012050831690430641,
0.014749407768249512,
-0.046111926436424255,
0.03234918788075447,
0.006990999914705753,
0.021015165373682976,
-0.08487023413181305,
0.03960161283612251,
0.051138028502464294,
0.011418352834880352,
0.056771304458379745,
0.014901203103363514,
-0.0300216656178236,
-0.10605406016111374,
0.04739375039935112,
-0.014808439649641514,
0.008180060423910618,
0.04088343679904938,
0.018586447462439537,
-0.0004356198478490114,
0.029802406206727028,
-0.0025067247916013002,
-0.021015165373682976,
0.05134041979908943,
-0.02184160426259041,
0.04786600172519684,
0.018046731129288673,
-0.0034723090939223766,
0.05268970876932144,
-0.011207525618374348,
-0.004294531885534525,
-0.05943614989519119,
0.0317588746547699,
0.0071427952498197556,
0.011072597466409206,
0.01829972304403782,
0.037409018725156784,
-0.04226645827293396,
0.041220758110284805,
0.06557541340589523,
-0.012851971201598644,
0.013029064983129501,
0.020323654636740685,
-0.0068855867721140385,
-0.02123442478477955,
0.055523212999105453,
0.029633745551109314,
0.062168460339307785,
0.00919202622026205,
0.031219158321619034,
-0.013130261562764645,
0.01166291069239378,
-0.030291521921753883,
-0.020846504718065262,
0.0439530685544014,
0.03653198108077049,
-0.014816872775554657,
-0.006143478211015463,
-0.07373860478401184,
-0.026564113795757294,
-0.00954621471464634,
0.04439158737659454,
0.03494656831026077,
-0.00872820895165205,
-0.06233711913228035,
0.016638411208987236,
-0.008863138034939766,
-0.03734155371785164,
0.02900969795882702,
0.004870087374001741,
0.02131875604391098,
0.04462771117687225,
-0.07198452949523926,
0.001681339694187045,
-0.0332430899143219,
-0.053600478917360306,
-0.052959565073251724,
-0.05785073712468147,
-0.015955334529280663,
-0.0232752226293087,
0.01138462033122778,
-0.012143595144152641,
-0.023764340206980705,
-0.008201142773032188,
-0.010912369005382061,
0.046111926436424255,
0.008036698214709759,
-0.010516015812754631,
-0.04310976341366768,
0.009773907251656055,
-0.0272387582808733,
-0.029347021132707596,
0.010271457023918629,
0.020138127729296684,
-0.013248324394226074,
0.035924799740314484,
-0.014268724247813225,
-0.04030998796224594,
0.004891170188784599,
-0.003662052797153592,
-0.03504776582121849,
0.003718975931406021,
-0.05515215918421745,
-0.009698010049760342,
-0.05147534981369972,
0.016958868131041527,
0.03885950520634651,
0.03514895960688591,
-0.01145208440721035,
-0.02229698933660984,
0.04908036068081856,
0.04496503248810768,
0.001970171695575118,
-0.010305189527571201,
-0.036565713584423065,
-0.0016876645386219025,
0.014159094542264938,
-0.050294723361730576,
0.0151963597163558,
0.024034198373556137,
0.03845471516251564,
0.046854037791490555,
-0.005426669027656317,
0.033361151814460754,
0.004418919328600168,
0.02620992623269558,
0.023241491988301277,
0.009208892472088337,
0.0003199289203621447,
0.054443784058094025,
0.037172894924879074,
0.015803540125489235,
0.006354304496198893,
-0.024152260273694992,
-0.037409018725156784,
-0.03589107096195221,
-0.02168980985879898,
0.011494250036776066,
-0.06904982775449753,
0.0028503716457635164,
-0.03599226474761963,
0.04375067353248596,
0.0011827355483546853,
-0.03798246756196022,
0.03388400375843048,
0.029313288629055023,
-0.0012175218435004354,
0.0029325939249247313,
-0.04263751208782196,
-0.0276098120957613,
-0.03514895960688591,
-0.008454134687781334,
-0.010575046762824059,
0.00019883555069100112,
-0.018367188051342964,
-0.04095090180635452,
0.012818238697946072,
0.045133695006370544,
0.0552196241915226,
-0.0646309107542038,
-0.048574380576610565,
0.02076217345893383,
-0.0035460982471704483,
-0.00710062962025404,
-0.012944734655320644,
0.029734941199421883,
-0.0036346453707665205,
-0.037645142525434494,
-0.006303706206381321,
0.019024964421987534,
0.01894063502550125,
0.02806519716978073,
-0.009630545042455196,
0.010161827318370342,
0.01806359738111496,
0.011511116288602352,
-0.0013608838198706508,
-0.010296756401658058,
0.0017698868177831173,
0.02867237664759159,
-0.0005660686292685568,
-0.002936810255050659,
-0.03226485848426819,
0.008829405531287193,
0.05241985246539116,
-0.0435820110142231,
-0.012076130136847496,
0.04337961971759796,
-0.01606496423482895,
0.014344621449708939,
0.04149061441421509,
-0.024472717195749283,
-0.026412319391965866,
-0.04068104177713394,
0.004252366255968809,
-0.049282755702733994,
0.010583479888737202,
-0.008686043322086334,
0.0026311122346669436,
-0.008024048991501331,
0.007568663917481899,
-0.04523489251732826,
-0.04095090180635452,
-0.060077063739299774,
-0.024793172255158424,
0.0009365958394482732,
-0.031404685229063034,
0.011232824996113777,
-0.054308854043483734,
-0.058120593428611755,
-0.003921369090676308,
-0.027778472751379013,
0.037274088710546494,
0.0007241883431561291,
0.0041174376383423805,
-0.00942815188318491,
0.025063030421733856,
0.03578987345099449,
-0.043042298406362534,
-0.004499033093452454,
-0.008584846742451191,
-0.03440685197710991,
0.006400686223059893,
-0.0067337919026613235,
-0.061426348984241486,
0.012497782707214355,
-0.0019153569592162967,
-0.06533928960561752,
0.025383487343788147,
-0.0034828505013138056,
0.005886270198971033,
0.026665309444069862,
0.03761141002178192,
0.0652380883693695,
0.04816959425806999,
0.03511522710323334,
0.016461318358778954,
0.020728440955281258,
0.0151035962626338,
0.007707809563726187,
0.000869131414219737,
-0.08534248918294907,
0.02406793087720871,
-0.05177893862128258,
-0.014538581483066082,
-0.011536414735019207,
0.01582040637731552,
0.004612879361957312,
0.034052662551403046,
0.0020597728434950113,
0.009394420310854912,
-0.019851405173540115,
0.027356820181012154,
0.039264291524887085,
-0.05400526523590088,
0.007269290741533041,
-0.014361487701535225,
0.07987786829471588,
0.014943367801606655,
0.02597380056977272,
0.022684909403324127,
0.01922735758125782,
-0.0027112262323498726,
-0.039635345339775085,
-0.06146008148789406,
-0.02793026901781559,
-0.03211306035518646,
-0.01670587621629238,
-0.019261090084910393,
-0.04604446515440941,
-0.06837518513202667,
-0.022263256832957268,
0.012944734655320644,
-0.012337555177509785,
-0.00011483445268822834,
0.02658098004758358,
-0.020880237221717834,
0.06544048339128494,
0.018029864877462387,
-0.021150093525648117,
0.029060296714305878,
-0.0037274090573191643,
-0.009925702586770058,
0.012194192968308926,
0.009917269460856915,
0.044998764991760254,
-0.04486383497714996,
0.0002875143545679748,
0.037307821214199066,
0.04027625545859337,
-0.017608212307095528,
-0.043413352221250534,
0.033445484936237335,
-0.002418177668005228,
-0.014268724247813225,
0.015390319749712944,
-0.014218125492334366,
-0.02160547859966755,
0.0077204592525959015,
0.041962865740060806,
-0.01035578828305006,
-0.04496503248810768,
0.004827922210097313,
-0.0014220234006643295,
-0.0674644187092781,
0.0219765342772007,
-0.01713596098124981,
0.029667476192116737,
-0.014175960794091225,
-0.017051631584763527,
-0.010144961066544056,
0.0018963825423270464,
-0.039264291524887085,
-0.035722408443689346,
0.008416186086833477,
-0.02089710347354412,
-0.038151126354932785,
0.05973973870277405,
-0.0305782463401556,
-0.04277243837714195,
-0.011401486583054066,
-0.007872253656387329,
0.011232824996113777,
0.006860287860035896,
0.03327682241797447,
0.04864184558391571,
-0.061527546495199203,
0.020610379055142403,
-0.011671343818306923,
-0.004220742732286453,
-0.04348081722855568,
0.020306788384914398,
0.013636245392262936,
0.03896069899201393,
-0.03980400413274765,
0.04439158737659454,
-0.0024392602499574423,
0.03030838817358017,
0.003942451905459166,
-0.04742748290300369,
-0.10699856281280518,
0.03481163829565048,
-0.04972127452492714,
0.0013629919849336147,
-0.044998764991760254,
0.05157654732465744,
-0.039264291524887085,
-0.03960161283612251,
0.01885630376636982,
0.015415619127452374,
-0.004811055958271027,
0.005354987923055887,
-0.008804106153547764,
-0.005418235901743174,
-0.02266804315149784,
-0.05768207460641861,
-0.038758307695388794,
0.04236765205860138,
-0.01931168884038925,
0.026783373206853867,
0.018367188051342964,
0.07468310743570328,
0.031404685229063034,
0.028807304799556732,
-0.04577460512518883,
0.010043764486908913,
0.012067697010934353,
0.011435218155384064,
0.01289413683116436,
0.057513415813446045,
0.000362621241947636,
-0.036801837384700775,
0.03686930239200592,
0.02141995169222355,
0.01227009017020464,
0.0010330488439649343,
0.002544673392549157,
0.059469882398843765,
0.02369687519967556,
0.04870930686593056,
0.010288323275744915,
0.010178693570196629,
0.04493129998445511,
0.007218692451715469,
0.029718074947595596,
-0.0066199456341564655,
0.004988150205463171,
-0.06496823579072952,
0.05866030976176262,
0.030881837010383606,
-0.039264291524887085,
0.044998764991760254,
-0.0022516248282045126,
0.005321255885064602,
0.04064730927348137,
0.01208456326276064,
-0.029633745551109314,
-0.03427192196249962,
-0.0225331149995327,
-0.017760006710886955,
0.008770373649895191,
-0.0025973799638450146,
-0.06233711913228035,
-0.021335622295737267,
-0.003961426205933094,
0.05042964965105057,
-0.03811739385128021,
0.028183259069919586,
-0.04324468970298767,
0.019868269562721252,
-0.06446225196123123,
0.0341707281768322,
-0.016722742468118668,
0.022786106914281845,
-0.027019498869776726,
0.0330575630068779,
0.030696310102939606,
0.0014894878258928657,
-0.01359407976269722,
0.0065566981211304665,
-0.000720498850569129,
0.01112319529056549,
-0.02867237664759159,
0.01909242942929268,
-0.026007533073425293,
-0.042198993265628815,
-0.07549268007278442,
-0.06432732194662094,
-0.030477050691843033,
-0.001463134540244937,
0.03030838817358017,
0.010769007727503777,
0.007830088958144188,
-0.02224639058113098,
0.0025994882453233004,
-0.003662052797153592,
0.04901289939880371,
0.03784753754734993,
-0.006674760486930609,
0.025029297918081284,
-0.00003814638330368325,
0.024084797129034996,
-0.014766274020075798,
0.014487983658909798,
-0.015668610110878944,
0.03956788033246994,
0.0420977957546711,
0.0015569522511214018,
0.028098929673433304,
0.006641028448939323,
-0.0032762407790869474,
-0.001347180106677115,
-0.028183259069919586,
0.015381886623799801,
0.04297483339905739,
0.011249691247940063,
-0.009014932438731194,
-0.014336188323795795,
0.011089463718235493,
-0.009166727773845196,
-0.029313288629055023,
0.020610379055142403,
-0.02416912652552128,
0.016925135627388954,
0.028149528428912163,
0.020306788384914398,
0.022499382495880127,
0.0020703142508864403,
-0.006834988482296467,
0.04101836308836937,
0.02435465343296528,
-0.020542914047837257,
-0.04162554442882538,
-0.0028060979675501585,
-0.012632711790502071,
0.013062797486782074,
-0.05562441051006317,
0.03811739385128021,
0.031303487718105316,
0.024658244103193283,
0.061190225183963776,
0.006202509626746178,
-0.014209692366421223,
0.02472570911049843,
-0.040579844266176224,
0.029296422377228737,
-0.012911002151668072,
-0.021774141117930412,
0.03663317859172821,
0.03960161283612251,
-0.04816959425806999,
0.0028482633642852306,
-0.07846111804246902,
-0.015955334529280663,
-0.00481948908418417,
-0.014783140271902084,
0.009385987184941769,
0.03771260753273964,
-0.009816072881221771,
0.012750774621963501,
0.020003199577331543,
0.0375102162361145,
0.061190225183963776,
-0.02341015264391899,
0.01899123378098011,
0.015322855673730373,
0.03401893004775047,
0.020003199577331543,
0.006527182180434465,
0.007020515855401754,
-0.04594326764345169,
0.047090161591768265,
0.04972127452492714,
-0.08527502417564392,
-0.007501199841499329,
0.015887869521975517,
0.06506942957639694,
-0.02867237664759159,
-0.04523489251732826,
0.0014947584131732583,
-0.0009987895609810948,
-0.033631011843681335,
0.018535848706960678,
0.0015295448247343302,
-0.006054931320250034,
-0.010313622653484344,
0.0005241669132374227,
0.0219765342772007,
-0.03838725388050079,
0.015761373564600945,
0.03690303489565849,
0.025063030421733856,
0.005515215918421745,
0.02457391284406185,
-0.03467670828104019,
-0.007986100390553474,
0.04226645827293396,
0.044155459851026535,
-0.027997732162475586,
0.007602396421134472,
-0.008458350785076618,
0.041962865740060806,
-0.02737368643283844,
-0.03091556765139103,
0.02653038129210472,
-0.02658098004758358,
-0.03906189650297165,
-0.018350321799516678,
0.004958634730428457,
-0.0006551427068188787,
-0.037071697413921356,
-0.030342120677232742,
0.021892203018069267,
-0.022128328680992126,
-0.03334428742527962,
0.04375067353248596,
-0.026327988132834435,
0.029987933114171028,
-0.01033048890531063,
-0.0007874362054280937,
0.0337996706366539,
0.0023338471073657274,
-0.02378120645880699,
-0.025113629177212715,
-0.00888843648135662,
-0.020053798332810402,
0.010364220477640629,
0.07191706448793411,
0.02337642014026642,
0.019379153847694397,
0.007682510185986757,
-0.05218372493982315,
0.018923768773674965,
0.03396833315491676,
0.020542914047837257,
-0.009065531194210052,
0.0321299284696579,
0.07744915038347244,
-0.0030928219202905893,
-0.010617212392389774,
-0.021892203018069267,
-0.005165244452655315,
-0.02039111964404583,
0.017068497836589813,
0.007648778147995472,
-0.030342120677232742,
-0.023258358240127563,
-0.002283248817548156,
0.034710440784692764,
-0.0045875804498791695,
-0.021824738010764122,
0.02615932747721672,
-0.0017551289638504386,
0.002936810255050659,
-0.019716475158929825,
-0.015752941370010376,
0.021217558532953262,
0.015019265934824944,
-0.053971532732248306,
0.035722408443689346,
0.022094596177339554,
0.016225192695856094,
0.021436817944049835,
0.022701775655150414,
-0.0432109571993351,
0.04149061441421509,
-0.014656644314527512,
0.03295636549592018,
0.013585646636784077,
-0.011738807894289494,
0.0005455130594782531,
-0.026513515040278435,
-0.028925368562340736,
0.03946668282151222,
-0.013020631857216358,
0.008099946193397045,
-0.02565334364771843,
-0.04179420694708824,
-0.0053254724480211735,
-0.03030838817358017,
-0.03067944385111332,
0.004440001677721739,
0.027306221425533295,
0.021150093525648117,
0.03221425786614418,
-0.0059495181776583195,
0.027205025777220726,
0.0424688495695591,
0.004528549034148455,
-0.02393300086259842,
0.02425345778465271,
-0.016554081812500954,
-0.02141995169222355,
0.01319772657006979,
0.015845704823732376,
0.07164721190929413,
-0.014547014608979225,
-0.00896433461457491,
-0.007206042762845755,
0.016090262681245804,
0.013113396242260933,
0.018417784944176674,
0.055894266813993454,
-0.012506215833127499,
0.01737208664417267,
-0.007990316487848759,
0.01124125812202692,
-0.006851854734122753,
0.03902816399931908,
-0.008922168985009193,
-0.006898236460983753,
-0.02882417105138302,
-0.03179260715842247,
0.01268331054598093,
-0.0050134495832026005,
0.02690143510699272,
-0.004075272474437952,
0.03315876051783562,
0.017979266121983528,
-0.03757768124341965,
-0.006113962735980749,
-0.028200125321745872,
0.006636811885982752,
0.007547581568360329,
0.02192593552172184,
-0.0152891231700778,
0.010709975846111774,
-0.010153394192457199,
0.008066214621067047,
-0.002338063670322299,
-0.0021493742242455482,
0.010187126696109772,
-0.02597380056977272,
0.035216424614191055,
0.008972767740488052,
0.02454018034040928,
-0.058727774769067764,
0.05241985246539116,
-0.01340855285525322,
-0.048574380576610565,
0.017658811062574387,
-0.01912616193294525,
-0.01205926388502121,
0.00679703988134861,
-0.03174200654029846,
-0.01429402269423008,
-0.002852479927241802,
-0.023477615788578987,
-0.04270497336983681,
0.027862804010510445,
-0.03578987345099449,
0.021032031625509262,
0.035688675940036774,
0.03403579816222191,
0.0219765342772007,
-0.030881837010383606,
0.02509676292538643,
-0.0227186419069767,
0.051745206117630005,
0.011485816910862923,
0.061426348984241486,
-0.06527182459831238,
-0.003927694167941809,
-0.007657211273908615,
-0.003453334793448448,
-0.021656077355146408,
-0.04297483339905739,
-0.03346234932541847,
0.03906189650297165,
0.003672594204545021,
0.018417784944176674,
-0.014513282105326653,
-0.0021156419534236193,
-0.03243351727724075,
0.0006461826269514859,
0.025214824825525284,
0.0008137894910760224,
-0.03761141002178192,
-0.019328555092215538,
0.030426451936364174,
0.04351454973220825,
-0.02560274489223957,
-0.019396020099520683,
0.03798246756196022,
0.026091862469911575,
0.06233711913228035,
-0.02960001304745674,
0.05167774111032486,
-0.05957107990980148,
0.0386233776807785,
-0.03091556765139103,
-0.017658811062574387,
-0.05221745744347572,
-0.005869403947144747,
0.005696526728570461,
-0.007796356454491615,
0.010397952981293201,
0.004933335352689028,
-0.010903935879468918,
0.009512482210993767,
-0.027474883943796158,
0.03132035583257675,
0.024944968521595,
-0.029718074947595596,
0.014825304970145226,
0.04962007701396942,
-0.05906509608030319,
0.053937800228595734,
0.016975734382867813,
-0.01601436547935009,
-0.008508949540555477,
-0.03179260715842247,
-0.049788739532232285,
0.02062724530696869,
0.020677844062447548,
0.005414019338786602,
-0.0037358419504016638,
0.010811172425746918,
0.02853744849562645,
-0.027727873995900154,
-0.007518065627664328,
0.0227186419069767,
0.022280123084783554,
-0.00022294881637208164,
-0.008357154205441475,
0.01667214371263981,
-0.06193233281373978,
0.017810605466365814,
-0.03187693655490875,
0.05154281482100487,
-0.03616092726588249,
0.030527647584676743,
-0.00006799148104619235,
-0.023427018895745277,
0.005519432481378317,
-0.00451589934527874,
0.0002761824580375105,
-0.00592421879991889,
0.054308854043483734,
0.005700743291527033,
-0.03302383050322533,
0.034474316984415054,
-0.011089463718235493,
0.02927955612540245,
-0.0031539613846689463,
0.000005007124400435714,
0.0596722774207592,
-0.022465649992227554,
0.03110109642148018,
0.028689242899417877,
0.057378485798835754,
0.042806170880794525,
-0.0016317955451086164,
-0.015322855673730373,
0.03147215023636818,
0.012615845538675785,
0.025535281747579575,
0.03511522710323334,
0.0303927194327116,
0.025299156084656715,
-0.03659944608807564,
0.005350771360099316,
0.0050977799110114574,
-0.02671590819954872,
0.016183026134967804,
-0.010001599788665771,
0.05626532435417175,
0.025029297918081284,
-0.032888904213905334,
0.04567341133952141,
0.013585646636784077,
-0.01371214259415865,
0.005405586212873459,
0.02221265807747841,
-0.0219765342772007,
-0.017338354140520096,
-0.022870436310768127,
-0.006257324479520321,
-0.004524332471191883,
-0.007429518736898899,
-0.04270497336983681,
0.03514895960688591,
0.02145368419587612,
-0.006076014135032892,
0.014420518651604652,
-0.07232185453176498,
-0.028183259069919586,
-0.0003257266362197697,
-0.006569347344338894,
-0.018552714958786964,
-0.05046338215470314,
-0.0371391624212265,
-0.03801620006561279,
0.019682742655277252,
0.010414819233119488,
0.0077837067656219006,
0.03359727934002876,
0.00548148388043046,
-0.010254590772092342,
-0.04334588721394539,
-0.04044491797685623,
-0.027339953929185867,
0.015044564381241798,
0.07697689533233643,
0.00418911874294281,
0.036936767399311066,
0.013273623771965504,
-0.037780072540044785,
-0.0378812700510025,
-0.012666444294154644,
-0.03165767714381218,
-0.04823705554008484,
-0.004920685663819313,
0.025501549243927002,
0.0009624220547266304,
0.0343562550842762,
-0.02491123601794243,
-0.006392253562808037,
0.07043284922838211,
-0.024793172255158424,
0.0016802855534479022,
0.044661443680524826,
0.01133402157574892,
-0.02298850007355213,
-0.009369120933115482,
-0.010760574601590633,
0.05913256108760834,
0.06439478695392609,
-0.003063306212425232,
0.06442851573228836,
-0.008487867191433907,
0.021993398666381836,
-0.017540747299790382,
-0.011612312868237495,
-0.026091862469911575,
0.007817438803613186,
-0.0028651293832808733,
-0.02034052088856697,
0.0032994316425174475,
-0.05231865495443344,
-0.004827922210097313,
0.028739841654896736,
-0.0030337905045598745,
0.03811739385128021,
-0.05771580711007118,
0.02755921334028244,
-0.04405426234006882
] |
Backpropagation within neural networks leverages a fundamental element of
automatic differentiation, which is referred to as the reverse mode
differentiation, or vector Jacobian Product (VJP) or, in the context of
differential geometry, known as the pull-back process. The computation of
gradient is important as update of neural network parameters is performed using
gradient descent method. In this study, we present a genric randomized method,
which updates the parameters of neural networks by using directional
derivatives of loss functions computed efficiently by using forward mode AD or
Jacobian vector Product (JVP). These JVP are computed along the random
directions sampled from different probability distributions e.g., Bernoulli,
Normal, Wigner, Laplace and Uniform distributions. The computation of gradient
is performed during the forward pass of the neural network. We also present a
rigorous analysis of the presented methods providing the rate of convergence
along with the computational experiments deployed in scientific Machine
learning in particular physics-informed neural networks and Deep Operator
Networks. | [
-0.02130102925002575,
-0.0367201529443264,
-0.031821660697460175,
-0.006610184442251921,
0.014871755614876747,
0.05551627278327942,
-0.00395915238186717,
0.033101946115493774,
-0.041191887110471725,
0.0529928058385849,
0.01566961593925953,
-0.02608819492161274,
0.029743511229753494,
0.004200366325676441,
0.0429360456764698,
0.06638944149017334,
0.022655537351965904,
0.0177199337631464,
0.021152589470148087,
-0.03811177238821983,
0.04026414081454277,
-0.05451430752873421,
-0.03948483616113663,
-0.03336171805858612,
-0.021969005465507507,
0.04931893199682236,
0.020577387884259224,
0.00407048175111413,
-0.07470203936100006,
0.04542240500450134,
0.04542240500450134,
-0.0023471952881664038,
0.004678154829889536,
-0.02256276272237301,
-0.012543114833533764,
0.015947939828038216,
0.04501419514417648,
0.0008152560913003981,
-0.02861166186630726,
0.013489414937794209,
0.05173107236623764,
-0.015168633311986923,
0.028889983892440796,
0.02736848220229149,
-0.012654444202780724,
-0.008646585047245026,
0.02671906165778637,
0.01630048267543316,
-0.02000218629837036,
0.024065710604190826,
-0.010585572570562363,
-0.0012768092565238476,
0.02005785144865513,
0.046461477875709534,
-0.04007859155535698,
-0.005543277598917484,
0.03150622546672821,
0.057260431349277496,
0.044977087527513504,
-0.04709234461188316,
0.053957659751176834,
0.01044641062617302,
-0.07436805218458176,
-0.035365644842386246,
-0.0036066093016415834,
-0.010474243201315403,
0.036219172179698944,
0.0044462187215685844,
0.04731500521302223,
-0.0011933122295886278,
-0.07559267431497574,
0.007779143285006285,
-0.017172563821077347,
0.006104563362896442,
-0.037035588175058365,
0.02380594052374363,
0.056072916835546494,
0.04731500521302223,
0.025735652074217796,
0.021783456206321716,
0.011003057472407818,
-0.0024608441162854433,
-0.06238158419728279,
-0.036608826369047165,
-0.012858548201620579,
-0.0032169565092772245,
0.011522594839334488,
-0.04315870627760887,
0.03818599134683609,
-0.00814096350222826,
-0.06846759468317032,
0.01900022104382515,
-0.01791475899517536,
-0.023082299157977104,
-0.00683284318074584,
0.011949357576668262,
0.028129233047366142,
0.005506167653948069,
0.000028883316190331243,
0.04074656963348389,
0.005385560914874077,
0.0033282858785241842,
0.007449793629348278,
0.014565599150955677,
0.03026304766535759,
-0.03068981133401394,
0.005302063655108213,
0.005348450969904661,
0.013925455510616302,
0.1637284755706787,
0.007361657917499542,
0.01796114630997181,
-0.04438332840800285,
0.07637198269367218,
-0.03607073426246643,
0.01629120483994484,
-0.02213599905371666,
-0.09604018181562424,
0.055813148617744446,
-0.0472036749124527,
0.04178564250469208,
0.0944073498249054,
-0.0030221298802644014,
0.012366843409836292,
-0.07028597593307495,
0.025791315361857414,
-0.028426112607121468,
0.02193189598619938,
0.032656628638505936,
-0.039967261254787445,
-0.051211532205343246,
0.0037875196430832148,
-0.038334429264068604,
-0.006749346386641264,
-0.006934895180165768,
0.004917049314826727,
0.05403187870979309,
0.01648603193461895,
-0.017265338450670242,
-0.028648771345615387,
0.011411265470087528,
-0.06449684500694275,
0.021653572097420692,
0.02417703904211521,
0.011949357576668262,
0.022432878613471985,
0.034549228847026825,
0.03959616273641586,
0.006141672842204571,
-0.01628192700445652,
-0.03321327641606331,
0.055813148617744446,
0.009221786633133888,
0.0090733477845788,
0.08846978098154068,
0.00407048175111413,
-0.009129012934863567,
-0.0036413997877389193,
0.04130321368575096,
-0.016820020973682404,
0.0748133733868599,
0.03260096535086632,
-0.008683694526553154,
0.10331369936466217,
0.017599325627088547,
0.04423489049077034,
0.05648112669587135,
-0.016337592154741287,
-0.07288365811109543,
0.03226697817444801,
-0.011448375880718231,
-0.027628250420093536,
-0.022841086611151695,
0.023954380303621292,
-0.020503168925642967,
0.01878684014081955,
0.01856418140232563,
-0.004246753640472889,
-0.008266209624707699,
-0.020800046622753143,
-0.012812160886824131,
-0.013767738826572895,
0.0526588149368763,
0.031190792098641396,
0.03948483616113663,
0.00688850786536932,
0.0887666568160057,
-0.004186450038105249,
0.042861826717853546,
-0.0227483119815588,
0.005812323652207851,
0.02397293597459793,
0.05547916144132614,
-0.014686206355690956,
0.02918686345219612,
-0.0009277451899833977,
0.009351671673357487,
-0.0313577875494957,
0.030986689031124115,
0.035977959632873535,
0.022989526391029358,
-0.08527833968400955,
0.0495787039399147,
0.007788420654833317,
0.008929546922445297,
-0.015818055719137192,
0.01644892245531082,
-0.030986689031124115,
0.07095395028591156,
-0.06182494014501572,
0.004237476270645857,
-0.04909627512097359,
-0.028722990304231644,
-0.03447500988841057,
-0.0642370730638504,
-0.02478935196995735,
0.002278774045407772,
0.00940269697457552,
-0.0034419347066432238,
-0.035365644842386246,
-0.016532419249415398,
-0.026589177548885345,
0.04241650924086571,
-0.031394895166158676,
0.007087972946465015,
-0.015465511940419674,
-0.014101726934313774,
-0.012728664092719555,
-0.019167214632034302,
-0.02631085366010666,
-0.0233420692384243,
0.05711199343204498,
0.02254420705139637,
-0.02610674872994423,
-0.011754531413316727,
0.006554519757628441,
-0.02543877251446247,
-0.0260696392506361,
-0.0029966169968247414,
-0.008869243785738945,
-0.01532634999603033,
-0.011086555197834969,
-0.02649640291929245,
0.000021146066501387395,
0.01754366047680378,
0.021208254620432854,
-0.06201048940420151,
0.03944772481918335,
0.005121153313666582,
-0.04275049641728401,
-0.007384851574897766,
-0.01451921183615923,
-0.0016537057235836983,
-0.006401441525667906,
-0.027405591681599617,
-0.021764902397990227,
-0.04672124609351158,
-0.007844085805118084,
-0.012793606147170067,
-0.04108055680990219,
0.05536783114075661,
0.040598127990961075,
-0.013749183155596256,
0.025995420292019844,
0.024047154933214188,
-0.027220044285058975,
0.059375692158937454,
0.05867060646414757,
0.04638725891709328,
0.02567998692393303,
-0.030559925362467766,
-0.039744604378938675,
-0.015187188982963562,
-0.037666454911231995,
0.046238820999860764,
-0.021876230835914612,
0.0032146370504051447,
-0.006234447471797466,
0.03341738134622574,
-0.0038223101291805506,
-0.01670869067311287,
0.014268720522522926,
-0.020391838625073433,
-0.00735238054767251,
0.03172888606786728,
-0.05002402141690254,
-0.03753656893968582,
-0.011457652784883976,
0.01147620752453804,
0.017061233520507812,
-0.006953449919819832,
0.005932930391281843,
-0.02631085366010666,
-0.03688714653253555,
0.030411487445235252,
-0.009439807385206223,
-0.07845012843608856,
-0.04404934123158455,
0.044531770050525665,
-0.018712619319558144,
-0.02736848220229149,
-0.07158482074737549,
0.02380594052374363,
0.004893855657428503,
-0.0003383370640221983,
-0.012014299631118774,
0.009087263606488705,
0.02462235651910305,
0.019167214632034302,
0.0010663270950317383,
0.005181456916034222,
0.05132286250591278,
0.008312596939504147,
-0.03948483616113663,
-0.026811836287379265,
0.0032146370504051447,
0.048539627343416214,
0.030597036704421043,
0.002811067970469594,
-0.02627374418079853,
0.007384851574897766,
0.00631794473156333,
-0.08602052927017212,
0.025308888405561447,
0.008428565226495266,
0.01344302762299776,
-0.024084264412522316,
0.05655534565448761,
-0.05692644417285919,
-0.02211744524538517,
-0.01938987337052822,
-0.033101946115493774,
-0.030949579551815987,
0.012552392669022083,
-0.027424147352576256,
0.00012241887452546507,
0.0035393477883189917,
-0.006290112156420946,
-0.036386165767908096,
-0.05284436419606209,
0.0066565717570483685,
-0.001404374255798757,
0.04000437259674072,
-0.012023577466607094,
0.004861384630203247,
-0.0351058766245842,
-0.033083394169807434,
0.030819695442914963,
0.04939315468072891,
-0.015010916627943516,
0.0009370226180180907,
0.02647784724831581,
-0.01480681262910366,
-0.00971349235624075,
0.06204759702086449,
-0.04256494715809822,
0.0006285473355092108,
0.007510097231715918,
-0.05176817998290062,
0.04364113137125969,
0.03111657314002514,
0.003736493643373251,
-0.028945649042725563,
-0.028834320604801178,
-0.03482755273580551,
-0.022822530940175056,
-0.0446430966258049,
-0.03564396873116493,
-0.0042166016064584255,
0.04486575722694397,
0.024065710604190826,
-0.014556322246789932,
-0.013433749787509441,
0.016847852617502213,
-0.003379311878234148,
-0.012598779052495956,
-0.01818380504846573,
-0.009527943097054958,
-0.04219385236501694,
0.06093430146574974,
-0.037035588175058365,
-0.015131523832678795,
-0.005886543076485395,
-0.00023469053849112242,
0.022618427872657776,
0.029335303232073784,
0.0069905598647892475,
-0.013971841894090176,
0.02610674872994423,
0.00885532796382904,
0.04215674102306366,
-0.05221349745988846,
0.0024074986577033997,
-0.009398058988153934,
-0.0104371327906847,
-0.02794368378818035,
-0.04070945829153061,
-0.020094960927963257,
0.01096594799309969,
0.019297098740935326,
-0.04545951262116432,
0.015428402461111546,
-0.03048570640385151,
-0.01304409746080637,
-0.032062873244285583,
0.004678154829889536,
-0.07347741723060608,
-0.02673761546611786,
0.05069199576973915,
0.05777996778488159,
0.024733686819672585,
-0.059375692158937454,
-0.02083715610206127,
-0.0237688310444355,
0.0338255874812603,
0.0030453235376626253,
-0.041637204587459564,
0.030819695442914963,
-0.016170598566532135,
0.00009444155875826254,
0.020521722733974457,
-0.009899040684103966,
0.04802009090781212,
-0.006229809019714594,
-0.03334316238760948,
0.0306712556630373,
0.048539627343416214,
-0.034716226160526276,
0.018870336934924126,
-0.007426599971950054,
0.04490286484360695,
-0.006795733235776424,
0.02465946599841118,
0.02482646144926548,
-0.02901986986398697,
-0.008326512761414051,
0.008683694526553154,
-0.0029061618261039257,
-0.05447719618678093,
0.014444991946220398,
0.04152587428689003,
0.0033862697891891003,
0.0040681627579033375,
0.07800481468439102,
-0.011095832102000713,
-0.013211091049015522,
-0.001965660136193037,
-0.022655537351965904,
-0.04134032502770424,
-0.040783677250146866,
-0.06501638144254684,
-0.011439098045229912,
-0.028073569759726524,
-0.06839337199926376,
0.02126391977071762,
-0.015734558925032616,
0.023880161345005035,
-0.022043226286768913,
0.048094309866428375,
-0.02881576493382454,
0.03146911785006523,
0.02209888957440853,
0.05462563782930374,
-0.06824493408203125,
0.02588408999145031,
0.005102598574012518,
0.031691774725914,
-0.028073569759726524,
-0.022377213463187218,
-0.03154333680868149,
0.031246457248926163,
-0.05020957067608833,
0.00948619470000267,
0.06382887065410614,
0.07061996310949326,
0.0492447130382061,
-0.042453620582818985,
-0.08936041593551636,
-0.014686206355690956,
-0.04085789620876312,
0.02647784724831581,
-0.03772211819887161,
0.07058285176753998,
-0.06152806058526039,
-0.03948483616113663,
-0.018443573266267776,
0.05221349745988846,
0.0596354603767395,
-0.038853969424963,
0.009936151094734669,
-0.024993455037474632,
0.00516754062846303,
-0.02940952219069004,
0.002574492944404483,
-0.01860129088163376,
-0.005088682286441326,
0.029390966519713402,
0.006062814500182867,
0.1111067607998848,
-0.00552008394151926,
0.023100854828953743,
-0.07874701172113419,
0.014120281673967838,
0.003671551588922739,
0.0002006248978432268,
-0.0007126242853701115,
0.029261082410812378,
-0.02234010398387909,
0.011327768675982952,
-0.0604889839887619,
-0.034994546324014664,
0.024102820083498955,
-0.031023798510432243,
-0.02712726965546608,
0.00791830476373434,
-0.014611986465752125,
0.017849817872047424,
-0.01326675619930029,
0.006865314207971096,
0.043492693454027176,
0.052918583154678345,
-0.0007793059339746833,
-0.03814888000488281,
0.0024190954864025116,
-0.034141022711992264,
0.053957659751176834,
0.012598779052495956,
-0.009759879671037197,
0.01733027957379818,
0.03289784491062164,
-0.008938824757933617,
0.037276800721883774,
-0.02441825345158577,
-0.015400569885969162,
-0.009013044647872448,
-0.0077605885453522205,
-0.006828204728662968,
0.023045189678668976,
-0.00729671586304903,
0.015818055719137192,
-0.0004777887661475688,
0.03564396873116493,
0.025976864621043205,
0.004242114722728729,
-0.0021906383335590363,
0.009546497836709023,
0.021319584921002388,
-0.05135997384786606,
0.003743451787158847,
-0.001407853327691555,
-0.006290112156420946,
-0.02773958072066307,
0.031394895166158676,
0.04111766442656517,
-0.014741870574653149,
0.03889107704162598,
-0.04972714185714722,
0.0019007179653272033,
0.022432878613471985,
-0.04297315701842308,
0.030838249251246452,
0.013684241101145744,
-0.04698101431131363,
-0.044754426926374435,
-0.000010292173101333901,
-0.033101946115493774,
0.025364553555846214,
0.07592666894197464,
0.007394128944724798,
0.0175529383122921,
-0.017395222559571266,
0.01856418140232563,
-0.020540278404951096,
0.017246782779693604,
-0.008289403282105923,
0.0057798526249825954,
0.022043226286768913,
-0.003738813102245331,
-0.007630703970789909,
-0.04193408042192459,
0.031394895166158676,
-0.06523904204368591,
0.0069441725499928,
0.026032529771327972,
-0.010260861366987228,
0.04334425553679466,
-0.0312650129199028,
0.0021686044055968523,
-0.014760425314307213,
-0.06297533959150314,
-0.013071929104626179,
0.031042354181408882,
0.02940952219069004,
0.011234994046390057,
-0.035161543637514114,
-0.014444991946220398,
0.008609475567936897,
-0.019482648000121117,
0.019779527559876442,
-0.06709453463554382,
0.011735976673662663,
0.01199574489146471,
0.01838790997862816,
-0.011754531413316727,
0.0016397895524278283,
-0.020132070407271385,
0.056258466094732285,
0.006939534097909927,
0.007630703970789909,
-0.03026304766535759,
-0.051025982946157455,
0.03482755273580551,
0.04787164926528931,
-0.03089391440153122,
-0.00390812661498785,
0.005515445023775101,
-0.02315651997923851,
0.023731721565127373,
-0.00866050086915493,
-0.0011875138152390718,
0.004856746178120375,
-0.017265338450670242,
0.02690461091697216,
0.01713545247912407,
-0.016977736726403236,
0.016755077987909317,
-0.03354726731777191,
-0.019074440002441406,
-0.008544533513486385,
-0.015419124625623226,
-0.0066983201541006565,
-0.0056870779953897,
-0.020540278404951096,
0.014676928520202637,
0.04230517894029617,
-0.01791475899517536,
-0.01854562573134899,
0.0012826076708734035,
-0.02232154831290245,
0.044346220791339874,
-0.018434297293424606,
0.04876228794455528,
0.0013684241566807032,
0.041191887110471725,
-0.012802883051335812,
-0.017376666888594627,
0.03542131185531616,
-0.04709234461188316,
0.02462235651910305,
0.04501419514417648,
-0.002548979828134179,
-0.007510097231715918,
0.01729317009449005,
0.03234119713306427,
-0.027182932943105698,
-0.05440297722816467,
0.013183259405195713,
-0.011643202044069767,
0.00396611075848341,
0.007867279462516308,
0.026848945766687393,
0.006962727755308151,
-0.02651495672762394,
0.04256494715809822,
0.024306923151016235,
-0.029316747561097145,
0.04857673868536949,
0.001711689867079258,
0.03213709220290184,
0.006902424152940512,
-0.0010674868244677782,
-0.011680311523377895,
0.003451212076470256,
0.045793503522872925,
0.04145165532827377,
-0.02631085366010666,
0.00044386807712726295,
0.01732100173830986,
0.028667325153946877,
0.016328314319252968,
-0.02838900312781334,
0.019927965477108955,
-0.0042166016064584255,
-0.04397512227296829,
-0.06431129574775696,
-0.020707271993160248,
0.006642655469477177,
-0.0076399813406169415,
-0.0015400570118799806,
0.01775704324245453,
-0.05881904438138008,
-0.05135997384786606,
0.022599872201681137,
-0.017441609874367714,
0.02354617230594158,
-0.007973969914019108,
0.029131198301911354,
0.010696901939809322,
0.005153624340891838,
-0.002059594262391329,
0.010622682049870491,
-0.0009022321901284158,
-0.005070127546787262,
-0.04197119176387787,
0.022785421460866928,
0.03568108007311821,
0.00017743126954883337,
0.044346220791339874,
-0.0026533512864261866,
-0.016653025522828102,
0.018063198775053024,
0.06779962033033371,
-0.041228994727134705,
0.04961581155657768,
0.008711527101695538,
0.009444446302950382,
0.02046605944633484,
-0.03636761009693146,
0.03150622546672821,
0.013934732414782047,
-0.007125082891434431,
0.03406680375337601,
0.003731854958459735,
-0.05110020563006401,
-0.0025025925133377314,
0.053326793015003204,
0.021950451657176018,
0.007732755970209837,
0.011624647304415703,
-0.004810358863323927,
0.026403628289699554,
0.026589177548885345,
-0.009991815313696861,
-0.0210412610322237,
0.012719386257231236,
0.001704731723293662,
-0.007227134890854359,
0.02924252860248089,
0.011392710730433464,
-0.022488543763756752,
0.016133489087224007,
-0.03234119713306427,
0.025104785338044167,
0.02254420705139637,
-0.02462235651910305,
0.013433749787509441,
-0.03341738134622574,
0.013173981569707394,
-0.02486357092857361,
-0.008632669225335121,
0.05158263072371483,
-0.03469767048954964,
0.0010906803654506803,
-0.027238598093390465,
-0.04178564250469208,
-0.02961362525820732,
0.010066035203635693,
-0.02486357092857361,
-0.003780561499297619,
-0.004383596125990152,
-0.015966493636369705,
0.06401441991329193,
-0.007881195284426212,
0.011086555197834969,
0.02417703904211521,
0.008679056540131569,
-0.020336173474788666,
0.020503168925642967,
0.02085571177303791,
-0.026644840836524963,
-0.019352763891220093,
0.03794477880001068,
0.024529581889510155,
-0.05570182204246521,
-0.020595943555235863,
0.0518052913248539,
0.04994979873299599,
0.01606854610145092,
0.019241435453295708,
-0.00843784213066101,
-0.04297315701842308,
0.021969005465507507,
0.019890855997800827,
0.032044317573308945,
0.0035694995895028114,
-0.02855599671602249,
-0.03616350516676903,
-0.015261407941579819,
0.0025304248556494713,
0.028203453868627548,
-0.003112585050985217,
0.03811177238821983,
-0.01063195988535881,
-0.02232154831290245,
0.07644620537757874,
0.043529804795980453,
-0.008767192251980305,
0.06008077785372734,
-0.019649643450975418,
-0.010390746407210827,
0.029316747561097145,
0.005826239474117756,
-0.052510377019643784,
-0.03171033039689064,
-0.006865314207971096,
0.01920432597398758,
0.008108492940664291,
0.017868371680378914,
0.030114607885479927,
-0.009398058988153934,
-0.023527618497610092,
-0.007723478600382805,
-0.03948483616113663,
0.016356147825717926,
0.003685467643663287,
0.020391838625073433,
-0.0310980174690485,
-0.012051410041749477,
-0.0177663192152977,
-0.010251584462821484,
-0.008382177911698818,
-0.04126610606908798,
-0.03438223525881767,
0.001153303193859756,
-0.05781707912683487,
0.000055882152082631364,
-0.00803427305072546,
0.004930965602397919,
0.02855599671602249,
-0.00007443705544574186,
0.016179876402020454,
0.03005894459784031,
-0.03783344849944115,
0.004040330182760954,
-0.04152587428689003,
0.024306923151016235,
0.011281381361186504,
-0.0002307766117155552,
-0.0260696392506361,
0.02148657850921154,
0.01922287978231907,
-0.04783454164862633,
0.005399476736783981,
-0.00289688422344625,
-0.018239470198750496,
0.003402505535632372,
0.020280510187149048,
0.021597906947135925,
0.013331698253750801,
-0.027034495025873184,
0.005418031942099333,
0.0070555019192397594,
0.009685659781098366,
0.006336499471217394,
-0.02631085366010666,
-0.01669941283762455,
-0.0032355112489312887,
0.0038385456427931786,
-0.044123560190200806,
-0.04761188104748726,
-0.04237939789891243,
0.02336062304675579,
0.06928400695323944,
-0.04074656963348389,
0.021876230835914612,
-0.007941498421132565,
0.026867499575018883,
-0.02005785144865513,
-0.027238598093390465,
-0.033083394169807434,
0.016003604978322983,
0.034308016300201416,
-0.02523466944694519,
0.05692644417285919,
0.03315761312842369,
-0.01756221614778042,
-0.007310632150620222,
0.006011788733303547,
0.009583607316017151,
-0.0538463294506073,
0.027071604505181313,
0.003421060275286436,
-0.0072410511784255505,
-0.04898494482040405,
-0.0194269847124815,
0.029799174517393112,
-0.02542021870613098,
-0.039113737642765045,
-0.007421961519867182,
-0.005371644627302885,
-0.015762390568852425,
0.029780620709061623,
-0.0016537057235836983,
-0.02354617230594158,
0.0032494275365024805,
0.025921199470758438,
0.027238598093390465,
-0.020948486402630806,
0.028426112607121468,
-0.00015075858391355723,
0.0080296341329813,
-0.007431238889694214,
0.003701703157275915,
-0.022878196090459824,
0.04738922417163849,
0.004585380665957928,
0.01000109314918518,
-0.009991815313696861,
0.04096922650933266,
0.004443899262696505,
-0.00015539731248281896,
0.020094960927963257,
0.010567017830908298,
-0.038074661046266556,
0.04189697280526161,
0.019074440002441406,
0.003627483732998371,
-0.0317845493555069,
0.01148548536002636,
0.0033120503649115562,
0.0558873675763607,
0.011309213936328888,
0.025104785338044167,
0.012886380776762962,
-0.0012176655000075698,
-0.00918931607156992,
-0.017070511355996132,
-0.0016502267681062222,
0.005547916051000357,
0.03068981133401394,
-0.03198865428566933,
0.01429655309766531,
0.02632940746843815,
0.011003057472407818,
0.037072695791721344,
0.033510155975818634,
0.016959181055426598,
-0.020558832213282585,
0.006753984838724136,
0.018740452826023102,
-0.021393803879618645,
-0.018629122525453568,
0.011439098045229912,
-0.000851786055136472,
0.03551408648490906,
-0.03046715073287487,
0.0007839446770958602,
0.006137034390121698,
-0.023304957896471024,
0.001678059110417962,
0.011383432894945145,
-0.039299286901950836,
0.009555775672197342,
-0.03250819072127342,
-0.02211744524538517,
0.02736848220229149,
-0.02525322325527668,
-0.007658536545932293,
0.014268720522522926,
0.05135997384786606,
0.04802009090781212,
-0.04575639218091965,
-0.015187188982963562,
-0.021171145141124725,
0.005770574789494276,
0.01874973066151142,
-0.00960216298699379,
-0.00026484226691536605,
-0.020948486402630806,
-0.015780946239829063,
-0.009495471604168415,
-0.007138999179005623,
0.033454492688179016,
0.03631194680929184,
-0.0038223101291805506,
0.03217420354485512,
-0.014240888878703117,
-0.017599325627088547,
-0.014667651616036892,
0.06728008389472961,
0.06612967699766159,
0.015799500048160553,
-0.020206289365887642,
0.002037560334429145,
-0.01104016788303852,
-0.028852874413132668,
-0.03208142891526222,
0.009198592975735664,
-0.05113731324672699,
0.029372412711381912,
-0.06553591787815094,
0.017404500395059586,
0.004061204381287098,
-0.0003136938321404159,
0.009138289839029312,
0.01241323072463274,
-0.00563141331076622,
-0.012979155406355858,
-0.002035240875557065,
-0.02465946599841118,
-0.003792158327996731,
-0.0010843022027984262,
0.011142219416797161,
0.06052609533071518,
0.017478719353675842,
0.006007149815559387,
0.03323183208703995,
-0.03814888000488281,
-0.023471953347325325,
0.016430366784334183,
0.0040565659292042255,
-0.051248643547296524,
0.0026835028547793627,
-0.00109299982432276,
-0.042453620582818985,
0.007083334494382143,
-0.026997385546565056,
-0.03315761312842369,
0.05020957067608833,
0.015428402461111546,
0.030504262074828148,
0.008136325515806675,
0.029539406299591064,
-0.02421414852142334
] |
Simply-verifiable mathematical conditions for existence, uniqueness and
explicit analytical computation of minimal adversarial paths (MAP) and minimal
adversarial distances (MAD) for (locally) uniquely-invertible classifiers, for
generalized linear models (GLM), and for entropic AI (EAI) are formulated and
proven. Practical computation of MAP and MAD, their comparison and
interpretations for various classes of AI tools (for neuronal networks, boosted
random forests, GLM and EAI) are demonstrated on the common synthetic
benchmarks: on a double Swiss roll spiral and its extensions, as well as on the
two biomedical data problems (for the health insurance claim predictions, and
for the heart attack lethality classification). On biomedical applications it
is demonstrated how MAP provides unique minimal patient-specific
risk-mitigating interventions in the predefined subsets of accessible control
variables. | [
-0.016649702563881874,
0.007777858059853315,
-0.03869256377220154,
-0.04176340252161026,
0.049901124089956284,
0.043413978070020676,
-0.008276868611574173,
0.030919503420591354,
-0.01621786504983902,
-0.011227753013372421,
0.00360103789716959,
0.0201523769646883,
0.07742351293563843,
-0.0014790404820814729,
0.021687796339392662,
-0.0010016211308538914,
0.009073367342352867,
-0.023626262322068214,
0.02717692032456398,
-0.04602418839931488,
-0.044450387358665466,
-0.0213807113468647,
-0.02441316470503807,
0.04848086088895798,
0.02418285235762596,
0.04659997299313545,
0.013550074771046638,
0.0034954778384417295,
-0.06441083550453186,
0.03946027159690857,
0.03377922251820564,
-0.014260205440223217,
-0.011218156665563583,
0.034047920256853104,
-0.014135452918708324,
-0.04406652972102165,
0.0172638688236475,
0.02944166213274002,
-0.001140168751589954,
0.09527275711297989,
0.055735714733600616,
0.030919503420591354,
0.03429742529988289,
0.020939279347658157,
-0.01947103440761566,
-0.03928753733634949,
0.003557854099199176,
-0.013953122310340405,
-0.039882514625787735,
0.039383500814437866,
-0.009279689751565456,
-0.05980457738041878,
0.008041758090257645,
-0.023299986496567726,
0.0070485337637364864,
-0.03589042276144028,
0.047636378556489944,
0.04698382690548897,
0.08214492350816727,
-0.034182269126176834,
0.0033923168666660786,
0.0003520668251439929,
-0.02001802809536457,
0.024854598566889763,
-0.02587181329727173,
-0.036946024745702744,
0.03280039131641388,
0.02731126919388771,
-0.008703907951712608,
-0.007710683159530163,
-0.045141324400901794,
0.006016924045979977,
-0.037944044917821884,
0.0044095320627093315,
0.0035050741862505674,
0.05734790489077568,
0.04095730558037758,
0.03237815201282501,
0.03696521744132042,
-0.012398510240018368,
0.04041991010308266,
0.0053067924454808235,
0.015363788232207298,
0.0031787974294275045,
0.09335348755121231,
-0.0003478684229776263,
0.02247469872236252,
-0.08275909721851349,
0.04805862158536911,
-0.047905080020427704,
-0.016237057745456696,
0.012264160439372063,
-0.024163659662008286,
0.043413978070020676,
0.023703033104538918,
0.026485981419682503,
0.006271227728575468,
0.016524948179721832,
-0.0402279831469059,
0.029422469437122345,
0.021534254774451256,
0.0018784893909469247,
-0.008022565394639969,
0.018041174858808517,
0.025353608652949333,
-0.03754099830985069,
-0.050937533378601074,
0.03972897306084633,
0.027349654585123062,
0.1960730254650116,
-0.040842149406671524,
0.040650222450494766,
-0.02164941094815731,
-0.029000230133533478,
-0.00824807956814766,
-0.04418168589472771,
-0.06061067432165146,
-0.09926485270261765,
0.03723391517996788,
-0.03324182704091072,
-0.0628754124045372,
0.048173777759075165,
0.030765961855649948,
0.012648015283048153,
-0.07492845505475998,
0.008463998325169086,
-0.004457513801753521,
0.023453528061509132,
0.0011461664689704776,
0.009452424012124538,
0.019221529364585876,
-0.01928870379924774,
-0.011083806864917278,
-0.029422469437122345,
-0.028424447402358055,
0.003027654718607664,
0.013914735987782478,
0.005359572824090719,
-0.012120215222239494,
0.032550886273384094,
-0.033990342170000076,
-0.06061067432165146,
-0.0018844871083274484,
0.02147667668759823,
-0.07573454827070236,
-0.028558796271681786,
0.003915318753570318,
0.033222634345293045,
-0.03479643911123276,
0.029691169038414955,
-0.0853693038225174,
0.07381527870893478,
-0.020037220790982246,
0.005585087463259697,
0.10755611211061478,
0.00480058416724205,
-0.018866462633013725,
-0.01875130645930767,
0.01653454452753067,
-0.04018959775567055,
0.08882399648427963,
-0.04978596791625023,
0.035487376153469086,
0.053931597620248795,
0.017110327258706093,
0.01943264901638031,
-0.017206290736794472,
0.004066461697220802,
-0.02084331586956978,
0.050668831914663315,
-0.03352971747517586,
-0.0021243963856250048,
-0.024067696183919907,
-0.03606315702199936,
0.0026414007879793644,
0.043183665722608566,
0.02201407216489315,
0.019806908443570137,
-0.02550715208053589,
-0.005340379662811756,
-0.03976735845208168,
-0.029979059472680092,
0.027791086584329605,
-0.004315967205911875,
0.0043399580754339695,
0.016093112528324127,
0.08920785784721375,
-0.04510293900966644,
0.04383621737360954,
0.004951727110892534,
-0.0023367160465568304,
0.02251308411359787,
0.01811794564127922,
-0.01852099411189556,
0.004635046701878309,
-0.0578853040933609,
0.0013458909234032035,
-0.050668831914663315,
0.016927996650338173,
-0.0040928516536951065,
0.006731853354722261,
-0.04629288986325264,
0.026159703731536865,
0.09888099879026413,
0.0037521806079894304,
-0.02577584981918335,
0.02604454755783081,
-0.02541118673980236,
0.01261922623962164,
-0.005949749145656824,
-0.04003605619072914,
-0.0008876642095856369,
-0.03627427667379379,
-0.0334145613014698,
-0.0351611003279686,
-0.01007618848234415,
-0.012302545830607414,
-0.021361518651247025,
-0.0016205869615077972,
-0.014759217388927937,
0.01492235530167818,
0.03949865698814392,
0.014375362545251846,
-0.028827495872974396,
0.015776433050632477,
-0.0031859949231147766,
0.0005943751893937588,
-0.010287308134138584,
0.007432388607412577,
0.01238891389220953,
0.019998835399746895,
-0.006381586194038391,
-0.008204896003007889,
0.0003943508199881762,
-0.023626262322068214,
0.049709197133779526,
-0.019768521189689636,
0.0022551468573510647,
0.0011839520884677768,
-0.01857857219874859,
-0.06824938207864761,
-0.025526344776153564,
-0.014298590831458569,
0.0081569142639637,
0.030996274203062057,
-0.03450854495167732,
-0.010747934691607952,
0.057962074875831604,
0.04356751963496208,
0.0553518608212471,
0.012868732213973999,
-0.02744561806321144,
0.03995928540825844,
0.014931951649487019,
-0.05182039737701416,
-0.03377922251820564,
0.0067222570069134235,
-0.04855763167142868,
0.019240722060203552,
-0.000897860387340188,
0.08022565394639969,
-0.004889350384473801,
0.015872396528720856,
0.040112826973199844,
0.01188990194350481,
0.01517186127603054,
0.008334447629749775,
0.016726473346352577,
0.02876991778612137,
0.03892287611961365,
0.012628822587430477,
0.0030348519794642925,
-0.017465393990278244,
0.016467370092868805,
0.008545567281544209,
-0.023722225800156593,
-0.006568715441972017,
0.06080260127782822,
0.027196113020181656,
-0.04659997299313545,
0.0390380322933197,
0.02278178185224533,
0.00037245912244543433,
-0.004095250740647316,
0.04721413925290108,
-0.019787713885307312,
-0.04233918339014053,
-0.005167645402252674,
-0.108016736805439,
-0.048634402453899384,
-0.013876350596547127,
0.044872626662254333,
-0.0002925393346231431,
-0.00686140451580286,
-0.00007470924174413085,
0.030228564515709877,
-0.010364079847931862,
-0.02151506207883358,
0.013367743231356144,
-0.015843607485294342,
-0.08475513756275177,
-0.004128837957978249,
-0.01017215196043253,
0.037349071353673935,
0.020190762355923653,
-0.0050141033716499805,
0.019192740321159363,
0.036581363528966904,
-0.046139348298311234,
-0.02124636247754097,
-0.01435616984963417,
0.04955565556883812,
0.011026228778064251,
-0.049709197133779526,
0.019691750407218933,
-0.024470742791891098,
0.03500755876302719,
-0.0503617487847805,
0.009414038620889187,
-0.014807199127972126,
0.00973551720380783,
-0.03070838376879692,
-0.03665813431143761,
0.020401882007718086,
-0.01050802506506443,
-0.012964695692062378,
-0.03377922251820564,
0.028290098533034325,
-0.05753983557224274,
-0.06276025623083115,
-0.023760611191391945,
0.0062376405112445354,
-0.06851807981729507,
-0.003080434864386916,
-0.01961497962474823,
-0.058691397309303284,
-0.03479643911123276,
-0.0027301672380417585,
-0.024470742791891098,
-0.029883095994591713,
0.0157572403550148,
-0.04091892018914223,
-0.03644701465964317,
0.01711992360651493,
-0.009423634968698025,
-0.02967197634279728,
-0.04091892018914223,
-0.03483482450246811,
-0.0440281443297863,
0.016160286962985992,
0.0010747933993116021,
-0.009913050569593906,
0.0009914250113070011,
0.024470742791891098,
0.006794230081140995,
-0.03596719354391098,
-0.01055600680410862,
0.0026461989618837833,
-0.0034786839969456196,
-0.010911072604358196,
0.005695445463061333,
-0.048634402453899384,
-0.012801557779312134,
-0.01992206461727619,
-0.05531347543001175,
-0.016476966440677643,
-0.04429684206843376,
0.037848081439733505,
-0.022167613729834557,
0.011649993248283863,
-0.0016049928963184357,
0.026831449940800667,
-0.020133184269070625,
0.03360648825764656,
0.002727768151089549,
0.0014286595396697521,
0.046139348298311234,
-0.030151793733239174,
-0.034988366067409515,
0.037080373615026474,
-0.0440281443297863,
0.007365213707089424,
-0.009145340882241726,
-0.026793064549565315,
-0.006463155150413513,
-0.00647754967212677,
0.015296613797545433,
-0.0037785705644637346,
0.03569849580526352,
0.010872687213122845,
-0.023491913452744484,
0.00998982135206461,
0.006971762981265783,
-0.046907056123018265,
0.037982434034347534,
-0.013492495752871037,
-0.006338402163237333,
-0.06698266416788101,
0.009961032308638096,
-0.02777189388871193,
0.026390017941594124,
-0.022589854896068573,
-0.040151212364435196,
-0.001706954324617982,
-0.013761194422841072,
0.06352797150611877,
-0.0020632194355130196,
-0.010949457995593548,
0.018722517415881157,
0.05961265042424202,
0.017148712649941444,
-0.007163689937442541,
0.01472083106637001,
0.00220836466178298,
-0.02020995505154133,
0.010085784830152988,
-0.038481444120407104,
0.012753576040267944,
-0.03360648825764656,
-0.008027363568544388,
-0.023069674149155617,
-0.007091717328876257,
0.040343139320611954,
-0.04176340252161026,
-0.029595205560326576,
0.041916944086551666,
0.003337137633934617,
0.043874602764844894,
0.0308043472468853,
-0.008737495169043541,
0.018367452546954155,
0.01974932849407196,
-0.020996857434511185,
-0.046907056123018265,
-0.022455506026744843,
-0.004378343932330608,
-0.04897987097501755,
-0.013780387118458748,
-0.01093986164778471,
-0.04095730558037758,
-0.0008492787601426244,
0.043413978070020676,
0.054238684475421906,
0.004243994597345591,
-0.05558217316865921,
-0.06095614284276962,
0.012014655396342278,
0.026370825245976448,
-0.039076417684555054,
0.0528951920568943,
-0.04659997299313545,
0.007869022898375988,
-0.025296030566096306,
-0.06402698159217834,
0.026198089122772217,
-0.01693759299814701,
0.017494183033704758,
-0.04874955862760544,
0.06740490347146988,
-0.04095730558037758,
0.056964050978422165,
0.06613817811012268,
0.06494823098182678,
-0.033951956778764725,
0.04418168589472771,
-0.012983888387680054,
0.001482639112509787,
0.027599159628152847,
0.009639553725719452,
0.006760642398148775,
-0.00613687839359045,
-0.03790565952658653,
0.03174479305744171,
0.0018976822029799223,
0.06203093379735947,
0.0376945398747921,
-0.0640653669834137,
-0.050400134176015854,
-0.003224380314350128,
-0.014241012744605541,
0.020401882007718086,
0.00763391237705946,
0.014797602780163288,
-0.025929391384124756,
-0.0013986709527671337,
-0.009836278855800629,
0.04026636853814125,
0.05105268955230713,
-0.0232424084097147,
-0.0064343661069869995,
-0.05512154847383499,
-0.05132138729095459,
0.012110618874430656,
-0.011640396900475025,
0.0015905983746051788,
0.003874534275382757,
-0.004515091888606548,
-0.010268115438520908,
0.05481446534395218,
0.03400953486561775,
0.011697974987328053,
-0.0603419728577137,
-0.013242990709841251,
0.031130624935030937,
-0.000884665350895375,
0.018012385815382004,
0.0167072806507349,
0.002845323644578457,
0.03550656884908676,
-0.012628822587430477,
0.03187914192676544,
0.009231708012521267,
0.0321478396654129,
-0.036523785442113876,
0.06091775745153427,
-0.011007036082446575,
0.013914735987782478,
0.013262183405458927,
0.020996857434511185,
0.005076479632407427,
0.012427299283444881,
-0.021303940564393997,
-0.05159008502960205,
0.05665696784853935,
-0.005940152797847986,
0.020900893956422806,
0.02544957399368286,
-0.03550656884908676,
-0.02337675727903843,
-0.046638358384370804,
0.01440415158867836,
0.06157030910253525,
-0.03715714439749718,
-0.05047690495848656,
0.003229178488254547,
-0.02477782778441906,
-0.06333604454994202,
0.052165865898132324,
0.012638418935239315,
-0.03356810286641121,
-0.03040130063891411,
0.03328021243214607,
0.03216703236103058,
0.01943264901638031,
-0.002521446207538247,
0.036120735108852386,
0.009092560969293118,
-0.051935553550720215,
-0.01752297207713127,
0.023933347314596176,
-0.013031870126724243,
-0.01372280903160572,
0.001666169730015099,
-0.008732696995139122,
-0.023031288757920265,
0.01707194186747074,
-0.022858552634716034,
-0.0016673692734912038,
-0.040842149406671524,
-0.021898915991187096,
0.016006745398044586,
-0.00887664221227169,
-0.016524948179721832,
0.06936255842447281,
-0.007154093589633703,
-0.011170174926519394,
0.004778992384672165,
0.05139815807342529,
-0.008041758090257645,
0.010776723735034466,
-0.015229439362883568,
0.005935354623943567,
-0.005729032680392265,
0.006098493002355099,
0.015095089562237263,
0.011026228778064251,
-0.017283061519265175,
0.0020032422617077827,
-0.023856576532125473,
0.004663835745304823,
0.01127573475241661,
-0.043874602764844894,
0.023664647713303566,
0.04629288986325264,
-0.0023978929966688156,
-0.0383279025554657,
-0.001079591573216021,
-0.014221820048987865,
0.010767127387225628,
-0.03084273263812065,
0.003068439196795225,
0.05704082176089287,
0.017695706337690353,
0.0019240721594542265,
-0.01032569445669651,
0.0018784893909469247,
0.032454922795295715,
-0.022705011069774628,
0.03473885729908943,
-0.039613816887140274,
-0.009044578298926353,
-0.02940327674150467,
0.030247757211327553,
0.0452948659658432,
-0.03502675145864487,
-0.011592415161430836,
0.03640862926840782,
0.03552576154470444,
0.006957367993891239,
-0.007019744720309973,
-0.013665230944752693,
-0.045909032225608826,
0.008771082386374474,
-0.0058297947980463505,
0.009481213055551052,
0.00840162206441164,
0.020555423572659492,
-0.013866754248738289,
-0.015239035710692406,
-0.01811794564127922,
0.010056995786726475,
0.0016505756648257375,
0.029019422829151154,
0.004625450354069471,
0.016649702563881874,
0.03640862926840782,
-0.02880830317735672,
-0.023703033104538918,
0.008027363568544388,
0.006410375237464905,
0.009706728160381317,
-0.006429567933082581,
0.007758664898574352,
-0.04978596791625023,
0.02491217665374279,
0.032320573925971985,
-0.05608118698000908,
-0.0078786201775074,
-0.021591832861304283,
0.009922646917402744,
-0.028981037437915802,
0.012628822587430477,
-0.029288120567798615,
-0.004375944845378399,
0.0019072785507887602,
-0.023165637627243996,
0.020401882007718086,
-0.007893014699220657,
0.05135977268218994,
0.04049668088555336,
-0.01472083106637001,
0.008104134351015091,
0.017916422337293625,
0.039345115423202515,
-0.0010046199895441532,
-0.020958472043275833,
0.009980225004255772,
-0.015594101510941982,
0.009668342769145966,
-0.025200067088007927,
0.03406711295247078,
-0.02011399157345295,
-0.021035242825746536,
0.042876582592725754,
-0.0004993111360818148,
0.015651678666472435,
0.023319179192185402,
-0.025852620601654053,
-0.02291613072156906,
0.024662671610713005,
0.022321157157421112,
-0.02821332775056362,
-0.047406066209077835,
0.05734790489077568,
0.0426846519112587,
-0.018050771206617355,
-0.02940327674150467,
0.03412469103932381,
0.021457483991980553,
-0.012398510240018368,
-0.039575427770614624,
0.0037281897384673357,
-0.025353608652949333,
0.024086888879537582,
-0.00686140451580286,
-0.023837383836507797,
0.05350935831665993,
0.002193970140069723,
-0.028558796271681786,
-0.01300308108329773,
-0.011745956726372242,
-0.04003605619072914,
-0.009236506186425686,
0.021035242825746536,
0.00788341835141182,
0.004095250740647316,
0.008564759977161884,
-0.001751337549649179,
0.014193031005561352,
-0.017091134563088417,
0.01118936762213707,
0.024566706269979477,
0.027119342237710953,
0.016812840476632118,
0.029729554429650307,
-0.034450966864824295,
0.0270425695925951,
0.022167613729834557,
-0.02310805954039097,
0.06352797150611877,
0.033184248954057693,
0.043413978070020676,
-0.024470742791891098,
0.02427881583571434,
0.04759799316525459,
0.02020995505154133,
0.03437419608235359,
-0.008329649455845356,
0.008185703307390213,
0.026716293767094612,
0.045909032225608826,
0.05642665550112724,
0.015469348058104515,
-0.06091775745153427,
-0.009361258707940578,
0.05231940746307373,
0.017359832301735878,
-0.035717688500881195,
0.0034738858230412006,
-0.010488832369446754,
-0.002504652598872781,
-0.0012343330308794975,
0.02310805954039097,
-0.007110910024493933,
0.004404733888804913,
-0.005973740480840206,
0.01435616984963417,
0.006194456946104765,
0.012292949482798576,
0.011419679969549179,
0.057194363325834274,
0.0021843737922608852,
0.015430962666869164,
-0.01195707730948925,
-0.015296613797545433,
0.02038268931210041,
-0.005249214358627796,
-0.009193322621285915,
-0.013981911353766918,
0.036082349717617035,
0.02903861552476883,
-0.018415434285998344,
0.09273932129144669,
-0.026063740253448486,
-0.009481213055551052,
-0.04525648057460785,
0.012974292039871216,
0.0007365213823504746,
-0.013885946944355965,
-0.025583922863006592,
0.006098493002355099,
0.03554495424032211,
-0.000671745918225497,
0.05911364033818245,
0.03473885729908943,
0.0006135678850114346,
0.0024482738226652145,
-0.024701057001948357,
0.037848081439733505,
-0.029883095994591713,
-0.017004767432808876,
0.06563916802406311,
0.03604396432638168,
-0.03477724641561508,
-0.014605674892663956,
-0.009663544595241547,
-0.009865067899227142,
-0.007638710550963879,
-0.04230079799890518,
0.03953704237937927,
0.0011149782221764326,
0.02124636247754097,
-0.011822727508842945,
0.043605905026197433,
-0.02224438637495041,
-0.05132138729095459,
-0.022455506026744843,
-0.03942188620567322,
-0.012811154127120972,
0.022225193679332733,
-0.018002789467573166,
0.0034570922143757343,
-0.001626584678888321,
-0.029460854828357697,
0.012532859109342098,
0.0029100992251187563,
0.005009305197745562,
-0.00441672932356596,
-0.02134232595562935,
-0.037809696048498154,
0.0018389043398201466,
-0.026198089122772217,
-0.00229353248141706,
-0.014279398135840893,
-0.053470972925424576,
-0.023703033104538918,
-0.0031739992555230856,
0.03882691264152527,
0.004426325671374798,
0.01739821955561638,
0.0062328423373401165,
0.014768813736736774,
-0.02940327674150467,
0.01821391098201275,
0.00540275638923049,
0.05385482683777809,
0.026697101071476936,
-0.011150982230901718,
-0.01861695758998394,
-0.013118237257003784,
-0.008804669603705406,
-0.037848081439733505,
-0.012321739457547665,
0.0113237164914608,
-0.0029316910076886415,
-0.00874229334294796,
0.00982668250799179,
-0.017283061519265175,
0.04725252464413643,
-0.0049037449061870575,
-0.002034430392086506,
0.05381644144654274,
-0.024950562044978142,
0.012849539518356323,
-0.012715189717710018,
0.031226588413119316,
-0.008281667716801167,
0.028654759749770164,
0.019787713885307312,
0.007341222837567329,
0.0020368294790387154,
-0.0019456640584394336,
0.008895834907889366,
-0.004704620223492384,
0.033683259040117264,
0.013060659170150757,
0.019998835399746895,
0.014241012744605541,
0.007307635620236397,
0.02084331586956978,
0.015622890554368496,
-0.013022273778915405,
0.03379841521382332,
0.030727576464414597,
-0.01555571611970663,
-0.010469639673829079,
0.012369721196591854,
0.013367743231356144,
0.00016973579477053136,
-0.00613687839359045,
-0.013300568796694279,
0.08429451286792755,
0.031687214970588684,
-0.028961844742298126,
0.028865881264209747,
-0.017868440598249435,
0.033683259040117264,
-0.06609979271888733,
-0.025219259783625603,
-0.04974758252501488,
0.0003433701058384031,
-0.0042463936842978,
-0.020075606182217598,
0.06502500176429749,
0.023261601105332375,
0.01453850045800209,
0.017427008599042892,
0.007614719681441784,
0.023031288757920265,
0.003389917779713869,
0.03450854495167732,
-0.007014946546405554,
0.01433697622269392,
-0.03393276408314705,
-0.021438291296362877,
-0.019231125712394714,
-0.02794463001191616,
-0.04951727017760277,
-0.06356635689735413,
0.006847009994089603,
-0.01243689563125372,
0.0031620038207620382,
-0.0031116229947656393,
-0.00033677261671982706,
0.036312662065029144,
0.008147317916154861,
-0.025795042514801025,
-0.004522289149463177,
0.01616988331079483,
-0.013991507701575756,
0.0023990925401449203,
-0.010719145648181438,
-0.01906798779964447,
0.003896126290783286,
-0.010863090865314007,
-0.02564150094985962,
0.0226474329829216,
0.00703413924202323,
0.05362451449036598,
-0.04233918339014053,
-0.018972022458910942,
-0.03224380314350128,
-0.02134232595562935,
-0.023990925401449203,
0.005268407054245472,
0.015363788232207298,
-0.022397927939891815,
-0.012590437196195126,
0.03187914192676544,
0.016285039484500885,
0.014807199127972126,
0.02274339646100998,
-0.03702279552817345,
-0.006847009994089603,
0.013310165144503117,
-0.003953704610466957,
-0.00935166236013174,
-0.01453850045800209,
-0.0036202305927872658,
0.027061762288212776,
-0.03410549834370613,
0.02617889642715454,
-0.009294084273278713,
0.03640862926840782,
0.038654178380966187,
0.002571827033534646,
-0.00949080940335989,
-0.006103291176259518,
-0.04049668088555336,
-0.011055017821490765,
-0.02155344747006893,
0.031284164637327194,
0.03493078798055649,
0.0270425695925951,
-0.0371379517018795,
-0.09442827850580215,
0.026485981419682503,
-0.05128300189971924,
-0.014912758953869343,
-0.01195707730948925,
-0.0030252556316554546,
-0.01567087136209011,
0.013463706709444523,
0.01243689563125372,
-0.06475630402565002,
-0.029959866777062416,
-0.009581975638866425,
-0.017964404076337814,
0.001379478140734136,
0.07938117533922195,
0.03437419608235359,
-0.01200505904853344,
-0.038654178380966187,
-0.020325111225247383,
0.01893363706767559,
-0.005685849115252495,
-0.005316388793289661,
-0.06329765915870667,
-0.03527625650167465,
0.00788341835141182,
-0.008497585542500019,
-0.004231999162584543,
0.02224438637495041,
0.048442475497722626,
0.0028861083555966616,
0.04349074885249138,
0.005340379662811756,
-0.02644759602844715,
-0.05715597793459892,
0.021630218252539635,
0.008655925281345844,
-0.004942130297422409,
0.031955912709236145,
-0.01865534298121929,
-0.021534254774451256,
-0.012062637135386467,
0.015469348058104515,
-0.004582266788929701,
-0.00892462395131588,
-0.009087761864066124,
-0.006256833206862211,
0.01884726993739605,
-0.01893363706767559,
-0.022954516112804413,
-0.036946024745702744,
-0.013271779753267765,
-0.01497033704072237,
-0.008660723455250263,
0.02301209419965744,
-0.0020932082552462816,
-0.023088866844773293,
0.010104977525770664,
0.0018736912170425057,
0.04721413925290108,
0.00978349894285202,
0.005177241750061512,
0.041648246347904205,
0.007072524633258581,
-0.005153250880539417,
-0.012129811570048332,
-0.0138187725096941,
-0.013885946944355965,
0.014519307762384415,
0.032416537404060364,
-0.06767360121011734,
0.013329357840120792,
-0.06537047028541565,
-0.04222402721643448,
0.015191053971648216,
-0.033951956778764725,
0.017830055207014084,
-0.04091892018914223,
-0.05965103581547737,
-0.006803826428949833
] |
High dimension, low sample size (HDLSS) problems are numerous among
real-world applications of machine learning. From medical images to text
processing, traditional machine learning algorithms are usually unsuccessful in
learning the best possible concept from such data. In a previous work, we
proposed a dissimilarity-based approach for multi-view classification, the
Random Forest Dissimilarity (RFD), that perfoms state-of-the-art results for
such problems. In this work, we transpose the core principle of this approach
to solving HDLSS classification problems, by using the RF similarity measure as
a learned precomputed SVM kernel (RFSVM). We show that such a learned
similarity measure is particularly suited and accurate for this classification
context. Experiments conducted on 40 public HDLSS classification datasets,
supported by rigorous statistical analyses, show that the RFSVM method
outperforms existing methods for the majority of HDLSS problems and remains at
the same time very competitive for low or non-HDLSS problems. | [
0.0012802405981346965,
0.025342967361211777,
-0.02714582160115242,
0.003961984999477863,
0.049552712589502335,
-0.028141682967543602,
-0.01539293397217989,
0.030871719121932983,
0.021136309951543808,
0.019333457574248314,
-0.01067976001650095,
-0.04423000290989876,
0.030511148273944855,
-0.028450744226574898,
-0.012001852504909039,
0.033378541469573975,
0.00794543232768774,
0.035129886120557785,
-0.015152554027736187,
-0.00409505283460021,
-0.022767463698983192,
0.005026527214795351,
-0.032417021691799164,
0.0331038236618042,
-0.0069967880845069885,
0.04038391634821892,
0.027283182367682457,
-0.005043697077780962,
-0.06902352720499039,
-0.010937310755252838,
0.02250991202890873,
0.0208100788295269,
0.013186585158109665,
-0.0072758011519908905,
0.003041242016479373,
0.011091841384768486,
0.02213217131793499,
0.08186671882867813,
-0.03952541574835777,
0.056146007031202316,
0.03408251330256462,
0.026115618646144867,
-0.04625606909394264,
0.020294979214668274,
0.016371626406908035,
-0.05212821811437607,
-0.059580013155937195,
0.055733926594257355,
-0.02172009088099003,
-0.049552712589502335,
-0.050514236092567444,
-0.009975789114832878,
-0.016036810353398323,
0.00045607899664901197,
-0.00852921325713396,
0.038014452904462814,
0.03308665379881859,
0.03828917443752289,
0.03945673629641533,
0.033395715057849884,
-0.07568550109863281,
0.026115618646144867,
-0.0007624567369930446,
-0.04079599678516388,
0.03478648513555527,
-0.06157173588871956,
0.027678092941641808,
0.008765301667153835,
0.05003347620368004,
-0.028588104993104935,
-0.046496447175741196,
-0.022647272795438766,
0.05116669833660126,
0.032623060047626495,
-0.013633006252348423,
0.02695695124566555,
0.02774677239358425,
0.020913099870085716,
-0.04182619974017143,
-0.008808226324617863,
0.05892755091190338,
0.007786609698086977,
-0.005923661403357983,
0.052815020084381104,
0.01480915304273367,
0.03866691514849663,
0.005636063404381275,
-0.0458783283829689,
0.05405126139521599,
-0.025686368346214294,
-0.040692977607250214,
0.04079599678516388,
0.02980717644095421,
-0.017187202349305153,
0.02172009088099003,
0.031043419614434242,
-0.003339571412652731,
-0.012645728886127472,
-0.016448890790343285,
-0.003953400067985058,
-0.02946377545595169,
0.0032494287006556988,
0.011761472560465336,
-0.03097473829984665,
0.027197331190109253,
-0.06950429081916809,
-0.044367365539073944,
-0.011692792177200317,
0.014362731948494911,
0.12190723419189453,
-0.0365721695125103,
-0.024724846705794334,
-0.01281742937862873,
0.006567537318915129,
-0.039559755474328995,
0.01770230382680893,
-0.03660650923848152,
-0.11751170456409454,
-0.00852921325713396,
-0.03428855538368225,
0.05120103806257248,
0.04536322504281998,
0.03272608295083046,
0.007610616739839315,
-0.0822787955403328,
0.03681255131959915,
-0.03157569095492363,
0.008353221230208874,
-0.03653782978653908,
0.05779432877898216,
-0.011469582095742226,
-0.0186809953302145,
0.06744388490915298,
0.0028094465378671885,
0.0016021786723285913,
0.02678525075316429,
0.016071150079369545,
0.0673065260052681,
-0.011323636397719383,
0.023042183369398117,
-0.02865678444504738,
-0.06198381632566452,
-0.041894879192113876,
0.05374220013618469,
0.011091841384768486,
0.005897906143218279,
-0.049999136477708817,
0.018577976152300835,
-0.0007034347509033978,
0.020689889788627625,
-0.014903588220477104,
0.00992427859455347,
0.022612933069467545,
0.02771243266761303,
0.05484108254313469,
0.025360137224197388,
-0.030511148273944855,
-0.02154839038848877,
0.028176022693514824,
-0.021256500855088234,
0.059786051511764526,
-0.010499474592506886,
0.03904465585947037,
0.03798011317849159,
0.04584398865699768,
0.05741658806800842,
-0.03904465585947037,
-0.028382062911987305,
-0.05102933570742607,
0.04007485508918762,
-0.040349576622247696,
0.03020208701491356,
0.003878281218931079,
0.0086708664894104,
0.008516335859894753,
0.02946377545595169,
0.046084366738796234,
0.014165276661515236,
0.013590080663561821,
-0.00971823837608099,
-0.027626581490039825,
-0.006730652879923582,
0.017522018402814865,
0.028261873871088028,
0.04659947007894516,
-0.016715027391910553,
0.07252621650695801,
0.04690852761268616,
0.03329269215464592,
-0.023437093943357468,
0.03643481060862541,
0.017333148047327995,
0.03516422584652901,
0.005889321211725473,
0.007348774001002312,
0.008550676517188549,
-0.015315668657422066,
-0.00712127098813653,
0.053810883313417435,
0.028759803622961044,
-0.06658538430929184,
-0.044573403894901276,
0.01656908169388771,
0.05116669833660126,
-0.00022522253857459873,
-0.012851769104599953,
0.04567228630185127,
-0.014405657537281513,
-0.010104564018547535,
-0.051475755870342255,
-0.022269532084465027,
-0.00010134343756362796,
-0.047080229967832565,
-0.021290840581059456,
-0.004200219176709652,
-0.02271595224738121,
0.02654487080872059,
0.024141065776348114,
0.004210950341075659,
0.03258872032165527,
0.04388660192489624,
-0.03719029203057289,
0.03873559460043907,
-0.06665406376123428,
0.01907590590417385,
0.025119757279753685,
0.01116052083671093,
-0.012267988175153732,
0.042100921273231506,
0.02192613109946251,
0.016903897747397423,
-0.018938545137643814,
0.02256142348051071,
-0.027094312012195587,
-0.02271595224738121,
-0.018011363223195076,
-0.043817922472953796,
-0.009031437337398529,
-0.03945673629641533,
-0.03681255131959915,
-0.0026398925110697746,
-0.010456549935042858,
-0.015229818411171436,
0.007782317232340574,
0.02597825974225998,
0.019505156204104424,
-0.0225442536175251,
0.027420541271567345,
0.05645506829023361,
0.019093075767159462,
-0.0338936448097229,
-0.01945364661514759,
-0.0157620906829834,
0.017788153141736984,
-0.004910629242658615,
0.00043890895904041827,
0.0015463760355487466,
-0.05291803926229477,
-0.02192613109946251,
-0.06603594869375229,
0.024398615583777428,
0.010207584127783775,
0.003865403588861227,
-0.03363609313964844,
-0.01175288762897253,
0.08900944888591766,
0.024192575365304947,
0.0023415631148964167,
0.020655550062656403,
-0.001577496761456132,
-0.015427274629473686,
-0.03557630628347397,
-0.03901031240820885,
0.01367593090981245,
-0.022664442658424377,
-0.08255351334810257,
0.06610462814569473,
-0.05587128549814224,
0.05003347620368004,
-0.002089378423988819,
-0.036125749349594116,
0.048385150730609894,
0.007250046357512474,
0.013375455513596535,
0.010181829333305359,
-0.052471619099378586,
-0.024329936131834984,
-0.005949416197836399,
0.02288765273988247,
0.019951578229665756,
0.004760391544550657,
-0.0354732871055603,
-0.027489222586154938,
-0.04038391634821892,
0.004610153846442699,
0.0008955245139077306,
-0.00573049858212471,
0.001963822403922677,
0.03983447700738907,
-0.04893459379673004,
-0.007954017259180546,
0.023402754217386246,
0.05432598292827606,
-0.008130010217428207,
-0.011315051466226578,
0.00021999103773850948,
-0.03099190816283226,
0.0881166085600853,
-0.029189055785536766,
-0.018904205411672592,
-0.015126798301935196,
0.03777407109737396,
0.005215397570282221,
0.0018586560618132353,
0.04275337979197502,
0.012285158038139343,
0.01204477809369564,
0.014963683672249317,
0.08990228921175003,
-0.0305798277258873,
-0.0005682207411155105,
-0.03291495144367218,
-0.08014971017837524,
0.04605002701282501,
0.0011310759000480175,
-0.0032537211664021015,
-0.04972441494464874,
0.02716299146413803,
-0.06727218627929688,
0.005666110664606094,
-0.004416991025209427,
-0.012474028393626213,
-0.05377654358744621,
0.008026990108191967,
0.023179544135928154,
-0.038975972682237625,
0.0065546599216759205,
0.05913359299302101,
-0.0354732871055603,
0.016225680708885193,
0.027042800560593605,
-0.021033290773630142,
-0.023402754217386246,
-0.030253596603870392,
-0.02192613109946251,
0.010430795140564442,
-0.0018962154863402247,
-0.011443826369941235,
-0.009082946926355362,
-0.01811438426375389,
0.0008724522776901722,
-0.012199307791888714,
-0.038598231971263885,
0.05099499598145485,
-0.019161757081747055,
-0.026235809549689293,
-0.015298498794436455,
-0.00822015292942524,
-0.0060352664440870285,
-0.030511148273944855,
-0.003560635494068265,
-0.0442986823618412,
-0.07029411196708679,
-0.01240534894168377,
-0.08221011608839035,
0.013555740937590599,
0.011014576070010662,
0.026853930205106735,
-0.00548582524061203,
0.06631066650152206,
-0.03523290529847145,
-0.033395715057849884,
0.017977023497223854,
0.047870051115751266,
-0.076921746134758,
-0.019505156204104424,
0.022458402439951897,
-0.042478661984205246,
0.016500400379300117,
0.023334074765443802,
-0.010739855468273163,
0.04433302581310272,
-0.07444926351308823,
-0.009366252459585667,
-0.010190414264798164,
0.029498115181922913,
0.025720708072185516,
-0.012190722860395908,
-0.04179186001420021,
-0.0024681922513991594,
0.042272619903087616,
-0.06308270245790482,
0.0057777161709964275,
-0.05058291554450989,
0.04556926712393761,
0.012860354036092758,
0.01771947368979454,
-0.01888703554868698,
0.0007549448637291789,
-0.012748748995363712,
-0.021496880799531937,
0.030099067836999893,
-0.05545920506119728,
-0.03080303780734539,
-0.013787535950541496,
-0.04041825607419014,
0.036263108253479004,
0.0089455870911479,
-0.0279013030230999,
0.037258971482515335,
-0.028742633759975433,
0.009357667528092861,
0.02233821153640747,
-0.005494410637766123,
-0.029000185430049896,
0.012053363025188446,
0.03138681873679161,
0.008997096680104733,
-0.04172318056225777,
-0.011546846479177475,
-0.04471076652407646,
-0.060369834303855896,
0.09828126430511475,
0.037430670112371445,
-0.0315241813659668,
0.03719029203057289,
-0.04213526099920273,
0.00481619406491518,
-0.025892408564686775,
-0.05442900210618973,
-0.0010607860749587417,
0.048007410019636154,
0.011109011247754097,
-0.03470063582062721,
-0.026029769331216812,
0.03619442880153656,
-0.02460465580224991,
-0.006138286553323269,
0.0005121498834341764,
-0.021101970225572586,
-0.03482082486152649,
0.004704589024186134,
-0.02481069788336754,
-0.019316285848617554,
-0.03791143372654915,
-0.02657921053469181,
0.021462541073560715,
0.015753505751490593,
-0.009203137829899788,
-0.01590803451836109,
-0.02597825974225998,
0.049003273248672485,
-0.09903674572706223,
0.0018747529247775674,
0.02256142348051071,
-0.027454882860183716,
-0.0008413316099904478,
-0.0143455620855093,
-0.01338404044508934,
-0.015178308822214603,
0.021823111921548843,
0.03464912623167038,
0.02810734324157238,
0.007992650382220745,
-0.010748440399765968,
0.041860539466142654,
-0.03928503394126892,
-0.04175752028822899,
-0.0060352664440870285,
0.045740965753793716,
-0.03794577345252037,
-0.042478661984205246,
-0.027763942256569862,
0.0130062997341156,
-0.007524766959249973,
0.025755049660801888,
0.003109922166913748,
-0.037258971482515335,
0.008211567997932434,
-0.009855599142611027,
0.02867395430803299,
0.023419924080371857,
0.041482798755168915,
-0.004219535272568464,
0.012920449487864971,
-0.01480915304273367,
0.0036185842473059893,
0.01773664355278015,
0.019505156204104424,
-0.017427582293748856,
0.050170835107564926,
0.027214501053094864,
-0.048797231167554855,
-0.05374220013618469,
-0.005709035787731409,
-0.014122352004051208,
-0.014671793207526207,
-0.009014267474412918,
0.08255351334810257,
0.02275029383599758,
0.05971737205982208,
0.01011314895004034,
-0.03368760272860527,
-0.00896275695413351,
0.009392008185386658,
0.02925773523747921,
0.045947007834911346,
-0.04927799478173256,
-0.04354320093989372,
-0.042822062969207764,
0.049003273248672485,
0.03928503394126892,
-0.0048119015991687775,
-0.045328885316848755,
-0.03480365499854088,
0.03835785388946533,
-0.012310913763940334,
-0.021805942058563232,
0.001428332063369453,
0.017616452649235725,
0.008391853421926498,
0.00877388659864664,
-0.017616452649235725,
0.032451361417770386,
-0.028364893049001694,
-0.00238234200514853,
0.0178911741822958,
-0.012740164063870907,
0.03209079056978226,
-0.030133407562971115,
-0.034511763602495193,
0.021273670718073845,
-0.029326414689421654,
-0.023832004517316818,
-0.025325797498226166,
-0.016903897747397423,
0.02484503760933876,
-0.015744918957352638,
0.016088319942355156,
-0.04543190449476242,
-0.014199617318809032,
0.051132358610630035,
0.014508677646517754,
-0.03870125487446785,
0.006644802633672953,
0.01965968683362007,
0.0018929961370304227,
-0.039971835911273956,
-0.04316546022891998,
0.02865678444504738,
0.024381445720791817,
-0.006228429265320301,
0.006365789566189051,
-0.021256500855088234,
0.006966740824282169,
-0.0011289296671748161,
-0.0037967234384268522,
0.003983447328209877,
-0.013160830363631248,
-0.014474336989223957,
-0.03234834223985672,
0.05315842106938362,
0.040109194815158844,
0.01377895101904869,
0.03403100371360779,
-0.005472947843372822,
0.0011900978861376643,
0.056661106646060944,
-0.04028089717030525,
0.008185813203454018,
-0.024003705009818077,
-0.0075762770138680935,
-0.031661540269851685,
-0.09038305282592773,
-0.050308194011449814,
0.03191909193992615,
-0.003925498574972153,
-0.034580446779727936,
-0.023368414491415024,
-0.0178911741822958,
0.05164745822548866,
-0.009795503690838814,
-0.03828917443752289,
-0.0392506942152977,
0.012036193162202835,
0.017015501856803894,
-0.0043311407789587975,
-0.03681255131959915,
0.020930269733071327,
0.034734975546598434,
-0.004313970450311899,
0.04058995842933655,
-0.03794577345252037,
-0.027969982475042343,
0.0040971990674734116,
0.024347105994820595,
0.02620146982371807,
-0.012559878639876842,
0.031129268929362297,
0.023746155202388763,
0.023952195420861244,
0.024141065776348114,
-0.007666419725865126,
0.03928503394126892,
0.04237563908100128,
0.030562657862901688,
0.030854549258947372,
0.009829843416810036,
-0.000931474263779819,
-0.011486751958727837,
0.041860539466142654,
0.01749626360833645,
0.020329318940639496,
-0.0033889352343976498,
0.007597739342600107,
0.030511148273944855,
0.025463158264756203,
0.012396763078868389,
0.013633006252348423,
0.013873386196792126,
0.06061021611094475,
-0.0023050769232213497,
0.002496093511581421,
0.01137514691799879,
-0.0059966337867081165,
0.03488950431346893,
-0.012001852504909039,
-0.012182137928903103,
-0.00490204431116581,
-0.028725463896989822,
-0.036263108253479004,
0.006567537318915129,
-0.04289074242115021,
-0.027952812612056732,
-0.006687727756798267,
-0.01626860536634922,
0.0573822483420372,
-0.0011332221329212189,
-0.010293434374034405,
0.011040330864489079,
0.019779877737164497,
0.026081278920173645,
-0.016088319942355156,
0.026064109057188034,
-0.012894694693386555,
-0.007687882054597139,
0.0006986057269386947,
-0.01845778524875641,
0.056867148727178574,
0.024123895913362503,
0.016388796269893646,
-0.0007168488809838891,
-0.02230387181043625,
0.017650794237852097,
0.0033224013168364763,
0.012551293708384037,
-0.002206349279731512,
0.0024488759227097034,
0.006636217702180147,
-0.008911246433854103,
-0.016955407336354256,
0.020483849570155144,
-0.00004473598164622672,
0.017315978184342384,
0.016448890790343285,
0.02386634610593319,
-0.005696158390492201,
0.0315241813659668,
0.01558180432766676,
0.010731270536780357,
0.007061176002025604,
-0.03739633038640022,
-0.040109194815158844,
0.027643753215670586,
0.01539293397217989,
-0.019728368148207664,
0.05453202500939369,
0.023402754217386246,
0.031266629695892334,
-0.022647272795438766,
-0.01845778524875641,
-0.0446077436208725,
-0.01443141233175993,
-0.0512353777885437,
0.0009819112019613385,
-0.005215397570282221,
0.013349700719118118,
0.02366030402481556,
-0.0064988574013113976,
-0.006142579019069672,
-0.0408303365111351,
-0.012474028393626213,
0.0392506942152977,
0.01907590590417385,
0.012474028393626213,
0.01560756005346775,
-0.06335742026567459,
-0.018371934071183205,
0.030356617644429207,
0.034546107053756714,
-0.03427138552069664,
-0.011572602204978466,
-0.023437093943357468,
0.00885973684489727,
0.012826014310121536,
0.03890729323029518,
0.010310604237020016,
0.008138595148921013,
-0.017770983278751373,
-0.004820486530661583,
-0.013512815348803997,
0.0001468842674512416,
-0.009022852405905724,
-0.0208100788295269,
0.008563553914427757,
0.014860663563013077,
0.003086313372477889,
-0.014895003288984299,
-0.0012405348243191838,
-0.010611080564558506,
-0.003232258604839444,
0.008748131804168224,
-0.032434191554784775,
-0.010628250427544117,
0.006610462442040443,
-0.017032671719789505,
0.05662676692008972,
-0.025840898975729942,
-0.0348379947245121,
-0.0200202576816082,
0.042478661984205246,
0.03327552229166031,
-0.02192613109946251,
-0.014216787181794643,
0.030150577425956726,
0.005120962392538786,
-0.0038611111231148243,
-0.0012319498928263783,
-0.025360137224197388,
0.031094929203391075,
0.013478475622832775,
-0.025858068838715553,
0.025514667853713036,
-0.030287938192486763,
0.004528596065938473,
0.02692261151969433,
-0.016955407336354256,
0.002472484717145562,
-0.028965845704078674,
-0.031884752213954926,
-0.010799950920045376,
0.023797664791345596,
0.042100921273231506,
-0.04234129935503006,
-0.016697857528924942,
-0.0021966909989714622,
0.04234129935503006,
-0.009177382104098797,
-0.013710270635783672,
-0.023608794435858727,
0.0005816348711960018,
0.01847495511174202,
0.02695695124566555,
0.021119140088558197,
0.025737877935171127,
0.048007410019636154,
-0.05096065625548363,
-0.022183682769536972,
0.005631770472973585,
-0.04220394045114517,
0.0027858377434313297,
0.042856402695178986,
0.028416404500603676,
-0.07101525366306305,
0.03598838672041893,
0.03543894737958908,
0.004391235765069723,
0.016448890790343285,
0.012096287682652473,
0.03966277465224266,
-0.006923815701156855,
-0.0002784764510579407,
-0.021033290773630142,
0.03023642674088478,
0.03001321665942669,
0.012843184173107147,
-0.026046939194202423,
0.0007860655314289033,
-0.01233666855841875,
-0.0305798277258873,
-0.020741399377584457,
0.05758829042315483,
-0.00865369662642479,
-0.021805942058563232,
0.06140003725886345,
-0.0019852849654853344,
-0.05137273669242859,
0.009847013279795647,
-0.05326144024729729,
-0.03276042267680168,
0.003522002836689353,
-0.0020754276774823666,
0.0003903499455191195,
0.03564498573541641,
-0.023419924080371857,
0.003730189520865679,
0.006567537318915129,
-0.04501982405781746,
0.023986535146832466,
-0.010988821275532246,
-0.002401658333837986,
0.03986881673336029,
0.018406275659799576,
0.042650360614061356,
0.033979494124650955,
-0.02020912803709507,
-0.05370786041021347,
-0.01626860536634922,
-0.0068122101947665215,
-0.02197764255106449,
-0.000016843063349369913,
-0.04756098985671997,
-0.02307652309536934,
0.01907590590417385,
-0.04374924302101135,
-0.009623803198337555,
-0.0048505342565476894,
0.011916002258658409,
0.06710048764944077,
-0.009975789114832878,
0.009314742870628834,
0.03904465585947037,
-0.025943920016288757,
-0.0005376366316340864,
-0.018766846507787704,
0.00870091374963522,
-0.0045157186686992645,
0.01615700125694275,
0.02384917438030243,
0.021222161129117012,
-0.0010462988866493106,
-0.06397554278373718,
-0.08502600342035294,
-0.014276881702244282,
0.002592674922198057,
-0.027866963297128677,
-0.041482798755168915,
0.04694286733865738,
-0.029927367344498634,
0.036297447979450226,
0.028828484937548637,
-0.043989624828100204,
0.027283182367682457,
-0.027763942256569862,
-0.05415428429841995,
0.04519152641296387,
0.02367747575044632,
0.03219380974769592,
-0.007726514711976051,
0.017049841582775116,
0.058446791023015976,
0.024518806487321854,
0.010911555960774422,
0.024381445720791817,
0.0004179829847998917,
-0.015272743999958038,
0.012096287682652473,
-0.05319276079535484,
-0.01030201930552721,
-0.048419490456581116,
-0.011212031356990337,
-0.02367747575044632,
-0.007288679014891386,
-0.00036861913395114243,
0.000010890562407439575,
-0.004747514147311449,
-0.012371008284389973,
-0.02256142348051071,
0.0009824477601796389,
-0.012851769104599953,
0.01558180432766676,
0.04848817363381386,
0.0257722195237875,
-0.00007102759263943881,
0.064937062561512,
-0.030133407562971115,
-0.0002279053587699309,
-0.03253721073269844,
-0.0045543513260781765,
-0.044161323457956314,
0.015332839451730251,
0.00610394636169076,
-0.00001129298561863834,
-0.01570199429988861,
0.019093075767159462,
-0.027077142149209976,
-0.014972268603742123,
-0.03403100371360779,
0.01771947368979454,
-0.017942683771252632,
-0.015882279723882675,
-0.037636712193489075,
0.02408955618739128,
-0.027643753215670586,
-0.002242835471406579,
-0.0034898091107606888,
0.01009597908705473,
-0.01501519326120615,
0.03406534343957901,
-0.012371008284389973,
0.0038031621370464563,
-0.019900068640708923,
-0.002511117374524474,
-0.04330282285809517,
0.06655104458332062,
0.024501636624336243,
-0.01694682240486145,
-0.014285466633737087,
0.03773973137140274,
-0.04216960072517395,
0.015470199286937714,
0.024707676842808723,
0.0018768991576507688,
0.021308010444045067,
-0.019178926944732666,
-0.002164497273042798,
-0.009958619251847267,
0.0208100788295269,
0.0244329571723938,
-0.02408955618739128,
0.005803470965474844,
0.00693240063264966,
0.06864579021930695,
-0.01059390977025032,
0.04828213155269623,
-0.03605706989765167,
-0.012053363025188446,
-0.03773973137140274,
-0.046874187886714935,
0.01240534894168377,
-0.019522327929735184,
0.08310295641422272,
-0.023368414491415024,
0.0023351244162768126,
-0.01685238629579544,
-0.03567932918667793,
-0.0032472824677824974,
-0.014517262578010559,
-0.05171613767743111,
0.007026835810393095,
-0.03712160885334015,
0.01696399226784706,
-0.010550985112786293,
-0.017564943060278893,
0.005481532774865627,
-0.028536593541502953,
-0.002032502554357052,
0.01826891489326954,
-0.0041701714508235455,
0.034975357353687286,
0.001106393989175558,
0.014268296770751476,
-0.0045543513260781765,
0.02154839038848877,
-0.0696759894490242,
0.017032671719789505,
-0.007447501644492149,
-0.06030115485191345,
-0.004341871943324804,
-0.0016526156105101109,
-0.003180748550221324,
-0.00036620459286496043,
0.036640848964452744,
0.006700605154037476,
-0.018028534948825836,
0.04433302581310272,
-0.009014267474412918,
-0.009889938868582249,
-0.023986535146832466,
0.005241152364760637,
-0.04347452148795128,
0.00032784030190669,
0.003066997043788433,
0.04316546022891998,
0.01711852289736271,
-0.02620146982371807,
0.037361990660429,
-0.01271440926939249,
-0.05607732757925987,
-0.02139385975897312,
0.015255574136972427,
0.00658900011330843,
0.02041516825556755,
-0.05563090369105339,
-0.01979704760015011,
-0.020329318940639496,
0.01183873787522316,
0.03773973137140274,
0.005223982501775026,
0.03363609313964844,
-0.023540114983916283,
-0.03442591428756714,
-0.03605706989765167,
-0.016302945092320442,
0.04062429815530777,
-0.020844420418143272,
0.05635204538702965,
-0.03523290529847145,
-0.04172318056225777,
-0.005683280993252993,
0.05676412582397461,
-0.04409264400601387,
-0.06002643331885338,
-0.014294052496552467,
0.014603112824261189,
-0.005472947843372822,
-0.06727218627929688,
0.0077951946295797825,
0.031455498188734055,
-0.016311530023813248,
-0.001450867741368711,
-0.03595404699444771,
-0.03021925687789917,
0.015075288712978363
] |
This paper tackles the problem of the worst-class error rate, instead of the
standard error rate averaged over all classes. For example, a three-class
classification task with class-wise error rates of 10\%, 10\%, and 40\% has a
worst-class error rate of 40\%, whereas the average is 20\% under the
class-balanced condition. The worst-class error is important in many
applications. For example, in a medical image classification task, it would not
be acceptable for the malignant tumor class to have a 40\% error rate, while
the benign and healthy classes have 10\% error rates.We propose a boosting
algorithm that guarantees an upper bound of the worst-class training error and
derive its generalization bound. Experimental results show that the algorithm
lowers worst-class test error rates while avoiding overfitting to the training
set. | [
-0.03890535607933998,
0.05329599976539612,
-0.01623466983437538,
0.005007799249142408,
0.09805885702371597,
0.0018564562778919935,
-0.02346614934504032,
0.038977671414613724,
-0.005446207709610462,
0.011154556646943092,
0.013188409619033337,
-0.00769700575619936,
0.06703580915927887,
-0.0680120587348938,
-0.014065226539969444,
0.008433712646365166,
-0.010386211797595024,
-0.03832684084773064,
0.00786875281482935,
-0.014824531972408295,
-0.019760016351938248,
-0.011461894027888775,
-0.03194505721330643,
0.03760369122028351,
-0.023032261058688164,
0.05604396387934685,
0.02409890480339527,
-0.008894719183444977,
-0.038001421838998795,
0.03011910989880562,
0.027099967002868652,
0.01173307467252016,
0.002899371087551117,
-0.01670471578836441,
-0.022688765078783035,
0.026358740404248238,
0.02390003763139248,
0.09805885702371597,
-0.05712868645787239,
0.030336054041981697,
0.03185466676950455,
0.01961538754403591,
0.06848210841417313,
-0.0035185664892196655,
0.05477845296263695,
-0.014869729056954384,
-0.04870401322841644,
0.036772072315216064,
-0.027208440005779266,
-0.003694833954796195,
-0.03011910989880562,
-0.01572846621274948,
0.0252017043530941,
-0.023954274132847786,
0.010955690406262875,
0.04082169756293297,
0.03154732659459114,
0.02384580299258232,
0.004940004087984562,
0.03066147118806839,
0.011660760268568993,
-0.012582773342728615,
-0.06363701820373535,
0.03129422664642334,
-0.017644809558987617,
-0.04089401289820671,
0.05325984209775925,
0.029377883300185204,
0.02207409031689167,
-0.017183803021907806,
-0.04371429234743118,
-0.03756753355264664,
0.009400922805070877,
-0.00438860384747386,
0.00479989405721426,
-0.003459810744971037,
0.030986888334155083,
0.018123894929885864,
-0.03404218703508377,
0.02630450576543808,
0.016822228208184242,
0.02879936620593071,
-0.01696685701608658,
-0.008383995853364468,
0.0443289652466774,
-0.03839915245771408,
-0.04957178980112076,
-0.051705073565244675,
-0.03644665330648422,
-0.029197096824645996,
-0.031312305480241776,
0.0120313735678792,
-0.06226303428411484,
-0.0019084325758740306,
-0.030733786523342133,
0.0476192906498909,
-0.027768880128860474,
-0.009034829214215279,
-0.06685502082109451,
0.008442752063274384,
0.047004614025354385,
0.016605284065008163,
0.002082440070807934,
-0.023068418726325035,
0.038037579506635666,
-0.04808933660387993,
-0.004420241806656122,
0.00606992281973362,
0.0016316024120897055,
0.14773911237716675,
-0.02816661074757576,
0.032324712723493576,
0.0004084655665792525,
0.015701349824666977,
-0.02579830214381218,
-0.011552288196980953,
-0.05036725103855133,
-0.07260405272245407,
-0.0002994284441228956,
0.04071322828531265,
-0.03988160565495491,
0.07802765816450119,
-0.019687701016664505,
0.007177243009209633,
-0.052247434854507446,
0.008469870314002037,
0.02870897203683853,
0.040315497666597366,
-0.008108295500278473,
-0.00754785630851984,
0.07253173738718033,
0.02288763038814068,
0.024478556588292122,
-0.05485076829791069,
-0.005776144098490477,
0.007132046390324831,
0.04089401289820671,
-0.03257781267166138,
-0.018675295636057854,
-0.012682205997407436,
-0.004298210609704256,
-0.02664799988269806,
0.004045108798891306,
0.03487380966544151,
-0.00873653031885624,
-0.01603580452501774,
0.016686638817191124,
0.006368221249431372,
-0.0123477503657341,
0.048487067222595215,
-0.032830916345119476,
0.012637009844183922,
0.030082952231168747,
0.07137469947338104,
0.03460262715816498,
-0.017735201865434647,
-0.008171571418642998,
0.0029716859571635723,
-0.010774903930723667,
-0.05080113932490349,
0.05636937916278839,
-0.02838355489075184,
0.002158144488930702,
0.07513506710529327,
0.013061858713626862,
0.05329599976539612,
0.007358029950410128,
0.02804006077349186,
-0.06949451565742493,
0.03268628567457199,
0.008040500804781914,
-0.029847929254174232,
-0.02832931838929653,
0.019217655062675476,
-0.049463316798210144,
0.09639561921358109,
0.0241892971098423,
0.05087345466017723,
0.008722971193492413,
-0.025780223309993744,
-0.018286602571606636,
0.04993336275219917,
0.005473325960338116,
-0.034277211874723434,
0.02794966660439968,
0.002596552949398756,
0.023321520537137985,
0.020880896598100662,
0.023375757038593292,
0.018250444903969765,
0.029233254492282867,
0.010955690406262875,
0.006200993433594704,
-0.028238926082849503,
0.03171003609895706,
-0.016397379338741302,
-0.01853066496551037,
-0.015249381773173809,
0.029106702655553818,
-0.010711628012359142,
0.0002968861081171781,
-0.019470756873488426,
0.023068418726325035,
0.00404736865311861,
-0.008361397311091423,
0.005215704441070557,
-0.02080858126282692,
-0.020645873621106148,
-0.06530025601387024,
-0.03362637758255005,
-0.002544576767832041,
-0.010919533669948578,
-0.027805037796497345,
0.0028044579084962606,
-0.011091280728578568,
-0.0026643481105566025,
-0.013450550846755505,
0.019850410521030426,
-0.014688941650092602,
0.0007581753889098763,
0.037314433604478836,
-0.027244597673416138,
0.040315497666597366,
-0.05409146472811699,
-0.014155620709061623,
0.02380964532494545,
-0.009437080472707748,
-0.016713755205273628,
-0.008189650252461433,
0.03612123802304268,
-0.04454591125249863,
-0.02333959937095642,
-0.014047147706151009,
-0.007968186400830746,
-0.009247253648936749,
-0.0009186238166876137,
-0.09003191441297531,
-0.02042892761528492,
-0.02787735126912594,
-0.022779159247875214,
0.0026869464199990034,
-0.022435663267970085,
0.013441511429846287,
-0.029576748609542847,
0.005929812788963318,
0.0478723905980587,
-0.01490588579326868,
0.0045038554817438126,
0.01872953027486801,
-0.030769944190979004,
-0.002876772778108716,
-0.009699221700429916,
0.015231302939355373,
0.034494154155254364,
-0.014553351327776909,
-0.03136654198169708,
0.0014282171614468098,
-0.08619923144578934,
0.04794470593333244,
-0.020953210070729256,
0.07289330661296844,
0.05362141877412796,
-0.017735201865434647,
0.019940802827477455,
0.010422369465231895,
-0.04284651204943657,
0.01894647441804409,
0.04570294916629791,
0.016804149374365807,
0.026159875094890594,
0.014580469578504562,
-0.06931372731924057,
0.021115919575095177,
-0.04461822658777237,
0.024370083585381508,
-0.009455159306526184,
0.025942930951714516,
0.006395339500159025,
-0.0023185929749161005,
0.04067707061767578,
0.0466068834066391,
0.015186105854809284,
0.04942715913057327,
0.021495571359992027,
0.040785543620586395,
-0.06190146133303642,
-0.023321520537137985,
0.04313577339053154,
-0.03539808839559555,
-0.008239366114139557,
0.03568734973669052,
0.013034741394221783,
-0.03378908708691597,
-0.0425572544336319,
0.04555831849575043,
0.012637009844183922,
-0.023665014654397964,
-0.018422193825244904,
0.01750921830534935,
-0.05991280451416969,
-0.024840131402015686,
-0.03031797520816326,
0.03519922494888306,
0.008619018830358982,
0.039520032703876495,
0.0012666387483477592,
0.0110189663246274,
0.05586317554116249,
0.029215175658464432,
0.021170154213905334,
0.0028451350517570972,
-0.004124202765524387,
-0.026069482788443565,
-0.029920244589447975,
-0.0002779599744826555,
0.00642697699368,
0.02787735126912594,
0.016903582960367203,
-0.021585965529084206,
0.015963489189743996,
-0.030046796426177025,
-0.019145341590046883,
-0.07882311940193176,
0.030354132875800133,
-0.0073263924568891525,
-0.0017988304607570171,
-0.010051756165921688,
0.0057309470139443874,
-0.11722227931022644,
-0.012781639583408833,
-0.034277211874723434,
-0.02339383400976658,
-0.02888975851237774,
0.011000887490808964,
-0.008799806237220764,
-0.033264804631471634,
-0.03138462081551552,
-0.005843939259648323,
-0.0013457330642268062,
0.016858385875821114,
0.009482276625931263,
0.04819780960679054,
-0.02914286032319069,
0.017012054100632668,
-0.03006487339735031,
0.022399505600333214,
0.006056363694369793,
-0.07151933014392853,
-0.021043604239821434,
-0.023502307012677193,
0.0010011078556999564,
0.06493867933750153,
-0.004524194169789553,
0.05864729359745979,
0.01932612806558609,
-0.05832187831401825,
0.003929856698960066,
-0.005911733955144882,
-0.007832596078515053,
-0.0314750112593174,
0.01534881442785263,
-0.00827100407332182,
-0.030498763546347618,
-0.012609891593456268,
-0.03434952720999718,
0.02664799988269806,
0.05264516919851303,
0.05275363847613335,
-0.05861113965511322,
0.00870941299945116,
-0.029287490993738174,
0.01797926425933838,
0.041797950863838196,
0.01340535469353199,
-0.03908614441752434,
0.03691669926047325,
0.006729795131832361,
-0.014535272493958473,
-0.023918116465210915,
0.02583445981144905,
-0.053982991725206375,
0.03615739569067955,
-0.013875400647521019,
-0.05141581594944,
0.04754697531461716,
0.025436727330088615,
-0.018123894929885864,
-0.028492027893662453,
0.02191138081252575,
-0.02715420350432396,
0.026883022859692574,
-0.03145693242549896,
0.03792910650372505,
-0.03422297537326813,
-0.00132652441971004,
0.01657816581428051,
0.017093408852815628,
-0.02093513123691082,
-0.017156684771180153,
-0.03319248929619789,
-0.00873201061040163,
-0.0231768898665905,
-0.000989808700978756,
-0.023104576393961906,
0.012257357127964497,
0.0027027653995901346,
0.01195001881569624,
0.02182098850607872,
0.019434599205851555,
0.0059207733720541,
0.0036496371030807495,
0.007642769254744053,
0.014345446601510048,
0.03622971102595329,
-0.020121591165661812,
0.028094295412302017,
-0.04393123462796211,
-0.006237150635570288,
-0.004456399008631706,
-0.03078802302479744,
-0.04038780927658081,
-0.03810989484190941,
0.09654024243354797,
-0.06913293898105621,
0.01351382676512003,
0.04429280757904053,
-0.0066755590960383415,
0.015240342356264591,
0.03534385561943054,
0.01721995882689953,
0.05264516919851303,
0.07802765816450119,
-0.025093233212828636,
-0.017183803021907806,
0.016171395778656006,
0.01383020356297493,
-0.03143885359168053,
-0.03818221017718315,
-0.0018474169773980975,
-0.02465934306383133,
0.04928252846002579,
0.049029428511857986,
0.005405530799180269,
-0.017906950786709785,
-0.04870401322841644,
-0.017780398949980736,
-0.011507091112434864,
0.03514498844742775,
-0.020826660096645355,
0.04418433830142021,
-0.044256653636693954,
0.023628856986761093,
-0.03286707401275635,
-0.016352182254195213,
0.08424673229455948,
-0.0075342971831560135,
0.02342999167740345,
-0.061214469373226166,
0.040279339998960495,
-0.05857498198747635,
-0.07527969777584076,
0.005098192952573299,
0.0004488601698540151,
-0.019127262756228447,
-0.0025716947857290506,
0.04284651204943657,
-0.025563279166817665,
-0.05828572064638138,
0.003455291036516428,
-0.011751153506338596,
-0.005699309520423412,
-0.05463382601737976,
-0.04537753015756607,
-0.00525638135150075,
0.03872457146644592,
0.02135094255208969,
-0.0637093335390091,
-0.05434456467628479,
0.010747785679996014,
0.0018033500527963042,
0.01721091940999031,
-0.06736122816801071,
-0.011452854610979557,
-0.020501242950558662,
0.005057515576481819,
-0.03413258120417595,
0.05926197022199631,
-0.04385891929268837,
-0.017111487686634064,
-0.03610315918922424,
-0.05506771430373192,
0.006359181832522154,
-0.04093017056584358,
-0.021495571359992027,
0.0265937652438879,
-0.007208880502730608,
-0.044256653636693954,
-0.04465438425540924,
0.02664799988269806,
0.004655264783650637,
0.03973697870969772,
-0.017644809558987617,
-0.017391707748174667,
0.04309961572289467,
0.04089401289820671,
0.006942220032215118,
0.006906062364578247,
0.007208880502730608,
-0.03494612127542496,
-0.0519220195710659,
0.032198160886764526,
-0.01869337260723114,
0.0013852801639586687,
-0.013305921107530594,
-0.020790502429008484,
0.02440624125301838,
0.010051756165921688,
-0.028238926082849503,
0.056514009833335876,
-0.02485821023583412,
-0.00754785630851984,
-0.022345270961523056,
-0.06331159919500351,
0.08258349448442459,
-0.015258421190083027,
0.03641049563884735,
0.028907837346196175,
0.012401986867189407,
0.004890287760645151,
-0.027588091790676117,
-0.02529209852218628,
0.07419497519731522,
-0.033481746912002563,
-0.024116983637213707,
-0.03973697870969772,
-0.02596100978553295,
0.011751153506338596,
-0.02614179626107216,
-0.023231126368045807,
-0.0008971553761512041,
0.020392771810293198,
0.06229919195175171,
0.0006321894470602274,
0.001079072244465351,
-0.022724922746419907,
0.019850410521030426,
-0.01768096722662449,
-0.020447006449103355,
-0.00040083861676976085,
0.0014892327599227428,
-0.037784479558467865,
0.0024767816066741943,
-0.03621163219213486,
0.01721091940999031,
-0.04512443020939827,
-0.016460653394460678,
0.02279723808169365,
-0.044509753584861755,
-0.000555919948965311,
0.010521802119910717,
0.04143637418746948,
0.04060475528240204,
0.031276147812604904,
0.02829316258430481,
0.05054803937673569,
-0.017328431829810143,
0.010205424390733242,
0.07715988159179688,
-0.07274867594242096,
0.010792982764542103,
0.0067704725079238415,
-0.0045332335866987705,
-0.017454981803894043,
-0.025057075545191765,
-0.03424105420708656,
-0.010675471276044846,
0.001135568250901997,
-0.037495218217372894,
0.013622298836708069,
0.04664304107427597,
0.024767816066741943,
-0.007687966339290142,
0.009247253648936749,
-0.021893303841352463,
-0.04259341210126877,
-0.05109040066599846,
-0.024641264230012894,
-0.04288266971707344,
-0.011470933444797993,
-0.04295498505234718,
-0.002107298234477639,
0.05278979614377022,
-0.007109447848051786,
-0.023610780015587807,
-0.02876320853829384,
-0.030137188732624054,
0.02080858126282692,
-0.021133998408913612,
0.03995392099022865,
-0.03413258120417595,
0.03865225613117218,
-0.04758313298225403,
0.004625886678695679,
0.024135060608386993,
-0.011398619040846825,
0.02030237764120102,
0.00663036247715354,
0.013450550846755505,
0.01941652223467827,
0.007475541438907385,
0.045992206782102585,
-0.0167499128729105,
0.0161171592772007,
-0.033499825745821,
-0.006671039387583733,
-0.006824708543717861,
0.004347926937043667,
-0.043786607682704926,
0.018503546714782715,
-0.014761256985366344,
0.03053492121398449,
-0.04082169756293297,
-0.008695853874087334,
0.05575470253825188,
0.016840307042002678,
0.01780751720070839,
0.020917052403092384,
-0.01903686858713627,
0.01653296872973442,
-0.08005247265100479,
-0.04006239399313927,
0.009089065715670586,
-0.027262676507234573,
-0.048017021268606186,
-0.052211277186870575,
0.0010705979075282812,
0.0034778895787894726,
0.0015773663762956858,
-0.019091105088591576,
-0.02614179626107216,
-0.021893303841352463,
0.023755408823490143,
-0.008533145301043987,
0.00029773355345241725,
-0.012230238877236843,
0.009672103449702263,
0.05926197022199631,
-0.04555831849575043,
0.07267636805772781,
-0.007999823428690434,
-0.007823556661605835,
0.07397802919149399,
-0.0018462870502844453,
0.01550248358398676,
0.011913862079381943,
-0.05604396387934685,
0.008506027050316334,
0.03836299479007721,
-0.00037428553332574666,
0.004530973732471466,
0.0011474323691800237,
0.029703300446271896,
0.02042892761528492,
0.030498763546347618,
0.014282171614468098,
-0.0034010550007224083,
0.020772423595190048,
0.006327544339001179,
0.009080026298761368,
0.018259484320878983,
-0.007254077587276697,
-0.042521096765995026,
-0.00108359195291996,
0.04158100485801697,
-0.02977561578154564,
0.004499335773289204,
0.02147749252617359,
0.0486316978931427,
-0.028582420200109482,
-0.02702765353024006,
-0.0033648975659161806,
-0.01721091940999031,
0.019217655062675476,
-0.04754697531461716,
-0.025563279166817665,
0.014218895696103573,
0.048993270844221115,
0.025527121499180794,
-0.0438227616250515,
0.020880896598100662,
0.007073290646076202,
-0.02905246801674366,
0.027425384148955345,
-0.015448247082531452,
-0.038001421838998795,
0.055682387202978134,
0.01869337260723114,
-0.02135094255208969,
0.023448070511221886,
0.008325240574777126,
-0.046028364449739456,
0.005288018845021725,
-0.020266219973564148,
0.016641441732645035,
-0.006291386671364307,
0.030607234686613083,
0.0009118443122133613,
-0.006463134195655584,
-0.0005567673943005502,
-0.011633642017841339,
-0.004162620287388563,
0.052500538527965546,
-0.014453918673098087,
-0.03158348426222801,
0.03991776332259178,
-0.029414040967822075,
-0.011127438396215439,
0.00029716858989559114,
-0.003306141821667552,
0.021242469549179077,
-0.016695678234100342,
0.025472884997725487,
0.0322343185544014,
-0.06313081085681915,
-0.03695285692811012,
0.013549983501434326,
0.008370436728000641,
-0.01627986691892147,
-0.005197625607252121,
-0.005581798031926155,
0.002497120061889291,
-0.002395427552983165,
0.0007242778083309531,
-0.019271891564130783,
0.034277211874723434,
-0.019778095185756683,
0.02744346298277378,
0.029866008087992668,
-0.027172282338142395,
-0.012582773342728615,
0.0048676892183721066,
0.005315137095749378,
0.01683126762509346,
-0.03066147118806839,
0.0019739677663892508,
0.002540057059377432,
0.015222263522446156,
0.009355725720524788,
-0.002431584754958749,
-0.016840307042002678,
0.017138605937361717,
-0.028690893203020096,
0.051235027611255646,
-0.011714995838701725,
-0.052970584481954575,
-0.009319568984210491,
-0.011724035255610943,
0.021242469549179077,
-0.018747609108686447,
-0.02888975851237774,
-0.031059201806783676,
-0.012438143603503704,
0.043497346341609955,
0.028654735535383224,
0.012185041792690754,
0.016695678234100342,
0.008727490901947021,
0.0081218546256423,
0.014426800422370434,
-0.0035524640697985888,
-0.009061947464942932,
0.018657216802239418,
-0.022272955626249313,
-0.05763489007949829,
0.0014892327599227428,
0.017093408852815628,
-0.003629298647865653,
0.04288266971707344,
-0.014499115757644176,
0.005161468405276537,
-0.05615243688225746,
0.059442758560180664,
-0.0010773773537948728,
-0.011398619040846825,
0.028907837346196175,
-0.00822580698877573,
-0.04765544831752777,
-0.0250751543790102,
-0.030082952231168747,
-0.00036835347418673337,
-0.027515778318047523,
0.03530769795179367,
-0.03443991765379906,
-0.012700284831225872,
0.023755408823490143,
0.06634882092475891,
0.0118415467441082,
0.05832187831401825,
0.011452854610979557,
-0.02529209852218628,
0.014517194591462612,
0.004002171568572521,
-0.03565119206905365,
0.00923821423202753,
-0.05062035471200943,
-0.03346366807818413,
-0.048487067222595215,
-0.038037579506635666,
-0.02033853530883789,
-0.012944347225129604,
0.022526057437062263,
0.035976607352495193,
0.018331799656152725,
-0.012763560749590397,
-0.038543783128261566,
0.03821836784482002,
-0.0037422904279083014,
-0.009708261117339134,
-0.006336583755910397,
-0.028184689581394196,
-0.004528713878244162,
-0.03713364526629448,
-0.017436904832720757,
0.020392771810293198,
-0.02377348765730858,
0.046534568071365356,
0.012862993404269218,
-0.004130982328206301,
0.015909254550933838,
-0.0030055835377424955,
-0.007507179398089647,
-0.019651545211672783,
-0.0073670693673193455,
-0.025942930951714516,
-0.0435696616768837,
0.028690893203020096,
-0.04317193105816841,
0.02494860254228115,
0.024930523708462715,
0.02753385715186596,
0.007990784011781216,
0.02512938901782036,
-0.06081673875451088,
0.015285538509488106,
0.0011022356338799,
-0.0033468189649283886,
-0.01010599173605442,
0.027389226481318474,
0.01228447537869215,
-0.020139669999480247,
-0.023755408823490143,
0.03530769795179367,
0.009943284094333649,
-0.004289171192795038,
-0.04389507696032524,
-0.015267460606992245,
0.024803973734378815,
0.052970584481954575,
0.03180043026804924,
0.008221288211643696,
-0.022598372772336006,
0.02359270118176937,
0.020953210070729256,
-0.009771536104381084,
-0.004040589090436697,
0.028094295412302017,
-0.022743001580238342,
-0.026919180527329445,
-0.041255589574575424,
-0.03865225613117218,
0.002277915831655264,
-0.024171218276023865,
-0.033499825745821,
0.06833747774362564,
-0.011678839102387428,
-0.004632666241377592,
0.00958171021193266,
0.01239294745028019,
0.030968809500336647,
0.010792982764542103,
0.041472531855106354,
0.04638993740081787,
0.038796886801719666,
-0.08287274837493896,
0.01746402122080326,
-0.05365757644176483,
0.0015208704862743616,
-0.011253989301621914,
-0.045956049114465714,
0.006440536119043827,
-0.01738266833126545,
0.0046100676991045475,
0.005712868645787239,
-0.017030132934451103,
0.003904998768121004,
-0.012971465475857258,
-0.026250269263982773,
-0.03487380966544151,
0.021079761907458305,
0.0005482929991558194,
-0.010313897393643856,
-0.041002485901117325,
0.02427969127893448,
-0.002777339890599251,
0.05119887366890907,
-0.01397483330219984,
0.017355550080537796,
0.024677421897649765,
0.03422297537326813,
-0.05134350061416626,
0.006408898159861565,
-0.0030440008267760277,
-0.006802110001444817,
-0.029414040967822075,
0.006652960553765297,
0.00877720769494772,
-0.027931587770581245,
-0.007782879285514355,
0.029757536947727203,
-0.034277211874723434,
0.008108295500278473,
0.015891175717115402,
-0.021206311881542206,
0.038507625460624695,
-0.03709748759865761,
-0.010178307071328163,
-0.0030552998650819063,
0.020392771810293198,
0.010006559081375599,
-0.0010615584906190634,
-0.002634970238432288,
0.016569126397371292,
-0.020627794787287712,
0.010078874416649342,
0.011968097649514675,
0.008849522098898888,
0.0042756120674312115,
0.003236086806282401,
-0.0003155297599732876,
0.00673431484028697,
-0.021748673170804977,
0.013414394110441208,
0.021459413692355156,
-0.016975896432995796,
0.006661999970674515,
-0.05506771430373192,
0.021007446572184563,
-0.024008510634303093,
-0.020898975431919098,
0.015827899798750877,
0.0015683270758017898,
-0.054489195346832275,
0.013450550846755505,
-0.023032261058688164,
-0.033047858625650406,
0.029992559924721718,
0.008646137081086636,
0.047113087028265,
-0.036862462759017944,
0.041255589574575424,
-0.02930556982755661,
-0.048957113176584244,
-0.056947898119688034,
-0.038507625460624695,
0.0003296537615824491,
-0.0004451879358384758,
0.0037761880084872246,
-0.05806877836585045,
0.018512586131691933,
0.01556575857102871,
0.00852410588413477,
0.0026123719289898872,
-0.02605140395462513,
0.044039707630872726,
-0.02144133485853672,
0.02905246801674366,
-0.020790502429008484,
0.0058168210089206696,
0.026991495862603188,
-0.0012542096665129066,
0.06374549120664597,
-0.0026304505299776793,
0.04682382568717003,
-0.03257781267166138,
-0.019235733896493912,
-0.011516130529344082,
0.029070544987916946,
0.015547679737210274,
-0.0632031261920929,
-0.04443743824958801,
0.03706132993102074,
0.001802220125682652,
0.018087737262248993,
-0.0028247965965420008,
-0.01961538754403591,
0.017066290602087975,
-0.0007491360302083194,
0.007502659689635038,
0.045522160828113556,
0.00745294289663434,
0.010250621475279331,
-0.020392771810293198,
0.0003697658539749682,
0.025599436834454536,
-0.023538464680314064,
0.025527121499180794,
0.03991776332259178,
0.00003446251866989769,
-0.02579830214381218,
-0.0035185664892196655,
0.013034741394221783,
0.010928573086857796,
0.04295498505234718,
-0.010820101015269756,
-0.017816556617617607,
0.011543248780071735,
-0.041291747242212296,
-0.005776144098490477,
0.0013785007176920772,
-0.006996456068009138,
0.0347653366625309,
0.007023573853075504,
-0.02371925115585327,
0.02118823304772377
] |
Diffusion model has become a main paradigm for synthetic data generation in
many subfields of modern machine learning, including computer vision, language
model, or speech synthesis. In this paper, we leverage the power of diffusion
model for generating synthetic tabular data. The heterogeneous features in
tabular data have been main obstacles in tabular data synthesis, and we tackle
this problem by employing the auto-encoder architecture. When compared with the
state-of-the-art tabular synthesizers, the resulting synthetic tables from our
model show nice statistical fidelities to the real data, and perform well in
downstream tasks for machine learning utilities. We conducted the experiments
over 15 publicly available datasets. Notably, our model adeptly captures the
correlations among features, which has been a long-standing challenge in
tabular data synthesis. Our code is available upon request and will be publicly
released if paper is accepted. | [
-0.021596888080239296,
-0.022413792088627815,
-0.03526300564408302,
0.021579869091510773,
0.050579946488142014,
0.019741836935281754,
-0.03022543154656887,
0.030770035460591316,
-0.0248474832624197,
0.01478084921836853,
0.02540910430252552,
-0.032812293618917465,
-0.003625009674578905,
-0.024864502251148224,
0.0006116140284575522,
0.01941847801208496,
0.016635900363326073,
-0.00010783020843518898,
0.057251326739788055,
-0.02745136432349682,
-0.01885685697197914,
0.005092883016914129,
-0.019129158928990364,
0.009649673476815224,
0.0015753048937767744,
0.00117536261677742,
0.021699002012610435,
-0.04077710211277008,
-0.012747099623084068,
0.08046500384807587,
0.020456627011299133,
0.02294137515127659,
0.030718978494405746,
-0.061506032943725586,
-0.06453537940979004,
0.0030804071575403214,
0.03659047186374664,
0.07685700803995132,
-0.032097503542900085,
0.05551540479063988,
0.00623739929869771,
0.0032995245419442654,
-0.03628413379192352,
0.008556214161217213,
-0.02586861327290535,
-0.034446101635694504,
0.014534075744450092,
-0.004607846960425377,
-0.023332808166742325,
-0.01359804067760706,
-0.007930772379040718,
-0.04962689056992531,
0.002140117110684514,
0.059089358896017075,
-0.06228889897465706,
0.040709029883146286,
0.013742701150476933,
0.017801690846681595,
0.06276542693376541,
0.044963736087083817,
-0.007632942870259285,
0.040130387991666794,
0.007930772379040718,
-0.020507683977484703,
0.006411842070519924,
-0.011453668586909771,
0.014721282757818699,
-0.012559892609715462,
0.029374491423368454,
0.0034505666699260473,
-0.044793546199798584,
-0.02392846718430519,
0.003369727171957493,
0.04686984419822693,
0.028710756450891495,
-0.0012147185625508428,
0.021494776010513306,
0.015316941775381565,
-0.005067354999482632,
-0.0013274683151394129,
0.01763150282204151,
0.027366269379854202,
-0.016448693349957466,
-0.007275547366589308,
0.0461210161447525,
-0.018380330875515938,
-0.03710103780031204,
-0.03897310793399811,
0.018993008881807327,
-0.026055820286273956,
0.011453668586909771,
-0.05701306089758873,
-0.018584556877613068,
-0.01575092226266861,
-0.004509988706558943,
0.05446023866534233,
-0.0031952844001352787,
-0.026260046288371086,
-0.06266330927610397,
-0.010058125481009483,
-0.04247898608446121,
0.007518065627664328,
0.01250032614916563,
-0.010994160547852516,
-0.02864268235862255,
-0.05844264477491379,
0.02869373746216297,
0.028710756450891495,
-0.01065378449857235,
0.0912889763712883,
0.022873299196362495,
0.010543162003159523,
-0.028710756450891495,
0.0365564338862896,
-0.029731886461377144,
0.011266461573541164,
-0.015291414223611355,
-0.06814337521791458,
-0.01518930122256279,
-0.07372555136680603,
-0.0033910006750375032,
0.03989212587475777,
-0.02207341603934765,
-0.0070670670829713345,
-0.012644986622035503,
0.07767391204833984,
-0.029119208455085754,
-0.044487208127975464,
0.0013976709451526403,
0.0021050157956779003,
-0.03628413379192352,
0.0192653089761734,
-0.027689628303050995,
0.036862775683403015,
0.02018432505428791,
-0.008266894146800041,
0.004475950729101896,
0.03652239590883255,
-0.09367161244153976,
0.001478510326705873,
-0.015223338268697262,
0.005190741270780563,
-0.01295983511954546,
-0.026651479303836823,
0.02505170926451683,
-0.014831905253231525,
-0.04360222816467285,
0.06249312311410904,
-0.005326892249286175,
-0.015197810716927052,
-0.02115439809858799,
0.04932055249810219,
0.021477757021784782,
0.026413215324282646,
0.003448439296334982,
0.008330714888870716,
0.021086324006319046,
-0.002778323134407401,
0.062322936952114105,
-0.07685700803995132,
0.0291532464325428,
-0.0029782943893224,
0.05793207883834839,
0.013980964198708534,
0.033118631690740585,
0.02059277705848217,
0.03989212587475777,
-0.014542585238814354,
-0.060621052980422974,
0.03063388355076313,
-0.0012540746247395873,
0.03192731365561485,
-0.004812072496861219,
-0.011232424527406693,
-0.044793546199798584,
0.05762574076652527,
0.01733367331326008,
-0.01998009905219078,
-0.0019795019179582596,
-0.019350403919816017,
-0.04350011423230171,
-0.01011769101023674,
0.043057624250650406,
0.0017561299027875066,
0.05469850078225136,
0.05439216271042824,
0.08563872426748276,
0.02750242128968239,
0.022056397050619125,
0.006513955071568489,
-0.018159085884690285,
0.04755059629678726,
0.012006781063973904,
-0.011223915033042431,
-0.006986227352172136,
-0.05497080460190773,
-0.025187859311699867,
-0.016610372811555862,
-0.06702013313770294,
0.006530974060297012,
-0.062220823019742966,
-0.03907522186636925,
0.049150366336107254,
-0.04523603618144989,
-0.0029995678924024105,
0.045099884271621704,
-0.0022167018614709377,
0.020831041038036346,
-0.013989473693072796,
-0.07161521166563034,
0.01695074886083603,
0.0023315788712352514,
-0.030599845573306084,
-0.031995389610528946,
0.011257952079176903,
-0.025068728253245354,
-0.010134709998965263,
0.02392846718430519,
0.0008945519803091884,
0.0030080771539360285,
-0.0008126488537527621,
-0.008747675456106663,
0.08386876434087753,
0.013529965654015541,
-0.0048716384917497635,
-0.03468436375260353,
-0.008530685678124428,
0.020456627011299133,
-0.022260623052716255,
0.033067576587200165,
0.042955514043569565,
-0.014746811240911484,
-0.00017404407844878733,
-0.051669150590896606,
0.01080695353448391,
-0.011036708019673824,
0.023434922099113464,
0.01684863679111004,
0.01065378449857235,
-0.023690203204751015,
-0.041423819959163666,
-0.0192653089761734,
-0.035058777779340744,
-0.04527007415890694,
0.08488989621400833,
0.007794621400535107,
-0.02064383402466774,
0.01849946193397045,
0.06715628504753113,
0.04578063637018204,
0.012228025123476982,
0.003535660682246089,
0.02064383402466774,
-0.01646571233868599,
-0.02571544423699379,
0.058987244963645935,
0.030293507501482964,
-0.030701959505677223,
0.005637485533952713,
-0.07985232770442963,
0.04683580622076988,
0.04047076404094696,
-0.007986083626747131,
0.02910218946635723,
-0.03784986585378647,
0.0018667522817850113,
0.06262927502393723,
0.013308720663189888,
0.05234990268945694,
0.05551540479063988,
-0.013853322714567184,
-0.024626238271594048,
-0.01728261634707451,
-0.04683580622076988,
-0.005331146996468306,
-0.0033973827958106995,
-0.005501335021108389,
0.019860967993736267,
0.03944963589310646,
0.026157932355999947,
-0.0197758749127388,
-0.03924540802836418,
0.015274395234882832,
-0.008985939435660839,
0.0035930993035435677,
-0.045678526163101196,
-0.011632366105914116,
-0.03897310793399811,
-0.04949074238538742,
-0.018720706924796104,
0.04241091012954712,
-0.00546729750931263,
-0.051362812519073486,
0.014006492681801319,
0.007837168872356415,
0.029833998531103134,
-0.03167203068733215,
-0.030446676537394524,
0.054936766624450684,
-0.059395696967840195,
-0.07746969163417816,
-0.015784960240125656,
0.021528812125325203,
0.052179716527462006,
-0.04949074238538742,
-0.0046929409727454185,
0.06007644906640053,
0.06783703714609146,
-0.004978006239980459,
-0.05160107463598251,
0.033884480595588684,
0.028098078444600105,
-0.024404995143413544,
-0.002786832395941019,
-0.011155839078128338,
0.03883695602416992,
0.014176680706441402,
-0.0342588946223259,
0.04527007415890694,
-0.060518939048051834,
0.014695755206048489,
0.04200245812535286,
-0.12410126626491547,
0.04404471814632416,
0.01849946193397045,
-0.012696042656898499,
0.01819312386214733,
0.07828659564256668,
0.033884480595588684,
0.05098839849233627,
-0.036964885890483856,
-0.04523603618144989,
-0.017886783927679062,
0.06327599287033081,
0.010389992035925388,
-0.043976642191410065,
0.03328882157802582,
0.03284633159637451,
-0.02084806002676487,
-0.027230119332671165,
0.00044142577098682523,
0.02981698140501976,
-0.02207341603934765,
-0.012619458138942719,
0.014551094733178616,
-0.009411409497261047,
-0.008198819123208523,
0.018737725913524628,
-0.02423480525612831,
-0.04595082625746727,
0.000873278419021517,
0.01016874797642231,
-0.014891471713781357,
0.04220668599009514,
0.01659335382282734,
-0.007688254117965698,
-0.0063267480581998825,
-0.022447830066084862,
-0.014542585238814354,
-0.005126920994371176,
0.01631254330277443,
-0.020167307928204536,
0.011394103057682514,
-0.011513235047459602,
-0.10279370099306107,
-0.020320476964116096,
-0.04571256414055824,
-0.014134134165942669,
-0.0026145169977098703,
-0.02454114519059658,
-0.04380645602941513,
0.047414444386959076,
-0.024064617231488228,
0.05459639057517052,
0.0033888735342770815,
0.02135862410068512,
-0.009862408973276615,
-0.023230696097016335,
-0.006211870815604925,
0.024626238271594048,
-0.01844840496778488,
-0.008007356896996498,
0.0022635036148130894,
0.01206634659320116,
-0.006139541044831276,
-0.017112428322434425,
0.024609219282865524,
0.033067576587200165,
-0.03996019810438156,
0.03088916651904583,
0.08305186033248901,
-0.067496657371521,
-0.028523549437522888,
-0.03456523269414902,
0.03781582787632942,
0.03344199061393738,
0.017120936885476112,
-0.011028198525309563,
0.04081114009022713,
-0.005922550801187754,
0.001984820468351245,
0.006807529833167791,
0.006445879582315683,
0.0022975413594394922,
0.021852171048521996,
-0.004316399339586496,
-0.003225067164748907,
0.028064042329788208,
0.02632812224328518,
-0.06262927502393723,
-0.03002120554447174,
-0.019537610933184624,
-0.010389992035925388,
0.005845966283231974,
0.008177544921636581,
-0.0071649253368377686,
-0.04768674448132515,
0.017291124910116196,
-0.0436362661421299,
0.02617495134472847,
0.043057624250650406,
0.01911213994026184,
0.05337103456258774,
0.021035267040133476,
-0.017418766394257545,
0.010236823000013828,
0.001485956134274602,
0.03771371394395828,
-0.03611394390463829,
-0.030140338465571404,
0.04724425822496414,
-0.0069649540819227695,
0.04053883999586105,
-0.06664571911096573,
0.002937874523922801,
-0.02443903125822544,
-0.011870630085468292,
-0.026140915229916573,
-0.003952621947973967,
-0.0009982604533433914,
-0.019333384931087494,
-0.04040268808603287,
0.0035782079212367535,
0.008773203939199448,
-0.06906238943338394,
-0.05834053084254265,
-0.005922550801187754,
-0.0005584301543422043,
-0.06810933351516724,
-0.03218259662389755,
-0.06787107139825821,
0.03567145764827728,
-0.1044955849647522,
-0.051464926451444626,
0.0266344603151083,
-0.006211870815604925,
-0.01742727681994438,
0.02403057925403118,
0.049558818340301514,
-0.025238916277885437,
0.01518930122256279,
0.02372424118220806,
-0.005037572234869003,
-0.021035267040133476,
-0.005041826982051134,
0.017163485288619995,
-0.018890894949436188,
-0.04533815011382103,
-0.012134421616792679,
0.02397952415049076,
-0.033578142523765564,
-0.017648521810770035,
-0.035773567855358124,
-0.02632812224328518,
-0.042138610035181046,
0.029595736414194107,
0.02546016126871109,
-0.0527583546936512,
0.06807529926300049,
0.004237687215209007,
0.022566961124539375,
-0.02586861327290535,
0.006560756824910641,
-0.07597203552722931,
0.005075864493846893,
-0.005739598535001278,
0.00810521561652422,
0.0008801923249848187,
-0.010789934545755386,
-0.008415808901190758,
0.05874898284673691,
-0.020779984071850777,
-0.03614798188209534,
-0.017971878871321678,
0.016789071261882782,
-0.012576911598443985,
-0.02709396928548813,
0.0005828947178088129,
0.04384049028158188,
0.05194145068526268,
0.011172858066856861,
-0.04431701824069023,
0.006611813325434923,
-0.018975989893078804,
-0.02003115601837635,
0.01865263096988201,
-0.006879859603941441,
0.06722435355186462,
-0.03037860244512558,
-0.019792892038822174,
0.01763150282204151,
0.040743064135313034,
0.016244467347860336,
-0.015257376246154308,
0.013717172667384148,
0.03992616385221481,
-0.04230879619717598,
-0.025902651250362396,
0.00046615622704848647,
0.015504148788750172,
-0.00034356751712039113,
0.02658340334892273,
-0.020167307928204536,
0.03456523269414902,
-0.05742151290178299,
0.07692508399486542,
0.04819731041789055,
-0.012049327604472637,
0.08121383190155029,
0.00037866883212700486,
-0.02956169843673706,
0.03876888379454613,
-0.0119131775572896,
-0.030106300488114357,
0.0014263902558013797,
0.027638571336865425,
0.05840860679745674,
-0.009828370995819569,
-0.0071819438599050045,
0.0197758749127388,
0.020762965083122253,
0.026906762272119522,
-0.015606261789798737,
-0.024166731163859367,
0.06228889897465706,
-0.026804648339748383,
-0.015333960764110088,
-0.012304609641432762,
-0.005433259531855583,
0.010670802555978298,
0.0436362661421299,
0.014738301746547222,
-0.011402612552046776,
-0.005029062740504742,
-0.044793546199798584,
-0.030038224533200264,
-0.04571256414055824,
-0.019333384931087494,
-0.00449722446501255,
-0.009241221472620964,
0.010075144469738007,
0.005446023773401976,
-0.002937874523922801,
0.021494776010513306,
0.013700153678655624,
-0.02316262014210224,
0.03958578407764435,
0.04778885841369629,
-0.026855705305933952,
0.05534521862864494,
-0.02064383402466774,
0.009164636954665184,
-0.00000619923957856372,
-0.03236980363726616,
-0.00396325858309865,
0.01672099530696869,
-0.028370380401611328,
-0.019333384931087494,
-0.014066058211028576,
0.01577644981443882,
0.01792082190513611,
-0.01600620523095131,
-0.0011615348048508167,
0.014968056231737137,
0.04656350240111351,
0.02879585139453411,
-0.02403057925403118,
-0.017240069806575775,
-0.009343334473669529,
0.002582606626674533,
0.02811509743332863,
0.06708820909261703,
0.019299346953630447,
-0.012262063100934029,
-0.05313276872038841,
-0.016065770760178566,
0.024609219282865524,
0.010823972523212433,
0.020167307928204536,
-0.0074584996327757835,
-0.021086324006319046,
0.025834575295448303,
0.032505955547094345,
-0.004926949739456177,
0.010219804011285305,
0.008003102615475655,
0.009419918991625309,
-0.06416096538305283,
0.0008291358826681972,
-0.037271223962306976,
-0.0027272666338831186,
-0.01921425200998783,
0.02561333030462265,
-0.018516480922698975,
0.005165213253349066,
-0.007709527388215065,
0.067496657371521,
0.01783572882413864,
-0.01193870510905981,
0.0008871062309481204,
0.04200245812535286,
-0.0029272378887981176,
0.04384049028158188,
-0.03242086246609688,
0.010441049002110958,
0.009726257994771004,
-0.022873299196362495,
-0.02273714914917946,
-0.011198386549949646,
-0.006633087061345577,
-0.045678526163101196,
0.042036496102809906,
-0.0020390679128468037,
0.016933729872107506,
0.0548006147146225,
-0.007050048094242811,
0.018465423956513405,
0.03614798188209534,
0.07338517159223557,
-0.005743853282183409,
-0.0044716959819197655,
0.03989212587475777,
-0.0036399010568857193,
0.018329273909330368,
-0.010483595542609692,
0.002914473647251725,
0.013683134689927101,
-0.0213075689971447,
0.029936112463474274,
0.07515513151884079,
0.008203073404729366,
0.03897310793399811,
-0.002869799267500639,
0.019997118040919304,
0.006028918549418449,
-0.018159085884690285,
0.03580760583281517,
0.012415232136845589,
0.02699185535311699,
0.02387741021811962,
0.018108028918504715,
-0.005905532278120518,
-0.013010891154408455,
-0.01409158669412136,
0.019282327964901924,
-0.009241221472620964,
0.015350979752838612,
-0.0024400739930570126,
-0.00408451771363616,
-0.0038122166879475117,
0.03614798188209534,
-0.01267902459949255,
-0.03007226251065731,
0.044078756123781204,
0.03335689753293991,
-0.035058777779340744,
0.05490272864699364,
0.04268321022391319,
0.0281661543995142,
-0.02643023431301117,
-0.07358939945697784,
-0.0131895886734128,
-0.019282327964901924,
-0.007624433375895023,
-0.0030250961426645517,
-0.010007068514823914,
0.007109614089131355,
0.002086933236569166,
-0.004305762704461813,
-0.006960699334740639,
-0.010151728987693787,
-0.01885685697197914,
-0.00672243582084775,
0.02428586222231388,
-0.02110334299504757,
-0.01221951562911272,
-0.011394103057682514,
0.0028825635090470314,
0.016652919352054596,
0.01275560911744833,
0.06388866901397705,
0.028932001441717148,
-0.00028692674823105335,
-0.0022975413594394922,
0.03611394390463829,
0.010696331039071083,
-0.004086645320057869,
-0.016703976318240166,
-0.03330583870410919,
-0.00781164038926363,
0.000552048091776669,
-0.02782577835023403,
-0.0060884845443069935,
-0.01096012257039547,
-0.020252401009202003,
0.023077525198459625,
0.005739598535001278,
-0.007683999370783567,
-0.02678762935101986,
0.026498310267925262,
-0.009675201959908009,
0.010432539507746696,
-0.001429581199772656,
-0.01638912782073021,
0.01590409129858017,
-0.007407443132251501,
-0.030157357454299927,
-0.03134867548942566,
-0.009522031992673874,
0.0018816437805071473,
0.028880944475531578,
-0.043568190187215805,
0.0012072728713974357,
-0.006373549811542034,
-0.01720603182911873,
-0.01227057259529829,
-0.030446676537394524,
0.05231586471199989,
-0.020677872002124786,
-0.04309166222810745,
0.00914761796593666,
-0.030055243521928787,
-0.036862775683403015,
-0.008211582899093628,
-0.01689969189465046,
0.04196842014789581,
0.0008509412291459739,
0.08128190785646439,
-0.0319613516330719,
0.024302881211042404,
0.07692508399486542,
0.026906762272119522,
0.015402035787701607,
-0.018380330875515938,
-0.0013370413798838854,
0.04785693436861038,
-0.015538186766207218,
0.0050716097466647625,
-0.0035675710532814264,
0.007892480120062828,
-0.009853899478912354,
0.021750057116150856,
-0.005318382754921913,
-0.009300787933170795,
0.029170265421271324,
-0.01567433774471283,
-0.005624721292406321,
-0.022924356162548065,
-0.014261774718761444,
0.0006812848150730133,
0.0491844043135643,
0.00870512891560793,
0.04482758417725563,
0.014457491226494312,
0.03842850401997566,
-0.01262796763330698,
0.023809336125850677,
-0.060621052980422974,
-0.01470426470041275,
0.04492969810962677,
-0.0009105071076191962,
-0.036658547818660736,
-0.004624865483492613,
0.003463330678641796,
-0.010764406062662601,
0.010849501006305218,
-0.019180215895175934,
-0.0035058779176324606,
0.012134421616792679,
0.0410834439098835,
-0.0042929984629154205,
-0.028778832405805588,
0.024353938177227974,
0.023962505161762238,
0.03570549190044403,
0.0033590905368328094,
0.008926372975111008,
0.03385044261813164,
-0.020014137029647827,
-0.040436726063489914,
0.0125513831153512,
0.00870512891560793,
0.011283480562269688,
-0.0031548645347356796,
0.00301658664830029,
-0.05738747492432594,
-0.022669075056910515,
-0.025034690275788307,
0.060859315097332,
0.014491529203951359,
-0.000688198721036315,
0.019792892038822174,
0.007688254117965698,
0.005207760259509087,
0.02028643898665905,
-0.039619822055101395,
-0.0005882130935788155,
-0.01962270401418209,
-0.028404418379068375,
-0.067496657371521,
-0.013410833664238453,
0.004790799226611853,
-0.0013891615672037005,
0.0481632724404335,
-0.01689969189465046,
0.01136857457458973,
0.028983058407902718,
-0.017954859882593155,
0.042342834174633026,
-0.01065378449857235,
0.028727775439620018,
-0.01144515909254551,
-0.03934752196073532,
-0.03590971976518631,
-0.028353361412882805,
0.03483753278851509,
-0.007866951636970043,
0.02632812224328518,
-0.0051481942646205425,
0.021903228014707565,
0.0006105503416620195,
0.010466577485203743,
-0.0057481080293655396,
-0.03386745974421501,
-0.022107452154159546,
-0.054119862616062164,
-0.016269996762275696,
0.019997118040919304,
0.00016207771841436625,
0.05466446280479431,
0.047210220247507095,
-0.004037715960294008,
0.008892335928976536,
-0.035467229783535004,
-0.0036122454330325127,
0.02479642815887928,
0.007692508865147829,
0.03442908078432083,
0.007824404165148735,
-0.01136857457458973,
0.03856465592980385,
0.0078626973554492,
0.0111643485724926,
-0.00014705327339470387,
0.014363887719810009,
-0.005492825526744127,
0.015427564270794392,
-0.06068912893533707,
-0.007169179618358612,
-0.05844264477491379,
-0.02095017209649086,
0.03587568178772926,
-0.016508258879184723,
0.04441913217306137,
-0.008815751411020756,
0.042138610035181046,
0.012134421616792679,
-0.03165501356124878,
0.012049327604472637,
-0.047210220247507095,
0.015784960240125656,
0.041151516139507294,
0.006254417821764946,
-0.025936689227819443,
0.06269735097885132,
-0.044589318335056305,
-0.02951064147055149,
-0.04288743808865547,
0.0012881122529506683,
-0.03580760583281517,
0.027332231402397156,
0.009734767489135265,
-0.01771659590303898,
-0.013504437170922756,
0.039313483983278275,
0.005003534257411957,
-0.004082390572875738,
-0.013351268135011196,
-0.04019846394658089,
0.0157253947108984,
0.007203217595815659,
0.0031101901549845934,
-0.001909299404360354,
0.014142642728984356,
0.03550126776099205,
-0.028863925486803055,
0.04128766804933548,
-0.0294085294008255,
0.010296388529241085,
0.01470426470041275,
-0.02227764204144478,
-0.008028630167245865,
0.05272431671619415,
-0.0001769691880326718,
0.05265624448657036,
0.019129158928990364,
0.012576911598443985,
0.011028198525309563,
0.04302358999848366,
-0.058374568819999695,
0.033731311559677124,
0.054017748683691025,
0.02843845635652542,
0.03812216594815254,
-0.004399366211146116,
0.04067499190568924,
0.007535084616392851,
-0.008381770923733711,
-0.004999279510229826,
0.03473542258143425,
-0.033424969762563705,
0.010126200504601002,
0.03795197978615761,
-0.010611237026751041,
-0.001383843133226037,
-0.01982693001627922,
-0.014440472237765789,
0.007935026660561562,
-0.015597752295434475,
-0.022141490131616592,
-0.049048252403736115,
0.04666561633348465,
0.010287879034876823,
0.0375094898045063,
-0.023264732211828232,
0.03412274271249771,
0.024558164179325104,
0.035637419670820236,
-0.005777890793979168,
0.03167203068733215,
-0.07719738781452179,
0.014346868731081486,
-0.008173290640115738,
0.012747099623084068,
0.0027932145167142153,
0.02023538202047348,
-0.014687245711684227,
0.024422012269496918,
0.008471120148897171,
0.02653234824538231,
0.012134421616792679,
0.014006492681801319,
-0.023894429206848145,
-0.005858730524778366,
-0.01786976493895054,
0.027689628303050995,
-0.020371532067656517,
-0.008977429941296577,
-0.03723718971014023,
-0.020762965083122253,
-0.03436100482940674,
-0.026311103254556656,
-0.022498885169625282,
-0.0007121314411051571,
0.017682557925581932,
-0.030753016471862793,
-0.011189877055585384,
0.0014891471946612,
-0.008832769468426704,
-0.027179062366485596,
0.01936742290854454,
-0.05449427664279938,
0.00914761796593666,
0.02285628207027912,
-0.013776738196611404,
-0.014993584714829922,
0.012857722118496895,
-0.0031250815372914076,
-0.06313984096050262,
0.016993295401334763,
0.011598329059779644,
0.024064617231488228,
0.03288036957383156,
0.008266894146800041,
-0.04898017644882202,
-0.030718978494405746,
-0.01526588574051857,
-0.018737725913524628,
0.030906185507774353,
0.027315212413668633,
0.0025762245059013367,
-0.055243104696273804,
-0.026515329256653786,
0.0720236673951149,
0.010585708543658257,
0.02869373746216297,
0.033016517758369446,
-0.001490210765041411,
-0.021733038127422333,
0.0207970030605793,
0.0013625696301460266,
-0.030514752492308617,
-0.024881521239876747,
-0.023741260170936584,
-0.018890894949436188,
-0.012040818110108376,
-0.06409288942813873,
-0.000935503514483571,
0.022362735122442245,
-0.013861832208931446,
0.0517372265458107,
-0.050886284559965134,
-0.013300211168825626,
-0.05997433885931969
] |
Convection initiation (CI) nowcasting remains a challenging problem for both
numerical weather prediction models and existing nowcasting algorithms. In this
study, object-based probabilistic deep learning models are developed to predict
CI based on multichannel infrared GOES-R satellite observations. The data come
from patches surrounding potential CI events identified in Multi-Radar
Multi-Sensor Doppler weather radar products over the Great Plains region from
June and July 2020 and June 2021. An objective radar-based approach is used to
identify these events. The deep learning models significantly outperform the
classical logistic model at lead times up to 1 hour, especially on the false
alarm ratio. Through case studies, the deep learning model exhibits the
dependence on the characteristics of clouds and moisture at multiple levels.
Model explanation further reveals the model's decision-making process with
different baselines. The explanation results highlight the importance of
moisture and cloud features at different levels depending on the choice of
baseline. Our study demonstrates the advantage of using different baselines in
further understanding model behavior and gaining scientific insights. | [
-0.019619327038526535,
-0.016430217772722244,
-0.024795573204755783,
0.013134480454027653,
-0.03256963565945625,
0.01780667155981064,
0.002296110847964883,
0.03239515423774719,
-0.06265777349472046,
0.027936216443777084,
-0.002769873011857271,
-0.042456842958927155,
-0.003981540910899639,
-0.049242183566093445,
-0.06005995720624924,
0.027121976017951965,
0.017195992171764374,
0.011001944541931152,
0.0853789672255516,
-0.03846318647265434,
-0.0235935989767313,
0.031988032162189484,
0.009877516888082027,
0.043658819049596786,
0.03609801083803177,
0.045326072722673416,
0.031522754579782486,
-0.004982378333806992,
-0.09103988111019135,
0.07130423188209534,
0.08623198419809341,
0.04881567880511284,
0.010788691230118275,
0.007270007859915495,
-0.023612985387444496,
-0.013764548115432262,
0.003213343443349004,
0.023496665060520172,
-0.028323950245976448,
0.01767096482217312,
-0.021829409524798393,
-0.06091297045350075,
0.04435674101114273,
-0.04373636469244957,
0.0032763502094894648,
-0.06184353306889534,
-0.022100823000073433,
-0.05951713025569916,
-0.010934091173112392,
-0.03402363508939743,
-0.03869582712650299,
-0.02274058386683464,
0.006601166911423206,
-0.00698890071362257,
-0.02733522839844227,
0.0503278411924839,
0.06230881065130234,
0.04172015190124512,
0.013735467568039894,
-0.013037547469139099,
0.03088299185037613,
0.021422289311885834,
-0.04780757054686546,
-0.01036218460649252,
-0.011699865572154522,
-0.018465818837285042,
0.0004895138554275036,
-0.011825879104435444,
-0.008152102120220661,
-0.004250531084835529,
-0.008413822390139103,
-0.04749738425016403,
-0.011971279047429562,
0.012097292579710484,
0.03443075716495514,
0.02283751778304577,
0.023671144619584084,
0.0061261928640306,
0.005980792921036482,
-0.03805606812238693,
0.06544945389032364,
0.03528377041220665,
0.005849932786077261,
0.02332218363881111,
0.09546004980802536,
0.016255736351013184,
0.017108751460909843,
-0.07200215756893158,
0.041642602533102036,
-0.00993567705154419,
0.022042663767933846,
0.05428272485733032,
-0.02058866247534752,
-0.029564697295427322,
-0.0041487510316073895,
-0.025764906778931618,
0.051801227033138275,
0.003550186986103654,
-0.06707793474197388,
-0.03421750292181969,
-0.018688766285777092,
0.012281466275453568,
0.045364849269390106,
0.022042663767933846,
-0.009761196561157703,
-0.04486079514026642,
-0.04664436727762222,
0.03757140040397644,
-0.03790097311139107,
0.12430743873119354,
-0.06641878932714462,
0.023923171684145927,
0.026172026991844177,
-0.03185232728719711,
-0.0417976975440979,
0.02202327735722065,
-0.04385268688201904,
0.02669546753168106,
0.044201646000146866,
-0.0025881226174533367,
-0.0012552880216389894,
0.028071923181414604,
0.03982025384902954,
0.0019653253257274628,
-0.05781110003590584,
0.03262779489159584,
0.07045122236013412,
-0.038540732115507126,
0.04544239491224289,
0.03722243756055832,
0.028013762086629868,
0.00022431003162637353,
-0.05059925466775894,
0.03937436267733574,
0.03890908136963844,
0.00930560939013958,
0.00448317127302289,
0.009286222979426384,
0.023070158436894417,
-0.00030988408252596855,
-0.0188729390501976,
-0.06859009712934494,
-0.0005328309489414096,
0.02120903506875038,
0.036020465195178986,
0.04714842140674591,
0.004209334496408701,
0.02035602182149887,
0.0038749140221625566,
-0.046179089695215225,
-0.05897430330514908,
0.05218896269798279,
-0.011312131769955158,
0.016527149826288223,
0.02768418937921524,
0.040828362107276917,
0.0025057292077690363,
-0.009606103412806988,
-0.0030558265279978514,
-0.044162873178720474,
-0.029157577082514763,
-0.0019968287087976933,
0.04385268688201904,
0.011748332530260086,
-0.012010052800178528,
-0.01254318654537201,
0.01982288807630539,
-0.008864562958478928,
-0.06261900067329407,
0.04683823511004448,
0.025919999927282333,
-0.022003889083862305,
-0.02161615528166294,
-0.008462288416922092,
0.021364128217101097,
0.03320939466357231,
0.034857261925935745,
0.004454091191291809,
-0.04594644904136658,
0.06727180629968643,
-0.0597885437309742,
-0.05703563243150711,
0.029991203919053078,
-0.017457712441682816,
0.06095174327492714,
-0.02423335798084736,
0.05025029182434082,
-0.009135976433753967,
-0.007507494650781155,
-0.007303934544324875,
0.037241823971271515,
-0.03718366473913193,
0.034275662153959274,
-0.04094468429684639,
0.03916110843420029,
-0.06250268220901489,
-0.01240747980773449,
-0.0346246212720871,
-0.01667255163192749,
0.00209012720733881,
-0.030824832618236542,
-0.027218908071517944,
0.017680658027529716,
0.025900613516569138,
0.02103455550968647,
-0.018262259662151337,
0.028924936428666115,
-0.029642244800925255,
-0.006862887181341648,
-0.07510402798652649,
-0.029874885454773903,
-0.02239162288606167,
0.0022779356222599745,
-0.01582922972738743,
-0.0064896936528384686,
0.028692297637462616,
0.02076314203441143,
0.002051353920251131,
-0.07529789209365845,
-0.05901307612657547,
0.02557104080915451,
0.05277056246995926,
0.03338387608528137,
-0.02952592447400093,
-0.0543990433216095,
-0.024330291897058487,
0.026443440467119217,
-0.019115272909402847,
-0.06277409195899963,
-0.022411009296774864,
0.00671748723834753,
-0.03708673268556595,
0.030301392078399658,
-0.023748692125082016,
-0.004560718312859535,
-0.041371189057826996,
0.04396900534629822,
-0.04381391406059265,
-0.0661085993051529,
-0.0007906133541837335,
-0.017990846186876297,
-0.0008705834043212235,
-0.004982378333806992,
-0.02058866247534752,
-0.0031236798968166113,
-0.018446432426571846,
0.02795560285449028,
0.058315154165029526,
0.015315482392907143,
-0.004841824993491173,
-0.022488556802272797,
-0.015606283210217953,
-0.00889848917722702,
0.025900613516569138,
-0.03006875142455101,
-0.015509349294006824,
0.022818131372332573,
-0.004446821287274361,
0.025823067873716354,
-0.011661091819405556,
0.02508637309074402,
0.03733875975012779,
-0.0022173523902893066,
0.019212206825613976,
0.02553226612508297,
0.01767096482217312,
0.05470922961831093,
0.03524499759078026,
-0.016420524567365646,
-0.01896987296640873,
0.04687700793147087,
-0.02781989611685276,
-0.019386686384677887,
-0.0019701721612364054,
-0.003346626879647374,
-0.005530052352696657,
0.016653163358569145,
0.033713448792696,
0.009523710235953331,
-0.018950486555695534,
0.032744113355875015,
0.02686994895339012,
0.051219627261161804,
-0.05141349509358406,
-0.030282005667686462,
-0.03555518388748169,
-0.058819208294153214,
-0.022236529737710953,
-0.014171668328344822,
-0.016023097559809685,
0.005563979037106037,
0.0029588930774480104,
-0.05726827308535576,
0.052615467458963394,
0.00234215403907001,
-0.0010820194147527218,
-0.013880867511034012,
-0.06944311410188675,
0.05878043547272682,
0.02031724713742733,
-0.058586567640304565,
0.02683117426931858,
0.018349498510360718,
0.049862559884786606,
0.0024039491545408964,
0.023574210703372955,
0.03989780321717262,
0.0262883473187685,
-0.028963711112737656,
-0.023612985387444496,
-0.008287808857858181,
0.004340194631367922,
0.05835392698645592,
-0.04036308079957962,
0.0025978160556405783,
0.023205865174531937,
0.0422629788517952,
-0.015393029898405075,
-0.0012855796376243234,
-0.019037727266550064,
0.02898309752345085,
-0.019115272909402847,
-0.060021184384822845,
0.025609813630580902,
0.0395488403737545,
0.002279147505760193,
-0.01186465285718441,
0.04517098143696785,
-0.02894432283937931,
0.031212566420435905,
-0.025648586452007294,
-0.042185429483652115,
-0.06323937326669693,
0.023632371798157692,
0.03357774019241333,
0.008937262929975986,
-0.054941870272159576,
0.005190785508602858,
0.03088299185037613,
-0.007783754728734493,
-0.051529813557863235,
-0.09026441723108292,
-0.04974623769521713,
-0.05540715157985687,
-0.02485373243689537,
-0.03605923801660538,
0.0009408601326867938,
-0.022682424634695053,
0.026133254170417786,
0.019037727266550064,
0.0009638818446546793,
-0.058547794818878174,
-0.060021184384822845,
0.01501498930156231,
0.03078605979681015,
-0.003550186986103654,
-0.04524852707982063,
-0.0038216006942093372,
0.06548822671175003,
0.020549887791275978,
0.006790187209844589,
-0.05587243288755417,
-0.0008554375381208956,
-0.031115632504224777,
-0.06405361741781235,
-0.00414632773026824,
-0.007541421335190535,
0.020743755623698235,
-0.0036689306143671274,
0.04257316514849663,
0.0476524755358696,
0.07843853533267975,
-0.00862707570195198,
-0.0027044429443776608,
-0.022081436589360237,
-0.028246402740478516,
-0.0213447418063879,
-0.0076432013884186745,
-0.02341911755502224,
0.052150189876556396,
-0.03307368978857994,
-0.008467135950922966,
-0.004444397985935211,
-0.028924936428666115,
0.03423688933253288,
0.027044428512454033,
0.05901307612657547,
-0.01901834085583687,
0.0031818400602787733,
0.011767718940973282,
0.012485026381909847,
-0.02045295387506485,
-0.03743569180369377,
-0.05451536551117897,
0.0664963349699974,
-0.020976394414901733,
-0.012281466275453568,
0.0002447569277137518,
0.032162513583898544,
0.004759431816637516,
-0.0231477040797472,
0.016342977061867714,
0.009363769553601742,
0.0032303067855536938,
-0.03183294087648392,
0.05118085443973541,
0.003647120436653495,
-0.02624957449734211,
-0.0036446971353143454,
0.012620733119547367,
0.0034411370288580656,
-0.03671838343143463,
-0.036427583545446396,
-0.03875398635864258,
0.04125487059354782,
0.008355662226676941,
-0.01775820553302765,
0.019357606768608093,
-0.0238262377679348,
0.006455766968429089,
-0.0274127759039402,
0.014695108868181705,
0.012126373127102852,
0.0043838145211339,
0.02045295387506485,
0.018456125631928444,
0.06963697820901871,
0.006048646289855242,
-0.00007663799624424428,
0.011564158834517002,
0.05191754922270775,
0.016381749883294106,
0.023360958322882652,
0.0186499934643507,
-0.0346052348613739,
0.023496665060520172,
-0.01206821296364069,
0.008307195268571377,
-0.008951802738010883,
0.0008705834043212235,
-0.039703935384750366,
-0.018572445958852768,
-0.012291159480810165,
-0.06153334304690361,
-0.03065035305917263,
-0.04652804881334305,
-0.014074734412133694,
0.011728945188224316,
-0.04396900534629822,
-0.013803320936858654,
-0.06808604300022125,
0.0364081971347332,
-0.0664963349699974,
-0.03846318647265434,
0.015848616138100624,
0.00813271477818489,
-0.005825699307024479,
-0.02898309752345085,
-0.05567856505513191,
-0.015170082449913025,
0.018175018951296806,
0.036466360092163086,
-0.009581870399415493,
-0.03196864575147629,
-0.01653684489428997,
0.006116499658674002,
-0.06820236146450043,
-0.059129394590854645,
0.02008460834622383,
0.04792388901114464,
0.05870288982987404,
-0.031522754579782486,
-0.026986267417669296,
0.01096317172050476,
-0.007837068289518356,
-0.012223306111991405,
-0.054903097450733185,
-0.045326072722673416,
-0.02778112329542637,
-0.034818489104509354,
0.0579661950469017,
0.0052247121930122375,
-0.019289754331111908,
0.0011492670746520162,
0.0024439343251287937,
0.014617562294006348,
-0.006756260525435209,
0.011321824975311756,
-0.0011801645159721375,
-0.010895318351686,
-0.011108571663498878,
-0.0015460882568731904,
0.026617921888828278,
-0.012552879750728607,
-0.010730531066656113,
-0.05587243288755417,
0.0033708601258695126,
0.030417712405323982,
0.04722597077488899,
0.00518109230324626,
0.046179089695215225,
0.013541600666940212,
0.01869845949113369,
0.03006875142455101,
0.005602752324193716,
0.054592911154031754,
0.040828362107276917,
-0.011903425678610802,
-0.03982025384902954,
0.06715548038482666,
-0.005631832405924797,
-0.0440465547144413,
0.010546357370913029,
0.012446252629160881,
0.023748692125082016,
0.02256610430777073,
-0.004771548323333263,
-0.021325355395674706,
0.009955063462257385,
0.028731070458889008,
0.02719952166080475,
-0.03945190832018852,
0.008481675758957863,
-0.00044044130481779575,
-0.013037547469139099,
0.03664083778858185,
0.013173254206776619,
-0.028556589037179947,
0.03590414300560951,
-0.013250800780951977,
0.0009111742838285863,
0.05025029182434082,
-0.0019204936688765883,
-0.05106453225016594,
0.03770710527896881,
-0.0019083770457655191,
-0.008137562312185764,
-0.00806486140936613,
-0.012746746651828289,
-0.017583725973963737,
-0.04792388901114464,
0.027664802968502045,
-0.012155452743172646,
0.00136191479396075,
-0.00548158586025238,
0.026462826877832413,
-0.015741989016532898,
-0.012019746005535126,
-0.024465998634696007,
0.009097202681005001,
-0.036291878670454025,
0.013405893929302692,
0.053546030074357986,
0.0030000898987054825,
-0.03142581880092621,
-0.011699865572154522,
-0.006261900067329407,
0.011069797910749912,
-0.016420524567365646,
0.0005346484831534326,
-0.02508637309074402,
-0.002728676190599799,
0.02566797286272049,
0.00806486140936613,
0.012804906815290451,
-0.026637308299541473,
0.045558713376522064,
0.031115632504224777,
0.014859895221889019,
0.038501959294080734,
-0.0053458791226148605,
-0.022624263539910316,
-0.0314645916223526,
0.012145759537816048,
0.07444487512111664,
0.02018154039978981,
0.022798743098974228,
-0.022915063425898552,
0.004929065238684416,
0.014462468214333057,
0.02431090548634529,
0.01109887845814228,
-0.002813492901623249,
0.006131039932370186,
0.007177921012043953,
-0.025377172976732254,
0.010817771777510643,
-0.024485385045409203,
0.03879275918006897,
-0.001084442832507193,
0.007143994327634573,
0.018756620585918427,
0.03187171369791031,
-0.013880867511034012,
-0.012756439857184887,
-0.013464054092764854,
-0.01164170540869236,
-0.020957008004188538,
-0.03293798118829727,
-0.07471629232168198,
-0.0007766791386529803,
0.037823427468538284,
0.022759970277547836,
0.03578782454133034,
-0.01204882562160492,
0.04524852707982063,
0.002837726380676031,
0.010371877811849117,
0.04804021120071411,
0.039936576038599014,
0.0235935989767313,
0.022236529737710953,
-0.009649723768234253,
-0.007410561200231314,
0.011942199431359768,
-0.01950300671160221,
0.00946070346981287,
0.04140996187925339,
-0.015877695754170418,
-0.03749385103583336,
0.047032102942466736,
-0.008748242631554604,
0.03491542488336563,
0.015034375712275505,
0.0032157667446881533,
0.02867290936410427,
-0.016517456620931625,
0.015654750168323517,
-0.04400777816772461,
-0.05955590307712555,
0.005428272299468517,
-0.018708152696490288,
-0.007386327721178532,
-0.013338040560483932,
-0.0022573373280465603,
-0.015887390822172165,
0.00923775602132082,
-0.03051464445888996,
-0.0002770175924524665,
-0.02089884877204895,
-0.04408532753586769,
0.01074022427201271,
-0.04625663533806801,
0.013464054092764854,
0.004063934087753296,
-0.0007500224746763706,
-0.028188243508338928,
0.00849621556699276,
0.04125487059354782,
0.08979913592338562,
0.0031745699234306812,
0.0064315334893763065,
0.030456485226750374,
0.043620046228170395,
0.021674316376447678,
-0.02260487712919712,
0.05850902199745178,
0.006334600038826466,
-0.01007138378918171,
0.021732475608587265,
0.01644960418343544,
-0.017777591943740845,
0.031988032162189484,
-0.017157217487692833,
-0.019212206825613976,
-0.024020105600357056,
0.04102222993969917,
-0.02188756875693798,
-0.04183647036552429,
-0.010158623568713665,
-0.013997187837958336,
-0.04652804881334305,
-0.06661265343427658,
0.014646641910076141,
0.06095174327492714,
-0.043930232524871826,
-0.007085834164172411,
0.03394608944654465,
0.000605833949521184,
-0.035574570298194885,
-0.020103994756937027,
0.01049789134413004,
0.022217143326997757,
0.03648574650287628,
-0.03501235693693161,
-0.03394608944654465,
0.035574570298194885,
-0.011176425032317638,
-0.0007609274471178651,
-0.014908362179994583,
-0.017719432711601257,
-0.0014237097930163145,
0.012213612906634808,
0.026540374383330345,
0.04912586510181427,
-0.0016381751047447324,
-0.037106119096279144,
-0.032744113355875015,
0.019028034061193466,
0.01261103991419077,
-0.03931619971990585,
0.032433927059173584,
-0.02669546753168106,
0.02058866247534752,
0.002299745799973607,
0.020937621593475342,
0.005462198983877897,
-0.014869589358568192,
-0.03340326249599457,
-0.014850202016532421,
0.011632012203335762,
0.08212200552225113,
0.010662677697837353,
-0.020685594528913498,
0.016691938042640686,
0.0022743006702512503,
0.011632012203335762,
-0.006974360439926386,
0.03902539983391762,
-0.00044347046059556305,
0.0777406170964241,
0.05253792181611061,
-0.021015169098973274,
-0.034139957278966904,
0.026850560680031776,
0.04776879772543907,
0.018863245844841003,
0.008040628395974636,
-0.05090944096446037,
0.024970052763819695,
0.023167090490460396,
-0.03869582712650299,
-0.004284457769244909,
0.013192640617489815,
0.025997547432780266,
-0.034547075629234314,
0.047574929893016815,
0.059206943958997726,
0.04323231056332588,
0.0038652208168059587,
0.03978148102760315,
-0.052111413329839706,
0.025919999927282333,
0.02099578268826008,
0.014481855556368828,
-0.0409059077501297,
0.0003413874364923686,
0.000725183286704123,
0.00548158586025238,
-0.010788691230118275,
0.03586537018418312,
0.022411009296774864,
0.017593419179320335,
-0.04687700793147087,
-0.03119318000972271,
0.018805086612701416,
-0.000965093495324254,
-0.04408532753586769,
-0.029584083706140518,
-0.016110336408019066,
0.043581273406744,
0.007943695411086082,
-0.0007051907596178353,
0.011670785956084728,
0.0017714585410431027,
-0.030805446207523346,
-0.02192634344100952,
0.007216694299131632,
0.031483978033065796,
-0.018407659605145454,
0.014888975769281387,
0.01377424132078886,
0.040789589285850525,
-0.04427919164299965,
-0.03650513291358948,
0.01397780142724514,
0.0602150484919548,
0.015809843316674232,
-0.00965941697359085,
-0.04032430797815323,
-0.052382826805114746,
0.0016381751047447324,
-0.010148930363357067,
0.015557816252112389,
-0.043581273406744,
0.05230528116226196,
-0.030669739469885826,
-0.04571380838751793,
-0.0065284669399261475,
0.017554644495248795,
-0.016682244837284088,
-0.010982558131217957,
0.011186118237674236,
-0.045868899673223495,
0.05331338942050934,
0.041332416236400604,
-0.0530419759452343,
-0.01626542955636978,
0.018776006996631622,
-0.04342617839574814,
0.05986608937382698,
0.005777232814580202,
-0.009009962901473045,
0.003659237176179886,
0.011060104705393314,
-0.014055348001420498,
-0.028692297637462616,
-0.04350372403860092,
-0.007720747962594032,
-0.0025517726317048073,
0.06052523851394653,
-0.022895677015185356,
-0.016691938042640686,
0.018814779818058014,
0.017283231019973755,
-0.023768078535795212,
-0.10088831931352615,
0.02239162288606167,
-0.035031743347644806,
-0.004512251354753971,
-0.010594824329018593,
-0.03047587163746357,
0.018572445958852768,
-0.03078605979681015,
-0.06091297045350075,
0.03747446462512016,
0.015654750168323517,
-0.04199156537652016,
0.014443081803619862,
-0.012077906168997288,
-0.00027247381513006985,
0.013560988008975983,
-0.030398325994610786,
-0.0063200597651302814,
-0.031038084998726845,
0.026850560680031776,
0.017147524282336235,
-0.027858668938279152,
-0.016381749883294106,
0.0597885437309742,
-0.0016127299750223756,
0.01411350816488266,
-0.02403949201107025,
-0.006155272945761681,
0.036873478442430496,
0.047303516417741776,
-0.06928802281618118,
0.0005700897891074419,
0.005486432462930679,
0.007507494650781155,
0.003242423292249441,
0.004982378333806992,
0.029816724359989166,
0.016110336408019066,
-0.029584083706140518,
0.005025998689234257,
0.0051083918660879135,
-0.0045873746275901794,
0.009412236511707306,
-0.016013404354453087,
0.024291519075632095,
-0.002769873011857271,
-0.006324906833469868,
-0.007279701065272093,
0.016459297388792038,
0.0005119296838529408,
-0.0035938071087002754,
-0.02008460834622383,
0.027354614809155464,
-0.000994173577055335,
-0.007274854462593794,
-0.033597130328416824,
0.0009832684881985188,
0.025823067873716354,
0.024078264832496643,
-0.024873118847608566,
0.0018780853133648634,
0.02543533407151699,
0.03278288617730141,
-0.022411009296774864,
0.043891459703445435,
0.016100643202662468,
0.050715573132038116,
0.01600370928645134,
0.012979387305676937,
-0.039975348860025406,
-0.0391029492020607,
-0.01707967184484005,
-0.015170082449913025,
-0.013919641263782978,
-0.02045295387506485,
0.030495258048176765,
0.026036320254206657,
-0.017370471730828285,
0.028866777196526527,
0.012533493340015411,
-0.012814600020647049,
0.04102222993969917,
0.026404667645692825,
-0.020433567464351654,
-0.001560628297738731,
-0.02778112329542637,
-0.0471871979534626,
0.018145939335227013,
0.06005995720624924,
-0.005806312896311283,
0.006121346261352301,
-0.024388452991843224,
0.011825879104435444,
-0.018271952867507935,
-0.024795573204755783,
0.013056933879852295,
-0.03718366473913193,
0.021674316376447678,
0.030941152945160866,
-0.004529214929789305,
-0.04873812943696976,
0.002752909669652581,
0.013173254206776619,
0.009523710235953331,
0.05567856505513191,
0.038501959294080734,
-0.007017980795353651,
0.014598174951970577,
-0.012349319644272327,
-0.009378310292959213,
-0.0019265520386397839,
0.027878055348992348,
0.008840329013764858,
-0.00434746453538537,
0.026540374383330345,
0.04551994055509567,
0.017370471730828285,
0.03334510326385498,
0.04234052449464798,
-0.007318474352359772,
0.0028910397086292505,
-0.007265160791575909,
-0.025415945798158646,
-0.00011026178253814578,
-0.038812145590782166,
0.03231760859489441,
0.009964756667613983,
-0.015431802719831467,
0.0012710397131741047,
-0.019347913563251495,
0.06095174327492714,
0.0009832684881985188,
0.011874346062541008,
0.010381571017205715,
-0.0037270905449986458,
-0.011186118237674236,
-0.004151174332946539,
-0.0332675538957119,
-0.019929513335227966,
0.0009875093819573522,
-0.006872580386698246,
-0.06172721087932587,
-0.010284637100994587,
-0.0013934181770309806,
0.023380344733595848,
0.01375485397875309,
0.013192640617489815,
-0.0025008826050907373,
-0.011001944541931152,
0.03780404105782509,
-0.0040808976627886295,
-0.07122668623924255,
-0.01717660389840603,
0.006121346261352301,
0.05839269980788231,
-0.01860152557492256,
-0.047846343368291855,
0.005816006101667881,
0.044744472950696945,
0.006484846584498882,
0.02058866247534752,
-0.026579147204756737,
-0.0025856993161141872,
-0.013871174305677414,
0.03477971628308296,
0.01770973950624466,
0.011738639324903488,
-0.002653552684932947,
-0.002578429412096739,
-0.019173434004187584,
0.012591653503477573,
-0.0031842633616179228,
-0.034857261925935745,
0.0647127628326416,
-0.019968288019299507,
0.005311952438205481,
0.004713388159871101,
-0.020297860726714134,
0.0023579057306051254,
0.02813008241355419,
-0.004929065238684416,
-0.022100823000073433,
-0.010187704116106033,
-0.0051423185504972935,
-0.015092535875737667,
0.04800143837928772,
0.004902408458292484,
0.022992610931396484,
-0.0051423185504972935,
-0.008312041871249676,
0.03745507821440697,
0.005942019633948803,
0.002145863836631179,
0.02206205017864704,
0.011922812089323997,
-0.03778465464711189,
-0.017942378297448158,
0.018281646072864532,
-0.0027310994919389486,
0.019124966114759445,
-0.04377513751387596,
-0.012620733119547367,
0.029002483934164047,
-0.030708512291312218,
0.046760689467191696,
-0.024020105600357056,
0.008045474998652935,
-0.007299087475985289
] |
Path reasoning methods over knowledge graphs have gained popularity for their
potential to improve transparency in recommender systems. However, the
resulting models still rely on pre-trained knowledge graph embeddings, fail to
fully exploit the interdependence between entities and relations in the KG for
recommendation, and may generate inaccurate explanations. In this paper, we
introduce PEARLM, a novel approach that efficiently captures user behaviour and
product-side knowledge through language modelling. With our approach, knowledge
graph embeddings are directly learned from paths over the KG by the language
model, which also unifies entities and relations in the same optimisation
space. Constraints on the sequence decoding additionally guarantee path
faithfulness with respect to the KG. Experiments on two datasets show the
effectiveness of our approach compared to state-of-the-art baselines. Source
code and datasets: AVAILABLE AFTER GETTING ACCEPTED. | [
-0.026750247925519943,
0.015767715871334076,
-0.03741796687245369,
-0.030222203582525253,
-0.009606343694031239,
0.017926443368196487,
-0.022252896800637245,
0.011243379674851894,
-0.08152799308300018,
-0.004362431354820728,
0.0336042121052742,
0.017323799431324005,
0.0399724617600441,
-0.03149945288896561,
-0.009723274037241936,
0.04407404735684395,
0.06803593784570694,
-0.013546023517847061,
-0.03275870904326439,
-0.007906344719231129,
-0.058285679668188095,
-0.058609489351511,
-0.027937548235058784,
0.022954482585191727,
0.08620523661375046,
0.02568887360394001,
-0.008729360066354275,
0.011045495979487896,
-0.05144970491528511,
0.0608401745557785,
0.051197852939367294,
0.0057341232895851135,
0.01694602146744728,
-0.013905811123549938,
-0.07177773118019104,
0.039540715515613556,
0.07375656813383102,
0.016055544838309288,
-0.001704496331512928,
0.013285176828503609,
0.013177240267395973,
0.03180527314543724,
-0.03831743821501732,
-0.034881461411714554,
-0.029412679374217987,
-0.04151955246925354,
0.013240203261375427,
0.0020373002626001835,
-0.028657125309109688,
-0.05091002210974693,
-0.0203460194170475,
-0.03306452929973602,
0.014274594374001026,
-0.029610563069581985,
-0.009669305756688118,
0.02442961372435093,
0.030366118997335434,
-0.01249364297837019,
0.04684441536664963,
0.023206334561109543,
-0.04464970901608467,
-0.006665075197815895,
-0.012079887092113495,
0.01602856069803238,
-0.013366129249334335,
-0.03705817833542824,
0.04608885943889618,
0.007312694098800421,
0.03561902418732643,
-0.017782527953386307,
-0.00441415049135685,
-0.022972472012043,
0.036122728139162064,
0.004677245859056711,
0.042095210403203964,
0.04144759476184845,
0.012853431515395641,
0.023008450865745544,
0.06861159950494766,
0.0027096543926745653,
0.06522958725690842,
0.023799985647201538,
0.02547300048172474,
0.014850255101919174,
0.05832165852189064,
-0.06343065202236176,
0.0496867410838604,
-0.05457986146211624,
-0.02430368959903717,
-0.022774588316679,
-0.034899450838565826,
-0.004992060363292694,
-0.02027406170964241,
-0.07192164659500122,
-0.03547510877251625,
0.015533853322267532,
-0.022666653618216515,
0.0005613256944343448,
-0.0345216728746891,
0.06666874140501022,
-0.010182004421949387,
-0.008455021306872368,
-0.0015965598868206143,
0.040512144565582275,
0.02797352708876133,
-0.04400208964943886,
-0.07051847875118256,
0.07836185395717621,
-0.02845924161374569,
0.10117242485284805,
0.0006431213114410639,
-0.014220626093447208,
0.012547611258924007,
-0.02117353118956089,
-0.00010449315595906228,
0.0021227500401437283,
-0.007870365865528584,
-0.01770157553255558,
0.08800417929887772,
-0.025994693860411644,
0.004915605299174786,
-0.015884647145867348,
0.019248666241765022,
-0.07951317727565765,
-0.008859782479703426,
0.08757243305444717,
-0.010119041427969933,
-0.013564012944698334,
0.005972483195364475,
0.017467714846134186,
-0.062171388417482376,
-0.005113488994538784,
-0.005176451988518238,
-0.04893118515610695,
0.02061586081981659,
0.01780051738023758,
-0.008891263976693153,
0.03525923937559128,
0.020651839673519135,
-0.022306865081191063,
-0.012871420942246914,
-0.03650050610303879,
-0.042167168110609055,
-0.05368039011955261,
0.011144437827169895,
-0.0011670627864077687,
-0.032524846494197845,
0.03324442356824875,
-0.008729360066354275,
0.0167031642049551,
-0.013510044664144516,
-0.006093911360949278,
-0.03355024382472038,
0.02784760110080242,
0.02291850373148918,
0.0022025781217962503,
-0.04576504975557327,
0.0075600482523441315,
-0.00709682097658515,
0.016478296369314194,
0.034827493131160736,
-0.010298935696482658,
-0.015084117650985718,
0.0347195565700531,
0.00497856829315424,
0.006386239547282457,
-0.009138618595898151,
-0.03232696279883385,
-0.06468990445137024,
0.03284865617752075,
-0.028765061870217323,
0.032866645604372025,
0.0028648129664361477,
0.013456076383590698,
-0.0028333317022770643,
0.026714269071817398,
0.07476397603750229,
-0.016838084906339645,
-0.058573510497808456,
-0.0031886224169284105,
-0.012835442088544369,
-0.0186730045825243,
0.01825924776494503,
0.021353425458073616,
0.03250685706734657,
0.007155286613851786,
0.06343065202236176,
0.03450368344783783,
-0.0012884913012385368,
-0.006777509115636349,
0.00781189976260066,
0.05094600096344948,
0.016622211784124374,
0.0027231464628130198,
0.003312299493700266,
-0.007006873842328787,
-0.003343780990689993,
-0.01371692307293415,
-0.01617247611284256,
-0.015965597704052925,
0.008113222196698189,
-0.09275338053703308,
0.0324888676404953,
-0.027451835572719574,
0.03972060978412628,
0.02102961577475071,
0.04198727756738663,
0.019284645095467567,
-0.02061586081981659,
-0.012151844799518585,
0.0274338461458683,
-0.0055407374165952206,
-0.06504969298839569,
-0.038281459361314774,
0.0072722178883850574,
-0.0034697067458182573,
-0.040584102272987366,
0.012601579539477825,
0.003615870838984847,
-0.04695235192775726,
-0.03477352485060692,
-0.0010535046458244324,
0.04500949755311012,
0.01930263452231884,
0.011585177853703499,
0.0012142849154770374,
-0.0466645210981369,
-0.015524858608841896,
0.03680632635951042,
0.0339999794960022,
-0.004987563006579876,
0.029286755248904228,
0.008054756559431553,
-0.02775765396654606,
-0.004420896526426077,
-0.0020417976193130016,
-0.021749192848801613,
-0.03838939592242241,
0.005909520201385021,
-0.016604222357273102,
-0.0338020958006382,
-0.0690433457493782,
-0.008446026593446732,
-0.04004441946744919,
0.08008883893489838,
-0.03678833693265915,
0.00372155848890543,
0.008126714266836643,
0.051485683768987656,
0.012457664124667645,
0.002151982858777046,
-0.028495220467448235,
0.013653960078954697,
0.03525923937559128,
-0.05360843241214752,
0.0851258710026741,
0.0437142588198185,
-0.01551586389541626,
0.014526446349918842,
-0.03437775745987892,
0.04565711319446564,
-0.00013625570863950998,
0.01993226259946823,
0.04101584851741791,
-0.009444438852369785,
0.009138618595898151,
0.05853753164410591,
-0.04824759066104889,
-0.030977759510278702,
0.015947610139846802,
0.01600157655775547,
-0.05810578539967537,
-0.02374601736664772,
-0.0167031642049551,
0.0019900782499462366,
-0.056054990738630295,
0.03448569402098656,
-0.020723797380924225,
0.08059254288673401,
-0.023835964500904083,
-0.04277880862355232,
-0.038425374776124954,
-0.07555551081895828,
0.016784116625785828,
-0.016910042613744736,
-0.010092057287693024,
0.0009084650664590299,
-0.039396800100803375,
-0.04105182737112045,
0.013770891353487968,
-0.04360632225871086,
0.01273650024086237,
-0.025149190798401833,
0.04234706237912178,
0.002435315866023302,
0.05594705417752266,
-0.027325909584760666,
0.005419308785349131,
0.05465181916952133,
-0.006534651853144169,
-0.06504969298839569,
0.00869338121265173,
-0.03540315106511116,
0.04893118515610695,
0.03292061388492584,
0.035996802151203156,
-0.018394168466329575,
0.10124438256025314,
0.0030402098782360554,
-0.02782961167395115,
0.06728038191795349,
0.0006616728496737778,
0.026498395949602127,
-0.008275127038359642,
-0.014625388197600842,
0.011864013969898224,
0.010856606997549534,
-0.019176708534359932,
-0.023925911635160446,
-0.051053937524557114,
0.013240203261375427,
-0.025868767872452736,
-0.10239570587873459,
-0.04123172163963318,
0.021137552335858345,
0.01923067681491375,
0.012232796289026737,
0.017062952741980553,
0.012088881805539131,
-0.012592584826052189,
-0.04450579360127449,
-0.04173542559146881,
-0.018250253051519394,
0.000017989406842389144,
0.0011985442833974957,
-0.047024309635162354,
-0.023979879915714264,
-0.003404495306313038,
-0.009750258177518845,
-0.0470602884888649,
0.016883058473467827,
0.003435976803302765,
0.012349727563560009,
0.025598926469683647,
-0.00015248832642100751,
-0.0451534129679203,
-0.008976713754236698,
0.03408992663025856,
0.012079887092113495,
0.026966121047735214,
0.0009427573531866074,
0.03522326052188873,
0.0035124316345900297,
0.012889410369098186,
0.06835974752902985,
-0.044757645577192307,
0.009633327834308147,
0.014706339687108994,
0.010973538272082806,
0.10462638735771179,
0.027883579954504967,
-0.023422207683324814,
-0.03040209785103798,
0.058825358748435974,
-0.08181582391262054,
0.006480684038251638,
0.011063485406339169,
0.04191531985998154,
0.023512154817581177,
-0.013896816410124302,
-0.0052933827973902225,
0.030653949826955795,
0.005617192480713129,
-0.005500261206179857,
0.043570343405008316,
0.006817985326051712,
0.02498728595674038,
0.012124860659241676,
0.023368239402770996,
0.03597881272435188,
-0.05091002210974693,
-0.04972271993756294,
-0.02513120137155056,
-0.009309518150985241,
-0.019518505781888962,
0.03817352280020714,
-0.0030447072349488735,
0.01789945922791958,
-0.03479151427745819,
0.008320100605487823,
0.007258725818246603,
-0.021695224568247795,
-0.005603700410574675,
-0.051197852939367294,
0.059113189578056335,
0.015587820671498775,
0.030366118997335434,
0.044253941625356674,
0.039540715515613556,
0.026480406522750854,
-0.03090580180287361,
-0.006512165069580078,
-0.02200104482471943,
-0.02977246791124344,
0.013222213834524155,
0.01520104892551899,
0.10016501694917679,
-0.038497332483530045,
0.09570364654064178,
0.0006925921770744026,
-0.010388882830739021,
0.018268242478370667,
-0.030078288167715073,
-0.023638080805540085,
0.0036271142307668924,
0.027577761560678482,
-0.041555531322956085,
0.03748992457985878,
0.057170335203409195,
0.0418073832988739,
-0.016919037327170372,
0.01350104995071888,
0.05213329941034317,
-0.02824336849153042,
-0.03907299041748047,
0.07364863157272339,
-0.009894173592329025,
-0.022666653618216515,
-0.026696279644966125,
-0.02540104277431965,
0.03799362853169441,
-0.027739664539694786,
0.038353417068719864,
-0.029664531350135803,
-0.01180105097591877,
-0.004405156243592501,
-0.0024240724742412567,
0.02146136201918125,
-0.0002793979656416923,
0.003312299493700266,
-0.02991638332605362,
-0.035780929028987885,
-0.02583278901875019,
0.025149190798401833,
0.008275127038359642,
0.004956081509590149,
0.019626442342996597,
-0.0068629588931798935,
-0.027253951877355576,
-0.031355537474155426,
-0.029142839834094048,
0.0184751208871603,
-0.0322909839451313,
-0.08347085118293762,
0.03878515958786011,
-0.034953419119119644,
-0.030707918107509613,
0.025994693860411644,
-0.006201847922056913,
-0.04727616161108017,
-0.03410791605710983,
0.027271941304206848,
0.027110036462545395,
-0.0018731469754129648,
-0.023925911635160446,
-0.0026556861121207476,
-0.020238082855939865,
0.044757645577192307,
0.012862426228821278,
0.02471744455397129,
0.06004863977432251,
-0.005140473134815693,
0.0017787026008591056,
0.00033955005346797407,
-0.014319567941129208,
-0.009570364840328693,
0.01687406376004219,
-0.026462417095899582,
0.023494165390729904,
0.0012244039680808783,
-0.005252906586974859,
0.0021632262505590916,
0.01587565243244171,
0.024753423407673836,
-0.021191520616412163,
-0.0425989143550396,
0.019248666241765022,
0.025095222517848015,
0.025023264810442924,
-0.03820950165390968,
-0.04853542149066925,
-0.03900103271007538,
-0.0537523478269577,
0.021353425458073616,
0.007582535035908222,
-0.045297328382730484,
-0.028729083016514778,
0.010523802600800991,
-0.005167457275092602,
0.0036563470494002104,
0.013986763544380665,
0.023422207683324814,
0.027721676975488663,
-0.022108981385827065,
-0.00038227488403208554,
0.03083384409546852,
0.005967985838651657,
0.03236294165253639,
-0.043570343405008316,
0.00849999487400055,
0.024591518566012383,
0.0033392836339771748,
0.006066927686333656,
-0.0035281723830848932,
0.02457352913916111,
-0.004065605811774731,
0.007632005959749222,
0.01860104687511921,
0.00633227126672864,
0.010092057287693024,
-0.02457352913916111,
-0.00381825165823102,
-0.027128025889396667,
0.022180939093232155,
-0.05594705417752266,
0.03820950165390968,
0.022972472012043,
0.009098142385482788,
0.03158940002322197,
-0.04144759476184845,
0.05824970081448555,
0.01563279516994953,
-0.010253962129354477,
-0.00724073639139533,
-0.01628940738737583,
0.009282534010708332,
0.012790468521416187,
0.023764006793498993,
0.002247551456093788,
-0.055083565413951874,
0.007411635480821133,
0.026606332510709763,
0.032722730189561844,
0.05429203063249588,
-0.002347617642953992,
-0.024483582004904747,
0.03234495222568512,
-0.0326867513358593,
-0.019680410623550415,
0.03680632635951042,
0.024753423407673836,
-0.014778297394514084,
0.012385706417262554,
-0.015246022492647171,
-0.01019999384880066,
-0.013357134535908699,
0.018439142033457756,
0.00009732550097396597,
-0.040368229150772095,
-0.019338611513376236,
0.023620091378688812,
0.005459784995764494,
-0.017584646120667458,
-0.021785171702504158,
-0.01093755941838026,
-0.013519039377570152,
0.050442297011613846,
0.024321679025888443,
0.0054777744226157665,
-0.011072480119764805,
-0.041555531322956085,
-0.012970362789928913,
-0.012052902951836586,
0.018394168466329575,
-0.017008984461426735,
0.010119041427969933,
0.017692580819129944,
0.019194697961211205,
-0.022720620036125183,
-0.011738087981939316,
-0.009597348980605602,
-0.011774066835641861,
0.006988884415477514,
0.025167180225253105,
-0.008648407645523548,
0.00985819473862648,
-0.030222203582525253,
-0.014256604947149754,
0.012790468521416187,
-0.02984442561864853,
-0.017107926309108734,
0.0597248300909996,
-0.02840527333319187,
0.010739675723016262,
0.00040616709156893194,
-0.011054490692913532,
0.017269831150770187,
-0.03896505385637283,
0.05943699926137924,
-0.02478940226137638,
-0.0018585305660963058,
-0.024591518566012383,
0.05252906680107117,
0.021983055397868156,
-0.027865590527653694,
-0.012763484381139278,
0.049111079424619675,
-0.0369502417743206,
0.010640733875334263,
-0.007114810403436422,
-0.04727616161108017,
0.006444705184549093,
-0.016595227643847466,
-0.047671929001808167,
0.036824315786361694,
-0.0608401745557785,
0.07569942623376846,
0.005747615359723568,
0.0005225360509939492,
-0.019266655668616295,
0.01738676242530346,
-0.003908198792487383,
0.05965287238359451,
-0.05666663125157356,
-0.007317191455513239,
0.009309518150985241,
0.022666653618216515,
-0.018906867131590843,
-0.0008196423295885324,
0.024213742464780807,
0.008729360066354275,
0.01804337464272976,
-0.01935660094022751,
-0.027613740414381027,
0.038353417068719864,
-0.01118041668087244,
-0.02707405760884285,
0.06191954016685486,
0.02039998769760132,
0.017197873443365097,
-0.03464759886264801,
-0.05368039011955261,
-0.030222203582525253,
0.039180926978588104,
-0.0002105322782881558,
-0.021641256287693977,
-0.0006627971888519824,
-0.010451845824718475,
0.04576504975557327,
-0.01201692409813404,
-0.02964654192328453,
-0.008963221684098244,
0.019176708534359932,
0.049938593059778214,
0.01612750254571438,
-0.026282522827386856,
0.007294704671949148,
-0.030653949826955795,
-0.014562425203621387,
0.005675657652318478,
0.01557882595807314,
0.005297880154103041,
-0.0057026417925953865,
-0.0016865069046616554,
0.02673225849866867,
-0.00820766668766737,
-0.017611630260944366,
-0.0003968912933487445,
-0.010298935696482658,
0.020220093429088593,
-0.0043376958929002285,
-0.012817452661693096,
-0.07584334164857864,
0.01860104687511921,
-0.003912696149200201,
-0.008414545096457005,
0.014130678959190845,
-0.017755543813109398,
0.026840195059776306,
0.007627508603036404,
-0.03671637922525406,
-0.05091002210974693,
-0.020705807954072952,
-0.03900103271007538,
0.013528034090995789,
-0.022270886227488518,
-0.048355527222156525,
-0.024177763611078262,
-0.05468779802322388,
-0.01125237438827753,
-0.043282512575387955,
-0.04464970901608467,
-0.027164004743099213,
0.023098398000001907,
0.01387882698327303,
0.018583057448267937,
0.006952905561774969,
0.019698400050401688,
-0.0238899327814579,
-0.005315869580954313,
-0.017098931595683098,
0.04551319777965546,
-0.008558460511267185,
-0.0061748637817800045,
0.0036788336001336575,
0.00335052702575922,
0.022252896800637245,
0.008670894429087639,
-0.024969296529889107,
0.013519039377570152,
0.026840195059776306,
-0.0019327369518578053,
-0.009435444138944149,
0.027451835572719574,
0.01583067886531353,
0.024753423407673836,
0.02457352913916111,
-0.004569309297949076,
-0.029178818687796593,
0.04184336215257645,
0.054184094071388245,
0.03617669641971588,
0.00955237541347742,
-0.06580524891614914,
-0.0345216728746891,
0.031409505754709244,
0.02146136201918125,
-0.0004089779104106128,
0.06461794674396515,
-0.002116004005074501,
0.014634382911026478,
-0.021119562909007072,
0.006489678751677275,
0.012628563679754734,
0.017251841723918915,
0.0360327810049057,
-0.006606609560549259,
0.022720620036125183,
0.002844574861228466,
-0.015812689438462257,
0.02491532824933529,
-0.01724284701049328,
-0.008252640254795551,
-0.04310261830687523,
-0.020238082855939865,
0.05875340476632118,
0.04123172163963318,
-0.014724329113960266,
0.02700209990143776,
0.020453955978155136,
0.04094389081001282,
0.006246821489185095,
0.04000844061374664,
-0.03664442151784897,
-0.03178728371858597,
0.019050782546401024,
0.007699466310441494,
-0.02345818653702736,
0.009849200025200844,
-0.028171410784125328,
0.004447880666702986,
0.02610262855887413,
-0.021839139983057976,
0.01854707859456539,
0.045297328382730484,
0.011135443113744259,
-0.050514254719018936,
0.02180316112935543,
-0.007847879081964493,
-0.02146136201918125,
0.036194685846567154,
-0.024519560858607292,
0.05091002210974693,
-0.008441529236733913,
0.04047616571187973,
0.007294704671949148,
0.003847484476864338,
0.004468118771910667,
-0.055227480828762054,
0.031427495181560516,
-0.0013694436056539416,
-0.0066156042739748955,
-0.011135443113744259,
0.043642301112413406,
-0.04763595014810562,
0.002558993175625801,
-0.0057341232895851135,
-0.02248675934970379,
-0.013869832269847393,
-0.0026287019718438387,
-0.010577770881354809,
-0.029628552496433258,
0.007236239034682512,
0.009597348980605602,
0.0399724617600441,
-0.010280946269631386,
0.021137552335858345,
0.0012749992311000824,
0.020633850246667862,
-0.050010550767183304,
0.04047616571187973,
0.00697539234533906,
0.048355527222156525,
0.04698833078145981,
-0.017323799431324005,
-0.006539149209856987,
0.012628563679754734,
-0.009228565730154514,
-0.0012772479094564915,
0.03207511082291603,
0.004290473647415638,
0.03284865617752075,
-0.02694813162088394,
0.019194697961211205,
0.03646452724933624,
-0.002529760356992483,
-0.021641256287693977,
-0.01638834923505783,
-0.06227932497859001,
0.0038002622313797474,
-0.004951584152877331,
-0.052241235971450806,
-0.0027186491061002016,
-0.0036293629091233015,
-0.024177763611078262,
-0.023728027939796448,
0.014976181089878082,
0.038641247898340225,
-0.00847301073372364,
-0.0007538686040788889,
0.02137141488492489,
0.03533119335770607,
0.006957402918487787,
-0.010829622857272625,
-0.012106871232390404,
0.040440186858177185,
0.00031818763818591833,
-0.0071193077601492405,
0.02610262855887413,
-0.0023071414325386286,
-0.028351305052638054,
0.006458197254687548,
0.012430679984390736,
-0.04792378097772598,
-0.030671939253807068,
0.03610473871231079,
-0.006755022332072258,
-0.006179361138492823,
0.0205439031124115,
0.041627489030361176,
-0.006696556694805622,
0.01273650024086237,
-0.006314281839877367,
-0.030671939253807068,
0.0026826702523976564,
-0.0322909839451313,
-0.014769302681088448,
0.014328562654554844,
0.0027478819247335196,
-0.015183059498667717,
0.05493964999914169,
-0.01450845692306757,
-0.04590896517038345,
-0.012529621832072735,
0.009624333120882511,
0.012448669411242008,
0.02971849963068962,
-0.05198938772082329,
-0.01273650024086237,
-0.042239125818014145,
0.011917982250452042,
0.004650261718779802,
-0.09203380346298218,
0.04569309204816818,
0.02590474672615528,
0.02755977213382721,
-0.003514680312946439,
0.00581507571041584,
0.02338622882962227,
-0.050082508474588394,
0.020813744515180588,
-0.02401585876941681,
-0.0031841250602155924,
0.056342821568250656,
0.0023588610347360373,
-0.04428992047905922,
-0.041483573615550995,
-0.01651427522301674,
0.010074067860841751,
-0.005626187194138765,
0.008945232257246971,
0.00697539234533906,
-0.004389415495097637,
-0.0028153422754257917,
0.02797352708876133,
0.027793632820248604,
-0.020076178014278412,
0.025706863030791283,
-0.010532797314226627,
0.01520104892551899,
0.012655547820031643,
-0.0176566019654274,
-0.04375023767352104,
-0.024213742464780807,
0.03527722880244255,
-0.03090580180287361,
0.04803171753883362,
-0.04378621652722359,
0.05062219128012657,
0.015012159943580627,
0.028207389637827873,
-0.03115765191614628,
0.04375023767352104,
-0.017449725419282913,
0.0186730045825243,
-0.048895206302404404,
-0.01998623088002205,
-0.02214496023952961,
-0.002462300006300211,
-0.003557405201718211,
0.011935971677303314,
0.08296714723110199,
0.08001688122749329,
0.016136497259140015,
-0.02894495613873005,
0.04137563705444336,
0.008392058312892914,
0.023656070232391357,
0.009570364840328693,
0.010164014995098114,
-0.024213742464780807,
0.0023925912100821733,
-0.027253951877355576,
0.03369415923953056,
0.03748992457985878,
0.018708983436226845,
-0.034395746886730194,
-0.039108969271183014,
-0.027092047035694122,
-0.0026287019718438387,
-0.015884647145867348,
0.0016527767293155193,
-0.008940734900534153,
-0.022396812215447426,
-0.015192054212093353,
-0.049254994839429855,
0.03171532601118088,
0.03646452724933624,
-0.00031003617914393544,
-0.005230420269072056,
0.01607353426516056,
-0.0276317298412323,
-0.007114810403436422,
-0.001334589091129601,
0.016865069046616554,
0.004056611098349094,
-0.015066128224134445,
-0.020381998270750046,
-0.0014582662843167782,
-0.01246665883809328,
-0.013006341643631458,
0.020166125148534775,
-0.008756344206631184,
-0.021119562909007072,
-0.031211620196700096,
-0.04504547640681267,
0.03860526904463768,
-0.06821583211421967,
-0.043498385697603226,
0.0030064797028899193,
-0.02394390106201172,
-0.008005285635590553,
0.018906867131590843,
0.039324842393398285,
0.058501552790403366,
-0.005891530774533749,
-0.03326241299510002,
-0.013752901926636696,
-0.03455765172839165,
0.018277237191796303,
0.03979256749153137,
0.05400419980287552,
-0.013546023517847061,
0.032938603311777115,
0.01984231546521187,
-0.04076399654150009,
0.022162949666380882,
0.024213742464780807,
0.028621146455407143,
-0.017476709559559822,
0.005252906586974859,
-0.00897221639752388,
0.012781473807990551,
-0.042095210403203964,
-0.013312160968780518,
0.00199682405218482,
-0.011639146134257317,
0.02554495818912983,
0.021191520616412163,
0.008342587389051914,
-0.0017876973142847419,
-0.04087193310260773,
-0.01755766198039055,
0.0023701044265180826,
0.045441240072250366,
-0.006948408205062151,
0.08699677139520645,
-0.03295659273862839,
-0.010190999135375023,
0.050082508474588394,
-0.004902113229036331,
0.02840527333319187,
-0.0005413687322288752,
0.00203392724506557,
-0.015596815384924412,
-0.03527722880244255,
-0.024591518566012383,
0.0012199066113680601,
0.04256293550133705,
-0.00517195463180542,
0.006408726330846548,
-0.06540948152542114,
0.027577761560678482,
-0.05551530793309212
] |
A common approach to evaluating the significance of a collection of
$p$-values combines them with a pooling function, in particular when the
original data are not available. These pooled $p$-values convert a sample of
$p$-values into a single number which behaves like a univariate $p$-value. To
clarify discussion of these functions, a telescoping series of alternative
hypotheses are introduced that communicate the strength and prevalence of
non-null evidence in the $p$-values before general pooling formulae are
discussed. A pattern noticed in the UMP pooled $p$-value for a particular
alternative motivates the definition and discussion of central and marginal
rejection levels at $\alpha$. It is proven that central rejection is always
greater than or equal to marginal rejection, motivating a quotient to measure
the balance between the two for pooled $p$-values. A combining function based
on the $\chi^2_{\kappa}$ quantile transformation is proposed to control this
quotient and shown to be robust to mis-specified parameters relative to the
UMP. Different powers for different parameter settings motivate a map of
plausible alternatives based on where this pooled $p$-value is minimized. | [
-0.027135634794831276,
0.012399664148688316,
-0.04090452939271927,
0.036978766322135925,
0.019667111337184906,
-0.01454447116702795,
-0.046151645481586456,
0.04086622968316078,
0.01661267690360546,
-0.00630994513630867,
0.01199751254171133,
-0.005663630552589893,
0.048411354422569275,
-0.04492604359984398,
-0.06150999292731285,
-0.03797456994652748,
-0.020854415372014046,
-0.007511611096560955,
0.03736176714301109,
0.005108278710395098,
-0.037323467433452606,
-0.025622781366109848,
-0.07828544825315475,
0.03441265970468521,
-0.019063884392380714,
0.042130131274461746,
-0.005879068747162819,
-0.007377560716122389,
-0.047836851328611374,
0.03904697299003601,
0.01861385814845562,
0.03761071711778641,
0.02342052385210991,
-0.018920259550213814,
-0.019389435648918152,
-0.05381166934967041,
0.04412173852324486,
-0.004749215207993984,
-0.027805887162685394,
-0.051245562732219696,
-0.04618994519114494,
0.040368326008319855,
0.01675630360841751,
-0.0005188469658605754,
0.033474307507276535,
0.01566474884748459,
0.003602605080232024,
0.05028805881738663,
-0.038625672459602356,
0.025105729699134827,
0.040713027119636536,
-0.036863867193460464,
0.05132216215133667,
-0.017953181639313698,
0.020950166508555412,
-0.0005005945567972958,
-0.010274006985127926,
0.0370553657412529,
0.04883265495300293,
-0.008737214840948582,
0.0014518139651045203,
0.0026187708135694265,
-0.015482824295759201,
0.0020801753271371126,
0.028705941513180733,
-0.027480335906147957,
0.004806665237993002,
-0.019782012328505516,
0.044160038232803345,
-0.026618583127856255,
0.009661205112934113,
0.030237944796681404,
0.008464327082037926,
0.09123089164495468,
-0.0031453974079340696,
-0.0017869400326162577,
0.0683274194598198,
0.00672167120501399,
-0.02885914035141468,
0.09636310487985611,
0.012035813182592392,
0.006913171615451574,
0.016200950369238853,
0.005634905304759741,
0.03807032108306885,
0.020126713439822197,
-0.04159393161535263,
-0.039027824997901917,
0.00984313152730465,
0.02602493204176426,
-0.006692945957183838,
0.04553884267807007,
0.00705679738894105,
0.054118070751428604,
0.03644256666302681,
0.09942711144685745,
-0.033761557191610336,
-0.005596605129539967,
-0.03157845139503479,
0.019092610105872154,
-0.0017175209941342473,
0.0076839616522192955,
0.07292342931032181,
-0.018853234127163887,
0.02677178382873535,
-0.05377336964011192,
0.021984269842505455,
0.05082426220178604,
0.02246302179992199,
0.16407771408557892,
-0.07227233052253723,
0.029663443565368652,
0.04285783693194389,
-0.04285783693194389,
-0.01609562523663044,
-0.05201156437397003,
-0.04634314775466919,
-0.0700509175658226,
0.037208568304777145,
0.0030592221301048994,
-0.028208039700984955,
0.05319886654615402,
0.043891940265893936,
0.005730655509978533,
-0.05584157630801201,
0.043547239154577255,
-0.03891292214393616,
0.04055982828140259,
0.012610314413905144,
0.010149531997740269,
-0.03694046661257744,
0.0025445641949772835,
-0.024301426485180855,
-0.07185102999210358,
-0.006836571730673313,
0.003384773153811693,
0.008531351573765278,
0.001104719121940434,
-0.02060546539723873,
-0.03311045467853546,
-0.05147536098957062,
-0.021352317184209824,
0.023114122450351715,
0.003973637707531452,
0.020394815132021904,
-0.01344334241002798,
-0.02671433426439762,
0.053275469690561295,
-0.003183697583153844,
-0.0028605402912944555,
0.02217577025294304,
0.06939981877803802,
0.008043025620281696,
-0.004155563190579414,
-0.005610967520624399,
0.0038707060739398003,
0.009589392691850662,
0.0076360865496098995,
-0.03360835462808609,
-0.020394815132021904,
-0.008196226321160793,
0.008359001018106937,
0.009081915952265263,
0.07085522264242172,
0.039870426058769226,
0.0347382090985775,
-0.026561133563518524,
0.01066658366471529,
-0.02801653929054737,
0.02410992607474327,
0.031157149001955986,
-0.06564640998840332,
-0.030180495232343674,
0.0188149344176054,
-0.03510206192731857,
0.024626977741718292,
-0.01777125522494316,
0.053735069930553436,
0.007478098385035992,
-0.004636708181351423,
-0.06928491592407227,
-0.020165013149380684,
0.0030592221301048994,
0.015683898702263832,
0.023726925253868103,
-0.0282271895557642,
0.025392979383468628,
-0.008995740674436092,
-0.027059035375714302,
0.0159232746809721,
0.02625473216176033,
0.028322938829660416,
-0.029740042984485626,
0.0390852726995945,
0.017551030963659286,
0.039870426058769226,
-0.06522510945796967,
-0.01782870665192604,
-0.0024583889171481133,
-0.018259583041071892,
0.004564895760267973,
-0.06296540051698685,
-0.027997387573122978,
0.02943364344537258,
-0.021543817594647408,
0.024531226605176926,
0.028552740812301636,
0.01108788512647152,
0.0315592996776104,
0.029854943975806236,
-0.044389840215444565,
-0.056952279061079025,
0.012658189982175827,
0.02834208868443966,
-0.04860285297036171,
-0.004059812985360622,
0.01126023568212986,
0.04281953349709511,
-0.02790163829922676,
0.029835794121026993,
-0.024263126775622368,
-0.0011340426281094551,
0.030525196343660355,
-0.024512076750397682,
-0.005127428565174341,
0.05756508186459541,
-0.007391923572868109,
0.005395529326051474,
-0.010092081502079964,
0.08939248323440552,
-0.014582770876586437,
-0.02234812080860138,
-0.010953834280371666,
-0.02342052385210991,
0.028897441923618317,
-0.04377703741192818,
-0.039181023836135864,
0.012907140888273716,
0.0157796498388052,
-0.0048784781247377396,
-0.006300369743257761,
-0.016957378014922142,
0.010092081502079964,
0.0023183540906757116,
0.054577670991420746,
-0.01629670150578022,
-0.00972823053598404,
0.028208039700984955,
-0.01681375317275524,
-0.011068735271692276,
-0.017752105370163918,
0.023669473826885223,
-0.002609195653349161,
-0.022214069962501526,
-0.020509714260697365,
0.035006310790777206,
-0.007530761417001486,
-0.0732298344373703,
-0.015645598992705345,
-0.03948742523789406,
0.04963695630431175,
0.04484944045543671,
0.001576289301738143,
0.016430752351880074,
0.015904124826192856,
0.030352845788002014,
0.025029128417372704,
0.0022118319757282734,
-0.01887238398194313,
0.06645070761442184,
-0.020739516243338585,
0.026790933683514595,
0.0009497232967987657,
0.011930488049983978,
0.03138694912195206,
-0.007660024333745241,
0.014506170526146889,
-0.05070935934782028,
-0.05300736799836159,
0.04657294601202011,
-0.0353127121925354,
-0.01748400554060936,
-0.023956725373864174,
0.06089719384908676,
-0.010618708096444607,
-0.05132216215133667,
0.04492604359984398,
-0.018767058849334717,
-0.017589330673217773,
-0.01644032634794712,
0.02703988552093506,
0.013146516866981983,
-0.03021879494190216,
0.010829359292984009,
-0.007837162353098392,
-0.0027097335550934076,
-0.03134864941239357,
0.035963814705610275,
0.04063642770051956,
0.00688923429697752,
-0.05224136635661125,
0.015032797120511532,
0.0033129604998975992,
0.018805358558893204,
0.004940715618431568,
0.004959865473210812,
0.028093138709664345,
0.011403861455619335,
-0.05618627741932869,
-0.07866844534873962,
0.04726234823465347,
0.003566698869690299,
-0.05595647543668747,
-0.028667639940977097,
-0.002489507896825671,
0.03433606028556824,
0.0032291789539158344,
0.00310470350086689,
0.0014446326531469822,
0.0014853265602141619,
0.032670002430677414,
-0.016057325527071953,
-0.08211545646190643,
0.016248825937509537,
0.015454098582267761,
-0.05591817572712898,
-0.0405215285718441,
0.044887740164995193,
-0.05810128524899483,
0.016957378014922142,
-0.04998165741562843,
-0.010513382963836193,
0.017215903848409653,
-0.028361240401864052,
0.0022273913491517305,
-0.015846675261855125,
0.022271519526839256,
0.01007293164730072,
-0.02275027148425579,
0.012409239076077938,
-0.022156620398163795,
-0.013146516866981983,
-0.009570242837071419,
-0.01641160249710083,
0.018068082630634308,
-0.04377703741192818,
-0.025450430810451508,
-0.08180905878543854,
0.053160566836595535,
0.044045139104127884,
0.0011340426281094551,
-0.01985861361026764,
-0.019322410225868225,
0.010226132348179817,
0.052432864904403687,
-0.02726968564093113,
0.021773619577288628,
-0.002786333905532956,
0.02320987358689308,
-0.04377703741192818,
0.018135108053684235,
-0.05982478708028793,
-0.036691516637802124,
-0.05289246886968613,
-0.08142605423927307,
0.010369758121669292,
0.03837672248482704,
0.0010634268401190639,
0.032899804413318634,
-0.016536077484488487,
-0.03784051910042763,
-0.0035858487244695425,
0.0795876532793045,
0.0028605402912944555,
0.011633661575615406,
-0.015549848787486553,
0.02240557037293911,
0.030123045668005943,
-0.008043025620281696,
0.0022405569907277822,
-0.04442813992500305,
-0.017934031784534454,
0.04814325273036957,
0.04105772823095322,
0.0180968064814806,
0.041325829923152924,
0.021869368851184845,
0.009397892281413078,
-0.02324817329645157,
0.020911866798996925,
-0.0405215285718441,
-0.025431280955672264,
0.025144029408693314,
0.01528174802660942,
0.00505082868039608,
0.00126270717009902,
0.018460657447576523,
-0.0041986508294939995,
0.011317686177790165,
-0.017273355275392532,
-0.00197245622985065,
-0.0000675862465868704,
-0.026982435956597328,
0.029452793300151825,
0.04844965413212776,
0.020950166508555412,
0.0364808663725853,
0.02342052385210991,
0.0025158391799777746,
-0.011873037554323673,
0.003566698869690299,
-0.016019025817513466,
-0.03150184825062752,
-0.030027294531464577,
0.05618627741932869,
-0.011959212832152843,
-0.05970988795161247,
0.036634065210819244,
0.0067647588439285755,
-0.02439717762172222,
0.00445717666298151,
0.016028599813580513,
0.030065594241023064,
-0.0272122360765934,
-0.035963814705610275,
-0.0015176422894001007,
0.06120359152555466,
-0.02761438675224781,
0.02280772291123867,
-0.017349954694509506,
0.04542394354939461,
0.08050685375928879,
-0.0019772436935454607,
-0.008943078108131886,
0.04339403659105301,
-0.03812776878476143,
-0.0382043719291687,
-0.0382043719291687,
0.014352970756590366,
-0.045462243258953094,
0.04550054296851158,
0.025699380785226822,
0.0004165138234384358,
-0.02393757551908493,
-0.02144806832075119,
-0.015559423714876175,
-0.004615164361894131,
-0.04764534905552864,
-0.0361744649708271,
0.028495289385318756,
-0.016344577074050903,
0.029663443565368652,
-0.03795541822910309,
0.03789797052741051,
0.05691397935152054,
0.023784374818205833,
-0.0075403363443911076,
-0.033359404653310776,
0.04281953349709511,
0.00172230857424438,
0.004756396170705557,
0.058369383215904236,
0.01685205288231373,
-0.061931297183036804,
-0.004445207770913839,
-0.013634842820465565,
0.03178910166025162,
-0.0024440265260636806,
-0.020854415372014046,
-0.005299779120832682,
-0.009158516302704811,
-0.03326365351676941,
-0.042015232145786285,
-0.021543817594647408,
0.010341032408177853,
-0.026580283418297768,
0.04147903248667717,
-0.03990872576832771,
0.04339403659105301,
0.012887991033494473,
-0.01479342207312584,
0.015176422894001007,
0.026005782186985016,
0.01233263872563839,
0.01838405802845955,
0.007660024333745241,
0.04772195219993591,
0.007310535758733749,
-0.011959212832152843,
0.007564273662865162,
-0.022482171654701233,
0.011269810609519482,
-0.005620542913675308,
-0.008679765276610851,
0.029682593420147896,
0.0186713095754385,
-0.013989118859171867,
-0.058982186019420624,
0.0038300121668726206,
-0.0186713095754385,
0.05024975910782814,
-0.004679795820266008,
-0.026867534965276718,
0.055535174906253815,
-0.018853234127163887,
-0.04293443635106087,
0.05511387437582016,
-0.042015232145786285,
-0.02914639189839363,
0.026676034554839134,
0.047453850507736206,
0.017062703147530556,
0.009359591640532017,
-0.047836851328611374,
0.0355999618768692,
0.046879347413778305,
0.011949637904763222,
0.03778306767344475,
0.044160038232803345,
0.013108216226100922,
-0.03201889991760254,
0.04680274799466133,
-0.050096556544303894,
0.05319886654615402,
0.03456585854291916,
0.01261989027261734,
-0.003844374557957053,
-0.011269810609519482,
0.04385363683104515,
-0.10685733705759048,
-0.03316790610551834,
0.02891659177839756,
-0.04584524407982826,
-0.011968787759542465,
0.0180968064814806,
-0.044045139104127884,
-0.007018497213721275,
-0.006386545021086931,
0.013797618448734283,
0.015846675261855125,
-0.005079553462564945,
0.04220673441886902,
-0.0010586392600089312,
-0.012179438024759293,
0.00814835075289011,
0.03875972330570221,
0.013682718388736248,
-0.019255386665463448,
0.0005047836457379162,
-0.016708428040146828,
-0.030582645907998085,
-0.025890881195664406,
-0.023803524672985077,
0.003808468347415328,
-0.0032531165052205324,
0.019705412909388542,
0.008967015892267227,
-0.05886728689074516,
0.048679452389478683,
-0.011355985887348652,
0.012801815755665302,
0.047607049345970154,
0.0414024293422699,
-0.0014506170991808176,
-0.016516927629709244,
-0.001154389581643045,
0.01032188255339861,
0.07859184592962265,
-0.03768732026219368,
0.028476139530539513,
-0.010149531997740269,
0.008957440964877605,
-0.018403207883238792,
0.03280405327677727,
-0.0030352845788002014,
-0.009177666157484055,
-0.018594708293676376,
0.03761071711778641,
-0.010053781792521477,
-0.03491055965423584,
-0.03921932354569435,
-0.049828458577394485,
0.06993602216243744,
0.021084217354655266,
0.04825815185904503,
-0.0457303449511528,
-0.008502626791596413,
0.020950166508555412,
-0.014017844572663307,
-0.014448720961809158,
-0.026618583127856255,
0.04419833794236183,
-0.007578636519610882,
-0.02026076428592205,
0.038951221853494644,
-0.010082506574690342,
0.02003096416592598,
-0.04772195219993591,
0.026982435956597328,
-0.015540273860096931,
0.014582770876586437,
-0.0016576771158725023,
0.03841502219438553,
0.02816973812878132,
0.0272122360765934,
0.028897441923618317,
0.014745546504855156,
-0.018278732895851135,
0.0021962726023048162,
0.035063762217760086,
0.007564273662865162,
-0.03221040219068527,
0.033531755208969116,
-0.04373873770236969,
0.006731246132403612,
-0.033991359174251556,
-0.007205210160464048,
-0.02772928774356842,
0.0057976809330284595,
0.0384916216135025,
0.04419833794236183,
-0.06675711274147034,
0.04492604359984398,
0.015434948727488518,
0.010522957891225815,
0.01910218596458435,
-0.03757241740822792,
0.013989118859171867,
-0.006759971380233765,
-0.024588678032159805,
-0.02422482706606388,
0.0028294215444475412,
-0.016086051240563393,
-0.029950695112347603,
0.023726925253868103,
0.021907668560743332,
-0.05289246886968613,
0.013653992675244808,
-0.022156620398163795,
-0.0008449964225292206,
0.0019054310396313667,
0.03699791803956032,
0.0010879627661779523,
0.0033488667104393244,
-0.01510939747095108,
-0.014094444923102856,
0.002479932736605406,
0.04055982828140259,
0.028495289385318756,
-0.014898747205734253,
-0.030544346198439598,
-0.03320620581507683,
0.012351788580417633,
0.0431259348988533,
0.006262069568037987,
-0.07112332433462143,
0.018230857327580452,
0.03207635134458542,
0.022080019116401672,
-0.021084217354655266,
0.035561662167310715,
-0.014381695538759232,
0.028208039700984955,
0.043547239154577255,
0.0028294215444475412,
0.0008276416920125484,
-0.006300369743257761,
0.0029682593885809183,
-0.015645598992705345,
0.0008288385579362512,
0.003255510237067938,
-0.0077797118574380875,
0.012102838605642319,
0.02043311484158039,
0.0019054310396313667,
-0.03971722722053528,
-0.0027097335550934076,
0.02455037832260132,
0.0002257612650282681,
-0.051245562732219696,
-0.05358186736702919,
0.0651102066040039,
0.005864705890417099,
-0.02920384146273136,
-0.06978282332420349,
-0.002996984403580427,
0.03263170272111893,
0.020854415372014046,
-0.019647961482405663,
-0.027365436777472496,
-0.006257282104343176,
-0.01817340776324272,
-0.010695308446884155,
0.019284110516309738,
0.040942829102277756,
0.04649634659290314,
-0.044619642198085785,
0.018920259550213814,
-0.020299063995480537,
-0.05132216215133667,
0.019609661772847176,
-0.021754467859864235,
-0.006434420123696327,
-0.012466689571738243,
-0.026522833853960037,
0.00604184390977025,
-0.0014637827407568693,
-0.0007660023984499276,
-0.00017833494348451495,
-0.009656418114900589,
0.018996860831975937,
0.03263170272111893,
-0.060169488191604614,
0.005625330377370119,
0.01134641095995903,
0.0529690682888031,
0.03077414631843567,
-0.0009598967735655606,
-0.027116484940052032,
0.04086622968316078,
-0.01948518678545952,
0.006070569157600403,
0.025163179263472557,
-0.030697546899318695,
-0.024454627186059952,
0.05047956109046936,
0.08027705550193787,
-0.004907202906906605,
-0.07261703163385391,
-0.0025948332622647285,
0.044964343309402466,
0.0024057263508439064,
-0.015147698111832142,
0.00630994513630867,
-0.0010388907976448536,
0.009168091230094433,
-0.018336182460188866,
0.07043392211198807,
-0.03711281716823578,
-0.029050642624497414,
0.06794441491365433,
-0.009460129775106907,
0.03837672248482704,
-0.00395209388807416,
0.025948332622647285,
0.017723381519317627,
0.009977181442081928,
0.07388093322515488,
0.004471539054065943,
-0.038683123886585236,
0.014142319560050964,
0.01754145510494709,
0.0238801259547472,
0.012581589631736279,
-0.05993968993425369,
-0.019609661772847176,
-0.007028072141110897,
-0.00972823053598404,
-0.018805358558893204,
-0.013452917337417603,
-0.04021512717008591,
0.04504094272851944,
0.054692573845386505,
-0.015645598992705345,
0.009737805463373661,
0.001607408165000379,
-0.037151116877794266,
0.016459476202726364,
0.015588149428367615,
0.003875493537634611,
0.04787515103816986,
0.0037127179093658924,
-0.03525526076555252,
-0.01635415107011795,
0.00620940700173378,
-0.031099697574973106,
0.029740042984485626,
0.0032411478459835052,
-0.013816768303513527,
0.01479342207312584,
-0.0195330623537302,
-0.024339726194739342,
0.0035738800652325153,
0.003052040934562683,
-0.03761071711778641,
-0.009709080681204796,
-0.03161675110459328,
-0.0013907731045037508,
-0.007171697448939085,
0.012150713242590427,
-0.006022694054991007,
-0.010819784365594387,
0.0072004226967692375,
-0.04205353185534477,
0.028839990496635437,
0.01716803014278412,
0.040253426879644394,
-0.023554574698209763,
-0.04278123378753662,
0.028705941513180733,
0.005472129676491022,
-0.04304933547973633,
-0.01202623825520277,
0.008588802069425583,
-0.029835794121026993,
-0.028093138709664345,
0.026944134384393692,
-0.020548013970255852,
-0.0136061180382967,
0.013989118859171867,
-0.02320987358689308,
-0.01066658366471529,
0.05641607940196991,
-0.0018419964471831918,
-0.003674417966976762,
-0.01496577262878418,
-0.0029802280478179455,
0.01829788275063038,
0.009531942196190357,
0.04358553886413574,
-0.04607504606246948,
-0.03824267163872719,
0.0136061180382967,
-0.007755774538964033,
0.007080734707415104,
-0.02613983303308487,
-0.018565984442830086,
-0.012830540537834167,
-0.009330866858363152,
0.035331860184669495,
-0.013615692965686321,
-0.007803649641573429,
-0.01539664901793003,
0.01471682172268629,
-0.009661205112934113,
0.007114247418940067,
0.004464357625693083,
-0.008976590819656849,
0.0364808663725853,
0.019839461892843246,
-0.017847856506705284,
-0.02512487955391407,
-0.036806415766477585,
0.014975347556173801,
-0.015904124826192856,
0.0036480864509940147,
0.0028772966470569372,
0.01711057871580124,
0.027422886341810226,
0.00730096036568284,
-0.005946093704551458,
-0.04163223132491112,
0.019896913319826126,
-0.00755469873547554,
0.021869368851184845,
-0.04791345074772835,
0.01701482944190502,
-0.011461311019957066,
0.011241085827350616,
0.04596014693379402,
0.04239823296666145,
0.0059891813434660435,
-0.052432864904403687,
-0.0094074672088027,
0.059441786259412766,
0.014496595598757267,
0.04871775209903717,
-0.07231062650680542,
0.01841278374195099,
-0.044887740164995193,
-0.01451574545353651,
-0.0025756831746548414,
0.03682556748390198,
0.016631826758384705,
-0.002193878870457411,
0.01626797579228878,
-0.027710137888789177,
-0.026752633973956108,
0.016248825937509537,
-0.011202785186469555,
-0.017732955515384674,
-0.021524667739868164,
-0.0036887803580611944,
-0.021256567910313606,
-0.03157845139503479,
-0.035236112773418427,
0.019609661772847176,
-0.005012528505176306,
0.009536730125546455,
-0.010034631937742233,
0.0022190131712704897,
-0.01168153714388609,
-0.00968035589903593,
0.02845698967576027,
-0.0073536233976483345,
-0.027422886341810226,
-0.003389560617506504,
0.04220673441886902,
0.031769949942827225,
-0.02558448165655136,
0.0015463674208149314,
-0.021314017474651337,
-0.03379985690116882,
0.03071669675409794,
0.028897441923618317,
-0.004727671388536692,
0.01442957017570734,
-0.01797233149409294,
0.0862518697977066,
0.013922094367444515,
0.020911866798996925,
0.008612739853560925,
-0.03131034970283508,
-0.06932321935892105,
-0.019954362884163857,
0.009852706454694271,
-0.03060179576277733,
-0.0029945906717330217,
0.009646843187510967,
-0.015454098582267761,
-0.00039137934800237417,
0.026982435956597328,
0.03362750634551048,
0.021065065637230873,
-0.021543817594647408,
-0.015521124005317688,
-0.015492399223148823,
0.04703254997730255,
0.07028072327375412,
0.024646127596497536,
-0.007760562002658844,
-0.015262598171830177,
0.011193210259079933,
0.010934684425592422,
0.052700966596603394,
0.015817949548363686,
-0.010341032408177853,
0.010168681852519512,
-0.02839954011142254,
-0.03424030914902687,
0.008172288537025452,
-0.004107688087970018,
0.01395081914961338,
-0.004014331381767988,
0.005615755449980497,
0.005141791421920061,
0.01176771242171526,
-0.015032797120511532,
-0.028935741633176804,
0.04075132682919502,
0.013213541358709335,
0.013596543110907078,
0.05756508186459541,
-0.017378680408000946,
0.04174713045358658,
0.03998532518744469,
0.01618180051445961,
-0.02127571776509285,
-0.00639612041413784,
0.001904234173707664,
-0.029491093009710312,
-0.032497651875019073,
-0.0020658127032220364,
0.000785750919021666,
-0.0233056228607893,
0.006774333771318197,
0.005414679646492004,
-0.00891435332596302,
-0.0027336711063981056,
-0.027365436777472496,
0.05756508186459541,
-0.0010287172626703978,
-0.0027384585700929165,
0.02625473216176033,
-0.006726458668708801,
-0.00764087401330471,
0.007995150052011013,
-0.03255510330200195,
-0.032172102481126785,
0.025699380785226822,
0.012639040127396584,
0.007090310100466013,
0.013969969004392624,
-0.0060945069417357445,
-0.024875927716493607,
-0.03422115743160248,
-0.011614511720836163,
0.0022429507225751877,
0.02688668482005596,
-0.013424192555248737,
0.003143003676086664,
-0.012370939366519451,
0.027939938008785248,
0.0047324588522315025,
0.005170516204088926,
0.02801653929054737,
0.04753044992685318,
-0.03621276468038559,
0.012284764088690281,
-0.015185997821390629,
0.00097605463815853,
-0.049368854612112045,
0.00697540957480669,
0.049253955483436584,
0.016603102907538414,
-0.018508533015847206,
0.03314875438809395,
0.04408343881368637,
-0.014927471987903118,
0.028437839820981026,
0.03219125047326088,
-0.0037677744403481483,
0.008856902830302715,
-0.0018982497276738286,
0.007525973953306675,
0.024129075929522514,
-0.07292342931032181,
-0.006089719012379646,
0.09659290313720703,
-0.019322410225868225,
-0.047951750457286835,
-0.02043311484158039,
-0.008665402419865131,
-0.034202009439468384
] |
To process sensor data in the Internet of Things(IoTs), embedded deep
learning for 1-dimensional data is an important technique. In the past, CNNs
were frequently used because they are simple to optimise for special embedded
hardware such as FPGAs. This work proposes a novel LSTM cell optimisation aimed
at energy-efficient inference on end devices. Using the traffic speed
prediction as a case study, a vanilla LSTM model with the optimised LSTM cell
achieves 17534 inferences per second while consuming only 3.8 $\mu$J per
inference on the FPGA \textit{XC7S15} from \textit{Spartan-7} family. It
achieves at least 5.4$\times$ faster throughput and 1.37$\times$ more energy
efficient than existing approaches. | [
-0.024518605321645737,
0.06170515716075897,
-0.03051823377609253,
0.018193919211626053,
0.026097454130649567,
0.037743791937828064,
-0.00990960281342268,
0.0459909588098526,
-0.04662249982357025,
-0.010243947617709637,
0.05197201296687126,
0.008400408551096916,
0.03941551595926285,
-0.029440900310873985,
0.0014174818061292171,
0.060182031244039536,
0.04446783289313316,
-0.012677233666181564,
0.03811528533697128,
-0.016076402738690376,
-0.01068974006921053,
-0.0428704097867012,
-0.008191443048417568,
-0.03852393105626106,
0.0024216766469180584,
0.01959630846977234,
0.045730914920568466,
0.030258188024163246,
-0.04539657011628151,
-0.0016067116521298885,
0.012185003608465195,
0.0570986308157444,
-0.03503188490867615,
-0.030592532828450203,
-0.027471981942653656,
-0.039341215044260025,
0.06757476180791855,
0.02838214300572872,
-0.038375332951545715,
-0.024109961465001106,
0.031818460673093796,
0.008525787852704525,
-0.06248529255390167,
-0.01596495509147644,
0.0219738706946373,
-0.02535446733236313,
-0.028697913512587547,
-0.04186737537384033,
-0.038338180631399155,
0.012584359385073185,
-0.030499659478664398,
-0.08618661016225815,
0.01260293461382389,
-0.008196086622774601,
-0.018881183117628098,
0.03352733328938484,
0.06400842219591141,
0.06605163961648941,
0.046919696033000946,
0.06211379915475845,
0.0062039499171078205,
0.0019468608079478145,
-0.05022599175572395,
-0.051080428063869476,
-0.053197942674160004,
0.021268032491207123,
0.051637668162584305,
0.013299485668540001,
0.0029046188574284315,
-0.0054098814725875854,
-0.09614264965057373,
0.03297009319067001,
0.027843477204442024,
-0.023515570908784866,
-0.01327162329107523,
-0.022363940253853798,
-0.01098693534731865,
0.030462509021162987,
0.0384867787361145,
-0.011516314931213856,
0.049668751657009125,
0.03467896580696106,
-0.014181784354150295,
-0.04952015355229378,
0.04539657011628151,
-0.005126617383211851,
-0.008581511676311493,
-0.06359977275133133,
0.04535941779613495,
-0.051266174763441086,
-0.036592159420251846,
0.05869605392217636,
-0.02574453502893448,
-0.006208593957126141,
-0.009301281534135342,
-0.012500773184001446,
0.04621385410428047,
-0.02838214300572872,
-0.02119373343884945,
-0.006705467123538256,
0.012695807963609695,
0.033601634204387665,
-0.0003714940103236586,
0.036982230842113495,
0.06449136137962341,
-0.0311311986297369,
-0.027824901044368744,
0.014033186249434948,
0.022642560303211212,
0.05984768643975258,
0.008483994752168655,
-0.02756485529243946,
0.011590613052248955,
-0.009788867086172104,
-0.03601634502410889,
-0.00384264113381505,
-0.008358615450561047,
-0.07062101364135742,
0.005219490732997656,
0.06575444340705872,
0.07489319145679474,
0.07860813289880753,
0.024425731971859932,
0.04877716302871704,
-0.03029533661901951,
0.03347161039710045,
0.02260541170835495,
-0.014841185882687569,
0.00713732885196805,
-0.0030230325646698475,
-0.007601696532219648,
-0.0005914881476201117,
-0.009714568965137005,
-0.002739768475294113,
0.01713516190648079,
-0.014311807230114937,
0.008809051476418972,
0.0075320410542190075,
-0.0009960683528333902,
-0.005971766076982021,
-0.022289641201496124,
0.0018505045445635915,
-0.026914741843938828,
-0.016225000843405724,
0.047476936131715775,
0.039378367364406586,
-0.05873320251703262,
0.025298742577433586,
-0.012185003608465195,
0.017246609553694725,
-0.06363692134618759,
0.012240727432072163,
0.03170701488852501,
0.053978081792593,
0.01727447099983692,
0.01556559931486845,
-0.006450064945966005,
-0.03989845886826515,
-0.021063711494207382,
-0.028010649606585503,
-0.009863166138529778,
-0.013392359018325806,
-0.0012398612452670932,
-0.01674509234726429,
-0.031409818679094315,
0.056392792612314224,
0.03295151889324188,
0.009236269630491734,
-0.10119497030973434,
0.03137267008423805,
-0.0116927744820714,
0.00469939922913909,
0.02379419095814228,
-0.031186923384666443,
0.05940189212560654,
0.009115534834563732,
0.028586464002728462,
-0.010494706220924854,
-0.03584917262196541,
-0.011024084873497486,
0.00939879845827818,
0.004991950932890177,
0.004378985613584518,
-0.05174911767244339,
0.009166615083813667,
-0.0021314469631761312,
0.032208532094955444,
0.0051033990457654,
0.04424493759870529,
-0.004237353801727295,
-0.022159617394208908,
-0.0014778496697545052,
0.05089468136429787,
-0.009779579937458038,
0.0193919874727726,
-0.0570986308157444,
0.04346479848027229,
0.014748312532901764,
-0.016940128058195114,
0.049260105937719345,
-0.010680452920496464,
0.010355395264923573,
-0.010225372388958931,
0.0020141941495239735,
0.005688501987606287,
-0.02123088389635086,
0.047291189432144165,
0.023088352754712105,
0.0167822428047657,
-0.053235091269016266,
-0.013717416673898697,
0.0020199986174702644,
-0.05312364548444748,
-0.02319980040192604,
0.03889542445540428,
0.008131075650453568,
0.04851711913943291,
-0.05405237898230553,
-0.032784346491098404,
0.003034641733393073,
0.014070335775613785,
0.023645594716072083,
-0.011822797358036041,
-0.030443934723734856,
-0.039972756057977676,
-0.01879759691655636,
-0.015574886463582516,
0.026004580780863762,
-0.053235091269016266,
-0.0013756888220086694,
0.04937155544757843,
0.001549826585687697,
0.012556497938930988,
-0.008233236148953438,
-0.0008109018090181053,
-0.00039122963789850473,
0.01922481507062912,
-0.005038387607783079,
-0.02336697280406952,
-0.011432728730142117,
0.013355209492146969,
0.004302365239709616,
-0.04339050129055977,
-0.030666831880807877,
-0.03094545193016529,
-0.03727942332625389,
-0.010030338540673256,
0.03231997787952423,
0.02121230773627758,
0.008753327652812004,
-0.006505788769572973,
-0.07400161027908325,
0.023868490010499954,
0.037762366235256195,
-0.03256145119667053,
0.0068308464251458645,
0.030573956668376923,
-0.030462509021162987,
-0.04914866015315056,
-0.04145873337984085,
0.055984146893024445,
-0.028679337352514267,
-0.035997770726680756,
0.03532908111810684,
-0.024239985272288322,
-0.005149835720658302,
0.07251562923192978,
0.05293789878487587,
-0.007044455502182245,
-0.03114977292716503,
0.012955853715538979,
-0.044690731912851334,
-0.02459290437400341,
0.01290012989193201,
0.045916661620140076,
-0.015574886463582516,
-0.01963345892727375,
-0.0011841371888294816,
0.044282086193561554,
0.04565661400556564,
-0.02619032748043537,
0.05078323185443878,
0.023887064307928085,
0.007323076017200947,
-0.022103894501924515,
-0.004511330276727676,
-0.034976162016391754,
-0.0547582171857357,
-0.027713453397154808,
-0.030072441324591637,
0.00011921185068786144,
0.0005139968125149608,
-0.024444306269288063,
0.003951767459511757,
0.0008695281576365232,
0.007165190763771534,
-0.019466286525130272,
-0.06512290239334106,
-0.0012886198237538338,
-0.012584359385073185,
-0.04758838191628456,
0.0004652382049243897,
0.02024642378091812,
-0.023627018555998802,
-0.034233175218105316,
-0.0599219836294651,
0.005758157465606928,
-0.009124821983277798,
-0.00773171940818429,
-0.0011289935791864991,
0.0377066433429718,
0.007271995302289724,
-0.005925329402089119,
-0.0563184916973114,
-0.026227477937936783,
0.006315398495644331,
0.0240170881152153,
0.008795120753347874,
0.04346479848027229,
-0.03859822824597359,
0.0617794543504715,
-0.009677419438958168,
-0.07389015704393387,
0.033174414187669754,
0.00011166587501065806,
0.023664169013500214,
0.05316079407930374,
0.012927991338074207,
-0.031837038695812225,
0.0005267669330351055,
0.01565847359597683,
-0.024239985272288322,
-0.05984768643975258,
0.0026608258485794067,
-0.002649216679856181,
0.00391926197335124,
-0.07218128442764282,
0.015853507444262505,
-0.02201102115213871,
0.00023392513685394078,
0.0022440559696406126,
-0.06374837458133698,
-0.008070707321166992,
-0.010810475796461105,
0.0027931707445532084,
0.01980063132941723,
-0.06248529255390167,
0.02340412326157093,
0.006338616833090782,
-0.02416568621993065,
0.0009885223116725683,
0.005214847158640623,
0.03072255477309227,
0.03685220703482628,
0.006111076567322016,
-0.013828864321112633,
-0.003680112538859248,
-0.04041855037212372,
-0.04877716302871704,
0.032412853091955185,
-0.004483468364924192,
0.017098011448979378,
-0.03623924031853676,
0.04387344419956207,
-0.08024270832538605,
0.0387839749455452,
-0.016020679846405983,
-0.04851711913943291,
0.026896167546510696,
0.020283572375774384,
0.003554733470082283,
0.028827935457229614,
-0.038003839552402496,
-0.03157699108123779,
-0.017961734905838966,
-0.046882543712854385,
0.017116587609052658,
-0.014841185882687569,
-0.011924957856535912,
0.049445852637290955,
0.005976410117000341,
-0.011748498305678368,
-0.035403378307819366,
-0.019001919776201248,
-0.0039053307846188545,
-0.0027606647927314043,
0.01926196552813053,
-0.027304809540510178,
-0.032394278794527054,
0.10446411371231079,
-0.003487400012090802,
-0.07281282544136047,
-0.04751408472657204,
-0.06423131376504898,
0.033230140805244446,
0.013178749941289425,
0.016299299895763397,
-0.012417187914252281,
0.04539657011628151,
-0.029812395572662354,
-0.07392730563879013,
0.011553463526070118,
0.02973809652030468,
-0.029812395572662354,
-0.03224568068981171,
0.03911831974983215,
-0.007104822900146246,
-0.02297690510749817,
0.003301653079688549,
-0.018621137365698814,
0.008683672174811363,
-0.042907558381557465,
-0.01850968971848488,
-0.005465605761855841,
0.032041359692811966,
0.030834002420306206,
-0.062336694449186325,
-0.00979815423488617,
-0.0025633086916059256,
0.014172496274113655,
-0.05654139071702957,
0.04000990465283394,
0.005669927224516869,
0.0018911367515102029,
-0.00002260163819300942,
0.047068290412425995,
0.010921924374997616,
-0.00012835409143008292,
-0.044727880507707596,
0.011887808330357075,
-0.0034316759556531906,
0.003190204966813326,
0.023292675614356995,
-0.026877591386437416,
-0.00982601661235094,
-0.028066372498869896,
0.028307843953371048,
0.04654819890856743,
-0.04684539511799812,
0.00895764958113432,
-0.05568695440888405,
-0.0026004582177847624,
-0.029645223170518875,
0.019912078976631165,
-0.016057828441262245,
-0.023701317608356476,
0.022661134600639343,
-0.0025772396475076675,
-0.0036383194383233786,
-0.07467029988765717,
-0.044319234788417816,
0.04483932629227638,
-0.014701875858008862,
-0.004645997192710638,
0.04357624799013138,
-0.025428764522075653,
0.0346418172121048,
-0.01902049407362938,
-0.010912636294960976,
-0.030016716569662094,
0.011228406801819801,
0.07637917250394821,
0.028493590652942657,
-0.012250015512108803,
0.021156584843993187,
0.00838183332234621,
-0.016225000843405724,
-0.06995232403278351,
0.006282892543822527,
0.03687078133225441,
-0.008377189747989178,
-0.053049344569444656,
-0.013290198519825935,
0.06163085624575615,
-0.0047086868435144424,
0.01615070179104805,
0.014915484935045242,
-0.014878335408866405,
-0.04127298668026924,
-0.056392792612314224,
0.017803851515054703,
0.009282706305384636,
0.10565289855003357,
-0.016717230901122093,
0.0075924089178442955,
0.034010276198387146,
-0.0034177449997514486,
0.0074159493669867516,
0.02340412326157093,
-0.03029533661901951,
-0.0015742059331387281,
0.01149773970246315,
-0.046102408319711685,
-0.030796853825449944,
-0.026116028428077698,
-0.03425174951553345,
-0.016225000843405724,
0.022103894501924515,
0.011952820234000683,
0.02375704236328602,
-0.005340226460248232,
0.011869234032928944,
0.039155468344688416,
-0.0018864930607378483,
-0.04900006204843521,
0.015064082108438015,
0.04970590025186539,
-0.0354219526052475,
-0.06512290239334106,
0.0013222865527495742,
0.012937279418110847,
0.017803851515054703,
-0.024815799668431282,
-0.03583059832453728,
0.01407962292432785,
0.014441830106079578,
-0.005553835537284613,
0.0018505045445635915,
0.012714382261037827,
0.04157017916440964,
0.006329329218715429,
0.044542133808135986,
-0.023924214765429497,
0.01983777992427349,
-0.06705466657876968,
0.08343755453824997,
-0.002002584980800748,
-0.019336262717843056,
0.024815799668431282,
0.0269890408962965,
-0.006617237348109484,
0.019949229434132576,
-0.056429941207170486,
-0.0285493154078722,
-0.017488081008195877,
0.026654696092009544,
-0.024072812870144844,
0.06683177500963211,
-0.03345303609967232,
-0.029199428856372833,
-0.027267660945653915,
0.01507336925715208,
-0.011785647831857204,
0.03451179340481758,
-0.00599498488008976,
0.0028605039697140455,
0.03748374804854393,
-0.046102408319711685,
-0.0027211937122046947,
0.0013687232276424766,
0.00223941239528358,
0.009157327935099602,
0.01635502465069294,
-0.028623614460229874,
-0.039526961743831635,
-0.007128041237592697,
0.020859388634562492,
-0.02756485529243946,
-0.029440900310873985,
0.0032087794970721006,
-0.006942294538021088,
0.00009991157276090235,
0.010299671441316605,
-0.0285493154078722,
-0.0003218647325411439,
-0.020673641934990883,
0.024035662412643433,
0.058770354837179184,
-0.05174911767244339,
0.018621137365698814,
-0.008604730479419231,
-0.00039326123078353703,
-0.06025632843375206,
-0.0333230122923851,
0.012231440283358097,
0.04357624799013138,
0.046102408319711685,
-0.03586774691939354,
-0.0081357192248106,
0.021955296397209167,
-0.010030338540673256,
0.013847439549863338,
0.035756297409534454,
0.023515570908784866,
0.008405052125453949,
-0.005809237714856863,
-0.0023613087832927704,
-0.03412172570824623,
0.016503620892763138,
-0.0018435390666127205,
0.005939260590821505,
0.04565661400556564,
-0.059178996831178665,
0.016810104250907898,
-0.059996284544467926,
-0.007778156083077192,
-0.007429880555719137,
0.012240727432072163,
-0.015556312166154385,
-0.076973557472229,
0.01701442524790764,
0.06857779622077942,
0.011293417774140835,
0.028865085914731026,
-0.024927249178290367,
0.007861741818487644,
-0.005669927224516869,
0.017228035256266594,
-0.010931211523711681,
-0.01876973547041416,
0.04108723998069763,
-0.002218515845015645,
0.04461643099784851,
0.0002588848874438554,
0.013949600048363209,
0.02951519936323166,
0.07860813289880753,
0.023627018555998802,
0.014423254877328873,
-0.011702061630785465,
0.03904402256011963,
0.017980311065912247,
0.026877591386437416,
0.02321837656199932,
-0.021175159141421318,
0.038152433931827545,
-0.006905145011842251,
-0.005247353110462427,
-0.012965140864253044,
-0.01980063132941723,
0.03807813674211502,
0.01260293461382389,
-0.020450744777917862,
-0.013912450522184372,
-0.05316079407930374,
0.003754411358386278,
-0.007216271478682756,
0.0007470512646250427,
-0.01465543918311596,
-0.021918147802352905,
-0.0229954794049263,
-0.008929787203669548,
-0.011209831573069096,
0.0091712586581707,
-0.00362206669524312,
-0.007397374603897333,
-0.044913627207279205,
-0.028827935457229614,
0.03432604670524597,
0.052269209176301956,
0.07065816223621368,
0.04814562574028969,
0.054200977087020874,
0.029663797467947006,
-0.002714228117838502,
-0.04101293906569481,
0.04168162867426872,
-0.018481826409697533,
-0.006273605395108461,
0.018909044563770294,
0.024277133867144585,
0.06248529255390167,
0.017822425812482834,
-0.014311807230114937,
-0.004369698464870453,
0.019763480871915817,
0.01701442524790764,
0.0444306842982769,
-0.01815677061676979,
0.029626647010445595,
-0.07281282544136047,
-0.03685220703482628,
0.004000526387244463,
0.04658535122871399,
0.05765587091445923,
-0.02321837656199932,
0.017943160608410835,
0.05590984970331192,
0.03830103203654289,
0.023868490010499954,
-0.011024084873497486,
-0.021119434386491776,
-0.010791901499032974,
-0.01771097630262375,
-0.030778279528021812,
-0.013828864321112633,
0.0052659278735518456,
0.007216271478682756,
-0.03982415795326233,
0.0018493436509743333,
-0.019076216965913773,
-0.01735805720090866,
0.027806326746940613,
0.03807813674211502,
0.02791777439415455,
0.007406661752611399,
-0.024481454864144325,
0.053829483687877655,
0.023236950859427452,
-0.02656182274222374,
0.0065290071070194244,
0.018583988770842552,
-0.018166057765483856,
-0.031001174822449684,
0.01448826678097248,
0.025577362626791,
0.012445049360394478,
-0.01854683831334114,
-0.058770354837179184,
-0.03094545193016529,
0.011051947250962257,
0.011191257275640965,
0.02397993952035904,
0.01666150614619255,
0.08752398937940598,
-0.019912078976631165,
-0.017506655305624008,
-0.0007731718942523003,
-0.06846635043621063,
0.015017645433545113,
0.020487895235419273,
0.023274099454283714,
-0.018676862120628357,
-0.04164448007941246,
-0.04580521211028099,
0.0013698842376470566,
0.021713824942708015,
0.01742306910455227,
-0.05167481675744057,
0.01287226751446724,
0.053420837968587875,
-0.023664169013500214,
0.014609002508223057,
0.015482013113796711,
0.024667203426361084,
0.02139805443584919,
0.004636709578335285,
0.02082224003970623,
-0.010754751972854137,
-0.005015169270336628,
0.010429694317281246,
-0.04223886877298355,
-0.022865457460284233,
0.036369264125823975,
0.007402018178254366,
-0.04123583436012268,
0.016754379495978355,
0.00772707536816597,
-0.04417063668370247,
-0.014209645800292492,
-0.00006911094533279538,
-0.07147544622421265,
0.00031112623400986195,
-0.06831774860620499,
-0.05070893466472626,
0.017989598214626312,
0.0023914927151054144,
-0.005929973442107439,
0.016791529953479767,
0.005474892910569906,
0.0051451921463012695,
0.019967803731560707,
0.006018203217536211,
-0.02437000721693039,
0.056392792612314224,
0.0033480897545814514,
-0.004039997234940529,
-0.03564485162496567,
0.012435762211680412,
0.008223949000239372,
0.013559531420469284,
0.03531050682067871,
0.04261036217212677,
-0.06660887598991394,
-0.01983777992427349,
0.011813509277999401,
0.024685777723789215,
0.024221409112215042,
0.01836109161376953,
-0.016707943752408028,
-0.07545043528079987,
-0.026041731238365173,
-0.022066744044423103,
0.04524797201156616,
-0.004137514624744654,
0.013299485668540001,
0.007601696532219648,
-0.02297690510749817,
-0.03055538237094879,
0.0017320908373221755,
0.023905640468001366,
-0.00002604811561468523,
0.0325428768992424,
0.019763480871915817,
0.038375332951545715,
-0.011181970126926899,
-0.002112872200086713,
0.036350689828395844,
-0.027992073446512222,
-0.030648255720734596,
0.05148907005786896,
0.004741192329674959,
-0.034233175218105316,
0.056615687906742096,
-0.007648133207112551,
-0.024890098720788956,
-0.04922295734286308,
-0.04461643099784851,
0.02102656103670597,
0.007025880739092827,
0.03445607051253319,
0.027639154344797134,
0.0014209646033123136,
0.001892297645099461,
0.013996036723256111,
-0.010281097143888474,
-0.03945266455411911,
0.032431427389383316,
-0.0301095899194479,
-0.05011454224586487,
0.0423874668776989,
-0.036740757524967194,
0.03473468869924545,
0.024500031024217606,
-0.0384867787361145,
-0.043910592794418335,
0.00951024703681469,
0.031651291996240616,
0.04123583436012268,
0.003745123976841569,
-0.010411120019853115,
0.023515570908784866,
-0.01980063132941723,
0.00026831735158339143,
-0.011070521548390388,
0.02970094606280327,
-0.014413967728614807,
0.03724227473139763,
-0.011544176377356052,
0.015305553562939167,
0.003153055440634489,
0.03493901342153549,
-0.038969721645116806,
0.002530802972614765,
-0.02520586922764778,
-0.018983343616127968,
-0.04539657011628151,
0.00579995010048151,
0.04580521211028099,
-0.009180545806884766,
0.02895795926451683,
0.03231997787952423,
0.03345303609967232,
-0.004490433726459742,
-0.047105442732572556,
0.03031391091644764,
0.03711225092411041,
-0.010346108116209507,
0.03031391091644764,
-0.0351247601211071,
0.009575258009135723,
0.01876973547041416,
0.007884960621595383,
0.027676304802298546,
0.003315584035590291,
-0.05160051956772804,
-0.026598971337080002,
0.0062364558689296246,
-0.00038397390744648874,
-0.030053865164518356,
0.005925329402089119,
-0.016280725598335266,
-0.005971766076982021,
0.04914866015315056,
-0.020357871428132057,
-0.0007551776943728328,
0.008451488800346851,
0.008442201651632786,
-0.032394278794527054,
-0.057581573724746704,
0.022679708898067474,
0.018175344914197922,
0.03822673484683037,
-0.01179493498057127,
0.04086434096097946,
0.019354838877916336,
-0.009259488433599472,
-0.021100860089063644,
0.012435762211680412,
-0.025707386434078217,
-0.0004173502966295928,
0.06683177500963211,
-0.015556312166154385,
-0.002684044186025858,
-0.005433099810034037,
0.023496996611356735,
-0.020172124728560448,
-0.021528078243136406,
0.012101417407393456,
-0.0503745898604393,
-0.0024216766469180584,
-0.08113428950309753,
0.0007725914474576712,
-0.015324127860367298,
-0.0009774935897439718,
0.0040098135359585285,
-0.0164200346916914,
-0.006217881105840206,
-0.017293047159910202,
-0.012918704189360142,
-0.006111076567322016,
0.014664726331830025,
-0.01407962292432785,
-0.0003384078445378691,
0.04758838191628456,
0.0025261593982577324,
-0.01747879385948181,
-0.030611107125878334,
0.044319234788417816,
-0.011265556327998638,
0.0021337687503546476,
0.01346665807068348,
-0.020673641934990883,
0.017683114856481552,
-0.01733948290348053,
0.011358429677784443,
0.001023930381052196,
-0.01903906837105751,
-0.02674756944179535,
0.04543371871113777,
0.006659030448645353,
0.009742430411279202,
0.06575444340705872,
0.006626524496823549,
0.03272862359881401,
0.003652250627055764,
0.003039285307750106,
0.009459166787564754,
-0.04457928240299225,
0.0503745898604393,
-0.038152433931827545,
-0.018825458362698555,
-0.0335644856095314,
0.02162095159292221,
-0.015872081741690636,
-0.02221534214913845,
0.04561946541070938,
0.0005949708865955472,
-0.003503652988001704,
0.04892576113343239,
-0.009064453653991222,
0.016466472297906876,
0.014627576805651188,
-0.006375765893608332,
0.007703857030719519,
-0.025428764522075653,
-0.015667760744690895,
-0.01060615386813879,
-0.00609714537858963,
0.02438858151435852,
0.045879509299993515,
0.009435947984457016,
0.02973809652030468,
0.0007069995626807213,
-0.0016450219554826617,
-0.00535880122333765,
-0.016225000843405724,
-0.000560433545615524,
-0.048071324825286865,
-0.011460590176284313,
-0.03941551595926285,
-0.06642313301563263,
0.010624729096889496,
-0.004146801773458719,
0.0002899394603446126,
0.02912513166666031,
0.009199121035635471,
0.0003256377240177244,
0.005307720974087715,
-0.008089282549917698,
0.059810537844896317,
-0.011618475429713726,
0.013531669974327087,
0.03218995779752731,
0.00893443077802658,
-0.03285864740610123,
0.008483994752168655,
-0.0021384123247116804,
-0.03911831974983215,
0.02301405370235443,
-0.03703795373439789,
0.045470867305994034,
0.03789239004254341,
-0.029032256454229355,
-0.02515014447271824,
-0.0063850535079836845,
0.0043952385894954205,
-0.011952820234000683,
0.006050708703696728,
0.0006193501758389175,
0.0012932635145261884,
0.018333230167627335,
-0.020859388634562492,
0.03986130654811859,
-0.027806326746940613,
-0.004481146577745676,
-0.0013617577496916056,
-0.002319515682756901,
0.001468562288209796,
0.02479722537100315,
0.0030021360144019127,
-0.041941672563552856,
0.024444306269288063,
-0.026023155078291893,
-0.03051823377609253,
-0.0006013559177517891,
0.0008393442840315402,
-0.004687790293246508,
-0.027100488543510437,
-0.005437743850052357,
0.0602191798388958,
-0.057581573724746704,
-0.014126059599220753,
-0.012927991338074207
] |
The Motion Manifold Primitive (MMP) produces, for a given task, a continuous
manifold of trajectories each of which can successfully complete the task. It
consists of the decoder function that parametrizes the manifold and the
probability density in the latent coordinate space. In this paper, we first
show that the MMP performance can significantly degrade due to the geometric
distortion in the latent space -- by distortion, we mean that similar motions
are not located nearby in the latent space. We then propose {\it Isometric
Motion Manifold Primitives (IMMP)} whose latent coordinate space preserves the
geometry of the manifold. For this purpose, we formulate and use a Riemannian
metric for the motion space (i.e., parametric curve space), which we call a
{\it CurveGeom Riemannian metric}. Experiments with planar obstacle-avoiding
motions and pushing manipulation tasks show that IMMP significantly outperforms
existing MMP methods. Code is available at
https://github.com/Gabe-YHLee/IMMP-public. | [
0.02069421112537384,
-0.011081290431320667,
-0.03772728890180588,
-0.028662558645009995,
-0.026254434138536453,
0.02036138065159321,
-0.02852551080286503,
0.03576946258544922,
-0.09139127284288406,
0.013156584464013577,
0.04189745709300041,
0.03177550062537193,
0.05810824781656265,
-0.03099237196147442,
-0.03432067483663559,
0.027389973402023315,
0.01172737218439579,
-0.01770852878689766,
-0.030385445803403854,
-0.004887220915406942,
-0.009568870067596436,
-0.006059468723833561,
-0.03426193818449974,
0.0398808978497982,
0.049063097685575485,
-0.030796589329838753,
0.02856466732919216,
-0.03022881969809532,
-0.005922420881688595,
0.06151486560702324,
0.02799689956009388,
0.02012644149363041,
0.003754129633307457,
0.02678304724395275,
-0.02852551080286503,
-0.01713096909224987,
0.044755879789590836,
0.09436716884374619,
-0.05419259890913963,
-0.036885425448417664,
-0.021927641704678535,
0.026293590664863586,
0.005477015860378742,
-0.04240649193525314,
0.010768038220703602,
0.0053350734524428844,
-0.08872862905263901,
0.011120446026325226,
0.053722720593214035,
0.040096256881952286,
0.05086429417133331,
-0.0051539745181798935,
0.026743890717625618,
-0.01046457514166832,
-0.02357221394777298,
0.0029342903289943933,
0.08912019431591034,
0.04851490631699562,
0.0625329315662384,
-0.004559285007417202,
-0.02104661986231804,
-0.006563608534634113,
-0.0713822990655899,
-0.022456252947449684,
-0.010572255589067936,
-0.0018171063857153058,
0.07670758664608002,
-0.04976791515946388,
0.036826688796281815,
-0.023552635684609413,
-0.057403430342674255,
-0.004571521654725075,
-0.03898029774427414,
-0.04307215288281441,
-0.021536076441407204,
-0.01028837077319622,
0.05282212048768997,
0.020948728546500206,
0.03134477883577347,
-0.02932821959257126,
-0.009529713541269302,
-0.015388505533337593,
0.007219479884952307,
-0.0091724107041955,
0.11378879100084305,
0.009715707041323185,
0.020968306809663773,
-0.05086429417133331,
0.055093199014663696,
-0.011110656894743443,
-0.006529346574097872,
0.07893950492143631,
-0.0065880813635885715,
0.03214748948812485,
-0.0059958393685519695,
0.025902025401592255,
0.01856997050344944,
0.008682954125106335,
-0.052352242171764374,
0.026939673349261284,
0.025021005421876907,
0.005036504939198494,
0.006313985679298639,
-0.01534934900701046,
0.02155565470457077,
-0.03759024292230606,
0.04087938740849495,
0.030561650171875954,
0.02392462268471718,
0.11425866931676865,
-0.0006369049660861492,
-0.021085776388645172,
0.040957700461149216,
-0.015192722901701927,
-0.05983113497495651,
-0.014331279322504997,
-0.06437329202890396,
-0.07933107018470764,
0.09248765558004379,
-0.043424561619758606,
-0.024414079263806343,
0.03886282816529274,
-0.03110983967781067,
0.006172043737024069,
-0.04655708000063896,
0.02662642113864422,
-0.04177998751401901,
-0.012011257000267506,
0.03437940776348114,
-0.007738303858786821,
0.013812456279993057,
-0.01695476472377777,
-0.002282089786604047,
-0.006920911837369204,
0.046948645263910294,
-0.020909572020173073,
-0.0078753512352705,
0.053213685750961304,
0.009642288088798523,
0.008012399077415466,
-0.06680098921060562,
-0.04189745709300041,
-0.012941223569214344,
0.013450258411467075,
-0.004581310786306858,
0.006798547692596912,
-0.04628298431634903,
0.0322062224149704,
-0.06785821914672852,
-0.01540808379650116,
-0.07122567296028137,
0.015192722901701927,
0.022221313789486885,
0.016866663470864296,
0.08692743629217148,
0.034575190395116806,
-0.057755839079618454,
0.04060529172420502,
-0.0042289020493626595,
-0.07357506453990936,
0.08927682042121887,
0.01025900337845087,
0.02110535465180874,
0.058891378343105316,
0.019411835819482803,
0.012275563552975655,
0.0316188745200634,
0.00974996853619814,
-0.0008173919632099569,
0.03576946258544922,
-0.038667045533657074,
0.022162580862641335,
-0.018246930092573166,
-0.009808703325688839,
0.005477015860378742,
0.0182860866189003,
0.029935145750641823,
-0.02517762966454029,
-0.018383977934718132,
0.012167883105576038,
-0.035319164395332336,
-0.023180648684501648,
0.035045068711042404,
0.058264873921871185,
0.06057510897517204,
0.035906512290239334,
0.051138389855623245,
0.04295468330383301,
0.043307092040777206,
-0.06648773699998856,
0.040096256881952286,
0.0054868049919605255,
0.050511885434389114,
0.021751437336206436,
0.017581269145011902,
0.013518782332539558,
-0.004517681431025267,
0.014204020611941814,
0.009730390273034573,
0.017209282144904137,
-0.010298159904778004,
-0.06065342202782631,
-0.008046661503612995,
-0.008056450635194778,
0.011746950447559357,
-0.015877962112426758,
-0.03312639892101288,
0.005016926676034927,
0.03398784250020981,
-0.0369245819747448,
-0.0019871925469487906,
-0.06198474392294884,
-0.036180607974529266,
-0.04240649193525314,
-0.03449687734246254,
-0.04957213252782822,
-0.03533874452114105,
0.013391523621976376,
0.027155034244060516,
-0.006382509600371122,
0.0023946647997945547,
-0.014771790243685246,
0.049063097685575485,
-0.051138389855623245,
-0.06186727434396744,
0.02149691991508007,
-0.019646774977445602,
-0.025079740211367607,
-0.018941957503557205,
0.04874984547495842,
0.042289022356271744,
0.0161618459969759,
0.0028388462960720062,
-0.032911039888858795,
-0.04111432656645775,
0.04252396151423454,
-0.01158053521066904,
-0.011081290431320667,
-0.017718316987156868,
0.013900558464229107,
-0.00943182222545147,
-0.0027972424868494272,
0.023591792210936546,
0.03496675565838814,
0.06515641510486603,
0.04937634989619255,
0.030150506645441055,
0.0363372340798378,
-0.004772198852151632,
0.0025794345419853926,
0.03018966317176819,
-0.020968306809663773,
0.0010927111143246293,
0.01892237924039364,
-0.03933270648121834,
0.11002977192401886,
0.045852262526750565,
-0.02684178203344345,
-0.016700247302651405,
-0.024844801053404808,
0.013185951858758926,
0.027507442981004715,
-0.015877962112426758,
0.02690051682293415,
0.049807071685791016,
0.012030835263431072,
-0.0015246563125401735,
0.06492148339748383,
0.011560956947505474,
0.029073702171444893,
-0.04005710035562515,
-0.04189745709300041,
-0.03034628927707672,
-0.012451767921447754,
0.03582819923758507,
-0.02782069519162178,
0.05293959006667137,
0.004307215102016926,
0.11676468700170517,
-0.06233714893460274,
0.06891544163227081,
0.008320756256580353,
-0.010024064220488071,
0.01984255760908127,
0.017385486513376236,
0.027977321296930313,
0.016122689470648766,
0.006098625250160694,
-0.0635901615023613,
-0.011512011289596558,
-0.015897540375590324,
0.02506016194820404,
-0.03338091820478439,
0.020909572020173073,
0.039528489112854004,
0.006480400916188955,
-0.009784230962395668,
-0.01943141408264637,
0.03277399018406868,
-0.004750173073261976,
-0.021810172125697136,
0.07189133763313293,
0.007381000556051731,
-0.039234813302755356,
-0.013469836674630642,
0.0016776113770902157,
-0.024296609684824944,
0.024864379316568375,
-0.031990863382816315,
-0.027331238612532616,
0.0022282495629042387,
0.03990047425031662,
-0.014331279322504997,
0.002323693595826626,
0.017493167892098427,
0.01376351062208414,
0.08543948829174042,
-0.03851041942834854,
-0.04910225421190262,
-0.013068482279777527,
0.02402251400053501,
0.01850144751369953,
-0.04984622821211815,
-0.024394501000642776,
0.048828158527612686,
-0.024707753211259842,
-0.042445648461580276,
0.023141492158174515,
0.003105600131675601,
0.009823387488722801,
-0.03851041942834854,
-0.019167108461260796,
-0.0023114571813493967,
-0.04965044558048248,
-0.001727780676446855,
-0.006681078113615513,
-0.03729656711220741,
0.016690459102392197,
-0.050394415855407715,
-0.01437043584883213,
-0.012099359184503555,
-0.044286005198955536,
0.01735612004995346,
0.006803442258387804,
-0.009451400488615036,
-0.06989435851573944,
0.006426560692489147,
-0.020792102441191673,
0.021751437336206436,
-0.013381734490394592,
0.0011012766044586897,
-0.01017090119421482,
-0.0021132274996489286,
0.006196516565978527,
0.04420769214630127,
-0.046478766947984695,
0.004916588310152292,
0.004126116167753935,
-0.008942365646362305,
0.06903291493654251,
0.0035510051529854536,
-0.027350816875696182,
-0.013920136727392673,
-0.0010865929070860147,
-0.05019863694906235,
0.02126198075711727,
-0.05896969139575958,
-0.047457680106163025,
-0.009603132493793964,
0.03960680216550827,
-0.0041824039071798325,
-0.012716073542833328,
0.003820206271484494,
-0.010748459957540035,
-0.03022881969809532,
0.005702165421098471,
0.055328138172626495,
0.021281559020280838,
-0.004480971954762936,
0.03972427174448967,
-0.04741852357983589,
0.023611370474100113,
-0.020478850230574608,
-0.057011865079402924,
-0.019901292398571968,
0.012970590963959694,
0.0032010439317673445,
-0.017620425671339035,
0.0026895622722804546,
0.0221234243363142,
-0.014771790243685246,
-0.022612879052758217,
-0.016602355986833572,
-0.018755964934825897,
0.07506301254034042,
-0.001407186733558774,
0.008756373077630997,
-0.026998408138751984,
-0.009333930909633636,
0.015721336007118225,
0.021144511178135872,
-0.029739363119006157,
-0.020380958914756775,
0.022045111283659935,
0.03040502406656742,
0.049063097685575485,
0.029465267434716225,
0.014683688059449196,
0.06480401009321213,
-0.03289145976305008,
0.009069624356925488,
-0.03625892102718353,
-0.006920911837369204,
0.0014279886381700635,
-0.006451033521443605,
-0.04154504835605621,
-0.024335766211152077,
0.03494717925786972,
-0.016465308144688606,
-0.012706284411251545,
0.004246033262461424,
-0.022867396473884583,
0.057873308658599854,
-0.019627196714282036,
-0.026978829875588417,
0.048201654106378555,
0.015222090296447277,
0.01892237924039364,
-0.0023934412747621536,
-0.0457739494740963,
0.017326751723885536,
-0.0048064603470265865,
0.056659456342458725,
-0.030718276277184486,
0.02351347915828228,
0.013597095385193825,
-0.02024391107261181,
0.004573968704789877,
-0.012118937447667122,
-0.029817676171660423,
-0.03921523690223694,
0.002252722391858697,
0.017747683450579643,
-0.007620834279805422,
0.009891911409795284,
-0.006964962929487228,
0.004028225317597389,
-0.04134926572442055,
-0.01631847210228443,
-0.04792755842208862,
-0.02603907324373722,
0.011835052631795406,
0.017033077776432037,
-0.06374678760766983,
0.05877390876412392,
-0.004189745523035526,
-0.03907818719744682,
-0.01938246749341488,
-0.027683647349476814,
-0.05779499560594559,
0.006455928087234497,
0.027683647349476814,
-0.0020495981443673372,
-0.04185830056667328,
0.022319205105304718,
-0.012716073542833328,
-0.0012995064025744796,
0.01466410979628563,
-0.001924786833114922,
0.02220173552632332,
0.009862544015049934,
-0.051255859434604645,
0.014096340164542198,
0.020498428493738174,
0.047457680106163025,
0.02846677601337433,
-0.023885466158390045,
-0.029993880540132523,
-0.021085776388645172,
-0.003401721129193902,
0.011531589552760124,
-0.031423091888427734,
0.014047394506633282,
-0.09076476842164993,
0.012520291842520237,
-0.02695925161242485,
0.08755394071340561,
-0.02120324596762657,
-0.0034384303726255894,
0.01977403275668621,
0.015525552444159985,
-0.039234813302755356,
0.010973609983921051,
-0.008663375861942768,
-0.016142267733812332,
-0.0445992536842823,
-0.013920136727392673,
0.013371945358812809,
0.03735530376434326,
-0.015094831585884094,
0.00831096712499857,
-0.023141492158174515,
-0.012265774421393871,
0.04409022256731987,
0.01943141408264637,
0.027624912559986115,
0.03195170685648918,
0.0055651175789535046,
-0.011110656894743443,
-0.03203001990914345,
0.030248397961258888,
0.04988538473844528,
0.002205000491812825,
-0.012363665737211704,
0.056307047605514526,
-0.022162580862641335,
0.023258961737155914,
-0.016416363418102264,
0.037688132375478745,
0.032402005046606064,
0.004786882549524307,
0.04972875863313675,
0.017620425671339035,
0.016974342986941338,
-0.01534934900701046,
0.038020964711904526,
0.035514947026968,
-0.014595585875213146,
0.031207730993628502,
-0.01735612004995346,
0.002643063897266984,
0.022319205105304718,
-0.03600440174341202,
-0.035847775638103485,
-0.0013374392874538898,
-0.07471060752868652,
0.016886241734027863,
0.029054123908281326,
-0.04405106604099274,
-0.03157971799373627,
0.005021821241825819,
-0.027566177770495415,
0.000667496002279222,
0.03986131772398949,
0.0015405636513605714,
0.003947464749217033,
-0.0045935469679534435,
-0.030424602329730988,
0.0030444180592894554,
0.04213239625096321,
0.019216053187847137,
-0.014194231480360031,
-0.015036096796393394,
0.0009746297728270292,
-0.009240934625267982,
-0.017786839976906776,
-0.0033258553594350815,
-0.017953256145119667,
0.004740383941680193,
0.018521025776863098,
-0.030444180592894554,
-0.012226617895066738,
0.029641471803188324,
0.03046375885605812,
0.027213769033551216,
0.0003756576916202903,
-0.01526124682277441,
0.05254802480340004,
-0.023317696526646614,
-0.016524042934179306,
-0.014752211980521679,
0.0006032548262737691,
-0.030914058908820152,
-0.005100134294480085,
0.0317363440990448,
0.00623567309230566,
0.04867153242230415,
0.03927396982908249,
-0.025079740211367607,
0.03461434692144394,
-0.02678304724395275,
-0.020772524178028107,
0.03110983967781067,
0.03500591218471527,
-0.021516498178243637,
0.027918586507439613,
-0.012667127884924412,
-0.048828158527612686,
-0.0034898233134299517,
-0.00920177809894085,
0.04138842225074768,
0.035045068711042404,
0.001450014184229076,
0.01537871640175581,
-0.01163927000015974,
-0.02909328043460846,
0.013029325753450394,
-0.015780070796608925,
-0.011051923036575317,
-0.03847126290202141,
-0.006920911837369204,
0.058382343500852585,
-0.0037712606135755777,
-0.016749193891882896,
-0.04581310600042343,
-0.027174612507224083,
0.03541705757379532,
0.039587222039699554,
-0.013538360595703125,
-0.015594076365232468,
-0.053487781435251236,
0.03576946258544922,
0.038549575954675674,
0.02517762966454029,
0.04350287467241287,
0.0035656888503581285,
0.013929925858974457,
0.0007525390246883035,
0.016533832997083664,
-0.017747683450579643,
0.027037564665079117,
0.01255944836884737,
0.0012542316690087318,
-0.0079928208142519,
-0.004177509341388941,
0.004224007483571768,
0.010024064220488071,
0.0019517068285495043,
-0.022906553000211716,
0.012862910516560078,
0.012755230069160461,
0.003108047414571047,
-0.014830525033175945,
-0.02282823994755745,
0.04456009715795517,
0.045734792947769165,
-0.008031977340579033,
-0.031148996204137802,
-0.030894480645656586,
0.03379205986857414,
0.026352325454354286,
-0.015564708970487118,
-0.008076028898358345,
-0.002853529993444681,
0.007263530977070332,
0.06856303662061691,
-0.027605334296822548,
-0.011277072131633759,
0.016984133049845695,
-0.013743932358920574,
-0.03013092838227749,
0.009505241177976131,
-0.003362564602866769,
0.04134926572442055,
0.02547130361199379,
0.028603823855519295,
0.006529346574097872,
-0.029249906539916992,
0.0081102903932333,
-0.0008069910109043121,
0.03453603386878967,
0.011316228657960892,
0.0037712606135755777,
-0.02817310206592083,
0.013391523621976376,
0.04158420488238335,
0.030737854540348053,
0.010885507799685001,
-0.06139739602804184,
0.029249906539916992,
-0.00593710457906127,
-0.02081168070435524,
-0.017385486513376236,
0.011267283000051975,
0.024746909737586975,
0.0017938571982085705,
-0.01376351062208414,
0.01166863739490509,
0.02431618794798851,
-0.02713545598089695,
0.005736427381634712,
-0.009891911409795284,
-0.022789083421230316,
-0.007307582069188356,
0.02455112710595131,
-0.023239383473992348,
-0.007782354485243559,
-0.03246074169874191,
-0.025079740211367607,
-0.013303421437740326,
0.01717991568148136,
0.0009061059099622071,
-0.0025916709564626217,
0.01439980324357748,
-0.003120283829048276,
0.020420115441083908,
0.0070432755164802074,
-0.024414079263806343,
0.02690051682293415,
-0.013332788832485676,
-0.07478892058134079,
0.0023873229511082172,
0.009280091151595116,
-0.004224007483571768,
0.009534608572721481,
0.03700289502739906,
-0.009696128778159618,
-0.02271077036857605,
0.01667088083922863,
-0.005021821241825819,
0.021457763388752937,
0.02396377921104431,
-0.017434433102607727,
0.004424684680998325,
0.049063097685575485,
0.03318513557314873,
-0.005981155671179295,
-0.04322877898812294,
-0.0322062224149704,
0.03345923125743866,
0.027683647349476814,
-0.016406573355197906,
0.02351347915828228,
-0.05853896960616112,
0.02553003840148449,
0.03334176167845726,
-0.005873475223779678,
-0.04025288298726082,
0.004936166573315859,
-0.00825223233550787,
-0.004480971954762936,
-0.06472569704055786,
0.0182860866189003,
0.005207814741879702,
0.023024022579193115,
0.05215645954012871,
-0.0023812048602849245,
0.026430638507008553,
0.020204754546284676,
-0.013440469279885292,
0.025686664506793022,
-0.04232817888259888,
0.04307215288281441,
0.0048431698232889175,
-0.013548149727284908,
0.009798914194107056,
-0.00441000098362565,
0.07071664184331894,
-0.030052615329623222,
0.001435330486856401,
0.053605251014232635,
0.023474322631955147,
0.010307949036359787,
-0.04761430621147156,
-0.04189745709300041,
-0.0005714402068406343,
0.05317452922463417,
-0.04761430621147156,
0.011286861263215542,
-0.07377085089683533,
0.007806827314198017,
0.0003215115866623819,
0.010865929536521435,
0.02627401240170002,
-0.008071133866906166,
0.00885426439344883,
-0.021516498178243637,
-0.024159561842679977,
0.008991311304271221,
-0.05156911164522171,
-0.03915650025010109,
0.020948728546500206,
0.026489373296499252,
-0.0052518658339977264,
0.016572989523410797,
-0.026822203770279884,
-0.024688174948096275,
0.0077089364640414715,
-0.03316555544734001,
-0.014850103296339512,
-0.01388098020106554,
0.003372353734448552,
-0.006358036771416664,
0.06245461851358414,
-0.03741403669118881,
-0.0023689684458076954,
-0.015251457691192627,
-0.016240159049630165,
-0.04655708000063896,
0.012207039631903172,
-0.007713831029832363,
-0.03214748948812485,
0.04076191782951355,
0.00015861442079767585,
0.028133945539593697,
0.01989150233566761,
-0.008364807814359665,
0.019450992345809937,
-0.01724843867123127,
-0.007160745095461607,
0.026920095086097717,
0.022005954757332802,
-0.01718970388174057,
-0.009735285304486752,
-0.040331196039915085,
0.019871924072504044,
-0.03046375885605812,
0.008888525888323784,
0.020439693704247475,
0.002392217516899109,
0.012393033131957054,
0.01385161280632019,
0.023258961737155914,
0.0158681720495224,
0.00455439044162631,
0.022143002599477768,
0.01811967045068741,
-0.03520169481635094,
0.02879960648715496,
0.04013541340827942,
0.005545539315789938,
-0.040448665618896484,
0.04123179614543915,
0.010709303431212902,
-0.007576783187687397,
0.002389770234003663,
0.038490839302539825,
0.020557163283228874,
0.013773299753665924,
-0.041075170040130615,
0.044364314526319504,
0.0021438184194266796,
-0.005653219763189554,
-0.008418647572398186,
-0.01537871640175581,
0.012539870105683804,
0.004231349565088749,
-0.01839376613497734,
-0.0034115102607756853,
0.021927641704678535,
-0.01431170105934143,
-0.0312664657831192,
-0.04362034425139427,
-0.04209323972463608,
0.003670922014862299,
-0.0088200019672513,
-0.0012266997946426272,
0.04264143109321594,
0.013959293253719807,
0.002814373467117548,
0.023024022579193115,
-0.004236244130879641,
0.02173185907304287,
-0.01747358962893486,
0.004033119883388281,
-0.012549659237265587,
0.022084267809987068,
0.03224537894129753,
-0.024531548842787743,
0.00728800380602479,
0.022847818210721016,
-0.000682179699651897,
-0.01434106845408678,
-0.026195699349045753,
0.03770771250128746,
0.030502915382385254,
-0.008604641072452068,
-0.05399681627750397,
-0.039234813302755356,
-0.05454500764608383,
-0.006989435758441687,
0.004172614775598049,
-0.030307132750749588,
0.0178162083029747,
-0.005770689342170954,
0.014830525033175945,
-0.04737936705350876,
-0.013460047543048859,
0.019568461924791336,
-0.01603458821773529,
0.011404330842196941,
-0.02419871836900711,
0.0031569928396493196,
-0.021457763388752937,
0.03678753226995468,
-0.01055267732590437,
0.0017681607278063893,
-0.018129460513591766,
-0.03903903067111969,
0.0014304359210655093,
0.004008647054433823,
0.005266549531370401,
-0.06480401009321213,
-0.010993188247084618,
0.017395276576280594,
-0.0015723782125860453,
-0.005109923426061869,
0.011267283000051975,
-0.04687033221125603,
0.010562466457486153,
0.0034653504844754934,
-0.023944200947880745,
-0.019235631451010704,
0.01040584035217762,
-0.03404657915234566,
0.025549616664648056,
0.03224537894129753,
-0.008917893283069134,
0.03678753226995468,
-0.030620384961366653,
0.028212258592247963,
0.0035240850411355495,
0.016171636059880257,
-0.014556429348886013,
0.025941181927919388,
0.0012627971591427922,
-0.012236407026648521,
-0.044520940631628036,
0.018873434513807297,
0.017336541786789894,
-0.04326793551445007,
0.012373454868793488,
0.03518211841583252,
-0.007067748345434666,
-0.02098788507282734,
0.0011734714498743415,
-0.02288697473704815,
0.002282089786604047,
0.04706611484289169,
0.025941181927919388,
-0.03490802273154259,
0.019764244556427002,
-0.04502997547388077,
0.0030811273027211428,
0.06997267156839371,
-0.02351347915828228,
-0.0020581635180860758,
-0.01574091427028179,
-0.01184484176337719,
0.01747358962893486,
-0.02476648800075054,
-0.00584900239482522,
0.022789083421230316,
0.022456252947449684,
0.030542071908712387,
0.008345229551196098,
-0.008271810598671436,
0.04628298431634903,
0.011893787421286106,
-0.028427619487047195,
-0.04910225421190262,
-0.0723220556974411,
0.021888485178351402,
-0.05724680423736572,
-0.005946893710643053,
0.04264143109321594,
-0.011414119973778725,
-0.0048578535206615925,
-0.021359872072935104,
0.0454215407371521,
0.04976791515946388,
0.0221234243363142,
-0.024179140105843544,
-0.005060977768152952,
-0.006925806403160095,
-0.00907941348850727,
-0.06519557535648346,
-0.0358673557639122,
-0.015897540375590324,
-0.011923154816031456,
-0.02627401240170002,
-0.01729738526046276,
0.035554103553295135,
-0.0013814903795719147,
0.0031618874054402113,
0.0449516624212265,
0.013127217069268227,
-0.01543745119124651,
-0.043659500777721405,
-0.010425418615341187,
0.04146673530340195,
-0.01695476472377777,
0.04385528340935707,
0.022926131263375282,
-0.03293061628937721,
0.0011116774985566735,
-0.014644531533122063,
-0.03140351548790932,
-0.029935145750641823,
0.02511889673769474,
-0.03373332694172859,
-0.0022135660983622074,
0.0062601459212601185,
-0.03972427174448967,
-0.005751111079007387,
0.04546069726347923,
0.001699636923149228,
-0.034868866205215454,
0.02500142715871334,
-0.016063954681158066,
-0.03690500184893608,
-0.04937634989619255,
-0.032225802540779114,
0.05920463055372238,
0.01932373270392418,
0.009426928125321865,
0.04749683663249016,
0.029856832697987556,
-0.04687033221125603,
0.04064444825053215,
-0.02656768634915352,
-0.03148182854056358,
0.0028388462960720062,
-0.05258718132972717,
-0.011345596052706242,
-0.013685197569429874,
-0.0316188745200634,
0.003063996322453022,
0.03557367995381355,
0.02586286887526512,
0.0162793155759573,
-0.05442753806710243,
0.021477341651916504,
-0.05822571739554405
] |
There have recently been significant advances in the problem of unsupervised
object-centric representation learning and its application to downstream tasks.
The latest works support the argument that employing disentangled object
representations in image-based object-centric reinforcement learning tasks
facilitates policy learning. We propose a novel object-centric reinforcement
learning algorithm combining actor-critic and model-based approaches to utilize
these representations effectively. In our approach, we use a transformer
encoder to extract object representations and graph neural networks to
approximate the dynamics of an environment. The proposed method fills a
research gap in developing efficient object-centric world models for
reinforcement learning settings that can be used for environments with discrete
or continuous action spaces. Our algorithm performs better in a visually
complex 3D robotic environment and a 2D environment with compositional
structure than the state-of-the-art model-free actor-critic algorithm built
upon transformer architecture and the state-of-the-art monolithic model-based
algorithm. | [
0.018139922991394997,
-0.006118485238403082,
-0.035628851503133774,
-0.025089748203754425,
0.0190548375248909,
0.0025534010492265224,
-0.00521676754578948,
0.013072709552943707,
-0.03202198073267937,
0.04363434761762619,
0.02991064079105854,
-0.04912382736802101,
0.022837653756141663,
-0.03216273710131645,
-0.05236121639609337,
-0.0070685879327356815,
0.009659377858042717,
0.008031887002289295,
-0.04666059836745262,
-0.052783481776714325,
0.013961231335997581,
0.0009160133777186275,
0.018157517537474632,
-0.0042952559888362885,
0.022943221032619476,
0.01626610942184925,
0.016609203070402145,
-0.030790366232395172,
-0.07664161920547485,
0.06692945957183838,
0.06728135049343109,
0.016090165823698044,
-0.03673730418086052,
0.017735250294208527,
-0.03684287145733833,
0.04000987857580185,
0.029734695330262184,
0.028327135369181633,
-0.029840262606739998,
0.06724616140127182,
0.005757798440754414,
0.009580202400684357,
-0.031142255291342735,
-0.05683021619915962,
-0.017990371212363243,
-0.020919853821396828,
-0.01289676409214735,
-0.004077523946762085,
-0.022908031940460205,
-0.009588999673724174,
-0.021588444709777832,
-0.05510595813393593,
0.04683654382824898,
-0.01483215857297182,
-0.05841372162103653,
0.012078620493412018,
0.027341844514012337,
-0.02486102096736431,
0.030297718942165375,
0.06999089568853378,
0.009588999673724174,
-0.015052090398967266,
-0.10021824389696121,
-0.001003985875286162,
0.00999367330223322,
-0.03439723700284958,
0.037722595036029816,
-0.04824410378932953,
0.015720680356025696,
-0.014304324053227901,
-0.028837377205491066,
-0.04085441678762436,
-0.05401509627699852,
-0.000007298106993403053,
0.03580479696393013,
0.06749247759580612,
0.025001777336001396,
0.033728644251823425,
0.01986418478190899,
-0.0137852868065238,
0.04307132214307785,
0.05890636891126633,
-0.005894155707210302,
0.01945951022207737,
0.07650086283683777,
-0.08593150973320007,
0.06710540503263474,
-0.047610703855752945,
0.010327967815101147,
-0.005894155707210302,
-0.03642060235142708,
0.008814841508865356,
-0.018315868452191353,
-0.004185290541499853,
-0.024227619171142578,
-0.034326858818531036,
-0.0020332636777311563,
-0.0025951878633350134,
-0.0207087192684412,
0.0004131956957280636,
0.01124288234859705,
-0.0020222673192620277,
-0.026989953592419624,
0.0017396556213498116,
0.02398129552602768,
-0.03751146048307419,
-0.04148781672120094,
-0.02348865009844303,
-0.012368929572403431,
0.10570771992206573,
0.005801784340292215,
-0.005608245264738798,
-0.03145895525813103,
0.027588168159127235,
-0.06464217603206635,
0.013802881352603436,
-0.04905344918370247,
-0.03298967704176903,
0.006580341141670942,
-0.04057290405035019,
0.052783481776714325,
0.016802743077278137,
0.06819625943899155,
-0.05376877635717392,
-0.011682744137942791,
0.06288272142410278,
-0.002425840822979808,
0.019828995689749718,
0.015025698579847813,
0.0645717978477478,
0.0026061844546347857,
0.0021597242448478937,
0.0002938830293715,
-0.014647416770458221,
0.008045082911849022,
0.006800272036343813,
-0.017488926649093628,
0.01704026758670807,
-0.029048509895801544,
0.021905144676566124,
0.017172226682305336,
-0.017101848497986794,
-0.04961647465825081,
0.03218033164739609,
-0.008471748791635036,
0.049792420119047165,
0.0049528502859175205,
0.06749247759580612,
0.01323985680937767,
0.012034634128212929,
-0.0358399860560894,
0.04905344918370247,
-0.08417206257581711,
0.023242326453328133,
0.008938003331422806,
0.03358789160847664,
-0.01328384317457676,
0.020321641117334366,
-0.03325359523296356,
-0.019670644775032997,
0.07980863004922867,
-0.011357245966792107,
0.022010711953043938,
0.06453660875558853,
0.08550924062728882,
0.02426280826330185,
0.00521676754578948,
0.005806182976812124,
-0.04880712926387787,
0.055000390857458115,
-0.0034617166966199875,
-0.01289676409214735,
0.009536216035485268,
0.0624956451356411,
-0.0010342263849452138,
0.014277932234108448,
0.07069467753171921,
-0.05806183069944382,
-0.01267683319747448,
0.0023818546906113625,
-0.02591669000685215,
-0.018456624820828438,
0.023998890072107315,
0.08058278262615204,
0.011357245966792107,
0.05461331084370613,
0.05478925630450249,
-0.025494422763586044,
-0.014594633132219315,
0.018702948465943336,
0.050073932856321335,
0.012025836855173111,
0.011278070509433746,
-0.04384547844529152,
0.012052228674292564,
-0.06091213971376419,
-0.05651351436972618,
0.007292917929589748,
-0.0022004113998264074,
0.022380197420716286,
-0.005511475261300802,
-0.020532775670289993,
0.02292562648653984,
0.0018584184581413865,
0.009237109683454037,
-0.02753538452088833,
0.01362693589180708,
-0.0371243841946125,
-0.0002661167236510664,
-0.09113948047161102,
-0.0021256348118185997,
-0.0686185285449028,
-0.08191996812820435,
-0.03642060235142708,
-0.030016208067536354,
-0.006703502498567104,
-0.029118888080120087,
0.03536493331193924,
-0.05218527093529701,
-0.013204667717218399,
-0.0019068033434450626,
0.011744325049221516,
0.04690692201256752,
-0.002359861508011818,
0.002007971750572324,
-0.006611131131649017,
0.0558801144361496,
-0.05426141992211342,
0.0226089246571064,
-0.008942401967942715,
-0.03328878432512283,
0.014902536757290363,
0.03147654980421066,
0.01763848029077053,
-0.011717933230102062,
0.028362324461340904,
0.012377726845443249,
-0.032356277108192444,
-0.0032395862508565187,
-0.012650441378355026,
0.03758183866739273,
0.0032329882960766554,
0.009940889663994312,
-0.033447135239839554,
0.06509962677955627,
0.0551411472260952,
-0.01606377400457859,
0.026110230013728142,
0.03652616962790489,
0.002137731062248349,
-0.028978131711483,
-0.033728644251823425,
-0.011102125979959965,
-0.03592795878648758,
0.02607504092156887,
0.017656074836850166,
0.03789854049682617,
-0.017418550327420235,
-0.015412776730954647,
-0.02155325561761856,
0.023101571947336197,
0.04229716584086418,
0.04187489673495293,
0.044549260288476944,
0.03321840614080429,
0.02079669199883938,
0.013776489533483982,
0.0066991038620471954,
-0.02398129552602768,
0.00599532388150692,
0.023383082821965218,
-0.04908863827586174,
-0.049546096473932266,
0.00012432984658516943,
-0.04507709667086601,
0.002940479898825288,
0.02647971361875534,
0.0035672837402671576,
0.03080795891582966,
0.046519841998815536,
0.036631736904382706,
-0.08156807720661163,
0.01366212498396635,
0.06063062697649002,
-0.017216213047504425,
-0.009553810581564903,
-0.01654762215912342,
0.03325359523296356,
-0.04169895127415657,
0.018914081156253815,
-0.005551062989979982,
0.03181084617972374,
-0.058308154344558716,
-0.005036423914134502,
0.03137098252773285,
0.000982542522251606,
-0.032039575278759,
-0.0421564094722271,
0.05785069614648819,
-0.03986912593245506,
-0.0072885192930698395,
-0.01787600666284561,
0.015474357642233372,
0.00038872836739756167,
-0.046449463814496994,
0.005221166182309389,
-0.024632291868329048,
0.05137592554092407,
0.006118485238403082,
-0.017207415774464607,
0.00034474211861379445,
0.018826108425855637,
-0.01849181391298771,
0.030385691672563553,
-0.014101987704634666,
0.040995173156261444,
0.0444788821041584,
-0.03254981338977814,
-0.06587378680706024,
0.010275185108184814,
-0.04314170032739639,
0.018474219366908073,
-0.054155852645635605,
0.004759310744702816,
0.01796397939324379,
0.04085441678762436,
0.027869679033756256,
0.000270240445388481,
-0.018579786643385887,
0.009474635124206543,
-0.0714336484670639,
-0.0083177974447608,
-0.015104873105883598,
0.037687405943870544,
0.01779683120548725,
0.00500563345849514,
-0.04715324565768242,
0.028960537165403366,
-0.04173414036631584,
-0.058554477989673615,
-0.0021201365161687136,
0.020761502906680107,
-0.0006746388971805573,
-0.024280402809381485,
0.05070733278989792,
-0.06689427047967911,
0.002042060950770974,
0.0039015791844576597,
0.004719723016023636,
0.016116557642817497,
0.0008692779811099172,
-0.05739324167370796,
-0.05485963448882103,
-0.011146112345159054,
0.06446623057126999,
-0.02014569565653801,
-0.0025621983222663403,
0.021130988374352455,
-0.020339235663414,
0.0007285220199264586,
0.0003634362656157464,
-0.06721097230911255,
-0.03265538066625595,
0.02575833909213543,
-0.06721097230911255,
0.01896686479449272,
-0.025424044579267502,
0.026954766362905502,
0.05408547446131706,
-0.009976078756153584,
-0.01961786113679409,
0.00019518892804626375,
-0.01426913496106863,
-0.031195038929581642,
0.012879169546067715,
-0.0005828176508657634,
-0.0033913387451320887,
-0.0358399860560894,
-0.010231198742985725,
0.052220460027456284,
0.01453305222094059,
-0.020726313814520836,
-0.034256480634212494,
-0.014568241313099861,
0.008379378356039524,
0.11471610516309738,
0.021500471979379654,
-0.046519841998815536,
-0.038285620510578156,
-0.019441915675997734,
0.06583859771490097,
-0.04743475839495659,
0.0003472163516562432,
0.005665427073836327,
0.028063219040632248,
0.0330248661339283,
0.008907212875783443,
-0.010495116002857685,
-0.026426929980516434,
-0.04768107831478119,
-0.03520658239722252,
0.031212633475661278,
0.030983904376626015,
0.027341844514012337,
-0.0034199298825114965,
-0.024491535499691963,
-0.0049088639207184315,
0.009492229670286179,
0.020339235663414,
0.04278980940580368,
0.021007826551795006,
-0.06326980143785477,
-0.0011744324583560228,
-0.020092912018299103,
0.03342954069375992,
-0.04064328223466873,
-0.005529069807380438,
-0.03652616962790489,
-0.018843702971935272,
-0.06414952874183655,
0.033482324331998825,
0.006492368411272764,
0.04278980940580368,
0.04229716584086418,
-0.031863629817962646,
0.04036176949739456,
0.019811401143670082,
-0.02155325561761856,
-0.07248931378126144,
-0.004922059830278158,
0.03726514056324959,
-0.002445634687319398,
0.0620029978454113,
-0.075234055519104,
-0.010222401469945908,
0.028274351730942726,
-0.006193262059241533,
0.026391740888357162,
-0.033517513424158096,
0.004719723016023636,
-0.01077662780880928,
-0.022943221032619476,
-0.046238332986831665,
-0.00308343512006104,
0.012456902302801609,
-0.015316007658839226,
-0.013952434062957764,
-0.01958267204463482,
-0.013398207724094391,
-0.006254842970520258,
-0.06084176152944565,
0.01646844670176506,
-0.04036176949739456,
-0.052572350949048996,
0.009817727841436863,
0.039939504116773605,
0.011366043239831924,
-0.01598459854722023,
-0.018914081156253815,
-0.04008025676012039,
0.01998734660446644,
0.015474357642233372,
-0.03337675705552101,
-0.022943221032619476,
0.021166177466511726,
-0.00017786934040486813,
-0.03803929686546326,
-0.006487969774752855,
-0.002045359928160906,
-0.004675737116485834,
0.02918926626443863,
-0.050883278250694275,
-0.0010050855344161391,
0.006668313406407833,
0.005617042537778616,
0.03891902044415474,
0.011893878690898418,
-0.06400877237319946,
0.04581606388092041,
0.00047725066542625427,
0.08438319712877274,
-0.033447135239839554,
0.00994968693703413,
-0.03955242410302162,
0.03318321704864502,
0.009193123318254948,
0.05675983801484108,
0.004251269623637199,
-0.004864877555519342,
0.03379902243614197,
-0.005828176159411669,
-0.030332908034324646,
-0.04884231835603714,
0.009641783311963081,
0.013248654082417488,
-0.029558749869465828,
0.015307210385799408,
-0.0551411472260952,
0.025934284552931786,
-0.013556557707488537,
0.00002905497058236506,
-0.06587378680706024,
0.025124937295913696,
0.03423888608813286,
0.020937448367476463,
0.03920053318142891,
0.02753538452088833,
0.004084121901541948,
-0.027799300849437714,
0.005533468443900347,
-0.02623339183628559,
-0.011832297779619694,
0.025617584586143494,
-0.012377726845443249,
-0.006149275694042444,
0.001494432333856821,
0.007354498840868473,
-0.032479435205459595,
-0.026690848171710968,
-0.0113044623285532,
0.0008555323001928627,
-0.012791197746992111,
0.0029492771718651056,
0.004403022117912769,
-0.04064328223466873,
0.016565216705203056,
0.012685630470514297,
-0.03895420953631401,
0.06179186329245567,
-0.001137044164352119,
-0.02809840813279152,
0.040185824036598206,
-0.047786645591259,
-0.04187489673495293,
0.009272298775613308,
-0.03184603527188301,
0.055246710777282715,
-0.01297593954950571,
0.0026633664965629578,
-0.03230349346995354,
0.02155325561761856,
0.0373707078397274,
-0.001770445960573852,
0.026954766362905502,
-0.025934284552931786,
-0.04958128556609154,
0.04004506766796112,
-0.03680768236517906,
-0.01309910137206316,
0.022098684683442116,
-0.0171546321362257,
-0.008652092888951302,
-0.011955458670854568,
0.046730976551771164,
-0.024473940953612328,
-0.04514747112989426,
-0.029558749869465828,
-0.01009044237434864,
0.012518483214080334,
-0.001101305359043181,
0.055528223514556885,
0.015324804931879044,
-0.010495116002857685,
0.005700616165995598,
0.016802743077278137,
-0.04257867485284805,
0.030895931646227837,
0.0383559986948967,
0.024649886414408684,
0.0009539515012875199,
-0.008533329702913761,
-0.02067353017628193,
0.0010749136563390493,
0.008709275163710117,
-0.009835322387516499,
0.036596547812223434,
0.01263284683227539,
-0.018667759373784065,
-0.029294833540916443,
-0.007204945664852858,
-0.01047752145677805,
-0.009096353314816952,
-0.012298551388084888,
0.033042460680007935,
-0.00994968693703413,
-0.0307551771402359,
-0.059645336121320724,
-0.03524177148938179,
0.0024544319603592157,
-0.01219298504292965,
-0.015236832201480865,
0.01051271054893732,
0.025775933638215065,
-0.007658003829419613,
-0.054191041737794876,
-0.051938947290182114,
0.01047752145677805,
-0.029646722599864006,
0.03242665156722069,
-0.0485256165266037,
-0.024034079164266586,
0.011559583246707916,
0.00896439515054226,
-0.0022762876469641924,
-0.009756146930158138,
-0.012870372273027897,
0.056407950818538666,
-0.0017649477813392878,
0.010486318729817867,
-0.014550646767020226,
0.010767830535769463,
0.01724260486662388,
0.0004294156387913972,
-0.03701881691813469,
0.04518266022205353,
0.009738552384078503,
0.008643295615911484,
0.010679857805371284,
-0.016327690333127975,
-0.06780917942523956,
0.04588644206523895,
-0.024685075506567955,
0.04064328223466873,
-0.01849181391298771,
-0.009087556041777134,
-0.00930748786777258,
0.01055669691413641,
-0.0027469403576105833,
-0.012659238651394844,
0.011339651420712471,
-0.0011216490529477596,
-0.01759449392557144,
-0.010759033262729645,
-0.024773048236966133,
-0.03677249327301979,
-0.043493591248989105,
0.00879724696278572,
0.05806183069944382,
0.024280402809381485,
0.0038773866835981607,
-0.08346828073263168,
0.02486102096736431,
-0.004057730082422495,
0.02195792831480503,
0.011357245966792107,
-0.0007648106548003852,
-0.01635408215224743,
-0.004534980747848749,
0.025529611855745316,
0.003021854441612959,
-0.03951723501086235,
0.036103904247283936,
0.019547482952475548,
0.04300094395875931,
-0.03807448595762253,
0.023506244644522667,
0.0022806862834841013,
-0.011594771407544613,
-0.011418826878070831,
-0.005150788463652134,
0.032145142555236816,
-0.02014569565653801,
-0.0017022673273459077,
-0.025582395493984222,
-0.020040128380060196,
-0.012958345003426075,
0.0096505805850029,
0.027623355388641357,
0.0066507188603281975,
0.06010279431939125,
0.014216351322829723,
0.017981573939323425,
-0.008374979719519615,
0.0020013737957924604,
0.012025836855173111,
-0.03789854049682617,
0.00012604806397575885,
0.002106940606608987,
-0.01602858491241932,
-0.003782816231250763,
0.009333879686892033,
-0.0012876971159130335,
-0.026426929980516434,
-0.01998734660446644,
-0.005229963455349207,
-0.008062677457928658,
-0.019477104768157005,
-0.018843702971935272,
-0.0065231588669121265,
0.042121220380067825,
-0.054120663553476334,
-0.0340629406273365,
-0.01674995943903923,
0.0045657712034881115,
0.012201782315969467,
0.053346507251262665,
-0.028960537165403366,
-0.017823223024606705,
0.07263007014989853,
-0.02183476835489273,
-0.007222539745271206,
0.022696897387504578,
-0.002566596958786249,
-0.007090581115335226,
0.05756918713450432,
0.009474635124206543,
0.011700338684022427,
0.022450575605034828,
-0.0011271473485976458,
-0.002718349453061819,
-0.006659516133368015,
0.06439585238695145,
0.010864600539207458,
0.012544874101877213,
0.0079351169988513,
0.01937153749167919,
0.0294707790017128,
0.029611533507704735,
0.035822391510009766,
-0.007284120656549931,
0.0006586938980035484,
0.010371954180300236,
0.001035326044075191,
-0.021975522860884666,
0.02479064278304577,
0.02398129552602768,
0.04300094395875931,
-0.01739215850830078,
0.04715324565768242,
0.0012920956360176206,
0.05408547446131706,
-0.04905344918370247,
-0.05067214369773865,
0.03144136071205139,
0.004662541206926107,
0.008366182446479797,
-0.03390458971261978,
0.01445387676358223,
0.02155325561761856,
0.012624049559235573,
0.03071998804807663,
-0.017981573939323425,
0.04972204193472862,
-0.022837653756141663,
-0.003745428053662181,
0.04697730019688606,
-0.010143226012587547,
0.029048509895801544,
0.0029096894431859255,
-0.01711064577102661,
0.07636010646820068,
-0.0008038484374992549,
0.014075595885515213,
0.014893739484250546,
-0.04229716584086418,
0.018843702971935272,
0.012852778658270836,
0.03443242609500885,
0.0130199259147048,
-0.03863751143217087,
0.035136204212903976,
-0.011673946864902973,
-0.002993263304233551,
0.027588168159127235,
-0.02151806652545929,
-0.046519841998815536,
0.0055906507186591625,
0.006140478421002626,
0.021535661071538925,
0.0002783504023682326,
0.018016763031482697,
0.004979242105036974,
0.05929344519972801,
-0.03656135872006416,
-0.0026105830911546946,
-0.008370581082999706,
-0.013538963161408901,
-0.018949270248413086,
-0.058272965252399445,
0.019565077498555183,
-0.049546096473932266,
0.017304185777902603,
-0.008770855143666267,
0.043176889419555664,
-0.016521230340003967,
0.003503503743559122,
-0.008836834691464901,
-0.027429817244410515,
0.003140617161989212,
-0.02308397740125656,
-0.0031164248939603567,
-0.033165622502565384,
0.01824549026787281,
-0.013143087737262249,
0.05264272913336754,
0.0027205487713217735,
-0.06281234323978424,
-0.02127174288034439,
0.045428983867168427,
-0.06172148510813713,
-0.003989551682025194,
-0.0040511321276426315,
-0.003932369407266378,
0.032514624297618866,
0.005700616165995598,
0.006408794783055782,
-0.026250986382365227,
-0.019230782985687256,
0.0007697591208852828,
-0.008287006989121437,
0.014462674036622047,
0.005788588896393776,
-0.011973053216934204,
0.021694011986255646,
-0.015923017635941505,
-0.05204451456665993,
-0.007341302931308746,
0.03437964245676994,
0.0350482314825058,
-0.07790841907262802,
0.006611131131649017,
-0.016732364892959595,
-0.005291544366627932,
0.018192706629633904,
-0.06619048863649368,
-0.02155325561761856,
-0.004365633707493544,
0.008410168811678886,
0.0000786941236583516,
0.004499792121350765,
0.030297718942165375,
0.06897041946649551,
-0.018667759373784065,
-0.007042196579277515,
-0.02987545169889927,
0.05204451456665993,
0.03218033164739609,
-0.027500195428729057,
0.018051952123641968,
0.05619681626558304,
-0.023189542815089226,
0.021500471979379654,
-0.017374563962221146,
-0.010495116002857685,
-0.04711805656552315,
-0.017823223024606705,
-0.0011964256409555674,
-0.022837653756141663,
-0.012984736822545528,
0.013776489533483982,
-0.009905700571835041,
0.012659238651394844,
0.032954487949609756,
-0.00900398287922144,
-0.03392218425869942,
0.03518898785114288,
0.014075595885515213,
0.08023089170455933,
-0.0378633514046669,
0.004644946660846472,
0.032268304377794266,
-0.007306113839149475,
0.015588722191751003,
-0.052220460027456284,
0.0049528502859175205,
0.013222262263298035,
0.01812232844531536,
0.0064791725017130375,
-0.009764944203197956,
-0.030456069856882095,
0.011058139614760876,
-0.008251817896962166,
-0.052501972764730453,
0.035699229687452316,
-0.0352945551276207,
-0.02067353017628193,
0.02837991900742054,
-0.028063219040632248,
-0.0066023338586091995,
-0.028362324461340904,
-0.004447008483111858,
0.025494422763586044,
0.0447252057492733,
-0.03920053318142891,
0.026796415448188782,
-0.027711328119039536,
0.0012843981385231018,
-0.017541710287332535,
0.020216073840856552,
-0.026708442717790604,
0.0016076968749985099,
0.04669578745961189,
-0.05654870346188545,
-0.024473940953612328,
0.04944052919745445,
0.024192430078983307,
-0.028151191771030426,
0.024192430078983307,
0.0042908573523163795,
0.018157517537474632,
0.008062677457928658,
-0.01594061218202114,
-0.005801784340292215,
-0.023400677368044853,
0.03328878432512283,
0.010838208720088005,
0.008876422420144081,
-0.02850308082997799,
0.0589415580034256,
-0.019547482952475548,
0.005982127971947193,
-0.03434445336461067,
0.05433179810643196,
-0.03140617161989212,
0.02607504092156887,
-0.004803297109901905,
-0.04405661299824715,
-0.050883278250694275,
0.029171671718358994,
0.04965166375041008,
0.009219515137374401,
-0.005221166182309389,
0.018667759373784065,
0.04416218027472496,
-0.03754664957523346,
0.017057862132787704,
-0.026426929980516434,
0.033236000686883926,
0.02442115917801857,
-0.020691124722361565,
-0.03694843873381615,
0.021852362900972366,
0.01047752145677805,
0.008282608352601528,
0.007275323383510113,
0.010081645101308823,
-0.00800989381968975,
-0.01667078398168087,
0.014409891329705715,
-0.01077662780880928,
-0.025160126388072968,
-0.004260066896677017,
-0.006272437050938606,
0.018439030274748802,
0.01828067936003208,
-0.023963700979948044,
0.00291188876144588,
0.006092093884944916,
0.00295147649012506,
-0.025846311822533607,
-0.04159338399767876,
-0.0063999975100159645,
0.0014581436989828944,
-0.019916968420147896,
-0.02454431913793087,
-0.018034357577562332,
-0.00974734965711832,
-0.027148304507136345,
-0.014365904964506626,
0.03846156597137451,
0.03306005522608757,
0.012105012312531471,
-0.055000390857458115,
-0.026004662737250328,
-0.030209746211767197,
0.01824549026787281,
-0.020761502906680107,
-0.014665011316537857,
0.015395183116197586,
0.025529611855745316,
0.036631736904382706,
-0.026937171816825867,
0.01574707217514515,
0.017268996685743332,
0.04669578745961189,
-0.02466748096048832,
-0.024069268256425858,
-0.004233675077557564,
-0.021218961104750633,
-0.02486102096736431,
0.0419100858271122,
-0.054754067212343216,
0.011964255943894386,
0.0008626800845377147,
-0.019072432070970535,
0.005828176159411669,
0.007877934724092484,
0.004493194166570902,
-0.020479992032051086,
-0.011735527776181698,
0.009395459666848183,
0.0007367694634012878,
0.020198479294776917,
-0.00910515058785677,
-0.018702948465943336,
0.0041479021310806274,
-0.005106802098453045,
-0.024843426421284676,
0.060771383345127106,
0.023383082821965218,
0.013899650424718857,
-0.007811955641955137,
-0.006026114337146282,
0.018104733899235725,
0.0017176625551655889,
-0.007130168844014406,
0.04303613305091858,
-0.0038158060051500797,
-0.022098684683442116,
0.03561125695705414,
-0.005119998008012772,
0.01828067936003208,
-0.03543531149625778,
-0.0016714769881218672,
0.012448105029761791,
0.006465976592153311,
0.018843702971935272,
0.014409891329705715,
-0.01727779395878315,
-0.05946939066052437,
0.0029206860344856977,
-0.04335283488035202,
0.04915901646018028,
-0.01509607583284378
] |
The efficient deployment and fine-tuning of foundation models are pivotal in
contemporary artificial intelligence. In this study, we present a
groundbreaking paradigm integrating Mobile Edge Computing (MEC) with foundation
models, specifically designed to enhance local task performance on user
equipment (UE). Central to our approach is the innovative Emulator-Adapter
architecture, segmenting the foundation model into two cohesive modules. This
design not only conserves computational resources but also ensures adaptability
and fine-tuning efficiency for downstream tasks. Additionally, we introduce an
advanced resource allocation mechanism that is fine-tuned to the needs of the
Emulator-Adapter structure in decentralized settings. To address the challenges
presented by this system, we employ a hybrid multi-agent Deep Reinforcement
Learning (DRL) strategy, adept at handling mixed discrete-continuous action
spaces, ensuring dynamic and optimal resource allocations. Our comprehensive
simulations and validations underscore the practical viability of our approach,
demonstrating its robustness, efficiency, and scalability. Collectively, this
work offers a fresh perspective on deploying foundation models and balancing
computational efficiency with task proficiency. | [
-0.017563067376613617,
0.00450981454923749,
-0.031185882166028023,
-0.020877733826637268,
0.020242812111973763,
0.020093418657779694,
-0.048478174954652786,
0.04388432577252388,
-0.04694689065217972,
0.037740521132946014,
-0.004514483269304037,
-0.044593945145606995,
0.0301214549690485,
-0.014836637303233147,
-0.011223183013498783,
0.013678837567567825,
0.01295988168567419,
0.004705893807113171,
0.007465003989636898,
-0.037777867168188095,
-0.019925352185964584,
-0.02065364457666874,
-0.0003944920899812132,
0.019626565277576447,
0.02037353254854679,
0.016844112426042557,
0.02196083776652813,
-0.0027264305390417576,
-0.0604296512901783,
0.0653969794511795,
0.01851545087993145,
0.02752574346959591,
-0.011540643870830536,
0.0016783419996500015,
-0.040560320019721985,
0.00035568480961956084,
0.057479128241539,
-0.03154069185256958,
-0.0043370784260332584,
0.04638666659593582,
0.023828255012631416,
-0.028291383758187294,
-0.036582719534635544,
0.025116773322224617,
0.041718121618032455,
-0.008141943253576756,
-0.021475307643413544,
-0.05930919945240021,
-0.03865555673837662,
-0.04705893620848656,
0.017329640686511993,
-0.03716162219643593,
0.033669549971818924,
-0.009351096116006374,
-0.0608031339943409,
0.029281117022037506,
0.07081249356269836,
0.02181144431233406,
0.014958019368350506,
0.024220412597060204,
0.011634014546871185,
-0.037759196013212204,
-0.02199818566441536,
-0.006428586784750223,
0.03161538764834404,
0.01371618639677763,
-0.01660134643316269,
0.0469842404127121,
0.02485533617436886,
-0.008972943760454655,
-0.0626332014799118,
0.03295993059873581,
-0.04888900741934776,
-0.018543461337685585,
-0.026834798976778984,
-0.06599455326795578,
-0.01240899320691824,
0.05049498751759529,
0.038954343646764755,
-0.02067231945693493,
0.03589177504181862,
0.029486531391739845,
-0.019514519721269608,
0.006563974544405937,
0.08149413019418716,
0.0028408097568899393,
-0.0040733059868216515,
-0.07234378159046173,
0.018814237788319588,
-0.010756328701972961,
-0.07835686206817627,
0.01359480433166027,
-0.028328733518719673,
0.0002961608406621963,
0.0078758355230093,
-0.002197717782109976,
-0.018188651651144028,
-0.02203553356230259,
-0.048926353454589844,
-0.022278297692537308,
-0.0166760440915823,
0.06345486640930176,
0.016461290419101715,
-0.003111585509032011,
0.009962676092982292,
-0.05254914611577988,
-0.008688163012266159,
0.027899226173758507,
0.010093394666910172,
0.09337090700864792,
0.000957051815930754,
-0.04814203828573227,
-0.009897315874695778,
0.029617251828312874,
-0.013492096215486526,
0.0029085036367177963,
-0.00032913245377130806,
-0.08829152584075928,
0.03970130905508995,
0.0020028059370815754,
0.02336140163242817,
0.016218526288866997,
0.005592917092144489,
-0.0072549195028841496,
-0.053968384861946106,
0.07047636061906815,
0.02074701525270939,
-0.006353890057653189,
0.05904776230454445,
-0.0069187842309474945,
0.007964538410305977,
-0.00361345405690372,
-0.028254035860300064,
-0.007563043385744095,
0.018935618922114372,
0.033725570887327194,
0.02323068119585514,
0.045975834131240845,
0.01624653860926628,
-0.014920670539140701,
0.05236240476369858,
-0.010252125561237335,
-0.04758181422948837,
0.0027987929061055183,
0.025807717815041542,
0.027880553156137466,
0.031204557046294212,
0.055350273847579956,
0.011008430272340775,
0.005032691638916731,
-0.10143814980983734,
0.04634931683540344,
-0.046050529927015305,
-0.0061624799855053425,
0.05505148693919182,
-0.035182155668735504,
-0.0013328696368262172,
0.004330075811594725,
-0.04007479175925255,
0.04541561007499695,
0.043324101716279984,
-0.03686283528804779,
0.010074720717966557,
0.01567697525024414,
0.03549961745738983,
0.055574364960193634,
0.025602303445339203,
0.022670455276966095,
-0.04216630011796951,
0.040298882871866226,
-0.02991603873670101,
0.022819848731160164,
-0.012735791504383087,
-0.021157847717404366,
0.0003314667264930904,
0.011073789559304714,
0.04638666659593582,
-0.021437959745526314,
-0.021662050858139992,
0.01785251684486866,
-0.04888900741934776,
-0.0012733457842841744,
0.0519515722990036,
-0.006428586784750223,
0.02461257018148899,
0.030550960451364517,
0.041830167174339294,
-0.002868821145966649,
-0.00019432819681242108,
-0.025490257889032364,
0.028198013082146645,
0.058300793170928955,
0.059607986360788345,
-0.03447254002094269,
0.039141084998846054,
-0.09479014575481415,
0.0035480945371091366,
0.051466044038534164,
0.017544392496347427,
-0.03559298813343048,
-0.020000047981739044,
0.0016900134505704045,
-0.03195152431726456,
0.01809528097510338,
0.04545295611023903,
-0.03378159552812576,
0.015266142785549164,
-0.0179645624011755,
0.019570542499423027,
-0.03430446982383728,
0.025452909991145134,
0.0066340030170977116,
0.0004569338634610176,
0.017507044598460197,
0.052810583263635635,
0.032343681901693344,
0.00880487635731697,
-0.009775933809578419,
-0.036321282386779785,
0.005308135878294706,
0.016461290419101715,
0.009766596369445324,
-0.0009267062414437532,
-0.048851657658815384,
0.008772196248173714,
-0.0388796441257,
0.03264246881008148,
0.009897315874695778,
-0.015480896458029747,
0.009850630536675453,
-0.0007323780446313322,
0.028478126972913742,
0.022913221269845963,
-0.016097145155072212,
0.05994412302970886,
-0.05056968331336975,
0.030719028785824776,
-0.03027084842324257,
-0.025490257889032364,
0.035051438957452774,
-0.01870219223201275,
-0.0151540981605649,
-0.0438469760119915,
-0.014211052097380161,
0.0716715082526207,
-0.00015479145804420114,
-0.03415507823228836,
0.0635669156908989,
-0.01901031658053398,
-0.04119524359703064,
-0.023790907114744186,
-0.030569635331630707,
0.0016141495434567332,
0.04649871215224266,
0.005957063753157854,
0.04268917813897133,
0.0016083138762041926,
-0.04963597282767296,
-0.00508871441707015,
0.016171840950846672,
0.04253978654742241,
0.008790871128439903,
-0.008692831732332706,
0.005952395498752594,
-0.024276435375213623,
-0.022913221269845963,
0.04761916399002075,
0.015592941083014011,
-0.014958019368350506,
-0.01601311005651951,
-0.0065873172134160995,
-0.016003772616386414,
-0.005644271150231361,
0.029654599726200104,
0.024425828829407692,
-0.055499665439128876,
-0.0074696727097034454,
0.05796466022729874,
0.023772232234477997,
0.03940252214670181,
0.05325876548886299,
-0.00444912351667881,
0.025714347139000893,
0.012156891636550426,
-0.026834798976778984,
-0.027805855497717857,
-0.02590109035372734,
-0.04138198494911194,
-0.04784325137734413,
0.00798788107931614,
0.0015604612417519093,
0.004736239090561867,
-0.006643339991569519,
0.0578526146709919,
0.029075700789690018,
-0.009701237082481384,
-0.014967355877161026,
-0.024369806051254272,
0.03411772847175598,
-0.024071019142866135,
-0.027058888226747513,
-0.02586374059319496,
0.07648944854736328,
0.01645195297896862,
0.019019654020667076,
0.022782500833272934,
-0.0232120081782341,
0.058375488966703415,
0.011755397543311119,
-0.028384756296873093,
0.03947721794247627,
-0.024425828829407692,
-0.04933718591928482,
-0.07114863395690918,
-0.007016823627054691,
0.013893591240048409,
-0.008081251755356789,
-0.008818882517516613,
-0.010065383277833462,
-0.0002469952160026878,
0.020280160009860992,
0.00020264404884073883,
-0.12272671610116959,
0.007684425450861454,
0.0650234967470169,
0.0032282990869134665,
0.058226097375154495,
0.03193284943699837,
-0.0744352862238884,
0.01897296868264675,
-0.08067246526479721,
-0.01930910348892212,
-0.046087879687547684,
0.017460359260439873,
-0.02203553356230259,
0.017273617908358574,
-0.028104642406105995,
0.010410856455564499,
-0.027936575934290886,
0.014687243849039078,
-0.041755467653274536,
-0.03943987190723419,
-0.07103658467531204,
-0.01243700459599495,
-0.011335227638483047,
-0.033613525331020355,
-0.033725570887327194,
-0.0019456162117421627,
0.004535491578280926,
-0.02722695656120777,
0.0010615105275064707,
-0.04627462103962898,
0.01573299802839756,
-0.008902915753424168,
0.02741369791328907,
-0.031055163592100143,
-0.025658324360847473,
-0.010345496237277985,
-0.039066385477781296,
0.04380962997674942,
-0.021606028079986572,
-0.030681679025292397,
-0.044631294906139374,
-0.0019724604208022356,
-0.03040156699717045,
-0.009663889184594154,
0.009299742057919502,
-0.003193285083398223,
0.03861820697784424,
0.03697487711906433,
-0.009080320596694946,
0.03314667195081711,
0.05340815708041191,
-0.025602303445339203,
-0.02323068119585514,
-0.013800219632685184,
0.027170933783054352,
-0.028085969388484955,
-0.0338936373591423,
0.052847933024168015,
0.02599446102976799,
0.039178431034088135,
0.005751647986471653,
0.01770312339067459,
0.023043939843773842,
0.04283857345581055,
0.005634934175759554,
-0.02453787438571453,
-0.05239975079894066,
0.05254914611577988,
0.013968287967145443,
-0.0655837282538414,
-0.055424969643354416,
-0.05239975079894066,
0.03583575412631035,
-0.010756328701972961,
-0.01772179827094078,
-0.03873025253415108,
-0.013520107604563236,
-0.0274510458111763,
-0.047245677560567856,
-0.008239982649683952,
0.04485538229346275,
0.04115789383649826,
-0.00030724864336661994,
-0.027955248951911926,
0.044705990701913834,
-0.018113955855369568,
0.006134468596428633,
-0.023510795086622238,
0.022950569167733192,
-0.0006804404547438025,
-0.017731135711073875,
-0.051204606890678406,
0.041904862970113754,
0.0467974990606308,
-0.06039230152964592,
-0.018375394865870476,
-0.01172738615423441,
-0.027899226173758507,
0.005765653681010008,
0.022278297692537308,
0.05452860891819,
0.013426735997200012,
0.012903858907520771,
0.024369806051254272,
-0.01919705793261528,
-0.025004729628562927,
-0.049785368144512177,
0.01700284145772457,
0.03385629132390022,
-0.04410841688513756,
0.04283857345581055,
-0.054117776453495026,
-0.020018722862005234,
-0.0016106481198221445,
0.03404303267598152,
0.02491135708987713,
-0.05927184969186783,
-0.008473409339785576,
0.018375394865870476,
-0.06211032718420029,
0.0027801187243312597,
-0.008048572577536106,
-0.019477171823382378,
-0.004042960237711668,
0.00687209889292717,
0.014108343981206417,
0.0007201231201179326,
-0.05112990736961365,
-0.07798337936401367,
0.030569635331630707,
-0.1153317466378212,
-0.01595708727836609,
0.05318406969308853,
-0.028216687962412834,
0.009089658036828041,
-0.02444450370967388,
0.029542554169893265,
-0.07592922449111938,
0.04130728915333748,
0.02457522228360176,
0.04619992524385452,
-0.03796461224555969,
-0.011111137457191944,
-0.0003119171888101846,
-0.058114051818847656,
-0.044481899589300156,
0.0027684473898261786,
0.01654532551765442,
0.013324027881026268,
-0.05751647800207138,
0.0408964566886425,
0.02056027390062809,
-0.018982306122779846,
-0.02046690322458744,
-0.02201686054468155,
-0.1015128493309021,
0.007189559750258923,
-0.01441646832972765,
0.00655463756993413,
0.02345477230846882,
0.04687219485640526,
-0.03693753108382225,
-0.01628388650715351,
-0.03531287610530853,
0.002612051088362932,
-0.02862752042710781,
0.009299742057919502,
-0.010522901080548763,
0.021195195615291595,
-0.02741369791328907,
-0.009122337214648724,
0.024089694023132324,
-0.04018683731555939,
-0.06140070781111717,
0.04209160432219505,
-0.012829162180423737,
0.005933721084147692,
0.020018722862005234,
-0.05889836698770523,
-0.015779683366417885,
0.018141966313123703,
0.014173703268170357,
-0.012829162180423737,
-0.010018697939813137,
0.02590109035372734,
0.0032539761159569025,
-0.017366988584399223,
0.032156940549612045,
0.0383194200694561,
0.018935618922114372,
0.030980465933680534,
-0.02324935607612133,
-0.002497671637684107,
0.04653605818748474,
0.02192348800599575,
-0.01866484433412552,
0.0055415634997189045,
0.03027084842324257,
0.008520095609128475,
-0.012782476842403412,
-0.0004067470144946128,
0.04519151896238327,
-0.027899226173758507,
0.025378212332725525,
0.03452856093645096,
-0.04343614727258682,
0.05094316601753235,
-0.035182155668735504,
-0.021325914189219475,
0.011353902518749237,
-0.0467974990606308,
-0.011111137457191944,
-0.03594779968261719,
-0.016386594623327255,
0.00021125168132130057,
0.02614385448396206,
-0.040149491280317307,
-0.009617202915251255,
-0.003921578172594309,
0.03809532895684242,
0.021662050858139992,
0.0004187101440038532,
-0.015667637810111046,
0.02048557624220848,
0.026592034846544266,
-0.04018683731555939,
-0.007693762890994549,
0.015985099598765373,
0.00751635804772377,
-0.03521950542926788,
-0.0068534244783222675,
-0.0301214549690485,
-0.028496799990534782,
-0.020803038030862808,
-0.008048572577536106,
-0.02205420844256878,
-0.037703171372413635,
-0.014164366759359837,
0.004045294597744942,
0.021568680182099342,
-0.008492084220051765,
0.026909494772553444,
-0.015322165563702583,
-0.013856242410838604,
0.025695674121379852,
0.007310941815376282,
0.011307217180728912,
0.034902043640613556,
0.017012178897857666,
-0.020000047981739044,
-0.016386594623327255,
-0.008842225186526775,
0.031073838472366333,
-0.0002920758561231196,
0.037460409104824066,
0.005312804598361254,
0.029019678011536598,
-0.014351108111441135,
0.028272710740566254,
-0.007385638542473316,
0.023660188540816307,
0.03815135359764099,
0.05781526491045952,
0.015910401940345764,
-0.044519249349832535,
-0.05983207747340202,
-0.002387960907071829,
-0.038842298090457916,
0.030569635331630707,
0.006591985933482647,
-0.04567704722285271,
-0.033800266683101654,
0.016031784936785698,
-0.04119524359703064,
0.022913221269845963,
0.004948657937347889,
0.01711488701403141,
-0.054267171770334244,
-0.02881426177918911,
0.020205464214086533,
-0.00722690811380744,
0.01029881089925766,
-0.04436985403299332,
0.004084977321326733,
0.04668545350432396,
0.04100850224494934,
0.0048552872613072395,
0.01917838491499424,
0.022913221269845963,
0.03858085721731186,
0.04948658123612404,
-0.01783384382724762,
0.009803945198655128,
0.0015966425416991115,
0.031017815694212914,
-0.008118600584566593,
0.0005861942190676928,
0.005154074169695377,
0.026554685086011887,
-0.037871237844228745,
0.040336232632398605,
0.003478066297248006,
-0.016685381531715393,
0.04795529693365097,
0.025658324360847473,
-0.06382834911346436,
-0.020298834890127182,
-0.049972109496593475,
-0.011447273194789886,
0.029150396585464478,
-0.029057025909423828,
-0.02750706858932972,
-0.02336140163242817,
-0.011970150284469128,
-0.016442617401480675,
-0.0021592022385448217,
-0.006914115510880947,
-0.01864616945385933,
-0.021101824939250946,
0.04220364987850189,
-0.018169978633522987,
0.034808672964572906,
0.0027521075680851936,
-0.0008794371969997883,
0.0069841439835727215,
0.023622838780283928,
0.019869329407811165,
0.028384756296873093,
0.0067180367186665535,
0.016069132834672928,
0.010196102783083916,
0.05523822829127312,
-0.04388432577252388,
-0.04156872630119324,
0.026778776198625565,
-0.00415500532835722,
-0.038954343646764755,
0.013930939137935638,
0.03424844890832901,
0.052586495876312256,
0.024220412597060204,
0.01917838491499424,
0.025116773322224617,
-0.06199828162789345,
0.034958068281412125,
0.02612517960369587,
-0.011792745441198349,
0.045975834131240845,
-0.01439779344946146,
-0.004325407091528177,
-0.013837568461894989,
0.009257725439965725,
0.026872146874666214,
-0.01868351921439171,
-0.0045448290184140205,
0.05109256133437157,
0.00038223713636398315,
-0.011634014546871185,
-0.011774071492254734,
-0.019019654020667076,
0.011811419390141964,
0.001873253844678402,
-0.02345477230846882,
-0.017030853778123856,
-0.034976743161678314,
0.03977600485086441,
-0.016218526288866997,
-0.037871237844228745,
0.007843156345188618,
-0.028198013082146645,
0.006484609562903643,
0.014276411384344101,
-0.022222274914383888,
0.022969242185354233,
-0.017086876556277275,
-0.015761008486151695,
0.05714299529790878,
-0.03943987190723419,
0.013380050659179688,
0.013986961916089058,
-0.006017754785716534,
0.03002808429300785,
0.025733022019267082,
0.023006591945886612,
0.012156891636550426,
0.0016211523907259107,
-0.05609723925590515,
-0.021139172837138176,
0.017348313704133034,
0.0019035993609577417,
0.03714294731616974,
0.039066385477781296,
0.041904862970113754,
0.005084045697003603,
-0.04220364987850189,
0.0013760537840425968,
-0.0007720607100054622,
0.07070045173168182,
-0.01630255952477455,
-0.032138265669345856,
0.011195171624422073,
-0.055686406791210175,
-0.02356681600213051,
0.04806734248995781,
0.018926283344626427,
0.022203601896762848,
-0.01760975271463394,
-0.0017973899375647306,
0.02860884554684162,
-0.007376301568001509,
-0.05183952674269676,
0.01307192724198103,
-0.003573771333321929,
-0.021475307643413544,
0.031970199197530746,
0.03385629132390022,
-0.01242766808718443,
0.020971106365323067,
0.020280160009860992,
-0.008991618640720844,
0.02610650472342968,
-0.01912236213684082,
-0.01027079951018095,
0.0368441604077816,
-0.037721846252679825,
0.015051390044391155,
-0.05333346128463745,
-0.0022187260910868645,
0.047245677560567856,
0.014005635865032673,
0.0318768285214901,
-0.03172743320465088,
-0.042054254561662674,
0.01873954012989998,
0.02037353254854679,
0.020056070759892464,
0.026834798976778984,
0.04765651002526283,
0.007777796592563391,
0.04619992524385452,
0.02328670397400856,
0.02481798641383648,
0.029113048687577248,
0.01934645138680935,
-0.01433243416249752,
-0.004603185690939426,
0.014509839005768299,
0.016816100105643272,
0.05594784766435623,
-0.0027567760553210974,
-0.012296948581933975,
-0.07141006737947464,
0.022222274914383888,
0.011381913907825947,
-0.018730204552412033,
-0.014155029319226742,
-0.028067294508218765,
-0.009192366153001785,
-0.0010352499084547162,
-0.003494406118988991,
-0.017142899334430695,
0.05759117379784584,
-0.06476206332445145,
0.003625125391408801,
-0.03940252214670181,
-0.028272710740566254,
0.020896408706903458,
0.03329606354236603,
-0.02478063851594925,
0.003634462598711252,
0.009794607758522034,
0.010550912469625473,
0.07828216999769211,
0.0013235325459390879,
-0.01790853962302208,
0.03398701176047325,
-0.03977600485086441,
-0.029225094243884087,
0.03529420122504234,
-0.023006591945886612,
-0.00307190278545022,
0.031988874077796936,
-0.05355755239725113,
0.008846892975270748,
-0.019626565277576447,
-0.0024159722961485386,
-0.014239063486456871,
0.0020144772715866566,
0.04664810374379158,
0.05374429374933243,
-0.015331503003835678,
0.024313783273100853,
0.03193284943699837,
-0.0002976197574753314,
0.0026914163026958704,
0.026330595836043358,
-0.0050560347735881805,
-0.06293199211359024,
0.010550912469625473,
-0.00844539888203144,
0.034939393401145935,
0.05198892205953598,
-0.018851585686206818,
-0.0019047665409743786,
0.028478126972913742,
0.00930441077798605,
0.05038294196128845,
-0.011886116117238998,
0.015648964792490005,
0.004822607152163982,
-0.034677956253290176,
0.033426783978939056,
-0.04545295611023903,
0.022913221269845963,
-0.0010778503492474556,
0.015779683366417885,
-0.018776889890432358,
0.051578089594841,
-0.020896408706903458,
0.01167136337608099,
-0.06745114177465439,
-0.011914127506315708,
-0.04388432577252388,
-0.010803014039993286,
0.015210120938718319,
-0.026984192430973053,
-0.03738570958375931,
-0.03690018132328987,
0.002005140297114849,
0.003907572478055954,
0.037647150456905365,
0.0261625275015831,
-0.007399644237011671,
0.011372576467692852,
0.004972000606358051,
-0.022913221269845963,
0.0027170933317393064,
-0.012268937192857265,
0.01359480433166027,
0.03191417455673218,
0.012829162180423737,
-0.002775450237095356,
0.005616260226815939,
0.0058310129679739475,
-0.023902952671051025,
-0.01563962735235691,
0.0034150409046560526,
-0.0231186356395483,
0.030719028785824776,
-0.02069099247455597,
-0.003480400424450636,
-0.0006320043466985226,
-0.008669489063322544,
0.019645238295197487,
0.0021358595695346594,
-0.029187744483351707,
0.010718979872763157,
-0.017619090154767036,
0.02737635001540184,
0.040597669780254364,
0.04212895408272743,
0.0075583746656775475,
0.04683484509587288,
-0.005648939870297909,
-0.04295061528682709,
-0.02070966735482216,
-0.007955200970172882,
-0.05628398060798645,
-0.010690968483686447,
0.008492084220051765,
0.025359537452459335,
-0.014033647254109383,
0.02733900211751461,
0.014173703268170357,
-0.025452909991145134,
0.015462222509086132,
-0.019944025203585625,
0.023996323347091675,
0.012138217687606812,
-0.07163415849208832,
-0.02196083776652813,
-0.032175615429878235,
0.03180212900042534,
0.019888002425432205,
-0.003447720780968666,
-0.0315033420920372,
0.013921601697802544,
-0.03546227142214775,
-0.0033636868465691805,
-0.02743237279355526,
0.019962700083851814,
0.019421149045228958,
0.009416456334292889,
-0.005686288233846426,
-0.02050425112247467,
-0.011904790997505188,
0.052847933024168015,
-0.004035957623273134,
0.04130728915333748,
0.02074701525270939,
-0.01868351921439171,
0.007362295873463154,
-0.04791795089840889,
0.0434734933078289,
-0.005938389804214239,
0.03417375311255455,
0.004502811934798956,
0.026965517550706863,
-0.015527581796050072,
0.01709621213376522,
0.02591976337134838,
-0.03135395050048828,
0.016694718971848488,
-0.008776864968240261,
-0.03697487711906433,
0.007217571139335632,
-0.03815135359764099,
0.02735767513513565,
-0.01910368725657463,
-0.0008420888334512711,
0.009794607758522034,
0.01692814566195011,
0.03846881166100502,
-0.0442204624414444,
0.036452002823352814,
0.046162575483322144,
-0.025060750544071198,
0.04817938804626465,
-0.01227827463299036,
-0.014575198292732239,
0.021568680182099342,
-0.043249402195215225,
-0.02212890423834324,
0.016760077327489853,
0.013127949088811874,
0.0055415634997189045,
-0.014155029319226742,
0.04078441113233566,
0.021288566291332245,
-0.005298798903822899,
-0.044481899589300156,
-0.008249319158494473,
0.008963607251644135,
0.002490669023245573,
-0.01637725718319416,
-0.018776889890432358,
-0.058338142931461334,
0.016900133341550827,
0.04265182837843895,
-0.06491145491600037,
-0.019850654527544975,
-0.013940276578068733,
0.01656399853527546,
-0.014556524343788624,
0.022296972572803497,
-0.01728295534849167,
-0.004733904730528593,
0.0008455902570858598,
0.03434181958436966,
-0.017236270010471344,
0.05441656336188316,
0.02627457305788994,
-0.0018534124828875065,
-0.0002347402914892882,
0.021083150058984756,
-0.04112054780125618,
-0.04567704722285271,
0.018814237788319588,
-0.03267981857061386,
0.016405267640948296,
0.006629334297031164,
-0.04668545350432396,
-0.06868363916873932,
-0.015667637810111046,
-0.003288990119472146,
-0.03157804161310196,
0.002563031390309334,
-0.008772196248173714,
-0.05262384191155434,
-0.015219457447528839,
-0.011139148846268654,
0.04705893620848656,
0.013669501058757305,
0.03028952144086361,
0.01764710061252117,
0.02862752042710781,
-0.03736703842878342,
0.026928169652819633,
-0.010924396105110645,
0.010746991261839867,
-0.017637765035033226,
0.048851657658815384,
-0.022782500833272934,
0.012147555127739906,
-0.010102732107043266,
0.00818862859159708,
-0.0030835741199553013,
-0.04694689065217972,
0.01293187029659748,
-0.0462372712790966,
-0.0017191917868331075,
-0.0136321522295475
] |
The ability to learn and refine behavior after deployment has become ever
more important for robots as we design them to operate in unstructured
environments like households. In this work, we design a new learning system
based on large language model (LLM), OLAF, that allows everyday users to teach
a robot using verbal corrections when the robot makes mistakes, e.g., by saying
"Stop what you're doing. You should move closer to the cup." A key feature of
OLAF is its ability to update the robot's visuomotor neural policy based on the
verbal feedback to avoid repeating mistakes in the future. This is in contrast
to existing LLM-based robotic systems, which only follow verbal commands or
corrections but not learn from them. We demonstrate the efficacy of our design
in experiments where a user teaches a robot to perform long-horizon
manipulation tasks both in simulation and on physical hardware, achieving on
average 20.0% improvement in policy success rate. Videos and more results are
at https://ut-austin-rpl.github.io/olaf/ | [
-0.03857201337814331,
0.024226559326052666,
-0.03230207785964012,
-0.0410720519721508,
-0.014781970530748367,
0.014246247708797455,
-0.012956545688211918,
0.025198794901371002,
-0.08952517062425613,
0.05305636301636696,
0.01677604764699936,
-0.01733161322772503,
-0.013224407099187374,
-0.04849280044436455,
0.011845418252050877,
0.02428608387708664,
-0.006205451209098101,
0.02093285694718361,
-0.016210563480854034,
-0.016795890405774117,
0.015307771973311901,
-0.031151266768574715,
-0.0894457995891571,
0.01881973072886467,
0.03379019722342491,
0.004198972601443529,
0.022480500862002373,
0.00023747880186419934,
-0.011875180527567863,
0.017063751816749573,
0.06265968084335327,
0.014444664120674133,
-0.0004337243444751948,
0.03164730593562126,
0.00226441933773458,
0.012877179309725761,
0.056826259940862656,
-0.006284817587584257,
-0.01022833026945591,
0.0743265226483345,
0.0015724445693194866,
0.024345608428120613,
-0.022361449897289276,
-0.05924693122506142,
0.004119606222957373,
-0.04297684505581856,
-0.008978310972452164,
0.025178954005241394,
-0.060278695076704025,
0.0023859490174800158,
0.04293715953826904,
-0.017649076879024506,
0.04865153133869171,
-0.03382987901568413,
0.005411788355559111,
0.00039776149787940085,
0.07853294163942337,
-0.034048136323690414,
0.06420732289552689,
-0.009638043120503426,
-0.008343380875885487,
-0.035437047481536865,
-0.056191328912973404,
-0.01269860565662384,
-0.008631083182990551,
-0.07297729700803757,
0.028095664456486702,
0.00009440247231395915,
-0.0015129197854548693,
0.01022833026945591,
-0.01218272466212511,
-0.0019345531472936273,
-0.06710419058799744,
0.010208488442003727,
-0.004908308852463961,
0.032004453241825104,
0.03611166030168533,
-0.006775896530598402,
0.007053678389638662,
-0.05059600621461868,
0.032540176063776016,
0.012222408317029476,
0.026686914265155792,
-0.021905094385147095,
0.07567575573921204,
-0.05575481429696083,
0.04000060632824898,
-0.06337397545576096,
0.043016526848077774,
-0.0154962670058012,
-0.049445196986198425,
0.030595703050494194,
-0.003338344395160675,
0.004838863387703896,
0.004300660453736782,
-0.03416718542575836,
-0.04265937954187393,
-0.030238553881645203,
0.008695568889379501,
0.04642927646636963,
-0.01502999011427164,
0.029484575614333153,
-0.0029762357007712126,
0.015704603865742683,
0.011150962673127651,
-0.004432111047208309,
-0.06690578162670135,
0.003571482840925455,
-0.0023549464531242847,
0.1042872965335846,
0.016686761751770973,
-0.06309619545936584,
-0.047500722110271454,
-0.0024603549391031265,
0.01584349386394024,
0.0317465141415596,
-0.017242325469851494,
-0.01644866168498993,
0.028889328241348267,
-0.0022793004754930735,
0.043294306844472885,
0.06317556649446487,
0.029107585549354553,
-0.04091332107782364,
-0.02446465753018856,
0.006934629287570715,
0.04035775735974312,
0.06230253353714943,
0.020089590921998024,
-0.008789815939962864,
-0.03164730593562126,
-0.033571939915418625,
-0.05210396647453308,
0.005362184718251228,
0.07361222803592682,
0.009236251004040241,
-0.027599625289440155,
-0.03605213388800621,
-0.01120056677609682,
0.04857216775417328,
0.0029340723995119333,
0.01499030739068985,
-0.02634960599243641,
0.03658785670995712,
0.024226559326052666,
-0.004563561175018549,
0.006607243325561285,
0.0133533775806427,
-0.031905245035886765,
0.035159263759851456,
-0.05781833827495575,
-0.03353225439786911,
-0.02466307394206524,
0.03892916440963745,
0.03968314081430435,
-0.05127061903476715,
-0.019206641241908073,
0.01894870027899742,
-0.018849492073059082,
-0.0249408558011055,
0.029266318306326866,
-0.0245638657361269,
0.02065507508814335,
0.08349332958459854,
0.06452479213476181,
0.021547947078943253,
0.05480242148041725,
0.030694911256432533,
-0.021885253489017487,
0.05690562725067139,
-0.04500068351626396,
0.023234479129314423,
0.031607624143362045,
-0.024246400222182274,
0.016458583995699883,
-0.013799812644720078,
0.03007982112467289,
0.02081380784511566,
-0.041429199278354645,
-0.023651152849197388,
-0.025258319452404976,
0.03914742171764374,
0.015188722871243954,
0.016557790338993073,
0.036568015813827515,
0.01629985123872757,
0.03472274914383888,
0.0013145040720701218,
0.04809596762061119,
-0.011279933154582977,
0.037024371325969696,
0.01993085816502571,
0.0019432338885962963,
-0.011984309181571007,
0.005714372731745243,
-0.0357743538916111,
-0.04214349761605263,
0.04865153133869171,
0.020694758743047714,
0.020496342331171036,
-0.006190570071339607,
-0.01125017087906599,
-0.02587340958416462,
0.006185609847307205,
0.006701490841805935,
-0.028690911829471588,
0.03865138068795204,
0.0035094779450446367,
0.016537949442863464,
-0.07182648777961731,
0.06210411712527275,
-0.02859170362353325,
-0.03950456902384758,
0.0309925340116024,
0.0036806114949285984,
0.0086906086653471,
-0.031528256833553314,
-0.01419664453715086,
-0.021230481564998627,
-0.041429199278354645,
0.01050611212849617,
0.0006808139150962234,
-0.031349681317806244,
0.006433629430830479,
-0.07123123854398727,
-0.005223293788731098,
0.003598765004426241,
-0.024881331250071526,
0.01540698017925024,
0.006384025327861309,
-0.012291853316128254,
0.03261954337358475,
0.008536836132407188,
-0.0033978691790252924,
0.012639081105589867,
0.026111507788300514,
0.038810111582279205,
-0.01881973072886467,
-0.006641965825110674,
0.021786045283079147,
0.04269906133413315,
0.0009523954358883202,
0.01615103892982006,
-0.029484575614333153,
0.0662708505988121,
0.027877407148480415,
0.025159113109111786,
-0.012361299246549606,
0.03248065337538719,
0.024028142914175987,
-0.04519909992814064,
-0.023234479129314423,
-0.011339457705616951,
0.061389822512865067,
-0.04607212916016579,
0.026091666892170906,
0.035714827477931976,
-0.048135653138160706,
-0.0006987953092902899,
-0.019166957587003708,
-0.001542682177387178,
0.07123123854398727,
0.043095894157886505,
0.04746103659272194,
-0.03938551992177963,
-0.050754740834236145,
0.016845494508743286,
-0.003318502800539136,
0.05877073481678963,
-0.010307696647942066,
-0.03007982112467289,
0.024861488491296768,
-0.05083410441875458,
0.0296036247164011,
-0.03752041235566139,
-0.039167262613773346,
0.00007959880167618394,
0.01841297745704651,
0.041706983000040054,
-0.002405790612101555,
0.006468352396041155,
-0.010625161230564117,
0.008497152477502823,
0.030575862154364586,
0.0655168667435646,
-0.02587340958416462,
-0.04873089864850044,
0.004322982393205166,
-0.01859155297279358,
0.02700437791645527,
-0.041826032102108,
0.0026091665495187044,
-0.030476653948426247,
0.014434742741286755,
0.04773882031440735,
0.006195530761033297,
-0.0008538076071999967,
-0.009757092222571373,
-0.009380103088915348,
-0.005768937058746815,
0.02904806099832058,
-0.030952850356698036,
-0.019444739446043968,
-0.03587356209754944,
-0.007673727814108133,
0.021686837077140808,
0.014355376362800598,
0.03428623452782631,
-0.0365283340215683,
0.02504006214439869,
0.029861563816666603,
-0.01592286117374897,
-0.013621238991618156,
-0.007435628678649664,
-0.0073165795765817165,
0.04353240877389908,
0.02130984701216221,
-0.02093285694718361,
-0.046746741980314255,
-0.006002075504511595,
-0.03827439248561859,
0.038056135177612305,
-0.08785847574472427,
0.02212335169315338,
0.031429048627614975,
0.0190181452780962,
0.027440892532467842,
-0.03607197478413582,
-0.032917167991399765,
0.010476349852979183,
-0.0780964270234108,
-0.022004302591085434,
-0.03204413875937462,
0.019911017268896103,
0.00019035507284570485,
-0.03202429786324501,
-0.035714827477931976,
0.04575466364622116,
-0.00226441933773458,
-0.0707947239279747,
-0.0015240806387737393,
-0.07773927599191666,
0.03813549876213074,
-0.002961354563012719,
0.014623237773776054,
-0.06480257213115692,
0.026131348684430122,
0.0350203737616539,
-0.04428638517856598,
0.005922709126025438,
0.0012773011112585664,
-0.008472351357340813,
0.02073444239795208,
0.061389822512865067,
0.022837648168206215,
-0.04033791273832321,
-0.0685327872633934,
0.015367296524345875,
-0.06345334649085999,
0.054405588656663895,
0.019444739446043968,
-0.0245638657361269,
-0.032361604273319244,
-0.003320982912555337,
-0.09039819985628128,
-0.046746741980314255,
-0.006805658806115389,
-0.0015451624058187008,
0.01816495880484581,
-0.022917015478014946,
0.0005915268557146192,
-0.019633235409855843,
0.04194508120417595,
-0.04381018877029419,
-0.009960468858480453,
0.00806063786149025,
0.030476653948426247,
-0.003931111190468073,
0.0154962670058012,
0.02504006214439869,
0.037778351455926895,
0.0010088199051097035,
0.007128084544092417,
0.046111810952425,
-0.0007142965914681554,
0.12031928449869156,
-0.025575784966349602,
-0.04345304146409035,
-0.005620125215500593,
0.050000760704278946,
0.046270545572042465,
-0.07166775315999985,
-0.0050992839969694614,
0.043572090566158295,
0.01620064303278923,
-0.0162502471357584,
-0.006081441417336464,
-0.014901019632816315,
-0.007559638470411301,
-0.0026066864375025034,
-0.03920694440603256,
0.01507959421724081,
0.008720370940864086,
-0.045913394540548325,
0.003933591302484274,
0.00621041189879179,
-0.0021131273824721575,
-0.008273934945464134,
0.026389289647340775,
0.03194493055343628,
-0.010010072961449623,
0.0062996987253427505,
-0.02194477804005146,
0.005203451961278915,
0.04960392788052559,
-0.027321843430399895,
-0.019911017268896103,
-0.010714448057115078,
-0.05837390199303627,
0.0006560119218192995,
0.018095513805747032,
0.0241868756711483,
0.02773851715028286,
0.038353756070137024,
-0.00457844277843833,
0.026309924200177193,
0.007093361578881741,
-0.015020069666206837,
-0.08150917291641235,
-0.06416764110326767,
0.006215372122824192,
0.029306000098586082,
0.04269906133413315,
-0.013006149791181087,
-0.01312519982457161,
0.010714448057115078,
0.019127273932099342,
0.03763946145772934,
-0.019127273932099342,
0.0350203737616539,
-0.013105357997119427,
-0.03676643222570419,
-0.020416976884007454,
-0.017073672264814377,
-0.04789755120873451,
-0.05527861788868904,
-0.03650848940014839,
-0.036568015813827515,
0.030397286638617516,
-0.03585371747612953,
-0.05079442262649536,
0.038889478892087936,
-0.048056285828351974,
-0.053175412118434906,
0.026488497853279114,
-0.017857413738965988,
0.047580089420080185,
-0.03343304619193077,
0.0009362741257064044,
-0.0896839052438736,
0.030000455677509308,
0.011746210046112537,
0.05166745185852051,
-0.005292739253491163,
0.03561561927199364,
-0.009528914466500282,
-0.043095894157886505,
-0.043095894157886505,
0.003335864283144474,
-0.0036161262542009354,
-0.02513927035033703,
-0.060675524175167084,
-0.03365130349993706,
-0.02605198323726654,
0.040199022740125656,
0.01841297745704651,
-0.02978219836950302,
-0.015367296524345875,
0.04015934094786644,
-0.0051042442210018635,
0.05134998634457588,
-0.03081396035850048,
-0.014375218190252781,
-0.0491277314722538,
0.014821654185652733,
-0.020913016051054,
0.02390909381210804,
-0.0642470046877861,
0.019920937716960907,
-0.01540698017925024,
-0.024305924773216248,
-0.02335353009402752,
0.008338420651853085,
0.0079366285353899,
0.010704527609050274,
-0.026944853365421295,
-0.018155038356781006,
-0.027857566252350807,
0.02410750836133957,
0.0038393440190702677,
0.0013504669768735766,
0.005426669958978891,
-0.00015632988652214408,
0.03166714683175087,
-0.05269921198487282,
0.01059539895504713,
-0.034603700041770935,
-0.00824913289397955,
0.02373051829636097,
0.0017559790285304189,
0.0017572192009538412,
-0.001068344572558999,
-0.01723240502178669,
-0.05825485289096832,
0.01167676504701376,
0.04154824838042259,
0.03696484863758087,
0.01813519559800625,
0.05527861788868904,
0.03202429786324501,
-0.021647153422236443,
0.04583403095602989,
-0.020248323678970337,
0.02252018265426159,
-0.027500417083501816,
0.06587401777505875,
0.02567499317228794,
-0.028452813625335693,
0.02408766746520996,
0.0026786120142787695,
-0.0008302457281388342,
0.041429199278354645,
-0.06388986110687256,
-0.00733146071434021,
0.014742287807166576,
0.009563636966049671,
0.049365829676389694,
0.023512262850999832,
0.006051679141819477,
-0.015377217903733253,
-0.05809612199664116,
-0.03756009414792061,
0.00013028782268520445,
0.01507959421724081,
-0.014672841876745224,
-0.024583706632256508,
0.05210396647453308,
-0.006031837780028582,
-0.0108334980905056,
-0.01545658428221941,
-0.015783969312906265,
0.05238174647092819,
0.020039986819028854,
0.03998076543211937,
-0.02138921432197094,
-0.004263457842171192,
-0.04353240877389908,
0.0112104881554842,
0.0025868448428809643,
0.0011439905501902103,
0.012817654758691788,
-0.0012177764438092709,
-0.008551716804504395,
0.004831422585994005,
0.012272011488676071,
-0.04041728004813194,
0.041508566588163376,
0.04079427197575569,
-0.00013191543985158205,
0.008988231420516968,
-0.06468351930379868,
-0.027798041701316833,
-0.003787259804084897,
0.0065278769470751286,
-0.0068503026850521564,
0.014414901845157146,
0.012738288380205631,
-0.052897628396749496,
-0.00728185661137104,
-0.025198794901371002,
-0.0335124135017395,
0.01770860143005848,
-0.03269891068339348,
0.012718447484076023,
-0.040873635560274124,
0.03595292568206787,
-0.024623390287160873,
-0.019742364063858986,
0.022440817207098007,
-0.015416900627315044,
-0.05436590686440468,
0.04519909992814064,
-0.013551793061196804,
0.022738439962267876,
-0.019444739446043968,
0.02728215977549553,
-0.022083668038249016,
0.003645888762548566,
0.023294005542993546,
-0.030298078432679176,
0.015942702069878578,
0.016557790338993073,
0.04476258531212807,
0.052897628396749496,
-0.012857338413596153,
-0.009087439626455307,
0.027480576187372208,
0.023869410157203674,
0.00611616438254714,
0.022202719002962112,
0.006339381914585829,
0.01862131431698799,
0.02101222425699234,
-0.027321843430399895,
0.01957371085882187,
-0.0278377253562212,
-0.003812061855569482,
0.013948624953627586,
0.028611546382308006,
-0.0347624346613884,
-0.025833725929260254,
-0.014295851811766624,
0.02156778797507286,
-0.03809581696987152,
-0.02382972650229931,
0.02025824412703514,
0.004174170549958944,
-0.0622231662273407,
0.010565636679530144,
0.014295851811766624,
0.00004367470683064312,
-0.006904867012053728,
-0.013313693925738335,
-0.009603320620954037,
0.028690911829471588,
0.007400906179100275,
-0.011279933154582977,
0.0023462658282369375,
0.017351454123854637,
-0.017371295019984245,
-0.053096044808626175,
0.004494115710258484,
-0.0038939083460718393,
0.0632549300789833,
-0.005233214236795902,
0.015039910562336445,
0.04242127761244774,
-0.006939589511603117,
0.07702498137950897,
0.018909016624093056,
-0.025833725929260254,
-0.011398982256650925,
0.04134983569383621,
0.038810111582279205,
-0.025099588558077812,
0.011746210046112537,
0.038353756070137024,
0.016319692134857178,
-0.048810265958309174,
0.01682565174996853,
0.04428638517856598,
-0.0036310076247900724,
-0.008358261547982693,
-0.016280008479952812,
0.0278377253562212,
-0.07904881983995438,
0.000502239796333015,
0.030615543946623802,
0.004816541448235512,
0.09317602217197418,
-0.014494268223643303,
-0.02466307394206524,
-0.015992306172847748,
0.0212900061160326,
-0.0027406171429902315,
-0.04547687992453575,
0.03494100645184517,
0.017619315534830093,
0.025575784966349602,
-0.0007800217717885971,
-0.019335610792040825,
-0.005148887634277344,
0.03015918843448162,
-0.014216485433280468,
-0.03613150119781494,
-0.008606281131505966,
-0.03615134209394455,
0.00663204537704587,
-0.05361192673444748,
0.016081593930721283,
-0.046270545572042465,
0.023115430027246475,
-0.03886963799595833,
0.007604282349348068,
-0.003921190742403269,
0.028512338176369667,
-0.010575557127594948,
-0.039087895303964615,
0.05809612199664116,
-0.02662738785147667,
-0.05829453468322754,
0.023512262850999832,
-0.013799812644720078,
-0.01770860143005848,
0.03771882876753807,
-0.03259970247745514,
-0.01111127994954586,
-0.011934705078601837,
0.02130984701216221,
-0.0003063042531721294,
0.011270012706518173,
0.015585553832352161,
0.004982714541256428,
0.03708389773964882,
0.03847280517220497,
0.022936856374144554,
0.03259970247745514,
-0.013978387229144573,
-0.023948775604367256,
0.05662784352898598,
0.026131348684430122,
0.04396892338991165,
0.027440892532467842,
-0.05825485289096832,
-0.05353255942463875,
-0.0034425125923007727,
0.06825500726699829,
-0.023135272786021233,
0.018333612009882927,
-0.006369144190102816,
0.04801660403609276,
-0.018482424318790436,
-0.01955386810004711,
-0.004228734876960516,
-0.01864115707576275,
0.008273934945464134,
0.01550618838518858,
0.022083668038249016,
-0.015069673769176006,
0.00513400649651885,
0.041508566588163376,
-0.0008153645903803408,
0.04928646236658096,
-0.015446662902832031,
-0.026290081441402435,
-0.011418824084103107,
-0.0010993470204994082,
0.040576014667749405,
0.024623390287160873,
0.0036359678488224745,
0.05706435814499855,
0.025833725929260254,
0.04013950005173683,
-0.005486194510012865,
-0.008814617991447449,
-0.008278895169496536,
0.04829438403248787,
0.02279796451330185,
0.018750285729765892,
-0.005377065856009722,
-0.016736365854740143,
0.04321494325995445,
-0.03513942286372185,
-0.011924784630537033,
0.031528256833553314,
-0.014722445979714394,
0.00030475412495434284,
-0.009652924723923206,
0.0019519146298989654,
0.00011672424443531781,
0.05230238288640976,
0.014881178736686707,
0.049365829676389694,
-0.04456416890025139,
-0.015942702069878578,
-0.00955867674201727,
-0.00036396883660927415,
-0.012777972035109997,
-0.04956424608826637,
-0.021329689770936966,
-0.07115187495946884,
0.009365221485495567,
-0.013948624953627586,
-0.0036756510380655527,
-0.005124085582792759,
0.03521879017353058,
-0.006597322411835194,
-0.019335610792040825,
-0.007619163487106562,
0.008080479688942432,
0.017718523740768433,
-0.020099511370062828,
-0.04194508120417595,
0.012639081105589867,
-0.004198972601443529,
-0.02022848278284073,
0.013799812644720078,
0.005456432234495878,
0.04369113966822624,
-0.027897249907255173,
0.031329840421676636,
0.018204642459750175,
-0.011131121776998043,
0.045913394540548325,
-0.023393211886286736,
0.014494268223643303,
0.013541872613132,
-0.012877179309725761,
-0.024345608428120613,
0.01111127994954586,
0.043373674154281616,
0.030496494844555855,
-0.019990382716059685,
-0.010144003666937351,
0.01577404886484146,
-0.005163768772035837,
0.0007564598927274346,
0.031429048627614975,
0.0183931365609169,
0.001284741796553135,
-0.012172804214060307,
-0.024603547528386116,
0.0007390985265374184,
0.041151419281959534,
-0.030496494844555855,
-0.006185609847307205,
-0.0267067551612854,
0.021706679835915565,
-0.015000227838754654,
-0.0005478133680298924,
0.03373067080974579,
0.05250079929828644,
0.0033978691790252924,
0.006656846962869167,
-0.028432970866560936,
0.0549214705824852,
0.03242112696170807,
-0.0017745805671438575,
-0.02484164759516716,
0.04726262390613556,
-0.02765914984047413,
-0.029682990163564682,
0.01811535470187664,
-0.028373446315526962,
-0.0037748590111732483,
0.013065674342215061,
0.00789694581180811,
-0.02859170362353325,
0.011845418252050877,
0.03242112696170807,
-0.007837420329451561,
0.027678992599248886,
0.059167563915252686,
0.008006074465811253,
0.006121124606579542,
0.018928859382867813,
0.026309924200177193,
0.07527892291545868,
-0.018482424318790436,
-0.014811732806265354,
-0.0028348644264042377,
-0.0245638657361269,
-0.002206134609878063,
-0.028155189007520676,
0.01829392835497856,
0.012063675560057163,
0.02355194464325905,
-0.023333687335252762,
-0.014087515883147717,
-0.02623055689036846,
-0.009256092831492424,
0.012073596008121967,
-0.03109174221754074,
-0.005848302971571684,
-0.004020398482680321,
0.03706405684351921,
0.005292739253491163,
-0.031230634078383446,
0.017490345984697342,
-0.03212350234389305,
-0.006845341995358467,
0.05452463775873184,
0.011071596294641495,
-0.018551869317889214,
0.013432743959128857,
0.009846379980444908,
-0.011597398668527603,
-0.006076481193304062,
0.030972693115472794,
-0.014653000049293041,
-0.027698833495378494,
0.04154824838042259,
-0.03781803324818611,
-0.010327537544071674,
0.03972282633185387,
0.07400906085968018,
-0.022103510797023773,
-0.01710343360900879,
-0.02269875817000866,
0.008333459496498108,
0.0008209450170397758,
-0.04194508120417595,
0.009132083505392075,
-0.023512262850999832,
-0.01475220825523138,
0.010585478506982327,
0.00919656828045845,
-0.0019717561081051826,
0.023393211886286736,
0.0030432010535150766,
-0.034603700041770935,
-0.01710343360900879,
0.07817579060792923,
-0.04190539941191673,
0.021051907911896706,
0.005545719061046839,
-0.031984612345695496,
-0.019662996754050255,
0.013978387229144573,
0.0199010968208313,
0.06547718495130539,
0.03172667324542999,
0.033254474401474,
0.04960392788052559,
-0.04305620864033699,
0.03617118299007416,
0.0016270088963210583,
0.04127046838402748,
0.026131348684430122,
-0.0020213599782437086,
-0.02382972650229931,
-0.00695447064936161,
0.009732291102409363,
0.03763946145772934,
0.024722598493099213,
0.03605213388800621,
0.004833902698010206,
0.021885253489017487,
-0.008804697543382645,
0.0010447826934978366,
0.0004014817823190242,
-0.03613150119781494,
0.00686518382281065,
-0.008259054273366928,
-0.00602191686630249,
0.01894870027899742,
0.019911017268896103,
-0.0030432010535150766,
0.017401058226823807,
-0.0035417205654084682,
-0.005714372731745243,
-0.008040796965360641,
0.01881973072886467,
-0.037857718765735626,
-0.034603700041770935,
-0.015436742454767227,
-0.005357224028557539,
0.017549870535731316,
0.0049430313520133495,
0.039921242743730545,
-0.030020296573638916,
-0.0076439655385911465,
-0.000788082426879555,
0.00709832226857543,
-0.04345304146409035,
0.02504006214439869,
-0.04428638517856598,
-0.016329612582921982,
0.03474259003996849,
0.03073459304869175,
0.012301773764193058,
0.027302002534270287,
0.01050611212849617,
0.0032118542585521936,
0.019127273932099342,
0.0026959734968841076,
-0.056746892631053925,
-0.02398845925927162,
-0.06329461187124252,
-0.007743173278868198,
0.0521436482667923,
-0.05940566584467888,
0.020397135987877846,
0.020188799127936363,
0.013690683990716934,
-0.010962468571960926,
0.0038740667514503,
-0.010148963890969753,
-0.007490193005651236,
0.03912757709622383,
-0.03420686721801758,
-0.026309924200177193,
0.026508338749408722,
-0.030774276703596115,
-0.037024371325969696,
-0.0054167490452528,
-0.02950441651046276,
-0.04269906133413315,
0.029306000098586082,
0.01092278491705656,
-0.015803812071681023,
-0.0015662440564483404,
-0.005243135150521994,
0.03807597607374191,
0.016994304955005646,
0.02700437791645527,
0.03043697029352188,
-0.05603259801864624,
-0.037123579531908035,
0.034603700041770935,
-0.002275580307468772,
0.004501556511968374,
-0.0199010968208313,
0.0164982657879591,
-0.01344266440719366,
-0.008561638183891773,
0.010337458923459053,
-0.027123427018523216,
-0.018849492073059082,
0.02022848278284073,
0.00037916001747362316,
-0.0680169090628624,
0.02232176810503006,
-0.03549657016992569
] |
Deep reinforcement learning (RL) can enable robots to autonomously acquire
complex behaviors, such as legged locomotion. However, RL in the real world is
complicated by constraints on efficiency, safety, and overall training
stability, which limits its practical applicability. We present APRL, a policy
regularization framework that modulates the robot's exploration over the course
of training, striking a balance between flexible improvement potential and
focused, efficient exploration. APRL enables a quadrupedal robot to efficiently
learn to walk entirely in the real world within minutes and continue to improve
with more training where prior work saturates in performance. We demonstrate
that continued training with APRL results in a policy that is substantially
more capable of navigating challenging situations and is able to adapt to
changes in dynamics with continued training. | [
0.013425253331661224,
0.019157489761710167,
-0.028633035719394684,
-0.05084896832704544,
0.028088895604014397,
0.06923715770244598,
-0.040266379714012146,
0.03459981456398964,
-0.05204983055591583,
0.038333743810653687,
0.0252931397408247,
-0.005136496387422085,
0.04728391394019127,
-0.04886004328727722,
-0.022384803742170334,
0.017478160560131073,
-0.0024885034654289484,
0.01106105837970972,
-0.013828667812049389,
-0.011014149524271488,
0.017553213983774185,
-0.027638573199510574,
-0.046871118247509,
0.07268963754177094,
0.039253152906894684,
0.0017778376350179315,
-0.005052060820162296,
-0.0022152606397867203,
-0.051374346017837524,
0.04961058124899864,
0.03296739608049393,
0.03566933423280716,
0.0010343355825170875,
0.05415133759379387,
-0.05223746597766876,
0.027694862335920334,
0.06116887181997299,
-0.006159104872494936,
-0.05148692801594734,
0.07527898997068405,
-0.03527529910206795,
0.014250845648348331,
-0.04668348282575607,
-0.03384927660226822,
0.012111811898648739,
-0.022591203451156616,
0.013293909840285778,
0.06927468627691269,
-0.021878192201256752,
-0.016858967021107674,
-0.010479390621185303,
-0.010723316110670567,
0.05839188024401665,
-0.029327284544706345,
-0.04079175740480423,
0.00943801924586296,
0.04927283897995949,
-0.00317102437838912,
0.001253633527085185,
-0.021878192201256752,
0.018378807231783867,
0.010000922717154026,
-0.08233404904603958,
0.000777510751504451,
0.034205783158540726,
-0.08428545296192169,
0.07073823362588882,
-0.0017614195821806788,
-0.021596739068627357,
-0.0027676098980009556,
-0.04461950063705444,
0.008804752491414547,
-0.04514487832784653,
-0.01620224490761757,
0.024035988375544548,
-0.000616262317635119,
0.014344663359224796,
0.02917717583477497,
0.01430713664740324,
-0.0009070959058590233,
0.03428083658218384,
-0.01807859167456627,
-0.037639494985342026,
-0.006445247679948807,
0.10605105757713318,
0.0040833973325788975,
0.055051982402801514,
-0.042142726480960846,
0.06083112955093384,
-0.034149494022130966,
-0.05978037416934967,
0.020696094259619713,
-0.005830744281411171,
-0.01137065514922142,
0.007852506823837757,
0.002296178136020899,
-0.0893140584230423,
-0.007195786107331514,
0.010160411708056927,
-0.0005901693948544562,
-0.0074115656316280365,
-0.0069471700116992,
-0.013125038705766201,
-0.021840663626790047,
0.015817593783140182,
-0.030152875930070877,
-0.08150845766067505,
0.035631805658340454,
-0.019832974299788475,
0.11715903133153915,
-0.004127960652112961,
-0.037883419543504715,
-0.024655183777213097,
0.044581975787878036,
-0.0705505982041359,
-0.009803906083106995,
-0.01143632736057043,
-0.05614026263356209,
0.014494771137833595,
0.010479390621185303,
0.021521685644984245,
0.03244201838970184,
0.016802676022052765,
-0.07332759350538254,
-0.026587819680571556,
-0.03189787641167641,
0.0055962009355425835,
0.0612063966691494,
-0.0004913680604659021,
0.0062529221177101135,
-0.009194093756377697,
-0.016539987176656723,
-0.013322054408490658,
-0.011971086263656616,
0.02816394902765751,
-0.006782989948987961,
-0.01643678918480873,
-0.08165856450796127,
-0.013228237628936768,
-0.015132728032767773,
-0.01620224490761757,
-0.04709627851843834,
-0.009339510463178158,
0.030284220352768898,
0.02381082810461521,
0.001945536001585424,
-0.009766379371285439,
0.02304152585566044,
-0.055877577513456345,
0.02274131029844284,
-0.03244201838970184,
0.019626576453447342,
-0.024767763912677765,
0.08721254765987396,
0.04420670494437218,
0.004453975707292557,
-0.04199261590838432,
0.028013842180371284,
-0.005962088704109192,
-0.04743402078747749,
0.09501814842224121,
0.018998000770807266,
-0.02611873298883438,
0.10687665641307831,
0.10162288695573807,
0.03816487267613411,
0.04049153998494148,
-0.006806444376707077,
-0.052875421941280365,
0.048747461289167404,
-0.04424423351883888,
-0.05801660940051079,
0.015808213502168655,
-0.0043953401036560535,
0.022703783586621284,
0.03431836515665054,
0.03955336660146713,
0.003515802789479494,
-0.002031144220381975,
0.00373158254660666,
0.009832051582634449,
-0.010104121640324593,
0.02073362097144127,
0.041129499673843384,
0.03448723629117012,
0.025199323892593384,
0.06578467786312103,
-0.03156013414263725,
-0.002330186776816845,
-0.0005092519568279386,
0.005122423637658358,
-0.0031334974337369204,
-0.013922485522925854,
-0.004496193490922451,
0.00870155356824398,
-0.015592433512210846,
-0.012965548783540726,
0.026325130835175514,
0.007298985030502081,
0.03690772131085396,
-0.027995077893137932,
-0.08285942673683167,
0.01571439579129219,
-0.017628267407417297,
0.015479852445423603,
-0.0055727469734847546,
0.021653030067682266,
0.021409105509519577,
0.0028590818401426077,
-0.05827929824590683,
0.012665334157645702,
-0.06638511270284653,
-0.041129499673843384,
-0.04420670494437218,
-0.043005842715501785,
-0.05261273309588432,
0.030209166929125786,
-0.005352276377379894,
0.02480529062449932,
-0.040266379714012146,
-0.053063057363033295,
0.019401414319872856,
0.01165210735052824,
-0.010451246052980423,
-0.01086404174566269,
0.03540664538741112,
0.023341741412878036,
0.023135343566536903,
0.02116517908871174,
0.0368514284491539,
-0.022159643471240997,
-0.04615810513496399,
0.03696401044726372,
0.02641894854605198,
-0.02861427329480648,
0.06882435828447342,
-0.030265456065535545,
0.011473854072391987,
-0.000387875857995823,
-0.009719470515847206,
-0.002218778943642974,
0.014935712330043316,
-0.01115487515926361,
-0.0065531376749277115,
0.042255304753780365,
-0.00007421094051096588,
-0.030059058219194412,
0.023717010393738747,
0.04341864213347435,
0.035012610256671906,
-0.05640295147895813,
-0.008612426929175854,
-0.033323898911476135,
-0.007383420597761869,
-0.0293648112565279,
0.011811596341431141,
0.024598892778158188,
-0.0630827471613884,
0.013669178821146488,
0.01729990728199482,
0.044882189482450485,
0.03354906290769577,
0.05328821763396263,
0.03829621523618698,
-0.039140570908784866,
-0.0019373269751667976,
0.043193478137254715,
0.08173362165689468,
-0.0084341736510396,
0.017384342849254608,
-0.010441863909363747,
0.00046234330511651933,
-0.016136573627591133,
-0.008476391434669495,
0.041392188519239426,
-0.010348047129809856,
0.02062103897333145,
-0.011605198495090008,
0.062257152050733566,
0.07888157665729523,
-0.017421869561076164,
-0.021090125665068626,
0.00035181481507606804,
0.0063936482183635235,
0.03041556477546692,
-0.024842817336320877,
-0.021015072241425514,
-0.014138265512883663,
-0.04428175836801529,
0.019832974299788475,
-0.02861427329480648,
0.00010114676115335897,
-0.023322977125644684,
0.024692710489034653,
0.08030759543180466,
0.049197785556316376,
-0.030959704890847206,
-0.01212119311094284,
-0.007383420597761869,
0.03846508637070656,
0.008448246866464615,
0.043568748980760574,
0.015310981310904026,
0.007716471794992685,
-0.013762995600700378,
0.014457243494689465,
-0.055689942091703415,
0.032010458409786224,
-0.04702122509479523,
0.005042679142206907,
-0.002934135729447007,
-0.006107505410909653,
-0.005511765833944082,
-0.018172409385442734,
-0.026193786412477493,
0.019513996317982674,
0.021315287798643112,
0.0030842432752251625,
-0.028370346873998642,
-0.025499539449810982,
-0.0003002153243869543,
0.023060288280248642,
-0.05265026167035103,
0.04086681082844734,
0.03869025036692619,
0.001623039017431438,
0.03272347152233124,
-0.02609996870160103,
-0.05073639005422592,
-0.03805229067802429,
-0.06195693463087082,
-0.009499000385403633,
-0.05711596459150314,
0.02478652633726597,
0.039816055446863174,
0.004444594029337168,
-0.03767702355980873,
0.028370346873998642,
0.001404913840815425,
-0.026512764394283295,
-0.022253461182117462,
-0.03623223677277565,
0.016511842608451843,
-0.032460782676935196,
0.019832974299788475,
-0.03854013979434967,
0.02285389043390751,
0.0006661027437075973,
-0.06394585967063904,
0.01217748410999775,
0.0009305502171628177,
0.006980006117373705,
0.002218778943642974,
-0.01633358933031559,
0.033192556351423264,
-0.01330329105257988,
-0.0035462933592498302,
0.0165493693202734,
-0.04597046971321106,
-0.04109197109937668,
0.06233220547437668,
-0.0418425090610981,
-0.0930667519569397,
0.024317441508173943,
-0.038071054965257645,
0.02167179249227047,
-0.021409105509519577,
-0.005887034814804792,
-0.04233035817742348,
0.05584004893898964,
-0.00635612104088068,
0.012449554167687893,
0.05490187555551529,
0.01426960900425911,
0.005629037041217089,
-0.012308827601373196,
-0.008607735857367516,
0.01745939627289772,
-0.05039864778518677,
0.024073515087366104,
-0.011220547370612621,
0.010151030495762825,
-0.0356130413711071,
0.011539526283740997,
0.04889756813645363,
0.0724644735455513,
0.00292006297968328,
-0.058692093938589096,
0.023060288280248642,
0.01649307832121849,
0.03743309900164604,
-0.009494309313595295,
-0.0026597201358526945,
0.01917625404894352,
0.016502460464835167,
-0.008298139087855816,
0.008241849020123482,
-0.005694709252566099,
0.00862180907279253,
-0.009592817164957523,
0.024692710489034653,
0.01799415610730648,
-0.004109197296202183,
0.0057463087141513824,
0.03611965477466583,
0.0068908799439668655,
-0.017684558406472206,
-0.008368502371013165,
0.020827436819672585,
-0.018416333943605423,
-0.012487080879509449,
-0.00791348796337843,
-0.03585696592926979,
0.005267840810120106,
0.017018456012010574,
-0.002047562273219228,
-0.021502921357750893,
-0.00671731773763895,
-0.015855122357606888,
-0.03703906387090683,
-0.021221470087766647,
0.030565671622753143,
0.05227499082684517,
-0.016070900484919548,
-0.0059057981707155704,
0.015489233657717705,
0.03092217817902565,
-0.03116610273718834,
-0.05779144912958145,
-0.03641987219452858,
0.019213780760765076,
0.011258074082434177,
0.03735804185271263,
-0.08428545296192169,
-0.0070832050405442715,
-0.010957859456539154,
0.01732805371284485,
0.02167179249227047,
-0.014035065658390522,
-0.016408642753958702,
-0.03358658775687218,
0.003349277190864086,
-0.017900338396430016,
-0.018360042944550514,
0.0337366946041584,
-0.030847124755382538,
0.00023293073172681034,
0.04690864309668541,
-0.014504152350127697,
-0.002493194304406643,
-0.061431560665369034,
0.05171208828687668,
-0.04210519790649414,
-0.05114918574690819,
0.027657335624098778,
-0.0437188558280468,
-0.023379268124699593,
-0.020527223125100136,
0.003813672810792923,
-0.05317563936114311,
0.035444170236587524,
-0.015911411494016647,
0.02448631264269352,
-0.043756384402513504,
0.024655183777213097,
-0.007632036227732897,
-0.011933558620512486,
-0.018519531935453415,
0.00048081358545459807,
-0.010967240668833256,
-0.0193638876080513,
-0.052312519401311874,
-0.043080899864435196,
0.014128883369266987,
0.010807751677930355,
0.02818271331489086,
-0.040454015135765076,
-0.06041833385825157,
-0.009794524870812893,
-0.009982159361243248,
0.019589049741625786,
-0.0399661660194397,
0.029158413410186768,
-0.007768071256577969,
-0.011070439592003822,
0.014128883369266987,
0.024936635047197342,
-0.0029951168689876795,
0.007064441684633493,
-0.017928482964634895,
-0.016915256157517433,
-0.028013842180371284,
-0.034130729734897614,
-0.006130959838628769,
0.004301522392779589,
-0.02805136889219284,
-0.0014881767565384507,
-0.026569055393338203,
0.08285942673683167,
-0.010254229418933392,
-0.008490464650094509,
-0.05313811078667641,
-0.01987050101161003,
-0.007134804502129555,
-0.019007382914423943,
0.00826061237603426,
0.03092217817902565,
0.03454352542757988,
0.011605198495090008,
-0.031128576025366783,
-0.008171485736966133,
0.028820671141147614,
-0.000972768000792712,
-0.018378807231783867,
0.022685019299387932,
0.02373577281832695,
0.03240448981523514,
-0.012205628678202629,
0.04368132725358009,
0.023566901683807373,
0.009569363668560982,
0.03647616133093834,
-0.02786373347043991,
-0.03184158727526665,
-0.07918179035186768,
0.03221685811877251,
0.03184158727526665,
-0.0468335896730423,
0.05640295147895813,
0.024523839354515076,
0.022253461182117462,
0.03268594294786453,
-0.038502614945173264,
-0.012524607591331005,
-0.03503137454390526,
-0.0068908799439668655,
0.024824054911732674,
0.021972008049488068,
0.000059845166106242687,
-0.012768533080816269,
-0.024223623797297478,
0.0655970498919487,
0.032573360949754715,
0.0574537068605423,
0.008077668026089668,
-0.0007188749732449651,
0.0020909528248012066,
-0.003077206900343299,
-0.015348508022725582,
0.01789095625281334,
0.00006292355101322755,
-0.011886650696396828,
0.014232082292437553,
0.030528144910931587,
-0.009250384755432606,
-0.05028606578707695,
0.007575745694339275,
0.02041464112699032,
-0.017947247251868248,
-0.010807751677930355,
-0.04446939378976822,
0.004179560113698244,
-0.0037386189214885235,
-0.030190402641892433,
-0.006079360377043486,
-0.029158413410186768,
0.048822514712810516,
0.034393418580293655,
0.04172993078827858,
-0.003623692784458399,
-0.01909181848168373,
-0.0026104659773409367,
0.02041464112699032,
-0.011867886409163475,
0.036007076501846313,
0.0013181328540667892,
-0.004953552968800068,
-0.017872193828225136,
-0.05009843036532402,
-0.017628267407417297,
-0.027901262044906616,
0.015085820108652115,
0.050436172634363174,
0.02255367487668991,
-0.00022618762159254402,
0.008682790212333202,
-0.04157982021570206,
-0.019570285454392433,
0.019513996317982674,
-0.07674253731966019,
-0.03384927660226822,
0.03580067679286003,
0.014701168984174728,
0.01949523203074932,
-0.05895478278398514,
-0.025161797180771828,
0.015864502638578415,
-0.01641802489757538,
0.0075429100543260574,
-0.038765303790569305,
-0.029064595699310303,
0.002031144220381975,
0.01630544476211071,
-0.0019080090569332242,
-0.014823131263256073,
0.011117348447442055,
0.050623808056116104,
0.00398958008736372,
0.03702029958367348,
-0.010873423889279366,
-0.0029294448904693127,
0.020771147683262825,
-0.0005889966269023716,
-0.02780744433403015,
0.014973239041864872,
0.006478083785623312,
0.04942294582724571,
0.001172129763290286,
0.006834589410573244,
-0.005929252598434687,
-0.02180313691496849,
0.010601353831589222,
0.035143956542015076,
-0.007181713357567787,
-0.040191326290369034,
0.03880282863974571,
-0.0016617387300357223,
-0.05478929728269577,
0.009278529323637486,
0.00240406789816916,
0.01869778521358967,
-0.02910212241113186,
0.012261919677257538,
-0.03486250340938568,
0.008753152564167976,
0.033943094313144684,
-0.0007347066421061754,
0.061506614089012146,
0.03677637502551079,
-0.010432482697069645,
-0.046007998287677765,
0.004400030709803104,
0.039253152906894684,
0.03317379206418991,
-0.0004424071521498263,
-0.0006250576698221266,
0.03717041015625,
-0.022572439163923264,
0.051186710596084595,
-0.02048969455063343,
-0.019213780760765076,
0.04878498986363411,
0.03422454744577408,
0.042142726480960846,
-0.0023735773283988237,
-0.0001040052593452856,
0.010282374918460846,
0.030659489333629608,
-0.024580128490924835,
0.013472162187099457,
0.03379298746585846,
-0.022628730162978172,
-0.031447555869817734,
0.008804752491414547,
0.014916948974132538,
-0.017496924847364426,
0.03360535204410553,
0.01861334964632988,
-0.0010196766816079617,
0.04964810982346535,
-0.030640725046396255,
-0.03360535204410553,
-0.016033373773097992,
0.015395416878163815,
-0.001118771149776876,
-0.008739080280065536,
0.009330129250884056,
0.006942479405552149,
0.006956551689654589,
0.008462319150567055,
-0.017046600580215454,
-0.028952015563845634,
-0.03615718334913254,
-0.015723777934908867,
-0.04285573586821556,
-0.02172808349132538,
0.008823515847325325,
-0.028370346873998642,
-0.021521685644984245,
0.01815364509820938,
-0.05752876028418541,
-0.017693940550088882,
0.035688094794750214,
-0.024561366066336632,
0.020977545529603958,
0.0449572429060936,
-0.0020487350411713123,
-0.008678099140524864,
0.03097846731543541,
-0.03004029579460621,
-0.017478160560131073,
-0.01796600967645645,
-0.0038840356282889843,
-0.007519455626606941,
0.04067917540669441,
-0.052312519401311874,
0.011014149524271488,
0.020452167838811874,
0.0221784058958292,
0.008223084732890129,
0.00428510457277298,
0.034956321120262146,
-0.03403691202402115,
0.04991079494357109,
0.08458566665649414,
-0.004205360077321529,
-0.004097470082342625,
0.010573208332061768,
0.017900338396430016,
0.04157982021570206,
0.053513381630182266,
-0.00546485697850585,
0.0337366946041584,
-0.03891541063785553,
-0.059630267322063446,
0.02174684777855873,
0.012562134303152561,
-0.02630636654794216,
-0.007753998972475529,
-0.007209858391433954,
0.006130959838628769,
-0.018041064962744713,
-0.020527223125100136,
0.0017215472180396318,
0.008068286813795567,
0.0193638876080513,
0.017065364867448807,
0.017984773963689804,
-0.013115656562149525,
-0.015892649069428444,
0.039253152906894684,
-0.021972008049488068,
0.0468335896730423,
-0.004050561226904392,
-0.009719470515847206,
0.005708782002329826,
-0.011483236216008663,
0.024317441508173943,
-0.0107796061784029,
-0.041317131370306015,
0.009123731404542923,
0.02480529062449932,
0.007594509515911341,
-0.022197170183062553,
-0.021502921357750893,
0.023698246106505394,
0.018594585359096527,
0.001594893867149949,
0.02611873298883438,
0.007383420597761869,
-0.00768363568931818,
0.07321500778198242,
0.02741341106593609,
0.026006150990724564,
-0.0026104659773409367,
0.02611873298883438,
-0.03473116084933281,
0.0162491537630558,
0.020827436819672585,
-0.01402568444609642,
0.04604552313685417,
-0.0064030298963189125,
0.0643586590886116,
-0.01756259612739086,
-0.0023923409171402454,
0.027694862335920334,
-0.015723777934908867,
0.03792094811797142,
-0.02780744433403015,
0.014363426715135574,
-0.023379268124699593,
-0.004212396219372749,
-0.013415872119367123,
0.0022140878718346357,
-0.02148415893316269,
-0.003527530003339052,
-0.03837126865983009,
-0.029514918103814125,
-0.0010437172604724765,
-0.02598738856613636,
0.024204859510064125,
0.018435096368193626,
-0.03523777425289154,
0.02172808349132538,
0.03591325879096985,
-0.002504921518266201,
-0.03672008588910103,
0.007674254011362791,
-0.02048969455063343,
-0.03880282863974571,
-0.027507228776812553,
0.008382574655115604,
-0.017797138541936874,
0.03617594763636589,
-0.017637649551033974,
0.02478652633726597,
0.006459320429712534,
-0.027263304218649864,
-0.005131805781275034,
0.01005721278488636,
-0.0007440883782692254,
0.006557828281074762,
-0.017234236001968384,
-0.03604460135102272,
-0.005643109790980816,
-0.045820362865924835,
0.036251001060009,
0.030959704890847206,
-0.02566841058433056,
-0.041504766792058945,
-0.018979236483573914,
-0.020714856684207916,
-0.029083358123898506,
0.028933251276612282,
-0.0074115656316280365,
-0.04814703017473221,
0.008767225779592991,
0.015573669224977493,
0.005061442498117685,
0.012365118600428104,
0.044506922364234924,
0.03668255731463432,
-0.012909258715808392,
0.0002577043487690389,
-0.008818824775516987,
0.0021038525737822056,
0.004167832899838686,
0.015611196868121624,
-0.007345893420279026,
0.031766533851623535,
-0.021146416664123535,
0.0014037411892786622,
-0.017581360414624214,
-0.043944016098976135,
-0.01848200522363186,
-0.009785142727196217,
0.02660658210515976,
0.06968747824430466,
-0.010629498399794102,
0.018191171810030937,
0.014081974513828754,
-0.04015379771590233,
0.017553213983774185,
0.014673023484647274,
-0.04946047440171242,
0.006820516660809517,
0.0010964894900098443,
0.05133682116866112,
-0.04589541628956795,
-0.022722546011209488,
-0.012158720754086971,
-0.028220240026712418,
0.0015221855137497187,
-0.032704707235097885,
0.024129806086421013,
-0.01461673341691494,
0.06008059158921242,
-0.053250692784786224,
-0.03724546357989311,
-0.05355090647935867,
0.03955336660146713,
0.06522177904844284,
-0.04529498517513275,
0.028970777988433838,
0.012543370947241783,
0.04720886051654816,
0.025443248450756073,
-0.03696401044726372,
0.042255304753780365,
-0.004575937986373901,
-0.029514918103814125,
-0.021953245624899864,
0.025067979469895363,
0.002465049270540476,
0.04589541628956795,
0.001981890294700861,
-0.005994924809783697,
-0.018275607377290726,
-0.020320823416113853,
-0.039065517485141754,
0.00760389119386673,
0.03292986750602722,
-0.045632727444171906,
0.03229191154241562,
0.017947247251868248,
0.006806444376707077,
-0.006543755531311035,
0.002823900431394577,
-0.03647616133093834,
0.018360042944550514,
0.0014529952313750982,
0.005985543131828308,
0.011070439592003822,
-0.019889265298843384,
0.006398338824510574,
0.035143956542015076,
0.004125615116208792,
-0.01818178966641426,
0.027394648641347885,
-0.042255304753780365,
0.02199077233672142,
-0.024148570373654366,
0.010488772764801979,
-0.003942671697586775,
0.04792186990380287,
0.02636265754699707,
0.005507074762135744,
-0.06889941543340683,
0.035706859081983566,
-0.010038449428975582,
0.027638573199510574,
0.021878192201256752,
0.005174023564904928,
0.04480713605880737,
-0.033323898911476135,
0.007341202814131975,
0.007965087890625,
-0.02518055960536003,
0.007364657241851091,
0.029871424660086632,
-0.021390341222286224,
0.002535412088036537,
-0.0062247770838439465,
0.03017164021730423,
-0.0049066441133618355,
0.010460627265274525,
-0.011539526283740997,
-0.029833897948265076,
-0.029270993545651436,
0.002307905349880457,
-0.040003690868616104,
-0.010366810485720634,
0.00435781292617321,
-0.011267456226050854,
0.03328637406229973,
-0.032010458409786224,
0.010657643899321556,
0.05666564032435417,
-0.02949615567922592,
-0.0063842665404081345,
0.003830090630799532,
-0.019007382914423943,
0.05280036851763725,
-0.043944016098976135,
-0.057491231709718704,
-0.019720394164323807,
-0.008040141314268112,
-0.005713472608476877,
-0.015676869079470634,
0.029533682391047478,
-0.020639803260564804,
0.0038465086836367846,
-0.021972008049488068,
-0.02349184826016426,
-0.038014765828847885,
0.020452167838811874,
-0.02416733279824257,
-0.026212550699710846,
-0.01523592695593834,
0.014729314483702183,
-0.011867886409163475,
0.03315502777695656,
0.020508458837866783,
0.01533912681043148,
0.06769855320453644,
0.05317563936114311,
-0.05129929259419441,
-0.02673792652785778,
-0.038577668368816376,
0.009738234803080559,
0.05407628417015076,
-0.03536911681294441,
0.019964318722486496,
-0.003935635089874268,
0.011389418505132198,
-0.04229283332824707,
0.010488772764801979,
0.029252229258418083,
0.007008151151239872,
-0.00044739118311554193,
0.01161457970738411,
0.016155336052179337,
0.03124115616083145,
-0.02142786793410778,
0.0010173312621191144,
0.001776664867065847,
-0.0070925867184996605,
-0.029252229258418083,
0.05752876028418541,
0.011023531667888165,
-0.038071054965257645,
-0.010695170611143112,
-0.008912642486393452,
0.05584004893898964,
0.04754660278558731,
0.019251307472586632,
0.04011627286672592,
-0.006614118814468384,
0.0031217702198773623,
0.0056196553632617,
-0.0022328514605760574,
-0.01684020273387432,
0.01171777956187725,
-0.052875421941280365,
0.041692402213811874,
0.019026145339012146,
0.002685519866645336,
-0.010188557207584381,
-0.04379390925168991,
-0.012017994187772274,
0.021634265780448914,
-0.03366164118051529,
0.07602953165769577,
-0.00034507171949371696
] |
The use of large language models for code generation is a rapidly growing
trend in software development. However, without effective methods for ensuring
the correctness of generated code, this trend could lead to any number of
undesirable outcomes. In this paper, we lay out a vision for addressing this
challenge: the Clover paradigm, short for Closed-Loop Verifiable Code
Generation, which reduces correctness checking to the more accessible problem
of consistency checking. At the core of Clover lies a checker that performs
consistency checks among code, docstrings, and formal annotations. The checker
is implemented using a novel integration of formal verification tools and large
language models. We provide a theoretical analysis to support our thesis that
Clover should be effective at consistency checking. We also empirically
investigate its feasibility on a hand-designed dataset (CloverBench) featuring
annotated Dafny programs at a textbook level of difficulty. Experimental
results show that for this dataset, (i) LLMs are reasonably successful at
automatically generating formal specifications; and (ii) our consistency
checker achieves a promising acceptance rate (up to 87%) for correct instances
while maintaining zero tolerance for incorrect ones (no false positives). | [
-0.038928572088479996,
0.04873472452163696,
-0.04344310238957405,
0.010166944935917854,
0.006656156852841377,
-0.004306381102651358,
-0.016226407140493393,
0.02436736226081848,
-0.03330391272902489,
0.06127920001745224,
0.06934614479541779,
0.010231702588498592,
0.03106514923274517,
-0.032027263194322586,
0.006133470684289932,
0.0086081363260746,
0.004465962294489145,
0.0008025317802093923,
-0.008090075105428696,
-0.04847569391131401,
-0.004452085588127375,
0.028456343337893486,
-0.026310091838240623,
0.019852831959724426,
0.050436925143003464,
0.013293812051415443,
0.013719362206757069,
-0.010999542661011219,
-0.0192977674305439,
0.029862508177757263,
0.011064300313591957,
0.009288091212511063,
0.0037235624622553587,
-0.016226407140493393,
-0.026384100317955017,
0.010934785008430481,
0.015532574616372585,
0.039779674261808395,
-0.03173122927546501,
0.04477526247501373,
0.012609231285750866,
-0.02053741365671158,
-0.01616164855659008,
0.015532574616372585,
0.02412683516740799,
0.023127717897295952,
0.010749762877821922,
-0.016226407140493393,
-0.03211977332830429,
-0.017086757346987724,
-0.024829916656017303,
-0.0010627185693010688,
0.06264836341142654,
-0.05265718698501587,
-0.023664280772209167,
0.006702412385493517,
0.00849712360650301,
-0.015088522806763649,
0.08533202856779099,
-0.037078358232975006,
-0.022868687286973,
0.010240953415632248,
-0.022868687286973,
-0.002773013198748231,
0.02457088604569435,
-0.038743551820516586,
-0.019038736820220947,
0.0013113415334373713,
0.05376731604337692,
-0.017179269343614578,
-0.004165302030742168,
-0.01636517234146595,
-0.019686313346028328,
-0.00018227532564196736,
0.021555032581090927,
0.06793998181819916,
0.002958035096526146,
-0.0017854598117992282,
-0.02621757984161377,
0.030140040442347527,
0.03718936815857887,
-0.023645779117941856,
-0.013173547573387623,
0.0014616717817261815,
0.041000816971063614,
-0.03174972906708717,
-0.007072456181049347,
-0.05439639091491699,
0.046477459371089935,
-0.05347128212451935,
0.013996894471347332,
0.029955020174384117,
0.0031962506473064423,
-0.02919642999768257,
-0.009001307189464569,
-0.010259455069899559,
-0.050029877573251724,
-0.0019936091266572475,
0.0015137090813368559,
0.05162106454372406,
-0.01761407032608986,
0.008871792815625668,
0.025514498353004456,
-0.03754090890288353,
-0.016078388318419456,
-0.01540305931121111,
-0.002106935018673539,
0.03248981758952141,
0.019131246954202652,
0.09406505525112152,
0.006031708791851997,
-0.0308616254478693,
0.009491614997386932,
-0.02851185016334057,
0.013599097728729248,
-0.0024122209288179874,
-0.05180608853697777,
-0.0649426281452179,
0.014246674254536629,
-0.06712588667869568,
-0.04277702420949936,
0.015560328029096127,
0.01574534922838211,
-0.024478375911712646,
-0.049807850271463394,
0.032822854816913605,
0.02203608863055706,
-0.017253277823328972,
0.012461214326322079,
0.031102154403924942,
-0.015615834854543209,
0.010444477200508118,
-0.0037582539953291416,
-0.013349318876862526,
0.1023540273308754,
-0.025884540751576424,
0.06438756734132767,
-0.003422902198508382,
0.010046680457890034,
0.023775292560458183,
-0.03667130693793297,
-0.03841051459312439,
-0.00441276840865612,
0.06072413548827171,
0.02475590817630291,
-0.03796645998954773,
-0.014080154709517956,
0.1297372430562973,
-0.019593801349401474,
-0.008913422003388405,
-0.02725370228290558,
0.004630168899893761,
0.023571768775582314,
0.010981040075421333,
0.0579858124256134,
-0.010722009465098381,
-0.011721126735210419,
0.023460756987333298,
-0.016670458018779755,
-0.0373188853263855,
0.0428510345518589,
-0.03963165730237961,
-0.009926415979862213,
0.02455238439142704,
0.003897020360454917,
0.0004770091618411243,
-0.0040265354327857494,
0.0671628937125206,
-0.07223248481750488,
0.03252682089805603,
-0.005814308300614357,
0.01344182901084423,
0.0241453368216753,
-0.021647542715072632,
-0.0147924879565835,
0.020222876220941544,
0.04973384365439415,
0.01823389157652855,
0.019427282735705376,
-0.010416723787784576,
-0.022942695766687393,
0.009440734051167965,
0.027956785634160042,
0.027975287288427353,
0.0663117915391922,
0.04525631666183472,
0.06527566909790039,
0.027864273637533188,
0.057837795466184616,
-0.014228171668946743,
-0.024496877565979958,
-0.018187636509537697,
0.02749423123896122,
-0.006179726216942072,
-0.03811447694897652,
-0.03526514396071434,
-0.09162276238203049,
0.0002901082916650921,
-0.04155588150024414,
0.007854172959923744,
0.0016131582669913769,
-0.05854087695479393,
0.0340069942176342,
-0.011406590230762959,
0.02854885347187519,
0.06024307757616043,
-0.004641732666641474,
0.07911529392004013,
-0.03903958573937416,
-0.05854087695479393,
0.019871335476636887,
-0.008103951811790466,
-0.017567813396453857,
-0.021943578496575356,
0.0026111193001270294,
-0.016420679166913033,
-0.05687568336725235,
0.002217948203906417,
-0.059910040348768234,
-0.026754142716526985,
0.015884116291999817,
-0.029455460608005524,
0.0036032984498888254,
-0.04510829970240593,
-0.013932136818766594,
0.004963207989931107,
0.026772646233439445,
0.029844006523489952,
0.02751273289322853,
0.03582020848989487,
0.0009389853221364319,
0.01058324333280325,
-0.02075943909585476,
0.014440946280956268,
0.018095126375555992,
-0.012868261896073818,
0.00839073583483696,
-0.003832262707874179,
0.03446954861283302,
0.00217516184784472,
0.0013772555394098163,
-0.03291536867618561,
-0.055062469094991684,
-0.055284496396780014,
0.031213168054819107,
0.009593376889824867,
-0.016910986974835396,
0.004669486079365015,
0.02938145212829113,
-0.0010072120930999517,
-0.00587444007396698,
0.01850217394530773,
0.0028817136771976948,
0.0066839102655649185,
-0.005208361893892288,
0.017031250521540642,
0.022554149851202965,
-0.052583176642656326,
0.00997267197817564,
-0.002925656270235777,
0.011415841057896614,
-0.014431695453822613,
-0.025514498353004456,
0.0018525301711633801,
-0.04092681035399437,
0.003674994222819805,
0.01574534922838211,
0.0222766175866127,
-0.002294269623234868,
0.03822549059987068,
0.041000816971063614,
-0.01722552441060543,
-0.036652807146310806,
0.00436420040205121,
0.03489509969949722,
-0.05058494210243225,
-0.005411885678768158,
0.0065913996659219265,
-0.0033488934859633446,
0.005601533222943544,
0.034728579223155975,
0.012970023788511753,
0.026957666501402855,
-0.01394138764590025,
-0.01049073226749897,
-0.07748710364103317,
-0.029270438477396965,
-0.009843156673014164,
-0.06860606372356415,
0.002800766611471772,
-0.02268366515636444,
0.006582148373126984,
-0.03855853155255318,
0.03415501117706299,
0.022313620895147324,
0.0013841938925907016,
0.016115393489599228,
0.026180576533079147,
-0.07419371604919434,
-0.009417606517672539,
-0.04044575244188309,
-0.051547057926654816,
0.016846228390932083,
-0.003522351384162903,
0.017299532890319824,
0.011600863188505173,
-0.023645779117941856,
0.023164721205830574,
-0.0020271444227546453,
0.027827270328998566,
0.03607923910021782,
-0.04240698367357254,
0.007479503750801086,
0.028881892561912537,
-0.0032841358333826065,
0.04510829970240593,
-0.005166732240468264,
0.010999542661011219,
-0.052805203944444656,
-0.03811447694897652,
0.019186753779649734,
-0.013996894471347332,
-0.13587996363639832,
0.0029626605100929737,
0.010842273943126202,
0.02917792834341526,
0.02747572772204876,
0.06398051977157593,
-0.014616717584431171,
-0.012109672650694847,
-0.03232329711318016,
-0.0046278564259409904,
-0.015606584027409554,
-0.029862508177757263,
0.012590729631483555,
-0.045219313353300095,
-0.022091595456004143,
0.02662462741136551,
0.008196462877094746,
-0.018326403573155403,
0.00037206715205684304,
0.006013206671923399,
-0.03652328997850418,
0.004875322803854942,
0.009366725571453571,
-0.05021490156650543,
0.016328169032931328,
-0.018122879788279533,
-0.013682357966899872,
-0.023349743336439133,
0.0009811933850869536,
0.0344325453042984,
0.007979062385857105,
0.020019352436065674,
0.026365598663687706,
0.055691543966531754,
-0.01259998045861721,
-0.007498005870729685,
-0.011933902278542519,
0.10376019030809402,
0.013756366446614265,
-0.05787479877471924,
0.02518145926296711,
-0.014329933561384678,
-0.00733611173927784,
-0.03298937529325485,
-0.042295970022678375,
0.04496028274297714,
0.025977052748203278,
-0.03356294333934784,
0.004292504396289587,
0.04111183062195778,
0.016883233562111855,
0.0038762055337429047,
0.05313824489712715,
-0.023997319862246513,
0.0069475662894546986,
-0.007077081594616175,
-0.03959465026855469,
0.03376646712422371,
0.0027545110788196325,
0.014413193799555302,
0.05058494210243225,
0.011943153105676174,
-0.0323973074555397,
0.002724445192143321,
0.00025671767070889473,
0.03609774261713028,
-0.026772646233439445,
-0.008048445917665958,
0.00997267197817564,
-0.021092478185892105,
-0.025347977876663208,
-0.004815190564841032,
0.01950129121541977,
0.00893192458897829,
-0.003376646665856242,
-0.002539423294365406,
-0.02225811593234539,
-0.02223961241543293,
-0.00022896440350450575,
-0.013562093488872051,
0.008534127846360207,
-0.000817564781755209,
-0.020185871049761772,
-0.06760694086551666,
-0.009001307189464569,
0.043961163610219955,
-0.0075118825770914555,
-0.004276314750313759,
0.011249321512877941,
-0.0061936029233038425,
0.006771795451641083,
0.04299905151128769,
0.060132063925266266,
-0.045811381191015244,
-0.04177790880203247,
0.0034182765521109104,
-0.020685430616140366,
-0.0064202542416751385,
0.07152940332889557,
-0.028049295768141747,
0.04758759215474129,
0.009394478984177113,
0.03445104882121086,
-0.00682267639786005,
-0.009186329320073128,
0.04762459546327591,
-0.03900258243083954,
-0.05683867633342743,
0.04518231004476547,
0.0528792142868042,
0.02791978046298027,
-0.07315759360790253,
-0.005337877199053764,
-0.03019554726779461,
0.010222450830042362,
-0.01889071986079216,
-0.0069151874631643295,
0.047957636415958405,
0.018798207864165306,
0.02333124168217182,
-0.038965579122304916,
-0.04181491211056709,
-0.07511882483959198,
-0.035135626792907715,
-0.06250034272670746,
-0.05273119732737541,
-0.03045457787811756,
-0.02558850683271885,
-0.008312101475894451,
0.06227831542491913,
-0.12788702547550201,
0.005208361893892288,
0.007817168720066547,
-0.03132418170571327,
-0.016439180821180344,
-0.029288941994309425,
0.04714353755116463,
-0.08052146434783936,
0.053619299083948135,
0.032452814280986786,
-0.007738534361124039,
0.03167572245001793,
-0.01418191660195589,
-0.0027961409650743008,
0.014847994782030582,
0.013802621513605118,
0.0005330938729457557,
0.01890922151505947,
0.025292471051216125,
-0.03260083124041557,
-0.008381485007703304,
-0.07408270239830017,
0.0025139828212559223,
-0.029695989564061165,
0.056579649448394775,
0.031213168054819107,
-0.0015102399047464132,
-0.03755941241979599,
0.04677349701523781,
-0.0033188273664563894,
-0.00309217581525445,
0.022554149851202965,
0.03321140259504318,
0.030528586357831955,
0.03025105409324169,
-0.018196888267993927,
0.05136203393340111,
-0.06645981222391129,
-0.04810565337538719,
-0.016744466498494148,
0.008645140565931797,
-0.03165721893310547,
0.03256382420659065,
0.008742277510464191,
-0.032841358333826065,
-0.03330391272902489,
0.03169422224164009,
-0.0035362280905246735,
-0.01618940196931362,
0.00296034780330956,
-0.051103003323078156,
0.0649426281452179,
-0.034747082740068436,
0.011776633560657501,
-0.04533032700419426,
-0.004119046498090029,
-0.02410833165049553,
0.008247343823313713,
-0.07171442359685898,
-0.028437841683626175,
-0.045404333621263504,
-0.03717086836695671,
-0.007780164014548063,
-0.019667811691761017,
0.0000801519927335903,
-0.0520281121134758,
0.01638367585837841,
0.032434310764074326,
0.011212317273020744,
0.008816285990178585,
0.0078634237870574,
0.015134777873754501,
0.00772003224119544,
0.0508439727127552,
0.015495570376515388,
0.028197312727570534,
-0.0018779706442728639,
-0.03498760983347893,
0.028863390907645226,
0.07108534872531891,
-0.03208277001976967,
-0.03174972906708717,
-0.03132418170571327,
-0.031194664537906647,
0.0021508776117116213,
0.009565623477101326,
-0.031157661229372025,
-0.027623744681477547,
-0.01887221820652485,
0.015893368050456047,
-0.0006782202981412411,
0.04673648998141289,
0.005906818900257349,
-0.029492465779185295,
0.010000425390899181,
-0.02223961241543293,
0.028012290596961975,
-0.018770454451441765,
0.0011945465812459588,
0.039113596081733704,
-0.006369373295456171,
0.005171357654035091,
-0.011721126735210419,
-0.023830799385905266,
-0.04359112307429314,
-0.01102729607373476,
-0.002087276428937912,
-0.06083514913916588,
-0.04051975905895233,
0.04055676609277725,
0.009787649847567081,
-0.022387631237506866,
0.011822889558970928,
-0.03615324944257736,
0.025755025446414948,
0.007067830301821232,
-0.04322107881307602,
-0.01911274529993534,
-0.0022237300872802734,
-0.03700434789061546,
0.013774868100881577,
-0.0008135174284689128,
-0.0033858977258205414,
-0.011795136146247387,
0.011998659931123257,
0.0020051731262356043,
0.0020479594822973013,
-0.01871494948863983,
-0.05861488729715347,
-0.030066031962633133,
-0.0023220228031277657,
0.032822854816913605,
-0.01804887130856514,
0.033655453473329544,
-0.03404400125145912,
0.007299107499420643,
0.011156810447573662,
-0.01300702802836895,
-0.05979902669787407,
0.04758759215474129,
-0.017928605899214745,
-0.03039907105267048,
-0.010638750158250332,
-0.010527736507356167,
0.016679709777235985,
0.008029943332076073,
-0.006614527199417353,
-0.03080611862242222,
0.0027776388451457024,
-0.017521558329463005,
0.050473928451538086,
-0.008191837929189205,
-0.005906818900257349,
-0.021314503625035286,
0.0114343436434865,
-0.023146219551563263,
0.025514498353004456,
0.04529331997036934,
-0.03039907105267048,
-0.027549736201763153,
-0.01745680160820484,
-0.026088064536452293,
-0.005772678181529045,
-0.10494433343410492,
0.019464286044239998,
-0.016069138422608376,
0.020666928961873055,
0.033451929688453674,
0.03735588863492012,
-0.009269589558243752,
-0.0009031373774632812,
-0.03335941955447197,
0.026939164847135544,
0.07030826061964035,
-0.02207309380173683,
-0.03885456547141075,
-0.01437618862837553,
-0.011591612361371517,
-0.070567287504673,
-0.004456711001694202,
-0.04536733031272888,
0.00640175212174654,
0.00848324690014124,
0.009778399020433426,
0.011388087645173073,
0.0241453368216753,
-0.0008603510796092451,
-0.04444222152233124,
-0.010129939764738083,
-0.01658719964325428,
-0.0006868931814096868,
0.055284496396780014,
-0.012239187955856323,
0.0005914913490414619,
0.02579203061759472,
0.0032147527672350407,
0.07393468916416168,
0.03330391272902489,
0.052361153066158295,
0.0365602970123291,
0.007812542840838432,
0.05461841821670532,
-0.04255500063300133,
0.03372946381568909,
0.036449283361434937,
-0.0025463616475462914,
0.010203949175775051,
0.006508139427751303,
0.017077505588531494,
0.03940963000059128,
0.0027128811925649643,
0.0044081429950892925,
0.028863390907645226,
-0.03779993951320648,
0.0027498856652528048,
0.0385955348610878,
-0.006577522959560156,
0.06764394789934158,
-0.0005539088160730898,
-0.0026874407194554806,
-0.027864273637533188,
-0.01026870682835579,
-0.035542674362659454,
-0.01782684400677681,
0.02936295047402382,
0.021296001970767975,
-0.0019253824139013886,
0.03271184489130974,
-0.04266601428389549,
0.01491275243461132,
0.04096381366252899,
-0.004008033312857151,
-0.022535648196935654,
-0.018381910398602486,
-0.003563981270417571,
-0.017253277823328972,
-0.043110065162181854,
0.0022549524437636137,
-0.06653381884098053,
-0.010222450830042362,
0.008427740074694157,
-0.010416723787784576,
0.037892453372478485,
0.0222766175866127,
-0.02666163258254528,
-0.06283338367938995,
0.015245791524648666,
-0.005023340228945017,
-0.036597300320863724,
-0.006503514014184475,
-0.032434310764074326,
0.014080154709517956,
-0.009676637127995491,
0.01617090031504631,
0.011933902278542519,
-0.018307901918888092,
0.017031250521540642,
0.011906148865818977,
0.004158363677561283,
0.06412853300571442,
-0.023460756987333298,
0.017059003934264183,
-0.0003555886505637318,
-0.021277500316500664,
0.046477459371089935,
0.015652839094400406,
-0.05158406123518944,
0.06738491356372833,
-0.014033898711204529,
0.010685005225241184,
0.005953074432909489,
-0.05850387364625931,
-0.06187126785516739,
-0.02142551727592945,
-0.007428622804582119,
-0.023164721205830574,
0.028678368777036667,
-0.00494008045643568,
-0.03084312379360199,
-0.04011271148920059,
-0.01696649380028248,
0.01974182017147541,
-0.020666928961873055,
-0.011166062206029892,
0.011388087645173073,
0.025310974568128586,
0.000009693765605334193,
0.009264963679015636,
0.012618482112884521,
0.004856820683926344,
0.035783205181360245,
-0.0264396071434021,
-0.006744042504578829,
0.003862328827381134,
0.007090958300977945,
0.025958549231290817,
0.017891602590680122,
0.01576385274529457,
0.06856905668973923,
0.006577522959560156,
-0.0012280817609280348,
-0.019834330305457115,
-0.038262493908405304,
0.0351911336183548,
0.047513581812381744,
-0.0008192993700504303,
0.00019239369430579245,
-0.040186721831560135,
0.008034569211304188,
-0.020944461226463318,
0.04274002090096474,
-0.003936337307095528,
0.024274852126836777,
-0.04525631666183472,
-0.011055048555135727,
0.019778823480010033,
0.015699094161391258,
0.03966866061091423,
0.03506162017583847,
-0.02179556153714657,
0.022554149851202965,
-0.005546026397496462,
0.011582360602915287,
-0.024607891216874123,
-0.0021265936084091663,
-0.0008696021977812052,
0.004475213121622801,
-0.0034252149052917957,
-0.039779674261808395,
-0.015847111120820045,
-0.05328626185655594,
-0.026791147887706757,
-0.0033188273664563894,
0.04932679608464241,
-0.0058235591277480125,
-0.012350200675427914,
0.027993788942694664,
0.03126867488026619,
0.02075943909585476,
-0.037670426070690155,
-0.0007452907157130539,
0.0018282460514456034,
0.019482789561152458,
-0.024681899696588516,
-0.005754176061600447,
-0.01186914462596178,
-0.019593801349401474,
-0.035357654094696045,
0.032841358333826065,
-0.01092553324997425,
0.0019843580666929483,
0.03023255243897438,
0.008682144805788994,
-0.06250034272670746,
-0.012729495763778687,
-0.01931626908481121,
0.015597332268953323,
0.05476643517613411,
0.0180211178958416,
0.05358229577541351,
0.027383217588067055,
-0.024663398042321205,
0.03792945668101311,
0.001109552220441401,
-0.015264293178915977,
0.06383249908685684,
0.030547089874744415,
-0.03654179349541664,
-0.03445104882121086,
-0.019556798040866852,
-0.013469582423567772,
-0.009209456853568554,
-0.008760779164731503,
0.0034807214979082346,
0.03593122214078903,
-0.011286325752735138,
0.022776175290346146,
-0.010342715308070183,
-0.019149750471115112,
0.019223758950829506,
-0.03317439928650856,
0.011323329992592335,
-0.03317439928650856,
0.07415671646595001,
-0.001699887216091156,
-0.034765586256980896,
0.0215920377522707,
0.013303062878549099,
-0.05580255761742592,
0.03502461686730385,
0.03833650425076485,
-0.012054165825247765,
0.011628616601228714,
0.006438756361603737,
-0.019797325134277344,
0.020296884700655937,
-0.024441370740532875,
-0.02871537394821644,
0.037448398768901825,
0.027420220896601677,
0.04177790880203247,
-0.0175955668091774,
-0.015532574616372585,
-0.011415841057896614,
0.0402977354824543,
0.024478375911712646,
-0.022202609106898308,
-0.0025787404738366604,
-0.014533457346260548,
-0.013682357966899872,
0.06183426454663277,
-0.041037820279598236,
0.016938740387558937,
0.04484926909208298,
-0.022831682115793228,
-0.04592239484190941,
-0.0071140858344733715,
-0.045848388224840164,
-0.02207309380173683,
-0.021499525755643845,
-0.009750645607709885,
0.03193475306034088,
0.016910986974835396,
0.008672893978655338,
-0.025144454091787338,
-0.024663398042321205,
-0.009639632888138294,
0.0016594136832281947,
0.02077794075012207,
-0.014089405536651611,
-0.0030412948690354824,
-0.006938314996659756,
0.024256350472569466,
-0.043332092463970184,
-0.014690726064145565,
-0.007331486325711012,
-0.05284220725297928,
-0.04174090549349785,
-0.016281912103295326,
0.006313866935670376,
-0.03582020848989487,
-0.00862201303243637,
0.05650563910603523,
0.043961163610219955,
0.0008372233714908361,
0.04525631666183472,
-0.05791180580854416,
-0.021758556365966797,
-0.004593164660036564,
-0.042888037860393524,
-0.04137086123228073,
-0.01280350424349308,
0.013497335836291313,
0.001225769054144621,
0.03300787881016731,
0.005842061247676611,
0.01344182901084423,
-0.005199111066758633,
-0.0222766175866127,
-0.019482789561152458,
0.017789840698242188,
-0.03291536867618561,
0.0046278564259409904,
0.06113118305802345,
-0.00046920357272028923,
0.047106534242630005,
0.01491275243461132,
-0.016022883355617523,
0.04214795306324959,
0.03108365274965763,
0.01871494948863983,
0.038706548511981964,
-0.06431355327367783,
0.0032101271208375692,
0.028437841683626175,
0.0017947108717635274,
0.002747572725638747,
-0.01259998045861721,
-0.06490562856197357,
0.03415501117706299,
-0.0012396456440910697,
-0.0019381027668714523,
0.04991886392235756,
-0.01309953909367323,
-0.020611422136425972,
0.00723897572606802,
-0.02035239152610302,
-0.02392331138253212,
-0.04244398698210716,
0.010231702588498592,
-0.01017619576305151,
0.012979274615645409,
-0.015800856053829193,
-0.009107694961130619,
0.04799463972449303,
0.0033858977258205414,
0.005689418409019709,
0.018529927358031273,
0.03398849442601204,
-0.01163786742836237,
0.00029314382118172944,
0.01806737296283245,
-0.02138851210474968,
0.022905690595507622,
-0.0011511821066960692,
-0.03541316092014313,
-0.01488499902188778,
0.048142656683921814,
0.004842943977564573,
-0.007835670374333858,
-0.00123502011410892,
-0.030177045613527298,
0.018215389922261238,
-0.026069562882184982,
-0.03498760983347893,
-0.036171749234199524,
0.011933902278542519,
0.012257690541446209,
0.029492465779185295,
-0.028474844992160797,
0.025329476222395897,
0.0511770136654377,
0.05617259815335274,
-0.0022931131534278393,
0.01828939840197563,
-0.03343342989683151,
-0.014783237129449844,
0.02436736226081848,
0.045737374573946,
-0.02455238439142704,
-0.030935633927583694,
0.050029877573251724,
-0.010074433870613575,
-0.044812265783548355,
0.02936295047402382,
0.05587656423449516,
-0.025940047577023506,
0.032008759677410126,
-0.0032471315935254097,
0.0016397552099078894,
0.01344182901084423,
0.022702166810631752,
-0.025866039097309113,
-0.014080154709517956,
-0.0020838072523474693,
-0.040815796703100204,
-0.015662090852856636,
0.0037582539953291416,
-0.05835585668683052,
-0.018983229994773865,
0.0010280270362272859,
0.039372626692056656,
-0.007937432266771793,
0.010259455069899559,
0.01974182017147541,
0.026809649541974068,
-0.04747657850384712,
0.031786736100912094,
-0.020685430616140366,
-0.04806864634156227,
0.005125102121382952,
0.009824654087424278,
-0.02161053940653801,
0.025699518620967865,
-0.07419371604919434,
-0.013118041679263115,
0.011480598710477352,
-0.018400412052869797,
0.02808629907667637,
-0.05876290425658226,
-0.006970693822950125,
-0.0023046769201755524
] |
Bayesian inference with deep generative prior has received considerable
interest for solving imaging inverse problems in many scientific and
engineering fields. The selection of the prior distribution is learned from,
and therefore an important representation learning of, available prior
measurements. The SA-Roundtrip, a novel deep generative prior, is introduced to
enable controlled sampling generation and identify the data's intrinsic
dimension. This prior incorporates a self-attention structure within a
bidirectional generative adversarial network. Subsequently, Bayesian inference
is applied to the posterior distribution in the low-dimensional latent space
using the Hamiltonian Monte Carlo with preconditioned Crank-Nicolson (HMC-pCN)
algorithm, which is proven to be ergodic under specific conditions. Experiments
conducted on computed tomography (CT) reconstruction with the MNIST and
TomoPhantom datasets reveal that the proposed method outperforms
state-of-the-art comparisons, consistently yielding a robust and superior point
estimator along with precise uncertainty quantification. | [
0.006655328907072544,
0.025633960962295532,
-0.03465055674314499,
-0.037929318845272064,
0.014651970006525517,
0.02716156654059887,
-0.048249971121549606,
0.041357118636369705,
-0.01795867644250393,
0.033663202077150345,
-0.0020562126301229,
-0.05130518227815628,
0.07619396597146988,
-0.0035651884973049164,
0.00894673727452755,
0.04456136375665665,
0.06166309118270874,
0.005677288863807917,
0.025224115699529648,
-0.07347408682107925,
0.06244552135467529,
-0.006846279837191105,
0.00012341933324933052,
-0.012444393709301949,
0.02554081380367279,
0.04772834852337837,
-0.013087105937302113,
0.003513957839459181,
-0.026882126927375793,
0.015266737900674343,
0.0009477672865614295,
0.05260923504829407,
-0.033309247344732285,
-0.005439764820039272,
-0.019057806581258774,
0.019542168825864792,
0.0016405455535277724,
0.04277294874191284,
0.009412470273673534,
0.006194252986460924,
0.008387857116758823,
-0.05663317069411278,
0.04921869561076164,
0.024795642122626305,
0.0014961682027205825,
-0.058384329080581665,
-0.033663202077150345,
-0.009533560834825039,
-0.010888844728469849,
0.04403974115848541,
-0.04806367680430412,
-0.026993902400135994,
0.014884836971759796,
0.027925368398427963,
-0.015331940725445747,
0.018396465107798576,
0.029955966398119926,
0.09016596525907516,
0.06732640415430069,
-0.024106355383992195,
0.06225922703742981,
0.06658123433589935,
-0.03738906979560852,
0.0002254440332762897,
0.01658010669052601,
-0.021125663071870804,
0.04258665442466736,
-0.00268960976973176,
-0.0013075462775304914,
-0.009025911800563335,
-0.05339166522026062,
-0.061737608164548874,
0.0077078863978385925,
-0.004347620531916618,
0.01564863882958889,
0.06814609467983246,
0.02118155173957348,
0.044226035475730896,
0.005602771881967783,
0.06203567609190941,
0.061625830829143524,
0.09396634995937347,
-0.03656937927007675,
0.01698063686490059,
0.03494862839579582,
-0.008001298643648624,
-0.0025801626034080982,
-0.05599977448582649,
0.036643896251916885,
0.024665236473083496,
-0.00320890243165195,
0.04243762046098709,
0.004960059653967619,
0.04035113379359245,
0.01230467390269041,
0.03071976825594902,
0.025484926998615265,
0.0005597532144747674,
-0.01787484437227249,
0.03338376432657242,
-0.010236818343400955,
-0.046536073088645935,
0.020976629108190536,
0.005211555864661932,
-0.014279383234679699,
-0.08107485622167587,
-0.02472112327814102,
0.0003749153111129999,
0.008173619396984577,
0.15037597715854645,
-0.033868126571178436,
-0.024683864787220955,
-0.021107032895088196,
-0.014791689813137054,
-0.034333858639001846,
-0.06192390248179436,
-0.043182794004678726,
-0.015685897320508957,
0.021703172475099564,
-0.054136838763952255,
-0.04221406579017639,
0.06896578520536423,
0.007614739704877138,
0.03347691148519516,
-0.05808625742793083,
0.02220616489648819,
0.0009198233019560575,
-0.038599975407123566,
-0.009077141992747784,
0.03681156039237976,
-0.023100372403860092,
-0.012137009762227535,
0.026956643909215927,
-0.026379134505987167,
0.015993282198905945,
-0.0028712458442896605,
0.04150615260004997,
-0.006394518539309502,
-0.017306650057435036,
-0.061961159110069275,
-0.032824885100126266,
-0.021572766825556755,
0.05376425385475159,
-0.008415800519287586,
-0.01030202116817236,
0.03513491898775101,
-0.060247261077165604,
0.05186406150460243,
-0.04050016775727272,
0.023789657279849052,
-0.06181212514638901,
0.05752737820148468,
0.008876876905560493,
0.038935303688049316,
0.052981819957494736,
0.04485943168401718,
-0.0033928670454770327,
-0.014810319058597088,
0.04806367680430412,
-0.044710397720336914,
0.04485943168401718,
-0.04187873750925064,
-0.0234543289989233,
0.04616348445415497,
0.04266117140650749,
0.021256068721413612,
0.029713785275816917,
-0.014782375656068325,
-0.031464941799640656,
0.03159534931182861,
0.013832279480993748,
0.06486733257770538,
-0.03338376432657242,
0.0097803995013237,
-0.015145647339522839,
0.043182794004678726,
0.0771254375576973,
-0.005267443601042032,
0.0020492265466600657,
0.0004241083806846291,
-0.010162300430238247,
0.022411087527871132,
0.046871401369571686,
0.06471829861402512,
0.05406232178211212,
0.031483571976423264,
0.10149260610342026,
0.024329908192157745,
0.02162865549325943,
-0.009957377798855305,
0.007423788774758577,
-0.018787682056427002,
0.08189454674720764,
-0.01201591920107603,
0.06594783812761307,
-0.039866771548986435,
-0.032508183270692825,
-0.04474765807390213,
-0.006441091652959585,
0.0020631984807550907,
-0.03731455281376839,
-0.039978548884391785,
0.013366545550525188,
-0.0001221094571519643,
-0.008271423168480396,
-0.0011107738828286529,
-0.018508242443203926,
0.018014565110206604,
-0.009594106115400791,
-0.06769899278879166,
-0.026733091101050377,
-0.053913287818431854,
-0.054583944380283356,
-0.057229310274124146,
-0.006757790222764015,
-0.004207900259643793,
-0.00506252096965909,
-0.01099130604416132,
-0.01616094633936882,
-0.005975358188152313,
-0.008439087308943272,
0.030086372047662735,
0.08562041074037552,
-0.004738836549222469,
0.02095799893140793,
-0.011401151306927204,
0.015406457707285881,
-0.039084337651729584,
0.006697244942188263,
-0.006855594459921122,
-0.00612905016168952,
-0.011103082448244095,
0.058645136654376984,
-0.019281359389424324,
-0.01622614823281765,
-0.020455006510019302,
0.03602913022041321,
-0.024311278015375137,
0.021796319633722305,
-0.034482892602682114,
-0.0328994020819664,
0.039196114987134933,
-0.04970305785536766,
0.005565512925386429,
0.025689849629998207,
0.03085017390549183,
-0.05916675925254822,
0.03530258312821388,
0.07921192049980164,
0.005584142170846462,
0.029285309836268425,
-0.01816359907388687,
0.007428446318954229,
0.007176950108259916,
-0.07809416204690933,
-0.01773512363433838,
-0.011289375834167004,
-0.04176696389913559,
0.053577959537506104,
-0.043220050632953644,
0.03152082860469818,
0.0019351219525560737,
-0.003502314444631338,
0.019858868792653084,
0.012099751271307468,
0.002403183840215206,
0.07459184527397156,
0.04187873750925064,
0.045753639191389084,
0.030328553169965744,
-0.020790334790945053,
-0.06252004206180573,
-0.012071806937456131,
-0.024944676086306572,
0.01989612728357315,
-0.04728124663233757,
0.023398442193865776,
-0.01501524168998003,
0.046647846698760986,
-0.022168904542922974,
0.027794964611530304,
0.039643220603466034,
0.0011427931021898985,
-0.010451055131852627,
-0.019188212230801582,
-0.03206108137965202,
-0.024087727069854736,
0.006450406275689602,
-0.03684882074594498,
0.01012504193931818,
-0.016822287812829018,
-0.008732499554753304,
-0.05164051055908203,
-0.019523540511727333,
0.031222760677337646,
0.010944732464849949,
-0.045157503336668015,
-0.0920289009809494,
0.031464941799640656,
-0.04731850326061249,
-0.024423055350780487,
0.020753076300024986,
-0.00704188784584403,
0.03634582832455635,
0.017791012302041054,
-0.002271614270284772,
0.006492322310805321,
0.07809416204690933,
-0.03159534931182861,
-0.02947160415351391,
-0.03586146607995033,
-0.015844246372580528,
0.0057983798906207085,
-0.03960596024990082,
0.03014225885272026,
0.033197470009326935,
0.03073839843273163,
-0.06959918886423111,
-0.028912723064422607,
-0.030906062573194504,
-0.013236140832304955,
0.02760867029428482,
-0.015909450128674507,
-0.005844953004270792,
-0.007475019432604313,
0.012658631429076195,
0.026844868436455727,
0.02231794036924839,
-0.023174889385700226,
0.03176301345229149,
0.017520887777209282,
-0.04910691827535629,
-0.042176809161901474,
-0.01704583875834942,
-0.055738963186740875,
0.0040588658303022385,
-0.003518615150824189,
0.03547024726867676,
-0.03431522846221924,
-0.022858191281557083,
-0.01357146818190813,
-0.02911764569580555,
-0.015406457707285881,
-0.023323923349380493,
0.01629135198891163,
-0.03126002103090286,
-0.01576041430234909,
-0.01603054068982601,
-0.02222479321062565,
0.000644458457827568,
0.0010956375626847148,
-0.023100372403860092,
-0.04076097905635834,
0.0073911878280341625,
0.03202382102608681,
-0.0364576019346714,
0.021423732861876488,
-0.03144631162285805,
0.000369093642802909,
-0.0018559471936896443,
0.014763745479285717,
-0.05450942739844322,
-0.027329230681061745,
-0.02336118184030056,
-0.053130853921175,
0.038022466003894806,
0.001518290606327355,
0.008755786344408989,
0.03886078670620918,
0.017632663249969482,
-0.010097098536789417,
0.05477023869752884,
-0.03083154559135437,
-0.002531260484829545,
0.010432425886392593,
-0.01006915420293808,
-0.03811561316251755,
0.01345969270914793,
-0.005029919557273388,
0.046759624034166336,
-0.030757026746869087,
0.0034184823743999004,
-0.017148301005363464,
0.0037538104224950075,
0.049777574837207794,
0.03764988109469414,
0.013534209690988064,
-0.011457039043307304,
0.020082419738173485,
0.027701817452907562,
0.03258270397782326,
-0.06129050254821777,
-0.005504967644810677,
0.010581460781395435,
0.003956404514610767,
0.01243507955223322,
0.05972563847899437,
-0.021833578124642372,
0.03038444183766842,
-0.03798520937561989,
0.0293411985039711,
0.007842948660254478,
-0.03461330011487007,
0.013971999287605286,
-0.029769673943519592,
0.02038048952817917,
-0.05752737820148468,
-0.020175566896796227,
0.021572766825556755,
-0.002358939265832305,
0.027347858995199203,
-0.008276080712676048,
-0.019821610301733017,
0.0077078863978385925,
0.04202777519822121,
-0.0003018534043803811,
-0.06538895517587662,
0.008797702379524708,
0.01138252206146717,
-0.027664558961987495,
0.01909506507217884,
-0.007284068968147039,
0.01980298012495041,
-0.02231794036924839,
-0.00020623253658413887,
0.03720277547836304,
0.0573410838842392,
0.01760471984744072,
0.006557525135576725,
0.00257550529204309,
0.03500451520085335,
0.019765721634030342,
0.0015508919022977352,
-0.05521734058856964,
-0.030682509765028954,
0.0066040982492268085,
-0.053913287818431854,
0.013087105937302113,
-0.017008580267429352,
0.022504232823848724,
-0.023063113912940025,
0.04705769196152687,
-0.018498927354812622,
0.009384525939822197,
0.020659929141402245,
0.0033882097341120243,
-0.031241390854120255,
-0.0112241730093956,
-0.015080444514751434,
-0.008844275958836079,
-0.035265326499938965,
0.07451733201742172,
-0.07056791335344315,
-0.026900755241513252,
-0.01490346621721983,
-0.0018757409416139126,
-0.01496866811066866,
-0.011978660710155964,
-0.011736479587852955,
0.008317996747791767,
0.02947160415351391,
0.03163260594010353,
-0.01840578019618988,
-0.04392796382308006,
0.029061758890748024,
0.04143163561820984,
-0.026621315628290176,
-0.05059726536273956,
0.000021012576326029375,
0.005109094548970461,
0.01709241233766079,
-0.0462380014359951,
0.027347858995199203,
0.016729140654206276,
0.021703172475099564,
0.01259342860430479,
-0.01591876521706581,
-0.07213277369737625,
0.006096449214965105,
-0.05715479329228401,
0.03602913022041321,
-0.06270632892847061,
0.013059161603450775,
-0.006613412871956825,
-0.006152336951345205,
0.04433780908584595,
-0.018415095284581184,
0.04877159371972084,
-0.041692446917295456,
-0.005341961048543453,
-0.041468892246484756,
-0.023379812017083168,
-0.01931861788034439,
-0.013645986095070839,
-0.004356935154646635,
-0.04821271076798439,
0.01161538902670145,
-0.015751101076602936,
0.0515659935772419,
0.024907417595386505,
-0.01374844741076231,
-0.009063170291483402,
-0.021107032895088196,
-0.030570734292268753,
-0.009212205186486244,
0.04303375631570816,
-0.012900812551379204,
0.002414827235043049,
-0.034799594432115555,
0.008201563730835915,
0.03554476425051689,
0.03373771905899048,
0.03360731527209282,
-0.04564186558127403,
-0.0032601330894976854,
0.02541041001677513,
-0.020101049914956093,
-0.011587444692850113,
0.022280681878328323,
0.013543524779379368,
0.02600654773414135,
-0.011447724886238575,
0.017725810408592224,
0.036643896251916885,
-0.05685672163963318,
-0.012109066359698772,
0.00919357594102621,
-0.010022580623626709,
0.024106355383992195,
-0.007130376994609833,
0.004983346443623304,
0.02405046857893467,
-0.002971378620713949,
-0.08740882575511932,
-0.013971999287605286,
-0.011391837149858475,
-0.028931353241205215,
0.014139663428068161,
-0.019504910334944725,
-0.05260923504829407,
-0.026863496750593185,
0.03176301345229149,
0.009039883501827717,
0.025373151525855064,
0.03105509653687477,
-0.013543524779379368,
0.016989951953291893,
-0.006874223705381155,
-0.014139663428068161,
-0.02898724190890789,
-0.011103082448244095,
0.013534209690988064,
-0.003632719861343503,
0.030812915414571762,
-0.04336908459663391,
0.020883481949567795,
-0.019076436758041382,
-0.013254770077764988,
-0.03265722095966339,
-0.03982951119542122,
0.0029131618794053793,
-0.005775093100965023,
0.00257550529204309,
-0.026993902400135994,
-0.016328610479831696,
-0.02783222310245037,
0.029955966398119926,
0.0633397325873375,
0.025019193068146706,
-0.02036185935139656,
-0.0077078863978385925,
0.0397922545671463,
-0.038711752742528915,
-0.02462797798216343,
0.03507903218269348,
-0.012295359745621681,
0.03679293021559715,
-0.008690583519637585,
-0.027776334434747696,
0.005532911513000727,
0.008746471256017685,
-0.027329230681061745,
0.012313988991081715,
0.044710397720336914,
0.023305295035243034,
-0.017371851950883865,
-0.020287342369556427,
-0.030198147520422935,
0.029639268293976784,
0.00034260505344718695,
0.011606073938310146,
0.0666930079460144,
0.006701902486383915,
-0.009021254256367683,
-0.02518685720860958,
-0.03325335681438446,
-0.006133707705885172,
-0.0057238624431192875,
0.0225601214915514,
-0.06319069862365723,
-0.020883481949567795,
0.005844953004270792,
-0.020417748019099236,
-0.021144291386008263,
-0.028577396646142006,
0.0012993959244340658,
0.02278367429971695,
-0.0164497010409832,
0.0015963008627295494,
-0.010655977763235569,
0.0007376051507890224,
-0.016477644443511963,
-0.016719825565814972,
-0.054248616099357605,
0.01571384258568287,
-0.010152986273169518,
0.03707237169146538,
-0.008075815625488758,
-0.02854013629257679,
0.010003951378166676,
0.06915207952260971,
-0.01622614823281765,
0.020175566896796227,
-0.0021505234763026237,
-0.04966580122709274,
-0.03371909260749817,
-0.033551428467035294,
-0.008751128800213337,
0.010283390991389751,
-0.006869566161185503,
0.009449728764593601,
0.006380546372383833,
-0.009063170291483402,
-0.0294529739767313,
-0.02496330440044403,
0.022411087527871132,
0.015974652022123337,
0.03470644727349281,
0.03027266450226307,
0.006846279837191105,
-0.03234051913022995,
0.017632663249969482,
-0.0032438323833048344,
-0.005868239793926477,
-0.008699898608028889,
0.013618041761219501,
0.0016382168978452682,
0.035041775554418564,
0.05894320830702782,
0.029546121135354042,
-0.01858275942504406,
0.04672236368060112,
-0.01461471151560545,
0.03535847365856171,
-0.022411087527871132,
-0.008024584501981735,
0.007111747749149799,
-0.013683244585990906,
-0.037687137722969055,
-0.029248051345348358,
0.006883538328111172,
0.006371231749653816,
0.014195551164448261,
0.036085017025470734,
0.01969120465219021,
0.01617957465350628,
-0.01011572778224945,
0.014270068146288395,
0.005938099697232246,
0.013785705901682377,
0.0016405455535277724,
-0.03487411141395569,
-0.057601895183324814,
0.018638646230101585,
0.05789996311068535,
-0.030663881450891495,
-0.015154961496591568,
0.011103082448244095,
-0.02842836081981659,
-0.027776334434747696,
-0.004727193154394627,
-0.03321610018610954,
-0.021311955526471138,
-0.01629135198891163,
0.005882211495190859,
-0.019299987703561783,
0.04541831091046333,
0.0017825942486524582,
-0.01611437276005745,
-0.0030179517343640327,
-0.043555378913879395,
-0.027329230681061745,
0.02773907594382763,
-0.02816755138337612,
0.028353843837976456,
-0.04523202031850815,
-0.05629784241318703,
0.023901432752609253,
0.016021225601434708,
-0.038376424461603165,
-0.017744438722729683,
0.0012213855516165495,
0.02440442517399788,
0.012528225779533386,
0.04448684677481651,
-0.005695918574929237,
0.002559204585850239,
-0.004538570996373892,
-0.006347944959998131,
0.03288077190518379,
0.01673845574259758,
0.06266907602548599,
-0.019635315984487534,
0.05417409911751747,
0.006529580801725388,
0.043443601578474045,
0.015564806759357452,
-0.019579429179430008,
0.012220841832458973,
0.017986619845032692,
0.0058961836621165276,
0.02025008387863636,
-0.027310600504279137,
-0.049069661647081375,
0.046088967472314835,
0.06095517426729202,
-0.0033160210587084293,
-0.02958337962627411,
0.028912723064422607,
-0.0004479772178456187,
0.028465619310736656,
-0.056558653712272644,
-0.0036536778789013624,
0.015024556778371334,
0.016794342547655106,
-0.03373771905899048,
-0.016216833144426346,
0.03327198699116707,
0.048026420176029205,
-0.02772044576704502,
0.020771704614162445,
-0.048361748456954956,
0.02058541215956211,
-0.021107032895088196,
0.0012912455713376403,
0.006315343547612429,
-0.02900587022304535,
0.0524602010846138,
0.01219289842993021,
-0.010674607008695602,
0.028596024960279465,
-0.0395687036216259,
0.03293665871024132,
-0.03738906979560852,
-0.0029317911248654127,
0.0007405159412883222,
-0.03496725857257843,
-0.029173534363508224,
-0.002375239972025156,
-0.0586823970079422,
0.01443773228675127,
0.0577881895005703,
-0.005914812907576561,
0.07272891700267792,
0.030999209731817245,
0.027664558961987495,
0.001358776935376227,
-0.01978435181081295,
0.013813650235533714,
-0.018666591495275497,
0.04161792993545532,
0.017744438722729683,
0.04050016775727272,
-0.043331827968358994,
0.03524669632315636,
0.028931353241205215,
-0.0037095658481121063,
0.013785705901682377,
-0.0005606264458037913,
-0.009705882519483566,
-0.020864851772785187,
0.028055774047970772,
-0.023268036544322968,
0.03291802853345871,
-0.0026546798180788755,
-0.004610759671777487,
-0.04396522417664528,
-0.0337936095893383,
-0.0018000592244789004,
-0.008392514660954475,
-0.0018652619328349829,
0.0025266031734645367,
0.00584029546007514,
-0.0386744923889637,
0.01214632485061884,
0.025708477944135666,
0.004792395513504744,
-0.043443601578474045,
-0.0637868344783783,
-0.013618041761219501,
-0.018014565110206604,
0.01742774061858654,
0.0002466931182425469,
-0.006599441170692444,
-0.04921869561076164,
-0.06252004206180573,
0.023268036544322968,
-0.01771649532020092,
-0.01635655388236046,
-0.023268036544322968,
0.00266166590154171,
0.028856836259365082,
0.03679293021559715,
0.026621315628290176,
-0.006669301073998213,
-0.048399005085229874,
-0.021256068721413612,
0.028558766469359398,
-0.016840916126966476,
-0.06363780051469803,
-0.043182794004678726,
-0.002268121112138033,
-0.0704561322927475,
-0.012137009762227535,
-0.03509766235947609,
0.015844246372580528,
-0.03498588502407074,
0.0022972295992076397,
-0.014139663428068161,
-0.0008540384587831795,
-0.017548831179738045,
0.009566161781549454,
-0.017083097249269485,
0.007162978406995535,
0.0011462861439213157,
0.015909450128674507,
-0.028446990996599197,
0.04754205793142319,
0.0224483460187912,
0.03796657919883728,
-0.0053279888816177845,
0.0019945029634982347,
-0.05532911792397499,
-0.013357231393456459,
0.0014158292906358838,
-0.0028270012699067593,
0.004464053548872471,
0.003590803826227784,
-0.009976007044315338,
-0.019393134862184525,
0.01675708405673504,
0.019821610301733017,
-0.021908095106482506,
0.003928460646420717,
-0.010879529640078545,
-0.03288077190518379,
-0.02118155173957348,
-0.0007114076288416982,
-0.0164497010409832,
-0.027794964611530304,
-0.01230467390269041,
0.047132208943367004,
0.015965336933732033,
-0.07004629075527191,
0.04981483519077301,
0.001285423873923719,
0.03679293021559715,
-0.024441683664917946,
0.02369651012122631,
-0.06542621552944183,
-0.011540871113538742,
0.0402393564581871,
-0.02291407808661461,
0.014950038865208626,
-0.0006561017944477499,
-0.005029919557273388,
-0.02967652678489685,
0.00624548364430666,
-0.002875903155654669,
-0.01856412924826145,
-0.02185220643877983,
0.01909506507217884,
0.0255594439804554,
-0.031353164464235306,
0.049293212592601776,
-0.019244100898504257,
-0.009966692887246609,
-0.041133563965559006,
-0.016263406723737717,
-0.00748433405533433,
0.017036523669958115,
0.014055831357836723,
-0.029322568327188492,
-0.024534830823540688,
0.0369047075510025,
0.04832448810338974,
-0.02943434566259384,
0.026416392996907234,
-0.015406457707285881,
0.014344586059451103,
-0.012705205008387566,
0.007288726046681404,
0.00217031710781157,
-0.015099073760211468,
0.061514053493738174,
-0.03014225885272026,
0.008709212765097618,
-0.006841622292995453,
0.01749294251203537,
0.0011486147996038198,
-0.008848932571709156,
-0.014596082270145416,
0.014502935111522675,
-0.022709155455231667,
0.03545162081718445,
-0.0008476346265524626,
0.005067178513854742,
0.004815682303160429,
0.03684882074594498,
0.011475668288767338,
0.02000790275633335,
0.05786270648241043,
-0.013888167217373848,
0.003129727905616164,
-0.0009378704708069563,
-0.03794794902205467,
-0.00509046483784914,
-0.004997318610548973,
0.025801625102758408,
0.05525460094213486,
-0.023174889385700226,
0.031017838045954704,
-0.0065062944777309895,
0.008439087308943272,
0.03263859078288078,
0.03774302825331688,
-0.02507508173584938,
-0.04288472235202789,
0.027347858995199203,
0.020212825387716293,
-0.02609969489276409,
-0.039754994213581085,
0.021684542298316956,
0.03798520937561989,
-0.022355198860168457,
-0.0009960870957002044,
0.02185220643877983,
0.004370907321572304,
-0.018415095284581184,
-0.04921869561076164,
-0.030552104115486145,
0.007875550538301468,
-0.04474765807390213,
-0.010041209869086742,
-0.00042352621676400304,
0.010152986273169518,
-0.002400855300948024,
0.027124308049678802,
-0.017166929319500923,
0.0462380014359951,
-0.022019870579242706,
0.002086485270410776,
-0.04694591835141182,
-0.01931861788034439,
0.0391215980052948,
0.02900587022304535,
-0.035731058567762375,
-0.01831263303756714,
-0.06170034781098366,
0.010041209869086742,
0.014130348339676857,
-0.04269842803478241,
-0.028465619310736656,
-0.01109376735985279,
0.039084337651729584,
0.024590719491243362,
-0.014912780374288559,
-0.00017668757936917245,
-0.01490346621721983,
0.028484249487519264,
0.009761770255863667,
0.021349214017391205,
0.05581348016858101,
-0.02518685720860958,
0.0027571411337703466,
-0.021330585703253746,
0.04176696389913559,
0.0018734122859314084,
-0.009584791027009487,
-0.024423055350780487,
0.01196003146469593,
-0.008061843924224377,
-0.003905173856765032,
-0.052870046347379684,
0.011978660710155964,
0.023044483736157417,
-0.01904849149286747,
0.004983346443623304,
0.006948741152882576,
0.029490232467651367,
-0.002127236919477582,
0.00891413539648056,
-0.006464378442615271,
0.043108273297548294,
-0.0014915108913555741,
0.03673704341053963,
0.04392796382308006,
0.03073839843273163,
-0.027906740084290504,
0.018899457529187202,
0.004848283715546131,
-0.01856412924826145,
-0.039084337651729584,
-0.039419665932655334,
-0.028949981555342674,
0.022131646052002907,
-0.0444495864212513,
-0.05219938978552818,
0.030533475801348686,
-0.00015762161638122052,
-0.005435107741504908,
-0.022057129070162773,
0.032862141728401184,
-0.046312518417835236
] |
We introduce the problem of ranking with slot constraints, which can be used
to model a wide range of application problems -- from college admission with
limited slots for different majors, to composing a stratified cohort of
eligible participants in a medical trial. We show that the conventional
Probability Ranking Principle (PRP) can be highly sub-optimal for
slot-constrained ranking problems, and we devise a new ranking algorithm,
called MatchRank. The goal of MatchRank is to produce rankings that maximize
the number of filled slots if candidates are evaluated by a human decision
maker in the order of the ranking. In this way, MatchRank generalizes the PRP,
and it subsumes the PRP as a special case when there are no slot constraints.
Our theoretical analysis shows that MatchRank has a strong approximation
guarantee without any independence assumptions between slots or candidates.
Furthermore, we show how MatchRank can be implemented efficiently. Beyond the
theoretical guarantees, empirical evaluations show that MatchRank can provide
substantial improvements over a range of synthetic and real-world tasks. | [
0.011411439627408981,
-0.045957453548908234,
-0.03302218019962311,
-0.01225128024816513,
0.01053696684539318,
0.05205278843641281,
-0.044260457158088684,
0.0276021771132946,
-0.030545948073267937,
-0.0028961508069187403,
0.01688339002430439,
0.014545689336955547,
-0.00009632190631236881,
-0.0275502298027277,
-0.038442179560661316,
-0.017316296696662903,
0.048347100615501404,
0.02484888583421707,
0.03035546839237213,
-0.01787041872739792,
-0.02348089963197708,
-0.012156040407717228,
0.019203772768378258,
0.07082365453243256,
0.015350897796452045,
-0.017316296696662903,
-0.040485501289367676,
-0.010995849035680294,
-0.033957257866859436,
0.004357213154435158,
0.044572148472070694,
0.016744859516620636,
0.0021461385767906904,
-0.010052110999822617,
-0.02209559455513954,
-0.0005606150953099132,
0.038130488246679306,
0.035983264446258545,
0.016909364610910416,
0.047342754900455475,
-0.04408729448914528,
-0.02793118730187416,
-0.0013712343061342835,
-0.0007960085640661418,
0.015281632542610168,
-0.025593487545847893,
-0.008891918696463108,
-0.008394075557589531,
0.015671249479055405,
-0.026632465422153473,
0.019221089780330658,
-0.026026394218206406,
0.04547259584069252,
-0.03378409519791603,
-0.04103962332010269,
0.017766520380973816,
0.01994837448000908,
0.0021861824207007885,
0.048416368663311005,
0.005848579574376345,
-0.009203611873090267,
0.004426478408277035,
-0.047412022948265076,
-0.012640897184610367,
0.04862416163086891,
-0.050806015729904175,
0.0310654379427433,
0.017714571207761765,
0.04692716524004936,
-0.004454617388546467,
-0.048381734639406204,
0.010000161826610565,
0.021454893052577972,
0.01444179192185402,
-0.05832128971815109,
-0.019394252449274063,
-0.003261957550421357,
-0.03570620343089104,
-0.0028918215539306402,
0.0206583421677351,
0.019567415118217468,
0.05641649663448334,
0.020086904987692833,
0.030892273411154747,
-0.0038636988028883934,
-0.008394075557589531,
0.040104545652866364,
-0.05901394039392471,
-0.019203772768378258,
0.010727446526288986,
-0.03484039008617401,
-0.0014285945799201727,
-0.013879012316465378,
0.014545689336955547,
0.033212658017873764,
0.014580322429537773,
0.030857641249895096,
0.004409162327647209,
-0.04266735538840294,
0.03409579023718834,
-0.005411342717707157,
-0.013220992870628834,
0.0009951459942385554,
0.02519521303474903,
-0.005844250321388245,
-0.03560230880975723,
-0.019238406792283058,
-0.010000161826610565,
0.03248537331819534,
0.09433918446302414,
0.009731759317219257,
0.04263272508978844,
-0.007337781134992838,
0.030597897246479988,
-0.053922951221466064,
-0.014363868162035942,
-0.10957752913236618,
-0.015264316461980343,
-0.007207908667623997,
-0.009740416891872883,
-0.04574965685606003,
0.01681412383913994,
-0.009723100811243057,
-0.014614954590797424,
-0.04526480287313461,
0.008891918696463108,
-0.015030546113848686,
0.01615610532462597,
0.023688694462180138,
-0.0044805919751524925,
0.033576302230358124,
0.0073507679626345634,
0.005294458009302616,
-0.03833828121423721,
0.00945469830185175,
0.04346390441060066,
0.030563265085220337,
-0.000028172804377391003,
-0.1000882014632225,
-0.018320642411708832,
-0.04938608035445213,
-0.04502237215638161,
-0.006069362163543701,
-0.024970101192593575,
0.03570620343089104,
-0.006450320594012737,
0.0037684591952711344,
0.02858920767903328,
-0.02961086854338646,
0.044918473809957504,
-0.02824288047850132,
-0.02337700128555298,
-0.012268596328794956,
0.03677981719374657,
0.053264930844306946,
-0.019567415118217468,
-0.016095498576760292,
0.003311741864308715,
0.024883519858121872,
-0.030528632923960686,
0.048000775277614594,
-0.06479758769273758,
-0.002807404613122344,
0.07141240686178207,
0.0448145754635334,
0.05537751689553261,
-0.002222979674115777,
-0.016822783276438713,
-0.09704052656888962,
0.0343901664018631,
-0.0037381555885076523,
0.01553271897137165,
-0.020502496510744095,
0.00032522171386517584,
-0.00698712607845664,
0.07480640709400177,
0.033229973167181015,
-0.025732018053531647,
0.037749528884887695,
-0.008134330622851849,
-0.01632061041891575,
0.04713496193289757,
0.023186521604657173,
-0.013835721649229527,
0.016727542504668236,
-0.014718852937221527,
0.04245956242084503,
-0.006601838394999504,
0.02656319923698902,
0.038407545536756516,
0.016078181564807892,
0.01994837448000908,
0.029697449877858162,
0.012034826911985874,
-0.00929885171353817,
-0.03923872858285904,
-0.04647694155573845,
-0.04623451456427574,
0.016485115513205528,
-0.0037987628020346165,
-0.03996601328253746,
-0.05949879810214043,
0.034909654408693314,
0.012424442917108536,
0.025697385892271996,
0.013350864872336388,
0.026026394218206406,
0.007913547568023205,
-0.009636519476771355,
-0.07452934235334396,
-0.04990556836128235,
-0.0008544510346837342,
-0.010580257512629032,
0.0008528276230208576,
-0.021541474387049675,
-0.021437576040625572,
0.017125818878412247,
0.06604436039924622,
-0.01894402876496315,
-0.053888317197561264,
0.02277093008160591,
0.06064167246222496,
0.09059886634349823,
0.014337894506752491,
0.06168065220117569,
0.019047927111387253,
-0.04405266046524048,
0.000497302389703691,
0.020935403183102608,
-0.015853069722652435,
-0.01927303895354271,
-0.026996107771992683,
-0.033247292041778564,
0.05101381242275238,
0.04619988054037094,
0.0005111013306304812,
-0.03726467117667198,
0.02107393369078636,
-0.025939812883734703,
-0.014580322429537773,
-0.041524481028318405,
-0.0412820540368557,
-0.02716927044093609,
0.025714701041579247,
0.07071975618600845,
0.040208443999290466,
-0.009636519476771355,
0.045299433171749115,
0.05295323580503464,
0.05229521915316582,
-0.05004410073161125,
-0.014917990192770958,
-0.0056494418531656265,
0.0070260874927043915,
0.007194921374320984,
0.0482085719704628,
0.0345286950469017,
-0.1272401511669159,
0.015073836781084538,
-0.04024307429790497,
0.04311757907271385,
0.006497940514236689,
0.017143134027719498,
0.020225435495376587,
0.04214786738157272,
0.025056682527065277,
-0.02962818369269371,
-0.006272828672081232,
0.0064459918066859245,
0.033281922340393066,
-0.018389908596873283,
-0.08173292130231857,
0.003149401629343629,
-0.04003527760505676,
0.041178155690431595,
-0.09392359852790833,
0.01717776618897915,
-0.020398598164319992,
0.0006980632315389812,
-0.017662623897194862,
0.011982877738773823,
0.046338412910699844,
-0.045992083847522736,
-0.030043775215744972,
-0.038407545536756516,
-0.0586329810321331,
0.021957064047455788,
-0.0015563021879643202,
-0.008757716976106167,
0.03172345831990242,
-0.0012511024251580238,
0.0046147932298481464,
0.023030675947666168,
0.010736104100942612,
0.07175873219966888,
0.013099778443574905,
-0.011056455783545971,
0.008749059401452541,
0.031532976776361465,
0.03695297986268997,
-0.060780204832553864,
0.014251312240958214,
-0.005238180048763752,
-0.005697061773389578,
-0.00842437893152237,
0.026770995929837227,
-0.03478844091296196,
0.04159374535083771,
-0.04211323335766792,
-0.03276243433356285,
0.01757604256272316,
0.038788504898548126,
0.027100006118416786,
-0.002491382183507085,
0.007073707412928343,
0.01516907662153244,
0.04342927411198616,
-0.007714410312473774,
0.029749399051070213,
-0.040104545652866364,
0.027100006118416786,
-0.024035019800066948,
-0.055966272950172424,
-0.002588786417618394,
0.020173486322164536,
-0.0448145754635334,
0.008749059401452541,
0.0378880575299263,
-0.012528341263532639,
0.036052532494068146,
-0.054927293211221695,
0.021212464198470116,
-0.08166366070508957,
-0.04751592129468918,
-0.048070039600133896,
-0.004112620372325182,
0.03833828121423721,
0.012026168406009674,
-0.007705752272158861,
0.020744923502206802,
-0.06098799780011177,
0.008134330622851849,
0.04294441640377045,
0.07148167490959167,
0.01169715914875269,
0.02824288047850132,
0.010675497353076935,
0.00416673393920064,
0.01996569149196148,
-0.005103978794068098,
0.0010470948182046413,
-0.0020205953624099493,
0.04852026328444481,
0.03272780030965805,
0.037749528884887695,
-0.0035087147261947393,
0.0075628929771482944,
-0.005445975344628096,
-0.010216615162789822,
-0.04034697264432907,
0.022892145439982414,
-0.03477112576365471,
-0.05607017129659653,
0.03677981719374657,
-0.03243342414498329,
0.003939457703381777,
-0.042217131704092026,
0.06691017001867294,
-0.02309994027018547,
-0.020866138860583305,
-0.05967196077108383,
0.04647694155573845,
0.10112717747688293,
0.0017511105397716165,
-0.050147995352745056,
-0.008567238226532936,
-0.004223011899739504,
-0.018718916922807693,
-0.042875152081251144,
0.014000226743519306,
-0.009584570303559303,
0.012121408246457577,
0.01830332539975643,
-0.018355274572968483,
0.001090926700271666,
-0.017489459365606308,
0.039065565913915634,
-0.015463453717529774,
-0.05648576095700264,
0.023567480966448784,
0.00007454124715877697,
-0.04519553482532501,
0.013212334364652634,
-0.027117321267724037,
0.038407545536756516,
-0.02060639299452305,
-0.02613029256463051,
-0.052572280168533325,
0.022251442074775696,
-0.021247096359729767,
-0.0111776702105999,
-0.05018262937664986,
-0.02036396600306034,
0.06348154693841934,
0.00609966553747654,
-0.01785310171544552,
0.0017532750498503447,
-0.018666967749595642,
0.03896166756749153,
-0.0014275122666731477,
0.017835786566138268,
0.022667033597826958,
-0.03684908151626587,
0.0011526159942150116,
0.01830332539975643,
0.04270198941230774,
-0.025333743542432785,
-0.007069378159940243,
0.04006991162896156,
-0.03743783384561539,
-0.05097917839884758,
0.014043517410755157,
0.04779297858476639,
0.004372364841401577,
-0.03541182726621628,
0.0345633290708065,
-0.0008062900742515922,
-0.0077490429393947124,
-0.0015357391675934196,
-0.02554153837263584,
0.04578429087996483,
0.07896231859922409,
-0.031827352941036224,
-0.05090991407632828,
0.017350930720567703,
0.0447799451649189,
-0.050771381705999374,
0.040450870990753174,
-0.0038918377831578255,
-0.012632238678634167,
0.012614922598004341,
0.021437576040625572,
-0.019238406792283058,
-0.05229521915316582,
-0.01787041872739792,
-0.0022034987341612577,
-0.05000946670770645,
-0.0032381475903093815,
-0.013818405568599701,
0.024727672338485718,
-0.0327451191842556,
-0.03158492594957352,
-0.06285815685987473,
-0.02931649051606655,
0.05551604926586151,
-0.0326412208378315,
0.06968078017234802,
-0.015740513801574707,
0.018095530569553375,
-0.029004797339439392,
-0.062061607837677,
-0.0024004715960472822,
0.05243374779820442,
-0.05229521915316582,
0.0026667097117751837,
0.04214786738157272,
-0.032242946326732635,
-0.021922431886196136,
0.0040130517445504665,
-0.022649716585874557,
-0.023498214781284332,
-0.051186975091695786,
-0.05693598464131355,
-0.011350832879543304,
0.06947298347949982,
0.020069587975740433,
-0.016805466264486313,
-0.09426992386579514,
0.03916946426033974,
0.004145088605582714,
-0.0024567495565861464,
0.054927293211221695,
-0.010242589749395847,
0.0064936112612485886,
0.04315221309661865,
0.008138659410178661,
-0.016623646020889282,
0.008554250933229923,
-0.03245073929429054,
-0.024641091004014015,
0.001174261444248259,
0.023307736963033676,
-0.06587119400501251,
0.035255979746580124,
-0.004727349150925875,
0.016164762899279594,
-0.011705816723406315,
-0.06282352656126022,
0.013679875060915947,
-0.017073869705200195,
0.048070039600133896,
0.02716927044093609,
0.003859369782730937,
-0.00841572042554617,
0.013411472551524639,
-0.03650275617837906,
0.017255689948797226,
-0.009948212653398514,
-0.015775145962834358,
-0.014008884318172932,
0.055585313588380814,
0.03513476625084877,
0.031221283599734306,
-0.014311919920146465,
0.04353317245841026,
0.034632593393325806,
0.04304831475019455,
-0.04858953133225441,
0.04069329798221588,
-0.0019578237552195787,
0.0007743631722405553,
-0.007878915406763554,
-0.04897048696875572,
0.01432057749480009,
-0.04211323335766792,
-0.02822556532919407,
0.0029416061006486416,
-0.005303116049617529,
0.07082365453243256,
-0.02374064363539219,
0.01413009874522686,
0.040520135313272476,
-0.009013133123517036,
-0.05101381242275238,
-0.03238147497177124,
-0.030424734577536583,
0.012545657344162464,
-0.004426478408277035,
-0.03477112576365471,
-0.028537258505821228,
0.00981834065169096,
0.08872870355844498,
0.039411891251802444,
0.0007640816038474441,
0.0045498572289943695,
0.005329090636223555,
0.008086711168289185,
-0.05378441885113716,
-0.018528437241911888,
0.0516371987760067,
-0.020415915176272392,
-0.005329090636223555,
-0.07418301701545715,
-0.04786224663257599,
-0.026736363768577576,
-0.0585290864109993,
-0.001159109640866518,
-0.03300486132502556,
0.021991698071360588,
0.013550003059208393,
-0.009194954298436642,
-0.00894386786967516,
0.012675529345870018,
-0.014883357100188732,
0.008995816111564636,
-0.03245073929429054,
0.02062371000647545,
0.041524481028318405,
-0.004002229310572147,
-0.004112620372325182,
-0.0028831635136157274,
0.0038052562158554792,
0.01793968304991722,
-0.016104156151413918,
-0.01823406107723713,
0.03137712925672531,
-0.048070039600133896,
-0.024987416341900826,
-0.0035368537064641714,
0.00766246160492301,
0.03993138298392296,
-0.00425331573933363,
-0.003887508763000369,
0.013099778443574905,
0.03487502411007881,
0.0275329127907753,
-0.009411407634615898,
-0.005939490161836147,
-0.03134249895811081,
-0.04692716524004936,
0.02311725728213787,
0.05444243922829628,
-0.053957581520080566,
-0.0189267136156559,
-0.035325247794389725,
0.009359458461403847,
0.011359491385519505,
0.0039437864907085896,
-0.003476246725767851,
-0.06694480776786804,
0.04176690801978111,
0.02098735235631466,
-0.048762694001197815,
0.022130228579044342,
-0.05347272753715515,
0.018528437241911888,
0.041524481028318405,
0.00945469830185175,
0.012995881028473377,
0.02171463705599308,
0.009281535632908344,
-0.017679939046502113,
0.0034870693925768137,
-0.06812231242656708,
0.0008030433091334999,
-0.036398857831954956,
0.03144639730453491,
-0.0030736427288502455,
-0.002904808847233653,
0.007376742549240589,
0.0010790217202156782,
-0.00022470601834356785,
0.0224072877317667,
0.021576106548309326,
-0.001016791327856481,
0.022545818239450455,
-0.03376678004860878,
-0.024554509669542313,
0.012459076009690762,
-0.0028442018665373325,
-0.04176690801978111,
-0.020485179498791695,
-0.04166300967335701,
-0.039827484637498856,
-0.00039178121369332075,
-0.03030352108180523,
0.005229521542787552,
0.024641091004014015,
-0.02684026025235653,
-0.007844282314181328,
-0.0003000589495059103,
0.010216615162789822,
0.017584700137376785,
0.06133432313799858,
-0.005086662247776985,
0.01657169684767723,
0.042528826743364334,
-0.016952654346823692,
0.051844995468854904,
-0.0020097726956009865,
-0.015065178275108337,
0.06916128844022751,
0.05825202539563179,
0.0292818583548069,
-0.01580977998673916,
-0.008017445914447308,
-0.03695297986268997,
0.024242816492915154,
0.03172345831990242,
-0.00996552873402834,
-0.0035931316670030355,
-0.004597477149218321,
0.0004945967230014503,
0.0055801765993237495,
0.02890090085566044,
0.018372591584920883,
0.011827031150460243,
0.021576106548309326,
-0.03504818677902222,
-0.004584489855915308,
0.0025563184171915054,
-0.0327104851603508,
-0.027498280629515648,
0.03303949534893036,
0.005757668986916542,
-0.02614760957658291,
-0.02339431829750538,
0.06064167246222496,
-0.00930751021951437,
0.01344610471278429,
0.0026602160651236773,
0.0006894050748087466,
0.030823009088635445,
-0.0050130682066082954,
0.03508281707763672,
-0.005108307581394911,
0.024346714839339256,
0.03314339369535446,
-0.029420388862490654,
0.006013084203004837,
-0.034234318882226944,
-0.040208443999290466,
0.020485179498791695,
0.021853167563676834,
0.0027164940256625414,
0.015506744384765625,
0.008290177211165428,
-0.026009079068899155,
0.027082689106464386,
-0.009437382221221924,
-0.025229845196008682,
0.0011396288173273206,
-0.029437705874443054,
0.016363900154829025,
-0.006658116355538368,
-0.005030384287238121,
0.009194954298436642,
0.028364093974232674,
-0.004697045776993036,
-0.018441855907440186,
-0.0005595328402705491,
0.012277254834771156,
0.011575944721698761,
-0.007008771412074566,
0.033887993544340134,
-0.02439866214990616,
0.010779394768178463,
0.01994837448000908,
-0.008117014542222023,
0.019550099968910217,
-0.009272877126932144,
0.0028831635136157274,
0.0516025647521019,
-0.008813994936645031,
-0.01484006643295288,
0.029853295534849167,
0.033922627568244934,
-0.044572148472070694,
0.008736072108149529,
-0.006995784118771553,
-0.01755872555077076,
0.004541198723018169,
-0.008394075557589531,
-0.005930831655859947,
0.023515531793236732,
0.02888358384370804,
-0.009861631318926811,
0.03549841046333313,
0.010510992258787155,
0.017039235681295395,
-0.01225128024816513,
0.016277318820357323,
0.009991503320634365,
-0.012978564947843552,
0.03523866459727287,
0.014156073331832886,
0.02588786371052265,
-0.033247292041778564,
-0.010545625351369381,
-0.05714378133416176,
0.008173292502760887,
-0.03198320046067238,
0.04443361982703209,
0.0027381395921111107,
-0.07342109829187393,
-0.02268434874713421,
-0.010043452493846416,
-0.003242476610466838,
0.019203772768378258,
-0.028502624481916428,
-0.029403071850538254,
0.024312080815434456,
0.02862383984029293,
-0.00245458516292274,
0.01797431707382202,
0.0011244770139455795,
-0.05717841535806656,
0.0378534272313118,
-0.009671151638031006,
-0.024952784180641174,
-0.0013030513655394316,
0.015576009638607502,
-0.008952525444328785,
-0.02613029256463051,
-0.026770995929837227,
0.002058474812656641,
-0.005160256754606962,
0.04962850734591484,
0.006355081219226122,
0.038407545536756516,
0.02311725728213787,
0.03451137989759445,
0.03421700373291969,
0.005705719813704491,
0.02450256049633026,
0.012692845426499844,
0.02097003534436226,
-0.017273006960749626,
0.0017911545000970364,
-0.0018236225005239248,
-0.004000064451247454,
0.009558595716953278,
-0.035377196967601776,
0.02623419091105461,
0.024346714839339256,
-0.048416368663311005,
0.0377841591835022,
-0.02857189066708088,
-0.04966314136981964,
-0.009766391478478909,
0.012493708170950413,
0.006039058789610863,
-0.006658116355538368,
0.053888317197561264,
-0.03556767478585243,
-0.006675432436168194,
-0.015428820624947548,
0.006813962943851948,
-0.03298754617571831,
0.03961968794465065,
0.029108695685863495,
0.04041623696684837,
-0.0005638619186356664,
0.03212173283100128,
-0.001015709014609456,
-0.014511057175695896,
0.025039365515112877,
0.04100499302148819,
-0.009610544890165329,
-0.027688758447766304,
-0.01854575425386429,
-0.06587119400501251,
0.04682326689362526,
-0.01735958829522133,
0.01655437983572483,
-0.03374946489930153,
-0.015437479130923748,
0.0012381152482703328,
0.06091873347759247,
-0.006168930791318417,
0.014251312240958214,
-0.006935176905244589,
-0.008679794147610664,
0.004779297858476639,
-0.02169732004404068,
-0.005147269461303949,
-0.017221057787537575,
0.0241042859852314,
-0.006818292196840048,
0.07175873219966888,
0.021299045532941818,
0.01934230327606201,
-0.044883843511343,
-0.009264218620955944,
0.04349853843450546,
-0.009705784730613232,
0.0020108551252633333,
0.03729930520057678,
0.008723084814846516,
-0.0009534786222502589,
0.05413074418902397,
0.04069329798221588,
-0.010069427080452442,
0.00997418724000454,
-0.030805692076683044,
-0.0010411423863843083,
0.02658051624894142,
-0.013662558980286121,
-0.0036753839813172817,
0.02651125192642212,
0.010112717747688293,
0.023030675947666168,
-0.004554186016321182,
-0.01277942769229412,
0.010078084655106068,
-0.011134379543364048,
-0.013220992870628834,
-0.044260457158088684,
-0.07369816303253174,
-0.05960269644856453,
0.05232984945178032,
0.047342754900455475,
-0.042598091065883636,
0.016597671434283257,
-0.004523882642388344,
0.02514326386153698,
0.005415671970695257,
0.006601838394999504,
0.02543764002621174,
0.011974219232797623,
0.030493998900055885,
-0.014701535925269127,
0.029853295534849167,
-0.06957688182592392,
0.05755937099456787,
-0.04415655881166458,
-0.02277093008160591,
-0.0189959779381752,
-0.04374096542596817,
-0.060849469155073166,
0.0223380234092474,
-0.014069491066038609,
0.015610641799867153,
-0.021835850551724434,
0.009904921986162663,
-0.01993105746805668,
-0.004339897073805332,
0.008225240744650364,
-0.005813946947455406,
0.015238341875374317,
0.011255593039095402,
-0.006121310871094465,
-0.005545543972402811,
-0.015333580784499645,
0.04969777166843414,
0.03477112576365471,
0.01993105746805668,
0.0009101878968067467,
0.06157675385475159,
-0.04550722986459732,
-0.020571760833263397,
0.028416043147444725,
-0.0048745376989245415,
-0.00004477886250242591,
-0.010259905830025673,
-0.0024307752028107643,
-0.04211323335766792,
-0.017679939046502113,
-0.039481159299612045,
-0.002935112453997135,
0.013134411536157131,
0.04003527760505676,
-0.016337925568223,
0.01622536964714527,
0.005887540988624096,
0.028745053336024284,
0.009705784730613232,
0.02382722496986389,
0.023965755477547646,
-0.03030352108180523,
-0.031515661627054214,
0.02477962151169777,
-0.033281922340393066,
0.017498118802905083,
0.009091055952012539,
0.049143653362989426,
0.020052272826433182,
-0.043567802757024765,
0.01757604256272316,
0.03612179681658745,
0.013428788632154465,
0.058425188064575195,
0.024312080815434456,
0.02580128237605095,
0.03612179681658745,
-0.005220863502472639,
0.0007364837802015245,
0.013169043697416782,
-0.018753549084067345,
0.014173389412462711,
-0.014580322429537773,
-0.014389842748641968,
0.005078004207462072,
-0.04900512099266052,
-0.004536869935691357,
0.0039849127642810345,
-0.0025022048503160477,
0.05305713415145874,
0.002316054655238986,
-0.008454682305455208,
-0.0070953527465462685,
0.004357213154435158,
-0.05925636738538742,
-0.0275155957788229,
-0.03387067839503288,
0.0014123604632914066,
0.010199299082159996,
-0.039100199937820435,
-0.011948244646191597,
0.015342239290475845,
0.018718916922807693,
0.021506840363144875,
0.021229781210422516,
0.04027770832180977,
-0.008316151797771454,
-0.005839921068400145,
0.000654772506095469,
-0.01136814896017313,
-0.015601984225213528,
0.011922270990908146,
0.04173227772116661,
-0.025281794369220734,
0.0206756591796875,
-0.011073771864175797,
0.020935403183102608,
-0.006121310871094465,
0.030909590423107147,
-0.04855489730834961,
-0.008229570463299751,
-0.030857641249895096,
0.026043711230158806,
0.045715026557445526,
0.0129352742806077,
-0.06337764859199524,
-0.0009578077006153762,
0.03712614253163338,
-0.012796743772923946,
-0.028381410986185074,
0.019446201622486115,
-0.0007754454272799194,
-0.01686607301235199,
0.005770656280219555,
-0.007013100199401379,
0.04110889136791229,
0.008281518705189228,
-0.02107393369078636,
0.041524481028318405,
-0.003067149082198739,
-0.029056746512651443,
-0.003885344136506319,
-0.013229651376605034,
0.0447453111410141,
-0.01566259004175663,
-0.0030216937884688377,
-0.041524481028318405,
0.009878947399556637,
0.0016959148924797773,
0.040450870990753174,
0.0022446250077337027,
-0.035255979746580124,
0.03451137989759445,
-0.021818535402417183,
0.0011033727787435055,
-0.018788183107972145
] |
Thanks to the outstanding achievements from state-of-the-art generative
models like ChatGPT and diffusion models, generative AI has gained substantial
attention across various industrial and academic domains. In this paper,
denoising diffusion probabilistic models (DDPMs) are proposed for a practical
finite-precision wireless communication system with hardware-impaired
transceivers. The intuition behind DDPM is to decompose the data generation
process over the so-called "denoising" steps. Inspired by this, a DDPM-based
receiver is proposed for a practical wireless communication scheme that faces
realistic non-idealities, including hardware impairments (HWI), channel
distortions, and quantization errors. It is shown that our approach provides
network resilience under low-SNR regimes, near-invariant reconstruction
performance with respect to different HWI levels and quantization errors, and
robust out-of-distribution performance against non-Gaussian noise. Moreover,
the reconstruction performance of our scheme is evaluated in terms of cosine
similarity and mean-squared error (MSE), highlighting more than 25 dB
improvement compared to the conventional deep neural network (DNN)-based
receivers. | [
-0.013511432334780693,
0.012099269777536392,
-0.026761353015899658,
0.013746793381869793,
0.08717053383588791,
0.03211362287402153,
-0.021077835932374,
0.01330222375690937,
0.0005693325656466186,
0.028347857296466827,
-0.0026521633844822645,
-0.016832629218697548,
0.030283043161034584,
-0.0133370915427804,
-0.007732026278972626,
0.02866167202591896,
0.004293148871511221,
-0.011367037892341614,
0.01400830503553152,
-0.03472873941063881,
0.014391855336725712,
0.006385241635143757,
-0.04086554795503616,
0.01825350895524025,
0.0028809860814362764,
0.014104192145168781,
-0.013310940936207771,
-0.020258432254195213,
-0.024669261649250984,
0.03950568661093712,
0.0048466818407177925,
0.0036502662114799023,
-0.021478818729519844,
-0.07259561866521835,
-0.022612037137150764,
-0.005831708665937185,
0.04550302028656006,
0.05505690723657608,
0.010704541578888893,
-0.013084297068417072,
-0.03218336030840874,
-0.025889648124575615,
0.0006728475564159453,
0.01480155624449253,
0.0017891752067953348,
-0.016728024929761887,
-0.006101937498897314,
0.018706796690821648,
0.022315656766295433,
0.0024298785720020533,
-0.016527533531188965,
-0.05157008767127991,
0.013842680491507053,
0.041074756532907486,
-0.04449183866381645,
0.0337349958717823,
0.08598501235246658,
0.021984407678246498,
0.057916101068258286,
-0.056416768580675125,
-0.003645907621830702,
0.023989330977201462,
-0.018793966621160507,
-0.021130137145519257,
-0.02489590458571911,
0.013145316392183304,
-0.025262020528316498,
0.01063480507582426,
0.015542506240308285,
-0.016056811437010765,
-0.042853035032749176,
-0.044631313532590866,
-0.004208157304674387,
0.037239253520965576,
-0.012997126206755638,
0.023762688040733337,
0.04159777984023094,
0.06094963848590851,
0.04103988781571388,
-0.010286122560501099,
0.036855701357126236,
0.021478818729519844,
-0.03765767067670822,
-0.006284995470196009,
0.02791200578212738,
0.01399958785623312,
-0.027667926624417305,
-0.053522706031799316,
0.05795096978545189,
0.007832272909581661,
-0.002942005405202508,
0.04783918708562851,
-0.019787712022662163,
-0.02799917571246624,
-0.011175262741744518,
0.002911495743319392,
-0.03664649277925491,
-0.014871292747557163,
-0.031207051128149033,
-0.000045424021664075553,
-0.007810479961335659,
-0.02125217579305172,
0.04051686450839043,
0.05882267653942108,
-0.006241410039365292,
-0.03455439954996109,
0.013380676507949829,
-0.003619756316766143,
0.060810163617134094,
0.1386360228061676,
0.008276842534542084,
0.019648239016532898,
-0.00246910541318357,
0.019072912633419037,
-0.0028809860814362764,
0.01834068074822426,
-0.0664588138461113,
-0.06998050212860107,
-0.009065735153853893,
-0.029533376917243004,
-0.007657931186258793,
0.05017535760998726,
-0.004055608995258808,
0.03080606646835804,
0.0191949512809515,
0.03915700316429138,
0.002314377576112747,
-0.04072607308626175,
-0.021321913227438927,
0.02013639360666275,
-0.08459028601646423,
0.013197618536651134,
-0.03268894925713539,
0.019822578877210617,
0.017538711428642273,
-0.010887599550187588,
-0.008642958477139473,
0.00819838885217905,
-0.028435027226805687,
-0.034885648638010025,
0.08103372901678085,
0.007971744984388351,
0.007030303589999676,
-0.06067069247364998,
-0.005748896859586239,
0.053418103605508804,
-0.03359552472829819,
0.04937339201569557,
-0.020397905260324478,
-0.018114037811756134,
-0.05878780782222748,
0.041702382266521454,
0.0069387746043503284,
0.03258434683084488,
0.047699715942144394,
0.006088861729949713,
0.021112702786922455,
-0.025785043835639954,
0.016327040269970894,
-0.06014766916632652,
0.028539633378386497,
-0.01564711146056652,
0.05170955881476402,
0.006228334736078978,
0.02508767880499363,
0.015865037217736244,
0.057358212769031525,
-0.027842268347740173,
-0.04103988781571388,
0.02960311248898506,
0.037308987230062485,
0.02575017511844635,
-0.03052712045609951,
-0.019264688715338707,
-0.04822273924946785,
0.06408777832984924,
0.01910778135061264,
0.030840935185551643,
-0.041702382266521454,
0.029899492859840393,
-0.011175262741744518,
0.021583424881100655,
0.05648650601506233,
-0.005670443177223206,
0.07406008243560791,
0.024407749995589256,
0.051744427531957626,
-0.0133458087220788,
-0.018602192401885986,
0.016405494883656502,
0.03640241548418999,
-0.007784328889101744,
-0.002523586852476001,
-0.0337001271545887,
0.0294810738414526,
-0.05003588646650314,
-0.05170955881476402,
-0.010878882370889187,
-0.010443029925227165,
0.028696538880467415,
-0.05739307776093483,
-0.04239974915981293,
0.02470412850379944,
-0.0163793433457613,
0.01863705925643444,
0.012151572853326797,
0.017669467255473137,
0.05655624344944954,
0.016152700409293175,
-0.020764021202921867,
-0.004872832912951708,
-0.03577478602528572,
-0.026900826022028923,
-0.008961130864918232,
0.018950873985886574,
-0.027598191052675247,
-0.02733667939901352,
-0.011802890338003635,
-0.05299968272447586,
-0.0191949512809515,
-0.010059479624032974,
0.01835811510682106,
0.0149758979678154,
0.0058665769174695015,
-0.03209619224071503,
-0.0870310589671135,
-0.058020707219839096,
0.0580904446542263,
-0.03453696519136429,
0.035530708730220795,
0.010495332069694996,
0.026831090450286865,
0.043410927057266235,
-0.03601886332035065,
0.04504973068833351,
0.004602604079991579,
0.0015058709541335702,
0.04675827547907829,
-0.05404572933912277,
-0.0073136077262461185,
-0.057149000465869904,
0.011794173158705235,
-0.014923595823347569,
-0.049582600593566895,
0.009257510304450989,
0.007880216464400291,
-0.006045276299118996,
0.04532867670059204,
0.007496665697544813,
0.012613575905561447,
0.003120705019682646,
-0.00033969266223721206,
-0.0018207745160907507,
0.011419340036809444,
-0.08682185411453247,
0.031207051128149033,
0.022681772708892822,
-0.07053839415311813,
0.01618756726384163,
-0.052860211580991745,
0.04700235277414322,
0.038808323442935944,
0.009946158155798912,
0.02144395187497139,
-0.046862877905368805,
0.04100501909852028,
-0.017085423693060875,
0.023623215034604073,
0.04173725098371506,
0.028522199019789696,
-0.03709977865219116,
-0.00003085019488935359,
-0.03500768542289734,
-0.02405906654894352,
0.0010912661673501134,
-0.025262020528316498,
-0.012779200449585915,
0.00987642165273428,
0.039645157754421234,
0.032636646181344986,
0.03828530013561249,
0.01395600289106369,
0.008538354188203812,
-0.05795096978545189,
-0.024738997220993042,
-0.09023893624544144,
-0.05045430362224579,
0.01814890466630459,
-0.062135156244039536,
0.020153827965259552,
-0.015960924327373505,
0.024460051208734512,
-0.04260895773768425,
0.004559019114822149,
0.03594912961125374,
-0.010338425636291504,
-0.01816633902490139,
-0.0346241369843483,
0.07552455365657806,
0.006685980129987001,
-0.023902161046862602,
0.018288377672433853,
-0.0075097414664924145,
0.012726898305118084,
-0.05512664467096329,
-0.020206129178404808,
0.009684646502137184,
0.011471642181277275,
0.022594602778553963,
0.003262357320636511,
0.07447850704193115,
0.02369295060634613,
-0.04292277246713638,
-0.030596857890486717,
-0.010460464283823967,
0.01330222375690937,
-0.0007077157497406006,
-0.023710384964942932,
-0.03314223513007164,
0.0010171711910516024,
0.03793661668896675,
0.009580041281878948,
-0.08347450196743011,
0.014670800417661667,
0.026203462854027748,
0.012081836350262165,
0.024564655497670174,
0.10160597413778305,
-0.014348269440233707,
0.015795299783349037,
-0.03905240073800087,
-0.06753972917795181,
-0.015490204095840454,
-0.020746586844325066,
-0.005247666034847498,
-0.005757613573223352,
-0.026656748726963997,
0.018183773383498192,
-0.008063274435698986,
-0.03349091857671738,
0.022681772708892822,
-0.017190029844641685,
-0.05010562390089035,
-0.03567018359899521,
-0.026482408866286278,
-0.055022042244672775,
-0.04382934421300888,
0.031154748052358627,
-0.061368055641651154,
-0.014757971279323101,
0.0009708618163131177,
0.0017227076459676027,
0.012857654131948948,
0.046304985880851746,
0.048362210392951965,
-0.04410829022526741,
-0.003491179784759879,
0.0020005637779831886,
-0.02051994390785694,
-0.013223770074546337,
0.01788739301264286,
-0.005731462500989437,
0.010198952630162239,
-0.000547539908438921,
-0.06304173171520233,
-0.041179358959198,
-0.07085221260786057,
-0.034048810601234436,
-0.03594912961125374,
0.002272971672937274,
0.06258844584226608,
0.05027996376156807,
-0.04145830497145653,
0.026987997815012932,
-0.03530406579375267,
-0.01058250293135643,
0.004295328166335821,
-0.01984001323580742,
-0.0022620754316449165,
0.0533483661711216,
-0.026831090450286865,
0.04229514300823212,
-0.005435082595795393,
-0.017442824319005013,
0.03146856278181076,
0.018863704055547714,
0.006707772612571716,
-0.009719514288008213,
-0.0025475588627159595,
0.023379137739539146,
-0.016274739056825638,
-0.05076811835169792,
-0.01928212121129036,
-0.03417084738612175,
0.05826478451490402,
0.014112909324467182,
-0.018654493615031242,
-0.020676851272583008,
0.04703722149133682,
-0.029794888570904732,
-0.04749050736427307,
0.017774071544408798,
0.017939696088433266,
0.014880009926855564,
-0.006468053441494703,
0.03793661668896675,
-0.013825247064232826,
-0.005936313420534134,
0.00852527841925621,
-0.012447952292859554,
0.016728024929761887,
-0.02350117638707161,
-0.011018355377018452,
0.005143061280250549,
0.01910778135061264,
0.01724233105778694,
-0.009580041281878948,
0.013380676507949829,
0.01788739301264286,
-0.05634703114628792,
0.030300477519631386,
0.03622807562351227,
0.10425595939159393,
-0.022734075784683228,
0.0006390689522959292,
0.04850168526172638,
0.042155671864748,
0.011358320713043213,
0.04243461415171623,
-0.039575424045324326,
-0.02733667939901352,
0.010817863047122955,
0.0027981740422546864,
-0.082358717918396,
-0.0552312508225441,
0.005666084587574005,
-0.021199874579906464,
0.01372064184397459,
-0.014025738462805748,
0.03870371729135513,
-0.022542299702763557,
-0.03218336030840874,
-0.040586601942777634,
0.013842680491507053,
-0.0515003502368927,
-0.010695824399590492,
-0.03509485721588135,
-0.018881138414144516,
-0.027197206392884254,
-0.04905957728624344,
-0.06011280044913292,
0.009466719813644886,
-0.04689774662256241,
-0.04016818106174469,
0.010094347409904003,
-0.04989641532301903,
0.007976103574037552,
-0.012386932969093323,
0.008887035772204399,
-0.030788632109761238,
0.018776532262563705,
0.03220079466700554,
0.0025170492008328438,
-0.046688538044691086,
0.010931184515357018,
0.021984407678246498,
0.014766688458621502,
-0.03615833818912506,
-0.002904958091676235,
0.030492253601551056,
-0.021879803389310837,
-0.02791200578212738,
-0.011358320713043213,
0.012282327748835087,
0.023204796016216278,
0.0009991922415792942,
-0.02969028428196907,
-0.025994252413511276,
0.0036241149064153433,
0.0011876985663548112,
0.04048199579119682,
-0.0252794548869133,
0.03237513452768326,
-0.04759510979056358,
0.0023427081760019064,
0.014130343683063984,
0.07691927999258041,
-0.0030117419082671404,
0.05484769865870476,
0.0006194555899128318,
-0.024233408272266388,
-0.03237513452768326,
0.028766276314854622,
-0.0008302993373945355,
-0.028626803308725357,
-0.043759606778621674,
-0.019996920600533485,
-0.001807698979973793,
0.057149000465869904,
0.07475744932889938,
0.020101524889469147,
-0.0365070179104805,
0.017155161127448082,
-0.009292379021644592,
-0.028208384290337563,
-0.01132345199584961,
0.029986662790179253,
-0.0005911251646466553,
-0.03007383458316326,
0.04623525217175484,
0.01034714188426733,
0.03148599714040756,
-0.0019068553810939193,
-0.03035278059542179,
0.01609168015420437,
0.007222078740596771,
-0.05676545202732086,
-0.028801145032048225,
0.012822785414755344,
0.06168187037110329,
0.04083067923784256,
-0.01367705687880516,
-0.015760432928800583,
0.05648650601506233,
-0.07873242348432541,
0.05292994901537895,
0.028034044429659843,
-0.013572451658546925,
0.0016627779696136713,
-0.0013304402818903327,
-0.029254430904984474,
0.02902778796851635,
-0.000800879264716059,
-0.06886471807956696,
-0.03099784255027771,
0.007501024287194014,
0.01900317706167698,
0.020833756774663925,
-0.036576755344867706,
0.03082350082695484,
-0.0014121626736596227,
0.022699207067489624,
-0.023204796016216278,
0.012779200449585915,
0.05348784103989601,
-0.007187210489064455,
-0.01957850158214569,
-0.051256272941827774,
-0.020554812625050545,
0.03783201053738594,
0.013424262404441833,
-0.0004432076821103692,
0.011951080523431301,
0.01936929300427437,
-0.04431749880313873,
-0.014853859320282936,
-0.016440361738204956,
-0.005740179680287838,
-0.04484052211046219,
-0.03146856278181076,
-0.03800635412335396,
0.021042967215180397,
-0.012665878981351852,
0.0019199310336261988,
0.03845963999629021,
-0.016728024929761887,
0.04515433683991432,
0.04156291112303734,
0.01647523045539856,
0.029812322929501534,
-0.013825247064232826,
0.0054830266162753105,
-0.044352367520332336,
0.009344681166112423,
0.015769150108098984,
0.0038049938157200813,
0.00191339326556772,
-0.02799917571246624,
0.02181006781756878,
0.01263972744345665,
-0.0015712488675490022,
-0.0505937784910202,
-0.0066206022165715694,
0.030928105115890503,
0.04055173322558403,
-0.00292675057426095,
-0.003532585920765996,
-0.008764997124671936,
0.017826374620199203,
-0.04501486197113991,
0.01132345199584961,
0.03898266330361366,
-0.0035521993413567543,
0.025418927893042564,
-0.026918260380625725,
-0.02932416833937168,
0.05484769865870476,
-0.009850270114839077,
-0.003238385310396552,
-0.07433903217315674,
-0.010103064589202404,
0.050349701195955276,
0.041806988418102264,
-0.0010683838045224547,
-0.04201619699597359,
0.006280636880546808,
0.006472412031143904,
0.0015843244036659598,
0.008268125355243683,
-0.018933439627289772,
-0.0007589284796267748,
0.004506716504693031,
0.08968104422092438,
-0.02378012239933014,
-0.009946158155798912,
0.009344681166112423,
-0.015525071881711483,
0.016649572178721428,
-0.0016311786603182554,
0.030492253601551056,
0.03005640022456646,
-0.027737664058804512,
0.036576755344867706,
0.00039117777487263083,
0.031119881197810173,
0.02238539233803749,
-0.04327145218849182,
-0.04362013563513756,
0.0012323734117671847,
-0.012465386651456356,
-0.04149317368865013,
0.03146856278181076,
-0.08159162104129791,
-0.01161111518740654,
0.01984001323580742,
-0.02500050887465477,
0.008464259095489979,
-0.0040359958074986935,
0.006559582892805338,
0.010050762444734573,
-0.013493998907506466,
0.016797762364149094,
-0.0711311548948288,
0.010721975937485695,
-0.010268689133226871,
0.023379137739539146,
0.01956106722354889,
0.03099784255027771,
0.061089109629392624,
0.059136491268873215,
-0.005818632896989584,
0.012325913645327091,
0.015298428945243359,
0.043480660766363144,
-0.0014023559633642435,
-0.024861035868525505,
0.08556659519672394,
-0.017346935346722603,
0.04762997850775719,
0.013659622520208359,
0.05544045940041542,
0.01409547496587038,
-0.0036110393702983856,
0.023919593542814255,
0.04295763745903969,
-0.01814890466630459,
0.032828424125909805,
-0.011271149851381779,
0.006084503140300512,
0.03811095654964447,
-0.0029463639948517084,
-0.03296789526939392,
-0.02707516774535179,
0.013921134173870087,
0.04138856753706932,
-0.053139157593250275,
0.021600857377052307,
0.004404291044920683,
-0.003717823186889291,
-0.03915700316429138,
-0.01409547496587038,
-0.01329350657761097,
-0.04264382645487785,
0.047420769929885864,
-0.006842887029051781,
-0.010748126544058323,
0.029376469552516937,
0.001488436828367412,
-0.02161829173564911,
0.01827094331383705,
-0.04801353067159653,
-0.018183773383498192,
0.014025738462805748,
0.02011895924806595,
-0.013232487253844738,
0.022978153079748154,
-0.016239870339632034,
-0.00823325663805008,
0.008734487928450108,
0.001152830314822495,
-0.0018545531202107668,
0.0009370832121931016,
0.011061940342187881,
-0.04560762271285057,
-0.006206541787832975,
0.05488256737589836,
0.014191363006830215,
0.0266741830855608,
-0.03204388916492462,
0.02641267143189907,
0.01761716417968273,
0.03689057007431984,
-0.02416367270052433,
0.028435027226805687,
0.03364782780408859,
-0.011410622857511044,
-0.009362115524709225,
-0.0013565914705395699,
0.006367807276546955,
0.0032972253393381834,
-0.0068080187775194645,
0.010042045265436172,
0.019334424287080765,
-0.048920102417469025,
0.0674699917435646,
0.01582145132124424,
-0.03261921554803848,
-0.003491179784759879,
-0.01563839428126812,
0.01400830503553152,
-0.0014132523210719228,
-0.028225818648934364,
-0.041911590844392776,
0.0022446413058787584,
0.015882471576333046,
-0.01441800594329834,
0.028435027226805687,
0.06764433532953262,
0.0430971123278141,
-0.01565582863986492,
0.029184695333242416,
-0.05265100300312042,
0.004380319267511368,
-0.0028831653762608767,
-0.03061429224908352,
-0.015010765753686428,
-0.020589679479599,
0.02622089721262455,
-0.014958463609218597,
0.006943133193999529,
0.022890981286764145,
-0.0020158186089247465,
0.03849450871348381,
-0.004471848253160715,
-0.028905749320983887,
0.018584758043289185,
0.029010353609919548,
-0.019996920600533485,
0.021025532856583595,
-0.02594195120036602,
0.016823913902044296,
0.026081424206495285,
0.016902366653084755,
0.0346241369843483,
0.03486821427941322,
-0.025052811950445175,
-0.010704541578888893,
0.00358052970841527,
0.009571325033903122,
0.003600143129006028,
0.040412258356809616,
0.03922674059867859,
0.0044631315395236015,
-0.00349989696405828,
0.02874884195625782,
-0.0061062960885465145,
0.033857036381959915,
-0.03818069398403168,
-0.006816735956817865,
0.01900317706167698,
-0.04417802765965462,
0.004877191502600908,
-0.012761766090989113,
0.0177915059030056,
-0.016222435981035233,
-0.01769561879336834,
-0.014548761770129204,
-0.00992872379720211,
-0.010704541578888893,
0.027946872636675835,
0.030579423531889915,
-0.002763306023553014,
0.02051994390785694,
-0.02116500586271286,
0.06771407276391983,
0.013807812705636024,
0.04093528166413307,
0.053243763744831085,
-0.017756637185811996,
-0.030126135796308517,
0.012230025604367256,
-0.005173570942133665,
0.0026761353947222233,
-0.022455129772424698,
-0.05425494164228439,
-0.04295763745903969,
-0.023762688040733337,
-0.0674699917435646,
0.02367551624774933,
-0.00449799932539463,
0.02266433835029602,
0.005526612047106028,
0.010844014585018158,
0.015437901951372623,
-0.023257099092006683,
-0.013990870676934719,
-0.07005023956298828,
-0.0024233409203588963,
-0.019526200369000435,
-0.06206541880965233,
-0.0365070179104805,
0.0038878058549016714,
-0.019316989928483963,
0.0147405369207263,
-0.017076708376407623,
-0.01062608789652586,
-0.0036023221909999847,
-0.014766688458621502,
0.012831502594053745,
0.007993537932634354,
-0.008302993141114712,
-0.017294634133577347,
-0.007758177351206541,
-0.03540867194533348,
-0.031015275046229362,
0.02069428376853466,
-0.041632648557424545,
0.05777662992477417,
0.005326119717210531,
-0.0177915059030056,
0.008547070436179638,
0.01507178507745266,
-0.011061940342187881,
-0.016257304698228836,
-0.054080598056316376,
-0.04128396511077881,
-0.023013021796941757,
0.014348269440233707,
-0.00634601479396224,
-0.002442954108119011,
0.029271865263581276,
0.025697873905301094,
0.02827812172472477,
0.006337297614663839,
-0.030265608802437782,
0.005426365882158279,
-0.023204796016216278,
0.027022864669561386,
-0.02032816782593727,
-0.05470822751522064,
0.011070657521486282,
-0.0014317759778350592,
-0.028958050534129143,
0.007034662179648876,
-0.010320991277694702,
0.010382010601460934,
0.01846271939575672,
-0.05822991579771042,
0.006642394699156284,
-0.02031073346734047,
0.012177723459899426,
0.0034366983454674482,
-0.04051686450839043,
0.02705773338675499,
-0.019247254356741905,
0.003990231081843376,
-0.01231719646602869,
-0.006585733965039253,
0.017678184434771538,
-0.017486408352851868,
0.01611783169209957,
0.012997126206755638,
-0.007339758798480034,
-0.02921956218779087,
0.057253606617450714,
-0.04442210495471954,
-0.005879652686417103,
-0.007117473985999823,
-0.02799917571246624,
-0.004519792273640633,
-0.006097578909248114,
0.0346241369843483,
-0.015943489968776703,
0.040133312344551086,
0.06534302979707718,
0.0005434537888504565,
-0.0021966975182294846,
-0.009745665825903416,
-0.003072761232033372,
-0.002639087848365307,
-0.0019308272749185562,
-0.04166751354932785,
-0.007923801429569721,
-0.015882471576333046,
0.028068911284208298,
0.006890830583870411,
0.004099194426089525,
-0.01771305315196514,
0.005984256975352764,
-0.018288377672433853,
-0.0191949512809515,
0.002802532631903887,
0.03265408053994179,
0.01760844700038433,
0.07419955730438232,
0.007657931186258793,
-0.006215258967131376,
-0.02395446226000786,
0.056137822568416595,
-0.03033534623682499,
0.027545887976884842,
0.02555840089917183,
0.0037091062404215336,
0.004441338591277599,
0.0006276278290897608,
0.012439235113561153,
0.006411392707377672,
-0.004698491655290127,
0.002004922367632389,
0.04456157609820366,
-0.028958050534129143,
0.018183773383498192,
0.008900111541152,
-0.00009043942554853857,
0.03755306452512741,
0.00358270900323987,
-0.03071889653801918,
-0.013799095526337624,
-0.030457384884357452,
-0.005674801766872406,
-0.0393313430249691,
0.01563839428126812,
0.00650728028267622,
0.025540966540575027,
0.004317120648920536,
-0.0430622436106205,
0.007039020769298077,
0.026011686772108078,
0.007056454662233591,
0.017294634133577347,
-0.019526200369000435,
0.0066118850372731686,
0.014496459625661373,
-0.0028439387679100037,
-0.017251048237085342,
-0.017721770331263542,
0.00885216798633337,
-0.013467847369611263,
-0.003473745658993721,
0.017085423693060875,
0.029341600835323334,
0.016797762364149094,
-0.019334424287080765,
-0.0280863456428051,
-0.0028330422937870026,
0.01704183965921402,
-0.033107370138168335,
-0.019038043916225433,
-0.06433185189962387,
-0.00019858537416439503,
-0.021496253088116646,
-0.06482000648975372,
-0.0030967332422733307,
-0.007387702818959951,
0.046200383454561234,
0.02050250954926014,
0.03364782780408859,
-0.02116500586271286,
-0.03335144743323326,
-0.01291867345571518,
0.06290225684642792,
-0.007980462163686752,
0.04665366932749748,
0.041632648557424545,
0.0031686488073319197,
-0.024181105196475983,
0.05976411700248718,
0.00021819873654749244,
-0.017730485647916794,
0.0039052399806678295,
-0.028487330302596092,
-0.007108756806701422,
0.012979692779481411,
0.01565582863986492,
-0.009379549883306026,
-0.004759510979056358,
-0.017076708376407623,
-0.031695205718278885,
-0.008900111541152,
0.04759510979056358,
-0.027319245040416718,
-0.037866879254579544,
0.01957850158214569,
0.05383652076125145,
-0.025262020528316498,
0.016797762364149094,
0.054743096232414246,
-0.0028918825555592775,
-0.04337605834007263,
0.03424058482050896,
0.00021819873654749244,
-0.0402727872133255,
-0.02454722300171852,
-0.017817657440900803,
-0.03961028903722763,
0.011384471319615841,
-0.11562299728393555,
0.018427850678563118,
0.003247102489694953,
0.01371192466467619,
0.008220180869102478,
0.024599524214863777,
0.011079374700784683,
-0.02397189661860466
] |
In this paper, we prove the first Bayesian regret bounds for Thompson
Sampling in reinforcement learning in a multitude of settings. We simplify the
learning problem using a discrete set of surrogate environments, and present a
refined analysis of the information ratio using posterior consistency. This
leads to an upper bound of order $\widetilde{O}(H\sqrt{d_{l_1}T})$ in the time
inhomogeneous reinforcement learning problem where $H$ is the episode length
and $d_{l_1}$ is the Kolmogorov $l_1-$dimension of the space of environments.
We then find concrete bounds of $d_{l_1}$ in a variety of settings, such as
tabular, linear and finite mixtures, and discuss how how our results are either
the first of their kind or improve the state-of-the-art. | [
0.06301231682300568,
0.030150288715958595,
-0.05673249438405037,
-0.039177533239126205,
0.05284328758716583,
0.02135496772825718,
-0.04931088536977768,
0.05013154447078705,
-0.03393245488405228,
0.004094373434782028,
0.015164346434175968,
-0.02023102156817913,
0.0574817918241024,
-0.020801914855837822,
0.00288122589699924,
0.035306166857481,
0.003269254695624113,
0.005071135703474283,
0.011248377151787281,
-0.027492068707942963,
0.0237455815076828,
0.026849813759326935,
-0.05687521770596504,
0.07828370481729507,
-0.022550275549292564,
0.014156362973153591,
0.005017614457756281,
-0.0033116256818175316,
-0.011578424833714962,
0.0322197750210762,
0.007992502301931381,
0.03480663523077965,
-0.05145173519849777,
-0.03867800533771515,
-0.059408556669950485,
0.021818818524479866,
0.020302383229136467,
0.008839922025799751,
-0.02492304891347885,
0.044565338641405106,
-0.02877657674252987,
-0.0160831268876791,
-0.016877025365829468,
-0.014379368163645267,
0.006864096969366074,
-0.020641351118683815,
-0.009821143932640553,
0.017037589102983475,
0.02916906587779522,
0.048989757895469666,
-0.06647335737943649,
-0.05544798821210861,
0.04806205630302429,
0.003090850543230772,
-0.025761548429727554,
0.008295789361000061,
0.019642287865281105,
0.014780777506530285,
0.07614286243915558,
0.03462823107838631,
-0.03910617157816887,
0.025886431336402893,
-0.08213723450899124,
-0.018892992287874222,
0.03043573535978794,
-0.051201969385147095,
0.06565269827842712,
0.0015498853754252195,
0.06743673980236053,
0.002341553568840027,
-0.022461073473095894,
0.001350295846350491,
-0.012648848816752434,
0.04791933298110962,
0.0074929711408913136,
0.025208495557308197,
0.03107799030840397,
0.00864813756197691,
-0.01638641394674778,
0.007898840121924877,
-0.014156362973153591,
0.029490193352103233,
-0.008514334447681904,
0.03564513474702835,
0.0008764099911786616,
-0.021604733541607857,
0.01653805747628212,
-0.04806205630302429,
0.028705215081572533,
-0.02561882510781288,
-0.02552962303161621,
0.0031733624637126923,
-0.012586407363414764,
0.011685467325150967,
-0.03710804879665375,
0.028919300064444542,
-0.011623025871813297,
0.012443684041500092,
-0.00004906112008029595,
0.018090173602104187,
0.011801430024206638,
0.006699073128402233,
-0.01705542951822281,
0.014361527748405933,
0.017001908272504807,
-0.02795591950416565,
-0.003773246193304658,
0.009259171783924103,
-0.03550241142511368,
0.10961146652698517,
-0.02123008482158184,
0.034967198967933655,
-0.07478699088096619,
0.026635728776454926,
-0.06476067751646042,
-0.01280941255390644,
-0.028312725946307182,
-0.07243205606937408,
0.03346860408782959,
-0.024798166006803513,
-0.012274200096726418,
0.07043392956256866,
0.0757860541343689,
0.01365683227777481,
-0.03193432837724686,
0.04342355206608772,
0.014486410655081272,
0.0037866265047341585,
0.012300960719585419,
-0.027634792029857635,
0.031970009207725525,
0.012497205287218094,
0.006079118698835373,
-0.07628558576107025,
-0.07721328735351562,
0.01196199283003807,
0.06301231682300568,
0.007760577369481325,
-0.014459650032222271,
-0.019374681636691093,
-0.014111761935055256,
-0.04010523483157158,
0.016341812908649445,
-0.014575612731277943,
0.01393335871398449,
0.0275634303689003,
-0.05155877768993378,
-0.004359749611467123,
0.00010920281056314707,
0.06765082478523254,
-0.012639928609132767,
0.08727527409791946,
-0.034753113985061646,
0.07721328735351562,
0.009740862064063549,
0.029508033767342567,
-0.020908957347273827,
0.010383117012679577,
0.028241364285349846,
-0.08199451118707657,
0.04831182211637497,
0.01932116225361824,
-0.05212967097759247,
0.04149678722023964,
0.03710804879665375,
0.08791752904653549,
0.005633108783513308,
-0.018268577754497528,
-0.062191661447286606,
0.02674277126789093,
-0.02287140302360058,
-0.02083759568631649,
-0.010035228915512562,
0.08541987091302872,
0.0126310084015131,
0.023906145244836807,
0.015860121697187424,
0.005352122243493795,
0.00351679022423923,
0.0037308752071112394,
0.041603829711675644,
0.0382855162024498,
0.013282183557748795,
0.02092679776251316,
0.029115544632077217,
-0.0020538768731057644,
0.042353127151727676,
0.03577001765370369,
0.035199124366045,
0.02704605832695961,
0.037143729627132416,
0.03892776742577553,
-0.010088750161230564,
0.0014138523256406188,
0.02813432179391384,
-0.023281732574105263,
-0.022461073473095894,
0.04213904216885567,
0.011596265248954296,
0.04110429808497429,
-0.004558224231004715,
-0.031238554045557976,
0.045956891030073166,
-0.02956155501306057,
0.01892867311835289,
0.01696622744202614,
0.026118356734514236,
0.0013692512875422835,
0.03591274097561836,
-0.042602892965078354,
0.03462823107838631,
-0.04406580701470375,
-0.002283572219312191,
-0.018286418169736862,
-0.05330713838338852,
0.001834216876886785,
0.024816006422042847,
0.030507097020745277,
0.007996962405741215,
-0.018375620245933533,
-0.0060166772454977036,
0.002204405376687646,
0.018099093809723854,
-0.003808927023783326,
0.028205683454871178,
0.06154940649867058,
-0.022211307659745216,
0.012202838435769081,
0.023477977141737938,
-0.0029815779998898506,
0.016457775607705116,
-0.020177500322461128,
-0.0151286656036973,
0.022336190566420555,
-0.013853076845407486,
0.018696747720241547,
-0.0030038785189390182,
0.058195408433675766,
0.03443198651075363,
-0.0573747493326664,
-0.042567212134599686,
-0.0006394670926965773,
0.019267641007900238,
-0.021390648558735847,
0.004045312292873859,
-0.025190655142068863,
0.010053069330751896,
0.007385928649455309,
0.08613348752260208,
0.03989114984869957,
-0.043601956218481064,
-0.05344986170530319,
0.005592967849224806,
0.013469507917761803,
-0.010177952237427235,
0.08477761596441269,
0.02378126233816147,
-0.0597296841442585,
0.06015785411000252,
-0.09020110219717026,
0.09762270748615265,
0.06797195225954056,
0.05955127999186516,
-0.01323758251965046,
-0.018946513533592224,
0.051808543503284454,
0.06154940649867058,
0.013335704803466797,
-0.03953434154391289,
0.049382247030735016,
-0.024405676871538162,
-0.020998159423470497,
0.021176563575863838,
-0.005240619648247957,
0.020480787381529808,
-0.019553085789084435,
0.013853076845407486,
-0.033450763672590256,
-0.00506667559966445,
0.012461524456739426,
0.014575612731277943,
0.025458261370658875,
0.014316926710307598,
-0.009633820503950119,
0.0330047532916069,
-0.03541320934891701,
-0.04549304023385048,
0.006471607834100723,
-0.03321883827447891,
-0.005887334700673819,
0.009838984347879887,
-0.029900522902607918,
-0.01784040778875351,
0.009259171783924103,
0.001146246213465929,
0.030542777851223946,
-0.04403012618422508,
-0.004415500909090042,
-0.019588766619563103,
-0.058409493416547775,
-0.0030083386227488518,
0.03073902241885662,
-0.003956110216677189,
0.018304258584976196,
-0.013496268540620804,
-0.04167519137263298,
0.026457324624061584,
-0.006288743577897549,
-0.012755891308188438,
0.027456387877464294,
-0.023281732574105263,
0.01569063775241375,
0.011792509816586971,
-0.03739349544048309,
0.015886882320046425,
-0.028705215081572533,
0.02162257395684719,
-0.0035881518851965666,
-0.011899551376700401,
-0.025993473827838898,
0.049988821148872375,
0.02123008482158184,
-0.04270993545651436,
0.017483599483966827,
0.0069309985265135765,
0.003878058632835746,
0.05248647928237915,
0.055376626551151276,
-0.02096247859299183,
0.0069399187341332436,
-0.05616160109639168,
-0.003527940483763814,
-0.06864988803863525,
-0.033183157444000244,
0.007332407403737307,
-0.0252620168030262,
0.02877657674252987,
0.01280941255390644,
-0.013549789786338806,
-0.06454659253358841,
-0.011453541927039623,
-0.0012722440296784043,
-0.014209884218871593,
-0.013549789786338806,
0.02686765417456627,
-0.03924889490008354,
-0.029222587123513222,
-0.014415048994123936,
-0.012746971100568771,
0.010686404071748257,
0.0007788452785462141,
-0.0191962793469429,
0.011997673660516739,
0.0644395500421524,
0.0744301825761795,
-0.05173718184232712,
-0.017831487581133842,
0.049382247030735016,
0.011150254867970943,
-0.021033840253949165,
0.008242268115282059,
-0.06593814492225647,
-0.08855978399515152,
0.01680566370487213,
-0.02986484207212925,
-0.008099544793367386,
-0.02643948420882225,
0.06526020914316177,
-0.027117419987916946,
-0.0021709545981138945,
-0.030667660757899284,
0.016377493739128113,
0.05255784094333649,
0.016885945573449135,
-0.040604766458272934,
0.028705215081572533,
-0.01775120571255684,
-0.03213057294487953,
-0.024013187736272812,
0.025333378463983536,
-0.02986484207212925,
-0.016877025365829468,
-0.015244628302752972,
-0.012693449854850769,
0.051166288554668427,
0.02813432179391384,
-0.033450763672590256,
-0.04385172203183174,
0.05387803167104721,
-0.029936203733086586,
0.0375005379319191,
-0.03641227260231972,
-0.03541320934891701,
-0.030703341588377953,
0.021497691050171852,
0.021194403991103172,
-0.01052584033459425,
-0.04506487026810646,
-0.04081885144114494,
-0.019731489941477776,
0.01581552065908909,
-0.03710804879665375,
0.009785463102161884,
-0.02404886856675148,
0.031274233013391495,
0.0028500051703304052,
-0.008893443271517754,
0.0060077570378780365,
-0.0009349488536827266,
0.0013804015470668674,
0.026029154658317566,
-0.024994410574436188,
-0.06404706090688705,
0.012532886117696762,
0.01853618398308754,
-0.012229599058628082,
-0.01619908958673477,
-0.030453575775027275,
-0.005196018610149622,
-0.08591940253973007,
-0.025012250989675522,
-0.01347842812538147,
0.027367185801267624,
-0.0021765297278761864,
0.0028366248589009047,
0.05452028661966324,
0.009696261025965214,
0.004790149629116058,
-0.048204779624938965,
-0.03507424145936966,
0.005905175115913153,
0.04956065118312836,
0.014691575430333614,
-0.029543714597821236,
-0.0074929711408913136,
0.02287140302360058,
0.016948387026786804,
0.01311269961297512,
0.00019276002421975136,
-0.03541320934891701,
-0.011408940888941288,
-0.020677031949162483,
-0.037785984575748444,
0.006926538422703743,
0.06907805800437927,
0.0008607996860519052,
-0.02647516503930092,
-0.01714463159441948,
-0.008938044309616089,
0.04381604120135307,
-0.045564401894807816,
0.037964388728141785,
-0.0336291678249836,
0.00748851103708148,
0.00304401945322752,
-0.0015298149082809687,
0.0468132309615612,
-0.02313900925219059,
0.013746034353971481,
0.003099770750850439,
0.005325361620634794,
-0.005757991690188646,
0.06957758963108063,
-0.04884703457355499,
-0.005343202035874128,
0.04745548218488693,
-0.0040631527081131935,
-0.012211758643388748,
-0.016368573531508446,
0.002890146104618907,
-0.004049772396683693,
-0.09469688683748245,
-0.050416991114616394,
-0.0210516806691885,
0.009892505593597889,
0.03821415454149246,
0.008532174862921238,
-0.03450334817171097,
0.012800492346286774,
-0.012318801134824753,
0.005655409302562475,
0.013407066464424133,
0.04863294959068298,
-0.027206622064113617,
0.04031931981444359,
0.03807143121957779,
-0.019249800592660904,
0.02196154184639454,
-0.013050258159637451,
0.016270451247692108,
-0.06686584651470184,
-0.03821415454149246,
-0.027706153690814972,
0.004005171358585358,
0.015307069756090641,
0.007131702732294798,
-0.029151225462555885,
-0.05951559916138649,
0.043352190405130386,
0.006128179840743542,
0.017742285504937172,
-0.02495872974395752,
-0.03173808380961418,
0.030792543664574623,
-0.010713164694607258,
0.010079829953610897,
-0.0067615145817399025,
0.011400020681321621,
-0.07414473593235016,
-0.009723021648824215,
-0.022300509735941887,
0.0014863288961350918,
0.032540902495384216,
-0.04485078528523445,
0.028062960132956505,
0.04231744632124901,
-0.03172024339437485,
0.024334315210580826,
0.04188927635550499,
0.01792960986495018,
0.044779423624277115,
0.0009801073465496302,
-0.009303772822022438,
0.0176530834287405,
-0.05091652274131775,
0.03168456256389618,
0.008099544793367386,
-0.009089687839150429,
0.06640199571847916,
-0.017403317615389824,
-0.022585956379771233,
0.01182819064706564,
-0.0367155596613884,
-0.07089778035879135,
-0.054163478314876556,
0.002186564961448312,
0.0028455450665205717,
0.048383183777332306,
-0.007925600744783878,
-0.004205876030027866,
-0.0015041693113744259,
0.08998701721429825,
0.034271422773599625,
0.04128270223736763,
0.004584984853863716,
-0.00941973552107811,
0.012372322380542755,
0.013166220858693123,
-0.02114088274538517,
0.022996285930275917,
-0.019892053678631783,
0.023388775065541267,
-0.03173808380961418,
-0.034449826925992966,
-0.016591578722000122,
0.0015811061020940542,
-0.027670472860336304,
0.012711290270090103,
0.019214119762182236,
-0.011417861096560955,
0.04313810542225838,
0.008996025659143925,
0.007934520952403545,
-0.002486506709828973,
-0.009410815313458443,
-0.03163104131817818,
0.01971364952623844,
0.01880379021167755,
0.016885945573449135,
0.027367185801267624,
-0.017421158030629158,
-0.015003782697021961,
-0.02508361265063286,
-0.02982916124165058,
-0.00038245372707024217,
0.015985004603862762,
-0.028241364285349846,
0.01923196017742157,
-0.01254180632531643,
-0.022086424753069878,
-0.00342981843277812,
-0.042388807982206345,
0.04674186930060387,
0.011953072622418404,
-0.005414563696831465,
-0.06386865675449371,
-0.056018877774477005,
0.0031421417370438576,
0.001848712214268744,
-0.03082822449505329,
-0.021640414372086525,
0.027848877012729645,
0.013192981481552124,
0.007845318876206875,
-0.04863294959068298,
-0.028294885531067848,
0.04549304023385048,
0.0007353593246079981,
0.038356877863407135,
-0.014022559858858585,
0.046955954283475876,
-0.017287354916334152,
-0.027331504970788956,
0.021818818524479866,
0.0019691349007189274,
0.06836444139480591,
0.04627801850438118,
0.0006043438334017992,
-0.009241331368684769,
-0.0013458357425406575,
-0.03200569003820419,
0.00015401288692373782,
0.027117419987916946,
-0.017983131110668182,
0.02934747003018856,
-0.0267784520983696,
0.00782747846096754,
-0.018304258584976196,
0.020195340737700462,
-0.024798166006803513,
0.04231744632124901,
0.014513171277940273,
0.020766234025359154,
-0.009294852614402771,
0.013317864388227463,
0.0176263228058815,
-0.03810711205005646,
-0.013094859197735786,
0.0008373841410502791,
-0.03043573535978794,
0.010106590576469898,
0.026385962963104248,
0.008153066039085388,
-0.00171490921638906,
0.0030685500241816044,
0.02126576565206051,
-0.0027897937688976526,
0.03582353889942169,
0.012104716151952744,
0.0051246569491922855,
-0.062762551009655,
-0.004411040805280209,
0.021604733541607857,
0.026635728776454926,
-0.010989691130816936,
-0.006319964304566383,
-0.01708219014108181,
-0.014316926710307598,
0.01747467927634716,
0.015949323773384094,
0.0012198378099128604,
0.0581597276031971,
-0.020944638177752495,
0.027153100818395615,
-0.018429141491651535,
-0.0505240336060524,
0.002493196865543723,
-0.011667626909911633,
0.011203776113688946,
-0.0071450830437242985,
-0.0011796969920396805,
0.0021921400912106037,
0.009758702479302883,
-0.0019312241347506642,
0.03510992228984833,
-0.0013023497303947806,
0.033843252807855606,
0.027295824140310287,
-0.011658706702291965,
0.032665785402059555,
-0.060193534940481186,
0.01052584033459425,
-0.03477095440030098,
-0.01406716089695692,
0.03949866071343422,
-0.012408003211021423,
-0.04263857379555702,
0.07064801454544067,
0.029722118750214577,
-0.0452432744204998,
0.037928707897663116,
0.009410815313458443,
-0.013799555599689484,
-0.03500287979841232,
0.04370899870991707,
-0.01128405798226595,
0.057838600128889084,
0.013763874769210815,
-0.06418978422880173,
0.04310242459177971,
0.010588281787931919,
-0.02065919153392315,
0.010891568847000599,
-0.016466695815324783,
0.0027072818484157324,
-0.021426329389214516,
-0.024851687252521515,
-0.008884523063898087,
0.005994376726448536,
0.015485473908483982,
-0.011034292168915272,
-0.003548010950908065,
0.0252620168030262,
0.0025913191493600607,
0.07963957637548447,
-0.00819320697337389,
0.006395786069333553,
-0.014316926710307598,
-0.00640470627695322,
0.002303642686456442,
-0.022996285930275917,
0.029400991275906563,
-0.0038624482695013285,
0.00466526672244072,
-0.02408454939723015,
-0.017581721767783165,
0.057232026010751724,
-0.024726804345846176,
0.023941826075315475,
0.0161098875105381,
0.0680433139204979,
-0.01098077092319727,
0.04071180894970894,
-0.03268362581729889,
0.011292978189885616,
0.03552025184035301,
0.010044149123132229,
0.0037799363490194082,
-0.013799555599689484,
-0.003371837083250284,
-0.003166672307997942,
-0.01644885540008545,
-0.007100482005625963,
-0.002747422782704234,
0.01082912739366293,
0.017376556992530823,
-0.010632882826030254,
0.023674221709370613,
-0.04231744632124901,
0.005989916622638702,
0.014727256260812283,
0.04724140092730522,
0.02023102156817913,
0.010151191614568233,
-0.024191591888666153,
0.028705215081572533,
-0.010053069330751896,
0.03013244830071926,
0.00802818313241005,
-0.02752774953842163,
0.020195340737700462,
0.002341553568840027,
0.005673249717801809,
-0.031452637165784836,
-0.04588552936911583,
-0.015021623112261295,
0.03807143121957779,
0.011096733622252941,
0.015458713285624981,
-0.05494845658540726,
0.03164888173341751,
0.017064349725842476,
0.026510845869779587,
0.012916455045342445,
0.006944378837943077,
0.01371927373111248,
-0.030703341588377953,
0.01775120571255684,
0.03703668713569641,
-0.0376075804233551,
0.03130991384387016,
0.03746485710144043,
0.007591093424707651,
-0.015414112247526646,
0.004794609732925892,
0.021069521084427834,
0.04674186930060387,
0.007956821471452713,
-0.07293158769607544,
0.021247925236821175,
-0.0276169516146183,
0.02865169383585453,
-0.035306166857481,
0.011498142965137959,
-0.010481239296495914,
-0.011052132584154606,
0.00028182269306853414,
-0.012729130685329437,
0.03910617157816887,
-0.03116719238460064,
-0.011846030130982399,
-0.013853076845407486,
-0.036751240491867065,
-0.014602373354136944,
0.014843218959867954,
-0.0074929711408913136,
-0.029793480411171913,
0.0210516806691885,
-0.002108513144776225,
-0.0074082291685044765,
-0.02040942572057247,
-0.0034253583289682865,
0.0019055785378441215,
-0.006043437868356705,
-0.02205074392259121,
-0.036180347204208374,
0.033754050731658936,
0.0038223073352128267,
0.01866106688976288,
0.0481690987944603,
-0.011337579227983952,
0.03147047758102417,
0.018134774640202522,
0.011623025871813297,
0.03402165696024895,
0.01239016279578209,
0.021551212295889854,
0.009580299258232117,
-0.0020605670288205147,
-0.02014181949198246,
-0.013210821896791458,
0.02101599983870983,
-0.015824440866708755,
0.001924533979035914,
-0.03286202996969223,
-0.026368122547864914,
-0.030631979927420616,
-0.003055169712752104,
0.017974210903048515,
-0.037750303745269775,
-0.01452209148555994,
0.05023858696222305,
-0.00016335122927557677,
-0.020391585305333138,
-0.021069521084427834,
0.051166288554668427,
-0.0535569041967392,
0.030096767470240593,
0.04549304023385048,
0.019642287865281105,
-0.0005976536776870489,
-0.017251674085855484,
-0.04756252467632294,
-0.009696261025965214,
0.0005207168869674206,
-0.024031028151512146,
-0.0020215411204844713,
0.05487709492444992,
-0.027456387877464294,
-0.00756433280184865,
0.036144666373729706,
0.015895802527666092,
0.031006628647446632,
-0.035092081874608994,
0.012274200096726418,
-0.03332588076591492,
0.03746485710144043,
0.05544798821210861,
-0.005477005150169134,
-0.02053430862724781,
0.022782200947403908,
0.003938269801437855,
0.02413807064294815,
-0.036929644644260406,
0.03573433682322502,
0.029151225462555885,
0.018179375678300858,
-0.0536639466881752,
-0.017644163221120834,
-0.03953434154391289,
0.047990694642066956,
0.044565338641405106,
-0.053164415061473846,
0.04649210348725319,
0.019374681636691093,
0.041568148881196976,
-0.011355419643223286,
-0.006627711467444897,
-0.015048383735120296,
-0.0672583356499672,
-0.02783103659749031,
-0.009125368669629097,
-0.021301446482539177,
-0.048418864607810974,
0.07021984457969666,
-0.012229599058628082,
-0.008139685727655888,
-0.028972821310162544,
-0.01506622415035963,
-0.010757765732705593,
0.009758702479302883,
0.055019818246364594,
-0.026724930852651596,
-0.01098077092319727,
-0.024637602269649506,
0.021818818524479866,
-0.018339939415454865,
-0.005601888056844473,
0.014548852108418941,
-0.031149351969361305,
0.0010548140853643417,
-0.004518083296716213,
-0.0010693094227463007,
-0.0044311112724244595,
0.030846064910292625,
-0.014022559858858585,
0.03477095440030098,
0.015333830378949642,
0.01595824398100376,
0.017885008826851845,
-0.022175626829266548,
-0.006944378837943077,
-0.003478879574686289,
-0.0750010758638382,
-0.0294723529368639,
-0.023692060261964798,
-0.047598205506801605,
-0.04124702140688896,
0.01862538605928421,
0.009294852614402771,
0.019892053678631783,
-0.017679844051599503,
0.024994410574436188,
0.05773155763745308,
0.039570022374391556,
-0.023067647591233253,
-0.017340876162052155,
-0.00005564673847402446,
-0.010454478673636913,
-0.059801045805215836,
-0.01566387712955475,
0.027973759919404984,
-0.019856372848153114,
0.0004426650993991643,
-0.002580168889835477,
0.01883947104215622,
0.005396723281592131,
-0.0011953073553740978,
-0.031113671138882637,
-0.022675158455967903,
-0.03789302706718445,
0.034842316061258316,
-0.004790149629116058,
-0.028847938403487206,
-0.0344141460955143,
0.004397660493850708,
-0.008839922025799751,
0.016850264742970467,
-0.005204938817769289,
-0.027153100818395615,
0.01957092620432377,
0.008402831852436066,
0.010775606147944927,
-0.011953072622418404,
-0.02877657674252987,
-0.0414254255592823,
-0.022086424753069878,
0.009031706489622593,
-0.02444135770201683,
0.07064801454544067,
0.02834840677678585,
0.02717094123363495,
-0.06757946312427521,
-0.019089236855506897,
-0.06030057743191719,
0.02322821132838726,
-0.000333950127242133,
-0.0012488284846767783,
0.007961281575262547,
0.043780360370874405,
-0.007439449895173311,
-0.022068584337830544,
0.041175659745931625,
0.00678381510078907,
0.0337362103164196,
0.0012176077580079436,
-0.005633108783513308,
-0.01719815284013748,
0.04909680038690567,
0.013282183557748795,
-0.003962800372391939,
-0.001676998334005475,
0.024494878947734833,
-0.024245113134384155,
-0.013995799235999584,
0.02613619714975357,
0.0033896774984896183,
0.04228176549077034,
-0.009526778012514114,
-0.01565495692193508,
0.006672312505543232,
0.004370899870991707,
0.012015514075756073,
-0.026724930852651596,
-0.04431557282805443,
-0.015315989963710308,
0.02171177603304386,
0.009348373860120773,
0.020980319008231163,
0.02210426516830921,
0.012300960719585419,
0.0067079933360219,
0.007479590829461813,
0.00032084857230074704,
0.03016812913119793,
-0.01651129685342312,
0.09062927216291428,
0.008456353098154068,
0.021390648558735847,
0.047990694642066956,
-0.013335704803466797,
-0.03601978346705437,
0.021069521084427834,
0.00834485050290823,
-0.0024530559312552214,
0.02938315086066723,
0.004999774042516947,
-0.02552962303161621,
0.018375620245933533,
0.009196730330586433,
-0.010811286978423595,
-0.042781297117471695,
0.040961574763059616,
0.009794383309781551
] |
Understanding the ubiquitous phenomenon of neural synchronization across
species and organizational levels is crucial for decoding brain function.
Despite its prevalence, the specific functional role, origin, and dynamical
implication of modular structures in correlation-based networks remains
ambiguous. Using recurrent neural networks trained on systems neuroscience
tasks, this study investigates these important characteristics of modularity in
correlation networks. We demonstrate that modules are functionally coherent
units that contribute to specialized information processing. We show that
modules form spontaneously from asymmetries in the sign and weight of
projections from the input layer to the recurrent layer. Moreover, we show that
modules define connections with similar roles in governing system behavior and
dynamics. Collectively, our findings clarify the function, formation, and
operational significance of functional connectivity modules, offering insights
into cortical function and laying the groundwork for further studies on brain
function, development, and dynamics. | [
0.008465479128062725,
-0.026405146345496178,
-0.028550244867801666,
0.011312843300402164,
-0.007575944531708956,
0.05267409607768059,
0.04269768297672272,
0.02010604552924633,
-0.02189362794160843,
0.070890411734581,
-0.016786249354481697,
0.0417102575302124,
0.04004184529185295,
-0.014743298292160034,
0.05567042529582977,
-0.0011683127377182245,
-0.00044450152199715376,
0.00044849165715277195,
-0.03861178085207939,
-0.0015832872595638037,
0.048656292259693146,
-0.020395463332533836,
-0.013398355804383755,
-0.0673152431845665,
-0.03874797746539116,
0.0024111082311719656,
0.02356203831732273,
-0.025060202926397324,
-0.08287572860717773,
0.03224458172917366,
-0.016284024342894554,
-0.003981627058237791,
0.027852237224578857,
0.00502225523814559,
-0.05628331005573273,
-0.06980083882808685,
0.0031197569333016872,
0.028192728757858276,
-0.018556807190179825,
0.03929276391863823,
0.03326605632901192,
0.011023424565792084,
0.0019971977453678846,
-0.06213976815342903,
0.008835764601826668,
-0.014888008125126362,
-0.07361434400081635,
-0.004451931454241276,
0.008912375196814537,
0.0031389095820486546,
0.037964846938848495,
-0.018710028380155563,
0.02931635081768036,
0.02025926671922207,
-0.03284044191241264,
0.027681989595294,
0.013781408779323101,
-0.010359466075897217,
0.0608118511736393,
0.03697741776704788,
0.012385392561554909,
0.04913298040628433,
-0.05379771813750267,
-0.014598589390516281,
0.06084590032696724,
0.0009065596386790276,
-0.02987816371023655,
0.010946813970804214,
0.08498677611351013,
-0.008618701249361038,
-0.07940270751714706,
-0.0007889835396781564,
-0.03854368254542351,
0.00007175600330810994,
0.02534962072968483,
0.01865895465016365,
0.04637499526143074,
0.10766353458166122,
0.021774455904960632,
-0.005924558732658625,
0.0024557977449148893,
0.03622833639383316,
-0.03130823001265526,
0.01230878196656704,
0.070890411734581,
-0.040484484285116196,
-0.01676071248948574,
-0.05958608165383339,
0.06265050917863846,
0.03888417407870293,
-0.06210571900010109,
0.037215761840343475,
0.007588712964206934,
0.028533220291137695,
0.02861834317445755,
-0.011985314078629017,
0.05611306428909302,
0.015986094251275063,
-0.010853178799152374,
-0.01939101330935955,
-0.040824975818395615,
-0.005005230661481619,
0.012164073064923286,
-0.0191867183893919,
0.041744306683540344,
-0.03437265753746033,
0.012078949250280857,
0.004468956030905247,
0.0021355226635932922,
0.15689866244792938,
-0.007248220965266228,
-0.01775665208697319,
-0.025400694459676743,
0.011380941607058048,
-0.0024004678707569838,
-0.023800382390618324,
-0.08267143368721008,
-0.041029270738363266,
-0.04760076478123665,
-0.019816627725958824,
0.01794392243027687,
0.061458785086870193,
0.033214982599020004,
0.04603450372815132,
-0.055125635117292404,
0.019850676879286766,
-0.04817960038781166,
0.03500256687402725,
0.007771727163344622,
0.05301458761096001,
-0.01059781014919281,
0.021485038101673126,
-0.052605997771024704,
0.004732837434858084,
0.011236232705414295,
-0.03752220422029495,
0.026864809915423393,
0.06098209694027901,
-0.017390623688697815,
-0.07681497186422348,
0.003006968880072236,
0.018539782613515854,
-0.02660944126546383,
0.0017620455473661423,
0.038509633392095566,
-0.04545566812157631,
-0.0019833652768284082,
0.08791500329971313,
-0.010819129645824432,
-0.017160791903734207,
-0.017484258860349655,
0.06847292184829712,
-0.038509633392095566,
0.05754312872886658,
-0.0019833652768284082,
-0.01568816415965557,
-0.006311868317425251,
-0.04021209105849266,
-0.011568211950361729,
-0.04797530546784401,
0.06428486853837967,
0.005256343632936478,
0.035036616027355194,
0.0061586471274495125,
0.05563637614250183,
0.016564929857850075,
-0.02752876840531826,
-0.013951655477285385,
-0.04712407663464546,
0.04858819395303726,
-0.040450435131788254,
-0.0003391618374735117,
0.012998278252780437,
0.028550244867801666,
0.0897536650300026,
0.010734006762504578,
0.024736735969781876,
-0.028141655027866364,
-0.04419584572315216,
0.05488729104399681,
-0.023272620514035225,
-0.024498391896486282,
0.024685662239789963,
0.0008810227736830711,
0.04242528975009918,
0.05638545751571655,
0.07177568972110748,
0.03403216227889061,
-0.0035687806084752083,
-0.014087852090597153,
-0.008359075523912907,
0.008171805180609226,
0.10391812026500702,
-0.021876603364944458,
-0.0061586471274495125,
-0.031103933230042458,
-0.020906202495098114,
-0.0030474024824798107,
-0.023238571360707283,
0.028907760977745056,
0.002011030213907361,
-0.042663633823394775,
0.03348737582564354,
0.019425062462687492,
0.021263718605041504,
-0.08757451176643372,
0.054410602897405624,
-0.02374930866062641,
0.0120534123852849,
0.010018973611295223,
-0.003977370914071798,
-0.04038233682513237,
0.013721822760999203,
-0.018012020736932755,
0.013628187589347363,
-0.005056304391473532,
-0.001912074745632708,
-0.023851456120610237,
0.0010698894038796425,
-0.0031559341587126255,
-0.015245524235069752,
0.0013257903046905994,
0.020020922645926476,
-0.02606465481221676,
0.0373179093003273,
0.004322119057178497,
-0.004245507996529341,
-0.024872932583093643,
-0.03156359866261482,
-0.013772896490991116,
0.009235842153429985,
0.03117203153669834,
0.011014912277460098,
-0.0027132946997880936,
-0.007175866514444351,
-0.019442087039351463,
0.062412161380052567,
-0.005196757614612579,
-0.03718171268701553,
0.03164872154593468,
-0.011781019158661366,
0.026898859068751335,
-0.046477142721414566,
-0.021433964371681213,
0.028924785554409027,
0.006188440136611462,
-0.03081451542675495,
0.08914077281951904,
0.0086995679885149,
-0.028873711824417114,
-0.01954423449933529,
0.008495272137224674,
0.011091522872447968,
0.028141655027866364,
-0.013568601571023464,
-0.009303940460085869,
0.008482503704726696,
0.03857773169875145,
-0.039735402911901474,
-0.0035474998876452446,
0.03643263131380081,
0.023102374747395515,
-0.02914610505104065,
0.009389063343405724,
0.004630689509212971,
-0.05556827411055565,
0.021621234714984894,
0.04256148636341095,
0.027392571792006493,
0.023579062893986702,
0.027069104835391045,
-0.05277624353766441,
-0.032142434269189835,
-0.02986113913357258,
-0.009116670116782188,
0.00007794072007527575,
0.04947347193956375,
-0.00915071927011013,
-0.009882776997983456,
0.04637499526143074,
-0.07613398879766464,
-0.02247246541082859,
0.010376490652561188,
-0.029622795060276985,
-0.0717075914144516,
0.06173117831349373,
0.0007123728864826262,
-0.03459397703409195,
-0.02170635759830475,
0.027086129412055016,
-0.002204685006290674,
0.018454659730196,
-0.05427440628409386,
-0.0037390266079455614,
0.01991877518594265,
-0.01294720359146595,
-0.010606322437524796,
-0.0037922284100204706,
-0.004179537761956453,
-0.030337827280163765,
-0.0011757609900087118,
0.008648494258522987,
-0.02027629129588604,
-0.006801325362175703,
-0.07436342537403107,
0.0008033480262383819,
0.001632233033888042,
0.0488605871796608,
-0.021791480481624603,
-0.01430065929889679,
-0.0065842620097100735,
0.05597686767578125,
-0.030576171353459358,
-0.006030962336808443,
0.0005035555805079639,
0.00593307102099061,
0.027954384684562683,
-0.013713310472667217,
0.039735402911901474,
-0.026949932798743248,
0.005315929651260376,
0.02969089336693287,
-0.09540582448244095,
0.05808791518211365,
-0.024600539356470108,
0.05798576772212982,
0.06673640757799149,
0.028379999101161957,
-0.014590077102184296,
0.010912764817476273,
-0.02860131859779358,
-0.005639397073537111,
0.009721043519675732,
0.015449819155037403,
0.0013364306651055813,
-0.009457162581384182,
-0.0038560705725103617,
0.02463458850979805,
0.00079855986405164,
-0.032482925802469254,
0.0015119967283681035,
-0.01618187688291073,
-0.04705597832798958,
0.016054192557930946,
-0.030286753550171852,
-0.03147847577929497,
-0.04399155080318451,
0.012657785788178444,
0.03711361438035965,
0.008244159631431103,
0.0007841953774914145,
-0.01886325143277645,
0.003089963924139738,
-0.007129048928618431,
-0.023510964587330818,
-0.03564950078725815,
-0.05655570328235626,
0.010376490652561188,
0.004143360536545515,
0.03244887664914131,
-0.020718932151794434,
-0.04310627281665802,
-0.06282075494527817,
-0.016445757821202278,
-0.03864583000540733,
-0.03663692623376846,
-0.05979037657380104,
-0.04726027324795723,
-0.011500113643705845,
0.02769901417195797,
-0.02211494743824005,
0.05192501097917557,
-0.055329930037260056,
-0.012598199769854546,
-0.0024217485915869474,
0.03343630209565163,
0.015943532809615135,
0.023834431543946266,
-0.040824975818395615,
0.025860358029603958,
-0.03752220422029495,
0.04606855288147926,
-0.02208089828491211,
0.04453633725643158,
0.012981252744793892,
0.017348062247037888,
0.034713149070739746,
-0.013696285896003246,
-0.05311673507094383,
0.013849507085978985,
-0.0338619165122509,
-0.09887884557247162,
0.015628578141331673,
0.008686799556016922,
0.06956249475479126,
-0.0038965039420872927,
-0.06013086810708046,
-0.002545176772400737,
0.04817960038781166,
0.058394357562065125,
-0.05195906013250351,
-0.019969848915934563,
0.02533259615302086,
-0.07259286940097809,
-0.05035874992609024,
-0.018250364810228348,
0.016564929857850075,
0.01685434766113758,
0.04531947150826454,
0.024396244436502457,
0.01396016776561737,
0.01867597922682762,
-0.0322786308825016,
-0.00857613980770111,
-0.0191867183893919,
0.01809714362025261,
-0.04756671562790871,
-0.017169304192066193,
-0.04218694567680359,
0.009627408348023891,
-0.0513802245259285,
-0.010725494474172592,
0.03483232110738754,
0.0011959777912124991,
-0.020923227071762085,
-0.04279983043670654,
0.012904642149806023,
-0.03318093344569206,
0.04310627281665802,
-0.004313606768846512,
0.06506799906492233,
0.0069715715944767,
-0.00015109327796380967,
0.011278794147074223,
0.012359855696558952,
-0.03009948320686817,
-0.007201403379440308,
0.014275122433900833,
-0.07143519818782806,
0.00394119368866086,
0.024685662239789963,
0.024532441049814224,
-0.02843107283115387,
-0.038305338472127914,
0.005945839453488588,
0.008665518835186958,
-0.023051301017403603,
-0.02279593236744404,
-0.042459338903427124,
-0.0161989014595747,
-0.03799889609217644,
0.006099061109125614,
-0.09676779061555862,
-0.006877935957163572,
0.057509079575538635,
-0.03496851772069931,
0.03844153508543968,
-0.018199291080236435,
0.04126761853694916,
-0.029741967096924782,
0.060948047786951065,
0.013117450289428234,
-0.017467234283685684,
-0.017433185130357742,
-0.011423503048717976,
-0.020037947222590446,
0.006958803161978722,
-0.01587543450295925,
-0.011551187373697758,
0.0066651287488639355,
0.002600506879389286,
-0.07054992020130157,
0.005490431562066078,
0.04552376642823219,
0.02499210461974144,
0.04395750164985657,
0.014785859733819962,
-0.04712407663464546,
0.03694336861371994,
-0.01882920227944851,
0.003998651634901762,
0.06850697100162506,
0.008537834510207176,
0.07865362614393234,
-0.06925605237483978,
0.014794372953474522,
0.019084570929408073,
0.01831846311688423,
-0.02174040675163269,
-0.0021834042854607105,
0.03765840455889702,
-0.019288865849375725,
0.024345170706510544,
0.03246590122580528,
0.02660944126546383,
-0.022523539140820503,
0.03752220422029495,
-0.02465161308646202,
0.06265050917863846,
-0.0014545387821272016,
-0.009312452748417854,
-0.05420630797743797,
0.09036654978990555,
0.03643263131380081,
-0.03081451542675495,
0.017807725816965103,
0.008712336421012878,
-0.0030452744103968143,
-0.051005683839321136,
-0.01884622685611248,
-0.020906202495098114,
0.03478124737739563,
0.007652555126696825,
-0.05560232698917389,
-0.005847948137670755,
0.024004677310585976,
0.01647980697453022,
-0.017518308013677597,
0.003304899437353015,
0.010895740240812302,
0.012598199769854546,
-0.009074108675122261,
-0.006145878694951534,
0.04218694567680359,
-0.05539802834391594,
0.012385392561554909,
0.014241073280572891,
0.005605347920209169,
0.00021693056623917073,
-0.02429409697651863,
-0.03399811312556267,
0.014836934395134449,
0.0036858245730400085,
-0.017858799546957016,
-0.006733227055519819,
-0.015219987370073795,
0.036126188933849335,
0.005009486805647612,
-0.047021929174661636,
-0.03081451542675495,
0.001759917475283146,
0.05359342321753502,
-0.05553422495722771,
0.054785143584012985,
-0.0035858051851391792,
0.008801715448498726,
0.04903083294630051,
-0.014811397530138493,
-0.05897319316864014,
-0.01141499076038599,
-0.00010121653031092137,
-0.006209720857441425,
-0.032499950379133224,
-0.0362623855471611,
-0.02986113913357258,
-0.009440138004720211,
0.03418538719415665,
-0.02555391564965248,
-0.03643263131380081,
-0.02482185885310173,
-0.004732837434858084,
-0.021144546568393707,
-0.028873711824417114,
-0.0019269712502136827,
0.014079339802265167,
0.014802885241806507,
-0.016258487477898598,
0.030882613733410835,
0.030933687463402748,
-0.01467519998550415,
-0.02827785164117813,
0.030712367966771126,
0.0021876604296267033,
0.03718171268701553,
0.00915071927011013,
-0.00360282976180315,
0.015126352198421955,
-0.007635530550032854,
0.03420241177082062,
0.032346729189157486,
0.030644269660115242,
-0.013755871914327145,
0.018727052956819534,
0.012921666726469994,
-0.020412487909197807,
-0.03936086222529411,
-0.005128658842295408,
-0.0532529316842556,
0.019850676879286766,
-0.0034113030415028334,
-0.0025196399074047804,
0.07116280496120453,
0.044093698263168335,
0.01627551205456257,
-0.017169304192066193,
-0.013534552417695522,
-0.047362420707941055,
-0.013602650724351406,
0.033402252942323685,
-0.054070111364126205,
-0.011644822545349598,
0.0034900419414043427,
0.022915104404091835,
0.029418498277664185,
0.04749861732125282,
-0.014513466507196426,
0.020923227071762085,
0.007014133036136627,
0.013781408779323101,
0.02538366988301277,
0.020531659945845604,
-0.006601286586374044,
0.055329930037260056,
-0.024941030889749527,
0.010529711842536926,
-0.030712367966771126,
0.02611572854220867,
0.0002680043689906597,
0.006660872604697943,
-0.014419831335544586,
0.01903349719941616,
0.034491829574108124,
0.04811150208115578,
0.013798433355987072,
0.010631859302520752,
-0.02337476797401905,
-0.014428343623876572,
-0.03786269947886467,
0.004085902590304613,
-0.017535332590341568,
-0.04450228810310364,
0.010742519050836563,
-0.018539782613515854,
0.005341466516256332,
0.000839525309856981,
-0.03980350121855736,
-0.011712920852005482,
0.007686604280024767,
-0.02010604552924633,
0.008107963018119335,
0.016956495121121407,
0.031018810346722603,
-0.03219350799918175,
-0.014470905065536499,
-0.009227329865098,
0.018590856343507767,
0.002698398195207119,
-0.0236982349306345,
0.05798576772212982,
0.01294720359146595,
0.030167581513524055,
0.0023047043941915035,
-0.043548911809921265,
0.037590302526950836,
-0.004749862011522055,
-0.0482136495411396,
0.00833353865891695,
-0.029673868790268898,
-0.021978750824928284,
-0.044434189796447754,
-0.009176256135106087,
0.00031601902446709573,
0.017654504626989365,
-0.0010741455480456352,
0.036126188933849335,
-0.025809284299612045,
0.005064816679805517,
-0.0133132329210639,
0.0018907940248027444,
0.048996783792972565,
-0.02611572854220867,
-0.001737572718411684,
-0.005903278011828661,
0.021791480481624603,
-0.004413626156747341,
-0.034508854150772095,
0.04279983043670654,
0.015807336196303368,
0.025673087686300278,
-0.023306669667363167,
-0.027069104835391045,
-0.021621234714984894,
-0.012700347229838371,
-0.017220377922058105,
-0.017143767327070236,
-0.003379381960257888,
0.010010461322963238,
-0.021468013525009155,
-0.02645622007548809,
-0.01756938174366951,
0.001422617700882256,
-0.03258507326245308,
-0.006699177902191877,
0.0006788556929677725,
0.05798576772212982,
0.049541570246219635,
-0.014683712273836136,
0.012130023911595345,
-0.0026090191677212715,
0.034321583807468414,
0.004558335058391094,
0.014368757605552673,
0.023834431543946266,
-0.014402806758880615,
0.009184768423438072,
0.014539003372192383,
0.037011466920375824,
-0.014189999550580978,
-0.018403586000204086,
-0.015432794578373432,
-0.010172194801270962,
-0.026354072615504265,
-0.03496851772069931,
0.0030048408079892397,
0.02626894973218441,
0.023783357813954353,
0.0007820673054084182,
-0.017390623688697815,
-0.022608662024140358,
0.016709638759493828,
-0.01920374296605587,
-0.007529126945883036,
0.022046849131584167,
-0.03295961394906044,
0.032533999532461166,
0.04385535418987274,
-0.013347282074391842,
-0.002120625926181674,
-0.028669416904449463,
0.005294648930430412,
0.018573831766843796,
-0.011074498295783997,
-0.01991877518594265,
-0.00042987099732272327,
-0.028175704181194305,
0.003355973167344928,
0.013440917246043682,
0.011568211950361729,
-0.0012917411513626575,
-0.020616784691810608,
0.010325416922569275,
-0.011925728060305119,
-0.018727052956819534,
0.023238571360707283,
0.012785470113158226,
0.02899288386106491,
-0.046443093568086624,
0.01160226110368967,
-0.026490269228816032,
-0.007005620747804642,
0.010146657936275005,
0.019986873492598534,
0.022915104404091835,
-0.0236982349306345,
0.021621234714984894,
0.025673087686300278,
0.04256148636341095,
-0.01646278239786625,
0.01865895465016365,
0.024140873923897743,
0.003498554229736328,
-0.014539003372192383,
-0.013194060884416103,
0.06258241087198257,
0.043923452496528625,
-0.006588518153876066,
-0.012112999334931374,
-0.04358296096324921,
0.03040592558681965,
0.009789141826331615,
0.010546736419200897,
-0.007461028639227152,
0.039599206298589706,
-0.014785859733819962,
0.027784137055277824,
-0.017237402498722076,
-0.009933850727975368,
-0.05846245586872101,
0.017977971583604813,
-0.014326196163892746,
0.011781019158661366,
0.0043923454359173775,
0.021502062678337097,
0.05345722660422325,
0.03602404147386551,
0.0036560315638780594,
0.0044561875984072685,
-0.05165261775255203,
-0.010163682512938976,
0.023766333237290382,
-0.01905052177608013,
-0.06823457777500153,
-0.005281880497932434,
-0.02642217092216015,
0.02248948998749256,
0.0104275643825531,
0.004162513185292482,
0.0007118408684618771,
-0.030916662886738777,
-0.06486370414495468,
-0.014309171587228775,
-0.04051853343844414,
-0.015177425928413868,
0.011908703483641148,
0.009303940460085869,
0.008133499883115292,
-0.037045516073703766,
-0.005103121977299452,
-0.03481529653072357,
0.020923227071762085,
0.014862471260130405,
0.0012672682059928775,
-0.0004897231119684875,
0.005269112065434456,
-0.0293503999710083,
-0.02100834995508194,
0.059483934193849564,
0.04184645414352417,
0.0050435359589755535,
0.007529126945883036,
-0.04361701011657715,
-0.030337827280163765,
0.0017524692229926586,
-0.0012683322420343757,
-0.00350919459015131,
-0.09023035317659378,
0.005899021867662668,
-0.015645602717995644,
0.030882613733410835,
0.024225998669862747,
0.010657396167516708,
0.00035246231709606946,
-0.03915656730532646,
0.03156359866261482,
-0.037215761840343475,
0.010606322437524796,
0.036670975387096405,
0.0012332190526649356,
0.016505343839526176,
0.025468792766332626,
-0.011627797968685627,
-0.0679621770977974,
-0.010197731666266918,
-0.03078046627342701,
-0.03369167074561119,
0.028873711824417114,
-0.011593748815357685,
0.01811416819691658,
0.05107378214597702,
0.02174040675163269,
0.021110497415065765,
0.03476422280073166,
0.054240357130765915,
0.00014790116983931512,
0.028005458414554596,
-0.008137756027281284,
-0.010172194801270962,
0.018727052956819534,
0.011517138220369816,
0.037930797785520554,
0.04548971727490425,
0.0012374751968309283,
0.016811786219477654,
-0.028158679604530334,
-0.0161393154412508,
-0.012972740456461906,
-0.022046849131584167,
-0.027767112478613853,
0.007146073505282402,
0.005694726947695017,
0.009976412169635296,
0.017433185130357742,
-0.002594122663140297,
0.04552376642823219,
0.00033144757617264986,
0.036296434700489044,
0.046272847801446915,
-0.027392571792006493,
-0.028907760977745056,
0.037386007606983185,
0.030320802703499794,
-0.01826738938689232,
-0.011159621179103851,
0.010589297860860825,
0.05475109443068504,
0.03735195845365524,
0.005201013758778572,
-0.06540849059820175,
-0.007818545214831829,
-0.06646401435136795,
-0.011815068311989307,
-0.00841014925390482,
-0.02606465481221676,
0.001119367079809308,
0.007793007884174585,
0.024941030889749527,
-0.0005799002246931195,
0.008393124677240849,
0.00041577251977287233,
0.0021482910960912704,
0.022915104404091835,
-0.027988433837890625,
0.008525066077709198,
-0.025451768189668655,
-0.014121901243925095,
0.0006378902471624315,
-0.007039669901132584,
-0.0208551287651062,
0.012147048488259315,
-0.05955203250050545,
-0.015892459079623222,
-0.05165261775255203,
0.007456772495061159,
-0.039939697831869125,
0.0012278988724574447,
0.018420610576868057,
-0.012283245101571083,
0.017450209707021713,
0.035615451633930206,
0.00924435444176197,
0.04474063217639923,
0.020565709099173546,
-0.006831118371337652,
-0.0017514051869511604,
-0.03164872154593468,
0.029248252511024475,
0.005256343632936478,
-0.021127521991729736,
-0.009652945213019848,
0.0017726859077811241,
-0.053321029990911484,
0.019952824339270592,
0.009508236311376095,
0.008954936638474464,
-0.02538366988301277,
-0.019152669236063957,
-0.029435522854328156,
0.023408817127346992,
-0.005852204281836748,
0.0008177125710062683,
-0.025400694459676743,
0.0338619165122509,
-0.010121121071279049,
0.03282341733574867,
0.009763604961335659,
-0.011729945428669453,
0.03946300968527794,
0.014258097857236862,
0.010095584206283092,
0.015807336196303368,
-0.018165241926908493,
0.05553422495722771,
0.003043146338313818,
0.031069884076714516,
-0.03980350121855736,
0.010018973611295223,
-0.02912908047437668,
-0.02136586606502533,
-0.02700100652873516,
-0.0036155981943011284,
0.024208974093198776,
0.0028771564830094576,
0.012061924673616886,
-0.01886325143277645,
-0.003032505977898836,
0.045217324048280716,
0.014981643296778202,
-0.026881834492087364,
-0.020037947222590446,
0.046102602034807205,
0.006571493577212095,
-0.004066749941557646,
-0.013551576994359493,
0.014283634722232819,
0.024174923077225685,
0.014700736850500107,
-0.024668637663125992,
0.0014130413765087724,
0.016071217134594917,
0.010121121071279049,
0.03210838511586189,
-0.01813119277358055,
-0.014045290648937225,
-0.039599206298589706,
0.01826738938689232,
0.0033432047348469496,
-0.009125182405114174,
0.004000779706984758,
-0.019339939579367638,
-0.013466454111039639,
-0.014275122433900833,
0.03307878598570824,
0.0377265028655529,
0.0015534942504018545,
-0.04756671562790871,
-0.022148996591567993,
0.010001949034631252,
-0.01796094700694084,
0.020565709099173546,
-0.0045370543375611305,
-0.022387340664863586,
-0.01275993324816227,
-0.03874797746539116,
0.03221053257584572,
0.035036616027355194,
0.008929399773478508,
0.03622833639383316,
0.015424282290041447,
-0.034900419414043427,
0.025298546999692917,
0.03653477877378464,
0.021433964371681213,
0.009550797753036022,
-0.006911985110491514,
-0.013789921067655087,
-0.030678318813443184,
0.03183599188923836,
0.022183045744895935,
0.0004125804116483778,
-0.039054419845342636,
0.024549465626478195,
0.013917606323957443,
0.024396244436502457,
-0.02048058621585369
] |
Using backward error analysis, we compute implicit training biases in
multitask and continual learning settings for neural networks trained with
stochastic gradient descent. In particular, we derive modified losses that are
implicitly minimized during training. They have three terms: the original loss,
accounting for convergence, an implicit flatness regularization term
proportional to the learning rate, and a last term, the conflict term, which
can theoretically be detrimental to both convergence and implicit
regularization. In multitask, the conflict term is a well-known quantity,
measuring the gradient alignment between the tasks, while in continual learning
the conflict term is a new quantity in deep learning optimization, although a
basic tool in differential geometry: The Lie bracket between the task
gradients. | [
0.011520863510668278,
-0.018666241317987442,
-0.03337012976408005,
0.01308890338987112,
0.03331379219889641,
0.04908808320760727,
-0.008084322325885296,
0.036994460970163345,
-0.047397978603839874,
-0.01169926393777132,
0.04071268439292908,
0.00315485754981637,
0.026046354323625565,
-0.030271610245108604,
0.014647552743554115,
0.020976047962903976,
0.06065589189529419,
0.011727431789040565,
0.0033309098798781633,
-0.031116660684347153,
0.041839420795440674,
-0.09299318492412567,
0.0020692015532404184,
0.031548574566841125,
-0.0017863442189991474,
0.043341733515262604,
0.028863191604614258,
-0.01604658178985119,
-0.03258141502737999,
-0.01506068930029869,
0.005305043421685696,
-0.00351635180413723,
0.008225164376199245,
-0.022947832942008972,
-0.04709751531481743,
-0.04743553698062897,
0.07661797106266022,
0.026722395792603493,
-0.06287180632352829,
0.052806306630373,
0.0411258228123188,
0.03374570980668068,
0.015915129333734512,
-0.01220629457384348,
-0.024938398972153664,
-0.06309714913368225,
-0.038722120225429535,
-0.00216192239895463,
-0.019699081778526306,
-0.012234462425112724,
-0.003490530652925372,
-0.02152063511312008,
0.0700453519821167,
-0.01826249435544014,
0.0239055585116148,
0.030384283512830734,
0.07154766470193863,
0.007769775576889515,
0.04935098811984062,
0.024431368336081505,
-0.020919710397720337,
0.00875097420066595,
-0.08322814851999283,
-0.008502153679728508,
-0.023173179477453232,
-0.044618699699640274,
-0.01100444421172142,
0.006563230417668819,
0.05164201557636261,
-0.010732149705290794,
-0.05930381268262863,
-0.010610086843371391,
0.0037135302554816008,
-0.001333302934654057,
-0.010750928893685341,
-0.019999543204903603,
0.04469381645321846,
0.03928548842668533,
0.05569826066493988,
-0.05107864737510681,
-0.017079422250390053,
0.04236523061990738,
0.0004369031812530011,
0.04957633465528488,
0.06689049303531647,
-0.027360878884792328,
0.016891634091734886,
-0.04548253118991852,
0.01803714781999588,
-0.03962351009249687,
-0.026590943336486816,
0.03592406213283539,
-0.003920098301023245,
-0.007830807007849216,
-0.06429900228977203,
-0.016656896099448204,
0.011314296163618565,
0.0175019484013319,
-0.05490954592823982,
-0.010591307654976845,
-0.006253378465771675,
0.025163745507597923,
-0.022384466603398323,
-0.007755691651254892,
0.06666514277458191,
-0.02018733322620392,
-0.035323139280080795,
-0.007755691651254892,
0.026365594938397408,
0.17697249352931976,
-0.02574589103460312,
0.022947832942008972,
-0.06722851097583771,
0.030928872525691986,
-0.06418632715940475,
-0.00782611221075058,
-0.014929236844182014,
-0.016290707513689995,
0.07552879303693771,
-0.035210464149713516,
-0.024769388139247894,
0.07410159707069397,
0.03325745835900307,
0.0035069622099399567,
-0.047773558646440506,
0.039886415004730225,
-0.008356616832315922,
-0.0005419477238319814,
0.032205838710069656,
0.010084277018904686,
0.04398021847009659,
0.017849357798695564,
0.027943024411797523,
0.02200888842344284,
0.015004352666437626,
0.008685247972607613,
0.057501036673784256,
-0.031942933797836304,
-0.021088721230626106,
0.0059341369196772575,
-0.012807219289243221,
-0.01806531473994255,
0.019548850134015083,
0.066702701151371,
-0.01868502050638199,
-0.01712637022137642,
-0.011999726295471191,
0.003690056735649705,
0.010375349782407284,
0.02090093120932579,
-0.025201303884387016,
0.047548212110996246,
-0.0007781512686051428,
0.049050524830818176,
0.06647735834121704,
-0.00643647275865078,
-0.04029954969882965,
0.03902258351445198,
0.0277927927672863,
-0.031661249697208405,
0.06790455430746078,
0.042891040444374084,
-0.03352036327123642,
0.06054322049021721,
0.04458114132285118,
0.04086291790008545,
0.07721889764070511,
0.025651996955275536,
-0.07526589184999466,
0.043942660093307495,
-0.025614438578486443,
-0.026947742328047752,
-0.03996152803301811,
0.027811571955680847,
0.017511337995529175,
0.025990016758441925,
0.029219990596175194,
-0.01278844103217125,
-0.021445520222187042,
0.022271791473031044,
0.04029954969882965,
-0.020469017326831818,
0.025201303884387016,
0.02518252469599247,
0.0017793021397665143,
-0.00438252929598093,
0.019811755046248436,
-0.018328219652175903,
0.033614255487918854,
-0.029727021232247353,
0.025107407942414284,
0.03040306270122528,
0.06940686702728271,
-0.04131361097097397,
0.018562957644462585,
-0.012187515385448933,
-0.04473137483000755,
0.04942610114812851,
0.02730454131960869,
0.005690011195838451,
0.04980168119072914,
-0.07181056588888168,
-0.01298561878502369,
0.01920144073665142,
0.0350038968026638,
0.02540787123143673,
0.016412770375609398,
-0.009905877523124218,
-0.006150094326585531,
0.00630971509963274,
-0.01834699884057045,
-0.025501765310764313,
-0.03562359884381294,
-0.040111761540174484,
-0.027417214587330818,
-0.008882426656782627,
0.029558010399341583,
0.04319150373339653,
0.007549123372882605,
-0.004307413473725319,
-0.021314067766070366,
0.046346358954906464,
0.005943526513874531,
0.005089085549116135,
0.004373139701783657,
0.0291824322193861,
0.02657216414809227,
-0.011023222468793392,
-0.0406000129878521,
-0.010187560692429543,
0.009380067698657513,
-0.026083912700414658,
-0.029389001429080963,
-0.04458114132285118,
-0.00550222210586071,
0.028637845069169998,
-0.0494636595249176,
0.017971420660614967,
-0.0014013764448463917,
-0.045219626277685165,
0.009680530056357384,
-0.010046719573438168,
-0.019323503598570824,
-0.017398664727807045,
0.014450374990701675,
0.027060415595769882,
-0.0026759952306747437,
0.0291824322193861,
-0.024055788293480873,
0.009211057797074318,
0.00231098011136055,
-0.017915084958076477,
-0.009056131355464458,
0.057012785226106644,
-0.051228877156972885,
0.0336330346763134,
0.022102782502770424,
-0.021163836121559143,
0.030421841889619827,
-0.037388820201158524,
0.05318188667297363,
0.013502039015293121,
-0.02319195866584778,
0.07658041268587112,
0.06816745549440384,
-0.031942933797836304,
0.015370541252195835,
0.040224432945251465,
0.015041910111904144,
0.05321944132447243,
-0.002286332892253995,
-0.00045245446381159127,
-0.03124811314046383,
-0.04401777684688568,
-0.025783449411392212,
-0.039548393338918686,
0.025445429608225822,
-0.019267166033387184,
-0.037820734083652496,
-0.02396189421415329,
0.06197041645646095,
0.01990564912557602,
0.03817753121256828,
-0.02135162614285946,
0.05423350632190704,
0.024168463423848152,
0.003793340642005205,
0.009417625144124031,
-0.053782809525728226,
-0.03539825230836868,
-0.016656896099448204,
-0.00911716278642416,
0.020938489586114883,
-0.003586772596463561,
0.03729492425918579,
-0.026534605771303177,
-0.05686255171895027,
0.01534237340092659,
-0.02039390057325363,
-0.03663766011595726,
0.01903242990374565,
0.0014330658596009016,
0.011333074420690536,
-0.025257639586925507,
0.011999726295471191,
-0.004542150069028139,
0.04848715662956238,
0.05509733408689499,
-0.0325063019990921,
0.017511337995529175,
-0.019642744213342667,
0.0028567423578351736,
0.02461915649473667,
-0.011211011558771133,
-0.029614347964525223,
-0.015811845660209656,
0.0717354491353035,
-0.013887006789445877,
-0.03761416673660278,
-0.028337381780147552,
0.004124319180846214,
0.02274126559495926,
-0.06159484013915062,
0.004807401914149523,
-0.022328129038214684,
-0.005244011990725994,
-0.01718270592391491,
0.054571524262428284,
-0.022947832942008972,
-0.019642744213342667,
-0.0027065109461545944,
-0.013070124201476574,
-0.08488069474697113,
0.030046263709664345,
-0.03620574623346329,
0.021201394498348236,
-0.018112262710928917,
0.013164019212126732,
-0.061519723385572433,
-0.08735951036214828,
-0.006469335872679949,
-0.0066852932795882225,
-0.006211125757545233,
0.03196171298623085,
-0.0018508967477828264,
0.019943207502365112,
-0.027661340311169624,
-0.021745983511209488,
0.007802638690918684,
0.04796134680509567,
0.0007992775645107031,
0.013661660254001617,
-0.011323685757815838,
0.039999086409807205,
0.028543949127197266,
-0.01979297585785389,
0.0038097721990197897,
0.040337108075618744,
-0.07233637571334839,
0.052618518471717834,
-0.01436586957424879,
-0.03603673726320267,
-0.0061125364154577255,
0.007929396815598011,
-0.014046628028154373,
-0.04664682224392891,
0.008666468784213066,
-0.02691018395125866,
-0.018750745803117752,
0.008356616832315922,
-0.00805615447461605,
0.011361243203282356,
0.039999086409807205,
-0.00035474542528390884,
0.008304974995553493,
0.01447854284197092,
0.008671163581311703,
-0.02478816732764244,
-0.05164201557636261,
0.052618518471717834,
-0.03382082283496857,
0.02997114695608616,
0.003187720663845539,
0.0009571377886459231,
0.044768933206796646,
0.028149591758847237,
-0.024055788293480873,
0.013164019212126732,
0.023304631933569908,
-0.031172998249530792,
0.019069988280534744,
-0.03517290577292442,
-0.012929282151162624,
0.007934091612696648,
0.01545504666864872,
0.024713050574064255,
-0.0208445955067873,
-0.005671232007443905,
-0.01979297585785389,
0.03029038943350315,
-0.009347205050289631,
0.050552837550640106,
-0.021745983511209488,
-0.008797921240329742,
-0.062007974833250046,
0.05149178206920624,
-0.06193285807967186,
-0.03168002888560295,
0.02963312715291977,
-0.003084436757490039,
0.0184878408908844,
0.006150094326585531,
0.024600377306342125,
0.04923831298947334,
0.03337012976408005,
0.0051595065742731094,
-0.03496633842587471,
0.018534788861870766,
-0.020919710397720337,
0.00034564940142445266,
-0.01831883005797863,
-0.040111761540174484,
0.04198965057730675,
-0.01192461047321558,
0.046947285532951355,
-0.0025539323687553406,
0.03857189044356346,
0.003748740768060088,
-0.012131178751587868,
-0.02730454131960869,
0.048224251717329025,
0.04326661676168442,
0.0455952025949955,
0.009478656575083733,
-0.015811845660209656,
-0.01633765548467636,
-0.016976138576865196,
-0.0005742239882238209,
-0.012262631207704544,
0.03817753121256828,
0.031116660684347153,
-0.008455205708742142,
0.0010956323239952326,
0.019361060112714767,
0.015980856493115425,
-0.014121743850409985,
0.004800360184162855,
-0.02450648322701454,
-0.00760076567530632,
-0.0119527792558074,
-0.04638391733169556,
0.03637475520372391,
-0.04120093956589699,
-0.06426144391298294,
0.018365778028964996,
-0.010375349782407284,
0.04593322426080704,
-0.06489992886781693,
0.058778002858161926,
-0.0444684699177742,
0.04026199132204056,
0.010159392841160297,
-0.019163882359862328,
-0.004375487100332975,
0.01100444421172142,
0.005802684463560581,
-0.010150003246963024,
0.002622005995362997,
-0.026816289871931076,
0.019642744213342667,
-0.030384283512830734,
-0.0550222173333168,
-0.04540741443634033,
0.059904735535383224,
0.030215272679924965,
0.030834976583719254,
-0.06640224158763885,
-0.08427976816892624,
-0.03244996443390846,
-0.013220355845987797,
0.029032202437520027,
-0.005605505779385567,
0.016581781208515167,
-0.05254340171813965,
0.0011472742771729827,
0.026985300704836845,
0.02073192223906517,
0.02351120114326477,
-0.0015668657142668962,
-0.009337815456092358,
-0.021933771669864655,
-0.035548485815525055,
0.06606422364711761,
-0.016666285693645477,
0.02478816732764244,
-0.05802684649825096,
0.019126323983073235,
-0.04198965057730675,
0.06816745549440384,
-0.009065520949661732,
0.0006238120840862393,
-0.02773645706474781,
-0.004204129334539175,
0.06974488496780396,
-0.0222342349588871,
0.021764760836958885,
0.018450282514095306,
-0.007262744940817356,
0.02396189421415329,
-0.039060141891241074,
-0.014525489881634712,
-0.025990016758441925,
0.030985208228230476,
-0.013333029113709927,
0.012600651942193508,
0.03368937224149704,
0.04435579478740692,
0.003227625973522663,
0.027830351144075394,
-0.011802547611296177,
0.034496866166591644,
0.006619567517191172,
0.007323776371777058,
0.002474121982231736,
-0.042327672243118286,
0.04067512974143028,
0.026985300704836845,
0.020375121384859085,
0.04488160461187363,
-0.00701861921697855,
0.01837516762316227,
0.04863738641142845,
-0.04120093956589699,
-0.04871250316500664,
-0.00380038283765316,
0.025539323687553406,
0.048562273383140564,
0.017257822677493095,
-0.03789585083723068,
-0.04829936847090721,
-0.040562454611063004,
0.011417579837143421,
0.009394152089953423,
0.03029038943350315,
-0.005516306031495333,
0.00455858139321208,
0.02024366892874241,
-0.02450648322701454,
0.026102690026164055,
0.00403981376439333,
-0.023022949695587158,
-0.07575414329767227,
-0.0067651038989424706,
-0.004089108668267727,
-0.055623143911361694,
0.026703616604208946,
0.008924678899347782,
0.03156735375523567,
0.038496773689985275,
-0.0022194329649209976,
0.01695735938847065,
-0.012347135692834854,
-0.010750928893685341,
0.01990564912557602,
-0.006004557944834232,
-0.04552008956670761,
0.024037010967731476,
0.032938215881586075,
0.0063707465305924416,
0.016459718346595764,
-0.016234371811151505,
-0.009112467989325523,
-0.031210554763674736,
-0.003889582585543394,
-0.004760454874485731,
0.014159301295876503,
-0.025539323687553406,
0.0007141855894587934,
-0.0012734450865536928,
0.012441030703485012,
0.01220629457384348,
-0.03229973092675209,
0.036318421363830566,
0.029332663863897324,
-0.06865571439266205,
-0.021914992481470108,
-0.026891404762864113,
-0.0411258228123188,
0.003269878448918462,
-0.045219626277685165,
-0.038722120225429535,
0.03879723697900772,
0.023323411121964455,
-0.006366051733493805,
0.0013121765805408359,
-0.016300097107887268,
0.023473642766475677,
-0.005591421853750944,
0.045332297682762146,
-0.019473733380436897,
-0.008699332363903522,
-0.026703616604208946,
0.01622498221695423,
0.026703616604208946,
0.011943389661610126,
-0.038947466760873795,
0.03395227715373039,
0.03352036327123642,
0.036543767899274826,
0.03423396125435829,
-0.00887773185968399,
0.023267075419425964,
0.047397978603839874,
0.0033379520755261183,
0.026384374126791954,
-0.0023814011365175247,
-0.002863784320652485,
-0.0015081815654411912,
-0.01461938489228487,
0.012910503894090652,
0.0045304130762815475,
0.016750792041420937,
0.018243715167045593,
0.010816654190421104,
0.004816791508346796,
0.046947285532951355,
0.03162369132041931,
-0.015276647172868252,
-0.002556279767304659,
-0.04965144768357277,
-0.021276509389281273,
0.014769616536796093,
0.028938306495547295,
-0.023886779323220253,
0.022440802305936813,
0.004877822939306498,
0.027360878884792328,
0.000795169675257057,
-0.030327945947647095,
-0.02768011949956417,
-0.0165348332375288,
-0.011577201075851917,
-0.014234417118132114,
0.011633537709712982,
0.00829558540135622,
0.017163928598165512,
0.0021994803100824356,
-0.05468419939279556,
0.035492148250341415,
-0.024450145661830902,
0.004887212533503771,
0.0071688503958284855,
-0.018159210681915283,
0.049388542771339417,
0.006211125757545233,
-0.01792447455227375,
0.008652384392917156,
0.007412976585328579,
0.03402739390730858,
-0.01534237340092659,
0.03663766011595726,
-0.013126460835337639,
-0.03235606849193573,
0.01639399304986,
0.037877071648836136,
-0.04912564158439636,
0.05235561355948448,
0.01484473142772913,
-0.02458159811794758,
0.01178376842290163,
0.003955308813601732,
-0.025313977152109146,
-0.027586225420236588,
0.004840265028178692,
0.0184878408908844,
-0.014196859672665596,
-0.0325063019990921,
0.04120093956589699,
0.031210554763674736,
-0.0037510881666094065,
-0.011567811481654644,
-0.04623368754982948,
0.012431641109287739,
-0.04379242658615112,
-0.025389092043042183,
0.0019717859104275703,
0.04908808320760727,
0.009107773192226887,
-0.048449598252773285,
-0.010872991755604744,
0.005647758487612009,
-0.02968946285545826,
0.0046595181338489056,
-0.03023405186831951,
0.00805615447461605,
0.004356707911938429,
0.018581734970211983,
0.005356685258448124,
0.007323776371777058,
0.04935098811984062,
-0.024769388139247894,
-0.001370860729366541,
0.021032383665442467,
0.03246874362230301,
0.0269665215164423,
0.0007012750720605254,
0.014544269070029259,
-0.030440619215369225,
-0.008619521744549274,
0.00957255158573389,
-0.018356388434767723,
0.02234690822660923,
0.015811845660209656,
0.004774538800120354,
0.017905695363879204,
0.02268492802977562,
0.000044673277443507686,
0.006234599743038416,
-0.005840242374688387,
0.01576489768922329,
0.006666514556854963,
0.02240324392914772,
0.02073192223906517,
-0.06520038843154907,
-0.045219626277685165,
0.03695690259337425,
0.03023405186831951,
0.000711838249117136,
-0.029651906341314316,
-0.005112559534609318,
0.015070078894495964,
-0.04796134680509567,
-0.023022949695587158,
-0.02311684377491474,
0.021088721230626106,
0.018469061702489853,
-0.037050798535346985,
0.03757660835981369,
0.0116710951551795,
-0.017145149409770966,
0.028975864872336388,
-0.0054881377145648,
0.003260489087551832,
0.021764760836958885,
-0.00309147872030735,
0.01647849753499031,
0.0102814557030797,
0.04506939277052879,
0.0009072563261725008,
0.04897540807723999,
0.032487522810697556,
-0.05791417136788368,
0.032656531780958176,
0.018450282514095306,
-0.04916319623589516,
-0.008178217336535454,
-0.02373654767870903,
-0.04259057715535164,
0.027379656210541725,
-0.03661888465285301,
-0.0006977540324442089,
0.004227602854371071,
0.04172674939036369,
0.004384876694530249,
0.026703616604208946,
0.019436176866292953,
-0.008694637566804886,
0.022478360682725906,
0.0030726997647434473,
-0.03175514563918114,
-0.007229881826788187,
0.0030938261188566685,
0.01903242990374565,
-0.056224070489406586,
-0.016919801011681557,
0.002722942503169179,
0.005558558739721775,
0.001538697280921042,
-0.03624330461025238,
-0.002312153810635209,
0.004241687245666981,
0.05246828496456146,
-0.002429522108286619,
0.010384739376604557,
-0.012027894146740437,
0.0022241277620196342,
-0.02495717629790306,
-0.007028008811175823,
0.003704140894114971,
0.020750699564814568,
-0.008666468784213066,
-0.012159346602857113,
-0.002840310800820589,
-0.009497435763478279,
0.003722919849678874,
0.006361357402056456,
-0.03992397338151932,
0.05141666904091835,
-0.008736889809370041,
-0.007459923624992371,
0.045219626277685165,
-0.005286264233291149,
-0.016797738149762154,
-0.02563321776688099,
-0.051116205751895905,
0.0036407620646059513,
0.020544132217764854,
0.0539330430328846,
0.018722577020525932,
-0.0008421169477514923,
0.00003214788739569485,
0.012337747029960155,
0.022835159674286842,
-0.01973663829267025,
-0.005910663399845362,
0.01622498221695423,
-0.009267394430935383,
-0.015126415528357029,
0.028318602591753006,
-0.013361197896301746,
-0.02929510548710823,
-0.018384557217359543,
-0.01845967210829258,
-0.0006637172773480415,
-0.04747309535741806,
-0.02161453105509281,
-0.014891679398715496,
-0.03483488783240318,
-0.0019025387009605765,
-0.003969393204897642,
0.010938717983663082,
0.02906975895166397,
-0.015501993708312511,
0.04702240228652954,
-0.031229333952069283,
0.025276418775320053,
-0.034891221672296524,
-0.023154402151703835,
-0.041501399129629135,
0.054346177726984024,
0.006164178717881441,
-0.041388727724552155,
0.03746393322944641,
-0.018938535824418068,
0.006957587786018848,
-0.0020140386186540127,
-0.0011073690839111805,
0.04841203987598419,
0.018957313150167465,
-0.012966840527951717,
0.037332482635974884,
0.07932213693857193,
0.08443000167608261,
0.005168896168470383,
-0.03592406213283539,
-0.009351898916065693,
0.04180186241865158,
0.0733879953622818,
-0.03973618149757385,
0.0048050545156002045,
-0.008619521744549274,
0.05074062570929527,
0.029257548972964287,
-0.03684423118829727,
0.05423350632190704,
-0.0358489491045475,
0.05149178206920624,
-0.07410159707069397,
-0.011323685757815838,
-0.0205629114061594,
0.008384785614907742,
-0.04935098811984062,
-0.021595751866698265,
0.04608345404267311,
-0.004758107475936413,
0.008004512637853622,
0.010103056207299232,
0.026421932503581047,
0.012140568345785141,
-0.029989926144480705,
0.027586225420236588,
0.0018321177922189236,
-0.014384648762643337,
-0.02957678958773613,
0.022816380485892296,
0.0018497230485081673,
0.0003565059450920671,
-0.030703524127602577,
-0.017051253467798233,
-0.027830351144075394,
-0.02007465995848179,
0.01607475057244301,
-0.07376357167959213,
-0.005441190209239721,
0.034102506935596466,
0.018084093928337097,
0.03258141502737999,
-0.032994553446769714,
0.003349688835442066,
-0.0024130905512720346,
-0.011145285330712795,
-0.015079468488693237,
-0.060130082070827484,
-0.024037010967731476,
0.018393946811556816,
-0.025389092043042183,
-0.0026384375523775816,
-0.02585856430232525,
-0.0008937589591369033,
-0.024262357503175735,
0.014572437852621078,
-0.0358489491045475,
-0.006117231212556362,
-0.04292859882116318,
0.03635597974061966,
0.02707919478416443,
-0.04736042022705078,
0.011211011558771133,
0.04120093956589699,
0.059566717594861984,
0.016685064882040024,
-0.002593837445601821,
-0.02206522412598133,
0.030647188425064087,
-0.024093346670269966,
-0.05235561355948448,
0.018084093928337097,
-0.008502153679728508,
-0.014459763653576374,
0.011408190242946148,
-0.020976047962903976,
0.013708607293665409,
0.01225324161350727,
0.05137911066412926,
0.03973618149757385,
-0.010272066108882427,
-0.0028450055979192257,
0.019980764016509056,
-0.011840105056762695,
-0.029032202437520027,
-0.0483744814991951,
0.0025210692547261715,
0.0012992661213502288,
0.002408395754173398,
0.05397060140967369,
-0.05663720518350601,
0.03984885662794113,
-0.05198003351688385,
-0.04424312338232994,
0.016947969794273376,
-0.01450671162456274,
-0.03875967860221863,
-0.017793022096157074,
-0.0222342349588871,
-0.04071268439292908,
0.0550222173333168,
-0.028374940156936646,
0.004168918821960688,
-0.021220173686742783,
0.03502267599105835,
0.07053360342979431,
0.011408190242946148,
-0.013220355845987797,
-0.034722212702035904,
-0.01896670274436474,
-0.007920007221400738,
-0.003478793893009424,
-0.04619612917304039,
-0.010835433378815651,
0.028262266889214516,
-0.04352952167391777,
-0.0025398482102900743,
-0.019069988280534744,
-0.00572756864130497,
-0.018534788861870766,
-0.005563253536820412,
-0.03168002888560295,
-0.01528603583574295,
-0.013107682578265667,
0.02634681761264801,
0.057012785226106644,
-0.0028872580733150244,
-0.009009184315800667,
-0.017661569640040398,
-0.04026199132204056,
-0.011051391251385212,
-0.026816289871931076,
0.014750837348401546,
-0.06846792250871658,
0.04078780114650726,
-0.036825451999902725,
-0.024544041603803635,
0.004028077237308025,
-0.01078848633915186,
-0.035492148250341415,
0.04709751531481743,
-0.01039412897080183,
0.01622498221695423,
0.005690011195838451,
-0.0017217916902154684,
-0.022478360682725906,
0.02546420693397522,
0.012741493061184883,
0.0406000129878521,
-0.006375441327691078,
0.009539688006043434,
0.03079742006957531,
0.026421932503581047,
0.014957405626773834,
0.007112513761967421,
0.045557647943496704,
-0.029032202437520027,
-0.0019635702483356,
0.03579261153936386,
-0.04026199132204056,
0.014694500714540482,
-0.0077322181314229965,
-0.0394732765853405,
-0.015501993708312511,
0.004305066075176001,
0.021051162853837013,
-0.024994734674692154,
0.019267166033387184,
0.0010891769779846072
] |
We consider the problem of estimating the counterfactual joint distribution
of multiple quantities of interests (e.g., outcomes) in a multivariate causal
model extended from the classical difference-in-difference design. Existing
methods for this task either ignore the correlation structures among dimensions
of the multivariate outcome by considering univariate causal models on each
dimension separately and hence produce incorrect counterfactual distributions,
or poorly scale even for moderate-size datasets when directly dealing with such
multivariate causal model. We propose a method that alleviates both issues
simultaneously by leveraging a robust latent one-dimensional subspace of the
original high-dimension space and exploiting the efficient estimation from the
univariate causal model on such space. Since the construction of the
one-dimensional subspace uses information from all the dimensions, our method
can capture the correlation structures and produce good estimates of the
counterfactual distribution. We demonstrate the advantages of our approach over
existing methods on both synthetic and real-world data. | [
0.03264279663562775,
-0.03198958560824394,
-0.029606256633996964,
-0.0016484699444845319,
0.052292026579380035,
0.00876977201551199,
-0.05875350162386894,
0.041311055421829224,
-0.022562190890312195,
0.03714464232325554,
-0.0005196983693167567,
-0.027911443263292313,
0.028900085017085075,
-0.021467624232172966,
-0.003773605916649103,
0.03566167876124382,
0.009330295957624912,
0.014856090769171715,
0.036685630679130554,
0.00028770987410098314,
0.009577455930411816,
0.008187180384993553,
0.024257004261016846,
0.07527792453765869,
0.009595110081136227,
0.06055423989892006,
0.015209176577627659,
-0.01141350343823433,
-0.020690836012363434,
0.0538456067442894,
-0.01504146121442318,
0.013276031240820885,
-0.03008292242884636,
-0.05829448997974396,
-0.04215846210718155,
0.006977860815823078,
0.022544536739587784,
0.037250567227602005,
-0.005199190694838762,
0.06701571494340897,
-0.02360379509627819,
0.07697273790836334,
-0.029800454154610634,
0.010115912184119225,
0.0008556817192584276,
-0.05109153687953949,
-0.06394386291503906,
0.049326106905937195,
-0.013655598275363445,
0.013991029933094978,
-0.0031645328272134066,
-0.05218610167503357,
0.024398239329457283,
0.04205253720283508,
-0.01968454197049141,
0.03405513986945152,
0.0343376062810421,
0.02916489914059639,
0.0709349662065506,
0.026251940056681633,
-0.007586934138089418,
0.04194660857319832,
-0.036897480487823486,
-0.00012075263657607138,
0.013161278329789639,
0.0023612622171640396,
0.01589769497513771,
-0.008637364953756332,
0.02881181240081787,
-0.029235515743494034,
-0.025898853316903114,
0.02268577180802822,
0.007021996658295393,
-0.04480660706758499,
-0.0013428300153464079,
-0.003667680313810706,
0.0156417079269886,
0.020567255094647408,
0.00599363399669528,
0.027717245742678642,
0.00436061155050993,
0.05084437504410744,
-0.04268809035420418,
0.017998555675148964,
0.01650676690042019,
-0.08276334404945374,
-0.009365604259073734,
-0.04388858377933502,
0.020655527710914612,
0.027787864208221436,
-0.037992049008607864,
-0.004925549030303955,
0.004643080290406942,
0.002566493349149823,
-0.0076619647443294525,
0.015350411646068096,
0.02024947851896286,
0.031159834936261177,
-0.05585819482803345,
0.03008292242884636,
0.02376268431544304,
0.04473599046468735,
-0.016109546646475792,
-0.005446350667625666,
0.008120976388454437,
-0.05741177499294281,
-0.03968685865402222,
0.03746241703629494,
0.08276334404945374,
0.13085365295410156,
0.002160444622859359,
0.06051893159747124,
-0.050067584961652756,
0.046183641999959946,
-0.030877364799380302,
-0.007145576644688845,
-0.02543984167277813,
-0.0751366913318634,
0.03615599870681763,
-0.06115448474884033,
0.016806891188025475,
0.06938138604164124,
0.03340192884206772,
-0.028087986633181572,
-0.020708490163087845,
0.025333916768431664,
-0.03682686388492584,
-0.007074959576129913,
0.04275870695710182,
0.0030409526079893112,
-0.0016451597912237048,
-0.007754649966955185,
-0.04699574038386345,
-0.0039170472882688046,
-0.00868150033056736,
-0.052503880113363266,
0.025545768439769745,
0.01773374155163765,
-0.041522905230522156,
-0.0183781236410141,
-0.012878810055553913,
-0.0461130253970623,
-0.033913902938365936,
0.04402981698513031,
-0.005552276503294706,
-0.046183641999959946,
0.05571696162223816,
0.059000659734010696,
-0.027187617495656013,
-0.008253383450210094,
-0.012446279637515545,
0.035767607390880585,
0.020885033532977104,
0.0723826140165329,
0.0319189690053463,
0.001640746253542602,
-0.004316475708037615,
-0.0067174602299928665,
0.01952565275132656,
-0.05077375844120979,
0.06687447428703308,
0.0047004567459225655,
0.01533275656402111,
0.04770191013813019,
0.07051125913858414,
0.002017003484070301,
0.013293685391545296,
-0.05737646669149399,
-0.04696042835712433,
0.04074611887335777,
0.02005528099834919,
0.00449743214994669,
-0.01915491186082363,
0.045795246958732605,
0.008266624994575977,
0.041134510189294815,
0.03665032237768173,
0.02992403320968151,
-0.016038928180933,
0.009612765163183212,
-0.05317474156618118,
-0.07669026404619217,
0.0014211708912625909,
0.025951815769076347,
0.06729818135499954,
0.04399450868368149,
0.06556805968284607,
-0.02114984765648842,
0.054163381457328796,
0.043358951807022095,
0.032572176307439804,
0.033348966389894485,
0.04957326501607895,
0.02881181240081787,
-0.00649678148329258,
-0.015571090392768383,
-0.025386879220604897,
-0.0035043780226260424,
0.044665370136499405,
0.011854860000312328,
-0.029659219086170197,
-0.040039945393800735,
0.009171407669782639,
-0.010336590930819511,
0.011554737575352192,
0.0441710501909256,
0.06387324631214142,
-0.02656971663236618,
0.01710701361298561,
-0.037815503776073456,
-0.027064036577939987,
-0.0035065847914665937,
-0.06468534469604492,
-0.0375683456659317,
0.011969612911343575,
-0.00007641000411240384,
0.001362691051326692,
0.05532856658101082,
-0.03516735881567001,
-0.05437523499131203,
-0.008240142837166786,
0.009701035916805267,
0.046501416712999344,
-0.005168295465409756,
-0.013073006644845009,
0.049679189920425415,
0.013673253357410431,
-0.013796833343803883,
0.010627887211740017,
0.007697273511439562,
-0.019737504422664642,
-0.050632525235414505,
-0.04000463709235191,
-0.014317634515464306,
0.019031332805752754,
-0.020496638491749763,
0.018819481134414673,
-0.0036058900877833366,
0.049820426851511,
-0.055999431759119034,
-0.00967455469071865,
-0.0183781236410141,
0.013532018288969994,
-0.013434920459985733,
0.0946270301938057,
0.010804429650306702,
-0.011113380081951618,
0.015677016228437424,
0.07584285736083984,
0.04491253197193146,
-0.020726144313812256,
-0.0386982187628746,
-0.01952565275132656,
0.005477245431393385,
0.002306092530488968,
0.02393922582268715,
0.008941901847720146,
-0.06422632932662964,
-0.012481587938964367,
-0.0490083284676075,
0.03693278878927231,
0.0018901132280007005,
-0.06193127483129501,
0.01215498335659504,
0.019084295257925987,
-0.016533249989151955,
0.048973020166158676,
-0.004982925485819578,
0.05253918841481209,
0.05780017003417015,
-0.032589830458164215,
-0.09123740345239639,
-0.042723398655653,
-0.035026125609874725,
0.021096885204315186,
-0.021220464259386063,
0.03785081207752228,
0.010283627547323704,
0.03682686388492584,
-0.006938138511031866,
0.015968311578035355,
0.05144461989402771,
0.01189899630844593,
-0.016824545338749886,
0.006284929811954498,
0.003705195616930723,
0.0475606769323349,
0.030965637415647507,
-0.05515202507376671,
-0.05501078814268112,
0.002729795640334487,
-0.03919253870844841,
-0.0016109546413645148,
0.016859853640198708,
0.02321540005505085,
-0.029058972373604774,
-0.055257949978113174,
0.015694670379161835,
0.03951031714677811,
-0.01584473066031933,
-0.07824384421110153,
-0.024963175877928734,
0.06987570971250534,
0.020584911108016968,
-0.014361770823597908,
0.0021692716982215643,
0.07506606727838516,
0.05670560151338577,
-0.011537083424627781,
-0.008253383450210094,
-0.0031645328272134066,
-0.013028871268033981,
0.004045040812343359,
-0.03419637307524681,
-0.012852327898144722,
0.03714464232325554,
0.01767195202410221,
-0.02321540005505085,
-0.019578615203499794,
0.010204183869063854,
-0.014529486186802387,
0.05702337995171547,
-0.06976978480815887,
-0.00899486429989338,
-0.014653066173195839,
0.0015988172963261604,
-0.07598409801721573,
0.046148333698511124,
0.02286231517791748,
0.006487953942269087,
-0.04155821353197098,
0.0007894780719652772,
-0.02176774851977825,
-0.019384417682886124,
-0.030771439895033836,
-0.0080194640904665,
0.021096885204315186,
-0.0014366183895617723,
-0.00985109806060791,
-0.011166342534124851,
0.0012711093295365572,
-0.00809449516236782,
-0.035961803048849106,
0.004656320903450251,
0.012561032548546791,
0.0068542808294296265,
-0.08007989078760147,
0.019048986956477165,
0.03823920711874962,
0.05956559628248215,
0.000769617035984993,
-0.06736879795789719,
-0.04402981698513031,
0.05151524022221565,
0.03456711396574974,
-0.007789958734065294,
0.005455177742987871,
-0.0001729569339659065,
0.010760294273495674,
-0.012322699651122093,
0.004005318507552147,
-0.018695900216698647,
-0.05419869348406792,
0.0472428984940052,
-0.13127735257148743,
-0.013991029933094978,
0.005689097102731466,
-0.014529486186802387,
-0.005622893571853638,
0.005887708161026239,
-0.031336378306150436,
0.02303885668516159,
0.050455980002880096,
0.0019011470722034574,
-0.05931843817234039,
0.0332077331840992,
-0.024980830028653145,
0.019190220162272453,
-0.00108518754132092,
-0.00012833846267312765,
-0.07683149725198746,
0.004899067338556051,
-0.03583822399377823,
-0.01486491784453392,
0.008037119172513485,
-0.02190898172557354,
0.00857557449489832,
-0.0019254217622801661,
0.020090589299798012,
0.01634787954390049,
-0.034090448170900345,
-0.04463006183505058,
0.011916650459170341,
-0.005764128174632788,
0.019207874312996864,
-0.006933724973350763,
-0.001889009727165103,
-0.0014840643852949142,
0.03597945719957352,
0.012949426658451557,
0.022032562643289566,
0.01364677120000124,
-0.008831562474370003,
-0.01245510671287775,
0.0401458702981472,
-0.004214963410049677,
0.036297235637903214,
-0.009550974704325199,
0.026146013289690018,
0.031106870621442795,
0.005362492520362139,
-0.0017654297407716513,
-0.031848352402448654,
-0.020002318546175957,
0.05059721693396568,
0.0022023734636604786,
-0.014379424974322319,
-0.022332685068249702,
0.007454527076333761,
-0.027787864208221436,
0.02003762684762478,
-0.03866291046142578,
0.057129304856061935,
-0.003285906044766307,
-0.0037515382282435894,
0.025581076741218567,
0.0037890535313636065,
-0.033737361431121826,
-0.0038221552968025208,
-0.026657989248633385,
0.0612604096531868,
0.03717995062470436,
0.01791028492152691,
-0.04625425860285759,
0.035926494747400284,
0.052645113319158554,
0.017689606174826622,
0.012013749219477177,
0.008465235121548176,
-0.018148617818951607,
0.0002990196517203003,
-0.040393032133579254,
-0.00030453663202933967,
0.021114539355039597,
-0.041311055421829224,
-0.02245626598596573,
-0.047843143343925476,
-0.0424056202173233,
-0.003539686556905508,
-0.028670579195022583,
-0.08968383073806763,
0.05614066496491432,
-0.04738413169980049,
-0.050067584961652756,
-0.007145576644688845,
-0.0028423417825251818,
0.050455980002880096,
-0.030753785744309425,
0.011713625863194466,
0.006064251065254211,
-0.04064019024372101,
0.0249102134257555,
-0.009303814731538296,
-0.01989639364182949,
-0.027381815016269684,
0.048796478658914566,
-0.06708633154630661,
-0.002540011890232563,
0.0010399484308436513,
0.03363143652677536,
0.030771439895033836,
0.012790538370609283,
-0.03271341323852539,
-0.044312287122011185,
-0.003197634592652321,
0.06404978781938553,
-0.02153824269771576,
-0.06108386814594269,
0.037780195474624634,
-0.018307505175471306,
0.043747346848249435,
0.05847103148698807,
-0.012049057520925999,
-0.03823920711874962,
-0.012410970404744148,
0.0316011905670166,
-0.0017543957801535726,
0.015288621187210083,
-0.016144854947924614,
-0.01589769497513771,
0.03454945981502533,
-0.03954562544822693,
0.024080460891127586,
-0.04681919515132904,
0.0044400556944310665,
0.011740107089281082,
-0.0304713174700737,
0.00047832110431045294,
0.031301070004701614,
0.029853416606783867,
0.06002461165189743,
-0.009983505122363567,
-0.037956736981868744,
0.0256340391933918,
-0.00488141318783164,
-0.06779249757528305,
0.025157373398542404,
-0.03345489129424095,
-0.02399219013750553,
-0.008911006152629852,
0.04533623531460762,
0.03421402722597122,
-0.017689606174826622,
-0.03403748571872711,
0.002811446785926819,
-0.004307648632675409,
0.021096885204315186,
-0.031477611511945724,
0.06073078140616417,
-0.0008556817192584276,
0.0013979997020214796,
-0.006134868133813143,
-0.00436061155050993,
0.018537010997533798,
-0.02450416423380375,
0.04237031191587448,
-0.02750539407134056,
-0.026146013289690018,
0.06387324631214142,
-0.04258216544985771,
-0.003045366145670414,
0.04992635175585747,
-0.015306275337934494,
-0.037074021995067596,
-0.02060256525874138,
-0.02618132159113884,
0.02581058256328106,
0.04494784027338028,
-0.012163810431957245,
-0.03366674482822418,
0.013028871268033981,
0.03421402722597122,
0.014635412022471428,
0.0026591785717755556,
-0.03172477334737778,
0.02842341735959053,
0.006059837527573109,
-0.024963175877928734,
0.023515524342656136,
0.017707260325551033,
0.020108243450522423,
-0.011996095068752766,
-0.02807033248245716,
0.008447580970823765,
-0.0016021274495869875,
-0.014299980364739895,
-0.0018525978084653616,
-0.03492020070552826,
0.03377266973257065,
-0.003837602911517024,
0.05373968183994293,
0.027011074125766754,
0.04455944523215294,
0.01292294543236494,
-0.011201651766896248,
0.016109546646475792,
-0.029023664072155952,
0.08502309769392014,
-0.018060345202684402,
0.01876651681959629,
-0.04491253197193146,
-0.00306522729806602,
-0.005583171267062426,
-0.04124043881893158,
-0.006920484360307455,
0.008756531402468681,
0.017795531079173088,
-0.02194429188966751,
0.005512554198503494,
-0.03156588226556778,
0.01450300496071577,
-0.032784029841423035,
0.0057023377157747746,
0.04512438178062439,
0.0158005952835083,
-0.010945663787424564,
0.011016281321644783,
0.018289851024746895,
-0.019825775176286697,
-0.0010598094668239355,
-0.015456337481737137,
0.07217076420783997,
0.010371899232268333,
-0.017592506483197212,
-0.026340210810303688,
-0.005464004818350077,
0.0004421849735081196,
-0.01663917489349842,
0.07379496097564697,
-0.019631577655673027,
0.004621012136340141,
-0.02284466102719307,
0.007794372271746397,
-0.00673952791839838,
0.00278717209585011,
0.01626843400299549,
0.025157373398542404,
0.013955721631646156,
0.001326279016211629,
0.0031248105224221945,
-0.019084295257925987,
-0.059918683022260666,
0.014600103721022606,
-0.04512438178062439,
0.013532018288969994,
-0.009303814731538296,
0.010654368437826633,
0.0012446279870346189,
-0.005755300633609295,
-0.057482391595840454,
0.05102091655135155,
-0.013205413706600666,
0.0449831485748291,
-0.04925549030303955,
-0.002548839198425412,
-0.010901528410613537,
-0.029111936688423157,
0.001352760475128889,
-0.02524564415216446,
-0.038203898817300797,
-0.03679155558347702,
-0.002020313637331128,
-0.01076912134885788,
-0.04109920188784599,
0.01264047622680664,
-0.027823172509670258,
-0.02379799261689186,
0.027258234098553658,
0.014088128693401814,
0.04099327698349953,
-0.01475899200886488,
0.013823314569890499,
-0.013302512466907501,
-0.007701687049120665,
-0.0037824332248419523,
0.01615368202328682,
-0.02621663175523281,
-0.012004922144114971,
0.024362929165363312,
-0.012146156281232834,
-0.005561103578656912,
0.04293524846434593,
0.015606398694217205,
0.0520801767706871,
-0.005697924178093672,
0.008337241597473621,
0.02602243423461914,
0.01892540603876114,
0.00014288946113083512,
0.02957094833254814,
-0.006523262709379196,
-0.052645113319158554,
0.025528114289045334,
-0.013037698343396187,
0.022950585931539536,
0.002749656792730093,
0.03954562544822693,
0.020284786820411682,
0.014441214501857758,
0.029871070757508278,
0.03454945981502533,
-0.01346140168607235,
-0.03412575647234917,
0.021626513451337814,
0.046148333698511124,
-0.03922784700989723,
0.019278492778539658,
0.030771439895033836,
0.015579917468130589,
0.005402214825153351,
-0.022968240082263947,
0.016003619879484177,
-0.014458869583904743,
0.009286160580813885,
0.014732510782778263,
0.0035860291682183743,
0.02674626000225544,
0.027434777468442917,
-0.009030172601342201,
-0.007591347675770521,
0.001308624749071896,
-0.05885942652821541,
0.031318724155426025,
0.03785081207752228,
0.012296217493712902,
-0.026816876605153084,
-0.003305767197161913,
0.02356848679482937,
0.013470228761434555,
-0.008196007460355759,
-0.01911960355937481,
0.002321540145203471,
0.012419797480106354,
0.02694045752286911,
0.04177006706595421,
0.0011193928075954318,
0.019543306902050972,
0.018254542723298073,
-0.02953563816845417,
0.034090448170900345,
-0.006351133342832327,
0.022138487547636032,
-0.017310038208961487,
0.013170105405151844,
0.015871213749051094,
0.014088128693401814,
0.058400414884090424,
-0.006642429158091545,
-0.018695900216698647,
0.022932931780815125,
0.02824687585234642,
0.0006725183920934796,
-0.00993054173886776,
-0.03961624205112457,
0.00028233081684447825,
-0.028652923181653023,
0.03529093787074089,
0.0005301805795170367,
0.008950728923082352,
-0.006086318753659725,
0.011801897548139095,
-0.0032130819745361805,
-0.00040466958307661116,
0.01023066509515047,
0.0025863545015454292,
0.0375683456659317,
0.005141813773661852,
0.01800738275051117,
-0.015888867899775505,
0.003864084370434284,
0.030029959976673126,
-0.012075538747012615,
0.0002929509792011231,
-0.0077811311930418015,
-0.017433619126677513,
0.04092266038060188,
-0.017045224085450172,
0.005380147136747837,
-0.002553252736106515,
0.0044908118434250355,
0.04424166679382324,
-0.007304465398192406,
0.016965778544545174,
0.004938789643347263,
-0.04233500361442566,
0.001681571826338768,
-0.013073006644845009,
0.031512919813394547,
0.00752073060721159,
-0.04978511855006218,
0.0031402581371366978,
0.0330488458275795,
0.004444469232112169,
-0.026975765824317932,
0.04222907871007919,
0.0032329431269317865,
-0.050985608249902725,
-0.009109617210924625,
0.0236214492470026,
-0.0538456067442894,
-0.011281095445156097,
0.026446137577295303,
-0.002868823241442442,
0.0013340028235688806,
0.01319658663123846,
-0.01654207706451416,
0.02266811765730381,
-0.06482657790184021,
-0.03048897162079811,
0.03608538210391998,
0.04028710722923279,
-0.016118373721837997,
-0.024239350110292435,
0.015818249434232712,
-0.0038707046769559383,
0.0424056202173233,
-0.012075538747012615,
-0.010928009636700153,
0.006562985014170408,
0.025739965960383415,
-0.021697131916880608,
0.0031314308289438486,
0.004969684407114983,
-0.04621895030140877,
0.02118515595793724,
-0.028670579195022583,
-0.056352514773607254,
-0.03665032237768173,
-0.026605024933815002,
-0.02881181240081787,
0.034620076417922974,
-0.03048897162079811,
-0.009939368814229965,
0.012975907884538174,
0.02083207108080387,
-0.004391506314277649,
-0.0022498194593936205,
-0.04628956690430641,
0.025351570919156075,
-0.016648001968860626,
-0.00209424109198153,
-0.000006163487341837026,
-0.016100719571113586,
-0.014538313262164593,
0.02026713266968727,
-0.030012305825948715,
-0.048937711864709854,
0.036473777145147324,
0.012525723315775394,
-0.05501078814268112,
-0.008999277837574482,
-0.010901528410613537,
0.019931701943278313,
-0.012967080809175968,
0.011854860000312328,
-0.020549600943922997,
0.0013957928167656064,
-0.00075968645978719,
0.03880414366722107,
-0.03770957887172699,
0.021626513451337814,
0.04519500210881233,
-0.04628956690430641,
-0.0011949752224609256,
-0.003996491432189941,
0.008831562474370003,
-0.04321771860122681,
-0.010601405054330826,
0.01984342932701111,
0.023850955069065094,
0.025545768439769745,
-0.028176257386803627,
-0.04953795671463013,
-0.041699450463056564,
0.010530788451433182,
0.0012534550623968244,
0.01328485831618309,
0.030365390703082085,
0.019808121025562286,
0.0020523120183497667,
0.012146156281232834,
0.018095653504133224,
-0.005062369629740715,
-0.00033212147536687553,
0.00765755120664835,
0.018660591915249825,
0.04198191687464714,
0.019084295257925987,
0.0069116572849452496,
-0.0012049057986587286,
0.005146227777004242,
0.003842016449198127,
0.030153539031744003,
-0.06002461165189743,
0.03168946132063866,
0.040569573640823364,
0.0269228033721447,
-0.08382260054349899,
-0.00468721566721797,
-0.07157052308320999,
-0.0010382933542132378,
0.0441710501909256,
-0.014220536686480045,
0.014185227453708649,
0.027752554044127464,
0.031142180785536766,
0.014273499138653278,
-0.03310180827975273,
0.006359960418194532,
-0.03236032649874687,
0.032024893909692764,
0.009665727615356445,
0.04773721843957901,
-0.06295522302389145,
0.028158603236079216,
-0.032395634800195694,
0.009047826752066612,
-0.054163381457328796,
0.000857888488098979,
-0.018854789435863495,
-0.013223068788647652,
-0.015023807063698769,
0.01595948450267315,
-0.02935909666121006,
-0.010760294273495674,
-0.009109617210924625,
-0.023268364369869232,
-0.0005092161009088159,
0.006916070822626352,
0.010707330889999866,
0.005084437318146229,
-0.024486510083079338,
-0.006302583962678909,
0.002546632429584861,
-0.00649678148329258,
0.003477896563708782,
0.045018456876277924,
0.0065762256272137165,
0.042087845504283905,
0.017468927428126335,
0.021697131916880608,
0.001573439221829176,
0.014873744919896126,
-0.0029284064657986164,
-0.0016164715634658933,
0.015747632831335068,
-0.01720411330461502,
0.013020044192671776,
-0.010274800471961498,
-0.03435526043176651,
0.011183997616171837,
-0.0005572137306444347,
0.05373968183994293,
0.021803056821227074,
-0.0036257512401789427,
0.00034839651198126376,
0.013699734583497047,
0.037780195474624634,
-0.0008501647389493883,
0.08043297380208969,
-0.024080460891127586,
0.019578615203499794,
0.018501702696084976,
0.011210478842258453,
0.03497316315770149,
0.026499100029468536,
-0.03922784700989723,
-0.021644167602062225,
0.02547514997422695,
-0.03996932879090309,
-0.006346719805151224,
0.009242024272680283,
-0.008196007460355759,
0.03366674482822418,
0.02505144663155079,
-0.0306302048265934,
0.03806266561150551,
0.0019309386843815446,
-0.026834530755877495,
-0.022774042561650276,
-0.05260980501770973,
-0.006518849171698093,
0.019225530326366425,
-0.0023105060681700706,
0.01486491784453392,
0.03513205051422119,
-0.02044367603957653,
0.022915277630090714,
-0.01533275656402111,
0.028105640783905983,
0.017415963113307953,
0.005883294623345137,
-0.023833300918340683,
-0.018254542723298073,
-0.03599711135029793,
0.008897765539586544,
-0.00025791823281906545,
-0.04678388684988022,
-0.003374177496880293,
-0.009586283005774021,
-0.0038133282214403152,
-0.025916507467627525,
0.02934144251048565,
-0.045265618711709976,
0.009665727615356445,
0.03661501035094261,
0.01950799860060215,
-0.0029019250068813562,
-0.06447349488735199,
0.0019850051030516624,
0.03267810493707657,
0.027205271646380424,
0.06281398981809616,
0.014264672063291073,
-0.002176995389163494,
0.010945663787424564,
0.02226206846535206,
-0.01702756993472576,
-0.00011337368778185919,
-0.010204183869063854,
-0.008783012628555298,
0.0018658385379239917,
0.03774488717317581,
-0.014299980364739895,
-0.06274337321519852,
-0.01059257797896862,
-0.005795022938400507,
-0.026852184906601906,
0.0075074899941682816,
-0.004239237867295742,
-0.01720411330461502,
-0.045795246958732605,
-0.007736995816230774,
0.05815325304865837,
0.03682686388492584,
-0.012958253733813763,
0.0327310673892498,
0.007180885411798954,
-0.030965637415647507,
0.009842270985245705,
0.015306275337934494,
-0.04470067843794823,
-0.01724824868142605,
-0.02411576919257641,
-0.05479893833398819,
0.0199140477925539,
-0.027081690728664398,
-0.012702266685664654,
0.042264387011528015,
-0.04215846210718155,
0.034443534910678864,
-0.0612604096531868,
-0.021979600191116333,
-0.03154822811484337
] |
Model extraction is a growing concern for the security of AI systems. For
deep neural network models, the architecture is the most important information
an adversary aims to recover. Being a sequence of repeated computation blocks,
neural network models deployed on edge-devices will generate distinctive
side-channel leakages. The latter can be exploited to extract critical
information when targeted platforms are physically accessible. By combining
theoretical knowledge about deep learning practices and analysis of a
widespread implementation library (ARM CMSIS-NN), our purpose is to answer this
critical question: how far can we extract architecture information by simply
examining an EM side-channel trace? For the first time, we propose an
extraction methodology for traditional MLP and CNN models running on a high-end
32-bit microcontroller (Cortex-M7) that relies only on simple pattern
recognition analysis. Despite few challenging cases, we claim that, contrary to
parameters extraction, the complexity of the attack is relatively low and we
highlight the urgent need for practicable protections that could fit the strong
memory and latency requirements of such platforms. | [
-0.0008344502421095967,
-0.021888136863708496,
-0.029426762834191322,
-0.04403751343488693,
0.048441264778375626,
0.03582713007926941,
0.008765517733991146,
0.005196799989789724,
-0.01972358115017414,
0.016784638166427612,
-0.031031519174575806,
-0.06359315663576126,
0.029408102855086327,
-0.020059460774064064,
0.038252927362918854,
0.029855942353606224,
0.039559122174978256,
-0.049971383064985275,
0.00807043444365263,
-0.041313160210847855,
0.06236159801483154,
-0.03174059838056564,
0.006591632030904293,
-0.012063666246831417,
-0.00828502420336008,
0.05000870302319527,
0.0016700667329132557,
-0.028139226138591766,
-0.04750826954841614,
0.03648022934794426,
0.011037368327379227,
0.04859054461121559,
-0.029557382687926292,
-0.028922943398356438,
-0.017269795760512352,
-0.031945858150720596,
-0.010281640104949474,
0.06333191692829132,
-0.025489510968327522,
0.045866191387176514,
0.06631751358509064,
-0.06206303834915161,
0.02821386605501175,
0.005747268907725811,
-0.0014274872373789549,
0.020395340397953987,
-0.024481872096657753,
-0.05821908637881279,
-0.01587962917983532,
-0.027486126869916916,
-0.023194335401058197,
-0.030453061684966087,
0.02388475462794304,
-0.009656531736254692,
-0.03564053028821945,
0.024164652451872826,
0.02265319600701332,
0.013089965097606182,
0.0516134612262249,
0.014256211929023266,
0.010496229864656925,
0.012866045348346233,
-0.015562409535050392,
0.008779512718319893,
0.01866929419338703,
-0.005901213735342026,
0.008359664119780064,
0.03664816915988922,
0.02170153707265854,
0.030826259404420853,
-0.03534197062253952,
-0.006591632030904293,
0.0049122353084385395,
-0.04605279117822647,
0.013715073466300964,
-0.014648071490228176,
0.05359141528606415,
0.058107126504182816,
0.05698752775788307,
0.023810114711523056,
-0.008466958999633789,
0.0677729919552803,
-0.014853331260383129,
0.032654937356710434,
0.08068568259477615,
-0.03328937664628029,
-0.042059559375047684,
-0.06325727701187134,
0.008611572906374931,
0.0008134578238241374,
-0.05945064499974251,
0.049672823399305344,
-0.0045950161293148994,
0.011802427470684052,
-0.026049310341477394,
0.020899159833788872,
0.0024654476437717676,
-0.05538277328014374,
-0.05493493378162384,
-0.013808373361825943,
-0.03640558943152428,
0.02196277678012848,
0.009045417420566082,
0.003906929865479469,
0.060122404247522354,
-0.03198317810893059,
-0.02974398247897625,
0.03730126842856407,
0.05295697599649429,
0.16525264084339142,
-0.01653272844851017,
-0.03146069869399071,
0.02418331243097782,
-0.018268104642629623,
0.011093348264694214,
0.022018756717443466,
-0.05848032608628273,
-0.05269573628902435,
-0.015991589054465294,
-0.03065832145512104,
0.030023882165551186,
0.03866344690322876,
0.025601470842957497,
0.014349511824548244,
-0.06445151567459106,
0.08897070586681366,
0.03769312798976898,
0.0023558204993605614,
0.006321062799543142,
0.04493319243192673,
0.023455575108528137,
-0.01184907741844654,
0.057286087423563004,
-0.018781254068017006,
-0.005812578834593296,
0.016915258020162582,
0.04829198494553566,
0.07273653894662857,
0.035360630601644516,
-0.0012805400183424354,
0.08038712292909622,
-0.021141739562153816,
-0.02991192229092121,
-0.03097553923726082,
-0.0005119827692396939,
-0.028400465846061707,
0.03694672882556915,
0.06489935517311096,
0.0019534649327397346,
0.017913565039634705,
-0.04523175209760666,
0.05493493378162384,
-0.0032584962900727987,
0.03267359733581543,
0.05799516662955284,
-0.002005946123972535,
0.007104781456291676,
-0.00999241042882204,
-0.03787972778081894,
-0.0008350333664566278,
0.04168635979294777,
-0.07243797928094864,
0.013444503769278526,
0.009292662143707275,
0.004944890271872282,
-0.01661669835448265,
0.035491250455379486,
0.019518321380019188,
-0.08695542812347412,
0.04064140096306801,
-0.018389394506812096,
0.019275743514299393,
0.0014263209886848927,
-0.01200768630951643,
-0.0015312832547351718,
-0.007986464537680149,
-0.02235463634133339,
-0.01270743552595377,
-0.06157787889242172,
-0.040529441088438034,
0.009787150658667088,
0.032692257314920425,
-0.0064423526637256145,
-0.044895872473716736,
0.012408875860273838,
0.04579155147075653,
0.052285220474004745,
-0.004004894755780697,
0.03599506989121437,
-0.024164652451872826,
-0.01719515584409237,
0.007011481560766697,
0.0149839511141181,
-0.025694770738482475,
0.014340181834995747,
-0.07404273748397827,
0.011662477627396584,
-0.02007812075316906,
-0.017428405582904816,
0.013705743476748466,
-0.0011516696540638804,
-0.020022140815854073,
0.01043091993778944,
-0.02896026335656643,
0.011522527784109116,
-0.04403751343488693,
0.012800735421478748,
0.030079862102866173,
-0.006815551780164242,
-0.00686686672270298,
0.005514019168913364,
0.03175925835967064,
-0.028325825929641724,
-0.07113178074359894,
0.00690885167568922,
0.013192594051361084,
0.02125369943678379,
-0.04351503401994705,
0.01661669835448265,
-0.03302813693881035,
0.040790680795907974,
-0.013276563957333565,
0.031945858150720596,
-0.05590525269508362,
-0.002273016842082143,
-0.028941603377461433,
-0.015385139733552933,
0.031124819070100784,
-0.007202745880931616,
0.012950015254318714,
-0.0135564636439085,
0.013276563957333565,
0.01885589398443699,
0.02948274277150631,
0.050717782229185104,
-0.030154502019286156,
0.029240163043141365,
-0.013845693320035934,
0.023082375526428223,
0.012548825703561306,
-0.04340307414531708,
-0.05751000717282295,
-0.039559122174978256,
-0.024687131866812706,
0.035099390894174576,
-0.02366083487868309,
-0.02050730027258396,
0.03202049806714058,
-0.005528014153242111,
0.08001392334699631,
0.01467606145888567,
0.01710185594856739,
0.009530576877295971,
0.029949242249131203,
-0.08829894661903381,
0.0019977823831140995,
-0.02356753498315811,
-0.012632795609533787,
0.01775495521724224,
-0.017521705478429794,
0.054300494492053986,
-0.04075336083769798,
-0.023959392681717873,
0.052509136497974396,
-0.03564053028821945,
-0.02056328020989895,
0.03136739879846573,
-0.007244730833917856,
0.032916177064180374,
-0.00001828640051826369,
0.0008105422020889819,
-0.003899932373315096,
-0.05094170197844505,
-0.01929440349340439,
-0.009675191715359688,
-0.023679494857788086,
-0.021552259102463722,
0.037767767906188965,
0.012810065411031246,
0.020022140815854073,
0.02095513977110386,
0.0034357658587396145,
0.024985691532492638,
0.004091197159141302,
0.021664217114448547,
-0.019387701526284218,
-0.05665165185928345,
0.010151020251214504,
-0.034576911479234695,
0.023586194962263107,
-0.04377627372741699,
-0.013836363330483437,
-0.07325901836156845,
0.00940462201833725,
0.00841564405709505,
-0.02007812075316906,
-0.04265667870640755,
-0.040529441088438034,
0.004338441416621208,
0.0041681695729494095,
-0.054001934826374054,
-0.016915258020162582,
0.011541187763214111,
0.02716890722513199,
0.005276104900985956,
0.0251536313444376,
0.029930582270026207,
0.08344735950231552,
0.004084199666976929,
0.0018053514650091529,
0.022056076675653458,
0.0035150707699358463,
-0.03287885710597038,
-0.024481872096657753,
-0.045679591596126556,
0.029688002541661263,
-0.0018951526144519448,
0.04661259055137634,
-0.02882964350283146,
0.0010752803646028042,
0.05310625582933426,
-0.006325727794319391,
-0.05221058055758476,
0.019798221066594124,
-0.019219763576984406,
0.00396990729495883,
0.055046893656253815,
0.027056947350502014,
-0.06027168408036232,
-0.020656580105423927,
-0.04164903983473778,
0.007916489616036415,
-0.012819395400583744,
-0.01916378363966942,
0.007263390813022852,
-0.0005472617340274155,
-0.015553079545497894,
0.02453785203397274,
-0.011438557878136635,
-0.007034806534647942,
0.014340181834995747,
-0.01859465427696705,
-0.06837010383605957,
-0.001955797430127859,
-0.035715170204639435,
-0.05288233608007431,
-0.049187663942575455,
-0.0008175396942533553,
-0.03862612694501877,
-0.043626993894577026,
0.0010764466132968664,
-0.04530639201402664,
0.06848206371068954,
0.0012303913244977593,
0.022727835923433304,
0.012436865828931332,
-0.005831238813698292,
0.016635358333587646,
0.0051221600733697414,
-0.00918536726385355,
0.0174937155097723,
-0.005014865193516016,
0.026963647454977036,
0.020096780732274055,
-0.043328434228897095,
0.0023406592663377523,
-0.009390627034008503,
-0.015077251009643078,
-0.029408102855086327,
0.10442116111516953,
0.040678720921278,
0.04146244004368782,
-0.011028038337826729,
0.020749880000948906,
0.014452141709625721,
-0.014601421542465687,
0.026441168040037155,
0.005560669116675854,
-0.051725421100854874,
0.07251261919736862,
-0.03944716230034828,
0.032916177064180374,
0.038159627467393875,
0.03302813693881035,
0.0481053851544857,
0.01176510751247406,
0.047694869339466095,
-0.039521802216768265,
-0.010011070407927036,
0.07352025806903839,
-0.0303970817476511,
-0.02056328020989895,
0.02369815483689308,
-0.07964072376489639,
0.040268201380968094,
-0.0011353421723470092,
0.009134052321314812,
-0.019098473712801933,
0.04116388037800789,
-0.006554312072694302,
-0.059898484498262405,
0.029818622395396233,
0.0069694966077804565,
0.028269845992326736,
-0.02616127021610737,
0.010533549822866917,
0.03550991043448448,
-0.021925456821918488,
0.01897718384861946,
-0.0007312373491004109,
0.02567611075937748,
-0.043813593685626984,
-0.0031208789441734552,
-0.04097728058695793,
0.0036806778516620398,
-0.04265667870640755,
-0.012595475651323795,
0.014097603037953377,
0.01724180579185486,
-0.0212163794785738,
-0.04851590469479561,
0.03429701179265976,
-0.0057799238711595535,
0.007104781456291676,
0.014237552881240845,
0.04956086352467537,
-0.01436817180365324,
-0.01244619581848383,
0.026142610237002373,
-0.01502127107232809,
0.033438656479120255,
-0.042843278497457504,
0.0328042171895504,
-0.06280943751335144,
-0.020525960251688957,
-0.04344039410352707,
0.00008827037527225912,
-0.017605675384402275,
-0.06486203521490097,
-0.006349052768200636,
-0.0393725223839283,
0.017381755635142326,
-0.0020281048491597176,
-0.001243220060132444,
-0.03944716230034828,
-0.022373296320438385,
-0.014862661249935627,
-0.023455575108528137,
0.001378504792228341,
-0.014461471699178219,
-0.06527255475521088,
0.03959644213318825,
-0.05945064499974251,
-0.013855023309588432,
0.08456695824861526,
-0.008294354192912579,
-0.008294354192912579,
-0.02720622718334198,
0.01630880869925022,
-0.05407657474279404,
0.009427946992218494,
0.09904708713293076,
0.002299840562045574,
-0.005168810021132231,
0.016430098563432693,
0.04116388037800789,
-0.02278381586074829,
-0.019051823765039444,
0.005947863683104515,
0.011699797585606575,
0.021682877093553543,
-0.01788557507097721,
-0.00401189224794507,
-0.006946171633899212,
0.02024606056511402,
0.023212995380163193,
-0.0065169925801455975,
-0.03922324255108833,
0.006638281978666782,
-0.016215508803725243,
-0.000711411121301353,
0.009609881788492203,
0.00016662765119690448,
0.034707531332969666,
-0.015842309221625328,
-0.018436044454574585,
0.004529706202447414,
0.004804940894246101,
-0.04422411322593689,
-0.043365754187107086,
-0.003692340338602662,
-0.021440299227833748,
0.009390627034008503,
-0.017773615196347237,
-0.0389246828854084,
-0.055084213614463806,
0.0028176545165479183,
-0.014190902933478355,
0.055308133363723755,
0.046164751052856445,
-0.018398724496364594,
-0.0341104157269001,
0.025694770738482475,
-0.026758387684822083,
0.05280769616365433,
0.0023010068107396364,
-0.04661259055137634,
0.01235289592295885,
0.05239718034863472,
0.026049310341477394,
0.02690766751766205,
-0.018734604120254517,
0.021402979269623756,
-0.040529441088438034,
0.048180025070905685,
-0.008546262979507446,
0.011774437502026558,
0.0389246828854084,
0.03314009681344032,
0.026833027601242065,
0.015095910988748074,
-0.01570235937833786,
0.009936430491507053,
0.03267359733581543,
-0.011522527784109116,
0.05792052671313286,
0.015039931051433086,
-0.022429276257753372,
0.017950884997844696,
-0.013509813696146011,
0.03765580803155899,
-0.03241235762834549,
-0.012063666246831417,
-0.03653620928525925,
0.0251536313444376,
-0.015776999294757843,
-0.027542106807231903,
0.04937426373362541,
-0.047209709882736206,
-0.010402929969131947,
-0.05194934085011482,
0.0350060909986496,
-0.00046445816406048834,
-0.000054740754421800375,
-0.04213419929146767,
0.010990718379616737,
0.005546674132347107,
-0.03362525627017021,
0.0038789398968219757,
0.008844822645187378,
-0.03565919026732445,
-0.035230010747909546,
-0.0022718505933880806,
-0.0022671855986118317,
-0.010309630073606968,
-0.01137324795126915,
0.03569651022553444,
0.01309929508715868,
0.0010496230097487569,
-0.010374940000474453,
-0.01537581067532301,
-0.0023511555045843124,
-0.04582887142896652,
0.009180702269077301,
-0.0033564609475433826,
-0.020395340397953987,
0.024612491950392723,
0.028941603377461433,
0.014097603037953377,
0.015254520811140537,
0.0045950161293148994,
0.002342991763725877,
-0.03302813693881035,
0.058368366211652756,
0.04127584025263786,
0.03687208890914917,
0.021402979269623756,
-0.003354128450155258,
0.031031519174575806,
0.04441071301698685,
-0.021757517009973526,
0.0260306503623724,
0.017437735572457314,
0.023082375526428223,
0.0024654476437717676,
0.02323165535926819,
-0.013808373361825943,
-0.015450449660420418,
-0.04474659264087677,
-0.034838151186704636,
0.021589579060673714,
0.04728434979915619,
-0.0402308814227581,
0.006269747857004404,
-0.022056076675653458,
0.026963647454977036,
0.01780160516500473,
-0.041574399918317795,
0.012931355275213718,
-0.01972358115017414,
-0.0024841076228767633,
0.010281640104949474,
0.029426762834191322,
0.03384917601943016,
-0.00018003949662670493,
-0.020917819812893867,
0.006153122987598181,
-0.0021319009829312563,
-0.03293483704328537,
-0.006582302041351795,
0.06086880341172218,
0.012642125599086285,
0.034408971667289734,
-0.017736295238137245,
0.03276689723134041,
0.016019579023122787,
0.0616898387670517,
0.013043315149843693,
0.001846170169301331,
0.0037903052289038897,
0.03131141886115074,
0.0021272359881550074,
0.04687383025884628,
0.008359664119780064,
-0.028773663565516472,
0.00641902768984437,
-0.011298608034849167,
0.002542420057579875,
0.012026346288621426,
-0.022765155881643295,
-0.00824770424515009,
0.014013633131980896,
-0.05795784667134285,
-0.011093348264694214,
-0.032561637461185455,
0.029426762834191322,
0.005378734786063433,
0.010356280021369457,
-0.03284153714776039,
0.019406361505389214,
0.0402308814227581,
0.005355409812182188,
-0.04478391259908676,
-0.009148047305643559,
-0.011093348264694214,
0.0011120171984657645,
-0.032169777899980545,
-0.02492971159517765,
0.04530639201402664,
0.03362525627017021,
0.04601547122001648,
0.030826259404420853,
0.0014951296616345644,
0.02011544071137905,
-0.003438098356127739,
-0.020936479791998863,
0.06228695809841156,
0.005192134995013475,
0.029240163043141365,
0.015263850800693035,
-0.028661703690886497,
0.008723532781004906,
-0.01209165621548891,
0.024034032598137856,
0.010598859749734402,
-0.054001934826374054,
-0.0336625762283802,
-0.0008099590777419508,
-0.027579426765441895,
0.05165078118443489,
0.003508073277771473,
-0.034707531332969666,
-0.011214638128876686,
-0.009082737378776073,
0.0008863483089953661,
-0.020339360460639,
0.012427535839378834,
0.03244967758655548,
-0.010393599979579449,
-0.0029342793859541416,
-0.016588708385825157,
0.02694498747587204,
-0.01506792102009058,
0.03795436769723892,
-0.038775403052568436,
-0.01404162310063839,
-0.019145123660564423,
-0.005308759864419699,
-0.034408971667289734,
-0.055532053112983704,
-0.009899110533297062,
-0.01591694913804531,
0.019910180941224098,
-0.0026310549583286047,
0.01705520786345005,
-0.022410616278648376,
-0.01897718384861946,
0.005961858667433262,
0.04123852029442787,
0.0034101083874702454,
0.014685391448438168,
0.0371706485748291,
-0.007398675661534071,
0.015823649242520332,
0.023474235087633133,
-0.0028036595322191715,
0.030471721664071083,
-0.04579155147075653,
0.009796480648219585,
0.0275607667863369,
-0.008075099438428879,
0.025956010445952415,
0.007907159626483917,
0.012856715358793736,
0.08994102478027344,
-0.013369863852858543,
0.04011892154812813,
0.0336812362074852,
-0.011354587972164154,
0.04414947330951691,
0.0594879649579525,
-0.004944890271872282,
-0.02173885703086853,
-0.07463985681533813,
-0.0049169003032147884,
0.06280943751335144,
-0.02935212291777134,
-0.012604805640876293,
-0.004403751343488693,
0.0005297680618241429,
0.029986562207341194,
-0.06370511651039124,
-0.04127584025263786,
0.004597348626703024,
0.020675240084528923,
0.0033168084919452667,
0.03888736292719841,
0.03312143683433533,
0.03713332861661911,
0.028848303481936455,
0.02632920816540718,
-0.013183264061808586,
0.004926230292767286,
-0.0389246828854084,
-0.035323310643434525,
0.0025797400157898664,
-0.061391282826662064,
-0.03302813693881035,
-0.02961336262524128,
0.01920110359787941,
0.04101460054516792,
-0.01666334830224514,
0.0242766123265028,
-0.016000919044017792,
-0.02369815483689308,
-0.029165523126721382,
0.024967031553387642,
0.01981688104569912,
0.016038239002227783,
0.00027917054831050336,
-0.02545219101011753,
0.041350480169057846,
-0.0037646477576345205,
0.03261761739850044,
0.05612917244434357,
0.013304553925991058,
0.010458909906446934,
0.005616649053990841,
0.0393725223839283,
0.0290908832103014,
0.02173885703086853,
0.011354587972164154,
0.04164903983473778,
-0.028848303481936455,
-0.042880598455667496,
0.00749197555705905,
0.014377501793205738,
-0.011839747428894043,
0.002036268590018153,
0.02642250806093216,
-0.028008606284856796,
-0.006922846660017967,
0.01889321394264698,
0.04414947330951691,
-0.018659964203834534,
0.01643942855298519,
-0.007655250374227762,
-0.04239543899893761,
-0.02580673061311245,
0.05527081340551376,
0.012418205849826336,
-0.032039158046245575,
0.03297215700149536,
-0.042096879333257675,
0.017857585102319717,
-0.0014554772060364485,
-0.04146244004368782,
0.034931451082229614,
-0.03319607675075531,
-0.021458959206938744,
0.09285198152065277,
-0.043328434228897095,
0.00025511669809930027,
0.019182443618774414,
-0.04444803297519684,
-0.0097311707213521,
-0.004564693663269281,
-0.0006659274804405868,
0.0015930944355204701,
-0.012726095505058765,
0.04269399866461754,
-0.014741371385753155,
0.0030672315042465925,
0.02707560732960701,
0.012632795609533787,
0.018566664308309555,
0.025396211072802544,
0.012492845766246319,
-0.0003513321280479431,
-0.028101906180381775,
0.00731470575556159,
-0.01132659800350666,
0.0030415740329772234,
0.005383399780839682,
-0.019182443618774414,
-0.040044281631708145,
0.08143208175897598,
0.021570919081568718,
0.029464082792401314,
-0.015982259064912796,
0.017083197832107544,
0.01296867523342371,
0.009889780543744564,
0.06575771421194077,
-0.031684618443250656,
0.03840220719575882,
-0.03459557145833969,
0.010197670198976994,
-0.03918592259287834,
-0.023157015442848206,
-0.03459557145833969,
-0.018118824809789658,
-0.00325383129529655,
-0.00046504128840751946,
-0.03515537083148956,
0.001512623275630176,
0.01968626119196415,
0.0026660424191504717,
0.0053880647756159306,
-0.00828968919813633,
-0.021365659311413765,
0.019910180941224098,
-0.0012712100287899375,
0.05235986039042473,
0.00030876407981850207,
0.02825118601322174,
-0.039297882467508316,
-0.006731581874191761,
0.001437983475625515,
-0.018883883953094482,
-0.024220632389187813,
0.02056328020989895,
-0.00138316978700459,
-0.03758116811513901,
0.006209102924913168,
-0.01209165621548891,
-0.01711118593811989,
-0.006097143050283194,
-0.05064314231276512,
-0.06583235412836075,
-0.00359204295091331,
0.01814681477844715,
-0.018566664308309555,
0.04422411322593689,
0.00303457654081285,
0.0001098459615604952,
0.01754036545753479,
-0.009297327138483524,
0.04265667870640755,
0.021682877093553543,
0.008723532781004906,
0.040268201380968094,
0.043813593685626984,
0.016728658229112625,
0.034968771040439606,
0.03502475097775459,
0.027616746723651886,
-0.03944716230034828,
-0.012614135630428791,
0.0020665910560637712,
-0.03713332861661911,
-0.004842260852456093,
0.032132457941770554,
0.014526781626045704,
0.040006961673498154,
-0.03052770160138607,
0.011989026330411434,
0.0010478736367076635,
-0.008760852739214897,
0.015385139733552933,
0.02619859017431736,
-0.08150672167539597,
-0.022018756717443466,
-0.0520613007247448,
-0.0024444551672786474,
0.04627671092748642,
0.01605689898133278,
0.004944890271872282,
-0.008858817629516125,
-0.04299255833029747,
0.012502175755798817,
-0.03564053028821945,
-0.03858880698680878,
-0.007991129532456398,
0.02466847188770771,
0.018398724496364594,
0.025564150884747505,
-0.04250739887356758,
-0.008033114485442638,
0.006405032705515623,
0.010281640104949474,
0.0402308814227581,
-0.0498594231903553,
0.009204027242958546,
-0.00914338231086731,
0.0020082786213606596,
-0.025601470842957497,
-0.00013725277676712722,
-0.03515537083148956,
0.038290247321128845,
-0.040790680795907974,
0.012772745452821255,
0.02405269257724285,
0.007100116461515427,
0.04377627372741699,
0.030415741726756096,
-0.048142705112695694,
0.03461423143744469,
-0.034539591521024704,
0.004247474484145641,
-0.00641902768984437,
0.023903414607048035,
0.00035453931195661426,
0.02200009673833847,
-0.026646427810192108,
-0.0034194383770227432,
0.02580673061311245,
0.021552259102463722,
0.011830417439341545,
0.0013400187017396092,
-0.027486126869916916,
-0.038290247321128845,
0.004571691155433655,
0.027710046619176865,
-0.055606693029403687,
0.022989075630903244,
-0.0052527799271047115,
-0.020096780732274055,
-0.02291443571448326,
0.047172389924526215,
0.0441867932677269,
0.01515189092606306,
-0.038775403052568436,
-0.019518321380019188,
0.01776428520679474,
0.01082277949899435,
-0.024220632389187813,
-0.02694498747587204,
-0.027262207120656967,
-0.007179420907050371,
-0.020339360460639,
-0.02580673061311245,
0.0021925456821918488,
-0.01622483879327774,
0.051725421100854874,
-0.017092525959014893,
0.02886696346104145,
-0.0037133328150957823,
0.02606797032058239,
0.018753264099359512,
0.011074688285589218,
-0.012483515776693821,
0.03338267654180527,
-0.006689596921205521,
-0.007062796503305435,
0.023324955254793167,
-0.006857536733150482,
-0.003601372940465808,
-0.06586967408657074,
0.005500024184584618,
-0.009768490679562092,
0.02463115192949772,
0.009740500710904598,
-0.015095910988748074,
-0.022018756717443466,
-0.03948448225855827,
-0.007743884809315205,
-0.05034458264708519,
0.028643043711781502,
-0.03231905773282051,
-0.043365754187107086,
0.02099245972931385,
-0.01296867523342371,
0.05777124688029289,
-0.00357105047442019,
0.05489761382341385,
0.025116311386227608,
-0.023026395589113235,
-0.009955090470612049,
0.009815140627324581,
0.00047349659143947065,
-0.009572561830282211,
-0.001020466792397201,
0.06247355788946152,
-0.013388523831963539,
0.011998356319963932,
-0.015030601061880589,
0.033830516040325165,
0.0009522413020022213,
0.010468239895999432,
0.025825390592217445,
-0.0057799238711595535,
-0.037618488073349,
-0.008084429427981377
] |
Neural networks have shown their effectiveness in various tasks in the realm
of quantum computing. However, their application in quantum error mitigation, a
crucial step towards realizing practical quantum advancements, has been
restricted by reliance on noise-free statistics. To tackle this critical
challenge, we propose a data augmentation empowered neural model for error
mitigation (DAEM). Our model does not require any prior knowledge about the
specific noise type and measurement settings and can estimate noise-free
statistics solely from the noisy measurement results of the target quantum
process, rendering it highly suitable for practical implementation. In
numerical experiments, we show the model's superior performance in mitigating
various types of noise, including Markovian noise and Non-Markovian noise,
compared with previous error mitigation methods. We further demonstrate its
versatility by employing the model to mitigate errors in diverse types of
quantum processes, including those involving large-scale quantum systems and
continuous-variable quantum states. This powerful data augmentation-empowered
neural model for error mitigation establishes a solid foundation for realizing
more reliable and robust quantum technologies in practical applications. | [
-0.02068497985601425,
-0.0038971700705587864,
-0.028179537504911423,
-0.014292562380433083,
0.04507315158843994,
0.039289116859436035,
-0.04461466148495674,
0.0314595066010952,
0.03773730248212814,
0.035162702202796936,
0.02576364390552044,
-0.03734934702515602,
-0.03306422382593155,
0.025340421125292778,
0.007494557648897171,
0.0293963011354208,
-0.03181219473481178,
-0.05438403785228729,
-0.011435813270509243,
-0.005466618575155735,
-0.004536411724984646,
-0.0007863774662837386,
-0.04990493506193161,
0.008363044820725918,
-0.008116165176033974,
0.06771553307771683,
0.005704680923372507,
0.017819413915276527,
-0.0778728649020195,
0.06785660982131958,
0.0034805608447641134,
-0.012061829678714275,
0.0038112029433250427,
-0.018286719918251038,
-0.018551234155893326,
0.019644558429718018,
0.04126415401697159,
0.012502685189247131,
-0.0004824621428269893,
0.00909927487373352,
0.04172264412045479,
-0.004062491003423929,
-0.016505660489201546,
0.0038112029433250427,
0.024317635223269463,
-0.037702035158872604,
-0.03214724361896515,
-0.03181219473481178,
-0.004161683842539787,
-0.009275617077946663,
0.013366764411330223,
-0.019521119073033333,
0.006639296188950539,
0.011409361846745014,
-0.03805471956729889,
0.04701291769742966,
0.08415065705776215,
0.02438817173242569,
0.06267213821411133,
-0.03488055244088173,
0.04937591031193733,
0.04345079883933067,
-0.0693378821015358,
0.018374891951680183,
0.009319703094661236,
-0.06376545876264572,
0.06221364438533783,
-0.08457387983798981,
0.04235747829079628,
0.005925109144300222,
-0.09501335769891739,
-0.020332293584942818,
0.011735595762729645,
0.004540820140391588,
0.006013280246406794,
0.009989804588258266,
0.008433581329882145,
0.05939216539263725,
-0.01775769330561161,
0.010977322235703468,
0.03433389216661453,
0.025164078921079636,
-0.007327032275497913,
0.008614332415163517,
0.08739536255598068,
-0.0560416579246521,
0.014892127364873886,
-0.06588157266378403,
0.023612264543771744,
-0.012035378254950047,
-0.03713773936033249,
0.034757114946842194,
-0.012705479748547077,
-0.014724601991474628,
0.01597663387656212,
0.01309343334287405,
-0.019291874021291733,
-0.016038352623581886,
-0.06193149834871292,
-0.011453447863459587,
-0.002724492223933339,
-0.021037664264440536,
0.07378171384334564,
0.004950816743075848,
0.040170829743146896,
-0.031353700906038284,
-0.09797590970993042,
0.009637119248509407,
0.03692612797021866,
0.1383230835199356,
0.0012983218766748905,
-0.003709806129336357,
-0.015870828181505203,
0.06066183000802994,
-0.03299368917942047,
-0.026310306042432785,
-0.02211335301399231,
-0.01780177839100361,
-0.017678339034318924,
-0.01777532696723938,
0.009839913807809353,
0.07857823371887207,
-0.013957511633634567,
0.018392525613307953,
-0.04718926176428795,
0.07399332523345947,
0.010712808929383755,
-0.015588680282235146,
0.028302976861596107,
-0.0468718446791172,
-0.034704212099313736,
-0.0005020251264795661,
-0.023171408101916313,
-0.05847518518567085,
0.002196566667407751,
-0.03456313535571098,
-0.02186647430062294,
-0.04010029137134552,
0.014504173770546913,
-0.04126415401697159,
0.006216074340045452,
-0.04937591031193733,
-0.036785051226615906,
0.004437218885868788,
-0.01446008775383234,
0.018163280561566353,
0.0028192761819809675,
0.06556415557861328,
-0.07092496752738953,
0.011894304305315018,
-0.035674095153808594,
0.022430770099163055,
-0.0045804972760379314,
0.010069158859550953,
0.046589698642492294,
-0.010994956828653812,
0.009548948146402836,
-0.0006987572996877134,
-0.027192018926143646,
-0.11948969960212708,
0.03960653394460678,
-0.015509326010942459,
-0.005788443610072136,
0.07709695398807526,
0.019856169819831848,
0.019891437143087387,
0.03507452830672264,
-0.014274927787482738,
-0.0193976778537035,
0.048000436276197433,
0.006462953984737396,
0.0007053701556287706,
-0.03752569109201431,
-0.02350645884871483,
-0.017493179067969322,
0.04736560583114624,
0.048141513019800186,
0.01801338978111744,
-0.03763149678707123,
0.009769376367330551,
-0.051174603402614594,
0.028073731809854507,
0.018551234155893326,
0.032006170600652695,
0.0569586381316185,
0.025569668039679527,
0.016981786116957664,
-0.0032336812000721693,
0.029290495440363884,
-0.017695972695946693,
0.02211335301399231,
0.019856169819831848,
0.017889950424432755,
-0.04524949565529823,
0.052267927676439285,
-0.023612264543771744,
-0.024300001561641693,
-0.04073512554168701,
0.019961975514888763,
-0.02934339828789234,
-0.04055878147482872,
-0.018815748393535614,
0.02892017550766468,
-0.03509216383099556,
-0.010994956828653812,
0.01797812059521675,
0.0664106011390686,
0.0060485489666461945,
-0.010077975690364838,
-0.0005480395047925413,
0.02412365935742855,
0.003125671297311783,
-0.011056676506996155,
-0.02440580725669861,
0.05089245364069939,
-0.009390239603817463,
-0.04376821592450142,
-0.024987736716866493,
-0.019662192091345787,
-0.01618824526667595,
-0.010086792521178722,
-0.006529082078486681,
0.04489680752158165,
-0.02548149600625038,
-0.014997932128608227,
0.0028743832372128963,
0.0033372824545949697,
-0.029308129101991653,
-0.00644091097638011,
0.021319812163710594,
-0.03717300668358803,
0.04782409593462944,
0.06556415557861328,
0.014733418822288513,
0.023823875933885574,
0.02504063956439495,
-0.018727576360106468,
0.023330116644501686,
-0.008517344482243061,
0.032693903893232346,
-0.04489680752158165,
0.01682307757437229,
-0.00863637588918209,
-0.04556690901517868,
0.025587301701307297,
0.014451270923018456,
0.012476233765482903,
0.0592510923743248,
0.015280080959200859,
0.03851320967078209,
-0.04912903159856796,
-0.012238171882927418,
0.003405615221709013,
0.033593252301216125,
-0.03710246831178665,
-0.023753339424729347,
-0.03306422382593155,
-0.013816437683999538,
-0.010986139997839928,
-0.04708345606923103,
0.06415341049432755,
0.02123164013028145,
0.005255007650703192,
0.04937591031193733,
-0.06355384737253189,
-0.010739260353147984,
0.006216074340045452,
0.03773730248212814,
0.027192018926143646,
0.053149640560150146,
0.010227866470813751,
0.017951669171452522,
-0.026292672380805016,
-0.02936103194952011,
0.021707765758037567,
-0.01618824526667595,
0.018357258290052414,
0.003136692801490426,
-0.033364009112119675,
-0.006410051137208939,
0.001404127455316484,
-0.03308185935020447,
0.02890254184603691,
-0.010668722912669182,
-0.0007670900085940957,
-0.04447358846664429,
-0.013613643124699593,
0.003015457419678569,
-0.06715123355388641,
-0.03443969786167145,
0.004399746190756559,
-0.003584162099286914,
-0.03442206233739853,
-0.00013211913756094873,
0.05946270376443863,
-0.0005312318680807948,
-0.035885706543922424,
-0.025569668039679527,
0.05032815784215927,
0.01712285913527012,
-0.04602540284395218,
-0.04958752170205116,
-0.002225222298875451,
0.0021436638198792934,
-0.07991843670606613,
0.015553411096334457,
0.022042816504836082,
0.06602264195680618,
0.03812525421380997,
0.016743723303079605,
0.04119361564517021,
0.01140054501593113,
-0.022377867251634598,
-0.04556690901517868,
-0.03398120775818825,
-0.009028737433254719,
0.006418868433684111,
0.011779680848121643,
-0.03872482106089592,
-0.0009528007358312607,
0.0055371555499732494,
0.016964152455329895,
-0.06468243896961212,
0.012202903628349304,
0.03147714212536812,
-0.0023453556932508945,
-0.023612264543771744,
0.03851320967078209,
-0.015077286399900913,
0.013119884766638279,
-0.02026175707578659,
-0.03422808647155762,
-0.02003251202404499,
0.061825692653656006,
0.009972169995307922,
0.005506295710802078,
-0.02803846262395382,
0.03946545720100403,
-0.020861322060227394,
-0.01776651106774807,
-0.038619015365839005,
-0.05096299201250076,
-0.0028192761819809675,
-0.012573222629725933,
0.008486484177410603,
-0.04789463058114052,
-0.04581379145383835,
-0.01127710472792387,
-0.024317635223269463,
-0.01801338978111744,
0.0008525059092789888,
0.011647424660623074,
0.039994485676288605,
0.014865675941109657,
0.08351582288742065,
-0.045002613216638565,
0.02098476141691208,
0.057522933930158615,
-0.014036865904927254,
0.02616923116147518,
-0.00661284476518631,
-0.012008926831185818,
-0.01685834676027298,
0.025428593158721924,
-0.03376959636807442,
-0.02438817173242569,
-0.0415463000535965,
-0.050469234585762024,
-0.04701291769742966,
-0.0117179611697793,
0.01796930469572544,
0.05688809975981712,
-0.028585124760866165,
-0.013216872699558735,
-0.026257403194904327,
-0.03682032227516174,
-0.031794559210538864,
0.013384398072957993,
0.009839913807809353,
0.04662496596574783,
-0.01641749031841755,
0.012026560492813587,
-0.007146281190216541,
0.00341222807765007,
0.022377867251634598,
0.03606204688549042,
0.010316038504242897,
0.007922188378870487,
-0.04302757978439331,
0.04373294860124588,
-0.029942961409687996,
-0.0035048078279942274,
-0.0037031932733953,
-0.0161441583186388,
0.026028158143162727,
0.012114731594920158,
-0.016294050961732864,
-0.02484666369855404,
0.06926734745502472,
-0.022466039285063744,
-0.07963629066944122,
0.03287024796009064,
-0.030401453375816345,
-0.013155153021216393,
-0.012440965510904789,
0.02368280291557312,
-0.04673077166080475,
-0.019503483548760414,
0.06944368779659271,
-0.025446226820349693,
-0.009460777044296265,
-0.01796930469572544,
0.025181714445352554,
-0.04736560583114624,
0.024335268884897232,
0.01399277988821268,
-0.038865894079208374,
0.01778414472937584,
0.019732728600502014,
-0.0305425263941288,
0.033416908234357834,
0.02502300590276718,
0.05110406503081322,
-0.0034739479888230562,
0.0035775492433458567,
0.05173889920115471,
-0.0018449837807565928,
-0.02775631472468376,
0.017678339034318924,
-0.03618548810482025,
0.05678229406476021,
0.028549855574965477,
0.012167634442448616,
-0.006299837026745081,
-0.008398313075304031,
0.01911552995443344,
-0.010968505404889584,
-0.027668142691254616,
-0.004256467800587416,
-0.008781857788562775,
-0.01983853429555893,
-0.009205080568790436,
-0.008975834585726261,
-0.036502905189991,
-0.06831509619951248,
-0.04161683842539787,
-0.07148925960063934,
-0.027456533163785934,
-0.06679855287075043,
-0.05762873962521553,
-0.07293526828289032,
-0.008526161313056946,
-0.05085718631744385,
-0.020808419212698936,
0.03415754809975624,
0.01932714134454727,
0.00968120526522398,
-0.02068497985601425,
0.04990493506193161,
-0.012432148680090904,
0.02394731529057026,
0.03211197629570961,
-0.001792081049643457,
-0.036996662616729736,
0.03257046639919281,
-0.02209571935236454,
-0.04535530135035515,
-0.04655442759394646,
-0.009936901740729809,
0.06954949349164963,
0.049552250653505325,
-0.042710162699222565,
-0.01959165558218956,
-0.0046466258354485035,
-0.021337445825338364,
0.028091365471482277,
-0.041123077273368835,
-0.053431786596775055,
-0.004346843343228102,
-0.0017722424818202853,
0.006224891636520624,
-0.0022880444303154945,
-0.04983440041542053,
-0.0180222075432539,
-0.048882149159908295,
0.031283166259527206,
0.05187997221946716,
-0.009919267147779465,
-0.03530377522110939,
-0.032482296228408813,
-0.054807260632514954,
-0.04034717008471489,
0.036538172513246536,
-0.0318298265337944,
0.021989913657307625,
-0.008085304871201515,
-0.040417708456516266,
-0.020314659923315048,
0.030119305476546288,
0.0038927614223212004,
0.0010398698505014181,
-0.044508855789899826,
-0.056605953723192215,
0.045214224606752396,
-0.03773730248212814,
0.014310196973383427,
0.03004876710474491,
0.021143469959497452,
0.012943541631102562,
-0.009231531992554665,
0.03422808647155762,
0.04239274561405182,
-0.00955776497721672,
0.0003565425577107817,
0.02116110362112522,
0.02662772312760353,
-0.029290495440363884,
-0.0031565313693135977,
0.03555065393447876,
0.04510841891169548,
0.05586531385779381,
-0.007926597259938717,
0.02207808569073677,
0.024970103055238724,
-0.06168461963534355,
0.0028589533176273108,
0.013269775547087193,
-0.005885432008653879,
-0.02643374539911747,
0.003969911485910416,
-0.018621770665049553,
0.027615239843726158,
-0.015315349213778973,
-0.040417708456516266,
-0.02645137906074524,
-0.0016851733671501279,
0.0011247347574681044,
-0.0118325836956501,
-0.03424571827054024,
-0.032499928027391434,
-0.03830159828066826,
0.055477362126111984,
0.006365965586155653,
0.023629900068044662,
-0.005554789677262306,
0.0003168654802720994,
0.021143469959497452,
-0.039289116859436035,
0.047718290239572525,
0.020579174160957336,
0.0030330915469676256,
-0.052091583609580994,
-0.0079574566334486,
0.00530350161716342,
-0.03004876710474491,
-0.046342816203832626,
-0.023365385830402374,
-0.003432066645473242,
0.013781169429421425,
-0.035621192306280136,
0.02756233885884285,
0.0035951833706349134,
-0.009319703094661236,
0.009575399570167065,
0.012449783273041248,
-0.028567491099238396,
0.009381422773003578,
0.06238998845219612,
-0.03505689650774002,
0.015315349213778973,
-0.023753339424729347,
-0.02100239507853985,
0.019785631448030472,
-0.009707656688988209,
0.03738461807370186,
0.008975834585726261,
0.029043614864349365,
-0.023806242272257805,
0.019432947039604187,
0.0025305154267698526,
0.011709144338965416,
-0.02415892668068409,
0.014927395619452,
0.0505397692322731,
-0.005144793540239334,
-0.02578127756714821,
-0.0227481871843338,
-0.021566692739725113,
-0.04253381863236427,
-0.015623948536813259,
0.007075744215399027,
0.052267927676439285,
-0.012440965510904789,
0.025181714445352554,
-0.0066084363497793674,
0.00580166932195425,
-0.0014735623262822628,
0.024211829528212547,
0.056394342333078384,
-0.041123077273368835,
-0.01251150295138359,
0.010765711776912212,
0.02532278746366501,
0.044297244399785995,
0.007199184037744999,
-0.006449728272855282,
0.012141183018684387,
0.01218526903539896,
-0.007322623860090971,
-0.005396081600338221,
-0.010439477860927582,
0.004845011048018932,
0.04397982731461525,
0.00024908382329158485,
0.021037664264440536,
0.02207808569073677,
-0.050010740756988525,
-0.004362273495644331,
-0.04764775186777115,
0.015262446366250515,
-0.005885432008653879,
-0.02093185856938362,
0.02096712775528431,
-0.03186509758234024,
-0.00699638994410634,
0.01727275177836418,
-0.0028743832372128963,
-0.04260435700416565,
0.004437218885868788,
0.010906785726547241,
-0.035903338342905045,
0.0025305154267698526,
0.006890584714710712,
-0.029537374153733253,
-0.0011197751155123115,
-0.009372605942189693,
0.001818532356992364,
0.03643236681818962,
0.04151103273034096,
-0.0032909924630075693,
-0.007732619997113943,
0.02230733074247837,
-0.02123164013028145,
-0.009998621419072151,
0.0031741654966026545,
0.03823105990886688,
0.005122750531882048,
0.01297881081700325,
0.03689085692167282,
0.04881161451339722,
0.00524619035422802,
0.01014851313084364,
-0.02532278746366501,
0.048000436276197433,
-0.016673186793923378,
-0.016488026827573776,
0.04690711200237274,
-0.026592453941702843,
0.007256495300680399,
0.03510979935526848,
0.02620450034737587,
-0.01709640771150589,
0.018092744052410126,
-0.02502300590276718,
0.04299230873584747,
-0.0225189421325922,
-0.004139640834182501,
-0.007419612258672714,
0.04560218006372452,
0.0751219168305397,
0.02142561785876751,
-0.03163585066795349,
-0.011471081525087357,
0.057558201253414154,
0.04175791144371033,
-0.011559252627193928,
0.04077039286494255,
0.04084093123674393,
-0.014751052483916283,
-0.031318433582782745,
-0.012246988713741302,
-0.04577852040529251,
-0.05600638687610626,
0.03844267129898071,
-0.05071611329913139,
0.0013170583406463265,
0.014072134159505367,
-0.006626070477068424,
-0.023347752168774605,
-0.03348744660615921,
-0.01410740241408348,
-0.05106879770755768,
0.005700272507965565,
-0.014416001737117767,
0.004115393850952387,
0.00655553350225091,
-0.003044113051146269,
0.020826052874326706,
-0.00842035561800003,
-0.03939492255449295,
-0.0700785219669342,
-0.0011859035585075617,
-0.019450580701231956,
-0.02024412341415882,
0.013463752344250679,
0.02803846262395382,
0.025234617292881012,
0.007582728751003742,
-0.03161821514368057,
0.007296172436326742,
0.001416250946931541,
0.011964840814471245,
0.010518832132220268,
0.01909789629280567,
0.025869449600577354,
0.04877634346485138,
0.012458600103855133,
0.01730801910161972,
-0.03346981108188629,
0.021901743486523628,
0.0005681536276824772,
0.07321742177009583,
0.014001596719026566,
-0.08513817191123962,
0.006167579907923937,
0.006709833163768053,
0.017484361305832863,
-0.03354034945368767,
0.0027553520631045103,
0.00597360311076045,
0.0038729228544980288,
-0.017951669171452522,
-0.025181714445352554,
0.02236023359000683,
-0.0018835586961358786,
-0.024529246613383293,
0.011021408252418041,
0.05448984354734421,
0.03488055244088173,
0.032023802399635315,
0.018780479207634926,
-0.035621192306280136,
0.022501306608319283,
-0.022730551660060883,
0.01296999305486679,
0.026098694652318954,
-0.05392554774880409,
0.021725399419665337,
0.014909761026501656,
-0.023753339424729347,
-0.0018482902087271214,
-0.03251756355166435,
0.04620174318552017,
-0.03161821514368057,
-0.04524949565529823,
0.018586503341794014,
0.0009054086985997856,
0.0021535831037908792,
0.010950871743261814,
0.01642630621790886,
0.010959688574075699,
0.02005014568567276,
-0.03306422382593155,
-0.0029691674280911684,
0.03551538661122322,
-0.028126634657382965,
-0.03094811551272869,
0.018798114731907845,
0.008301325142383575,
-0.043591875582933426,
0.012326342985033989,
0.0222896970808506,
-0.014953847043216228,
-0.007247678004205227,
-0.011136030778288841,
-0.01803102344274521,
0.0004824621428269893,
-0.010677540674805641,
0.013516655191779137,
0.03576226532459259,
-0.01139172725379467,
0.025869449600577354,
-0.04069985821843147,
0.013966328464448452,
-0.045672714710235596,
-0.004349047783762217,
-0.0424632802605629,
-0.036538172513246536,
-0.015050834976136684,
-0.0076312231831252575,
-0.03331110626459122,
-0.05515994504094124,
0.019080262631177902,
-0.025234617292881012,
-0.0033262609504163265,
0.036326561123132706,
0.0027641691267490387,
0.02957264333963394,
-0.0008166863699443638,
-0.01536825206130743,
-0.005731132347136736,
-0.0017700381577014923,
-0.022871626541018486,
0.004699528682976961,
-0.04983440041542053,
-0.04126415401697159,
-0.0027928247582167387,
-0.021513789892196655,
-0.015183092094957829,
0.012520319782197475,
-0.008552612736821175,
-0.00029730249661952257,
0.020596807822585106,
-0.009046372026205063,
0.03456313535571098,
-0.011806132271885872,
-0.02280109003186226,
0.012661393731832504,
-0.021795937791466713,
-0.04059405252337456,
-0.026310306042432785,
-0.01617060974240303,
-0.019997242838144302,
-0.01049238070845604,
-0.01613534241914749,
0.019432947039604187,
0.01617942750453949,
-0.0010933236917480826,
0.028408782556653023,
-0.010457112453877926,
-0.04034717008471489,
0.02895544469356537,
-0.05988592281937599,
-0.0006530184182338417,
-0.03297605365514755,
0.0222896970808506,
-0.024247098714113235,
0.031106822192668915,
-0.04810624197125435,
-0.010430661030113697,
-0.019961975514888763,
0.01049238070845604,
0.013525472022593021,
-0.028796736150979996,
-0.03371669352054596,
0.015094920992851257,
0.012802467681467533,
-0.025216981768608093,
-0.003548893379047513,
0.015632765367627144,
0.011365275830030441,
0.050469234585762024,
0.020649710670113564,
-0.011850218288600445,
0.005162427667528391,
-0.029960596933960915,
-0.014733418822288513,
0.015870828181505203,
-0.0076312231831252575,
0.0030639516189694405,
-0.008799492381513119,
-0.02729782462120056,
0.017863499000668526,
-0.022730551660060883,
0.048176780343055725,
0.03443969786167145,
0.0072432695887982845,
-0.07991843670606613,
-0.01751963049173355,
-0.040876198559999466,
-0.01083624828606844,
0.02713911607861519,
-0.03570936247706413,
0.022501306608319283,
-0.031794559210538864,
0.006432093679904938,
0.02775631472468376,
-0.03368142247200012,
-0.004022813867777586,
-0.028338244184851646,
-0.023100871592760086,
0.034986358135938644,
0.08316314220428467,
0.008138207718729973,
0.028796736150979996,
-0.032006170600652695,
-0.016338136047124863,
-0.056182730942964554,
0.007327032275497913,
-0.049975473433732986,
-0.02006778120994568,
0.016805443912744522,
0.01801338978111744,
-0.00029261838062666357,
0.044791001826524734,
-0.036538172513246536,
0.016972968354821205,
-0.056394342333078384,
-0.00888766348361969,
0.0004943101666867733,
-0.004320391919463873,
-0.05688809975981712,
-0.03121262788772583,
-0.03368142247200012,
0.0005232413532212377,
-0.026363208889961243,
-0.0029405117966234684,
-0.01797812059521675,
0.0034166364930570126,
-0.02368280291557312,
-0.0033945937175303698,
-0.03946545720100403,
0.03507452830672264,
0.008715730160474777,
0.0016829690430313349,
-0.008623150177299976,
-0.005210921633988619,
-0.014301379211246967,
0.038407403975725174,
-0.022889260202646255,
-0.019203701987862587,
-0.014557075686752796,
0.02437053807079792,
0.027209652587771416,
-0.0002860055537894368,
0.00900228600949049,
-0.027192018926143646,
0.02207808569073677,
-0.003112445818260312,
0.03163585066795349,
-0.0036238390021026134,
0.03914804384112358,
0.04397982731461525,
0.011039042845368385,
0.008552612736821175,
0.02209571935236454,
-0.0027112665120512247,
0.038160525262355804,
0.003227068344131112,
-0.02001487836241722,
-0.009460777044296265,
-0.02849695272743702,
-0.03667924553155899,
0.031759291887283325,
-0.001280687632970512,
-0.015147823840379715,
0.03241175785660744,
-0.02073788270354271,
-0.019521119073033333,
0.03685558959841728,
-0.02414129301905632,
0.007371117826551199,
0.020367562770843506,
-0.0022119965869933367,
-0.017810596153140068,
0.008671644143760204,
-0.005404898431152105,
0.0067980047315359116,
-0.04669550433754921,
-0.003943460062146187,
-0.03808998689055443,
-0.01478632166981697,
-0.037455152720212936,
-0.007719394285231829,
-0.004443831741809845,
0.0029735760763287544,
-0.010545283555984497,
-0.0705370157957077,
-0.04440305009484291,
-0.0032138426322489977,
-0.002477612579241395,
-0.007379935123026371,
0.025428593158721924,
-0.016585014760494232,
0.03161821514368057,
0.008473258465528488,
0.029960596933960915,
-0.016981786116957664,
-0.05219738930463791,
0.031318433582782745,
0.008874437771737576,
-0.0300840362906456,
0.0327468067407608,
0.02026175707578659,
0.02414129301905632,
-0.022889260202646255,
0.027033310383558273,
-0.02024412341415882,
-0.00853497814387083,
0.017916401848196983,
-0.003934642765671015,
-0.01399277988821268,
0.025146445259451866,
0.039500728249549866,
-0.02458214946091175,
0.04514368996024132,
-0.014680515974760056,
-0.03918331116437912,
0.024881931021809578,
0.02916705422103405,
-0.007075744215399027,
-0.026768796145915985,
0.020120682194828987,
0.07519245892763138,
0.04644862189888954,
0.002128233900293708,
0.06722177565097809,
-0.0018460858846083283,
-0.05448984354734421,
0.02029702626168728,
-0.0035929791629314423,
-0.0020764332730323076,
0.024264732375741005,
0.0019287464674562216,
-0.06619898974895477,
0.04673077166080475,
-0.027950290590524673,
-0.001980547094717622,
0.04514368996024132,
-0.026380842551589012,
0.04302757978439331,
-0.03805471956729889,
0.043203920125961304,
-0.021125836297869682
] |
Model explainability is crucial for human users to be able to interpret how a
proposed classifier assigns labels to data based on its feature values. We
study generalized linear models constructed using sets of feature value rules,
which can capture nonlinear dependencies and interactions. An inherent
trade-off exists between rule set sparsity and its prediction accuracy. It is
computationally expensive to find the right choice of sparsity -- e.g., via
cross-validation -- with existing methods. We propose a new formulation to
learn an ensemble of rule sets that simultaneously addresses these competing
factors. Good generalization is ensured while keeping computational costs low
by utilizing distributionally robust optimization. The formulation utilizes
column generation to efficiently search the space of rule sets and constructs a
sparse ensemble of rule sets, in contrast with techniques like random forests
or boosting and their variants. We present theoretical results that motivate
and justify the use of our distributionally robust formulation. Extensive
numerical experiments establish that our method improves over competing methods
-- on a large set of publicly available binary classification problem instances
-- with respect to one or more of the following metrics: generalization
quality, computational cost, and explainability. | [
-0.02829655073583126,
-0.0017223585164174438,
-0.030753104016184807,
0.010334151796996593,
0.06235584616661072,
0.03439176082611084,
-0.0007780627929605544,
0.0247133057564497,
-0.024066844955086708,
0.03708842769265175,
0.025839995592832565,
-0.04237094521522522,
0.02270003966987133,
-0.02508271299302578,
-0.009604573249816895,
0.024473192170262337,
0.03145497664809227,
-0.013363285921514034,
0.037347014993429184,
-0.042297061532735825,
0.031842853873968124,
0.01769457943737507,
0.033708356320858,
0.050054602324962616,
-0.010084802284836769,
0.0168911200016737,
-0.0059382119216024876,
-0.01348334364593029,
-0.0797179564833641,
0.05677780508995056,
0.0608043372631073,
0.008154652081429958,
-0.024694835767149925,
-0.015468903817236423,
-0.03633114695549011,
-0.01812863163650036,
0.01669718138873577,
0.030439108610153198,
-0.019042912870645523,
0.08629339933395386,
-0.04728405177593231,
-0.010029390454292297,
0.030106643214821815,
-0.020021840929985046,
0.06305772066116333,
-0.00016753168893046677,
-0.007069520186632872,
0.007739069405943155,
-0.01706658862531185,
-0.037901122123003006,
-0.06963315606117249,
-0.02718833088874817,
0.03361600637435913,
-0.007558983750641346,
-0.019504671916365623,
0.0028144170064479113,
-0.022035107016563416,
0.013335580937564373,
0.04329445958137512,
0.03823358938097954,
-0.03396694362163544,
0.009092021733522415,
-0.024824127554893494,
-0.04480902850627899,
0.015145673416554928,
0.005088576581329107,
0.06667790561914444,
0.036977607756853104,
0.019283028319478035,
-0.04595419019460678,
-0.0644984021782875,
-0.013474107719957829,
0.01065738219767809,
0.02687433548271656,
-0.01240282878279686,
0.05164305120706558,
0.03077157586812973,
-0.007134166080504656,
-0.02306944690644741,
-0.014203686267137527,
0.05637145787477493,
0.03618338331580162,
-0.021702641621232033,
-0.00941525213420391,
0.05781214311718941,
0.0016588667640462518,
0.002351504284888506,
-0.05892036110162735,
-0.0009067779174074531,
-0.035149045288562775,
-0.021037708967924118,
0.001119763939641416,
0.0009373694192618132,
-0.009087404236197472,
0.020760655403137207,
0.006653937511146069,
0.009345988743007183,
0.0072403703816235065,
-0.03974815830588341,
-0.02576611563563347,
-0.002224520780146122,
0.03682984411716461,
-0.025526000186800957,
0.012550591491162777,
-0.007845274172723293,
-0.03823358938097954,
-0.0427403524518013,
0.03751324489712715,
-0.035740096122026443,
0.1444379985332489,
0.01518261432647705,
0.0030960896983742714,
-0.010177153162658215,
-0.00016969618445727974,
-0.06113680452108383,
-0.025932347401976585,
-0.09360764920711517,
-0.09530691802501678,
0.03588785603642464,
-0.009396782144904137,
-0.00013080747157800943,
0.039822038263082504,
0.0484292134642601,
-0.014277567155659199,
-0.031011689454317093,
0.007032579276710749,
0.03919404745101929,
0.013501813635230064,
0.01029721088707447,
0.02857360616326332,
-0.01893209107220173,
0.0008074998622760177,
-0.005859713070094585,
-0.024916479364037514,
-0.004414409399032593,
0.012162714265286922,
0.05999164283275604,
0.035056691616773605,
-0.03300648555159569,
-0.010897496715188026,
-0.015339612029492855,
0.00912434421479702,
0.0010955216130241752,
0.023678967729210854,
0.014914793893694878,
-0.0026181696448475122,
-0.006085974629968405,
0.06959621608257294,
-0.021536407992243767,
0.011183787137269974,
-0.018534978851675987,
0.026800453662872314,
0.0012017260305583477,
0.01611536554992199,
0.05437666177749634,
0.02366049587726593,
-0.038492172956466675,
0.009604573249816895,
0.047247111797332764,
-0.020243484526872635,
0.06342712044715881,
0.0455847829580307,
0.011377724818885326,
0.036885254085063934,
0.04754263907670975,
0.0199479591101408,
0.009743100963532925,
0.020483599975705147,
-0.07399215549230576,
0.053305380046367645,
-0.001877047587186098,
-0.024787187576293945,
-0.026837393641471863,
0.025230474770069122,
0.029497122392058372,
0.07875750213861465,
0.019412320107221603,
0.0532684400677681,
0.020021840929985046,
-0.0588834211230278,
-0.005762743763625622,
-0.043774690479040146,
0.0199479591101408,
-0.013141642324626446,
0.020834535360336304,
0.05914200842380524,
0.08954417705535889,
-0.021628759801387787,
0.020095722749829292,
0.01735287718474865,
-0.017232820391654968,
0.024657893925905228,
-0.0046729943715035915,
0.007715981919318438,
-0.005240957252681255,
-0.040745556354522705,
-0.0445873849093914,
-0.020834535360336304,
-0.02288474328815937,
0.00940139964222908,
-0.03224920108914375,
-0.04938967153429985,
0.040745556354522705,
-0.011821012943983078,
0.03507516160607338,
-0.011026788502931595,
0.03823358938097954,
-0.03882464021444321,
-0.022219810634851456,
-0.06327936053276062,
-0.0062522077932953835,
0.014979439787566662,
-0.025507530197501183,
-0.016475537791848183,
-0.034373290836811066,
-0.0055595701560378075,
0.04163213074207306,
0.0004715707036666572,
-0.01893209107220173,
-0.047616519033908844,
0.020243484526872635,
0.014619268476963043,
0.00785450916737318,
-0.02687433548271656,
0.024233076721429825,
0.059954702854156494,
0.008514823392033577,
-0.002516582841053605,
-0.002608934650197625,
0.02430695854127407,
-0.022533806040883064,
-0.0033893061336129904,
0.018858209252357483,
-0.0005884532583877444,
0.01084208581596613,
0.014296038076281548,
-0.03398541361093521,
-0.038270529359579086,
0.008870377205312252,
-0.023678967729210854,
-0.020668303593993187,
-0.0010712792864069343,
-0.03646043688058853,
-0.016558654606342316,
0.05049788951873779,
0.017990104854106903,
0.035980209708213806,
0.008283944800496101,
0.049869898706674576,
0.0010447282111272216,
-0.0588834211230278,
0.01617077738046646,
0.013658811338245869,
0.002132168971002102,
-0.028758307918906212,
-0.002902151085436344,
0.06383347511291504,
-0.058587897568941116,
0.014573092572391033,
-0.03350518271327019,
0.06512639671564102,
0.06039799004793167,
0.007799098268151283,
0.011359254829585552,
-0.052160222083330154,
-0.020206544548273087,
0.055410999804735184,
-0.03300648555159569,
0.020871477201581,
0.0637226477265358,
0.04839227348566055,
-0.05016542598605156,
-0.020298896357417107,
0.01540425792336464,
-0.001025680685415864,
-0.014711620286107063,
0.06501556932926178,
0.015034851618111134,
0.04887250065803528,
0.0032161467242985964,
-0.020760655403137207,
0.022312162443995476,
0.01607842557132244,
-0.019098324701189995,
0.023605085909366608,
-0.02718833088874817,
-0.00535177905112505,
-0.0055595701560378075,
-0.07720599323511124,
-0.0049962252378463745,
0.005961299873888493,
0.004358998499810696,
-0.016429360955953598,
0.01513643842190504,
0.016096895560622215,
0.03444717079401016,
-0.015164143405854702,
-0.02999582141637802,
0.08326426148414612,
-0.034465640783309937,
-0.04540007933974266,
-0.03367141634225845,
0.02805643528699875,
0.059215888381004333,
-0.025248944759368896,
-0.0010383790358901024,
-0.008140799589455128,
0.06701036542654037,
-0.04429185763001442,
0.01025103498250246,
0.017731519415974617,
0.04421797767281532,
-0.015995308756828308,
0.005361014045774937,
-0.005670392420142889,
0.059733059257268906,
0.015053321607410908,
-0.05437666177749634,
0.05334232375025749,
-0.02805643528699875,
0.025415178388357162,
0.010832850821316242,
-0.12094374001026154,
-0.009844687767326832,
-0.028222668915987015,
0.04222318157553673,
-0.015782900154590607,
0.06298383325338364,
-0.035463038831949234,
0.012236596085131168,
-0.05167999118566513,
0.005143987946212292,
-0.004174295347183943,
0.05038706958293915,
-0.042260121554136276,
-0.06412899494171143,
0.0021921976003795862,
0.002865210408344865,
0.01093443762511015,
-0.060878217220306396,
0.002368820132687688,
-0.037439364939928055,
-0.04983295872807503,
-0.025969289243221283,
-0.021794993430376053,
-0.04839227348566055,
-0.06634543836116791,
0.009521456435322762,
-0.009392164647579193,
-0.03793806582689285,
0.0010603126138448715,
-0.008348590694367886,
-0.004308205097913742,
0.024325428530573845,
0.02192428521811962,
-0.011294608935713768,
-0.0121257733553648,
0.00935522373765707,
0.020095722749829292,
0.02691127546131611,
0.0389724038541317,
0.00841323658823967,
-0.10047861188650131,
0.02644951641559601,
-0.08060453087091446,
0.011978010646998882,
-0.025101182982325554,
0.03871381655335426,
-0.021813463419675827,
-0.012772235088050365,
-0.0637226477265358,
0.04924190789461136,
-0.00742969149723649,
0.023642025887966156,
0.035610802471637726,
0.022718509659171104,
0.03058687224984169,
-0.05145834758877754,
-0.03350518271327019,
0.034964341670274734,
-0.02068677358329296,
0.013575694523751736,
-0.03348671272397041,
0.0003036060952581465,
-0.028074907138943672,
0.0175652876496315,
0.026523398235440254,
-0.00774830486625433,
-0.033320482820272446,
0.01821174845099449,
0.044181037694215775,
-0.055004652589559555,
0.00369175779633224,
-0.08947029709815979,
0.04975907877087593,
0.01944926008582115,
0.009530692361295223,
-0.008953494019806385,
0.026172462850809097,
0.008385531604290009,
-0.01302158460021019,
-0.044144097715616226,
-0.025119652971625328,
0.019283028319478035,
-0.029293948784470558,
-0.04654524102807045,
0.0056195990182459354,
-0.0005898962845094502,
0.04085637629032135,
0.025803055614233017,
-0.011433136649429798,
0.010029390454292297,
-0.02663422003388405,
0.026080111041665077,
0.018571920692920685,
0.03247084468603134,
-0.08754938095808029,
-0.017020411789417267,
0.004518305417150259,
-0.01077743899077177,
-0.02100076898932457,
-0.004520614165812731,
0.03599867969751358,
0.019744785502552986,
-0.00907816831022501,
0.010223329067230225,
-0.05493077263236046,
-0.04916802793741226,
0.025064243003726006,
-0.01920914649963379,
0.08259932696819305,
0.022256750613451004,
-0.018008574843406677,
-0.07295781373977661,
-0.002066368469968438,
0.038307469338178635,
-0.04636053740978241,
-0.0054579833522439,
-0.0013760398142039776,
-0.017860813066363335,
0.020391248166561127,
0.010472678579390049,
0.008500970900058746,
-0.020169604569673538,
-0.036571260541677475,
-0.04510455206036568,
0.0032600138802081347,
0.0018135558348149061,
-0.01944926008582115,
0.03269248828291893,
-0.04676688462495804,
-0.0228293314576149,
-0.09272107481956482,
-0.033228129148483276,
0.05799684673547745,
-0.03058687224984169,
0.038492172956466675,
-0.0062383548356592655,
0.05493077263236046,
-0.03453952446579933,
0.002611243398860097,
0.043774690479040146,
0.035740096122026443,
-0.007942243479192257,
0.0010100963991135359,
0.05943753197789192,
-0.049685195088386536,
0.00853791180998087,
0.01719588041305542,
-0.010666617192327976,
-0.009604573249816895,
-0.0418168343603611,
-0.02814878709614277,
0.0001170990290120244,
0.013289405032992363,
0.03793806582689285,
-0.005148605443537235,
-0.08991358429193497,
0.06095210090279579,
0.0021044635213911533,
0.03919404745101929,
-0.061321504414081573,
0.013658811338245869,
0.013464872725307941,
0.015856780111789703,
0.009244401939213276,
0.05991775915026665,
0.03237849473953247,
-0.005656539462506771,
-0.03531527519226074,
-0.05991775915026665,
-0.004282808396965265,
-0.03095627762377262,
0.006810935214161873,
0.0026805070228874683,
-0.020557479932904243,
-0.01769457943737507,
-0.035241395235061646,
0.057886023074388504,
0.019227616488933563,
0.029700295999646187,
-0.031658150255680084,
-0.0012963864719495177,
-0.007351192645728588,
0.003636346897110343,
-0.007974565960466862,
0.008196210488677025,
0.048170629888772964,
0.0008496353402733803,
-0.0026712720282375813,
0.046065010130405426,
0.01750987581908703,
0.012753765098750591,
-0.0065615857020020485,
0.009696925058960915,
0.0056057460606098175,
0.004139663651585579,
0.021019238978624344,
0.041336607187986374,
-0.02366049587726593,
-0.020243484526872635,
-0.014342213980853558,
-0.024066844955086708,
0.05622369423508644,
-0.037808772176504135,
0.025230474770069122,
0.024473192170262337,
-0.044550444930791855,
0.01654941774904728,
-0.004204309545457363,
0.0065615857020020485,
0.05685168504714966,
-0.02595081739127636,
-0.004917726386338472,
-0.039452631026506424,
-0.03027287684381008,
0.013852749951183796,
0.01618001237511635,
-0.017048116773366928,
-0.04104107990860939,
0.012919997796416283,
0.036201853305101395,
0.015053321607410908,
0.017149703577160835,
0.02888760156929493,
0.007743687368929386,
-0.02842584252357483,
-0.020114192739129066,
-0.025027301162481308,
0.017085058614611626,
0.008616410195827484,
0.011534723453223705,
0.016678711399435997,
-0.02081606537103653,
-0.023494264110922813,
0.007739069405943155,
-0.012790706008672714,
0.015810605138540268,
-0.018627330660820007,
-0.0005269817193038762,
0.010463443584740162,
0.0456586629152298,
0.04384857043623924,
-0.0013818118022754788,
0.03668208047747612,
-0.006381500046700239,
0.02672657184302807,
0.06900516152381897,
-0.029774177819490433,
0.03187979385256767,
-0.03261860832571983,
-0.01549660973250866,
-0.03356059640645981,
0.019098324701189995,
-0.014120569452643394,
0.00658005615696311,
0.02861054614186287,
-0.011922599747776985,
-0.04122578352689743,
0.0012132700067013502,
0.02013266272842884,
-0.033542126417160034,
-0.006353794597089291,
-0.0076097771525382996,
0.01146084163337946,
-0.01002015545964241,
-0.03682984411716461,
0.024140724912285805,
0.011516252532601357,
-0.012984644621610641,
-0.032951075583696365,
0.046471357345581055,
0.017399054020643234,
-0.025803055614233017,
-0.02774243988096714,
0.01732517220079899,
0.030328286811709404,
-0.030106643214821815,
0.007679041009396315,
-0.02866595797240734,
0.031750503927469254,
-0.009165902622044086,
0.03062381222844124,
0.021148530766367912,
0.03232308477163315,
0.02774243988096714,
0.029146185144782066,
-0.001814710209146142,
0.004109648987650871,
-0.015561255626380444,
0.004806904122233391,
-0.01325246412307024,
0.02297709509730339,
-0.04517843574285507,
0.058070726692676544,
-0.013603400439023972,
0.016955764964222908,
-0.004610656760632992,
-0.008256238885223866,
-0.004726096522063017,
0.06560662388801575,
-0.014111334457993507,
0.03197214752435684,
-0.01334481593221426,
0.04488290846347809,
0.047764282673597336,
-0.02746538631618023,
-0.07406603544950485,
0.010361856780946255,
0.018239453434944153,
-0.027502326294779778,
0.015672078356146812,
-0.014028217643499374,
-0.023050975054502487,
-0.0010701249120756984,
0.01020485907793045,
-0.003684831550344825,
0.03293260559439659,
0.008477882482111454,
0.03860299661755562,
-0.027945613488554955,
0.026061639189720154,
0.01794392801821232,
0.051015060395002365,
-0.010897496715188026,
0.002675889525562525,
0.02609858103096485,
0.0027705500833690166,
0.07162795215845108,
0.021388646215200424,
0.013612635433673859,
0.04129966348409653,
0.029681826010346413,
0.0445873849093914,
-0.004675303120166063,
-0.022958623245358467,
-0.016337009146809578,
0.0023249532096087933,
0.0006043261964805424,
-0.042481765151023865,
-0.0029644884634763002,
0.04144742712378502,
0.029903469607234,
0.007776010315865278,
0.018359512090682983,
-0.0025996994227170944,
0.01110067032277584,
0.015912191942334175,
0.02480565756559372,
0.04218624159693718,
-0.025895407423377037,
0.014443800784647465,
-0.023420382291078568,
0.06335324048995972,
0.011848718859255314,
-0.02264462783932686,
0.009761570952832699,
-0.013381756842136383,
-0.009096639230847359,
-0.00648770434781909,
-0.033172719180583954,
-0.02718833088874817,
0.02127782441675663,
0.0034539522603154182,
-0.040745556354522705,
-0.006857111118733883,
0.0011936452938243747,
0.0189875029027462,
0.0005272703128866851,
-0.013945101760327816,
-0.02443625032901764,
-0.01957855373620987,
0.003421629313379526,
-0.027908673509955406,
-0.03368988633155823,
-0.04296199604868889,
-0.013243229128420353,
-0.008223915472626686,
0.009964744560420513,
-0.004079634789377451,
-0.02842584252357483,
0.025008831173181534,
-0.004666068125516176,
0.02402990311384201,
-0.011848718859255314,
-0.027446914464235306,
0.003945725038647652,
0.003761021653190255,
-0.015339612029492855,
-0.012199655175209045,
0.0043035876005887985,
0.023309560492634773,
-0.02811184711754322,
-0.018544213846325874,
0.05685168504714966,
0.039637334644794464,
0.041742954403162,
-0.0094937514513731,
-0.00007849891699152067,
-0.0021587202791124582,
0.03860299661755562,
0.03664514049887657,
0.054598305374383926,
-0.025987759232521057,
-0.020575951784849167,
0.02412225492298603,
0.027483856305480003,
-0.014637739397585392,
-0.001522648148238659,
-0.011913364753127098,
0.0366266705095768,
0.02100076898932457,
-0.020095722749829292,
-0.0056288340128958225,
0.025064243003726006,
-0.009179756045341492,
0.014379153959453106,
0.01806398667395115,
-0.043405283242464066,
-0.021056178957223892,
0.047431815415620804,
0.0023134092334657907,
0.02650492824614048,
-0.014526916667819023,
0.0017616080585867167,
0.025784585624933243,
0.008348590694367886,
-0.006206031888723373,
-0.005702715367078781,
0.024233076721429825,
0.04100413993000984,
-0.0032138379756361246,
0.04658218100667,
0.030254404991865158,
-0.06246666610240936,
0.020243484526872635,
0.02068677358329296,
0.004573716316372156,
-0.05057177320122719,
-0.024750245735049248,
-0.008981199935078621,
0.009327517822384834,
0.03062381222844124,
-0.010786674916744232,
0.05249268561601639,
0.04148436710238457,
-0.024325428530573845,
-0.0005079341353848577,
0.021573349833488464,
0.0027243741787970066,
0.013677281327545643,
0.048724740743637085,
-0.0022314470261335373,
-0.0636487677693367,
0.003329277504235506,
-0.0062383548356592655,
-0.007817568257451057,
0.010518854483962059,
0.00906431581825018,
0.06102598085999489,
0.010121742263436317,
0.02393755130469799,
0.02480565756559372,
0.015949131920933723,
-0.025285886600613594,
-0.023605085909366608,
-0.02063136175274849,
-0.06106292083859444,
0.012458239682018757,
-0.009687690064311028,
-0.005494924262166023,
-0.010989848524332047,
-0.010629676282405853,
-0.00009040362056111917,
0.07720599323511124,
-0.01809169165790081,
-0.01939385011792183,
0.031805913895368576,
-0.033449772745370865,
-0.05001766234636307,
0.03200908750295639,
-0.013991277664899826,
0.023623555898666382,
0.031750503927469254,
-0.008717996999621391,
-0.003938798326998949,
-0.03296954557299614,
-0.017371349036693573,
-0.021610289812088013,
0.019319968298077583,
0.05308373644948006,
0.014120569452643394,
-0.023900611326098442,
-0.011211492121219635,
0.033634476363658905,
-0.05943753197789192,
-0.0004897524486295879,
-0.007360427640378475,
-0.016835708171129227,
0.001980943139642477,
-0.025618351995944977,
-0.06512639671564102,
-0.022626157850027084,
0.0018551141256466508,
-0.04185377433896065,
-0.028758307918906212,
-0.028647486120462418,
-0.023605085909366608,
0.0682663545012474,
-0.0374763049185276,
0.03429940715432167,
0.04480902850627899,
-0.04728405177593231,
-0.019005972892045975,
-0.04905720427632332,
0.05906812474131584,
-0.03934181109070778,
0.026523398235440254,
0.041890714317560196,
0.003740242449566722,
-0.00624759029597044,
-0.0079468609765172,
-0.04159519076347351,
-0.047579579055309296,
0.021905815228819847,
-0.021536407992243767,
0.013197053223848343,
0.025932347401976585,
-0.007041814737021923,
0.0294417105615139,
-0.014092864468693733,
0.022533806040883064,
-0.01086979079991579,
-0.009332136251032352,
-0.03677443414926529,
-0.012716824188828468,
0.03609102964401245,
0.017186645418405533,
0.001058003748767078,
0.01602301374077797,
-0.0024265400134027004,
0.00930904783308506,
0.03402235358953476,
0.009419869631528854,
0.038861580193042755,
-0.022589217871427536,
0.015016380697488785,
-0.0332096591591835,
0.016004543751478195,
-0.05548487976193428,
-0.019800197333097458,
0.01119302213191986,
-0.043405283242464066,
0.028943011537194252,
0.027539266273379326,
0.05182775482535362,
0.007494337856769562,
-0.03393000364303589,
0.014693150296807289,
-0.014970204792916775,
0.04144742712378502,
-0.007226517889648676,
-0.0075774542056024075,
-0.05012848600745201,
0.03173203393816948,
-0.02026195637881756,
-0.0303652286529541,
-0.016318539157509804,
-0.027816321700811386,
-0.04329445958137512,
-0.004963901825249195,
0.028278080746531487,
0.01320628821849823,
-0.013354050926864147,
0.018267160281538963,
-0.014794737100601196,
-0.018691977486014366,
0.017149703577160835,
-0.006921757478266954,
0.017703814432024956,
0.0204097181558609,
-0.012430533766746521,
-0.009392164647579193,
0.007988419383764267,
0.04299893602728844,
0.020335836336016655,
0.033708356320858,
0.00797918438911438,
0.031935207545757294,
-0.03537068888545036,
-0.02035430632531643,
-0.002777476329356432,
0.0218319334089756,
-0.025304356589913368,
0.03540762886404991,
0.010666617192327976,
-0.013187818229198456,
-0.014480740763247013,
0.02678198367357254,
-0.01552431471645832,
-0.0003021630982402712,
0.013076995499432087,
0.004742258228361607,
0.031067101284861565,
-0.01325246412307024,
0.009327517822384834,
-0.010685088112950325,
0.007166489493101835,
-0.015062556602060795,
0.01855344884097576,
-0.03099321946501732,
-0.0019209146266803145,
-0.011248433031141758,
-0.0007509344723075628,
0.03590632602572441,
0.05544793978333473,
-0.02879524976015091,
-0.026948215439915657,
-0.029330888763070107,
-0.03226767107844353,
0.003407776355743408,
0.055780407041311264,
0.012513650581240654,
-0.024750245735049248,
0.03985897824168205,
-0.018294865265488625,
-0.018969032913446426,
0.01753758080303669,
-0.04259258881211281,
0.024657893925905228,
-0.01162707433104515,
0.018137866631150246,
-0.04048696905374527,
-0.000019011456970474683,
-0.0218688752502203,
0.035149045288562775,
-0.004686846863478422,
-0.0011336166644468904,
0.001982097513973713,
0.0347057543694973,
-0.011294608935713768,
-0.003052222542464733,
-0.05378561094403267,
0.0013437167508527637,
-0.008967346511781216,
0.002328416332602501,
0.01769457943737507,
-0.06830329447984695,
-0.066419318318367,
0.017214350402355194,
0.01122996211051941,
-0.01759299263358116,
-0.024362370371818542,
0.04255564883351326,
0.0012802249984815717,
0.04237094521522522,
-0.009442958049476147,
0.0004450195992831141,
-0.008939641527831554,
0.013751163147389889,
0.03782724216580391,
0.021167002618312836,
0.0006412668735720217,
0.013086231425404549,
-0.017214350402355194,
-0.011876423843204975,
0.043035876005887985,
-0.01499791070818901,
0.008593322709202766,
-0.01902444288134575,
0.0204097181558609,
0.0247133057564497,
-0.013049290515482426,
-0.035241395235061646,
-0.022589217871427536,
-0.009068933315575123,
-0.00014292863488662988,
-0.010232564993202686,
0.02934935875236988,
0.005240957252681255,
-0.007531278301030397,
-0.02811184711754322,
-0.015422727912664413,
0.04299893602728844,
0.026578810065984726,
-0.012476709671318531,
0.015062556602060795,
-0.008787261322140694,
-0.005771979223936796,
0.026338694617152214,
-0.01811939664185047,
0.0009350606123916805,
-0.033726830035448074,
0.023512734100222588,
-0.007457396946847439,
0.007157254032790661,
-0.042444825172424316,
0.002309946110472083,
0.018488803878426552,
-0.04218624159693718,
0.031842853873968124,
-0.044181037694215775,
-0.05260350927710533,
-0.00211485312320292
] |
Quantum computing has recently emerged as a transformative technology. Yet,
its promised advantages rely on efficiently translating quantum operations into
viable physical realizations. In this work, we use generative machine learning
models, specifically denoising diffusion models (DMs), to facilitate this
transformation. Leveraging text-conditioning, we steer the model to produce
desired quantum operations within gate-based quantum circuits. Notably, DMs
allow to sidestep during training the exponential overhead inherent in the
classical simulation of quantum dynamics -- a consistent bottleneck in
preceding ML techniques. We demonstrate the model's capabilities across two
tasks: entanglement generation and unitary compilation. The model excels at
generating new circuits and supports typical DM extensions such as masking and
editing to, for instance, align the circuit generation to the constraints of
the targeted quantum device. Given their flexibility and generalization
abilities, we envision DMs as pivotal in quantum circuit synthesis, enhancing
both practical applications but also insights into theoretical quantum
computation. | [
0.01987411640584469,
-0.017413843423128128,
-0.039015382528305054,
0.02626035548746586,
0.015328718349337578,
0.0346357487142086,
-0.020188193768262863,
0.024637620896100998,
-0.019507691264152527,
0.05070604011416435,
0.0046937111765146255,
-0.0018462948501110077,
0.01101887971162796,
-0.005160464905202389,
-0.029436025768518448,
0.05419578775763512,
-0.032541900873184204,
-0.014054960571229458,
0.01707359217107296,
-0.032000988721847534,
-0.02395712025463581,
-0.0016456343000754714,
-0.06644480675458908,
0.008484450168907642,
-0.0012497660936787724,
0.03918987140059471,
-0.0009607712854631245,
-0.01624477654695511,
-0.056708406656980515,
0.07160963118076324,
-0.022020310163497925,
0.025056391954421997,
-0.02674891985952854,
-0.0534280426800251,
0.009090794250369072,
-0.000761201314162463,
-0.005177913699299097,
-0.0020829434506595135,
-0.05042685940861702,
0.00790864136070013,
0.033082813024520874,
-0.02584158442914486,
-0.03168691322207451,
0.002599862404167652,
0.01873994804918766,
-0.026033520698547363,
-0.01367108803242445,
-0.01620115526020527,
-0.008667661808431149,
-0.010879289358854294,
0.0019106371328234673,
-0.03957374393939972,
0.029121948406100273,
-0.017422568053007126,
-0.07279614359140396,
0.030657436698675156,
-0.0033261661883443594,
0.02947092242538929,
0.08396334201097488,
-0.020903591066598892,
0.03240231052041054,
-0.026347598060965538,
-0.055033326148986816,
-0.01886208914220333,
0.0023097770754247904,
-0.03985292464494705,
0.013322113081812859,
-0.03678194433450699,
0.05046175792813301,
-0.0031516787130385637,
-0.07391286641359329,
-0.03357137739658356,
-0.0016794413095340133,
-0.0006156133604235947,
0.018356075510382652,
0.05276499316096306,
0.004445066675543785,
0.05143888667225838,
0.005186638329178095,
-0.007337195333093405,
0.011114847846329212,
0.008706921711564064,
0.0016892561689019203,
-0.04644854739308357,
0.08410292863845825,
-0.051403988152742386,
0.009867263026535511,
-0.06197792664170265,
0.039887819439172745,
-0.0342169813811779,
-0.01582600735127926,
0.02838910184800625,
0.006704678758978844,
-0.02788308821618557,
-0.011891316622495651,
0.011411475948989391,
-0.006032902281731367,
-0.006163767538964748,
0.004977253265678883,
0.0015082255704328418,
0.03409484028816223,
-0.006277184467762709,
0.052450913935899734,
0.016872931271791458,
0.005121205467730761,
-0.024306096136569977,
-0.0016630830941721797,
0.019647281616926193,
0.043307773768901825,
0.10427367687225342,
-0.023817531764507294,
-0.03484513610601425,
-0.0018484760075807571,
0.06874803453683853,
-0.009439768269658089,
-0.011367854662239552,
-0.08298621326684952,
-0.034164633601903915,
-0.009064620360732079,
-0.06438585370779037,
0.02713279239833355,
0.05112481117248535,
-0.028109921142458916,
-0.00688789039850235,
-0.008951203897595406,
0.08836042135953903,
-0.014185826294124126,
-0.020641859620809555,
0.04135351628065109,
0.04400572553277016,
-0.055870868265628815,
0.03252445161342621,
-0.010704802349209785,
-0.008702559396624565,
0.03730540722608566,
-0.03222782537341118,
0.03154732286930084,
-0.0013839032035320997,
-0.015293820761144161,
-0.028650831431150436,
0.017230631783604622,
-0.03786376863718033,
-0.020764000713825226,
-0.02851124294102192,
-0.028738075867295265,
-0.00964042916893959,
-0.025108737871050835,
0.08312579989433289,
-0.020851245149970055,
0.00914314016699791,
-0.07502958178520203,
0.032158028334379196,
-0.006128869950771332,
-0.0041266269981861115,
0.06647970527410507,
0.0480189323425293,
-0.012938241474330425,
-0.02709789387881756,
0.033327095210552216,
-0.07482019811868668,
0.04348226264119148,
-0.007803949061781168,
0.0075073204934597015,
0.045855291187763214,
0.003177851904183626,
0.022229695692658424,
0.045401621609926224,
0.017178285866975784,
-0.031128553673624992,
0.02434099279344082,
0.0015496662817895412,
0.05192745104432106,
-0.022700810804963112,
-0.03985292464494705,
-0.015337442979216576,
0.05569637939333916,
0.030692335218191147,
0.007725429721176624,
-0.030378257855772972,
-0.021601540967822075,
-0.06127997860312462,
0.00677447346970439,
0.059081435203552246,
0.086824931204319,
0.08333518356084824,
0.03576991707086563,
0.036747045814991,
-0.0035573618952184916,
0.015433411113917828,
0.022857850417494774,
0.031704362481832504,
0.010573936626315117,
0.00813983753323555,
-0.0016292762011289597,
0.06365300714969635,
-0.014587147161364555,
-0.03226272016763687,
-0.012798651121556759,
-0.003472299315035343,
0.0018266650149598718,
-0.04152800142765045,
-0.056045353412628174,
0.02746431715786457,
0.0016783507307991385,
-0.022264592349529266,
-0.0025300674606114626,
-0.019839217886328697,
-0.004977253265678883,
-0.02722003497183323,
-0.03517666086554527,
0.030605090782046318,
0.01811179332435131,
-0.02308468334376812,
-0.030570194125175476,
0.050322167575359344,
-0.022020310163497925,
-0.04487816244363785,
-0.05492863431572914,
-0.05838348716497421,
-0.04962421953678131,
-0.015965597704052925,
-0.025230878964066505,
0.03397269919514656,
-0.0509154237806797,
-0.021549195051193237,
-0.04700690880417824,
-0.025143634527921677,
0.0032956309150904417,
-0.030064180493354797,
0.03252445161342621,
-0.012379880994558334,
0.08193928748369217,
0.056917790323495865,
-0.008968652226030827,
0.023346414789557457,
-0.009588083252310753,
0.02266591414809227,
0.02851124294102192,
0.013182523660361767,
-0.0023708476219326258,
-0.04135351628065109,
-0.008379757404327393,
-0.008039507083594799,
-0.028406549245119095,
0.036258481442928314,
-0.018059447407722473,
0.003395961131900549,
0.015642795711755753,
0.0450875461101532,
0.010713526979088783,
-0.020851245149970055,
0.0050077885389328,
-0.026644226163625717,
-0.0160702895373106,
-0.05709227919578552,
-0.004460334312170744,
-0.006421136669814587,
-0.030622540041804314,
-0.06253628432750702,
-0.054998431354761124,
0.028458895161747932,
0.02817971631884575,
0.04452918469905853,
0.06756152212619781,
-0.02104318141937256,
0.006835544016212225,
0.03768927976489067,
-0.008589142933487892,
0.009858538396656513,
0.007882468402385712,
-0.04344736412167549,
-0.018635254353284836,
-0.04219105467200279,
0.010033025406301022,
0.03313515707850456,
-0.07209819555282593,
0.005352401174604893,
0.050112783908843994,
0.027952881529927254,
-0.03877110034227371,
0.011734277941286564,
0.0028790421783924103,
0.03240231052041054,
-0.010844392701983452,
-0.04655323922634125,
-0.03313515707850456,
-0.02955816686153412,
-0.013906646519899368,
-0.09261791408061981,
0.02530067414045334,
0.004610829520970583,
0.042225953191518784,
-0.03744499757885933,
0.008580418303608894,
0.05440517142415047,
-0.016689719632267952,
-0.014369037933647633,
-0.013165074400603771,
0.05447496846318245,
0.005592321511358023,
0.002407926134765148,
-0.028022676706314087,
0.01154234167188406,
0.012903343886137009,
-0.021357258781790733,
0.04302859306335449,
0.056115150451660156,
0.05255560576915741,
0.019176166504621506,
0.00574936019256711,
0.06798029690980911,
0.009274005889892578,
0.005792981944978237,
-0.026818715035915375,
-0.025736892595887184,
0.018251381814479828,
0.04878667742013931,
-0.0446687750518322,
-0.018809743225574493,
-0.009858538396656513,
0.03168691322207451,
0.003919423557817936,
-0.09652643650770187,
-0.00024237390607595444,
0.034251876175403595,
0.02182837389409542,
0.002913939766585827,
0.05042685940861702,
-0.023643042892217636,
0.04589018598198891,
0.00962298084050417,
-0.03894558921456337,
-0.061594054102897644,
0.0363282784819603,
0.001956440042704344,
-0.029819898307323456,
-0.02366049215197563,
0.05227642506361008,
-0.0015038633719086647,
-0.043272875249385834,
0.0033785123378038406,
-0.014517351984977722,
-0.03409484028816223,
0.01807689480483532,
0.01702997088432312,
-0.06288526207208633,
-0.0346357487142086,
0.03985292464494705,
-0.020135845988988876,
-0.02182837389409542,
0.0009460488799959421,
-0.0042225951328873634,
-0.025859033688902855,
-0.0183735229074955,
0.031111104413866997,
-0.058208998292684555,
0.017937304452061653,
0.013540222309529781,
-0.04072536155581474,
0.026155661791563034,
0.005605407990515232,
-0.02955816686153412,
0.006211751606315374,
-0.005138654261827469,
-0.0834747776389122,
-0.032611697912216187,
-0.0509154237806797,
-0.047774650156497955,
-0.03835233300924301,
-0.006700316444039345,
0.01586090587079525,
0.10755403339862823,
-0.0346531979739666,
0.03594440594315529,
0.017518535256385803,
-0.019542589783668518,
-0.02913939766585827,
-0.02467251941561699,
-0.016960175707936287,
0.039678435772657394,
-0.04986850172281265,
0.04278431087732315,
0.02215990051627159,
-0.027621356770396233,
-0.030570194125175476,
0.015415961854159832,
-0.0400623083114624,
-0.00539602292701602,
-0.08528944104909897,
0.050496656447649,
-0.013801953755319118,
-0.027952881529927254,
-0.04292390123009682,
-0.0015431230422109365,
0.015843456611037254,
0.003891069209203124,
-0.004929269198328257,
-0.04069046303629875,
0.04386613517999649,
-0.022735709324479103,
-0.016794413328170776,
0.0023904775734990835,
-0.025771789252758026,
0.03418208286166191,
0.013165074400603771,
-0.030186321586370468,
-0.05241601541638374,
-0.007568391039967537,
0.05751105025410652,
-0.048402804881334305,
-0.019088922068476677,
-0.050531551241874695,
0.006665418855845928,
-0.016454162076115608,
0.034129735082387924,
-0.022020310163497925,
-0.026661675423383713,
0.04484326392412186,
-0.025806687772274017,
-0.0450875461101532,
0.05297437682747841,
0.009980679489672184,
0.02212500385940075,
0.0009711314924061298,
-0.003077521687373519,
0.06229200214147568,
0.037968460470438004,
-0.013452978804707527,
0.013339562341570854,
-0.03681684285402298,
0.07059760391712189,
0.02542281523346901,
-0.02086869440972805,
-0.03664235398173332,
-0.04784444719552994,
0.012755028903484344,
-0.0009155136067420244,
0.005788619630038738,
-0.03723561391234398,
0.030570194125175476,
0.027394521981477737,
0.006652332376688719,
-0.024567827582359314,
-0.012850997038185596,
-0.03393780067563057,
-0.012728855945169926,
-0.08103194832801819,
-0.03570012375712395,
-0.03552563488483429,
-0.06079141050577164,
-0.045680802315473557,
-0.03365861997008324,
-0.05112481117248535,
-0.015913251787424088,
0.0538468137383461,
-0.04191187396645546,
-0.029488371685147285,
-0.005740635562688112,
0.04487816244363785,
-0.021636437624692917,
0.03995761647820473,
0.04951952397823334,
0.01500591728836298,
-0.03782887011766434,
0.02011839859187603,
-0.01695145107805729,
-0.037793971598148346,
-0.03365861997008324,
-0.015564276836812496,
0.016925279051065445,
0.0492403469979763,
-0.026853611692786217,
-0.04295879974961281,
0.012973139062523842,
-0.0023926584981381893,
0.03618868812918663,
-0.0075073204934597015,
-0.03706112504005432,
-0.006656694691628218,
-0.03043060377240181,
0.012187945656478405,
-0.011524893343448639,
-0.0043076579459011555,
-0.03385055810213089,
-0.002364304382354021,
0.006464758422225714,
0.10106310248374939,
0.0002857231302186847,
0.003125505754724145,
0.0017208820208907127,
-0.02851124294102192,
-0.04707670211791992,
0.03198354318737984,
-0.004281484521925449,
-0.0008320868364535272,
-0.03315260633826256,
0.01565152034163475,
0.015389788895845413,
0.05252071097493172,
0.021898169070482254,
-0.02449803240597248,
-0.029907140880823135,
0.00022206248831935227,
0.014133479446172714,
-0.03292577341198921,
0.014534801244735718,
0.030186321586370468,
-0.0031734895892441273,
-0.06236179918050766,
-0.01719573326408863,
0.01512805838137865,
0.05936061590909958,
0.0004882920766249299,
-0.008986101485788822,
0.014465006068348885,
-0.012938241474330425,
-0.026330148801207542,
-0.03289087489247322,
-0.022735709324479103,
0.030901718884706497,
0.052904579788446426,
-0.04962421953678131,
0.02737707458436489,
0.05618494376540184,
-0.04742567613720894,
0.03594440594315529,
0.06354831159114838,
-0.029209190979599953,
-0.019594935700297356,
-0.025056391954421997,
-0.06333892792463303,
0.05740635469555855,
-0.0012541281757876277,
-0.0730753242969513,
-0.03618868812918663,
0.02680126577615738,
-0.00924783293157816,
-0.02416650578379631,
-0.03639807179570198,
0.004785316996276379,
0.007742878515273333,
0.07586712390184402,
-0.026818715035915375,
0.016061564907431602,
0.059674691408872604,
-0.023852428421378136,
-0.006133232265710831,
-0.02099083550274372,
-0.012493298389017582,
-0.021967964246869087,
-0.03653766214847565,
-0.0057580843567848206,
0.0019815226551145315,
-0.017047420144081116,
-0.04637875407934189,
-0.03271638974547386,
0.014787808060646057,
-0.0408998467028141,
0.002722003497183323,
-0.032664041966199875,
0.013409357517957687,
0.02800522930920124,
-0.003819093108177185,
0.020345231518149376,
-0.0005114662344567478,
-0.04582039266824722,
0.032664041966199875,
0.043517157435417175,
-0.018338626250624657,
0.013679812662303448,
0.011097398586571217,
-0.013644915074110031,
-0.027726048603653908,
0.02416650578379631,
0.009082069620490074,
0.016000494360923767,
0.013304664753377438,
-0.018338626250624657,
0.03084937296807766,
0.006940236780792475,
-0.0016848939703777432,
-0.05642922595143318,
0.008859598077833652,
0.042889002710580826,
0.029610512778162956,
-0.021060630679130554,
-0.02366049215197563,
-0.01352277398109436,
-0.0018811923218891025,
0.005457093473523855,
-0.015834731981158257,
0.048228319734334946,
0.0009569543763063848,
0.022561222314834595,
-0.007337195333093405,
0.019350653514266014,
0.04766995832324028,
-0.0005024691927246749,
0.04306349158287048,
-0.03957374393939972,
-0.017841337248682976,
0.029209190979599953,
0.04944973066449165,
-0.004083005245774984,
-0.028476344421505928,
0.0010311114601790905,
0.01798965223133564,
0.0007737425621598959,
-0.0014482454862445593,
-0.009701499715447426,
-0.004035021178424358,
-0.00009010639041662216,
0.0492403469979763,
-0.019019126892089844,
-0.0031909383833408356,
0.023032337427139282,
-0.01748363859951496,
0.002543153939768672,
-0.023451106622815132,
-0.00878544058650732,
-0.002250887453556061,
-0.00677447346970439,
0.017884958535432816,
-0.01807689480483532,
-0.014159653335809708,
0.0277609471231699,
-0.017684299498796463,
-0.009082069620490074,
-0.015677694231271744,
0.004868198651820421,
-0.038177844136953354,
0.0063033574260771275,
-0.0730753242969513,
-0.02620800770819187,
0.03594440594315529,
0.0008086400921456516,
0.017919857054948807,
0.021182771772146225,
0.03451360762119293,
0.0329781211912632,
-0.041807182133197784,
0.02158409170806408,
-0.023049786686897278,
0.01770174689590931,
-0.007729792036116123,
0.045017749071121216,
0.014246896840631962,
0.03051784634590149,
0.044598981738090515,
0.04808872938156128,
0.05363743007183075,
-0.005173551384359598,
-0.0022966903634369373,
0.07195860892534256,
-0.018181588500738144,
-0.01463076937943697,
0.010172615759074688,
-0.0018768301233649254,
0.0252483282238245,
0.03831743448972702,
0.04979870468378067,
-0.005491991061717272,
0.007716705556958914,
0.00853679608553648,
0.015607898123562336,
-0.016297124326229095,
0.022561222314834595,
0.006805008742958307,
-0.021514296531677246,
0.03285598009824753,
0.03636317700147629,
-0.040760256350040436,
-0.00689661456272006,
0.025265775620937347,
0.030709782615303993,
-0.031233245506882668,
0.016881655901670456,
0.004322925582528114,
0.013993890024721622,
0.010277308523654938,
-0.006486569531261921,
-0.044145312160253525,
-0.04404062032699585,
0.013976440764963627,
-0.022683363407850266,
-0.007851933129131794,
-0.006905339192599058,
0.0046937111765146255,
-0.024986596778035164,
0.020066050812602043,
-0.009937058202922344,
-0.05489373952150345,
0.011507444083690643,
-0.007612013258039951,
-0.019350653514266014,
0.022386733442544937,
-0.060756515711545944,
-0.023346414789557457,
0.018984230235219002,
-0.05088052898645401,
-0.010547763668000698,
-0.028057575225830078,
0.005444006994366646,
-0.018774844706058502,
0.016288399696350098,
0.028057575225830078,
0.02826695889234543,
0.026120765134692192,
-0.03118089959025383,
0.015721315518021584,
0.02458527497947216,
0.02713279239833355,
0.012789926491677761,
0.021566642448306084,
0.015747487545013428,
-0.0015703866956755519,
0.010826943442225456,
0.0015278552891686559,
-0.021967964246869087,
0.02500404603779316,
0.0027830740436911583,
0.04686731845140457,
0.003276000963523984,
-0.0771932303905487,
0.026190560311079025,
0.03543839231133461,
0.04103943705558777,
-0.005177913699299097,
0.021776027977466583,
0.0007404809002764523,
-0.0035290077794343233,
-0.05653391778469086,
-0.001762322848662734,
0.0011756089515984058,
-0.011149745434522629,
-0.023014888167381287,
0.008959928527474403,
0.0680151879787445,
0.04271451756358147,
-0.019385550171136856,
0.016462886705994606,
-0.0038976124487817287,
-0.006316443905234337,
-0.01187386829406023,
-0.012964414432644844,
0.007987161166965961,
-0.008925030939280987,
0.02020564116537571,
0.011743002571165562,
0.031250692903995514,
0.039259664714336395,
-0.0007721067522652447,
0.03856171667575836,
-0.014194550924003124,
0.006757024675607681,
0.03207078576087952,
-0.003723124973475933,
-0.03535114973783493,
0.0400623083114624,
-0.002850688062608242,
0.02688850834965706,
0.024271197617053986,
-0.002658751793205738,
0.03177415579557419,
0.010320929810404778,
-0.008676386438310146,
-0.0317392572760582,
-0.0031974816229194403,
-0.004990339744836092,
-0.01978687196969986,
0.03538604453206062,
0.035211559385061264,
-0.005888950079679489,
-0.0013304664753377438,
-0.013322113081812859,
-0.026330148801207542,
0.022020310163497925,
-0.04794913902878761,
0.01598304696381092,
0.014020062983036041,
0.0072237784042954445,
0.04829811304807663,
-0.00017953118367586285,
0.027307279407978058,
-0.0227531585842371,
0.002287966199219227,
-0.019019126892089844,
-0.015084436163306236,
0.006342617329210043,
-0.009151864796876907,
-0.015887077897787094,
-0.013426805846393108,
0.022561222314834595,
-0.008196545764803886,
0.063443623483181,
0.033327095210552216,
0.0214968491345644,
0.043272875249385834,
-0.012214118614792824,
-0.04791424050927162,
0.02170623280107975,
-0.026155661791563034,
0.00713653489947319,
0.02062441222369671,
0.013365735299885273,
-0.058174099773168564,
-0.03163456544280052,
-0.04707670211791992,
0.03744499757885933,
0.029087049886584282,
0.02050226926803589,
0.025579852983355522,
0.002114569302648306,
-0.0003915061242878437,
0.04233064502477646,
-0.02332896552979946,
-0.06365300714969635,
0.017440015450119972,
0.0050950320437550545,
-0.02437589131295681,
-0.00601981533691287,
-0.0028877665754407644,
0.0285984855145216,
-0.01698634959757328,
-0.028197165578603745,
0.007581477984786034,
0.01807689480483532,
-0.02646973915398121,
-0.010652456432580948,
0.026277802884578705,
0.0033588826190680265,
-0.01306910626590252,
-0.05517291650176048,
0.008309963159263134,
0.006229200400412083,
0.03334454447031021,
0.010635007172822952,
0.044564083218574524,
-0.011455098167061806,
0.0004986522835679352,
-0.04899606481194496,
-0.0014133480144664645,
0.011472546495497227,
-0.042679619044065475,
-0.02146195061504841,
0.02050226926803589,
0.00021156597358640283,
-0.009439768269658089,
-0.036886636167764664,
-0.007921728305518627,
0.03576991707086563,
0.00565775390714407,
0.0408998467028141,
0.0053131417371332645,
-0.022194797173142433,
-0.01586090587079525,
-0.010460520163178444,
0.013810678385198116,
-0.02383497916162014,
-0.017710471525788307,
0.02563220076262951,
0.006198665127158165,
-0.03894558921456337,
0.0015114971902221441,
0.011821521446108818,
-0.033536478877067566,
0.025230878964066505,
-0.036956433206796646,
-0.008109302259981632,
-0.007721067871898413,
-0.025073839351534843,
0.04411041736602783,
-0.04997319355607033,
0.027778394520282745,
0.0024646345991641283,
0.022561222314834595,
0.0031713086646050215,
-0.007956625893712044,
-0.019856667146086693,
-0.018513113260269165,
-0.0030949702486395836,
0.02191561833024025,
0.014369037933647633,
0.005478904582560062,
0.041597798466682434,
-0.005055772606283426,
-0.01089673861861229,
0.015616622753441334,
0.026556983590126038,
-0.01915871724486351,
-0.029784999787807465,
0.007808311376720667,
-0.0068704416044056416,
0.02174113132059574,
0.05129929631948471,
-0.008567331358790398,
-0.033449236303567886,
-0.05021747574210167,
0.007860657759010792,
0.011141020804643631,
-0.0038692583329975605,
-0.042016565799713135,
-0.04156289994716644,
-0.022857850417494774,
0.029331332072615623,
-0.013304664753377438,
0.024149056524038315,
-0.050322167575359344,
0.03460085391998291,
-0.011254437267780304,
-0.0021756398491561413,
0.0004037747567053884,
0.02032778225839138,
0.012990587390959263,
0.019019126892089844,
0.020729104056954384,
-0.021549195051193237,
-0.008750542998313904,
0.05901164188981056,
-0.03442636504769325,
-0.007180156651884317,
-0.020397577434778214,
0.01590452715754509,
0.033710967749357224,
-0.016724618151783943,
-0.015843456611037254,
0.006390601396560669,
0.017919857054948807,
0.010451795533299446,
0.02036268077790737,
-0.036293379962444305,
0.016314571723341942,
0.026539534330368042,
0.0005616313428618014,
0.07031842321157455,
-0.0429936982691288,
0.008183459751307964,
0.003526826621964574,
-0.01404623594135046,
-0.023241722956299782,
-0.021601540967822075,
-0.011891316622495651,
0.012153048068284988,
-0.007337195333093405,
-0.0032149304170161486,
-0.020170744508504868,
0.0313030406832695,
0.011263161897659302,
-0.031076207756996155,
0.029732653871178627,
-0.04320308193564415,
0.03273383900523186,
-0.007686170283704996,
0.005531250964850187,
-0.008449552580714226,
-0.03974823281168938,
-0.0107484245672822,
-0.01467439066618681,
-0.0425749272108078,
0.01669844426214695,
0.017213182523846626,
0.0027198223397135735,
-0.042435336858034134,
-0.007058015558868647,
-0.0137757807970047,
-0.02224714495241642,
-0.04023679718375206,
-0.022072656080126762,
-0.023224273696541786,
-0.003834360744804144,
-0.039259664714336395,
-0.031861402094364166,
0.009474665857851505,
-0.003947777673602104,
0.02137470804154873,
0.0062553733587265015,
0.02620800770819187,
-0.007860657759010792,
-0.016968900337815285,
0.00039014292997308075,
0.02872062660753727,
-0.0517529658973217,
0.0010322020389139652,
0.020275436341762543,
0.02200286276638508,
0.0162796750664711,
0.007812673225998878,
-0.03618868812918663,
-0.01287717092782259,
-0.012440952472388744,
0.02947092242538929,
-0.036747045814991,
0.03932946175336838,
0.0014526076847687364,
0.012196669355034828,
0.0010387453949078918,
0.009989404119551182,
-0.036886636167764664,
-0.0015758393565192819,
0.010774597525596619,
-0.0008735275478102267,
-0.019385550171136856,
-0.019141267985105515,
0.05988407880067825,
0.05852307751774788,
0.03273383900523186,
0.02893001213669777,
0.0009187852265313268,
-0.028162267059087753,
0.04376143962144852,
-0.010966533794999123,
0.003125505754724145,
-0.0012890257639810443,
-0.0011276248842477798,
-0.028319306671619415,
0.017213182523846626,
-0.04749547317624092,
-0.016968900337815285,
0.00502087501809001,
-0.02182837389409542,
0.06201282516121864,
-0.04599488154053688,
0.023241722956299782,
-0.05321865901350975
] |
While molecular pre-training has shown great potential in enhancing drug
discovery, the lack of a solid physical interpretation in current methods
raises concerns about whether the learned representation truly captures the
underlying explanatory factors in observed data, ultimately resulting in
limited generalization and robustness. Although denoising methods offer a
physical interpretation, their accuracy is often compromised by ad-hoc noise
design, leading to inaccurate learned force fields. To address this limitation,
this paper proposes a new method for molecular pre-training, called sliced
denoising (SliDe), which is based on the classical mechanical intramolecular
potential theory. SliDe utilizes a novel noise strategy that perturbs bond
lengths, angles, and torsion angles to achieve better sampling over
conformations. Additionally, it introduces a random slicing approach that
circumvents the computationally expensive calculation of the Jacobian matrix,
which is otherwise essential for estimating the force field. By aligning with
physical principles, SliDe shows a 42\% improvement in the accuracy of
estimated force fields compared to current state-of-the-art denoising methods,
and thus outperforms traditional baselines on various molecular property
prediction tasks. | [
0.0017949572065845132,
-0.04363724961876869,
-0.021177977323532104,
-0.010405946522951126,
0.008648741990327835,
-0.010607292875647545,
0.014881327748298645,
0.024966949597001076,
-0.013050906360149384,
0.026431288570165634,
-0.00759624969214201,
0.020738676190376282,
0.03181272745132446,
-0.008525189012289047,
-0.005189245101064444,
0.008799752220511436,
-0.010259512811899185,
-0.024893732741475105,
-0.012602453120052814,
-0.07120340317487717,
0.00007117909262888134,
-0.014130854979157448,
-0.04455246031284332,
0.008410787209868431,
0.0527893602848053,
0.035180702805519104,
0.03131851181387901,
0.0025580141227692366,
-0.005761251784861088,
0.06626126170158386,
0.00612733606249094,
0.004541733767837286,
-0.007344566751271486,
0.0131332753226161,
-0.03928084671497345,
0.002491661347448826,
0.029433179646730423,
-0.015210803598165512,
-0.011614024639129639,
0.057328805327415466,
-0.05191075801849365,
-0.04257560521364212,
0.007637434173375368,
0.013993573375046253,
0.024820515885949135,
0.013636641204357147,
-0.043930117040872574,
0.03818259388208389,
0.03560170158743858,
0.005939717870205641,
-0.04704183340072632,
0.004662998951971531,
0.03664503991603851,
-0.012748886831104755,
-0.04835973680019379,
0.04056214168667793,
0.022569097578525543,
0.030201956629753113,
0.030568040907382965,
0.018587931990623474,
-0.01912790536880493,
-0.026211638003587723,
-0.027254978194832802,
-0.005056539550423622,
0.03216050565242767,
-0.02738310769200325,
0.041770219802856445,
-0.021306106820702553,
-0.0072896541096270084,
0.0015581463230773807,
-0.052972402423620224,
-0.02374056726694107,
0.029433179646730423,
-0.0009260789374820888,
-0.01509182620793581,
-0.004969594534486532,
0.023429395630955696,
0.0355650931596756,
-0.016720902174711227,
-0.028188493102788925,
0.0396469309926033,
0.02148914895951748,
-0.045760538429021835,
-0.022221317514777184,
0.09459618479013443,
-0.029945697635412216,
0.018578778952360153,
-0.035199008882045746,
0.013334621675312519,
0.011430982500314713,
-0.015402997843921185,
0.02163558267056942,
-0.02807866781949997,
-0.03957371413707733,
-0.012016717344522476,
0.006699343211948872,
-0.003008755389600992,
0.014606764540076256,
-0.040781792253255844,
0.005148060619831085,
0.005948869977146387,
0.030696170404553413,
0.013682401739060879,
0.058646708726882935,
-0.045760538429021835,
-0.07709735631942749,
-0.014359657652676105,
0.005898533388972282,
-0.0045280056074261665,
0.16049136221408844,
-0.03479631617665291,
-0.028975574299693108,
-0.015293172560632229,
0.039097804576158524,
-0.010213752277195454,
-0.01686733588576317,
-0.08222253620624542,
-0.024820515885949135,
0.030494824051856995,
-0.05385100468993187,
0.04151396080851555,
0.0431247316300869,
-0.02233114279806614,
-0.06391832232475281,
-0.04663914069533348,
0.029579613357782364,
0.0167300533503294,
-0.08009924739599228,
-0.01694970391690731,
0.04290508106350899,
-0.04641949012875557,
0.018642844632267952,
-0.011751306243240833,
0.020207853987812996,
0.0153663894161582,
0.03501596674323082,
0.035253919661045074,
0.010158839635550976,
-0.05425369739532471,
0.025680815801024437,
0.004191665444523096,
-0.024802211672067642,
-0.00647969264537096,
-0.05040981248021126,
0.05769488960504532,
0.014734894037246704,
-0.03884154558181763,
0.07438833266496658,
-0.04619983956217766,
0.019201122224330902,
-0.05828062444925308,
0.05630376935005188,
-0.0023212034720927477,
-0.017700176686048508,
0.01987837813794613,
0.048213303089141846,
0.03285606577992439,
-0.012373649515211582,
0.02696211077272892,
-0.07292399555444717,
0.021324411034584045,
-0.049750857055187225,
0.027254978194832802,
0.05842705816030502,
0.026028595864772797,
0.06197807565331459,
0.028609490022063255,
0.021946754306554794,
-0.009820211678743362,
0.052899185568094254,
0.03150155395269394,
0.007436087820678949,
-0.010259512811899185,
-0.03691960498690605,
-0.00553244911134243,
0.020555634051561356,
0.0015604343498125672,
0.008355874568223953,
0.023685654625296593,
0.020921718329191208,
-0.043088123202323914,
-0.0044296202249825,
0.004685879219323397,
0.01004901435226202,
0.03384449705481529,
0.03102564625442028,
0.014542699791491032,
-0.006122760009020567,
0.02513168938457966,
0.022788748145103455,
0.010726270265877247,
-0.018240151926875114,
-0.026028595864772797,
0.007692346815019846,
0.02795053832232952,
-0.0231731366366148,
-0.03578474372625351,
-0.0515446737408638,
-0.012693974189460278,
-0.009010250680148602,
-0.04916512221097946,
-0.009220749139785767,
0.0071706767193973064,
0.017205962911248207,
0.018404889851808548,
-0.033002499490976334,
0.021946754306554794,
0.015402997843921185,
0.05008033663034439,
-0.04649270698428154,
0.052972402423620224,
-0.029231833294034004,
-0.03942728042602539,
-0.05187414959073067,
0.006497996859252453,
-0.0015169618418440223,
-0.027913929894566536,
0.04004962369799614,
-0.040928225964307785,
-0.0037775326054543257,
-0.01681242324411869,
-0.0032810308039188385,
0.04770078510046005,
-0.051508065313100815,
0.03810937702655792,
-0.029085399582982063,
-0.0043495395220816135,
0.0485793873667717,
-0.0194573812186718,
0.03873172029852867,
-0.005596513859927654,
0.04235595464706421,
0.05842705816030502,
-0.03746873140335083,
-0.0011028290027752519,
-0.027071936056017876,
0.011028289794921875,
-0.03799955174326897,
-0.02436291053891182,
0.020976630970835686,
-0.003592202439904213,
0.02723667398095131,
0.004127600695937872,
-0.04693200811743736,
0.034979358315467834,
0.002711311914026737,
-0.012373649515211582,
0.03516240045428276,
0.04539445415139198,
0.03734060004353523,
-0.0019539750646799803,
0.0020432081073522568,
0.0006166232633404434,
0.014762350358068943,
-0.013197340071201324,
0.00794402975589037,
0.045614104717969894,
-0.07643840461969376,
-0.01918281801044941,
-0.07072748988866806,
0.015677560120821,
-0.03580304607748985,
0.01639142446219921,
0.056413594633340836,
0.00460351025685668,
-0.0002436748764012009,
-0.004102432169020176,
0.037853118032217026,
0.05440013110637665,
0.030348390340805054,
-0.038548678159713745,
-0.036736562848091125,
-0.02604690007865429,
0.045138195157051086,
-0.005569057539105415,
-0.03472309932112694,
0.01151335146278143,
-0.0036379629746079445,
0.0204458087682724,
-0.012227215804159641,
-0.03697451576590538,
-0.04550427943468094,
0.012593301013112068,
0.041770219802856445,
0.03982997313141823,
-0.027053631842136383,
0.007536760997027159,
-0.012062477879226208,
-0.05202058330178261,
-0.02150745317339897,
-0.021965058520436287,
0.012758038938045502,
-0.046602532267570496,
-0.04133091866970062,
-0.001976855332031846,
0.0066352784633636475,
-0.022312838584184647,
-0.01912790536880493,
-0.004841465037316084,
0.0035738982260227203,
-0.09532835334539413,
0.012941081076860428,
0.02829831838607788,
0.047151658684015274,
0.029323354363441467,
0.01610771007835865,
0.03748703375458717,
0.08273505419492722,
-0.06333258748054504,
-0.01659277081489563,
0.02346600405871868,
-0.024912036955356598,
0.016565315425395966,
-0.03713925555348396,
0.03653521463274956,
-0.012474322691559792,
0.05139824002981186,
-0.08485834300518036,
-0.012437714263796806,
-0.046309664845466614,
-0.008877544663846493,
0.0001554428308736533,
-0.0830279216170311,
-0.01813032664358616,
0.029854176566004753,
-0.028517968952655792,
-0.0058115883730351925,
0.0055141448974609375,
-0.04004962369799614,
0.020555634051561356,
-0.0093534542247653,
0.0017755089793354273,
-0.03289267420768738,
0.014551851898431778,
-0.026229942217469215,
-0.02101323939859867,
-0.060184262692928314,
0.020116332918405533,
-0.033020805567502975,
-0.04202647879719734,
-0.03464988246560097,
-0.034485142678022385,
0.0008236897410824895,
-0.023484308272600174,
0.008882121182978153,
-0.030275173485279083,
-0.01081779133528471,
-0.00024009983462747186,
0.0011897740187123418,
-0.024143259972333908,
0.0010153119219467044,
-0.011211331933736801,
0.007303382270038128,
0.03648030385375023,
0.02758445404469967,
-0.05169110745191574,
0.004546309821307659,
-0.0020054555498063564,
-0.010451707057654858,
0.0656755268573761,
0.007847932167351246,
-0.032947588711977005,
-0.005431775934994221,
-0.02884744480252266,
-0.050116945058107376,
0.03829241916537285,
-0.02141593210399151,
-0.060403913259506226,
0.025406252592802048,
0.003596778493374586,
0.03292928263545036,
0.033515021204948425,
-0.01459761243313551,
-0.017562896013259888,
-0.00016144890105351806,
0.009088043123483658,
0.02029937505722046,
0.027749191969633102,
-0.05681628733873367,
0.03263641521334648,
-0.026559418067336082,
0.036663345992565155,
-0.02912200801074505,
-0.018047956749796867,
-0.012401105836033821,
-0.0389147624373436,
0.017050378024578094,
0.007568793371319771,
0.010305273346602917,
-0.01457015611231327,
0.03895137086510658,
-0.04228273779153824,
0.04305151477456093,
-0.02723667398095131,
0.0389147624373436,
-0.06615143269300461,
0.012721430510282516,
-0.006136488169431686,
0.0483231283724308,
-0.0007664890144951642,
0.00024281686637550592,
0.010021558031439781,
-0.028188493102788925,
-0.032874371856451035,
0.022788748145103455,
0.006960178259760141,
0.006497996859252453,
-0.03239846229553223,
0.042685430496931076,
-0.045467671006917953,
0.007477272301912308,
-0.01032357756048441,
0.02148914895951748,
0.020281070843338966,
0.0399031899869442,
0.02141593210399151,
-0.061245907098054886,
0.019384164363145828,
0.015769081190228462,
0.05205719172954559,
0.029671134427189827,
0.013764770701527596,
-0.006044967100024223,
0.0031620534136891365,
-0.019786857068538666,
0.028664402663707733,
0.012163151055574417,
-0.03472309932112694,
0.05846366658806801,
-0.002539709908887744,
0.0020100316032767296,
0.025113385170698166,
0.010836095549166203,
-0.05861010029911995,
-0.06003782898187637,
-0.05117858946323395,
0.05308222770690918,
0.05099554732441902,
0.011229636147618294,
0.03638878092169762,
0.0019310947973281145,
-0.04272203892469406,
-0.019146209582686424,
-0.023282961919903755,
0.01596127636730671,
-0.034778010100126266,
-0.0257723368704319,
-0.051434848457574844,
-0.04122109338641167,
-0.012794647365808487,
-0.03038499876856804,
0.015567735768854618,
-0.05714576318860054,
-0.007070003543049097,
0.06091643124818802,
-0.017535438761115074,
-0.043307773768901825,
-0.012382801622152328,
0.051581282168626785,
-0.058500275015830994,
-0.004425044171512127,
-0.013197340071201324,
0.027675975114107132,
-0.022660618647933006,
0.00990258064121008,
0.017407309263944626,
0.014240680262446404,
-0.025827249512076378,
-0.008236897177994251,
0.037706684321165085,
0.04524802044034004,
-0.05615733563899994,
-0.004610374569892883,
-0.013151579536497593,
0.04971424862742424,
0.07215522229671478,
-0.009746994823217392,
-0.06604161113500595,
0.03415566682815552,
0.012337041087448597,
-0.03898797929286957,
-0.056120727211236954,
0.042538996785879135,
-0.025680815801024437,
-0.009783603250980377,
0.027675975114107132,
0.02639468014240265,
-0.05040981248021126,
0.07208200544118881,
0.01526571623980999,
0.000567430688533932,
-0.014808110892772675,
-0.008172832429409027,
0.007221013307571411,
0.031336817890405655,
-0.07065427303314209,
0.018047956749796867,
-0.023191440850496292,
0.05062946304678917,
0.06329597532749176,
0.024893732741475105,
-0.040232665836811066,
-0.0007693490479141474,
-0.009884276427328587,
-0.02654111385345459,
0.0067267995327711105,
0.048213303089141846,
-0.019091296941041946,
0.018038805574178696,
0.022459272295236588,
0.022166404873132706,
-0.027438020333647728,
-0.03572982922196388,
-0.03920762985944748,
-0.015714168548583984,
0.03884154558181763,
-0.015000305138528347,
-0.00595344603061676,
0.0008700222824700177,
0.014258984476327896,
0.010515771806240082,
0.016080252826213837,
0.00039897472015582025,
0.01673920638859272,
-0.040855009108781815,
0.01047001127153635,
0.01484471932053566,
-0.03067786619067192,
-0.011458438821136951,
0.00570633914321661,
-0.01694970391690731,
0.027328195050358772,
0.01439626608043909,
-0.02141593210399151,
-0.014817262999713421,
0.018999775871634483,
-0.006969330366700888,
0.018020501360297203,
-0.016217535361647606,
-0.005235005635768175,
0.016638532280921936,
0.060184262692928314,
-0.006131912115961313,
0.01834082417190075,
0.019567206501960754,
0.02108645625412464,
0.04726148396730423,
-0.025808945298194885,
-0.01218145526945591,
0.0120807820931077,
0.018176086246967316,
0.04129431024193764,
-0.012840407900512218,
0.007701498921960592,
0.02344769984483719,
-0.009518192149698734,
-0.04389350861310959,
0.013398686423897743,
-0.014130854979157448,
-0.027126848697662354,
-0.045687321573495865,
0.031611379235982895,
-0.012135694734752178,
0.0036974516697227955,
-0.005628546234220266,
-0.03276454657316208,
0.04462567716836929,
0.03384449705481529,
0.0027250400744378567,
0.027621062472462654,
-0.028627794235944748,
-0.010534076020121574,
-0.05370457097887993,
0.028810836374759674,
0.027712583541870117,
-0.002832577330991626,
0.04389350861310959,
-0.01338038221001625,
-0.007889117114245892,
0.022861965000629425,
-0.016418881714344025,
-0.04122109338641167,
-0.010405946522951126,
-0.011028289794921875,
-0.036718256771564484,
0.008831784129142761,
-0.016757510602474213,
-0.10836096107959747,
-0.029579613357782364,
-0.0024298846255987883,
-0.031263601034879684,
0.0659317821264267,
0.026925502344965935,
0.008374178782105446,
-0.02718176133930683,
0.0012675669277086854,
-0.00716152461245656,
0.02745632454752922,
0.04810347780585289,
-0.043307773768901825,
-0.0074955765157938,
0.034778010100126266,
0.013462751172482967,
0.01459761243313551,
-0.006717647425830364,
0.028170188888907433,
0.027913929894566536,
0.03214220330119133,
0.006850352976471186,
-0.016757510602474213,
0.028334926813840866,
0.013929508626461029,
-0.011293700896203518,
-0.06252720206975937,
0.005404319614171982,
-0.02542455680668354,
0.035272225737571716,
-0.014588460326194763,
0.017599504441022873,
0.00649342080578208,
0.04356403276324272,
0.00878602359443903,
0.07380259782075882,
-0.013810531236231327,
0.000057164925237884745,
0.027419716119766235,
-0.018780125305056572,
0.003322215285152197,
-0.0048597692511975765,
-0.023008398711681366,
-0.0527893602848053,
0.0070013627409935,
-0.08068498224020004,
-0.007221013307571411,
0.00970123428851366,
-0.04865260422229767,
0.000023166272512753494,
0.045540887862443924,
0.04111126810312271,
-0.005138908512890339,
-0.0077975960448384285,
0.03796294331550598,
0.03128190338611603,
-0.004523429553955793,
0.0019230867037549615,
0.016757510602474213,
-0.030494824051856995,
0.022587401792407036,
0.051508065313100815,
0.037011124193668365,
0.0284996647387743,
0.03799955174326897,
0.04480871930718422,
0.0408916175365448,
0.00358076230622828,
-0.0289938785135746,
0.007674042601138353,
0.011376069858670235,
-0.0015192498685792089,
0.05033659562468529,
0.024070043116807938,
0.037853118032217026,
-0.003962862771004438,
0.01330716535449028,
0.029359962791204453,
-0.0003652262967079878,
0.0003446340560913086,
0.020043116062879562,
-0.0024024283047765493,
0.037432122975587845,
-0.015256564132869244,
-0.020903414115309715,
-0.022001666948199272,
0.037926334887742996,
0.07585266977548599,
-0.0048872255720198154,
0.0149911530315876,
0.02760275825858116,
0.022916877642273903,
0.013471903279423714,
-0.04111126810312271,
-0.003473225049674511,
-0.02793223410844803,
0.011678089387714863,
-0.016903944313526154,
-0.00453258166089654,
-0.005450080148875713,
0.0019322388106957078,
-0.07109357416629791,
0.03986658155918121,
0.04129431024193764,
-0.008639589883387089,
-0.006424780003726482,
0.03499766066670418,
-0.007957757450640202,
0.0153663894161582,
-0.026431288570165634,
0.008799752220511436,
-0.011668937280774117,
0.03541865944862366,
-0.030970733612775803,
-0.000626919383648783,
0.006745103746652603,
0.004191665444523096,
0.03239846229553223,
-0.01575993001461029,
0.017324941232800484,
-0.022148100659251213,
0.012172303162515163,
-0.00545923225581646,
-0.002830289304256439,
0.05762167274951935,
0.0073811751790344715,
0.01742561347782612,
0.015100978314876556,
0.06362545490264893,
0.030055522918701172,
-0.012584148906171322,
-0.005353983025997877,
0.012025869451463223,
-0.02344769984483719,
-0.012236367911100388,
0.011183875612914562,
-0.05000711604952812,
0.015110130421817303,
-0.00123782258015126,
-0.0065757897682487965,
-0.0166659876704216,
0.006379019469022751,
-0.004102432169020176,
0.04433280974626541,
-0.03108055889606476,
-0.009060586802661419,
0.009444975294172764,
0.009261933155357838,
-0.029359962791204453,
-0.04305151477456093,
0.029817568138241768,
0.017837459221482277,
-0.005720067303627729,
0.01765441708266735,
-0.03552848473191261,
0.028810836374759674,
0.014533547684550285,
0.003390856087207794,
0.03982997313141823,
0.0209400225430727,
-0.016638532280921936,
-0.003532713744789362,
0.015201651491224766,
0.035546787083148956,
-0.0013362077297642827,
0.028627794235944748,
-0.013188187964260578,
-0.04133091866970062,
-0.009005674161016941,
0.03404584154486656,
-0.02926844172179699,
0.00577955599874258,
-0.07936707884073257,
0.021306106820702553,
0.0044364845380187035,
0.025662511587142944,
0.010616444982588291,
0.03825581073760986,
-0.04173361137509346,
-0.044991761445999146,
0.0024504768662154675,
-0.004896377678960562,
-0.026650939136743546,
0.029780959710478783,
0.0024230205453932285,
0.039537105709314346,
-0.05846366658806801,
-0.00358076230622828,
0.017489679157733917,
-0.0013144714757800102,
0.0021335852798074484,
-0.011302853003144264,
0.04923833906650543,
-0.029506396502256393,
0.03648030385375023,
0.0033794159535318613,
0.04004962369799614,
0.03814598545432091,
0.021946754306554794,
-0.030018914490938187,
-0.01281295157968998,
-0.03474140167236328,
-0.001412856625393033,
-0.0012218063930049539,
0.0047087594866752625,
-0.008772295899689198,
-0.011110658757388592,
0.04257560521364212,
0.011266244575381279,
-0.05645020306110382,
0.013691553846001625,
-0.010790335014462471,
-0.04052553325891495,
0.02654111385345459,
-0.03810937702655792,
-0.0011222772300243378,
0.024198172613978386,
-0.01841404102742672,
-0.03635217249393463,
0.021653886884450912,
-0.01250177901238203,
-0.03338688984513283,
-0.007857084274291992,
0.014121702872216702,
0.02304500713944435,
0.015082674100995064,
0.035253919661045074,
0.011870283633470535,
-0.009216172620654106,
-0.035199008882045746,
-0.003596778493374586,
-0.0252781230956316,
0.024838820099830627,
-0.027749191969633102,
0.017910676077008247,
-0.001611915067769587,
0.026303159072995186,
-0.008653318509459496,
-0.03417397290468216,
0.013892900198698044,
0.020335983484983444,
0.021617278456687927,
-0.013700705952942371,
0.002285738941282034,
0.003933118190616369,
-0.007568793371319771,
0.03254489600658417,
-0.0673961266875267,
0.039390671998262405,
-0.00038667654735036194,
0.031043950468301773,
-0.0021484573371708393,
0.029579613357782364,
-0.05443673953413963,
0.0005065119476057589,
-0.02807866781949997,
-0.01298684161156416,
-0.014313897117972374,
0.007847932167351246,
-0.000232234742725268,
-0.023264657706022263,
0.004127600695937872,
0.018102869391441345,
-0.01737985387444496,
-0.035400353372097015,
-0.028170188888907433,
0.02870101109147072,
-0.02654111385345459,
-0.002551150042563677,
0.03796294331550598,
-0.012684822082519531,
-0.0355650931596756,
-0.0182767603546381,
0.018798429518938065,
0.053338486701250076,
-0.017334092408418655,
-0.029707742854952812,
0.043307773768901825,
-0.02500355802476406,
-0.016702597960829735,
-0.06139234080910683,
-0.04363724961876869,
-0.057255588471889496,
0.010305273346602917,
0.007326262537389994,
-0.033075716346502304,
-0.014277288690209389,
0.004280898720026016,
0.017608655616641045,
-0.0502999871969223,
-0.02641298435628414,
-0.04795704409480095,
-0.014927088283002377,
-0.005143484566360712,
-0.03968353942036629,
0.038768328726291656,
0.01210823841392994,
0.06157538294792175,
-0.013023450039327145,
-0.006520877126604319,
-0.04601679742336273,
-0.03437531739473343,
-0.04927494749426842,
0.004141328856348991,
-0.02275213971734047,
-0.040013015270233154,
0.011257092468440533,
-0.005683458875864744,
0.002377260010689497,
0.01417661551386118,
-0.016126014292240143,
-0.03248998150229454,
-0.008566373027861118,
-0.004390724003314972,
-0.030696170404553413,
-0.04371046647429466,
-0.036443695425987244,
-0.01582399383187294,
-0.007468120194971561,
-0.012803799472749233,
-0.03265472128987312,
0.014863023534417152,
-0.01828591153025627,
-0.016263294965028763,
-0.033588238060474396,
-0.020061420276761055,
0.008236897177994251,
-0.006356139201670885,
0.03305741399526596,
0.04041570797562599,
0.019969899207353592,
0.031117167323827744,
0.010424250736832619,
-0.0386585034430027,
-0.0063103786669671535,
-0.036791473627090454,
0.010268664918839931,
-0.016226686537265778,
0.03774329274892807,
0.016190078109502792,
0.039317455142736435,
0.03128190338611603,
0.05568142607808113,
-0.010195448063313961,
0.022514184936881065,
0.024143259972333908,
-0.015082674100995064,
0.03935406357049942,
-0.031007342040538788,
-0.036590129137039185,
-0.005660578608512878,
0.0177825465798378,
-0.0012298144865781069,
-0.04297829791903496,
-0.001361376023851335,
0.015357237309217453,
0.003004179336130619,
0.03080599568784237,
-0.0505562461912632,
0.04081840068101883,
0.04458906874060631,
-0.02934165857732296,
0.021763712167739868,
-0.03851206973195076,
-0.01099168136715889,
-0.00690068956464529,
-0.02562590315937996,
-0.03615082800388336,
0.024106651544570923,
0.005646850448101759,
0.03587626293301582,
-0.03130020946264267,
0.012657365761697292,
0.005504992790520191,
0.0406353585422039,
-0.010753726586699486,
-0.012099086306989193,
-0.020262766629457474,
0.00970123428851366,
0.0343204066157341,
-0.027785800397396088,
-0.05586446821689606,
0.0014700572937726974,
-0.02787732146680355,
0.012227215804159641,
0.06091643124818802,
-0.006104455795139074,
0.060403913259506226,
-0.02765767090022564,
-0.005509568843990564,
-0.007934877648949623,
-0.01242856215685606,
0.003715755883604288,
0.025387948378920555,
0.013837987557053566,
-0.011742154136300087,
0.034832924604415894,
-0.022367751225829124,
0.008195712231099606,
0.028682706877589226,
-0.02128780260682106,
-0.045064978301525116,
0.03759685903787613,
0.006973906420171261,
-0.0031414611730724573,
0.058939576148986816,
-0.01707783341407776,
-0.050739288330078125,
-0.012410257942974567,
-0.010058166459202766,
-0.02309991978108883,
0.013444446958601475,
-0.004248866345733404,
-0.03464988246560097,
-0.044918544590473175,
0.028444752097129822,
0.03305741399526596,
0.05985478684306145,
0.021397627890110016,
0.05630376935005188,
-0.014295592904090881,
-0.0725945234298706,
-0.01659277081489563,
0.00750930467620492,
0.04367385804653168,
-0.008410787209868431,
0.013325469568371773,
-0.051581282168626785,
-0.014908784069120884,
-0.025314731523394585,
-0.051508065313100815,
-0.06036730483174324,
-0.01771848089993,
0.05652341991662979,
-0.05348492041230202,
0.010534076020121574,
-0.02247757650911808
] |
Reinforcement Learning (RL) plays an important role in the robotic
manipulation domain since it allows self-learning from trial-and-error
interactions with the environment. Still, sample efficiency and reward
specification seriously limit its potential. One possible solution involves
learning from expert guidance. However, obtaining a human expert is impractical
due to the high cost of supervising an RL agent, and developing an automatic
supervisor is a challenging endeavor. Large Language Models (LLMs) demonstrate
remarkable abilities to provide human-like feedback on user inputs in natural
language. Nevertheless, they are not designed to directly control low-level
robotic motions, as their pretraining is based on vast internet data rather
than specific robotics data. In this paper, we introduce the Lafite-RL
(Language agent feedback interactive Reinforcement Learning) framework, which
enables RL agents to learn robotic tasks efficiently by taking advantage of
LLMs' timely feedback. Our experiments conducted on RLBench tasks illustrate
that, with simple prompt design in natural language, the Lafite-RL agent
exhibits improved learning capabilities when guided by an LLM. It outperforms
the baseline in terms of both learning efficiency and success rate,
underscoring the efficacy of the rewards provided by an LLM. | [
-0.0034887560177594423,
-0.017597759142518044,
-0.042199429124593735,
-0.04058043286204338,
-0.005244132596999407,
-0.02090613916516304,
-0.0007325067417696118,
0.007826603949069977,
-0.09530946612358093,
0.018952786922454834,
0.026467030867934227,
-0.004698602017015219,
-0.011112985201179981,
-0.013708654791116714,
0.013506281189620495,
0.03021535463631153,
0.04290333762764931,
0.017316196113824844,
0.0023954950738698244,
-0.010303488932549953,
0.017166614532470703,
0.0075714364647865295,
-0.033787697553634644,
0.03885585442185402,
0.024584069848060608,
-0.007065500598400831,
0.025199992582201958,
0.0027474502567201853,
-0.045472610741853714,
0.05483461916446686,
0.03952457010746002,
0.0025648735463619232,
-0.018372060731053352,
-0.012380024418234825,
-0.03216870501637459,
-0.0009348809835501015,
0.07348824292421341,
0.056383222341537476,
-0.019480720162391663,
0.03369970992207527,
-0.01032988540828228,
0.013717453926801682,
-0.06863126158714294,
-0.09622455388307571,
-0.002371298149228096,
-0.05525696650147438,
-0.0001774899137672037,
0.042129036039114,
-0.031077643856406212,
-0.052863672375679016,
-0.001154853031039238,
-0.03567066043615341,
0.01582038588821888,
-0.021786026656627655,
-0.015486028976738453,
0.032203901559114456,
0.03148239105939865,
-0.011359354481101036,
0.05194858834147453,
0.014438962563872337,
-0.005930445156991482,
-0.005534495692700148,
-0.07926031202077866,
-0.036708928644657135,
0.012503208592534065,
-0.0751776322722435,
0.04251618683338165,
-0.000995923182927072,
0.03867987543344498,
-0.008552511222660542,
-0.04684523865580559,
0.0031653970945626497,
-0.05476422980427742,
-0.02405613847076893,
-0.025569545105099678,
0.027082953602075577,
0.024742450565099716,
0.020360607653856277,
0.018125692382454872,
-0.02037820592522621,
0.005899649113416672,
0.04248099401593208,
0.027329321950674057,
-0.004584216512739658,
0.059902776032686234,
-0.025569545105099678,
0.019234351813793182,
-0.04160110652446747,
0.025270383805036545,
-0.021328484639525414,
-0.01877680979669094,
0.051631826907396317,
-0.03102485090494156,
-0.00406948197633028,
-0.015406838618218899,
0.003499754471704364,
-0.018970385193824768,
-0.00860530510544777,
0.0006252704188227654,
0.017984909936785698,
-0.012520805932581425,
-0.011860890313982964,
-0.0177033469080925,
0.003251186106353998,
0.00547290313988924,
-0.02213798277080059,
-0.07123573124408722,
-0.042199429124593735,
-0.014456559903919697,
0.12522566318511963,
-0.0058556548319756985,
-0.03415725380182266,
-0.04153071343898773,
0.0665547251701355,
-0.040686022490262985,
0.02639663964509964,
-0.014359772205352783,
-0.07102455943822861,
0.07911952584981918,
0.0020457396749407053,
0.029705019667744637,
0.0347907729446888,
0.029177086427807808,
-0.03857428953051567,
-0.027698874473571777,
0.0519837848842144,
0.008948461152613163,
-0.005072554107755423,
0.02294747903943062,
0.0067839366383850574,
-0.03172876313328743,
-0.0052793282084167,
-0.013867034576833248,
0.029124293476343155,
0.025639936327934265,
0.05919886380434036,
-0.01633951999247074,
-0.0366385355591774,
-0.005582889541983604,
-0.02090613916516304,
-0.002509880578145385,
-0.038468703627586365,
-0.03160557523369789,
0.02204999327659607,
0.06908880919218063,
0.015802787616848946,
-0.0008265447686426342,
0.00541131105273962,
-0.02898351103067398,
0.0011493536876514554,
0.0001421569031663239,
0.020677367225289345,
0.009863544255495071,
0.020870942622423172,
0.031007252633571625,
-0.021258093416690826,
-0.03632177785038948,
0.01492290012538433,
0.005631283391267061,
-0.04677484557032585,
0.05775585025548935,
-0.02991619147360325,
-0.009177232161164284,
0.05828377977013588,
0.05529216304421425,
0.04360724985599518,
0.047936297953128815,
-0.01958630606532097,
-0.06521730124950409,
0.04631730541586876,
-0.05226534605026245,
-0.010849019512534142,
0.02266591414809227,
-0.013356699608266354,
0.045402221381664276,
0.01889999397099018,
0.04406479001045227,
0.0035591470077633858,
-0.020237423479557037,
0.003117003245279193,
-0.023915356025099754,
-0.002633064752444625,
-0.000256679835729301,
0.050716742873191833,
0.02213798277080059,
-0.0009629274136386812,
0.0556793138384819,
0.006471576169133186,
0.042129036039114,
0.004234461113810539,
-0.03296060487627983,
0.013215918093919754,
0.0013968221610412002,
0.004553420469164848,
0.00016924095689319074,
-0.0028332392685115337,
-0.0628591999411583,
0.0562424398958683,
0.010998600162565708,
0.03857428953051567,
-0.02528798207640648,
-0.013154326006770134,
-0.000865589827299118,
-0.025235187262296677,
0.026994964107871056,
-0.018020106479525566,
0.010092315264046192,
-0.0005147344782017171,
-0.0031653970945626497,
-0.07496646046638489,
0.008939662016928196,
-0.03815194219350815,
-0.056594397872686386,
-0.0021854217629879713,
-0.02423211559653282,
-0.011236169375479221,
-0.0037461230531334877,
-0.007474648766219616,
0.013787845149636269,
-0.04480389878153801,
-0.013708654791116714,
-0.004351045936346054,
0.006273601669818163,
-0.016568291932344437,
-0.015864381566643715,
0.0003783518332056701,
0.005521296989172697,
-0.020712563768029213,
0.014174995943903923,
0.016946643590927124,
0.015160470269620419,
0.003719726577401161,
0.024654461070895195,
-0.0013275310629978776,
0.0008254449348896742,
0.003693329868838191,
0.011438543908298016,
-0.043642446398735046,
0.015732398256659508,
0.02294747903943062,
0.006040431093424559,
-0.031746357679367065,
0.007083098404109478,
-0.007870597764849663,
0.061627354472875595,
-0.001808169879950583,
0.02692457288503647,
0.01342709083110094,
0.06623797118663788,
0.011834493838250637,
-0.04051004350185394,
-0.0518781952559948,
-0.025147199630737305,
0.05170221999287605,
-0.06951115280389786,
0.07735975086688995,
0.055644117295742035,
-0.040721215307712555,
0.03825753182172775,
-0.020976530387997627,
0.03148239105939865,
0.01963910087943077,
0.09256421774625778,
0.02124049700796604,
-0.0002759273920673877,
-0.0008727388922125101,
0.04065082594752312,
0.011077789589762688,
0.023510606959462166,
-0.03917261213064194,
-0.019498318433761597,
0.012019270099699497,
-0.017008235678076744,
0.02562233805656433,
-0.06310556828975677,
-0.05796702206134796,
0.01172010786831379,
-0.013039940036833286,
0.02328183688223362,
0.013163124211132526,
0.019251950085163116,
-0.015829185023903847,
0.006225207820534706,
0.02217317745089531,
0.016242733225226402,
-0.061592161655426025,
-0.01596996746957302,
-0.03127121925354004,
-0.0806681290268898,
0.05574970319867134,
-0.01555642019957304,
-0.01538924127817154,
-0.007184285670518875,
0.017597759142518044,
0.062366463243961334,
0.03033853881061077,
-0.042445797473192215,
0.029282672330737114,
-0.0031346010509878397,
0.02861395850777626,
0.005534495692700148,
-0.018460050225257874,
-0.0027276528999209404,
-0.02287708781659603,
-0.002776046749204397,
0.028965912759304047,
0.007945388555526733,
0.051385458558797836,
-0.013796644285321236,
0.009766756556928158,
0.009969131089746952,
0.016101950779557228,
-0.027346918359398842,
0.0015431036008521914,
-0.03077848255634308,
0.06648433953523636,
0.013004744425415993,
-0.03681451454758644,
-0.008028977550566196,
-0.029317868873476982,
0.012863962911069393,
0.05194858834147453,
-0.07056701928377151,
0.019040776416659355,
0.03614579886198044,
-0.0004572667821776122,
0.07933070510625839,
-0.03098965622484684,
-0.030320940539240837,
-0.0010415674187242985,
-0.08390612155199051,
-0.01889999397099018,
-0.03524831309914589,
-0.011376951821148396,
-0.03111284039914608,
-0.028684349730610847,
-0.07144690304994583,
0.015741195529699326,
-0.016233934089541435,
-0.0555737279355526,
-0.025675131008028984,
-0.04279775172472,
0.0348963588476181,
-0.022331558167934418,
0.033013395965099335,
-0.05550333485007286,
-0.00787939690053463,
0.028684349730610847,
0.00449402816593647,
-0.02491842769086361,
0.0009772256016731262,
0.00669154804199934,
0.0408971942961216,
0.006581562105566263,
0.023229043930768967,
-0.07362902909517288,
-0.0006582661881111562,
-0.021011725068092346,
-0.08827036619186401,
0.006863126531243324,
0.010048320516943932,
-0.0666603147983551,
-0.08327259868383408,
0.039418984204530716,
-0.048429034650325775,
-0.004606213886290789,
-0.05793182551860809,
-0.04153071343898773,
-0.003950696904212236,
0.006216408684849739,
-0.013699856586754322,
-0.0010542158270254731,
0.044205572456121445,
0.005662079434841871,
0.004852582234889269,
0.022982673719525337,
-0.01551242545247078,
-0.011077789589762688,
-0.023088261485099792,
0.041460324078798294,
-0.00829294417053461,
0.0027122548781335354,
-0.04733797535300255,
0.0037329248152673244,
-0.01276717521250248,
0.07982344180345535,
0.0013913229340687394,
-0.054165907204151154,
-0.006915919482707977,
0.030637700110673904,
0.033382952213287354,
-0.028807533904910088,
-0.029282672330737114,
0.004172869026660919,
-0.01324231456965208,
-0.010928208939731121,
0.03197513148188591,
-0.0103914774954319,
0.021451668813824654,
-0.030144963413476944,
-0.04659887030720711,
0.04455752670764923,
0.022859489545226097,
-0.012934353202581406,
-0.018917592242360115,
-0.018477648496627808,
-0.01432457659393549,
-0.0031104041263461113,
0.007347065024077892,
-0.009977930225431919,
-0.019955860450863838,
-0.05184300243854523,
-0.045402221381664276,
-0.043677639216184616,
0.03151758760213852,
-0.023668987676501274,
-0.0082621481269598,
-0.010673041455447674,
-0.006819131784141064,
-0.04188266769051552,
0.05258210748434067,
0.0020490391179919243,
0.03755361959338188,
0.026044685393571854,
-0.041249148547649384,
0.008838474750518799,
0.0031851944513618946,
0.014852509833872318,
-0.07088378071784973,
-0.07728936523199081,
0.06359830498695374,
0.030144963413476944,
0.0004366444190964103,
-0.051174286752939224,
0.014658934436738491,
-0.01889999397099018,
-0.014817314222455025,
0.07623349875211716,
-0.0019335538381710649,
-0.0025802715681493282,
-0.0026990564074367285,
-0.015002090483903885,
-0.007439453154802322,
-0.012679185718297958,
-0.001988546922802925,
-0.034456413239240646,
0.039454177021980286,
-0.018248876556754112,
0.027522897347807884,
-0.026748595759272575,
-0.03639216721057892,
0.01930474303662777,
-0.05895249545574188,
-0.009010053239762783,
0.015837984159588814,
-0.0020127438474446535,
0.031763955950737,
-0.01828407309949398,
-0.026343846693634987,
-0.08080891519784927,
0.01921675354242325,
0.031781554222106934,
-0.005283727310597897,
-0.022401949390769005,
0.0060888249427080154,
0.008772483095526695,
-0.028385186567902565,
0.014034213498234749,
0.012292034924030304,
0.06349271535873413,
-0.0256575345993042,
-0.05335640907287598,
0.002584670903161168,
-0.02340502105653286,
0.004091479349881411,
0.041917864233255386,
-0.0018730615265667439,
-0.07116533815860748,
-0.00325338589027524,
0.010092315264046192,
0.047161996364593506,
-0.032115910202264786,
0.02263071946799755,
-0.05592568218708038,
0.04399440065026283,
-0.009907539002597332,
0.0513150691986084,
-0.02959943190217018,
0.021856417879462242,
-0.0042938534170389175,
-0.0129695488139987,
-0.017694547772407532,
-0.049379315227270126,
0.010426673106849194,
-0.010312287136912346,
-0.02300027199089527,
0.007589033804833889,
-0.03688490390777588,
0.03737764060497284,
-0.007193084340542555,
0.030602505430579185,
-0.011676114052534103,
-0.02094133384525776,
0.021046921610832214,
-0.020466195419430733,
0.05902288854122162,
-0.03681451454758644,
-0.00005427121868706308,
-0.022577926516532898,
-0.0063923862762749195,
-0.008389731869101524,
0.007091897074133158,
-0.020800553262233734,
-0.030672896653413773,
-0.016735469922423363,
0.03290781006217003,
-0.0031390003859996796,
-0.0008908865856938064,
0.01426298450678587,
0.04751395061612129,
-0.009986728429794312,
0.04473350569605827,
0.021170105785131454,
0.004390641115605831,
-0.028455577790737152,
0.04226981848478317,
0.03098965622484684,
-0.027522897347807884,
0.055116184055805206,
0.01028589066118002,
-0.028631554916501045,
0.01844245195388794,
-0.045718979090452194,
-0.032855018973350525,
-0.028701946139335632,
0.011676114052534103,
0.05120948329567909,
0.021786026656627655,
-0.0020908338483422995,
-0.008218154311180115,
0.003468958428129554,
0.037236861884593964,
0.0015277055790647864,
0.02877233736217022,
-0.002723253332078457,
-0.05208937078714371,
0.03758881613612175,
-0.013796644285321236,
-0.024320105090737343,
0.04128434509038925,
-0.009564382955431938,
0.02254272997379303,
0.018301669508218765,
0.01921675354242325,
-0.0024746849667280912,
-0.0354594849050045,
-0.020466195419430733,
-0.042973730713129044,
-0.019111167639493942,
-0.03218630328774452,
0.011632119305431843,
0.03179915249347687,
0.002404293976724148,
-0.014606140553951263,
0.017280999571084976,
-0.05025920271873474,
0.06849048286676407,
0.021821223199367523,
0.009757958352565765,
-0.0021029324270784855,
-0.01828407309949398,
0.00316099775955081,
-0.0037153270095586777,
-0.03882065787911415,
-0.01207206305116415,
0.04314970597624779,
0.008737287484109402,
-0.003416165243834257,
-0.03660333901643753,
-0.0037923173513263464,
-0.028596360236406326,
-0.031992726027965546,
0.0018939588917419314,
0.013039940036833286,
0.021610049530863762,
0.02007904462516308,
-0.025112003087997437,
-0.023792171850800514,
0.03677931800484657,
-0.0204485971480608,
-0.036744121462106705,
0.04533182829618454,
0.0003197843034286052,
-0.01677066460251808,
-0.018389659002423286,
-0.012248041108250618,
0.017844129353761673,
-0.013691057451069355,
0.0408971942961216,
-0.06996869295835495,
-0.006357190664857626,
0.04487428814172745,
0.026994964107871056,
0.03604021295905113,
0.017773738130927086,
-0.007914592511951923,
0.016858654096722603,
-0.00033133281976915896,
0.020272620022296906,
-0.005138545762747526,
0.009256421588361263,
0.0014705128269270062,
0.03443881496787071,
-0.01748337410390377,
0.05451786145567894,
-0.04230501502752304,
0.015230861492455006,
-0.013022342696785927,
0.021821223199367523,
-0.009854746051132679,
-0.024619266390800476,
-0.01658588834106922,
0.020730162039399147,
-0.026308652013540268,
0.006555165629833937,
0.03790557384490967,
-0.004406039137393236,
-0.07559997588396072,
0.0014408165588974953,
0.031077643856406212,
-0.009599577635526657,
0.03281982243061066,
-0.025076808407902718,
-0.007435053586959839,
0.023950550705194473,
-0.012925554998219013,
-0.019040776416659355,
0.05251171439886093,
0.03413965553045273,
-0.017219407483935356,
-0.054940205067396164,
0.015741195529699326,
-0.0028002436738461256,
0.05078713595867157,
-0.014131001196801662,
-0.0105322590097785,
-0.0007154589402489364,
-0.0006797134992666543,
0.05772065371274948,
0.021258093416690826,
-0.031499989330768585,
0.0033017797395586967,
0.05251171439886093,
0.03927820175886154,
-0.006519970018416643,
0.01194887887686491,
0.03267903998494148,
0.0105322590097785,
0.01705222949385643,
0.022190775722265244,
0.05398992821574211,
0.011209772899746895,
-0.019727088510990143,
-0.032450269907712936,
0.04226981848478317,
-0.00528812687844038,
0.018864799290895462,
0.044205572456121445,
0.01819608360528946,
0.05729830637574196,
-0.01729859784245491,
-0.0384335070848465,
-0.020800553262233734,
0.004931772127747536,
0.018495244905352592,
0.0026836583856493235,
0.026079880073666573,
0.023545803502202034,
0.011940079741179943,
0.006093224510550499,
-0.0054333084262907505,
-0.02491842769086361,
-0.009916338138282299,
-0.018512843176722527,
-0.010717036202549934,
-0.01457094494253397,
0.01708742417395115,
-0.0075626373291015625,
-0.03614579886198044,
0.015010889619588852,
-0.03443881496787071,
0.00872848927974701,
0.0020435398910194635,
0.0065419673919677734,
0.017536167055368423,
0.04589495807886124,
-0.031464796513319016,
-0.019850272685289383,
0.04455752670764923,
-0.00011637893476290628,
-0.05124467611312866,
-0.0016816859133541584,
-0.01748337410390377,
-0.04406479001045227,
0.03632177785038948,
-0.01430697925388813,
0.00022024696227163076,
0.01413980033248663,
-0.015178067609667778,
0.03779998794198036,
0.015565218403935432,
0.02680138871073723,
0.0025428764056414366,
0.029089096933603287,
0.01426298450678587,
0.035635463893413544,
0.017069827765226364,
-0.02467205934226513,
-0.012661588378250599,
0.08263908326625824,
0.016541894525289536,
0.005428908858448267,
0.022454742342233658,
-0.04677484557032585,
-0.046950824558734894,
0.011940079741179943,
0.015521224588155746,
0.027311723679304123,
-0.007135891821235418,
-0.00803337711840868,
0.060641881078481674,
0.002432890236377716,
-0.06556925177574158,
0.019199155271053314,
0.006981911137700081,
-0.004062882624566555,
0.009520388208329678,
0.008235751651227474,
0.011042593978345394,
-0.06433741003274918,
0.024566473439335823,
0.002602268708869815,
0.03959495946764946,
-0.02750529907643795,
-0.015362844802439213,
0.028877925127744675,
-0.0020259420853108168,
0.027610884979367256,
0.006471576169133186,
0.008147763088345528,
0.05694635212421417,
0.005741269327700138,
0.056875959038734436,
-0.007914592511951923,
-0.019128765910863876,
0.019779881462454796,
0.017157815396785736,
-0.01184329204261303,
0.023387422785162926,
-0.00885167345404625,
0.019709492102265358,
0.06204970180988312,
0.0003844010643661022,
-0.017527369782328606,
0.04234021157026291,
-0.02791004814207554,
0.032520659267902374,
-0.009678767994046211,
0.005754467565566301,
-0.01479971595108509,
0.006964313331991434,
0.0038649081252515316,
0.056875959038734436,
-0.05476422980427742,
0.03325976803898811,
-0.012520805932581425,
-0.011526532471179962,
0.0009337811497971416,
-0.04438155144453049,
-0.0017421782249584794,
-0.06641394644975662,
0.04452233389019966,
0.009713963605463505,
0.030884068459272385,
-0.0021161306649446487,
0.00885167345404625,
-0.02201479859650135,
-0.021258093416690826,
0.01094580627977848,
-0.012151253409683704,
0.02115250751376152,
-0.009370807558298111,
-0.04188266769051552,
0.010734633542597294,
0.04230501502752304,
-0.023704182356595993,
0.03938378766179085,
0.0026638610288500786,
0.012670387513935566,
-0.03533630073070526,
0.03554747626185417,
0.0010459668701514602,
-0.03482596576213837,
0.08411729335784912,
0.00019192557374481112,
0.02729412540793419,
0.0019863471388816833,
-0.018864799290895462,
-0.004126674495637417,
0.02864915318787098,
0.003983692731708288,
0.048956967890262604,
0.024619266390800476,
0.018987983465194702,
0.024601668119430542,
-0.022472338750958443,
0.03296060487627983,
0.024988818913698196,
0.023545803502202034,
-0.04012289270758629,
0.0036713327281177044,
-0.005156143568456173,
-0.03494914993643761,
0.05648880824446678,
-0.06859606504440308,
-0.010118711739778519,
-0.033840492367744446,
0.03234468400478363,
0.037201665341854095,
-0.013787845149636269,
0.033717308193445206,
0.04015808925032616,
-0.01151773426681757,
-0.017720945179462433,
-0.029863398522138596,
0.024126529693603516,
0.02914188988506794,
0.002160124946385622,
-0.013083934783935547,
0.035441890358924866,
-0.05933964625000954,
-0.02701256237924099,
-0.006519970018416643,
0.007853000424802303,
-0.04607093706727028,
-0.010954605415463448,
-0.0051121492870152,
0.005450906231999397,
-0.018389659002423286,
0.052863672375679016,
-0.0017795735038816929,
0.0192695464938879,
0.01939273066818714,
-0.002281109569594264,
-0.03804635629057884,
0.006533168256282806,
-0.008763684891164303,
0.10305248200893402,
0.0007781509775668383,
-0.005213336553424597,
-0.03702568635344505,
-0.016603486612439156,
-0.03443881496787071,
0.01807289943099022,
0.010857817716896534,
-0.056805569678545,
0.0018939588917419314,
-0.020642172545194626,
0.004423636943101883,
-0.0008364435052499175,
0.0305321142077446,
0.019234351813793182,
-0.062120091170072556,
0.004839383997023106,
-0.005754467565566301,
0.04856981709599495,
0.008178559131920338,
-0.004975766874849796,
-0.014500554651021957,
-0.047408364713191986,
-0.019040776416659355,
0.03741283714771271,
0.0007814505370333791,
-0.048640210181474686,
-0.015626810491085052,
0.005516897886991501,
-0.023827366530895233,
-0.004575417377054691,
0.01856563612818718,
-0.019603904336690903,
0.0049581690691411495,
0.04283294826745987,
-0.05673517659306526,
-0.0032621847931295633,
0.02775166742503643,
0.04110836610198021,
-0.0256575345993042,
-0.0036537349224090576,
-0.00957318115979433,
0.04160110652446747,
0.01062024850398302,
-0.01677946373820305,
0.0006423182203434408,
-0.03681451454758644,
0.02189161255955696,
0.01003952231258154,
0.02155725657939911,
-0.03065529838204384,
0.06658992171287537,
-0.00007314069080166519,
-0.008776882663369179,
0.004071681760251522,
0.07021506130695343,
-0.05078713595867157,
-0.010664242319762707,
0.04241060093045235,
0.004659006837755442,
-0.0672234445810318,
0.009986728429794312,
-0.0016530895372852683,
0.03169356659054756,
-0.0073514641262590885,
-0.01355027500540018,
0.03554747626185417,
-0.04529663547873497,
0.014007817022502422,
0.007606631610542536,
0.029036303982138634,
0.013268711045384407,
-0.031711164861917496,
-0.025710327550768852,
-0.0015068082138895988,
-0.002734252018854022,
0.019656697288155556,
0.03021535463631153,
0.029194684699177742,
0.013990219682455063,
-0.02430250681936741,
-0.03512512892484665,
0.018055301159620285,
-0.02254272997379303,
-0.009898739866912365,
0.017712146043777466,
-0.03016255982220173,
0.0013726252363994718,
0.03179915249347687,
0.045930154621601105,
0.035723451524972916,
0.01881200633943081,
0.021258093416690826,
-0.012036867439746857,
0.03153518587350845,
0.024988818913698196,
-0.005648881196975708,
0.000661565805785358,
-0.03885585442185402,
-0.02124049700796604,
-0.01744817942380905,
-0.0105322590097785,
0.051139090210199356,
-0.011482538655400276,
0.028701946139335632,
-0.045683786273002625,
-0.015776392072439194,
-0.05708713456988335,
0.030690493062138557,
-0.04737316817045212,
-0.014298180118203163,
0.006770738400518894,
-0.018372060731053352,
0.01338309608399868,
0.008776882663369179,
-0.003526151180267334,
0.038468703627586365,
0.012512007728219032,
0.004148671869188547,
-0.04483909159898758,
0.0012879361165687442,
-0.045648589730262756,
0.012239241972565651,
0.03077848255634308,
-0.018178485333919525,
0.002261312212795019,
0.009027650579810143,
-0.019991055130958557,
-0.031834349036216736,
0.040193282067775726,
0.012028069235384464,
-0.012494409456849098,
0.03185194730758667,
-0.029423454776406288,
-0.011288963258266449,
-0.004531423095613718,
-0.015160470269620419,
-0.03519551828503609,
-0.030056973919272423,
0.0011592524824663997,
-0.04702121391892433,
0.029124293476343155,
-0.014333375729620457,
-0.004742596298456192,
-0.01178169995546341,
-0.022525133565068245,
0.014711727388203144,
-0.014254185371100903,
0.0211173128336668,
0.016937844455242157,
-0.011192175559699535,
-0.02488323301076889,
0.0685608759522438,
0.01988546922802925,
0.05476422980427742,
0.006295598577708006,
0.010321086272597313,
-0.02152206003665924,
-0.004914174322038889,
0.011588124558329582,
-0.03521311655640602,
-0.03130641579627991,
-0.03329496085643768,
0.020958932116627693,
-0.03709607943892479,
0.030760884284973145,
-0.03681451454758644
] |
Spoken language understanding systems using audio-only data are gaining
popularity, yet their ability to handle unseen intents remains limited. In this
study, we propose a generalized zero-shot audio-to-intent classification
framework with only a few sample text sentences per intent. To achieve this, we
first train a supervised audio-to-intent classifier by making use of a
self-supervised pre-trained model. We then leverage a neural audio synthesizer
to create audio embeddings for sample text utterances and perform generalized
zero-shot classification on unseen intents using cosine similarity. We also
propose a multimodal training strategy that incorporates lexical information
into the audio representation to improve zero-shot performance. Our multimodal
training approach improves the accuracy of zero-shot intent classification on
unseen intents of SLURP by 2.75% and 18.2% for the SLURP and internal
goal-oriented dialog datasets, respectively, compared to audio-only training. | [
-0.0027843602001667023,
-0.006120534148067236,
-0.024941980838775635,
-0.03759690746665001,
0.051760125905275345,
-0.023544052615761757,
0.017234982922673225,
0.04808136820793152,
-0.04841245710849762,
0.020821770653128624,
-0.02606400102376938,
0.03220752626657486,
0.00029157032258808613,
-0.025990426540374756,
-0.03669561445713043,
-0.025107525289058685,
-0.029080582782626152,
0.021208040416240692,
-0.02505234256386757,
0.008852011524140835,
-0.00153128313831985,
0.014595473185181618,
-0.0457269661128521,
-0.04569017514586449,
0.030294572934508324,
0.014494307339191437,
-0.000026081821488332935,
0.01305039506405592,
-0.02635830268263817,
0.015496768988668919,
-0.0018290325533598661,
-0.010824745520949364,
0.006488409824669361,
-0.01940544880926609,
0.011818010360002518,
0.015128892846405506,
0.0712207555770874,
0.04620520398020744,
-0.0037569317501038313,
0.013960887677967548,
-0.014402338303625584,
-0.05860261619091034,
-0.030000273138284683,
0.0024785632267594337,
-0.00004109862493351102,
0.002701587975025177,
0.011394953355193138,
0.01420920342206955,
-0.06721091270446777,
0.014724229462444782,
0.012093917466700077,
-0.054445620626211166,
0.06132489815354347,
-0.014135628007352352,
-0.004911142401397228,
0.08012335002422333,
0.04440261051058769,
-0.04296789690852165,
0.06106738746166229,
0.028988614678382874,
0.001332400250248611,
0.018513349816203117,
0.004430604167282581,
-0.016949879005551338,
-0.033734213560819626,
-0.07309692353010178,
0.08115340769290924,
0.017308557406067848,
0.04348292201757431,
-0.020527470856904984,
0.007748384494334459,
-0.011247803457081318,
-0.036897946149110794,
0.03404690697789192,
0.062318164855241776,
0.02045389637351036,
0.000358391524059698,
0.029558822512626648,
0.013335498049855232,
-0.020361926406621933,
0.043446134775877,
0.006594174075871706,
0.026192758232355118,
-0.003692553611472249,
0.054114531725645065,
-0.006079148035496473,
-0.053268417716026306,
-0.045064788311719894,
0.00686088390648365,
0.010475263930857182,
0.015956614166498184,
0.017887961119413376,
-0.04201141744852066,
0.004136303905397654,
-0.03892126306891441,
-0.05345235764980316,
-0.025070736184716225,
-0.0050628911703825,
-0.12684358656406403,
-0.033568669110536575,
0.03270415961742401,
-0.04940572381019592,
-0.013317104429006577,
-0.03005545400083065,
-0.009219887666404247,
0.03413887694478035,
-0.019387055188417435,
-0.030736025422811508,
-0.028381619602441788,
0.08174200356006622,
0.005844627041369677,
-0.044181887060403824,
0.015331224538385868,
-0.03518732264637947,
0.037357788532972336,
0.01643485203385353,
-0.038332659751176834,
-0.06732127815485,
-0.004202981013804674,
-0.02286348305642605,
0.004846763797104359,
0.0382222980260849,
0.03537125885486603,
-0.014006871730089188,
-0.011514512822031975,
0.04436582326889038,
0.028436800464987755,
0.0084105608984828,
0.0039822557009756565,
0.053010907024145126,
0.029871515929698944,
0.011542104184627533,
-0.04995753616094589,
-0.005633098538964987,
0.062281377613544464,
0.004058130085468292,
-0.06408397108316422,
-0.02117125317454338,
0.006883876398205757,
-0.0019233007915318012,
-0.019313480705022812,
0.025751307606697083,
-0.01022694818675518,
-0.007785172201693058,
-0.017979931086301804,
-0.024776436388492584,
-0.020858559757471085,
0.06253889203071594,
0.003977657295763493,
0.010015418753027916,
-0.027186023071408272,
0.04903784766793251,
0.004407612141221762,
0.05989018455147743,
0.0076380218379199505,
0.04355649650096893,
0.0323362834751606,
-0.0633850023150444,
0.014080447144806385,
0.055549249053001404,
0.08085910230875015,
-0.033899758011102676,
0.004471990279853344,
0.005003110971301794,
0.035886287689208984,
-0.002761367941275239,
0.03844302147626877,
0.0030740622896701097,
-0.03590467944741249,
0.04079742729663849,
-0.01187319215387106,
0.043004684150218964,
-0.0594487339258194,
-0.008387568406760693,
-0.00606075394898653,
0.022238092496991158,
0.029319703578948975,
0.019846901297569275,
-0.03737618401646614,
-0.012691715732216835,
-0.021116072311997414,
0.028013743460178375,
0.022955451160669327,
-0.01463226042687893,
0.0496632345020771,
0.045395877212285995,
0.04730882868170738,
-0.026468664407730103,
-0.0020405612885951996,
-0.02244042418897152,
0.000057947625464294106,
0.015368012711405754,
0.0014784008963033557,
-0.030699236318469048,
0.01504612062126398,
-0.01246179360896349,
-0.017041847109794617,
0.014108037576079369,
-0.028528770431876183,
0.022090943530201912,
-0.032943278551101685,
-0.05286375433206558,
0.03739457577466965,
0.015285240486264229,
-0.0418274812400341,
0.04171711951494217,
-0.008056480437517166,
0.053562719374895096,
0.0020704511553049088,
-0.05286375433206558,
-0.022753119468688965,
-0.02884146384894848,
-0.04237929359078407,
-0.028179287910461426,
0.018476562574505806,
-0.011652466841042042,
0.0004112736787647009,
0.01839379034936428,
0.02273472584784031,
0.001299061463214457,
-0.01504612062126398,
0.029522035270929337,
0.0336422435939312,
-0.004143201280385256,
-0.04576375335454941,
-0.032060377299785614,
0.006759718060493469,
0.017667235806584358,
0.05680002644658089,
-0.012765291146934032,
0.003692553611472249,
0.03231789171695709,
0.041864268481731415,
-0.051208313554525375,
0.04602126404643059,
-0.0023796968162059784,
0.028142500668764114,
-0.04524872452020645,
-0.010015418753027916,
-0.007178177125751972,
-0.01911114901304245,
0.0034488358069211245,
-0.04260002076625824,
-0.0031499366741627455,
-0.010631611570715904,
-0.009362439624965191,
0.041312456130981445,
0.008553112857043743,
0.004193784203380346,
-0.015864644199609756,
-0.030864780768752098,
0.021870218217372894,
-0.03149016946554184,
0.011735239066183567,
-0.022789906710386276,
0.05985339730978012,
0.03480105102062225,
-0.05370986834168434,
0.017198193818330765,
-0.00814844947308302,
0.02937488444149494,
0.001796843484044075,
0.04727204144001007,
0.035757530480623245,
-0.040723852813243866,
-0.010705186054110527,
0.06971246749162674,
-0.04109172895550728,
0.017722416669130325,
0.008819823153316975,
-0.02606400102376938,
-0.00444439984858036,
-0.04002488777041435,
0.024518923833966255,
0.006962049752473831,
-0.036474887281656265,
0.03152695670723915,
0.001165706547908485,
0.018890423700213432,
0.022697938606142998,
0.016149748116731644,
0.02433498576283455,
0.027204416692256927,
-0.055843550711870193,
-0.0017060241661965847,
-0.014816198498010635,
-0.04844924435019493,
0.01940544880926609,
-0.08806946873664856,
-0.018642107024788857,
-0.010548839345574379,
-0.023838352411985397,
-0.039215561002492905,
-0.002264735521748662,
0.02100570872426033,
0.032777734100818634,
0.016186535358428955,
0.03947307541966438,
0.028050530701875687,
-0.02104249596595764,
0.009831481613218784,
-0.010953502729535103,
0.018007520586252213,
0.007086208090186119,
-0.04046633839607239,
0.031710896641016006,
0.000523360853549093,
0.014751819893717766,
-0.04495442658662796,
-0.027222810313105583,
0.052937328815460205,
0.02032513916492462,
0.011716844514012337,
0.06066272407770157,
0.02828964963555336,
0.04024561494588852,
0.05448240786790848,
-0.0015128892846405506,
-0.006653953809291124,
-0.019552599638700485,
0.011109849438071251,
0.03645649179816246,
-0.11867673695087433,
0.02218291163444519,
0.007743786089122295,
0.06515080481767654,
0.005039898678660393,
0.051539402455091476,
0.03671400621533394,
0.00692526251077652,
0.015919826924800873,
-0.04723525419831276,
0.007509265094995499,
-0.017979931086301804,
-0.019184723496437073,
0.007334524299949408,
0.009592361748218536,
-0.006529795937240124,
0.03987773880362511,
-0.048522818833589554,
0.006189510691910982,
-0.04201141744852066,
-0.015349618159234524,
-0.032980065792798996,
-0.03296167403459549,
0.01305039506405592,
0.0006391842616721988,
0.007780573796480894,
-0.03818551078438759,
-0.009206091985106468,
0.0009536031284369528,
0.004561660345643759,
-0.010852336883544922,
-0.0179707333445549,
-0.0441083088517189,
-0.03638291731476784,
-0.060809873044490814,
0.00222219992429018,
-0.030073847621679306,
0.07534097135066986,
0.003984555136412382,
-0.023047419264912605,
-0.046793803572654724,
0.020729802548885345,
-0.06717412173748016,
-0.02012280747294426,
0.018402988091111183,
-0.006773513741791248,
-0.025788094848394394,
-0.016545215621590614,
-0.002490059472620487,
-0.001130068558268249,
-0.012047933414578438,
0.004545565694570541,
-0.02369120344519615,
0.01202034205198288,
0.0062446920201182365,
-0.006309070158749819,
0.0015404799487441778,
0.06095702201128006,
0.02391192875802517,
0.05827153101563454,
-0.009054343216121197,
0.008897996507585049,
0.009932647459208965,
0.07953475415706635,
0.011680057272315025,
-0.0056744846515357494,
-0.04134924337267876,
0.010199356824159622,
0.044512972235679626,
-0.02878628298640251,
-0.10697828978300095,
-0.00659877248108387,
0.08497931063175201,
0.052679818123579025,
0.027590686455368996,
-0.001970434794202447,
0.00638724397867918,
0.048265308141708374,
-0.04340934753417969,
0.016453245654702187,
-0.04502800107002258,
-0.023507265374064445,
0.017005059868097305,
-0.009086532518267632,
-0.020141201093792915,
-0.0048789530992507935,
-0.035886287689208984,
-0.013482648879289627,
0.00855771079659462,
-0.030883174389600754,
-0.027682654559612274,
0.020784983411431313,
0.02571452036499977,
-0.007592037320137024,
-0.057351838797330856,
-0.018908817321062088,
0.014135628007352352,
0.03279612958431244,
-0.033072035759687424,
0.001397928106598556,
0.03211556002497673,
0.03237307071685791,
0.003954665269702673,
-0.02845519408583641,
0.02799534983932972,
0.0035408048424869776,
-0.033531881868839264,
-0.03211556002497673,
0.027590686455368996,
-0.07074251770973206,
0.044181887060403824,
-0.07486272603273392,
-0.04046633839607239,
0.025107525289058685,
0.007233358453959227,
0.015524359419941902,
-0.020637832581996918,
-0.06066272407770157,
-0.07328086346387863,
-0.015791069716215134,
0.013326301239430904,
-0.01776840165257454,
-0.0343044213950634,
-0.06798344850540161,
0.0009444062015973032,
-0.02656063437461853,
0.005619303323328495,
-0.04907463490962982,
-0.07166220992803574,
0.032980065792798996,
-0.025162706151604652,
-0.022716332226991653,
0.03301685303449631,
-0.050031110644340515,
0.05415131896734238,
-0.005702075082808733,
0.0007903582300059497,
-0.04837566986680031,
0.030496904626488686,
0.027094054967164993,
0.0018405286828055978,
-0.006566583178937435,
-0.0010306270560249686,
-0.020527470856904984,
-0.06176634877920151,
-0.022422030568122864,
-0.009730315767228603,
0.0362541601061821,
-0.006635560188442469,
-0.028933433815836906,
0.012995213270187378,
-0.029411671683192253,
-0.020564258098602295,
-0.004690416622906923,
-0.02668939158320427,
-0.033439911901950836,
0.043630070984363556,
0.0016370473895221949,
-0.0115972850471735,
0.008810625411570072,
0.05017826333642006,
-0.0025153509341180325,
0.05919121950864792,
0.019497418776154518,
0.01570829749107361,
0.020895346999168396,
0.006699938327074051,
-0.052348729223012924,
0.0026418082416057587,
0.015524359419941902,
-0.013372286222875118,
0.0008018543012440205,
0.0158462505787611,
-0.035886287689208984,
-0.024850010871887207,
-0.025769701227545738,
0.05128188803792,
0.010953502729535103,
-0.04340934753417969,
-0.02731478027999401,
-0.008010496385395527,
0.0010697138495743275,
0.022495606914162636,
0.020729802548885345,
0.045101575553417206,
0.03257540240883827,
-0.01016256958246231,
0.04841245710849762,
0.019423842430114746,
-0.006184912286698818,
0.037100277841091156,
-0.0045800539664924145,
0.02610079012811184,
0.016701562330126762,
-0.003837404539808631,
-0.007426492869853973,
0.059080857783555984,
-0.04230571910738945,
-0.030165817588567734,
-0.037817634642124176,
-0.004352430813014507,
0.057351838797330856,
-0.04432903602719307,
0.06537153571844101,
0.045947689563035965,
-0.01197435799986124,
0.004901945125311613,
-0.0339733324944973,
-0.06526117026805878,
0.004837566986680031,
-0.04719846695661545,
-0.027884986251592636,
0.020637832581996918,
-0.003103952156379819,
0.029705971479415894,
0.03034975565969944,
0.014411535114049911,
-0.03520571440458298,
-0.009776299819350243,
0.04355649650096893,
0.00372474268078804,
-0.003131542820483446,
-0.026579027995467186,
-0.0094728022813797,
0.02133679762482643,
-0.08924667537212372,
-0.03351348638534546,
0.03419405594468117,
0.010153372772037983,
-0.03417566418647766,
0.0137217678129673,
0.02358083985745907,
-0.03917877376079559,
-0.04517515003681183,
-0.04955287277698517,
0.02891504019498825,
-0.04701453074812889,
0.02757229283452034,
0.03213395178318024,
-0.014540291391313076,
-0.006456220522522926,
0.0168211217969656,
0.06474614143371582,
-0.021410372108221054,
0.04385079815983772,
0.036732401698827744,
-0.014871380291879177,
0.02622954547405243,
-0.0441083088517189,
-0.013878115452826023,
0.0017864969559013844,
-0.04819173365831375,
-0.0018554736161604524,
0.008686468005180359,
0.03667721897363663,
-0.07556169480085373,
-0.04226893186569214,
0.022826693952083588,
0.015413996763527393,
0.019184723496437073,
0.03211556002497673,
0.028694313019514084,
-0.041901055723428726,
-0.018053505569696426,
-0.003306283848360181,
-0.03910519927740097,
-0.027038872241973877,
0.004980118945240974,
0.013271120376884937,
0.01865130476653576,
-0.02038032002747059,
-0.013445861637592316,
-0.033403124660253525,
-0.0313614122569561,
-0.008562309667468071,
0.008484136313199997,
0.057609353214502335,
-0.04348292201757431,
-0.02188861183822155,
-0.014742623083293438,
-0.010815548710525036,
0.031177476048469543,
-0.010907517746090889,
-0.021152859553694725,
0.021796641871333122,
-0.02946685254573822,
0.01564391888678074,
0.02727799117565155,
-0.010990289971232414,
-0.012930834665894508,
0.043446134775877,
-0.03785442188382149,
-0.004699613433331251,
-0.013372286222875118,
0.022422030568122864,
0.010217750445008278,
-0.00460534542798996,
0.033274367451667786,
-0.013381483033299446,
-0.013252726756036282,
0.0010892573045566678,
0.011505316011607647,
-0.013114772737026215,
0.00407422473654151,
0.006709135137498379,
-0.006143526174128056,
-0.014291975647211075,
-0.0016450947150588036,
-0.04432903602719307,
0.005012308247387409,
-0.044476184993982315,
-0.010364901274442673,
-0.0042374697513878345,
0.0013266521273180842,
0.03962022438645363,
-0.014236793853342533,
0.048522818833589554,
-0.009969434700906277,
-0.0026510050520300865,
0.013372286222875118,
0.003796018660068512,
0.03303524851799011,
-0.01496334932744503,
0.02433498576283455,
-0.018632911145687103,
0.007684006355702877,
0.008369174785912037,
0.045653387904167175,
0.02943006530404091,
-0.01298601645976305,
-0.0006863183225505054,
0.023507265374064445,
-0.011680057272315025,
0.01218588650226593,
0.036474887281656265,
-0.0005506640882231295,
0.027002085000276566,
0.009022154845297337,
0.06864562630653381,
-0.03814872354269028,
-0.0018761666724458337,
-0.01489897072315216,
0.053562719374895096,
-0.027461929246783257,
-0.014200006611645222,
0.011569694615900517,
-0.015230058692395687,
0.024555711075663567,
0.023599233478307724,
-0.019810112193226814,
0.018301822245121002,
-0.02104249596595764,
0.007752982899546623,
-0.007890935987234116,
0.06412075459957123,
-0.026836540549993515,
0.0038856882601976395,
-0.016637183725833893,
-0.05654251202940941,
-0.014429928734898567,
-0.011863995343446732,
-0.030846387147903442,
0.0014910466270521283,
-0.00438691908493638,
0.0259720329195261,
0.03619898110628128,
-0.030588874593377113,
-0.04635235294699669,
-0.024151047691702843,
-0.004763992037624121,
-0.014935757964849472,
-0.022127730771899223,
-0.007247153669595718,
0.004311044700443745,
-0.040172040462493896,
0.02038032002747059,
-0.0006564283976331353,
0.005642295349389315,
-0.025107525289058685,
0.009123320691287518,
-0.005812437739223242,
0.023967109620571136,
0.061140961945056915,
0.018338609486818314,
-0.004485785961151123,
0.0182926245033741,
-0.0022440424654632807,
-0.02672617882490158,
-0.014972546137869358,
0.009693527594208717,
0.028400013223290443,
-0.0005650342791341245,
-0.0020773487631231546,
0.01973653770983219,
0.044512972235679626,
-0.005242230370640755,
-0.00739890243858099,
0.017648842185735703,
-0.023967109620571136,
0.0241694413125515,
-0.0032534017227590084,
-0.04734561964869499,
-0.02593524567782879,
-0.0026096191722899675,
0.03257540240883827,
-0.02812410704791546,
0.012314642779529095,
0.009367038495838642,
0.020748196169734,
-0.04822852090001106,
0.017621250823140144,
-0.0009099178714677691,
0.009748709388077259,
-0.02871270850300789,
-0.03434120863676071,
0.036015041172504425,
-0.003189023584127426,
-0.03478265926241875,
0.0036143800243735313,
-0.014641457237303257,
0.05098759010434151,
-0.028344832360744476,
-0.00836457684636116,
0.00846114382147789,
0.01923990622162819,
0.008088669739663601,
-0.00460534542798996,
0.0072425552643835545,
0.06040520966053009,
-0.0460580512881279,
-0.016094567254185677,
-0.006676946301013231,
-0.022550787776708603,
0.013225135393440723,
0.011716844514012337,
-0.03814872354269028,
-0.026762966066598892,
-0.057903654873371124,
0.053525932133197784,
0.016379671171307564,
-0.01721658743917942,
-0.011891585774719715,
0.055291734635829926,
-0.005495144985616207,
-0.04348292201757431,
-0.0014542591525241733,
0.023562446236610413,
0.002867132192477584,
0.03792799636721611,
-0.008120859041810036,
0.04675701633095741,
0.004432903602719307,
0.0297243669629097,
0.012066327035427094,
0.01675674319267273,
0.005338797811418772,
-0.0020796479657292366,
-0.015827856957912445,
-0.04318862035870552,
0.020030837506055832,
0.02753550559282303,
0.01086153369396925,
-0.019515812397003174,
0.005794044118374586,
-0.007812762632966042,
-0.04348292201757431,
-0.019221510738134384,
-0.019350267946720123,
-0.01754767633974552,
-0.05014147236943245,
-0.00013773787941318005,
0.020784983411431313,
0.042747169733047485,
-0.0030349756125360727,
-0.0031568342819809914,
-0.008438151329755783,
-0.029945092275738716,
-0.06938137859106064,
0.010291325859725475,
0.005545727908611298,
0.043924372643232346,
0.05834510549902916,
-0.026799753308296204,
-0.005913603585213423,
-0.034580327570438385,
-0.00259352452121675,
-0.0002687217784114182,
0.009610755369067192,
0.018706485629081726,
-0.00909572932869196,
-0.011689254082739353,
0.019920475780963898,
0.015947416424751282,
-0.007481674663722515,
-0.003060267074033618,
0.04260002076625824,
-0.025236280634999275,
-0.02542021870613098,
-0.005430766846984625,
0.019681356847286224,
-0.025438612326979637,
-0.03653007000684738,
-0.021281616762280464,
0.019773324951529503,
0.024426953867077827,
0.01277448795735836,
0.031637322157621384,
0.0055549247190356255,
-0.004934134427458048,
0.025622550398111343,
-0.011753632687032223,
0.033108823001384735,
-0.06835132837295532,
0.027645867317914963,
0.03305364400148392,
0.016995862126350403,
-0.007601234130561352,
0.0473824068903923,
-0.03969380259513855,
0.03881089761853218,
0.027793018147349358,
-0.05610106140375137,
0.004173091147094965,
-0.008268008939921856,
-0.011302984319627285,
-0.034120481461286545,
-0.03485623374581337,
-0.00883821677416563,
0.03870053589344025,
-0.0043386355973780155,
0.036051828414201736,
0.014255188405513763,
-0.0115972850471735,
0.02926452085375786,
-0.011339772492647171,
0.06511402130126953,
0.013418270274996758,
-0.01865130476653576,
0.07732749730348587,
-0.01468744222074747,
-0.009665937162935734,
0.0002598123101051897,
-0.0010082096559926867,
0.007513863500207663,
0.02917255274951458,
-0.09035030007362366,
-0.040135253220796585,
-0.016361277550458908,
-0.013841327279806137,
0.02610079012811184,
-0.054445620626211166,
-0.004432903602719307,
-0.0029131167102605104,
0.020895346999168396,
-0.010125782340765,
-0.019810112193226814,
-0.026413483545184135,
-0.021410372108221054,
-0.0020095217041671276,
0.045101575553417206,
0.06658552587032318,
-0.03892126306891441,
0.055586036294698715,
-0.025585763156414032,
-0.008879602886736393,
-0.0028257460799068213,
0.029411671683192253,
-0.013390679843723774,
0.019055968150496483,
0.024132654070854187,
-0.02832643873989582,
-0.016867106780409813,
0.0620606504380703,
-0.001696827239356935,
-0.027057265862822533,
-0.048007793724536896,
0.020214775577187538,
-0.013896509073674679,
-0.012995213270187378,
-0.0026785957161337137,
-0.004258162807673216,
-0.030956750735640526,
-0.03910519927740097,
0.05190727859735489,
0.01979171857237816,
-0.0032580001279711723,
0.007762179709970951,
-0.03590467944741249,
-0.023893535137176514,
-0.020784983411431313,
0.008208229206502438,
-0.04142281785607338,
0.01058562658727169,
-0.06250210106372833,
-0.009114122949540615,
0.005131867714226246,
0.04587411507964134,
0.02773783728480339,
0.05628500133752823,
0.0408342145383358,
0.020748196169734,
0.037155456840991974,
-0.029319703578948975,
-0.028363225981593132,
-0.004515675827860832,
0.025181099772453308,
0.005692878272384405,
0.024426953867077827,
-0.016306094825267792,
0.008879602886736393,
0.029908303171396255,
0.03522410988807678,
0.03064405545592308,
-0.008451947011053562,
-0.020012443885207176,
-0.016020992770791054,
0.000513301754835993,
0.007463280577212572,
0.0050628911703825,
-0.011119046248495579,
0.002029065042734146,
0.00646081892773509,
0.006718331947922707,
-0.06551868468523026,
-0.01517487782984972,
0.020564258098602295,
-0.0037891208194196224,
0.008286402560770512,
-0.03439638763666153,
0.019055968150496483,
-0.0259720329195261,
-0.021244827657938004,
-0.029246127232909203,
0.004396115895360708,
-0.007651817053556442,
0.004042035434395075,
-0.014549488201737404,
0.017336148768663406,
-0.022918663918972015,
-0.0026556034572422504,
0.012480187229812145,
0.0061251325532794,
-0.011845601722598076,
0.08549433946609497,
-0.012746897526085377,
0.001832481473684311,
-0.006934459321200848,
0.041901055723428726,
-0.006465417332947254,
-0.03910519927740097,
0.007058617193251848,
0.013123969547450542,
0.0017922449624165893,
-0.07019070535898209,
-0.04171711951494217,
0.0073391227051615715,
-0.060552358627319336,
0.021447159349918365,
0.07011713087558746,
-0.039215561002492905,
0.021483948454260826,
0.018283428624272346,
-0.05514458566904068,
-0.03476426377892494,
0.033789392560720444,
-0.005164057016372681,
-0.10337310284376144,
0.016306094825267792,
-0.025015555322170258,
0.00826341100037098,
-0.008162245154380798,
-0.007288539782166481,
0.011799616739153862,
0.01591062918305397,
-0.0009363589342683554,
0.011983554810285568,
0.029319703578948975,
0.02639508992433548,
-0.04385079815983772,
-0.010935109108686447,
-0.015266846865415573,
0.029834728688001633,
0.006465417332947254,
0.025236280634999275,
0.05039898678660393,
-0.006856285501271486,
-0.062318164855241776,
0.045984476804733276,
0.0039247749373316765,
-0.03686115890741348,
-0.003225811058655381,
-0.028675919398665428,
0.030736025422811508,
0.002071600640192628,
-0.03991452604532242,
-0.04201141744852066,
0.0028740298002958298,
0.040135253220796585,
0.004805377684533596,
-0.0418274812400341,
0.013068788684904575,
0.014475913718342781
] |
Despite the breakthroughs in biomarker discovery facilitated by differential
gene analysis, challenges remain, particularly at the single-cell level.
Traditional methodologies heavily rely on user-supplied cell annotations,
focusing on individually expressed data, often neglecting the critical
interactions between biological conditions, such as healthy versus diseased
states. In response, here we introduce scBeacon, an innovative framework built
upon a deep contrastive siamese network. scBeacon pioneers an unsupervised
approach, adeptly identifying matched cell populations across varied
conditions, enabling a refined differential gene analysis. By utilizing a
VQ-VAE framework, a contrastive siamese network, and a greedy iterative
strategy, scBeacon effectively pinpoints differential genes that hold potential
as key biomarkers. Comprehensive evaluations on a diverse array of datasets
validate scBeacon's superiority over existing single-cell differential gene
analysis tools. Its precision and adaptability underscore its significant role
in enhancing diagnostic accuracy in biomarker discovery. With the emphasis on
the importance of biomarkers in diagnosis, scBeacon is positioned to be a
pivotal asset in the evolution of personalized medicine and targeted
treatments. | [
0.009992050938308239,
0.009820431470870972,
-0.02631494216620922,
-0.03687905892729759,
0.011679639108479023,
-0.01929762400686741,
0.04412519931793213,
0.021051954478025436,
-0.012957248836755753,
0.006373745854943991,
-0.019679000601172447,
-0.06262193620204926,
0.006283169146627188,
-0.0001787699875421822,
0.019259486347436905,
0.009658346883952618,
-0.017915137112140656,
0.0075846146792173386,
0.01660892367362976,
-0.04504050314426422,
-0.0497695654630661,
-0.06353724002838135,
-0.015846172347664833,
0.01844906248152256,
0.031330037862062454,
0.04656600579619408,
0.054040975868701935,
0.016294289380311966,
-0.08825039863586426,
0.001499284291639924,
0.031139349564909935,
-0.004578895401209593,
0.006879069376736879,
-0.020689647644758224,
-0.06887650489807129,
-0.022634664550423622,
-0.018124893307685852,
0.02314952202141285,
0.012537735514342785,
0.0018675505416467786,
0.011622432619333267,
-0.011174316518008709,
0.03134910389780998,
0.044277749955654144,
0.028450647369027138,
-0.03682184964418411,
-0.0586174875497818,
-0.030700765550136566,
0.0036063867155462503,
0.003956775646656752,
-0.007508339826017618,
-0.004016365855932236,
-0.01762910559773445,
-0.02103288471698761,
-0.004023516550660133,
0.036612093448638916,
0.010344823822379112,
0.043705686926841736,
0.05625295639038086,
0.012890508398413658,
-0.025361502543091774,
-0.005525184329599142,
-0.013653259724378586,
0.011317332275211811,
0.016894955188035965,
-0.06319399923086166,
0.0462990440428257,
0.0022989821154624224,
-0.01611313596367836,
0.014253927394747734,
-0.0734148770570755,
-0.005172411911189556,
-0.026543768122792244,
0.034819625318050385,
0.002416970208287239,
-0.007999361492693424,
0.006316539831459522,
0.07108848541975021,
-0.003735101083293557,
-0.049617014825344086,
0.11357376724481583,
0.04176066815853119,
-0.0051581100560724735,
0.05430794134736061,
0.0349721759557724,
-0.06491018831729889,
0.0021440479904413223,
-0.07417763024568558,
0.015016679652035236,
-0.00446686614304781,
-0.025609396398067474,
0.008342599496245384,
-0.01409184280782938,
-0.03689812496304512,
0.029270606115460396,
0.023225797340273857,
0.03884314373135567,
0.011994274333119392,
-0.04915936291217804,
-0.008509451523423195,
-0.026715386658906937,
0.007832509465515614,
0.020079445093870163,
0.019021127372980118,
-0.05190527066588402,
-0.029232468456029892,
0.010802474804222584,
0.04553629085421562,
-0.052172232419252396,
0.1646018773317337,
0.016189411282539368,
-0.026486562564969063,
-0.049731429666280746,
0.02724931389093399,
-0.011174316518008709,
0.002946129534393549,
-0.03737484663724899,
0.020956609398126602,
-0.015035748481750488,
-0.08458919078111649,
-0.011889396235346794,
0.029213400557637215,
0.005534718744456768,
-0.019621795043349266,
-0.025094538927078247,
0.05381214991211891,
0.025418709963560104,
-0.06319399923086166,
0.010945490561425686,
-0.006545365322381258,
0.03453359380364418,
0.0069124395959079266,
-0.05034162849187851,
0.01919274590909481,
0.021071022376418114,
0.018744628876447678,
0.0798601284623146,
0.01322421245276928,
-0.03485776484012604,
-0.010735733434557915,
0.005515649914741516,
-0.05171458423137665,
-0.03962496295571327,
0.027649758383631706,
0.004214204382151365,
-0.008981403894722462,
0.017829326912760735,
0.08519939333200455,
-0.005415538791567087,
-0.010783405974507332,
-0.03358015418052673,
-0.019240418449044228,
0.06216428428888321,
-0.030128702521324158,
0.029098987579345703,
0.01735260710120201,
0.0571301206946373,
-0.02271093986928463,
-0.004957887809723616,
0.01913554035127163,
0.08436036854982376,
-0.04095977917313576,
0.04656600579619408,
0.02917526289820671,
0.022749077528715134,
0.036859989166259766,
-0.02004130743443966,
0.0020355943124741316,
-0.048129647970199585,
0.04542187973856926,
0.02526615932583809,
0.007894482463598251,
-0.024484338238835335,
0.014949938282370567,
-0.029385019093751907,
0.056100405752658844,
0.06311772763729095,
-0.037870634347200394,
-0.029537569731473923,
0.015827102586627007,
-0.06891463696956635,
0.006459555588662624,
-0.010621321387588978,
0.01412044558674097,
0.05121879279613495,
-0.004400125239044428,
0.08748765289783478,
-0.023797860369086266,
-0.004640868864953518,
0.03796597942709923,
0.029404088854789734,
-0.011803586967289448,
0.09130141139030457,
-0.026524700224399567,
0.026867937296628952,
-0.02271093986928463,
-0.03239788860082626,
-0.02457968145608902,
0.020937541499733925,
-0.04709993302822113,
-0.04301920905709267,
0.029957083985209465,
0.017810259014368057,
0.022119807079434395,
-0.002733989153057337,
-0.002662481041625142,
-0.004650403279811144,
-0.01303352415561676,
-0.00656443415209651,
-0.020994747057557106,
-0.06204987317323685,
-0.03358015418052673,
-0.05667247250676155,
-0.04301920905709267,
0.01412044558674097,
-0.030376596376299858,
-0.022177012637257576,
-0.05369773879647255,
-0.012737957760691643,
0.04622276872396469,
0.009114885702729225,
0.0004430516273714602,
0.0773049145936966,
-0.027916721999645233,
-0.009300806559622288,
-0.0021941037848591805,
0.03920545056462288,
-0.003177338745445013,
0.03186396136879921,
0.04301920905709267,
-0.0238932054489851,
-0.01822977140545845,
0.01465437188744545,
-0.031768620014190674,
-0.04195135831832886,
-0.07993640750646591,
0.019240418449044228,
-0.0184776671230793,
0.014263461343944073,
-0.022386770695447922,
-0.012108687311410904,
0.021128229796886444,
-0.06239311024546623,
-0.002315667225047946,
0.03788970410823822,
0.009138721972703934,
-0.002180993789806962,
0.03390432521700859,
0.033198777586221695,
0.023626241832971573,
0.006173523608595133,
-0.015312246046960354,
0.01412044558674097,
0.007098360452800989,
-0.018191633746027946,
0.011479416862130165,
-0.02993801422417164,
-0.04412519931793213,
0.014587631449103355,
-0.03472428396344185,
0.06841885298490524,
0.009286505170166492,
-0.026906074956059456,
0.06273634731769562,
-0.010421098209917545,
-0.04957887902855873,
0.0610964335501194,
0.04786268621683121,
-0.02103288471698761,
0.03460986912250519,
0.024961058050394058,
-0.02867947332561016,
0.016504045575857162,
-0.018649285659193993,
0.010897818952798843,
-0.029785463586449623,
0.013643725775182247,
0.0003113577258773148,
-0.025590328499674797,
0.003117748536169529,
0.015722224488854408,
-0.03159699961543083,
0.004099791869521141,
0.0031201322562992573,
-0.06918160617351532,
0.00820911768823862,
0.04790082201361656,
-0.05095183104276657,
-0.005401237402111292,
-0.04301920905709267,
-0.022787215188145638,
-0.014263461343944073,
-0.04450657591223717,
0.028641335666179657,
-0.016875887289643288,
-0.0386524572968483,
-0.054346077144145966,
0.031024936586618423,
-0.04420147463679314,
-0.015073885209858418,
-0.03750832751393318,
-0.04145557060837746,
0.033808980137109756,
0.02837437205016613,
0.06613059341907501,
-0.0041641490533947945,
0.0023609555792063475,
0.07909737527370453,
-0.06429999321699142,
-0.04866357520222664,
0.022234220057725906,
0.0023895588237792253,
-0.0040854900144040585,
-0.05304940044879913,
0.027153970673680305,
0.03800411522388458,
0.0290608499199152,
-0.0329890213906765,
-0.010440167039632797,
0.004886379931122065,
0.028965504840016365,
0.013281418941915035,
-0.06693148612976074,
0.050799280405044556,
0.015331314876675606,
-0.023054178804159164,
-0.024961058050394058,
0.01869695819914341,
0.030757972970604897,
0.056405507028102875,
-0.0014158582780510187,
-0.04568884149193764,
-0.012652148492634296,
0.01172731164842844,
-0.009782293811440468,
-0.01795327477157116,
-0.04256156086921692,
0.030071496963500977,
-0.037165090441703796,
-0.026600975543260574,
-0.012575873173773289,
-0.01387255173176527,
-0.10716664791107178,
-0.0032011745497584343,
0.009200695902109146,
-0.009315107949078083,
-0.04866357520222664,
0.02570474147796631,
0.023416485637426376,
-0.00926743634045124,
0.0010136258788406849,
-0.030376596376299858,
-0.02402668632566929,
-0.019392969086766243,
0.0036969634238630533,
-0.021681224927306175,
-0.04038771614432335,
-0.07097406685352325,
0.02383599802851677,
0.05369773879647255,
0.03359922394156456,
-0.06273634731769562,
-0.07871600240468979,
0.04076909273862839,
0.002346654189750552,
-0.009124420583248138,
-0.021948188543319702,
0.02812647819519043,
0.005191480740904808,
0.02139519341289997,
-0.038366422057151794,
0.0527442991733551,
-0.014168118126690388,
0.014492287300527096,
-0.03382804989814758,
-0.015931980684399605,
-0.01455902773886919,
-0.004118860699236393,
0.0012895275140181184,
0.05102810636162758,
-0.06899091601371765,
0.0060352748259902,
-0.013186074793338776,
-0.0027411398477852345,
0.03310343623161316,
-0.004059270489960909,
0.0026791661512106657,
0.05369773879647255,
0.016322892159223557,
0.05034162849187851,
-0.06750354915857315,
-0.04008261486887932,
0.007656123023480177,
-0.0705164223909378,
0.04549815505743027,
0.02543777786195278,
0.008518986403942108,
0.012823767028748989,
0.0522485077381134,
0.012795164249837399,
0.028050202876329422,
0.021261710673570633,
-0.03035752847790718,
0.0008616713457740843,
0.004080723039805889,
0.01107897236943245,
0.018487200140953064,
0.0045765116810798645,
0.03970123827457428,
-0.012728423811495304,
0.02334021031856537,
-0.04648973047733307,
-0.00808517076075077,
0.027478139847517014,
0.012184962630271912,
0.010201807133853436,
-0.016504045575857162,
0.02053709700703621,
0.007784837391227484,
-0.01175591442734003,
-0.01658032089471817,
-0.026791661977767944,
0.06067691743373871,
0.008242488838732243,
0.0034085477236658335,
-0.0007222307613119483,
0.016179876402020454,
-0.02276814542710781,
0.037679947912693024,
-0.012623544782400131,
0.004197519272565842,
0.034876834601163864,
-0.004628951195627451,
-0.02824089117348194,
0.0074320645071566105,
-0.01219449657946825,
0.006435719784349203,
-0.044773541390895844,
0.014578096568584442,
0.008514218963682652,
-0.033198777586221695,
0.011393607594072819,
0.009543933905661106,
-0.011603363789618015,
-0.0448116771876812,
-0.018839973956346512,
-0.012995386496186256,
-0.011221988126635551,
-0.07947875559329987,
-0.02370251715183258,
-0.05785473808646202,
0.06304144859313965,
-0.06971552968025208,
0.0031082143541425467,
-0.022196082398295403,
-0.009972982108592987,
-0.048129647970199585,
0.012585407122969627,
-0.0006656202604062855,
-0.04065467789769173,
-0.004650403279811144,
0.016837749630212784,
0.02345462329685688,
-0.06266007572412491,
0.0027411398477852345,
0.0705164223909378,
-0.03583027422428131,
-0.05850307643413544,
-0.002600507577881217,
0.009644045494496822,
0.009272203780710697,
-0.028450647369027138,
-0.033503878861665726,
0.03321784734725952,
-0.04572698101401329,
-0.00818051490932703,
0.0011745188385248184,
-0.05037976801395416,
0.04988397657871246,
0.040845368057489395,
0.004421577788889408,
-0.0030986799392849207,
-0.028031134977936745,
0.0126902861520648,
0.006683614104986191,
-0.019316693767905235,
-0.020193858072161674,
0.01779118925333023,
-0.005305893253535032,
-0.022672802209854126,
0.008185282349586487,
-0.0204608216881752,
-0.0334848128259182,
-0.03522007167339325,
0.017695846036076546,
-0.006326074246317148,
-0.01776258647441864,
-0.020384546369314194,
0.06285075843334198,
-0.00791831873357296,
0.007546477019786835,
-0.06040995568037033,
0.02911805547773838,
0.007322418969124556,
0.0034514525905251503,
0.012747491709887981,
-0.017495622858405113,
0.05896072834730148,
-0.0035396458115428686,
0.0002325499663129449,
0.0027173038106411695,
-0.04305734857916832,
-0.007608450949192047,
-0.029880808666348457,
-0.029976151883602142,
0.022634664550423622,
-0.009286505170166492,
-0.01770537905395031,
-0.008151911199092865,
-0.004106942564249039,
0.019068799912929535,
-0.005096136592328548,
-0.01916414313018322,
0.09603047370910645,
0.0034347674809396267,
-0.014320667833089828,
0.02023199573159218,
0.005358332302421331,
0.04313362389802933,
0.009176859632134438,
0.014949938282370567,
0.025647534057497978,
-0.013386297039687634,
-0.007622752338647842,
-0.01011599786579609,
-0.03781342878937721,
0.020804060623049736,
0.06624500453472137,
-0.0337708443403244,
-0.01935483142733574,
-0.02282535284757614,
-0.00039895501686260104,
-0.00922453124076128,
-0.019698068499565125,
-0.025399640202522278,
0.0324932336807251,
0.03321784734725952,
-0.053354497998952866,
0.012184962630271912,
0.018935317173600197,
0.02694421261548996,
0.000293182791210711,
0.01530271116644144,
0.007541710045188665,
0.0025337666738778353,
-0.0734148770570755,
-0.028889231383800507,
-0.020689647644758224,
-0.009419986978173256,
-0.03827108070254326,
-0.022424908354878426,
0.022558389231562614,
0.03989192843437195,
-0.044887952506542206,
-0.003155886195600033,
0.003353724954649806,
0.03203558176755905,
0.04450657591223717,
-0.013939292170107365,
-0.011174316518008709,
-0.017991412431001663,
-0.02532336488366127,
-0.018773233518004417,
-0.03563958406448364,
-0.01900205761194229,
-0.010058791376650333,
0.03712695091962814,
0.008190048858523369,
-0.023549966514110565,
0.0278213769197464,
0.0063308412209153175,
-0.030395666137337685,
-0.009810897521674633,
0.005692036356776953,
-0.0022942149080336094,
-0.017857929691672325,
-0.01954551972448826,
-0.07608450949192047,
0.019945964217185974,
0.029385019093751907,
0.020174790173768997,
0.03258857876062393,
0.012394719757139683,
0.006712217349559069,
0.011784518137574196,
-0.03689812496304512,
-0.005572856403887272,
0.034438252449035645,
-0.009696484543383121,
-0.04107419401407242,
-0.0020272517576813698,
-0.016122668981552124,
0.05659619718790054,
0.007317651528865099,
-0.01811535842716694,
-0.008175747469067574,
-0.02949943207204342,
-0.022234220057725906,
0.026410287246108055,
0.030719835311174393,
-0.0241410993039608,
-0.0376608781516552,
0.043591275811195374,
-0.04168439283967018,
-0.004857776686549187,
0.007274746894836426,
0.019202280789613724,
0.00044156188960187137,
0.006183058023452759,
-0.03155886381864548,
0.03563958406448364,
-0.020003169775009155,
0.04839661344885826,
-0.02911805547773838,
0.045765116810798645,
0.0542316660284996,
-0.023130454123020172,
-0.04156998172402382,
0.0015743677504360676,
-0.031330037862062454,
-0.019145073369145393,
0.014454149641096592,
-0.031330037862062454,
-0.011584294959902763,
0.009658346883952618,
-0.0002541513240430504,
-0.024102961644530296,
0.012490062974393368,
-0.009234066121280193,
-0.026105185970664024,
-0.02425551228225231,
0.03501031547784805,
0.014730647206306458,
-0.02023199573159218,
-0.019888756796717644,
-0.02309231646358967,
-0.010487839579582214,
0.006016205996274948,
0.04046399146318436,
0.037489257752895355,
0.01787699945271015,
0.02593356743454933,
-0.013357693329453468,
0.04214204475283623,
0.0013669945765286684,
-0.013596054166555405,
-0.000044245571189094335,
0.036059100180864334,
-0.04107419401407242,
0.04435402527451515,
0.026219598948955536,
-0.025800084695219994,
0.03060542233288288,
0.02276814542710781,
0.026429355144500732,
0.014759250916540623,
0.007665657438337803,
-0.009019541554152966,
0.0040735723450779915,
-0.004733829293400049,
-0.02059430256485939,
-0.028832023963332176,
-0.030815178528428078,
0.009167324751615524,
0.04038771614432335,
-0.016008256003260612,
0.040044479072093964,
-0.02128078043460846,
-0.01197520550340414,
-0.013519778847694397,
-0.02818368561565876,
-0.04805337265133858,
-0.009381849318742752,
0.011307797394692898,
-0.02259652689099312,
-0.012223100289702415,
-0.007222307845950127,
0.006969646085053682,
0.0057397084310650826,
0.03516286611557007,
-0.0003769067407120019,
-0.03659302368760109,
0.043515000492334366,
-0.01701890304684639,
0.012223100289702415,
-0.0013157471548765898,
-0.004967422224581242,
-0.059952303767204285,
-0.01710471324622631,
0.0024205457884818316,
-0.03018590807914734,
-0.027916721999645233,
-0.023988548666238785,
0.011555692180991173,
-0.023111384361982346,
0.0620880089700222,
0.022424908354878426,
-0.01238518487662077,
-0.013863016851246357,
0.004402508959174156,
0.0005136657855473459,
0.014110911637544632,
-0.05186713486909866,
0.0009337752708233893,
-0.011984740383923054,
-0.010659459047019482,
0.01567455194890499,
-0.021166367456316948,
-0.02059430256485939,
0.031692344695329666,
-0.014930869452655315,
0.06639755517244339,
-0.01855394057929516,
-0.039968203753232956,
0.003036706242710352,
0.04702365770936012,
-0.008175747469067574,
-0.028641335666179657,
-0.01954551972448826,
0.004176067188382149,
0.00012268091086298227,
-0.028526922687888145,
-0.02900364249944687,
0.0018043851014226675,
0.009124420583248138,
-0.003570632543414831,
0.00013854674762114882,
0.030719835311174393,
0.0219100508838892,
-0.014234858565032482,
-0.002733989153057337,
0.001591052976436913,
-0.014025101438164711,
0.015931980684399605,
0.021071022376418114,
0.03335132822394371,
0.005963766947388649,
0.07848718017339706,
-0.06033368036150932,
-0.061134569346904755,
0.0008580959402024746,
-0.04660414531826973,
-0.00555378757417202,
-0.04416333884000778,
-0.022043531760573387,
0.012232634238898754,
0.014444615691900253,
0.029461294412612915,
-0.013939292170107365,
-0.005344030912965536,
0.049121227115392685,
0.01014460064470768,
0.0015922447200864553,
0.004688540939241648,
0.022996971383690834,
-0.02351182885468006,
-0.04176066815853119,
0.010525977239012718,
0.007818207144737244,
-0.025494983419775963,
0.0054775127209723,
-0.010840612463653088,
0.047061797231435776,
-0.033065296709537506,
-0.010316220112144947,
-0.02650563046336174,
0.032321613281965256,
0.01979341357946396,
-0.002700618701055646,
0.04889240115880966,
-0.013758138753473759,
0.006573968566954136,
-0.01592244766652584,
0.009019541554152966,
-0.017772121354937553,
0.004223738797008991,
0.024064823985099792,
-0.04801523685455322,
-0.013576985336840153,
-0.0012132523115724325,
-0.03440011292695999,
-0.008962335996329784,
0.0334848128259182,
-0.008847923018038273,
0.018163030967116356,
-0.010525977239012718,
0.0031701878178864717,
-0.019984101876616478,
-0.02328300289809704,
0.0024860945995897055,
0.01465437188744545,
-0.0046575539745390415,
-0.03665023297071457,
0.017915137112140656,
-0.016017790883779526,
-0.041226744651794434,
-0.05037976801395416,
0.004700459074229002,
-0.006774190813302994,
0.014101376757025719,
-0.021357055753469467,
0.000018696360712056048,
0.012251703068614006,
0.012566338293254375,
0.02688700705766678,
0.004126011393964291,
-0.026677248999476433,
-0.0026052745524793863,
-0.0015552989207208157,
-0.01784839667379856,
0.0033751775044947863,
-0.029518501833081245,
0.03579213470220566,
-0.03909103944897652,
-0.02867947332561016,
-0.0319974459707737,
0.03478148952126503,
0.007808673195540905,
0.02917526289820671,
-0.01875416375696659,
0.017142850905656815,
-0.02730651944875717,
-0.037546467036008835,
0.04206576943397522,
-0.026219598948955536,
0.06971552968025208,
0.04149370640516281,
0.03092959150671959,
0.032264407724142075,
0.008194816298782825,
0.04095977917313576,
0.03514379635453224,
-0.02824089117348194,
-0.02139519341289997,
-0.0032321615144610405,
-0.014492287300527096,
0.013233746401965618,
0.02103288471698761,
-0.011098041199147701,
-0.017495622858405113,
-0.012099153362214565,
-0.011717776767909527,
0.02034640870988369,
0.016980765387415886,
-0.024980125948786736,
0.02221515029668808,
0.06342282891273499,
-0.020022239536046982,
0.005062766373157501,
-0.014883197844028473,
0.04671855643391609,
0.0389384888112545,
0.02986173890531063,
-0.0006882644374854863,
0.006054343655705452,
-0.035124726593494415,
-0.022863490507006645,
-0.03849990665912628,
0.0002815627376548946,
-0.04465912654995918,
-0.026677248999476433,
-0.05682501941919327,
0.0219100508838892,
0.07806766033172607,
0.024560613557696342,
0.007508339826017618,
-0.011212454177439213,
0.0012418555561453104,
0.0015862857690081,
-0.03420942649245262,
-0.007965990342199802,
0.030319390818476677,
0.0006471473607234657,
0.022062599658966064,
0.024655956774950027,
-0.04046399146318436,
-0.03653581812977791,
-0.014663906767964363,
-0.033313192427158356,
-0.054346077144145966,
-0.03016684018075466,
0.0071031274273991585,
0.025151746347546577,
0.016570786014199257,
0.01592244766652584,
0.03142537921667099,
-0.018897179514169693,
0.013271884061396122,
-0.013624656945466995,
-0.019068799912929535,
0.004249958787113428,
-0.01110757514834404,
-0.014730647206306458,
-0.026105185970664024,
-0.006206894293427467,
-0.017247729003429413,
0.02799299731850624,
-0.039968203753232956,
-0.016151273623108864,
0.02295883372426033,
0.017695846036076546,
0.004574127960950136,
0.0349721759557724,
0.0021547742653638124,
0.03851897269487381,
0.03790877386927605,
-0.002600507577881217,
-0.002129746600985527,
0.059761617332696915,
-0.013319555670022964,
0.01891624927520752,
0.013805810362100601,
-0.01509295403957367,
0.023721586912870407,
-0.02122357301414013,
-0.0063451430760324,
0.0030176374129951,
0.015693621709942818,
-0.004283329006284475,
0.008323530666530132,
0.006888603791594505,
0.041226744651794434,
0.03415221720933914,
0.008604795671999454,
0.010564114898443222,
-0.029461294412612915,
-0.03653581812977791,
0.007494037970900536,
-0.024503406137228012,
-0.009219764731824398,
-0.0219100508838892,
-0.009367547929286957,
-0.07932620495557785,
-0.004445413593202829,
-0.009963447228074074,
-0.07177495956420898,
0.009305573999881744,
0.020003169775009155,
0.021204505115747452,
0.046146493405103683,
-0.014034636318683624,
-0.04648973047733307,
0.025056401267647743,
-0.0011334017617627978,
0.025800084695219994,
0.018716026097536087,
-0.028107410296797752,
-0.021547742187976837,
0.010278082452714443,
-0.036249786615371704,
-0.01822977140545845,
0.011050368659198284,
-0.02843157947063446,
-0.0040831067599356174,
0.04347686097025871,
0.00788971595466137,
0.009439055807888508,
0.02103288471698761,
0.03255043923854828,
-0.0006620448548346758,
0.006378513295203447,
-0.00034055684227496386,
0.014082307927310467,
0.034247562289237976,
-0.037432052195072174,
-0.008375969715416431,
0.0054965815506875515,
0.004760048817843199,
-0.0034252330660820007,
-0.005262988619506359,
-0.009868103079497814,
-0.026524700224399567,
0.02681073173880577,
-0.026410287246108055,
0.025666603818535805,
-0.06838071346282959,
-0.01334815938025713,
-0.03573492914438248,
-0.04534560441970825,
0.03384711965918541,
0.005529951769858599,
-0.029690120369195938,
0.006450021173804998,
-0.029327813535928726,
-0.06014299392700195,
0.018582545220851898,
0.019040195271372795,
-0.013310021720826626,
0.012394719757139683,
0.00485300924628973,
-0.008128075860440731,
-0.03205465152859688,
0.014292065054178238,
-0.010602252557873726,
-0.04099791869521141,
-0.00487446179613471,
0.04969329014420509,
0.05549020692706108,
-0.045879531651735306,
0.06204987317323685,
0.04279038682579994,
-0.0241410993039608,
-0.008280625566840172,
0.03849990665912628,
-0.025742879137396812,
0.02662004344165325,
-0.0807754322886467,
-0.00011947794700972736,
0.00805656798183918,
-0.037927839905023575,
0.021757500246167183,
-0.00786587968468666,
-0.009543933905661106,
0.02656283788383007
] |
Explainable AI (XAI) has been proposed as a valuable tool to assist in
downstream tasks involving human and AI collaboration. Perhaps the most
psychologically valid XAI techniques are case based approaches which display
'whole' exemplars to explain the predictions of black box AI systems. However,
for such post hoc XAI methods dealing with images, there has been no attempt to
improve their scope by using multiple clear feature 'parts' of the images to
explain the predictions while linking back to relevant cases in the training
data, thus allowing for more comprehensive explanations that are faithful to
the underlying model. Here, we address this gap by proposing two general
algorithms (latent and super pixel based) which can isolate multiple clear
feature parts in a test image, and then connect them to the explanatory cases
found in the training data, before testing their effectiveness in a carefully
designed user study. Results demonstrate that the proposed approach
appropriately calibrates a users feelings of 'correctness' for ambiguous
classifications in real world data on the ImageNet dataset, an effect which
does not happen when just showing the explanation without feature highlighting. | [
0.005457319784909487,
0.03074815310537815,
-0.03452960401773453,
-0.013005896471440792,
0.03596197068691254,
0.021542806178331375,
-0.008746990002691746,
0.01248069480061531,
0.010293947532773018,
-0.007500830572098494,
-0.03367018327116966,
-0.037547122687101364,
0.03601926565170288,
-0.026603836566209793,
-0.0319131463766098,
-0.000599505438003689,
0.04148136079311371,
0.03882670775055885,
-0.022497717291116714,
-0.049769993871450424,
0.0076965875923633575,
-0.022096654400229454,
-0.014591049402952194,
-0.0366877056658268,
0.07612555474042892,
0.016787346452474594,
0.005576683674007654,
-0.01609981060028076,
-0.0723441019654274,
0.057714857161045074,
0.025419747456908226,
0.02456032671034336,
0.002214201260358095,
-0.03722245618700981,
-0.051412440836429596,
-0.019938554614782333,
0.0037623518146574497,
-0.00560055673122406,
0.022574109956622124,
0.09190069139003754,
-0.0022392678074538708,
-0.009467948228120804,
0.03227601200342178,
-0.017322096973657608,
-0.033001746982336044,
-0.03237150236964226,
-0.08212240040302277,
-0.05286390706896782,
-0.017217056825757027,
-0.06096155568957329,
-0.026813918724656105,
-0.045606579631567,
0.022975172847509384,
-0.0011787189869210124,
-0.013951258733868599,
0.000875534606166184,
0.018544383347034454,
-0.006531595252454281,
0.06374990195035934,
-0.020855270326137543,
0.018725816160440445,
0.03353649750351906,
-0.02171468921005726,
-0.0028456365689635277,
0.0010199649259448051,
-0.03869301825761795,
0.03323092311620712,
0.0024732211604714394,
-0.05263472720980644,
-0.01140164490789175,
-0.008236113004386425,
-0.0025567759294062853,
-0.013769824989140034,
-0.0018119447631761432,
-0.0026570416521281004,
0.013130034320056438,
0.0368213914334774,
0.014791580848395824,
-0.04931163415312767,
0.002974549774080515,
0.047134436666965485,
0.04381134361028671,
-0.0030724280513823032,
0.03023250214755535,
0.04946442320942879,
-0.01186000183224678,
0.0030724280513823032,
-0.05989205464720726,
-0.015326331369578838,
-0.024904094636440277,
-0.05015195906162262,
-0.028494562953710556,
-0.032963547855615616,
0.00012294486805330962,
0.0339757539331913,
0.006226023659110069,
0.0388839989900589,
0.009415428154170513,
-0.015460018999874592,
-0.02020592987537384,
-0.008766088634729385,
0.036515820771455765,
-0.025324255228042603,
0.024904094636440277,
0.03624844551086426,
-0.06054139509797096,
-0.04480445384979248,
-0.027845222502946854,
-0.018907248973846436,
0.1400282382965088,
-0.03580918535590172,
0.017331644892692566,
-0.09182430058717728,
-0.04988458380103111,
-0.009200572967529297,
-0.009038238786160946,
-0.04045005515217781,
-0.052711121737957,
0.0483185276389122,
-0.012919954024255276,
0.006961305625736713,
0.023509923368692398,
0.06749315559864044,
0.002425475511699915,
-0.047096241265535355,
0.060197629034519196,
0.037031471729278564,
-0.0013822345063090324,
0.04556838050484657,
0.0350070595741272,
0.005910902749747038,
0.05446815863251686,
0.03781449794769287,
0.025973595678806305,
-0.0032037284690886736,
0.024808604270219803,
-0.005065806210041046,
0.02950676903128624,
-0.0024732211604714394,
-0.010551773011684418,
0.011907747946679592,
-0.03145478665828705,
-0.0075247036293148994,
0.004278004169464111,
-0.010150710120797157,
0.007185709662735462,
0.01433322299271822,
0.04335298761725426,
-0.024846799671649933,
0.03762351721525192,
-0.0233189407736063,
0.01745578460395336,
-0.021982064470648766,
-0.006970854941755533,
0.07463589310646057,
0.03987710922956467,
0.02606908604502678,
0.003261023201048374,
-0.008918874897062778,
0.030805448070168495,
0.0629095733165741,
-0.032008636742830276,
0.026527443900704384,
0.07631653547286987,
0.0483185276389122,
-0.0016149942530319095,
-0.027577847242355347,
-0.010465831495821476,
-0.027616044506430626,
0.05817321687936783,
0.04052644968032837,
0.01385576743632555,
-0.017780454829335213,
-0.010208005085587502,
-0.027978910133242607,
0.0290675088763237,
0.029296688735485077,
0.0005448964657261968,
-0.056759946048259735,
-0.02979324199259281,
-0.047058045864105225,
-0.03235240653157234,
0.01738893985748291,
-0.007137964479625225,
0.013368762098252773,
-0.03372747823596001,
0.1067209243774414,
-0.008431869558990002,
0.0031941793859004974,
-0.051527030766010284,
-0.0010468218242749572,
-0.018257910385727882,
0.08762268722057343,
-0.023471727967262268,
0.029277589172124863,
-0.03748983144760132,
-0.019174624234437943,
-0.02587810531258583,
0.002967387903481722,
-0.03899858891963959,
-0.022745994850993156,
-0.025687122717499733,
0.0027143361512571573,
-0.016080711036920547,
0.015440920367836952,
0.019632982090115547,
-0.027654239907860756,
-0.03748983144760132,
-0.004232645500451326,
-0.04320020228624344,
0.03349829837679863,
0.004843789152801037,
-0.041748736053705215,
-0.05183260142803192,
-0.04644690081477165,
0.0005066999583505094,
-0.0038936519995331764,
-0.016558166593313217,
0.021370921283960342,
-0.014323674142360687,
0.007558125536888838,
0.03122561052441597,
-0.0022619469091296196,
-0.002123484620824456,
0.045606579631567,
0.017837749794125557,
0.04946442320942879,
-0.03187495097517967,
0.024006478488445282,
0.028131695464253426,
-0.0195088442414999,
-0.017914142459630966,
0.03185585141181946,
-0.030156109482049942,
0.04045005515217781,
-0.04957900941371918,
-0.0018692394951358438,
-0.0033612889237701893,
0.005433447193354368,
-0.042550861835479736,
-0.03498796001076698,
-0.02324254810810089,
-0.021943869069218636,
-0.02958316169679165,
0.0753234252333641,
-0.009654155932366848,
0.04491904377937317,
-0.011793158017098904,
0.052443746477365494,
-0.0027286598924547434,
-0.002611683215945959,
0.021791083738207817,
0.027405962347984314,
0.000084897612396162,
0.016118908300995827,
-0.015469567850232124,
0.024808604270219803,
-0.02387279085814953,
0.028685545548796654,
-0.007801627740263939,
0.052290961146354675,
0.03258158266544342,
-0.0007227487512864172,
0.07322262227535248,
-0.030194304883480072,
-0.01878311112523079,
0.051412440836429596,
0.000042747215047711506,
0.017914142459630966,
0.006459977012127638,
0.04759279638528824,
-0.025419747456908226,
-0.04213070124387741,
0.02236402966082096,
-0.024254754185676575,
-0.019231919199228287,
0.007195258978754282,
0.006913559976965189,
0.003939010202884674,
0.007386241108179092,
-0.014696089550852776,
0.01523084007203579,
0.017875945195555687,
0.03174126148223877,
0.003693120554089546,
-0.04293282702565193,
-0.044422488659620285,
0.049846384674310684,
-0.06520136445760727,
-0.016166653484106064,
0.0005013286136090755,
-0.02053060010075569,
0.013321016915142536,
-0.004421240650117397,
0.004046437796205282,
0.022650502622127533,
-0.055843230336904526,
-0.0028265384025871754,
0.0631769523024559,
-0.04690525680780411,
-0.029602259397506714,
0.009940629824995995,
-0.01625259593129158,
0.0574856773018837,
0.028379973024129868,
0.04950261861085892,
0.018515735864639282,
0.13865315914154053,
-0.039036788046360016,
0.02116084098815918,
0.019862161949276924,
0.05549946427345276,
0.005218592006713152,
0.008135846816003323,
-0.006235572975128889,
0.047058045864105225,
0.025859005749225616,
-0.06837166845798492,
0.02899111621081829,
-0.024407541379332542,
0.005261562764644623,
-0.026202773675322533,
-0.1129087507724762,
0.00614963099360466,
0.0073289466090500355,
0.012595283798873425,
-0.018028730526566505,
-0.013502449728548527,
0.009148052893579006,
-0.017197957262396812,
-0.06642365455627441,
-0.024178361520171165,
-0.005046708043664694,
0.021905671805143356,
-0.005357054062187672,
0.01080005057156086,
-0.001542182289995253,
0.018353400751948357,
-0.033039942383766174,
-0.02719588205218315,
0.009587312117218971,
-0.020148634910583496,
-0.048738688230514526,
-0.06245122104883194,
-0.004705327097326517,
-0.0268712118268013,
-0.05030474439263344,
-0.0009340229444205761,
0.040984805673360825,
-0.027253177016973495,
0.0010671137133613229,
-0.03118741326034069,
-0.027405962347984314,
0.024808604270219803,
-0.03727974742650986,
-0.028246285393834114,
-0.01513534877449274,
0.012194220907986164,
0.049846384674310684,
-0.018095575273036957,
0.05572864040732384,
-0.036191150546073914,
-0.05450635403394699,
0.02379639819264412,
-0.059242717921733856,
-0.00012160202459199354,
-0.024579424411058426,
0.022975172847509384,
-0.010675911791622639,
0.02339533530175686,
-0.02427385374903679,
0.09808851778507233,
-0.032524287700653076,
0.08494893461465836,
0.013865316286683083,
-0.015756040811538696,
0.023509923368692398,
-0.021256333217024803,
-0.05874616280198097,
0.054277174174785614,
-0.0412139855325222,
-0.022745994850993156,
0.004559703171253204,
0.03466328978538513,
-0.05840239301323891,
0.06168729066848755,
0.02240222692489624,
0.02738686464726925,
0.031072823330760002,
0.025935398414731026,
0.015526862815022469,
-0.003927073907107115,
0.025897203013300896,
-0.056798141449689865,
0.05901353806257248,
0.0333264134824276,
-0.022707797586917877,
-0.040832020342350006,
0.05553765967488289,
0.0080737778916955,
0.008336378261446953,
0.027845222502946854,
-0.016854189336299896,
0.016978329047560692,
-0.0015935087576508522,
0.004695777781307697,
-0.0011345543898642063,
0.034644193947315216,
0.05824960768222809,
0.0472872219979763,
-0.005571909248828888,
0.012136926874518394,
-0.038234662264585495,
-0.06439924240112305,
0.00787324644625187,
-0.005992070306092501,
-0.05099228024482727,
0.01632898859679699,
0.04476625472307205,
-0.01305364165455103,
0.027367766946554184,
0.036955080926418304,
-0.009658930823206902,
-0.05836419761180878,
-0.010609067976474762,
0.006163954269140959,
-0.003048555226996541,
-0.018993191421031952,
0.0020399298518896103,
-0.026164578273892403,
0.013979906216263771,
-0.0040655359625816345,
-0.0026642032898962498,
-0.015106701292097569,
0.010895541869103909,
0.033001746982336044,
-0.013979906216263771,
0.02763514220714569,
0.005920452065765858,
-0.02998422458767891,
-0.040068089962005615,
0.010551773011684418,
0.03302084282040596,
0.010885992087423801,
-0.05725650116801262,
0.0016985490219667554,
0.004998962394893169,
0.001054580556228757,
-0.026412855833768845,
-0.00027587992371991277,
-0.09449805319309235,
0.06684381514787674,
-0.08426140248775482,
-0.06455202400684357,
0.009305614046752453,
0.006555468309670687,
-0.033956658095121384,
-0.03166487067937851,
0.008407996967434883,
-0.06508677452802658,
-0.014648344367742538,
0.06161089614033699,
0.016061613336205482,
-0.0028360874857753515,
-0.012967699207365513,
0.0035236238036304712,
-0.0547737292945385,
-0.030213402584195137,
0.033039942383766174,
0.028456365689635277,
0.0035307856742292643,
0.020664287731051445,
-0.0063692606054246426,
-0.034281328320503235,
0.002027993556112051,
0.01425683032721281,
0.0018990804674103856,
-0.06623266637325287,
0.053284067660570145,
-0.019537491723895073,
0.023089762777090073,
-0.04892967268824577,
-0.016414931043982506,
0.026374658569693565,
0.0013595554046332836,
0.009233995340764523,
0.042512666434049606,
0.00990243349224329,
-0.022306734696030617,
-0.053131282329559326,
0.015918375924229622,
-0.03006061725318432,
-0.007324172183871269,
0.03166487067937851,
-0.01008386630564928,
-0.07937224954366684,
-0.044498879462480545,
-0.01764676719903946,
0.05840239301323891,
0.041786931455135345,
-0.024331148713827133,
-0.022860584780573845,
-0.057714857161045074,
-0.016023416072130203,
0.0560724101960659,
-0.00458596320822835,
0.0013177780201658607,
0.01495391596108675,
0.014915719628334045,
-0.026336461305618286,
0.018200615420937538,
-0.05122146010398865,
0.04323839768767357,
-0.030079714953899384,
0.029201196506619453,
-0.0030031970236450434,
0.013588392175734043,
0.009678029455244541,
0.0057342443615198135,
0.02236402966082096,
-0.016758698970079422,
-0.023070665076375008,
0.004531055688858032,
0.007252553477883339,
-0.034033048897981644,
0.013884414918720722,
0.019489746540784836,
-0.002871896605938673,
0.017150212079286575,
-0.021294528618454933,
-0.006359711289405823,
0.01639583148062229,
0.006526820827275515,
-0.008985718712210655,
0.0031822428572922945,
0.0033660633489489555,
0.02328074537217617,
0.04140496626496315,
0.016558166593313217,
-0.027883419767022133,
-0.041710540652275085,
0.025935398414731026,
0.05569044500589371,
0.04312380775809288,
-0.03825375810265541,
0.036515820771455765,
0.027062194421887398,
0.008579880930483341,
-0.010408536531031132,
0.011592626571655273,
0.022631404921412468,
-0.010542224161326885,
0.018678070977330208,
0.043467577546834946,
0.01892634853720665,
-0.0028289256151765585,
-0.01746533252298832,
0.022268539294600487,
-0.030404385179281235,
0.027482356876134872,
0.011296604759991169,
-0.03548451513051987,
0.02203935943543911,
0.03980071470141411,
-0.004998962394893169,
-0.007706136908382177,
0.015526862815022469,
0.10297767072916031,
-0.013922611251473427,
0.012767168693244457,
-0.04167234152555466,
0.01988125964999199,
-0.040068089962005615,
0.046179525554180145,
0.032600682228803635,
0.01657726615667343,
0.03067176043987274,
-0.022459521889686584,
-0.03477787971496582,
0.01078095193952322,
0.04247446730732918,
-0.004418853670358658,
-0.041710540652275085,
0.01804783008992672,
-0.024101968854665756,
-0.0037456408608704805,
-0.00573901878669858,
-0.04129037633538246,
-0.006923109292984009,
-0.023414433002471924,
-0.0024612846318632364,
0.061992861330509186,
0.012251515872776508,
0.005247239489108324,
0.021982064470648766,
0.03034709021449089,
0.027100391685962677,
-0.018515735864639282,
0.008154945448040962,
-0.08647679537534714,
0.019165076315402985,
-0.007710911333560944,
0.03426222875714302,
0.004994187504053116,
0.025801710784435272,
0.023624513298273087,
0.019231919199228287,
-0.001964730676263571,
0.01647222600877285,
0.004060761537402868,
0.020492402836680412,
-0.042589057236909866,
0.0008045130525715649,
0.001302260672673583,
0.05129785090684891,
-0.03685958683490753,
0.06061778962612152,
-0.033116333186626434,
-0.01275761891156435,
-0.028055302798748016,
0.08265715092420578,
-0.06894461810588837,
0.06218384578824043,
-0.030442582443356514,
-0.01764676719903946,
0.01618575118482113,
-0.024503031745553017,
-0.03680229187011719,
0.02910570614039898,
0.023147057741880417,
-0.028494562953710556,
-0.018792660906910896,
-0.029315786436200142,
-0.017618119716644287,
-0.017847297713160515,
0.024904094636440277,
0.016376733779907227,
0.06088516488671303,
0.01680644415318966,
0.024369344115257263,
0.001897886861115694,
-0.020435107871890068,
-0.00436394615098834,
0.04950261861085892,
-0.028055302798748016,
0.014314125292003155,
0.010761854238808155,
-0.015058956108987331,
0.018764013424515724,
0.02284148521721363,
0.006202151067554951,
0.035083454102277756,
-0.004619385115802288,
0.032562486827373505,
0.004285166040062904,
-0.01405629888176918,
0.012872208841145039,
-0.0010157872457057238,
0.024216558784246445,
-0.026489248499274254,
0.024388441815972328,
0.03382296860218048,
0.0038411319255828857,
0.007042473182082176,
-0.002771630883216858,
0.005557585507631302,
-0.007357594091445208,
0.00988333486020565,
-0.004998962394893169,
0.07650751620531082,
0.0020638026762753725,
-0.02935398370027542,
-0.054964713752269745,
0.04992277920246124,
0.03968612477183342,
0.003518849378451705,
0.015173545107245445,
-0.018496638163924217,
0.028208088129758835,
0.006135307252407074,
-0.02167649380862713,
-0.02807440049946308,
-0.00963028334081173,
-0.0028289256151765585,
-0.03546541556715965,
-0.015078054741024971,
-0.014705638401210308,
-0.006455202586948872,
-0.010570871643722057,
-0.011583077721297741,
-0.014648344367742538,
0.012022336944937706,
0.015087603591382504,
-0.02690940909087658,
-0.03093913570046425,
0.008718343451619148,
-0.03210412710905075,
-0.005867931991815567,
0.03869301825761795,
-0.017197957262396812,
-0.054926514625549316,
0.009128955192863941,
-0.03338370844721794,
0.016539068892598152,
-0.008436644449830055,
-0.02303246781229973,
0.004091796465218067,
-0.010962385684251785,
-0.06791331619024277,
-0.01603296585381031,
-0.00010347362695029005,
0.031072823330760002,
0.03493066504597664,
-0.00340903433971107,
0.03598107025027275,
0.06077057495713234,
0.022898780182003975,
-0.022383127361536026,
-0.01760856993496418,
0.03376567363739014,
0.06894461810588837,
0.019298763945698738,
-0.028379973024129868,
-0.04587395489215851,
-0.017112016677856445,
0.040068089962005615,
0.006985178217291832,
-0.0017128726467490196,
0.0012169154360890388,
0.002972162328660488,
0.05187079682946205,
0.01988125964999199,
-0.04950261861085892,
0.011583077721297741,
0.043505772948265076,
0.003227601293474436,
0.01767541468143463,
0.014867973513901234,
-0.0014562401920557022,
-0.020893465727567673,
0.04816574230790138,
-0.0219629667699337,
0.008618077263236046,
-0.018171967938542366,
-0.014543304219841957,
0.01969027705490589,
-0.008154945448040962,
0.012996346689760685,
0.019632982090115547,
0.03569459542632103,
0.05481192469596863,
-0.009697127155959606,
0.0516798160970211,
-0.03968612477183342,
-0.013531097210943699,
-0.011907747946679592,
0.004180125426501036,
-0.010465831495821476,
0.010828698053956032,
-0.008551233448088169,
-0.0012294487096369267,
0.021619198843836784,
-0.007314622867852449,
0.07020509988069534,
0.017599020153284073,
0.017197957262396812,
0.030843645334243774,
-0.0015075666597113013,
0.009448850527405739,
-0.016930582001805305,
0.016243046149611473,
0.019126879051327705,
0.05213817209005356,
-0.0763547345995903,
0.015822885558009148,
0.003444843692705035,
-0.000052408235205803066,
-0.017150212079286575,
-0.044422488659620285,
-0.008264759555459023,
0.017045171931385994,
0.0019122104858979583,
-0.013951258733868599,
-0.003509300062432885,
-0.02083617076277733,
-0.0015994769055396318,
-0.011745412833988667,
-0.033803872764110565,
-0.014600598253309727,
0.009515694342553616,
-0.01944199949502945,
-0.03368928283452988,
0.02295607514679432,
-0.019995849579572678,
0.02200116403400898,
-0.056950926780700684,
-0.0066223121248185635,
-0.008665822446346283,
0.03286805748939514,
-0.0175035297870636,
0.03342190757393837,
-0.012681226246058941,
0.03577098995447159,
-0.01323507446795702,
-0.020664287731051445,
0.004330524243414402,
-0.003058104543015361,
-0.006579340901225805,
0.007920991629362106,
0.00845574215054512,
0.047134436666965485,
0.014915719628334045,
-0.004466598853468895,
0.011086523532867432,
0.03225691244006157,
-0.0018728204304352403,
-0.02983143925666809,
0.007295524701476097,
-0.007663165684789419,
-0.04747820645570755,
-0.0241592638194561,
-0.01407539751380682,
-0.008035581558942795,
0.009138504043221474,
-0.06993772834539413,
-0.038597527891397476,
-0.013808022253215313,
-0.0028313128277659416,
0.017360292375087738,
-0.04278004169464111,
0.01870671845972538,
0.00812629796564579,
-0.017417587339878082,
0.0012616770109161735,
-0.03273437172174454,
0.003991530742496252,
-0.03737524151802063,
-0.01229926198720932,
0.049846384674310684,
0.02631736360490322,
0.02866644598543644,
0.01567010022699833,
-0.044575273990631104,
-0.015039857476949692,
0.02053060010075569,
-0.014896620996296406,
-0.020778875797986984,
-0.007161837071180344,
0.006994727533310652,
0.014581500552594662,
0.00737669225782156,
0.0052424645982682705,
-0.006235572975128889,
-0.025247862562537193,
0.017045171931385994,
0.006311965640634298,
0.017923690378665924,
0.024980487301945686,
-0.004263680428266525,
-0.02786432020366192,
0.023662710562348366,
0.017780454829335213,
-0.03155028074979782,
-0.014170887880027294,
0.010609067976474762,
-0.053093086928129196,
-0.02719588205218315,
-0.004507182631641626,
-0.012165574356913567,
-0.05362783744931221,
-0.02236402966082096,
-0.014743835665285587,
-0.0061448561027646065,
0.01535497885197401,
0.008871128782629967,
0.03685958683490753,
-0.006125757936388254,
0.008312505669891834,
0.028685545548796654,
0.003160757478326559,
-0.011965042911469936,
0.012662127614021301,
0.03349829837679863,
-0.006894461810588837,
0.032600682228803635,
-0.021771984174847603,
-0.016968779265880585,
-0.03271527215838432,
0.010465831495821476,
-0.0428946278989315,
-0.00436394615098834,
0.018878603354096413,
0.030576270073652267,
0.0013500063214451075,
0.02778792753815651,
-0.019976750016212463,
-0.009873786009848118,
0.04744000732898712,
0.003917525056749582,
-0.0378526970744133,
0.021657396107912064,
-0.007920991629362106,
-0.019632982090115547,
-0.006020717788487673,
-0.012318359687924385,
0.03070995770394802,
-0.016453126445412636,
-0.03957153856754303,
0.023949183523654938,
-0.0229942724108696,
0.017379391938447952,
-0.015822885558009148,
-0.003781449981033802,
0.006054139696061611,
0.024464836344122887,
-0.034395914524793625,
-0.059433698654174805,
0.015861080959439278,
-0.01617620326578617,
0.008966620080173016,
0.044460684061050415,
0.04037366434931755,
0.026451051235198975,
-0.008613302372395992,
-0.009620734490454197,
-0.008937972597777843,
-0.02818899042904377,
0.029678652063012123,
-0.022669602185487747,
0.016997426748275757,
-0.025324255228042603,
0.04511002451181412,
-0.009763970971107483,
0.01455285307019949,
-0.008813833817839622,
0.016682306304574013,
-0.03957153856754303,
0.012566637247800827,
-0.032524287700653076,
-0.04503362998366356,
0.020931662991642952,
0.04782197251915932,
0.009382006712257862,
0.012175123207271099,
0.01888815127313137,
-0.02778792753815651,
0.002090062713250518,
0.00701860012486577,
-0.005514614749699831,
0.018401145935058594,
-0.008369800634682178,
-0.002580648520961404,
-0.021771984174847603,
-0.013225525617599487,
-0.035637300461530685,
0.023624513298273087,
-0.005070580635219812,
-0.030996430665254593,
0.0033732252195477486,
-0.008575106039643288,
-0.014887072145938873,
0.010427635163068771,
-0.024331148713827133,
-0.0025925850495696068,
-0.000006313233825494535,
-0.00648862449452281,
-0.0021294530015438795,
-0.0706634595990181,
-0.06229843199253082,
-0.03214232623577118,
0.031798556447029114,
0.011267957277595997,
0.00038584397407248616,
0.020473305135965347,
0.04415511339902878,
-0.05519388988614082,
0.012929502874612808,
-0.024006478488445282,
0.006741676013916731,
-0.0032013412564992905,
0.04041185975074768,
-0.011220211163163185,
0.07341360300779343,
-0.0010969546856358647,
-0.0015015985118225217,
-0.00928174052387476,
0.030194304883480072,
-0.004936893004924059,
-0.018391598016023636,
0.020014947280287743,
-0.0015445695025846362,
0.010484929196536541,
0.0018752076430246234,
-0.027883419767022133,
-0.03737524151802063,
-0.0035665947943925858,
-0.006736901588737965,
0.04278004169464111,
0.02456032671034336,
-0.0010342886671423912,
-0.008522585965692997,
0.013626588508486748,
-0.006221249233931303,
0.06497218459844589,
-0.011525782756507397,
0.006913559976965189,
0.016682306304574013,
0.014791580848395824,
-0.05221456661820412,
0.00832682941108942,
0.027463257312774658,
0.02200116403400898,
0.00525201391428709,
0.05030474439263344,
-0.010847795754671097,
0.03976251929998398,
-0.032887157052755356,
-0.027100391685962677,
0.04148136079311371,
-0.008245661854743958,
0.0009232801385223866,
-0.024884996935725212,
-0.010160259902477264,
-0.015880180522799492
] |
Humans demonstrate an impressive ability to acquire and generalize
manipulation "tricks." Even from a single demonstration, such as using soup
ladles to reach for distant objects, we can apply this skill to new scenarios
involving different object positions, sizes, and categories (e.g., forks and
hammers). Additionally, we can flexibly combine various skills to devise
long-term plans. In this paper, we present a framework that enables machines to
acquire such manipulation skills, referred to as "mechanisms," through a single
demonstration and self-play. Our key insight lies in interpreting each
demonstration as a sequence of changes in robot-object and object-object
contact modes, which provides a scaffold for learning detailed samplers for
continuous parameters. These learned mechanisms and samplers can be seamlessly
integrated into standard task and motion planners, enabling their compositional
use. | [
0.018492482602596283,
-0.024435799568891525,
-0.03141188994050026,
-0.05927727371454239,
0.018979640677571297,
0.07486630231142044,
0.0017854307079687715,
0.021785665303468704,
-0.0377839058637619,
0.034685585647821426,
0.0023127782624214888,
0.02829408459365368,
0.03982996568083763,
-0.0013737829867750406,
0.0032639524433761835,
0.04793625697493553,
0.0004046448739245534,
0.010590795427560806,
-0.04516920447349548,
-0.01574491709470749,
-0.004744910169392824,
-0.022779466584324837,
-0.07330740243196487,
0.03373075649142265,
0.042791880667209625,
0.001161869615316391,
0.024396827444434166,
-0.03304873779416084,
-0.08004965633153915,
0.08223211765289307,
0.02765103615820408,
0.027690008282661438,
-0.05783528834581375,
0.03466609865427017,
0.012656341306865215,
-0.0006135134608484805,
0.0077847703360021114,
0.03353589400649071,
-0.007745797745883465,
0.036770615726709366,
-0.018083270639181137,
0.012851203791797161,
-0.03127548471093178,
-0.038524381816387177,
-0.021824637427926064,
-0.0049105435609817505,
-0.02505936101078987,
-0.03191853314638138,
-0.03889462351799011,
-0.006128436420112848,
0.0435323566198349,
-0.034802503883838654,
0.06056337058544159,
-0.027534119784832,
-0.017333049327135086,
0.026871584355831146,
0.06181049346923828,
-0.0006424384191632271,
0.0499238595366478,
-0.024435799568891525,
0.013309131376445293,
0.01212046854197979,
-0.03589373454451561,
0.022331280633807182,
0.003992252517491579,
-0.08340129256248474,
0.06847479939460754,
-0.024318881332874298,
0.03187955915927887,
0.011389733292162418,
-0.0049982317723333836,
0.029677610844373703,
-0.05908241122961044,
-0.0345686674118042,
0.037160344421863556,
-0.0012459042482078075,
0.09322237968444824,
0.0011253328993916512,
0.02778744138777256,
-0.023149704560637474,
-0.003052039071917534,
0.029989389702677727,
0.0034880447201430798,
-0.02607264742255211,
0.06192740797996521,
-0.03922588750720024,
0.03657575324177742,
-0.052768856287002563,
0.03534811735153198,
-0.03119754046201706,
-0.057679399847984314,
0.04045352339744568,
-0.0008927153539843857,
0.033867161720991135,
-0.014565996825695038,
0.029716582968831062,
0.03283438831567764,
-0.003064218210056424,
-0.06578569114208221,
-0.03076884150505066,
-0.02936583012342453,
0.022857410833239555,
0.0045378683134913445,
-0.039459723979234695,
0.010210813023149967,
0.012217899784445763,
-0.04875468090176582,
0.009431361220777035,
-0.07693184912204742,
0.06153768301010132,
-0.0029351215343922377,
-0.004019046202301979,
0.0031738283578306437,
0.07435965538024902,
-0.018453510478138924,
-0.00010763126920210198,
-0.06843582540750504,
-0.07030650973320007,
0.06586363911628723,
-0.05124892666935921,
0.02868380956351757,
0.05304166302084923,
0.05171659588813782,
-0.05740659311413765,
-0.05689994990825653,
0.019388852640986443,
-0.031860072165727615,
-0.0456758476793766,
0.015228530392050743,
0.0075265769846737385,
0.024728093296289444,
0.0036122698802500963,
-0.015589026734232903,
0.025897271931171417,
0.026364941149950027,
0.01224712934345007,
0.02560497634112835,
0.02599470317363739,
-0.043766193091869354,
-0.006138179451227188,
-0.016592569649219513,
0.00844243261963129,
-0.049066461622714996,
-0.027300283312797546,
0.01652436889708042,
-0.025468572974205017,
-0.011389733292162418,
0.0751391127705574,
-0.0653180256485939,
0.05728967487812042,
-0.046845026314258575,
0.03534811735153198,
-0.062083300203084946,
0.037920307368040085,
0.014643942005932331,
0.027670523151755333,
-0.04789728671312332,
0.02996990457177162,
0.013055809773504734,
0.009100094437599182,
0.06738357245922089,
-0.02355891652405262,
0.007628879975527525,
0.0742427408695221,
0.052729882299900055,
0.0034222786780446768,
0.0032907461281865835,
0.0273197703063488,
-0.014614712446928024,
0.04801420122385025,
-0.05058639124035835,
-0.014351648278534412,
0.03464661166071892,
0.0011904900893568993,
0.029307371005415916,
-0.021785665303468704,
0.026481859385967255,
0.04450667276978493,
-0.008271927013993263,
-0.0503525584936142,
-0.0016733845695853233,
0.014712144620716572,
0.031002677977085114,
0.03443226218223572,
0.06434370577335358,
0.06644822657108307,
0.05701686441898346,
-0.0032858746126294136,
0.022759979590773582,
-0.03887513652443886,
0.000051151495426893234,
0.009777243249118328,
0.035406578332185745,
0.05234015733003616,
0.00516386516392231,
-0.08269979059696198,
-0.06676001101732254,
0.019320650026202202,
0.0033686913084238768,
0.08036143332719803,
-0.061693575233221054,
-0.08418074250221252,
-0.0022701520938426256,
0.0012873125961050391,
0.02402658760547638,
0.0035440679639577866,
-0.02424093708395958,
-0.07026753574609756,
0.05082022771239281,
-0.05389906093478203,
0.030359629541635513,
0.008968561887741089,
-0.01820993237197399,
-0.023461485281586647,
-0.022350767627358437,
-0.0271054208278656,
-0.024611176922917366,
-0.006050491239875555,
-0.027690008282661438,
-0.03193802013993263,
-0.006011518649756908,
-0.026520831510424614,
-0.0029765297658741474,
-0.016193101182579994,
0.02151285670697689,
0.0499238595366478,
0.03636140376329422,
0.004847213160246611,
0.0014955722726881504,
0.026014188304543495,
-0.02617007866501808,
0.03994688019156456,
0.044233862310647964,
-0.032249800860881805,
0.036945994943380356,
-0.015627998858690262,
-0.009582379832863808,
0.009689554572105408,
-0.0014870470622554421,
-0.008432689122855663,
0.004535432439297438,
-0.041973456740379333,
0.009704168885946274,
-0.008052706718444824,
0.042441125959157944,
0.024513745680451393,
0.003760852850973606,
0.03452969342470169,
-0.0014955722726881504,
0.00008007644646568224,
-0.002686671447008848,
0.027767954394221306,
-0.015764404088258743,
0.013922949321568012,
0.02560497634112835,
0.06352528184652328,
0.052690912038087845,
-0.0213374812155962,
-0.006245353724807501,
-0.05518515408039093,
0.007209924980998039,
0.031606752425432205,
0.05752351135015488,
0.019193990156054497,
-0.01030824426561594,
-0.01016209740191698,
-0.0033175398129969835,
-0.005870243068784475,
-0.023227650672197342,
0.01154562272131443,
-0.03488044813275337,
-0.033867161720991135,
-0.022721007466316223,
0.0349973663687706,
0.01602746918797493,
-0.10218606889247894,
0.04657221958041191,
-0.009830829687416553,
0.03832951933145523,
0.020733406767249107,
0.024689121171832085,
-0.017235618084669113,
0.04894954338669777,
0.03262003883719444,
0.007960147224366665,
-0.049573104828596115,
-0.024728093296289444,
0.02287689782679081,
-0.05612049624323845,
0.047351669520139694,
0.0007082046358846128,
-0.021142618730664253,
-0.03421791270375252,
0.03782287612557411,
0.02599470317363739,
0.009124452248215675,
-0.02398761548101902,
-0.033906131982803345,
0.022058473899960518,
0.01382551807910204,
-0.006367143243551254,
-0.03299027681350708,
-0.005714352708309889,
-0.004635299555957317,
-0.042285237461328506,
0.014527024701237679,
-0.023714806884527206,
0.045597903430461884,
-0.02147388458251953,
-0.001029119361191988,
0.10062716901302338,
0.02492295764386654,
-0.03312668204307556,
0.013942436315119267,
-0.01224712934345007,
0.0785297229886055,
0.0593162477016449,
-0.016446422785520554,
-0.06496726721525192,
-0.028586378321051598,
-0.004684015642851591,
0.01578388921916485,
-0.09252087771892548,
0.03080781362950802,
0.05545796453952789,
0.03166520968079567,
-0.02548805996775627,
-0.01653411239385605,
-0.04809214919805527,
-0.026325969025492668,
-0.052184268832206726,
-0.023500457406044006,
0.026481859385967255,
0.025020388886332512,
-0.03700445219874382,
-0.007390173152089119,
0.008988047949969769,
0.03643935173749924,
-0.04626043885946274,
-0.037881337106227875,
-0.026657236739993095,
0.008812671527266502,
0.033906131982803345,
-0.005909215658903122,
0.025195764377713203,
-0.018200188875198364,
-0.02940480224788189,
0.025799838826060295,
-0.03415945544838905,
-0.0045110746286809444,
0.0010936676990240812,
-0.04813111945986748,
-0.0003098014567513019,
-0.012870690785348415,
0.009329058229923248,
-0.0356404110789299,
0.002393159316852689,
0.012734286487102509,
-0.04871571063995361,
0.034724555909633636,
0.0016892171697691083,
-0.07833486050367355,
0.024396827444434166,
0.024338368326425552,
-0.034763529896736145,
-0.03375024348497391,
-0.045052286237478256,
0.004116477444767952,
-0.018979640677571297,
0.03369178622961044,
-0.0328538753092289,
-0.011818431317806244,
0.025039874017238617,
-0.024085046723484993,
-0.007058906368911266,
0.0005495740915648639,
0.01620284467935562,
0.0026793640572577715,
-0.019661659374833107,
0.039245374500751495,
0.02244819886982441,
0.012724542990326881,
-0.03047654777765274,
0.0012653905432671309,
-0.03554297983646393,
0.06707178801298141,
0.030496034771203995,
-0.0076873390935361385,
-0.016914093866944313,
0.04322057589888573,
0.07927019894123077,
-0.0014882648829370737,
-0.030281685292720795,
0.015053153969347477,
0.031002677977085114,
-0.012714800424873829,
0.012870690785348415,
-0.044155918061733246,
0.032581064850091934,
-0.001896259025670588,
-0.016163872554898262,
-0.011321530677378178,
-0.02620905078947544,
0.019028356298804283,
0.02057751640677452,
-0.003137291641905904,
0.00910983793437481,
0.002983837155625224,
0.02876175567507744,
0.020772378891706467,
-0.004849649034440517,
-0.03415945544838905,
0.004547611344605684,
-0.013299388810992241,
0.019924724474549294,
-0.0011472549522295594,
-0.033828187733888626,
0.0563543327152729,
0.016728974878787994,
-0.04248009994626045,
0.01631976291537285,
-0.019992927089333534,
0.023851212114095688,
0.03610808402299881,
-0.06979987025260925,
0.06863068789243698,
-0.02018778957426548,
-0.024533230811357498,
-0.07057932019233704,
-0.026949530467391014,
0.04489639773964882,
0.023617375642061234,
-0.0037243159022182226,
-0.02180515229701996,
0.05347036197781563,
-0.030379116535186768,
0.010639511048793793,
0.022740492597222328,
-0.029209939762949944,
0.0008306028321385384,
0.0002778317721094936,
-0.0024577074218541384,
-0.01673871837556362,
0.01588132046163082,
0.009441104717552662,
-0.03994688019156456,
-0.03330205753445625,
-0.050859201699495316,
0.021863609552383423,
-0.01020106952637434,
-0.09657402336597443,
0.016085926443338394,
-0.03310719504952431,
-0.026384428143501282,
0.005373342894017696,
-0.001916963141411543,
0.014332161284983158,
-0.015530568547546864,
-0.004082376603037119,
-0.07174849510192871,
0.03076884150505066,
0.02416299097239971,
0.027767954394221306,
-0.029697095975279808,
0.017810463905334473,
0.035445548593997955,
-0.03111959435045719,
-0.007848100736737251,
-0.00024464420857839286,
0.01538442075252533,
0.044662561267614365,
-0.014829061925411224,
-0.030788328498601913,
0.010590795427560806,
0.007887073792517185,
0.018297620117664337,
0.006625336594879627,
-0.042441125959157944,
0.03008682280778885,
-0.04123297706246376,
-0.014166528359055519,
0.01703101210296154,
-0.01525775995105505,
-0.040609415620565414,
-0.022818438708782196,
-0.043337494134902954,
0.031217025592923164,
-0.03797876834869385,
-0.001526019535958767,
-0.022954842075705528,
0.008710368536412716,
-0.0307298693805933,
-0.042246263474226,
0.0627458319067955,
-0.0012568653328344226,
0.0023846339900046587,
-0.017206387594342232,
0.01641719415783882,
0.033828187733888626,
0.01190611906349659,
0.03217185288667679,
-0.008077064529061317,
-0.0016161436215043068,
-0.002127658575773239,
-0.01782020553946495,
0.0028815341647714376,
0.01489726360887289,
-0.029989389702677727,
0.03076884150505066,
-0.038310032337903976,
-0.009134195744991302,
0.03636140376329422,
-0.017079727724194527,
0.00794066023081541,
0.04618249088525772,
0.009562893770635128,
0.02377326600253582,
0.01511161308735609,
0.04528612270951271,
0.013455279171466827,
0.05347036197781563,
0.031217025592923164,
-0.01613464206457138,
0.014419849961996078,
-0.058147069066762924,
0.04746858775615692,
0.021279022097587585,
0.011243585497140884,
0.01624181680381298,
0.008340129628777504,
0.004925158340483904,
0.02552703209221363,
-0.025838812813162804,
-0.033399488776922226,
-0.011643054895102978,
-0.036770615726709366,
0.0546395406126976,
0.03026219829916954,
-0.013961922377347946,
-0.004988488741219044,
0.012519937008619308,
0.014263959601521492,
-0.002645262982696295,
0.048598792403936386,
-0.006089463829994202,
-0.014838805422186852,
0.03815414384007454,
-0.031080622225999832,
0.026442887261509895,
0.01792738027870655,
-0.03330205753445625,
-0.009182911366224289,
-0.010132867842912674,
0.025468572974205017,
-0.0373552069067955,
-0.016329506412148476,
-0.025507545098662376,
-0.03868027403950691,
-0.010736942291259766,
-0.01842428185045719,
0.013133754953742027,
-0.006435345392674208,
0.005178479943424463,
0.013133754953742027,
0.009265728294849396,
-0.029482746496796608,
0.027534119784832,
0.040141742676496506,
0.004854520317167044,
0.024046074599027634,
-0.026189565658569336,
0.0058410135097801685,
-0.01743048056960106,
0.024552717804908752,
0.023539431393146515,
0.008033220656216145,
-0.01602746918797493,
-0.022545630112290382,
-0.03963509947061539,
-0.012802488170564175,
0.007755540776997805,
-0.022993814200162888,
0.009650582447648048,
0.03277593106031418,
-0.003624448785558343,
0.06336939334869385,
-0.01389372069388628,
-0.014410106465220451,
-0.0063574002124369144,
0.013007094152271748,
-0.03295130655169487,
0.02581932581961155,
-0.00837423000484705,
0.037705957889556885,
-0.01811250112950802,
0.02359788864850998,
-0.004769267980009317,
-0.005953059531748295,
-0.006211252883076668,
-0.05565282702445984,
0.02581932581961155,
0.008106294088065624,
-0.00327125983312726,
-0.008140395395457745,
0.019271934404969215,
0.004562226124107838,
0.018882209435105324,
0.003164085326716304,
-0.033360518515110016,
0.013455279171466827,
-0.010395932011306286,
0.02266254834830761,
0.02876175567507744,
-0.013991151936352253,
0.02954120561480522,
-0.027241824194788933,
0.018054042011499405,
0.032464150339365005,
0.0036098340060561895,
-0.0016672951169312,
0.003475865814834833,
0.01547210942953825,
0.03780338913202286,
0.0011247239308431745,
-0.0050956630147993565,
0.018921181559562683,
0.007731182966381311,
-0.023208163678646088,
-0.0016636414220556617,
0.03394510596990585,
0.008306028321385384,
0.016719231382012367,
-0.02864483743906021,
0.0021654132287949324,
0.032464150339365005,
0.024981414899230003,
-0.00831577181816101,
0.020752891898155212,
0.007823742926120758,
0.01186714693903923,
-0.04115503281354904,
-0.01638796553015709,
0.025585491210222244,
0.02488398365676403,
-0.008598322980105877,
0.029560692608356476,
0.020031899213790894,
-0.015209044329822063,
0.02628699690103531,
0.013581939972937107,
-0.0213374812155962,
-0.015228530392050743,
-0.0035586825106292963,
0.05058639124035835,
0.01939859613776207,
-0.00684942863881588,
0.007229411043226719,
-0.01154562272131443,
-0.001579606905579567,
0.011097438633441925,
0.041038114577531815,
-0.01673871837556362,
0.020519057288765907,
0.014790089800953865,
0.03755006939172745,
0.012305588461458683,
0.02137645334005356,
0.02406555972993374,
0.017186902463436127,
0.08433663845062256,
0.011155897751450539,
-0.008349872194230556,
-0.03394510596990585,
0.01652436889708042,
0.02137645334005356,
-0.015842348337173462,
0.038699761033058167,
-0.014643942005932331,
0.003909435588866472,
-0.03111959435045719,
-0.0063574002124369144,
-0.010951291769742966,
0.0012288537109270692,
-0.0018207496032118797,
-0.009329058229923248,
-0.01511161308735609,
0.0033711271826177835,
0.04898851737380028,
-0.04754653200507164,
-0.019564228132367134,
-0.03669267147779465,
-0.006240482442080975,
-0.006259968504309654,
0.0347830168902874,
-0.0019035662990063429,
0.023461485281586647,
-0.03704342618584633,
-0.025156792253255844,
0.06009569764137268,
-0.01831710711121559,
-0.03961561620235443,
-0.005660765338689089,
-0.013036323711276054,
-0.02227282151579857,
0.0776723250746727,
0.00044270401122048497,
-0.005918958690017462,
0.039888422936201096,
0.006664309184998274,
0.02492295764386654,
0.0013396820286288857,
0.03990790992975235,
0.001837800140492618,
0.041856538504362106,
0.02578035369515419,
0.034256886690855026,
0.012734286487102509,
-0.054093923419713974,
0.01846325397491455,
0.03866078704595566,
0.005232067313045263,
0.0001625886798137799,
0.0002787451958283782,
-0.04930029809474945,
-0.024318881332874298,
0.0413888655602932,
0.028138194233179092,
-0.015608512796461582,
0.034471236169338226,
-0.015082383528351784,
0.053158581256866455,
-0.05526310205459595,
-0.021415425464510918,
0.022389739751815796,
-0.010620024986565113,
-0.010883089154958725,
0.02671569585800171,
0.02125953510403633,
0.006971218157559633,
0.012023037299513817,
0.036127571016550064,
0.007175824139267206,
0.0614597387611866,
0.005012846551835537,
-0.017167415469884872,
0.009445976465940475,
0.02359788864850998,
0.010464134626090527,
0.007789642084389925,
-0.00654251966625452,
0.05877063050866127,
0.0036268846597522497,
0.028566891327500343,
-0.00846191868185997,
-0.04474050924181938,
-0.03581579029560089,
0.04887159913778305,
0.04661118984222412,
0.01943756826221943,
0.006108949892222881,
0.04111605882644653,
0.007960147224366665,
0.012188670225441456,
0.03291233256459236,
0.02180515229701996,
0.03536760434508324,
-0.023890184238553047,
-0.017040755599737167,
0.03277593106031418,
0.01907707192003727,
0.03731623291969299,
0.0030544749461114407,
0.03538709133863449,
-0.028235625475645065,
0.007258640602231026,
-0.007024805061519146,
-0.0236953217536211,
0.013757316395640373,
-0.05432775989174843,
-0.015072640031576157,
0.006815327797085047,
-0.016836149618029594,
-0.027027474716305733,
0.03832951933145523,
-0.022389739751815796,
0.005417186766862869,
-0.035484522581100464,
-0.014156784862279892,
-0.004428258165717125,
0.016124900430440903,
0.019028356298804283,
-0.007872458547353745,
0.0043064686469733715,
0.023247135803103447,
0.049573104828596115,
-0.03532863408327103,
-0.031100109219551086,
-0.00510053476318717,
0.0016417193692177534,
-0.03400356322526932,
0.01989549584686756,
-0.009368031285703182,
0.008257312700152397,
0.015209044329822063,
0.021142618730664253,
0.00018892560910899192,
-0.0002315518504474312,
-0.0103472163900733,
-0.020265735685825348,
0.04532509669661522,
-0.006435345392674208,
-0.0008226865320466459,
0.004396592732518911,
-0.018278134986758232,
-0.00048776602488942444,
0.0075265769846737385,
0.01922321878373623,
0.001233725342899561,
-0.0048642633482813835,
-0.003821747377514839,
-0.0025015517603605986,
-0.052690912038087845,
0.0326395258307457,
0.01030824426561594,
-0.0360691100358963,
-0.006688666995614767,
0.003712136996909976,
0.002081378595903516,
0.03513376787304878,
-0.022935355082154274,
0.07131979614496231,
0.0206944327801466,
-0.023247135803103447,
0.008340129628777504,
-0.0772436261177063,
0.0044672307558357716,
0.009329058229923248,
-0.00534411333501339,
-0.017976095899939537,
0.06227816268801689,
-0.05732864513993263,
-0.035484522581100464,
-0.015160328708589077,
-0.02919045276939869,
-0.030593466013669968,
-0.04715680703520775,
-0.014829061925411224,
0.01688486523926258,
0.017956610769033432,
0.02351994439959526,
-0.0070491633377969265,
0.061693575233221054,
0.043688248842954636,
0.028449974954128265,
-0.038095682859420776,
0.026871584355831146,
0.022896382957696915,
-0.0011521264677867293,
0.0036707287654280663,
-0.018229417502880096,
0.022038986906409264,
-0.030145280063152313,
-0.014263959601521492,
-0.021279022097587585,
0.04840392991900444,
0.026657236739993095,
-0.016943324357271194,
-0.027534119784832,
-0.05370419844985008,
-0.052223239094018936,
-0.0029740941245108843,
0.04575379565358162,
-0.019496027380228043,
0.025293195620179176,
-0.008700625970959663,
0.03610808402299881,
-0.02804076299071312,
-0.03739417716860771,
-0.0030910116620361805,
0.016972552984952927,
-0.015394164249300957,
0.055068239569664,
0.018804263323545456,
-0.009767499752342701,
0.012568652629852295,
-0.017527911812067032,
-0.015657229349017143,
-0.024046074599027634,
0.01213995460420847,
-0.022467685863375664,
0.0106687406077981,
0.0103472163900733,
-0.04485742375254631,
-0.03797876834869385,
0.05187248811125755,
-0.00986005924642086,
-0.007097878959029913,
-0.03829054906964302,
0.006206381134688854,
-0.014030124060809612,
0.01179894432425499,
-0.007434017024934292,
-0.018346335738897324,
0.014439336024224758,
0.0051492503844201565,
0.014117812737822533,
-0.003592783585190773,
0.021201075986027718,
0.03663421422243118,
0.005378214176744223,
-0.030788328498601913,
0.02757309190928936,
0.05424981564283371,
-0.02437734045088291,
0.017508426681160927,
-0.010210813023149967,
-0.04158372804522514,
-0.04891057312488556,
0.021415425464510918,
-0.024611176922917366,
0.008130651898682117,
-0.01534544862806797,
0.032756444066762924,
-0.0008348654955625534,
-0.012383533641695976,
0.06114795804023743,
0.0025015517603605986,
0.02334456704556942,
0.033906131982803345,
-0.022331280633807182,
-0.06044645234942436,
0.026150593534111977,
0.021883096545934677,
0.03162623941898346,
0.01547210942953825,
0.003875334747135639,
-0.01860940083861351,
-0.018375566229224205,
-0.03940126672387123,
-0.019778577610850334,
0.005504874978214502,
-0.010844117030501366,
0.04431181028485298,
0.03782287612557411,
-0.0023334824945777655,
0.02270152047276497,
-0.00502746133133769,
0.09470333904027939,
0.01954474300146103,
-0.028313569724559784,
-0.012412762269377708,
-0.023792752996087074,
0.019554486498236656,
-0.011272815056145191,
-0.03195750713348389,
-0.007097878959029913,
-0.0014870470622554421,
0.016465909779071808,
0.00707352114841342,
0.072566919028759,
0.026384428143501282,
0.031139081344008446,
-0.027514632791280746,
0.018628887832164764,
-0.038563355803489685,
0.0356404110789299,
-0.00820859707891941,
-0.06777329742908478,
-0.017449967563152313,
0.002486936980858445,
-0.016183359548449516,
-0.004162757191807032,
-0.004613377619534731,
0.004101862665265799,
0.02018778957426548,
0.0020655461121350527,
-0.018911438062787056,
0.004469666164368391,
-0.038310032337903976,
0.009221883490681648,
0.03984944894909859,
-0.0798158198595047,
0.04006379842758179,
0.06138179451227188,
-0.004109170287847519,
0.013601426035165787,
-0.004311340395361185,
-0.019885752350091934,
0.000003872518391290214,
0.001406666124239564,
0.019564228132367134,
0.02014881744980812,
0.0033126682974398136,
-0.008398587815463543,
-0.00495682330802083,
0.026111619547009468,
0.013007094152271748,
0.001532109105028212,
0.04809214919805527,
-0.05144378915429115,
-0.03299027681350708,
-0.008218340575695038,
-0.018015069887042046,
0.019486283883452415,
0.034256886690855026,
0.005085919983685017,
0.058575768023729324,
-0.038524381816387177,
-0.030846787616610527,
0.03353589400649071,
-0.0503525584936142,
0.026092134416103363,
0.02151285670697689,
0.02402658760547638,
-0.03525068610906601,
0.04435078054666519,
0.009080608375370502,
0.006878658197820187,
-0.022467685863375664,
-0.00998672004789114,
0.03174315765500069,
-0.058575768023729324,
0.02291586995124817,
-0.043259549885988235
] |
Recommender models aim to capture user preferences from historical feedback
and then predict user-specific feedback on candidate items. However, the
presence of various unmeasured confounders causes deviations between the user
preferences in the historical feedback and the true preferences, resulting in
models not meeting their expected performance. Existing debias models either
(1) specific to solving one particular bias or (2) directly obtain auxiliary
information from user historical feedback, which cannot identify whether the
learned preferences are true user preferences or mixed with unmeasured
confounders. Moreover, we find that the former recommender system is not only a
successor to unmeasured confounders but also acts as an unmeasured confounder
affecting user preference modeling, which has always been neglected in previous
studies. To this end, we incorporate the effect of the former recommender
system and treat it as a proxy for all unmeasured confounders. We propose a
novel framework, \textbf{S}eparating and \textbf{L}earning Latent Confounders
\textbf{F}or \textbf{R}ecommendation (\textbf{SLFR}), which obtains the
representation of unmeasured confounders to identify the counterfactual
feedback by disentangling user preferences and unmeasured confounders, then
guides the target model to capture the true preferences of users. Extensive
experiments in five real-world datasets validate the advantages of our method. | [
0.022259339690208435,
-0.021642452105879784,
-0.03283209726214409,
-0.02265346236526966,
-0.00023481332755181938,
-0.038246992975473404,
-0.060968998819589615,
0.004836565349251032,
-0.042633745819330215,
0.000055256099585676566,
-0.027211571112275124,
-0.03697894886136055,
-0.03732166439294815,
-0.03022746369242668,
0.007522594183683395,
0.04866553097963333,
0.033568933606147766,
0.019757520407438278,
0.013991340063512325,
-0.007274125702679157,
0.016313234344124794,
-0.02085420861840248,
0.024298492819070816,
0.046437881886959076,
0.013562946580350399,
0.028445344418287277,
-0.004746602848172188,
-0.0277427788823843,
-0.04561536759138107,
-0.002690312685444951,
0.04561536759138107,
0.030450228601694107,
-0.017941130325198174,
-0.05894697830080986,
-0.06669233739376068,
-0.004074024502187967,
0.018832189962267876,
0.046369340270757675,
0.02373301424086094,
0.10185489803552628,
-0.00755686592310667,
0.013425860553979874,
-0.028565295040607452,
-0.007488322909921408,
0.0282911229878664,
-0.05243539437651634,
-0.056856419891119,
0.0030458795372396708,
-0.042702287435531616,
-0.02472688816487789,
-0.002630337607115507,
0.011678013950586319,
-0.02407572790980339,
0.014908102340996265,
-0.007993827573955059,
0.02227647416293621,
0.027897000312805176,
-0.033706020563840866,
0.009793081320822239,
0.024915380403399467,
-0.031324151903390884,
0.0139399329200387,
-0.04880261421203613,
-0.03012464940547943,
-0.0361907035112381,
0.02275627665221691,
-0.0018185314256697893,
0.030741535127162933,
0.04469003528356552,
-0.000913549680262804,
-0.09369827806949615,
0.016681652516126633,
0.06981104612350464,
0.007462619338184595,
-0.035231102257966995,
0.04458722099661827,
0.0036820443347096443,
0.014231240376830101,
-0.03005610592663288,
-0.02016877755522728,
0.015190842561423779,
0.04804864153265953,
-0.0017349947011098266,
0.046437881886959076,
0.04534119367599487,
-0.03303772583603859,
0.019843198359012604,
-0.05120161920785904,
0.006721497979015112,
-0.035402458161115646,
0.015088028274476528,
-0.0017296397127211094,
-0.004311783239245415,
-0.042153943330049515,
-0.038898151367902756,
-0.013554378412663937,
-0.012911787256598473,
0.0059632412157952785,
-0.0723128616809845,
0.024401307106018066,
-0.05531420186161995,
0.007445483468472958,
-0.006310239899903536,
0.026200560852885246,
0.06042065471410751,
-0.05812446400523186,
-0.030244598165154457,
0.013742871582508087,
-0.03240370377898216,
0.1450369954109192,
-0.00464378809556365,
-0.010632732883095741,
-0.039172325283288956,
-0.007111336104571819,
-0.01693868823349476,
0.03123847208917141,
-0.06055774167180061,
-0.08732378482818604,
0.017821179702878,
-0.01603049412369728,
0.0091676265001297,
0.04811718687415123,
-0.013554378412663937,
-0.0007084561511874199,
-0.024692615494132042,
0.033329032361507416,
0.011223915964365005,
-0.010735547170042992,
0.01867796666920185,
0.02590925432741642,
-0.02220793254673481,
-0.0038576857186853886,
-0.042153943330049515,
-0.05983803793787956,
-0.024932516738772392,
0.029833341017365456,
0.030827214941382408,
0.0374930202960968,
-0.04119434207677841,
-0.01843806728720665,
-0.0361221618950367,
-0.06244267150759697,
-0.10137509554624557,
0.003949790261685848,
-0.002394721144810319,
-0.019174903631210327,
0.02003169246017933,
0.054354600608348846,
-0.049830760806798935,
0.007235570345073938,
-0.038863882422447205,
0.006888571660965681,
0.005324934143573046,
0.03161545842885971,
0.060968998819589615,
-0.02359592728316784,
0.0281197652220726,
-0.011369570158421993,
0.0066658067516982555,
-0.03331189975142479,
0.028479617089033127,
0.00375701324082911,
0.010778387077152729,
0.030347412452101707,
0.012808972969651222,
0.03116992861032486,
0.02169385924935341,
-0.012560504488646984,
-0.03420295566320419,
0.04907678812742233,
-0.028856603428721428,
-0.010032981634140015,
-0.04767165705561638,
0.030484499409794807,
0.014522547833621502,
0.05932396650314331,
0.075534388422966,
-0.0754658430814743,
-0.028599565848708153,
0.017735501751303673,
-0.01378571055829525,
-0.016476023942232132,
-0.009056244045495987,
0.022910498082637787,
0.012937490828335285,
0.008310838602483273,
0.07813902199268341,
-0.023544520139694214,
0.02051149308681488,
-0.011772260069847107,
0.0358479879796505,
0.006241696886718273,
0.054217513650655746,
0.033603206276893616,
0.013811414130032063,
0.0024075729306787252,
-0.0036006495356559753,
-0.017272835597395897,
-0.004129715729504824,
-0.0013140977825969458,
-0.019911741837859154,
-0.017547007650136948,
0.04756884276866913,
-0.007968124002218246,
0.005946105346083641,
0.014830991625785828,
0.0567193329334259,
-0.028668109327554703,
-0.04808291420340538,
-0.050379104912281036,
0.045958083122968674,
-0.03341471403837204,
-0.04945377632975578,
-0.0028059789910912514,
0.018283845856785774,
0.014222672209143639,
-0.01568777859210968,
0.007818185724318027,
0.024332765489816666,
-0.015319360420107841,
-0.006057487800717354,
0.0380413644015789,
0.036053616553545,
0.017838316038250923,
0.025652218610048294,
0.010992583818733692,
0.033706020563840866,
0.020528629422187805,
0.042599473148584366,
-0.012012160383164883,
-0.033808834850788116,
0.012166382744908333,
-0.011472384445369244,
0.0020295153371989727,
0.030690127983689308,
0.04403887689113617,
-0.06391634792089462,
0.0018560158787295222,
0.0183695238083601,
-0.026491869240999222,
0.002512529259547591,
0.012192086316645145,
-0.017701229080557823,
0.0029002255760133266,
0.06446468830108643,
0.007119904272258282,
-0.02020304836332798,
-0.02241356112062931,
0.02196803130209446,
0.038863882422447205,
-0.0756029263138771,
-0.023407435044646263,
-0.049385230988264084,
0.061654429882764816,
-0.046437881886959076,
0.0071156201884150505,
0.004952231887727976,
-0.08513040840625763,
-0.012354875914752483,
-0.06939978897571564,
0.04822000116109848,
-0.008614998310804367,
0.007008521817624569,
-0.026166290044784546,
-0.021916624158620834,
-0.0031679717358201742,
0.009210465475916862,
-0.06268257647752762,
0.0362592488527298,
0.046403609216213226,
0.012337739579379559,
-0.04136570170521736,
-0.016278961673378944,
0.015122299082577229,
-0.04294218868017197,
-0.04163987189531326,
0.009878760203719139,
-0.023236077278852463,
0.018660832196474075,
-0.005603390280157328,
-0.0179925374686718,
0.016287529841065407,
0.008679257705807686,
0.0038641116116195917,
0.022533511742949486,
-0.011892210692167282,
-0.025086738169193268,
-0.03684186190366745,
-0.03423722833395004,
-0.013502971269190311,
-0.038966696709394455,
-0.014830991625785828,
-0.06254548579454422,
0.020562900230288506,
0.053326454013586044,
0.04458722099661827,
0.01735851541161537,
0.0549372136592865,
0.027005942538380623,
-0.039035238325595856,
0.006961398292332888,
0.008486480452120304,
0.038281265646219254,
0.01370003167539835,
0.029627712443470955,
0.05798737704753876,
0.0028638122603297234,
0.08225160092115402,
-0.023167533800005913,
0.002853102283552289,
0.018249573186039925,
-0.030570177361369133,
-0.015319360420107841,
-0.024127136915922165,
-0.0374244786798954,
0.03958358243107796,
-0.017024368047714233,
-0.057233404368162155,
-0.01572205126285553,
-0.028273986652493477,
-0.021128380671143532,
-0.0010479581542313099,
-0.04160559922456741,
-0.026817448437213898,
-0.0005202306783758104,
0.015910543501377106,
-0.05216122418642044,
0.04417596384882927,
0.011095398105680943,
0.0007111336453817785,
-0.02411000058054924,
-0.004311783239245415,
-0.004768022336065769,
-0.02428135834634304,
-0.06689796596765518,
0.02387009933590889,
-0.004506702069193125,
0.02743433602154255,
-0.026646090671420097,
-0.06782329827547073,
-0.001377285923808813,
-0.016784466803073883,
-0.022362153977155685,
0.02217365987598896,
0.003861969569697976,
-0.009973006322979927,
0.002630337607115507,
0.006395918782800436,
0.05829581990838051,
-0.011018287390470505,
0.0009456792031414807,
-0.061311714351177216,
0.004870837088674307,
0.0370132215321064,
0.0756714716553688,
-0.04705477133393288,
-0.013468699529767036,
-0.009621723555028439,
-0.027348656207323074,
0.06237412989139557,
-0.0008150191279128194,
-0.02542945370078087,
-0.05072182044386864,
0.06710359454154968,
-0.03214666619896889,
-0.008310838602483273,
-0.014719609171152115,
-0.02625196985900402,
0.042393844574689865,
0.0034507117234170437,
-0.05120161920785904,
0.039515040814876556,
0.01226062886416912,
-0.00277170748449862,
-0.033397577702999115,
0.0068628680892288685,
0.005851858761161566,
0.01195218600332737,
0.024761158972978592,
0.039103779941797256,
0.004123290069401264,
-0.013442995958030224,
0.001429764088243246,
0.02359592728316784,
0.02023732103407383,
-0.014196968637406826,
-0.014899534173309803,
0.03999483957886696,
-0.053943339735269547,
0.006310239899903536,
0.017341379076242447,
-0.06720641255378723,
0.049385230988264084,
-0.050379104912281036,
0.005637661553919315,
-0.021488230675458908,
-0.000626525841653347,
0.02964484691619873,
0.005650513339787722,
-0.03147837147116661,
-0.013819982297718525,
0.00927044078707695,
-0.03002183325588703,
-0.00464378809556365,
-0.008255147375166416,
0.02044294960796833,
0.01585913635790348,
0.0073126815259456635,
0.08190888166427612,
0.020905615761876106,
0.031049979850649834,
0.0072784097865223885,
-0.01575632207095623,
0.028393937274813652,
0.04136570170521736,
0.01694725640118122,
-0.03432290628552437,
-0.0016718065598979592,
0.06316237151622772,
-0.046129439026117325,
0.02608061209321022,
0.027417199686169624,
0.04876834526658058,
0.013897093012928963,
0.015336495824158192,
0.04016619920730591,
-0.05044764652848244,
-0.026783177629113197,
0.029799068346619606,
0.001223064144141972,
-0.00918476190418005,
0.06209995970129967,
-0.006168869789689779,
-0.05764466151595116,
0.0374244786798954,
0.013237366452813148,
0.015619236044585705,
-0.015267953276634216,
-0.012903220020234585,
-0.028942281380295753,
0.002298332517966628,
-0.053497809916734695,
-0.012963195331394672,
0.05202413722872734,
-0.01010152418166399,
-0.03214666619896889,
0.019569026306271553,
-0.054011885076761246,
0.004442443139851093,
-0.024709751829504967,
-0.08437643200159073,
0.01693868823349476,
-0.0719016045331955,
-0.031701136380434036,
0.021882353350520134,
-0.0370132215321064,
0.02234501764178276,
-0.017435625195503235,
0.053532082587480545,
-0.03622497618198395,
-0.0181638952344656,
0.04503275081515312,
-0.004176839254796505,
-0.015216546133160591,
0.013717168010771275,
0.02058003656566143,
-0.0766310766339302,
-0.04355907812714577,
-0.009938734583556652,
0.00732553331181407,
-0.010838361456990242,
0.014171265065670013,
-0.006725782062858343,
-0.028582431375980377,
-0.00201987661421299,
0.05599962919950485,
-0.028736652806401253,
-0.075945645570755,
0.010024413466453552,
-0.02376728504896164,
-0.006610115524381399,
0.03643060475587845,
0.031495507806539536,
-0.030570177361369133,
0.049865033477544785,
-0.019637569785118103,
-0.025172416120767593,
0.03236943110823631,
0.007976691238582134,
-0.01314312033355236,
-0.020802799612283707,
-0.05079036206007004,
0.003073725150898099,
0.015302225016057491,
0.010144364088773727,
-0.03437431529164314,
0.030947163701057434,
-0.05178423598408699,
0.06350509077310562,
0.0003727025759872049,
0.060694824904203415,
0.06693223863840103,
0.004648072179406881,
-0.012637615203857422,
0.03725311905145645,
0.012457690201699734,
0.00427751149982214,
-0.03293491154909134,
-0.038623981177806854,
0.026440462097525597,
-0.014539684168994427,
0.01989460550248623,
0.0042496658861637115,
-0.03649914637207985,
-0.010547054000198841,
0.021196922287344933,
0.005093601532280445,
-0.014325487427413464,
-0.008593578822910786,
0.004144709557294846,
0.020220184698700905,
0.015062324702739716,
-0.03413441404700279,
0.03099857084453106,
-0.02628624066710472,
0.01096688024699688,
-0.016313234344124794,
-0.014976645819842815,
0.02352738566696644,
-0.007848173379898071,
0.042428117245435715,
0.04455294832587242,
0.002955916803330183,
-0.049899302423000336,
0.04397033527493477,
-0.02601206861436367,
0.016476023942232132,
0.028788059949874878,
0.0021644593216478825,
-0.03190676495432854,
-0.008936293423175812,
0.050310563296079636,
0.03348325565457344,
-0.006670090835541487,
-0.012380579486489296,
0.004438159056007862,
0.031769681721925735,
-0.029970426112413406,
0.004596665035933256,
0.020254457369446754,
0.03416868671774864,
0.004900824278593063,
0.008884886279702187,
0.009176193736493587,
-0.01539647113531828,
0.013211662881076336,
-0.046129439026117325,
0.03793855011463165,
0.011618038639426231,
0.009210465475916862,
0.022396424785256386,
-0.005809019319713116,
0.024709751829504967,
0.012277765199542046,
0.042325302958488464,
-0.01660454086959362,
0.02404145710170269,
0.04705477133393288,
-0.02431562915444374,
0.010607029311358929,
-0.02279054746031761,
0.03435717895627022,
-0.02832539565861225,
-0.004260375630110502,
-0.04325063154101372,
0.027794186025857925,
0.008105210028588772,
-0.01734994724392891,
0.012577640824019909,
0.03103284351527691,
-0.017666958272457123,
-0.016998663544654846,
-0.0007828896050341427,
0.022944768890738487,
-0.008636417798697948,
0.010367128998041153,
0.0026346214581280947,
-0.02268773317337036,
0.02411000058054924,
0.010641301050782204,
-0.023150397464632988,
0.06336800009012222,
0.0006093900883570313,
-0.01295462716370821,
-0.05157860741019249,
0.0140256118029356,
-0.0030994287226349115,
-0.010221474803984165,
0.025686489418148994,
-0.030518770217895508,
0.007916716858744621,
-0.014162697829306126,
0.016767330467700958,
0.03158118575811386,
-0.007154175546020269,
-0.010786954313516617,
0.02020304836332798,
-0.0031872494146227837,
0.008606430143117905,
0.011061126366257668,
0.00048703013453632593,
0.009638858959078789,
0.03199244663119316,
-0.0546630434691906,
0.016715923324227333,
-0.0002710929256863892,
0.027057349681854248,
-0.05836436524987221,
0.00004324099427321926,
0.014368326403200626,
0.027451472356915474,
-0.025755032896995544,
0.06515011936426163,
0.012474825605750084,
-0.010786954313516617,
0.04102298617362976,
-0.002527523087337613,
-0.014813856221735477,
0.01096688024699688,
-0.02832539565861225,
-0.06549283862113953,
0.034751299768686295,
-0.03773292154073715,
-0.02210511825978756,
-0.02553226798772812,
0.009304712526500225,
-0.01297176256775856,
0.04719185456633568,
0.04702049866318703,
-0.01728997193276882,
0.027554286643862724,
0.0007512955344282091,
-0.0013944216771051288,
0.041845500469207764,
-0.007462619338184595,
0.02058003656566143,
-0.009870192036032677,
-0.021471094340085983,
0.05462877079844475,
0.014291215687990189,
-0.022704869508743286,
0.015799161046743393,
0.0181296244263649,
0.04170841723680496,
-0.009330416098237038,
0.007963839918375015,
0.0188835971057415,
0.010461375117301941,
0.06357363611459732,
0.004279653541743755,
0.0045281220227479935,
0.023270348086953163,
0.021402550861239433,
-0.007968124002218246,
0.015816297382116318,
0.015456446446478367,
0.018626559525728226,
0.021642452105879784,
0.027211571112275124,
0.04825427383184433,
-0.00897913333028555,
0.006661522667855024,
-0.053292181342840195,
0.012414851225912571,
0.04081735759973526,
-0.04523837938904762,
0.013828550465404987,
0.05257248133420944,
-0.0181638952344656,
-0.006451610010117292,
-0.0747118666768074,
-0.00906481221318245,
-0.02068285085260868,
0.046232253313064575,
0.018352387472987175,
-0.014325487427413464,
-0.00862356647849083,
-0.009553181007504463,
-0.010418536141514778,
0.02472688816487789,
-0.033054862171411514,
-0.03338044136762619,
0.06878290325403214,
0.007269842084497213,
-0.027725644409656525,
-0.03228375315666199,
-0.04068027064204216,
0.004438159056007862,
0.00554341496899724,
0.0754658430814743,
0.0067557692527771,
0.024298492819070816,
0.0063359434716403484,
0.010418536141514778,
0.020528629422187805,
-0.023133262991905212,
0.01015293225646019,
-0.023921506479382515,
-0.031187064945697784,
0.013151688501238823,
0.0018003247678279877,
-0.008366529829800129,
-0.039377953857183456,
0.012860380113124847,
-0.008208024315536022,
0.02172813192009926,
0.053600624203681946,
-0.042256761342287064,
0.03739020600914955,
0.018386660143733025,
0.0003183500957675278,
0.015139435417950153,
0.0017146460013464093,
-0.060729097574949265,
-0.028925146907567978,
-0.00017376721370965242,
0.022944768890738487,
0.001797111821360886,
0.005423464812338352,
-0.011575198732316494,
0.046232253313064575,
0.028273986652493477,
-0.038246992975473404,
0.0028338246047496796,
-0.015602100640535355,
-0.011746556498110294,
-0.02549799531698227,
-0.0034442858304828405,
-0.012714726850390434,
0.0006093900883570313,
0.003559952136129141,
-0.021042700856924057,
0.04187977313995361,
-0.02200230211019516,
0.006652954965829849,
0.031838223338127136,
0.019363397732377052,
0.038932424038648605,
0.002940923208370805,
0.011917914263904095,
0.015542125329375267,
-0.03773292154073715,
0.05270956829190254,
-0.0012252060696482658,
-0.0556911863386631,
-0.01142954546958208,
-0.020288728177547455,
-0.012706158682703972,
0.011746556498110294,
-0.023955779150128365,
0.042188216000795364,
0.03259219601750374,
0.0026796029414981604,
-0.0185751523822546,
0.08218305557966232,
0.03175254538655281,
-0.049659404903650284,
-0.024846836924552917,
0.01305744145065546,
-0.05531420186161995,
0.03204385191202164,
0.009124786593019962,
-0.0022747707553207874,
-0.049419503659009933,
0.0188835971057415,
0.027280114591121674,
0.029867611825466156,
0.007162743713706732,
-0.02292763441801071,
0.06696651130914688,
0.00830227043479681,
0.03144410252571106,
-0.016972960904240608,
-0.0181638952344656,
-0.018420930951833725,
0.013048873282968998,
-0.026663227006793022,
-0.04345626384019852,
0.018489474430680275,
0.0379728227853775,
-0.016955824568867683,
0.04414169117808342,
0.01171228475868702,
-0.014342622831463814,
0.02709162048995495,
-0.006164586171507835,
-0.019363397732377052,
0.002623911714181304,
-0.03144410252571106,
-0.013331613503396511,
0.003345755161717534,
-0.019346261397004128,
-0.028531024232506752,
0.04945377632975578,
0.0037056058645248413,
-0.026577549055218697,
0.039138052612543106,
0.009741674177348614,
-0.0018238864140585065,
0.01677589863538742,
-0.005860426463186741,
0.057404763996601105,
0.017684094607830048,
0.017435625195503235,
0.014985213056206703,
-0.02560080960392952,
-0.00364134693518281,
0.05181850865483284,
0.0179582666605711,
-0.0562395304441452,
-0.017195725813508034,
-0.027005942538380623,
0.002527523087337613,
-0.030261734500527382,
-0.01609903760254383,
-0.003966926131397486,
-0.019946012645959854,
0.025189552456140518,
0.019346261397004128,
-0.032112397253513336,
0.005247823428362608,
0.026868855580687523,
-0.0378357358276844,
-0.0049051083624362946,
0.00043133896542713046,
0.0374930202960968,
-0.024863973259925842,
-0.027365792542696,
0.0274000633507967,
0.024469850584864616,
0.005971808917820454,
-0.004579529166221619,
0.014051315374672413,
-0.05277810990810394,
-0.0013751438818871975,
0.056822147220373154,
-0.01539647113531828,
0.04167414456605911,
-0.0035192547366023064,
0.023818692192435265,
0.022773411124944687,
0.016278961673378944,
0.050036389380693436,
-0.027657100930809975,
-0.008884886279702187,
-0.025086738169193268,
0.03560808673501015,
-0.0011523792054504156,
-0.026166290044784546,
0.0038641116116195917,
0.014179833233356476,
0.010452807880938053,
-0.006344511639326811,
-0.029867611825466156,
-0.00830227043479681,
-0.01475388091057539,
0.00303516979329288,
-0.06926269829273224,
0.006880003493279219,
-0.03766437992453575,
0.012294900603592396,
-0.012372011318802834,
-0.04880261421203613,
-0.00784388929605484,
-0.009621723555028439,
0.0008546455064788461,
0.035162560641765594,
0.017872586846351624,
0.01860942505300045,
-0.011729421094059944,
0.015636371448636055,
-0.004425307270139456,
0.06844018399715424,
-0.019877469167113304,
0.05092744901776314,
-0.05764466151595116,
-0.04191404581069946,
-0.02448698692023754,
0.00014083443966228515,
-0.04400460422039032,
0.019706113263964653,
0.06532148271799088,
-0.03452853485941887,
-0.008019531145691872,
-0.012234925292432308,
-0.028650974854826927,
-0.007492606528103352,
0.009321847930550575,
-0.02614915370941162,
0.03015892021358013,
-0.00826799962669611,
-0.0139742037281394,
-0.0005346889374777675,
-0.0031722558196634054,
-0.009124786593019962,
-0.011480952613055706,
0.015070891939103603,
-0.04544400796294212,
0.046609241515398026,
0.012860380113124847,
0.017409922555088997,
-0.05918687954545021,
0.015696346759796143,
-0.00998157449066639,
0.0372873917222023,
-0.011309594847261906,
-0.0069528305903077126,
0.04136570170521736,
0.04352480545639992,
0.01079552248120308,
0.0017703372286632657,
0.030415955930948257,
0.00539776124060154,
0.007175595499575138,
-0.05048191919922829,
0.04013192653656006,
0.06305956095457077,
0.05274383723735809,
-0.01468533743172884,
0.03396305814385414,
-0.030450228601694107,
0.006220277398824692,
0.02902796119451523,
-0.003744161454960704,
0.01684444211423397,
0.03428863734006882,
-0.0735466405749321,
0.0179925374686718,
0.006490165367722511,
-0.020357271656394005,
0.013323045335710049,
0.011635174043476582,
-0.006742917466908693,
0.013211662881076336,
-0.006691510323435068,
-0.009930167347192764,
0.04486139491200447,
-0.04006338492035866,
0.014256943948566914,
-0.0026346214581280947,
-0.07628835737705231,
-0.025206688791513443,
-0.01378571055829525,
0.004750886466354132,
-0.00816518533974886,
-0.0015572112752124667,
-0.022567782551050186,
-0.020699985325336456,
-0.025892117992043495,
-0.008332258090376854,
-0.01027288194745779,
0.030176056548953056,
0.015602100640535355,
-0.02577216736972332,
-0.03372315689921379,
0.038384079933166504,
-0.026628956198692322,
-0.02560080960392952,
-0.023030448704957962,
0.003697038162499666,
-0.006348795257508755,
-0.022122252732515335,
0.02220793254673481,
-0.0026646091137081385,
0.05565691739320755,
-0.019260583445429802,
0.01864369586110115,
-0.013717168010771275,
-0.027965543791651726,
0.03982348367571831,
0.037767194211483,
0.035710904747247696,
-0.0025103874504566193,
0.05572545900940895,
0.008563591167330742,
-0.021779539063572884,
0.0364648774266243,
0.00252109719440341,
-0.0090819476172328,
0.014034179039299488,
-0.011840803548693657,
-0.004802294075489044,
0.010307153686881065,
-0.04530692473053932,
-0.027554286643862724,
-0.019534755498170853,
-0.015199409797787666,
-0.0033478972036391497,
0.008550738915801048,
0.007985259406268597,
-0.05517711490392685,
0.01704150252044201,
0.0374244786798954,
0.019431941211223602,
-0.0024568382650613785,
-0.00734266871586442,
0.06703505665063858,
-0.010435671545565128,
-0.02818830870091915,
0.04876834526658058,
0.023030448704957962,
0.003384310519322753,
-0.04852844402194023,
-0.025583675131201744,
-0.046403609216213226,
-0.03158118575811386,
-0.022430697456002235,
-0.0025982081424444914,
0.03649914637207985,
-0.014728177338838577,
0.038486894220113754,
-0.012569072656333447,
0.041982587426900864,
-0.025617945939302444
] |
Synthetic biologists and molecular programmers design novel nucleic acid
reactions, with many potential applications. Good visualization tools are
needed to help domain experts make sense of the complex outputs of folding
pathway simulations of such reactions. Here we present ViDa, a new approach for
visualizing DNA reaction folding trajectories over the energy landscape of
secondary structures. We integrate a deep graph embedding model with common
dimensionality reduction approaches, to map high-dimensional data onto 2D
Euclidean space. We assess ViDa on two well-studied and contrasting DNA
hybridization reactions. Our preliminary results suggest that ViDa's
visualization successfully separates trajectories with different folding
mechanisms, thereby providing useful insight to users, and is a big improvement
over the current state-of-the-art in DNA kinetics visualization. | [
0.013742035254836082,
-0.0074931420385837555,
-0.029419569298624992,
-0.00017266831127926707,
0.02737347036600113,
0.008276557549834251,
0.017096899449825287,
0.03181590139865875,
-0.04479295387864113,
-0.009778873063623905,
0.020000144839286804,
0.004778836388140917,
0.03129976615309715,
-0.02226744219660759,
-0.038230691105127335,
0.035557862371206284,
-0.02470063976943493,
-0.036848194897174835,
-0.08213884383440018,
-0.03830442577600479,
0.026949504390358925,
-0.042212288826704025,
-0.027668403461575508,
-0.01100468821823597,
0.03566846251487732,
-0.02761310338973999,
0.037161558866500854,
0.021659143269062042,
-0.053972743451595306,
0.08206511288881302,
0.02870067022740841,
-0.015530066564679146,
0.010129106231033802,
0.03679289296269417,
-0.0363873615860939,
0.008636007085442543,
0.027779003605246544,
0.031520966440439224,
-0.0033410380128771067,
0.05647967383265495,
0.009631406515836716,
0.007502358872443438,
0.024037040770053864,
-0.021917210891842842,
0.007133692502975464,
0.050765346735715866,
-0.02897716872394085,
-0.0230232086032629,
-0.008640616200864315,
-0.024755939841270447,
-0.02519834041595459,
-0.024037040770053864,
-0.02169601060450077,
-0.0019666042644530535,
0.012562303803861141,
0.0037719167303293943,
0.06768713146448135,
0.052977342158555984,
0.030064735561609268,
0.025308940559625626,
-0.015456333756446838,
-0.03428596258163452,
0.015106100589036942,
0.016967864707112312,
0.05168701335787773,
0.001002311473712325,
0.01585265062749386,
-0.014617618173360825,
-0.06038753688335419,
0.0017580772982910275,
-0.028903435915708542,
-0.00864983256906271,
-0.035760629922151566,
-0.026156872510910034,
-0.004387128632515669,
0.016147583723068237,
0.02171444334089756,
0.013078436255455017,
-0.005755802150815725,
-0.013419452123343945,
0.030949532985687256,
-0.00850236602127552,
-0.05979767069220543,
-0.016000116243958473,
0.05662713944911957,
-0.04788975045084953,
0.027023237198591232,
-0.06750279664993286,
-0.00952080637216568,
-0.030654599890112877,
-0.037935759872198105,
0.025272073224186897,
-0.010700538754463196,
0.016516249626874924,
-0.00828577484935522,
0.014691350981593132,
0.03192649781703949,
0.005248886067420244,
-0.019502446055412292,
0.03992655873298645,
-0.014921767637133598,
0.005645202472805977,
-0.01743791438639164,
0.006907884497195482,
-0.009843389503657818,
-0.05880226939916611,
-0.0021037019323557615,
0.004866394679993391,
-0.04394501820206642,
0.10742935538291931,
-0.001496554701589048,
-0.011447087861597538,
-0.006815717555582523,
-0.013806551694869995,
-0.015152184292674065,
-0.001485033892095089,
-0.021898776292800903,
-0.05109714716672897,
-0.0024401098489761353,
-0.06374239921569824,
0.05102341249585152,
0.03106013312935829,
-0.03893115743994713,
-0.05231374502182007,
-0.015861866995692253,
0.055852942168712616,
-0.03511546179652214,
-0.04722614958882332,
0.004728144966065884,
0.030617734417319298,
-0.05924466997385025,
0.0003510970273055136,
0.03773299232125282,
0.018811196088790894,
0.05651653930544853,
0.010884871706366539,
0.011520820669829845,
-0.04954874888062477,
0.024755939841270447,
0.008774257265031338,
-0.005944743752479553,
-0.016239749267697334,
-0.015410250052809715,
-0.01583421602845192,
0.016267400234937668,
0.006350276526063681,
-0.019447145983576775,
0.09740162640810013,
-0.05445200949907303,
0.055041875690221786,
-0.055078741163015366,
-0.006553043145686388,
0.03273756429553032,
-0.00816595833748579,
0.018313497304916382,
0.005096811335533857,
-0.001331806881353259,
0.0022937955800443888,
0.04457175359129906,
-0.053235411643981934,
0.004430907778441906,
-0.02628590539097786,
0.02630433812737465,
0.07362265884876251,
-0.0419173538684845,
0.027004804462194443,
0.03406476229429245,
-0.011050771921873093,
0.003209700807929039,
0.044903554022312164,
0.002725826343521476,
0.024534741416573524,
0.02197250910103321,
0.023373441770672798,
-0.083834707736969,
0.031520966440439224,
-0.005516169127076864,
0.04365008696913719,
-0.014184434898197651,
-0.028811268508434296,
-0.08914350718259811,
-0.022304309532046318,
0.01260838657617569,
-0.013483969494700432,
0.04505101963877678,
0.10514362156391144,
0.0551893413066864,
-0.029954135417938232,
0.021566977724432945,
-0.029382701963186264,
0.06676546484231949,
0.015354949980974197,
0.022857308387756348,
0.030212201178073883,
0.0012119903694838285,
-0.021640710532665253,
0.006829542573541403,
0.005861793644726276,
0.03271913155913353,
0.0012281194794923067,
-0.10735561698675156,
-0.006972400937229395,
0.002447022357955575,
0.0439818874001503,
-0.02973293513059616,
0.058028072118759155,
0.021272044628858566,
-0.03504173085093498,
0.043539486825466156,
-0.08059044927358627,
-0.010516205802559853,
-0.009189006872475147,
-0.05817553773522377,
-0.03161313384771347,
0.0017465564887970686,
-0.010783488862216473,
-0.08066418021917343,
0.014949417673051357,
-0.04766855016350746,
0.019907979294657707,
-0.019189080223441124,
0.007755816914141178,
0.03141036629676819,
0.011059988290071487,
-0.0010558832436800003,
0.005820319056510925,
0.006470093037933111,
0.029880400747060776,
-0.00676502613350749,
0.0396684929728508,
0.02921680174767971,
0.013622218742966652,
0.02202780917286873,
-0.06488526612520218,
-0.005861793644726276,
-0.06322626769542694,
0.014129134826362133,
-0.03187119960784912,
-0.018433313816785812,
-0.004732753150165081,
-0.024534741416573524,
-0.01329041924327612,
0.00007200513209681958,
-0.005106027703732252,
0.030931100249290466,
0.04475608468055725,
0.008493149653077126,
0.06326313316822052,
0.08737390488386154,
0.027963336557149887,
0.05098654702305794,
-0.04335515573620796,
0.05946587026119232,
0.02442414127290249,
-0.032000232487916946,
0.034433431923389435,
-0.006225851830095053,
0.028313569724559784,
-0.06473779678344727,
-0.013954018242657185,
0.008889465592801571,
0.04376068711280823,
-0.008709740824997425,
0.091060571372509,
0.019981712102890015,
-0.03775142505764961,
0.01979737915098667,
0.01706003211438656,
0.014525451697409153,
0.05061788111925125,
-0.02412920817732811,
-0.04405561834573746,
-0.010221272706985474,
-0.01591716706752777,
0.013161386363208294,
-0.03128133341670036,
0.024258241057395935,
0.044129353016614914,
0.053493477404117584,
-0.046230752021074295,
0.028571635484695435,
-0.061309199780225754,
0.037161558866500854,
0.014377985149621964,
0.010636022314429283,
-0.05489441007375717,
0.02658083848655224,
-0.02250707522034645,
-0.0889960378408432,
-0.029640767723321915,
0.018571563065052032,
0.011898703873157501,
-0.0015460941940546036,
-0.013179819099605083,
-0.024921840056777,
-0.015898732468485832,
-0.04342888668179512,
-0.01057150587439537,
0.015437900088727474,
-0.038451891392469406,
-0.03563159704208374,
-0.005506952293217182,
0.02009231224656105,
0.05987140163779259,
-0.008419415913522243,
0.0020449457224458456,
0.03729059547185898,
0.08906976878643036,
-0.016147583723068237,
-0.025640739127993584,
0.02650710567831993,
0.018000131472945213,
0.03491269797086716,
-0.023244408890604973,
-0.011852621100842953,
-0.021382644772529602,
0.017530081793665886,
0.0008686698856763542,
-0.013723602518439293,
-0.007548442110419273,
-0.012682120315730572,
-0.032811298966407776,
-0.06164100021123886,
-0.001402083900757134,
0.01137335505336523,
0.0015587670495733619,
-0.03948415815830231,
-0.04899574816226959,
0.009055365808308125,
0.055336806923151016,
0.03424909710884094,
-0.0617516003549099,
-0.055041875690221786,
0.03618459403514862,
0.024608474224805832,
-0.014018534682691097,
-0.06982539594173431,
0.004006941802799702,
0.019981712102890015,
0.00009022242738865316,
-0.07030466198921204,
0.03644265979528427,
0.0329403318464756,
-0.028811268508434296,
0.0005699926405213773,
-0.022341176867485046,
-0.00990790594369173,
0.03859936073422432,
0.023373441770672798,
0.008603748865425587,
0.0009907906642183661,
-0.0057005020789802074,
-0.018967879936099052,
-0.002792647108435631,
0.00950237363576889,
-0.028608502820134163,
0.013133736327290535,
-0.030396534129977226,
0.005645202472805977,
0.052166279405355453,
-0.028350437059998512,
-0.003972379025071859,
-0.0019147604471072555,
0.04313395544886589,
-0.06031380221247673,
-0.05120774731040001,
-0.042212288826704025,
-0.026120005175471306,
-0.004101412370800972,
-0.009456289932131767,
0.014848033897578716,
-0.0007367564830929041,
-0.0808853805065155,
0.0018329626182094216,
-0.03423066437244415,
-0.00045132817467674613,
0.0028663803823292255,
-0.04129062220454216,
-0.03301406651735306,
0.0465625524520874,
-0.005262711085379124,
0.03893115743994713,
-0.06886686384677887,
0.012175203301012516,
-0.03218456730246544,
0.03804636001586914,
0.03771455958485603,
0.031152300536632538,
-0.028885003179311752,
0.026101572439074516,
-0.013631435111165047,
-0.017354965209960938,
-0.02683890424668789,
0.0034585504326969385,
0.07977937906980515,
-0.03568689525127411,
0.06160413473844528,
0.006308801472187042,
0.06923552602529526,
0.0002609466027934104,
-0.05367780849337578,
0.03786202520132065,
-0.009557672776281834,
-0.0367375947535038,
-0.003543804632499814,
-0.004576070234179497,
-0.010691322386264801,
-0.02576977200806141,
-0.0031751382630318403,
0.02466377429664135,
0.0014113006182014942,
-0.04608328267931938,
0.061235468834638596,
0.001559919212013483,
0.03623989596962929,
0.0015898733399808407,
0.022949475795030594,
0.025530138984322548,
-0.02516147308051586,
0.016304265707731247,
0.05489441007375717,
-0.029861968010663986,
0.011345705017447472,
0.019723646342754364,
-0.0688299909234047,
0.029603902250528336,
-0.03238733112812042,
-0.06134606897830963,
0.008824949152767658,
-0.03996342420578003,
0.008437849581241608,
0.007253509014844894,
-0.0372537262737751,
-0.04752108454704285,
-0.03778829425573349,
-0.008548449724912643,
0.008271949365735054,
0.024829674512147903,
-0.06315252929925919,
0.026949504390358925,
-0.10285788774490356,
-0.018931012600660324,
0.013981668278574944,
-0.05736447125673294,
-0.08206511288881302,
0.02195407636463642,
-0.014728217385709286,
-0.04022148996591568,
-0.021603843197226524,
-0.00815674103796482,
-0.01702316477894783,
0.01692178286612034,
-0.0332905650138855,
-0.044313687831163406,
0.00199194997549057,
-0.003193571697920561,
-0.0625995323061943,
-0.008497757837176323,
0.015898732468485832,
-0.062378332018852234,
-0.020166045054793358,
0.015437900088727474,
0.01959461346268654,
-0.0275946706533432,
0.01382498536258936,
0.05894973874092102,
0.020442545413970947,
-0.056147873401641846,
0.025345806032419205,
0.057770006358623505,
0.07207425683736801,
-0.03852562606334686,
0.013917151838541031,
0.008447065949440002,
0.0396684929728508,
-0.008419415913522243,
0.014562318101525307,
-0.01311530265957117,
-0.02626747265458107,
-0.002919376129284501,
0.028903435915708542,
0.02470063976943493,
0.031502533704042435,
0.027391904965043068,
0.011981653980910778,
0.003099100897088647,
0.0065300012938678265,
0.01981581188738346,
0.029825102537870407,
0.00884799100458622,
0.027207572013139725,
0.016958648338913918,
-0.06816639751195908,
-0.009069190360605717,
-0.010350305587053299,
-0.004069154150784016,
-0.059392135590314865,
-0.006981617771089077,
0.02363150753080845,
0.04044269025325775,
0.0439818874001503,
0.0010904456721618772,
0.03614772856235504,
-0.029567034915089607,
-0.007483925204724073,
0.016553115099668503,
0.03376983106136322,
0.030064735561609268,
0.030912667512893677,
-0.04106942191720009,
-0.01005537249147892,
-0.015613016672432423,
-0.014027751982212067,
-0.04103255644440651,
-0.02549327351152897,
0.013391802087426186,
-0.05153954401612282,
-0.05117087811231613,
0.02331814169883728,
0.013354935683310032,
-0.01781579852104187,
0.015087666921317577,
0.01648859865963459,
0.015520850196480751,
-0.023723674938082695,
0.009539240039885044,
0.0034792879596352577,
-0.055078741163015366,
0.0503598116338253,
-0.0008698219899088144,
-0.01824898086488247,
0.017705198377370834,
-0.017871098592877388,
0.004200491588562727,
0.028885003179311752,
0.004426299594342709,
0.0034378129057586193,
0.053788408637046814,
0.013198252767324448,
-0.01017518900334835,
-0.001248857006430626,
0.02248864248394966,
-0.027207572013139725,
0.016894131898880005,
-0.010626805014908314,
-0.0206084456294775,
0.03305093199014664,
-0.017373397946357727,
-0.013483969494700432,
-0.03723529353737831,
0.027428770437836647,
-0.024737507104873657,
0.04766855016350746,
0.0005864098202437162,
0.0024654557928442955,
-0.005921701900660992,
0.009290389716625214,
-0.026894204318523407,
-0.009318039752542973,
-0.016018548980355263,
0.007456275634467602,
0.033861998468637466,
0.028553202748298645,
-0.043281421065330505,
-0.014027751982212067,
0.0008536928216926754,
0.015419467352330685,
0.0684613287448883,
-0.001630196231417358,
-0.013871069066226482,
-0.011576120741665363,
-0.0357053279876709,
-0.05341974273324013,
-0.013299635611474514,
-0.02731817029416561,
-0.018202897161245346,
0.040332090109586716,
-0.023908007889986038,
0.01486646756529808,
-0.016792748123407364,
0.02811080403625965,
-0.010663672350347042,
0.0009343386045657098,
0.022672975435853004,
-0.0061106435023248196,
-0.022636109963059425,
-0.00007020500197540969,
-0.07528164982795715,
0.013751251623034477,
0.022322742268443108,
-0.03778829425573349,
0.020037012174725533,
0.019907979294657707,
0.007281159050762653,
-0.013631435111165047,
0.011419437825679779,
-0.007341067306697369,
0.052903611212968826,
0.06024007126688957,
0.017917180433869362,
-0.010018506087362766,
0.009493156336247921,
0.03856249153614044,
0.0007880241610109806,
-0.026654571294784546,
0.02731817029416561,
0.02628590539097786,
0.0013617610093206167,
0.05013861507177353,
-0.005069161299616098,
-0.04269155487418175,
-0.03889429196715355,
-0.01674666628241539,
-0.01807386428117752,
0.008387157693505287,
0.0033364298287779093,
0.04505101963877678,
0.03882055729627609,
-0.02576977200806141,
-0.05942900478839874,
0.0164701659232378,
-0.01741948164999485,
0.03699566051363945,
-0.037972625344991684,
0.04958561435341835,
0.06145666912198067,
-0.015142966993153095,
-0.021530110388994217,
-0.026064705103635788,
-0.013179819099605083,
-0.018083080649375916,
0.014682134613394737,
-0.047557950019836426,
-0.010728188790380955,
0.023244408890604973,
-0.0034009465016424656,
-0.0027488679625093937,
0.03170530125498772,
0.025585439056158066,
-0.00819360837340355,
-0.026636138558387756,
-0.009336473420262337,
0.015898732468485832,
0.030986400321125984,
-0.017843447625637054,
-0.021843476220965385,
-0.00756687531247735,
0.017373397946357727,
0.004029983188956976,
0.04608328267931938,
0.0546732097864151,
-0.00529496930539608,
-0.023410309106111526,
0.03316153213381767,
0.05861793830990791,
-0.033069364726543427,
0.021917210891842842,
-0.00013565766857936978,
-0.028866568580269814,
0.0513920783996582,
0.0670972615480423,
-0.0013387193903326988,
-0.01528121717274189,
0.022396476939320564,
-0.012184420600533485,
-0.010682105086743832,
-0.016580766066908836,
0.014848033897578716,
0.009359515272080898,
0.051871344447135925,
0.0032650006469339132,
-0.012184420600533485,
-0.021566977724432945,
0.004601416178047657,
0.05817553773522377,
0.011474737897515297,
0.013548485934734344,
0.03695879504084587,
0.007036917377263308,
0.003933208528906107,
-0.012783503159880638,
0.0038041751831769943,
-0.05153954401612282,
0.010654455050826073,
-0.06886686384677887,
-0.01686648279428482,
0.027557803317904472,
0.009428639896214008,
-0.030101601034402847,
0.05032294616103172,
0.00976965669542551,
0.006585301365703344,
0.03504173085093498,
0.020239777863025665,
0.025935672223567963,
0.04741048440337181,
-0.004375607706606388,
-0.05205567926168442,
0.024258241057395935,
0.021880343556404114,
-0.003633667016401887,
-0.005949351936578751,
-0.027520937845110893,
0.017788147553801537,
-0.01234110351651907,
0.015419467352330685,
-0.0026336596347391605,
-0.00019066958338953555,
-0.04298648610711098,
-0.018571563065052032,
0.013778901658952236,
0.004106020554900169,
0.03321683034300804,
0.024000175297260284,
0.011861837469041348,
0.01981581188738346,
0.02280200831592083,
-0.0019827333744615316,
-0.0008312272257171571,
0.0066359927877783775,
-0.020055444911122322,
0.015631450340151787,
0.02678360417485237,
-0.02978823520243168,
-0.0006664795218966901,
-0.016295049339532852,
-0.0018732855096459389,
0.00026253072428517044,
-0.028202969580888748,
-0.0030414967332035303,
0.033382732421159744,
-0.03408319875597954,
0.030230633914470673,
-0.0005132525693625212,
0.03321683034300804,
-0.005529994145035744,
-0.011972437612712383,
0.05942900478839874,
-0.02306007593870163,
-0.031539399176836014,
0.025069307535886765,
0.0025046265218406916,
0.008548449724912643,
0.001697016996331513,
-0.03054400160908699,
0.02335500903427601,
0.02733660489320755,
0.021659143269062042,
0.0012914839899167418,
0.03137350082397461,
0.05633220821619034,
-0.011815753765404224,
0.015327299945056438,
-0.048885148018598557,
-0.015023150481283665,
0.005571469198912382,
0.046267617493867874,
0.022857308387756348,
0.05124461278319359,
0.010884871706366539,
0.013428669422864914,
0.036313626915216446,
-0.005944743752479553,
0.014949417673051357,
0.025567006319761276,
-0.03666386008262634,
-0.011253537610173225,
-0.0097880894318223,
-0.0023894181940704584,
-0.046783749014139175,
0.0021831956692039967,
-0.002730434527620673,
0.021345777437090874,
-0.018967879936099052,
0.00830420758575201,
-0.03347489610314369,
-0.040921956300735474,
-0.006612951401621103,
-0.009953989647328854,
0.020000144839286804,
0.006820326205343008,
-0.07550285011529922,
0.006073777098208666,
0.012083036825060844,
0.004693582653999329,
-0.021917210891842842,
0.013778901658952236,
0.015391817316412926,
-0.013954018242657185,
-0.017705198377370834,
-0.01926281303167343,
0.009142923168838024,
0.0367375947535038,
0.021106144413352013,
0.05946587026119232,
-0.008705132640898228,
-0.017336532473564148,
-0.0729590579867363,
-0.017751282081007957,
-0.051060277968645096,
0.019207512959837914,
-0.030193768441677094,
-0.006493134889751673,
-0.014534668065607548,
0.014654484577476978,
-0.012774286791682243,
0.009000065736472607,
-0.022304309532046318,
0.04851648211479187,
0.0011065748985856771,
0.017742063850164413,
-0.00896780751645565,
-0.023373441770672798,
0.02925366908311844,
0.052719276398420334,
-0.04980681464076042,
-0.017511647194623947,
-0.018009347841143608,
0.004930911585688591,
0.01540103368461132,
-0.01192635390907526,
0.01565909944474697,
0.016682149842381477,
-0.02114301174879074,
-0.029050903394818306,
-0.05345660820603371,
0.05688520520925522,
-0.00291476771235466,
0.0444980189204216,
-0.02149324305355549,
0.012589952908456326,
0.04453488439321518,
-0.05843360349535942,
0.0033179963938891888,
0.008557666093111038,
0.027815870940685272,
-0.005801885388791561,
0.02980666793882847,
0.009138314984738827,
0.023668374866247177,
-0.008654440753161907,
-0.012212070636451244,
-0.0065300012938678265,
-0.025032440200448036,
-0.021124577149748802,
0.00811526644974947,
-0.08766884356737137,
-0.010405605658888817,
0.004460861906409264,
0.001005767728202045,
-0.009119882248342037,
-0.048700813204050064,
0.02545640617609024,
0.03959475830197334,
-0.02470063976943493,
0.01003693975508213,
0.07955817878246307,
-0.0163872167468071,
0.005119852721691132,
-0.03671916201710701,
0.03856249153614044,
-0.004624457564204931,
-0.03941042348742485,
-0.03220300003886223,
0.02169601060450077,
-0.0363873615860939,
0.02361307479441166,
-0.026617705821990967,
-0.012055386789143085,
-0.028018636628985405,
-0.0026889597065746784,
0.00835489947348833,
0.03218456730246544,
0.04423995316028595,
0.006838759407401085,
-0.021087711676955223,
-0.004013854078948498,
0.0028433387633413076,
-0.015336517244577408,
-0.002698176307603717,
0.026414938271045685,
-0.02652553841471672,
-0.021622277796268463,
0.03354863077402115,
0.003092188388109207,
-0.04475608468055725,
0.01987111195921898,
-0.04047955572605133,
-0.02844260260462761,
-0.02436884120106697,
-0.007718950044363737,
-0.01083878893405199,
-0.020774343982338905,
0.014027751982212067,
0.03671916201710701,
-0.007138300687074661,
-0.03161313384771347,
0.022378042340278625,
-0.009004673920571804,
-0.010285789147019386,
-0.00649774307385087,
-0.0460464172065258,
-0.00409219553694129,
0.017096899449825287,
0.015824999660253525,
-0.05681147426366806,
0.0006998899043537676,
-0.05448887497186661,
0.03482053056359291,
0.039852824062108994,
-0.01260838657617569,
-0.03509702906012535,
0.008474715985357761,
0.014239734970033169,
0.0009746614377945662,
0.0014343422371894121,
-0.02571447193622589,
0.021364210173487663,
0.022894175723195076,
0.02630433812737465,
-0.023686807602643967,
-0.026156872510910034,
0.0009303063270635903,
0.004285745322704315,
-0.001005767728202045,
0.007133692502975464,
-0.02304164133965969,
0.0054700858891010284,
-0.014460934326052666,
0.030765200033783913,
0.014829601161181927,
0.003585279453545809,
0.03671916201710701,
-0.012746636755764484,
0.01902318000793457,
-0.0439818874001503,
-0.022986343130469322,
0.019613046199083328,
0.02654397115111351,
0.009963206015527248,
-0.009778873063623905,
0.0008807667763903737,
0.035355094820261,
0.03493113070726395,
0.027281304821372032,
-0.016083065420389175,
0.029106201604008675,
0.04158555716276169,
0.011142938397824764,
0.013124519027769566,
-0.04136435687541962,
-0.013502402231097221,
-0.04206482321023941,
-0.02036881260573864,
-0.008811123669147491,
-0.004216620698571205,
-0.018838847056031227,
0.0172443650662899,
0.008055358193814754,
0.04700494930148125,
0.029032468795776367,
0.04269155487418175,
0.02600940503180027,
0.007488533854484558,
-0.0075300089083611965,
0.039226092398166656,
0.0052811442874372005,
0.01579735055565834,
-0.04180675745010376,
0.01935497857630253,
-0.0024101557210087776,
-0.01672823168337345,
0.03295876458287239,
0.042175423353910446,
0.011981653980910778,
0.0018122252076864243,
-0.06510646641254425,
-0.00046371304779313505,
-0.02737347036600113,
-0.002102549886330962,
0.018599214032292366,
0.005944743752479553,
0.02814766950905323,
-0.004334133118391037,
-0.005589902400970459,
0.006142901722341776,
-0.002875596983358264,
-0.0339725986123085,
-0.006225851830095053,
0.03028593398630619,
-0.0016532378504052758,
0.009778873063623905,
0.03157626464962959,
-0.005456260871142149,
-0.020719043910503387,
-0.005493127275258303,
-0.003170530078932643,
0.0004406713997013867,
-0.009861823171377182,
0.0014562318101525307,
0.0008600293076597154,
-0.061530400067567825,
-0.00021543935872614384,
0.03959475830197334,
0.04029522463679314,
0.028848135843873024,
0.02973293513059616,
-0.0004945312393829226,
0.009861823171377182,
0.012857235968112946,
-0.011502387933433056,
0.013244335539638996,
-0.00691249268129468,
0.01567753404378891,
-0.03548412770032883,
-0.000913025054614991,
-0.03421223163604736,
0.009368731640279293,
-0.016119932755827904,
-0.013004702515900135,
0.040368955582380295,
-0.014036968350410461,
-0.016239749267697334,
-0.04176988825201988
] |
Clinical variant classification of pathogenic versus benign genetic variants
remains a pivotal challenge in clinical genetics. Recently, the proposition of
protein language models has improved the generic variant effect prediction
(VEP) accuracy via weakly-supervised or unsupervised training. However, these
VEPs are not disease-specific, limiting their adaptation at point-of-care. To
address this problem, we propose a disease-specific \textsc{pro}tein language
model for variant \textsc{path}ogenicity, termed ProPath, to capture the
pseudo-log-likelihood ratio in rare missense variants through a siamese
network. We evaluate the performance of ProPath against pre-trained language
models, using clinical variant sets in inherited cardiomyopathies and
arrhythmias that were not seen during training. Our results demonstrate that
ProPath surpasses the pre-trained ESM1b with an over $5\%$ improvement in AUC
across both datasets. Furthermore, our model achieved the highest performances
across all baselines for both datasets. Thus, our ProPath offers a potent
disease-specific variant effect prediction, particularly valuable for disease
associations and clinical applicability. | [
0.005141733214259148,
0.05643158406019211,
-0.031086476519703865,
0.034750375896692276,
0.015363819897174835,
0.015071086585521698,
0.012606454081833363,
-0.009655504487454891,
-0.011369415558874607,
-0.018130630254745483,
0.016213692724704742,
-0.018376149237155914,
0.00992463156580925,
-0.0849873274564743,
0.008739530108869076,
-0.04234257712960243,
-0.04064282774925232,
-0.01915047876536846,
0.03308840095996857,
-0.018300604075193405,
-0.03682784363627434,
-0.057602521032094955,
-0.053863078355789185,
-0.012681998312473297,
0.06417487561702728,
0.0349581204354763,
0.04419340938329697,
0.01794176921248436,
-0.016818048432469368,
0.04324910789728165,
0.07648859173059464,
0.01627979427576065,
-0.010481770150363445,
0.00020877963106613606,
-0.025590628385543823,
0.02572283148765564,
0.0022037685848772526,
0.04868829622864723,
-0.059906624257564545,
0.012530908919870853,
0.06545913219451904,
-0.002426860388368368,
-0.016478098928928375,
0.0021199616603553295,
0.054996244609355927,
-0.008338200859725475,
-0.02596835047006607,
0.04003847390413284,
-0.023324299603700638,
-0.0024953223764896393,
0.0050567458383738995,
0.03201189264655113,
-0.03291842341423035,
-0.08309871703386307,
-0.026232754811644554,
0.023229869082570076,
0.00856955535709858,
0.04475999251008034,
0.027498122304677963,
0.019792605191469193,
-0.012332605198025703,
-0.011690478771924973,
-0.010736732743680477,
-0.016223136335611343,
0.0063598849810659885,
0.0002722250355873257,
-0.020378071814775467,
0.02056693285703659,
0.045704297721385956,
-0.003356999484822154,
-0.0563560426235199,
-0.04230480268597603,
-0.015080529265105724,
0.05820687487721443,
0.02398531325161457,
0.02453300915658474,
0.0066526192240417,
0.06459037214517593,
0.0770174041390419,
-0.02993442490696907,
0.09820757806301117,
0.04914155974984169,
-0.0021730787120759487,
0.021076858043670654,
0.04358905553817749,
-0.020604705438017845,
0.052050016820430756,
-0.0635327473282814,
-0.0031185627449303865,
-0.030689869076013565,
-0.08204109966754913,
0.031086476519703865,
0.0036638982128351927,
0.039698526263237,
-0.019320452585816383,
-0.004145492799580097,
0.009858530014753342,
-0.0011910030152648687,
-0.022984350100159645,
-0.029122324660420418,
-0.02126571722328663,
-0.018366705626249313,
0.029594475403428078,
-0.002615721197798848,
0.025288451462984085,
-0.0667433813214302,
-0.02334318682551384,
0.051974471658468246,
0.02627052739262581,
0.1642332822084427,
-0.016874706372618675,
-0.024079743772745132,
0.020944654941558838,
-0.025855034589767456,
-0.017044680193066597,
-0.06647897511720657,
-0.0722581148147583,
-0.04302247241139412,
0.004492524545639753,
-0.07561983913183212,
-0.016723617911338806,
0.053787536919116974,
-0.009036986157298088,
0.006680948194116354,
-0.04415563866496086,
0.06557244807481766,
-0.014901111833751202,
0.0016194807831197977,
-0.01967928744852543,
0.0230221226811409,
-0.02636495791375637,
0.010661188513040543,
0.012559238821268082,
-0.0254017673432827,
0.06493031978607178,
0.024476351216435432,
0.006364606786519289,
0.008545948192477226,
-0.00351517042145133,
-0.022040046751499176,
0.022833261638879776,
-0.03660120815038681,
-0.04079391807317734,
-0.02270106039941311,
0.05042581632733345,
-0.036336805671453476,
0.04090723395347595,
0.10538429021835327,
0.004962315782904625,
-0.015845414251089096,
-0.03639346361160278,
-0.014636706560850143,
0.026534931734204292,
0.010935036465525627,
0.05416525527834892,
0.026742679998278618,
0.04173821955919266,
-0.0006049445364624262,
0.009830201044678688,
-0.012020985595881939,
0.030765412375330925,
-0.020623590797185898,
-0.012427035719156265,
-0.0035765499342232943,
-0.0158737450838089,
0.029953312128782272,
-0.0062607331201434135,
-0.041964855045080185,
-0.0635705217719078,
0.00818239152431488,
-0.07138935476541519,
0.017441287636756897,
0.0012346770381554961,
-0.026081666350364685,
-0.03984961286187172,
0.0238342247903347,
0.03201189264655113,
0.0250240471214056,
0.004768733400851488,
0.029273413121700287,
-0.029027894139289856,
0.0006191090797074139,
-0.012785871513187885,
-0.061568599194288254,
0.07716849446296692,
0.041171640157699585,
0.06953851878643036,
0.04721518233418465,
-0.0006917024147696793,
0.02747923694550991,
-0.024721870198845863,
-0.02160566672682762,
0.02976445108652115,
-0.04056728631258011,
-0.03705447539687157,
-0.00030955453985370696,
0.030935388058423996,
0.017195768654346466,
0.0246274396777153,
0.021870072931051254,
0.008130454458296299,
-0.0626639872789383,
-0.0071814293041825294,
0.025515085086226463,
0.02644050121307373,
0.01729964278638363,
0.04147381708025932,
0.06081315502524376,
0.011747137643396854,
-0.06625234335660934,
-0.000661602767650038,
-0.006713998969644308,
-0.017658477649092674,
-0.009504416026175022,
-0.01596817374229431,
-0.00912669487297535,
0.0037370817735791206,
-0.0001353010011371225,
-0.0013928478583693504,
-0.009518580511212349,
-0.008295707404613495,
0.0412849560379982,
0.05189892649650574,
-0.024419691413640976,
-0.050539132207632065,
0.0317852608859539,
0.000035632707295008004,
0.00667150504887104,
0.007384454365819693,
0.011284428648650646,
0.032427385449409485,
-0.011643263511359692,
0.0017800123896449804,
-0.0005822221864946187,
0.017412958666682243,
-0.02983999438583851,
0.006789543200284243,
0.013437440618872643,
-0.022115591913461685,
-0.04381568729877472,
-0.05382530763745308,
-0.030935388058423996,
0.0027361197862774134,
-0.015429921448230743,
0.06821649521589279,
-0.0029769171960651875,
-0.005892454646527767,
0.06795208901166916,
-0.023286527022719383,
0.013314681127667427,
-0.045062169432640076,
-0.05367421731352806,
0.042682524770498276,
0.03692227229475975,
-0.08430743217468262,
-0.006019935943186283,
-0.0033593601547181606,
-0.03597796708345413,
0.03340946137905121,
0.004815948661416769,
0.04861275106668472,
0.009088922291994095,
-0.036563437432050705,
0.052843231707811356,
0.04340019449591637,
-0.011492175050079823,
0.03186080604791641,
0.006846201606094837,
-0.003956632222980261,
0.025533970445394516,
0.010991694405674934,
-0.07758399099111557,
-0.08460960537195206,
0.013843491673469543,
0.03667675331234932,
-0.010396783240139484,
0.055147331207990646,
0.039169713854789734,
0.05216333270072937,
0.01992480643093586,
-0.03248404711484909,
0.03626126050949097,
-0.03214409574866295,
0.03992515802383423,
-0.00490565737709403,
-0.05182338505983353,
-0.03947189077734947,
-0.015193846076726913,
-0.036960043013095856,
-0.008734808303415775,
-0.01881997101008892,
-0.003236600663512945,
-0.011341086588799953,
-0.00861204881221056,
-0.020699135959148407,
-0.02153012342751026,
-0.043626829981803894,
-0.01627979427576065,
0.00760164437815547,
-0.043702371418476105,
-0.03771548718214035,
-0.008739530108869076,
0.007851884700357914,
0.01620425097644329,
0.00017115502851083875,
-0.013361896388232708,
-0.0052361637353897095,
0.037602171301841736,
-0.07969922572374344,
-0.0246274396777153,
0.009447758086025715,
-0.00925417523831129,
0.03305062651634216,
-0.00996240321546793,
-0.004787619691342115,
0.019641514867544174,
-0.020151440054178238,
-0.026950426399707794,
0.02032141387462616,
0.008512897416949272,
-0.04200262576341629,
-0.011350530199706554,
-0.12011542171239853,
-0.03932080417871475,
0.018753869459033012,
0.05178561061620712,
-0.024986274540424347,
0.009395821020007133,
-0.030859842896461487,
-0.048235028982162476,
-0.04581761360168457,
-0.02532622404396534,
-0.08000140637159348,
-0.0031634171027690172,
0.0016914838925004005,
-0.012408149428665638,
-0.051596749573946,
-0.02475964091718197,
-0.02041584439575672,
-0.045062169432640076,
0.024646325036883354,
-0.02151123620569706,
0.005217277444899082,
0.04880161210894585,
0.02549619786441326,
-0.018640553578734398,
-0.0265915896743536,
0.001542756101116538,
-0.06523249298334122,
-0.003727638628333807,
0.0008876454085111618,
0.024740755558013916,
0.03578910976648331,
-0.03112424723803997,
0.0034632335882633924,
0.004674302879720926,
0.013069162145256996,
-0.01684637740254402,
0.019754832610487938,
0.04279584065079689,
0.02389088273048401,
-0.04985923320055008,
-0.032427385449409485,
0.03709224611520767,
-0.01707300916314125,
-0.009395821020007133,
0.044117867946624756,
-0.0003626716206781566,
0.009513859637081623,
0.009490251541137695,
-0.013985136523842812,
0.04317356273531914,
0.04574206843972206,
0.002639328595250845,
0.038470931351184845,
0.014381744898855686,
0.013475213199853897,
0.011577162891626358,
0.03208743780851364,
0.047441814094781876,
-0.05703594163060188,
0.022210022434592247,
-0.052994322031736374,
0.002566145034506917,
-0.04086946323513985,
0.010094606317579746,
0.03157751262187958,
-0.029896654188632965,
-0.0017481420654803514,
0.012653668411076069,
-0.010991694405674934,
-0.058546826243400574,
0.009221125394105911,
-0.06334389001131058,
0.05223887786269188,
-0.020548047497868538,
-0.0117188086733222,
0.025798374786973,
0.07256029546260834,
-0.05171006917953491,
-0.04136050119996071,
-0.024249717593193054,
-0.02120905928313732,
-0.045137714594602585,
-0.020264755934476852,
-0.010793390683829784,
0.026723792776465416,
0.008626214228570461,
0.03582688048481941,
-0.04883938282728195,
-0.002948588225990534,
0.004877328407019377,
0.006397657096385956,
0.003935385495424271,
0.016638631001114845,
0.010642302222549915,
-0.044420044869184494,
0.01644976995885372,
-0.015014427714049816,
0.023362072184681892,
-0.04827280342578888,
-0.03146419674158096,
0.07580869644880295,
0.009230568073689938,
-0.00274084135890007,
-0.0006503891199827194,
0.012587567791342735,
0.012625339441001415,
0.01651587150990963,
0.039962928742170334,
0.008715922944247723,
0.027535894885659218,
-0.024816298857331276,
-0.005018973723053932,
-0.0563560426235199,
0.01763014867901802,
-0.014910554513335228,
-0.01350354216992855,
0.007318353280425072,
0.011775466613471508,
-0.033220600336790085,
-0.036242373287677765,
-0.012257060967385769,
-0.0020196293480694294,
-0.020906882360577583,
0.003168138675391674,
0.023683134466409683,
0.04083168879151344,
-0.0006592419813387096,
-0.021001312881708145,
-0.04253143444657326,
0.053787536919116974,
-0.05979330837726593,
0.0006385853630490601,
0.008980327285826206,
-0.006293783895671368,
-0.02564728632569313,
-0.006610125303268433,
0.06179523095488548,
-0.02914121001958847,
0.00921168178319931,
0.017979541793465614,
0.032200753688812256,
-0.041322726756334305,
-0.010538429021835327,
0.018149515613913536,
-0.01770569384098053,
-0.01780012436211109,
0.016468655318021774,
0.023645363748073578,
0.017809566110372543,
-0.020264755934476852,
-0.05994439497590065,
-0.03153974190354347,
0.01691247895359993,
-0.032993968576192856,
-0.03374941274523735,
0.01111445389688015,
0.015231617726385593,
0.03816875442862511,
-0.008697036653757095,
0.013890706934034824,
0.0003476217680145055,
0.030387692153453827,
-0.009745213203132153,
-0.039962928742170334,
-0.013805719092488289,
0.004605840891599655,
0.01914103515446186,
-0.016723617911338806,
-0.022644400596618652,
-0.030822070315480232,
-0.02428749017417431,
-0.02119017392396927,
0.022833261638879776,
-0.048537205904722214,
-0.01659141480922699,
0.07089831680059433,
0.08921781182289124,
0.004603480454534292,
0.025382881984114647,
-0.024249717593193054,
0.030274374410510063,
-0.006171024404466152,
0.007535543292760849,
0.040756143629550934,
0.024098629131913185,
0.008324036374688148,
-0.01898994669318199,
-0.002215572400018573,
-0.018130630254745483,
-0.04812171310186386,
-0.018942730501294136,
-0.02200227417051792,
0.018706655129790306,
0.04083168879151344,
0.004254087805747986,
0.022606629878282547,
0.04619533568620682,
0.051332347095012665,
-0.019433768466114998,
-0.007526100147515535,
-0.05359867587685585,
0.06798986345529556,
-0.06802763789892197,
0.004579872824251652,
0.011652707122266293,
-0.03165305778384209,
0.03765882924199104,
-0.032521817833185196,
0.031879689544439316,
0.03805543854832649,
-0.034108247607946396,
-0.03852758929133415,
-0.030689869076013565,
-0.03746996819972992,
0.012568681500852108,
-0.023853110149502754,
0.006888695061206818,
-0.055940546095371246,
0.0036190436221659184,
0.0595289021730423,
-0.004162018187344074,
-0.0009389919578097761,
-0.002117600990459323,
0.025911692529916763,
-0.0297833364456892,
-0.02874460257589817,
-0.04408009350299835,
0.01444784551858902,
0.012427035719156265,
-0.01254979521036148,
0.02270106039941311,
0.011171111837029457,
0.002870683092623949,
-0.05469406768679619,
0.0038810879923403263,
-0.03594019636511803,
-0.015477136708796024,
-0.007880213670432568,
-0.006501530762761831,
0.014391187578439713,
0.03486369177699089,
-0.06300394237041473,
-0.017422402277588844,
-0.015363819897174835,
0.037356652319431305,
0.04778176546096802,
-0.020189212635159492,
-0.0005972720682621002,
0.005184227135032415,
-0.006364606786519289,
-0.027894729748368263,
0.018649997189641,
-0.016298681497573853,
0.035694677382707596,
0.04279584065079689,
-0.0006981944898143411,
0.01016070693731308,
-0.0005769105046056211,
-0.022436654195189476,
-0.034750375896692276,
-0.020906882360577583,
0.030463235452771187,
-0.02865017205476761,
-0.018640553578734398,
0.013012504205107689,
-0.047441814094781876,
-0.027214830741286278,
-0.02317321114242077,
0.006279619410634041,
0.027139287441968918,
-0.02158678136765957,
0.003194106975570321,
-0.02651604637503624,
-0.0029651133809238672,
0.014901111833751202,
-0.025590628385543823,
0.06341943144798279,
-0.03055766597390175,
-0.020038124173879623,
0.033145058900117874,
0.03947189077734947,
0.0182628333568573,
-0.004383929539471865,
-0.0266104768961668,
0.030425462871789932,
-0.01778123714029789,
0.007176707498729229,
0.02254997007548809,
0.0030760690569877625,
0.00024360083625651896,
-0.03467483073472977,
-0.017025794833898544,
-0.002340692561119795,
-0.02151123620569706,
0.0128991873934865,
0.01310693472623825,
0.027441464364528656,
-0.007294745650142431,
0.025609515607357025,
-0.009032264351844788,
0.035770222544670105,
-0.02931118570268154,
0.009348605759441853,
0.04143604263663292,
-0.021020198240876198,
-0.06296616792678833,
-0.0040675881318748,
-0.01992480643093586,
-0.03582688048481941,
0.015137187205255032,
-0.06326834112405777,
-0.055222876369953156,
-0.019754832610487938,
0.008314593695104122,
-0.04389123246073723,
-0.012020985595881939,
-0.0018862464930862188,
0.02628941275179386,
-0.015552680939435959,
0.016638631001114845,
-0.0182628333568573,
-0.018480021506547928,
-0.023853110149502754,
0.0034750374034047127,
0.006619568448513746,
-0.0033168664667755365,
0.06485477089881897,
0.02865017205476761,
0.0468752346932888,
0.020226983353495598,
0.0028683224227279425,
0.04279584065079689,
-0.0030548223294317722,
-0.044344499707221985,
0.001312582055106759,
-0.039585210382938385,
0.015665996819734573,
-0.0035198917612433434,
0.024325262755155563,
-0.007124770898371935,
0.016147593036293983,
-0.017837895080447197,
0.02785695716738701,
-0.04094500467181206,
-0.03444819524884224,
-0.011935997754335403,
-0.0027007083408534527,
-0.00410772068426013,
-0.023456502705812454,
-0.05488292872905731,
-0.03639346361160278,
0.003645012155175209,
0.010415669530630112,
-0.03620460256934166,
0.025685058906674385,
0.02849908359348774,
-0.00011884946434292942,
-0.013928478583693504,
-0.03276733681559563,
-0.0025850313249975443,
-0.018536681309342384,
0.010935036465525627,
0.006213517859578133,
-0.013909592293202877,
0.014466731809079647,
0.0006834397790953517,
-0.04215371608734131,
0.03184191882610321,
-0.021454578265547752,
-0.025288451462984085,
0.06440150737762451,
0.017290199175477028,
0.07112494856119156,
-0.03127533569931984,
0.007120049558579922,
-0.014750022441148758,
-0.004372125957161188,
0.015826528891921043,
-0.023871995508670807,
-0.011341086588799953,
-0.06798986345529556,
-0.020264755934476852,
-0.018687769770622253,
0.018923845142126083,
0.024910729378461838,
-0.02810247614979744,
-0.0046129231341183186,
0.0007265236345119774,
0.02889569103717804,
0.04668637365102768,
-0.01977371796965599,
0.019235465675592422,
0.0009584681829437613,
0.011095567606389523,
0.0270070843398571,
0.08105902373790741,
-0.02644050121307373,
0.059982165694236755,
0.03563801944255829,
0.030463235452771187,
-0.03935857489705086,
-0.04181376472115517,
-0.05420302972197533,
0.026346072554588318,
-0.0008604967151768506,
-0.01445728912949562,
0.02683710865676403,
0.006888695061206818,
0.035128094255924225,
0.029972197487950325,
0.02207781933248043,
0.012578124180436134,
0.016100376844406128,
-0.007776340469717979,
0.004221037495881319,
0.01508997194468975,
-0.026100553572177887,
0.019018275663256645,
0.023853110149502754,
0.003977878950536251,
0.01929212361574173,
-0.0133052384480834,
-0.029991082847118378,
0.03905639797449112,
-0.023380957543849945,
0.0033900500275194645,
-0.003992043435573578,
0.00006495776324300095,
0.028329109773039818,
-0.020831339061260223,
0.042833615094423294,
-0.04464667662978172,
-0.027195945382118225,
-0.004032176453620195,
0.00391177786514163,
-0.027271488681435585,
0.0015191484708338976,
-0.039509665220975876,
0.029594475403428078,
0.03748885542154312,
0.01952819898724556,
0.00410772068426013,
0.004719157237559557,
-0.017450731247663498,
-0.02666713483631611,
0.005047303158789873,
0.0029367844108492136,
-0.008187112398445606,
0.027649210765957832,
0.0064590368419885635,
0.0690474808216095,
-0.04781953617930412,
0.042682524770498276,
-0.022757718339562416,
0.026081666350364685,
-0.007922707125544548,
-0.02549619786441326,
0.036317918449640274,
-0.0013326485641300678,
-0.02271994575858116,
-0.010746175423264503,
0.016610300168395042,
-0.015222175046801567,
-0.011605491861701012,
0.0011201802408322692,
-0.005382530856877565,
-0.05288100242614746,
-0.02166232466697693,
-0.02081245183944702,
-0.013531871140003204,
0.006019935943186283,
0.012417593039572239,
0.05174783989787102,
-0.005774416960775852,
0.0011402466334402561,
0.028045818209648132,
-0.03594019636511803,
-0.027743641287088394,
0.038716450333595276,
0.023607591167092323,
-0.0038598410319536924,
0.018602780997753143,
-0.02311655320227146,
0.000606715097092092,
-0.021851185709238052,
-0.035996854305267334,
-0.037923235446214676,
-0.035543590784072876,
-0.0031445310451090336,
0.005467518232762814,
0.0008510536863468587,
-0.0317474901676178,
0.004440587945282459,
-0.013711288571357727,
-0.002457550261169672,
0.01977371796965599,
-0.029424501582980156,
-0.008092681877315044,
0.01310693472623825,
-0.025533970445394516,
0.03301285579800606,
-0.02468409761786461,
0.026062780991196632,
-0.03612905740737915,
0.05408971384167671,
0.026648249477148056,
0.058471281081438065,
0.024325262755155563,
0.008121011778712273,
-0.033862728625535965,
-0.0051370118744671345,
0.0254017673432827,
-0.041171640157699585,
0.01246480830013752,
0.02636495791375637,
0.04698855057358742,
0.023003237321972847,
0.0129086310043931,
-0.06383492797613144,
0.0036898665130138397,
-0.010028504766523838,
-0.06001994013786316,
-0.017450731247663498,
0.025703944265842438,
0.010887821204960346,
0.009121973067522049,
0.007483606226742268,
0.030538780614733696,
0.039585210382938385,
-0.04611979052424431,
-0.018706655129790306,
0.008295707404613495,
-0.017507389187812805,
-0.031067589297890663,
0.07025618851184845,
-0.02882014773786068,
0.0005108092445880175,
-0.02166232466697693,
-0.0038055437617003918,
-0.010935036465525627,
-0.011766023002564907,
-0.0005645165219902992,
0.023041008040308952,
0.0033924109302461147,
0.05246550962328911,
-0.02802693285048008,
-0.018772756680846214,
-0.05280546098947525,
-0.02596835047006607,
0.03962298110127449,
-0.022191135212779045,
0.03665786609053612,
0.046082016080617905,
0.022172249853610992,
0.012681998312473297,
-0.04532657563686371,
-0.003956632222980261,
0.017422402277588844,
0.027365919202566147,
0.010916150175035,
0.0349581204354763,
-0.008276821114122868,
0.04914155974984169,
-0.036808956414461136,
-0.009579960256814957,
-0.026648249477148056,
-0.019358225166797638,
-0.020661363378167152,
0.015741541981697083,
0.003928303252905607,
0.02113351598381996,
0.04732849821448326,
0.01700690947473049,
0.023532046005129814,
0.017828453332185745,
0.01715799793601036,
-0.02668602019548416,
-0.005651657469570637,
0.013173036277294159,
-0.007894378155469894,
-0.03662009537220001,
-0.025855034589767456,
-0.004556265193969011,
-0.020774679258465767,
0.05533619225025177,
-0.032049667090177536,
0.05733811855316162,
-0.0016501706559211016,
0.0034892018884420395,
-0.0032342399936169386,
-0.025798374786973,
0.021303489804267883,
0.030425462871789932,
0.01095392182469368,
0.04256920889019966,
0.0026487717404961586,
0.0032342399936169386,
-0.0270070843398571,
-0.0034490691032260656,
-0.009697998873889446,
-0.005004809238016605,
0.003786657704040408,
0.004853720776736736,
0.038791995495557785,
-0.011851010844111443,
0.020585820078849792,
0.024495236575603485,
0.01913159154355526,
0.005594999063760042,
0.012540352530777454,
-0.012370377779006958,
0.018546123057603836,
0.0539763979613781,
-0.026251642033457756,
0.011350530199706554,
-0.018121186643838882,
-0.017195768654346466,
-0.008942555636167526,
-0.04245589300990105,
0.014183441177010536,
-0.00981131475418806,
-0.011029466986656189,
-0.011426074430346489,
-0.04721518233418465,
0.0389053113758564,
-0.006591239478439093,
-0.022096704691648483,
0.008748973719775677,
0.022436654195189476,
-0.04321133345365524,
0.0009932894026860595,
0.008503454737365246,
0.047517359256744385,
0.021454578265547752,
0.000011517922757775523,
-0.019811490550637245,
0.001286613754928112,
-0.0026629362255334854,
-0.021737869828939438,
-0.0004706763429567218,
-0.04226703196763992,
-0.02547731250524521,
-0.004025094211101532,
-0.020661363378167152,
0.0021341261453926563,
-0.06557244807481766,
0.04079391807317734,
-0.00029155376250855625,
0.025987235829234123,
-0.008234327659010887,
0.0019617907237261534,
0.07040727883577347,
0.011322200298309326,
0.002823467832058668,
-0.007138935383409262,
-0.013314681127667427,
-0.020850224420428276,
0.02825356461107731,
0.04993477836251259,
-0.013673516921699047,
0.015326048247516155,
-0.01314470637589693,
0.016610300168395042,
-0.04517548531293869,
0.0067045558243989944,
0.0035623854491859674,
-0.02200227417051792,
0.010387339629232883,
0.051596749573946,
0.04566652327775955,
-0.00001062341561919311,
-0.03429710865020752,
-0.005802745930850506,
0.00411008158698678,
0.00233243010006845,
-0.021492350846529007,
0.019584856927394867,
-0.011076681315898895,
0.010689517483115196,
-0.013635744340717793,
-0.004638891667127609,
0.017601819708943367,
-0.052692145109176636,
0.029122324660420418,
0.026025008410215378,
0.0014979016268625855,
-0.03769659996032715,
0.0006816692184656858,
-0.008720643818378448,
-0.03384384140372276,
0.008036023937165737,
0.02842354029417038,
-0.04226703196763992,
0.023286527022719383,
-0.06304170936346054,
0.00917391013354063,
0.0011201802408322692,
-0.017828453332185745,
0.016865262761712074,
-0.0029084552079439163,
0.000024824857973726466,
-0.006577074993401766
] |
While recommender systems have become an integral component of the Web
experience, their heavy reliance on user data raises privacy and security
concerns. Substituting user data with synthetic data can address these
concerns, but accurately replicating these real-world datasets has been a
notoriously challenging problem. Recent advancements in generative AI have
demonstrated the impressive capabilities of diffusion models in generating
realistic data across various domains. In this work we introduce a Score-based
Diffusion Recommendation Model (SDRM), which captures the intricate patterns of
real-world datasets required for training highly accurate recommender systems.
SDRM allows for the generation of synthetic data that can replace existing
datasets to preserve user privacy, or augment existing datasets to address
excessive data sparsity. Our method outperforms competing baselines such as
generative adversarial networks, variational autoencoders, and recently
proposed diffusion models in synthesizing various datasets to replace or
augment the original data by an average improvement of 4.30% in Recall@$n$ and
4.65% in NDCG@$n$. | [
-0.005413453560322523,
-0.01469613891094923,
-0.03598558530211449,
-0.02600886858999729,
0.05146251246333122,
-0.0011147897457703948,
-0.042891208082437515,
0.021410902962088585,
-0.017281409353017807,
0.03643670678138733,
0.007304692175239325,
-0.01976257562637329,
-0.005049086641520262,
-0.011694448068737984,
0.016778236255049706,
0.038865819573402405,
0.005057761911302805,
-0.029617836698889732,
0.0039581540040671825,
-0.04129493609070778,
-0.01036711037158966,
-0.033816732466220856,
-0.013767870143055916,
0.04889459162950516,
0.030068958178162575,
0.029895450919866562,
-0.013568335212767124,
-0.006280994042754173,
-0.026355884969234467,
0.07210997492074966,
0.04889459162950516,
0.002602621912956238,
0.022798968479037285,
-0.04500800743699074,
-0.06204650551080704,
-0.005213919095695019,
0.04049679636955261,
0.08460256457328796,
-0.009707779623568058,
0.03032921999692917,
-0.02883705124258995,
-0.006111823953688145,
-0.0396292582154274,
0.020664818584918976,
0.00569540448486805,
-0.02508927509188652,
0.008727459236979485,
0.017663126811385155,
-0.01344687957316637,
0.0016591714229434729,
-0.006719102151691914,
-0.0701666846871376,
-0.03459751978516579,
-0.0034094348084181547,
-0.06166478991508484,
0.04355053976178169,
0.02245195209980011,
0.014487928710877895,
0.03910873085260391,
-0.02852473594248295,
0.02444729581475258,
0.04129493609070778,
0.0002499601396266371,
-0.00438758684322238,
-0.01768915355205536,
-0.004446145612746477,
0.03869231417775154,
-0.0014444551197811961,
0.024568751454353333,
-0.010011418722569942,
-0.0730816200375557,
0.0028780661523342133,
0.01967582106590271,
-0.01551162637770176,
0.0017188149504363537,
0.0015930215595290065,
0.02791745774447918,
0.01393270306289196,
-0.021185342222452164,
-0.0016700157430022955,
0.04146844148635864,
0.004702070262283087,
-0.005552260205149651,
0.053995728492736816,
0.049553923308849335,
-0.04046209529042244,
-0.014869646169245243,
-0.050247952342033386,
0.05635543912649155,
-0.05722298100590706,
-0.00164941162802279,
-0.010289032012224197,
0.009438842535018921,
-0.06440621614456177,
-0.025887412950396538,
0.01182457897812128,
-0.0008767582476139069,
-0.010670749470591545,
-0.05253826081752777,
0.005513220559805632,
-0.05975620076060295,
-0.04410576447844505,
-0.0005479061510413885,
0.003543903585523367,
-0.005452492740005255,
-0.05517558380961418,
0.002346697496250272,
0.058125223964452744,
-0.008467196486890316,
0.12909004092216492,
0.010662074200809002,
-0.02587006241083145,
-0.07197117060422897,
0.021081237122416496,
-0.013229995034635067,
0.026373235508799553,
-0.038865819573402405,
-0.04521621763706207,
0.004346378613263369,
-0.08078538626432419,
-0.0052312701009213924,
0.03980276361107826,
-0.048304662108421326,
0.030849745497107506,
0.0026394925080239773,
0.0667659267783165,
-0.0017893025651574135,
-0.041086725890636444,
0.020890379324555397,
0.04799234867095947,
-0.04174605384469032,
0.04431397467851639,
-0.03197754919528961,
-0.0175416711717844,
-0.04462629184126854,
0.012778873555362225,
0.03629789873957634,
0.04948451742529869,
-0.04722891375422478,
0.01316926721483469,
-0.030953850597143173,
0.0007889197440817952,
-0.005391764920204878,
0.008879278786480427,
-0.025297485291957855,
0.042197175323963165,
-0.026043569669127464,
0.041364338248968124,
-0.02703256718814373,
-0.02592211402952671,
-0.04611846059560776,
0.030953850597143173,
0.017368163913488388,
-0.007122508715838194,
0.01833980903029442,
-0.012848276644945145,
-0.008163557387888432,
-0.015138584189116955,
0.02156705968081951,
-0.0031491725239902735,
0.057188279926776886,
0.029461679980158806,
0.012310401536524296,
0.04740241914987564,
0.03633260354399681,
0.016405193135142326,
0.0213935524225235,
-0.03903932869434357,
-0.049553923308849335,
0.029756644740700722,
-0.012726821005344391,
0.0035243837628513575,
-0.024187033995985985,
0.02666819840669632,
-0.0030797692015767097,
0.08522719144821167,
0.03626319766044617,
-0.06628010421991348,
-0.03796357661485672,
0.013412178494036198,
-0.04986623674631119,
0.018548019230365753,
0.0010394221171736717,
-0.003949478734284639,
0.06041552871465683,
0.04420987144112587,
0.07474730163812637,
-0.006857908796519041,
0.04209307208657265,
-0.014418525621294975,
-0.005209581460803747,
0.03702663630247116,
-0.0011256339494138956,
0.014444551430642605,
-0.004374573472887278,
-0.006367748137563467,
-0.04132963716983795,
-0.036367304623126984,
0.01022830419242382,
0.0017893025651574135,
-0.08252046257257462,
-0.04014978185296059,
0.04879048466682434,
-0.023805314674973488,
0.02670290134847164,
0.022608108818531036,
0.03213370591402054,
0.04681249335408211,
-0.04754122719168663,
-0.057708803564310074,
0.011486237868666649,
-0.012232323177158833,
-0.05861104652285576,
-0.017055848613381386,
0.022486653178930283,
-0.007352407090365887,
-0.019970785826444626,
0.00863636750727892,
0.008645042777061462,
0.008801199495792389,
-0.03102325275540352,
-0.017194654792547226,
0.08585181832313538,
-0.0011885307030752301,
-0.007634357549250126,
-0.08120180666446686,
-0.015667783096432686,
0.08161822706460953,
-0.001104487688280642,
-0.02911466360092163,
-0.013229995034635067,
0.0015073518734425306,
0.019849330186843872,
-0.017255382612347603,
0.028351228684186935,
-0.03400759398937225,
-0.022937774658203125,
-0.00800739973783493,
-0.01759372465312481,
0.01578924059867859,
-0.09272274374961853,
-0.01004612073302269,
0.016882341355085373,
-0.033764682710170746,
0.07086072117090225,
-0.0033530446235090494,
-0.017298759892582893,
0.047055404633283615,
0.06541256606578827,
0.04285650700330734,
0.0039126081392169,
-0.01076617930084467,
-0.01182457897812128,
0.021133290603756905,
-0.0292187687009573,
0.04282180592417717,
0.056771859526634216,
-0.03180404007434845,
0.010861609131097794,
-0.07627417147159576,
0.040947917848825455,
-0.01474819052964449,
0.006458839867264032,
0.02717137336730957,
-0.04355053976178169,
0.03458017110824585,
0.046222563832998276,
-0.008020413108170033,
0.06086665019392967,
0.0511154942214489,
-0.00416636373847723,
-0.027101969346404076,
-0.04993563890457153,
-0.07002788037061691,
-0.018548019230365753,
-0.05711887404322624,
0.02614767476916313,
-0.014713489450514317,
0.06895212829113007,
-0.02292042411863804,
0.005161867011338472,
-0.005387427285313606,
-0.0035113708581775427,
-0.033452365547418594,
-0.009230632334947586,
-0.03754715994000435,
-0.045944951474666595,
-0.022417251020669937,
0.001199374906718731,
0.031595829874277115,
-0.04313411936163902,
0.007916308008134365,
-0.04591025039553642,
0.005556597840040922,
0.06791108101606369,
0.0253668874502182,
-0.006844895891845226,
0.03577737510204315,
-0.00028601731173694134,
-0.058958061039447784,
-0.06544726341962814,
0.03412904962897301,
0.0026308170054107904,
0.04549382999539375,
-0.01036711037158966,
-0.007946671918034554,
0.007716774009168148,
0.04181545972824097,
-0.00537007674574852,
-0.04021918401122093,
0.021688515320420265,
0.02500252053141594,
-0.0001618505484657362,
-0.0278307031840086,
0.014132237061858177,
0.02966989018023014,
0.020248398184776306,
-0.014826269820332527,
0.01995343528687954,
-0.028351228684186935,
0.013403503224253654,
0.01606685295701027,
-0.07662118971347809,
0.00005876232171431184,
-0.003587280632928014,
-0.022382548078894615,
-0.023718561977148056,
0.07599656283855438,
0.020421907305717468,
0.033070649951696396,
-0.00666704960167408,
-0.03022511675953865,
0.002533218590542674,
-0.026303831487894058,
0.019155297428369522,
-0.00627231877297163,
0.04535502567887306,
-0.023545052856206894,
-0.008419482037425041,
-0.03261952847242355,
0.033539120107889175,
-0.008059452287852764,
-0.049415115267038345,
-0.004446145612746477,
-0.01976257562637329,
0.020439257845282555,
0.008744809776544571,
0.05215654522180557,
0.0006333046476356685,
-0.0017741206102073193,
0.0010139381047338247,
-0.007877268828451633,
-0.01215424481779337,
0.013438204303383827,
0.07106892764568329,
0.02333684265613556,
0.010575320571660995,
-0.029843397438526154,
-0.02180997096002102,
-0.00013602766557596624,
0.03013836219906807,
-0.008102829568088055,
-0.03197754919528961,
0.03435460850596428,
-0.07440028339624405,
-0.02606092020869255,
-0.03447606414556503,
-0.013039136305451393,
0.03135291859507561,
0.01534679438918829,
-0.016309764236211777,
0.01568513549864292,
0.00005151022560312413,
0.038727015256881714,
-0.036367304623126984,
-0.017151279374957085,
-0.0032272511161863804,
-0.01990138180553913,
0.004593627527356148,
0.04188486188650131,
0.03499658778309822,
-0.013724492862820625,
-0.02916671708226204,
0.018738877028226852,
-0.003977674059569836,
0.0021970467641949654,
0.06867451965808868,
0.08023016154766083,
0.009300035424530506,
0.0410173200070858,
0.005222594831138849,
-0.04823525995016098,
-0.020473958924412727,
-0.058958061039447784,
0.02744898572564125,
-0.011243326589465141,
-0.005816860124468803,
0.004979683086276054,
0.05142780765891075,
-0.011789876967668533,
-0.02994750253856182,
-0.024048225954174995,
-0.0126834437251091,
0.0033964216709136963,
-0.010826907120645046,
0.008944343775510788,
0.005309348925948143,
-0.058159925043582916,
0.03157848119735718,
-0.029479030519723892,
0.0019009984098374844,
0.026078272610902786,
-0.02722342498600483,
0.02351035177707672,
0.0008382611558772624,
-0.010393137112259865,
-0.052191246300935745,
0.013698467053472996,
-0.00867540668696165,
0.01069677621126175,
0.02333684265613556,
0.01689101569354534,
0.08730929344892502,
0.015216662548482418,
-0.019432909786701202,
0.08522719144821167,
-0.03050272911787033,
0.01085293386131525,
0.024568751454353333,
-0.06898683309555054,
0.0012254011817276478,
0.030953850597143173,
0.029652539640665054,
-0.07106892764568329,
-0.05694536864757538,
0.026685550808906555,
-0.031595829874277115,
-0.013360125944018364,
0.004036232829093933,
-0.015893343836069107,
-0.011269353330135345,
-0.008892291225492954,
-0.022018181160092354,
0.02828182466328144,
-0.003732593497261405,
-0.019189998507499695,
0.008792524226009846,
-0.011035117320716381,
-0.031925495713949203,
-0.026425287127494812,
-0.034562818706035614,
0.04629196971654892,
-0.034649573266506195,
-0.05958269163966179,
0.059096869081258774,
-0.03246337175369263,
0.008714445866644382,
0.022139636799693108,
0.0017188149504363537,
-0.03643670678138733,
-0.010965713299810886,
0.015095206908881664,
-0.02083832584321499,
-0.019918732345104218,
-0.013941378332674503,
0.03966395929455757,
-0.05281587317585945,
-0.03241131827235222,
-0.022660162299871445,
-0.0023271776735782623,
0.01651797443628311,
0.020578064024448395,
-0.02611297369003296,
-0.018131598830223083,
-0.04271770268678665,
0.045667339116334915,
-0.00005750845593865961,
-0.05368341505527496,
0.05819462612271309,
-0.011225976049900055,
-0.001291551161557436,
0.047055404633283615,
0.028299175202846527,
-0.03532625362277031,
0.029635189101099968,
0.028941156342625618,
0.0455632358789444,
0.0295310840010643,
-0.029132014140486717,
-0.0027891432400792837,
-0.01588466949760914,
-0.043411735445261,
-0.0372348427772522,
-0.01713392697274685,
-0.023961473256349564,
-0.03074564039707184,
-0.010618697851896286,
-0.0314917266368866,
0.07682939618825912,
0.040531497448682785,
-0.005452492740005255,
-0.021272096782922745,
0.005226932466030121,
-0.012327752076089382,
0.005352725740522146,
-0.014539981260895729,
-0.014895672909915447,
0.020265748724341393,
-0.014218990691006184,
0.011494913138449192,
0.03213370591402054,
0.05087258294224739,
-0.0000676071722409688,
-0.036922529339790344,
-0.027691897004842758,
0.02842063084244728,
-0.05132370442152023,
-0.04563263803720474,
0.013550984673202038,
0.012752847746014595,
0.004971007816493511,
0.01427971851080656,
-0.04820055887103081,
0.039282239973545074,
-0.05167071893811226,
0.028437981382012367,
0.040947917848825455,
-0.010818231850862503,
0.06787637621164322,
0.028871752321720123,
0.004363729618489742,
0.04042739421129227,
0.02772659808397293,
-0.04799234867095947,
0.01171179860830307,
0.027709247544407845,
0.0267549529671669,
-0.004910279996693134,
-0.0010383377084508538,
0.008679743856191635,
-0.021272096782922745,
0.03602028638124466,
-0.027067268267273903,
0.007187574170529842,
0.04854757338762283,
0.0023575415834784508,
0.0035157084930688143,
-0.05847223848104477,
-0.012631392106413841,
0.02587006241083145,
0.02212228626012802,
0.023493001237511635,
-0.01168577279895544,
-0.018062196671962738,
-0.010210953652858734,
-0.0010855102445930243,
-0.03629789873957634,
-0.0008539853151887655,
-0.0047150831669569016,
-0.0424053855240345,
-0.03563857078552246,
0.002626479370519519,
-0.03574267402291298,
0.004927631001919508,
0.029930151998996735,
-0.019016491249203682,
0.05458565801382065,
0.04004567489027977,
-0.0034137724433094263,
0.0036848788149654865,
-0.03416375070810318,
0.0019573885947465897,
-0.01759372465312481,
-0.02611297369003296,
-0.024881064891815186,
0.010054796002805233,
-0.028351228684186935,
-0.0173508133739233,
0.01643121987581253,
0.035118043422698975,
0.022764265537261963,
-0.04729831591248512,
-0.007734125014394522,
0.016405193135142326,
0.008953019045293331,
0.011069818399846554,
-0.025245431810617447,
-0.030520079657435417,
-0.0006186648970469832,
0.017767231911420822,
0.023319492116570473,
0.06687003374099731,
0.01240583136677742,
0.01476554200053215,
-0.06364278495311737,
-0.018530668690800667,
0.021272096782922745,
-0.003272796981036663,
0.007855580188333988,
-0.04264829680323601,
0.009612350724637508,
0.026217078790068626,
0.04160724952816963,
0.006688738241791725,
-0.037338949739933014,
-0.019224701449275017,
0.06586368381977081,
0.015329442918300629,
0.024239085614681244,
-0.03480572998523712,
-0.06666181981563568,
0.01150358933955431,
0.047194212675094604,
-0.027188723906874657,
-0.01548560056835413,
0.016457246616482735,
0.04715950787067413,
0.008553951047360897,
-0.03324415907263756,
-0.004417950753122568,
0.004532899707555771,
-0.033400315791368484,
0.06020732223987579,
-0.004346378613263369,
-0.0223998986184597,
0.03782477229833603,
-0.004502535797655582,
-0.035534463822841644,
-0.003450642805546522,
0.010202278383076191,
-0.04504270851612091,
0.04639607295393944,
-0.035013940185308456,
-0.030606834217905998,
0.012197621166706085,
-0.021636463701725006,
0.00020034766930621117,
0.028264474123716354,
0.021410902962088585,
0.027674546465277672,
-0.02573125623166561,
0.040809113532304764,
-0.019380858168005943,
0.07068721204996109,
-0.01036711037158966,
-0.007309029810130596,
0.0045502507127821445,
0.00026324435020796955,
0.03197754919528961,
0.055210284888744354,
-0.012856951914727688,
0.05128900334239006,
-0.019918732345104218,
0.031404972076416016,
0.04185016080737114,
-0.0018630435224622488,
0.03810238465666771,
0.018634773790836334,
0.05014384910464287,
0.0001899100752780214,
0.002398749813437462,
-0.014739515259861946,
-0.024516697973012924,
0.03234191611409187,
0.006489203777164221,
-0.0018966607749462128,
0.01801014319062233,
-0.0036436705850064754,
-0.005109814461320639,
0.0011364782694727182,
0.00884457677602768,
-0.01870417594909668,
-0.061595384031534195,
0.050109148025512695,
0.03605498746037483,
-0.06079724803566933,
0.029479030519723892,
0.03855350613594055,
0.001037795445881784,
-0.017290085554122925,
-0.04077440872788429,
-0.006328708957880735,
-0.04448748379945755,
0.013767870143055916,
-0.011486237868666649,
-0.01934615708887577,
-0.0026872071903198957,
-0.014375148341059685,
-0.004775811452418566,
0.023128634318709373,
-0.04212777316570282,
-0.045112114399671555,
-0.01375051960349083,
0.023180685937404633,
0.015069181099534035,
-0.032289862632751465,
-0.04348113760352135,
-0.029010558500885963,
-0.031821392476558685,
0.046083759516477585,
-0.003541734768077731,
0.008714445866644382,
-0.007964023388922215,
0.026130324229598045,
0.0013663765275850892,
-0.0156504325568676,
0.02014429308474064,
0.028247123584151268,
-0.02661614678800106,
-0.019571715965867043,
0.0044418079778552055,
0.01828775741159916,
-0.04799234867095947,
0.0030710939317941666,
-0.009577648714184761,
0.02639058604836464,
0.01847861520946026,
0.0025310497730970383,
-0.016917042434215546,
0.02036985382437706,
-0.015676459297537804,
-0.002054987009614706,
0.013993430882692337,
-0.04296061396598816,
0.006038082763552666,
-0.017385514453053474,
0.014245017431676388,
-0.032480720430612564,
-0.020890379324555397,
-0.009777182713150978,
0.038588207215070724,
-0.024829013273119926,
-0.017524320632219315,
-0.011616368778049946,
-0.025904763489961624,
0.02115064114332199,
-0.032237809151411057,
0.022052882239222527,
0.015754537656903267,
-0.06110956147313118,
-0.01388932578265667,
-0.042474791407585144,
-0.010644723661243916,
-0.02444729581475258,
-0.01004612073302269,
-0.0035048641730099916,
0.008406468667089939,
0.03626319766044617,
-0.057014770805835724,
-0.02680700644850731,
0.026373235508799553,
0.025800658389925957,
0.022295795381069183,
-0.008918317966163158,
-0.05298938229680061,
0.03152642771601677,
0.0037109050899744034,
0.014305745251476765,
0.018860332667827606,
-0.02930552326142788,
-0.010679425671696663,
0.04323822632431984,
-0.013524958863854408,
0.018461264669895172,
0.03605498746037483,
-0.01587599329650402,
-0.03893522545695305,
-0.012267024256289005,
-0.008488885127007961,
-0.053440503776073456,
0.03615909442305565,
0.0022707877214998007,
0.020578064024448395,
-0.031318217515945435,
0.013464231044054031,
0.0020810130517929792,
0.0441751703619957,
-0.0517401248216629,
-0.01712525263428688,
0.024985169991850853,
0.01651797443628311,
0.013533634133636951,
-0.002676362870261073,
0.05711887404322624,
0.002593946410343051,
0.009751156903803349,
-0.026685550808906555,
-0.018669474869966507,
0.03574267402291298,
0.03378203138709068,
-0.0022707877214998007,
0.0032315889839082956,
0.00946486834436655,
-0.0010339999571442604,
0.024985169991850853,
0.016491947695612907,
0.011113195680081844,
0.014401175081729889,
-0.020109592005610466,
-0.025123976171016693,
0.010176251642405987,
-0.005656364839524031,
0.017628425732254982,
0.010028770193457603,
-0.030450675636529922,
-0.0036436705850064754,
0.01150358933955431,
-0.02389206923544407,
0.007313367445021868,
0.03258482739329338,
0.029045261442661285,
0.03041597455739975,
-0.012371129356324673,
-0.040670305490493774,
0.0065759578719735146,
-0.029912801459431648,
-0.02314598485827446,
0.01479156780987978,
-0.04584084823727608,
-0.07537192851305008,
-0.013047811575233936,
-0.02861149050295353,
-0.03629789873957634,
-0.007833891548216343,
0.013550984673202038,
-0.027206074446439743,
0.01920734904706478,
-0.004253117833286524,
0.023406246677041054,
-0.016500623896718025,
0.04091321676969528,
0.0054091159254312515,
-0.02036985382437706,
0.0019324467284604907,
-0.008367429487407207,
0.024881064891815186,
-0.001301310956478119,
-0.0037521133199334145,
0.010384461842477322,
0.012856951914727688,
0.04004567489027977,
0.04799234867095947,
0.010896310210227966,
-0.03390348702669144,
0.005738781299442053,
-0.0023900745436549187,
-0.039421048015356064,
0.018964437767863274,
-0.000841514440253377,
0.06898683309555054,
0.03938634693622589,
0.005465506110340357,
0.0038714001420885324,
-0.0691603422164917,
-0.02064746804535389,
0.04282180592417717,
0.009031098335981369,
-0.0029105988796800375,
0.012032788246870041,
-0.021723218262195587,
0.02717137336730957,
-0.0009721877286210656,
-0.02180997096002102,
0.00768641009926796,
0.009013746865093708,
-0.012284375727176666,
0.02087302692234516,
-0.06784167885780334,
-0.0011700954055413604,
-0.055210284888744354,
-0.02226109243929386,
0.015858642756938934,
-0.027570441365242004,
0.030815044417977333,
0.00746518699452281,
0.020491309463977814,
0.01856536976993084,
-0.008540937677025795,
0.016882341355085373,
-0.04098261892795563,
0.021324148401618004,
0.019554365426301956,
0.001962810754776001,
0.0041338312439620495,
0.07905030250549316,
-0.035204797983169556,
-0.024499347433447838,
-0.03772066533565521,
0.01671750843524933,
-0.04549382999539375,
-0.030589483678340912,
-0.01247523445636034,
-0.03346971794962883,
-0.01534679438918829,
0.03050272911787033,
-0.03197754919528961,
-0.01414091233164072,
0.02949638105928898,
-0.025679202750325203,
0.02805626392364502,
0.01018492691218853,
-0.002227410674095154,
-0.026737602427601814,
0.00729167927056551,
-0.0021547540090978146,
0.008848914876580238,
0.012319076806306839,
-0.02684170752763748,
0.04226658120751381,
0.015199312008917332,
-0.00949089415371418,
-0.0292187687009573,
0.02980869635939598,
-0.00009617501200409606,
0.018114248290657997,
-0.0025310497730970383,
0.010280356742441654,
0.055106181651353836,
0.035812076181173325,
-0.04490390419960022,
0.03657551482319832,
0.052746471017599106,
-0.01629241369664669,
0.0483393631875515,
-0.0037369313649833202,
-0.010653398931026459,
-0.0020636622793972492,
0.011260677129030228,
-0.0132820475846529,
-0.01166842132806778,
-0.04129493609070778,
0.018600070849061012,
-0.010549293830990791,
-0.03449341654777527,
0.030259817838668823,
0.013438204303383827,
-0.05264236778020859,
0.03088444657623768,
-0.035343606024980545,
-0.008141868747770786,
-0.0053744143806397915,
0.04171135276556015,
-0.0018250886350870132,
0.03202959895133972,
-0.02212228626012802,
-0.013941378332674503,
0.03841469809412956,
0.028108317404985428,
-0.001393487211316824,
0.002262112218886614,
-0.0786338821053505,
0.004194559063762426,
-0.013438204303383827,
0.01008949801325798,
0.011989411897957325,
-0.017628425732254982,
-0.01651797443628311,
0.03633260354399681,
-0.014895672909915447,
0.05215654522180557,
-0.0018803942948579788,
0.059652093797922134,
-0.032480720430612564,
-0.003554747672751546,
-0.042787104845047,
0.028767647221684456,
-0.028455333784222603,
0.015225337818264961,
-0.04285650700330734,
0.00772111164405942,
-0.028160369023680687,
-0.05128900334239006,
0.0232847910374403,
-0.0069837020710110664,
0.047194212675094604,
0.004472171887755394,
0.011252001859247684,
-0.009187255054712296,
-0.0077471379190683365,
0.0027739612851291895,
-0.007426147814840078,
-0.01972787454724312,
0.013316748663783073,
0.028316525742411613,
0.018895035609602928,
-0.04507741332054138,
0.008436832576990128,
0.007408797275274992,
-0.032983895391225815,
0.011338756419718266,
-0.015702486038208008,
-0.01578924059867859,
0.025436291471123695,
-0.022521354258060455,
-0.008987721055746078,
-0.019189998507499695,
0.0015496445121243596,
-0.00471074553206563,
-0.009386789985001087,
0.034181103110313416,
-0.01388932578265667,
-0.03529155254364014,
-0.01244920864701271,
0.028160369023680687,
0.016917042434215546,
0.007131183985620737,
0.07023608684539795,
-0.051497213542461395,
-0.02319803647696972,
0.027015214785933495,
-0.01541619747877121,
-0.018114248290657997,
-0.009005071595311165,
-0.01108716893941164,
-0.03869231417775154,
-0.018357159569859505,
-0.047055404633283615,
0.013577011413872242,
0.007404459174722433,
-0.017185980454087257,
0.0869622752070427,
-0.0076039936393499374,
0.02703256718814373,
-0.028507385402917862
] |
In the modern era, malware is experiencing a significant increase in both its
variety and quantity, aligning with the widespread adoption of the digital
world. This surge in malware has emerged as a critical challenge in the realm
of cybersecurity, prompting numerous research endeavors and contributions to
address the issue. Machine learning algorithms have been leveraged for malware
detection due to their ability to uncover concealed patterns within vast
datasets. However, deep learning algorithms, characterized by their
multi-layered structure, surpass the limitations of traditional machine
learning approaches. By employing deep learning techniques such as CNN
(Convolutional Neural Network) and RNN (Recurrent Neural Network), this study
aims to classify and identify malware extracted from a dataset containing API
call sequences. The performance of these algorithms is compared with that of
conventional machine learning methods, including SVM (Support Vector Machine),
RF (Random Forest), KNN (K-Nearest Neighbors), XGB (Extreme Gradient Boosting),
and GBC (Gradient Boosting Classifier), all using the same dataset. The
outcomes of this research demonstrate that both deep learning and machine
learning algorithms achieve remarkably high levels of accuracy, reaching up to
99% in certain cases. | [
-0.051406923681497574,
0.023201514035463333,
-0.023831501603126526,
-0.03063535876572132,
0.039347175508737564,
0.029627379029989243,
-0.028511403128504753,
0.008626319468021393,
0.01981758512556553,
0.04269510507583618,
0.031265344470739365,
-0.07999032735824585,
-0.0037754210643470287,
-0.059578754007816315,
-0.0597587488591671,
0.013832710683345795,
0.02212153747677803,
-0.05281089246273041,
0.034703273326158524,
-0.0484909862279892,
-0.0008684818167239428,
-0.02491147816181183,
-0.020519569516181946,
0.014093704521656036,
-0.009989790618419647,
0.043991077691316605,
0.006551862694323063,
-0.029681378975510597,
-0.04881497845053673,
0.10122988373041153,
0.02411949448287487,
0.004859898239374161,
0.019763587042689323,
-0.024605484679341316,
-0.026639442890882492,
-0.0286554004997015,
-0.0021678295452147722,
0.03643123805522919,
-0.0344872772693634,
-0.016352657228708267,
0.06620261073112488,
-0.03162533789873123,
-0.012923729605972767,
-0.0016300908755511045,
0.025505466386675835,
-0.0048688980750739574,
-0.019421594217419624,
-0.0674985870718956,
-0.019673587754368782,
-0.03263331577181816,
-0.03841119632124901,
0.019223596900701523,
0.016325658187270164,
-0.03365929424762726,
-0.04579104110598564,
0.037439215928316116,
0.0506509393453598,
-0.007609340827912092,
-0.009692797437310219,
-0.015794670209288597,
0.00868481770157814,
0.055834829807281494,
0.03351529687643051,
-0.0072583481669425964,
-0.06389866024255753,
-0.04694301635026932,
-0.0013105975231155753,
-0.04985895752906799,
0.058498773723840714,
0.029699377715587616,
-0.06620261073112488,
0.02089756168425083,
0.017234638333320618,
-0.0031341842841356993,
-0.007870335131883621,
0.02611745335161686,
0.014615694060921669,
0.07653439790010452,
-0.00856782030314207,
0.016838647425174713,
0.023921499028801918,
0.05223490670323372,
-0.0021172056440263987,
0.021401552483439445,
0.08301426470279694,
0.007834335789084435,
-0.016613652929663658,
-0.07289847731590271,
-0.001642465591430664,
-0.044531065970659256,
-0.03299330919981003,
0.05612282454967499,
0.03349729999899864,
-0.002740442520007491,
-0.036899227648973465,
-0.01073677558451891,
-0.04967895895242691,
-0.04323509335517883,
-0.024515487253665924,
0.023399509489536285,
0.009260806255042553,
-0.009818794205784798,
0.033695295453071594,
-0.015353678725659847,
0.012923729605972767,
-0.028133410960435867,
-0.06443864852190018,
0.03963517025113106,
-0.015119682997465134,
0.1526368111371994,
-0.05788678675889969,
-0.02100555971264839,
-0.00217907945625484,
0.01583966799080372,
0.002477198140695691,
0.029681378975510597,
-0.05432286113500595,
-0.03970716893672943,
-0.04676302149891853,
0.003260181751102209,
-0.0023129514884203672,
0.0608387254178524,
-0.012968728318810463,
-0.015479675494134426,
-0.05468285456299782,
0.06843456625938416,
0.019655589014291763,
0.03207532688975334,
0.004715901333838701,
0.028151409700512886,
-0.03927517682313919,
-0.008725317195057869,
0.03628724068403244,
0.028637399896979332,
0.04942696541547775,
0.033245302736759186,
0.022427530959248543,
0.03686322644352913,
0.008986311964690685,
0.010358783416450024,
-0.00022330782667268068,
-0.033803291618824005,
-0.047842998057603836,
-0.018665609881281853,
0.000834732549265027,
-0.0022578276693820953,
0.026495445519685745,
0.06371866911649704,
-0.026063453406095505,
-0.038555193692445755,
-0.012842731550335884,
0.014588694088160992,
0.05684281140565872,
0.048526983708143234,
0.033353302627801895,
-0.046187032014131546,
0.04337909072637558,
-0.026423446834087372,
-0.013238722458481789,
-0.027575422078371048,
0.02177954465150833,
-0.009278805926442146,
0.031355343759059906,
0.03916718065738678,
0.035351261496543884,
0.05191091448068619,
0.04096714407205582,
-0.014930687844753265,
-0.07531042397022247,
0.05551083758473396,
0.020303575322031975,
-0.04993095621466637,
0.00418716249987483,
0.019457591697573662,
-0.012977728620171547,
0.03463127464056015,
0.018170619383454323,
0.003410928649827838,
-0.030491361394524574,
0.04445906728506088,
-0.0232195146381855,
0.008302326314151287,
-0.0062188697047531605,
-0.007235848344862461,
0.03581925109028816,
0.006646360736340284,
0.04460306465625763,
0.009971790947020054,
0.03626924008131027,
-0.009512800723314285,
-0.021095559000968933,
-0.017675630748271942,
0.0471230149269104,
-0.030599359422922134,
0.03776320815086365,
-0.03043736331164837,
-0.014435697346925735,
0.06695859879255295,
-0.026189452037215233,
0.006376366596668959,
-0.03970716893672943,
-0.044675063341856,
0.02867339923977852,
0.0022060787305235863,
0.043415091931819916,
-0.03895118460059166,
0.03522526100277901,
-0.03121134638786316,
-0.01410270482301712,
-0.01161875668913126,
-0.03815920278429985,
0.013850710354745388,
-0.05709480494260788,
0.039995163679122925,
0.030059371143579483,
-0.0015873417723923922,
0.006655360572040081,
0.013346720486879349,
-0.025271471589803696,
-0.043199095875024796,
0.03176933526992798,
0.007717338390648365,
0.0365932323038578,
-0.05569083243608475,
-0.029807375743985176,
-0.07682239264249802,
0.03338930010795593,
-0.004634902812540531,
-0.04435107111930847,
-0.005440386012196541,
-0.02201353944838047,
0.005503384862095118,
-0.023165514692664146,
0.01949359104037285,
0.009314805269241333,
-0.046403028070926666,
0.031355343759059906,
0.012635735794901848,
-0.03295731171965599,
0.01260873582214117,
0.025973455980420113,
-0.043775081634521484,
-0.040535151958465576,
-0.04499905928969383,
0.035783249884843826,
0.00011432573228375986,
0.0028349405620247126,
0.033911291509866714,
-0.016199661418795586,
0.036899227648973465,
0.01282473187893629,
-0.02167154662311077,
-0.02723342925310135,
0.031697336584329605,
-0.04816699028015137,
-0.05299089103937149,
0.021203555166721344,
-0.015875667333602905,
0.009404802694916725,
-0.06487064063549042,
-0.0015097183641046286,
-0.007793836761265993,
-0.06062272936105728,
0.028925394639372826,
0.011402761563658714,
0.03473927080631256,
0.05878676846623421,
0.0482029914855957,
0.007798336911946535,
-0.001086727250367403,
0.052162908017635345,
-0.028745397925376892,
-0.0766063928604126,
0.003512176452204585,
-0.004202912095934153,
-0.04060715064406395,
0.03378529101610184,
0.012743732891976833,
0.029159389436244965,
0.0583907775580883,
0.016154661774635315,
-0.02843940444290638,
0.06353867053985596,
0.010862772352993488,
-0.02444348856806755,
0.005548384040594101,
-0.03063535876572132,
-0.00030177494045346975,
-0.038015205413103104,
0.04489105939865112,
-0.003737171646207571,
0.00952180102467537,
-0.01752263307571411,
-0.017072642222046852,
-0.0073078470304608345,
0.00697035389021039,
0.026639442890882492,
0.020177576690912247,
-0.03022136725485325,
0.004382908344268799,
-0.043667085468769073,
-0.028511403128504753,
0.006785857956856489,
0.019565589725971222,
-0.008261826820671558,
-0.00924280658364296,
0.05774278938770294,
0.06253068894147873,
-0.023813501000404358,
0.003939667716622353,
0.0068038576282560825,
-0.011321762576699257,
-0.035369258373975754,
0.0141567038372159,
-0.022337531670928,
0.049282968044281006,
0.027143431827425957,
-0.02102356031537056,
-0.011537758633494377,
-0.02687343768775463,
0.06490664184093475,
0.044315073639154434,
-0.04042715206742287,
0.09475001692771912,
0.01846761256456375,
-0.0226795244961977,
-0.015875667333602905,
0.0028866895008832216,
-0.051514919847249985,
-0.007478843443095684,
0.02177954465150833,
0.022319532930850983,
-0.06800257414579391,
-0.02291352115571499,
-0.009269805625081062,
-0.014300700277090073,
-0.024317489936947823,
0.07124251127243042,
0.0365932323038578,
-0.0077893370762467384,
-0.057058803737163544,
-0.006718359421938658,
-0.08150229603052139,
-0.05389087274670601,
-0.031697336584329605,
-0.05756279453635216,
-0.05716680362820625,
0.006709359586238861,
-0.01713564060628414,
-0.014255701564252377,
0.0010473530273884535,
-0.044099077582359314,
0.023741502314805984,
0.009049310348927975,
-0.04082314670085907,
-0.012095746584236622,
0.015893667936325073,
0.01727963797748089,
-0.0012633485021069646,
0.0007902959478087723,
-0.023867500945925713,
0.00796483363956213,
-0.018125619739294052,
-0.008050331845879555,
-0.02987937442958355,
-0.031571339815855026,
0.017684629186987877,
-0.0015175932785496116,
0.02255352772772312,
0.042659107595682144,
0.04766300320625305,
0.014507696032524109,
0.026531444862484932,
0.0002743536315392703,
-0.02534347027540207,
-0.005818378180265427,
0.013841710053384304,
-0.010070789605379105,
-0.022985517978668213,
0.01970958709716797,
0.014147703535854816,
0.04571904242038727,
-0.0024411987978965044,
0.008972812443971634,
-0.003602174576371908,
0.008981811814010143,
0.04211911931633949,
0.004092664457857609,
0.03506326675415039,
0.07819036394357681,
-0.003473927266895771,
-0.005408886820077896,
-0.006214370019733906,
-0.02080756425857544,
0.04877897724509239,
-0.02024957537651062,
-0.019997581839561462,
0.02534347027540207,
0.046871017664670944,
-0.0801343247294426,
-0.019961582496762276,
0.047627002000808716,
0.012563737109303474,
-0.024875478819012642,
-0.048634979873895645,
-0.0376192107796669,
0.025289470329880714,
-0.04813099279999733,
-0.011915750801563263,
-0.014516696333885193,
-0.023057516664266586,
0.03193133324384689,
-0.004661902319639921,
-0.021635547280311584,
0.02977137640118599,
0.009602799080312252,
-0.0031161848455667496,
0.009638798423111439,
0.015191681683063507,
-0.01554267480969429,
-0.003622424090281129,
0.033047307282686234,
0.056482817977666855,
-0.02809741161763668,
-0.04028315842151642,
0.021383551880717278,
0.04082314670085907,
-0.028061412274837494,
0.023489508777856827,
-0.008423823863267899,
0.07113450765609741,
0.038879185914993286,
0.05234290286898613,
-0.011420761235058308,
-0.026621442288160324,
-0.036557234823703766,
-0.008360824547708035,
-0.005962375085800886,
-0.014714691787958145,
-0.025073474273085594,
-0.016973644495010376,
0.019061600789427757,
0.0128337312489748,
0.01633465848863125,
-0.09338204562664032,
-0.009224806912243366,
-0.003305180696770549,
0.02480348013341427,
-0.02712543122470379,
-0.034361280500888824,
-0.04118313640356064,
0.042875103652477264,
-0.07401444762945175,
-0.017639631405472755,
0.0847422257065773,
0.007118850946426392,
-0.015011685900390148,
-0.015587673522531986,
0.027359427884221077,
-0.009971790947020054,
-0.007213348988443613,
0.09215807169675827,
-0.000012146229892096017,
0.009629798121750355,
0.026405446231365204,
0.009818794205784798,
-0.03229132294654846,
-0.07581441104412079,
0.006610361393541098,
-0.03234532102942467,
0.04471106454730034,
-0.022409530356526375,
-0.017567632719874382,
-0.011627756990492344,
0.002213953761383891,
-0.04337909072637558,
0.015074684284627438,
-0.02656744420528412,
-0.022193536162376404,
0.030509361997246742,
0.04327109456062317,
0.044207073748111725,
-0.020519569516181946,
-0.02555946446955204,
-0.021401552483439445,
-0.00520189106464386,
0.0524149015545845,
-0.016127662733197212,
-0.019331594929099083,
-0.02048357203602791,
-0.011834751814603806,
-0.007982833310961723,
-0.04258710891008377,
0.012140746228396893,
-0.03643123805522919,
-0.03736721724271774,
-0.03382129222154617,
0.033695295453071594,
0.07045052200555801,
0.04816699028015137,
-0.020051579922437668,
-0.08546221256256104,
0.014714691787958145,
0.00520189106464386,
-0.010268785059452057,
0.011798753403127193,
0.025163473561406136,
0.028385406360030174,
-0.011465759947896004,
0.01719863899052143,
-0.022391531616449356,
-0.012374741025269032,
-0.023957498371601105,
0.006448364816606045,
-0.02203153818845749,
0.01882760599255562,
-0.0007897334871813655,
0.015461675822734833,
0.004796899389475584,
0.033479299396276474,
0.041975121945142746,
0.007316846866160631,
-0.03549525514245033,
0.027521423995494843,
-0.015236681327223778,
-0.02410149574279785,
0.033263303339481354,
-0.038231197744607925,
-0.023543506860733032,
-0.022265532985329628,
-0.03895118460059166,
0.022751523181796074,
-0.022481529042124748,
-0.019007602706551552,
-0.01644265651702881,
0.00890081375837326,
0.007847835309803486,
0.006020873785018921,
-0.039095181971788406,
-0.006898355670273304,
-0.03952717408537865,
0.03697122633457184,
-0.019655589014291763,
-0.028403405100107193,
-0.005705880466848612,
0.01399470679461956,
0.07156649976968765,
-0.015254680998623371,
0.007510342635214329,
-0.003764171153306961,
-0.04049915075302124,
-0.007411344908177853,
0.012842731550335884,
-0.03121134638786316,
-0.05097493156790733,
-0.006871356163173914,
0.03916718065738678,
0.014228702522814274,
-0.0075193424709141254,
-0.03342530131340027,
-0.04262310639023781,
0.04510705545544624,
-0.026801439002156258,
-0.0038969183806329966,
0.018305616453289986,
-0.027485424652695656,
0.004164662677794695,
0.038231197744607925,
0.0064168656244874,
-0.016046663746237755,
0.002116080606356263,
-0.03963517025113106,
-0.021059559658169746,
-0.023399509489536285,
0.0038586691953241825,
0.030077369883656502,
0.04103913903236389,
-0.013319721445441246,
0.0015209681587293744,
0.02136555314064026,
-0.014615694060921669,
0.008558820933103561,
0.0005754254525527358,
0.020069580525159836,
0.03085135482251644,
-0.008693818002939224,
-0.005071393679827452,
0.0012475989060476422,
-0.00030374363996088505,
-0.025973455980420113,
-0.015164682641625404,
-0.00656086253002286,
-0.03740321844816208,
-0.0283134076744318,
-0.032921310514211655,
0.028385406360030174,
0.016631651669740677,
-0.03549525514245033,
-0.0004989270819351077,
-0.008675818331539631,
0.005440386012196541,
0.025415467098355293,
0.07891035079956055,
0.04150713235139847,
0.01981758512556553,
-0.00021487049525603652,
0.006637360900640488,
0.011654756031930447,
0.0035414258018136024,
0.02678343839943409,
0.00004637012170860544,
0.0165326539427042,
0.04964296147227287,
-0.019889583811163902,
-0.029231388121843338,
0.005062393844127655,
0.059254758059978485,
-0.02545146644115448,
-0.014309700578451157,
0.005251389928162098,
0.04539505019783974,
-0.023813501000404358,
0.008599319495260715,
0.02800741419196129,
-0.0014928437303751707,
0.02456948533654213,
0.019781585782766342,
-0.013643714599311352,
-0.01818861998617649,
-0.040571149438619614,
-0.03319130465388298,
-0.005777879152446985,
0.010070789605379105,
-0.03740321844816208,
-0.05108293145895004,
-0.017639631405472755,
-0.011960749514400959,
0.0172166395932436,
-0.011996748857200146,
0.01526368036866188,
0.016928644850850105,
0.030833354219794273,
-0.029375385493040085,
0.05367487668991089,
-0.004882397595793009,
0.0239035002887249,
-0.039095181971788406,
-0.012374741025269032,
0.02644144557416439,
0.05291889235377312,
0.049066971987485886,
0.013319721445441246,
-0.0226795244961977,
0.030077369883656502,
-0.025847459211945534,
-0.030815355479717255,
0.010502779856324196,
-0.0007452968857251108,
0.01312172506004572,
0.004999395459890366,
-0.0307613555341959,
0.019169598817825317,
-0.022211534902453423,
0.013256722129881382,
0.024767480790615082,
-0.009557799436151981,
0.04449506849050522,
0.017117641866207123,
0.023417510092258453,
0.016109662130475044,
-0.02687343768775463,
-0.06195470318198204,
-0.04082314670085907,
0.047519005835056305,
-0.004711401183158159,
-0.006412365939468145,
0.05950675532221794,
0.06645461171865463,
0.024623485282063484,
-0.01655065268278122,
-0.01960158906877041,
0.01073677558451891,
-0.022319532930850983,
0.04139913246035576,
-0.04658302292227745,
-0.014858689159154892,
-0.002450198633596301,
0.006079372484236956,
-0.02044757269322872,
-0.0023062017280608416,
-0.004990395624190569,
-0.030707357451319695,
0.01773862913250923,
0.012104746885597706,
0.04456706717610359,
0.0070153530687093735,
-0.036341238766908646,
-0.04237111285328865,
-0.000561363238375634,
0.02712543122470379,
0.010826773010194302,
-0.03581925109028816,
-0.05011095106601715,
-0.013967707753181458,
-0.003698922460898757,
0.016847647726535797,
0.030581358820199966,
-0.007046852260828018,
0.014561695046722889,
-0.006083872634917498,
0.017954623326659203,
0.04471106454730034,
0.011078768409788609,
0.04481906071305275,
0.03675523027777672,
-0.02833140641450882,
0.032381322234869,
0.012644735164940357,
0.01846761256456375,
0.022373531013727188,
0.03776320815086365,
0.009998790919780731,
-0.028637399896979332,
-0.04323509335517883,
-0.05353087931871414,
-0.003984666429460049,
0.01017878670245409,
0.00006549472163897008,
-0.03286731243133545,
-0.013679713942110538,
0.02323751337826252,
-0.024713482707738876,
-0.023957498371601105,
0.008306826464831829,
-0.008959311991930008,
-0.028727399185299873,
0.0548628531396389,
0.02833140641450882,
-0.008612819947302341,
0.007289847359061241,
-0.015173682011663914,
-0.02708943374454975,
0.028367405757308006,
-0.06861456483602524,
0.015695670619606972,
-0.0389871820807457,
-0.010961770080029964,
0.015632672235369682,
-0.00202045775949955,
-0.008801816031336784,
0.01693764515221119,
-0.011249764822423458,
0.025703461840748787,
-0.0502549484372139,
-0.03715122118592262,
0.027377426624298096,
0.05453885719180107,
0.030779356136918068,
-0.018224619328975677,
0.002814691048115492,
-0.009386803023517132,
-0.008315825834870338,
0.004173662513494492,
-0.021185556426644325,
0.06479864567518234,
-0.024515487253665924,
-0.041651129722595215,
0.0014928437303751707,
0.017450634390115738,
0.012113746255636215,
0.0460430346429348,
0.006704859435558319,
0.038879185914993286,
-0.029339386150240898,
-0.019061600789427757,
-0.032021328806877136,
0.01891760341823101,
-0.0043356590904295444,
0.01592966727912426,
-0.0010856022126972675,
-0.06281868368387222,
0.004184912424534559,
0.006902855355292559,
0.07225048542022705,
-0.008797315880656242,
0.009440802037715912,
0.017918623983860016,
-0.02080756425857544,
-0.02413749508559704,
0.03383929282426834,
-0.04093114286661148,
-0.00638986611738801,
0.009854793548583984,
-0.05126292631030083,
0.02003358118236065,
0.003296181093901396,
-0.08107030391693115,
0.07315047085285187,
-0.053062889724969864,
-0.0059848749078810215,
0.027179431170225143,
-0.010952770709991455,
-0.019457591697573662,
-0.01889960467815399,
-0.021203555166721344,
-0.04892297461628914,
-0.053062889724969864,
-0.005548384040594101,
0.030959350988268852,
-0.008653318509459496,
0.02388549968600273,
-0.013400719501078129,
-0.02291352115571499,
-0.003550425637513399,
0.01404870580881834,
0.02910539135336876,
-0.004549404606223106,
0.029393384233117104,
-0.02788141556084156,
0.014480696991086006,
0.022949518635869026,
0.0004381783364806324,
-0.02444348856806755,
-0.0289973933249712,
-0.024749482050538063,
0.01949359104037285,
0.05806678533554077,
0.046439029276371,
0.04733900725841522,
0.042443111538887024,
0.03995916247367859,
0.008014332503080368,
0.007717338390648365,
-0.004855398554354906,
-0.020753566175699234,
0.030239365994930267,
-0.006092872470617294,
0.017315637320280075,
-0.003183683380484581,
0.019007602706551552,
-0.0013488467084243894,
0.010160787031054497,
0.02698143571615219,
-0.023939499631524086,
-0.005413386505097151,
-0.008774816058576107,
-0.025505466386675835,
0.03779920935630798,
0.021743545308709145,
0.022985517978668213,
0.00760484067723155,
-0.006646360736340284,
0.024875478819012642,
0.044423069804906845,
-0.05255889892578125,
0.0027246929239481688,
0.020861562341451645,
-0.008315825834870338,
0.020051579922437668,
0.011042769066989422,
-0.004058915190398693,
0.007762337569147348,
0.003039686242118478,
-0.011024769395589828,
0.04913897067308426,
-0.011231765151023865,
0.0011052893241867423,
-0.012734733521938324,
-0.0048688980750739574,
-0.03787120804190636,
0.010718775913119316,
-0.03819520026445389,
0.01859361119568348,
0.06199070066213608,
0.014363699592649937,
-0.01575867086648941,
0.002225203439593315,
0.026369448751211166,
0.03142734244465828,
-0.014066705480217934,
0.023075517266988754,
0.01924159750342369,
0.03945517539978027,
-0.013679713942110538,
0.04705101624131203,
-0.03873518854379654,
-0.00929680559784174,
-0.053602878004312515,
0.012032748199999332,
-0.05212690681219101,
-0.04899497330188751,
0.0062683685682713985,
0.020771564915776253,
0.006434865295886993,
0.028583401814103127,
-0.00873881671577692,
-0.008477822877466679,
-0.014201702550053596,
-0.03697122633457184,
0.011852751486003399,
-0.005053394008427858,
-0.07304246723651886,
0.006209869869053364,
-0.013535716570913792,
0.00895481277257204,
0.02433549053966999,
0.01743263565003872,
-0.015182682313024998,
0.016370657831430435,
-0.04600703716278076,
0.008932312950491905,
-0.050398945808410645,
-0.011177766136825085,
-0.005966875236481428,
0.027485424652695656,
-0.00395991699770093,
-0.00666886055842042,
-0.018719607964158058,
0.008297826163470745,
0.018044622614979744,
0.042443111538887024,
0.00012283337127882987,
-0.03981516510248184,
-0.0037461714819073677,
-0.01747763343155384,
-0.0041016642935574055,
-0.051622919738292694,
-0.006569862365722656,
0.00918880756944418,
-0.002816941123455763,
-0.02456948533654213,
0.013364720158278942,
0.03596324846148491,
0.01889960467815399,
0.007267348002642393,
-0.01655065268278122,
-0.030275365337729454,
0.012239743955433369,
-0.009872793219983578,
-0.022949518635869026,
-0.025307470932602882,
0.01631665788590908,
0.019223596900701523,
-0.0013409719103947282,
0.026477444916963577,
-0.015587673522531986,
0.03151734173297882,
0.016460655257105827,
-0.020987560972571373,
0.005827378015965223,
-0.041831124573946,
-0.04067914932966232,
0.05489885061979294,
-0.005305388942360878,
-0.012347741052508354,
-0.028709398582577705,
-0.014399698935449123,
0.0010664776200428605,
-0.0327233150601387,
0.01719863899052143,
0.00908080954104662,
0.006349367089569569,
0.010331783443689346,
0.005507884547114372,
-0.007861335761845112,
0.020429572090506554,
-0.02644144557416439,
0.05363887548446655,
-0.04258710891008377,
0.005813878495246172,
0.007478843443095684,
-0.04557504504919052,
-0.001686339732259512,
-0.0065383631736040115,
-0.0061963703483343124,
0.04676302149891853,
0.031571339815855026,
-0.021851543337106705,
0.006056873127818108,
0.007636340335011482,
-0.0038586691953241825,
-0.009530800394713879,
-0.027701420709490776,
0.0037574213929474354,
0.019727587699890137,
-0.0226795244961977,
0.04168712720274925,
0.0051838913932442665,
-0.05608682706952095,
0.017189640551805496,
-0.029915373772382736,
0.00855432078242302,
-0.007901834324002266,
0.012752733193337917,
-0.025361469015479088,
0.0034671775065362453,
-0.016559652984142303,
0.0041511631570756435,
-0.027269428595900536,
0.0326693169772625,
-0.028151409700512886,
0.025091474875807762,
-0.020879562944173813,
0.024947477504611015,
0.04881497845053673,
0.028727399185299873,
0.04539505019783974,
-0.029627379029989243,
-0.027521423995494843,
0.018260616809129715,
-0.02203153818845749,
-0.02579345926642418,
0.02444348856806755,
0.0002372294111410156,
0.051154930144548416,
0.032597318291664124,
-0.014534696005284786,
0.014687692746520042,
0.0005124267772771418,
-0.036899227648973465,
0.03540525957942009,
-0.017783626914024353,
0.011870751157402992,
-0.038771189749240875
] |
Quantum tangent kernel methods provide an efficient approach to analyzing the
performance of quantum machine learning models in the infinite-width limit,
which is of crucial importance in designing appropriate circuit architectures
for certain learning tasks. Recently, they have been adapted to describe the
convergence rate of training errors in quantum neural networks in an analytical
manner. Here, we study the connections between the trainability and
expressibility of quantum tangent kernel models. In particular, for global loss
functions, we rigorously prove that high expressibility of both the global and
local quantum encodings can lead to exponential concentration of quantum
tangent kernel values to zero. Whereas for local loss functions, such issue of
exponential concentration persists owing to the high expressibility, but can be
partially mitigated. We further carry out extensive numerical simulations to
support our analytical theories. Our discoveries unveil a pivotal
characteristic of quantum neural tangent kernels, offering valuable insights
for the design of wide quantum variational circuit models in practical
applications. | [
-0.02907155640423298,
0.003131992882117629,
-0.035844434052705765,
-0.010594186373054981,
0.05540435388684273,
0.0022853834088891745,
0.005991035141050816,
0.028072278946638107,
-0.043524060398340225,
-0.00247043464332819,
-0.015507297590374947,
-0.009224805980920792,
0.022816823795437813,
0.004829838406294584,
0.012111606076359749,
0.04263581708073616,
0.009247938171029091,
-0.014137918129563332,
0.029700729995965958,
0.003455832600593567,
0.0026115362998098135,
-0.03229144960641861,
-0.03784298896789551,
-0.04963075369596481,
0.0038953295443207026,
0.032495006918907166,
-0.007073585409671068,
-0.016062451526522636,
-0.06380568444728851,
0.012972095049917698,
-0.024926407262682915,
0.01043689250946045,
-0.00820239819586277,
-0.00956715177744627,
-0.047299109399318695,
-0.04389416426420212,
0.02620326168835163,
0.019393375143408775,
-0.0834951400756836,
0.04393117502331734,
0.03723231703042984,
0.014989153482019901,
-0.008928724564611912,
0.002842850284650922,
-0.009502382948994637,
-0.02673991024494171,
-0.0019280030392110348,
-0.05033395066857338,
-0.0079016899690032,
-0.04752117022871971,
0.013212661258876324,
-0.05129621550440788,
0.04718807712197304,
-0.014841113239526749,
-0.004200664348900318,
0.045670658349990845,
0.05851321667432785,
0.022798318415880203,
0.10510912537574768,
0.017219021916389465,
0.01918981783092022,
0.026721404865384102,
-0.09333986788988113,
0.008942603133618832,
0.02907155640423298,
-0.07194793969392776,
0.04211767017841339,
-0.013841835781931877,
0.04555962607264519,
-0.004663292318582535,
-0.08097843825817108,
0.021706515923142433,
-0.013592016883194447,
-0.003122740425169468,
0.03218041732907295,
0.031495727598667145,
0.023427492007613182,
0.06746970117092133,
0.012972095049917698,
0.03458608314394951,
-0.009419110603630543,
0.018218299373984337,
-0.011362148448824883,
0.008345812559127808,
0.03125516325235367,
-0.015664590522646904,
-0.028164805844426155,
-0.040748290717601776,
0.060511767864227295,
-0.013416217640042305,
-0.07172587513923645,
0.02579614892601967,
-0.061548057943582535,
-0.043968185782432556,
0.02196558751165867,
0.037010256201028824,
-0.04000808671116829,
-0.0033794990740716457,
-0.01798698492348194,
0.018375592306256294,
0.0438571535050869,
-0.005371113307774067,
0.026406817138195038,
0.025463055819272995,
0.03221742808818817,
-0.06939423084259033,
0.009252564050257206,
0.03615901991724968,
0.08149658143520355,
0.144414022564888,
-0.007739769760519266,
0.010649701580405235,
-0.04633684083819389,
0.008072862401604652,
-0.05621857941150665,
-0.026018209755420685,
-0.06173310801386833,
-0.04415323585271835,
0.012009828351438046,
-0.0448194220662117,
-0.013869593851268291,
0.09319182485342026,
0.008244034834206104,
-0.010446145199239254,
-0.04589271917939186,
0.050667040050029755,
-0.009687434881925583,
0.03071851283311844,
0.03277258202433586,
-0.003583055455237627,
0.054479096084833145,
-0.0013254297664389014,
0.01507242675870657,
-0.025537077337503433,
0.004193724598735571,
-0.03673268109560013,
0.049482714384794235,
0.02518547885119915,
0.02353852242231369,
-0.040711283683776855,
0.018458865582942963,
-0.053960952907800674,
-0.014276706613600254,
0.015368509106338024,
-0.003513661213219166,
0.017875954508781433,
-0.051777347922325134,
0.009659676812589169,
0.046817973256111145,
-0.006171460263431072,
-0.0016180421225726604,
0.03867571800947189,
-0.04159952700138092,
0.02126239240169525,
0.0779436007142067,
-0.0034905297216027975,
-0.052221473306417465,
0.028849495574831963,
-0.017311546951532364,
-0.07561195641756058,
0.026166250929236412,
-0.006444410886615515,
-0.005167556926608086,
0.040230147540569305,
0.043413031846284866,
0.04211767017841339,
0.035751909017562866,
0.0030949825886636972,
-0.051259204745292664,
0.03889777883887291,
0.018292319029569626,
0.021613989025354385,
-0.015692349523305893,
0.017626134678721428,
-0.003943905234336853,
-0.008239408023655415,
-0.004260805901139975,
0.014100907370448112,
-0.028830990195274353,
0.012481709010899067,
-0.03340175747871399,
0.026480838656425476,
0.029811762273311615,
0.09030502289533615,
0.06772877275943756,
0.025981200858950615,
0.06772877275943756,
0.02026311494410038,
0.037565410137176514,
0.011889545246958733,
0.040230147540569305,
0.05466414988040924,
-0.029700729995965958,
-0.03997107595205307,
0.04419024661183357,
-0.015673844143748283,
-0.016848919913172722,
0.013804825954139233,
0.024426769465208054,
-0.00029839519993402064,
0.019504405558109283,
-0.06669247895479202,
0.01151018962264061,
-0.034789640456438065,
0.0064027742482721806,
-0.013804825954139233,
-0.02139192819595337,
-0.028664443641901016,
-0.010168568231165409,
0.0406002514064312,
0.023205431178212166,
-0.034715618938207626,
-0.028294341638684273,
-0.05236951261758804,
-0.030755523592233658,
-0.028368361294269562,
-0.0285349078476429,
-0.03123665601015091,
-0.048964571207761765,
-0.032606035470962524,
-0.0003614282759372145,
-0.015016911551356316,
0.07860978692770004,
-0.03379036486148834,
-0.008581752888858318,
-0.0072540100663900375,
-0.03536330163478851,
-0.06406475603580475,
-0.011426916345953941,
0.0020054932683706284,
-0.018292319029569626,
-0.0039508449845016,
-0.004022552166134119,
0.006222349591553211,
-0.03662164881825447,
-0.018190540373325348,
0.062103211879730225,
-0.009965011849999428,
0.051222193986177444,
-0.010288851335644722,
-0.028571918606758118,
-0.030848048627376556,
-0.0013578138314187527,
0.002088766312226653,
-0.03286510705947876,
-0.006879281252622604,
-0.016275260597467422,
0.020411156117916107,
0.05581146851181984,
-0.007004191167652607,
-0.0877143070101738,
-0.028664443641901016,
0.018791956827044487,
-0.01311088353395462,
-0.03830561414361,
-0.011204855516552925,
-0.02072574384510517,
-0.017718659713864326,
-0.00030359975062310696,
-0.051703330129384995,
0.03297613933682442,
0.05488621070981026,
0.009983516298234463,
0.06291743367910385,
-0.030848048627376556,
-0.003131992882117629,
0.008702036924660206,
0.015618328005075455,
-0.0018458865815773606,
0.05799507349729538,
0.022557752206921577,
0.03290211781859398,
-0.02085527963936329,
-0.023149915039539337,
0.008540116250514984,
-0.022816823795437813,
-0.026092231273651123,
-0.018986262381076813,
-0.02070723846554756,
-0.05307270959019661,
0.017209770157933235,
0.0016978455241769552,
-0.01504466962069273,
-0.010547922924160957,
0.03071851283311844,
-0.04011911898851395,
-0.02459331601858139,
0.022243164479732513,
-0.024167697876691818,
-0.04611478000879288,
0.01369379460811615,
-0.00438571535050869,
-0.034271497279405594,
0.029682226479053497,
0.043042927980422974,
-0.010261093266308308,
-0.0482613742351532,
-0.03131067752838135,
0.010011274367570877,
-0.008373570628464222,
-0.022853832691907883,
-0.014609798789024353,
0.034771136939525604,
0.020004043355584145,
-0.01796847954392433,
0.006694230251014233,
0.06284341216087341,
0.024186203256249428,
0.004413472954183817,
0.03391990065574646,
0.03723231703042984,
-0.0023096713703125715,
0.04663292318582535,
-0.01800549030303955,
-0.01863466389477253,
-0.023982645943760872,
0.05292466655373573,
0.027813207358121872,
-0.019837496802210808,
-0.004364897031337023,
0.029756246134638786,
0.039082832634449005,
-0.08919471502304077,
-0.03397541493177414,
-0.004263118840754032,
0.008826945908367634,
0.040304169058799744,
0.034697115421295166,
-0.059993624687194824,
0.007739769760519266,
-0.01757987216114998,
-0.00932658463716507,
-0.10429490357637405,
0.014017635025084019,
0.007651870604604483,
-0.004561514127999544,
0.018505128100514412,
0.02683243528008461,
-0.018912240862846375,
-0.061659086495637894,
0.02141043357551098,
0.0008830415899865329,
-0.007707385811954737,
-0.010409134440124035,
-0.016293765977025032,
-0.06820990145206451,
-0.032032378017902374,
0.028035270050168037,
-0.006351885385811329,
0.03345727175474167,
0.00089055928401649,
0.018190540373325348,
-0.04219169169664383,
0.0372508242726326,
0.01961543597280979,
-0.07102268189191818,
-0.0373433493077755,
0.059845585376024246,
0.029293617233633995,
-0.016839666292071342,
-0.03708427771925926,
-0.039082832634449005,
-0.014915133826434612,
0.05100013315677643,
-0.09311780333518982,
-0.017598377540707588,
-0.030829543247818947,
0.0025028185918927193,
-0.0349561870098114,
0.02620326168835163,
-0.02635130286216736,
0.04148849844932556,
-0.02459331601858139,
0.07646319270133972,
0.058809299021959305,
-0.01535925641655922,
-0.04855745658278465,
-0.037435874342918396,
-0.044005196541547775,
0.03886076807975769,
-0.04448632895946503,
0.010381377302110195,
0.0329391285777092,
0.014461757615208626,
0.003518287558108568,
0.05873527750372887,
-0.06558217108249664,
-0.0622512511909008,
-0.021706515923142433,
0.0017764923395588994,
-0.005047273822128773,
0.008179266937077045,
-0.04330199956893921,
-0.01753360964357853,
0.049038589000701904,
0.03562237322330475,
-0.018051752820611,
-0.024981923401355743,
0.012814801186323166,
0.004903858993202448,
-0.02240971103310585,
0.008702036924660206,
-0.059364452958106995,
-0.0681728944182396,
0.014239695854485035,
0.011075319722294807,
-0.01010380033403635,
0.01648806966841221,
0.03789850324392319,
-0.03158825263381004,
0.022872338071465492,
-0.04859446734189987,
-0.02468584105372429,
-0.047891270369291306,
0.03438252955675125,
-0.000680063443724066,
-0.014017635025084019,
0.023779090493917465,
-0.011047561652958393,
-0.004577706102281809,
0.022280175238847733,
-0.024981923401355743,
0.06254733353853226,
-0.04322797805070877,
-0.021521463990211487,
0.04704003781080246,
0.056662701070308685,
-0.006846897304058075,
-0.023890120908617973,
-0.013573511503636837,
0.07035649567842484,
0.004693363327533007,
0.0006326440488919616,
-0.009201674722135067,
0.0067867557518184185,
0.005024142097681761,
-0.06610032171010971,
0.022687288001179695,
0.04263581708073616,
-0.015137194655835629,
-0.0036339445505291224,
0.005098162684589624,
0.021558474749326706,
-0.03728783503174782,
0.01745958812534809,
-0.001652739243581891,
-0.04004509747028351,
-0.035326290875673294,
-0.046854984015226364,
-0.012768538668751717,
-0.07313226908445358,
-0.011362148448824883,
-0.07860978692770004,
0.003518287558108568,
0.03142170608043671,
0.005199940875172615,
0.0329391285777092,
-0.020096568390727043,
0.06598928570747375,
-0.05040796846151352,
0.0624363012611866,
0.03410495072603226,
-0.006536936387419701,
-0.05862424522638321,
-0.019985537976026535,
0.033013150095939636,
0.018412603065371513,
-0.0021234634332358837,
-0.029182586818933487,
0.0034720248077064753,
0.07372443377971649,
-0.0622512511909008,
-0.019856002181768417,
0.009400605224072933,
0.04004509747028351,
0.013027610257267952,
-0.023927131667733192,
-0.04966776445508003,
-0.046780962496995926,
-0.007397424895316362,
0.06447186321020126,
0.014998406171798706,
0.007735143415629864,
0.024815376847982407,
-0.018199793994426727,
0.00028335978277027607,
0.058291155844926834,
0.00017160615243483335,
0.009146159514784813,
-0.008766804821789265,
-0.013869593851268291,
-0.027813207358121872,
-0.015590570867061615,
0.024815376847982407,
0.006819139700382948,
-0.05096312239766121,
0.015100184828042984,
-0.031495727598667145,
0.0785357654094696,
0.03567788749933243,
-0.0029353760182857513,
-0.0480763241648674,
-0.013286681845784187,
0.05736589804291725,
-0.030200369656085968,
0.040304169058799744,
0.015692349523305893,
0.0021304029505699873,
-0.05684775486588478,
-0.04100736603140831,
0.0186254121363163,
-0.0436721034348011,
0.022298678755760193,
-0.03778747096657753,
-0.001241000136360526,
0.007670375518500805,
0.018847472965717316,
-0.01284255925565958,
0.041303444653749466,
0.01090877316892147,
-0.021206876263022423,
-0.01588665321469307,
0.017848195508122444,
-0.0024102928582578897,
-0.03556685522198677,
0.04977879673242569,
0.04393117502331734,
-0.01808876357972622,
0.035381805151700974,
-0.02627728134393692,
-0.01396211888641119,
0.006985685788094997,
-0.016062451526522636,
-0.041895609349012375,
-0.03789850324392319,
0.004656353034079075,
-0.02457481063902378,
0.0030070834327489138,
-0.025907179340720177,
-0.019430384039878845,
-0.007018069736659527,
0.04766920953989029,
0.022298678755760193,
0.0279612485319376,
0.034234486520290375,
0.0031828819774091244,
0.024408264085650444,
-0.029774751514196396,
0.011288127861917019,
0.005195314530283213,
-0.00724475784227252,
-0.039712004363536835,
-0.007730517536401749,
-0.0024264848325401545,
-0.016673119738698006,
-0.015738612040877342,
-0.018847472965717316,
-0.016811909154057503,
0.009372847154736519,
0.0017996237147599459,
0.018384844064712524,
0.01480410248041153,
-0.008105246350169182,
0.017977731302380562,
-0.03769494593143463,
-0.0436721034348011,
0.053812913596630096,
0.05466414988040924,
-0.03345727175474167,
0.05462713912129402,
-0.026036715134978294,
-0.036103505641222,
-0.03440103307366371,
-0.0053896186873316765,
0.036880720406770706,
0.01798698492348194,
-0.0036061869468539953,
-0.004968626890331507,
0.018754947930574417,
0.01035361923277378,
0.025333520025014877,
-0.04914962127804756,
0.022021101787686348,
0.023982645943760872,
-0.021151361986994743,
-0.05921640992164612,
-0.006911665201187134,
-0.022002598270773888,
-0.016784152016043663,
-0.004665605258196592,
-0.04704003781080246,
0.030292894691228867,
0.000033016473025782034,
0.020411156117916107,
0.011491684243083,
-0.04278385639190674,
0.026388313621282578,
-0.01634002849459648,
0.054923221468925476,
-0.04208066314458847,
0.0007425182848237455,
-0.012176373973488808,
0.05244353413581848,
0.02344599738717079,
0.008142256177961826,
0.01700621284544468,
0.005001010838896036,
0.019152807071805,
0.01756136678159237,
0.051222193986177444,
0.004894606303423643,
-0.015433277003467083,
0.042413752526044846,
-0.00300014391541481,
0.017293041571974754,
-0.004265432246029377,
-0.023149915039539337,
-0.016219744458794594,
0.009002745151519775,
-0.02622176706790924,
0.027498621493577957,
0.014942890964448452,
0.0009715192136354744,
-0.04637385159730911,
0.001313864137046039,
0.04097035527229309,
-0.02457481063902378,
-0.0031828819774091244,
-0.0029677599668502808,
-0.031107120215892792,
0.018912240862846375,
0.0013612834736704826,
-0.03186583146452904,
0.0038351877592504025,
0.01148243248462677,
-0.012342920526862144,
0.009761455468833447,
0.034771136939525604,
0.0041613406501710415,
-0.031458716839551926,
0.02783171273767948,
0.0170432236045599,
-0.009451494552195072,
-0.024759860709309578,
-0.0007078211638145149,
0.013388460502028465,
-0.006476794835180044,
-0.011658230796456337,
0.028608927503228188,
0.026906456798315048,
0.03384587913751602,
0.05029693990945816,
-0.031088614836335182,
0.057180847972631454,
-0.017385568469762802,
-0.016636110842227936,
0.04226571321487427,
-0.013804825954139233,
0.027720682322978973,
-0.009872485883533955,
0.022539246827363968,
0.018366340547800064,
0.0014434000477194786,
0.005024142097681761,
0.0272950641810894,
-0.059993624687194824,
0.027221044525504112,
0.03182882070541382,
-0.028201814740896225,
0.04307993873953819,
0.026406817138195038,
-0.034715618938207626,
-0.023964140564203262,
0.018838221207261086,
0.009557899087667465,
-0.0017649265937507153,
-0.005435881204903126,
0.02960820496082306,
0.022224659100174904,
-0.0033794990740716457,
0.01582188531756401,
-0.03066299669444561,
0.002375595737248659,
0.00004423882273840718,
-0.03125516325235367,
-0.002778082387521863,
0.010677458718419075,
0.004198350943624973,
-0.051148176193237305,
-0.014508020132780075,
0.005662569310516119,
-0.0417475700378418,
-0.008544743061065674,
-0.016858171671628952,
-0.00306722498498857,
0.026573363691568375,
-0.01581263169646263,
-0.0008697410230524838,
0.0024218587204813957,
-0.00851698499172926,
0.0010756106348708272,
0.016201239079236984,
0.023390481248497963,
0.04555962607264519,
0.004466675221920013,
-0.013305187225341797,
0.028257330879569054,
-0.01974497176706791,
0.008336559869349003,
0.010076042264699936,
-0.005384992342442274,
-0.0057782260701060295,
0.04211767017841339,
0.031440213322639465,
0.0117322513833642,
-0.017949974164366722,
0.03564087674021721,
0.021743524819612503,
-0.04811333492398262,
0.009752202779054642,
0.01864391751587391,
0.02139192819595337,
0.04770622029900551,
-0.033087167888879776,
0.0012479395372793078,
0.07405752688646317,
0.06273238360881805,
0.0048714750446379185,
0.02905305102467537,
0.003062598640099168,
0.03841664642095566,
-0.02631429210305214,
-0.006467542145401239,
0.003999420907348394,
0.014831860549747944,
-0.010982793755829334,
0.009761455468833447,
0.04744714871048927,
0.004383402410894632,
0.0031088616233319044,
0.03127366676926613,
0.019393375143408775,
-0.025407541543245316,
0.019522910937666893,
0.00561167998239398,
0.020392650738358498,
-0.0120653435587883,
0.01179701928049326,
-0.013184904120862484,
0.020503683015704155,
0.02181754633784294,
-0.03614051640033722,
-0.0005629606894217432,
-0.05695878341794014,
-0.03404943645000458,
0.02128089778125286,
-0.008322681300342083,
-0.029996812343597412,
0.023964140564203262,
-0.02292785421013832,
0.0068145133554935455,
0.012592739425599575,
-0.045189522206783295,
0.0004646521992981434,
-0.011130834929645061,
0.005560791119933128,
-0.03614051640033722,
0.010362871922552586,
0.02842387743294239,
-0.022798318415880203,
0.02017058990895748,
0.03132918104529381,
0.021169867366552353,
-0.01799623668193817,
0.021632494404911995,
0.020355641841888428,
-0.00534335570409894,
0.005648690275847912,
0.018449611961841583,
0.037972524762153625,
0.00006281623791437596,
0.020892290398478508,
-0.011889545246958733,
0.01856064423918724,
-0.020466672256588936,
-0.013258924707770348,
0.01700621284544468,
-0.025407541543245316,
0.021706515923142433,
-0.00036171742249280214,
-0.010862510651350021,
-0.0425247848033905,
0.05595950782299042,
-0.01697845570743084,
0.05514528229832649,
0.030477946624159813,
-0.041229426860809326,
0.04870549589395523,
-0.045596636831760406,
-0.025518571957945824,
0.00880381464958191,
-0.0034072566777467728,
0.000689316017087549,
0.025962695479393005,
0.0010738756973296404,
0.0028567290864884853,
0.006023419089615345,
0.011760009452700615,
-0.004769696854054928,
0.002338585676625371,
0.0059355199337005615,
-0.008008094504475594,
0.04655890166759491,
0.009483878500759602,
0.009247938171029091,
0.011158592067658901,
-0.040674272924661636,
-0.02237270027399063,
0.00546363927423954,
0.006666472647339106,
-0.02085527963936329,
-0.01697845570743084,
0.03560386598110199,
-0.025537077337503433,
-0.04722508788108826,
-0.0011611968511715531,
0.02344599738717079,
-0.013573511503636837,
0.015766369178891182,
0.002454242669045925,
-0.03119964711368084,
0.02896052598953247,
-0.048890549689531326,
0.03604799136519432,
-0.025296511128544807,
0.004751191474497318,
0.003247650107368827,
0.01639554277062416,
-0.0007407834054902196,
-0.008665026165544987,
-0.040156129747629166,
-0.03010784462094307,
0.021003320813179016,
-0.014452504925429821,
-0.003044093493372202,
0.040267158299684525,
0.0348636619746685,
-0.022594761103391647,
-0.00988173857331276,
-0.025574088096618652,
0.0022275547962635756,
0.014110160060226917,
0.04870549589395523,
0.009853980503976345,
-0.035233765840530396,
-0.01808876357972622,
0.00820239819586277,
0.053405798971652985,
-0.02799825929105282,
0.0006210783612914383,
-0.01064044889062643,
0.044116225093603134,
-0.008253287523984909,
-0.0007072428707033396,
0.030403925105929375,
-0.04011911898851395,
0.025518571957945824,
-0.04918663203716278,
0.0011345957173034549,
0.0061205714009702206,
0.027035992592573166,
-0.028146300464868546,
-0.015433277003467083,
0.04541158303618431,
-0.012833306565880775,
0.026980476453900337,
-0.015266730450093746,
-0.028608927503228188,
0.024445274844765663,
-0.012777791358530521,
-0.015146447345614433,
-0.011204855516552925,
-0.006074308417737484,
0.03612200915813446,
0.006102066021412611,
-0.004852969665080309,
-0.0329391285777092,
-0.04256179556250572,
-0.003064911812543869,
-0.029793256893754005,
0.0044088466092944145,
-0.007582476362586021,
-0.019004765897989273,
-0.0017533608479425311,
0.013888099230825901,
-0.02303888462483883,
-0.009483878500759602,
-0.03445654734969139,
0.02079976350069046,
-0.0247043464332819,
0.004630908370018005,
-0.011103076860308647,
-0.022187648341059685,
-0.06898711621761322,
0.028220320120453835,
-0.02958969958126545,
-0.0050056371837854385,
0.011556452140212059,
0.0007621799595654011,
-0.006055803038179874,
0.005954024847596884,
0.04759519174695015,
0.017385568469762802,
-0.048409417271614075,
0.009354342706501484,
0.02252074144780636,
-0.03508572280406952,
-0.008364317938685417,
0.03956396505236626,
-0.003851379733532667,
-0.004455109592527151,
-0.0021639433689415455,
0.022650277242064476,
0.035252269357442856,
0.009187796153128147,
-0.04222870245575905,
0.0014931325567886233,
0.02733207494020462,
-0.014711576513946056,
-0.01119560282677412,
0.0006644497625529766,
-0.0013497178442776203,
0.04045221209526062,
0.012490961700677872,
0.005593175068497658,
0.006314875092357397,
0.024778366088867188,
-0.011001299135386944,
-0.03867571800947189,
-0.0196339413523674,
-0.005542285740375519,
-0.028294341638684273,
-0.003525226842612028,
-0.00045771276927553117,
-0.01148243248462677,
-0.03597396984696388,
0.07690731436014175,
-0.0032453369349241257,
-0.04259880632162094,
0.02744310535490513,
0.01124186534434557,
0.013795573264360428,
0.006273238454014063,
-0.009992768988013268,
0.005824489053338766,
0.0012699144426733255,
-0.025944190099835396,
-0.00267167785204947,
-0.046188801527023315,
0.05081508308649063,
0.005199940875172615,
-0.0035946210846304893,
-0.02453779987990856,
-0.01638629101216793,
0.003795864526182413,
0.022576255723834038,
-0.05792105197906494,
-0.04874250665307045,
-0.012722275219857693,
0.0022981055080890656,
-0.015544307418167591,
0.0026161624118685722,
-0.0022460599429905415,
0.012787044048309326,
-0.0034327013418078423,
0.02126239240169525,
0.011158592067658901,
-0.04881652817130089,
0.02139192819595337,
-0.0004400750913191587,
0.029848771169781685,
-0.03168078139424324,
0.016626857221126556,
-0.021984092891216278,
0.031477224081754684,
0.022132134065032005,
-0.049038589000701904,
-0.0045661404728889465,
-0.07357639074325562,
0.002317767357453704,
0.036307062953710556,
-0.02139192819595337,
0.01475783996284008,
0.03290211781859398,
-0.0053896186873316765,
0.029145577922463417,
0.016654616221785545,
0.005620932672172785,
-0.025000428780913353,
0.0028497898019850254,
-0.05040796846151352,
-0.016330774873495102,
0.01869018003344536,
0.06080785021185875,
0.05795806273818016,
0.008003467693924904,
0.04996384680271149,
-0.01119560282677412,
-0.019596930593252182,
0.012999852187931538,
-0.003916147630661726,
-0.0068376450799405575,
-0.022095123305916786,
0.014952143654227257,
-0.0328466035425663,
-0.011917302384972572,
-0.007309525739401579,
-0.003303165314719081,
0.0037426622584462166,
-0.032087892293930054,
0.03282809630036354,
-0.025870168581604958,
-0.006610956974327564,
0.0042955027893185616
] |
Apprenticeship learning crucially depends on effectively learning rewards,
and hence control policies from user demonstrations. Of particular difficulty
is the setting where the desired task consists of a number of sub-goals with
temporal dependencies. The quality of inferred rewards and hence policies are
typically limited by the quality of demonstrations, and poor inference of these
can lead to undesirable outcomes. In this letter, we show how temporal logic
specifications that describe high level task objectives, are encoded in a graph
to define a temporal-based metric that reasons about behaviors of demonstrators
and the learner agent to improve the quality of inferred rewards and policies.
Through experiments on a diverse set of robot manipulator simulations, we show
how our framework overcomes the drawbacks of prior literature by drastically
improving the number of demonstrations required to learn a control policy. | [
0.008194714784622192,
0.00840901117771864,
-0.029092950746417046,
-0.06096319109201431,
0.02302406169474125,
0.0381619967520237,
0.01722090132534504,
0.02952154539525509,
-0.09991379827260971,
-0.01343213114887476,
0.0447109118103981,
-0.012060631066560745,
-0.01950959302484989,
-0.007590397261083126,
0.004444518126547337,
0.022681185975670815,
0.03159593790769577,
0.013080684468150139,
-0.009420492686331272,
-0.03713336959481239,
0.004401658661663532,
0.02235545590519905,
-0.0014936495572328568,
0.056162938475608826,
0.04501949995756149,
-0.009034758433699608,
-0.02706998772919178,
-0.015395090915262699,
-0.08078137040138245,
0.06041458994150162,
0.01870383508503437,
0.039122048765420914,
-0.02727571316063404,
-0.0028222904074937105,
-0.009514783509075642,
-0.007461818866431713,
0.07694116979837418,
0.017898079007864,
-0.06963793188333511,
0.042482223361730576,
-0.035590432584285736,
-0.00637319078668952,
-0.020023904740810394,
-0.10190247744321823,
-0.006420335732400417,
-0.036379046738147736,
-0.0462881363928318,
-0.0064117638394236565,
-0.03329316899180412,
-0.04251651093363762,
-0.013663572259247303,
-0.02883579395711422,
0.038539160043001175,
-0.01901242323219776,
-0.0027044271118938923,
0.009729080833494663,
0.053385648876428604,
-0.04320225864648819,
0.06860930472612381,
-0.012463509105145931,
-0.005113124847412109,
-0.0008539732662029564,
-0.08345579355955124,
-0.01583225652575493,
0.028492920100688934,
-0.11781188100576401,
0.06374047696590424,
-0.007731833029538393,
-0.0033323171082884073,
0.0010929143754765391,
0.00047359621385112405,
-0.023692667484283447,
-0.011580605991184711,
0.007217520382255316,
0.038744885474443436,
0.030944475904107094,
0.0778326466679573,
0.058323051780462265,
0.02235545590519905,
-0.009986236691474915,
-0.006227468606084585,
0.038539160043001175,
0.04327083379030228,
0.0034973258152604103,
0.04220792278647423,
-0.0636376142501831,
0.08709026873111725,
-0.046596724539995193,
0.025167031213641167,
-0.00020277846488170326,
-0.02835576981306076,
0.01841239258646965,
-0.002103324281051755,
-0.02777288109064102,
-0.014923637732863426,
0.01692088507115841,
0.019526736810803413,
-0.0001865722588263452,
-0.045225221663713455,
-0.0032465984113514423,
-0.004564524628221989,
-0.010654843412339687,
-0.022286880761384964,
0.0010527336271479726,
0.04968259856104851,
-0.007388958241790533,
-0.047796785831451416,
-0.019526736810803413,
-0.010997718200087547,
0.13488705456256866,
-0.010294823907315731,
0.005961740389466286,
-0.0510198138654232,
0.011777759529650211,
-0.047111038118600845,
-0.0172294732183218,
-0.03565900772809982,
-0.060688890516757965,
0.030241582542657852,
0.011992055922746658,
0.004868826363235712,
0.041796471923589706,
0.0328817218542099,
-0.05125982314348221,
-0.03325888141989708,
0.02393268048763275,
-0.030087288469076157,
0.04162503406405449,
0.012703522108495235,
0.008794745430350304,
0.00681892829015851,
0.012437793426215649,
-0.020349636673927307,
0.025612767785787582,
0.03531613200902939,
0.03583044558763504,
0.000671285146381706,
-0.005481715314090252,
-0.049956899136304855,
0.002539418637752533,
-0.012489224784076214,
-0.0027258568443357944,
-0.049545448273420334,
-0.009077617898583412,
0.07275809347629547,
0.022389743477106094,
-0.015772253274917603,
0.07406102120876312,
-0.022424031049013138,
0.05520288646221161,
-0.05424283817410469,
0.01264351885765791,
-0.02586992457509041,
0.03936205804347992,
0.07488391548395157,
0.005091695114970207,
-0.06507769227027893,
0.007444675080478191,
-0.02302406169474125,
-0.021686848253011703,
0.037853408604860306,
-0.03286457806825638,
-0.010543408803641796,
0.05060836300253868,
0.045705247670412064,
0.06377476453781128,
0.018618116155266762,
-0.013037825003266335,
-0.07344384491443634,
0.04145359620451927,
-0.04567096009850502,
-0.005546004511415958,
0.05372852459549904,
0.02213258668780327,
0.05029977485537529,
-0.015103647485375404,
0.058220189064741135,
0.009454780258238316,
-0.016518007963895798,
-0.04724818468093872,
-0.03624189645051956,
0.026332806795835495,
-0.010723418556153774,
0.056265801191329956,
0.0671006515622139,
0.037647683173418045,
0.06627774983644485,
-0.05907737836241722,
0.026435669511556625,
-0.015335087664425373,
0.023658379912376404,
0.058117326349020004,
0.059591688215732574,
0.003525184467434883,
0.0018750980962067842,
-0.0673406645655632,
-0.024858443066477776,
0.061271775513887405,
-0.00029653336969204247,
0.023212643340229988,
-0.06044887751340866,
0.0026529959868639708,
-0.0218411423265934,
-0.017589490860700607,
0.04066498577594757,
-0.02245831862092018,
0.03259027749300003,
0.018618116155266762,
0.02400125563144684,
-0.011083437129855156,
0.007140373811125755,
-0.00004845119474339299,
-0.033618900924921036,
-0.048482537269592285,
-0.025647055357694626,
-0.0027151419781148434,
-0.010560552589595318,
-0.0018097375286743045,
-0.03363604471087456,
-0.05335136130452156,
0.02698426879942417,
0.00716180307790637,
0.031647369265556335,
0.030190151184797287,
0.019475305452942848,
0.050642650574445724,
0.008940467610955238,
-0.03857344761490822,
-0.011049149557948112,
-0.005841734353452921,
-0.022098299115896225,
0.02154969982802868,
0.03463038429617882,
0.011400596238672733,
0.0074061015620827675,
0.01721232943236828,
0.016217991709709167,
0.02964155003428459,
0.04752248525619507,
0.003388034412637353,
0.0036859072279185057,
-0.024378418922424316,
0.024464137852191925,
-0.0042516510002315044,
0.05304277688264847,
0.031253062188625336,
-0.0018290242878720164,
0.019818179309368134,
0.006051745265722275,
0.00022862803598400205,
-0.03132163733243942,
-0.04477948695421219,
0.011692040599882603,
0.0038337719161063433,
-0.033704619854688644,
0.05602578818798065,
0.013577853329479694,
-0.04176218435168266,
0.02038392424583435,
-0.04388801008462906,
0.05365994945168495,
0.055957213044166565,
0.04409373551607132,
0.03365318849682808,
-0.020315349102020264,
-0.004495949484407902,
0.020555362105369568,
0.004885970149189234,
-0.00223940284922719,
-0.030001569539308548,
0.011057721450924873,
-0.005095981061458588,
-0.01470934133976698,
0.0014272175030782819,
-0.012257784605026245,
-0.09250769764184952,
0.01432360615581274,
-0.005936024710536003,
0.010611983947455883,
0.006120320409536362,
-0.002432270208373666,
-0.011597749777138233,
0.024361275136470795,
0.01711803860962391,
0.034716103225946426,
-0.0336703322827816,
0.01191490888595581,
0.052905626595020294,
-0.05907737836241722,
-0.00870902743190527,
0.02086394838988781,
-0.01318354718387127,
-0.008794745430350304,
0.0003680549853015691,
0.06490625441074371,
-0.019046710804104805,
-0.02981298789381981,
-0.03768197074532509,
0.026229944080114365,
0.009094761684536934,
-0.016792306676506996,
-0.007843267172574997,
0.003591616405174136,
0.0045730965211987495,
-0.016020838171243668,
0.009669077582657337,
-0.02360694855451584,
0.03747624531388283,
0.00017545561422593892,
0.029212957248091698,
0.014015018939971924,
-0.0062403264455497265,
-0.013003537431359291,
0.003126592142507434,
0.009789083153009415,
0.0035594720393419266,
0.028784362599253654,
-0.00024644145742058754,
-0.019749604165554047,
-0.00020733228302560747,
-0.004530237056314945,
0.0030665891245007515,
-0.05218558758497238,
-0.007440389133989811,
0.0062103248201310635,
0.041590746492147446,
0.02676139958202839,
-0.01165775302797556,
-0.054002825170755386,
-0.026435669511556625,
-0.02137826196849346,
-0.005280276294797659,
-0.035178981721401215,
-0.01432360615581274,
0.00886332057416439,
-0.036961935460567474,
-0.021978292614221573,
-0.005884593818336725,
-0.03740767017006874,
-0.08777602016925812,
-0.016680872067809105,
-0.0018022371223196387,
0.0026379951741546392,
-0.04087071120738983,
0.038847748190164566,
-0.06432336568832397,
-0.028818650171160698,
0.028201475739479065,
-0.023366937413811684,
0.014349321834743023,
0.0008802246302366257,
-0.021326830610632896,
0.03140735626220703,
0.009891945868730545,
0.0628490000963211,
-0.030070144683122635,
-0.019321011379361153,
-0.015677962452173233,
-0.06658633798360825,
0.004142359364777803,
0.018875272944569588,
-0.05633437633514404,
-0.06428907811641693,
0.05750015005469322,
-0.05750015005469322,
-0.017392339184880257,
-0.05424283817410469,
-0.02501273714005947,
-0.03355032578110695,
-0.00770611735060811,
-0.027310000732541084,
0.014880778267979622,
0.020915379747748375,
-0.009471924044191837,
0.005181699525564909,
0.02304120548069477,
-0.01122915931046009,
0.019166717305779457,
-0.052425600588321686,
0.0523570254445076,
-0.04731675982475281,
-0.031047338619828224,
-0.01102343387901783,
0.009094761684536934,
-0.031047338619828224,
0.06590059399604797,
-0.027515726163983345,
-0.012780669145286083,
0.0002935867814812809,
0.031544506549835205,
0.057225849479436874,
0.016655156388878822,
-0.05931738764047623,
0.011700612492859364,
0.04231078550219536,
0.027138562873005867,
0.06209467723965645,
-0.02952154539525509,
0.05057407543063164,
-0.021618273109197617,
-0.026641393080353737,
-0.04844824969768524,
-0.04357942193746567,
0.01723804511129856,
0.02096681110560894,
-0.006557486020028591,
-0.021601129323244095,
-0.0012493510730564594,
0.06113462895154953,
-0.0063003296963870525,
-0.012952106073498726,
-0.06343188881874084,
-0.02048678696155548,
-0.04361370950937271,
0.020795373246073723,
-0.030087288469076157,
-0.014606478624045849,
0.026932837441563606,
-0.0014465042622759938,
-0.006878931540995836,
0.016749447211623192,
0.022218305617570877,
0.023504087701439857,
-0.012223497033119202,
0.013483562506735325,
0.03339603170752525,
0.0013961445074528456,
-0.004967402666807175,
-0.051328398287296295,
-0.05510002747178078,
0.015472237952053547,
-0.009120477363467216,
0.009043330326676369,
-0.056368663907051086,
0.008006133139133453,
0.0251155998557806,
-0.019132429733872414,
0.041385021060705185,
-0.023349793627858162,
-0.010903427377343178,
-0.04412802308797836,
-0.05561433732509613,
-0.013423559255897999,
-0.039122048765420914,
0.01613227277994156,
-0.019715316593647003,
-0.006750353146344423,
-0.03939634561538696,
0.016320854425430298,
-0.01743519864976406,
-0.05839162692427635,
-0.006433193571865559,
-0.05228845030069351,
-0.02698426879942417,
-0.01822381094098091,
-0.02912723831832409,
0.01166632492095232,
-0.03161308169364929,
0.01820666715502739,
-0.05784302577376366,
0.015669390559196472,
0.013826437294483185,
-0.022989774122834206,
-0.015900831669569016,
0.011083437129855156,
0.026829974725842476,
-0.01752091757953167,
0.008820461109280586,
-0.005070265382528305,
0.05780873820185661,
0.033413175493478775,
-0.02914438210427761,
-0.01851525530219078,
-0.002395839663222432,
0.022715473547577858,
0.04567096009850502,
0.003756625112146139,
-0.013029253110289574,
-0.02086394838988781,
0.008627594448626041,
0.034116070717573166,
-0.018155235797166824,
0.017846647650003433,
-0.04320225864648819,
0.03994494676589966,
-0.002625137334689498,
0.11808618158102036,
0.004705960396677256,
-0.004142359364777803,
-0.021721135824918747,
-0.0405278354883194,
-0.043065112084150314,
-0.0778326466679573,
0.0202639177441597,
0.015986550599336624,
-0.010226249694824219,
0.020418211817741394,
-0.020006760954856873,
0.035864733159542084,
-0.04083642363548279,
-0.017049463465809822,
-0.03336174413561821,
0.0028308623004704714,
0.044162310659885406,
-0.002352980198338628,
0.013046396896243095,
-0.012634946964681149,
-0.009643361903727055,
-0.022166874259710312,
-0.021412549540400505,
-0.013800721615552902,
-0.05540861189365387,
-0.03437322750687599,
-0.0005354744498617947,
0.016492292284965515,
0.03699622303247452,
0.026915693655610085,
0.035178981721401215,
0.057911600917577744,
0.007183232810348272,
0.01541223470121622,
0.01165775302797556,
0.017983797937631607,
-0.013277838006615639,
-0.06298615038394928,
0.023161211982369423,
0.022989774122834206,
-0.03860773518681526,
-0.01156346220523119,
0.035796158015728,
-0.044539473950862885,
0.043065112084150314,
-0.03442465886473656,
-0.029590120539069176,
-0.011006290093064308,
-0.008199000731110573,
0.012669234536588192,
0.024446994066238403,
-0.014255031943321228,
-0.018052373081445694,
0.027995750308036804,
0.022475462406873703,
-0.005588863976299763,
0.06662062555551529,
-0.018240954726934433,
-0.01998961716890335,
0.04765963554382324,
-0.024875586852431297,
0.0348532535135746,
0.027687162160873413,
-0.034990403801202774,
0.006750353146344423,
-0.02902437560260296,
0.01664658449590206,
-0.03346460685133934,
-0.03946492075920105,
0.0010334469843655825,
0.000019320206774864346,
-0.030378732830286026,
0.025921355932950974,
0.02038392424583435,
0.0029422969091683626,
0.015249369665980339,
0.020795373246073723,
0.00851187389343977,
-0.04399087280035019,
0.016680872067809105,
0.05372852459549904,
0.02686426229774952,
0.008259003981947899,
-0.03217882663011551,
-0.007328954990953207,
-0.02924724481999874,
-0.011520602740347385,
0.016980888321995735,
0.020041048526763916,
0.0174266267567873,
-0.008327578194439411,
0.008777602575719357,
-0.03457895293831825,
-0.011829189956188202,
0.01234350260347128,
-0.0001745180634316057,
0.0006771782645955682,
0.007307525258511305,
-0.03562472015619278,
-0.04025353491306305,
-0.029744412750005722,
0.020246773958206177,
0.03860773518681526,
-0.048379674553871155,
0.0510198138654232,
0.032230257987976074,
0.027087131515145302,
0.010569124482572079,
0.0008175427792593837,
-0.011794902384281158,
-0.01122915931046009,
0.04741962254047394,
-0.0649748295545578,
-0.03925919532775879,
0.002927296096459031,
-0.010449117980897427,
0.022766904905438423,
-0.009609074331820011,
-0.019543880596756935,
0.0032380265183746815,
-0.013320696540176868,
0.021103961393237114,
0.01603798195719719,
-0.00886332057416439,
0.012497796677052975,
-0.03228168934583664,
-0.03492182865738869,
0.04765963554382324,
-0.03295029699802399,
0.02856149524450302,
0.03080732561647892,
0.008700455538928509,
-0.017486630007624626,
0.0022565466351807117,
-0.014186456799507141,
0.014589334838092327,
-0.038059134036302567,
-0.009171908721327782,
0.030978763476014137,
0.009223340079188347,
-0.06298615038394928,
0.0188066978007555,
-0.009420492686331272,
0.01102343387901783,
0.00861902255564928,
0.03867631033062935,
-0.013569281436502934,
-0.005541718564927578,
0.014229316264390945,
0.007714689243584871,
0.07879269123077393,
0.0539342500269413,
-0.008794745430350304,
-0.0444708988070488,
-0.023298362269997597,
-0.002974441275000572,
0.04608241096138954,
-0.015360803343355656,
0.03799055889248848,
0.005065979436039925,
0.005421712063252926,
0.04755677282810211,
0.020983954891562462,
-0.005250274669378996,
-0.011263446882367134,
-0.0005625294288620353,
0.05499716475605965,
-0.009874802082777023,
0.005357423331588507,
0.007654685992747545,
0.01692088507115841,
-0.005858878139406443,
0.03425322100520134,
0.047111038118600845,
-0.003437322797253728,
0.020538218319416046,
0.008203286677598953,
0.011186299845576286,
0.014949353411793709,
0.05835733935236931,
0.03387605771422386,
-0.031647369265556335,
0.08023276925086975,
-0.0017904507694765925,
0.00556314829736948,
-0.02175542339682579,
0.014769344590604305,
-0.0016372285317629576,
0.019235292449593544,
0.015103647485375404,
0.012960677966475487,
-0.023281218484044075,
0.03720194473862648,
0.0070632267743349075,
-0.00600031390786171,
0.018240954726934433,
-0.005871735978871584,
0.011546318419277668,
-0.02137826196849346,
0.00039323486271314323,
0.008250432088971138,
-0.052014149725437164,
0.02725856937468052,
-0.021789710968732834,
-0.06350046396255493,
0.003677335334941745,
-0.00806613638997078,
0.018360961228609085,
0.03271028399467468,
0.010089099407196045,
-0.02206401154398918,
0.04981974884867668,
0.013775006867945194,
-0.0447109118103981,
0.001234350260347128,
-0.021292543038725853,
0.03396177664399147,
0.05465428903698921,
-0.024446994066238403,
0.018738122656941414,
0.011529174633324146,
-0.027344288304448128,
0.011674896813929081,
-0.004015924409031868,
0.022406887263059616,
0.0257842056453228,
0.04162503406405449,
-0.007937557995319366,
0.008666167967021465,
0.023881249129772186,
-0.019029567018151283,
0.003377319546416402,
0.004817395005375147,
0.02755001373589039,
-0.023846961557865143,
-0.003503754734992981,
-0.018138092011213303,
-0.0368247851729393,
0.014366465620696545,
0.037064798176288605,
0.015086503699421883,
0.05928310006856918,
-0.016217991709709167,
0.04649386182427406,
-0.021001098677515984,
-0.020298205316066742,
0.009360489435493946,
0.001042554504238069,
-0.005511716939508915,
-0.0012182780774310231,
0.01721232943236828,
0.009266199544072151,
-0.05554576218128204,
0.02559562399983406,
0.01969817280769348,
0.012163493782281876,
0.010466261766850948,
0.011152012273669243,
0.034013208001852036,
0.0002560848370194435,
0.035110410302877426,
0.017469486221671104,
-0.04546523466706276,
0.07803837209939957,
-0.015900831669569016,
0.02794431895017624,
-0.01762377843260765,
-0.011700612492859364,
0.021789710968732834,
-0.0024579856544733047,
0.008160427212715149,
0.036481909453868866,
0.020829660817980766,
0.016183704137802124,
0.0281500443816185,
0.00403949711471796,
0.008589020930230618,
0.02893865667283535,
-0.010269109159708023,
-0.0405278354883194,
0.004980260506272316,
0.033018872141838074,
-0.0018675976898521185,
0.024721292778849602,
0.025955643504858017,
0.04176218435168266,
-0.03881346061825752,
0.02580134943127632,
0.02302406169474125,
-0.01849811151623726,
0.01712661050260067,
-0.06267756223678589,
0.01918386109173298,
0.03010443225502968,
-0.006686063949018717,
-0.019921042025089264,
-0.0015215082094073296,
0.006386048626154661,
0.02007533609867096,
0.004118787124752998,
-0.01428074762225151,
-0.003966636024415493,
-0.004185218829661608,
0.006857501808553934,
-0.0019179574446752667,
-0.0019415301503613591,
0.017495201900601387,
0.06380905210971832,
-0.011426311917603016,
-0.05047121271491051,
-0.01918386109173298,
0.02794431895017624,
-0.01810380443930626,
-0.0037651970051229,
-0.018343817442655563,
-0.01353499386459589,
0.06298615038394928,
0.004821680951863527,
0.053111352026462555,
-0.0215668436139822,
-0.018549542874097824,
-0.012377790175378323,
0.012069202959537506,
0.03070446290075779,
0.0391906201839447,
0.015592244453728199,
-0.01655229553580284,
0.03205882012844086,
-0.005374567117542028,
0.02845863252878189,
0.019629597663879395,
0.04066498577594757,
-0.019629597663879395,
0.026247087866067886,
-0.03860773518681526,
0.016277994960546494,
0.00950621161609888,
-0.02206401154398918,
-0.0034994687885046005,
-0.0255099069327116,
-0.006926076486706734,
-0.002710856031626463,
-0.0004403801867738366,
0.014700769446790218,
0.06956935673952103,
-0.010843424126505852,
-0.02019534260034561,
-0.01023482158780098,
0.04810537397861481,
-0.016792306676506996,
-0.012566371820867062,
-0.03166451305150986,
0.04971688613295555,
-0.02442985028028488,
-0.0033537468407303095,
-0.014495044015347958,
0.015335087664425373,
-0.03389320150017738,
-0.014657909981906414,
-0.03295029699802399,
-0.0029122952837496996,
-0.026401381939649582,
0.015566528774797916,
-0.003679478308185935,
0.06267756223678589,
0.0499911867082119,
-0.009377633221447468,
-0.00007386547076748684,
0.016406573355197906,
0.0025437045842409134,
0.07015224546194077,
-0.0103891147300601,
-0.026744255796074867,
-0.00930048618465662,
-0.026452813297510147,
-0.030173007398843765,
-0.037613395601511,
0.040493547916412354,
0.029401538893580437,
0.019046710804104805,
-0.060997478663921356,
-0.032538846135139465,
-0.03394463285803795,
0.02046964317560196,
0.013577853329479694,
-0.04189933463931084,
0.03562472015619278,
0.009609074331820011,
0.0633976012468338,
-0.023109780624508858,
-0.009206196293234825,
-0.02449842542409897,
-0.02892151288688183,
-0.023675523698329926,
0.02410411834716797,
0.03857344761490822,
-0.03442465886473656,
0.028612924739718437,
0.008721885271370411,
-0.03199024498462677,
0.01890956051647663,
-0.012634946964681149,
-0.04275652393698692,
0.02777288109064102,
0.046219561249017715,
-0.027927175164222717,
-0.0027944319881498814,
0.021823998540639877,
0.0011957768583670259,
-0.020058192312717438,
-0.05215130001306534,
-0.005601721815764904,
0.01254922803491354,
-0.00430522533133626,
-0.02863006852567196,
-0.0010902356589213014,
-0.005481715314090252,
0.01998961716890335,
0.0009193338337354362,
0.010106243193149567,
0.02912723831832409,
0.041590746492147446,
-0.02370981127023697,
-0.04450518637895584,
-0.03444180265069008,
0.08688454329967499,
-0.03655048459768295,
-0.0013286409666761756,
0.0017893792828544974,
-0.05914595350623131,
-0.013114972040057182,
-0.009077617898583412,
-0.03809342160820961,
-0.01644943282008171,
-0.007474676705896854,
-0.03771625831723213,
0.019338155165314674,
-0.019269580021500587,
-0.0024837013334035873,
0.011169156059622765,
0.0023122639395296574,
0.017075179144740105,
-0.013320696540176868,
-0.02432698756456375,
-0.002993728034198284,
-0.0301215760409832,
0.022286880761384964,
0.006047459319233894,
-0.011194871738553047,
0.018378105014562607,
-0.0004719889839179814,
-0.023984111845493317,
0.010311967693269253,
-0.029470114037394524,
-0.011426311917603016,
0.02019534260034561,
-0.01732376404106617,
0.022201161831617355,
0.033516038209199905,
0.055957213044166565,
0.060586027801036835,
-0.0027858600951731205,
-0.0005828876164741814,
-0.0024472707882523537,
-0.00886332057416439,
0.006583201698958874,
-0.017203757539391518,
-0.0034973258152604103,
-0.03276171535253525,
-0.017932366579771042,
0.0010045168455690145,
0.008464728482067585,
0.06062031537294388,
0.001057019573636353,
-0.002800860907882452,
-0.039224907755851746,
-0.005001690238714218,
-0.055511474609375,
0.006506054662168026,
-0.009437636472284794,
-0.04697388783097267,
0.0068017845042049885,
0.034201789647340775,
-0.003137307008728385,
-0.011263446882367134,
-0.0055588623508811,
0.02586992457509041,
-0.05040263757109642,
-0.0018708121497184038,
-0.00993480533361435,
-0.014795060269534588,
-0.020246773958206177,
0.013346412219107151,
0.03061874397099018,
-0.03310459107160568,
0.026829974725842476,
0.02281833626329899,
0.019423874095082283,
-0.03481896594166756,
0.0063303313218057156,
0.019818179309368134,
0.03022443875670433,
-0.04467662423849106,
0.012292071245610714,
-0.023795530200004578,
-0.025029880926012993,
-0.013277838006615639,
-0.0032701711170375347,
0.04183075949549675,
-0.0032680281437933445,
-0.02046964317560196,
0.03456180915236473,
-0.018669547513127327,
-0.019629597663879395,
0.016012266278266907,
-0.03250455856323242,
0.006043173372745514,
0.029504401609301567,
-0.005498859100043774,
0.04426517337560654,
-0.030790181830525398,
-0.04056212306022644,
-0.008284718729555607,
-0.01959531009197235,
0.007808980066329241,
-0.00031582009978592396,
0.019355298951268196,
-0.030275870114564896,
0.005554576404392719,
0.00600031390786171,
0.004568810574710369,
-0.022166874259710312,
-0.052014149725437164,
0.006797498557716608,
-0.011057721450924873,
0.06548914313316345,
-0.007123230025172234
] |
Bitcoin as a cryptocurrency has been one of the most important digital coins
and the first decentralized digital currency. Deep neural networks, on the
other hand, has shown promising results recently; however, we require huge
amount of high-quality data to leverage their power. There are some techniques
such as augmentation that can help us with increasing the dataset size, but we
cannot exploit them on historical bitcoin data. As a result, we propose a
shallow Bidirectional-LSTM (Bi-LSTM) model, fed with feature engineered data
using our proposed method to forecast bitcoin closing prices in a daily time
frame. We compare the performance with that of other forecasting methods, and
show that with the help of the proposed feature engineering method, a shallow
deep neural network outperforms other popular price forecasting models. | [
-0.027889059856534004,
-0.028681175783276558,
-0.020446475595235825,
-0.006002748850733042,
0.00833783857524395,
-0.027922064065933228,
-0.005957367364317179,
0.032889287918806076,
-0.08535042405128479,
0.033714406192302704,
0.02424202859401703,
-0.029836343601346016,
-0.014282829128205776,
-0.036041244864463806,
0.00016708682233002037,
-0.00419367291033268,
0.03812054917216301,
-0.04333530738949776,
-0.0010494496673345566,
-0.02719595842063427,
0.003069446887820959,
0.017145995050668716,
-0.03736143931746483,
-0.06831994652748108,
-0.00785926915705204,
0.016287870705127716,
0.0045464118011295795,
-0.005161126144230366,
-0.057032302021980286,
0.04623972997069359,
0.056075163185596466,
0.011749709956347942,
-0.060893863439559937,
-0.05194956064224243,
-0.03295529633760452,
0.004851706326007843,
0.07155441492795944,
0.00851523969322443,
-0.013432955369353294,
-0.007050651125609875,
0.002279394306242466,
0.03953975439071655,
-0.04099196568131447,
0.01083382684737444,
-0.015264722518622875,
-0.051256462931632996,
-0.018202150240540504,
-0.03858261555433273,
-0.01952234096825123,
0.00510336784645915,
-0.01025624293833971,
-0.06092686951160431,
0.022212233394384384,
0.009059818461537361,
-0.043203290551900864,
0.07181845605373383,
0.044061414897441864,
0.015858808532357216,
0.02424202859401703,
-0.007182670757174492,
0.04069492220878601,
0.060035739094018936,
-0.00973641686141491,
0.0037893641274422407,
-0.01493467390537262,
-0.010545034892857075,
0.00148521619848907,
-0.007426081225275993,
-0.023878976702690125,
-0.019060274586081505,
-0.07010220736265182,
0.0027889059856534004,
0.05158650875091553,
-0.0005564403836615384,
0.0023371526040136814,
0.016485899686813354,
0.020644504576921463,
0.022888831794261932,
0.000020982546629966237,
0.03283977881073952,
0.025034144520759583,
0.05227961018681526,
-0.017872100695967674,
-0.05587713420391083,
0.007298187352716923,
0.013952781446278095,
0.024605082347989082,
-0.053269755095243454,
-0.006196652073413134,
-0.033367857336997986,
0.0008179002907127142,
0.0416850671172142,
-0.03140407055616379,
0.006138893775641918,
-0.046866822987794876,
0.0421801395714283,
-0.023268386721611023,
-0.01498418115079403,
0.001933875260874629,
0.0058129713870584965,
-0.008358466438949108,
0.0003836808609776199,
-0.031701114028692245,
-0.006840245798230171,
0.03333485126495361,
-0.04736189544200897,
-0.06538251787424088,
0.03458903357386589,
-0.008845287375152111,
0.059177614748477936,
-0.06752783060073853,
-0.01004171185195446,
-0.02944028563797474,
0.05072838440537453,
-0.03386292979121208,
-0.0004767647187691182,
0.01591656729578972,
-0.018779734149575233,
0.010602793656289577,
-0.026024287566542625,
-0.010594542138278484,
0.018713723868131638,
-0.03904468193650246,
0.0005337495822459459,
-0.014084800146520138,
0.03640430048108101,
-0.0223772581666708,
0.0017265637870877981,
0.017756585031747818,
0.026634877547621727,
-0.0747888833284378,
-0.0012407744070515037,
-0.006708226632326841,
0.017921607941389084,
-0.01634562946856022,
0.055745113641023636,
0.05501900985836983,
0.007512718439102173,
-0.007611732929944992,
-0.01472014281898737,
0.0050167301669716835,
-0.033615391701459885,
0.0044680251739919186,
0.03201466053724289,
0.05432590842247009,
0.04399540275335312,
-0.021057065576314926,
0.04317028447985649,
-0.046866822987794876,
0.05270867422223091,
-0.013036897405982018,
0.010495527647435665,
0.06297316402196884,
-0.019489336758852005,
0.01245106291025877,
-0.05389684438705444,
-0.011394908651709557,
-0.027393987402319908,
-0.0516195148229599,
-0.0739307627081871,
-0.014794403687119484,
-0.0071702939458191395,
0.0404638908803463,
0.023647941648960114,
0.022344252094626427,
0.05719732493162155,
0.020694011822342873,
-0.018928255885839462,
-0.12878474593162537,
0.05538206174969673,
-0.03643730282783508,
0.03660232946276665,
0.011584686115384102,
-0.02071051485836506,
-0.010314001701772213,
0.06904605031013489,
0.015437996946275234,
-0.0396057665348053,
-0.03610725700855255,
0.049639225006103516,
-0.05620718374848366,
-0.03221268951892853,
0.013078154064714909,
0.016683928668498993,
-0.008020167239010334,
0.04274122044444084,
0.06323720514774323,
0.05389684438705444,
0.030710970982909203,
-0.015091447159647942,
0.05214758962392807,
-0.03382992371916771,
0.06699975579977036,
-0.013944529928267002,
0.04369835928082466,
0.0204134713858366,
0.03406095877289772,
0.03402795270085335,
-0.01073481235653162,
0.025017641484737396,
-0.008197568356990814,
-0.020099926739931107,
-0.031899143010377884,
0.0013325689360499382,
-0.016411639750003815,
-0.03269125893712044,
0.054787974804639816,
0.014728394336998463,
0.019571848213672638,
-0.011180377565324306,
0.010908087715506554,
0.018383676186203957,
-0.07287460565567017,
0.022393759340047836,
-0.0039420113898813725,
0.009406369179487228,
0.010239740833640099,
0.011419662274420261,
0.015982575714588165,
-0.01004171185195446,
0.009447624906897545,
0.005037358496338129,
0.01864771358668804,
-0.011799217201769352,
-0.025166163221001625,
0.0033850553445518017,
-0.010512030683457851,
0.037526462227106094,
-0.02247627265751362,
0.022030707448720932,
0.01087508350610733,
0.008647258393466473,
-0.008795780129730701,
-0.010247991420328617,
-0.008473983965814114,
-0.018730226904153824,
0.04594268649816513,
-0.03194865211844444,
-0.05320374295115471,
0.013457708992064,
0.01889524981379509,
0.04584367200732231,
-0.04762593284249306,
-0.059804704040288925,
-0.04752691835165024,
-0.01519046165049076,
-0.018878748640418053,
0.016131097450852394,
0.007380699273198843,
0.050695378333330154,
0.00001189333306683693,
-0.009604398161172867,
0.008672012016177177,
0.07723124325275421,
-0.062280066311359406,
-0.04462249577045441,
0.005305522121489048,
0.012409806251525879,
0.009769422002136707,
-0.04623972997069359,
0.03458903357386589,
0.008655509911477566,
-0.030562449246644974,
0.059177614748477936,
-0.07709922641515732,
0.0541938878595829,
0.022773314267396927,
0.00868026353418827,
0.022888831794261932,
-0.03620627149939537,
0.018004121258854866,
-0.04366535693407059,
0.012484067119657993,
0.007409578654915094,
-0.01736052706837654,
-0.019687365740537643,
-0.005561309400945902,
0.012187023647129536,
0.037658482789993286,
0.06749482452869415,
-0.0060440050438046455,
0.006741231307387352,
0.04891312122344971,
-0.0018245468381792307,
-0.05465595796704292,
-0.02109006978571415,
-0.05657023563981056,
-0.01586706005036831,
-0.06858398020267487,
-0.006704100873321295,
0.015900064259767532,
-0.04122300073504448,
-0.046107713133096695,
-0.014167312532663345,
-0.006786612793803215,
0.029324768111109734,
-0.020859036594629288,
-0.03231170400977135,
0.03087599389255047,
0.017112990841269493,
-0.028367629274725914,
-0.00930735468864441,
-0.00894430186599493,
0.007694244850426912,
-0.028219107538461685,
-0.02686591073870659,
0.03673434630036354,
0.03709740191698074,
0.002258766209706664,
-0.014497360214591026,
-0.001833829446695745,
-0.0032901663798838854,
-0.0029209251515567303,
-0.05838549882173538,
-0.06300617009401321,
0.06884802132844925,
0.02351592294871807,
-0.012962636537849903,
0.031849637627601624,
-0.04957321658730507,
0.038615621626377106,
0.027922064065933228,
-0.048021990805864334,
0.07142239809036255,
0.004265870898962021,
0.004917715676128864,
0.02732797898352146,
0.014901668764650822,
-0.0172285083681345,
-0.013342192396521568,
-0.02132110297679901,
-0.04699883982539177,
-0.007025897968560457,
0.0077478778548538685,
-0.009901441633701324,
0.015132702887058258,
0.019241800531744957,
0.03574420139193535,
-0.03769148513674736,
-0.020429974421858788,
0.005466420669108629,
-0.003921383526176214,
-0.0421801395714283,
-0.05485398322343826,
0.03125555068254471,
-0.03534814715385437,
-0.05881456285715103,
-0.0054870485328137875,
-0.010314001701772213,
0.0032860408537089825,
0.0008096491219475865,
0.0035727701615542173,
-0.03986980393528938,
-0.0447545163333416,
0.048781100660562515,
-0.03382992371916771,
0.04822001978754997,
-0.026271823793649673,
-0.010495527647435665,
0.007393076084554195,
-0.05647122114896774,
0.01889524981379509,
-0.0014326147502288222,
-0.02194819413125515,
-0.005911985412240028,
0.01586706005036831,
-0.028780190274119377,
-0.05363280698657036,
0.022740310057997704,
-0.028219107538461685,
-0.029687821865081787,
0.02686591073870659,
-0.0045629143714904785,
-0.08290807157754898,
-0.01861470937728882,
0.0012510883389040828,
0.001173733384348452,
0.03521612659096718,
-0.018680719658732414,
0.041949108242988586,
-0.04099196568131447,
-0.015017186291515827,
0.03312032297253609,
0.010602793656289577,
-0.015710286796092987,
-0.0245225690305233,
-0.0033623643685132265,
0.027014432474970818,
-0.025892268866300583,
0.0998065322637558,
0.030545946210622787,
-0.03683336079120636,
-0.006658719386905432,
-0.007698370609432459,
0.08304008841514587,
0.00261769350618124,
0.05142148584127426,
0.022311247885227203,
-0.0017069672467187047,
0.03986980393528938,
-0.049738239496946335,
0.008878292515873909,
-0.010561536997556686,
-0.0282026045024395,
-0.09076321125030518,
0.011609439738094807,
0.01078431960195303,
-0.021552138030529022,
0.012335545383393764,
-0.010957594960927963,
-0.02948979288339615,
-0.03221268951892853,
-0.014901668764650822,
-0.07373273372650146,
0.018284661695361137,
0.016180604696273804,
-0.05109143629670143,
-0.024341043084859848,
-0.035513170063495636,
0.01937382109463215,
-0.02853265404701233,
0.029803337529301643,
0.030331416055560112,
0.0057345847599208355,
0.003343799151480198,
0.007636486552655697,
-0.007677742745727301,
-0.01665092445909977,
-0.041057977825403214,
0.011427913792431355,
0.025991283357143402,
0.023499419912695885,
0.049210164695978165,
-0.0026094424538314342,
-0.01846618764102459,
-0.01366398949176073,
-0.022063711658120155,
0.021172581240534782,
-0.0714884027838707,
-0.029176246374845505,
-0.02061150036752224,
-0.0024918627459555864,
-0.010173730552196503,
0.06429336220026016,
-0.03262525051832199,
-0.003036441979929805,
-0.06627364456653595,
-0.04270821809768677,
-0.02429153583943844,
-0.05633920058608055,
-0.05132247135043144,
-0.0017121242126449943,
-0.0704982653260231,
-0.0034820069558918476,
0.046536773443222046,
-0.040100838989019394,
0.022063711658120155,
-0.018829241394996643,
0.062379080802202225,
0.00910932570695877,
-0.0316351056098938,
0.0739307627081871,
-0.006807241123169661,
0.030446931719779968,
0.004265870898962021,
-0.00971166417002678,
-0.0032406591344624758,
-0.07419480383396149,
0.012970888055860996,
0.06482143700122833,
0.04313727840781212,
-0.011543430387973785,
-0.005647947080433369,
0.03406095877289772,
0.02118908427655697,
0.00025385335902683437,
-0.018631212413311005,
-0.021832678467035294,
-0.019819384440779686,
0.026057293638586998,
0.06561355292797089,
0.03034791722893715,
-0.006798989605158567,
0.0017492546467110515,
0.020314456894993782,
0.04435845836997032,
0.0032798524480313063,
-0.014637630432844162,
-0.020594997331500053,
0.011543430387973785,
-0.033235836774110794,
-0.009439374320209026,
-0.006006874609738588,
0.005850101821124554,
0.0016327063785865903,
0.049012135714292526,
-0.029473289847373962,
0.05650422349572182,
0.050596363842487335,
0.07340268790721893,
-0.03917670249938965,
0.005524178966879845,
0.020017413422465324,
-0.0055654351599514484,
0.012393304146826267,
0.037658482789993286,
-0.014348838478326797,
-0.004168919287621975,
-0.035810213536024094,
-0.00366765889339149,
0.013061651028692722,
-0.036800358444452286,
-0.018202150240540504,
-0.0473288893699646,
-0.02972082607448101,
0.0072321780025959015,
0.025842761620879173,
-0.007586979307234287,
-0.03354938328266144,
0.04416042938828468,
0.008032544516026974,
0.018235154449939728,
0.04392939433455467,
0.07954157888889313,
-0.02419252134859562,
0.05122345685958862,
0.017971115186810493,
-0.01594131998717785,
0.03831857815384865,
0.0015316292410716414,
-0.038384586572647095,
0.002976620802655816,
-0.038516607135534286,
-0.031239047646522522,
0.0014027041615918279,
0.030182894319295883,
0.007570477202534676,
0.012814115732908249,
-0.03283977881073952,
-0.005313773639500141,
-0.01993490196764469,
0.02328488975763321,
0.02643684856593609,
0.006167772691696882,
-0.009035064838826656,
-0.026403844356536865,
0.025595225393772125,
0.0010695619275793433,
0.012030251324176788,
-0.03548016399145126,
0.014860413037240505,
0.0015295663615688682,
0.03769148513674736,
0.01266559399664402,
-0.02901122346520424,
0.008362592197954655,
-0.005614942405372858,
-0.042576197534799576,
-0.009587896056473255,
0.033136822283267975,
0.03541415557265282,
-0.004950720816850662,
-0.05237862467765808,
-0.022971343249082565,
0.022690802812576294,
-0.022822821512818336,
0.013961032032966614,
0.056174177676439285,
-0.008589500561356544,
-0.04594268649816513,
-0.021634649485349655,
0.04462249577045441,
-0.0032200312707573175,
0.016857203096151352,
0.041057977825403214,
-0.014827408827841282,
0.04528259113430977,
-0.0001746933994581923,
-0.030364420264959335,
0.06416133791208267,
0.019835887476801872,
0.014068298041820526,
-0.0020535176154226065,
0.01778958924114704,
0.00971166417002678,
0.002351592294871807,
-0.04297225549817085,
-0.055745113641023636,
0.026156308129429817,
-0.018119636923074722,
-0.02595827914774418,
0.021172581240534782,
0.02008342370390892,
0.010033460333943367,
-0.04604170098900795,
0.036338288336992264,
-0.031899143010377884,
0.04851706326007843,
0.022525779902935028,
-0.02485261857509613,
0.01457162108272314,
0.01793811097741127,
-0.01952234096825123,
0.06851797550916672,
0.03736143931746483,
-0.026271823793649673,
0.007805636152625084,
-0.013779506087303162,
0.025347689166665077,
0.0042988755740225315,
-0.03508410602807999,
-0.048682086169719696,
0.019588351249694824,
0.003098326036706567,
0.032377712428569794,
0.016568411141633987,
0.03864862769842148,
-0.003921383526176214,
-0.0825120136141777,
-0.05633920058608055,
0.009051567874848843,
0.05323674902319908,
0.06383129209280014,
0.027971571311354637,
0.011229884810745716,
0.02800457738339901,
0.019720369949936867,
0.005532430484890938,
0.02242676541209221,
-0.02643684856593609,
-0.054358914494514465,
0.001205706736072898,
-0.02661837451159954,
0.04102497175335884,
-0.01947283372282982,
-0.02260829135775566,
-0.012607835233211517,
0.02585926465690136,
0.03531514108181,
-0.0502663180232048,
0.0035253255628049374,
0.021073566749691963,
-0.01854870095849037,
0.061619970947504044,
-0.0009359956020489335,
0.010074716992676258,
-0.047922976315021515,
0.01622186228632927,
0.03973778337240219,
0.028945213183760643,
0.0009359956020489335,
0.015586518682539463,
-0.011898231692612171,
0.03316982835531235,
-0.031239047646522522,
-0.05650422349572182,
0.03676735237240791,
-0.008440978825092316,
0.008919548243284225,
0.030001366510987282,
-0.007904650643467903,
0.04122300073504448,
0.025644732639193535,
-0.011411410756409168,
0.03135456517338753,
-0.003395369276404381,
0.008812283165752888,
-0.010792571119964123,
0.009868436492979527,
-0.010082967579364777,
0.0008313084836117923,
-0.03878064453601837,
-0.03878064453601837,
0.07010220736265182,
0.050167303532361984,
-0.023482918739318848,
0.03927571699023247,
0.08442629128694534,
0.06495345383882523,
0.006056381389498711,
-0.02113957703113556,
0.01952234096825123,
-0.03363189473748207,
-0.017542053014039993,
-0.005478797480463982,
-0.02757551334798336,
-0.02447306178510189,
-0.028499647974967957,
-0.00942287128418684,
-0.008506988175213337,
-0.011485671624541283,
-0.04713086038827896,
0.01641988940536976,
-0.0011283517815172672,
0.05109143629670143,
0.020165935158729553,
-0.05020030587911606,
0.03328534588217735,
-0.005577811971306801,
-0.005800594575703144,
-0.007256931159645319,
-0.010891585610806942,
-0.00971166417002678,
0.023020850494503975,
0.02543020248413086,
-0.006126516964286566,
0.021783171221613884,
-0.009488881565630436,
-0.05257665365934372,
-0.015933068469166756,
-0.000506675336509943,
0.021684156730771065,
0.011427913792431355,
0.03462203964591026,
0.02609029784798622,
0.01240155566483736,
0.009340359829366207,
0.030067376792430878,
-0.016914961859583855,
-0.007805636152625084,
0.01688195765018463,
0.022344252094626427,
-0.015586518682539463,
-0.031800128519535065,
-0.009851934388279915,
0.008639007806777954,
-0.020594997331500053,
-0.018862245604395866,
-0.016584914177656174,
-0.004554662853479385,
0.02891220897436142,
-0.0022422638721764088,
-0.019868891686201096,
0.004814575891941786,
0.0005729427793994546,
-0.06528349965810776,
-0.0236644446849823,
0.043863385915756226,
-0.02419252134859562,
0.019093278795480728,
0.030892496928572655,
-0.008358466438949108,
-0.021535634994506836,
-0.02175016701221466,
0.008403847925364971,
0.004963097628206015,
-0.027971571311354637,
0.044721510261297226,
-0.0408269427716732,
-0.012855371460318565,
-0.002010198775678873,
-0.010974097065627575,
0.07267657667398453,
-0.03643730282783508,
-0.034457016736269,
0.05561309680342674,
-0.011361903510987759,
0.03686636686325073,
0.015751542523503304,
-0.007768505718559027,
0.015561765059828758,
-0.001229428919032216,
-0.009175335988402367,
0.007360071409493685,
0.05095941945910454,
-0.008127433247864246,
-0.004732063971459866,
-0.009934445843100548,
0.007310564164072275,
0.004142102785408497,
0.023449912667274475,
-0.0031478332821279764,
0.026915417984128,
-0.03755946829915047,
-0.008531741797924042,
0.052312616258859634,
-0.008969055488705635,
-0.03508410602807999,
0.003960576374083757,
0.008383220061659813,
-0.013564975000917912,
0.00823882408440113,
0.017756585031747818,
0.0438963882625103,
-0.022773314267396927,
0.020149433985352516,
-0.027988074347376823,
-0.05633920058608055,
-0.02333439700305462,
0.043962400406599045,
0.0020762085914611816,
-0.013952781446278095,
0.007574602495878935,
0.004286498762667179,
0.014390095137059689,
-0.0011788903502747416,
-0.034457016736269,
0.02666788175702095,
0.026799900457262993,
-0.03458903357386589,
0.0339619442820549,
0.010190233588218689,
-0.0018606458324939013,
-0.00910932570695877,
0.017245009541511536,
-0.0035542049445211887,
-0.05439191684126854,
-0.001557414187118411,
-0.01245106291025877,
-0.022410262376070023,
-0.004340131767094135,
0.014678887091577053,
0.0010922527872025967,
0.01335869450122118,
0.02204720862209797,
-0.007492090575397015,
-0.05957367271184921,
0.048253025859594345,
-0.035513170063495636,
-0.0348200686275959,
-0.01130414567887783,
-0.03864862769842148,
-0.019769877195358276,
-0.005305522121489048,
-0.05353379249572754,
0.003469630144536495,
0.031420573592185974,
-0.0031994031742215157,
0.013424703851342201,
0.008985557593405247,
0.022360755130648613,
0.0010216018417850137,
-0.03231170400977135,
0.00471143564209342,
-0.040430884808301926,
-0.005536555778235197,
0.005119870416820049,
0.015875311568379402,
-0.006584458518773317,
0.0004277731932234019,
0.010965846478939056,
0.007397201843559742,
-0.029951859265565872,
-0.01604858599603176,
-0.002972495276480913,
-0.023482918739318848,
0.00009469542419537902,
0.028169600293040276,
-0.009794175624847412,
0.011584686115384102,
0.007999539375305176,
0.05029932036995888,
0.014876916073262691,
0.012071507051587105,
-0.05673525854945183,
0.017046982422471046,
0.007050651125609875,
0.002114370232447982,
0.028169600293040276,
-0.014489108696579933,
0.03897867351770401,
-0.025166163221001625,
0.00128821877297014,
0.0021576890721917152,
0.06138893589377403,
-0.035183120518922806,
0.017657570540905,
0.004620672669261694,
-0.039242710918188095,
-0.053797829896211624,
0.0028549155686050653,
-0.006980516016483307,
0.010990600101649761,
0.045579634606838226,
0.01670043170452118,
-0.019967906177043915,
0.015396741218864918,
0.048021990805864334,
-0.007124911993741989,
-0.08587849885225296,
0.040100838989019394,
0.013994037173688412,
0.025892268866300583,
-0.017872100695967674,
0.0365363173186779,
0.03143707662820816,
-0.007838641293346882,
0.010644049383699894,
-0.011031855829060078,
0.010759565979242325,
-0.01584230549633503,
0.021585142239928246,
0.008795780129730701,
-0.022162726148962975,
-0.0008055235375650227,
-0.007327066734433174,
0.009274350479245186,
-0.01042126677930355,
0.034853074699640274,
-0.021816175431013107,
-0.013028646819293499,
-0.024176020175218582,
0.02442355453968048,
-0.02467109076678753,
0.07188446074724197,
-0.03683336079120636,
-0.012492318637669086,
-0.05099242180585861,
-0.019208796322345734,
-0.012459313496947289,
-0.05416088551282883,
-0.06917806714773178,
0.023367401212453842,
-0.021255094558000565,
0.015182210132479668,
-0.0032447848934680223,
0.016230111941695213,
-0.004261745605617762,
0.028268614783883095,
-0.030001366510987282,
0.05716432258486748,
0.022492773830890656,
-0.025248674675822258,
-0.01836717315018177,
-0.0006080103921703994,
-0.011625942774116993,
-0.0031519588083028793,
-0.01082557626068592,
-0.02724546566605568,
0.01932431384921074,
-0.007310564164072275,
0.04650377109646797,
0.05868254229426384,
0.010347005911171436,
0.03627227991819382,
0.014249823987483978,
-0.013820761814713478,
0.054986003786325455,
-0.00033107944182120264,
0.0035418281331658363,
-0.009348610416054726,
0.022245237603783607,
-0.03333485126495361,
-0.007838641293346882,
-0.005792343057692051,
-0.08455830812454224,
0.033697906881570816,
-0.02638734132051468,
-0.029275260865688324,
-0.012426309287548065,
-0.005066237412393093,
-0.0023185876198112965,
0.005573686212301254,
0.008878292515873909,
-0.019192293286323547,
0.004723812453448772,
-0.017641067504882812,
-0.04950720816850662,
0.012154019437730312,
0.005375657696276903,
-0.01082557626068592,
-0.012170521542429924,
-0.022822821512818336,
-0.0007833483978174627,
-0.007042400073260069,
-0.037856511771678925,
-0.037955526262521744,
-0.004036900121718645,
-0.07043225318193436,
-0.04039788246154785,
-0.005936739034950733,
-0.02747649885714054,
-0.05105843394994736,
-0.01645289547741413,
-0.015471002086997032,
0.0074013276025652885,
0.010916339233517647,
-0.01688195765018463,
-0.017294516786932945,
0.024539072066545486,
0.023169372230768204,
0.01952234096825123,
0.000735388312023133,
0.008861790411174297,
0.03501809760928154,
-0.06369927525520325,
-0.021585142239928246,
-0.035183120518922806,
-0.03382992371916771,
0.03449001908302307,
-0.00270845671184361,
-0.002442355500534177,
0.018878748640418053,
-0.017212005332112312,
-0.03554617613554001,
0.012550076469779015,
-0.02518266625702381,
0.012467565014958382,
0.023680947721004486,
0.007302313111722469,
-0.004076093435287476,
0.05132247135043144,
0.007483839523047209,
-0.007694244850426912,
0.008333712816238403,
0.04607470706105232,
0.03696538135409355,
-0.016733435913920403,
0.015347233973443508,
0.03462203964591026,
0.026981428265571594,
0.005932613741606474,
-0.006460690405219793,
-0.01009121909737587,
0.009447624906897545,
-0.0056892032735049725,
0.0005636601708829403,
0.022773314267396927,
0.001219114987179637,
-0.029044227674603462,
0.03231170400977135,
-0.003867750521749258,
-0.0036552820820361376,
-0.003104514442384243
] |
The Human Activity Recognition (HAR) tasks automatically identify human
activities using the sensor data, which has numerous applications in
healthcare, sports, security, and human-computer interaction. Despite
significant advances in HAR, critical challenges still exist. Game theory has
emerged as a promising solution to address these challenges in machine learning
problems including HAR. However, there is a lack of research work on applying
game theory solutions to the HAR problems. This review paper explores the
potential of game theory as a solution for HAR tasks, and bridges the gap
between game theory and HAR research work by suggesting novel game-theoretic
approaches for HAR problems. The contributions of this work include exploring
how game theory can improve the accuracy and robustness of HAR models,
investigating how game-theoretic concepts can optimize recognition algorithms,
and discussing the game-theoretic approaches against the existing HAR methods.
The objective is to provide insights into the potential of game theory as a
solution for sensor-based HAR, and contribute to develop a more accurate and
efficient recognition system in the future research directions. | [
-0.016591141000390053,
0.01218049880117178,
-0.024717412889003754,
0.0073822555132210255,
0.021420570090413094,
0.03544551879167557,
-0.0017297288868576288,
-0.022311609238386154,
-0.013356669805943966,
0.01363289263099432,
0.03186354413628578,
-0.007466904353350401,
0.09651730954647064,
-0.011164714582264423,
-0.04558553919196129,
0.015112016350030899,
-0.010353869758546352,
-0.04401731118559837,
-0.03239816799759865,
-0.05043279007077217,
0.038635436445474625,
-0.0006020080181770027,
-0.013116089627146721,
0.011013238690793514,
0.025947047397494316,
0.020565172657370567,
0.02532332018017769,
-0.009115326218307018,
-0.05880855396389961,
0.034055497497320175,
0.026160895824432373,
0.017241599038243294,
-0.045478615909814835,
-0.06201629340648651,
-0.04230651631951332,
-0.021990835666656494,
0.026107434183359146,
0.05695519223809242,
0.004686863627284765,
-0.002911468967795372,
0.017856415361166,
0.039205703884363174,
-0.02371945045888424,
-0.05250000208616257,
-0.0015281314263120294,
-0.005956593900918961,
-0.018132638186216354,
-0.009355906397104263,
-0.009026221930980682,
-0.02001272886991501,
0.027123218402266502,
0.004562118090689182,
0.029742872342467308,
0.017660386860370636,
-0.005502163898199797,
-0.03562372922897339,
0.07527495175600052,
-0.03482179343700409,
0.0216344203799963,
0.017099032178521156,
0.020547352731227875,
0.020547352731227875,
-0.009133147075772285,
-0.0405244417488575,
0.06426171213388443,
-0.08432790637016296,
0.05756109952926636,
0.05160896107554436,
0.05346232280135155,
0.002550598233938217,
-0.029332993552088737,
0.04583502933382988,
-0.002463722135871649,
0.03065173141658306,
-0.012501273304224014,
-0.03546334058046341,
-0.005274949129670858,
0.08325865864753723,
-0.021616598591208458,
-0.015308044850826263,
-0.0025327776093035936,
0.06518839299678802,
-0.03225560113787651,
0.002113989321514964,
0.023042261600494385,
0.025679735466837883,
0.02783604897558689,
-0.08318737149238586,
-0.037281058728694916,
-0.005408605094999075,
-0.04512219876050949,
0.08946028351783752,
-0.015112016350030899,
0.013757637701928616,
-0.03745926544070244,
0.015664460137486458,
0.010380600579082966,
-0.01279531605541706,
-0.04276985675096512,
-0.01954938843846321,
0.045728106051683426,
0.012376527301967144,
0.009355906397104263,
-0.04063136503100395,
0.005288314539939165,
-0.051680244505405426,
-0.04415987804532051,
0.017651475965976715,
0.013374490663409233,
0.08618126064538956,
-0.021420570090413094,
0.05025458335876465,
0.03129328042268753,
-0.025857944041490555,
-0.08853360265493393,
-0.0057026478461921215,
-0.005778385791927576,
-0.046120163053274155,
0.0073510692454874516,
0.02261456288397312,
0.00920442957431078,
0.07053462415933609,
0.004637856502085924,
-0.027372708544135094,
-0.031061608344316483,
0.058523423969745636,
-0.015218941494822502,
0.02405804581940174,
-0.002258783206343651,
-0.01576247438788414,
0.014470468275249004,
0.056990835815668106,
0.0755600854754448,
0.021046334877610207,
-0.0014880346134305,
-0.021010693162679672,
0.041629329323768616,
-0.03507128357887268,
-0.021901730448007584,
0.006745162885636091,
-0.05959266796708107,
-0.003920570481568575,
-0.06493890285491943,
-0.00859852321445942,
-0.00004441271084942855,
0.009516293182969093,
-0.036960285156965256,
-0.008148549124598503,
-0.06579429656267166,
0.020048370584845543,
-0.010585539974272251,
0.06604378670454025,
0.021759165450930595,
0.016787169501185417,
-0.04056008160114288,
-0.011289460584521294,
0.019994908943772316,
-0.038172099739313126,
0.02250763773918152,
-0.002820137422531843,
0.03496436029672623,
-0.037993889302015305,
0.005453156773000956,
0.036407843232154846,
0.04020366817712784,
0.01735743321478367,
0.0015515211271122098,
-0.016742616891860962,
-0.04205702617764473,
0.02316700667142868,
-0.0625152736902237,
-0.058594703674316406,
-0.006860997993499041,
0.03859979659318924,
0.024877801537513733,
0.03610488772392273,
0.05371181294322014,
-0.013962576165795326,
-0.03902749344706535,
0.002831275574862957,
-0.029172606766223907,
-0.0015103105688467622,
0.018533604219555855,
0.0186583511531353,
0.058095723390579224,
0.02172352373600006,
0.045478615909814835,
-0.03637219965457916,
0.01499618124216795,
-0.012697301805019379,
0.012269603088498116,
0.022240325808525085,
0.035516802221536636,
-0.009783605113625526,
0.009021766483783722,
-0.05880855396389961,
0.021652240306138992,
-0.04943482577800751,
0.00772085040807724,
-0.018925661221146584,
-0.09423625469207764,
-0.06087576597929001,
0.013374490663409233,
-0.004633401054888964,
0.023951120674610138,
0.02559063211083412,
0.04775967448949814,
-0.06871690601110458,
0.025056008249521255,
-0.07156822830438614,
-0.029386457055807114,
0.03207739442586899,
-0.013739816844463348,
-0.03428716957569122,
0.01258146669715643,
-0.03974032774567604,
0.05806008353829384,
0.024004582315683365,
0.002944882959127426,
0.009658859111368656,
0.005159114021807909,
0.04284114018082619,
0.05620672181248665,
-0.015958502888679504,
0.04063136503100395,
0.005056644789874554,
-0.04401731118559837,
0.005288314539939165,
-0.008188645355403423,
-0.01274185348302126,
-0.009783605113625526,
0.02596486732363701,
0.034946538507938385,
-0.030580447986721992,
-0.014461558312177658,
-0.004230206366628408,
-0.005613544024527073,
0.02767566218972206,
-0.007605015300214291,
0.0019068227848038077,
-0.026481669396162033,
-0.01657331921160221,
-0.029261711984872818,
-0.013196283020079136,
0.04309063032269478,
-0.021028513088822365,
-0.05535132437944412,
0.11640529334545135,
-0.001962512731552124,
0.027604378759860992,
-0.013534878380596638,
-0.0460132397711277,
-0.018533604219555855,
0.030544806271791458,
-0.021990835666656494,
0.04679735377430916,
0.04783095791935921,
-0.050147660076618195,
0.054959267377853394,
-0.003154277103021741,
0.026838086545467377,
0.03548116236925125,
0.023737270385026932,
0.06682790070772171,
-0.04679735377430916,
0.009471741504967213,
0.04177189618349075,
0.00969450082629919,
-0.011877546086907387,
-0.048615071922540665,
-0.03143584728240967,
-0.050610996782779694,
-0.02559063211083412,
0.015299134887754917,
0.011565682478249073,
-0.004771512467414141,
-0.0070971231907606125,
-0.016047606244683266,
0.024663951247930527,
0.05011201649904251,
0.014185336418449879,
-0.011342923156917095,
0.0664002075791359,
-0.0273548886179924,
-0.059628311544656754,
-0.06575865298509598,
-0.0009255664772354066,
-0.017660386860370636,
-0.03553462401032448,
-0.041059061884880066,
0.027925152331590652,
-0.025537168607115746,
0.02227596752345562,
-0.0019213021732866764,
0.05773930996656418,
0.03500000014901161,
-0.024254074320197105,
-0.0015693418681621552,
0.0012519094161689281,
-0.03667515143752098,
0.014479379169642925,
0.026481669396162033,
-0.019495926797389984,
0.059628311544656754,
-0.00012516308925114572,
-0.0017130218911916018,
0.056812629103660583,
0.04287678375840187,
-0.00804607942700386,
-0.07513238489627838,
0.01291115116328001,
-0.026998473331332207,
-0.028834013268351555,
0.02815682254731655,
-0.04433808475732803,
-0.018622709438204765,
0.010781568475067616,
0.03459012135863304,
-0.025127291679382324,
-0.04216395318508148,
-0.021509673446416855,
-0.031025968492031097,
-0.06540223956108093,
0.02396894060075283,
-0.02019093744456768,
0.00576947582885623,
0.00578729622066021,
-0.003348077880218625,
-0.002577329520136118,
-0.0012396576348692179,
-0.015370417386293411,
0.02243635430932045,
-0.036710795015096664,
-0.022471996024250984,
0.06247963383793831,
-0.0008320073829963803,
-0.011066700331866741,
-0.0008999491110444069,
0.014728870242834091,
-0.005145748611539602,
0.005306135397404432,
-0.0013889066176488996,
0.006250636652112007,
0.03223777934908867,
-0.0003544663486536592,
-0.014684317633509636,
-0.03674643486738205,
0.023024439811706543,
-0.022008655592799187,
-0.016849542036652565,
0.0009088594815693796,
-0.023612525314092636,
0.0029203793965280056,
-0.010950865224003792,
0.00015551410615444183,
-0.02910132333636284,
-0.015183299779891968,
-0.039526477456092834,
0.048935845494270325,
-0.020832484588027,
0.06761201471090317,
-0.07014256715774536,
0.04615580663084984,
0.009730142541229725,
-0.0677545815706253,
-0.011351833119988441,
-0.08582484722137451,
-0.020868126302957535,
0.014639765955507755,
0.0029738417360931635,
-0.042342159897089005,
-0.019353359937667847,
-0.007012474816292524,
-0.08489816635847092,
-0.04544297233223915,
0.06183808669447899,
-0.0318279042840004,
-0.018622709438204765,
-0.04462321847677231,
0.04868635535240173,
0.004686863627284765,
-0.0007100464426912367,
0.024557026103138924,
-0.018943483009934425,
0.01455957256257534,
0.057703666388988495,
0.09060081839561462,
-0.05716904252767563,
0.035356417298316956,
0.04629836976528168,
0.03742362558841705,
-0.01202011201530695,
-0.04811609163880348,
-0.01548625249415636,
0.0444093681871891,
-0.02154531516134739,
0.041379839181900024,
-0.010425153188407421,
0.026552952826023102,
0.00932917557656765,
0.010772657580673695,
-0.011556771583855152,
-0.009792515076696873,
0.030919043347239494,
-0.029725050553679466,
-0.010906313546001911,
-0.018079174682497978,
0.05335539951920509,
-0.05282077565789223,
-0.01962067186832428,
0.03991853445768356,
0.035659369081258774,
-0.04056008160114288,
-0.0003731224569492042,
-0.031311098486185074,
-0.0037646384444087744,
-0.04754582419991493,
0.03678207844495773,
0.015985233709216118,
-0.04551425576210022,
-0.0515020377933979,
0.021135438233613968,
0.07363543659448624,
-0.020297862589359283,
-0.018284114077687263,
0.017508910968899727,
0.01162805501371622,
-0.017981160432100296,
-0.010986506938934326,
-0.004421779420226812,
0.021848268806934357,
-0.01617235317826271,
0.002247645054012537,
-0.04316191375255585,
0.03211303427815437,
0.00523039698600769,
0.011797352693974972,
0.03375254571437836,
-0.03795824944972992,
-0.03113289177417755,
-0.01954938843846321,
-0.059307537972927094,
-0.008634164929389954,
-0.02815682254731655,
0.030829939991235733,
-0.004971995949745178,
0.008019348606467247,
0.004735870752483606,
-0.014969450421631336,
0.006246181204915047,
-0.07021384686231613,
0.021278005093336105,
-0.02469959296286106,
0.03001018427312374,
0.022400712594389915,
0.004245799500495195,
0.008144093677401543,
-0.04398167133331299,
0.017811864614486694,
-0.015512984246015549,
-0.03407331928610802,
0.05973523482680321,
0.030687373131513596,
-0.03111507184803486,
0.0012318610679358244,
0.031168533489108086,
-0.041700612753629684,
-0.026659877970814705,
0.004134419374167919,
0.05011201649904251,
-0.042662933468818665,
-0.09780041128396988,
-0.016216903924942017,
-0.012492362409830093,
0.0010909654665738344,
0.01057662907987833,
0.035196028649806976,
-0.023683808743953705,
-0.008233197964727879,
-0.04433808475732803,
0.02170570194721222,
0.018943483009934425,
0.043553970754146576,
0.007952520623803139,
-0.007422352209687233,
-0.008153004571795464,
0.0842566192150116,
-0.008616344071924686,
0.003925025463104248,
-0.03619399294257164,
0.015174388885498047,
-0.00976578425616026,
0.0032478361390531063,
-0.024004582315683365,
-0.005319501273334026,
0.002842413494363427,
-0.026356924325227737,
0.006611507385969162,
0.06362016499042511,
0.027051934972405434,
-0.01648421585559845,
-0.03820773959159851,
0.02532332018017769,
0.04583502933382988,
0.012367617338895798,
0.018765274435281754,
0.010594449937343597,
0.03311099857091904,
-0.020529530942440033,
-0.02992107905447483,
0.001305371755734086,
0.05613543838262558,
-0.02935081534087658,
-0.028602343052625656,
0.03138238191604614,
-0.0028490961994975805,
-0.009569755755364895,
-0.008349033072590828,
0.004504200536757708,
0.04665478691458702,
-0.014880346134305,
-0.016920825466513634,
-0.019994908943772316,
0.05627800524234772,
-0.07313645631074905,
0.015308044850826263,
0.01263492926955223,
0.0006259547080844641,
0.008335666730999947,
-0.00784114096313715,
-0.019406823441386223,
-0.002508274046704173,
-0.04077393189072609,
-0.052072301506996155,
0.03323574364185333,
-0.007564918603748083,
0.008068355731666088,
0.015512984246015549,
0.005983324721455574,
-0.017473269253969193,
-0.04159368574619293,
0.07662932574748993,
-0.010327138938009739,
0.017758401110768318,
-0.019602851942181587,
0.019121689721941948,
0.01760692521929741,
-0.03710285201668739,
-0.03072301484644413,
0.07035641372203827,
-0.019121689721941948,
-0.014105143025517464,
-0.019406823441386223,
-0.029653768986463547,
0.01206466369330883,
-0.007346614263951778,
-0.04358961433172226,
0.01214485801756382,
-0.005845213774591684,
0.019834522157907486,
0.00576947582885623,
0.0033503056038171053,
0.051038697361946106,
-0.02509164996445179,
0.005568991880863905,
-0.010229124687612057,
-0.012314154766499996,
0.05549389123916626,
0.06725560128688812,
0.02983197569847107,
-0.026018330827355385,
-0.012777495197951794,
-0.03706720843911171,
-0.014924898743629456,
-0.008023803122341633,
-0.015049643814563751,
-0.010273676365613937,
0.008509419858455658,
-0.011717159301042557,
0.026517311111092567,
0.0022832867689430714,
0.02026222087442875,
0.0009333630441688001,
0.01849796436727047,
0.00697683310136199,
-0.032612018287181854,
0.000014592498700949363,
-0.02573319710791111,
0.010220213793218136,
0.0029025585390627384,
-0.012171588838100433,
-0.004172288812696934,
-0.004526476841419935,
-0.011690427549183369,
-0.016903003677725792,
-0.02371945045888424,
0.014149694703519344,
-0.0003163187357131392,
0.0307942982763052,
-0.041664969176054,
0.024895621463656425,
0.017874237149953842,
0.005996690597385168,
0.10906314104795456,
-0.0005566207692027092,
0.022489817813038826,
0.00993508193641901,
-0.014318992383778095,
-0.012697301805019379,
0.00004667511166189797,
0.09359470754861832,
0.011984470300376415,
0.05756109952926636,
-0.017401985824108124,
0.02662423625588417,
-0.008825737982988358,
0.003305753692984581,
0.01826629415154457,
0.013374490663409233,
0.00976578425616026,
0.017027748748660088,
0.009560844860970974,
0.03706720843911171,
0.006219450384378433,
0.020208757370710373,
0.0015448383055627346,
-0.05260692536830902,
-0.01713467389345169,
-0.035837575793266296,
-0.027550917118787766,
0.002949338173493743,
-0.01097759697586298,
-0.053034622222185135,
0.0006075770361348987,
0.030437882989645004,
-0.01291115116328001,
0.011690427549183369,
0.0180880855768919,
0.05089613050222397,
0.010897403582930565,
0.011120162904262543,
-0.027390530332922935,
-0.017562372609972954,
0.07185336202383041,
-0.015308044850826263,
0.0019513748120516539,
0.011993381194770336,
-0.013971487060189247,
0.007769857533276081,
-0.033663440495729446,
0.018925661221146584,
0.00937372725456953,
0.02630346268415451,
0.02703411504626274,
-0.011922097764909267,
-0.0313645638525486,
0.012768584303557873,
-0.007533732336014509,
0.017179226502776146,
-0.010924134403467178,
0.034536659717559814,
0.011913187801837921,
0.009168787859380245,
0.01840885914862156,
0.04544297233223915,
0.06105397269129753,
0.004798243287950754,
0.0009790287585929036,
0.01057662907987833,
0.0018555880524218082,
-0.0652596727013588,
-0.030526986345648766,
-0.046120163053274155,
0.018533604219555855,
0.0353742353618145,
-0.018462322652339935,
-0.025519348680973053,
0.057311609387397766,
-0.03544551879167557,
-0.06522403657436371,
-0.00800152774900198,
-0.030455702915787697,
-0.009035132825374603,
-0.0037445900961756706,
-0.004350496456027031,
-0.02011965401470661,
0.008692082948982716,
-0.004221295937895775,
-0.03838594630360603,
-0.024396639317274094,
0.0008960507693700492,
0.027390530332922935,
-0.004524249117821455,
0.007930244319140911,
0.00006585333176190034,
0.08824847638607025,
-0.037601832300424576,
-0.0395977608859539,
0.015744654461741447,
-0.01947810687124729,
-0.010015275329351425,
-0.033663440495729446,
0.008019348606467247,
0.03368126228451729,
0.008202011696994305,
0.02355906367301941,
0.004016357008367777,
0.01302698627114296,
0.010630091652274132,
-0.007787678390741348,
0.015227851457893848,
-0.001650649239309132,
0.014212067238986492,
0.01874745450913906,
0.04661914333701134,
-0.0061927190981805325,
-0.009845977649092674,
-0.0056892819702625275,
-0.023202648386359215,
0.04063136503100395,
0.0028981033246964216,
0.006335285026580095,
0.0377800427377224,
0.011601324193179607,
-0.003423816291615367,
0.060768838971853256,
0.005413060076534748,
-0.011868635192513466,
-0.03152494877576828,
-0.012367617338895798,
0.011797352693974972,
-0.02911914512515068,
-0.03580193594098091,
0.013214103877544403,
0.008255473338067532,
0.005867490079253912,
0.018836557865142822,
0.021010693162679672,
-0.023505600169301033,
0.026552952826023102,
-0.029903259128332138,
-0.026642058044672012,
-0.04961303621530533,
0.024966904893517494,
0.03713849186897278,
-0.0503615066409111,
0.028602343052625656,
0.02298879809677601,
-0.027622200548648834,
-0.04219959303736687,
0.050076376646757126,
0.018132638186216354,
0.0503615066409111,
-0.06411914527416229,
0.0070169297978281975,
-0.014639765955507755,
0.04123727232217789,
-0.05406823009252548,
-0.00908859446644783,
0.015192209742963314,
0.001590504078194499,
0.04337576404213905,
-0.01174389012157917,
0.006553589832037687,
0.011815173551440239,
-0.0006081339088268578,
-0.03442973643541336,
-0.003045124700292945,
0.03287932649254799,
0.03186354413628578,
0.013695265166461468,
0.01624363474547863,
0.05538696423172951,
-0.04252036660909653,
0.008469322696328163,
-0.015379328280687332,
0.051430754363536835,
-0.014978360384702682,
-0.03899185359477997,
-0.014853615313768387,
-0.031560592353343964,
0.02733706682920456,
0.01263492926955223,
0.008255473338067532,
-0.000471972074592486,
0.0035396511666476727,
-0.01687627285718918,
-0.052642565220594406,
-0.015610998496413231,
0.013980397023260593,
0.010175662115216255,
0.01483579445630312,
-0.018996944651007652,
0.036639511585235596,
0.017223777249455452,
-0.032362524420022964,
-0.059236254543066025,
-0.002771130297333002,
-0.0073510692454874516,
0.012340886518359184,
-0.016386201605200768,
0.022079939022660255,
-0.001994812861084938,
0.015477342531085014,
-0.0006454461836256087,
-0.006295188330113888,
-0.02010183408856392,
0.018533604219555855,
0.034536659717559814,
0.03384165093302727,
0.00520812114700675,
0.03243380784988403,
-0.00386042520403862,
-0.00414110254496336,
-0.003470595693215728,
-0.03442973643541336,
-0.011726069264113903,
-0.008825737982988358,
0.007119399029761553,
-0.03724541887640953,
0.011396384797990322,
-0.008259928785264492,
0.01874745450913906,
-0.028602343052625656,
-0.03279022499918938,
0.0009138715686276555,
0.010843941010534763,
-0.013240834698081017,
0.013499236665666103,
-0.009039587341248989,
0.00905295368283987,
0.02026222087442875,
0.021973013877868652,
-0.023363035172224045,
-0.021937372162938118,
0.05538696423172951,
-0.040987782180309296,
0.040809571743011475,
0.009516293182969093,
0.02573319710791111,
-0.011895366944372654,
0.013223014771938324,
-0.011155804619193077,
0.027230143547058105,
-0.0412016287446022,
-0.031061608344316483,
-0.030028004199266434,
0.011013238690793514,
0.01399821788072586,
0.04244908317923546,
0.047474540770053864,
0.01294679194688797,
0.03785132244229317,
0.014372454024851322,
-0.012688390910625458,
-0.009124236181378365,
0.0018834330840036273,
0.00040458724834024906,
0.043874744325876236,
-0.009391548112034798,
-0.013543788343667984,
-0.013775458559393883,
0.0026285641361027956,
0.030117107555270195,
0.013410132378339767,
-0.05317718908190727,
0.01697428710758686,
-0.03125763684511185,
0.0032478361390531063,
-0.012955702841281891,
-0.003252291353419423,
0.012331975623965263,
-0.01318737305700779,
0.036158349364995956,
0.00784114096313715,
0.007613925728946924,
-0.0068565430119633675,
-0.030206212773919106,
-0.026588594540953636,
0.0019213021732866764,
0.010968686081469059,
0.007244144566357136,
-0.015584266744554043,
0.013561609201133251,
0.06918024271726608,
-0.020476069301366806,
0.004116598982363939,
-0.03416242450475693,
0.02518075332045555,
-0.005707102827727795,
-0.0010775999398902059,
0.02108197659254074,
-0.01663569174706936,
-0.021278005093336105,
0.04448065161705017,
0.01005091704428196,
-0.05192973464727402,
-0.005635819863528013,
0.023915478959679604,
0.027212321758270264,
0.01744653843343258,
-0.03134674206376076,
-0.050290223211050034,
-0.021456211805343628,
-0.0005031584296375513,
-0.009101960808038712,
-0.0038470595609396696,
0.007386710960417986,
0.020458249375224113,
-0.021776985377073288,
-0.04815173149108887,
-0.029742872342467308,
0.008500508964061737,
-0.04800916463136673,
-0.012528004124760628,
-0.023594705387949944,
-0.01994144544005394,
-0.01307153794914484,
0.04565682262182236,
-0.0010480842320248485,
-0.002944882959127426,
0.0156822819262743,
-0.07769857347011566,
-0.017758401110768318,
-0.0036421206314116716,
-0.0035129201132804155,
-0.043233197182416916,
0.005413060076534748,
0.007801043801009655,
-0.026962831616401672,
0.0008164141909219325,
0.041308555752038956,
0.03674643486738205,
0.03175662085413933,
0.04095213860273361,
0.017633656039834023,
-0.024325355887413025,
0.012162677943706512,
-0.03540987893939018,
-0.02339867688715458,
0.006277367472648621,
0.015272403135895729,
0.020048370584845543,
0.027069756761193275,
0.009525204077363014,
0.0031030422542244196,
0.027764765545725822,
0.0444093681871891,
-0.013365580700337887,
-0.00697683310136199,
0.0026218814309686422,
0.007894602604210377,
0.026410387828946114,
-0.04679735377430916,
-0.02108197659254074,
-0.01778513193130493,
-0.024966904893517494,
-0.024111507460474968,
-0.03396639600396156,
0.04301934689283371,
0.01350814662873745,
0.03257637470960617,
-0.03576629236340523,
0.0061927190981805325,
-0.031720977276563644,
0.021438391879200935,
-0.024557026103138924,
0.027711303904652596,
-0.08475559949874878,
-0.0013432408450171351,
0.005876400042325258,
-0.0017564600566402078,
-0.0038804735522717237,
0.02033350244164467,
-0.02236507087945938,
-0.020155295729637146,
0.024182790890336037,
-0.0075871944427490234,
-0.005172479897737503,
0.014479379169642925,
-0.005542260594666004,
-0.036960285156965256,
-0.001019125571474433,
-0.02044042758643627,
-0.035516802221536636,
0.016929734498262405,
-0.008237652480602264,
0.011004327796399593,
-0.04565682262182236,
0.049256619065999985,
-0.009658859111368656,
0.015789205208420753,
0.010336048901081085,
0.02822810597717762,
-0.03544551879167557,
-0.0054977089166641235,
0.046120163053274155,
0.04187881946563721,
-0.018462322652339935,
-0.017580194398760796,
0.026731161400675774,
-0.01729506067931652,
-0.0030495799146592617,
0.0020516165532171726,
0.0005393568426370621,
0.05381873622536659,
0.030259674414992332,
0.04569246619939804,
0.007948065176606178,
0.04462321847677231,
0.007921334356069565,
0.014060590416193008,
-0.004726960323750973,
-0.03418024629354477,
0.006344195455312729,
0.020779022946953773,
-0.04059572517871857,
0.013285387307405472,
0.02051171101629734,
-0.04269857332110405,
-0.029867617413401604,
0.028584521263837814,
0.045086558908224106,
-0.01054098829627037
] |
The Recommender system is a vital information service on today's Internet.
Recently, graph neural networks have emerged as the leading approach for
recommender systems. We try to review recent literature on graph neural
network-based recommender systems, covering the background and development of
both recommender systems and graph neural networks. Then categorizing
recommender systems by their settings and graph neural networks by spectral and
spatial models, we explore the motivation behind incorporating graph neural
networks into recommender systems. We also analyze challenges and open problems
in graph construction, embedding propagation and aggregation, and computation
efficiency. This guides us to better explore the future directions and
developments in this domain. | [
0.026160791516304016,
0.023488374426960945,
-0.0323290191590786,
-0.0116647370159626,
0.0431053563952446,
-0.020512603223323822,
-0.013304300606250763,
0.005731250159442425,
0.005048700608313084,
-0.029757719486951828,
0.01242312602698803,
0.009346235543489456,
-0.02981550246477127,
-0.06200006604194641,
-0.01233645249158144,
0.05506622791290283,
0.01314540021121502,
-0.034438058733940125,
-0.023315029218792915,
-0.01729125715792179,
0.031520068645477295,
-0.013737665489315987,
0.019645873457193375,
-0.019400300458073616,
0.05223491042852402,
0.013217628002166748,
0.033715784549713135,
-0.00311480974778533,
-0.09360680729150772,
0.02871764451265335,
0.03490031510591507,
-0.012379788793623447,
0.014416604302823544,
-0.052206020802259445,
-0.06592924147844315,
0.030219975858926773,
0.06783604621887207,
0.08274379372596741,
-0.0058215344324707985,
-0.012437570840120316,
0.041747480630874634,
0.024961816146969795,
0.0006866124458611012,
0.0013596821809187531,
0.011794746853411198,
-0.04749678820371628,
0.02384951151907444,
-0.04977917671203613,
-0.003947231452912092,
-0.03166452422738075,
0.021177096292376518,
-0.015124433673918247,
0.02666638419032097,
-0.016048945486545563,
-0.04911468178033829,
0.01259647123515606,
0.017869077622890472,
-0.01746460422873497,
0.004900634288787842,
0.01815798692405224,
-0.010017951019108295,
0.03813610598444939,
-0.03516033664345741,
-0.022722763940691948,
0.008060586638748646,
-0.020917076617479324,
0.020411483943462372,
-0.03183786943554878,
0.03966733068227768,
-0.06685375422239304,
-0.07835236191749573,
0.011563618667423725,
0.045041054487228394,
-0.0356803722679615,
0.034264713525772095,
0.020613720640540123,
0.013398196548223495,
0.033542439341545105,
-0.023806175217032433,
-0.021090421825647354,
0.04729454964399338,
0.0595732219517231,
0.01328263245522976,
0.0033946912735700607,
0.047987934201955795,
-0.0256696455180645,
0.020122574642300606,
-0.047641243785619736,
0.011657514609396458,
0.02072928473353386,
-0.0350736603140831,
0.01766684092581272,
-0.005597629118710756,
-0.036633774638175964,
0.021668242290616035,
-0.016106726601719856,
0.037009358406066895,
-0.024860696867108345,
-0.042325299233198166,
0.0811259001493454,
0.0013669049367308617,
-0.04619669169187546,
0.022014934569597244,
0.012979277409613132,
-0.0005588600761257112,
-0.03492920845746994,
-0.007150520104914904,
0.02402285858988762,
-0.023141682147979736,
0.10597214847803116,
0.013217628002166748,
-0.007656112313270569,
-0.012293116189539433,
0.01429381687194109,
-0.015283334068953991,
0.036113739013671875,
-0.042325299233198166,
-0.0204837117344141,
0.010025173425674438,
-0.016496755182743073,
0.010595770552754402,
0.0401584766805172,
-0.029122117906808853,
-0.043047573417425156,
-0.057464178651571274,
0.06500472873449326,
-0.04680340364575386,
-0.037211596965789795,
-0.02360393851995468,
0.0071288519538939,
-0.03677823022007942,
0.05096370726823807,
0.015341116115450859,
-0.06569810956716537,
0.025756318122148514,
0.007136074360460043,
0.019992565736174583,
0.03339798375964165,
-0.0017253338592126966,
-0.05633743107318878,
-0.03198232501745224,
-0.02614634670317173,
-0.024456223472952843,
-0.03596928343176842,
0.039754003286361694,
0.01976143755018711,
-0.022722763940691948,
0.01688678376376629,
-0.03897394612431526,
0.0022950279526412487,
-0.04567665606737137,
0.040129583328962326,
-0.011484168469905853,
0.014199921861290932,
-0.005373724270612001,
-0.021870478987693787,
0.005113705061376095,
-0.06621815264225006,
0.015341116115450859,
-0.004662283696234226,
0.05590406432747841,
-0.019920337945222855,
-0.008898424915969372,
0.071360744535923,
-0.004192804917693138,
0.018952488899230957,
0.03851168975234032,
-0.002067511435598135,
-0.0870196595788002,
0.027923142537474632,
-0.023863958194851875,
0.02010812982916832,
-0.02337281033396721,
0.05573071911931038,
0.005207601003348827,
0.02704196609556675,
0.05243714526295662,
-0.0650625079870224,
-0.043452050536870956,
0.022621644660830498,
-0.04966361075639725,
0.0015546963550150394,
0.027374213561415672,
0.01849023438990116,
-0.012358120642602444,
0.04914357513189316,
0.04460768774151802,
0.0026164401788264513,
0.03016219288110733,
0.026435256004333496,
0.0374138318002224,
0.022318290546536446,
0.018345778807997704,
-0.04631225764751434,
0.004828406497836113,
-0.044896598905324936,
0.02305500954389572,
0.012972054071724415,
-0.02062816731631756,
-0.02415286749601364,
-0.05168598145246506,
0.005297885276377201,
0.0629245787858963,
-0.05373724177479744,
0.06824051588773727,
0.005716804414987564,
0.04518551006913185,
-0.058735381811857224,
-0.012553134933114052,
-0.030479993671178818,
-0.03342687711119652,
-0.015370006673038006,
-0.06124889850616455,
-0.019689209759235382,
-0.003266487503424287,
-0.0026182460132986307,
0.003950842656195164,
0.024109531193971634,
-0.018865816295146942,
0.0015745589043945074,
-0.03799165040254593,
-0.00006133692659204826,
0.09938500821590424,
-0.00772833963856101,
0.046138912439346313,
-0.042498644441366196,
-0.016973456367850304,
-0.030104411765933037,
-0.0013614878989756107,
0.014250480569899082,
-0.0010825092904269695,
0.05151263624429703,
0.026305247098207474,
-0.03637375682592392,
-0.00016228610184043646,
-0.008717856369912624,
0.006662984378635883,
-0.060208823531866074,
-0.04772791638970375,
0.024485113099217415,
-0.029584374278783798,
0.017637949436903,
0.011260263621807098,
0.00868174247443676,
0.06639149785041809,
0.020295919850468636,
-0.027359766885638237,
0.035709261894226074,
0.035189226269721985,
-0.01876469887793064,
-0.04327870160341263,
-0.024095086380839348,
-0.03221345320343971,
0.0039941794238984585,
-0.06754713505506516,
0.023257246240973473,
0.047612350434064865,
0.01051632035523653,
0.007204690482467413,
-0.020122574642300606,
0.05480620637536049,
0.012408680282533169,
0.007136074360460043,
0.04532996192574501,
-0.0056554111652076244,
0.015023314394056797,
0.03455362468957901,
0.002204743679612875,
0.006746046245098114,
0.0191113892942667,
0.010220187716186047,
-0.0658714547753334,
-0.003333298023790121,
-0.04313424974679947,
-0.03799165040254593,
-0.041054096072912216,
0.07887240499258041,
-0.07118739932775497,
0.05341944098472595,
-0.02457178756594658,
-0.010328528471291065,
-0.05980435013771057,
-0.06870277225971222,
0.02614634670317173,
-0.040100693702697754,
-0.02717197686433792,
-0.024615123867988586,
-0.035189226269721985,
-0.013549874536693096,
-0.0037774969823658466,
-0.02120598591864109,
-0.004246975760906935,
-0.008017249405384064,
0.03377356752753258,
0.058937620371580124,
0.015803370624780655,
-0.001208004541695118,
-0.010003505274653435,
0.017247920855879784,
-0.05422838777303696,
0.010617438703775406,
-0.0012089073425158858,
-0.02031036652624607,
0.009541249834001064,
-0.06668040156364441,
-0.03787608817219734,
-0.002072928473353386,
0.09828715026378632,
0.026680829003453255,
-0.05021253973245621,
0.010220187716186047,
0.017377929762005806,
-0.04053406044840813,
-0.017103465273976326,
0.014907751232385635,
0.026709720492362976,
0.03490031510591507,
-0.00991683267056942,
0.020917076617479324,
-0.07326754927635193,
0.0026254686526954174,
-0.023546157404780388,
-0.062231194227933884,
-0.010350197553634644,
-0.06390687078237534,
0.02786535955965519,
0.001556502073071897,
-0.0008735010051168501,
-0.02447066828608513,
0.0134198646992445,
-0.009822936728596687,
-0.014893305487930775,
0.0215526781976223,
-0.017637949436903,
0.021162649616599083,
0.002215577755123377,
0.0058215344324707985,
0.021191541105508804,
-0.02035370282828808,
-0.01815798692405224,
0.01120248157531023,
-0.03709603101015091,
-0.02876098081469536,
0.03383135050535202,
0.0026904733385890722,
-0.0023780895862728357,
-0.007461098022758961,
0.037558287382125854,
0.05396836996078491,
0.018894707784056664,
0.0005421575042419136,
0.026334136724472046,
-0.03365800157189369,
-0.004918691236525774,
0.043596502393484116,
-0.05575961247086525,
-0.027301985770463943,
-0.005532624665647745,
0.007107183337211609,
0.02669527567923069,
0.0374138318002224,
-0.04723677039146423,
-0.04070740565657616,
0.05379502475261688,
-0.06200006604194641,
-0.017652394250035286,
-0.06471581757068634,
-0.005453174468129873,
-0.001232381328009069,
-0.035535916686058044,
-0.02961326390504837,
0.02501959726214409,
-0.06159558892250061,
0.009086216799914837,
0.003187037305906415,
0.01711791194975376,
0.015023314394056797,
0.013181514106690884,
0.00090826052473858,
0.03596928343176842,
0.027374213561415672,
-0.023791730403900146,
0.029309909790754318,
-0.029122117906808853,
-0.03360022231936455,
0.05613519251346588,
0.03669155761599541,
0.009476244449615479,
-0.007320254575461149,
0.016048945486545563,
-0.007880017161369324,
-0.0433075949549675,
0.005081202834844589,
-0.01584670878946781,
-0.005236492026597261,
-0.04677451401948929,
-0.031000033020973206,
0.020425930619239807,
0.0061646150425076485,
0.025886327028274536,
-0.06887611746788025,
-0.01384600717574358,
0.00298480037599802,
0.036807119846343994,
-0.029642155393958092,
0.004488937556743622,
0.015731144696474075,
-0.057146377861499786,
0.03492920845746994,
-0.017854630947113037,
0.04296090081334114,
-0.03325352817773819,
-0.024817360565066338,
-0.0029920232482254505,
0.011578064411878586,
0.03053777664899826,
-0.0407651886343956,
0.028197607025504112,
0.0494035929441452,
-0.01499442383646965,
-0.007988358847796917,
0.03403358533978462,
0.06916502863168716,
-0.030133303254842758,
-0.03183786943554878,
0.0100396191701293,
0.03195343539118767,
-0.022621644660830498,
-0.02432621270418167,
-0.03891616314649582,
0.026550820097327232,
-0.0215526781976223,
0.05047256126999855,
-0.043047573417425156,
-0.04241197183728218,
-0.026637492701411247,
0.0009078090661205351,
0.010646330192685127,
-0.0354781374335289,
-0.01866357959806919,
-0.014553836546838284,
-0.02192826196551323,
-0.028876544907689095,
0.039927348494529724,
-0.00021634386212099344,
0.026088563725352287,
0.041400790214538574,
-0.02113375999033451,
-0.0038316675927489996,
-0.04793015122413635,
-0.022592755034565926,
-0.006782159674912691,
-0.06350239366292953,
-0.04374095797538757,
0.003141895169392228,
0.01671343855559826,
0.008782860822975636,
0.0229250006377697,
0.003098558634519577,
-0.003192454343661666,
-0.02158156968653202,
0.04090964049100876,
-0.026507483795285225,
-0.04258532077074051,
-0.02267942763864994,
0.021393777802586555,
-0.031375616788864136,
0.0025496298912912607,
-0.002370866946876049,
-0.010733002796769142,
-0.003035359550267458,
0.008443391881883144,
0.02405175007879734,
0.004395042080432177,
0.014055466279387474,
-0.030133303254842758,
0.038280561566352844,
-0.058793164789676666,
0.03833834454417229,
0.0032827388495206833,
0.010082955472171307,
0.10868790745735168,
0.06338683515787125,
0.02374839410185814,
-0.05555737391114235,
-0.006623259279876947,
0.04203639179468155,
0.00019851270189974457,
-0.007201079279184341,
-0.05414171516895294,
-0.006944671738892794,
0.043625395745038986,
-0.04440545290708542,
0.00008306159725179896,
0.001090634847059846,
-0.023271692916750908,
0.04457879811525345,
0.011534728109836578,
0.04576332867145538,
0.041574135422706604,
-0.02158156968653202,
0.006384908687323332,
0.019645873457193375,
0.031202269718050957,
-0.01247368473559618,
0.034438058733940125,
0.03579593822360039,
-0.013333192095160484,
-0.07997026294469833,
0.0161645095795393,
-0.011635846458375454,
0.03880060091614723,
-0.017854630947113037,
-0.017406821250915527,
-0.003363994648680091,
-0.03576704487204552,
-0.03929174691438675,
-0.01863468810915947,
0.009288453496992588,
0.054170604795217514,
-0.008645628578960896,
-0.0003600088239181787,
0.009209003299474716,
0.058764275163412094,
-0.0789879634976387,
0.014004907570779324,
-0.010422424413263798,
-0.0023004449903964996,
0.029699938371777534,
0.021884925663471222,
0.007576662115752697,
-0.01497997809201479,
-0.01589004509150982,
-0.025481853634119034,
0.03799165040254593,
-0.011520282365381718,
0.02260719984769821,
0.009909609332680702,
-0.009411239996552467,
-0.05717526748776436,
-0.05671301484107971,
0.05232158303260803,
-0.02364727482199669,
0.024629568681120872,
0.03267570957541466,
-0.0038461131043732166,
0.021624905988574028,
-0.04590778425335884,
-0.04478103294968605,
-0.001002156175673008,
-0.020685948431491852,
0.01344875618815422,
0.042151954025030136,
-0.039002835750579834,
0.004506994504481554,
0.0016016442095860839,
-0.030393321067094803,
-0.016554538160562515,
-0.01849023438990116,
0.0002891356125473976,
0.038280561566352844,
0.00447088060900569,
-0.021726025268435478,
-0.039551764726638794,
0.0011709879618138075,
-0.018605798482894897,
0.04845019057393074,
0.01571669802069664,
0.04515661671757698,
-0.0232283566147089,
-0.031346723437309265,
0.017695730552077293,
-0.02532295323908329,
-0.025756318122148514,
-0.027836468070745468,
0.01828799583017826,
0.00964236818253994,
-0.0021433504298329353,
0.020122574642300606,
0.03906061872839928,
-0.023531710729002953,
-0.013455978594720364,
0.03455362468957901,
0.02954103797674179,
0.0441165417432785,
0.02384951151907444,
-0.022982781752943993,
-0.037731632590293884,
0.002964937826618552,
-0.0380205437541008,
-0.009035657159984112,
0.05249492824077606,
-0.0323290191590786,
-0.02951214648783207,
-0.04827684536576271,
0.0022715541999787092,
0.017305703833699226,
-0.005247326102107763,
0.05466175451874733,
-0.038482800126075745,
0.006868832744657993,
0.012387012131512165,
0.05844647437334061,
0.044867709279060364,
-0.03596928343176842,
-0.029382137581706047,
0.057493068277835846,
0.03888727352023125,
0.018851371482014656,
-0.0008531870553269982,
-0.03695157542824745,
-0.004322814289480448,
0.04845019057393074,
-0.0378183051943779,
0.009620700031518936,
-0.00894176121801138,
-0.004846463445574045,
0.017349040135741234,
-0.012228111736476421,
-0.0323290191590786,
0.0008825294789858162,
-0.023459484800696373,
0.07338311523199081,
0.00938234943896532,
-0.021942706778645515,
0.017175693064928055,
0.05341944098472595,
-0.009461799636483192,
-0.01348486915230751,
0.017869077622890472,
-0.014163807965815067,
0.043076466768980026,
-0.07112962007522583,
0.001173696480691433,
-0.017637949436903,
-0.04885466396808624,
-0.024716241285204887,
0.028703197836875916,
0.014019353315234184,
0.050530340522527695,
-0.03703824803233147,
-0.008840642869472504,
-0.021350441500544548,
0.07378758490085602,
0.0061646150425076485,
0.03752939775586128,
-0.003481364343315363,
-0.038627251982688904,
0.012112547643482685,
0.03400469571352005,
0.019443636760115623,
0.008168927393853664,
-0.013889343477785587,
0.023820621892809868,
0.00853006448596716,
-0.016771219670772552,
0.02886209823191166,
-0.021639350801706314,
0.031028922647237778,
0.01756572164595127,
-0.010704112239181995,
0.03969622030854225,
0.025135161355137825,
-0.01701679266989231,
0.021075977012515068,
-0.00981571339070797,
0.0005430603050626814,
-0.024514004588127136,
0.013932679779827595,
0.024730687960982323,
-0.00657270010560751,
-0.007381647825241089,
-0.021538233384490013,
0.009721818380057812,
0.012430348433554173,
-0.017970195040106773,
0.03877170756459236,
0.008501173928380013,
-0.005001752637326717,
-0.011267486028373241,
-0.015138878487050533,
-0.041603025048971176,
-0.02309834584593773,
-0.007009676657617092,
-0.026651937514543533,
0.001522194012068212,
0.001163765206001699,
0.005749307107180357,
0.009339012205600739,
0.033744677901268005,
-0.027634231373667717,
-0.024210650473833084,
0.021538233384490013,
-0.009346235543489456,
0.0433075949549675,
0.017450157552957535,
0.021263768896460533,
0.00011985246965195984,
0.01801353134214878,
0.006601591128855944,
-0.018403559923171997,
-0.007547771092504263,
-0.018331333994865417,
-0.009100661613047123,
-0.03943620249629021,
0.05477731674909592,
0.010805230587720871,
0.022722763940691948,
-0.09013988822698593,
0.014539390802383423,
0.015514461323618889,
-0.02501959726214409,
-0.005543458741158247,
0.04593667387962341,
-0.0006310875760391355,
0.010068509727716446,
-0.007417761720716953,
0.016323409974575043,
0.00328996148891747,
0.01681455597281456,
-0.03412025794386864,
-0.024629568681120872,
0.03989845886826515,
-0.03859836235642433,
-0.01629451848566532,
-0.017450157552957535,
-0.011881419457495213,
-0.010249078273773193,
0.007822235114872456,
0.002096402458846569,
0.02731643058359623,
0.01743571273982525,
-0.03050888516008854,
-0.011816415004432201,
-0.021061532199382782,
0.019848110154271126,
-0.021639350801706314,
0.014611618593335152,
0.0006455330294556916,
-0.02003590203821659,
-0.005799866281449795,
-0.01798464171588421,
-0.03813610598444939,
-0.049461375921964645,
0.00002869349373213481,
-0.010819675400853157,
-0.03966733068227768,
0.02981550246477127,
-0.042123064398765564,
0.0009732652106322348,
-0.028226496651768684,
0.014864413999021053,
0.03175119683146477,
-0.05064590647816658,
-0.07084070891141891,
0.019140280783176422,
0.025539634749293327,
-0.024282876402139664,
0.002573103876784444,
-0.012206443585455418,
0.000736720219720155,
0.07320977002382278,
-0.031144486740231514,
0.027403103187680244,
0.031202269718050957,
0.008623960427939892,
-0.04298979416489601,
-0.029281018301844597,
-0.04348094016313553,
0.00990238692611456,
-0.010602992959320545,
0.021610461175441742,
0.0142577039077878,
-0.0003207351255696267,
0.026753056794404984,
0.0034145538229495287,
0.03599817305803299,
-0.025640754029154778,
-0.06812495738267899,
0.02045482024550438,
-0.013455978594720364,
0.012740926817059517,
0.04296090081334114,
0.04480992630124092,
-0.041776370257139206,
-0.013383750803768635,
-0.012545912526547909,
-0.05422838777303696,
0.03674934059381485,
-0.008436169475317001,
0.00785834901034832,
-0.006738823372870684,
-0.03342687711119652,
0.027677567675709724,
0.03833834454417229,
0.018475787714123726,
0.0215526781976223,
-0.017796849831938744,
-0.00017673159891273826,
-0.026189683005213737,
0.0435098297894001,
-0.028630971908569336,
-0.008652851916849613,
0.03946509212255478,
-0.015933381393551826,
-0.003530117915943265,
-0.03455362468957901,
0.01584670878946781,
0.006052662618458271,
0.031548961997032166,
0.03218456357717514,
0.0019447248196229339,
-0.024658460170030594,
-0.00821948703378439,
-0.01262536272406578,
0.005691525060683489,
-0.021740470081567764,
-0.002293222350999713,
-0.0350736603140831,
-0.02058483101427555,
0.014373267069458961,
-0.02415286749601364,
-0.02230384387075901,
-0.030479993671178818,
-0.026753056794404984,
-0.0043661510571837425,
0.0310578141361475,
-0.012632585130631924,
0.027359766885638237,
-0.006561866030097008,
0.0310578141361475,
0.05041477829217911,
-0.03169341757893562,
0.020194802433252335,
0.02127821370959282,
0.01701679266989231,
-0.008537287823855877,
0.00726608419790864,
0.05555737391114235,
0.00825559999793768,
-0.01092801708728075,
0.012719258666038513,
0.017767958343029022,
0.01908249966800213,
-0.03984067589044571,
0.007489989046007395,
0.00035030324943363667,
-0.0003114809805992991,
0.026651937514543533,
0.041949719190597534,
-0.02662304788827896,
0.042498644441366196,
0.017233476042747498,
-0.003215928329154849,
0.007973913103342056,
-0.018056869506835938,
0.0028511795680969954,
0.0016801916062831879,
0.004113354720175266,
0.010321306064724922,
0.07962356507778168,
-0.010537988506257534,
-0.018894707784056664,
0.034091368317604065,
-0.017132356762886047,
-0.03715381398797035,
0.002553241327404976,
-0.026955293491482735,
-0.01343431044369936,
-0.02247719094157219,
-0.013412642292678356,
0.044145431369543076,
-0.04070740565657616,
0.06945393979549408,
0.00159171293489635,
0.025655198842287064,
0.019848110154271126,
0.0050306436605751514,
0.01233645249158144,
-0.011433608829975128,
-0.0034940040204674006,
0.016684547066688538,
-0.009064547717571259,
0.005077591631561518,
0.046514492481946945,
-0.031346723437309265,
-0.042671993374824524,
-0.04111187905073166,
-0.004983695689588785,
-0.023806175217032433,
0.011917533352971077,
0.03123115934431553,
-0.00345789035782218,
-0.022491635754704475,
0.022563863545656204,
0.01430826261639595,
-0.02751866728067398,
0.03660488501191139,
-0.015023314394056797,
0.0331379659473896,
0.02282388135790825,
-0.04131411388516426,
0.0008084963192231953,
-0.026088563725352287,
0.022664980962872505,
0.010863012634217739,
0.0016422722255811095,
-0.029699938371777534,
0.020642612129449844,
-0.019299181178212166,
-0.023632830008864403,
-0.06321348249912262,
-0.0018192295683547854,
-0.05980435013771057,
0.009447353892028332,
0.011245817877352238,
0.0027500612195581198,
-0.029179899021983147,
0.05076146870851517,
0.019544754177331924,
0.025164052844047546,
0.06708487868309021,
-0.010422424413263798,
0.016756774857640266,
-0.021263768896460533,
0.004189193714410067,
-0.0515415258705616,
0.01105080358684063,
-0.010942462831735611,
-0.004810350015759468,
-0.05102148652076721,
-0.011224149726331234,
0.02265053614974022,
0.002127099083736539,
0.03669155761599541,
-0.01009017787873745,
-0.03449584171175957,
0.019645873457193375,
0.007685003336519003,
-0.007735562510788441,
-0.05269716680049896,
0.022448299452662468,
0.03778941556811333,
0.04180526360869408,
-0.000825198891106993,
-0.0020313977729529142,
0.017074575647711754,
-0.0035373405553400517,
0.03050888516008854,
0.010162405669689178,
-0.038309451192617416,
-0.003138283733278513,
-0.02666638419032097,
0.029584374278783798,
0.00405918387696147,
-0.028298724442720413,
-0.0201803557574749,
-0.003324269549921155,
-0.016077835112810135,
0.004113354720175266,
-0.018244659528136253,
0.04114076867699623,
0.003132866695523262,
-0.008602292276918888,
-0.01545667927712202,
0.016005609184503555,
-0.032791271805763245,
0.01661231927573681,
-0.011383050121366978,
0.0076488894410431385,
-0.010357419960200787,
-0.00024512200616300106,
0.011411940678954124,
0.003403719747439027,
-0.01545667927712202,
0.0002151024527847767,
0.012271448038518429,
0.0021523786708712578,
-0.01051632035523653,
0.039754003286361694,
0.05142596364021301,
0.07719672471284866,
-0.003367606084793806,
0.005778198130428791,
0.03868503496050835,
-0.054199498146772385,
0.029584374278783798,
0.0064463019371032715,
-0.02512071654200554,
-0.007554993964731693,
-0.024080639705061913,
-0.0064463019371032715,
0.0005529915797524154,
-0.008999543264508247,
-0.04683229327201843,
0.02425398677587509,
-0.011845305562019348,
0.005189544055610895,
-0.02357504703104496,
0.05688636004924774,
0.04466547071933746,
-0.08020138740539551,
0.020238138735294342,
0.00910788495093584,
0.0037558285985141993,
-0.03036442957818508,
0.02806759625673294,
0.008479505777359009,
0.010140737518668175,
0.0701473206281662,
0.02452845126390457,
0.0134198646992445,
-0.04186304286122322,
-0.020093683153390884,
-0.012524244375526905,
-0.03490031510591507,
-0.03677823022007942,
0.04660116508603096,
0.015312224626541138,
-0.03469808027148247,
-0.017522385343909264,
0.016684547066688538,
0.035275898873806,
-0.03784719854593277
] |
Causal discovery is becoming a key part in medical AI research. These methods
can enhance healthcare by identifying causal links between biomarkers,
demographics, treatments and outcomes. They can aid medical professionals in
choosing more impactful treatments and strategies. In parallel, Large Language
Models (LLMs) have shown great potential in identifying patterns and generating
insights from text data. In this paper we investigate applying LLMs to the
problem of determining the directionality of edges in causal discovery.
Specifically, we test our approach on a deidentified set of Non Small Cell Lung
Cancer(NSCLC) patients that have both electronic health record and genomic
panel data. Graphs are validated using Bayesian Dirichlet estimators using
tabular data. Our result shows that LLMs can accurately predict the
directionality of edges in causal graphs, outperforming existing
state-of-the-art methods. These findings suggests that LLMs can play a
significant role in advancing causal discovery and help us better understand
complex systems. | [
-0.0361463688313961,
0.008148419670760632,
-0.039134275168180466,
0.00953761301934719,
0.007333122193813324,
-0.02729196660220623,
-0.03022521547973156,
0.003823699429631233,
-0.027656346559524536,
-0.014903089962899685,
0.008380711078643799,
-0.01540411077439785,
-0.032174643129110336,
0.008995600044727325,
0.03304915130138397,
0.01900235004723072,
-0.00011109281331300735,
-0.016797859221696854,
0.04212218150496483,
-0.023484209552407265,
-0.005037535913288593,
-0.005069419275969267,
-0.0011039536911994219,
0.008480914868414402,
0.07396887987852097,
0.024176528677344322,
0.06205369904637337,
-0.011405054479837418,
-0.009801788255572319,
0.011687448248267174,
-0.011450601741671562,
0.01401947159320116,
0.005069419275969267,
-0.07360450178384781,
-0.01511260773986578,
-0.013964815065264702,
0.03182848170399666,
0.050430018454790115,
-0.014484054408967495,
0.06037755683064461,
0.023302020505070686,
-0.01925741694867611,
0.002263702917844057,
0.003671115729957819,
-0.0006103343912400305,
-0.03159163519740105,
0.010730953887104988,
-0.037531010806560516,
-0.006777444388717413,
-0.02344777062535286,
-0.024012558162212372,
-0.03104506805539131,
-0.002541541587561369,
-0.06256382912397385,
-0.03314024582505226,
0.028767701238393784,
0.024067215621471405,
-0.0000145271114888601,
0.05214259773492813,
0.05024782568216324,
-0.051013022661209106,
0.011605462990701199,
-0.0007156626088544726,
-0.009728912264108658,
-0.004654938355088234,
-0.04879031330347061,
-0.019858641549944878,
0.04124767333269119,
0.006499605719000101,
0.01775435358285904,
-0.04944619536399841,
-0.0007173706544563174,
0.008822520263493061,
0.008599338121712208,
-0.009177789092063904,
-0.009355423972010612,
-0.05123164877295494,
0.03844195604324341,
-0.02663608454167843,
-0.04813443124294281,
0.08285972476005554,
0.03292161971330643,
-0.025761576369404793,
0.03221108019351959,
0.07834142446517944,
-0.010767391882836819,
0.04438132792711258,
-0.060486868023872375,
-0.0064540584571659565,
-0.00833060871809721,
-0.030771784484386444,
-0.01606910303235054,
-0.0023525201249867678,
-0.06792019307613373,
-0.026016641408205032,
-0.0032611896749585867,
0.031536977738142014,
0.002564315451309085,
-0.034779950976371765,
0.015003294683992863,
0.01574116200208664,
-0.02778387814760208,
-0.048025116324424744,
0.04948263242840767,
0.002871759934350848,
-0.07444257289171219,
-0.03381434828042984,
0.03137300908565521,
0.02184450440108776,
0.17912858724594116,
-0.05148671567440033,
0.006914086639881134,
-0.0386970229446888,
-0.005379140842705965,
-0.03297627717256546,
0.011651010252535343,
-0.042887378484010696,
-0.06915908306837082,
0.026836493983864784,
-0.04766073822975159,
0.0019870027899742126,
0.034779950976371765,
0.005971256643533707,
-0.02259148098528385,
-0.05232478678226471,
0.09969402104616165,
-0.007278465200215578,
-0.03576377406716347,
-0.004627610091120005,
0.005921154282987118,
-0.004012720659375191,
0.05458393320441246,
-0.004365712869912386,
0.020040830597281456,
0.07342231273651123,
0.029696866869926453,
0.010075071826577187,
-0.028075382113456726,
0.02938714437186718,
-0.024741316214203835,
-0.014966856688261032,
-0.05411024019122124,
-0.022700795903801918,
-0.03742169588804245,
0.031081505119800568,
-0.044417768716812134,
0.027765659615397453,
0.034269820898771286,
-0.012771474197506905,
0.011195536702871323,
-0.04981057345867157,
0.002530154772102833,
0.03337709233164787,
0.0023525201249867678,
0.05458393320441246,
-0.042814500629901886,
0.015795817598700523,
-0.03485282510519028,
0.0002290177217219025,
-0.02652677148580551,
0.08752377331256866,
0.026927588507533073,
0.004404427949339151,
0.0016920837806537747,
0.023065173998475075,
0.03379612788558006,
-0.02889523282647133,
-0.05673376843333244,
-0.06628049165010452,
0.05633295327425003,
0.03379612788558006,
0.02638101950287819,
-0.010330136865377426,
-0.0060304682701826096,
-0.041648488491773605,
0.032101765275001526,
0.005370031576603651,
0.03057137504220009,
0.014839324168860912,
0.016032664105296135,
-0.030370967462658882,
0.00039626186480745673,
0.001979032065719366,
0.03621924668550491,
-0.00273056305013597,
0.0022762285079807043,
0.08876265585422516,
0.04270518571138382,
0.045656654983758926,
0.045583780854940414,
-0.02778387814760208,
-0.015449658036231995,
0.01163279078900814,
-0.06205369904637337,
-0.010120619088411331,
0.028348665684461594,
-0.010111509822309017,
-0.004664047621190548,
-0.009983977302908897,
-0.019384948536753654,
0.005666089244186878,
-0.025597605854272842,
0.0062582045793533325,
-0.00992021057754755,
0.06369340419769287,
-0.017453741282224655,
0.04459995776414871,
-0.024085434153676033,
-0.03104506805539131,
-0.016287729144096375,
-0.04948263242840767,
-0.004543347284197807,
-0.05075795575976372,
-0.02871304377913475,
-0.01553164329379797,
-0.0052652726881206036,
-0.029696866869926453,
0.016679435968399048,
-0.006262759678065777,
0.023793932050466537,
0.051851093769073486,
0.02284654602408409,
0.10180741548538208,
-0.000583575339987874,
0.008676768280565739,
0.03844195604324341,
-0.01907522603869438,
-0.020168362185359,
0.03190135955810547,
-0.009801788255572319,
0.027401281520724297,
-0.007096275687217712,
0.01892947591841221,
0.020168362185359,
0.014593368396162987,
-0.037312380969524384,
0.034615978598594666,
-0.00700973579660058,
0.020569179207086563,
-0.03725772723555565,
-0.028020724654197693,
-0.025470074266195297,
-0.011250193230807781,
-0.011450601741671562,
0.11047963052988052,
-0.013919267803430557,
0.0070325094275176525,
0.0174173042178154,
0.11201002448797226,
0.05272560194134712,
-0.018656190484762192,
-0.023921463638544083,
0.019712889567017555,
-0.012243125587701797,
-0.0574260875582695,
0.02794784866273403,
-0.01732620969414711,
-0.04944619536399841,
0.028822358697652817,
-0.04121123626828194,
0.027856754139065742,
0.0002226126380264759,
0.005506673827767372,
0.047259923070669174,
-0.032775867730379105,
-0.040300287306308746,
0.03425160050392151,
0.00882707443088293,
0.03692978620529175,
-0.03982659429311752,
-0.06977852433919907,
-0.052543412894010544,
-0.0007372975815087557,
0.009264329448342323,
-0.040555354207754135,
-0.0483894944190979,
-0.008389820344746113,
-0.023174487054347992,
0.038223329931497574,
-0.02109752781689167,
-0.0445270799100399,
-0.06143425405025482,
-0.027856754139065742,
-0.014702681452035904,
-0.036802250891923904,
-0.03306737169623375,
0.0007703194278292358,
-0.034943919628858566,
-0.056223638355731964,
-0.012252234853804111,
-0.009437409229576588,
0.012771474197506905,
-0.044162701815366745,
0.02594376541674137,
0.03649253025650978,
-0.0487174354493618,
-0.015139936469495296,
0.014092347584664822,
0.026927588507533073,
-0.013919267803430557,
-0.05301710590720177,
-0.03957153111696243,
0.01536767277866602,
0.052871353924274445,
0.007223808206617832,
0.0021851337514817715,
0.04795224219560623,
0.08672213554382324,
-0.047004856169223785,
-0.013500232249498367,
-0.01658834144473076,
0.03672937676310539,
0.010612530633807182,
-0.02838510274887085,
0.0021919659338891506,
0.009136796928942204,
-0.004317888058722019,
-0.09233357012271881,
-0.0046298871748149395,
-0.015395001508295536,
0.015613628551363945,
-0.017881887033581734,
-0.06376627832651138,
0.04722348228096962,
0.010840266942977905,
-0.0002963423903565854,
-0.02142546884715557,
0.02118862420320511,
0.005584103986620903,
0.010029524564743042,
-0.035781990736722946,
-0.010812939144670963,
-0.06205369904637337,
-0.02545185387134552,
-0.020241238176822662,
-0.048936065286397934,
0.032192859798669815,
0.014283645898103714,
-0.06263670325279236,
-0.03097219206392765,
0.0007230640621855855,
-0.005365476943552494,
-0.055203378200531006,
-0.0390249639749527,
-0.01021171361207962,
-0.024322280660271645,
-0.04102904722094536,
0.030370967462658882,
0.027182653546333313,
0.00979267805814743,
0.0009747131261974573,
-0.027437718585133553,
-0.0026964026037603617,
-0.008303279988467693,
0.000005595562015514588,
-0.02235463447868824,
0.025014599785208702,
-0.040737543255090714,
0.00018987548537552357,
0.031609855592250824,
0.042814500629901886,
-0.048353057354688644,
-0.016624780371785164,
-0.008717761375010014,
-0.07732116430997849,
-0.010557874105870724,
0.02805716171860695,
-0.007128159049898386,
0.016642998903989792,
-0.0363103412091732,
-0.007128159049898386,
0.07058016210794449,
0.008904505521059036,
-0.014547821134328842,
0.032447926700115204,
-0.009610489010810852,
0.012643941678106785,
0.009223336353898048,
0.003639232600107789,
0.03734882175922394,
-0.06121562793850899,
0.013718859292566776,
-0.06117919087409973,
0.01623307168483734,
-0.06311039626598358,
0.004117479547858238,
0.03315846621990204,
-0.025397198274731636,
-0.012270454317331314,
0.060413993895053864,
0.016269510611891747,
-0.06653555482625961,
-0.013636874035000801,
-0.09590448439121246,
0.05975811183452606,
-0.010749172419309616,
0.02873126231133938,
0.04769717529416084,
0.04981057345867157,
-0.03898852318525314,
0.0015395001973956823,
0.0052743819542229176,
0.006996071897447109,
0.03559980168938637,
-0.042814500629901886,
0.02989727444946766,
-0.027182653546333313,
-0.03993590921163559,
0.02813003771007061,
-0.028494417667388916,
0.0033682258799672127,
-0.040227413177490234,
-0.03538117557764053,
-0.03332243487238884,
0.04930044338107109,
0.04933688044548035,
-0.037968263030052185,
0.0014768725959584117,
0.005984920542687178,
0.03317668288946152,
-0.02519678883254528,
-0.0012753255432471633,
0.05079439654946327,
-0.020131925120949745,
-0.03323134034872055,
0.01217935886234045,
0.02219066396355629,
0.015030622482299805,
0.017025595530867577,
-0.03315846621990204,
0.06289176642894745,
0.06088768690824509,
-0.023465991020202637,
-0.015048841945827007,
-0.02896810881793499,
-0.03275764733552933,
0.034962140023708344,
0.03727594390511513,
-0.027656346559524536,
0.038551270961761475,
-0.004106092732399702,
0.010648968629539013,
-0.0017205508193001151,
0.011058894917368889,
-0.0690133348107338,
-0.02286476641893387,
0.023648180067539215,
-0.016278620809316635,
-0.032356832176446915,
-0.05312642082571983,
-0.054037366062402725,
0.027893191203475,
-0.055203378200531006,
-0.04070110619068146,
-0.018947694450616837,
-0.00742877135053277,
0.03498035669326782,
-0.03558158501982689,
0.02084246277809143,
-0.031209038570523262,
-0.017626821994781494,
0.05731677636504173,
-0.005998584907501936,
-0.01314496248960495,
-0.030790003016591072,
0.028658388182520866,
-0.053782302886247635,
-0.03632855787873268,
0.028093600645661354,
0.05698883533477783,
0.010721844621002674,
-0.019220978021621704,
0.000927457760553807,
-0.024231186136603355,
0.01188785582780838,
0.027692783623933792,
0.06591611355543137,
-0.01691628247499466,
0.0448550209403038,
0.012643941678106785,
0.03199245408177376,
0.006950524169951677,
-0.00565242487937212,
-0.006308306939899921,
-0.015121717005968094,
-0.016561012715101242,
0.0584099106490612,
0.03029809147119522,
0.021625878289341927,
-0.0353265181183815,
-0.018036747351288795,
-0.030680689960718155,
-0.0346706360578537,
-0.0366382822394371,
0.029605772346258163,
-0.016524575650691986,
0.032520800828933716,
0.01502151321619749,
0.02931426838040352,
0.03685690835118294,
0.08628488332033157,
-0.009391861967742443,
0.011978951282799244,
-0.010494107380509377,
-0.019712889567017555,
0.006344744469970465,
-0.001424493151716888,
-0.030115902423858643,
-0.028512636199593544,
0.005401914939284325,
-0.011295740492641926,
-0.028494417667388916,
-0.03474351391196251,
-0.02973330393433571,
-0.024431593716144562,
-0.02067849226295948,
-0.020550960674881935,
0.006372073199599981,
0.008817965164780617,
0.045583780854940414,
0.03476173058152199,
-0.015303906984627247,
0.0014096902450546622,
0.10829336196184158,
-0.050430018454790115,
0.036893345415592194,
0.008981935679912567,
-0.01731709949672222,
0.034962140023708344,
0.00386013719253242,
0.020714931190013885,
0.01765414886176586,
-0.007774931378662586,
-0.03292161971330643,
-0.023629961535334587,
-0.022737232968211174,
-0.00024125857453327626,
0.04897250235080719,
-0.008348828181624413,
-0.0400087833404541,
-0.041138358414173126,
0.0358184278011322,
0.011423273012042046,
0.0448550209403038,
0.029368925839662552,
-0.0051104119047522545,
0.018801942467689514,
-0.02035055309534073,
-0.011496149003505707,
0.011523477733135223,
0.011487039737403393,
0.034798167645931244,
0.027510594576597214,
-0.01683429814875126,
-0.0034274375066161156,
-0.0019220978720113635,
-0.01452960167080164,
-0.00022204329434316605,
-0.02328380197286606,
-0.02370283752679825,
0.03694800287485123,
0.01974932663142681,
-0.04252299666404724,
0.01974932663142681,
-0.021407250314950943,
-0.042486559599637985,
0.030443843454122543,
0.05862853676080704,
-0.013791735284030437,
-0.009583160281181335,
-0.0178272295743227,
-0.012325110845267773,
0.0017672368558123708,
-0.010466779582202435,
0.004219961352646351,
0.010730953887104988,
0.033941879868507385,
-0.035454049706459045,
-0.01642437092959881,
0.02587088942527771,
0.01117731723934412,
-0.01347290351986885,
0.0014199384022504091,
0.004584339912980795,
0.00324524799361825,
-0.00435432605445385,
-0.037458132952451706,
-0.048025116324424744,
0.010976909659802914,
0.029696866869926453,
-0.029241394251585007,
0.011441492475569248,
-0.021243279799818993,
-0.025178570300340652,
-0.0017034705961123109,
0.024322280660271645,
0.009510285221040249,
-0.01681607775390148,
0.04879031330347061,
-0.04930044338107109,
0.014930418692529202,
0.03672937676310539,
0.041721366345882416,
0.02452268823981285,
0.004324720241129398,
-0.024723097681999207,
-0.013882829807698727,
0.013327152468264103,
0.014611586928367615,
0.00032936420757323503,
0.022974079474806786,
-0.07345875352621078,
-0.0015543029876425862,
-0.03323134034872055,
0.030352748930454254,
-0.04948263242840767,
0.02545185387134552,
0.031081505119800568,
-0.013873720541596413,
-0.01452960167080164,
0.02452268823981285,
-0.034962140023708344,
0.06037755683064461,
-0.006681795231997967,
0.03255724161863327,
-0.006403956096619368,
-0.007765821646898985,
-0.01247086189687252,
0.014702681452035904,
-0.004500077571719885,
-0.04102904722094536,
-0.0193485114723444,
-0.04777005314826965,
-0.01549520529806614,
0.023484209552407265,
-0.0246866587549448,
-0.02955111488699913,
0.027091559022665024,
0.02670896053314209,
0.006836656015366316,
-0.003429714823141694,
0.03601883724331856,
-0.016442589461803436,
0.013673312030732632,
-0.000809034681878984,
-0.01725333370268345,
0.019439605996012688,
0.019694671034812927,
0.05556775629520416,
0.004470471758395433,
0.01616019755601883,
0.06176219508051872,
0.01411056611686945,
0.04882675036787987,
-0.0038145899306982756,
-0.02763812616467476,
0.014046800322830677,
-0.005452016834169626,
-0.008772417902946472,
0.030097683891654015,
0.012971882708370686,
0.03592774271965027,
0.05301710590720177,
0.00399905676022172,
0.02771100215613842,
-0.05396449193358421,
0.014720900915563107,
0.027401281520724297,
-0.02384858764708042,
0.027328405529260635,
0.015012403950095177,
-0.04252299666404724,
-0.040883295238018036,
0.007064392790198326,
0.040883295238018036,
-0.021225061267614365,
0.011805870570242405,
0.022955860942602158,
-0.004643551539629698,
0.02568870037794113,
-0.038369081914424896,
-0.033012714236974716,
-0.040992606431245804,
-0.01791832409799099,
-0.014520492404699326,
0.014502273872494698,
0.004431756213307381,
0.012388876639306545,
-0.01285345945507288,
0.008694987744092941,
-0.010958690196275711,
-0.02778387814760208,
0.004723259247839451,
0.0031746497843414545,
0.052288349717855453,
-0.026818275451660156,
0.005629651248455048,
-0.0030243434011936188,
0.02973330393433571,
-0.021206842735409737,
-0.006777444388717413,
0.011377725750207901,
0.025051038712263107,
-0.020696712657809258,
-0.010785610415041447,
0.021698754280805588,
0.019057007506489754,
0.018965912982821465,
-0.011651010252535343,
0.020478084683418274,
0.0001260380377061665,
0.01310852449387312,
0.0007674727239646018,
0.028658388182520866,
-0.01699826866388321,
0.012088264338672161,
0.020059049129486084,
0.00803455151617527,
-0.003951231949031353,
-0.029022766277194023,
0.007970784790813923,
0.022882984951138496,
-0.00023442647943738848,
-0.028257571160793304,
0.019858641549944878,
0.02745593711733818,
-0.0100841810926795,
0.016269510611891747,
0.023739274591207504,
0.004185800906270742,
0.02042342722415924,
0.012817022390663624,
0.010330136865377426,
0.03447022661566734,
0.019803984090685844,
0.013172291219234467,
-0.011286631226539612,
0.04347038269042969,
0.018619753420352936,
-0.013664202764630318,
0.021826285868883133,
-0.0019038788741454482,
0.031445883214473724,
-0.03975372016429901,
-0.0015019235434010625,
0.06460434943437576,
-0.02093355916440487,
0.010967799462378025,
-0.00035128387389704585,
0.01707114279270172,
0.02964220941066742,
-0.02326558157801628,
0.030917536467313766,
-0.023957902565598488,
-0.009223336353898048,
-0.0049145580269396305,
0.03430625796318054,
0.004490967839956284,
0.023465991020202637,
-0.013008320704102516,
-0.022044913843274117,
0.021953819319605827,
0.007674727123230696,
0.033541060984134674,
0.038478393107652664,
0.011359507218003273,
-0.02878591977059841,
-0.006189883686602116,
-0.016096429899334908,
-0.017344428226351738,
0.008576564490795135,
0.012325110845267773,
0.0321199856698513,
-0.03975372016429901,
0.006117008160799742,
-0.02368461713194847,
-0.006180774420499802,
-0.019038788974285126,
-0.0017057479126378894,
0.018893036991357803,
-0.013746188022196293,
-0.006076015532016754,
-0.008057325147092342,
0.023156268522143364,
0.010894924402236938,
0.017626821994781494,
-0.032356832176446915,
-0.04135698452591896,
0.0028899789322167635,
0.008626666851341724,
-0.01164190098643303,
-0.04613034799695015,
0.05050289258360863,
-0.016050882637500763,
0.022755451500415802,
-0.011951622553169727,
0.02712799608707428,
-0.016633888706564903,
-0.02470487728714943,
-0.012261344119906425,
0.039316464215517044,
0.003914793953299522,
-0.030352748930454254,
0.010157057084143162,
0.008995600044727325,
-0.052543412894010544,
-0.01707114279270172,
-0.008275952190160751,
-0.024741316214203835,
-0.027838535606861115,
0.018893036991357803,
0.037039097398519516,
0.014320083893835545,
-0.00588016165420413,
0.043725449591875076,
-0.0049008941277861595,
-0.050612207502126694,
0.0684303268790245,
-0.04037316516041756,
-0.02705512009561062,
-0.0077931503765285015,
-0.03660184517502785,
-0.015777599066495895,
-0.03778607398271561,
0.008398929610848427,
-0.034543104469776154,
0.02729196660220623,
-0.008312390185892582,
0.06584323942661285,
0.00512863090261817,
0.030826440081000328,
0.042741626501083374,
-0.020714931190013885,
0.018710847944021225,
-0.045838844031095505,
0.05549488216638565,
0.01616930589079857,
-0.009437409229576588,
0.04944619536399841,
-0.015704723075032234,
-0.02552472986280918,
0.004024107474833727,
-0.043652571737766266,
0.012161140330135822,
0.00983822625130415,
0.03199245408177376,
0.012152031064033508,
-0.029077423736453056,
-0.019457824528217316,
-0.02025945670902729,
0.015513424761593342,
-0.023229144513607025,
-0.03601883724331856,
-0.009182344190776348,
0.013217838481068611,
-0.003841918194666505,
-0.009810897521674633,
0.004732368979603052,
-0.010658077895641327,
-0.0174173042178154,
0.02109752781689167,
-0.006230876315385103,
0.0077840406447649,
-0.028148256242275238,
-0.009911101311445236,
-0.022573262453079224,
0.026399239897727966,
-0.03641965612769127,
0.019567137584090233,
-0.031773824244737625,
-0.00979267805814743,
0.036784034222364426,
-0.03656540438532829,
0.040045224130153656,
-0.0018036747351288795,
0.04157561436295509,
0.02619883045554161,
0.03456132113933563,
-0.010138838551938534,
-0.04077398031949997,
0.011696557514369488,
0.0035549700260162354,
0.01598711684346199,
-0.017062034457921982,
0.03022521547973156,
0.0034046638756990433,
-0.05050289258360863,
0.006763780023902655,
-0.027838535606861115,
-0.030917536467313766,
-0.06380271911621094,
0.02226353995501995,
0.009601379744708538,
-0.003390999510884285,
0.014374741353094578,
0.03541761264204979,
0.03876989707350731,
0.0029651320073753595,
-0.023302020505070686,
0.011231974698603153,
0.0015622738283127546,
-0.03321311995387077,
-0.010102400556206703,
-0.0007059837807901204,
0.02075136825442314,
-0.02426762320101261,
0.03785895183682442,
-0.010749172419309616,
0.01092225220054388,
0.005953037645667791,
0.0024162863846868277,
-0.050029199570417404,
0.002269396325573325,
0.011678338050842285,
0.031755607575178146,
0.01791832409799099,
-0.00916867982596159,
-0.009391861967742443,
0.02377571165561676,
0.004650383722037077,
0.029988368973135948,
0.05130452662706375,
0.03858770802617073,
0.015877803787589073,
0.0039899470284581184,
0.032775867730379105,
0.010393903590738773,
0.0304802805185318,
-0.001096552237868309,
0.019184540957212448,
-0.04864456132054329,
0.006089679431170225,
0.020897120237350464,
0.00019300685380585492,
0.0754992738366127,
-0.029277831315994263,
-0.008922724053263664,
-0.016879845410585403,
-0.019621795043349266,
-0.006763780023902655,
-0.031682729721069336,
0.05793621763586998,
-0.019658232107758522,
0.012917226180434227,
-0.047077734023332596,
-0.011660119518637657,
0.0681023821234703,
-0.0006792247295379639,
0.0028034388087689877,
0.019439605996012688,
-0.022318197414278984,
0.015476986765861511,
0.029277831315994263,
0.0034980359487235546,
-0.02075136825442314,
0.0012855737004429102,
-0.013955705799162388,
-0.03166451305150986,
0.007000626530498266,
-0.010931362397968769,
0.02368461713194847,
-0.0005482761189341545,
-0.027692783623933792,
-0.012680379673838615,
0.00447502639144659,
0.017818119376897812,
0.018765505403280258,
-0.04124767333269119,
-0.02813003771007061,
-0.019640013575553894,
0.048353057354688644,
0.015868693590164185,
-0.048243746161460876,
0.030935754999518394,
0.006280978210270405,
0.013618655502796173,
-0.010494107380509377,
0.022136008366942406,
-0.042559437453746796,
0.0034752620849758387,
0.05564063414931297,
-0.010849377140402794,
0.020951777696609497,
-0.02035055309534073,
-0.012234016321599483,
-0.0030129565857350826,
0.016032664105296135,
0.013354480266571045,
-0.016214853152632713,
0.013518450781702995,
0.011951622553169727,
-0.010931362397968769,
0.016852516680955887,
-0.02796606719493866,
-0.06245451420545578,
-0.03013412095606327,
0.006545152980834246,
-0.021334374323487282,
0.00966514553874731,
0.03399653732776642,
0.01942138560116291,
0.019530700519680977,
0.013263385742902756,
0.029332488775253296,
0.005770848132669926,
0.04999276250600815,
0.02510569430887699,
0.024540908634662628,
0.020806025713682175,
0.02470487728714943,
0.0435432568192482,
-0.005802731495350599,
-0.02512391284108162,
0.01665210723876953,
-0.04889962449669838,
0.000940552621614188,
-0.04696841910481453,
0.00018375505169387907,
0.03691156581044197,
-0.03170095011591911,
0.0010612530168145895,
-0.07958031445741653,
0.0013675589580088854,
-0.039972346276044846
] |
This study addresses a gap in the utilization of Reinforcement Learning (RL)
and Machine Learning (ML) techniques in solving the Stochastic Vehicle Routing
Problem (SVRP) that involves the challenging task of optimizing vehicle routes
under uncertain conditions. We propose a novel end-to-end framework that
comprehensively addresses the key sources of stochasticity in SVRP and utilizes
an RL agent with a simple yet effective architecture and a tailored training
method. Through comparative analysis, our proposed model demonstrates superior
performance compared to a widely adopted state-of-the-art metaheuristic,
achieving a significant 3.43% reduction in travel costs. Furthermore, the model
exhibits robustness across diverse SVRP settings, highlighting its adaptability
and ability to learn optimal routing strategies in varying environments. The
publicly available implementation of our framework serves as a valuable
resource for future research endeavors aimed at advancing RL-based solutions
for SVRP. | [
-0.02370375022292137,
0.01949014887213707,
-0.02714635245501995,
-0.03433636948466301,
-0.01990254409611225,
-0.016693035140633583,
0.0026447074487805367,
0.0256402138620615,
-0.06462050974369049,
0.006123169790953398,
0.009166824631392956,
-0.011215352453291416,
-0.0217134952545166,
-0.020655613392591476,
-0.014882082119584084,
0.053073450922966,
0.029889676719903946,
-0.013994536362588406,
0.008436168543994427,
-0.0458655022084713,
-0.014971733093261719,
0.005051839165389538,
-0.014415896497666836,
0.046797871589660645,
0.016370290890336037,
-0.010381597094237804,
0.013178711757063866,
0.0008612108649685979,
-0.12056279927492142,
0.056695353239774704,
0.05752014368772507,
0.043534573167562485,
0.0033215731382369995,
-0.013196641579270363,
0.014066257514059544,
0.03650592640042305,
0.025622284039855003,
0.023327216506004333,
-0.008767877705395222,
0.062361303716897964,
-0.0006163513171486557,
-0.006109722424298525,
0.010776061564683914,
-0.027684258297085762,
0.023398935794830322,
-0.03127030283212662,
-0.016361325979232788,
0.05658777430653572,
-0.05615744739770889,
0.027289794757962227,
-0.03865755349397659,
-0.07487659901380539,
0.07925157248973846,
-0.05332447215914726,
-0.03241783753037453,
0.026895329356193542,
0.03790448233485222,
0.030373791232705116,
0.012120828032493591,
0.031342022120952606,
-0.014953803271055222,
-0.05400582030415535,
-0.01822606846690178,
-0.0034448434598743916,
-0.00027315568877384067,
-0.004527380224317312,
0.05117284506559372,
-0.0016865612706169486,
0.06383158266544342,
-0.009314749389886856,
-0.06687971949577332,
0.033278487622737885,
0.005724222399294376,
0.000283241446595639,
0.016155127435922623,
0.003178131300956011,
-0.026949120685458183,
0.01559929084032774,
-0.008740982040762901,
-0.01628960482776165,
0.08183351904153824,
0.040522295981645584,
-0.028795933350920677,
-0.055727120488882065,
0.10643378645181656,
-0.011466375552117825,
0.025174027308821678,
-0.08004049956798553,
0.062182001769542694,
-0.034605324268341064,
-0.06386744230985641,
-0.0006729435408487916,
-0.02214382030069828,
0.002463163807988167,
0.00488598458468914,
0.007037611212581396,
0.00226256949827075,
-0.0021942106541246176,
-0.02178521640598774,
-0.013851094990968704,
-0.0025595389306545258,
-0.017992975190281868,
-0.0034089828841388226,
0.014693815261125565,
0.07910812646150589,
-0.03666729852557182,
-0.09488672018051147,
-0.023829260841012,
-0.03467704355716705,
0.09029658883810043,
0.0053432052955031395,
-0.042566340416669846,
0.01990254409611225,
0.06289920955896378,
-0.035501834005117416,
-0.013187676668167114,
-0.009216132573783398,
-0.06279163062572479,
0.05708982050418854,
-0.04095262289047241,
0.01257804874330759,
0.041418805718421936,
-0.034192927181720734,
-0.050419777631759644,
-0.019830822944641113,
0.014729674905538559,
0.002857628744095564,
-0.006732797250151634,
0.03998439013957977,
0.003839308163151145,
-0.023506518453359604,
-0.021157659590244293,
-0.02836560644209385,
-0.017428172752261162,
-0.01918533444404602,
0.015697907656431198,
-0.02920832671225071,
-0.028813863173127174,
-0.010309875942766666,
0.02951314114034176,
-0.0030324484687298536,
-0.07458971440792084,
-0.04048643633723259,
0.008983040228486061,
0.03711555525660515,
0.01941842772066593,
-0.018934311345219612,
0.07559380680322647,
-0.023147912696003914,
-0.0014512271154671907,
-0.052463822066783905,
0.033637091517448425,
-0.004108261317014694,
0.0645846500992775,
-0.004372732248157263,
0.015016558580100536,
0.007423110771924257,
-0.014828291721642017,
0.0325971394777298,
-0.027182212099432945,
0.05024047568440437,
0.0012909758370369673,
0.0016170816961675882,
0.052643124014139175,
-0.0026335010770708323,
0.0349997878074646,
0.0542927049100399,
-0.0319695807993412,
-0.07874952256679535,
0.03132409229874611,
-0.06849344074726105,
-0.016316499561071396,
-0.01659441739320755,
0.0063383327797055244,
0.021283170208334923,
-0.025550562888383865,
0.025442982092499733,
-0.01215668860822916,
-0.022610006853938103,
0.025299539789557457,
-0.034372229129076004,
0.009081656113266945,
0.010534004308283329,
0.05181833356618881,
0.03627283498644829,
0.05296586826443672,
0.06429776549339294,
-0.03360123187303543,
0.03239990770816803,
-0.01599375531077385,
-0.010390562005341053,
0.04418006166815758,
0.04991773143410683,
0.000491119921207428,
-0.005132525227963924,
-0.006557977758347988,
-0.07290427386760712,
-0.003458291059359908,
0.017481964081525803,
0.008351000025868416,
-0.017992975190281868,
-0.04321182891726494,
-0.005849733948707581,
-0.001546481391415,
0.03578871861100197,
-0.018378475680947304,
0.013313188217580318,
-0.025353331118822098,
0.027594607323408127,
-0.07046576589345932,
-0.044682107865810394,
-0.0108567476272583,
-0.06056828051805496,
0.04374973475933075,
-0.035752858966588974,
0.01067744567990303,
0.004251703154295683,
-0.006701419595628977,
0.026626376435160637,
-0.03607560321688652,
-0.0428532250225544,
0.03976922854781151,
0.007337942253798246,
-0.003240887075662613,
-0.008046185597777367,
-0.01559929084032774,
-0.028275955468416214,
0.01859363727271557,
0.0015576877631247044,
-0.010211260057985783,
0.0043682497926056385,
0.014926907606422901,
-0.0013660585973411798,
0.010265050455927849,
0.0015162242343649268,
0.02635742351412773,
-0.025927096605300903,
0.0011217594146728516,
0.0025416086427867413,
-0.03998439013957977,
-0.016567522659897804,
-0.023847192525863647,
-0.012058072723448277,
-0.03507151082158089,
0.0536830760538578,
0.001280890079215169,
-0.01429934985935688,
0.026142260059714317,
0.03711555525660515,
0.002949521178379655,
-0.033457789570093155,
-0.019561870023608208,
0.00684934388846159,
-0.05454372614622116,
-0.05773530527949333,
0.022789308801293373,
0.006289024371653795,
-0.0374024361371994,
-0.02244863472878933,
-0.026088468730449677,
0.0016316500259563327,
0.01828882470726967,
0.0506707988679409,
0.0651942789554596,
-0.03469497337937355,
0.028562840074300766,
0.008431686088442802,
0.019777031615376472,
-0.00862891785800457,
-0.019077753648161888,
-0.015285512432456017,
-0.07595241069793701,
0.007006233092397451,
0.02571193501353264,
-0.03428258001804352,
-0.07319115847349167,
0.023560307919979095,
-0.00004251423160894774,
0.046367548406124115,
0.03247162699699402,
-0.04170569032430649,
-0.022107960656285286,
0.015258616767823696,
0.003509840462356806,
-0.03586043789982796,
-0.02015356719493866,
-0.004621514119207859,
-0.031234443187713623,
-0.03295574337244034,
0.05619330704212189,
-0.009879550896584988,
-0.027253933250904083,
0.002891247859224677,
-0.02239484339952469,
0.07218706607818604,
0.021587984636425972,
-0.014137977734208107,
-0.02497679553925991,
-0.024349238723516464,
-0.020171497017145157,
-0.03171855956315994,
-0.022771378979086876,
0.03898029774427414,
0.05178247392177582,
-0.015536535531282425,
-0.022430704906582832,
-0.04819643124938011,
-0.007544139865785837,
-0.022645866498351097,
-0.013384908437728882,
0.025496771559119225,
0.017338521778583527,
-0.02219761162996292,
-0.06748934835195541,
-0.001106070470996201,
0.03415706753730774,
0.0658039078116417,
-0.013402839191257954,
-0.03776104375720024,
-0.017607474699616432,
-0.007418628316372633,
0.03482048586010933,
-0.06870859861373901,
0.04418006166815758,
0.03189786151051521,
-0.0021785215940326452,
0.020045984536409378,
-0.0056749144569039345,
-0.06261232495307922,
-0.018315719440579414,
0.0019812893588095903,
0.02408028393983841,
-0.0627557709813118,
0.01447865180671215,
-0.004666339606046677,
-0.011233282275497913,
-0.04066573828458786,
0.04676201194524765,
-0.016881301999092102,
-0.0524996817111969,
0.00446686614304781,
-0.08047082275152206,
0.0012965790228918195,
0.006885204464197159,
0.04012783244252205,
-0.05099354311823845,
0.00805515144020319,
0.012587013654410839,
-0.018486056476831436,
-0.03329641744494438,
0.0007900503114797175,
-0.012604944407939911,
0.0256402138620615,
-0.011269142851233482,
0.0313778854906559,
-0.005701809655874968,
-0.012730455957353115,
0.0005535955424420536,
-0.027451166883111,
0.011995316483080387,
0.007974465377628803,
-0.0058228387497365475,
-0.11109563708305359,
0.0023578237742185593,
-0.023022402077913284,
0.08333966135978699,
-0.01997426524758339,
0.010587794706225395,
0.037976205348968506,
-0.004204636439681053,
-0.014891047030687332,
0.02400856465101242,
0.05655191093683243,
-0.016737859696149826,
-0.03471290320158005,
-0.026321562007069588,
-0.005576298106461763,
-0.0013537316117435694,
0.0027836665976792574,
0.04575791954994202,
0.04048643633723259,
0.03324262797832489,
-0.06784795224666595,
0.0032901952508836985,
0.0002471008338034153,
0.11023499071598053,
0.034174997359514236,
-0.048232290893793106,
-0.015097244642674923,
0.017446104437112808,
0.029656583443284035,
-0.028204236179590225,
0.002321963431313634,
-0.008324104361236095,
-0.030929628759622574,
0.008212040178477764,
0.018378475680947304,
0.013232502155005932,
0.01515103504061699,
0.010560899041593075,
-0.05895456299185753,
0.03218474239110947,
-0.009529911912977695,
0.011914630420506,
-0.034784626215696335,
-0.008301692083477974,
-0.016576487571001053,
-0.010363667272031307,
-0.015186895616352558,
0.03464118391275406,
0.012228409759700298,
-0.009987132623791695,
0.0010152986506000161,
-0.04977428913116455,
-0.009637492708861828,
0.00033423048444092274,
-0.03415706753730774,
-0.035322532057762146,
0.013053200207650661,
-0.06322195380926132,
-0.024689912796020508,
-0.002532643498852849,
0.03747415915131569,
0.052643124014139175,
-0.024420959874987602,
0.05393410101532936,
-0.001432176330126822,
0.0051952810026705265,
-0.06569632142782211,
0.04991773143410683,
0.04758680239319801,
-0.011412585154175758,
-0.0032610585913062096,
-0.017114395275712013,
0.03994853049516678,
0.035089440643787384,
-0.030624814331531525,
0.026751887053251266,
-0.0012909758370369673,
0.00010428944369778037,
-0.01369868777692318,
-0.03453360125422478,
-0.013788338750600815,
-0.021068008616566658,
0.007714476902037859,
-0.017213011160492897,
-0.013465594500303268,
-0.020799053832888603,
0.009906446561217308,
-0.012909757904708385,
-0.03700797259807587,
0.03324262797832489,
-0.06745348870754242,
-0.0214086826890707,
0.03573492914438248,
-0.05827321484684944,
-0.007893779315054417,
-0.018790870904922485,
0.0032924364786595106,
0.06167995557188988,
0.031180651858448982,
0.0018557776929810643,
0.007427593227475882,
-0.05712568014860153,
0.008037220686674118,
0.01654062792658806,
-0.02721807360649109,
-0.025676073506474495,
-0.003978267312049866,
-0.0041956715285778046,
-0.04747921973466873,
-0.06433362513780594,
0.014003501273691654,
0.005769048351794481,
0.003776552388444543,
0.048052988946437836,
0.0006600561900995672,
-0.09581909328699112,
0.009476120583713055,
-0.012111863121390343,
0.011627747677266598,
0.05877526104450226,
0.03790448233485222,
0.020045984536409378,
-0.0001148654700955376,
-0.005957315210253,
0.04880605638027191,
-0.0214266125112772,
-0.008732017129659653,
-0.006647628732025623,
-0.00547768222168088,
-0.011000189930200577,
-0.04482555016875267,
-0.02377547137439251,
-0.009395435452461243,
-0.03505358099937439,
0.018181242048740387,
-0.028634561225771904,
0.034784626215696335,
0.005872146692126989,
-0.0071048494428396225,
-0.009117516689002514,
0.029907606542110443,
0.0047156475484371185,
-0.06081930547952652,
0.0035277707502245903,
0.039733365178108215,
0.04572205990552902,
-0.006643146276473999,
-0.04156224802136421,
0.0325971394777298,
0.056444332003593445,
-0.025084376335144043,
-0.05085010081529617,
0.016800615936517715,
0.03241783753037453,
0.0011167165357619524,
0.0031333058141171932,
0.006840378511697054,
0.03926718235015869,
0.021103868260979652,
-0.01327732764184475,
-0.026572585105895996,
0.021587984636425972,
-0.05866767838597298,
0.02359616942703724,
0.054579589515924454,
-0.035214949399232864,
0.07437454909086227,
0.02691325917840004,
-0.058560095727443695,
0.05594228580594063,
-0.011645677499473095,
-0.03250748664140701,
-0.017840567976236343,
-0.039374761283397675,
0.040809180587530136,
0.02660844661295414,
-0.008584092371165752,
0.0033529510255903006,
0.0068448614329099655,
0.0621461421251297,
-0.015653081238269806,
-0.008606505580246449,
0.004679787438362837,
-0.015294477343559265,
0.058918699622154236,
-0.03794034570455551,
-0.04328354820609093,
-0.006468326784670353,
0.0026357423048466444,
0.0002896851219702512,
0.035214949399232864,
-0.0023578237742185593,
-0.056982237845659256,
-0.025389190763235092,
-0.0043682497926056385,
-0.017033709213137627,
-0.023793401196599007,
-0.03811964765191078,
0.003101927926763892,
-0.0011486547300592065,
-0.003937924280762672,
0.01738334819674492,
0.028580769896507263,
-0.048232290893793106,
0.005818356294184923,
0.051495589315891266,
-0.0470488965511322,
0.04181327298283577,
-0.02752288617193699,
-0.017114395275712013,
0.002828492084518075,
-0.06738176196813583,
0.012380816973745823,
0.030445512384176254,
0.00908613856881857,
-0.007346907630562782,
-0.022663798183202744,
-0.030337931588292122,
0.010525038465857506,
-0.014200733974575996,
0.01605651155114174,
0.010605724528431892,
-0.010022992268204689,
-0.010829852893948555,
-0.052822425961494446,
0.001401919056661427,
0.006383158266544342,
-0.03369088098406792,
-0.025837445631623268,
0.02305826172232628,
-0.02974623441696167,
0.012864932417869568,
-0.05081424117088318,
0.017957115545868874,
0.008678225800395012,
-0.01264080498367548,
0.02250242605805397,
-0.012138758786022663,
-0.011789118871092796,
0.04357043281197548,
0.010022992268204689,
0.02094249613583088,
-0.023560307919979095,
-0.008046185597777367,
0.04493312910199165,
0.04192085191607475,
0.06834999471902847,
0.0038482733070850372,
-0.039016157388687134,
0.038047924637794495,
0.0573049820959568,
-0.03302746266126633,
0.018970172852277756,
-0.017428172752261162,
0.023094123229384422,
0.05013289302587509,
0.011439479887485504,
-0.016182024031877518,
0.011188456788659096,
-0.006800035946071148,
0.01943635754287243,
-0.005110112484544516,
-0.014971733093261719,
0.034910138696432114,
-0.010327806696295738,
-0.007862401194870472,
-0.0013873507268726826,
-0.02304033190011978,
0.002119127893820405,
-0.008826150558888912,
-0.008888905867934227,
-0.053432054817676544,
0.022914821282029152,
-0.022036239504814148,
-0.04414420202374458,
0.07111124694347382,
0.0020373212173581123,
-0.0018591396510601044,
-0.038155507296323776,
0.007095884531736374,
-0.0036555235274136066,
0.08742775022983551,
-0.0010819766903296113,
-0.026339491829276085,
-0.012093933299183846,
-0.0015038971323519945,
0.03370881453156471,
0.019041894003748894,
-0.02800700254738331,
0.02757667750120163,
0.021462472155690193,
0.04665443301200867,
-0.03510737046599388,
-0.019633591175079346,
-0.006732797250151634,
-0.029423490166664124,
0.018378475680947304,
0.02323756366968155,
0.005446304101496935,
0.012560118921101093,
-0.022950680926442146,
0.006020070984959602,
0.014505547471344471,
0.012282200157642365,
0.01520482636988163,
0.027002910152077675,
-0.010973294265568256,
0.009395435452461243,
-0.05120870843529701,
0.02847318910062313,
-0.03905201703310013,
0.01724887080490589,
0.0066969371400773525,
0.008238935843110085,
0.005150455515831709,
0.057842887938022614,
-0.002974175149574876,
0.02063768357038498,
-0.029674513265490532,
-0.0039244769141077995,
-0.01834261417388916,
0.004166534636169672,
0.009130964055657387,
-0.025263680145144463,
-0.0069210645742714405,
0.033941905945539474,
-0.047945406287908554,
0.006038001272827387,
-0.039374761283397675,
-0.023076193407177925,
0.016791651025414467,
0.04048643633723259,
0.02607053890824318,
0.010767096653580666,
-0.005845251493155956,
-0.014281420037150383,
0.015043454244732857,
-0.05655191093683243,
-0.006378675810992718,
-0.027307724580168724,
-0.03058895468711853,
-0.018934311345219612,
0.042028434574604034,
-0.04518415406346321,
0.01155602652579546,
0.018988102674484253,
-0.02130110003054142,
-0.009130964055657387,
0.007817575708031654,
-0.00781309325248003,
-0.0017156979301944375,
0.04446694254875183,
0.06555288285017014,
0.00303917215205729,
0.015939965844154358,
0.009126481600105762,
-0.007943087257444859,
0.005486647132784128,
-0.007974465377628803,
0.009601632133126259,
0.01664820872247219,
-0.04131122678518295,
-0.07014302164316177,
-0.006867274176329374,
0.03480255603790283,
-0.041849132627248764,
-0.0064772916957736015,
-0.002586434129625559,
0.01414694357663393,
-0.030517233535647392,
-0.016316499561071396,
0.024689912796020508,
0.004475831054151058,
0.003301401622593403,
0.011878770776093006,
0.0013772649690508842,
-0.010408492758870125,
0.018808800727128983,
0.02020735666155815,
0.002087750006467104,
0.02045837976038456,
0.023398935794830322,
0.009072691202163696,
-0.023811331018805504,
0.02160591445863247,
0.025299539789557457,
0.0022423979826271534,
0.01941842772066593,
0.0386216938495636,
-0.04894949868321419,
0.04633168876171112,
-0.021803146228194237,
-0.03851411119103432,
0.023004472255706787,
0.014604163356125355,
0.007198983337730169,
0.013644897378981113,
-0.018862590193748474,
0.013833164237439632,
0.047766104340553284,
0.014469686895608902,
0.010973294265568256,
0.07032231986522675,
-0.010749166831374168,
-0.002530402271077037,
0.062289584428071976,
0.0226279366761446,
0.006351780146360397,
0.02546091191470623,
-0.012784246355295181,
0.014209698885679245,
-0.025389190763235092,
-0.007360354997217655,
-0.006934512406587601,
0.02165970578789711,
-0.010534004308283329,
-0.0313599556684494,
0.022466564550995827,
-0.034174997359514236,
0.006002141162753105,
-0.01804676651954651,
0.028688350692391396,
-0.021014217287302017,
0.05640847235918045,
-0.013680757023394108,
-0.02076319418847561,
0.013474560342729092,
-0.03426465019583702,
-0.005867664236575365,
0.021821077913045883,
-0.032489556819200516,
0.041669830679893494,
0.025066446512937546,
-0.01022918988019228,
-0.04873433709144592,
0.028760071843862534,
0.001640615053474903,
-0.04367801547050476,
-0.016155127435922623,
0.030571024864912033,
-0.015482744202017784,
0.021695565432310104,
-0.01671992987394333,
0.03023035079240799,
-0.021336961537599564,
-0.04059401527047157,
-0.01815434731543064,
0.004989083390682936,
-0.012802177108824253,
-0.01004988793283701,
-0.026823608204722404,
0.006562460213899612,
0.023255495354533195,
-0.02798907272517681,
0.010964329354465008,
0.021695565432310104,
-0.018808800727128983,
0.003790000220760703,
0.00787136610597372,
-0.031700629740953445,
-0.008740982040762901,
0.03127030283212662,
-0.06691557914018631,
-0.02752288617193699,
-0.013223537243902683,
-0.019274985417723656,
0.006912099663168192,
-0.0005323034129105508,
0.001371661783196032,
0.08463063836097717,
-0.04912880063056946,
0.024815423414111137,
-0.0235244482755661,
0.03241783753037453,
-0.03962578624486923,
0.018181242048740387,
-0.01743713766336441,
0.025478841736912727,
-0.014487617649137974,
0.02341686747968197,
0.010390562005341053,
-0.026823608204722404,
-0.08039910346269608,
-0.03573492914438248,
0.0041329157538712025,
0.02933383919298649,
-0.0022524837404489517,
0.016253743320703506,
0.0037877587601542473,
-0.00011409502621972933,
0.020781124010682106,
-0.04819643124938011,
-0.019992195069789886,
0.024689912796020508,
0.03729485720396042,
0.04905708134174347,
-0.025317469611763954,
0.027361514046788216,
-0.010793992318212986,
0.03535839170217514,
0.04923638328909874,
-0.01095536444336176,
0.03535839170217514,
0.0008483235142193735,
-0.008727534674108028,
-0.016450976952910423,
-0.03241783753037453,
-0.049559127539396286,
0.023614099249243736,
0.015554465353488922,
-0.04321182891726494,
0.008664778433740139,
0.004366008564829826,
-0.015079314820468426,
0.019526008516550064,
0.010632620193064213,
-0.01576066203415394,
-0.046008944511413574,
-0.00941336527466774,
-0.018235033378005028,
-0.03987680748105049,
-0.03277644142508507,
0.03263299912214279,
-0.05881112068891525,
-0.023632029071450233,
-0.034049488604068756,
-0.008032738231122494,
-0.0307682566344738,
-0.022789308801293373,
0.04235117882490158,
-0.012076002545654774,
-0.005437339190393686,
0.043642155826091766,
0.010426422581076622,
-0.008848563767969608,
-0.005961798131465912,
-0.03471290320158005,
0.012766316533088684,
0.0057107750326395035,
0.0020373212173581123,
-0.03772518038749695,
-0.046546850353479385,
0.038227226585149765,
0.011018119752407074,
0.018988102674484253,
0.01664820872247219,
0.04514829441905022,
0.0010203415295109153,
-0.01044435240328312,
-0.004339112900197506,
0.016271675005555153,
-0.006952442694455385,
0.03747415915131569,
-0.009870585985481739,
0.0072169131599366665,
-0.057161539793014526,
0.04127536714076996,
0.006755209993571043,
0.0036219044122844934,
0.02770218998193741,
-0.0014770018169656396,
0.008498923853039742,
-0.04328354820609093,
0.014604163356125355,
-0.006472809240221977,
0.011636712588369846,
-0.008664778433740139,
-0.03754587844014168,
-0.012560118921101093,
0.02515609748661518,
0.0488777793943882,
-0.002445233752951026,
-0.011807049624621868,
-0.015007593668997288,
-0.017472999170422554,
-0.01984875276684761,
-0.008664778433740139,
0.010300911031663418,
-0.028813863173127174,
-0.01499862875789404,
-0.003991715144366026,
-0.014272455126047134,
-0.014487617649137974,
-0.026590514928102493,
-0.001907327095977962,
0.008767877705395222,
-0.039303041994571686,
-0.01454140804708004,
-0.03890857473015785,
0.0019118096679449081,
-0.018665358424186707,
-0.023578237742185593,
-0.0063383327797055244,
-0.02890351414680481,
-0.01714129000902176,
-0.018611567094922066,
0.01659441739320755,
0.04554275795817375,
-0.0024654052685946226,
0.02087077498435974,
-0.049810148775577545,
-0.008315139450132847,
-0.019992195069789886,
0.0024497162085026503,
-0.012694595381617546,
0.0029046954587101936,
-0.02926211804151535,
0.06436948478221893,
0.044502805918455124,
-0.009162342175841331,
-0.009915411472320557,
-0.006226268596947193,
0.023506518453359604,
0.026034679263830185,
-0.033332277089357376,
-0.03525081276893616,
-0.04593722149729729,
0.032256465405225754,
0.006280059460550547,
-0.013115955516695976,
-0.01923912577331066,
-0.002268172800540924,
0.013797303661704063,
0.0031758900731801987,
-0.008212040178477764,
-0.005975245498120785,
0.02581951580941677,
0.026393283158540726,
0.00793412234634161,
0.024098215624690056,
0.007293116766959429,
-0.021193519234657288,
-0.00362862809561193,
-0.04109606146812439,
0.011000189930200577,
-0.008521337062120438,
0.053718939423561096,
0.0084496159106493,
-0.04138294607400894,
0.010632620193064213,
-0.004630479030311108,
0.013017339631915092,
0.059528328478336334,
-0.002469887724146247,
0.05436442419886589,
-0.014030396938323975,
-0.04048643633723259,
0.05748428404331207,
-0.02395477332174778,
0.0013470076955854893,
-0.0040701599791646,
-0.02594502829015255,
-0.039482343941926956,
0.015491710044443607,
0.0012427883921191096,
0.015939965844154358,
0.01761644147336483,
-0.05181833356618881,
0.011421550065279007,
0.0005023262929171324,
0.004617031663656235,
0.024958865717053413
] |
Slip and crumple detection is essential for performing robust manipulation
tasks with a robotic hand (RH) like remote surgery. It has been one of the
challenging problems in the robotics manipulation community. In this work, we
propose a technique based on machine learning (ML) based techniques to detect
the slip, and crumple as well as the shape of an object that is currently held
in the robotic hand. We proposed ML model will detect the slip, crumple, and
shape using the force/torque exerted and the angular positions of the actuators
present in the RH. The proposed model would be integrated into the loop of a
robotic hand(RH) and haptic glove(HG). This would help us to reduce the latency
in case of teleoperation | [
-0.02716587856411934,
-0.022555576637387276,
-0.025145428255200386,
-0.013233952224254608,
0.00540470564737916,
-0.004780202638357878,
0.011369626969099045,
-0.008743041194975376,
-0.02771691046655178,
0.02924143336713314,
0.035633403807878494,
0.04044574871659279,
0.015419713221490383,
-0.019102443009614944,
-0.03548646345734596,
0.011332891881465912,
0.019414694979786873,
-0.0069016763009130955,
-0.013105378486216068,
-0.026229124516248703,
0.005009799264371395,
-0.0015830690972507,
-0.023014770820736885,
0.021637190133333206,
0.03335580602288246,
0.007310358341783285,
0.04176822677254677,
-0.032841507345438004,
-0.08096497505903244,
0.01576869934797287,
0.01108492724597454,
0.014831945300102234,
0.011507385410368443,
-0.002075553871691227,
-0.020718803629279137,
-0.013399261981248856,
0.04287029057741165,
0.03747017681598663,
-0.024190306663513184,
-0.010295115411281586,
0.04845408350229263,
-0.007053209934383631,
-0.025604620575904846,
0.005863898899406195,
0.007402196992188692,
-0.03454970940947533,
-0.03849877044558525,
0.02003919705748558,
-0.0071588242426514626,
0.03061901219189167,
-0.01830344647169113,
-0.036643628031015396,
0.025659725069999695,
-0.06976065039634705,
-0.012288014404475689,
-0.017651392146945,
0.06774020195007324,
0.055360350757837296,
0.06046658009290695,
0.0075399549677968025,
-0.006768510211259127,
0.01505235768854618,
-0.006061352323740721,
0.002759752096608281,
-0.011387995444238186,
-0.08045067638158798,
0.05183374509215355,
-0.021637190133333206,
0.03561503812670708,
0.017155462875962257,
-0.032731302082538605,
-0.059989020228385925,
-0.005423073656857014,
0.015309506095945835,
-0.041474342346191406,
0.05183374509215355,
0.0175962895154953,
0.04764590039849281,
0.03168434277176857,
-0.0655728131532669,
0.020939216017723083,
0.08353645354509354,
0.004867449402809143,
-0.004461063537746668,
0.038278356194496155,
-0.015943193808197975,
0.027331188321113586,
-0.07303011417388916,
0.02823120728135109,
0.024043364450335503,
-0.04669078066945076,
0.0729566365480423,
0.006336868274956942,
0.05293580889701843,
0.024851543828845024,
-0.0177064947783947,
-0.03504563495516777,
0.016246261075139046,
-0.04298049956560135,
-0.020314713940024376,
0.004185547586530447,
0.07053209841251373,
-0.020259611308574677,
0.021141262724995613,
-0.04099678248167038,
-0.02670668624341488,
-0.07369134575128555,
0.017688127234578133,
-0.026725053787231445,
0.13165992498397827,
-0.016035031527280807,
-0.04217231646180153,
0.05767468363046646,
-0.038829389959573746,
-0.010276746936142445,
-0.02380458265542984,
-0.058519601821899414,
-0.036790572106838226,
0.003407214768230915,
-0.05176027491688728,
-0.0067822858691215515,
0.05168680474162102,
0.009349176660180092,
0.022978035733103752,
-0.04408256337046623,
0.014887048862874508,
-0.007218519691377878,
0.00928029790520668,
0.027386290952563286,
-0.032676197588443756,
0.022775990888476372,
-0.00585012324154377,
0.02044328860938549,
0.04838061332702637,
0.054295022040605545,
0.02400662936270237,
0.026523008942604065,
0.02014940418303013,
-0.00852262880653143,
0.025659725069999695,
-0.03251088783144951,
-0.026523008942604065,
0.0013224768918007612,
0.014005397446453571,
0.06748305261135101,
-0.008104762993752956,
-0.04988676682114601,
0.01444622315466404,
-0.08177315443754196,
0.012921701185405254,
-0.08346298336982727,
-0.008178233169019222,
-0.005133781582117081,
0.033796630799770355,
0.05025412142276764,
-0.032217007130384445,
-0.023712744936347008,
0.0010831223335117102,
0.028359781950712204,
-0.0570501834154129,
0.039894718676805496,
-0.03263946250081062,
0.02406173199415207,
0.07141374796628952,
0.023565802723169327,
0.008568547666072845,
-0.00005101351052871905,
-0.009532853960990906,
-0.01159922406077385,
0.03627627342939377,
-0.11777391284704208,
-0.023216815665364265,
0.03568850830197334,
0.026982201263308525,
-0.01800037920475006,
0.01078185997903347,
0.004589637741446495,
-0.024502556771039963,
-0.007590466178953648,
-0.04140087217092514,
-0.004321009386330843,
0.0038503361865878105,
-0.010763492435216904,
-0.01744934730231762,
0.042135581374168396,
-0.0006750142201781273,
0.011002272367477417,
-0.016466673463582993,
0.04823366925120354,
-0.04154781624674797,
0.039747778326272964,
-0.04566218703985214,
0.04129066690802574,
0.0006589424447156489,
0.03341090679168701,
-0.05220109969377518,
-0.015217667445540428,
-0.007843022234737873,
-0.002934245625510812,
0.020682068541646004,
-0.003795233089476824,
-0.08272827416658401,
0.006621567998081446,
-0.0000866009941091761,
0.0007106016855686903,
-0.04823366925120354,
0.022004544734954834,
-0.10080212354660034,
0.024245409294962883,
-0.050217386335134506,
0.012783942744135857,
-0.03269456699490547,
-0.04911532253026962,
0.03860897570848465,
-0.025512782856822014,
-0.0049133687280118465,
0.04029880836606026,
0.0061669666320085526,
-0.004185547586530447,
0.03495379909873009,
-0.0041602919809520245,
0.0031707300804555416,
0.027882220223546028,
-0.02593524008989334,
-0.027441395446658134,
0.002481939969584346,
0.010065518319606781,
0.025200530886650085,
-0.053119488060474396,
-0.03131698817014694,
0.007778735365718603,
-0.005165925249457359,
0.06641772389411926,
-0.019139178097248077,
-0.014225809834897518,
0.028616929426789284,
-0.023841319605708122,
-0.030857793986797333,
-0.04856428876519203,
-0.01575951650738716,
0.05620526522397995,
0.0061669666320085526,
0.01487786415964365,
0.0006262249080464244,
0.025898505002260208,
-0.0038801839109510183,
-0.0023154825903475285,
0.04004165902733803,
-0.02253720909357071,
0.004314121324568987,
-0.026725053787231445,
-0.05874001234769821,
0.016962602734565735,
0.0252740029245615,
0.04764590039849281,
-0.00859150756150484,
0.049813296645879745,
-0.06314826756715775,
0.07185457646846771,
0.004396776203066111,
0.05238477885723114,
-0.009372136555612087,
-0.02064533345401287,
-0.016035031527280807,
0.005974105559289455,
-0.029333271086215973,
0.03366805613040924,
0.019671842455863953,
0.07310358434915543,
0.005721549037843943,
-0.0009809518232941628,
-0.08720999956130981,
-0.003976614214479923,
0.013674777932465076,
-0.029516948387026787,
-0.03927021473646164,
0.023327022790908813,
0.012434955686330795,
0.0463968962430954,
-0.017917724326252937,
-0.014097236096858978,
0.023639272898435593,
0.032878242433071136,
0.05965840071439743,
0.018432021141052246,
-0.01572277955710888,
-0.0596216656267643,
0.04764590039849281,
-0.06990759819746017,
-0.016659535467624664,
-0.03712119162082672,
-0.02110452577471733,
-0.0025852585677057505,
0.04059269279241562,
0.054184816777706146,
-0.01769731193780899,
0.010396137833595276,
-0.011323708109557629,
-0.04004165902733803,
-0.037359971553087234,
-0.008155274204909801,
-0.029112858697772026,
-0.026063814759254456,
0.0021249172277748585,
-0.0197820495814085,
0.019102443009614944,
0.03607422858476639,
0.04033554345369339,
-0.052568454295396805,
-0.03971103951334953,
0.0046286690048873425,
-0.0006916599813848734,
-0.07942207902669907,
0.0066628954373300076,
-0.017991196364164352,
0.03849877044558525,
0.03412725031375885,
0.0010750864166766405,
0.06946676969528198,
-0.03952736407518387,
-0.00681442953646183,
-0.008678754791617393,
-0.09815716743469238,
0.024227041751146317,
0.05161333456635475,
-0.00958795752376318,
0.005570015404373407,
-0.06395644694566727,
-0.06788714230060577,
-0.03177617862820625,
-0.03245578706264496,
0.029021019116044044,
-0.020075934007763863,
-0.009362952783703804,
-0.036239538341760635,
0.03813141584396362,
-0.033704791218042374,
0.022371899336576462,
-0.007452708203345537,
0.029388373717665672,
0.004630965180695057,
-0.04096004739403725,
-0.02553115040063858,
-0.026412801817059517,
0.0003254532930441201,
-0.045441772788763046,
0.016907500103116035,
-0.002171984640881419,
-0.03150066360831261,
-0.02374948002398014,
0.0010636065853759646,
-0.020277978852391243,
-0.028561826795339584,
-0.005514912307262421,
0.005638894159346819,
-0.037874266505241394,
0.03280477225780487,
0.014960519038140774,
-0.048343874514102936,
0.02791895531117916,
0.03634974732995033,
-0.036386482417583466,
0.021343307569622993,
0.020406551659107208,
-0.012232910841703415,
0.007351685781031847,
-0.034659914672374725,
-0.017467714846134186,
-0.026523008942604065,
-0.014795210212469101,
-0.0008736153249628842,
0.06054005026817322,
0.05664609372615814,
-0.027478130534291267,
-0.0572705939412117,
0.0050970460288226604,
0.0006428706692531705,
-0.004963879939168692,
-0.02216985449194908,
0.0354129895567894,
-0.032823141664266586,
0.0068465727381408215,
-0.03579871356487274,
-0.00010460998601047322,
-0.03952736407518387,
0.020682068541646004,
-0.008178233169019222,
-0.0210126880556345,
0.013417629525065422,
0.06028290465474129,
0.045698922127485275,
0.0017472306499257684,
0.0275148656219244,
0.0099185761064291,
0.03574360907077789,
-0.050584740936756134,
0.05161333456635475,
0.007269030902534723,
0.00834354292601347,
-0.0034829815849661827,
-0.05036432668566704,
-0.00024810791364870965,
-0.006998106837272644,
0.0341823548078537,
0.009275705553591251,
-0.011994129978120327,
0.001895320601761341,
-0.0027551602106541395,
0.02262904867529869,
0.04669078066945076,
0.060393109917640686,
0.05220109969377518,
0.025145428255200386,
-0.00400416599586606,
-0.02791895531117916,
-0.04878470301628113,
0.028818974271416664,
0.014179890975356102,
-0.002284487010911107,
-0.06663814187049866,
0.03150066360831261,
-0.0052393963560462,
0.0241535697132349,
0.005207252688705921,
-0.013803352601826191,
0.03535788878798485,
-0.028727136552333832,
0.04004165902733803,
0.019910624250769615,
-0.05646241456270218,
0.01912081055343151,
0.022959668189287186,
-0.0029411334544420242,
-0.05047453194856644,
0.0615319088101387,
-0.00021495988767128438,
0.0169809702783823,
0.029829200357198715,
-0.011277788318693638,
0.031812913715839386,
-0.0014384231762960553,
0.042907025665044785,
-0.049776557832956314,
0.008600691333413124,
-0.04547850787639618,
-0.05840939283370972,
-0.018523860722780228,
-0.008563956245779991,
0.05660935491323471,
0.012985987588763237,
-0.01642993837594986,
0.02837814949452877,
-0.010111437179148197,
-0.01172779779881239,
-0.017036072909832,
0.0016232484485954046,
-0.005106230266392231,
-0.06608710438013077,
0.044229503720998764,
-0.04507441818714142,
-0.011002272367477417,
0.11072070151567459,
0.011213501915335655,
0.018533043563365936,
0.007209335453808308,
0.037304867058992386,
-0.04367846995592117,
0.03372316062450409,
0.0026472497265785933,
0.05201742425560951,
0.01495133526623249,
-0.06505851447582245,
0.014703371562063694,
-0.0037975290324538946,
0.07354440540075302,
0.042282525449991226,
0.023069873452186584,
0.0319414883852005,
-0.02455766126513481,
0.00674095842987299,
0.017614657059311867,
0.004015645943582058,
-0.032327212393283844,
-0.00989102479070425,
0.014005397446453571,
-0.08801817893981934,
0.033539481461048126,
-0.011782901361584663,
0.028047529980540276,
-0.03982124850153923,
0.03442113474011421,
-0.031170044094324112,
-0.04507441818714142,
-0.02995777502655983,
-0.0006061352323740721,
-0.07100965827703476,
-0.031463928520679474,
0.0197820495814085,
0.0465071015059948,
0.02889244630932808,
0.054405227303504944,
-0.049519412219524384,
0.0126645527780056,
0.01943306252360344,
0.0022936707828193903,
0.01180126890540123,
0.03550482913851738,
-0.053523577749729156,
0.018826927989721298,
-0.0001513903116574511,
0.020571861416101456,
0.008710897527635098,
-0.010240011848509312,
-0.006102679762989283,
0.012407404370605946,
0.006704222876578569,
0.015548286959528923,
-0.006685855332762003,
0.02650463953614235,
0.04882143810391426,
0.03963756933808327,
0.030527174472808838,
-0.0033061921130865812,
0.0441560335457325,
-0.05095209553837776,
0.05447869747877121,
0.02024124376475811,
-0.021949442103505135,
0.014703371562063694,
-0.015979928895831108,
-0.03153739869594574,
0.04029880836606026,
-0.028800606727600098,
0.010240011848509312,
-0.04062942788004875,
0.0009775077924132347,
0.022518841549754143,
-0.012517610564827919,
-0.05682976916432381,
-0.04988676682114601,
-0.00948693510144949,
0.022794358432292938,
-0.0034737978130578995,
-0.01001959852874279,
0.00827007181942463,
0.05730732902884483,
0.054295022040605545,
-0.0017150872154161334,
-0.018138136714696884,
-0.0006658303318545222,
0.004401368089020252,
0.008233336731791496,
0.04110698774456978,
0.014042132534086704,
-0.0036873226054012775,
0.015392160974442959,
-0.013279872015118599,
-0.029939407482743263,
-0.03236394748091698,
0.018689168617129326,
-0.014969703741371632,
-0.007640977390110493,
-0.01663198322057724,
0.02150861732661724,
0.02817610464990139,
-0.04507441818714142,
0.0182116087526083,
0.029774097725749016,
0.012040049768984318,
-0.006699630990624428,
0.00732413399964571,
-0.041841696947813034,
-0.043200910091400146,
0.00872008129954338,
0.02389642223715782,
0.0032602727878838778,
0.01866161823272705,
-0.04312743991613388,
-0.01820242404937744,
0.015006438829004765,
-0.05488279089331627,
0.007585874292999506,
-0.028965916484594345,
0.004017941653728485,
0.005588382948189974,
0.0032235372345894575,
0.0008667274378240108,
-0.03387010097503662,
-0.007021066267043352,
0.005657262168824673,
-0.004681476391851902,
0.0008713193819858134,
-0.05451543629169464,
0.02374948002398014,
-0.04948267713189125,
-0.02308824099600315,
0.035633403807878494,
0.02257394604384899,
0.025696460157632828,
0.0012467099586501718,
0.016512593254446983,
0.04312743991613388,
0.02216985449194908,
0.05885022133588791,
0.03544972836971283,
-0.008844063617289066,
-0.01009306963533163,
0.01388600654900074,
0.0007961264927871525,
0.018321814015507698,
0.003999574109911919,
-0.007700672373175621,
0.02523726597428322,
0.022004544734954834,
0.034255824983119965,
0.0013947997940704226,
0.0009390503983013332,
-0.0005013817572034895,
0.011103295721113682,
-0.0036528832279145718,
0.032272107899188995,
0.0330619215965271,
0.04029880836606026,
0.024686234071850777,
-0.02802916243672371,
0.010258379392325878,
-0.029939407482743263,
-0.013380894437432289,
0.03331907093524933,
0.0020904778502881527,
-0.017614657059311867,
0.024355614557862282,
-0.006984330713748932,
0.005074086599051952,
0.018826927989721298,
0.015281954780220985,
0.0035954839549958706,
0.017678944393992424,
-0.008614467456936836,
0.021122893318533897,
0.029461845755577087,
0.021177997812628746,
-0.015089093707501888,
0.0036850266624242067,
-0.00534041877835989,
0.00018783878476824611,
-0.02055349387228489,
0.017917724326252937,
0.05176027491688728,
0.05025412142276764,
-0.0197269469499588,
-0.031059838831424713,
0.01937795989215374,
0.01164514385163784,
0.0056480783969163895,
-0.03886612504720688,
-0.0014992662472650409,
0.016145238652825356,
-0.023327022790908813,
-0.028598561882972717,
0.005280723329633474,
0.02110452577471733,
-0.008302215486764908,
-0.00475724320858717,
0.009404280222952366,
0.03199659287929535,
0.0014636787818744779,
-0.013619674369692802,
0.029112858697772026,
0.036845672875642776,
-0.0064929937943816185,
-0.043972354382276535,
0.012297198176383972,
0.04797651991248131,
-0.0018746568821370602,
-0.003978910390287638,
0.0003495609271340072,
0.020406551659107208,
0.016696270555257797,
0.013472733087837696,
-0.028727136552333832,
-0.02303313836455345,
0.022665783762931824,
-0.014014581218361855,
-0.05220109969377518,
0.008481301367282867,
0.016962602734565735,
0.05730732902884483,
-0.07942207902669907,
0.005193477030843496,
-0.03673546761274338,
0.030196554958820343,
0.0005160185392014682,
0.015979928895831108,
0.00537715433165431,
-0.015621758066117764,
-0.013270688243210316,
-0.04448665305972099,
0.01820242404937744,
0.025145428255200386,
-0.02130657061934471,
0.029572051018476486,
-0.017835069447755814,
0.021986177191138268,
-0.01912081055343151,
0.045956071466207504,
-0.003177617909386754,
0.0137574328109622,
-0.0005504580331034958,
0.025457680225372314,
0.017467714846134186,
0.05580117553472519,
0.020333081483840942,
-0.00215591280721128,
0.03047206997871399,
0.02268415130674839,
-0.022757623344659805,
-0.007636385504156351,
-0.014299280941486359,
0.0441560335457325,
-0.006111863534897566,
-0.012196175754070282,
0.0011858668876811862,
-0.06476463377475739,
-0.06465442478656769,
0.03952736407518387,
0.047278545796871185,
0.007434340193867683,
-0.013188033364713192,
-0.007645569276064634,
0.03210679814219475,
-0.03772732615470886,
0.004812346305698156,
0.015704412013292313,
0.004594229627400637,
-0.02492501586675644,
0.04154781624674797,
0.043311115354299545,
0.02700056880712509,
0.03565177321434021,
0.02070043608546257,
-0.021067790687084198,
0.012903333641588688,
-0.0007100276998244226,
-0.015483999624848366,
-0.0019228721503168344,
0.02812100015580654,
-0.01070838887244463,
-0.005666445940732956,
-0.007131272926926613,
0.06098087877035141,
-0.02981083281338215,
0.07824654877185822,
-0.003000828670337796,
-0.04720507562160492,
0.00042389286682009697,
0.040666162967681885,
-0.01009306963533163,
-0.015906456857919693,
0.00451387045904994,
-0.012728840112686157,
0.04456012323498726,
0.019304487854242325,
0.024429086595773697,
-0.008513445034623146,
0.02762507274746895,
-0.012673736549913883,
0.01256353035569191,
0.004711323883384466,
-0.02630259469151497,
0.022371899336576462,
0.022371899336576462,
0.053890932351350784,
-0.08471199125051498,
-0.03256599232554436,
-0.03240068256855011,
0.030490439385175705,
0.02461276389658451,
-0.006001657340675592,
0.0060246167704463005,
-0.026155652478337288,
0.01969021186232567,
-0.03377826139330864,
0.012903333641588688,
0.01820242404937744,
0.02762507274746895,
0.002853886689990759,
0.001876952825114131,
-0.02929653599858284,
0.010451240465044975,
-0.03326396644115448,
0.011709430254995823,
-0.0024520924780517817,
0.019102443009614944,
0.04011513292789459,
-0.007452708203345537,
-0.012196175754070282,
0.0661238431930542,
0.0033911429345607758,
-0.01886366307735443,
0.049923501908779144,
0.011360443197190762,
-0.009900208562612534,
0.018432021141052246,
-0.02411683462560177,
0.050988830626010895,
-0.01460234820842743,
-0.014051316305994987,
-0.006245029624551535,
-0.019561637192964554,
0.006203702185302973,
-0.047829579561948776,
-0.00340262264944613,
-0.020369816571474075,
0.007921085692942142,
-0.007002698723226786,
0.0016370243392884731,
0.0009482342866249382,
0.0071588242426514626,
0.005643486510962248,
0.022151486948132515,
-0.049262262880802155,
0.0010991940507665277,
0.025971975177526474,
0.0007898125913925469,
-0.016613615676760674,
0.001197346718981862,
0.02624749206006527,
0.02104942314326763,
-0.021931074559688568,
0.049666352570056915,
0.005978697445243597,
0.018432021141052246,
-0.002076701959595084,
-0.02044328860938549,
0.014179890975356102,
-0.013564571738243103,
0.0005358212511055171,
0.013922742567956448,
0.036588527262210846,
-0.0702749490737915,
-0.031868018209934235,
0.011507385410368443,
-0.02207801677286625,
-0.034972164779901505,
-0.012829862534999847,
-0.0009344584541395307,
0.03320886194705963,
0.024098467081785202,
0.028359781950712204,
0.026118917390704155,
-0.00752617884427309,
0.028304677456617355,
0.03139045834541321,
-0.024355614557862282,
0.01207678485661745,
0.08427116274833679,
0.03157413378357887,
-0.010313482955098152,
0.03238231688737869,
0.005413889419287443,
0.00485826563090086,
-0.009372136555612087,
0.019414694979786873,
0.052311304956674576,
-0.015777884051203728,
-0.022114751860499382,
-0.032070063054561615,
-0.029994510114192963,
-0.0484173484146595,
-0.0034829815849661827,
0.005817979574203491,
-0.037047721445560455,
-0.011782901361584663,
0.03759875148534775,
-0.042907025665044785,
-0.047829579561948776,
0.005560831632465124,
-0.0286904014647007,
0.0020480023231357336,
0.01001959852874279,
-0.014372752048075199,
0.005657262168824673,
-0.03326396644115448,
0.020112669095396996,
-0.032272107899188995,
0.014528878033161163,
-0.018450388684868813,
0.006938411388546228,
-0.0396743044257164,
-0.03315376117825508,
-0.00016832306573633105,
0.020626965910196304,
-0.0573808029294014,
0.011681878939270973,
0.029939407482743263,
-0.02207801677286625,
0.006965963169932365,
-0.047168340533971786,
-0.001829885528422892,
-0.0008024403941817582,
-0.0774383693933487,
-0.0007008438697084785,
-0.0004982248065061867,
0.027018936350941658,
0.029186328873038292,
0.018551411107182503,
0.004451879765838385,
0.031243516132235527,
-0.005055718589574099,
-0.0016312843654304743,
0.010818595066666603,
0.00029962367261759937,
-0.01098390482366085,
0.023639272898435593,
0.0023097426164895296,
-0.010120621882379055,
-0.017715679481625557,
0.037617120891809464,
0.020516758784651756,
-0.009542037732899189,
-0.02808426506817341,
-0.029333271086215973,
0.010818595066666603,
-0.034659914672374725,
0.009955312125384808,
0.0017621545121073723,
-0.01586972177028656,
0.04253967106342316,
-0.006616976112127304,
0.009881841018795967,
0.027643440291285515,
0.02929653599858284,
0.03879265487194061,
0.018505491316318512,
0.024080099537968636,
0.018037114292383194,
-0.021894339472055435,
-0.005767468363046646,
-0.0001064754615072161,
0.028910813853144646,
0.04154781624674797,
0.029076123610138893,
-0.03297008201479912,
0.007457300089299679,
-0.007553730625659227,
0.019745314493775368,
0.009275705553591251,
-0.011296156793832779,
-0.015070726163685322,
-0.016696270555257797,
-0.01730240508913994,
0.049813296645879745,
-0.03686404228210449,
-0.051392920315265656,
0.04011513292789459,
-0.022647416219115257,
0.007255254779011011,
-0.032841507345438004,
0.04996023699641228,
-0.010001230984926224,
0.0009459382854402065,
-0.02242700383067131,
0.017219750210642815,
-0.05260518938302994,
0.03484359011054039,
-0.03963756933808327,
-0.042245786637067795,
-0.006745550315827131,
-0.010662470012903214,
0.001526817912235856,
0.026761788874864578,
0.00598788121715188,
0.026578111574053764,
0.027349555864930153,
0.02308824099600315,
-0.0552501454949379,
-0.025659725069999695,
-0.05117250606417656,
0.04757243022322655,
0.017284037545323372,
-0.04566218703985214,
0.002752864034846425,
-0.04334785416722298,
-0.017532002180814743,
-0.007567506283521652,
-0.02130657061934471,
-0.012811494991183281,
-0.021453512832522392,
0.015245219692587852,
-0.013261504471302032,
-0.0209575854241848,
0.030949631705880165,
-0.04922552779316902,
-0.014032948762178421,
-0.032014962285757065,
0.010120621882379055,
0.005413889419287443,
0.03254762664437294,
0.0016048807883635163,
-0.003237313125282526,
0.005625118501484394,
-0.014501325786113739,
0.04276008531451225,
-0.010386954061686993,
0.0011089519830420613,
0.03521094471216202,
-0.006515953689813614,
-0.023786215111613274,
0.026927098631858826,
-0.012150255963206291,
-0.0006526285433210433,
0.0004933458403684199,
-0.029480213299393654,
-0.03835183009505272,
-0.013674777932465076,
-0.0351925790309906,
-0.001416611485183239,
-0.006437890697270632,
-0.009128764271736145,
0.048711229115724564,
0.01789935678243637,
0.0038916636258363724,
-0.058813486248254776
] |
Orthogonal time frequency space (OTFS) is a promising modulation scheme for
wireless communication in high-mobility scenarios. Recently, a reservoir
computing (RC) based approach has been introduced for online subframe-based
symbol detection in the OTFS system, where only a limited number of
over-the-air (OTA) pilot symbols are utilized for training. However, this
approach does not leverage the domain knowledge specific to the OTFS system.
This paper introduces a novel two-dimensional RC (2D-RC) method that
incorporates the structural knowledge of the OTFS system into the design for
online symbol detection on a subframe basis. Specifically, as the channel
response acts as a two-dimensional (2D) operation over the transmitted
information symbols in the delay-Doppler (DD) domain, the 2D-RC is designed to
have a 2D structure to equalize the channel. With the introduced architecture,
the 2D-RC can benefit from the predictable channel representation in the DD
domain. Moreover, unlike the previous work that requires multiple RCs to learn
the channel feature, the 2D-RC only requires a single neural network for
detection. Experimental results demonstrate the effectiveness of the 2D-RC
approach across different OTFS system variants and modulation orders. | [
0.00415952131152153,
-0.076578788459301,
-0.03572829067707062,
-0.015439271926879883,
-0.02595614083111286,
0.061212170869112015,
0.003056067507714033,
0.044937361031770706,
-0.07766862213611603,
-0.01296898815780878,
0.028026819229125977,
-0.028208456933498383,
0.08260918408632278,
-0.030478939414024353,
-0.03959719091653824,
-0.02301359735429287,
0.004713519010692835,
0.02177845500409603,
-0.005689825862646103,
-0.06604375690221786,
0.04900606349110603,
0.000911030569113791,
-0.002313620178028941,
0.0152122238650918,
-0.05790635198354721,
0.013132463209331036,
0.018690600991249084,
-0.011234340257942677,
-0.053220078349113464,
0.014076982624828815,
0.03125998377799988,
0.03541950508952141,
-0.0543099083006382,
-0.021996421739459038,
-0.0320047028362751,
-0.05975906178355217,
0.05074979364871979,
0.04995058476924896,
-0.004931484814733267,
0.01085289940237999,
-0.008863958530128002,
-0.02176029048860073,
0.0010069584241136909,
0.03672730177640915,
0.010498704388737679,
-0.02301359735429287,
-0.03603707626461983,
-0.008886663243174553,
0.018617944791913033,
-0.033457811921834946,
-0.012460400350391865,
-0.0574340894818306,
-0.006784197874367237,
0.02938910759985447,
0.004849747754633427,
0.026955151930451393,
0.08551540225744247,
0.07116596400737762,
0.05841493979096413,
0.01981675997376442,
0.009000186808407307,
0.003428426571190357,
-0.024702833965420723,
-0.027064135298132896,
0.03329433500766754,
-0.06644336134195328,
0.027245773002505302,
-0.02170579880475998,
-0.012760103680193424,
-0.0479525625705719,
-0.07636082172393799,
0.012632956728339195,
0.02045249380171299,
0.007864946499466896,
-0.018409060314297676,
0.018926730379462242,
0.04668109118938446,
0.030606085434556007,
0.03703608736395836,
-0.005935037508606911,
0.035056229680776596,
0.06760584563016891,
-0.028608063235878944,
0.046862728893756866,
-0.004586372058838606,
0.015266715548932552,
-0.04551860690116882,
-0.04896973818540573,
0.01565723866224289,
0.013849934563040733,
-0.09830275177955627,
0.03236797824501991,
-0.021233540028333664,
0.03679995983839035,
-0.01085289940237999,
-0.010416967794299126,
-0.03131447732448578,
-0.024430377408862114,
-0.05307476595044136,
0.034329675137996674,
0.01214253343641758,
-0.022232551127672195,
-0.026700858026742935,
0.04221278429031372,
0.025974303483963013,
-0.013423084281384945,
-0.034366004168987274,
0.038398377597332,
0.025084275752305984,
0.1343398243188858,
0.015402943827211857,
0.04435611888766289,
-0.028044983744621277,
0.028081310912966728,
-0.03683628514409065,
0.020615968853235245,
-0.04900606349110603,
-0.055181775242090225,
0.002049109200015664,
0.0033557710703462362,
-0.02393995225429535,
0.04352058097720146,
0.03262227401137352,
0.03414803743362427,
-0.03934289887547493,
-0.004214012995362282,
0.022922778502106667,
0.041704196482896805,
-0.0029652484226971865,
0.061829742044210434,
-0.012905415147542953,
-0.08122873306274414,
0.019380826503038406,
-0.024848146364092827,
0.017019527032971382,
0.05787002295255661,
-0.02975238487124443,
0.025792665779590607,
-0.005163074005395174,
0.014785373583436012,
0.006380051840096712,
0.03095119819045067,
0.00291529786773026,
-0.0004912753356620669,
0.00880946684628725,
0.0704394057393074,
-0.017083100974559784,
0.00727462163195014,
-0.016765233129262924,
0.026610039174556732,
-0.02626492641866207,
0.035691965371370316,
-0.043048322200775146,
0.053547028452157974,
0.03638219088315964,
0.0018731469754129648,
0.007692390121519566,
-0.03970617428421974,
-0.015611828304827213,
-0.0640094056725502,
0.02047065831720829,
-0.009499693289399147,
0.058051660656929016,
0.020543312653899193,
0.02977054938673973,
0.00711568770930171,
0.015293961390852928,
0.0030719609931111336,
0.022850122302770615,
0.0318412259221077,
-0.013150626793503761,
0.027427412569522858,
0.007392686791718006,
0.035328686237335205,
-0.008823089301586151,
0.03614605963230133,
0.049768947064876556,
-0.018944894894957542,
-0.03482009842991829,
-0.023249726742506027,
-0.06618906557559967,
0.017709752544760704,
0.0512220561504364,
0.004849747754633427,
0.034384164959192276,
0.05630793049931526,
0.03879798203706741,
0.020270856097340584,
-0.020398002117872238,
0.019053878262639046,
0.0319502092897892,
-0.0030878542456775904,
0.06920426338911057,
0.0003544788633007556,
0.02657371200621128,
-0.03100568987429142,
-0.07091166824102402,
0.002340866019949317,
0.04272137209773064,
0.02328605391085148,
-0.020343510434031487,
-0.015893368050456047,
-0.0009530344395898283,
-0.0271549541503191,
-0.008559714071452618,
-0.019017549231648445,
0.054491546005010605,
0.043956514447927475,
-0.007301867473870516,
-0.04733499139547348,
-0.011888239532709122,
-0.03409354388713837,
-0.02172396332025528,
0.038216739892959595,
0.027391085401177406,
0.010226246900856495,
0.013441248796880245,
-0.0160205140709877,
0.0017425942933186889,
0.007556161377578974,
0.07014878839254379,
-0.004817960783839226,
0.019362663850188255,
-0.013859016820788383,
0.014694553799927235,
-0.03385741636157036,
-0.02107006497681141,
0.045918211340904236,
-0.03930656984448433,
-0.01104362029582262,
0.01037155743688345,
0.006293773651123047,
-0.001537115778774023,
-0.034747444093227386,
0.002114953240379691,
0.02299543283879757,
0.045918211340904236,
-0.030115662142634392,
-0.010807489976286888,
-0.027590887621045113,
-0.011606699787080288,
-0.028208456933498383,
-0.01858161762356758,
-0.036581993103027344,
0.015484681352972984,
0.018472634255886078,
-0.03992414101958275,
0.08362635970115662,
0.048134200274944305,
0.0671335831284523,
-0.02265032008290291,
-0.009508774615824223,
0.0024975291453301907,
0.024739162996411324,
-0.014140556566417217,
0.036618318408727646,
-0.003719048108905554,
-0.024720998480916023,
-0.00552181014791131,
-0.05558137968182564,
0.050640810281038284,
0.05249352380633354,
-0.015575500205159187,
-0.005376499146223068,
-0.03868899866938591,
0.020979246124625206,
0.047153353691101074,
-0.015412026084959507,
-0.04028741642832756,
-0.0007889922126196325,
-0.014767209067940712,
-0.0006147327949292958,
-0.02275930345058441,
-0.04181317985057831,
0.11741112172603607,
-0.00814648624509573,
-0.0079875523224473,
-0.005676202941685915,
0.010126345790922642,
0.032476961612701416,
0.02746373973786831,
0.022268878296017647,
0.009717659093439579,
-0.04286668449640274,
0.014431178569793701,
-0.03601891174912453,
-0.012051713652908802,
0.03734487295150757,
-0.03138713166117668,
-0.027917835861444473,
-0.01602959632873535,
-0.022287042811512947,
-0.12002671509981155,
0.010435131378471851,
0.016719823703169823,
-0.03491091728210449,
0.002894863486289978,
-0.08057483285665512,
-0.009990116581320763,
-0.048751771450042725,
-0.04065069556236267,
-0.026936987414956093,
-0.010035526938736439,
0.002458931179717183,
-0.05728878080844879,
-0.01662900298833847,
0.02686433307826519,
0.013241445645689964,
-0.004175414796918631,
-0.025738174095749855,
-0.0018913107924163342,
-0.037308547645807266,
-0.0446467399597168,
-0.02975238487124443,
-0.0026314875576645136,
-0.03858001530170441,
-0.018109356984496117,
-0.009953789412975311,
0.0006930643576197326,
-0.04308465123176575,
-0.01956246607005596,
0.03774447739124298,
-0.09946523606777191,
0.004497823305428028,
0.024067100137472153,
0.02008921653032303,
0.04508267343044281,
0.042067475616931915,
-0.03966984525322914,
0.020870262756943703,
-0.030115662142634392,
0.027881508693099022,
-0.049042392522096634,
0.022632155567407608,
-0.018427224829792976,
0.030787725001573563,
-0.035928092896938324,
0.010008281096816063,
0.0025656437501311302,
-0.05460052937269211,
-0.007978470996022224,
0.01437668688595295,
0.0010489622363820672,
-0.035365015268325806,
-0.04326628893613815,
0.008323583751916885,
-0.006275610066950321,
0.004438790492713451,
-0.033748432993888855,
0.013186954893171787,
0.0009411144419573247,
0.0012839570408686996,
0.006647968664765358,
0.02779068984091282,
0.05252985283732414,
-0.04435611888766289,
-0.063718780875206,
-0.023830970749258995,
0.02270481176674366,
0.008482517674565315,
-0.024757325649261475,
-0.014458423480391502,
-0.04882442578673363,
-0.005126746371388435,
-0.06644336134195328,
-0.008364452980458736,
-0.05282047390937805,
0.02105190046131611,
0.0012328712036833167,
0.03552848845720291,
-0.0011261586332693696,
0.035655636340379715,
-0.0223415344953537,
-0.03988781198859215,
-0.0636824518442154,
-0.010771162807941437,
0.023867297917604446,
-0.0072065070271492004,
0.021978257223963737,
0.031151000410318375,
0.00001307300499320263,
0.008300879038870335,
-0.030188316479325294,
0.0087867621332407,
0.02786334417760372,
0.08035686612129211,
-0.00909554772078991,
-0.020252691581845284,
-0.061539120972156525,
0.04417448118329048,
-0.0416678711771965,
0.0014860299415886402,
-0.002536127343773842,
-0.009249940514564514,
0.058996181935071945,
-0.007301867473870516,
-0.020724952220916748,
-0.0007980741211213171,
0.03908860310912132,
-0.006252904888242483,
-0.04867911711335182,
-0.03265859931707382,
-0.020325347781181335,
-0.04595453664660454,
-0.008764057420194149,
0.015611828304827213,
-0.0350925549864769,
0.014948847703635693,
-0.023267891258001328,
0.029025830328464508,
0.05558137968182564,
-0.01688329689204693,
0.019017549231648445,
0.0005795403267256916,
0.02043433114886284,
0.018781419843435287,
-0.025828992947936058,
0.020398002117872238,
-0.05877821519970894,
-0.04410182684659958,
-0.04609984904527664,
0.007524374406784773,
0.04439244791865349,
-0.0005403744871728122,
0.058378610759973526,
0.04083233326673508,
0.017782408744096756,
-0.031768571585416794,
0.024357721209526062,
-0.052602507174015045,
0.015775302425026894,
0.023830970749258995,
-0.01020808331668377,
0.004238988272845745,
-0.04926035925745964,
0.009254480712115765,
0.002953896066173911,
0.033094532787799835,
-0.06571680307388306,
0.03908860310912132,
-0.00267462688498199,
0.003989235498011112,
-0.03974250331521034,
-0.07283703237771988,
0.005262975115329027,
0.009336218237876892,
-0.016783395782113075,
0.023794641718268394,
-0.031132837757468224,
-0.021197212859988213,
-0.0672425702214241,
0.014185965992510319,
-0.029298288747668266,
0.041086625307798386,
-0.01437668688595295,
-0.020997408777475357,
-0.00654352642595768,
-0.04835216701030731,
-0.01024441048502922,
-0.026337580755352974,
0.028916846960783005,
0.03447498381137848,
0.026936987414956093,
-0.035982586443424225,
0.03620054945349693,
0.03333066403865814,
0.0069567542523145676,
-0.013377674855291843,
-0.01085289940237999,
-0.014903438277542591,
0.061248499900102615,
-0.02909848652780056,
0.008913909085094929,
0.048788100481033325,
0.0415952131152153,
0.01956246607005596,
-0.01852712593972683,
-0.03799877315759659,
0.044283464550971985,
-0.011615781113505363,
0.06535352766513824,
-0.0002115804672939703,
0.08529743552207947,
-0.0024861767888069153,
0.028008654713630676,
-0.050386518239974976,
0.03638219088315964,
-0.0009064896148629487,
0.017500868067145348,
-0.006416379474103451,
0.04123193770647049,
-0.008128322660923004,
-0.029861368238925934,
0.031169164925813675,
-0.019053878262639046,
-0.017074018716812134,
-0.03650933504104614,
-0.0446467399597168,
0.03996046632528305,
-0.0008502951823174953,
0.010280738584697247,
0.015312124975025654,
0.04497369006276131,
0.02490263804793358,
-0.05652589723467827,
0.04355691000819206,
0.047843579202890396,
0.023740150034427643,
-0.03667281195521355,
-0.008359911851584911,
0.04253973439335823,
-0.008164649829268456,
0.012714694254100323,
0.006511739920824766,
0.00630285544320941,
0.044319793581962585,
-0.04599086567759514,
-0.05496380850672722,
0.006321019493043423,
0.03264043852686882,
0.018345488235354424,
-0.017800571396946907,
-0.019326334819197655,
0.04446510225534439,
-0.03738120198249817,
0.020289018750190735,
0.01563907414674759,
-0.013068889267742634,
-0.02622859738767147,
-0.03327617049217224,
-0.014567406848073006,
0.05242086946964264,
-0.0034534018486738205,
-0.02780885249376297,
-0.020398002117872238,
-0.014821700751781464,
0.004059620201587677,
0.021996421739459038,
-0.03876165300607681,
-0.01978043094277382,
-0.03796244412660599,
0.040396399796009064,
-0.02591981180012226,
-0.042394425719976425,
-0.013432166539132595,
-0.012206106446683407,
0.02499345690011978,
-0.02915297821164131,
-0.007497128564864397,
0.021669471636414528,
0.0009008133783936501,
-0.0063482653349637985,
-0.028880519792437553,
0.022940941154956818,
-0.019017549231648445,
-0.0005565516767092049,
-0.004849747754633427,
0.01085289940237999,
-0.02528407797217369,
0.005984988063573837,
0.0035737373400479555,
-0.0036668269895017147,
0.013132463209331036,
-0.007923979312181473,
-0.007111147046089172,
0.019326334819197655,
0.02946176379919052,
0.04195849224925041,
0.019271843135356903,
-0.010798408649861813,
0.007469882722944021,
-0.046208832412958145,
-0.05819697305560112,
-0.03580094501376152,
-0.0065843951888382435,
-0.036654647439718246,
0.011933648958802223,
-0.02265032008290291,
0.016411038115620613,
-0.03480193391442299,
0.03774447739124298,
0.003696343395859003,
0.009517856873571873,
0.01663808524608612,
0.035909928381443024,
-0.02012554556131363,
-0.0018890403443947434,
-0.008577877655625343,
0.010653097182512283,
-0.023830970749258995,
0.011225258931517601,
0.02395811676979065,
0.00039591515087522566,
0.026628203690052032,
-0.033094532787799835,
-0.01260571088641882,
0.03300371393561363,
0.00861874595284462,
0.035655636340379715,
-0.04050538316369057,
-0.000032443047530250624,
0.04766194149851799,
-0.019362663850188255,
0.027990492060780525,
-0.013368592597544193,
-0.01987125165760517,
-0.008078372105956078,
0.012351416982710361,
-0.02108822949230671,
0.06099420413374901,
-0.003530598245561123,
0.032458797097206116,
0.0479525625705719,
0.004018751438707113,
0.02719128131866455,
0.02846275083720684,
0.04377487674355507,
0.04283035546541214,
-0.0027790688909590244,
-0.01978043094277382,
0.04947832599282265,
0.0013827229849994183,
0.032150011509656906,
0.005140369292348623,
0.042067475616931915,
0.006788738537579775,
-0.0111798495054245,
-0.04341159760951996,
-0.018445389345288277,
-0.04501001909375191,
-0.006280150730162859,
0.055109117180109024,
-0.0006062184693291783,
-0.003898416180163622,
-0.024539360776543617,
0.02177845500409603,
-0.0011017509968951344,
-0.054564204066991806,
0.01214253343641758,
0.023104416206479073,
-0.009853888303041458,
0.006557149346917868,
-0.01664716750383377,
-0.014658226631581783,
0.007247375790029764,
0.01104362029582262,
-0.02746373973786831,
0.02397628128528595,
0.04896973818540573,
0.07970297336578369,
-0.0051131234504282475,
0.014667307958006859,
0.03153244033455849,
0.02617410570383072,
-0.009091006591916084,
0.009013810195028782,
0.04032374545931816,
-0.009808478876948357,
-0.019962070509791374,
-0.04551860690116882,
0.01292357873171568,
0.037853460758924484,
0.03236797824501991,
-0.010989128611981869,
-0.005667121149599552,
-0.017055854201316833,
0.03169591724872589,
-0.006321019493043423,
0.0009257887140847743,
0.040069449692964554,
-0.04501001909375191,
0.011261586099863052,
-0.00032978737726807594,
-0.02265032008290291,
0.012042632326483727,
-0.048097871243953705,
0.019308172166347504,
0.007969388738274574,
-0.012269680388271809,
-0.05826962739229202,
0.006561690475791693,
-0.011597617529332638,
0.009881134144961834,
0.03578278422355652,
0.00591233279556036,
-0.011361487209796906,
-0.003351230174303055,
0.025356734171509743,
-0.029843203723430634,
0.013250527903437614,
-0.01822742260992527,
-0.0010682613356038928,
-0.028335604816675186,
-0.010199001058936119,
-0.0223233699798584,
0.012215188704431057,
-0.029316453263163567,
-0.036908943206071854,
0.05656222626566887,
0.004840665962547064,
-0.048424821346998215,
0.029915859922766685,
-0.031241821125149727,
-0.06346449255943298,
0.0031605097465217113,
0.020543312653899193,
0.01454924326390028,
-0.03104201890528202,
-0.027681706473231316,
-0.01455832552164793,
-0.019108369946479797,
0.0017028608126565814,
0.0011386462720111012,
0.022850122302770615,
0.02648289129137993,
-0.020361674949526787,
0.005008681211620569,
0.02334054559469223,
-0.041050300002098083,
0.036291372030973434,
-0.023195235058665276,
0.010053690522909164,
0.010889227502048016,
-0.09147314727306366,
-0.004150439519435167,
0.043956514447927475,
0.004606806207448244,
-0.01854529045522213,
-0.029534418135881424,
0.017437295988202095,
0.0446467399597168,
-0.020343510434031487,
-0.015493763610720634,
-0.007006704807281494,
0.004195848945528269,
0.009022892452776432,
0.012660202570259571,
0.023594839498400688,
0.006007693242281675,
-0.010989128611981869,
0.04036007449030876,
0.001289633335545659,
-0.009390709921717644,
0.01849988102912903,
-0.02904399484395981,
-0.007256457582116127,
0.020597804337739944,
-0.023885462433099747,
-0.03670913726091385,
-0.03618238866329193,
0.012078959494829178,
0.00648449407890439,
0.00552181014791131,
-0.06299223005771637,
-0.029570747166872025,
0.03294922411441803,
0.02303176000714302,
0.004570478573441505,
0.003162780310958624,
0.01856345310807228,
0.029970351606607437,
0.05176696926355362,
0.019689612090587616,
0.002620135201141238,
0.05154900252819061,
-0.02268664725124836,
-0.057107143104076385,
0.021160883828997612,
0.024775490164756775,
-0.016238480806350708,
0.0608488954603672,
0.04693538695573807,
0.016456447541713715,
-0.05140369385480881,
0.010843818075954914,
0.02880786545574665,
0.032095521688461304,
-0.04417448118329048,
-0.012596629559993744,
0.035946257412433624,
-0.03320351615548134,
0.0073200310580432415,
-0.036273207515478134,
0.015112322755157948,
-0.038870636373758316,
-0.03872532770037651,
-0.012687448412179947,
-0.010943719185888767,
-0.011615781113505363,
0.018327323719859123,
0.03710874542593956,
-0.005648957099765539,
-0.007587947882711887,
-0.02713679149746895,
0.05470951274037361,
0.00654352642595768,
-0.024375885725021362,
0.03007933497428894,
-0.030860379338264465,
-0.017410049214959145,
-0.012823677621781826,
0.035383179783821106,
-0.030315464362502098,
0.017074018716812134,
0.03293105959892273,
0.0005369688151404262,
-0.010925555601716042,
-0.015421108342707157,
-0.01164302695542574,
0.013958917930722237,
-0.002323837485164404,
-0.004722600802779198,
0.009617757983505726,
0.0025088817346841097,
-0.0005290221306495368,
-0.004534150939434767,
-0.03796244412660599,
-0.03865266963839531,
0.010344312526285648,
-0.004252611193805933,
-0.015112322755157948,
-0.030279137194156647,
0.0017948152963072062,
-0.018481716513633728,
0.025120602920651436,
-0.0304244477301836,
0.016701659187674522,
-0.0011920025572180748,
0.0030719609931111336,
-0.044283464550971985,
0.015884285792708397,
0.015384780243039131,
0.023776479065418243,
-0.04933301359415054,
0.0008116969838738441,
0.00017284037312492728,
0.009808478876948357,
0.03992414101958275,
0.004972353577613831,
0.03810775652527809,
0.015057831071317196,
-0.039851486682891846,
-0.010780244134366512,
-0.022214386612176895,
-0.029788712039589882,
0.0018175201257690787,
-0.002867617644369602,
0.008841253817081451,
0.0018004915909841657,
0.00861874595284462,
0.05583567172288895,
0.02043433114886284,
0.0448647066950798,
0.02457568794488907,
0.0008366723195649683,
-0.01025349274277687,
0.012424073182046413,
0.008237306028604507,
0.0009927678620442748,
-0.03556481748819351,
0.06222934648394585,
-0.024121591821312904,
0.014812619425356388,
0.007170179393142462,
-0.00019072041322942823,
-0.008119240403175354,
0.017074018716812134,
-0.03858001530170441,
-0.001557550043798983,
-0.016229398548603058,
-0.022232551127672195,
-0.020525150001049042,
-0.015421108342707157,
0.030206480994820595,
-0.015857040882110596,
-0.01595694199204445,
-0.01978043094277382,
-0.046172503381967545,
-0.0008281579939648509,
0.002536127343773842,
0.017954964190721512,
0.07556161284446716,
0.0028176670894026756,
-0.004173144232481718,
0.05601730942726135,
-0.044319793581962585,
0.006293773651123047,
-0.014122392982244492,
0.004681732039898634,
-0.07636082172393799,
-0.007070278283208609,
0.05598098412156105,
-0.02977054938673973,
-0.016810642555356026,
0.018490798771381378,
0.047480300068855286,
-0.013314101845026016,
0.009971952997148037,
0.009004727937281132,
0.02746373973786831,
-0.014258621260523796,
-0.0673152282834053,
-0.01823650486767292,
-0.05507279187440872,
0.04664476588368416,
-0.02780885249376297,
-0.028589898720383644,
0.013495739549398422,
0.019762268289923668,
-0.011897320859134197,
0.007070278283208609,
-0.001987806288525462,
-0.015820711851119995,
-0.010952801443636417,
0.04540962353348732,
-0.003115100087597966,
-0.04726233705878258,
-0.010398803278803825,
-0.020289018750190735,
-0.03632769733667374,
0.05776103958487511,
-0.03398456051945686,
0.020379839465022087,
0.026428399607539177,
-0.01850896142423153,
0.008350829593837261,
0.010044608265161514,
0.021687636151909828,
0.012097123079001904,
0.009463365189731121,
-0.00510858278721571,
0.005426449701189995,
0.04061436653137207,
0.021342523396015167,
0.021197212859988213,
0.04820685461163521,
0.023794641718268394,
0.008873039856553078,
0.03422069177031517,
0.00031758355908095837,
-0.022305207327008247,
0.021015573292970657,
0.0017925448482856154,
0.008505222387611866,
0.031477950513362885,
-0.009853888303041458,
0.032767582684755325,
-0.013377674855291843,
-0.014957929961383343,
0.04599086567759514,
-0.05245719477534294,
-0.04853380471467972,
-0.002168309409171343,
-0.04671742022037506,
-0.019689612090587616,
-0.0006919291336089373,
-0.015738975256681442,
-0.02457568794488907,
0.004055079538375139,
0.022868286818265915,
0.00655260868370533,
0.047189678996801376,
-0.01551192719489336,
0.005667121149599552,
-0.03452947735786438,
-0.0032467879354953766,
-0.029825041070580482,
-0.04708069562911987,
-0.05267516151070595,
0.0046363226138055325,
-0.010062772780656815,
-0.00004214580621919595,
-0.04243075102567673,
0.03641851618885994,
-0.002922109328210354,
0.03491091728210449,
0.009122793562710285,
-0.0007861541234888136,
-0.028826028108596802,
-0.018654273822903633,
0.0223233699798584,
0.02395811676979065,
0.005689825862646103,
-0.028571734204888344,
-0.0015893367817625403,
-0.023758314549922943,
0.019943905994296074,
-0.02809947542846203,
-0.03418436273932457,
0.014458423480391502,
-0.012460400350391865,
0.035365015268325806,
-0.002994764596223831,
0.012996233999729156,
-0.013168790377676487,
0.0008185084443539381,
-0.006098512560129166,
-0.04896973818540573,
-0.02977054938673973,
0.00712476996704936,
-0.03540134057402611,
-0.0024907179176807404,
0.01691054366528988,
0.026392072439193726,
-0.01948980987071991,
-0.05416459962725639,
0.004672650247812271,
-0.06135748326778412,
-0.009971952997148037,
0.01694687083363533,
-0.011334242299199104,
-0.010344312526285648,
-0.07327296584844589,
-0.03763549402356148,
0.007587947882711887,
0.013922590762376785,
-0.022250715643167496,
0.021869273856282234,
0.014585570432245731,
0.014876192435622215,
-0.015611828304827213,
-0.001055206055752933,
-0.009690413251519203,
-0.002835830906406045
] |
Accurately predicting drug-drug interactions (DDI) for emerging drugs, which
offer possibilities for treating and alleviating diseases, with computational
methods can improve patient care and contribute to efficient drug development.
However, many existing computational methods require large amounts of known DDI
information, which is scarce for emerging drugs. In this paper, we propose
EmerGNN, a graph neural network (GNN) that can effectively predict interactions
for emerging drugs by leveraging the rich information in biomedical networks.
EmerGNN learns pairwise representations of drugs by extracting the paths
between drug pairs, propagating information from one drug to the other, and
incorporating the relevant biomedical concepts on the paths. The different
edges on the biomedical network are weighted to indicate the relevance for the
target DDI prediction. Overall, EmerGNN has higher accuracy than existing
approaches in predicting interactions for emerging drugs and can identify the
most relevant information on the biomedical network. | [
-0.04367665946483612,
0.028252888470888138,
-0.03014482371509075,
-0.01891934499144554,
0.034937724471092224,
0.004132975824177265,
-0.010054280050098896,
0.008013693615794182,
-0.02355008013546467,
0.0008187121129594743,
-0.0030315998010337353,
-0.015558908693492413,
0.028667312115430832,
-0.015207549557089806,
-0.034054819494485855,
0.06097434461116791,
-0.011009257286787033,
-0.02621680684387684,
0.01567602902650833,
-0.010729971341788769,
0.013946260325610638,
-0.004464064724743366,
0.046199239790439606,
-0.0045136152766644955,
0.06227167323231697,
0.03538818284869194,
0.03841527923941612,
-0.005617243703454733,
-0.02592851221561432,
0.09225433319807053,
-0.001177954487502575,
-0.021333813667297363,
0.03722606226801872,
-0.04169463366270065,
-0.0060631996020674706,
0.03578459098935127,
0.03284758701920509,
0.07376742362976074,
-0.005684812553226948,
-0.02385639399290085,
0.027081690728664398,
0.05639766529202461,
-0.022324826568365097,
0.02863127551972866,
-0.004964075982570648,
-0.03380256146192551,
-0.025766346603631973,
-0.08043424040079117,
-0.007585756480693817,
-0.010450685396790504,
-0.011820086278021336,
-0.013928242027759552,
-0.024883443489670753,
-0.04169463366270065,
-0.0772630050778389,
0.04904615134000778,
0.038523390889167786,
0.02155003510415554,
0.0495867021381855,
0.021694181486964226,
-0.03506385162472725,
0.012216491624712944,
-0.0058559877797961235,
-0.0030225906521081924,
0.004560913424938917,
-0.040253158658742905,
0.015351696871221066,
-0.0016306673642247915,
0.0069911484606564045,
-0.013117412105202675,
-0.059136465191841125,
0.003225297899916768,
0.0031487196683883667,
-0.017919322475790977,
-0.025009572505950928,
0.008031712844967842,
-0.004202797543257475,
0.07985765486955643,
0.05102817714214325,
-0.039640530943870544,
0.05816347151994705,
0.04774882271885872,
0.00871641281992197,
0.02682943269610405,
0.0801459476351738,
-0.040577489882707596,
0.05376697704195976,
-0.056721996515989304,
0.022865379229187965,
0.03463141247630119,
-0.009693912230432034,
0.03394671157002449,
-0.03246919810771942,
-0.026649249717593193,
-0.025261830538511276,
-0.022865379229187965,
0.0596049465239048,
-0.001969638979062438,
-0.025550125166773796,
0.0109101552516222,
0.0063424850814044476,
-0.05549674481153488,
-0.018793215975165367,
0.03396472707390785,
0.009396607987582684,
-0.020000450313091278,
-0.042054999619722366,
0.004446045961230993,
0.012793080881237984,
0.14919255673885345,
-0.01942386105656624,
0.03365841507911682,
-0.03845131769776344,
0.03511790931224823,
0.0009510349482297897,
-0.0036059371195733547,
-0.0915335938334465,
-0.022829342633485794,
0.059172503650188446,
-0.02562219835817814,
0.039352238178253174,
0.01740579679608345,
-0.029658325016498566,
-0.005306425970047712,
-0.02446901984512806,
0.03010878711938858,
0.001556341303512454,
-0.04097389429807663,
-0.029946619644761086,
0.029694361612200737,
-0.04565868526697159,
0.03637919947504997,
0.02953219600021839,
0.008901101537048817,
0.06828982383012772,
0.031982701271772385,
0.012829117476940155,
0.02001846954226494,
-0.02682943269610405,
0.013639946468174458,
-0.00825243815779686,
-0.008220905438065529,
-0.05466789752244949,
-0.02955021522939205,
0.010820063762366772,
-0.00560823455452919,
0.011144394986331463,
0.053875088691711426,
-0.01344174426048994,
-0.021766256541013718,
-0.07812788337469101,
0.02481137029826641,
0.04050541669130325,
-0.0115047637373209,
-0.00975697673857212,
-0.019009437412023544,
0.007937115617096424,
-0.0448298379778862,
-0.015522872097790241,
-0.044109102338552475,
0.09794814884662628,
-0.004529381170868874,
-0.012288564816117287,
0.042307257652282715,
-0.04068560153245926,
0.03625306859612465,
0.0029888059943914413,
-0.029045699164271355,
-0.05729858949780464,
0.0591004304587841,
0.0006402170984074473,
-0.015432779677212238,
0.0038852225989103317,
0.06169508397579193,
0.001548458356410265,
0.05585711449384689,
0.04392891749739647,
-0.02001846954226494,
-0.022613121196627617,
0.019658099859952927,
-0.049658775329589844,
-0.006090227048844099,
-0.003304128535091877,
0.02888353355228901,
0.006468614097684622,
0.044073063880205154,
0.03827113285660744,
-0.02214464358985424,
0.024054596200585365,
0.029424086213111877,
0.030847541987895966,
0.001484267646446824,
0.03448726236820221,
-0.032000720500946045,
0.03454132005572319,
-0.026919525116682053,
-0.028180815279483795,
-0.010946192778646946,
-0.009702920913696289,
-0.05452375113964081,
0.004689294844865799,
-0.007171332836151123,
0.003511340357363224,
-0.014063379727303982,
0.043496474623680115,
0.027784409001469612,
0.05005517974495888,
-0.049658775329589844,
0.01772112026810646,
0.007752426899969578,
-0.010279511101543903,
-0.0009881979785859585,
-0.06875830888748169,
-0.05016329139471054,
0.027225838974118233,
-0.02061307616531849,
-0.0009876348776742816,
0.047965046018362045,
-0.006428072694689035,
-0.021081555634737015,
-0.003669001627713442,
0.028216851875185966,
0.07711885124444962,
-0.025784363970160484,
0.05690218135714531,
0.006108245812356472,
-0.04742449149489403,
0.007585756480693817,
-0.007675848435610533,
-0.03625306859612465,
0.02686546929180622,
0.04050541669130325,
0.04475776478648186,
-0.00838757585734129,
-0.019838284701108932,
-0.014351674355566502,
0.019694136455655098,
-0.035802606493234634,
-0.044397395104169846,
-0.012973264791071415,
-0.005405527073889971,
-0.018685106188058853,
-0.023153673857450485,
0.0033221468329429626,
0.05683010816574097,
0.025784363970160484,
0.037910763174295425,
0.1015518382191658,
0.06407351791858673,
0.06270411610603333,
-0.006324466783553362,
-0.05200117081403732,
0.024829387664794922,
0.01973017491400242,
-0.06306448578834534,
-0.0008530597551725805,
-0.025748327374458313,
-0.022018514573574066,
0.02540597692131996,
-0.053550757467746735,
0.06958715617656708,
-0.06252393126487732,
-0.015027365647256374,
0.0555327832698822,
-0.037045881152153015,
0.012306583113968372,
0.06054190546274185,
-0.0007122908136807382,
0.029352013021707535,
0.04219914972782135,
-0.030018694698810577,
-0.053839050233364105,
-0.012135408818721771,
-0.03636118024587631,
-0.03924412652850151,
-0.056469738483428955,
0.03666749224066734,
-0.030306989327073097,
0.07899276912212372,
-0.00956778321415186,
-0.01165792066603899,
-0.046163201332092285,
-0.005243361461907625,
-0.010450685396790504,
-0.035496294498443604,
0.00784251932054758,
-0.009738958440721035,
0.016919299960136414,
-0.047676749527454376,
-0.022270772606134415,
-0.0037951304111629725,
-0.05982116609811783,
-0.007797473110258579,
0.019658099859952927,
0.026721322908997536,
0.002183607779443264,
-0.05214531719684601,
0.0014493570197373629,
-0.0036442261189222336,
-0.05164080113172531,
-0.05344264581799507,
-0.014036351814866066,
-0.015261605381965637,
0.0074776457622647285,
-0.022505011409521103,
0.007919097319245338,
0.005261379759758711,
0.1149575412273407,
-0.01619856245815754,
-0.03445122763514519,
0.05218135565519333,
0.029910583049058914,
0.01741480641067028,
-0.012892181985080242,
0.005923556629568338,
-0.011414671316742897,
0.02032478153705597,
-0.05722651258111,
0.02684745192527771,
-0.02746007777750492,
0.015712065622210503,
-0.051748912781476974,
-0.050920065492391586,
-0.0028649293817579746,
0.013459762558341026,
0.05358679220080376,
-0.04778486117720604,
0.04742449149489403,
-0.017757156863808632,
0.02915380895137787,
-0.016099462285637856,
0.0006818847032263875,
-0.03823509439826012,
-0.015396743081510067,
-0.011297551915049553,
-0.022198697552084923,
-0.020270727574825287,
0.011829094961285591,
-0.009360571391880512,
0.014441766776144505,
-0.000010760025361378212,
0.01922565884888172,
-0.02391044795513153,
-0.0005411158199422061,
0.003804139792919159,
-0.011919187381863594,
-0.033730488270521164,
0.030847541987895966,
0.020595058798789978,
-0.05005517974495888,
0.0007854906725697219,
-0.006824478041380644,
-0.02180229313671589,
0.011162413284182549,
0.059460800141096115,
-0.01135160680860281,
0.0203788373619318,
-0.0031667379662394524,
-0.024270817637443542,
0.06065001338720322,
0.007455122657120228,
-0.015558908693492413,
0.0319286473095417,
0.06108245626091957,
-0.10738980770111084,
0.0012590374099090695,
-0.016612986102700233,
0.003126196563243866,
-0.009946170262992382,
-0.011856122873723507,
0.012270546518266201,
0.013928242027759552,
0.006788440980017185,
-0.00693709310144186,
0.016766143962740898,
-0.004914524964988232,
0.06818171590566635,
0.01974819228053093,
-0.027315931394696236,
0.03855942562222481,
-0.026703303679823875,
0.0149012366309762,
-0.06576724350452423,
-0.030847541987895966,
-0.0025788869243115187,
0.018775196745991707,
0.03783868998289108,
-0.010612851940095425,
-0.006243383977562189,
-0.001641928916797042,
-0.011540800333023071,
-0.024324871599674225,
0.008103786036372185,
-0.00003543858110788278,
0.03960449621081352,
-0.03419896960258484,
0.009856077842414379,
0.04223518446087837,
0.09989414364099503,
0.016396766528487206,
-0.0519651360809803,
0.034919705241918564,
0.044433433562517166,
0.02091939002275467,
-0.04003693908452988,
-0.03095565177500248,
-0.03034302592277527,
-0.06356900185346603,
0.034703485667705536,
0.002040586434304714,
0.004815423861145973,
0.020468929782509804,
0.020541002973914146,
-0.035280074924230576,
0.029874546453356743,
0.022595103830099106,
-0.05311831459403038,
-0.010423658415675163,
0.022505011409521103,
-0.006450595799833536,
-0.010162390768527985,
0.02304556407034397,
0.01918962225317955,
-0.012468749657273293,
-0.011333588510751724,
0.011252505704760551,
-0.022324826568365097,
-0.004464064724743366,
0.006518164649605751,
-0.026162751019001007,
0.03708191588521004,
-0.028505146503448486,
-0.048541635274887085,
-0.03041509911417961,
-0.026685286313295364,
-0.012126399204134941,
0.0043356833048164845,
-0.012937228195369244,
-0.02268519625067711,
0.0033086331095546484,
-0.02127975784242153,
-0.030811505392193794,
-0.02245095558464527,
-0.03473952040076256,
-0.04623527452349663,
-0.00752269197255373,
-0.014117434620857239,
-0.02502758987247944,
0.004099191632121801,
-0.03809094801545143,
-0.03322597220540047,
0.007441609166562557,
-0.05398319661617279,
-0.040289197117090225,
0.019387824460864067,
-0.017018401995301247,
-0.040577489882707596,
-0.020559022203087807,
0.06883037835359573,
-0.016027387231588364,
-0.03281154856085777,
0.023838374763727188,
-0.014297619462013245,
-0.00840559508651495,
-0.001971891149878502,
0.048505596816539764,
-0.03960449621081352,
0.006765918340533972,
0.022054551169276237,
0.014504831284284592,
0.01654091291129589,
-0.01092817448079586,
0.028198832646012306,
-0.03974864259362221,
0.015009347349405289,
-0.029297957196831703,
-0.023964503780007362,
-0.034090857952833176,
0.02245095558464527,
0.043244216591119766,
0.021333813667297363,
0.050631772726774216,
0.024108652025461197,
0.002147570950910449,
-0.05726255103945732,
0.004223068244755268,
0.06562309712171555,
-0.005869501736015081,
0.022324826568365097,
-0.0337124727666378,
-0.0017883285181596875,
-0.031982701271772385,
-0.03398274630308151,
-0.03773057833313942,
0.028433073312044144,
-0.016667041927576065,
-0.03711795434355736,
0.0012624157825484872,
0.06086623668670654,
0.06955111771821976,
0.03805490955710411,
-0.007265929598361254,
0.0336223803460598,
-0.003876213449984789,
-0.010847090743482113,
0.015513862483203411,
0.0713169202208519,
0.012108380906283855,
-0.02659519389271736,
-0.0038018873892724514,
0.003964053466916084,
0.01945989765226841,
-0.04010901227593422,
0.011576836928725243,
-0.0023581611458212137,
0.022595103830099106,
-0.016757134348154068,
0.01827068254351616,
-0.011081330478191376,
0.057983286678791046,
0.011621883139014244,
-0.027892520651221275,
-0.023135656490921974,
0.027622243389487267,
-0.0815153494477272,
0.035298094153404236,
0.008085767738521099,
0.00003776126686716452,
0.026973580941557884,
0.000913871917873621,
-0.009045248851180077,
-0.000978625612333417,
-0.008320007473230362,
0.001320975716225803,
-0.05762292072176933,
0.018486902117729187,
-0.030018694698810577,
-0.0543435662984848,
-0.058235544711351395,
-0.0000650000583846122,
-0.01684722676873207,
0.03920809179544449,
0.01833374612033367,
0.018162570893764496,
0.026613211259245872,
-0.006090227048844099,
0.05571296811103821,
-0.03461339324712753,
0.0060631996020674706,
0.0033581836614757776,
0.00018750422168523073,
0.012946237809956074,
0.027892520651221275,
-0.017225613817572594,
0.018757179379463196,
-0.05452375113964081,
0.017234621569514275,
-0.035856664180755615,
-0.03834320604801178,
-0.021712200716137886,
0.042883846908807755,
0.004511362873017788,
-0.05369490385055542,
-0.03773057833313942,
-0.010171400383114815,
-0.036433253437280655,
0.027928557246923447,
0.028144778683781624,
0.017892295494675636,
0.009261470288038254,
0.012892181985080242,
-0.05686614662408829,
-0.03455933555960655,
-0.015117457136511803,
0.009964188560843468,
0.03823509439826012,
0.021441923454403877,
-0.013135431334376335,
0.0197842288762331,
0.026721322908997536,
0.005689317360520363,
-0.0023874412290751934,
0.023081600666046143,
-0.0006694970652461052,
-0.018396811559796333,
-0.01063087023794651,
-0.023964503780007362,
-0.09333543479442596,
-0.036721546202898026,
0.0036014325451105833,
-0.0018592760898172855,
0.052109282463788986,
0.01683821715414524,
-0.01618955470621586,
-0.026018604636192322,
0.007288452237844467,
-0.018423838540911674,
-0.03520800173282623,
0.03463141247630119,
-0.05423545464873314,
0.02009054273366928,
0.015117457136511803,
0.06101038306951523,
0.028162796050310135,
-0.02151399850845337,
0.007991170510649681,
0.0034370142966508865,
0.039099980145692825,
0.02299150824546814,
-0.042919885367155075,
0.00027449941262602806,
-0.0005433681071735919,
0.01741480641067028,
-0.057658955454826355,
0.015108448453247547,
-0.0015293137403205037,
0.00917137786746025,
-0.025171738117933273,
-0.04212707653641701,
-0.015117457136511803,
0.004326674155890942,
-0.050920065492391586,
0.06158697232604027,
0.03931619971990585,
0.05427149310708046,
0.0023153675720095634,
0.01503637433052063,
-0.036433253437280655,
-0.015414761379361153,
0.011621883139014244,
-0.04695601388812065,
-0.008842541836202145,
-0.07340706139802933,
-0.022180680185556412,
0.04479380324482918,
-0.059172503650188446,
-0.029081735759973526,
0.017892295494675636,
0.015234577469527721,
0.027946574613451958,
-0.0796414315700531,
0.01623459905385971,
0.006955111399292946,
0.02452307567000389,
-0.0009549764799885452,
-0.007351516745984554,
0.035226017236709595,
0.016658032312989235,
0.03329804539680481,
0.036505326628685,
0.016441810876131058,
0.012288564816117287,
-0.02216266095638275,
0.01707245595753193,
0.0007578999502584338,
-0.052073244005441666,
0.020541002973914146,
-0.03400076553225517,
0.013648956082761288,
0.050884030759334564,
0.017757156863808632,
0.014964301139116287,
-0.00332439923658967,
0.004218563437461853,
0.04162256047129631,
-0.013378679752349854,
0.015865221619606018,
-0.015838194638490677,
-0.0020158111583441496,
0.013567873276770115,
0.002592400647699833,
-0.027784409001469612,
-0.045874908566474915,
0.00723439734429121,
0.02679339610040188,
-0.008558751083910465,
0.016036396846175194,
0.021477961912751198,
0.013018311001360416,
-0.04980292171239853,
-0.007437104359269142,
-0.05254172533750534,
-0.04454154521226883,
-0.002635194454342127,
-0.0003023716853931546,
0.004729836247861385,
-0.003198270220309496,
-0.015594946220517159,
0.0218203105032444,
0.06508255004882812,
0.01915358379483223,
-0.03542422130703926,
0.0371900275349617,
0.04576679691672325,
0.03482961282134056,
-0.010306538082659245,
0.006022658199071884,
-0.00016934503219090402,
0.0094236359000206,
-0.004873983561992645,
0.012297574430704117,
0.01828869991004467,
0.007455122657120228,
-0.004657762590795755,
-0.04659564420580864,
0.047316379845142365,
0.012829117476940155,
0.014928264543414116,
0.009288497269153595,
-0.005905538331717253,
0.007243406493216753,
0.0022725737653672695,
-0.01460393238812685,
0.017928332090377808,
-0.012279556132853031,
-0.0022601860109716654,
-0.005833464674651623,
-0.013369670137763023,
-0.009585801512002945,
0.012162435799837112,
0.015829185023903847,
0.003727561328560114,
-0.01826167292892933,
-0.044685691595077515,
0.005662289913743734,
-0.036973804235458374,
-0.011513772420585155,
0.01740579679608345,
0.001148674520663917,
0.005450573284178972,
0.019928377121686935,
0.013342643156647682,
-0.005337958224117756,
0.011919187381863594,
0.028613256290555,
0.00016033582505770028,
-0.009684902615845203,
0.041154079139232635,
0.022847361862659454,
-0.014829162508249283,
0.03160431608557701,
-0.01461294200271368,
-0.00797765702009201,
-0.03329804539680481,
-0.00478389160707593,
-0.0013480032794177532,
0.0024887947365641594,
0.015982341021299362,
-0.009576791897416115,
-0.008630825206637383,
0.031460169702768326,
-0.0068605151027441025,
0.07099258899688721,
-0.031063763424754143,
-0.05171287804841995,
-0.02183832973241806,
0.06137075275182724,
-0.008743439801037312,
0.008874073624610901,
-0.03277551382780075,
0.001320975716225803,
-0.02299150824546814,
0.001741030253469944,
0.01296425610780716,
0.026433028280735016,
0.010153382085263729,
-0.03974864259362221,
0.0022939706686884165,
-0.039388272911310196,
0.0038807180244475603,
-0.0005901033873669803,
-0.01920763961970806,
0.02982049062848091,
0.007482150569558144,
0.002668979112058878,
-0.013856167905032635,
0.02391044795513153,
-0.01768508367240429,
-0.01589225046336651,
0.023423951119184494,
-0.026415009051561356,
-0.022523030638694763,
0.03153224289417267,
-0.010387620888650417,
-0.0041104527190327644,
-0.014558886177837849,
0.0049415528774261475,
-0.04036127030849457,
-0.023478006944060326,
-0.02598256804049015,
-0.016405774280428886,
-0.03538818284869194,
0.03547827526926994,
0.015829185023903847,
0.016369737684726715,
-0.016063425689935684,
-0.0029572737403213978,
0.014279601164162159,
-0.010603842325508595,
-0.05812743678689003,
0.03576657176017761,
-0.008558751083910465,
0.021622108295559883,
0.01882925257086754,
-0.04100993275642395,
-0.062415819615125656,
-0.030829522758722305,
0.009531746618449688,
-0.0034099866170436144,
0.01281109917908907,
0.0030000675469636917,
0.021622108295559883,
0.008937138132750988,
-0.019622063264250755,
0.02771233581006527,
-0.021153628826141357,
-0.04537039250135422,
0.018793215975165367,
-0.02245095558464527,
-0.001006216392852366,
0.0048514604568481445,
-0.04778486117720604,
-0.02742404118180275,
-0.03504583612084389,
-0.010964211076498032,
-0.03517196327447891,
0.05243361368775368,
-0.011856122873723507,
0.031748462468385696,
0.013892204500734806,
0.036144956946372986,
0.02326178550720215,
-0.005491114687174559,
0.00042568525532260537,
-0.02888353355228901,
0.03870357573032379,
-0.016333701089024544,
-0.0066352845169603825,
0.012063334695994854,
0.005121736787259579,
-0.018423838540911674,
0.0072118742391467094,
-0.03396472707390785,
-0.022505011409521103,
-0.014108425937592983,
0.024685241281986237,
-0.012009279802441597,
-0.014333656057715416,
0.04403702914714813,
0.05524448677897453,
-0.023207729682326317,
-0.03392869234085083,
-0.006022658199071884,
0.003162233391776681,
0.02246897481381893,
0.00523885665461421,
0.0354062020778656,
-0.0006847000913694501,
0.024234779179096222,
-0.008378567174077034,
0.025766346603631973,
0.01505439355969429,
-0.004493344575166702,
-0.001684722607024014,
0.009657875634729862,
-0.0060767135582864285,
-0.0026487084105610847,
-0.04461361840367317,
0.011018265970051289,
0.010982229374349117,
-0.029442105442285538,
0.03870357573032379,
-0.032919660210609436,
0.047208271920681,
0.01597333326935768,
0.01740579679608345,
0.022847361862659454,
0.010018243454396725,
-0.05110025033354759,
-0.03095565177500248,
0.007324489299207926,
0.004250095691531897,
0.008802000433206558,
-0.004882992710918188,
0.04742449149489403,
-0.01654992252588272,
-0.004837946966290474,
-0.0303970817476511,
-0.02389243058860302,
0.00028660555835813284,
-0.021333813667297363,
-0.021586071699857712,
-0.017270660027861595,
-0.02864929474890232,
0.01655893214046955,
0.004304151050746441,
0.011883150786161423,
-0.01048672292381525,
-0.003991080913692713,
0.040829747915267944,
0.012108380906283855,
-0.04335232824087143,
-0.00112727761734277,
-0.016667041927576065,
0.0342169851064682,
0.01076600793749094,
-0.0021791032049804926,
-0.025171738117933273,
0.023514043539762497,
-0.005306425970047712,
0.02773035503923893,
0.0056352620013058186,
0.012883173301815987,
-0.022000495344400406,
0.039424311369657516,
0.03960449621081352,
0.03463141247630119,
-0.0013885447988286614,
0.035226017236709595,
-0.034973759204149246,
0.01650487631559372,
0.024649204686284065,
-0.026324916630983353,
0.004299646243453026,
-0.018072478473186493,
0.01623459905385971,
-0.026180770248174667,
0.009130836464464664,
0.01857699453830719,
0.014639968983829021,
-0.01833374612033367,
0.05124439671635628,
0.016973355785012245,
0.0003705038398038596,
0.052109282463788986,
-0.037009842693805695,
0.005419041030108929,
-0.017468862235546112,
0.024252798408269882,
0.02502758987247944,
-0.026757359504699707,
0.054703935980796814,
-0.017874276265501976,
0.027369985356926918,
0.0023806842509657145,
-0.04832541197538376,
0.020216671749949455,
0.023766301572322845,
-0.02630689926445484,
0.008842541836202145,
-0.009234442375600338,
-0.019261695444583893,
0.009964188560843468,
0.013955269008874893,
-0.03277551382780075,
0.01618054509162903,
-0.027982613071799278,
-0.006346989888697863,
-0.011135386303067207,
0.006973130162805319,
0.011243496090173721,
0.0347215011715889,
-0.0330277718603611,
-0.02681141532957554,
-0.004317665006965399,
0.021640127524733543,
-0.010063289664685726,
-0.05729858949780464,
-0.05279398337006569,
-0.019874321296811104,
0.00582445552572608,
-0.030919615179300308,
0.05301020294427872,
0.024973535910248756,
-0.031099800020456314,
0.07034392654895782,
0.0022095092572271824,
-0.018955381587147713,
-0.05200117081403732,
-0.0015304398257285357,
0.04753260314464569,
0.00023198720009531826,
0.01548683550208807,
0.04050541669130325,
-0.008365053683519363,
-0.027604226022958755,
0.016108470037579536,
-0.03509989008307457,
-0.021676164120435715,
0.0197842288762331,
-0.0019313498632982373,
0.02178427390754223,
0.0030608796514570713,
-0.031045744195580482,
-0.04922633245587349,
0.022000495344400406,
0.039712607860565186,
-0.0060586947947740555,
0.003734318306669593,
0.039712607860565186,
0.021027499809861183,
-0.04904615134000778,
-0.018504921346902847,
0.02711772732436657,
0.00626590708270669,
0.0015732336323708296,
0.03546025976538658,
0.0431361049413681,
-0.00391225004568696,
0.05719047784805298,
0.005031644832342863,
-0.012594878673553467,
-0.011180431582033634,
0.03338813781738281,
-0.04392891749739647,
-0.03547827526926994,
-0.04609112814068794,
0.020162615925073624,
0.03657739982008934,
-0.030270952731370926,
0.03924412652850151,
-0.027315931394696236,
-0.03137007728219032,
-0.03158629685640335
] |
Research automation efforts usually employ AI as a tool to automate specific
tasks within the research process. To create an AI that truly conduct research
themselves, it must independently generate hypotheses, design verification
plans, and execute verification. Therefore, we investigated if an AI itself
could autonomously generate and verify hypothesis for a toy machine learning
research problem. We prompted GPT-4 to generate hypotheses and Python code for
hypothesis verification with limited methodological guidance. Our findings
suggest that, in some instances, GPT-4 can autonomously generate and validate
hypotheses without detailed guidance. While this is a promising result, we also
found that none of the verifications were flawless, and there remain
significant challenges in achieving autonomous, human-level research using only
generic instructions. These findings underscore the need for continued
exploration to develop a general and autonomous AI researcher. | [
-0.0013555282494053245,
-0.028874678537249565,
-0.02335929125547409,
-0.01794123277068138,
0.022175105288624763,
0.02530589886009693,
0.004578583408147097,
0.01432378776371479,
-0.016213618218898773,
0.03782907500863075,
0.017211254686117172,
-0.04876251891255379,
0.03057796135544777,
0.006281864829361439,
-0.006732017733156681,
0.03229746222496033,
0.011590425856411457,
0.014575224369764328,
-0.041527628898620605,
-0.07286801189184189,
-0.017519468441605568,
-0.0374721959233284,
-0.06264831870794296,
0.007356554269790649,
0.029361329972743988,
-0.02322951704263687,
-0.011768865399062634,
-0.012807055376470089,
-0.026149427518248558,
0.052558403462171555,
0.03164859488606453,
0.010219689458608627,
0.016027068719267845,
-0.021331574767827988,
0.003599196206778288,
-0.024478590115904808,
0.016310948878526688,
-0.0011395765468478203,
-0.002080436795949936,
0.0280960351228714,
0.033903416246175766,
-0.029458660632371902,
0.012944940477609634,
-0.03841305524110794,
-0.01600273698568344,
-0.01639205776154995,
0.036304231733083725,
-0.030886173248291016,
-0.020698927342891693,
-0.019449854269623756,
-0.0023257904686033726,
0.011420098133385181,
0.09531888365745544,
-0.017113924026489258,
-0.019644515588879585,
0.0003066920908167958,
0.005900654010474682,
-0.04298758506774902,
0.050352249294519424,
-0.07053208351135254,
0.01515109557658434,
0.06676863878965378,
-0.01826566830277443,
0.02462458610534668,
0.046199485659599304,
-0.04409066215157509,
0.023570172488689423,
-0.0029746596701443195,
0.04960605129599571,
0.009351827204227448,
0.01912541873753071,
-0.05051446706056595,
-0.04535595700144768,
0.02222377061843872,
0.028274474665522575,
-0.05920931324362755,
0.02616564929485321,
0.042468488216400146,
-0.02301863394677639,
0.023407956585288048,
0.07935670018196106,
0.00990336574614048,
-0.01355325523763895,
-0.01415345910936594,
0.04597238078713417,
0.009651929140090942,
0.0244137030094862,
-0.05388858541846275,
-0.0008678625454194844,
0.009011170826852322,
-0.04100853204727173,
0.036790881305933,
-0.002490035491064191,
-0.02128290943801403,
-0.012482620775699615,
0.01355325523763895,
-0.028209587559103966,
0.04431776702404022,
-0.02021227590739727,
-0.016432613134384155,
0.011103774420917034,
-0.008402856066823006,
0.050027813762426376,
0.003635695204138756,
-0.005065235309302807,
-0.059923071414232254,
0.0016586718847975135,
-0.04331201687455177,
0.0009550543618388474,
0.15365222096443176,
-0.02321329526603222,
-0.0005251785041764379,
-0.018298111855983734,
-0.037504639476537704,
-0.024851689115166664,
-0.011931082233786583,
-0.06329718977212906,
-0.052623290568590164,
-0.005093622952699661,
-0.05641917511820793,
0.04055432602763176,
0.0024352872278541327,
0.03672599792480469,
-0.053304605185985565,
-0.0008151419460773468,
0.07397108525037766,
-0.014234567992389202,
-0.005551887210458517,
0.007543104235082865,
0.008459632284939289,
-0.0027394446078687906,
0.044739529490470886,
-0.0013697223039343953,
0.01539442129433155,
-0.0020256885327398777,
-0.0008100726408883929,
0.012093299068510532,
0.006212922278791666,
-0.036044683307409286,
-0.020828701555728912,
-0.09713571518659592,
-0.005328838247805834,
0.015743188560009003,
-0.0014376507606357336,
0.007928370498120785,
0.024040604010224342,
-0.030399521812796593,
0.14885058999061584,
-0.0271065104752779,
-0.008565072901546955,
-0.047335006296634674,
0.052363742142915726,
-0.024575920775532722,
-0.017616799101233482,
-0.03896459564566612,
0.0019121364457532763,
0.0063143083825707436,
0.018768541514873505,
-0.04321468621492386,
0.02034204825758934,
0.08681869506835938,
-0.025046350434422493,
0.05989062786102295,
0.030399521812796593,
0.021834447979927063,
0.013537033461034298,
-0.0254194512963295,
0.029750652611255646,
-0.05272062122821808,
0.029620878398418427,
0.00189084536395967,
-0.0010128442663699389,
0.011833751574158669,
-0.004241982474923134,
-0.014437339268624783,
-0.002950327005237341,
-0.01912541873753071,
0.04289025440812111,
0.015232204459607601,
-0.0033619534224271774,
-0.06592510640621185,
0.017746571451425552,
0.050157587975263596,
0.03708287328481674,
0.039775680750608444,
0.07779941707849503,
0.09843345731496811,
0.026003433391451836,
0.00012597187014762312,
0.024738138541579247,
-0.024381259456276894,
-0.059111982583999634,
0.004538028966635466,
0.008857064880430698,
-0.019287636503577232,
-0.04804876446723938,
-0.03779663145542145,
0.0047043017111718655,
-0.054245464503765106,
0.023781055584549904,
-0.009116612374782562,
-0.06177234649658203,
-0.012239295057952404,
0.030010199174284935,
-0.02214266173541546,
0.05213664099574089,
-0.005941208451986313,
0.01399124227464199,
0.007798596750944853,
-0.016246061772108078,
-0.012425844557583332,
-0.07728032022714615,
-0.024575920775532722,
-0.09817390888929367,
-0.016757046803832054,
-0.028209587559103966,
-0.010868558660149574,
0.027852710336446762,
-0.053693924099206924,
0.01632717065513134,
-0.03607712686061859,
-0.00031759103876538575,
0.05057935416698456,
-0.026782074943184853,
-0.007924314588308334,
-0.030756399035453796,
-0.010081805288791656,
-0.005592441186308861,
-0.014121015556156635,
0.015548528172075748,
-0.030756399035453796,
0.05239618569612503,
0.01974184438586235,
0.02582499384880066,
0.002682668622583151,
0.0071375612169504166,
0.03711531683802605,
0.01846032775938511,
-0.001895914669148624,
-0.02361883781850338,
-0.00030187625088728964,
-0.04396088793873787,
-0.040392108261585236,
-0.046945687383413315,
0.08273082226514816,
0.0008171696099452674,
-0.02689562737941742,
0.023472843691706657,
0.033838529139757156,
0.026846962049603462,
-0.008646181784570217,
0.05239618569612503,
-0.01787634566426277,
0.016675937920808792,
-0.005414002109318972,
-0.014331898652017117,
0.08149796724319458,
0.005791157484054565,
-0.01116866059601307,
0.05385614186525345,
-0.010244022123515606,
0.0018766513094305992,
0.017908789217472076,
0.014559002593159676,
-0.02034204825758934,
-0.006841514725238085,
0.03244346007704735,
0.05521876737475395,
-0.010657676495611668,
0.006375139579176903,
0.035233598202466965,
-0.05560809001326561,
0.014072350226342678,
0.010633343830704689,
-0.016675937920808792,
-0.04042455181479454,
-0.04237115755677223,
0.03182703256607056,
0.007182170636951923,
0.012734058313071728,
-0.004992237314581871,
-0.021996665745973587,
0.050027813762426376,
-0.013747915625572205,
0.015970293432474136,
-0.0802651196718216,
-0.04431776702404022,
-0.02851780131459236,
-0.0742306336760521,
0.04642659053206444,
0.017016595229506493,
-0.0028955787420272827,
-0.030756399035453796,
0.01572696678340435,
0.014364341273903847,
-0.03294633328914642,
0.0008440368692390621,
0.04791899025440216,
-0.0028915232978761196,
0.019790509715676308,
-0.015467419289052486,
-0.02817714400589466,
0.009716816246509552,
0.027544496580958366,
0.03779663145542145,
0.015872962772846222,
0.006046649534255266,
0.036109570413827896,
0.009992585517466068,
0.029393773525953293,
0.04107341915369034,
0.041981834918260574,
-0.057911574840545654,
-0.004874629899859428,
0.010325131006538868,
0.04522618278861046,
0.06261587888002396,
-0.009108501486480236,
-0.0133829265832901,
-0.027868932113051414,
0.011055109091103077,
-0.0334816500544548,
-0.06537356972694397,
0.06083148717880249,
-0.003595140762627125,
0.03821839392185211,
-0.001049343147315085,
0.03941880166530609,
-0.004513696301728487,
-0.05314238741993904,
0.011087552644312382,
-0.0394836887717247,
0.006926678586751223,
-0.0014569141203537583,
-0.039710793644189835,
-0.07974602282047272,
-0.042922697961330414,
0.026084542274475098,
-0.007080784998834133,
0.024981463328003883,
-0.03805617615580559,
0.02749583125114441,
0.032427236437797546,
-0.005997984670102596,
0.0157188568264246,
-0.03847794234752655,
0.03393585979938507,
0.050352249294519424,
-0.017049038782715797,
0.0045745279639959335,
0.0008338983170688152,
-0.009392381645739079,
-0.025192346423864365,
-0.047335006296634674,
-0.03773174434900284,
0.01100644376128912,
-0.00318554206751287,
-0.033222101628780365,
0.01525653712451458,
0.03445495292544365,
0.05103356018662453,
-0.09810902178287506,
0.005949319340288639,
-0.018703654408454895,
-0.02167223021388054,
0.0009286940330639482,
-0.008711068890988827,
-0.017357250675559044,
-0.025387007743120193,
-0.017762793228030205,
-0.009960141964256763,
0.06057193875312805,
0.0321028046309948,
-0.04746478050947189,
-0.024381259456276894,
-0.032427236437797546,
-0.053304605185985565,
-0.023472843691706657,
-0.03070773370563984,
0.06070171296596527,
0.0037654689513146877,
0.007518771570175886,
-0.01328559685498476,
0.051163334399461746,
-0.04003522917628288,
0.022905081510543823,
0.04525862634181976,
-0.003803995670750737,
-0.013334262184798717,
0.07066185772418976,
0.00329503882676363,
-0.016035180538892746,
-0.03799129277467728,
-0.05606229975819588,
0.02141268365085125,
0.030902395024895668,
0.018427884206175804,
-0.026149427518248558,
0.008678625337779522,
-0.02783648855984211,
0.0008653278928250074,
-0.03331943228840828,
-0.03734242171049118,
0.03490916267037392,
-0.047010574489831924,
-0.0015441059367731214,
-0.036434005945920944,
0.0187360979616642,
-0.006833403836935759,
-0.019693179056048393,
0.007157838437706232,
0.005122011061757803,
0.007814818061888218,
-0.04126808047294617,
0.0435066781938076,
0.007007787469774485,
0.01465633325278759,
-0.009173388592898846,
0.03666111081838608,
-0.00930316187441349,
0.057716913521289825,
0.07591769844293594,
0.0035870301071554422,
-0.007875650189816952,
-0.023505287244915962,
0.0017032816540449858,
0.015605304390192032,
0.03265434131026268,
-0.05272062122821808,
-0.037634413689374924,
0.010349463671445847,
-0.0029199114069342613,
-0.0009459296124987304,
-0.04269559308886528,
-0.023310625925660133,
-0.03207036107778549,
0.00451775174587965,
0.0133829265832901,
-0.016821933910250664,
0.03915925696492195,
-0.035233598202466965,
-0.01388580072671175,
-0.017714129760861397,
-0.03367631137371063,
-0.05654894933104515,
-0.03792640566825867,
-0.051422882825136185,
-0.02796626277267933,
-0.014315676875412464,
-0.06563311815261841,
-0.01786012388765812,
0.0000511681500938721,
-0.09363182634115219,
-0.03659622371196747,
0.03692065551877022,
-0.04980070888996124,
0.01886587217450142,
-0.01040623988956213,
0.015029432252049446,
-0.046686138957738876,
0.019255192950367928,
0.022807752713561058,
0.022321099415421486,
-0.03795884922146797,
0.008159530349075794,
-0.02535456418991089,
-0.03526604175567627,
-0.04717278853058815,
0.026311645284295082,
0.02055293135344982,
-0.013236931525170803,
0.023732390254735947,
-0.014177791774272919,
-0.0033234269358217716,
0.012369069270789623,
0.023910829797387123,
0.031681038439273834,
0.014672554098069668,
0.021704673767089844,
-0.009935809299349785,
-0.004513696301728487,
0.020828701555728912,
0.009781703352928162,
-0.010365685448050499,
-0.0038242728915065527,
0.04230627045035362,
0.10128848254680634,
-0.042468488216400146,
0.06988321244716644,
-0.002388649620115757,
-0.048405639827251434,
-0.02361883781850338,
0.03588246554136276,
-0.03232990577816963,
0.03025352582335472,
0.022872639819979668,
-0.015061875805258751,
-0.010925334878265858,
0.01948229782283306,
-0.01164720207452774,
-0.018054785206913948,
-0.07312756031751633,
-0.030091308057308197,
-0.0019303858280181885,
0.00555594265460968,
0.022775309160351753,
-0.005061179865151644,
-0.009181499481201172,
-0.016838155686855316,
0.021428905427455902,
-0.036434005945920944,
-0.010511680506169796,
-0.023456621915102005,
0.006188590079545975,
0.034292735159397125,
0.000754310458432883,
0.00013433619460556656,
0.008711068890988827,
0.03773174434900284,
0.014672554098069668,
0.03468205779790878,
-0.028680019080638885,
-0.02120180055499077,
-0.004639414604753256,
-0.025581667199730873,
0.03640156239271164,
-0.004525862634181976,
-0.0029138282407075167,
-0.00674418406561017,
0.012498842552304268,
-0.021964222192764282,
0.06845569610595703,
-0.01725992001593113,
-0.03125927224755287,
0.005608662962913513,
-0.040262334048748016,
0.01375602651387453,
0.03361142426729202,
0.004862463567405939,
-0.006014206446707249,
-0.04963849484920502,
0.010730674490332603,
-0.00485029723495245,
0.053499266505241394,
0.006780683062970638,
-0.008743512444198132,
0.062194112688302994,
0.00783509574830532,
0.005787102039903402,
-0.021331574767827988,
-0.02697673626244068,
0.025792550295591354,
-0.0024494812823832035,
0.024478590115904808,
0.007072674110531807,
-0.008289303630590439,
-0.01017102412879467,
-0.005032791756093502,
-0.007206503301858902,
-0.04363645240664482,
-0.0264414194971323,
0.02262931317090988,
-0.042046722024679184,
-0.004830020014196634,
-0.025792550295591354,
-0.008467743173241615,
0.014080461114645004,
0.017146367579698563,
-0.003524170722812414,
0.01251506432890892,
0.005718159954994917,
-0.005361281801015139,
0.01094155665487051,
0.010284576565027237,
-0.0027394446078687906,
0.020196054130792618,
-0.0005677605513483286,
-0.008621849119663239,
-0.07715054601430893,
-0.007429552264511585,
0.02798248454928398,
-0.024786803871393204,
-0.00258533819578588,
0.02000139281153679,
-0.0022974025923758745,
-0.004943571984767914,
-0.007802652195096016,
-0.011257880367338657,
0.040262334048748016,
-0.037634413689374924,
-0.017276141792535782,
0.008427188731729984,
-0.02689562737941742,
-0.008459632284939289,
-0.03484427556395531,
0.020033836364746094,
0.019238971173763275,
0.011931082233786583,
-0.01512676291167736,
-0.010511680506169796,
-0.016546163707971573,
0.0018573880661278963,
0.08889508247375488,
0.030545517802238464,
-0.006018261890858412,
-0.015337645076215267,
-0.007891871966421604,
-0.007068618666380644,
0.0006726948777213693,
0.018184559419751167,
0.012109520845115185,
-0.028923343867063522,
0.011241658590734005,
-0.003639750648289919,
0.027885153889656067,
-0.05385614186525345,
0.004138568881899118,
0.021055804565548897,
-0.0388348214328289,
0.012036523781716824,
0.04457731172442436,
-0.03297877684235573,
0.026928070932626724,
0.029150448739528656,
-0.03314099460840225,
0.051974423229694366,
-0.032832782715559006,
0.003943908028304577,
-0.008123030886054039,
0.009668150916695595,
-0.040327221155166626,
-0.03552558645606041,
-0.020763814449310303,
-0.0001321817544521764,
0.009043614380061626,
-0.00369855435565114,
-0.016237951815128326,
0.059987954795360565,
0.026116985827684402,
-0.022369764745235443,
0.008301470428705215,
-0.026149427518248558,
-0.0108766695484519,
0.051487769931554794,
-0.02061781845986843,
0.021915556862950325,
0.039191700518131256,
-0.004375811666250229,
0.0327841155230999,
0.00916527770459652,
0.015094319358468056,
0.028323139995336533,
0.006723906844854355,
0.04276048019528389,
0.020050058141350746,
-0.0167408250272274,
-0.02442992478609085,
0.015102430246770382,
-0.017292363569140434,
0.018914537504315376,
0.030886173248291016,
0.014769884757697582,
0.0033295101020485163,
-0.03922414407134056,
0.04860030114650726,
-0.002755666384473443,
0.013334262184798717,
-0.012701614759862423,
-0.01355325523763895,
0.06903968006372452,
0.04558306187391281,
-0.03367631137371063,
-0.03997034206986427,
0.01954718492925167,
0.01652994193136692,
-0.025468116626143456,
0.030058864504098892,
0.04175473377108574,
-0.00191923335660249,
0.006419749464839697,
-0.03317343816161156,
0.014413006603717804,
-0.010892891325056553,
-0.01888209395110607,
-0.020163610577583313,
0.020893588662147522,
0.018427884206175804,
0.031745925545692444,
0.002269014483317733,
-0.00237445579841733,
-0.09531888365745544,
0.021169357001781464,
-0.010195356793701649,
0.00734438793733716,
0.003682332579046488,
0.08668892085552216,
-0.026473863050341606,
-0.03873749077320099,
-0.000006732651399943279,
-0.06608732789754868,
-0.03461717069149017,
0.01214196439832449,
-0.015386310406029224,
-0.052298855036497116,
-0.0012440038844943047,
0.013902022503316402,
0.011290323920547962,
-0.0083704125136137,
-0.01027646567672491,
0.03445495292544365,
0.02087736688554287,
0.03194058686494827,
-0.006695518735796213,
0.01987161859869957,
0.02061781845986843,
0.045193739235401154,
0.036174457520246506,
0.0007426510564982891,
0.01773035153746605,
0.0481785386800766,
0.01867121085524559,
0.0005064221331849694,
-0.0180710069835186,
-0.0501900315284729,
-0.011663423851132393,
0.00976548157632351,
0.0012946968199685216,
0.0277716014534235,
-0.008638070896267891,
-0.015767522156238556,
0.026246758177876472,
-0.025873659178614616,
-0.006630632095038891,
0.005705993622541428,
-0.0133829265832901,
-0.025516780093312263,
-0.005916875787079334,
0.021445127204060555,
-0.022045331075787544,
-0.03572024777531624,
0.0017002400709316134,
-0.0027313337195664644,
0.0394836887717247,
-0.05044957995414734,
-0.012150075286626816,
0.0007375817513093352,
-0.0535317063331604,
0.011225436814129353,
0.013001716695725918,
0.02027716301381588,
0.04697813093662262,
-0.005024680867791176,
0.045810163021087646,
-0.024916576221585274,
-0.007157838437706232,
-0.010746896266937256,
0.011233547702431679,
-0.0036336674820631742,
-0.013537033461034298,
-0.022029109299182892,
0.00866240356117487,
0.020893588662147522,
0.014721219427883625,
0.02657119370996952,
0.04237115755677223,
-0.018054785206913948,
0.0025751995854079723,
-0.008573183789849281,
0.014234567992389202,
0.0354607030749321,
0.05044957995414734,
-0.008041922934353352,
0.07144049555063248,
0.01191486045718193,
0.050157587975263596,
-0.0528828389942646,
0.027074066922068596,
-0.012661060318350792,
-0.002285236259922385,
-0.005134177394211292,
-0.014396784827113152,
-0.045128852128982544,
-0.02963710017502308,
0.00949782319366932,
-0.011598536744713783,
-0.010146692395210266,
-0.011055109091103077,
-0.06832592934370041,
0.054375238716602325,
0.04133296757936478,
0.02543567307293415,
-0.02167223021388054,
0.012985494919121265,
0.0007036175229586661,
0.014307565987110138,
-0.011720200069248676,
0.01834677718579769,
-0.021364018321037292,
0.007153782993555069,
-0.024575920775532722,
0.053109943866729736,
0.013585698790848255,
-0.0011527566239237785,
0.017487024888396263,
-0.01927141472697258,
-0.04010011628270149,
-0.0041020698845386505,
-0.012790833599865437,
0.026863183826208115,
0.03961346298456192,
0.006918567698448896,
0.0033092328812927008,
-0.015540417283773422,
0.0010655649239197373,
0.0016708382172510028,
-0.02623053640127182,
-0.024543477222323418,
0.04470708593726158,
-0.007648545783013105,
-0.03124305233359337,
-0.06430293619632721,
0.00468402449041605,
-0.029426217079162598,
0.03698554262518883,
0.020909810438752174,
-0.003964185249060392,
0.006699574179947376,
0.0015724939294159412,
0.0217533390969038,
0.018817206844687462,
0.03692065551877022,
0.010333241894841194,
-0.0034390066284686327,
-0.011744532734155655,
-0.011890527792274952,
0.0414951853454113,
-0.011971636675298214,
-0.0183954406529665,
-0.022661756724119186,
-0.01841166242957115,
-0.04632925987243652,
0.0002540981804486364,
0.006549523212015629,
-0.014875326305627823,
-0.06780683249235153,
-0.046815913170576096,
-0.048892293125391006,
0.010949667543172836,
0.003751274896785617,
0.039386358112096786,
0.03889970853924751,
-0.010933445766568184,
0.030675290152430534,
0.016692159697413445,
0.006667131092399359,
0.017633020877838135,
0.0008055102662183344,
0.03361142426729202,
0.03662866726517677,
-0.03633667528629303,
-0.048210982233285904,
-0.031226830556988716,
0.013472146354615688,
-0.05609474331140518,
-0.00348767195828259,
-0.05275306478142738,
0.010965889319777489,
-0.024462368339300156,
-0.005073346197605133,
-0.05492677539587021,
-0.04746478050947189,
-0.01459144614636898,
-0.05807379260659218,
0.015808075666427612,
-0.005365337245166302,
0.047335006296634674,
0.04126808047294617,
0.008508297614753246,
-0.03620690107345581,
-0.02248331718146801,
0.0347793884575367,
0.03802373632788658,
0.017081482335925102,
-0.014477893710136414,
-0.033416762948036194,
0.0035931130405515432,
-0.03539581596851349,
-0.01700037345290184,
-0.029020674526691437,
-0.026181871071457863,
-0.017779015004634857,
0.023991938680410385,
-0.008573183789849281,
-0.005774935707449913,
0.04353912174701691,
0.0280960351228714,
0.036790881305933,
0.03941880166530609,
0.020325826480984688,
-0.004643470048904419,
0.011687756516039371,
-0.014802328310906887,
-0.005405891221016645,
-0.03578513488173485,
-0.002228460041806102,
-0.03708287328481674,
-0.0055275545455515385,
-0.022791530936956406,
0.054245464503765106,
0.006346751935780048,
-0.050027813762426376,
-0.008362301625311375,
-0.025614110752940178,
-0.010195356793701649,
0.04188450798392296,
0.008800288662314415,
0.006719851400703192,
-0.0021615454461425543,
0.021834447979927063,
-0.013228820636868477,
0.010227800346910954,
-0.008410966955125332,
0.014145348221063614,
0.0015197732718661427,
-0.046134598553180695,
0.007032119669020176,
-0.0020713121630251408,
0.018573880195617676,
0.00501656997948885,
-0.03662866726517677,
-0.04087875783443451,
0.02751205302774906,
-0.014161569997668266,
0.021769560873508453,
0.058398228138685226,
-0.009124723263084888,
-0.014121015556156635,
0.021364018321037292,
0.034811832010746,
-0.037504639476537704,
-0.017081482335925102,
0.006289975717663765,
0.009992585517466068,
0.03393585979938507,
-0.028258252888917923,
-0.005819545593112707,
0.05252595990896225,
0.050222475081682205,
0.04629681631922722,
0.018963202834129333,
0.008281192742288113,
0.011087552644312382,
-0.01586485095322132,
0.01114432793110609,
-0.02348906546831131,
-0.01794123277068138,
0.004615081939846277,
-0.026522528380155563,
-0.014737441204488277,
0.01753569021821022,
0.009870922192931175,
0.04120319336652756,
-0.009960141964256763,
-0.03164859488606453,
0.014640111476182938,
0.03458472713828087,
-0.0044934190809726715,
-0.02381349913775921,
-0.014907769858837128,
-0.007920259609818459,
-0.007668822538107634,
-0.033351875841617584,
-0.0010179135715588927,
0.04639414697885513,
0.05680849775671959,
-0.01920652762055397,
-0.01558908261358738,
-0.006338641047477722,
-0.013545144349336624,
0.036369118839502335,
0.0522015281021595,
-0.053239718079566956,
-0.03954857587814331,
-0.0006083148764446378,
-0.042728036642074585,
-0.028014928102493286,
-0.018298111855983734,
-0.002236570930108428,
-0.02494901977479458,
-0.029555991291999817,
-0.016773268580436707,
0.020439378917217255,
-0.003179459134116769,
0.008954394608736038,
-0.024446146562695503,
0.010373796336352825,
0.04104097560048103,
0.0038526607677340508,
-0.03031841292977333,
0.035038936883211136,
-0.044479984790086746,
-0.027057845145463943,
-0.011906749568879604,
-0.009222052991390228,
0.01980673149228096,
0.035298485308885574,
0.025922324508428574,
0.031745925545692444,
-0.014396784827113152,
0.008475854061543941,
0.01625417359173298,
-0.025743884965777397,
0.0025650609750300646,
-0.019563406705856323,
-0.01475366298109293,
0.02115313522517681,
-0.04383111372590065,
-0.040521882474422455,
0.028079813346266747,
-0.024527255445718765,
-0.009335605427622795,
-0.026457641273736954,
-0.0004468579718377441,
-0.0003566246014088392
] |
In Computational Fluid Dynamics (CFD), coarse mesh simulations offer
computational efficiency but often lack precision. Applying conventional
super-resolution to these simulations poses a significant challenge due to the
fundamental contrast between downsampling high-resolution images and
authentically emulating low-resolution physics. The former method conserves
more of the underlying physics, surpassing the usual constraints of real-world
scenarios. We propose a novel definition of super-resolution tailored for
PDE-based problems. Instead of simply downsampling from a high-resolution
dataset, we use coarse-grid simulated data as our input and predict fine-grid
simulated outcomes. Employing a physics-infused UNet upscaling method, we
demonstrate its efficacy across various 2D-CFD problems such as discontinuity
detection in Burger's equation, Methane combustion, and fouling in Industrial
heat exchangers. Our method enables the generation of fine-mesh solutions
bypassing traditional simulation, ensuring considerable computational saving
and fidelity to the original ground truth outcomes. Through diverse boundary
conditions during training, we further establish the robustness of our method,
paving the way for its broad applications in engineering and scientific CFD
solvers. | [
-0.010797363705933094,
0.01271968986839056,
-0.040782056748867035,
-0.0063284048810601234,
0.044303327798843384,
0.0171931404620409,
-0.035158805549144745,
0.032445989549160004,
-0.028870820999145508,
-0.003339367685839534,
-0.01407609786838293,
-0.05026792734861374,
0.09025949239730835,
-0.030649421736598015,
-0.002903700340539217,
0.04742935299873352,
0.002059314167127013,
-0.010186531580984592,
0.03203277662396431,
-0.05228007957339287,
0.002894717501476407,
0.0369374044239521,
-0.002908191876485944,
-0.014327616430819035,
-0.02333739772439003,
0.03368562087416649,
-0.015522333793342113,
0.0035774128045886755,
-0.02055271901190281,
0.03855431452393532,
0.022187594324350357,
0.056627772748470306,
0.012333428487181664,
0.03970411792397499,
0.04344097524881363,
0.03370358422398567,
0.0245410967618227,
0.04818391054868698,
0.01399525161832571,
-0.011758526787161827,
-0.010276359505951405,
-0.04599209874868393,
0.020516788586974144,
0.04962116479873657,
0.015279796905815601,
-0.05799316242337227,
-0.03787161782383919,
0.029840966686606407,
0.02439737133681774,
0.00023046578280627728,
-0.03181719034910202,
-0.026517320424318314,
-0.013052054680883884,
-0.01846870221197605,
-0.03894956037402153,
-0.002863277681171894,
0.05328615754842758,
0.07825843244791031,
0.024720752611756325,
-0.002490490209311247,
0.02348112314939499,
-0.013213745318353176,
-0.00497199734672904,
0.005466053262352943,
0.01889987848699093,
-0.03790755197405815,
-0.006247559562325478,
-0.0315297394990921,
0.011731578037142754,
-0.008201325312256813,
-0.028565404936671257,
0.02640952542424202,
0.028763027861714363,
0.039129216223955154,
-0.009863149374723434,
0.024289578199386597,
0.06593398749828339,
-0.01320476271212101,
0.030721284449100494,
-0.03046976588666439,
0.028170160949230194,
0.05810095742344856,
-0.021055757999420166,
0.0024388388264924288,
0.05831654369831085,
0.0029239116702228785,
0.030739249661564827,
-0.05274718999862671,
0.04480636492371559,
-0.01073448359966278,
-0.0023871876765042543,
0.041752200573682785,
0.02993079647421837,
-0.03172736242413521,
0.0024657873436808586,
0.03999156877398491,
-0.0108422776684165,
-0.017839904874563217,
-0.03542828932404518,
0.029894864186644554,
-0.052998706698417664,
-0.014291685074567795,
0.05253159999847412,
0.05307057127356529,
0.04466263949871063,
-0.07624627649784088,
0.0000651255322736688,
-0.02588852122426033,
0.02430754341185093,
0.13294591009616852,
-0.03564387559890747,
-0.006579924374818802,
-0.03278733789920807,
0.006112817209213972,
-0.025708865374326706,
0.017435677349567413,
0.006499079056084156,
0.007523121777921915,
0.006993134506046772,
0.0021727224811911583,
0.024774650111794472,
0.05935855209827423,
0.016986535862088203,
0.02055271901190281,
-0.04861508682370186,
0.0023220619186758995,
-0.01837887428700924,
-0.03348799794912338,
-0.009683492593467236,
0.03555404767394066,
0.0013451790437102318,
-0.011524973437190056,
-0.012459187768399715,
-0.04901032894849777,
-0.024433301761746407,
0.041536614298820496,
-0.02197200618684292,
0.044914159923791885,
0.04196779057383537,
0.005582829937338829,
0.03600319102406502,
-0.04300979897379875,
0.03848244994878769,
-0.02101982571184635,
0.007460241671651602,
0.04329724982380867,
-0.009378076530992985,
0.0510224848985672,
0.03580556809902191,
-0.015585212968289852,
-0.05026792734861374,
0.013105951249599457,
-0.0017235808772966266,
0.0226547010242939,
0.02581665851175785,
0.03769196197390556,
0.0072581279091537,
0.01666315272450447,
0.052100423723459244,
-0.042291171848773956,
0.04627954959869385,
-0.04466263949871063,
0.02484651282429695,
0.003781772218644619,
0.013079003430902958,
-0.0021794596686959267,
-0.002977808704599738,
0.0013238448882475495,
-0.019151397049427032,
0.03336223587393761,
0.015288779512047768,
0.007374905049800873,
-0.009728406555950642,
0.007577018812298775,
-0.015710972249507904,
0.05723860487341881,
0.004859711974859238,
-0.0027689579874277115,
-0.0072446539998054504,
0.05238787457346916,
-0.040099360048770905,
-0.05874771997332573,
0.03736858069896698,
0.012818501330912113,
0.024648889899253845,
0.0036649953108280897,
0.026750873774290085,
0.02437940612435341,
0.019834091886878014,
-0.002362484810873866,
-0.008987323381006718,
-0.020283233374357224,
0.026158006861805916,
-0.006108325440436602,
0.027110187336802483,
-0.06600584834814072,
-0.037188924849033356,
-0.013797629624605179,
0.04254269227385521,
0.019618505612015724,
-0.04060240089893341,
-0.04484229534864426,
-0.024109920486807823,
-0.039811909198760986,
-0.00158996123354882,
0.02770305424928665,
0.044015876948833466,
0.0498008206486702,
0.005232499446719885,
-0.03269750624895096,
-0.05005233734846115,
-0.01493844948709011,
-0.0498008206486702,
-0.0309189073741436,
-0.02985893376171589,
-0.015737920999526978,
-0.029751138761639595,
-0.022241491824388504,
-0.03851838409900665,
-0.017902784049510956,
-0.024199748411774635,
-0.013348488137125969,
0.033272407948970795,
-0.005753503646701574,
0.012028011493384838,
-0.01659129001200199,
0.01823514886200428,
-0.010815329849720001,
-0.058029092848300934,
0.030218245461583138,
0.0033595790155231953,
-0.006063411477953196,
0.04124916344881058,
-0.004049011506140232,
0.013626955449581146,
-0.059322621673345566,
-0.020983895286917686,
-0.003314665053039789,
-0.006746106781065464,
-0.011156677268445492,
-0.002344519132748246,
0.023660778999328613,
0.011048883199691772,
0.004891152027994394,
0.050231996923685074,
0.0040175714530050755,
-0.05651997774839401,
0.04211151599884033,
0.03314664959907532,
-0.043333180248737335,
-0.013779664412140846,
0.0108422776684165,
0.007877943105995655,
0.03797941282391548,
-0.0360211543738842,
0.02723594568669796,
-0.013932372443377972,
-0.006669752765446901,
-0.006714666727930307,
-0.019043603911995888,
0.00778362387791276,
-0.02304994687438011,
-0.010069754905998707,
0.025493277236819267,
-0.0013912160648033023,
0.03991970419883728,
0.024774650111794472,
0.03772789239883423,
0.007999211549758911,
0.008937917649745941,
-0.009157996624708176,
-0.019600538536906242,
-0.0369374044239521,
-0.0426504872739315,
-0.0018987461226060987,
-0.06331099569797516,
0.006436198949813843,
0.01279155258089304,
0.056232526898384094,
-0.0015383099671453238,
0.003909777384251356,
0.0029014546889811754,
0.06902407854795456,
0.02229538932442665,
-0.019313087686896324,
-0.051956698298454285,
-0.047680869698524475,
0.0021626166999340057,
-0.029463687911629677,
-0.04315352439880371,
0.0006860637804493308,
-0.022636735811829567,
-0.07718048989772797,
0.008349542506039143,
0.030649421736598015,
0.004556541331112385,
-0.049118123948574066,
-0.0606161504983902,
0.008336068131029606,
-0.028044400736689568,
-0.025834623724222183,
0.039201077073812485,
0.019708333536982536,
-0.030595526099205017,
-0.06212526559829712,
0.011165659874677658,
0.022564873099327087,
0.028116263449192047,
-0.015351659618318081,
-0.07430598139762878,
0.030128417536616325,
0.0030406885780394077,
-0.02139710634946823,
-0.027972538024187088,
0.04793239012360573,
0.006584415677934885,
0.04681852087378502,
-0.020606616511940956,
0.004111891146749258,
-0.0370451994240284,
-0.010932106524705887,
0.00042668450623750687,
-0.06280796229839325,
0.06532315164804459,
0.10161379724740982,
-0.006800003815442324,
-0.042147446423769,
0.050303857773542404,
-0.00452285585924983,
0.01320476271212101,
0.024882445111870766,
-0.01411202922463417,
-0.03266157582402229,
0.008133954368531704,
-0.03138601407408714,
0.055262383073568344,
-0.018666325137019157,
0.008753770031034946,
-0.08903782814741135,
-0.006346370559185743,
-0.04717783257365227,
-0.045884303748607635,
-0.04552499204874039,
-0.05382512882351875,
0.0171931404620409,
0.002117702504619956,
-0.03129618614912033,
-0.001099835499189794,
-0.050016406923532486,
0.015127088874578476,
0.0010431313421577215,
-0.0002589581999927759,
-0.0618378147482872,
0.023283500224351883,
0.02236725203692913,
-0.02430754341185093,
0.02242114767432213,
0.007338973693549633,
0.03880583494901657,
-0.01139921322464943,
0.028637267649173737,
-0.033416133373975754,
-0.020157475024461746,
-0.0026207412593066692,
-0.0809173509478569,
0.0459202378988266,
-0.0038760919123888016,
-0.02101982571184635,
0.06927560269832611,
-0.010213479399681091,
0.0041612968780100346,
0.015863681212067604,
0.02912234142422676,
-0.005138179752975702,
0.008102514781057835,
-0.035392358899116516,
-0.0058568064123392105,
0.004545312840491533,
-0.07312025129795074,
0.05651997774839401,
-0.05978972837328911,
0.03444017842411995,
0.050699103623628616,
0.05784943699836731,
0.01282748393714428,
0.06363438069820404,
0.026661043986678123,
0.0006192539585754275,
-0.002187319565564394,
0.04890253767371178,
-0.008538181893527508,
-0.06072394177317619,
-0.03984784334897995,
-0.04106950759887695,
0.012989174574613571,
0.03196091577410698,
0.034404244273900986,
-0.029769103974103928,
0.01792973279953003,
0.049549300223588943,
-0.023894332349300385,
0.006665260996669531,
-0.04412366822361946,
-0.017211105674505234,
0.0025668442249298096,
0.05066317319869995,
-0.004255616571754217,
-0.07524020224809647,
-0.056987084448337555,
-0.049261849373579025,
-0.02865523286163807,
-0.016465531662106514,
0.01889987848699093,
-0.033793412148952484,
0.044087737798690796,
0.014866586774587631,
-0.003408984746783972,
-0.01504624355584383,
-0.01613316684961319,
-0.03930887207388878,
0.001990820048376918,
0.03999156877398491,
0.05134586617350578,
0.014210839755833149,
-0.005843332037329674,
0.028619302436709404,
0.04875881224870682,
0.01733686588704586,
-0.023427225649356842,
-0.003653766820207238,
-0.04947743937373161,
0.006885340437293053,
-0.028403714299201965,
-0.02272656373679638,
-0.05738233029842377,
-0.015863681212067604,
0.05680742859840393,
-0.020912032574415207,
0.008610044606029987,
0.019636470824480057,
0.004963014740496874,
-0.03129618614912033,
0.02242114767432213,
-0.031403981149196625,
-0.007909383624792099,
-0.009683492593467236,
-0.021720487624406815,
-0.03790755197405815,
-0.024666856974363327,
-0.02948165498673916,
-0.04035088047385216,
0.025331586599349976,
-0.036667920649051666,
-0.011462093330919743,
0.026966461911797523,
-0.021181518211960793,
-0.02664307877421379,
-0.013501196168363094,
-0.0030586542561650276,
0.0127556212246418,
-0.0340808629989624,
0.048219840973615646,
0.009863149374723434,
-0.02782881259918213,
0.01410304568707943,
0.0303080752491951,
-0.09227164834737778,
-0.022996049374341965,
0.0022041623014956713,
0.03938073664903641,
0.03621877729892731,
0.04631548002362251,
-0.01144412811845541,
-0.013555093668401241,
0.00001223735398525605,
-0.01012365147471428,
-0.020696444436907768,
-0.084294892847538,
0.05389698967337608,
-0.032607678323984146,
0.026211902499198914,
-0.02109168842434883,
0.008906478062272072,
-0.03533846139907837,
-0.006112817209213972,
0.03517676889896393,
0.04211151599884033,
0.0020447170827537775,
0.006750598084181547,
-0.028565404936671257,
-0.007527613081037998,
-0.006966186221688986,
-0.05824468284845352,
-0.09076253324747086,
0.014480325393378735,
-0.03472762927412987,
0.01906156912446022,
-0.001493395771831274,
0.11038103699684143,
0.03169143199920654,
-0.003184414003044367,
-0.0005558127304539084,
-0.0018302520038560033,
-0.019097501412034035,
0.016375701874494553,
0.06079580634832382,
0.020426958799362183,
0.04232710227370262,
-0.07746794074773788,
0.04207558557391167,
0.0592866912484169,
0.05325022712349892,
-0.014309651218354702,
0.0027824321296066046,
0.010276359505951405,
0.02019340544939041,
0.00043875520350411534,
-0.019852058961987495,
0.020840169861912727,
0.03656012564897537,
-0.0012048223288729787,
0.0035257614217698574,
0.020355096086859703,
0.026211902499198914,
-0.02888878807425499,
0.00009179331391351297,
0.005753503646701574,
-0.00963857863098383,
0.05709487944841385,
-0.00771176116541028,
-0.02484651282429695,
0.03406289964914322,
0.000680449535138905,
-0.04035088047385216,
-0.032445989549160004,
0.0027128153014928102,
-0.033416133373975754,
-0.024109920486807823,
-0.003487584413960576,
-0.027038324624300003,
-0.0681617259979248,
0.023624848574399948,
0.0056726583279669285,
-0.0052414825186133385,
-0.014381513930857182,
0.02154082991182804,
0.019492745399475098,
-0.04441111907362938,
-0.013366453349590302,
-0.01748957298696041,
-0.03984784334897995,
-0.009108591824769974,
0.019169362261891365,
0.015962492674589157,
-0.03156566992402077,
-0.01854056492447853,
-0.014282702468335629,
-0.025008203461766243,
0.01501031219959259,
-0.043261319398880005,
0.014794724062085152,
0.012908329255878925,
-0.014947432093322277,
-0.015621144324541092,
-0.004316250793635845,
-0.0051247053779661655,
0.025259723886847496,
0.06083173677325249,
-0.04570464789867401,
0.004738443996757269,
-0.024145852774381638,
-0.008713346906006336,
0.0065125529654324055,
0.019097501412034035,
0.04523754119873047,
-0.006027480121701956,
0.03776382654905319,
-0.011776492930948734,
0.030972804874181747,
0.032158538699150085,
0.03700926899909973,
0.004684546962380409,
-0.006979660131037235,
0.03424255549907684,
-0.003000265918672085,
0.03009248711168766,
-0.029966726899147034,
-0.034925248473882675,
0.0052639394998550415,
-0.013806612230837345,
-0.01035720482468605,
0.019905954599380493,
-0.008708855137228966,
-0.012557999230921268,
-0.0028924718499183655,
-0.016097234562039375,
-0.013267642818391323,
0.012261565774679184,
0.019672401249408722,
-0.03339817002415657,
-0.013052054680883884,
0.05630439147353172,
0.01943884789943695,
-0.019995784386992455,
-0.0175524540245533,
-0.006912289187312126,
0.03744044154882431,
0.015782834962010384,
0.02310384437441826,
-0.03551811724901199,
0.008848089724779129,
-0.052783120423555374,
0.00848428439348936,
-0.06420928239822388,
-0.007496173027902842,
-0.00997992604970932,
0.039201077073812485,
0.017094328999519348,
0.003588641295209527,
-0.002890226198360324,
0.07452157139778137,
-0.0363265722990036,
0.046171754598617554,
-0.00106053554918617,
-0.033595792949199677,
0.017094328999519348,
0.006853900849819183,
-0.024702787399291992,
0.001172259566374123,
-0.03670385107398033,
-0.017687195912003517,
-0.03483542054891586,
-0.028547439724206924,
-0.031242288649082184,
-0.006912289187312126,
0.011003969237208366,
0.006939237471669912,
0.020283233374357224,
-0.022259457036852837,
0.026499353349208832,
-0.027128152549266815,
0.0408179871737957,
0.004444255959242582,
0.008722329512238503,
0.0010049543343484402,
0.014399479143321514,
-0.015504367649555206,
0.006458655931055546,
0.0171931404620409,
0.044770434498786926,
-0.038446519523859024,
0.0007579264347441494,
0.004760900977998972,
0.06604178249835968,
-0.004684546962380409,
-0.021936075761914253,
0.030128417536616325,
0.04297386854887009,
-0.024648889899253845,
-0.013492213562130928,
0.011650732718408108,
0.02730780839920044,
0.02685866691172123,
0.022313354536890984,
0.023014014586806297,
0.003373053390532732,
0.043189454823732376,
0.02078627236187458,
0.01808243989944458,
-0.004334216471761465,
0.015100140124559402,
0.007828538306057453,
0.008686398155987263,
0.06129884347319603,
0.049046263098716736,
-0.02662511356174946,
0.013007140718400478,
0.0013171077007427812,
0.048363566398620605,
-0.023067912086844444,
-0.01680687814950943,
0.018810050562024117,
-0.033290375024080276,
-0.02770305424928665,
-0.05095062404870987,
-0.019492745399475098,
-0.021882178261876106,
-0.02251097746193409,
0.009935012087225914,
-0.002420873148366809,
0.0226547010242939,
-0.015405556187033653,
0.033272407948970795,
-0.024289578199386597,
0.05572948977351189,
0.011974114924669266,
-0.026804769411683083,
-0.01981612667441368,
0.04545312747359276,
0.0024680329952389,
-0.04185999557375908,
0.008201325312256813,
-0.050016406923532486,
0.0053268191404640675,
0.028978615999221802,
0.022313354536890984,
0.00385588058270514,
0.023750606924295425,
-0.029805036261677742,
-0.0026768839452415705,
0.016151132062077522,
0.0016595781780779362,
0.013788647018373013,
0.0054256306029856205,
0.03700926899909973,
0.008524707518517971,
-0.005012420006096363,
-0.011605818755924702,
0.019025638699531555,
0.01717517524957657,
0.0007152580074034631,
-0.0013204762944951653,
-0.026014281436800957,
-0.014570153318345547,
0.031170425936579704,
-0.005784943699836731,
0.031242288649082184,
-0.024792615324258804,
-0.00008561761933378875,
-0.011956148780882359,
0.035086940973997116,
-0.013177813962101936,
-0.0299487616866827,
0.025762761011719704,
-0.007419819012284279,
0.012108857743442059,
0.04354877024888992,
-0.007433293387293816,
-0.009899080730974674,
0.031996846199035645,
0.0020267514046281576,
-0.03894956037402153,
0.054364100098609924,
0.028834890574216843,
-0.008345050737261772,
-0.034709662199020386,
-0.00990806333720684,
0.026247834786772728,
-0.008066583424806595,
0.013141882605850697,
0.05964600294828415,
-0.034547969698905945,
0.0015978212468326092,
-0.028313886374235153,
0.0164295993745327,
-0.012701724655926228,
0.012028011493384838,
0.019187329337000847,
-0.009171470999717712,
-0.03966818377375603,
0.020965930074453354,
0.04990861192345619,
0.0036021156702190638,
0.0065125529654324055,
0.019313087686896324,
0.03037993796169758,
-0.06582619249820709,
-0.013671870343387127,
0.0004078767087776214,
-0.049549300223588943,
0.04394401237368584,
0.03210464119911194,
0.03700926899909973,
-0.06047242507338524,
0.0408179871737957,
-0.012701724655926228,
0.020804239436984062,
-0.026661043986678123,
-0.022043868899345398,
0.0363265722990036,
-0.018720220774412155,
0.053681403398513794,
-0.0370451994240284,
0.045740578323602676,
-0.028691165149211884,
0.0484713613986969,
-0.030721284449100494,
-0.02700239233672619,
-0.003741349559277296,
-0.012459187768399715,
-0.03082907944917679,
0.0034898300655186176,
0.04247082769870758,
-0.007051522843539715,
0.0382668636739254,
0.0013642675476148725,
-0.046926312148571014,
-0.014417445287108421,
-0.058639924973249435,
-0.010096702724695206,
-0.0021109655499458313,
-0.00252193002961576,
0.011183626018464565,
0.02355298586189747,
0.0012856677640229464,
-0.03404493257403374,
-0.030739249661564827,
-0.04717783257365227,
0.0019088517874479294,
-0.012171736918389797,
0.0303080752491951,
0.040638331323862076,
0.020085612311959267,
-0.012477152980864048,
0.03848244994878769,
-0.03336223587393761,
-0.010222462937235832,
0.022331319749355316,
-0.027217980474233627,
-0.03321851044893265,
-0.011462093330919743,
-0.0005923054995946586,
-0.015136071480810642,
-0.018208200111985207,
-0.048722878098487854,
-0.01413897704333067,
-0.018576495349407196,
0.005627744365483522,
0.029158271849155426,
0.03600319102406502,
-0.0022468308452516794,
0.017004501074552536,
-0.022043868899345398,
0.0016573325265198946,
-0.023157740011811256,
-0.0024141359608620405,
0.022924186661839485,
0.050016406923532486,
-0.019708333536982536,
0.0245410967618227,
0.016779929399490356,
0.031242288649082184,
-0.05202856287360191,
-0.026517320424318314,
-0.007990228943526745,
-0.008349542506039143,
-0.01831599324941635,
0.0005428998847492039,
-0.03686554357409477,
-0.05005233734846115,
0.013303574174642563,
-0.01313289999961853,
0.00896935723721981,
-0.03435035049915314,
-0.0580650232732296,
-0.005771469324827194,
0.020516788586974144,
0.025924453511834145,
-0.004118628334254026,
-0.03578760102391243,
0.04027901962399483,
-0.011641750112175941,
0.032553780823946,
-0.0012216651812195778,
0.02737967111170292,
-0.021684555336833,
0.05666370317339897,
-0.035536084324121475,
-0.02813422866165638,
-0.030900942161679268,
-0.004159050993621349,
-0.017615333199501038,
-0.016986535862088203,
0.003222591010853648,
-0.000553567020688206,
0.010689569637179375,
-0.045129746198654175,
-0.025852590799331665,
-0.028457611799240112,
0.005654692649841309,
-0.012935278005897999,
0.03188905119895935,
0.04261455312371254,
0.017220089212059975,
0.03397307172417641,
-0.008102514781057835,
-0.008358525112271309,
0.001445113099180162,
0.00249498151242733,
-0.09471497684717178,
-0.03273344039916992,
0.027343740686774254,
0.01470489613711834,
0.02326553501188755,
-0.004354427568614483,
0.0146689647808671,
-0.012010046280920506,
0.03406289964914322,
-0.003202379448339343,
-0.014049149118363857,
-0.00960264727473259,
-0.006885340437293053,
-0.00963857863098383,
-0.049333713948726654,
-0.01807345822453499,
-0.008439370431005955,
0.02867319993674755,
-0.048219840973615646,
0.005416647531092167,
-0.02146896719932556,
-0.05066317319869995,
0.0004216316738165915,
-0.022151663899421692,
0.023876367136836052,
-0.01868429034948349,
0.040099360048770905,
-0.05310650169849396,
0.015513350255787373,
0.010473981499671936,
-0.010491947643458843,
0.015414539724588394,
-0.05986159294843674,
-0.04106950759887695,
0.015378608368337154,
-0.03176329284906387,
0.004864203277975321,
0.04027901962399483,
0.05447189137339592,
0.030631456524133682,
0.017902784049510956,
0.03264361247420311,
0.024343473836779594,
0.06873662769794464,
-0.017902784049510956,
0.004967506043612957,
0.004392604809254408,
-0.0025241756811738014,
-0.01614214852452278,
0.008192342706024647,
0.004442010540515184,
-0.023463156074285507,
0.004904626403003931,
-0.06054428592324257,
0.0048327636905014515,
-0.025619035586714745,
-0.05986159294843674,
0.0504116527736187,
0.023822469636797905,
-0.03136804699897766,
0.04606396332383156,
-0.03769196197390556,
-0.028259988874197006,
-0.014758792705833912,
-0.0408179871737957,
-0.01673501543700695,
-0.01237834244966507,
-0.0013081248616799712,
0.0009044588659889996,
-0.008875037543475628,
0.030972804874181747,
-0.025493277236819267,
0.010608724318444729,
-0.040710192173719406,
-0.020947962999343872,
-0.007550070062279701,
-0.0012126823421567678,
-0.023822469636797905,
-0.04207558557391167,
-0.05396885424852371,
0.03999156877398491,
-0.006831443402916193,
0.007069488521665335,
0.018324976786971092,
-0.0020132772624492645,
0.001967240124940872,
-0.0050258943811059,
-0.011417179368436337,
-0.029984692111611366,
-0.017947698011994362,
0.005142671056091785,
0.015666058287024498,
0.0032180994749069214,
0.1025480106472969,
-0.020534753799438477,
0.012072926387190819,
-0.026607148349285126,
0.000929161673411727,
-0.02964334562420845,
-0.06223306059837341,
-0.02739763632416725,
0.03190701827406883,
0.003386527532711625,
0.07732421904802322,
-0.044087737798690796,
0.0043229879811406136,
0.034709662199020386,
0.0036043613217771053,
0.04106950759887695,
0.02567293308675289,
-0.032895129173994064,
-0.011830389499664307,
-0.013213745318353176,
-0.02955351583659649,
0.01651044562458992,
0.019241224974393845,
0.0026162497233599424,
0.02678680419921875,
0.05206449329853058,
-0.035086940973997116,
0.020444925874471664,
-0.015243865549564362,
-0.020983895286917686,
-0.014677947387099266,
-0.01764228194952011,
-0.02536751702427864,
-0.0013002649648115039,
-0.06870070099830627,
-0.03999156877398491,
0.015594196505844593,
0.0012295250780880451,
0.0005027578445151448,
-0.04523754119873047,
0.022169629111886024,
-0.05325022712349892
] |
Extensive research on formal verification of machine learning (ML) systems
indicates that learning from data alone often fails to capture underlying
background knowledge. A variety of verifiers have been developed to ensure that
a machine-learnt model satisfies correctness and safety properties, however,
these verifiers typically assume a trained network with fixed weights.
ML-enabled autonomous systems are required to not only detect incorrect
predictions, but should also possess the ability to self-correct, continuously
improving and adapting. A promising approach for creating ML models that
inherently satisfy constraints is to encode background knowledge as logical
constraints that guide the learning process via so-called differentiable
logics. In this research preview, we compare and evaluate various logics from
the literature in weakly-supervised contexts, presenting our findings and
highlighting open problems for future work. Our experimental results are
broadly consistent with results reported previously in literature; however,
learning with differentiable logics introduces a new hyperparameter that is
difficult to tune and has significant influence on the effectiveness of the
logics. | [
0.005778874270617962,
0.02499578893184662,
-0.03268945589661598,
-0.04488546773791313,
0.030688410624861717,
0.043505437672138214,
-0.039572350680828094,
0.00920307356864214,
-0.03505275398492813,
-0.01636197790503502,
0.05375215783715248,
-0.027462592348456383,
0.024668032303452492,
0.01938941702246666,
-0.01681048795580864,
0.03636378422379494,
0.019113412126898766,
0.021925222128629684,
-0.0405728742480278,
-0.08314678817987442,
-0.002417208394035697,
-0.03705379739403725,
-0.014628315344452858,
0.03715730085968971,
0.022908493876457214,
-0.007120091002434492,
0.003238757373765111,
-0.008392306044697762,
-0.06806996464729309,
0.03877883404493332,
0.08218076825141907,
0.006317948456853628,
0.004847354255616665,
0.011868255212903023,
-0.05306214466691017,
-0.035311508923769,
0.036225780844688416,
0.002885124646127224,
-0.012273639440536499,
0.10274321585893631,
0.01702611707150936,
-0.044643960893154144,
-0.014119429513812065,
0.0030231275595724583,
-0.0017983512952923775,
0.010652104392647743,
-0.011635375209152699,
-0.028221607208251953,
-0.02710033394396305,
-0.057271234691143036,
-0.02256348542869091,
-0.03125767409801483,
0.06530990451574326,
-0.018992658704519272,
-0.012644522823393345,
0.007710915990173817,
0.01712099462747574,
-0.032982710748910904,
0.04385044425725937,
-0.04385044425725937,
-0.048577047884464264,
-0.010583102703094482,
-0.07065752148628235,
-0.002826904645189643,
0.02225297875702381,
-0.08707987517118454,
0.00495948176831007,
-0.02967063896358013,
0.04381594434380531,
-0.025151042267680168,
-0.019958680495619774,
-0.031223172321915627,
0.014429936185479164,
-0.01612909696996212,
0.027583343908190727,
0.010962611064314842,
-0.015214827843010426,
0.030878165736794472,
-0.01945841871201992,
-0.016258474439382553,
0.02408151887357235,
0.02915312722325325,
-0.018716653808951378,
0.0006759989191778004,
0.04802503436803818,
-0.024875035509467125,
0.05654671788215637,
-0.056822724640369415,
0.03163718059659004,
-0.045402977615594864,
0.030705660581588745,
-0.026393068954348564,
-0.03594977408647537,
-0.04716251417994499,
-0.023201750591397285,
0.012998155318200588,
0.004791290499269962,
-0.0242367722094059,
-0.024581778794527054,
0.0020678883884102106,
-0.0064559513702988625,
-0.002939032157883048,
-0.030619408935308456,
0.061825331300497055,
0.006818209309130907,
-0.06382637470960617,
-0.04188390076160431,
0.04633449763059616,
-0.011255867779254913,
0.16146348416805267,
0.012575521133840084,
0.011799254454672337,
-0.027600593864917755,
-0.007663477677851915,
-0.012394391931593418,
-0.002615587553009391,
-0.06313636153936386,
-0.08652786165475845,
0.05302764102816582,
-0.025565050542354584,
0.013049906119704247,
0.0342247374355793,
-0.002654400886967778,
-0.029791392385959625,
-0.024926787242293358,
0.05347615107893944,
-0.008909816853702068,
0.009134071879088879,
0.0002520171401556581,
0.01825089380145073,
-0.003920146729797125,
0.010583102703094482,
-0.027583343908190727,
-0.0275660939514637,
0.035397764295339584,
0.011480121873319149,
0.0272555872797966,
-0.004396688658744097,
-0.005671059712767601,
-0.005744373891502619,
-0.004558410495519638,
-0.006770770996809006,
-0.020717697218060493,
0.06123881787061691,
0.044712964445352554,
0.01510270033031702,
0.009479079395532608,
0.07845468819141388,
-0.02051069214940071,
0.019475668668746948,
-0.0573747344315052,
0.03246520087122917,
-0.008793377317488194,
0.03594977408647537,
0.0836988016963005,
0.014800818637013435,
-0.03363822400569916,
0.0015331268077716231,
-0.0018867594189941883,
-0.033810727298259735,
0.08825290203094482,
-0.02999839559197426,
-0.011100614443421364,
0.0687599778175354,
0.05081959441304207,
0.05444217100739479,
-0.005468367598950863,
-0.005752998869866133,
-0.07169254124164581,
0.04302242770791054,
-0.05689172446727753,
-0.00717184180393815,
-0.001937432331033051,
0.033569224178791046,
0.03943435102701187,
0.05347615107893944,
0.04685200750827789,
0.015551210381090641,
-0.013006780296564102,
-0.028635617345571518,
-0.050474587827920914,
0.002844155067577958,
-0.018457897007465363,
0.03643278405070305,
0.04457496106624603,
0.050302084535360336,
0.035311508923769,
-0.014507562853395939,
0.041193887591362,
0.01574096456170082,
-0.005123360548168421,
0.001195666380226612,
0.031102420762181282,
-0.00851305853575468,
-0.020648695528507233,
-0.05033658444881439,
-0.04778353124856949,
-0.017664380371570587,
0.017905885353684425,
0.01619809865951538,
0.020113933831453323,
-0.038433827459812164,
0.014421310275793076,
0.005032795947045088,
0.02301199547946453,
-0.0009611691348254681,
0.040089864283800125,
0.021010952070355415,
0.004631724674254656,
-0.05378665775060654,
-0.021010952070355415,
0.02475428394973278,
-0.0073745339177548885,
-0.03103341907262802,
-0.0186994019895792,
-0.019044410437345505,
-0.048956554383039474,
-0.0029994084034115076,
-0.06686244159936905,
-0.024650780484080315,
0.00726671889424324,
-0.008090424351394176,
-0.002639306942000985,
0.005929815117269754,
-0.030998917296528816,
0.007335720583796501,
0.00552874431014061,
-0.008978818543255329,
0.016232600435614586,
0.0014835319016128778,
-0.013765797019004822,
0.002479740884155035,
0.03991736099123955,
-0.039641354233026505,
-0.01582721620798111,
0.029360132291913033,
0.025323545560240746,
-0.01787138544023037,
-0.02734183892607689,
0.03867533430457115,
-0.020044932141900063,
-0.08473382890224457,
-0.013110282830893993,
-0.07990372180938721,
-0.0021390460897237062,
0.0004746547492686659,
0.0034867313224822283,
0.052061621099710464,
0.024478277191519737,
0.017586754634976387,
0.0014975478406995535,
-0.01180787943303585,
0.0169571153819561,
-0.03408673405647278,
-0.011022987775504589,
0.031602680683135986,
0.018216392025351524,
-0.03318971395492554,
-0.027531594038009644,
-0.0239262655377388,
0.02998114563524723,
0.012109761126339436,
0.02030368708074093,
0.025461548939347267,
0.01771613210439682,
-0.014990572817623615,
0.013170658610761166,
0.040848881006240845,
0.007111465558409691,
0.039779357612133026,
0.030860913917422295,
-0.021821720525622368,
-0.012739399448037148,
0.026099812239408493,
-0.012851526960730553,
-0.09929314255714417,
0.0016344727482646704,
-0.0027816223446279764,
-0.037433307617902756,
0.00668451888486743,
-0.02133871056139469,
-0.011488747783005238,
0.010988486930727959,
-0.005136298015713692,
0.0772816613316536,
-0.04595499113202095,
-0.009065070189535618,
-0.015318330377340317,
-0.06617242842912674,
0.004043055698275566,
-0.00690877391025424,
0.02280499041080475,
-0.043643441051244736,
0.021442212164402008,
0.0418149009346962,
0.012817026115953922,
-0.013550166971981525,
-0.042746420949697495,
-0.009599831886589527,
-0.0415043942630291,
-0.015689212828874588,
-0.043505437672138214,
0.03898584097623825,
0.023063747212290764,
0.01748325116932392,
-0.0038188009057193995,
0.00690877391025424,
0.020096682012081146,
-0.025565050542354584,
-0.014291932806372643,
-0.0018511804519221187,
0.016715610399842262,
-0.028721868991851807,
-0.030412405729293823,
-0.027445340529084206,
0.03553576394915581,
-0.01756950281560421,
0.019251415506005287,
-0.05078509449958801,
0.01230814028531313,
0.02816985733807087,
-0.0020344657823443413,
-0.09646407514810562,
0.0004760024312417954,
0.004605849273502827,
0.01999318040907383,
-0.0023309565149247646,
0.0028463113121688366,
-0.10315722227096558,
-0.030722912400960922,
-0.049094557762145996,
0.023149998858571053,
-0.07893770188093185,
0.024288523942232132,
-0.0012657460756599903,
-0.013455289416015148,
0.006003129296004772,
0.059168774634599686,
-0.013274161145091057,
-0.02582380548119545,
-0.028411362320184708,
0.027669595554471016,
-0.060686808079481125,
-0.03127492219209671,
0.018820155411958694,
-0.0545111745595932,
0.03527700901031494,
-0.02634131722152233,
-0.0009918963769450784,
-0.004034430719912052,
0.0009649426792748272,
0.04536847770214081,
0.007892045192420483,
0.03639828413724899,
0.024875035509467125,
-0.043194931000471115,
-0.05640871450304985,
0.001221541897393763,
-0.06072130799293518,
-0.0032861956860870123,
0.01800938881933689,
-0.10667629539966583,
-0.008952942676842213,
0.01177337858825922,
-0.0437469407916069,
-0.013049906119704247,
-0.008232739754021168,
0.004873230122029781,
-0.014326433651149273,
0.009832711890339851,
0.0014932353515177965,
0.03543226420879364,
0.027428090572357178,
0.03908934071660042,
0.008594997227191925,
-0.008810627274215221,
-0.009246199391782284,
0.0012560426257550716,
-0.06196333467960358,
0.03294821083545685,
0.015085450373589993,
0.022097725421190262,
0.011920006945729256,
0.008237052708864212,
-0.01604284532368183,
0.0456099808216095,
-0.02506479062139988,
-0.03042965568602085,
-0.026669073849916458,
-0.008124925196170807,
0.009970714338123798,
-0.021528463810682297,
0.004349249880760908,
-0.014826694503426552,
0.07686765491962433,
0.012506519444286823,
-0.018043888732790947,
0.016706984490156174,
-0.014421310275793076,
-0.01642235368490219,
-0.026186063885688782,
0.01253239531069994,
0.027134833857417107,
-0.08252577483654022,
0.01048822607845068,
0.004284561146050692,
-0.03950335085391998,
0.01787138544023037,
0.009970714338123798,
0.019492920488119125,
0.02779034897685051,
0.007728166412562132,
0.033206965774297714,
0.01487844530493021,
0.01627572625875473,
0.02406426891684532,
-0.0346904955804348,
0.025841057300567627,
0.017992136999964714,
-0.0012484956532716751,
0.030929915606975555,
-0.012903277762234211,
0.02513379231095314,
-0.01503369864076376,
0.006098006386309862,
0.009625707753002644,
-0.03874433413147926,
0.022770490497350693,
-0.019354917109012604,
-0.04202190414071083,
0.030377903953194618,
0.009996590204536915,
0.03777831420302391,
-0.03950335085391998,
0.0010937813203781843,
-0.03386247903108597,
0.030326154083013535,
0.009289325214922428,
-0.04778353124856949,
0.018751153722405434,
-0.012109761126339436,
-0.029739640653133392,
-0.015654712915420532,
-0.026393068954348564,
-0.0681389644742012,
-0.0342247374355793,
-0.01189413107931614,
-0.018578650429844856,
-0.03884783759713173,
0.0009218167397193611,
-0.0066327680833637714,
0.014887070283293724,
-0.07362458854913712,
-0.028601115569472313,
0.013998677022755146,
-0.005291551351547241,
0.0542006678879261,
-0.013334536924958229,
0.030533157289028168,
-0.02884262055158615,
0.048646047711372375,
0.10184619575738907,
0.006602579727768898,
0.031447429209947586,
0.014956071972846985,
0.0034673246555030346,
-0.053407151252031326,
-0.04095238074660301,
-0.011342119425535202,
-0.013075781986117363,
0.018871907144784927,
-0.059168774634599686,
-0.013877923600375652,
-0.06358487159013748,
0.010410599410533905,
0.013541541993618011,
0.007965358905494213,
-0.03337946906685829,
-0.04968107119202614,
-0.05716773122549057,
0.10191519558429718,
0.034414492547512054,
0.04184940084815025,
-0.012610021978616714,
0.02421952225267887,
0.033206965774297714,
0.07969671487808228,
-0.0018522586906328797,
0.034552495926618576,
-0.055166687816381454,
-0.059168774634599686,
-0.023219000548124313,
0.0073745339177548885,
-0.014921571128070354,
0.015732338652014732,
0.02848036400973797,
-0.0028527802787721157,
-0.0072882818058133125,
0.04906005784869194,
0.01999318040907383,
-0.008495807647705078,
0.01400730200111866,
0.0018048201454803348,
0.050612591207027435,
0.008638123981654644,
0.002322331303730607,
-0.05392466112971306,
-0.00008847553544910625,
0.03139567747712135,
-0.017155494540929794,
0.010850483551621437,
-0.040848881006240845,
0.009194447658956051,
-0.036846794188022614,
0.03237894922494888,
-0.0026414631865918636,
0.051509611308574677,
-0.05147510766983032,
0.034552495926618576,
0.023374253883957863,
0.01355879195034504,
-0.017448751255869865,
-0.012920528650283813,
0.042125407606363297,
-0.03503550589084625,
0.05154411122202873,
0.019027160480618477,
-0.017466001212596893,
-0.016750110313296318,
0.013929675333201885,
0.010574477724730968,
0.07472860813140869,
-0.022442733868956566,
-0.05037108436226845,
0.024564528837800026,
-0.022149477154016495,
0.016715610399842262,
0.00950495433062315,
-0.001023701741360128,
-0.0209074504673481,
-0.04916355758905411,
-0.006279135122895241,
0.0023244875483214855,
0.059168774634599686,
-0.0031417240388691425,
0.00004683206498157233,
0.047956034541130066,
-0.012299515306949615,
0.036846794188022614,
0.0186994019895792,
-0.021217957139015198,
0.029498135671019554,
-0.0014177649281919003,
-0.02318449877202511,
-0.027359088882803917,
-0.006744895130395889,
0.008814940229058266,
0.02316724881529808,
-0.030188150703907013,
-0.018975408747792244,
0.004360031336545944,
0.0035988588351756334,
0.02544429898262024,
0.014524812810122967,
0.00991896353662014,
-0.07838568836450577,
0.028187107294797897,
-0.0035622017458081245,
-0.020096682012081146,
-0.0013347475323826075,
-0.03179243579506874,
0.022097725421190262,
-0.020113933831453323,
-0.023529507219791412,
0.011920006945729256,
0.026151563972234726,
0.02173546887934208,
-0.0542006678879261,
0.009513580240309238,
-0.015956593677401543,
0.011454246938228607,
-0.00774110434576869,
-0.014257431961596012,
0.010936735197901726,
0.018992658704519272,
-0.020717697218060493,
-0.0551321879029274,
0.004942231345921755,
0.02035543881356716,
-0.035915274173021317,
-0.04102138429880142,
0.045920487493276596,
0.0015234234742820263,
-0.003984835930168629,
0.013895174488425255,
0.012144261971116066,
0.03284470736980438,
-0.013903799466788769,
0.015370081178843975,
-0.04981907457113266,
0.0027083083987236023,
-0.016706984490156174,
0.05264813452959061,
0.05209612101316452,
0.04778353124856949,
-0.02528904564678669,
-0.030843663960695267,
0.019475668668746948,
0.013394913636147976,
0.04899105429649353,
-0.04005536437034607,
-0.036915794014930725,
0.033879730850458145,
-0.02763509564101696,
0.024961287155747414,
-0.020700445398688316,
0.03929634764790535,
0.028497613966464996,
0.018043888732790947,
0.012256389483809471,
-0.0004388063389342278,
-0.035397764295339584,
0.01992417871952057,
-0.007430597674101591,
-0.02908412739634514,
0.05734023451805115,
-0.013308661989867687,
-0.010496851056814194,
-0.024340273812413216,
-0.035397764295339584,
-0.049784570932388306,
0.005929815117269754,
0.01968267373740673,
-0.020614193752408028,
0.018078388646245003,
0.022528985515236855,
-0.031171422451734543,
0.07148554176092148,
0.052130624651908875,
-0.02703133225440979,
-0.0373988039791584,
-0.013636418618261814,
-0.03241344913840294,
0.040020860731601715,
-0.00289590610191226,
0.03712280094623566,
0.042884424328804016,
-0.03172343224287033,
0.06624142825603485,
0.003717455081641674,
0.010971236042678356,
0.033896978944540024,
0.025547800585627556,
0.05685722455382347,
-0.006106631364673376,
0.02823885902762413,
0.014835319481790066,
-0.013576042838394642,
-0.010281221941113472,
0.017448751255869865,
0.008189613930881023,
0.04550648108124733,
-0.006477514747530222,
0.03210294246673584,
-0.0018770560855045915,
-0.03355197235941887,
0.04416095092892647,
0.03974485769867897,
0.01725899614393711,
0.07762667536735535,
0.01710374280810356,
-0.03474224731326103,
-0.04360894113779068,
0.04215990751981735,
0.0036506098695099354,
-0.02999839559197426,
0.017681630328297615,
0.03279295563697815,
-0.006572391372174025,
0.022735990583896637,
-0.04543747752904892,
-0.0016452542040497065,
0.05037108436226845,
-0.013455289416015148,
-0.05633971467614174,
-0.003654922591522336,
0.0269450806081295,
-0.003874864662066102,
-0.04488546773791313,
0.0152924545109272,
-0.026600072160363197,
-0.012592771090567112,
0.0072882818058133125,
-0.02075219713151455,
-0.003353040898218751,
-0.005778874270617962,
0.019734425470232964,
-0.03674329072237015,
-0.01328278612345457,
-0.018233641982078552,
-0.004396688658744097,
0.007331408094614744,
-0.002563836518675089,
0.028445862233638763,
0.006382637657225132,
0.014576563611626625,
0.01688811369240284,
0.010910860262811184,
-0.00011677692964440212,
0.032827455550432205,
-0.03111967071890831,
0.035242509096860886,
0.03629478067159653,
0.061445824801921844,
0.0351562574505806,
0.00821548979729414,
0.048335541039705276,
-0.02823885902762413,
0.025547800585627556,
0.0308954156935215,
0.008780439384281635,
0.006982088088989258,
-0.010988486930727959,
-0.010358848609030247,
-0.048266541212797165,
0.04012436419725418,
0.042366914451122284,
0.02982589229941368,
0.025996310636401176,
-0.003501825500279665,
0.002111014211550355,
-0.015490833669900894,
-0.019285915419459343,
-0.0031180046498775482,
0.005619308445602655,
-0.03581177070736885,
0.007663477677851915,
0.046161994338035583,
0.0012032134691253304,
0.0026608698535710573,
0.005265675950795412,
0.00005549094203161076,
0.023201750591397285,
-0.04102138429880142,
-0.017517752945423126,
0.02687607891857624,
0.03118867240846157,
0.0012614334700629115,
0.0010679058032110333,
0.041676897555589676,
0.04702451452612877,
-0.033431220799684525,
0.01302403025329113,
-0.001210760441608727,
-0.006744895130395889,
0.0345352441072464,
0.024202272295951843,
0.014015926979482174,
0.022287480533123016,
-0.022097725421190262,
-0.01438681036233902,
0.036984797567129135,
-0.011885506100952625,
0.022822242230176926,
0.0408833809196949,
-0.05216512456536293,
-0.06120431795716286,
0.013541541993618011,
0.0019439012976363301,
-0.020407190546393394,
0.05875476449728012,
-0.0021606090012937784,
0.027221085503697395,
-0.03960685431957245,
-0.003111535683274269,
0.0152924545109272,
-0.014481686986982822,
0.008418180979788303,
-0.003305602353066206,
0.032982710748910904,
-0.024788783863186836,
0.0014134523225948215,
-0.054028164595365524,
-0.014895696192979813,
-0.009246199391782284,
0.020872950553894043,
0.021407710388302803,
-0.06641393154859543,
0.0009719506488181651,
0.022235728800296783,
0.004030118230730295,
-0.0012172292917966843,
-0.0023827075492590666,
0.0058263130486011505,
0.030757412314414978,
-0.012385766953229904,
-0.03905484080314636,
0.021821720525622368,
0.00018988885858561844,
-0.038502831012010574,
0.024185020476579666,
-0.013946925289928913,
-0.009073695167899132,
0.02075219713151455,
-0.029135877266526222,
-0.022977495566010475,
0.0007040307973511517,
-0.05426966771483421,
0.009962089359760284,
0.00957395602017641,
0.027980102226138115,
0.02406426891684532,
0.009608456864953041,
-0.005748686380684376,
0.01036747358739376,
-0.014119429513812065,
-0.007982609793543816,
0.03348297253251076,
0.023357003927230835,
0.006486139725893736,
0.006770770996809006,
-0.054787181317806244,
-0.023339752107858658,
-0.0020614194218069315,
-0.017974887043237686,
-0.06420588493347168,
-0.02999839559197426,
-0.015188951976597309,
0.02477153390645981,
-0.04222891107201576,
0.01809564046561718,
0.06724195182323456,
-0.029791392385959625,
0.021545713767409325,
-0.03355197235941887,
0.058720264583826065,
0.017138244584202766,
-0.00001287881786993239,
-0.01378304697573185,
-0.010539976879954338,
-0.058651264756917953,
0.015094075351953506,
0.019510170444846153,
-0.009970714338123798,
-0.015525334514677525,
0.0037497994489967823,
-0.0008102284045889974,
-0.006378324702382088,
-0.021562963724136353,
-0.013084406964480877,
0.0278766006231308,
-0.0011816504411399364,
0.027583343908190727,
0.03296545892953873,
-0.007762667257338762,
0.007861857302486897,
0.04284992441534996,
0.048335541039705276,
-0.020872950553894043,
-0.020562443882226944,
0.010669355280697346,
-0.009962089359760284,
0.03601877763867378,
-0.047197017818689346,
0.011635375209152699,
-0.05278613790869713,
0.010125968605279922,
-0.01937216706573963,
-0.0019859489984810352,
0.007012275978922844,
0.03249970078468323,
0.002212360268458724,
0.0009169650729745626,
0.026410318911075592,
0.0024301460944116116,
0.022960243746638298,
0.01952742040157318,
-0.004610161762684584,
-0.009703334420919418,
-0.022701488807797432,
0.01567196287214756,
0.00755135016515851,
0.014119429513812065,
0.004124995321035385,
0.027824848890304565,
-0.01642235368490219,
-0.030722912400960922,
-0.028635617345571518,
-0.007348658517003059,
-0.03377622738480568,
-0.017095118761062622,
0.04999157786369324,
-0.008504433557391167,
-0.0000393861009797547,
0.0408833809196949,
0.028221607208251953,
-0.0026759637985378504,
-0.0073270951397717,
-0.024271272122859955,
-0.020545192062854767,
-0.005011233035475016,
-0.04975007101893425,
-0.01961367204785347,
-0.033500220626592636,
0.0021897191181778908,
-0.008961567655205727,
0.02785935066640377,
0.004485096782445908,
0.033655475825071335,
0.01688811369240284,
-0.01180787943303585,
-0.04671400785446167,
0.016016969457268715,
-0.013041281141340733,
0.01756087876856327,
0.018613150343298912,
-0.049715571105480194,
-0.0236157588660717,
-0.021752718836069107,
0.04215990751981735,
0.023874513804912567,
-0.022235728800296783,
0.003848989261314273,
0.035777270793914795,
-0.059927791357040405,
-0.020648695528507233,
0.014421310275793076,
0.011031612753868103,
0.00594706553965807,
-0.008262927643954754,
-0.058340758085250854,
0.00048220177995972335,
0.0032301321625709534,
0.02754884399473667,
0.02915312722325325,
-0.00006219567876541987,
0.005097484681755304,
0.015309704467654228,
0.0032452261075377464,
0.002242548391222954,
-0.048266541212797165,
-0.03427648916840553,
0.025409797206521034,
-0.002695370465517044,
-0.0011611656518653035,
0.005451117642223835,
-0.00023449724540114403,
0.035104505717754364,
-0.0035772959236055613,
0.006119569297879934,
0.0033746040426194668,
-0.013127532787621021,
0.021235207095742226,
0.011048862710595131,
-0.010790107771754265,
0.009608456864953041,
-0.014585189521312714,
0.01840614713728428,
0.00014541523705702275,
0.017543628811836243,
0.0275660939514637,
0.02792835235595703,
-0.03424198925495148,
-0.020941950380802155,
-0.04253941774368286,
0.026462070643901825,
-0.014093553647398949,
-0.01173887774348259,
0.001663582748733461,
0.021821720525622368,
0.0472315177321434,
-0.014429936185479164,
0.027238337323069572,
0.02929113060235977,
0.031361173838377,
-0.014222931116819382,
0.013446664437651634,
-0.004752477165311575,
-0.00784029345959425,
-0.01407630369067192,
0.04778353124856949,
-0.010272596031427383,
-0.04067637771368027,
0.0339142307639122,
-0.014093553647398949,
-0.006951899733394384,
0.053510650992393494,
0.050543587654829025,
0.021976973861455917,
0.022925743833184242,
-0.012825651094317436,
0.021752718836069107,
0.0018209923291578889,
0.00837074313312769,
-0.049715571105480194,
0.014697317034006119,
-0.02097645215690136,
-0.026841579005122185,
0.024512778967618942,
0.021942472085356712,
0.002154140267521143,
0.035466764122247696,
0.04602399095892906,
0.007697978522628546,
0.006179945543408394,
0.015439082868397236,
0.062273841351270676,
0.0014285463839769363,
-0.0110143618658185,
0.006098006386309862,
0.005666747223585844,
-0.01718999445438385,
-0.021390460431575775,
0.04964657127857208,
-0.021459462121129036,
0.0021250301506370306,
-0.03991736099123955,
-0.034121233969926834,
-0.01071248110383749,
-0.046990010887384415,
0.004687788430601358,
-0.041676897555589676,
0.004321218002587557,
-0.0033336342312395573
] |
It has been shown that a neural network model recently proposed to describe
basic memory performance is based on a ternary/binary coding/decoding algorithm
which leads to a new neural network assembly memory model (NNAMM) providing
maximum-likelihood recall/recognition properties and implying a new memory unit
architecture with Hopfield two-layer network, N-channel time gate, auxiliary
reference memory, and two nested feedback loops. For the data coding used,
conditions are found under which a version of Hopfied network implements
maximum-likelihood convolutional decoding algorithm and, simultaneously, linear
statistical classifier of arbitrary binary vectors with respect to Hamming
distance between vector analyzed and reference vector given. In addition to
basic memory performance and etc, the model explicitly describes the dependence
on time of memory trace retrieval, gives a possibility of one-trial learning,
metamemory simulation, generalized knowledge representation, and distinct
description of conscious and unconscious mental processes. It has been shown
that an assembly memory unit may be viewed as a model of a smallest inseparable
part or an 'atom' of consciousness. Some nontraditional neurobiological
backgrounds (dynamic spatiotemporal synchrony, properties of time dependent and
error detector neurons, early precise spike firing, etc) and the model's
application to solve some interdisciplinary problems from different scientific
fields are discussed. | [
-0.05175577476620674,
0.003895798232406378,
-0.031429871916770935,
-0.020438825711607933,
-0.022716078907251358,
0.04084001109004021,
0.05442825332283974,
0.028870312497019768,
0.016853561624884605,
0.06839290261268616,
0.044980473816394806,
-0.011828547343611717,
-0.014736280776560307,
-0.008257398381829262,
0.03506218269467354,
0.0167218204587698,
0.036003198474645615,
-0.01891438290476799,
-0.018594438210129738,
-0.026009628549218178,
-0.0029641943983733654,
-0.03745235875248909,
-0.0451686754822731,
-0.045469801872968674,
0.020043600350618362,
0.03404588997364044,
0.019083766266703606,
-0.04193158820271492,
-0.09387556463479996,
0.0242405217140913,
-0.007452831603586674,
0.0242405217140913,
-0.017982779070734978,
-0.000718699477147311,
-0.0426843985915184,
-0.049497339874506,
-0.026423675939440727,
0.013475321233272552,
-0.01745581068098545,
0.03078998066484928,
0.10268345475196838,
0.04155518114566803,
0.010624049231410027,
-0.0517934150993824,
0.039748433977365494,
0.021605683490633965,
0.014811561442911625,
-0.04445350542664528,
0.014755100943148136,
-0.004401593469083309,
0.05597151815891266,
-0.05442825332283974,
0.031467512249946594,
-0.022414954379200935,
-0.036379605531692505,
-0.008803186938166618,
0.019403710961341858,
0.009532473050057888,
0.047502391040325165,
0.020325904712080956,
0.010181772522628307,
0.050024308264255524,
-0.0393720306456089,
0.0069870296865701675,
-0.009165477007627487,
-0.037151236087083817,
-0.015150326304137707,
-0.008318564854562283,
0.03425291180610657,
0.004088706336915493,
-0.05555747076869011,
-0.009692445397377014,
-0.056573767215013504,
-0.019874216988682747,
-0.018490927293896675,
0.024786310270428658,
0.019403710961341858,
0.09086431562900543,
0.005208512768149376,
0.01214849203824997,
0.0030606482177972794,
0.023224227130413055,
0.07068897783756256,
0.01802982948720455,
0.02100343443453312,
-0.014999764040112495,
0.03280375152826309,
-0.059472087770700455,
0.03092172183096409,
-0.00413105171173811,
-0.041291698813438416,
0.04987374693155289,
-0.01753109134733677,
0.017427580431103706,
0.007546932902187109,
0.0445287860929966,
0.03126048669219017,
0.017813395708799362,
-0.022791361436247826,
0.01893320307135582,
0.01979893632233143,
0.011103966273367405,
-0.015338529832661152,
0.00769749516621232,
0.03948495164513588,
-0.014134031720459461,
-0.0053731901571154594,
0.008469127118587494,
0.006121296435594559,
0.13678580522537231,
-0.040538884699344635,
0.01461394876241684,
-0.01089694257825613,
-0.026122551411390305,
-0.012026160024106503,
-0.02713884599506855,
-0.062558613717556,
-0.042119789868593216,
-0.01627013273537159,
-0.03895798325538635,
-0.06327378749847412,
0.08499239385128021,
-0.013183606788516045,
0.029698403552174568,
-0.0049450290389359,
0.0799485594034195,
0.0014809209387749434,
0.005344959907233715,
0.021963268518447876,
-0.017606373876333237,
-0.003215915523469448,
-0.03333071991801262,
0.008417370729148388,
-0.018208622932434082,
0.014849201776087284,
-0.04735182970762253,
0.029867786914110184,
0.009843007661402225,
0.037264157086610794,
-0.04945969954133034,
-0.02881385013461113,
-0.02962312288582325,
0.009664214216172695,
-0.006939978804439306,
0.038882702589035034,
0.01150860171765089,
-0.044190019369125366,
0.05216982215642929,
-0.01419049222022295,
0.02217029221355915,
-0.04968554154038429,
0.015912547707557678,
-0.012506077066063881,
-0.0012303759576752782,
0.009137246757745743,
-0.01938489079475403,
-0.01725819893181324,
-0.0022113830782473087,
-0.0021690374705940485,
0.004053418058902025,
0.01936606876552105,
-0.04193158820271492,
0.022358493879437447,
0.06176816299557686,
-0.017578143626451492,
-0.006097771227359772,
-0.012891893275082111,
0.017164096236228943,
-0.015686703845858574,
0.032314423471689224,
-0.013927008025348186,
0.04885745048522949,
0.022057369351387024,
0.025764964520931244,
0.0056319693103432655,
0.04844340309500694,
0.03286021202802658,
0.0033570677042007446,
-0.01895202323794365,
-0.022753721103072166,
0.0032323834020644426,
0.03419645130634308,
0.03199447691440582,
0.0037146529648452997,
0.023186586797237396,
0.022810181602835655,
0.09124072641134262,
0.030319472774863243,
0.028945593163371086,
-0.030997004359960556,
0.0354197695851326,
0.022000908851623535,
0.05314847454428673,
0.006864697672426701,
0.05555747076869011,
-0.0154326306656003,
-0.019177867099642754,
0.008502062410116196,
-0.04445350542664528,
-0.0033429525792598724,
-0.010435845702886581,
-0.08792835474014282,
0.043851256370544434,
0.006300089415162802,
-0.04976082593202591,
-0.036379605531692505,
-0.03658662736415863,
-0.020420005545020103,
0.030582956969738007,
-0.013211837969720364,
0.02350653149187565,
-0.01688179187476635,
0.011828547343611717,
-0.038525115698575974,
0.009805366396903992,
0.008215053007006645,
-0.030112450942397118,
-0.024485185742378235,
0.03837455436587334,
-0.013522372581064701,
0.028155140578746796,
0.019930677488446236,
0.06316086649894714,
-0.019140226766467094,
0.007349319756031036,
-0.04569564387202263,
-0.007932748645544052,
-0.04776587337255478,
-0.03829927369952202,
-0.05254622548818588,
-0.019667193293571472,
0.052809711545705795,
0.017465220764279366,
-0.004091058857738972,
-0.01420931238681078,
0.001150977797806263,
0.004363952670246363,
-0.05830523371696472,
0.0041239941492676735,
0.023958219215273857,
-0.029039693996310234,
0.042571477591991425,
-0.03043239563703537,
-0.01603488065302372,
-0.022490236908197403,
-0.012449616566300392,
-0.0014232838293537498,
0.0010798136936500669,
0.01605370081961155,
0.008365615271031857,
0.05375072360038757,
0.01609134115278721,
0.05461645871400833,
0.004140461795032024,
-0.023224227130413055,
0.046222612261772156,
0.008516177535057068,
-0.04208214953541756,
0.010652279481291771,
-0.011677985079586506,
-0.016712410375475883,
0.004855632781982422,
0.012242592871189117,
0.04328664764761925,
-0.054879941046237946,
0.0028983233496546745,
0.031109925359487534,
0.012459026649594307,
0.034798700362443924,
-0.017154686152935028,
0.041254058480262756,
-0.009918288327753544,
0.03280375152826309,
0.009000799618661404,
0.06447828561067581,
-0.0461849719285965,
0.013936418108642101,
0.017700474709272385,
-0.031128745526075363,
0.018330954015254974,
0.03709477558732033,
0.025727324187755585,
-0.008878467604517937,
-0.01643010601401329,
-0.03585263714194298,
-0.035927917808294296,
-0.04855632781982422,
-0.010275873355567455,
-0.05424005165696144,
0.028625648468732834,
-0.002879503183066845,
0.023657094687223434,
-0.06839290261268616,
-0.024805130437016487,
0.03797932714223862,
0.012938943691551685,
-0.008949044160544872,
0.031429871916770935,
0.0033594202250242233,
-0.056197360157966614,
-0.024014679715037346,
0.00411223154515028,
-0.03167453408241272,
0.000803978880867362,
-0.054127130657434464,
0.02966076321899891,
0.013804676942527294,
0.05348724126815796,
-0.010624049231410027,
0.026141371577978134,
0.03276611119508743,
0.0040204827673733234,
0.004295729100704193,
-0.054014209657907486,
-0.0023607690818607807,
0.0019949497655034065,
0.001917316229082644,
0.018490927293896675,
-0.022941922768950462,
-0.01767224445939064,
0.00535436999052763,
-0.0032606138847768307,
-0.05356252193450928,
0.021549222990870476,
0.03368830308318138,
0.05747713893651962,
0.0861968919634819,
0.06745188683271408,
-0.024089960381388664,
0.0012633113656193018,
-0.06748952716588974,
-0.029848966747522354,
-0.05152992904186249,
0.018001599237322807,
-0.05107824504375458,
-0.02425934374332428,
0.001323300995863974,
0.037602923810482025,
-0.005867222789674997,
0.00769749516621232,
0.02390175685286522,
-0.012270823121070862,
-0.0037828765343874693,
0.022904282435774803,
-0.015300888568162918,
0.02393939718604088,
-0.03336836025118828,
-0.05062655732035637,
-0.034817520529031754,
-0.01810511015355587,
0.001195087912492454,
-0.050325434654951096,
0.06782829761505127,
0.013710575178265572,
0.01662771962583065,
-0.07784068584442139,
0.01235551480203867,
0.04757767170667648,
-0.04061416909098625,
0.050400715321302414,
0.006996439769864082,
0.01895202323794365,
-0.007871583104133606,
-0.0011280406033620238,
-0.06221985071897507,
-0.06124119460582733,
-0.02297956310212612,
-0.008304448798298836,
0.006587098352611065,
0.03788522630929947,
0.033537741750478745,
0.07388842850923538,
-0.06707548350095749,
-0.016599487513303757,
-0.012308464385569096,
0.014604538679122925,
0.07637270539999008,
0.00205611577257514,
0.04814228042960167,
0.021586863324046135,
0.0410282127559185,
-0.02297956310212612,
-0.0012233182787895203,
0.01174385566264391,
0.00006958357698749751,
-0.011009864509105682,
-0.0028183371759951115,
0.014905663207173347,
-0.03035711497068405,
0.028079859912395477,
-0.0007110537844710052,
-0.06824234127998352,
-0.01439751498401165,
-0.01256253756582737,
0.05378836393356323,
0.031862735748291016,
-0.024918053299188614,
-0.013672934845089912,
0.04042596369981766,
-0.011376860551536083,
-0.03748999908566475,
0.001542086829431355,
-0.01650538668036461,
-0.02670598030090332,
0.0037452359683811665,
0.015291478484869003,
-0.014162261970341206,
0.013362400233745575,
0.01853797771036625,
-0.0027759915683418512,
0.018923792988061905,
-0.01335299015045166,
-0.01830272376537323,
-0.018773231655359268,
-0.005241448525339365,
0.006549458019435406,
-0.07987327128648758,
0.0517934150993824,
-0.0026066089048981667,
-0.025237997993826866,
-0.012044980190694332,
0.0188579224050045,
0.015912547707557678,
0.013437680900096893,
-0.01875440962612629,
0.012044980190694332,
0.00118097267113626,
-0.05431533232331276,
-0.006408305838704109,
-0.03039475530385971,
0.047916438430547714,
0.00853029265999794,
0.03257790580391884,
0.00203141407109797,
-0.042119789868593216,
-0.0658709853887558,
-0.04802935943007469,
0.015131506137549877,
-0.06628502905368805,
-0.06722604483366013,
0.010699329897761345,
0.0746035948395729,
-0.03816753253340721,
-0.030187731608748436,
-0.07426483184099197,
-0.05589623749256134,
-0.012327284552156925,
-0.04678722098469734,
0.0009392497013323009,
-0.035739716142416,
-0.042609117925167084,
0.00400872016325593,
-0.012863662093877792,
-0.02461692877113819,
0.08175530284643173,
0.013484731316566467,
-0.04328664764761925,
-0.0617305226624012,
0.022829001769423485,
-0.008643214590847492,
0.024560468271374702,
0.06989852339029312,
0.03276611119508743,
-0.05269678682088852,
0.01895202323794365,
0.027025924995541573,
-0.001184501452371478,
-0.03769702464342117,
0.00801744032651186,
0.004133404232561588,
0.044190019369125366,
-0.00394049659371376,
0.021059894934296608,
0.019262557849287987,
0.008276218548417091,
-0.021097535267472267,
0.03532566875219345,
-0.09372500330209732,
0.04283495992422104,
0.013418860733509064,
-0.008934929035604,
-0.015507912263274193,
0.03997427970170975,
0.042157430201768875,
-0.03445993363857269,
0.019648373126983643,
0.021982088685035706,
0.049534980207681656,
-0.0003096524451393634,
-0.029077334329485893,
-0.007890403270721436,
0.010031210258603096,
0.03250262513756752,
0.03078998066484928,
-0.027421150356531143,
0.01357883308082819,
0.014077570289373398,
-0.043813616037368774,
0.03609729930758476,
0.0304512158036232,
-0.049610260874032974,
-0.06184344366192818,
0.056950170546770096,
0.05996141582727432,
-0.06827998161315918,
0.051153525710105896,
-0.0015514969127252698,
-0.015950188040733337,
-0.02137983962893486,
-0.026498956605792046,
-0.023148946464061737,
-0.02021298184990883,
0.01850033737719059,
0.011103966273367405,
0.0334436409175396,
-0.02297956310212612,
-0.055256348103284836,
-0.018133340403437614,
0.017380530014634132,
-0.0010027681710198522,
0.004912093281745911,
0.009094901382923126,
-0.004578033462166786,
0.05762770026922226,
-0.06033782288432121,
-0.030677059665322304,
0.04569564387202263,
-0.003399413311854005,
-0.0049309139139950275,
-0.0795721486210823,
0.0043992409482598305,
-0.014284593984484673,
-0.037170056253671646,
-0.028851492330431938,
-0.02753407135605812,
-0.002524270210415125,
0.004992079455405474,
-0.004079296253621578,
-0.02719530649483204,
-0.032634370028972626,
0.014717460609972477,
0.020024780184030533,
0.0034088233951479197,
0.024165241047739983,
-0.07607157528400421,
0.004992079455405474,
0.06203164905309677,
-0.023977039381861687,
-0.005674314685165882,
-0.024748669937253,
-0.001906729768961668,
-0.04392653703689575,
-0.011630933731794357,
-0.004707423038780689,
-0.04550744220614433,
0.011480371467769146,
0.0035570331383496523,
-0.0435124896466732,
0.009014914743602276,
0.007829236797988415,
0.015733756124973297,
0.011179246939718723,
-0.0420445092022419,
0.0076645598746836185,
0.02873856946825981,
-0.00812565628439188,
0.019667193293571472,
0.06907043606042862,
0.04923385754227638,
0.012346104718744755,
-0.028700929135084152,
-0.012214362621307373,
0.02794811874628067,
0.048706889152526855,
0.013051865622401237,
0.033575382083654404,
0.004380420316010714,
-0.015338529832661152,
-0.0010033563012257218,
0.000739872339181602,
0.03782876580953598,
-0.045883845537900925,
0.05548219010233879,
0.06602154672145844,
0.004632141906768084,
0.021492760628461838,
-0.007796301506459713,
-0.04855632781982422,
0.002743056043982506,
-0.05853107571601868,
-0.006850582547485828,
0.07784068584442139,
0.007702200207859278,
0.009555998258292675,
-0.009433666244149208,
-0.038016967475414276,
0.030244192108511925,
-0.021097535267472267,
0.058568716049194336,
-0.033970609307289124,
-0.02217029221355915,
-0.0002030531904892996,
0.025275638327002525,
0.01374821551144123,
0.01567729376256466,
0.021266918629407883,
0.03833691403269768,
0.011903828009963036,
-0.010134721174836159,
-0.013710575178265572,
-0.018208622932434082,
-0.006709430366754532,
0.021191636100411415,
0.012026160024106503,
0.00586251774802804,
-0.024541646242141724,
0.02055174671113491,
-0.025652043521404266,
-0.019083766266703606,
-0.010755791328847408,
0.03361302241683006,
0.00502972025424242,
0.03673718869686127,
-0.007335204631090164,
0.001590313739143312,
-0.001590313739143312,
0.008934929035604,
-0.02339361049234867,
-0.013258888386189938,
0.0028324523009359837,
-0.030658239498734474,
0.025388559326529503,
-0.031825095415115356,
0.01050171721726656,
0.00023951749608386308,
0.02297956310212612,
-0.014425746165215969,
-0.05141700804233551,
-0.007043490186333656,
0.021191636100411415,
-0.022414954379200935,
0.010774611495435238,
-0.06048838421702385,
0.00411223154515028,
0.003952259197831154,
0.038035787642002106,
0.028945593163371086,
-0.009170182049274445,
0.05567039176821709,
-0.01518796756863594,
0.007584573235362768,
-0.01313655637204647,
-0.013512962497770786,
0.04114113375544548,
0.007871583104133606,
-0.016712410375475883,
0.06221985071897507,
-0.007659854367375374,
-0.0021502170711755753,
-0.04355012997984886,
-0.025407379493117332,
0.03331189975142479,
-0.03255908563733101,
0.010793431662023067,
0.046260252594947815,
-0.013362400233745575,
-0.02843744494020939,
0.02713884599506855,
-0.005646084435284138,
0.03622904047369957,
-0.03321779519319534,
-0.03496808186173439,
-0.021492760628461838,
0.016853561624884605,
-0.002434873953461647,
-0.06470412760972977,
0.014811561442911625,
0.041254058480262756,
0.003999309614300728,
-0.009621868841350079,
-0.020683489739894867,
0.02429698407649994,
-0.026404855772852898,
-0.049911387264728546,
-0.016759460791945457,
0.008313859812915325,
0.024974513798952103,
-0.037565283477306366,
-0.06455356627702713,
-0.0032253258395940065,
0.013447090983390808,
-0.028606828302145004,
0.009555998258292675,
0.017380530014634132,
0.002879503183066845,
0.011630933731794357,
-0.01769106462597847,
0.02506861463189125,
0.013588243164122105,
0.015065635554492474,
0.008680854924023151,
0.03799814730882645,
0.030677059665322304,
-0.03585263714194298,
-0.001150977797806263,
0.017916908487677574,
0.016750050708651543,
-0.018528567627072334,
-0.0263107530772686,
0.0048509277403354645,
0.025727324187755585,
-0.006892927922308445,
0.01934724859893322,
0.029096154496073723,
0.010106490924954414,
-0.017154686152935028,
0.009156066924333572,
-0.035156287252902985,
-0.03005599044263363,
-0.006902338471263647,
-0.021097535267472267,
0.008407960645854473,
0.019573092460632324,
-0.05043835565447807,
0.006521227769553661,
0.02143630012869835,
0.0014879785012453794,
0.0011997929541394114,
-0.02011888101696968,
-0.0023537115193903446,
0.016938254237174988,
-0.01605370081961155,
-0.011555653065443039,
0.0035993787460029125,
-0.021643323823809624,
-0.01772870495915413,
0.008073900826275349,
0.03092172183096409,
-0.00718934740871191,
-0.0035405654925853014,
0.014143441803753376,
0.04795407876372337,
0.013409450650215149,
-0.00014063749404158443,
0.00854911282658577,
-0.011329809203743935,
-0.046297892928123474,
-0.02760935388505459,
-0.024880412966012955,
0.009814776480197906,
-0.010191182605922222,
0.00948542170226574,
0.04042596369981766,
-0.040990572422742844,
-0.015329119749367237,
0.01231787446886301,
0.037188876420259476,
0.0010451137786731124,
0.012976584024727345,
0.016477156430482864,
-0.007175232283771038,
0.021285738795995712,
0.015075045637786388,
0.03363184258341789,
0.02924671769142151,
-0.07403898984193802,
-0.012092030607163906,
-0.019573092460632324,
0.0020020075608044863,
-0.018594438210129738,
0.04140461981296539,
0.025821426883339882,
0.01976129598915577,
-0.016750050708651543,
0.023977039381861687,
-0.01979893632233143,
-0.040049560368061066,
0.012553127482533455,
-0.0028253947384655476,
0.00411223154515028,
0.0008380906656384468,
0.024805130437016487,
0.035589151084423065,
0.0443405844271183,
-0.0218503475189209,
-0.02830570377409458,
-0.017154686152935028,
-0.019262557849287987,
-0.03944731131196022,
0.014482206664979458,
0.04814228042960167,
-0.04720126464962959,
0.00810683611780405,
-0.01664653979241848,
0.040049560368061066,
0.011960288509726524,
-0.0035687959752976894,
0.005721365567296743,
0.016100751236081123,
-0.009038439951837063,
0.01625131256878376,
-0.035645611584186554,
-0.022772541269659996,
0.05111588537693024,
-0.05066419765353203,
-0.0031406343914568424,
-0.040538884699344635,
-0.01524442806839943,
-0.04637317359447479,
0.020363545045256615,
-0.023544171825051308,
0.01026646327227354,
0.06417716294527054,
-0.0033594202250242233,
0.05318611487746239,
0.009461896494030952,
-0.012666049413383007,
0.039748433977365494,
0.01627013273537159,
-0.021963268518447876,
-0.011546242982149124,
-0.034384652972221375,
0.04938441887497902,
-0.05043835565447807,
-0.03333071991801262,
-0.031128745526075363,
0.03449757769703865,
0.009193707257509232,
0.0016303069423884153,
-0.024127600714564323,
0.029886607080698013,
-0.05461645871400833,
0.006568278186023235,
0.005062655545771122,
0.002872445387765765,
0.03291667252779007,
0.006944683846086264,
0.010068850591778755,
-0.012609588913619518,
0.034704599529504776,
-0.01709822565317154,
-0.0017796928295865655,
0.03276611119508743,
-0.007269333582371473,
-0.0038369849789887667,
-0.0021619799081236124,
0.017305249348282814,
-0.037188876420259476,
0.007942158728837967,
-0.011047504842281342,
0.04140461981296539,
0.02877620980143547,
0.022509057074785233,
0.027722274884581566,
0.022019729018211365,
0.01806746982038021,
0.020062420517206192,
-0.004566270858049393,
0.011856777593493462,
-0.0036628972738981247,
0.046297892928123474,
-0.008760840632021427,
-0.0005325551610440016,
-0.02057056687772274,
0.020024780184030533,
-0.02057056687772274,
-0.02552030235528946,
-0.009899468161165714,
-0.0012374335201457143,
-0.012308464385569096,
0.011122786439955235,
-0.0723075196146965,
-0.040915291756391525,
0.028889132663607597,
0.012995404191315174,
-0.03982371464371681,
0.0034041183535009623,
-0.001892614527605474,
0.027722274884581566,
0.007659854367375374,
0.01929078809916973,
0.024127600714564323,
0.024485185742378235,
0.01520678773522377,
0.051266446709632874,
0.010962814092636108,
0.029773686081171036,
-0.05540690943598747,
-0.017126455903053284,
-0.008949044160544872,
-0.035645611584186554,
-0.023675914853811264,
-0.03150515258312225,
-0.013023634441196918,
-0.0011992048239335418,
0.0031829799991101027,
0.0258967075496912,
0.005566098261624575,
0.009254873730242252,
-0.017813395708799362,
0.024071140214800835,
-0.09146656841039658,
-0.013889367692172527,
-0.017502861097455025,
-0.01970483548939228,
-0.0609024316072464,
-0.014369284734129906,
-0.029303178191184998,
-0.0032982544507831335,
-0.03613493964076042,
0.0015503206523135304,
0.019121406599879265,
0.018218033015727997,
-0.059886135160923004,
-0.025407379493117332,
0.023657094687223434,
-0.013503552414476871,
-0.013409450650215149,
-0.01711704581975937,
0.010153542272746563,
0.08627217262983322,
0.04068944975733757,
-0.02343125082552433,
-0.0037546460516750813,
-0.0035782060585916042,
0.003549975575879216,
-0.006323614623397589,
-0.01235551480203867,
0.02307366579771042,
-0.01968601532280445,
-0.04486755281686783,
0.035099826753139496,
0.02999952808022499,
0.026461316272616386,
0.01929078809916973,
-0.022339673712849617,
-0.015507912263274193,
0.04430294409394264,
0.02057056687772274,
-0.017399350181221962,
-0.028588008135557175,
0.011734445579349995,
0.021078715100884438,
0.027759915217757225,
-0.004726243205368519,
-0.01790749840438366,
0.006563573144376278,
-0.043738335371017456,
0.0534496009349823,
0.0226784385740757,
0.000825151742901653,
-0.019177867099642754,
0.015592603012919426,
-0.0044792271219193935,
-0.013127146288752556,
-0.009974748827517033,
-0.014275183901190758,
-0.02625429257750511,
0.0007610451430082321,
0.007909223437309265,
0.06206928938627243,
-0.0024678094778209925,
-0.021718604490160942,
-0.005415535997599363,
0.013268298469483852,
0.026950642466545105,
-0.02674362063407898,
-0.01605370081961155,
-0.035946737974882126,
0.023675914853811264,
0.0013597653014585376,
-0.010454666800796986,
0.024165241047739983,
0.03551387041807175,
0.027007104828953743,
-0.009786546230316162,
0.014463386498391628,
-0.0029853670857846737,
0.02055174671113491,
0.042157430201768875,
0.022866642102599144,
-0.013607063330709934,
0.02712002582848072,
-0.029886607080698013,
-0.011310989037156105,
0.0002630428352858871,
0.02632957324385643,
0.03216386213898659,
0.01722055673599243,
-0.04272203892469406,
-0.04106585308909416,
-0.003507629968225956,
0.040952932089567184,
0.013898777775466442,
-0.04181866720318794,
0.04144226014614105,
-0.008845532312989235,
-0.046711940318346024,
-0.007753956131637096,
0.008139771409332752,
-0.02585906721651554,
-0.0222643930464983,
-0.020758770406246185,
0.03824281319975853,
-0.004987374413758516,
-0.004836812149733305,
0.05789118632674217,
0.01749345101416111,
-0.03570207580924034,
0.010304104536771774,
0.00927839893847704,
0.035739716142416,
-0.020382365211844444,
-0.005933093838393688,
-0.013494141399860382,
0.0010309985373169184,
-0.035099826753139496,
0.04554508253931999,
0.0009180768392980099,
0.003785229055210948,
0.02013770118355751,
0.01480215135961771,
0.024560468271374702,
-0.07558225095272064
] |
A ternary/binary data coding algorithm and conditions under which Hopfield
networks implement optimal convolutional or Hamming decoding algorithms has
been described. Using the coding/decoding approach (an optimal Binary Signal
Detection Theory, BSDT) introduced a Neural Network Assembly Memory Model
(NNAMM) is built. The model provides optimal (the best) basic memory
performance and demands the use of a new memory unit architecture with
two-layer Hopfield network, N-channel time gate, auxiliary reference memory,
and two nested feedback loops. NNAMM explicitly describes the dependence on
time of a memory trace retrieval, gives a possibility of metamemory simulation,
generalized knowledge representation, and distinct description of conscious and
unconscious mental processes. A model of smallest inseparable part or an "atom"
of consciousness is also defined. The NNAMM's neurobiological backgrounds and
its applications to solving some interdisciplinary problems are shortly
discussed. BSDT could implement the "best neural code" used in nervous tissues
of animals and humans. | [
0.00020478287478908896,
0.004003344569355249,
-0.02475389651954174,
-0.014863556250929832,
0.010712978430092335,
0.033559851348400116,
0.022547734901309013,
0.016415348276495934,
-0.008474096655845642,
0.07964622229337692,
0.04715206101536751,
-0.04158056527376175,
0.0017749796388670802,
-0.017163200303912163,
0.0038117074873298407,
0.020846370607614517,
0.023613423109054565,
0.0011866305721923709,
0.0010055102175101638,
-0.057509809732437134,
0.0031573371961712837,
-0.03311114013195038,
-0.022529037669301033,
-0.007557977922260761,
-0.003587351879104972,
0.03215762972831726,
-0.0014255926944315434,
-0.020079823210835457,
-0.07070939242839813,
0.004071118775755167,
-0.016770578920841217,
0.017518430948257446,
-0.023351674899458885,
-0.028979260474443436,
-0.03903786838054657,
-0.060089897364377975,
-0.038140445947647095,
0.021631615236401558,
-0.05866897851228714,
0.020248088985681534,
0.07399994134902954,
0.020752890035510063,
-0.016471438109874725,
-0.008759215474128723,
0.02501564472913742,
0.014414845034480095,
0.014704637229442596,
-0.022585127502679825,
0.010787763632833958,
-0.03088628314435482,
0.032232414931058884,
-0.04236580803990364,
0.013984830118715763,
0.008385289460420609,
-0.0067213186994194984,
0.03569123148918152,
0.024922164157032967,
0.05059218034148216,
0.06412830203771591,
0.01835976354777813,
-0.004043074324727058,
0.028773600235581398,
-0.025127822533249855,
0.022529037669301033,
0.025127822533249855,
-0.03944918513298035,
-0.027446163818240166,
0.012975229881703854,
0.003940244670957327,
0.009768814779818058,
-0.051900919526815414,
0.0004665310261771083,
-0.02295905351638794,
0.02860533446073532,
-0.008301155641674995,
0.0658857524394989,
0.04954518750309944,
0.08488118648529053,
0.02780139446258545,
0.009591200388967991,
0.007557977922260761,
-0.017256682738661766,
0.04318844527006149,
0.02224859409034252,
0.03855176270008087,
-0.00047208150499500334,
0.006482941098511219,
-0.06068817898631096,
0.048086874186992645,
0.012133896350860596,
-0.025426963344216347,
0.005510733462870121,
-0.012956533581018448,
0.002214342588558793,
0.009016289375722408,
0.09004136919975281,
-0.0008086148300208151,
-0.0008068620809353888,
-0.032531555742025375,
0.049619972705841064,
0.018761733546853065,
0.02473520115017891,
-0.016667747870087624,
0.00017659236618783325,
0.034027259796857834,
-0.012844355776906013,
-0.006842844653874636,
0.002675907453522086,
0.01108690444380045,
0.14979472756385803,
-0.0459928922355175,
0.03728041797876358,
-0.03193327412009239,
-0.016153600066900253,
-0.03671952709555626,
-0.04535721614956856,
-0.04763816297054291,
-0.06865280121564865,
0.010703629814088345,
-0.015321615152060986,
-0.06992415338754654,
0.06917630136013031,
-0.025688711553812027,
0.006870889104902744,
-0.012330207973718643,
0.057734165340662,
-0.03847697749733925,
0.025875674560666084,
0.004522166680544615,
-0.043001484125852585,
-0.003814044641330838,
-0.055752359330654144,
0.03516773506999016,
-0.04543200135231018,
-0.007277533411979675,
-0.03398986905813217,
0.03451336547732353,
-0.008745192550122738,
0.01940675638616085,
-0.04513286054134369,
-0.03369072824716568,
-0.02656743861734867,
0.025464355945587158,
0.01098407432436943,
0.007978645153343678,
0.05227484554052353,
-0.06225866824388504,
0.05874376371502876,
-0.03527991101145744,
0.03589688986539841,
-0.04161795601248741,
0.03728041797876358,
0.00426509277895093,
-0.012367600575089455,
0.03191458061337471,
0.009511740878224373,
0.0009003435261547565,
-0.022772090509533882,
-0.015742281451821327,
-0.014097007922828197,
0.0077589633874595165,
-0.021295081824064255,
0.03959875553846359,
0.05328444764018059,
-0.013938089832663536,
0.021388564258813858,
-0.0021524112671613693,
0.02752094902098179,
-0.00003545723666320555,
0.026885274797677994,
0.01198432594537735,
0.038140445947647095,
0.005739763379096985,
0.06670838594436646,
0.016630355268716812,
0.03324201703071594,
0.02884838543832302,
0.013853956013917923,
-0.002081131562590599,
-0.019836770370602608,
-0.020977245643734932,
0.02701614983379841,
0.02778269723057747,
0.025913067162036896,
0.03159674257040024,
0.02400604449212551,
0.06730666756629944,
0.02705354243516922,
0.037373896688222885,
-0.05059218034148216,
0.037747822701931,
0.00625858549028635,
0.03655125945806503,
-0.03232589736580849,
0.05100349709391594,
-0.0173221193253994,
-0.05825766175985336,
-0.016293823719024658,
-0.02783878706395626,
0.0007513574091717601,
0.008768563158810139,
-0.055528003722429276,
0.04210406169295311,
0.043487586081027985,
-0.009123792871832848,
-0.011030815541744232,
-0.023407764732837677,
-0.05433144047856331,
0.023557333275675774,
0.006922304164618254,
0.022641215473413467,
-0.00014000313240103424,
-0.017677348107099533,
-0.03952397033572197,
-0.01763060875236988,
-0.018499985337257385,
-0.042477987706661224,
-0.002577751874923706,
0.005679000169038773,
0.018827171996235847,
0.06483875960111618,
0.013405244797468185,
0.04771294817328453,
-0.012881748378276825,
0.018499985337257385,
-0.05519146844744682,
-0.024361275136470795,
-0.018808474764227867,
-0.017415599897503853,
-0.05679934844374657,
0.027446163818240166,
0.032269809395074844,
0.01033905241638422,
-0.023426460102200508,
-0.032568950206041336,
-0.005253659561276436,
0.010843852534890175,
-0.03900047391653061,
-0.03858915716409683,
0.014713985845446587,
-0.04490850493311882,
0.06334305554628372,
-0.024342577904462814,
-0.03335419297218323,
-0.044272832572460175,
-0.0007542787352576852,
-0.015770327299833298,
0.016125556081533432,
0.0125171709805727,
0.009296733886003494,
0.016004029661417007,
0.01112429704517126,
0.058855943381786346,
0.011189733631908894,
-0.005375185515731573,
0.027707912027835846,
-0.013208934105932713,
-0.020360266789793968,
0.0018112037796527147,
-0.02525869756937027,
-0.009539785794913769,
0.0050012595020234585,
0.02421170473098755,
0.045319825410842896,
-0.05051739513874054,
0.03542948141694069,
0.026698311790823936,
0.016181645914912224,
0.0005167773342691362,
-0.006123037077486515,
0.0298392903059721,
-0.013405244797468185,
0.016714489087462425,
0.02471650391817093,
0.08719953149557114,
-0.015985334292054176,
0.019948948174715042,
0.009002267383038998,
-0.010133393108844757,
0.02172509767115116,
-0.0023861147928982973,
0.04846080020070076,
-0.00007602673576911911,
0.00945097766816616,
-0.03038148209452629,
-0.04565635696053505,
-0.051414817571640015,
-0.034045957028865814,
-0.050853926688432693,
-0.021631615236401558,
-0.003344300203025341,
0.03550426661968231,
-0.030175823718309402,
-0.005982814822345972,
0.015284222550690174,
-0.023613423109054565,
-0.05762198567390442,
-0.009880992583930492,
0.008263763040304184,
-0.017761481925845146,
-0.015527274459600449,
-0.012956533581018448,
-0.026903972029685974,
0.02037896402180195,
-0.05564017966389656,
0.01124582253396511,
0.013311763294041157,
0.052200060337781906,
-0.014209185726940632,
0.0063660889863967896,
0.021089423447847366,
0.034027259796857834,
0.006436200346797705,
-0.03900047391653061,
-0.03819653391838074,
-0.007356992922723293,
-0.00523496326059103,
0.008245066739618778,
-0.022323379293084145,
-0.02219250425696373,
-0.0006508648511953652,
-0.002907274290919304,
-0.07082157582044601,
0.05388272926211357,
0.031727615743875504,
0.04004746675491333,
0.09512675553560257,
0.05664977803826332,
-0.045544181019067764,
0.004138892516493797,
-0.06300652027130127,
-0.011152341030538082,
-0.05160177871584892,
0.0025894371792674065,
-0.04393629729747772,
-0.029671022668480873,
-0.030811497941613197,
0.02879229746758938,
-0.0017200593138113618,
-0.00027723103994503617,
0.04674074426293373,
0.026156120002269745,
0.016910800710320473,
-0.016452740877866745,
-0.013835259713232517,
-0.012554563581943512,
-0.05208788439631462,
-0.030755408108234406,
-0.02423040010035038,
-0.04012225195765495,
0.0011901361867785454,
-0.020042430609464645,
0.059566400945186615,
0.01763995550572872,
0.026623526588082314,
-0.06218388304114342,
-0.014938341453671455,
0.006267933640629053,
-0.03397117182612419,
0.062296062707901,
0.05044260993599892,
-0.012096503749489784,
-0.0008290639379993081,
-0.04023443162441254,
-0.037112150341272354,
-0.03427031263709068,
0.003334952052682638,
-0.007459822576493025,
-0.02142595686018467,
0.016228385269641876,
0.012694785371422768,
0.06816669553518295,
-0.04393629729747772,
-0.009380866773426533,
-0.06801712512969971,
0.017696045339107513,
0.050891321152448654,
-0.0019397408468648791,
0.024118222296237946,
0.03963615000247955,
0.03757955878973007,
0.004346888978034258,
-0.010367096401751041,
-0.014358756132423878,
0.006113688927143812,
-0.022360771894454956,
-0.005225615110248327,
0.04318844527006149,
-0.036326903849840164,
0.034588150680065155,
-0.029484059661626816,
-0.051153067499399185,
-0.01966850459575653,
-0.035579051822423935,
0.07717831432819366,
0.044272832572460175,
-0.020977245643734932,
-0.009740770794451237,
0.028923170641064644,
0.014676593244075775,
-0.026193512603640556,
-0.042253632098436356,
-0.011488874442875385,
-0.04838601499795914,
0.007964622229337692,
0.02701614983379841,
-0.017041673883795738,
-0.03806566074490547,
-0.006501637399196625,
0.0212016012519598,
0.002082300139591098,
-0.006408155895769596,
-0.0056135631166398525,
-0.002923633437603712,
0.007964622229337692,
-0.004043074324727058,
-0.043001484125852585,
0.065212681889534,
0.04797469824552536,
-0.027988357469439507,
-0.022622520104050636,
0.02114551141858101,
0.027764001861214638,
0.0032601668499410152,
0.001932729734107852,
-0.0014092334313318133,
-0.0011416426859796047,
-0.0150411706417799,
0.011928237043321133,
-0.04229102283716202,
0.031260207295417786,
0.014134400524199009,
0.013666993007063866,
-0.0018299000803381205,
-0.10626975446939468,
-0.03604646027088165,
-0.06281955540180206,
0.017714740708470345,
-0.06439004838466644,
-0.0448337197303772,
0.013433289714157581,
0.0250343419611454,
-0.041468385607004166,
-0.05406969040632248,
-0.0402718223631382,
-0.04767555743455887,
0.005622911266982555,
-0.03471902385354042,
-0.018313022330403328,
-0.04928343743085861,
-0.07130767405033112,
-0.013536118902266026,
-0.00045221668551675975,
-0.03159674257040024,
0.06498833000659943,
-0.015723586082458496,
-0.07519650459289551,
-0.04617985337972641,
0.058781158179044724,
-0.018256934359669685,
-0.0024071482475847006,
0.060837749391794205,
0.019687199965119362,
-0.03959875553846359,
0.025969156995415688,
0.021799882873892784,
0.004309496376663446,
-0.02806314267218113,
0.012021718546748161,
-0.015975985676050186,
0.011386045254766941,
-0.02834358625113964,
0.04610506817698479,
0.017668001353740692,
0.019724592566490173,
-0.0052022445015609264,
0.009983822703361511,
-0.0642404779791832,
0.011021466925740242,
-0.012302163057029247,
0.016228385269641876,
-0.05586453527212143,
0.055228862911462784,
0.017471689730882645,
-0.0030942370649427176,
0.012087156064808369,
0.04827383905649185,
0.052424415946006775,
0.040197037160396576,
-0.0214446522295475,
-0.016649052500724792,
-0.008193652145564556,
0.0054733408614993095,
0.026193512603640556,
-0.008885415270924568,
0.04105706885457039,
-0.0346442386507988,
-0.018509333953261375,
0.028680119663476944,
0.007903859950602055,
-0.03948657959699631,
-0.049582578241825104,
0.03441988304257393,
0.031222816556692123,
-0.05096610635519028,
0.04057096317410469,
0.010937334038317204,
0.005314422305673361,
-0.03527991101145744,
-0.02834358625113964,
-0.0023510593455284834,
-0.031297601759433746,
0.03757955878973007,
-0.0010610148310661316,
0.016508830711245537,
-0.01290979329496622,
-0.0618099570274353,
-0.026941364631056786,
-0.010357748717069626,
-0.004758207593113184,
0.043225839734077454,
0.004377270583063364,
0.00619314843788743,
0.054481010884046555,
-0.06360480189323425,
0.0006993583519943058,
0.05025564506649971,
-0.002046076115220785,
-0.04416065290570259,
-0.05388272926211357,
-0.004244059324264526,
0.02017330378293991,
-0.055528003722429276,
-0.04468414932489395,
-0.016761230304837227,
0.01888325996696949,
-0.010105348192155361,
0.013115452602505684,
-0.01812605932354927,
-0.014536370523273945,
-0.009619244374334812,
0.043225839734077454,
0.04468414932489395,
0.019500236958265305,
-0.05261138081550598,
-0.007422429975122213,
0.07654263824224472,
-0.03142847493290901,
-0.001207079621963203,
0.004818970337510109,
-0.01581706665456295,
-0.0045151556842029095,
-0.0031012482941150665,
0.004917126148939133,
-0.0505547858774662,
0.012012370862066746,
-0.0034050631802529097,
-0.01429331861436367,
-0.00031579213100485504,
-0.024136919528245926,
-0.014470933936536312,
0.002855859464034438,
-0.03591558709740639,
0.0012748537119477987,
0.025613926351070404,
0.0036457779351621866,
0.005534104071557522,
0.036364298313856125,
0.06038903817534447,
-0.013975482434034348,
-0.025165215134620667,
-0.029278401285409927,
-0.018780430778861046,
0.02249164506793022,
0.009235970675945282,
0.023576030507683754,
-0.015377704054117203,
-0.014938341453671455,
0.0077589633874595165,
-0.007328948471695185,
0.03802826628088951,
-0.047862518578767776,
0.02933448925614357,
0.04460936412215233,
0.032606340944767,
-0.001974796410650015,
-0.003215763019397855,
-0.053172267973423004,
0.013470682315528393,
-0.04206666722893715,
-0.002535685198381543,
0.0688023716211319,
0.021369867026805878,
-0.012404993176460266,
-0.034083347767591476,
-0.04984432831406593,
0.024305185303092003,
0.0043889558874070644,
0.05077914148569107,
-0.0041949814185500145,
-0.017696045339107513,
-0.013564163818955421,
0.017153851687908173,
0.019948948174715042,
-0.0015144000062718987,
0.004365585278719664,
0.004800274036824703,
0.0016955204773694277,
-0.0069410004653036594,
-0.013078060001134872,
-0.036326903849840164,
-0.020565927028656006,
0.03900047391653061,
0.013592207804322243,
-0.004328192677348852,
-0.008740519173443317,
-0.003692518686875701,
-0.02071549743413925,
-0.029932770878076553,
-0.0022669259924441576,
0.0469650998711586,
-0.013891348615288734,
0.011946933344006538,
0.01085320021957159,
0.03372811898589134,
-0.005291052162647247,
0.006917629856616259,
-0.016733186319470406,
-0.014545719139277935,
-0.02424909733235836,
-0.012881748378276825,
0.021781185641884804,
-0.018247585743665695,
0.029951468110084534,
-0.001850933418609202,
0.010133393108844757,
-0.00433052983134985,
-0.04030921682715416,
-0.004800274036824703,
0.008006689138710499,
-0.015910549089312553,
0.00892280787229538,
-0.05096610635519028,
0.005576170515269041,
-0.005225615110248327,
0.0361960306763649,
0.016153600066900253,
-0.011816059239208698,
0.0838341936469078,
0.003428433556109667,
0.005515407770872116,
-0.012021718546748161,
-0.0045151556842029095,
0.05070435628294945,
0.02447345294058323,
-0.016518177464604378,
0.07351384311914444,
0.006052926182746887,
-0.018275629729032516,
-0.05406969040632248,
-0.016116207465529442,
0.01544314157217741,
-0.02198684588074684,
0.026735704392194748,
0.04700249060988426,
-0.022828178480267525,
0.01264804508537054,
0.00485636293888092,
-0.005884659476578236,
0.005926725920289755,
-0.019855467602610588,
-0.015274874866008759,
-0.010226874612271786,
0.02065940760076046,
0.016733186319470406,
-0.0632682666182518,
-0.007688852027058601,
0.07220509648323059,
0.03058714233338833,
-0.03419552743434906,
0.028624029830098152,
-0.018556075170636177,
-0.05272355675697327,
-0.04087010398507118,
-0.03944918513298035,
-0.008329200558364391,
0.03312983736395836,
-0.06360480189323425,
-0.08450726419687271,
-0.000777064822614193,
-0.005384533666074276,
-0.038364801555871964,
0.005580844823271036,
0.015966637060046196,
0.023183409124612808,
0.01808866672217846,
0.01082515623420477,
0.03623342514038086,
0.00868910364806652,
0.030998460948467255,
-0.016265777871012688,
0.020266786217689514,
0.01059145200997591,
-0.032288506627082825,
0.0015295908087864518,
0.03670082986354828,
0.025389570742845535,
-0.023127319291234016,
-0.025090429931879044,
-0.03083019331097603,
-0.009123792871832848,
0.012881748378276825,
0.01836911216378212,
0.028418371453881264,
0.02247294969856739,
-0.009408911690115929,
0.0239686518907547,
-0.02394995652139187,
-0.03855176270008087,
-0.011133644729852676,
-0.009843599982559681,
0.010002519004046917,
0.04001007601618767,
-0.04307626932859421,
0.03963615000247955,
-0.0010727000189945102,
-0.028885778039693832,
0.011432785540819168,
-0.0044146631844341755,
-0.007366341073065996,
0.0018859889823943377,
0.0002597032580524683,
-0.020565927028656006,
-0.004823644645512104,
-0.020771585404872894,
-0.028680119663476944,
0.01942545175552368,
0.048834726214408875,
-0.009918385185301304,
0.005908029619604349,
0.013685689307749271,
0.018817823380231857,
-0.0020378963090479374,
0.02905404567718506,
0.0015751629834994674,
-0.028754904866218567,
-0.010937334038317204,
0.010666237212717533,
-0.04292669892311096,
0.026193512603640556,
0.0015167370438575745,
0.007141985464841127,
0.038364801555871964,
-0.07747745513916016,
-0.03847697749733925,
0.022304682061076164,
0.04789991304278374,
-0.03240068256855011,
0.038327407091856,
0.010385792702436447,
-0.02733398601412773,
0.006936326157301664,
0.025894371792674065,
0.02269730530679226,
0.02088376320898533,
-0.07815051823854446,
-0.0330924466252327,
0.005515407770872116,
0.020023733377456665,
-0.01199367456138134,
0.04827383905649185,
0.052013099193573,
0.009918385185301304,
-0.005421926267445087,
0.0014886925928294659,
-0.013797867111861706,
-0.007604718673974276,
0.0112084299325943,
-0.00040401529986411333,
0.02552044577896595,
0.013947437517344952,
0.020603319630026817,
0.02452954091131687,
0.043749336153268814,
-0.007356992922723293,
-0.054481010884046555,
-0.0008915796643123031,
-0.011535615660250187,
-0.0273152906447649,
0.0007659639231860638,
0.003608385333791375,
-0.026193512603640556,
0.006973718758672476,
0.00869845226407051,
0.04520764574408531,
0.007637437433004379,
0.001160923158749938,
0.037635646760463715,
-0.005090066697448492,
-0.026361778378486633,
-0.010451230220496655,
-0.024959556758403778,
-0.029988860711455345,
0.018967393785715103,
-0.007833748124539852,
-0.03825262188911438,
-0.07011111080646515,
-0.04644160345196724,
-0.010797111317515373,
0.009390215389430523,
-0.027464861050248146,
-0.0045946151949465275,
0.06842844933271408,
0.02421170473098755,
0.05148960277438164,
0.009273363277316093,
-0.03795348107814789,
0.02572610415518284,
0.014900948852300644,
-0.01938805915415287,
-0.03870133310556412,
-0.021257689222693443,
0.01099342294037342,
-0.025950459763407707,
-0.05567757412791252,
-0.024417363107204437,
0.03374681621789932,
0.006595118902623653,
-0.012891096994280815,
0.0008103676373139024,
0.02039765939116478,
-0.033522460609674454,
0.006763385608792305,
-0.016396652907133102,
-0.010002519004046917,
0.020023733377456665,
0.0011317102471366525,
0.007590696681290865,
-0.014854207634925842,
0.043001484125852585,
0.00434221513569355,
0.008067452348768711,
0.017939096316695213,
-0.00946032628417015,
-0.013423941098153591,
-0.0036224075593054295,
0.006249237339943647,
-0.028511852025985718,
-0.01782691851258278,
-0.00839931145310402,
0.07530868798494339,
0.0392996147274971,
0.01839715614914894,
0.02598785236477852,
-0.03462554141879082,
0.022828178480267525,
0.04670334979891777,
-0.009161185473203659,
-0.0037135519087314606,
-0.014676593244075775,
0.03550426661968231,
-0.02267860807478428,
-0.024155614897608757,
-0.035092949867248535,
0.013853956013917923,
-0.02854924462735653,
0.00015073889517225325,
-0.040645748376846313,
0.035822104662656784,
-0.020285481587052345,
0.007721570786088705,
-0.07018589973449707,
-0.04232841730117798,
0.05021825432777405,
0.00867508165538311,
-0.07198074460029602,
-0.013900697231292725,
-0.00804408174008131,
0.017022978514432907,
0.018200844526290894,
0.016508830711245537,
0.005393881816416979,
-0.009493044577538967,
0.018752386793494225,
0.05410708487033844,
-0.028119230642914772,
-0.0025380223523825407,
-0.04666595906019211,
-0.029484059661626816,
-0.007015785668045282,
-0.00854420755058527,
0.016247082501649857,
-0.03698127716779709,
-0.0023498907685279846,
0.01809801533818245,
-0.004912451840937138,
0.022902963683009148,
-0.030288001522421837,
0.013236978091299534,
-0.02093985304236412,
0.024604326114058495,
-0.08129149675369263,
-0.0014022223185747862,
-0.023875171318650246,
0.012087156064808369,
-0.07628089189529419,
-0.014022222720086575,
0.011526267044246197,
0.01679862290620804,
-0.009600548073649406,
0.011301911436021328,
0.003823392791673541,
0.008464748039841652,
-0.03215762972831726,
-0.017509082332253456,
-0.00036194862332195044,
-0.0047815777361392975,
-0.023052534088492393,
-0.004110848531126976,
0.005356489215046167,
0.06169778108596802,
0.034569453448057175,
-0.031185423955321312,
-0.0002703659702092409,
0.019500236958265305,
-0.018556075170636177,
-0.010703629814088345,
-0.014760726131498814,
0.021781185641884804,
-0.011713230051100254,
-0.01739690452814102,
0.022641215473413467,
0.039935290813446045,
0.028212713077664375,
0.0037135519087314606,
0.0049264742992818356,
-0.004162263125181198,
0.034064654260873795,
0.008796608075499535,
-0.02572610415518284,
-0.022828178480267525,
0.012928489595651627,
0.030288001522421837,
0.01325567439198494,
-0.01987416297197342,
-0.034812506288290024,
0.01404091902077198,
-0.0647265836596489,
0.040683142840862274,
0.0357099287211895,
0.012582607567310333,
-0.00017936760559678078,
-0.019201096147298813,
-0.021238993853330612,
-0.043487586081027985,
-0.017668001353740692,
-0.01124582253396511,
-0.044571973383426666,
-0.0016219037352129817,
0.025632623583078384,
0.06891454756259918,
0.010937334038317204,
-0.02651134878396988,
-0.019313273951411247,
0.014274622313678265,
0.009245319291949272,
-0.025464355945587158,
-0.032026756554841995,
-0.055228862911462784,
0.005393881816416979,
0.0009190398268401623,
-0.019219793379306793,
0.01893000118434429,
0.04969475790858269,
-0.01455506682395935,
-0.01134865265339613,
0.03440118581056595,
0.014536370523273945,
0.019313273951411247,
0.005763133522123098,
0.017761481925845146,
0.00695502245798707,
0.027876179665327072,
-0.040944889187812805,
0.02269730530679226,
-0.03374681621789932,
0.06704492121934891,
0.00702045951038599,
0.01606946811079979,
-0.03271852061152458,
-0.02957754209637642,
-0.031241511926054955,
0.05836983770132065,
0.03806566074490547,
-0.03804696351289749,
0.037747822701931,
-0.039187438786029816,
-0.03986050561070442,
-0.002197983441874385,
0.0002217263972852379,
-0.02830619364976883,
-0.011881496757268906,
-0.014536370523273945,
0.038140445947647095,
0.017452992498874664,
0.010497970506548882,
0.03799087554216385,
0.02606263756752014,
-0.039374399930238724,
0.002486607525497675,
0.012620000168681145,
0.009282711893320084,
-0.02011721581220627,
-0.013751126825809479,
-0.01134865265339613,
-0.016022726893424988,
-0.03926222398877144,
0.04689031466841698,
0.01712580770254135,
0.03038148209452629,
0.013171541504561901,
0.014377452433109283,
0.008006689138710499,
-0.061136890202760696
] |
Many problems that arise in machine learning domain deal with nonlinearity
and quite often demand users to obtain global optimal solutions rather than
local optimal ones. Optimization problems are inherent in machine learning
algorithms and hence many methods in machine learning were inherited from the
optimization literature. Popularly known as the initialization problem, the
ideal set of parameters required will significantly depend on the given
initialization values. The recently developed TRUST-TECH (TRansformation Under
STability-reTaining Equilibria CHaracterization) methodology systematically
explores the subspace of the parameters to obtain a complete set of local
optimal solutions. In this thesis work, we propose TRUST-TECH based methods for
solving several optimization and machine learning problems. Two stages namely,
the local stage and the neighborhood-search stage, are repeated alternatively
in the solution space to achieve improvements in the quality of the solutions.
Our methods were tested on both synthetic and real datasets and the advantages
of using this novel framework are clearly manifested. This framework not only
reduces the sensitivity to initialization, but also allows the flexibility for
the practitioners to use various global and local methods that work well for a
particular problem of interest. Other hierarchical stochastic algorithms like
evolutionary algorithms and smoothing algorithms are also studied and
frameworks for combining these methods with TRUST-TECH have been proposed and
evaluated on several test systems. | [
0.020357290282845497,
0.024318210780620575,
-0.030692530795931816,
-0.025294624269008636,
0.006710536777973175,
0.05758994445204735,
-0.038172222673892975,
0.011265595443546772,
-0.040161892771720886,
-0.007350732106715441,
0.041856799274683,
-0.015723934397101402,
0.027486948296427727,
-0.019215071573853493,
-0.020541518926620483,
0.004626447334885597,
0.02413398213684559,
-0.03329015523195267,
-0.012094625271856785,
-0.04307271167635918,
0.016101602464914322,
0.0037283317651599646,
-0.04038297012448311,
0.06053760647773743,
0.017133284360170364,
0.02562623657286167,
0.0005538380355574191,
-0.0007351883687078953,
-0.11422190070152283,
-0.0026252614334225655,
0.03141102194786072,
-0.005319608841091394,
-0.02903446927666664,
0.025699928402900696,
-0.02444717101752758,
-0.043772779405117035,
0.017787298187613487,
0.03835644945502281,
-0.05957961827516556,
0.030876759439706802,
-0.019620375707745552,
-0.028758127242326736,
-0.030747799202799797,
0.020817862823605537,
0.046278294175863266,
-0.04414123669266701,
0.009994416497647762,
-0.03640362620353699,
-0.0038250519428402185,
-0.005595951806753874,
-0.01670955866575241,
-0.049225956201553345,
0.038577526807785034,
-0.009160780347883701,
-0.01489490456879139,
0.03726949915289879,
0.08039747923612595,
0.002728890161961317,
0.011560361832380295,
-0.015539705753326416,
0.030526723712682724,
-0.004497487097978592,
-0.06613816320896149,
0.023341797292232513,
0.032166361808776855,
-0.07943949103355408,
0.06635923683643341,
0.040161892771720886,
0.013734262436628342,
-0.017280668020248413,
-0.030213534832000732,
0.00025187540450133383,
0.0129881352186203,
-0.006369713228195906,
-0.007470480632036924,
0.0067473822273314,
0.04008820280432701,
-0.025423584505915642,
-0.00367306312546134,
-0.005374877247959375,
0.038319606333971024,
-0.02291807159781456,
0.027431679889559746,
-0.020080946385860443,
0.006733565125614405,
0.015742357820272446,
0.004840613808482885,
-0.08570326864719391,
0.011145846918225288,
0.02791067399084568,
-0.06514333188533783,
0.005517654586583376,
-0.047383666038513184,
0.04918910935521126,
-0.003479622770100832,
0.0588795468211174,
0.022733842954039574,
0.01474752090871334,
-0.0357956700026989,
0.03050830028951168,
0.010795812122523785,
0.02006252482533455,
-0.021775852888822556,
-0.018690019845962524,
0.030434610322117805,
0.008750871755182743,
-0.021278435364365578,
0.036698389798402786,
0.054679129272699356,
0.14016132056713104,
-0.04093565419316292,
0.030674107372760773,
0.032055824995040894,
0.030324071645736694,
-0.0646643340587616,
-0.0049096993170678616,
-0.017381994053721428,
-0.08459790050983429,
0.015797626227140427,
-0.046425674110651016,
-0.007594835013151169,
0.07840780913829803,
0.005932169500738382,
0.007898813113570213,
-0.06790675967931747,
0.009782552719116211,
-0.02846335992217064,
0.04955756664276123,
0.019472992047667503,
0.011072155088186264,
-0.004119818098843098,
0.0015498254215344787,
0.039130210876464844,
-0.027947518974542618,
0.025792041793465614,
0.039388131350278854,
0.05438436195254326,
-0.00972728431224823,
-0.027726445347070694,
-0.012923655100166798,
-0.002593021374195814,
-0.01265652384608984,
-0.04598352685570717,
-0.03161367401480675,
0.0004533757455646992,
0.02424451895058155,
-0.045099228620529175,
0.04266740754246712,
-0.0067381709814071655,
0.045909833163022995,
-0.0380985289812088,
0.061495598405599594,
0.005388694349676371,
0.05582134798169136,
0.06252727657556534,
0.006180878728628159,
-0.010454988107085228,
-0.006917794235050678,
0.03194528818130493,
0.010611582547426224,
0.08349252492189407,
-0.03478240966796875,
0.002553872764110565,
0.08363990485668182,
0.061237677931785583,
0.02923712134361267,
-0.002487089717760682,
0.021075783297419548,
-0.04620460048317909,
0.05582134798169136,
-0.029513465240597725,
-0.005932169500738382,
-0.011035309173166752,
0.029752962291240692,
-0.01841367594897747,
-0.00011183268361492082,
0.007129657547920942,
0.010528679937124252,
0.001797382952645421,
-0.006844102405011654,
-0.038688063621520996,
-0.0043339841067790985,
0.011164269410073757,
0.046057216823101044,
0.03706685081124306,
0.007728401105850935,
0.09690438956022263,
-0.038835447281599045,
0.04778897017240524,
-0.0340639166533947,
0.024078713729977608,
0.04767843335866928,
0.07973425835371017,
0.005909141153097153,
0.031447868794202805,
-0.07409685105085373,
-0.03128206357359886,
0.01166168786585331,
0.0006258024368435144,
-0.006323656067252159,
-0.014443543739616871,
-0.026750031858682632,
-0.0058722952380776405,
0.0049096993170678616,
-0.025276200845837593,
-0.002408792497590184,
-0.02811332605779171,
-0.03362176939845085,
-0.02153635583817959,
-0.03467187285423279,
-0.005863083992153406,
0.015235727652907372,
-0.03235058858990669,
0.0288686640560627,
-0.04078827053308487,
-0.053500063717365265,
0.02735798805952072,
0.005568317603319883,
-0.0006937368307262659,
-0.006913188379257917,
0.0006039252621121705,
0.03354807570576668,
0.09358827024698257,
-0.038577526807785034,
-0.03728792443871498,
-0.006319050211459398,
-0.015945008024573326,
-0.04528345540165901,
0.0015452196821570396,
-0.002657501492649317,
-0.006535519380122423,
0.05475281924009323,
0.003546405816450715,
-0.019159803166985512,
-0.02459455467760563,
-0.01191960833966732,
-0.009036426432430744,
0.011505093425512314,
-0.007668526843190193,
-0.0259762704372406,
-0.007986322045326233,
-0.004032309632748365,
-0.0199151411652565,
-0.009736496023833752,
0.004559664521366358,
0.003792811883613467,
0.0233786441385746,
0.061495598405599594,
0.024170827120542526,
0.029292389750480652,
-0.023820793256163597,
-0.0025976269971579313,
0.0007461269269697368,
0.012942078523337841,
-0.03133733198046684,
0.014876481145620346,
0.0016189111629500985,
-0.06978589296340942,
0.032866429537534714,
-0.058547936379909515,
0.020283598452806473,
0.01567787677049637,
-0.009607535786926746,
0.02892393246293068,
0.045762453228235245,
0.049741797149181366,
0.075607530772686,
0.054015904664993286,
0.009096300229430199,
-0.005683460738509893,
0.01726224459707737,
-0.040972501039505005,
0.03697473555803299,
-0.00771458400413394,
0.03585093840956688,
-0.06628555059432983,
-0.009635169990360737,
-0.020744170993566513,
-0.018524212762713432,
-0.021720584481954575,
0.0012723306426778436,
-0.015401533804833889,
0.02525777742266655,
0.018570270389318466,
-0.024262942373752594,
-0.04664675146341324,
-0.02912658452987671,
-0.003299999749287963,
0.0024272154550999403,
-0.011938030831515789,
-0.010869503021240234,
-0.014996230602264404,
-0.054973896592855453,
0.006056524347513914,
0.045651912689208984,
0.005738729145377874,
0.021075783297419548,
-0.03971974551677704,
-0.009644381701946259,
-0.03056357055902481,
-0.019012419506907463,
0.015088344924151897,
0.029218699783086777,
0.010473411530256271,
-0.058290015906095505,
0.02256803587079048,
0.031447868794202805,
0.044030699878931046,
-0.05766363814473152,
-0.013227633200585842,
-0.010676062665879726,
0.05582134798169136,
-0.002173900604248047,
-0.03734319284558296,
0.02704479917883873,
0.011081366799771786,
0.05725833401083946,
0.024023445323109627,
-0.0464625209569931,
-0.022420654073357582,
-0.04476761445403099,
0.023820793256163597,
-0.025810465216636658,
0.04863642156124115,
0.022844379767775536,
-0.012610466219484806,
-0.014784366823732853,
0.042593713849782944,
-0.04318324849009514,
-0.005955198314040899,
-0.025736773386597633,
0.017907045781612396,
-0.06573285907506943,
-0.026289459317922592,
0.00723098311573267,
-0.04786266013979912,
0.0022775293327867985,
0.051363009959459305,
0.011191903613507748,
-0.011753802187740803,
0.0034658056683838367,
-0.024631399661302567,
-0.004502092953771353,
0.010022050701081753,
0.0033115139231085777,
-0.03876175358891487,
-0.019159803166985512,
-0.00004886382885160856,
-0.011551150120794773,
-0.026621071621775627,
0.0010656488593667746,
-0.032663777470588684,
0.006254570093005896,
-0.016184506937861443,
0.04108303785324097,
-0.0536842942237854,
0.0011180390138179064,
0.003606280079111457,
0.0024755755439400673,
0.008267270401120186,
0.045762453228235245,
-0.06186405569314957,
-0.0369563102722168,
0.008856803178787231,
0.008152127265930176,
-0.0033944169990718365,
0.007631680928170681,
0.039351288229227066,
0.0035924629773944616,
0.014102719724178314,
-0.07335993647575378,
-0.04450969398021698,
0.05847424268722534,
0.014572503976523876,
-0.020688902586698532,
0.012324911542236805,
-0.00510774552822113,
-0.014240891672670841,
-0.02490774355828762,
0.03189001604914665,
-0.011302441358566284,
-0.011799858883023262,
0.009635169990360737,
0.015364687889814377,
-0.029808230698108673,
0.02978980913758278,
-0.009589112363755703,
-0.050552401691675186,
-0.052026234567165375,
0.04303586483001709,
-0.006498673465102911,
0.011412978172302246,
0.008437681943178177,
-0.032516397535800934,
0.013356593437492847,
0.01619371771812439,
-0.05088401585817337,
-0.052026234567165375,
-0.020246753469109535,
-0.05552658066153526,
-0.011035309173166752,
-0.05058924853801727,
-0.036790505051612854,
-0.020909976214170456,
0.009874667972326279,
-0.008658756501972675,
-0.04808373376727104,
-0.0024018839467316866,
0.022181157022714615,
0.014683040790259838,
0.019878294318914413,
0.00448136730119586,
-0.002228017896413803,
0.022549614310264587,
-0.011403767392039299,
0.04333063215017319,
-0.03758268803358078,
-0.03235058858990669,
0.002173900604248047,
-0.07730243355035782,
-0.004089880734682083,
0.0008676028228364885,
0.0005737002356909215,
-0.013273689895868301,
0.0021911722142249346,
0.034708719700574875,
-0.004004674963653088,
-0.02347075752913952,
-0.025552544742822647,
-0.010814234614372253,
0.05626349896192551,
0.033087506890296936,
0.040567196905612946,
-0.014885692857205868,
0.006019678432494402,
-0.021370548754930496,
-0.006319050211459398,
0.0028486389201134443,
-0.048710115253925323,
-0.000989078776910901,
0.018920304253697395,
-0.026271037757396698,
0.0481942743062973,
0.014204045757651329,
-0.018045218661427498,
-0.052836839109659195,
-0.028555475175380707,
-0.027873829007148743,
-0.025239355862140656,
-0.004444521386176348,
-0.045393992215394974,
0.008557431399822235,
-0.046315137296915054,
-0.015806837007403374,
0.021610045805573463,
-0.06576970964670181,
-0.03564828634262085,
-0.04152518883347511,
0.01930718496441841,
-0.029734540730714798,
0.015318630263209343,
0.04635198414325714,
0.003924075048416853,
-0.0499260239303112,
-0.0021762035321444273,
0.027523793280124664,
-0.019694065675139427,
-0.08784032613039017,
-0.014480389654636383,
0.03835644945502281,
0.011412978172302246,
-0.06739091873168945,
0.06433272361755371,
0.08194500207901001,
0.03259008750319481,
0.04421493038535118,
-0.00896273460239172,
-0.03741688281297684,
0.021517932415008545,
-0.015005441382527351,
0.01670955866575241,
0.015438379719853401,
0.04863642156124115,
-0.008985763415694237,
0.005840055178850889,
-0.023157568648457527,
0.02953188866376877,
0.00632826192304492,
0.03747215121984482,
0.026952683925628662,
-0.018690019845962524,
0.025331469252705574,
-0.024428747594356537,
0.029310813173651695,
-0.03153998404741287,
-0.011744590476155281,
-0.021296856924891472,
-0.00040271278703585267,
0.039388131350278854,
0.01446196623146534,
0.021204743534326553,
0.02164689265191555,
0.043772779405117035,
0.05464228242635727,
-0.021683737635612488,
0.0054900203831493855,
0.02647368796169758,
-0.035887785255908966,
0.010528679937124252,
0.027873829007148743,
0.04023558646440506,
-0.019951986148953438,
0.0068901595659554005,
-0.03518771380186081,
0.03625624254345894,
0.0730283260345459,
0.03432183712720871,
-0.02037571370601654,
0.006687507964670658,
0.01291444431990385,
0.044436004012823105,
-0.007000697311013937,
0.019823025912046432,
0.005559106357395649,
-0.04340432211756706,
0.046167753636837006,
0.026510534808039665,
-0.03645889461040497,
-0.032369013875722885,
-0.030342495068907738,
-0.06919636577367783,
0.0412672683596611,
-0.005259734112769365,
-0.05209992453455925,
0.028739703819155693,
-0.031853172928094864,
0.006894765421748161,
0.004886670969426632,
-0.04119357466697693,
-0.03846698999404907,
-0.01367899402976036,
0.040825117379426956,
0.015162035822868347,
-0.00788038969039917,
0.01653454080224037,
0.021260011941194534,
0.060574453324079514,
-0.03469029814004898,
0.03741688281297684,
0.07406000792980194,
-0.024557707831263542,
-0.003378296969458461,
-0.02713691256940365,
-0.019122956320643425,
-0.03901967406272888,
0.011809070594608784,
-0.042151566594839096,
-0.035371944308280945,
-0.048562731593847275,
-0.046167753636837006,
0.003884926438331604,
-0.0010961617808789015,
-0.002583809895440936,
-0.04266740754246712,
-0.009533843956887722,
0.013117095455527306,
0.0009908059146255255,
0.05876901000738144,
-0.00949699804186821,
0.002917724661529064,
-0.01418562326580286,
-0.0034865313209593296,
-0.011219537816941738,
-0.027689598500728607,
0.026344727724790573,
0.03402707353234291,
-0.004605721682310104,
-0.0017375085735693574,
-0.020357290282845497,
-0.0209283996373415,
0.03192686289548874,
-0.020228330045938492,
0.03546405956149101,
0.011127423495054245,
0.03820906952023506,
-0.012638100422918797,
-0.056447725743055344,
-0.013310535810887814,
0.0005310972919687629,
-0.08201869577169418,
-0.014342217706143856,
0.0028532445430755615,
0.0046425675973296165,
-0.02133370377123356,
0.009054848924279213,
-0.011412978172302246,
0.03351123258471489,
0.013715839944779873,
0.0360720120370388,
-0.03411918878555298,
0.025497276335954666,
0.004702441859990358,
-0.03437710925936699,
-0.00009607247920939699,
0.03218478336930275,
-0.020596787333488464,
0.0025423583574593067,
-0.01143140159547329,
-0.003371388418599963,
0.05475281924009323,
-0.009441729635000229,
-0.011864339001476765,
0.04517291858792305,
-0.03671681508421898,
0.05445805564522743,
0.039351288229227066,
0.04863642156124115,
0.0464625209569931,
-0.021554777398705482,
0.0006655267789028585,
0.04226210340857506,
-0.008654151111841202,
-0.012905232608318329,
0.052284155040979385,
-0.01301576942205429,
0.0738757774233818,
-0.00928052980452776,
-0.04167257249355316,
-0.009036426432430744,
-0.026657918468117714,
-0.031079411506652832,
-0.016092391684651375,
-0.030213534832000732,
-0.014738310128450394,
0.02903446927666664,
0.011035309173166752,
0.017649125307798386,
0.05902693048119545,
0.003203279571607709,
0.016037123277783394,
-0.013457919470965862,
0.0008313327562063932,
-0.011624841950833797,
0.04152518883347511,
-0.0035233772359788418,
0.030876759439706802,
0.018422886729240417,
-0.011311653070151806,
0.06624870002269745,
0.033787574619054794,
-0.02608680911362171,
0.018515001982450485,
0.02011779323220253,
0.03894598409533501,
-0.00819818489253521,
-0.020946823060512543,
-0.019878294318914413,
0.02969769388437271,
-0.01301576942205429,
-0.0259762704372406,
0.020854707807302475,
-0.009487787261605263,
0.0024226095993071795,
0.024060290306806564,
0.030950451269745827,
-0.011707744561135769,
0.054310671985149384,
0.05077347531914711,
-0.023544449359178543,
0.06411164999008179,
-0.008608094416558743,
-0.018551846966147423,
0.003907954785972834,
0.04635198414325714,
0.01099846325814724,
-0.02006252482533455,
-0.007677738089114428,
0.05666879937052727,
0.010712908580899239,
-0.024520862847566605,
0.033327002078294754,
-0.0035026513505727053,
0.029550310224294662,
-0.00870481412857771,
-0.035114023834466934,
-0.007166502997279167,
-0.010077319107949734,
0.04579929634928703,
-0.0401250496506691,
0.006821074057370424,
-0.018883459270000458,
-0.01196566503494978,
0.019878294318914413,
-0.01097082905471325,
-0.02124158851802349,
0.025239355862140656,
0.029366081580519676,
-0.013835588470101357,
-0.013024981133639812,
0.02592100203037262,
-0.0557108111679554,
0.0006499824812635779,
-0.02730271965265274,
0.029716117307543755,
0.023212837055325508,
0.03513244539499283,
0.01789783500134945,
0.012094625271856785,
-0.012048568576574326,
-0.027376409620046616,
0.010326027870178223,
0.047752123326063156,
0.004610327538102865,
0.03259008750319481,
0.02067047916352749,
-0.007401395123451948,
-0.018063640221953392,
-0.027523793280124664,
-0.02240223065018654,
0.02404186688363552,
0.006507884711027145,
0.0008647242793813348,
0.04797319695353508,
-0.07715505361557007,
-0.021683737635612488,
0.036845773458480835,
0.012186739593744278,
-0.010712908580899239,
-0.030692530795931816,
-0.021757429465651512,
0.04425177350640297,
-0.028297554701566696,
0.0020334261935204268,
0.004310955759137869,
0.009372644126415253,
-0.024152405560016632,
0.009672015905380249,
0.05047871172428131,
-0.032829586416482925,
-0.004142846912145615,
0.026252614334225655,
0.019472992047667503,
-0.0066414508037269115,
0.008806140162050724,
0.0013978366041556,
0.033382270485162735,
-0.0025999299250543118,
0.04753104969859123,
0.016635866835713387,
0.05648457258939743,
0.016064757481217384,
-0.021370548754930496,
0.034763988107442856,
-0.06171667203307152,
-0.017833353951573372,
0.04200418293476105,
-0.0005829116562381387,
-0.042999017983675,
0.025128817185759544,
0.012638100422918797,
0.012343334034085274,
0.05276314914226532,
0.024815628305077553,
0.05725833401083946,
0.055747658014297485,
0.009773341938853264,
-0.04369908943772316,
0.006798045244067907,
0.023544449359178543,
-0.027007952332496643,
0.010473411530256271,
0.009893090464174747,
0.04959441348910332,
-0.05725833401083946,
-0.014056663028895855,
0.013568456284701824,
-0.035021908581256866,
0.032055824995040894,
-0.00748429773375392,
0.03677208349108696,
-0.005522260442376137,
0.04170941561460495,
-0.03997766599059105,
0.045909833163022995,
-0.0016154568875208497,
-0.010510257445275784,
0.039388131350278854,
-0.005840055178850889,
0.028813395649194717,
0.01196566503494978,
-0.013107884675264359,
-0.0025285412557423115,
0.009345009922981262,
0.021315280348062515,
0.05674249306321144,
0.03581409156322479,
0.008009349927306175,
0.01838604174554348,
-0.004730076063424349,
-0.002184263663366437,
0.017676759511232376,
0.03004772961139679,
0.0038872291333973408,
-0.032829586416482925,
-0.04277794435620308,
0.018754499033093452,
-0.012435449287295341,
-0.03739846125245094,
0.039830282330513,
0.0006989183020778,
0.036035168915987015,
0.01413035485893488,
-0.012610466219484806,
-0.03225847706198692,
0.04981548711657524,
0.04119357466697693,
-0.0007087054545991123,
0.013706628233194351,
-0.004789950791746378,
-0.022420654073357582,
-0.022475922480225563,
-0.05036817491054535,
-0.03518771380186081,
0.0024502440355718136,
-0.06389057636260986,
0.013743474148213863,
0.009819398634135723,
-0.03854067996144295,
0.04167257249355316,
0.021628469228744507,
-0.018570270389318466,
0.01873607560992241,
-0.040051355957984924,
0.01930718496441841,
-0.03200055658817291,
0.030029306188225746,
-0.03605359047651291,
0.008073830045759678,
-0.0035302857868373394,
0.016239775344729424,
0.005678854882717133,
0.007429029326885939,
-0.004076063632965088,
-0.011339287273585796,
-0.025884157046675682,
0.018920304253697395,
-0.0023143752478063107,
0.027542216703295708,
0.050294481217861176,
-0.032866429537534714,
0.031005719676613808,
0.0340639166533947,
0.014084297232329845,
0.025073548778891563,
-0.043256938457489014,
0.02612365409731865,
-0.016285832971334457,
0.04808373376727104,
-0.0013897765893489122,
-0.0067611997947096825,
0.0015440682182088494,
0.05132616311311722,
0.004951151087880135,
-0.003329936880618334,
0.03596147522330284,
-0.01930718496441841,
-0.003203279571607709,
-0.04333063215017319,
-0.02490774355828762,
-0.0686805248260498,
0.013356593437492847,
-0.002086391905322671,
-0.04808373376727104,
0.026510534808039665,
0.06971220672130585,
0.007401395123451948,
0.019344031810760498,
-0.025644658133387566,
-0.000971231609582901,
-0.04624144732952118,
0.0017236913554370403,
-0.0014945566654205322,
0.04513607174158096,
-0.04970495030283928,
0.018045218661427498,
-0.031079411506652832,
-0.009340403601527214,
0.008073830045759678,
0.028021210804581642,
-0.011026098392903805,
0.014581714756786823,
0.05036817491054535,
-0.02606838569045067,
-0.002560781314969063,
-0.0062361471354961395,
0.0189018826931715,
0.011891973204910755,
-0.012380179949104786,
0.014471177943050861,
0.03050830028951168,
-0.01319078728556633,
-0.047752123326063156,
-0.003226308152079582,
-0.002943056169897318,
0.028444938361644745,
0.018109697848558426,
0.004621841944754124,
-0.01688457652926445,
0.027542216703295708,
0.004460641648620367,
-0.00612560985609889,
0.009616747498512268,
0.03310592845082283,
-0.07063335180282593,
0.025994693860411644,
0.01548443641513586,
-0.01604633405804634,
0.02393133006989956,
-0.02429978735744953,
-0.0016269711777567863,
0.01899399608373642,
0.01939930021762848,
-0.010814234614372253,
0.018920304253697395,
-0.0243919026106596,
-0.03235058858990669,
-0.006024284288287163,
-0.030876759439706802,
0.010095742531120777,
-0.01525415014475584,
-0.05217361822724342,
0.015466013923287392,
0.008294904604554176,
-0.008866014890372753,
0.07641813904047012,
0.010326027870178223,
-0.0014968595933169127,
0.05434751883149147,
-0.0288686640560627,
-0.010795812122523785,
-0.006148638669401407,
0.010049684904515743,
-0.007977110333740711,
0.023618141189217567,
0.02113105170428753,
-0.011145846918225288,
-0.006572364829480648,
0.003527982858940959,
-0.01682930812239647,
-0.022678574547171593,
-0.009791764430701733,
0.02912658452987671,
0.002477878239005804,
-0.03515086695551872,
-0.008640334010124207,
0.03244270384311676,
-0.028021210804581642,
0.011532727628946304,
-0.01657138764858246,
0.026602648198604584,
0.01763991452753544,
-0.0041405437514185905,
-0.06024283915758133,
-0.011974876746535301,
-0.057368870824575424,
0.038835447281599045,
-0.012361757457256317,
0.0199151411652565,
-0.01841367594897747,
0.016691135242581367,
0.0017766571836546063,
0.005890718195587397,
-0.00039609207306057215,
-0.006715142168104649,
-0.02113105170428753,
0.0025101182982325554,
0.023360220715403557,
0.0010800417512655258,
-0.0003471562813501805,
0.011827494017779827,
0.016101602464914322,
-0.0012400905834510922,
0.012435449287295341,
-0.00397473806515336,
-0.0337691530585289,
-0.014351429417729378,
-0.022328538820147514,
0.005812420975416899,
-0.027523793280124664,
0.028481783345341682,
-0.03295854479074478,
0.0005872295005246997,
0.038319606333971024,
0.0007881541387178004,
-0.029752962291240692,
-0.016027912497520447,
0.02413398213684559,
0.019528260454535484,
0.026915838941931725,
0.034450799226760864,
-0.05316845327615738,
0.015622608363628387,
0.004115212243050337,
0.045909833163022995,
0.018496578559279442,
0.009252894669771194,
0.07019119709730148,
0.003449685638770461,
-0.0010575888445600867,
0.006650662049651146,
-0.008552825078368187,
-0.02658422663807869,
-0.03336384892463684,
0.00834096223115921,
-0.022844379767775536,
0.007857361808419228,
-0.010344451293349266,
0.03561143949627876,
0.02516566403210163,
-0.05239469185471535,
-0.006144032813608646,
-0.01936245523393154,
-0.032424282282590866,
-0.025018280372023582
] |
We present a method to eliminate redundancy in the transition tables of
Boolean automata: schema redescription with two symbols. One symbol is used to
capture redundancy of individual input variables, and another to capture
permutability in sets of input variables: fully characterizing the canalization
present in Boolean functions. Two-symbol schemata explain aspects of the
behaviour of automata networks that the characterization of their emergent
patterns does not capture. We use our method to compare two well-known cellular
automata for the density classification task: the human engineered CA GKL, and
another obtained via genetic programming (GP). We show that despite having very
different collective behaviour, these rules are very similar. Indeed, GKL is a
special case of GP. Therefore, we demonstrate that it is more feasible to
compare cellular automata via schema redescriptions of their rules, than by
looking at their emergent behaviour, leading us to question the tendency in
complexity research to pay much more attention to emergent patterns than to
local interactions. | [
0.02047865279018879,
-0.03708444535732269,
-0.043880216777324677,
0.01473330333828926,
0.04121306166052818,
0.04574357345700264,
0.03622584044933319,
0.015792859718203545,
-0.01952870562672615,
-0.018688369542360306,
-0.015527970157563686,
-0.05118749663233757,
0.025356262922286987,
-0.010942651890218258,
0.04567050188779831,
0.03681042417883873,
-0.03056269884109497,
-0.015847664326429367,
0.01212095096707344,
-0.03374136611819267,
-0.03693830221891403,
-0.019875802099704742,
-0.0302704069763422,
-0.01683414727449417,
0.01663319580256939,
0.026233134791254997,
-0.01075083576142788,
0.00019852396508213133,
-0.09550615400075912,
0.002162498189136386,
0.01386556401848793,
0.02316407859325409,
-0.017108170315623283,
-0.0291743166744709,
-0.0441725067794323,
-0.0330837108194828,
0.022232400253415108,
0.01662406139075756,
0.008691096678376198,
0.053343143314123154,
0.03028867579996586,
0.04088423401117325,
-0.03332119807600975,
0.025137044489383698,
0.008691096678376198,
0.02606872096657753,
0.015034728683531284,
-0.03829014673829079,
-0.025831235572695732,
-0.011006590910255909,
0.017592277377843857,
-0.051150958985090256,
0.05918896943330765,
0.0037792338989675045,
0.0008460460230708122,
-0.02961275354027748,
-0.03666427731513977,
0.062477245926856995,
0.04307641461491585,
0.0032174866646528244,
0.02932046167552471,
0.004637839272618294,
-0.08849116414785385,
0.015509702265262604,
0.008882912807166576,
-0.04439172521233559,
0.004505394957959652,
0.00021579311578534544,
0.04870302230119705,
-0.038144003599882126,
-0.06108886003494263,
0.015701517462730408,
-0.06722697615623474,
0.005731647834181786,
0.0259956493973732,
0.023730391636490822,
0.03891126811504364,
0.02411402389407158,
-0.028662806376814842,
0.038728583604097366,
0.013792491517961025,
0.031110744923353195,
-0.001765164895914495,
0.028863755986094475,
-0.05842170491814613,
-0.05816594883799553,
0.004544214811176062,
-0.040190041065216064,
0.05038369819521904,
-0.010001840069890022,
-0.08162231743335724,
-0.029082974418997765,
-0.025538943707942963,
-0.0559006929397583,
-0.000011890386304003187,
0.02091708965599537,
-0.0064258393831551075,
0.026105258613824844,
-0.043368708342313766,
0.022488154470920563,
-0.04398982599377632,
-0.013728552497923374,
0.015400093048810959,
0.04311295226216316,
0.03668254613876343,
-0.027128277346491814,
-0.022396814078092575,
0.008069977164268494,
-0.032279908657073975,
0.12648901343345642,
0.028224369511008263,
-0.024004414677619934,
-0.04300334304571152,
-0.026160063222050667,
-0.016276966780424118,
-0.07252475619316101,
-0.08227997273206711,
-0.06985759735107422,
0.06170998141169548,
-0.0058595254085958,
-0.015089533291757107,
0.06353680044412613,
-0.015875065699219704,
-0.045926254242658615,
-0.049981795251369476,
0.030672308057546616,
0.022469885647296906,
-0.026671571657061577,
-0.007658943068236113,
-0.021044965833425522,
-0.0029731495305895805,
-0.024735143408179283,
0.029813703149557114,
-0.00296858255751431,
0.0375959575176239,
0.00006725695129716769,
0.06660585850477219,
-0.031110744923353195,
-0.04778961092233658,
-0.02795034646987915,
0.007416889537125826,
-0.02446112036705017,
0.06430406868457794,
-0.009198038838803768,
-0.035897012799978256,
-0.027530178427696228,
-0.017555739730596542,
0.08052622526884079,
-0.025575479492545128,
0.006613088306039572,
-0.06269646435976028,
0.009198038838803768,
0.018030714243650436,
0.01470590103417635,
0.009316782467067242,
0.07555727660655975,
-0.009636475704610348,
-0.02338329702615738,
-0.007960367947816849,
0.027621518820524216,
-0.0023474637418985367,
-0.04508591815829277,
0.02658023126423359,
0.00972781702876091,
0.010074912570416927,
-0.015180874615907669,
0.007457992993295193,
0.022616032510995865,
-0.032553933560848236,
0.03028867579996586,
-0.0034001688472926617,
0.05984662473201752,
0.04530513659119606,
0.03231644630432129,
0.016724538058042526,
0.010047510266304016,
0.010467678308486938,
0.003774666925892234,
0.025465872138738632,
-0.007832490839064121,
-0.03723059222102165,
-0.03458170220255852,
0.04841073229908943,
0.009618207812309265,
0.05473152920603752,
0.0397881418466568,
0.04128613322973251,
0.00626142555847764,
-0.021300721913576126,
-0.007069793529808521,
0.033723097294569016,
0.0483376570045948,
0.05111442506313324,
0.028699342161417007,
-0.003340797033160925,
-0.025794697925448418,
-0.08008778840303421,
-0.016733670607209206,
-0.05341621860861778,
0.005626605823636055,
-0.00035309005761519074,
-0.044026363641023636,
0.00011039416131097823,
0.017957640811800957,
-0.02679944969713688,
0.017236046493053436,
-0.012002207338809967,
-0.026616767048835754,
0.015920735895633698,
-0.005877793300896883,
-0.0290464386343956,
-0.04325909912586212,
0.009992705658078194,
-0.08973339945077896,
0.013171372003853321,
-0.009175203740596771,
-0.01404824573546648,
-0.011390223167836666,
-0.002970866160467267,
0.03458170220255852,
-0.014632828533649445,
-0.0286810752004385,
0.031622253358364105,
0.0009944752091541886,
0.04903184995055199,
0.002252697478979826,
0.0010173104237765074,
-0.01212095096707344,
-0.040190041065216064,
0.0057362150400877,
-0.021519940346479416,
0.0063344985246658325,
0.006777502130717039,
-0.010403740219771862,
-0.0030074024107307196,
0.012915617786347866,
0.014724169857800007,
0.014641962945461273,
-0.0019021763000637293,
-0.046145472675561905,
-0.04278412461280823,
0.012029609642922878,
-0.061600372195243835,
-0.017902836203575134,
0.04709542170166969,
0.015884200111031532,
0.013445395044982433,
0.046072401106357574,
0.025173580273985863,
0.0014180690050125122,
0.003708444768562913,
0.029959848150610924,
-0.014313135296106339,
0.00885094329714775,
-0.05812941491603851,
-0.0016464215004816651,
0.03092806227505207,
0.0006810613558627665,
0.01096091978251934,
0.004261057823896408,
0.030526163056492805,
0.07384006679058075,
-0.0383266843855381,
0.050127942115068436,
-0.07928398996591568,
0.024351511150598526,
0.01187433023005724,
0.01750093512237072,
-0.038728583604097366,
0.04318602383136749,
0.03666427731513977,
-0.05286817252635956,
-0.02387653850018978,
-0.0031215788330882788,
0.016423111781477928,
-0.04742424935102463,
-0.018048981204628944,
0.04435519129037857,
0.002065448323264718,
0.01938256062567234,
0.008919448591768742,
0.010047510266304016,
0.0023611648939549923,
-0.03158571943640709,
-0.04300334304571152,
-0.0598100870847702,
-0.04574357345700264,
0.03238951787352562,
-0.12612365186214447,
-0.04464748129248619,
0.010321533307433128,
0.024588998407125473,
-0.050931744277477264,
0.020095020532608032,
-0.051589395850896835,
-0.007974069565534592,
0.0006039923755452037,
0.004041839390993118,
0.03653639927506447,
-0.08198768645524979,
-0.03545857593417168,
-0.03544030711054802,
0.0015242529334500432,
0.018533090129494667,
-0.04826458543539047,
0.009166069328784943,
0.04037272185087204,
0.03185974061489105,
-0.04691273719072342,
-0.029996385797858238,
0.02729269117116928,
-0.003103310475125909,
-0.02714654617011547,
0.026762913912534714,
-0.04362446069717407,
-0.006398437079042196,
0.012641594745218754,
-0.036627743393182755,
-0.03048962540924549,
-0.017674483358860016,
0.064194455742836,
-0.06368294358253479,
-0.09791755676269531,
0.014998192898929119,
-0.0015322453109547496,
0.029064707458019257,
0.009092996828258038,
0.03185974061489105,
-0.01477897446602583,
0.0004789693630300462,
-0.005804720800369978,
-0.013162238523364067,
0.038728583604097366,
-0.012148353271186352,
-0.04110345244407654,
-0.06291568279266357,
0.030471358448266983,
0.09090256690979004,
0.020168093964457512,
-0.04132267087697983,
-0.03399712219834328,
0.05089520663022995,
0.008371402509510517,
-0.0059325979091227055,
-0.006215755362063646,
-0.03723059222102165,
-0.02541106753051281,
0.006978452671319246,
-0.038801658898591995,
-0.04121306166052818,
0.0011132184881716967,
0.035038407891988754,
0.04000736027956009,
-0.02172088995575905,
0.022689104080200195,
0.01575632207095623,
-0.035385504364967346,
-0.07475347816944122,
0.023072736337780952,
0.010120582766830921,
0.081037737429142,
-0.046291619539260864,
0.06152729690074921,
-0.037486348301172256,
-0.0003048506041523069,
0.013445395044982433,
0.007777686230838299,
0.041359204798936844,
0.005795586388558149,
-0.002072298899292946,
-0.03883819282054901,
0.04647430032491684,
-0.06989413499832153,
0.002224153373390436,
0.013975173234939575,
0.03469131141901016,
0.015601042658090591,
-0.016642330214381218,
0.035093214362859726,
0.020643066614866257,
-0.05597376450896263,
0.0415053516626358,
-0.033650025725364685,
0.01750093512237072,
-0.029009902849793434,
-0.025009166449308395,
0.005352582782506943,
0.061600372195243835,
-0.04179764166474342,
0.02816956490278244,
-0.05524303764104843,
-0.0022858085576444864,
-0.02723788656294346,
-0.056594885885715485,
0.08797965198755264,
0.008188720792531967,
0.02758498303592205,
-0.029156047850847244,
0.008389671333134174,
-0.005781885236501694,
0.003968766424804926,
-0.03964199498295784,
-0.031841471791267395,
0.04778961092233658,
-0.024059219285845757,
-0.01038547232747078,
-0.025429334491491318,
0.017765825614333153,
0.009284812957048416,
-0.006887111347168684,
0.019218146800994873,
-0.0069373492151498795,
-0.020807480439543724,
0.0004230230115354061,
-0.002436521230265498,
0.0030941765289753675,
-0.07172095775604248,
0.09433698654174805,
0.01772928796708584,
-0.00040418392745777965,
-0.04274758696556091,
-0.0027333793696016073,
-0.010367203503847122,
0.0020585977472364902,
0.02272564172744751,
-0.04333217069506645,
0.013207908719778061,
0.027329226955771446,
-0.009554268792271614,
0.015884200111031532,
0.06236763671040535,
0.07840711623430252,
-0.02626967243850231,
-0.0206247977912426,
-0.03671908378601074,
-0.003767816349864006,
-0.04815497621893883,
-0.019912337884306908,
0.0037472646217793226,
-0.014157854951918125,
-0.028863755986094475,
0.01749180257320404,
0.015500567853450775,
-0.011700781993567944,
-0.04289373382925987,
-0.0028133029118180275,
-0.010577287524938583,
-0.008211555890738964,
-0.02433324232697487,
0.02365732006728649,
-0.006014804821461439,
0.009810023941099644,
-0.07358431071043015,
0.00702412286773324,
0.03361348807811737,
-0.051224034279584885,
0.01894412375986576,
-0.01590246893465519,
0.02394961006939411,
-0.05604683980345726,
0.025210116058588028,
0.009024490602314472,
0.016176491975784302,
-0.04899531230330467,
0.04738771170377731,
0.06693468242883682,
-0.007371218875050545,
-0.031329963356256485,
-0.01683414727449417,
-0.0022880921605974436,
0.0286810752004385,
-0.03523935750126839,
-0.06792116910219193,
-0.012906483374536037,
-0.04428211599588394,
0.025977380573749542,
-0.010805640369653702,
-0.019583510234951973,
-0.018323004245758057,
0.020131556317210197,
0.006316230166703463,
-0.02345636859536171,
0.03439902141690254,
0.005827555898576975,
-0.027785932645201683,
0.019802728667855263,
0.055571865290403366,
0.012970422394573689,
-0.012796874158084393,
-0.03458170220255852,
-0.039751604199409485,
-0.006649625021964312,
-0.007759417872875929,
0.01049508061259985,
0.028553197160363197,
-0.007056092377752066,
-0.017975909635424614,
-0.015664981678128242,
0.004265624564141035,
0.008983387611806393,
-0.01404824573546648,
-0.06039467081427574,
0.0198940709233284,
-0.0407746247947216,
-0.05677756667137146,
-0.005512429401278496,
0.06865189969539642,
0.06503479182720184,
0.02795034646987915,
-0.04037272185087204,
-0.0003707873693201691,
-0.013290115632116795,
-0.008430774323642254,
-0.016742805019021034,
0.029941581189632416,
0.006795770488679409,
-0.024844752624630928,
-0.04705888405442238,
0.025356262922286987,
0.035970088094472885,
0.03651813417673111,
-0.05396426469087601,
0.0007838199962861836,
0.029886776581406593,
0.0020448965951800346,
0.0729997307062149,
0.06821346282958984,
-0.0007980919908732176,
0.0027425135485827923,
-0.012513717636466026,
-0.0397881418466568,
0.030233871191740036,
-0.0328279547393322,
-0.06079657003283501,
-0.008627157658338547,
-0.03584221005439758,
0.04099384322762489,
0.026342744007706642,
-0.04859341308474541,
0.009353318251669407,
-0.012020476162433624,
0.013856429606676102,
-0.00236801546998322,
0.010604689829051495,
0.024588998407125473,
0.0407746247947216,
0.023565977811813354,
-0.0034070194233208895,
0.01404824573546648,
-0.025648552924394608,
0.01514433789998293,
0.0037518315948545933,
-0.024698607623577118,
-0.028187833726406097,
-0.025648552924394608,
-0.006750099826604128,
0.038801658898591995,
0.034453824162483215,
0.022415081039071083,
-0.018834514543414116,
-0.00810194667428732,
0.02592257596552372,
0.04081115871667862,
-0.022707372903823853,
-0.005530697759240866,
0.010422008112072945,
0.03796131908893585,
0.057179465889930725,
-0.028626270592212677,
-0.010358070023357868,
-0.049689505249261856,
0.006485211197286844,
-0.02911951206624508,
-0.01492511946707964,
-0.01583852991461754,
-0.038728583604097366,
-0.03949584811925888,
0.02257949486374855,
-0.006202054210007191,
-0.017108170315623283,
-0.05933511629700661,
-0.05169900506734848,
-0.005183601751923561,
0.003996168728917837,
-0.03063577227294445,
0.025155311450362206,
-0.050054870545864105,
-0.00437295064330101,
-0.024588998407125473,
-0.001815402414649725,
0.006407571025192738,
0.03363175690174103,
-0.015034728683531284,
0.010431142523884773,
-0.010065778158605099,
-0.017619678750634193,
-0.039678532630205154,
0.009517732076346874,
-0.022049717605113983,
-0.009275678545236588,
0.05038369819521904,
0.00549872824922204,
0.07343816757202148,
0.0020825748797506094,
0.043587926775217056,
0.006238590460270643,
-0.01699856109917164,
-0.033942315727472305,
0.02584950253367424,
0.005023755133152008,
-0.017309119924902916,
-0.0512605682015419,
0.022342009469866753,
-0.015089533291757107,
-0.0006650766590610147,
-0.004254207015037537,
0.0383266843855381,
0.015875065699219704,
-0.0018553640693426132,
-0.002521011745557189,
0.08702970296144485,
-0.03564126044511795,
0.03138476982712746,
-0.01698942668735981,
0.01049508061259985,
0.010604689829051495,
0.02170262113213539,
-0.027932077646255493,
0.007974069565534592,
0.0033613487612456083,
-0.023401563987135887,
0.002824720460921526,
-0.05480460077524185,
-0.018021579831838608,
0.015445763245224953,
0.016450515016913414,
-0.017820630222558975,
0.058713994920253754,
0.00383175490424037,
0.002995984861627221,
0.019126806408166885,
0.05323353409767151,
-0.013052629306912422,
-0.035385504364967346,
-0.0063573336228728294,
-0.0466204471886158,
0.02446112036705017,
0.010632092133164406,
-0.01143589336425066,
0.024716874584555626,
0.05031062290072441,
0.023986147716641426,
-0.005384551826864481,
0.05414694547653198,
-0.008572353050112724,
-0.02060653083026409,
0.016532720997929573,
-0.04735117405653,
-0.06656932085752487,
-0.009581671096384525,
-0.02011328935623169,
-0.014404475688934326,
-0.009065594524145126,
0.014495817013084888,
0.026835985481739044,
-0.0022823833860456944,
-0.011737318709492683,
-0.02265256829559803,
-0.03818053752183914,
0.011993073858320713,
-0.028279174119234085,
0.015993809327483177,
0.005640306975692511,
0.016733670607209206,
0.018103785812854767,
-0.02186703495681286,
0.011116200126707554,
0.02186703495681286,
-0.015957273542881012,
-0.013052629306912422,
-0.025794697925448418,
0.004649256821721792,
-0.02279871329665184,
0.02787727303802967,
-0.023273687809705734,
-0.010449410416185856,
-0.020222898572683334,
0.013728552497923374,
-0.03469131141901016,
0.014011709950864315,
-0.015263081528246403,
-0.025283189490437508,
-0.03231644630432129,
-0.009102131240069866,
-0.02977716736495495,
0.028333978727459908,
0.04472055286169052,
0.049251068383455276,
0.020149825140833855,
-0.011152735911309719,
0.009088429622352123,
0.019711388275027275,
0.020095020532608032,
0.015089533291757107,
-0.008111081086099148,
0.008668260648846626,
0.015052997507154942,
-0.014751572161912918,
-0.007544766645878553,
-0.00012545115896500647,
-0.011280613951385021,
0.038363222032785416,
-0.0038911267183721066,
0.00870936457067728,
0.038363222032785416,
0.0009311073226854205,
0.008458176627755165,
-0.008366835303604603,
-0.04804536700248718,
-0.014203526079654694,
-0.036773886531591415,
-0.009380720555782318,
-0.0009054176625795662,
-0.05670449510216713,
-0.013107433915138245,
0.001340429182164371,
0.02133725769817829,
0.013061762787401676,
0.019400829449295998,
0.005896061658859253,
0.0026580230332911015,
0.0032448889687657356,
-0.0017491801409050822,
-0.010458544827997684,
-0.0034481228794902563,
-0.02418709732592106,
0.006864276248961687,
0.02729269117116928,
0.005845824256539345,
-0.014148721471428871,
0.014450146816670895,
0.04472055286169052,
-0.01169164851307869,
-0.00151511887088418,
0.0024821916595101357,
-0.006754667032510042,
-0.004982651676982641,
0.017884567379951477,
-0.04190725088119507,
0.051077887415885925,
0.059079360216856,
-0.01916334219276905,
0.026379281654953957,
0.03449036180973053,
0.007709180470556021,
-0.015555372461676598,
0.006434973329305649,
0.02519184909760952,
-0.027201350778341293,
0.02919258363544941,
0.00006368893809849396,
0.008302897214889526,
-0.006421272177249193,
0.01851482130587101,
0.012568522244691849,
0.006421272177249193,
-0.011563770473003387,
-0.007795954588800669,
0.021008430048823357,
-0.03491052985191345,
0.03313851356506348,
0.007763985078781843,
-0.012321901507675648,
-0.04325909912586212,
0.02345636859536171,
-0.027329226955771446,
-0.012650729157030582,
-0.009545134380459785,
-0.004060107748955488,
0.0366094745695591,
-0.0015162606723606586,
0.032261643558740616,
-0.006923648063093424,
0.026105258613824844,
0.05875053256750107,
-0.02360251545906067,
-0.001568781677633524,
-0.02541106753051281,
0.013344920240342617,
-0.005211004056036472,
-0.022542959079146385,
-0.04121306166052818,
0.04355138912796974,
-0.013938636519014835,
0.03726712986826897,
-0.0352758951485157,
-0.027347495779395103,
-0.020277703180909157,
-0.012723801657557487,
-0.039167020469903946,
0.00314898113720119,
-0.04764346778392792,
-0.046218547970056534,
0.006745533086359501,
-0.02301793172955513,
-0.023986147716641426,
-0.012148353271186352,
-0.03562299162149429,
-0.032773151993751526,
0.03319332003593445,
0.012221425771713257,
-0.019546974450349808,
-0.0019056015880778432,
-0.0013826744398102164,
0.02374866046011448,
0.007298145908862352,
-0.014450146816670895,
-0.035769134759902954,
-0.018094653263688087,
0.005886927712708712,
-0.01255938783288002,
-0.027530178427696228,
0.038874730467796326,
-0.01633177138864994,
-0.03666427731513977,
-0.02853492833673954,
0.0056814104318618774,
-0.04559742659330368,
0.028041686862707138,
-0.020131556317210197,
0.04285719618201256,
0.027840737253427505,
-0.029210852459073067,
0.012449778616428375,
0.003420720575377345,
0.018679235130548477,
0.004968950524926186,
-0.007211372256278992,
0.021684354171156883,
0.014760705642402172,
-0.007741149980574846,
-0.004863908514380455,
-0.006151816342025995,
-0.04000736027956009,
-0.04735117405653,
-0.04322256147861481,
-0.03480092063546181,
-0.008485578931868076,
-0.01314396969974041,
-0.010504215024411678,
0.040555406361818314,
0.0529777817428112,
-0.00016027491074055433,
0.017007693648338318,
-0.08016086369752884,
0.019784461706876755,
0.022816982120275497,
-0.017811495810747147,
0.04099384322762489,
-0.03377790376543999,
0.026762913912534714,
0.06602127850055695,
-0.0017229196382686496,
-0.007809655740857124,
0.03251739591360092,
-0.005631172563880682,
-0.00014900001406203955,
-0.04362446069717407,
-0.03763249143958092,
-0.012979555875062943,
-0.05363543704152107,
-0.0038066362030804157,
-0.05213744193315506,
0.050858668982982635,
0.02563028410077095,
0.019839266315102577,
0.0010350077645853162,
-0.010239326395094395,
-0.00595543347299099,
0.0209901612251997,
0.019857533276081085,
-0.009316782467067242,
-0.0030667742248624563,
0.02192183956503868,
0.035988353192806244,
0.022524690255522728,
-0.00886464398354292,
-0.004304444883018732,
0.0020905672572553158,
-0.05875053256750107,
-0.02309100516140461,
0.048739559948444366,
-0.04545128345489502,
0.01699856109917164,
-0.014459280297160149,
-0.010029242374002934,
0.013838161714375019,
-0.01237670611590147,
0.016103418543934822,
-0.01215748768299818,
0.0010869578691199422,
-0.01692548766732216,
0.0004952395102009177,
-0.014230928383767605,
-0.0005566092440858483,
-0.031987618654966354,
0.02113630808889866,
-0.010339801199734211,
-0.002970866160467267,
-0.0068323067389428616,
-0.006786636542528868,
-0.0020985594019293785,
0.014660230837762356,
-0.045414745807647705,
0.022250667214393616,
0.023109273985028267,
-0.04095730558037758,
-0.0444282628595829,
0.031987618654966354,
-0.023200614377856255,
0.010020107962191105,
0.014504951424896717,
0.003034804714843631,
0.039824675768613815,
-0.05213744193315506,
0.006667892914265394,
0.010065778158605099,
-0.035696063190698624,
-0.005772751290351152,
-0.055937230587005615,
-0.015591909177601337,
0.0082709277048707,
0.04241875931620598,
0.004624138120561838,
0.029283925890922546,
-0.00972781702876091,
-0.0009830575436353683,
-0.021538207307457924,
-0.009700414724647999,
0.009166069328784943,
-0.04837419465184212,
0.022963127121329308,
0.061235006898641586,
-0.024004414677619934,
-0.0169072188436985,
0.024954361841082573,
0.023182345554232597,
0.04073808714747429,
-0.006772935390472412,
0.05422001704573631,
0.0133631881326437,
-0.01635003834962845,
-0.018998928368091583,
0.0007906705723144114,
-0.019346024841070175,
-0.03584221005439758,
0.00021893296798225492,
-0.016286101192235947,
0.0015676399925723672,
0.05918896943330765,
0.02970409393310547,
0.012632460333406925,
0.009056460112333298,
-0.0064989123493433,
-0.009348751045763493,
-0.016002943739295006,
0.007992337457835674,
-0.02172088995575905,
-0.011600307188928127,
0.004128613043576479,
-0.005612904671579599,
-0.0007050383719615638,
0.007754851132631302,
0.03653639927506447,
0.007471694145351648,
-0.021026698872447014,
-0.018569625914096832,
-0.007709180470556021,
-0.03326639160513878,
0.0019010346150025725,
0.04903184995055199,
-0.05498728156089783,
-0.012257962487637997,
-0.0003650785656645894,
0.0006810613558627665,
0.026909058913588524,
-0.021666085347533226,
0.002724245423451066,
-0.006704429630190134,
0.00379293505102396,
0.007453425787389278,
0.04285719618201256,
0.007014988921582699,
-0.008298330008983612,
-0.01582939550280571,
-0.01412131916731596,
-0.022762177512049675,
-0.02658023126423359,
0.013034360483288765,
-0.03492879867553711,
-0.03142130374908447,
-0.029795434325933456,
-0.0352758951485157,
0.025082239881157875,
-0.012668997049331665,
-0.026324477046728134,
-0.007677210960537195,
-0.002112260553985834,
-0.016130821779370308,
0.026342744007706642,
0.028662806376814842,
-0.011582039296627045,
0.0045419312082231045,
0.013774222694337368,
-0.05250280722975731,
0.05714293196797371,
-0.03595181927084923,
-0.038801658898591995,
0.0026420385111123323,
-0.013564138673245907,
0.017875434830784798,
-0.0322251059114933,
-0.03523935750126839,
0.0023954177740961313
] |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.