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Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex environments, especially with limited communication capabilities. To address this challenge, we propose a control-aware learning-based trajectory prediction algorithm that can enable communication-efficient UAV swarm control in a cluttered environment. Specifically, our proposed algorithm can enable each UAV to predict the planned trajectories of its neighbors in scenarios with various levels of communication capabilities. The predicted planned trajectories will serve as input to a distributed model predictive control (DMPC) approach. The proposed algorithm combines (1) a trajectory compression and reconstruction model based on Variational Auto-Encoder, (2) a trajectory prediction model based on EvolveGCN, a graph convolutional network (GCN) that can handle dynamic graphs, and (3) a KKT-informed training approach that applies the Karush-Kuhn-Tucker (KKT) conditions in the training process to encode DMPC information into the trained neural network. We evaluate our proposed algorithm in a funnel-like environment. Results show that the proposed algorithm outperforms state-of-the-art benchmarks, providing close-to-optimal control performance and robustness to limited communication capabilities and measurement noises.

Self-healing systems depend on following a set of predefined instructions to recover from a known failure state. Failure states are generally detected based on domain specific specialized metrics. Failure fixes are applied at predefined application hooks that are not sufficiently expressive to manage different failure types. Self-healing is usually applied in the context of distributed systems, where the detection of failures is constrained to communication problems, and resolution strategies often consist of replacing complete components. Our proposal targets complex reactive systems, defining monitors as predicates specifying satisfiability conditions of system properties. Such monitors are functionally expressive and can be defined at run time to detect failure states at any execution point. Once failure states are detected, we use a Reinforcement Learning-based technique to learn a recovery strategy based on users' corrective sequences. Finally, to execute the learned strategies, we extract them as COP variations that activate dynamically whenever the failure state is detected, overwriting the base system behavior with the recovery strategy for that state. We validate the feasibility and effectiveness of our framework through a prototypical reactive application for tracking mouse movements, and the DeltaIoT exemplar for self-healing systems. Our results demonstrate that with just the definition of monitors, the system is effective in detecting and recovering from failures between 55%-92% of the cases in the first application, and at par with the predefined strategies in the second application.

Place recognition is crucial for robot localization and loop closure in simultaneous localization and mapping (SLAM). Light Detection and Ranging (LiDAR), known for its robust sensing capabilities and measurement consistency even in varying illumination conditions, has become pivotal in various fields, surpassing traditional imaging sensors in certain applications. Among various types of LiDAR, spinning LiDARs are widely used, while non-repetitive scanning patterns have recently been utilized in robotics applications. Some LiDARs provide additional measurements such as reflectivity, Near Infrared (NIR), and velocity from Frequency modulated continuous wave (FMCW) LiDARs. Despite these advances, there is a lack of comprehensive datasets reflecting the broad spectrum of LiDAR configurations for place recognition. To tackle this issue, our paper proposes the HeLiPR dataset, curated especially for place recognition with heterogeneous LiDARs, embodying spatiotemporal variations. To the best of our knowledge, the HeLiPR dataset is the first heterogeneous LiDAR dataset supporting inter-LiDAR place recognition with both non-repetitive and spinning LiDARs, accommodating different field of view (FOV)s and varying numbers of rays. The dataset covers diverse environments, from urban cityscapes to high-dynamic freeways, over a month, enhancing adaptability and robustness across scenarios. Notably, HeLiPR includes trajectories parallel to MulRan sequences, making it valuable for research in heterogeneous LiDAR place recognition and long-term studies. The dataset is accessible at //sites.google.com/view/heliprdataset .

Speech is a common input method for mobile embedded devices, but cloud-based speech recognition systems pose privacy risks. Disentanglement-based encoders, designed to safeguard user privacy by filtering sensitive information from speech signals, unfortunately require substantial memory and computational resources, which limits their use in less powerful devices. To overcome this, we introduce a novel system, XXX, optimized for such devices. XXX is built on the insight that speech understanding primarily relies on understanding the entire utterance's long-term dependencies, while privacy concerns are often linked to short-term details. Therefore, XXX focuses on selectively masking these short-term elements, preserving the quality of long-term speech understanding. The core of XXX is an innovative differential mask generator, grounded in interpretable learning, which fine-tunes the masking process. We tested XXX on the STM32H7 microcontroller, assessing its performance in various potential attack scenarios. The results show that XXX maintains speech understanding accuracy and privacy at levels comparable to existing encoders, but with a significant improvement in efficiency, achieving up to 53.3$\times$ faster processing and a 134.1$\times$ smaller memory footprint.

Recently, the paradigm of massive ultra-reliable low-latency IoT communications (URLLC-IoT) has gained growing interest. Reliable delay-critical uplink transmission in IoT is a challenging task since low-complex devices typically do not support multiple antennas or demanding signal processing tasks. However, in many IoT services the data volumes are small and deployments may include massive number of devices. We consider on a clustered uplink transmission with two cooperation approaches: First, we focus on scenario where location-based channel knowledge map (CKM) is applied to enable cooperation. Second, we consider a scenario where scarce channel side-information is applied in transmission. In both scenarios we also model and analyse the impact of erroneous information. In the performance evaluation we apply the recently introduced data-oriented approach that has gathered significant attention in the context of short-packet transmissions. Specifically, it introduces a transient performance metric for small data transmissions, where the amount of data and available bandwidth play crucial roles. Results show that cooperation between clustered IoT devices may provide notable benefits in terms of increased range. It is noticed that the performance is heavily depending on the strength of the static channel component in the CKM based cooperation. The channel side-information based cooperation is robust against changes in the radio environment but sensitive to possible errors in the channel side-information. Even with large IoT device clusters, side-information errors may set a limit for the use of services assuming high-reliability and low-latency. Analytic results are verified against simulations, showing only minor differences at low probability levels.

The video-language (VL) pretraining has achieved remarkable improvement in multiple downstream tasks. However, the current VL pretraining framework is hard to extend to multiple modalities (N modalities, N>=3) beyond vision and language. We thus propose LanguageBind, taking the language as the bind across different modalities because the language modality is well-explored and contains rich semantics. Specifically, we freeze the language encoder acquired by VL pretraining, then train encoders for other modalities with contrastive learning. As a result, all modalities are mapped to a shared feature space, implementing multi-modal semantic alignment. While LanguageBind ensures that we can extend VL modalities to N modalities, we also need a high-quality dataset with alignment data pairs centered on language. We thus propose VIDAL-10M with Video, Infrared, Depth, Audio and their corresponding Language, naming as VIDAL-10M. In our VIDAL-10M, all videos are from short video platforms with complete semantics rather than truncated segments from long videos, and all the video, depth, infrared, and audio modalities are aligned to their textual descriptions. LanguageBind has achieved superior performance on a wide range of 15 benchmarks covering video, audio, depth, and infrared. Moreover, multiple experiments have provided evidence for the effectiveness of LanguageBind in achieving indirect alignment and complementarity among diverse modalities. Code address: //github.com/PKU-YuanGroup/LanguageBind

We investigate the extent to which Large Language Models (LLMs) can simulate the execution of computer code and algorithms. We begin by looking at straight line programs, and show that current LLMs demonstrate poor performance even with such simple programs -- performance rapidly degrades with the length of code. We then investigate the ability of LLMs to simulate programs that contain critical paths and redundant instructions. We also go beyond straight line program simulation with sorting algorithms and nested loops, and we show the computational complexity of a routine directly affects the ability of an LLM to simulate its execution. We observe that LLMs execute instructions sequentially and with a low error margin only for short programs or standard procedures. LLMs' code simulation is in tension with their pattern recognition and memorisation capabilities: on tasks where memorisation is detrimental, we propose a novel prompting method to simulate code execution line by line. Empirically, our new Chain of Simulation (CoSm) method improves on the standard Chain of Thought prompting approach by avoiding the pitfalls of memorisation.

The Vision Transformer (ViT) demonstrates exceptional performance in various computer vision tasks. Attention is crucial for ViT to capture complex wide-ranging relationships among image patches, allowing the model to weigh the importance of image patches and aiding our understanding of the decision-making process. However, when utilizing the attention of ViT as evidence in high-stakes decision-making tasks such as medical diagnostics, a challenge arises due to the potential of attention mechanisms erroneously focusing on irrelevant regions. In this study, we propose a statistical test for ViT's attentions, enabling us to use the attentions as reliable quantitative evidence indicators for ViT's decision-making with a rigorously controlled error rate. Using the framework called selective inference, we quantify the statistical significance of attentions in the form of p-values, which enables the theoretically grounded quantification of the false positive detection probability of attentions. We demonstrate the validity and the effectiveness of the proposed method through numerical experiments and applications to brain image diagnoses.

Graph Neural Networks (GNNs) have proven to be useful for many different practical applications. However, many existing GNN models have implicitly assumed homophily among the nodes connected in the graph, and therefore have largely overlooked the important setting of heterophily, where most connected nodes are from different classes. In this work, we propose a novel framework called CPGNN that generalizes GNNs for graphs with either homophily or heterophily. The proposed framework incorporates an interpretable compatibility matrix for modeling the heterophily or homophily level in the graph, which can be learned in an end-to-end fashion, enabling it to go beyond the assumption of strong homophily. Theoretically, we show that replacing the compatibility matrix in our framework with the identity (which represents pure homophily) reduces to GCN. Our extensive experiments demonstrate the effectiveness of our approach in more realistic and challenging experimental settings with significantly less training data compared to previous works: CPGNN variants achieve state-of-the-art results in heterophily settings with or without contextual node features, while maintaining comparable performance in homophily settings.

Graph Neural Networks (GNNs) have been shown to be effective models for different predictive tasks on graph-structured data. Recent work on their expressive power has focused on isomorphism tasks and countable feature spaces. We extend this theoretical framework to include continuous features - which occur regularly in real-world input domains and within the hidden layers of GNNs - and we demonstrate the requirement for multiple aggregation functions in this context. Accordingly, we propose Principal Neighbourhood Aggregation (PNA), a novel architecture combining multiple aggregators with degree-scalers (which generalize the sum aggregator). Finally, we compare the capacity of different models to capture and exploit the graph structure via a novel benchmark containing multiple tasks taken from classical graph theory, alongside existing benchmarks from real-world domains, all of which demonstrate the strength of our model. With this work, we hope to steer some of the GNN research towards new aggregation methods which we believe are essential in the search for powerful and robust models.