In this paper, we address the issue of increasing the performance of reinforcement learning (RL) solutions for autonomous racing cars when navigating under conditions where practical vehicle modelling errors (commonly known as \emph{model mismatches}) are present. To address this challenge, we propose a partial end-to-end algorithm that decouples the planning and control tasks. Within this framework, an RL agent generates a trajectory comprising a path and velocity, which is subsequently tracked using a pure pursuit steering controller and a proportional velocity controller, respectively. In contrast, many current learning-based (i.e., reinforcement and imitation learning) algorithms utilise an end-to-end approach whereby a deep neural network directly maps from sensor data to control commands. By leveraging the robustness of a classical controller, our partial end-to-end driving algorithm exhibits better robustness towards model mismatches than standard end-to-end algorithms.
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In this paper, we propose a novel method for enhancing security in privacy-preserving federated learning using the Vision Transformer. In federated learning, learning is performed by collecting updated information without collecting raw data from each client. However, the problem is that this raw data may be inferred from the updated information. Conventional data-guessing countermeasures (security enhancement methods) for addressing this issue have a trade-off relationship between privacy protection strength and learning efficiency, and they generally degrade model performance. In this paper, we propose a novel method of federated learning that does not degrade model performance and that is robust against data-guessing attacks on updated information. In the proposed method, each client independently prepares a sequence of binary (0 or 1) random numbers, multiplies it by the updated information, and sends it to a server for model learning. In experiments, the effectiveness of the proposed method is confirmed in terms of model performance and resistance to the APRIL (Attention PRIvacy Leakage) restoration attack.
We introduce a generic, compositional and interpretable class of generative world models that supports open-ended learning agents. This is a sparse class of Bayesian networks capable of approximating a broad range of stochastic processes, which provide agents with the ability to learn world models in a manner that may be both interpretable and computationally scalable. This approach integrating Bayesian structure learning and intrinsically motivated (model-based) planning enables agents to actively develop and refine their world models, which may lead to open-ended learning and more robust, adaptive behavior.
In this paper, we propose a framework to enhance the robustness of the neural models by mitigating the effects of process-induced and aging-related variations of analog computing components on the accuracy of the analog neural networks. We model these variations as the noise affecting the precision of the activations and introduce a denoising block inserted between selected layers of a pre-trained model. We demonstrate that training the denoising block significantly increases the model's robustness against various noise levels. To minimize the overhead associated with adding these blocks, we present an exploration algorithm to identify optimal insertion points for the denoising blocks. Additionally, we propose a specialized architecture to efficiently execute the denoising blocks, which can be integrated into mixed-signal accelerators. We evaluate the effectiveness of our approach using Deep Neural Network (DNN) models trained on the ImageNet and CIFAR-10 datasets. The results show that on average, by accepting 2.03% parameter count overhead, the accuracy drop due to the variations reduces from 31.7% to 1.15%.
In this paper, we introduce a low-cost and low-power tiny supervised on-device learning (ODL) core that can address the distributional shift of input data for human activity recognition. Although ODL for resource-limited edge devices has been studied recently, how exactly to provide the training labels to these devices at runtime remains an open-issue. To address this problem, we propose to combine an automatic data pruning with supervised ODL to reduce the number queries needed to acquire predicted labels from a nearby teacher device and thus save power consumption during model retraining. The data pruning threshold is automatically tuned, eliminating a manual threshold tuning. As a tinyML solution at a few mW for the human activity recognition, we design a supervised ODL core that supports our automatic data pruning using a 45nm CMOS process technology. We show that the required memory size for the core is smaller than the same-shaped multilayer perceptron (MLP) and the power consumption is only 3.39mW. Experiments using a human activity recognition dataset show that the proposed automatic data pruning reduces the communication volume by 55.7% and power consumption accordingly with only 0.9% accuracy loss.
With the rapid development of artificial intelligence technology, especially the increasingly widespread application of question-and-answer systems, high-quality question generation has become a key component in supporting the development of these systems. This article focuses on knowledge-based question generation technology, which aims to enable computers to simulate the human questioning process based on understanding specific texts or knowledge bases. In light of the issues of hallucination and knowledge gaps present in large-scale language models when applied to knowledge-intensive tasks, this paper proposes an enhanced question generation method that incorporates contrastive learning. This method utilizes multiple models to jointly mine domain knowledge and uses contrastive learning to guide the model in reducing noise and hallucinations in generation. Experimental results show that by designing prompts containing contrasting examples, the model's performance in question generation improves considerably, particularly when contrasting instructions and examples are used simultaneously, leading to the highest quality of generated questions and improved accuracy. These results demonstrate that the method proposed in this study, which combines contrasting context and chain-of-thought prompts, can effectively improve both the quality and the practicality of question generation.
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 a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.
In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.
Machine learning techniques have deeply rooted in our everyday life. However, since it is knowledge- and labor-intensive to pursue good learning performance, human experts are heavily involved in every aspect of machine learning. In order to make machine learning techniques easier to apply and reduce the demand for experienced human experts, automated machine learning (AutoML) has emerged as a hot topic with both industrial and academic interest. In this paper, we provide an up to date survey on AutoML. First, we introduce and define the AutoML problem, with inspiration from both realms of automation and machine learning. Then, we propose a general AutoML framework that not only covers most existing approaches to date but also can guide the design for new methods. Subsequently, we categorize and review the existing works from two aspects, i.e., the problem setup and the employed techniques. Finally, we provide a detailed analysis of AutoML approaches and explain the reasons underneath their successful applications. We hope this survey can serve as not only an insightful guideline for AutoML beginners but also an inspiration for future research.
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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