In this letter, we design a downlink multi-user communication framework based on Rate-Splitting Multiple Access (RSMA) for semantic-aware networks. First, we formulate an optimization problem to obtain the optimal user scheduling, precoding, and power allocation schemes jointly. We consider the metric Age of Incorrect Information (AoII) in the objective function of the formulated problem to maximize the freshness of the overall information to be transmitted. Using big-M and Successive Convex Approximation (SCA) methods, we convert the resulting non-convex problem with conditional objective and constraints into a convex one and propose an iterative algorithm to solve it. By numerical results, we show that RSMA achieves a lower AoII than SDMA owing to its superior performance under multi-user interference.
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Safety in the face of uncertainty is a key challenge in robotics. In this work, we propose a real-time capable framework to generate safe and task-efficient robot trajectories for stochastic control problems. For that, we first formulate the problem as a chance-constrained optimisation problem, in which the probability of the controlled system to violate a safety constraint is constrained to be below a user-defined threshold. To solve the chance-constrained optimisation problem, we propose a Monte--Carlo approximation relying on samples of the uncertainty to estimate the probability of violating a safety constraint given a controller. We use this approximation in the motion planner VP-STO to solve the sampled-based problem. Consequently, we refer to our adapted approach as CC-VPSTO, which stands for Chance-Constrained VP-STO. We address the crucial issue concerning the Monte--Carlo approximation: given a predetermined number of uncertainty samples, we propose several ways to define the sample-based problem such that it is a reliable over-approximation of the original problem, i.e. any solution to the sample-based problem adheres to the original chance-constrained problem with high confidence. The strengths of our approach lie in i) its generality, as it does not require any specific assumptions on the underlying uncertainty distribution, the dynamics of the system, the cost function, and for some of the proposed sample-based approximations, on the form of inequality constraints; and ii) its applicability to MPC-settings. We demonstrate the validity and efficiency of our approach on both simulation and real-world robot experiments. For additional material, please visit //sites.google.com/oxfordrobotics.institute/cc-vpsto.
Various constraints of Static Random Access Memory (SRAM) are leading to consider new memory technologies as candidates for building on-chip shared last-level caches (SLLCs). Spin-Transfer Torque RAM (STT-RAM) is currently postulated as the prime contender due to its better energy efficiency, smaller die footprint and higher scalability. However, STT-RAM also exhibits some drawbacks, like slow and energy-hungry write operations, that need to be mitigated. In this work we address these shortcomings by leveraging a new management mechanism for STT-RAM SLLCs. This approach is based on the previous observation that the stream of references arriving at the SLLC of a Chip MultiProcessor (CMP) exhibits reuse locality, i.e., those blocks referenced several times manifest high probability of forthcoming reuse. In this paper, we employ a cache management mechanism that selects the contents of the SLLC aimed to exploit reuse locality instead of temporal locality. Specifically, our proposal consists in the inclusion of a Reuse Detector between private cache levels and the STT-RAM SLLC to detect blocks that do not exhibit reuse, in order to avoid their insertion in the SLLC, hence reducing the number of write operations and the energy consumption in the STT-RAM. Our evaluation reveals that our scheme reports on average, energy reductions in the SLLC in the range of 37-30\%, additional energy savings in the main memory in the range of 6-8\% and performance improvements of 3\% up to 14\% (16-core) compared to an STT-RAM SLLC baseline where no reuse detector is employed. More importantly, our approach outperforms DASCA, the state-of-the-art STT-RAM SLLC management, reporting SLLC energy savings in the range of 4-11\% higher than those of DASCA, delivering higher performance in the range of 1.5-14\%, and additional improvements in DRAM energy consumption in the range of 2-9\% higher than DASCA.
We present EE-LLM, a framework for large-scale training and inference of early-exit large language models (LLMs). While recent works have shown preliminary evidence for the efficacy of early exiting in accelerating LLM inference, EE-LLM makes a foundational step towards scaling up early-exit LLMs by supporting their training and inference with massive 3D parallelism. Built upon Megatron-LM, EE-LLM implements a variety of algorithmic innovations and performance optimizations tailored to early exiting, including a lightweight method that facilitates backpropagation for the early-exit training objective with pipeline parallelism, techniques of leveraging idle resources in the original pipeline schedule for computation related to early-exit layers, and two approaches of early-exit inference that are compatible with KV caching for autoregressive generation. Our analytical and empirical study shows that EE-LLM achieves great training efficiency with negligible computational overhead compared to standard LLM training, as well as outstanding inference speedup without compromising output quality. To facilitate further research and adoption, we release EE-LLM at //github.com/pan-x-c/EE-LLM.
In this study, we investigate the DIstribution Correction Estimation (DICE) methods, an important line of work in offline reinforcement learning (RL) and imitation learning (IL). DICE-based methods impose state-action-level behavior constraint, which is an ideal choice for offline learning. However, they typically perform much worse than current state-of-the-art (SOTA) methods that solely use action-level behavior constraint. After revisiting DICE-based methods, we find there exist two gradient terms when learning the value function using true-gradient update: forward gradient (taken on the current state) and backward gradient (taken on the next state). Using forward gradient bears a large similarity to many offline RL methods, and thus can be regarded as applying action-level constraint. However, directly adding the backward gradient may degenerate or cancel out its effect if these two gradients have conflicting directions. To resolve this issue, we propose a simple yet effective modification that projects the backward gradient onto the normal plane of the forward gradient, resulting in an orthogonal-gradient update, a new learning rule for DICE-based methods. We conduct thorough theoretical analyses and find that the projected backward gradient brings state-level behavior regularization, which reveals the mystery of DICE-based methods: the value learning objective does try to impose state-action-level constraint, but needs to be used in a corrected way. Through toy examples and extensive experiments on complex offline RL and IL tasks, we demonstrate that DICE-based methods using orthogonal-gradient updates (O-DICE) achieve SOTA performance and great robustness.
Recent work in Human-Robot Interaction (HRI) has shown that robots can leverage implicit communicative signals from users to understand how they are being perceived during interactions. For example, these signals can be gaze patterns, facial expressions, or body motions that reflect internal human states. To facilitate future research in this direction, we contribute the REACT database, a collection of two datasets of human-robot interactions that display users' natural reactions to robots during a collaborative game and a photography scenario. Further, we analyze the datasets to show that interaction history is an important factor that can influence human reactions to robots. As a result, we believe that future models for interpreting implicit feedback in HRI should explicitly account for this history. REACT opens up doors to this possibility in the future.
Recent years have seen a surge in applications and technologies aimed at motivating users to achieve personal goals and improve their wellbeing. However, these often fail to promote long-term behaviour change, and sometimes even backfire. We consider how self-determination theory (SDT), a metatheory of human motivation and wellbeing, can help explain why such technologies fail, and how they may better help users internalise the motivation behind their goals and make enduring changes in their behaviour. In this work, we systematically reviewed 15 papers in the ACM Digital Library that apply SDT to the design of behaviour change technologies (BCTs). We identified 50 suggestions for design features in BCTs, grounded in SDT, that researchers have applied to enhance user motivation. However, we find that SDT is often leveraged to optimise engagement with the technology itself rather than with the targeted behaviour change per se. When interpreted through the lens of SDT, the implication is that BCTs may fail to cultivate sustained changes in behaviour, as users' motivation depends on their enjoyment of the intervention, which may wane over time. An underexplored opportunity remains for designers to leverage SDT to support users to internalise the ultimate goals and value of certain behaviour changes, enhancing their motivation to sustain these changes in the long term.
In this work, we present a new dataset and a computational strategy for a digital coach that aims to guide users in practicing the protocols of self-attachment therapy. Our framework augments a rule-based conversational agent with a deep-learning classifier for identifying the underlying emotion in a user's text response, as well as a deep-learning assisted retrieval method for producing novel, fluent and empathetic utterances. We also craft a set of human-like personas that users can choose to interact with. Our goal is to achieve a high level of engagement during virtual therapy sessions. We evaluate the effectiveness of our framework in a non-clinical trial with N=16 participants, all of whom have had at least four interactions with the agent over the course of five days. We find that our platform is consistently rated higher for empathy, user engagement and usefulness than the simple rule-based framework. Finally, we provide guidelines to further improve the design and performance of the application, in accordance with the feedback received.
In this paper, we prove the universal consistency of wide and deep ReLU neural network classifiers trained on the logistic loss. We also give sufficient conditions for a class of probability measures for which classifiers based on neural networks achieve minimax optimal rates of convergence. The result applies to a wide range of known function classes. In particular, while most previous works impose explicit smoothness assumptions on the regression function, our framework encompasses more general settings. The proposed neural networks are either the minimizers of the logistic loss or the $0$-$1$ loss. In the former case, they are interpolating classifiers that exhibit a benign overfitting behavior.
Graph neural networks (GNNs) have demonstrated a significant boost in prediction performance on graph data. At the same time, the predictions made by these models are often hard to interpret. In that regard, many efforts have been made to explain the prediction mechanisms of these models from perspectives such as GNNExplainer, XGNN and PGExplainer. Although such works present systematic frameworks to interpret GNNs, a holistic review for explainable GNNs is unavailable. In this survey, we present a comprehensive review of explainability techniques developed for GNNs. We focus on explainable graph neural networks and categorize them based on the use of explainable methods. We further provide the common performance metrics for GNNs explanations and point out several future research directions.
Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.
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