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Machine learning (ML) is widely used for key tasks in Connected and Automated Vehicles (CAV), including perception, planning, and control. However, its reliance on vehicular data for model training presents significant challenges related to in-vehicle user privacy and communication overhead generated by massive data volumes. Federated learning (FL) is a decentralized ML approach that enables multiple vehicles to collaboratively develop models, broadening learning from various driving environments, enhancing overall performance, and simultaneously securing local vehicle data privacy and security. This survey paper presents a review of the advancements made in the application of FL for CAV (FL4CAV). First, centralized and decentralized frameworks of FL are analyzed, highlighting their key characteristics and methodologies. Second, diverse data sources, models, and data security techniques relevant to FL in CAVs are reviewed, emphasizing their significance in ensuring privacy and confidentiality. Third, specific applications of FL are explored, providing insight into the base models and datasets employed for each application. Finally, existing challenges for FL4CAV are listed and potential directions for future investigation to further enhance the effectiveness and efficiency of FL in the context of CAV are discussed.

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Automator是蘋果公司為他們的Mac OS X系統開發的一款軟件。 只要通過點擊拖拽鼠標等操作就可以將一系列動作組合成一個工作流,從而幫助你自動的(可重復的)完成一些復雜的工作。Automator還能橫跨很多不同種類的程序,包括:查找器、Safari網絡瀏覽器、iCal、地址簿或者其他的一些程序。它還能和一些第三方的程序一起工作,如微軟的Office、Adobe公司的Photoshop或者Pixelmator等。

Wearable-based Human Activity Recognition (HAR) is a key task in human-centric machine learning due to its fundamental understanding of human behaviours. Due to the dynamic nature of human behaviours, continual learning promises HAR systems that are tailored to users' needs. However, because of the difficulty in collecting labelled data with wearable sensors, existing approaches that focus on supervised continual learning have limited applicability, while unsupervised continual learning methods only handle representation learning while delaying classifier training to a later stage. This work explores the adoption and adaptation of CaSSLe, a continual self-supervised learning model, and Kaizen, a semi-supervised continual learning model that balances representation learning and down-stream classification, for the task of wearable-based HAR. These schemes re-purpose contrastive learning for knowledge retention and, Kaizen combines that with self-training in a unified scheme that can leverage unlabelled and labelled data for continual learning. In addition to comparing state-of-the-art self-supervised continual learning schemes, we further investigated the importance of different loss terms and explored the trade-off between knowledge retention and learning from new tasks. In particular, our extensive evaluation demonstrated that the use of a weighting factor that reflects the ratio between learned and new classes achieves the best overall trade-off in continual learning.

A critical factor in trustworthy machine learning is to develop robust representations of the training data. Only under this guarantee methods are legitimate to artificially generate data, for example, to counteract imbalanced datasets or provide counterfactual explanations for blackbox decision-making systems. In recent years, Generative Adversarial Networks (GANs) have shown considerable results in forming stable representations and generating realistic data. While many applications focus on generating image data, less effort has been made in generating time series data, especially multivariate signals. In this work, a Transformer-based autoencoder is proposed that is regularized using an adversarial training scheme to generate artificial multivariate time series signals. The representation is evaluated using t-SNE visualizations, Dynamic Time Warping (DTW) and Entropy scores. Our results indicate that the generated signals exhibit higher similarity to an exemplary dataset than using a convolutional network approach.

Multi-Task Learning (MTL) is a framework, where multiple related tasks are learned jointly and benefit from a shared representation space, or parameter transfer. To provide sufficient learning support, modern MTL uses annotated data with full, or sufficiently large overlap across tasks, i.e., each input sample is annotated for all, or most of the tasks. However, collecting such annotations is prohibitive in many real applications, and cannot benefit from datasets available for individual tasks. In this work, we challenge this setup and show that MTL can be successful with classification tasks with little, or non-overlapping annotations, or when there is big discrepancy in the size of labeled data per task. We explore task-relatedness for co-annotation and co-training, and propose a novel approach, where knowledge exchange is enabled between the tasks via distribution matching. To demonstrate the general applicability of our method, we conducted diverse case studies in the domains of affective computing, face recognition, species recognition, and shopping item classification using nine datasets. Our large-scale study of affective tasks for basic expression recognition and facial action unit detection illustrates that our approach is network agnostic and brings large performance improvements compared to the state-of-the-art in both tasks and across all studied databases. In all case studies, we show that co-training via task-relatedness is advantageous and prevents negative transfer (which occurs when MT model's performance is worse than that of at least one single-task model).

In the arena of privacy-preserving machine learning, differentially private stochastic gradient descent (DP-SGD) has outstripped the objective perturbation mechanism in popularity and interest. Though unrivaled in versatility, DP-SGD requires a non-trivial privacy overhead (for privately tuning the model's hyperparameters) and a computational complexity which might be extravagant for simple models such as linear and logistic regression. This paper revamps the objective perturbation mechanism with tighter privacy analyses and new computational tools that boost it to perform competitively with DP-SGD on unconstrained convex generalized linear problems.

Pre-trained Language Models (PLMs) which are trained on large text corpus via self-supervised learning method, have yielded promising performance on various tasks in Natural Language Processing (NLP). However, though PLMs with huge parameters can effectively possess rich knowledge learned from massive training text and benefit downstream tasks at the fine-tuning stage, they still have some limitations such as poor reasoning ability due to the lack of external knowledge. Research has been dedicated to incorporating knowledge into PLMs to tackle these issues. In this paper, we present a comprehensive review of Knowledge-Enhanced Pre-trained Language Models (KE-PLMs) to provide a clear insight into this thriving field. We introduce appropriate taxonomies respectively for Natural Language Understanding (NLU) and Natural Language Generation (NLG) to highlight these two main tasks of NLP. For NLU, we divide the types of knowledge into four categories: linguistic knowledge, text knowledge, knowledge graph (KG), and rule knowledge. The KE-PLMs for NLG are categorized into KG-based and retrieval-based methods. Finally, we point out some promising future directions of KE-PLMs.

In the past decade, we have witnessed the rise of deep learning to dominate the field of artificial intelligence. Advances in artificial neural networks alongside corresponding advances in hardware accelerators with large memory capacity, together with the availability of large datasets enabled researchers and practitioners alike to train and deploy sophisticated neural network models that achieve state-of-the-art performance on tasks across several fields spanning computer vision, natural language processing, and reinforcement learning. However, as these neural networks become bigger, more complex, and more widely used, fundamental problems with current deep learning models become more apparent. State-of-the-art deep learning models are known to suffer from issues that range from poor robustness, inability to adapt to novel task settings, to requiring rigid and inflexible configuration assumptions. Ideas from collective intelligence, in particular concepts from complex systems such as self-organization, emergent behavior, swarm optimization, and cellular systems tend to produce solutions that are robust, adaptable, and have less rigid assumptions about the environment configuration. It is therefore natural to see these ideas incorporated into newer deep learning methods. In this review, we will provide a historical context of neural network research's involvement with complex systems, and highlight several active areas in modern deep learning research that incorporate the principles of collective intelligence to advance its current capabilities. To facilitate a bi-directional flow of ideas, we also discuss work that utilize modern deep learning models to help advance complex systems research. We hope this review can serve as a bridge between complex systems and deep learning communities to facilitate the cross pollination of ideas and foster new collaborations across disciplines.

In contrast to batch learning where all training data is available at once, continual learning represents a family of methods that accumulate knowledge and learn continuously with data available in sequential order. Similar to the human learning process with the ability of learning, fusing, and accumulating new knowledge coming at different time steps, continual learning is considered to have high practical significance. Hence, continual learning has been studied in various artificial intelligence tasks. In this paper, we present a comprehensive review of the recent progress of continual learning in computer vision. In particular, the works are grouped by their representative techniques, including regularization, knowledge distillation, memory, generative replay, parameter isolation, and a combination of the above techniques. For each category of these techniques, both its characteristics and applications in computer vision are presented. At the end of this overview, several subareas, where continuous knowledge accumulation is potentially helpful while continual learning has not been well studied, are discussed.

Federated learning (FL) is an emerging, privacy-preserving machine learning paradigm, drawing tremendous attention in both academia and industry. A unique characteristic of FL is heterogeneity, which resides in the various hardware specifications and dynamic states across the participating devices. Theoretically, heterogeneity can exert a huge influence on the FL training process, e.g., causing a device unavailable for training or unable to upload its model updates. Unfortunately, these impacts have never been systematically studied and quantified in existing FL literature. In this paper, we carry out the first empirical study to characterize the impacts of heterogeneity in FL. We collect large-scale data from 136k smartphones that can faithfully reflect heterogeneity in real-world settings. We also build a heterogeneity-aware FL platform that complies with the standard FL protocol but with heterogeneity in consideration. Based on the data and the platform, we conduct extensive experiments to compare the performance of state-of-the-art FL algorithms under heterogeneity-aware and heterogeneity-unaware settings. Results show that heterogeneity causes non-trivial performance degradation in FL, including up to 9.2% accuracy drop, 2.32x lengthened training time, and undermined fairness. Furthermore, we analyze potential impact factors and find that device failure and participant bias are two potential factors for performance degradation. Our study provides insightful implications for FL practitioners. On the one hand, our findings suggest that FL algorithm designers consider necessary heterogeneity during the evaluation. On the other hand, our findings urge system providers to design specific mechanisms to mitigate the impacts of heterogeneity.

Lots of learning tasks require dealing with graph data which contains rich relation information among elements. Modeling physics system, learning molecular fingerprints, predicting protein interface, and classifying diseases require that a model to learn from graph inputs. In other domains such as learning from non-structural data like texts and images, reasoning on extracted structures, like the dependency tree of sentences and the scene graph of images, is an important research topic which also needs graph reasoning models. Graph neural networks (GNNs) are connectionist models that capture the dependence of graphs via message passing between the nodes of graphs. Unlike standard neural networks, graph neural networks retain a state that can represent information from its neighborhood with an arbitrary depth. Although the primitive graph neural networks have been found difficult to train for a fixed point, recent advances in network architectures, optimization techniques, and parallel computation have enabled successful learning with them. In recent years, systems based on graph convolutional network (GCN) and gated graph neural network (GGNN) have demonstrated ground-breaking performance on many tasks mentioned above. In this survey, we provide a detailed review over existing graph neural network models, systematically categorize the applications, and propose four open problems for future research.

State-of-the-art Convolutional Neural Network (CNN) benefits a lot from multi-task learning (MTL), which learns multiple related tasks simultaneously to obtain shared or mutually related representations for different tasks. The most widely-used MTL CNN structure is based on an empirical or heuristic split on a specific layer (e.g., the last convolutional layer) to minimize different task-specific losses. However, this heuristic sharing/splitting strategy may be harmful to the final performance of one or multiple tasks. In this paper, we propose a novel CNN structure for MTL, which enables automatic feature fusing at every layer. Specifically, we first concatenate features from different tasks according to their channel dimension, and then formulate the feature fusing problem as discriminative dimensionality reduction. We show that this discriminative dimensionality reduction can be done by 1x1 Convolution, Batch Normalization, and Weight Decay in one CNN, which we refer to as Neural Discriminative Dimensionality Reduction (NDDR). We perform ablation analysis in details for different configurations in training the network. The experiments carried out on different network structures and different task sets demonstrate the promising performance and desirable generalizability of our proposed method.

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