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Parameter-efficient transfer learning (PETL) based on large-scale pre-trained foundation models has achieved great success in various downstream applications. Existing tuning methods, such as prompt, prefix, and adapter, perform task-specific lightweight adjustments to different parts of the original architecture. However, they take effect on only some parts of the pre-trained models, i.e., only the feed-forward layers or the self-attention layers, which leaves the remaining frozen structures unable to adapt to the data distributions of downstream tasks. Further, the existing structures are strongly coupled with the Transformers, hindering parameter-efficient deployment as well as the design flexibility for new approaches. In this paper, we revisit the design paradigm of PETL and derive a unified framework U-Tuning for parameter-efficient transfer learning, which is composed of an operation with frozen parameters and a unified tuner that adapts the operation for downstream applications. The U-Tuning framework can simultaneously encompass existing methods and derive new approaches for parameter-efficient transfer learning, which prove to achieve on-par or better performances on CIFAR-100 and FGVC datasets when compared with existing PETL methods.

The path planning problems arising in manipulation planning and in task and motion planning settings are typically repetitive: the same manipulator moves in a space that only changes slightly. Despite this potential for reuse of information, few planners fully exploit the available information. To better enable this reuse, we decompose the collision checking into reusable, and non-reusable parts. We then treat the sequences of path planning problems in manipulation planning as a multiquery path planning problem. This allows the usage of planners that actively minimize planning effort over multiple queries, and by doing so, actively reuse previous knowledge. We implement this approach in EIRM* and effort ordered LazyPRM*, and benchmark it on multiple simulated robotic examples. Further, we show that the approach of decomposing collision checks additionally enables the reuse of the gained knowledge over multiple different instances of the same problem, i.e., in a multiquery manipulation planning scenario. The planners using the decomposed collision checking outperform the other planners in initial solution time by up to a factor of two while providing a similar solution quality.

Data Scientists often use notebooks to develop Data Science (DS) pipelines, particularly since they allow to selectively execute parts of the pipeline. However, notebooks for DS have many well-known flaws. We focus on the following ones in this paper: (1) Notebooks can become littered with code cells that are not part of the main DS pipeline but exist solely to make decisions (e.g. listing the columns of a tabular dataset). (2) While users are allowed to execute cells in any order, not every ordering is correct, because a cell can depend on declarations from other cells. (3) After making changes to a cell, this cell and all cells that depend on changed declarations must be rerun. (4) Changes to external values necessitate partial re-execution of the notebook. (5) Since cells are the smallest unit of execution, code that is unaffected by changes, can inadvertently be re-executed. To solve these issues, we propose to replace cells as the basis for the selective execution of DS pipelines. Instead, we suggest populating a context-menu for variables with actions fitting their type (like listing columns if the variable is a tabular dataset). These actions are executed based on a data-flow analysis to ensure dependencies between variables are respected and results are updated properly after changes. Our solution separates pipeline code from decision making code and automates dependency management, thus reducing clutter and the risk of making errors.

[HHM20] discovered, for 7 pairs (C,D) of seemingly distinct standard electoral control types, that C and D are identical: For each input I and each election system, I is a Yes instance of both C and D, or of neither. Surprisingly this had gone undetected, even as the field was score-carding how many std. control types election systems were resistant to; various "different" cells on such score cards were, unknowingly, duplicate effort on the same issue. This naturally raises the worry that other pairs of control types are also identical, and so work still is being needlessly duplicated. We determine, for all std. control types, which pairs are, for elections whose votes are linear orderings of the candidates, always identical. We show that no identical control pairs exist beyond the known 7. We for 3 central election systems determine which control pairs are identical ("collapse") with respect to those systems, and we explore containment/incomparability relationships between control pairs. For approval voting, which has a different "type" for its votes, [HHM20]'s 7 collapses still hold. But we find 14 additional collapses that hold for approval voting but not for some election systems whose votes are linear orderings. We find 1 additional collapse for veto and none for plurality. We prove that each of the 3 election systems mentioned have no collapses other than those inherited from [HHM20] or added here. But we show many new containment relationships that hold between some separating control pairs, and for each separating pair of std. control types classify its separation in terms of containment (always, and strict on some inputs) or incomparability. Our work, for the general case and these 3 important election systems, clarifies the landscape of the 44 std. control types, for each pair collapsing or separating them, and also providing finer-grained information on the separations.

We characterize a rich class of valuated matroids, called R-minor valuated matroids that includes the indicator functions of matroids, and is closed under operations such as taking minors, duality, and induction by network. We exhibit a family of valuated matroids that are not R-minor based on sparse paving matroids. Valuated matroids are inherently related to gross substitute valuations in mathematical economics. By the same token we refute the Matroid Based Valuation Conjecture by Ostrovsky and Paes Leme (Theoretical Economics 2015) asserting that every gross substitute valuation arises from weighted matroid rank functions by repeated applications of merge and endowment operations. Our result also has implications in the context of Lorentzian polynomials: it reveals the limitations of known construction operations.

This work proposes a novel framework to dynamically and effectively manage and allocate different types of resources for Metaverse applications, which are forecasted to demand massive resources of various types that have never been seen before. Specifically, by studying functions of Metaverse applications, we first propose an effective solution to divide applications into groups, namely MetaInstances, where common functions can be shared among applications to enhance resource usage efficiency. Then, to capture the real-time, dynamic, and uncertain characteristics of request arrival and application departure processes, we develop a semi-Markov decision process-based framework and propose an intelligent algorithm that can gradually learn the optimal admission policy to maximize the revenue and resource usage efficiency for the Metaverse service provider and at the same time enhance the Quality-of-Service for Metaverse users. Extensive simulation results show that our proposed approach can achieve up to 120% greater revenue for the Metaverse service providers and up to 178.9% higher acceptance probability for Metaverse application requests than those of other baselines.

There has been recent interest in improving optical character recognition (OCR) for endangered languages, particularly because a large number of documents and books in these languages are not in machine-readable formats. The performance of OCR systems is typically evaluated using automatic metrics such as character and word error rates. While error rates are useful for the comparison of different models and systems, they do not measure whether and how the transcriptions produced from OCR tools are useful to downstream users. In this paper, we present a human-centric evaluation of OCR systems, focusing on the Kwak'wala language as a case study. With a user study, we show that utilizing OCR reduces the time spent in the manual transcription of culturally valuable documents -- a task that is often undertaken by endangered language community members and researchers -- by over 50%. Our results demonstrate the potential benefits that OCR tools can have on downstream language documentation and revitalization efforts.

Cellular-connected unmanned aerial vehicle (UAV) has attracted a surge of research interest in both academia and industry. To support aerial user equipment (UEs) in the existing cellular networks, one promising approach is to assign a portion of the system bandwidth exclusively to the UAV-UEs. This is especially favorable for use cases where a large number of UAV-UEs are exploited, e.g., for package delivery close to a warehouse. Although the nearly line-of-sight (LoS) channels can result in higher powers received, UAVs can in turn cause severe interference to each other in the same frequency band. In this contribution, we focus on the uplink communications of massive cellular-connected UAVs. Different power allocation algorithms are proposed to either maximize the minimal spectrum efficiency (SE) or maximize the overall SE to cope with severe interference based on the successive convex approximation (SCA) principle. One of the challenges is that a UAV can affect a large area meaning that many more UAV-UEs must be considered in the optimization problem, which is essentially different from that for terrestrial UEs. The necessity of single-carrier uplink transmission further complicates the problem. Nevertheless, we find that the special property of large coherent bandwidths and coherent times of the propagation channels can be leveraged. The performances of the proposed algorithms are evaluated via extensive simulations in the full-buffer transmission mode and bursty-traffic mode. Results show that the proposed algorithms can effectively enhance the uplink SEs. This work can be considered the first attempt to deal with the interference among massive cellular-connected UAV-UEs with optimized power allocations.

In many real-world situations, data is distributed across multiple self-interested agents. These agents can collaborate to build a machine learning model based on data from multiple agents, potentially reducing the error each experiences. However, sharing models in this way raises questions of fairness: to what extent can the error experienced by one agent be significantly lower than the error experienced by another agent in the same coalition? In this work, we consider two notions of fairness that each may be appropriate in different circumstances: "egalitarian fairness" (which aims to bound how dissimilar error rates can be) and "proportional fairness" (which aims to reward players for contributing more data). We similarly consider two common methods of model aggregation, one where a single model is created for all agents (uniform), and one where an individualized model is created for each agent. For egalitarian fairness, we obtain a tight multiplicative bound on how widely error rates can diverge between agents collaborating (which holds for both aggregation methods). For proportional fairness, we show that the individualized aggregation method always gives a small player error that is upper bounded by proportionality. For uniform aggregation, we show that this upper bound is guaranteed for any individually rational coalition (where no player wishes to leave to do local learning).

This paper deals with state estimation of stochastic models with linear state dynamics, continuous or discrete in time. The emphasis is laid on a numerical solution to the state prediction by the time-update step of the grid-point-based point-mass filter (PMF), which is the most computationally demanding part of the PMF algorithm. A novel way of manipulating the grid, leading to the time-update in form of a convolution, is proposed. This reduces the PMF time complexity from quadratic to log-linear with respect to the number of grid points. Furthermore, the number of unique transition probability values is greatly reduced causing a significant reduction of the data storage needed. The proposed PMF prediction step is verified in a numerical study.