This article presents a deep reinforcement learning-based approach to tackle a persistent surveillance mission requiring a single unmanned aerial vehicle initially stationed at a depot with fuel or time-of-flight constraints to repeatedly visit a set of targets with equal priority. Owing to the vehicle's fuel or time-of-flight constraints, the vehicle must be regularly refueled, or its battery must be recharged at the depot. The objective of the problem is to determine an optimal sequence of visits to the targets that minimizes the maximum time elapsed between successive visits to any target while ensuring that the vehicle never runs out of fuel or charge. We present a deep reinforcement learning algorithm to solve this problem and present the results of numerical experiments that corroborate the effectiveness of this approach in comparison with common-sense greedy heuristics.
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Rate-Splitting Multiple Access (RSMA) has emerged as a potent and reliable multiple access and interference management technique in wireless communications. While downlink Multiple-Input Multiple-Ouput (MIMO) RSMA has been widely investigated, uplink MIMO RSMA has not been fully explored. In this paper, we investigate the performance of uplink RSMA in short-packet communications with perfect Channel State Information at Transmitter (CSIT) and Channel State Information at Receiver (CSIR). We propose an uplink MIMO RSMA framework and optimize both precoders and combiners with Max-Min Fairness (MMF) metric and Finite Blocklength (FBL) constraints. Due to the high coupling between precoders and combiners, we apply the Alternating Optimization (AO) to decompose the optimization problem into two subproblems. To tackle these subproblems, we propose a Successive Convex Approximation (SCA)-based approach. Additionally, we introduce a low-complexity scheme to design the decoding order at the receiver. Subsequently, the Physical (PHY)-layer of the uplink MIMO RSMA architecture is designed and evaluated using multi-user Link-Level Simulations (LLS), accounting for finite constellation modulation, finite length polar codes, message splitting, adaptive modulation and coding, and Successive Interference Cancellation (SIC) at the receiver. Numerical results demonstrate that applying RSMA in uplink MIMO with FBL constraints not only achieves MMF gains over conventional transmission schemes such as Space Division Multiple Access (SDMA) and Non-orthogonal Multiple Access (NOMA) but also exhibits robustness to network loads. The benefits of splitting messages from multiple users are also illustrated. LLS results confirm the improved max-min throughput benefits of RSMA over SDMA and NOMA.
Deep learning methods have been exerting their strengths in long-term time series forecasting. However, they often struggle to strike a balance between expressive power and computational efficiency. Resorting to multi-layer perceptrons (MLPs) provides a compromising solution, yet they suffer from two critical problems caused by the intrinsic point-wise mapping mode, in terms of deficient contextual dependencies and inadequate information bottleneck. Here, we propose the Coarsened Perceptron Network (CP-Net), featured by a coarsening strategy that alleviates the above problems associated with the prototype MLPs by forming information granules in place of solitary temporal points. The CP-Net utilizes primarily a two-stage framework for extracting semantic and contextual patterns, which preserves correlations over larger timespans and filters out volatile noises. This is further enhanced by a multi-scale setting, where patterns of diverse granularities are fused towards a comprehensive prediction. Based purely on convolutions of structural simplicity, CP-Net is able to maintain a linear computational complexity and low runtime, while demonstrates an improvement of 4.1% compared with the SOTA method on seven forecasting benchmarks.
Local SGD is a popular optimization method in distributed learning, often outperforming other algorithms in practice, including mini-batch SGD. Despite this success, theoretically proving the dominance of local SGD in settings with reasonable data heterogeneity has been difficult, creating a significant gap between theory and practice. In this paper, we provide new lower bounds for local SGD under existing first-order data heterogeneity assumptions, showing that these assumptions are insufficient to prove the effectiveness of local update steps. Furthermore, under these same assumptions, we demonstrate the min-max optimality of accelerated mini-batch SGD, which fully resolves our understanding of distributed optimization for several problem classes. Our results emphasize the need for better models of data heterogeneity to understand the effectiveness of local SGD in practice. Towards this end, we consider higher-order smoothness and heterogeneity assumptions, providing new upper bounds that imply the dominance of local SGD over mini-batch SGD when data heterogeneity is low.
This study presents an integrated approach for advancing functional Near-Infrared Spectroscopy (fNIRS) neuroimaging through the synthesis of data and application of machine learning models. By addressing the scarcity of high-quality neuroimaging datasets, this work harnesses Monte Carlo simulations and parametric head models to generate a comprehensive synthetic dataset, reflecting a wide spectrum of conditions. We developed a containerized environment employing Docker and Xarray for standardized and reproducible data analysis, facilitating meaningful comparisons across different signal processing modalities. Additionally, a cloud-based infrastructure is established for scalable data generation and processing, enhancing the accessibility and quality of neuroimaging data. The combination of synthetic data generation with machine learning techniques holds promise for improving the accuracy, efficiency, and applicability of fNIRS tomography, potentially revolutionizing diagnostics and treatment strategies for neurological conditions. The methodologies and infrastructure developed herein set new standards in data simulation and analysis, paving the way for future research in neuroimaging and the broader biomedical engineering field.
Thanks to the explosive developments of data-driven learning methodologies recently, reinforcement learning (RL) emerges as a promising solution to address the legged locomotion problem in robotics. In this manuscript, we propose a novel concurrent teacher-student reinforcement learning architecture for legged locomotion over challenging terrains, based only on proprioceptive measurements in real-world deployment. Different from convectional teacher-student architecture that trains the teacher policy via RL and transfers the knowledge to the student policy through supervised learning, our proposed architecture trains teacher and student policy networks concurrently under the reinforcement learning paradigm. To achieve this, we develop a new training scheme based on conventional proximal policy gradient (PPO) method to accommodate the interaction between teacher policy network and student policy network. The effectiveness of the proposed architecture as well as the new training scheme is demonstrated through extensive indoor and outdoor experiments on quadrupedal robots and point-foot bipedal robot, showcasing robust locomotion over challenging terrains and improved performance compared to two-stage training methods.
This study delves into the pivotal role played by non-experts in knowledge production on open collaboration platforms, with a particular focus on the intricate process of tag development that culminates in the proposal of new glitch classes. Leveraging the power of Association Rule Mining (ARM), this research endeavors to unravel the underlying dynamics of collaboration among citizen scientists. By meticulously quantifying tag associations and scrutinizing their temporal dynamics, the study provides a comprehensive and nuanced understanding of how non-experts collaborate to generate valuable scientific insights. Furthermore, this investigation extends its purview to examine the phenomenon of ideological convergence within online citizen science knowledge production. To accomplish this, a novel measurement algorithm, based on the Mann-Kendall Trend Test, is introduced. This innovative approach sheds illuminating light on the dynamics of collaborative knowledge production, revealing both the vast opportunities and daunting challenges inherent in leveraging non-expert contributions for scientific research endeavors. Notably, the study uncovers a robust pattern of convergence in ideology, employing both the newly proposed convergence testing method and the traditional approach based on the stationarity of time series data. This groundbreaking discovery holds significant implications for understanding the dynamics of online citizen science communities and underscores the crucial role played by non-experts in shaping the scientific landscape of the digital age. Ultimately, this study contributes significantly to our understanding of online citizen science communities, highlighting their potential to harness collective intelligence for tackling complex scientific tasks and enriching our comprehension of collaborative knowledge production processes in the digital age.
Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to its modularity and reactivity. Existing BT generation methods, however, either do not involve interpreting natural language or cannot theoretically guarantee the BTs' success. This paper proposes a two-stage framework for BT generation, which first employs large language models (LLMs) to interpret goals from high-level instructions, then constructs an efficient goal-specific BT through the Optimal Behavior Tree Expansion Algorithm (OBTEA). We represent goals as well-formed formulas in first-order logic, effectively bridging intent understanding and optimal behavior planning. Experiments in the service robot validate the proficiency of LLMs in producing grammatically correct and accurately interpreted goals, demonstrate OBTEA's superiority over the baseline BT Expansion algorithm in various metrics, and finally confirm the practical deployability of our framework. The project website is //dids-ei.github.io/Project/LLM-OBTEA/.
This article leverages deep reinforcement learning (DRL) to hedge American put options, utilizing the deep deterministic policy gradient (DDPG) method. The agents are first trained and tested with Geometric Brownian Motion (GBM) asset paths and demonstrate superior performance over traditional strategies like the Black-Scholes (BS) Delta, particularly in the presence of transaction costs. To assess the real-world applicability of DRL hedging, a second round of experiments uses a market calibrated stochastic volatility model to train DRL agents. Specifically, 80 put options across 8 symbols are collected, stochastic volatility model coefficients are calibrated for each symbol, and a DRL agent is trained for each of the 80 options by simulating paths of the respective calibrated model. Not only do DRL agents outperform the BS Delta method when testing is conducted using the same calibrated stochastic volatility model data from training, but DRL agents achieves better results when hedging the true asset path that occurred between the option sale date and the maturity. As such, not only does this study present the first DRL agents tailored for American put option hedging, but results on both simulated and empirical market testing data also suggest the optimality of DRL agents over the BS Delta method in real-world scenarios. Finally, note that this study employs a model-agnostic Chebyshev interpolation method to provide DRL agents with option prices at each time step when a stochastic volatility model is used, thereby providing a general framework for an easy extension to more complex underlying asset processes.
In the post-deep learning era, the Transformer architecture has demonstrated its powerful performance across pre-trained big models and various downstream tasks. However, the enormous computational demands of this architecture have deterred many researchers. To further reduce the complexity of attention models, numerous efforts have been made to design more efficient methods. Among them, the State Space Model (SSM), as a possible replacement for the self-attention based Transformer model, has drawn more and more attention in recent years. In this paper, we give the first comprehensive review of these works and also provide experimental comparisons and analysis to better demonstrate the features and advantages of SSM. Specifically, we first give a detailed description of principles to help the readers quickly capture the key ideas of SSM. After that, we dive into the reviews of existing SSMs and their various applications, including natural language processing, computer vision, graph, multi-modal and multi-media, point cloud/event stream, time series data, and other domains. In addition, we give statistical comparisons and analysis of these models and hope it helps the readers to understand the effectiveness of different structures on various tasks. Then, we propose possible research points in this direction to better promote the development of the theoretical model and application of SSM. More related works will be continuously updated on the following GitHub: //github.com/Event-AHU/Mamba_State_Space_Model_Paper_List.
In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.
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