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Recurrent Neural Cascades (RNCs) are the recurrent neural networks with no cyclic dependencies among recurrent neurons. This class of recurrent networks has received a lot of attention in practice. Besides training methods for a fixed architecture such as backpropagation, the cascade architecture naturally allows for constructive learning methods, where recurrent nodes are added incrementally one at a time, often yielding smaller networks. Furthermore, acyclicity amounts to a structural prior that even for the same number of neurons yields a more favourable sample complexity compared to a fully-connected architecture. A central question is whether the advantages of the cascade architecture come at the cost of a reduced expressivity. We provide new insights into this question. We show that the regular languages captured by RNCs with sign and tanh activation with positive recurrent weights are the star-free regular languages. In order to establish our results we developed a novel framework where capabilities of RNCs are accessed by analysing which semigroups and groups a single neuron is able to implement. A notable implication of our framework is that RNCs can achieve the expressivity of all regular languages by introducing neurons that can implement groups.

Visual Place Recognition (VPR) is a critical task for performing global re-localization in visual perception systems. It requires the ability to accurately recognize a previously visited location under variations such as illumination, occlusion, appearance and viewpoint. In the case of robotic systems and augmented reality, the target devices for deployment are battery powered edge devices. Therefore whilst the accuracy of VPR methods is important so too is memory consumption and latency. Recently new works have focused on the recall@1 metric as a performance measure with limited focus on resource utilization. This has resulted in methods that use deep learning models too large to deploy on low powered edge devices. We hypothesize that these large models are highly over-parameterized and can be optimized to satisfy the constraints of a low powered embedded system whilst maintaining high recall performance. Our work studies the impact of compact convolutional network architecture design in combination with full-precision and mixed-precision post-training quantization on VPR performance. Importantly we not only measure performance via the recall@1 score but also measure memory consumption and latency. We characterize the design implications on memory, latency and recall scores and provide a number of design recommendations for VPR systems under these resource limitations.

Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the ability of terrestrial and aerial hybrid motion. This article presents a motion planning and control framework designed for HyFCQs. A kinodynamic path-searching method with the crawling limitation of HyFCQs is proposed to guarantee the dynamical feasibility of trajectories. Subsequently, a hierarchical motion controller is designed to map the execution of the flight autopilot to both crawling and flying modes. Considering the distinct driving methods for crawling and flying, we introduce a motion state machine for autonomous locomotion regulation. Real-world experiments in diverse scenarios validate the exceptional performance of the proposed approach.

We study a graph-theoretic problem in the Penrose P2-graphs which are the dual graphs of Penrose tilings by kites and darts. Using substitutions, local isomorphism and other properties of Penrose tilings, we construct a family of arbitrarily large induced subtrees of Penrose graphs with the largest possible number of leaves for a given number $n$ of vertices. These subtrees are called fully leafed induced subtrees. We denote their number of leaves $L_{P2}(n)$ for any non-negative integer $n$, and the sequence $\left(L_{P2}(n)\right)_{n\in\mathbb{N}}$ is called the leaf function of Penrose P2-graphs. We present exact and recursive formulae for $L_{P2}(n)$, as well as an infinite sequence of fully leafed induced subtrees, which are caterpillar graphs. In particular, our proof relies on the construction of a finite graded poset of 3-internal-regular subtrees.

We observe a change in the way users access information, that is, the rise of conversational information access (CIA) agents. However, the automatic evaluation of these agents remains an open challenge. Moreover, the training of CIA agents is cumbersome as it mostly relies on conversational corpora, expert knowledge, and reinforcement learning. User simulation has been identified as a promising solution to tackle automatic evaluation and has been previously used in reinforcement learning. In this research, we investigate how user simulation can be leveraged in the context of CIA. We organize the work in three parts. We begin with the identification of requirements for user simulators for training and evaluating CIA agents and compare existing types of simulator regarding these. Then, we plan to combine these different types of simulators into a new hybrid simulator. Finally, we aim to extend simulators to handle more complex information seeking scenarios.

Incremental Learning (IL) has been a long-standing problem in both vision and Natural Language Processing (NLP) communities. In recent years, as Pre-trained Language Models (PLMs) have achieved remarkable progress in various NLP downstream tasks, utilizing PLMs as backbones has become a common practice in recent research of IL in NLP. Most assume that catastrophic forgetting is the biggest obstacle to achieving superior IL performance and propose various techniques to overcome this issue. However, we find that this assumption is problematic. Specifically, we revisit more than 20 methods on four classification tasks (Text Classification, Intent Classification, Relation Extraction, and Named Entity Recognition) under the two most popular IL settings (Class-Incremental and Task-Incremental) and reveal that most of them severely underestimate the inherent anti-forgetting ability of PLMs. Based on the observation, we propose a frustratingly easy method called SEQ* for IL with PLMs. The results show that SEQ* has competitive or superior performance compared to state-of-the-art (SOTA) IL methods and requires considerably less trainable parameters and training time. These findings urge us to revisit the IL with PLMs and encourage future studies to have a fundamental understanding of the catastrophic forgetting in PLMs. The data, code and scripts are publicly available at //github.com/zzz47zzz/pretrained-lm-for-incremental-learning.

There are now over 20 commercial vector database management systems (VDBMSs), all produced within the past five years. But embedding-based retrieval has been studied for over ten years, and similarity search a staggering half century and more. Driving this shift from algorithms to systems are new data intensive applications, notably large language models, that demand vast stores of unstructured data coupled with reliable, secure, fast, and scalable query processing capability. A variety of new data management techniques now exist for addressing these needs, however there is no comprehensive survey to thoroughly review these techniques and systems. We start by identifying five main obstacles to vector data management, namely vagueness of semantic similarity, large size of vectors, high cost of similarity comparison, lack of natural partitioning that can be used for indexing, and difficulty of efficiently answering hybrid queries that require both attributes and vectors. Overcoming these obstacles has led to new approaches to query processing, storage and indexing, and query optimization and execution. For query processing, a variety of similarity scores and query types are now well understood; for storage and indexing, techniques include vector compression, namely quantization, and partitioning based on randomization, learning partitioning, and navigable partitioning; for query optimization and execution, we describe new operators for hybrid queries, as well as techniques for plan enumeration, plan selection, and hardware accelerated execution. These techniques lead to a variety of VDBMSs across a spectrum of design and runtime characteristics, including native systems specialized for vectors and extended systems that incorporate vector capabilities into existing systems. We then discuss benchmarks, and finally we outline research challenges and point the direction for future work.

Graph Neural Networks (GNNs) have been shown to be effective models for different predictive tasks on graph-structured data. Recent work on their expressive power has focused on isomorphism tasks and countable feature spaces. We extend this theoretical framework to include continuous features - which occur regularly in real-world input domains and within the hidden layers of GNNs - and we demonstrate the requirement for multiple aggregation functions in this context. Accordingly, we propose Principal Neighbourhood Aggregation (PNA), a novel architecture combining multiple aggregators with degree-scalers (which generalize the sum aggregator). Finally, we compare the capacity of different models to capture and exploit the graph structure via a novel benchmark containing multiple tasks taken from classical graph theory, alongside existing benchmarks from real-world domains, all of which demonstrate the strength of our model. With this work, we hope to steer some of the GNN research towards new aggregation methods which we believe are essential in the search for powerful and robust models.

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.

Within the rapidly developing Internet of Things (IoT), numerous and diverse physical devices, Edge devices, Cloud infrastructure, and their quality of service requirements (QoS), need to be represented within a unified specification in order to enable rapid IoT application development, monitoring, and dynamic reconfiguration. But heterogeneities among different configuration knowledge representation models pose limitations for acquisition, discovery and curation of configuration knowledge for coordinated IoT applications. This paper proposes a unified data model to represent IoT resource configuration knowledge artifacts. It also proposes IoT-CANE (Context-Aware recommendatioN systEm) to facilitate incremental knowledge acquisition and declarative context driven knowledge recommendation.