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Training foundation models, such as GPT-3 and PaLM, can be extremely expensive, often involving tens of thousands of GPUs running continuously for months. These models are typically trained in specialized clusters featuring fast, homogeneous interconnects and using carefully designed software systems that support both data parallelism and model/pipeline parallelism. Such dedicated clusters can be costly and difficult to obtain. Can we instead leverage the much greater amount of decentralized, heterogeneous, and lower-bandwidth interconnected compute? Previous works examining the heterogeneous, decentralized setting focus on relatively small models that can be trained in a purely data parallel manner. State-of-the-art schemes for model parallel foundation model training, such as Megatron, only consider the homogeneous data center setting. In this paper, we present the first study of training large foundation models with model parallelism in a decentralized regime over a heterogeneous network. Our key technical contribution is a scheduling algorithm that allocates different computational "tasklets" in the training of foundation models to a group of decentralized GPU devices connected by a slow heterogeneous network. We provide a formal cost model and further propose an efficient evolutionary algorithm to find the optimal allocation strategy. We conduct extensive experiments that represent different scenarios for learning over geo-distributed devices simulated using real-world network measurements. In the most extreme case, across 8 different cities spanning 3 continents, our approach is 4.8X faster than prior state-of-the-art training systems (Megatron).

This paper presents a novel design for a Variable Stiffness 3 DoF actuated wrist to improve task adaptability and safety during interactions with people and objects. The proposed design employs a hybrid serial-parallel configuration to achieve a 3 DoF wrist joint which can actively and continuously vary its overall stiffness thanks to the redundant elastic actuation system, using only four motors. Its stiffness control principle is similar to human muscular impedance regulation, with the shape of the stiffness ellipsoid mostly depending on posture, while the elastic cocontraction modulates its overall size. The employed mechanical configuration achieves a compact and lightweight device that, thanks to its anthropomorphous characteristics, could be suitable for prostheses and humanoid robots. After introducing the design concept of the device, this work provides methods to estimate the posture of the wrist by using joint angle measurements and to modulate its stiffness. Thereafter, this paper describes the first physical implementation of the presented design, detailing the mechanical prototype and electronic hardware, the control architecture, and the associated firmware. The reported experimental results show the potential of the proposed device while highlighting some limitations. To conclude, we show the motion and stiffness behavior of the device with some qualitative experiments.

The Internet of Things is a paradigm that refers to the ubiquitous presence around us of physical objects equipped with sensing, networking, and processing capabilities that allow them to cooperate with their environment to reach common goals. However, any threat affecting the availability of IoT applications can be crucial financially and for the safety of the physical integrity of users. This feature calls for IoT applications that remain operational and efficiently handle possible threats. However, designing an IoT application that can handle threats is challenging for stakeholders due to the high susceptibility to threats of IoT applications and the lack of modeling mechanisms that contemplate resilience as a first-class representation. In this paper, an architectural Design Decision Model for Resilient IoT applications is presented to reduce the difficulty of stakeholders in designing resilient IoT applications. Our approach is illustrated and demonstrates the value through the modeling of a case.

Evaluating human exposure to environmental hazards is crucial for identifying susceptible communities and devising targeted health policies. Standard environmental hazard exposure assessment methods have been primarily based on place of residence, an approach which neglect individuals hazard exposures due to the daily life activities and mobility outside home neighborhood. To address this limitation, this study proposes a novel mobility-based index for hazard exposure evaluation. Using large-scale and fine-grained human mobility data, we quantify the extent of population dwell time in high-environmental-hazard places in 239 U.S. counties for three major environmental hazards: air pollution, heat, and toxic sites. Subsequently we explore the extent to which human mobility extends the reach of environmental hazards and also lead to the emergence of latent exposure for populations living outside high hazard areas with relatively considerable dwell time in high hazard areas. The findings help quantify environmental hazard exposure more reliably, considering the role of human mobility and activities. The interplay of spatial clustering in high-hazard regions and human movement trends creates environmental hazard traps intensifying exposure. Poor and ethnic minority residents disproportionately face multiple types of environmental hazards, aggravating potential health impacts. This data-driven evidence supports the severity of these injustices. We also studied latent exposure arising from visits outside residents' home areas, revealing millions population having 5% to10% of daily activities occur in high-exposure zones. Despite living in perceived safe areas, human mobility could expose millions of residents to different hazards. These findings provide crucial insights for targeted policies to mitigate these severe environmental injustices

As the saying goes, "seeing is believing". However, with the development of digital face editing tools, we can no longer trust what we can see. Although face forgery detection has made promising progress, most current methods are designed manually by human experts, which is labor-consuming. In this paper, we develop an end-to-end framework based on neural architecture search (NAS) for deepfake detection, which can automatically design network architectures without human intervention. First, a forgery-oriented search space is created to choose appropriate operations for this task. Second, we propose a novel performance estimation metric, which guides the search process to select more general models. The cross-dataset search is also considered to develop more general architectures. Eventually, we connect the cells in a cascaded pyramid way for final forgery classification. Compared with state-of-the-art networks artificially designed, our method achieves competitive performance in both in-dataset and cross-dataset scenarios.

We present an analysis of large-scale load balancing systems, where the processing time distribution of tasks depends on both the task and server types. Our study focuses on the asymptotic regime, where the number of servers and task types tend to infinity in proportion. In heterogeneous environments, commonly used load balancing policies such as Join Fastest Idle Queue and Join Fastest Shortest Queue exhibit poor performance and even shrink the stability region. Interestingly, prior to this work, finding a scalable policy with a provable performance guarantee in this setup remained an open question. To address this gap, we propose and analyze two asymptotically delay-optimal dynamic load balancing policies. The first policy efficiently reserves the processing capacity of each server for ``good" tasks and routes tasks using the vanilla Join Idle Queue policy. The second policy, called the speed-priority policy, significantly increases the likelihood of assigning tasks to the respective ``good" servers capable of processing them at high speeds. By leveraging a framework inspired by the graphon literature and employing the mean-field method and stochastic coupling arguments, we demonstrate that both policies achieve asymptotic zero queuing. Specifically, as the system scales, the probability of a typical task being assigned to an idle server approaches 1.

The reconstruction of quantum states from experimental measurements, often achieved using quantum state tomography (QST), is crucial for the verification and benchmarking of quantum devices. However, performing QST for a generic unstructured quantum state requires an enormous number of state copies that grows \emph{exponentially} with the number of individual quanta in the system, even for the most optimal measurement settings. Fortunately, many physical quantum states, such as states generated by noisy, intermediate-scale quantum computers, are usually structured. In one dimension, such states are expected to be well approximated by matrix product operators (MPOs) with a finite matrix/bond dimension independent of the number of qubits, therefore enabling efficient state representation. Nevertheless, it is still unclear whether efficient QST can be performed for these states in general. In this paper, we attempt to bridge this gap and establish theoretical guarantees for the stable recovery of MPOs using tools from compressive sensing and the theory of empirical processes. We begin by studying two types of random measurement settings: Gaussian measurements and Haar random rank-one Positive Operator Valued Measures (POVMs). We show that the information contained in an MPO with a finite bond dimension can be preserved using a number of random measurements that depends only \emph{linearly} on the number of qubits, assuming no statistical error of the measurements. We then study MPO-based QST with physical quantum measurements through Haar random rank-one POVMs that can be implemented on quantum computers. We prove that only a \emph{polynomial} number of state copies in the number of qubits is required to guarantee bounded recovery error of an MPO state.

Federated learning (FL) has been proposed to protect data privacy and virtually assemble the isolated data silos by cooperatively training models among organizations without breaching privacy and security. However, FL faces heterogeneity from various aspects, including data space, statistical, and system heterogeneity. For example, collaborative organizations without conflict of interest often come from different areas and have heterogeneous data from different feature spaces. Participants may also want to train heterogeneous personalized local models due to non-IID and imbalanced data distribution and various resource-constrained devices. Therefore, heterogeneous FL is proposed to address the problem of heterogeneity in FL. In this survey, we comprehensively investigate the domain of heterogeneous FL in terms of data space, statistical, system, and model heterogeneity. We first give an overview of FL, including its definition and categorization. Then, We propose a precise taxonomy of heterogeneous FL settings for each type of heterogeneity according to the problem setting and learning objective. We also investigate the transfer learning methodologies to tackle the heterogeneity in FL. We further present the applications of heterogeneous FL. Finally, we highlight the challenges and opportunities and envision promising future research directions toward new framework design and trustworthy approaches.

Since real-world objects and their interactions are often multi-modal and multi-typed, heterogeneous networks have been widely used as a more powerful, realistic, and generic superclass of traditional homogeneous networks (graphs). Meanwhile, representation learning (\aka~embedding) has recently been intensively studied and shown effective for various network mining and analytical tasks. In this work, we aim to provide a unified framework to deeply summarize and evaluate existing research on heterogeneous network embedding (HNE), which includes but goes beyond a normal survey. Since there has already been a broad body of HNE algorithms, as the first contribution of this work, we provide a generic paradigm for the systematic categorization and analysis over the merits of various existing HNE algorithms. Moreover, existing HNE algorithms, though mostly claimed generic, are often evaluated on different datasets. Understandable due to the application favor of HNE, such indirect comparisons largely hinder the proper attribution of improved task performance towards effective data preprocessing and novel technical design, especially considering the various ways possible to construct a heterogeneous network from real-world application data. Therefore, as the second contribution, we create four benchmark datasets with various properties regarding scale, structure, attribute/label availability, and \etc.~from different sources, towards handy and fair evaluations of HNE algorithms. As the third contribution, we carefully refactor and amend the implementations and create friendly interfaces for 13 popular HNE algorithms, and provide all-around comparisons among them over multiple tasks and experimental settings.

Deep Learning has enabled remarkable progress over the last years on a variety of tasks, such as image recognition, speech recognition, and machine translation. One crucial aspect for this progress are novel neural architectures. Currently employed architectures have mostly been developed manually by human experts, which is a time-consuming and error-prone process. Because of this, there is growing interest in automated neural architecture search methods. We provide an overview of existing work in this field of research and categorize them according to three dimensions: search space, search strategy, and performance estimation strategy.