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We investigate reconfigurable intelligent surface (RIS)-assisted simultaneous wireless information and power transfer (SWIPT) Internet of Things (IoT) networks, where energy-limited IoT devices are overlaid with cellular information users (IUs). IoT devices are wirelessly powered by a RIS-assisted massive multiple-input multiple-output (MIMO) base station (BS), which is simultaneously serving a group of IUs. By leveraging a two-timescale transmission scheme, precoding at the BS is developed based on the instantaneous channel state information (CSI), while the passive beamforming at the RIS is adapted to the slowly-changing statistical CSI. We derive closed-form expressions for the achievable spectral efficiency of the IUs and average harvested energy at the IoT devices, taking the channel estimation errors and pilot contamination into account. Then, a non-convex max-min fairness optimization problem is formulated subject to the power budget at the BS and individual quality of service requirements of IUs, where the transmit power levels at the BS and passive RIS reflection coefficients are jointly optimized. Our simulation results show that the average harvested energy at the IoT devices can be improved by $132\%$ with the proposed resource allocation algorithm. Interestingly, IoT devices benefit from the pilot contamination, leading to a potential doubling of the harvested energy in certain network configurations.

Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are developed in the limit case of an infinite number of agents, are usually validated only through numerical simulations. In this paper, we introduce a mixed reality set-up for testing swarm robotics techniques, focusing on the macroscopic collective motion of robotic swarms. This hybrid apparatus combines both real differential drive robots and virtual agents to create a heterogeneous swarm of tunable size. We also extend continuification-based control methods for swarms to higher dimensions, and assess experimentally their validity in the new platform. Our study demonstrates the effectiveness of the platform for conducting large-scale swarm robotics experiments, and it contributes new theoretical insights into control algorithms exploiting continuification approaches.

Deep Learning (DL) techniques have achieved remarkable successes in recent years. However, their ability to generalize and execute reasoning tasks remains a challenge. A potential solution to this issue is Neuro-Symbolic Integration (NeSy), where neural approaches are combined with symbolic reasoning. Most of these methods exploit a neural network to map perceptions to symbols and a logical reasoner to predict the output of the downstream task. These methods exhibit superior generalization capacity compared to fully neural architectures. However, they suffer from several issues, including slow convergence, learning difficulties with complex perception tasks, and convergence to local minima. This paper proposes a simple yet effective method to ameliorate these problems. The key idea involves pretraining a neural model on the downstream task. Then, a NeSy model is trained on the same task via transfer learning, where the weights of the perceptual part are injected from the pretrained network. The key observation of our work is that the neural network fails to generalize only at the level of the symbolic part while being perfectly capable of learning the mapping from perceptions to symbols. We have tested our training strategy on various SOTA NeSy methods and datasets, demonstrating consistent improvements in the aforementioned problems.

We propose CoNSAL (Combining Neural networks and Symbolic regression for Analytical Lyapunov function) to construct analytical Lyapunov functions for nonlinear dynamic systems. This framework contains a neural Lyapunov function and a symbolic regression component, where symbolic regression is applied to distill the neural network to precise analytical forms. Our approach utilizes symbolic regression not only as a tool for translation but also as a means to uncover counterexamples. This procedure terminates when no counterexamples are found in the analytical formulation. Compared with previous results, CoNSAL directly produces an analytical form of the Lyapunov function with improved interpretability in both the learning process and the final results. We apply CoNSAL to 2-D inverted pendulum, path following, Van Der Pol Oscillator, 3-D trig dynamics, 4-D rotating wheel pendulum, 6-D 3-bus power system, and demonstrate that our algorithm successfully finds their valid Lyapunov functions. Code examples are available at //github.com/HaohanZou/CoNSAL.

Retrieval-augmented Generation (RAG) systems have been actively studied and deployed across various industries to query on domain-specific knowledge base. However, evaluating these systems presents unique challenges due to the scarcity of domain-specific queries and corresponding ground truths, as well as a lack of systematic approaches to diagnosing the cause of failure cases -- whether they stem from knowledge deficits or issues related to system robustness. To address these challenges, we introduce GRAMMAR (GRounded And Modular Methodology for Assessment of RAG), an evaluation framework comprising two key elements: 1) a data generation process that leverages relational databases and LLMs to efficiently produce scalable query-answer pairs for evaluation. This method facilitates the separation of query logic from linguistic variations, enabling the testing of hypotheses related to non-robust textual forms; and 2) an evaluation framework that differentiates knowledge gaps from robustness and enables the identification of defective modules. Our empirical results underscore the limitations of current reference-free evaluation approaches and the reliability of GRAMMAR to accurately identify model vulnerabilities. For implementation details, refer to our GitHub repository: //github.com/xinzhel/grammar.

Existing knowledge graph (KG) embedding models have primarily focused on static KGs. However, real-world KGs do not remain static, but rather evolve and grow in tandem with the development of KG applications. Consequently, new facts and previously unseen entities and relations continually emerge, necessitating an embedding model that can quickly learn and transfer new knowledge through growth. Motivated by this, we delve into an expanding field of KG embedding in this paper, i.e., lifelong KG embedding. We consider knowledge transfer and retention of the learning on growing snapshots of a KG without having to learn embeddings from scratch. The proposed model includes a masked KG autoencoder for embedding learning and update, with an embedding transfer strategy to inject the learned knowledge into the new entity and relation embeddings, and an embedding regularization method to avoid catastrophic forgetting. To investigate the impacts of different aspects of KG growth, we construct four datasets to evaluate the performance of lifelong KG embedding. Experimental results show that the proposed model outperforms the state-of-the-art inductive and lifelong embedding baselines.

This work aims to provide an engagement decision support tool for Beyond Visual Range (BVR) air combat in the context of Defensive Counter Air (DCA) missions. In BVR air combat, engagement decision refers to the choice of the moment the pilot engages a target by assuming an offensive stance and executing corresponding maneuvers. To model this decision, we use the Brazilian Air Force's Aerospace Simulation Environment (\textit{Ambiente de Simula\c{c}\~ao Aeroespacial - ASA} in Portuguese), which generated 3,729 constructive simulations lasting 12 minutes each and a total of 10,316 engagements. We analyzed all samples by an operational metric called the DCA index, which represents, based on the experience of subject matter experts, the degree of success in this type of mission. This metric considers the distances of the aircraft of the same team and the opposite team, the point of Combat Air Patrol, and the number of missiles used. By defining the engagement status right before it starts and the average of the DCA index throughout the engagement, we create a supervised learning model to determine the quality of a new engagement. An algorithm based on decision trees, working with the XGBoost library, provides a regression model to predict the DCA index with a coefficient of determination close to 0.8 and a Root Mean Square Error of 0.05 that can furnish parameters to the BVR pilot to decide whether or not to engage. Thus, using data obtained through simulations, this work contributes by building a decision support system based on machine learning for BVR air combat.

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.

We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.