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The focus of this paper is to demonstrate an over-the-air (OTA) 5G new radio (NR) sidelink communication prototype. 5G NR sidelink communications allow NR UEs to transfer data independently without the assistance of a base station (gNB), which enables V2X communications, including platooning, autonomous driving, sensor extension, industrial IoT, public safety communication and much more. Our design leverages the open-source OpenAirInterface5G (OAI) software, which operates on software-defined radios (SDRs) and can be easily extended for mesh networking. The software includes all signal processing components specified by the 3GPP 5G sidelink standards, including Low-Density Parity Check (LDPC) encoding/decoding, polar encoding/decoding, data and control multiplexing, modulation/demodulation, and orthogonal frequency-division multiplexing (OFDM) modulation/demodulation. It can be configured to operate with different bands, bandwidths, and antenna settings. The first milestone in this work was to demonstrate the completed Physical Sidelink Broadcast Channel (PSBCH) development, which conducts synchronization between a Synchronization Reference (SyncRef) UE and a nearby UE. The SyncRef UE broadcasts a sidelink synchronization signal block (S-SSB) periodically, which the nearby UE detects and uses to synchronize its timing and frequency components with the SyncRef UE. Once a connection is established, the next developmental milestone is to transmit real data (text messages) via the Physical Sidelink Shared Channel (PSSCH). Our PHY sidelink framework is tested using both an RF simulator and an OTA testbed with multiple nearby UEs. Beyond the development of synchronization and data transmission/reception in 5G sidelink, we conclude with various performance tests and validation experiments. The results of these metrics show that our simulator is comparable to the OTA testbed.

This paper introduces the Imperial Light-Stage Head (ILSH) dataset, a novel light-stage-captured human head dataset designed to support view synthesis academic challenges for human heads. The ILSH dataset is intended to facilitate diverse approaches, such as scene-specific or generic neural rendering, multiple-view geometry, 3D vision, and computer graphics, to further advance the development of photo-realistic human avatars. This paper details the setup of a light-stage specifically designed to capture high-resolution (4K) human head images and describes the process of addressing challenges (preprocessing, ethical issues) in collecting high-quality data. In addition to the data collection, we address the split of the dataset into train, validation, and test sets. Our goal is to design and support a fair view synthesis challenge task for this novel dataset, such that a similar level of performance can be maintained and expected when using the test set, as when using the validation set. The ILSH dataset consists of 52 subjects captured using 24 cameras with all 82 lighting sources turned on, resulting in a total of 1,248 close-up head images, border masks, and camera pose pairs.

Large Language Models (LLMs) have demonstrated remarkable capabilities in open-ended text generation tasks. However, the inherent open-ended nature of these tasks implies that there is always room for improvement in the quality of model responses. To address this challenge, various approaches have been proposed to enhance the performance of LLMs. There has been a growing focus on enabling LLMs to self-improve their response quality, thereby reducing the reliance on extensive human annotation efforts for collecting diverse and high-quality training data. Recently, prompting-based methods have been widely explored among self-improvement methods owing to their effectiveness, efficiency, and convenience. However, those methods usually require explicitly and thoroughly written rubrics as inputs to LLMs. It is expensive and challenging to manually derive and provide all necessary rubrics with a real-world complex goal for improvement (e.g., being more helpful and less harmful). To this end, we propose an ImPlicit Self-ImprovemenT (PIT) framework that implicitly learns the improvement goal from human preference data. PIT only requires preference data that are used to train reward models without extra human efforts. Specifically, we reformulate the training objective of reinforcement learning from human feedback (RLHF) -- instead of maximizing response quality for a given input, we maximize the quality gap of the response conditioned on a reference response. In this way, PIT is implicitly trained with the improvement goal of better aligning with human preferences. Experiments on two real-world datasets and one synthetic dataset show that our method significantly outperforms prompting-based methods.

Safety assurance of Reinforcement Learning (RL) is critical for exploration in real-world scenarios. In handling the Constrained Markov Decision Process, current approaches experience intrinsic difficulties in trading-off between optimality and feasibility. Direct optimization methods cannot strictly guarantee state-wise in-training safety while projection-based methods are usually inefficient and correct actions through lengthy iterations. To address these two challenges, this paper proposes an adaptive surrogate chance constraint for the safety cost, and a hierarchical architecture that corrects actions produced by the upper policy layer via a fast Quasi-Newton method. Theoretical analysis indicates that the relaxed probabilistic constraint can sufficiently guarantee forward invariance to the safe set. We validate the proposed method on 4 simulated and real-world safety-critical robotic tasks. Results indicate that the proposed method can efficiently enforce safety (nearly zero-violation), while preserving optimality (+23.8%), robustness and generalizability to stochastic real-world settings.

Reinforcement Learning (RL) methods are typically sample-inefficient, making it challenging to train and deploy RL-policies in real world robots. Even a robust policy trained in simulation requires a real-world deployment to assess their performance. This paper proposes a new approach to evaluate the real-world performance of agent policies prior to deploying them in the real world. Our approach incorporates a simulator along with real-world offline data to evaluate the performance of any policy using the framework of Marginalized Importance Sampling (MIS). Existing MIS methods face two challenges: (1) large density ratios that deviate from a reasonable range and (2) indirect supervision, where the ratio needs to be inferred indirectly, thus exacerbating estimation error. Our approach addresses these challenges by introducing the target policy's occupancy in the simulator as an intermediate variable and learning the density ratio as the product of two terms that can be learned separately. The first term is learned with direct supervision and the second term has a small magnitude, thus making it computationally efficient. We analyze the sample complexity as well as error propagation of our two step-procedure. Furthermore, we empirically evaluate our approach on Sim2Sim environments such as Cartpole, Reacher, and Half-Cheetah. Our results show that our method generalizes well across a variety of Sim2Sim gap, target policies and offline data collection policies. We also demonstrate the performance of our algorithm on a Sim2Real task of validating the performance of a 7 DoF robotic arm using offline data along with the Gazebo simulator.

In this article we consider Bayesian parameter inference for a type of partially observed stochastic Volterra equation (SVE). SVEs are found in many areas such as physics and mathematical finance. In the latter field they can be used to represent long memory in unobserved volatility processes. In many cases of practical interest, SVEs must be time-discretized and then parameter inference is based upon the posterior associated to this time-discretized process. Based upon recent studies on time-discretization of SVEs (e.g. Richard et al. 2021), we use Euler-Maruyama methods for the afore-mentioned discretization. We then show how multilevel Markov chain Monte Carlo (MCMC) methods (Jasra et al. 2018) can be applied in this context. In the examples we study, we give a proof that shows that the cost to achieve a mean square error (MSE) of $\mathcal{O}(\epsilon^2)$, $\epsilon>0$, is $\mathcal{O}(\epsilon^{-20/9})$. If one uses a single level MCMC method then the cost is $\mathcal{O}(\epsilon^{-38/9})$ to achieve the same MSE. We illustrate these results in the context of state-space and stochastic volatility models, with the latter applied to real data.

Text Classification is the most essential and fundamental problem in Natural Language Processing. While numerous recent text classification models applied the sequential deep learning technique, graph neural network-based models can directly deal with complex structured text data and exploit global information. Many real text classification applications can be naturally cast into a graph, which captures words, documents, and corpus global features. In this survey, we bring the coverage of methods up to 2023, including corpus-level and document-level graph neural networks. We discuss each of these methods in detail, dealing with the graph construction mechanisms and the graph-based learning process. As well as the technological survey, we look at issues behind and future directions addressed in text classification using graph neural networks. We also cover datasets, evaluation metrics, and experiment design and present a summary of published performance on the publicly available benchmarks. Note that we present a comprehensive comparison between different techniques and identify the pros and cons of various evaluation metrics in this survey.

This work aims to provide an engagement decision support tool for Beyond Visual Range (BVR) air combat in the context of Defensive Counter Air (DCA) missions. In BVR air combat, engagement decision refers to the choice of the moment the pilot engages a target by assuming an offensive stance and executing corresponding maneuvers. To model this decision, we use the Brazilian Air Force's Aerospace Simulation Environment (\textit{Ambiente de Simula\c{c}\~ao Aeroespacial - ASA} in Portuguese), which generated 3,729 constructive simulations lasting 12 minutes each and a total of 10,316 engagements. We analyzed all samples by an operational metric called the DCA index, which represents, based on the experience of subject matter experts, the degree of success in this type of mission. This metric considers the distances of the aircraft of the same team and the opposite team, the point of Combat Air Patrol, and the number of missiles used. By defining the engagement status right before it starts and the average of the DCA index throughout the engagement, we create a supervised learning model to determine the quality of a new engagement. An algorithm based on decision trees, working with the XGBoost library, provides a regression model to predict the DCA index with a coefficient of determination close to 0.8 and a Root Mean Square Error of 0.05 that can furnish parameters to the BVR pilot to decide whether or not to engage. Thus, using data obtained through simulations, this work contributes by building a decision support system based on machine learning for BVR air combat.

Graph neural networks (GNNs) is widely used to learn a powerful representation of graph-structured data. Recent work demonstrates that transferring knowledge from self-supervised tasks to downstream tasks could further improve graph representation. However, there is an inherent gap between self-supervised tasks and downstream tasks in terms of optimization objective and training data. Conventional pre-training methods may be not effective enough on knowledge transfer since they do not make any adaptation for downstream tasks. To solve such problems, we propose a new transfer learning paradigm on GNNs which could effectively leverage self-supervised tasks as auxiliary tasks to help the target task. Our methods would adaptively select and combine different auxiliary tasks with the target task in the fine-tuning stage. We design an adaptive auxiliary loss weighting model to learn the weights of auxiliary tasks by quantifying the consistency between auxiliary tasks and the target task. In addition, we learn the weighting model through meta-learning. Our methods can be applied to various transfer learning approaches, it performs well not only in multi-task learning but also in pre-training and fine-tuning. Comprehensive experiments on multiple downstream tasks demonstrate that the proposed methods can effectively combine auxiliary tasks with the target task and significantly improve the performance compared to state-of-the-art methods.

This paper presents a new multi-objective deep reinforcement learning (MODRL) framework based on deep Q-networks. We propose the use of linear and non-linear methods to develop the MODRL framework that includes both single-policy and multi-policy strategies. The experimental results on two benchmark problems including the two-objective deep sea treasure environment and the three-objective mountain car problem indicate that the proposed framework is able to converge to the optimal Pareto solutions effectively. The proposed framework is generic, which allows implementation of different deep reinforcement learning algorithms in different complex environments. This therefore overcomes many difficulties involved with standard multi-objective reinforcement learning (MORL) methods existing in the current literature. The framework creates a platform as a testbed environment to develop methods for solving various problems associated with the current MORL. Details of the framework implementation can be referred to //www.deakin.edu.au/~thanhthi/drl.htm.