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This paper investigates the possibility of intuitive human-robot interaction through the application of Natural Language Processing (NLP) and Large Language Models (LLMs) in mobile robotics. We aim to explore the feasibility of using these technologies for edge-based deployment, where traditional cloud dependencies are eliminated. The study specifically contrasts the performance of GPT-4-Turbo, which requires cloud connectivity, with an offline-capable, quantized version of LLaMA 2 (LLaMA 2-7B.Q5 K M). Our results show that GPT-4-Turbo delivers superior performance in interpreting and executing complex commands accurately, whereas LLaMA 2 exhibits significant limitations in consistency and reliability of command execution. Communication between the control computer and the mobile robot is established via a Raspberry Pi Pico W, which wirelessly receives commands from the computer without internet dependency and transmits them through a wired connection to the robot's Arduino controller. This study highlights the potential and challenges of implementing LLMs and NLP at the edge, providing groundwork for future research into fully autonomous and network-independent robotic systems. For video demonstrations and source code, please refer to: //tinyurl.com/MobileRobotGPT4LLaMA2024.

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This paper introduces ARCLE, an environment designed to facilitate reinforcement learning research on the Abstraction and Reasoning Corpus (ARC). Addressing this inductive reasoning benchmark with reinforcement learning presents these challenges: a vast action space, a hard-to-reach goal, and a variety of tasks. We demonstrate that an agent with proximal policy optimization can learn individual tasks through ARCLE. The adoption of non-factorial policies and auxiliary losses led to performance enhancements, effectively mitigating issues associated with action spaces and goal attainment. Based on these insights, we propose several research directions and motivations for using ARCLE, including MAML, GFlowNets, and World Models.

Large Language Models (LLMs) have the potential of facilitating the development of Artificial Intelligence technology to assist medical experts for interactive decision support, which has been demonstrated by their competitive performances in Medical QA. However, while impressive, the required quality bar for medical applications remains far from being achieved. Currently, LLMs remain challenged by outdated knowledge and by their tendency to generate hallucinated content. Furthermore, most benchmarks to assess medical knowledge lack reference gold explanations which means that it is not possible to evaluate the reasoning of LLMs predictions. Finally, the situation is particularly grim if we consider benchmarking LLMs for languages other than English which remains, as far as we know, a totally neglected topic. In order to address these shortcomings, in this paper we present MedExpQA, the first multilingual benchmark based on medical exams to evaluate LLMs in Medical Question Answering. To the best of our knowledge, MedExpQA includes for the first time reference gold explanations written by medical doctors which can be leveraged to establish various gold-based upper-bounds for comparison with LLMs performance. Comprehensive multilingual experimentation using both the gold reference explanations and Retrieval Augmented Generation (RAG) approaches show that performance of LLMs still has large room for improvement, especially for languages other than English. Furthermore, and despite using state-of-the-art RAG methods, our results also demonstrate the difficulty of obtaining and integrating readily available medical knowledge that may positively impact results on downstream evaluations for Medical Question Answering. So far the benchmark is available in four languages, but we hope that this work may encourage further development to other languages.

Federated Learning (FL) in the Internet of Things (IoT) environments can enhance machine learning by utilising decentralised data, but at the same time, it might introduce significant privacy and security concerns due to the constrained nature of IoT devices. This represents a research challenge that we aim to address in this paper. We systematically analysed recent literature to identify privacy threats in FL within IoT environments, and evaluate the defensive measures that can be employed to mitigate these threats. Using a Systematic Literature Review (SLR) approach, we searched five publication databases (Scopus, IEEE Xplore, Wiley, ACM, and Science Direct), collating relevant papers published between 2017 and April 2024, a period which spans from the introduction of FL until now. Guided by the PRISMA protocol, we selected 49 papers to focus our systematic review on. We analysed these papers, paying special attention to the privacy threats and defensive measures -- specifically within the context of IoT -- using inclusion and exclusion criteria tailored to highlight recent advances and critical insights. We identified various privacy threats, including inference attacks, poisoning attacks, and eavesdropping, along with defensive measures such as Differential Privacy and Secure Multi-Party Computation. These defences were evaluated for their effectiveness in protecting privacy without compromising the functional integrity of FL in IoT settings. Our review underscores the necessity for robust and efficient privacy-preserving strategies tailored for IoT environments. Notably, there is a need for strategies against replay, evasion, and model stealing attacks. Exploring lightweight defensive measures and emerging technologies such as blockchain may help improve the privacy of FL in IoT, leading to the creation of FL models that can operate under variable network conditions.

The design of energy-efficient, high-performance, and reliable Convolutional Neural Network (CNN) accelerators involves significant challenges due to complex power and thermal management issues. This paper introduces SAfEPaTh, a novel system-level approach for accurately estimating power and temperature in tile-based CNN accelerators. By addressing both steady-state and transient-state scenarios, SAfEPaTh effectively captures the dynamic effects of pipeline bubbles in interlayer pipelines, utilizing real CNN workloads for comprehensive evaluation. Unlike traditional methods, it eliminates the need for circuit-level simulations or on-chip measurements. Our methodology leverages TANIA, a cutting-edge hybrid digital-analog tile-based accelerator featuring analog-in-memory computing cores alongside digital cores. Through rigorous simulation results using the ResNet18 model, we demonstrate SAfEPaTh's capability to accurately estimate power and temperature within 500 seconds, encompassing CNN model accelerator mapping exploration and detailed power and thermal estimations. This efficiency and accuracy make SAfEPaTh an invaluable tool for designers, enabling them to optimize performance while adhering to stringent power and thermal constraints. Furthermore, SAfEPaTh's adaptability extends its utility across various CNN models and accelerator architectures, underscoring its broad applicability in the field. This study contributes significantly to the advancement of energy-efficient and reliable CNN accelerator designs, addressing critical challenges in dynamic power and thermal management.

With the advancement of artificial intelligence technology, the automation of network management, also known as Autonomous Driving Networks (ADN), is gaining widespread attention. The network management has shifted from traditional homogeneity and centralization to heterogeneity and decentralization. Multi-agent deep reinforcement learning (MADRL) allows agents to make decisions based on local observations independently. This approach is in line with the needs of automation and has garnered significant attention from academia and industry. In a distributed environment, information interaction between agents can effectively address the non-stationarity problem of multiple agents and promote cooperation. Therefore, in this survey, we first examined the application of MADRL in network management, including specific application fields such as traffic engineering, wireless network access, power control, and network security. Then, we conducted a detailed analysis of communication behavior between agents, including communication schemes, communication content construction, communication object selection, message processing, and communication constraints. Finally, we discussed the open issues and future research directions of agent communication in MADRL for future network management and ADN applications.

This work introduces EffiSegNet, a novel segmentation framework leveraging transfer learning with a pre-trained Convolutional Neural Network (CNN) classifier as its backbone. Deviating from traditional architectures with a symmetric U-shape, EffiSegNet simplifies the decoder and utilizes full-scale feature fusion to minimize computational cost and the number of parameters. We evaluated our model on the gastrointestinal polyp segmentation task using the publicly available Kvasir-SEG dataset, achieving state-of-the-art results. Specifically, the EffiSegNet-B4 network variant achieved an F1 score of 0.9552, mean Dice (mDice) 0.9483, mean Intersection over Union (mIoU) 0.9056, Precision 0.9679, and Recall 0.9429 with a pre-trained backbone - to the best of our knowledge, the highest reported scores in the literature for this dataset. Additional training from scratch also demonstrated exceptional performance compared to previous work, achieving an F1 score of 0.9286, mDice 0.9207, mIoU 0.8668, Precision 0.9311 and Recall 0.9262. These results underscore the importance of a well-designed encoder in image segmentation networks and the effectiveness of transfer learning approaches.

The present work provides an application of Global Sensitivity Analysis to supervised machine learning methods such as Random Forests. These methods act as black boxes, selecting features in high--dimensional data sets as to provide accurate classifiers in terms of prediction when new data are fed into the system. In supervised machine learning, predictors are generally ranked by importance based on their contribution to the final prediction. Global Sensitivity Analysis is primarily used in mathematical modelling to investigate the effect of the uncertainties of the input variables on the output. We apply it here as a novel way to rank the input features by their importance to the explainability of the data generating process, shedding light on how the response is determined by the dependence structure of its predictors. A simulation study shows that our proposal can be used to explore what advances can be achieved either in terms of efficiency, explanatory ability, or simply by way of confirming existing results.

This paper introduces a computational framework designed to delineate gender distribution biases in topics covered by French TV and radio news. We transcribe a dataset of 11.7k hours, broadcasted in 2023 on 21 French channels. A Large Language Model (LLM) is used in few-shot conversation mode to obtain a topic classification on those transcriptions. Using the generated LLM annotations, we explore the finetuning of a specialized smaller classification model, to reduce the computational cost. To evaluate the performances of these models, we construct and annotate a dataset of 804 dialogues. This dataset is made available free of charge for research purposes. We show that women are notably underrepresented in subjects such as sports, politics and conflicts. Conversely, on topics such as weather, commercials and health, women have more speaking time than their overall average across all subjects. We also observe representations differences between private and public service channels.

This paper presents a comprehensive and practical guide for practitioners and end-users working with Large Language Models (LLMs) in their downstream natural language processing (NLP) tasks. We provide discussions and insights into the usage of LLMs from the perspectives of models, data, and downstream tasks. Firstly, we offer an introduction and brief summary of current GPT- and BERT-style LLMs. Then, we discuss the influence of pre-training data, training data, and test data. Most importantly, we provide a detailed discussion about the use and non-use cases of large language models for various natural language processing tasks, such as knowledge-intensive tasks, traditional natural language understanding tasks, natural language generation tasks, emergent abilities, and considerations for specific tasks.We present various use cases and non-use cases to illustrate the practical applications and limitations of LLMs in real-world scenarios. We also try to understand the importance of data and the specific challenges associated with each NLP task. Furthermore, we explore the impact of spurious biases on LLMs and delve into other essential considerations, such as efficiency, cost, and latency, to ensure a comprehensive understanding of deploying LLMs in practice. This comprehensive guide aims to provide researchers and practitioners with valuable insights and best practices for working with LLMs, thereby enabling the successful implementation of these models in a wide range of NLP tasks. A curated list of practical guide resources of LLMs, regularly updated, can be found at \url{//github.com/Mooler0410/LLMsPracticalGuide}.

Graph Neural Networks (GNNs) have gained momentum in graph representation learning and boosted the state of the art in a variety of areas, such as data mining (\emph{e.g.,} social network analysis and recommender systems), computer vision (\emph{e.g.,} object detection and point cloud learning), and natural language processing (\emph{e.g.,} relation extraction and sequence learning), to name a few. With the emergence of Transformers in natural language processing and computer vision, graph Transformers embed a graph structure into the Transformer architecture to overcome the limitations of local neighborhood aggregation while avoiding strict structural inductive biases. In this paper, we present a comprehensive review of GNNs and graph Transformers in computer vision from a task-oriented perspective. Specifically, we divide their applications in computer vision into five categories according to the modality of input data, \emph{i.e.,} 2D natural images, videos, 3D data, vision + language, and medical images. In each category, we further divide the applications according to a set of vision tasks. Such a task-oriented taxonomy allows us to examine how each task is tackled by different GNN-based approaches and how well these approaches perform. Based on the necessary preliminaries, we provide the definitions and challenges of the tasks, in-depth coverage of the representative approaches, as well as discussions regarding insights, limitations, and future directions.

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