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The range of robot activities is expanding from industries with fixed environments to diverse and changing environments, such as nursing care support and daily life support. In particular, autonomous construction of robots that are personalized for each user and task is required. Therefore, we develop an actuator module that can be reconfigured to various link configurations, can carry heavy objects using a locking mechanism, and can be easily operated by human teaching using a releasing mechanism. Given multiple target coordinates, a modular robot configuration that satisfies these coordinates and minimizes the required torque is automatically generated by Tree-structured Parzen Estimator (TPE), a type of black-box optimization. Based on the obtained results, we show that the robot can be reconfigured to perform various functions such as moving monitors and lights, serving food, and so on.

Spiking neural networks (SNNs) are receiving increased attention as a means to develop "biologically plausible" machine learning models. These networks mimic synaptic connections in the human brain and produce spike trains, which can be approximated by binary values, precluding high computational cost with floating-point arithmetic circuits. Recently, the addition of convolutional layers to combine the feature extraction power of convolutional networks with the computational efficiency of SNNs has been introduced. In this paper, the feasibility of using a convolutional spiking neural network (CSNN) as a classifier to detect anticipatory slow cortical potentials related to braking intention in human participants using an electroencephalogram (EEG) was studied. The EEG data was collected during an experiment wherein participants operated a remote controlled vehicle on a testbed designed to simulate an urban environment. Participants were alerted to an incoming braking event via an audio countdown to elicit anticipatory potentials that were then measured using an EEG. The CSNN's performance was compared to a standard convolutional neural network (CNN) and three graph neural networks (GNNs) via 10-fold cross-validation. The results showed that the CSNN outperformed the other neural networks.

The development of deep neural networks (DNN) has significantly enhanced the performance of speaker verification (SV) systems in recent years. However, a critical issue that persists when applying DNN-based SV systems in practical applications is domain mismatch. To mitigate the performance degradation caused by the mismatch, domain adaptation becomes necessary. This paper introduces an approach to adapt DNN-based SV models by manipulating the learnable model inputs, inspired by the concept of adversarial reprogramming. The pre-trained SV model remains fixed and functions solely in the forward process, resembling a black-box model. A lightweight network is utilized to estimate the gradients for the learnable parameters at the input, which bypasses the gradient backpropagation through the black-box model. The reprogrammed output is processed by a two-layer backend learning module as the final adapted speaker embedding. The number of parameters involved in the gradient calculation is small in our design. With few additional parameters, the proposed method achieves both memory and parameter efficiency. The experiments are conducted in language mismatch scenarios. Using much less computation cost, the proposed method obtains close or superior performance to the fully finetuned models in our experiments, which demonstrates its effectiveness.

In recent years, wireless networks are evolving complex, which upsurges the use of zero-touch artificial intelligence (AI)-driven network automation within the telecommunication industry. In particular, network slicing, the most promising technology beyond 5G, would embrace AI models to manage the complex communication network. Besides, it is also essential to build the trustworthiness of the AI black boxes in actual deployment when AI makes complex resource management and anomaly detection. Inspired by closed-loop automation and Explainable Artificial intelligence (XAI), we design an Explainable Federated deep learning (FDL) model to predict per-slice RAN dropped traffic probability while jointly considering the sensitivity and explainability-aware metrics as constraints in such non-IID setup. In precise, we quantitatively validate the faithfulness of the explanations via the so-called attribution-based \emph{log-odds metric} that is included as a constraint in the run-time FL optimization task. Simulation results confirm its superiority over an unconstrained integrated-gradient (IG) \emph{post-hoc} FDL baseline.

Despite the basic premise that next-generation wireless networks (e.g., 6G) will be artificial intelligence (AI)-native, to date, most existing efforts remain either qualitative or incremental extensions to existing ``AI for wireless'' paradigms. Indeed, creating AI-native wireless networks faces significant technical challenges due to the limitations of data-driven, training-intensive AI. These limitations include the black-box nature of the AI models, their curve-fitting nature, which can limit their ability to reason and adapt, their reliance on large amounts of training data, and the energy inefficiency of large neural networks. In response to these limitations, this article presents a comprehensive, forward-looking vision that addresses these shortcomings by introducing a novel framework for building AI-native wireless networks; grounded in the emerging field of causal reasoning. Causal reasoning, founded on causal discovery, causal representation learning, and causal inference, can help build explainable, reasoning-aware, and sustainable wireless networks. Towards fulfilling this vision, we first highlight several wireless networking challenges that can be addressed by causal discovery and representation, including ultra-reliable beamforming for terahertz (THz) systems, near-accurate physical twin modeling for digital twins, training data augmentation, and semantic communication. We showcase how incorporating causal discovery can assist in achieving dynamic adaptability, resilience, and cognition in addressing these challenges. Furthermore, we outline potential frameworks that leverage causal inference to achieve the overarching objectives of future-generation networks, including intent management, dynamic adaptability, human-level cognition, reasoning, and the critical element of time sensitivity.

Intelligent reflecting surface (IRS) has emerged as a promising technique to extend the wireless signal coverage of access point (AP) and improve the communication performance cost-effectively. In order to reduce the path-loss of the cascaded user-IRS-AP channels, the IRS-integrated AP architecture has been proposed to deploy the IRSs and the antenna array of the AP within the same antenna radome. To reduce the pilot overhead for estimating all IRS-involved channels, in this paper, we propose a novel codebook-based IRS reflection design for the IRS-integrated AP to enhance the coverage performance in a given area. In particular, the codebook consisting of a small number of codewords is designed offline by employing an efficient sector division strategy based on the azimuth angle. To ensure the performance of each sector, we optimize its corresponding codeword for IRS reflection pattern to maximize the sector-min-average-effective-channel-power (SMAECP) by applying the alternating optimization (AO) and semidefinite relaxation (SDR) methods. With the designed codebook, the AP performs the IRS reflection training by sequentially applying all codewords and selects the one achieving the best communication performance for data transmission. Numerical results show that our proposed codebook design can enhance the average channel power of the whole coverage area, as compared to the system without IRS. Moreover, our proposed codebook-based IRS reflection design is shown to achieve significant performance gain over other benchmark schemes in both single-user and multi-user transmissions.

We consider unmanned aerial vehicle (UAV)-enabled wireless systems where downlink communications between a multi-antenna UAV and multiple users are assisted by a hybrid active-passive reconfigurable intelligent surface (RIS). We aim at a fairness design of two typical UAV-enabled networks, namely the static-UAV network where the UAV is deployed at a fixed location to serve all users at the same time, and the mobile-UAV network which employs the time division multiple access protocol. In both networks, our goal is to maximize the minimum rate among users through jointly optimizing the UAV's location/trajectory, transmit beamformer, and RIS coefficients. The resulting problems are highly nonconvex due to a strong coupling between the involved variables. We develop efficient algorithms based on block coordinate ascend and successive convex approximation to effectively solve these problems in an iterative manner. In particular, in the optimization of the mobile-UAV network, closed-form solutions to the transmit beamformer and RIS passive coefficients are derived. Numerical results show that a hybrid RIS equipped with only 4 active elements and a power budget of 0 dBm offers an improvement of 38%-63% in minimum rate, while that achieved by a passive RIS is only about 15%, with the same total number of elements.

Vast amount of data generated from networks of sensors, wearables, and the Internet of Things (IoT) devices underscores the need for advanced modeling techniques that leverage the spatio-temporal structure of decentralized data due to the need for edge computation and licensing (data access) issues. While federated learning (FL) has emerged as a framework for model training without requiring direct data sharing and exchange, effectively modeling the complex spatio-temporal dependencies to improve forecasting capabilities still remains an open problem. On the other hand, state-of-the-art spatio-temporal forecasting models assume unfettered access to the data, neglecting constraints on data sharing. To bridge this gap, we propose a federated spatio-temporal model -- Cross-Node Federated Graph Neural Network (CNFGNN) -- which explicitly encodes the underlying graph structure using graph neural network (GNN)-based architecture under the constraint of cross-node federated learning, which requires that data in a network of nodes is generated locally on each node and remains decentralized. CNFGNN operates by disentangling the temporal dynamics modeling on devices and spatial dynamics on the server, utilizing alternating optimization to reduce the communication cost, facilitating computations on the edge devices. Experiments on the traffic flow forecasting task show that CNFGNN achieves the best forecasting performance in both transductive and inductive learning settings with no extra computation cost on edge devices, while incurring modest communication cost.

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.

Multivariate time series forecasting is extensively studied throughout the years with ubiquitous applications in areas such as finance, traffic, environment, etc. Still, concerns have been raised on traditional methods for incapable of modeling complex patterns or dependencies lying in real word data. To address such concerns, various deep learning models, mainly Recurrent Neural Network (RNN) based methods, are proposed. Nevertheless, capturing extremely long-term patterns while effectively incorporating information from other variables remains a challenge for time-series forecasting. Furthermore, lack-of-explainability remains one serious drawback for deep neural network models. Inspired by Memory Network proposed for solving the question-answering task, we propose a deep learning based model named Memory Time-series network (MTNet) for time series forecasting. MTNet consists of a large memory component, three separate encoders, and an autoregressive component to train jointly. Additionally, the attention mechanism designed enable MTNet to be highly interpretable. We can easily tell which part of the historic data is referenced the most.