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Knowledge distillation, the technique of transferring knowledge from large, complex models to smaller ones, marks a pivotal step towards efficient AI deployment. Distilling Step-by-Step (DSS), a novel method utilizing chain-of-thought (CoT) distillation, has demonstrated promise by imbuing smaller models with the superior reasoning capabilities of their larger counterparts. In DSS, the distilled model acquires the ability to generate rationales and predict labels concurrently through a multi-task learning framework. However, DSS overlooks the intrinsic relationship between the two training tasks, leading to ineffective integration of CoT knowledge with the task of label prediction. To this end, we investigate the mutual relationship of the two tasks from Information Bottleneck perspective and formulate it as maximizing the mutual information of the representation features of the two tasks. We propose a variational approach to solve this optimization problem using a learning-based method. Our experimental results across four datasets demonstrate that our method outperforms the state-of-the-art DSS. Our findings offer insightful guidance for future research on language model distillation as well as applications involving CoT. Code and models will be released soon.

Mechanistic Interpretability aims to reverse engineer the algorithms implemented by neural networks by studying their weights and activations. An obstacle to reverse engineering neural networks is that many of the parameters inside a network are not involved in the computation being implemented by the network. These degenerate parameters may obfuscate internal structure. Singular learning theory teaches us that neural network parameterizations are biased towards being more degenerate, and parameterizations with more degeneracy are likely to generalize further. We identify 3 ways that network parameters can be degenerate: linear dependence between activations in a layer; linear dependence between gradients passed back to a layer; ReLUs which fire on the same subset of datapoints. We also present a heuristic argument that modular networks are likely to be more degenerate, and we develop a metric for identifying modules in a network that is based on this argument. We propose that if we can represent a neural network in a way that is invariant to reparameterizations that exploit the degeneracies, then this representation is likely to be more interpretable, and we provide some evidence that such a representation is likely to have sparser interactions. We introduce the Interaction Basis, a tractable technique to obtain a representation that is invariant to degeneracies from linear dependence of activations or Jacobians.

This paper explores the application of Artificial Intelligence (AI) techniques for generating the trajectories of fleets of Unmanned Aerial Vehicles (UAVs). The two main challenges addressed include accurately predicting the paths of UAVs and efficiently avoiding collisions between them. Firstly, the paper systematically applies a diverse set of activation functions to a Feedforward Neural Network (FFNN) with a single hidden layer, which enhances the accuracy of the predicted path compared to previous work. Secondly, we introduce a novel activation function, AdaptoSwelliGauss, which is a sophisticated fusion of Swish and Elliott activations, seamlessly integrated with a scaled and shifted Gaussian component. Swish facilitates smooth transitions, Elliott captures abrupt trajectory changes, and the scaled and shifted Gaussian enhances robustness against noise. This dynamic combination is specifically designed to excel in capturing the complexities of UAV trajectory prediction. This new activation function gives substantially better accuracy than all existing activation functions. Thirdly, we propose a novel Integrated Collision Detection, Avoidance, and Batching (ICDAB) strategy that merges two complementary UAV collision avoidance techniques: changing UAV trajectories and altering their starting times, also referred to as batching. This integration helps overcome the disadvantages of both - reduction in the number of trajectory manipulations, which avoids overly convoluted paths in the first technique, and smaller batch sizes, which reduce overall takeoff time in the second.

This research delves into the enhancement of control mechanisms for the da Vinci Surgical System, focusing on the implementation of gravity compensation and refining the modeling of the master and patient side manipulators. Leveraging the Robot Operating System (ROS) the study aimed to fortify the precision and stability of the robots movements essential for intricate surgical procedures. Through rigorous parameter identification and the Euler Lagrange approach the team successfully derived the necessary torque equations and established a robust mathematical model. Implementation of the actual robot and simulation in Gazebo highlighted the efficacy of the developed control strategies facilitating accurate positioning and minimizing drift. Additionally, the project extended its contributions by constructing a comprehensive model for the patient side manipulator laying the groundwork for future research endeavors. This work signifies a significant advancement in the pursuit of enhanced precision and user control in robotic assisted surgeries. NOTE - This work has been submitted to the IEEE R-AL for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible.

This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed controller architecture is split into three components. The first part consists of the offline computed equilibrium maps, which provide the equilibrium points for each vehicle state given the desired sideslip angle and radius of the path. The second is the predictive controller minimising the errors between the equilibrium and actual vehicle states. The third is a path-following controller, which reduces the path error, altering the equilibrium curvature path. In a high-fidelity simulation environment, we validate the controller architecture capacity to stabilise the vehicle in automated drifting along a desired path, with a maximal lateral path deviation of 1 m. In the experiments with a standard passenger vehicle, we demonstrate that the proposed approach is capable of bringing and maintaining the vehicle at the desired 30 deg sideslip angle in both high and low friction conditions.

The advent of Large Language Models (LLMs) has ushered in a new era for design science in Information Systems, demanding a paradigm shift in tailoring LLMs design for business contexts. We propose and test a novel framework to customize LLMs for general business contexts that aims to achieve three fundamental objectives simultaneously: (1) aligning conversational patterns, (2) integrating in-depth domain knowledge, and (3) embodying theory-driven soft skills and core principles. We design methodologies that combine domain-specific theory with Supervised Fine Tuning (SFT) to achieve these objectives simultaneously. We instantiate our proposed framework in the context of medical consultation. Specifically, we carefully construct a large volume of real doctors' consultation records and medical knowledge from multiple professional databases. Additionally, drawing on medical theory, we identify three soft skills and core principles of human doctors: professionalism, explainability, and emotional support, and design approaches to integrate these traits into LLMs. We demonstrate the feasibility of our framework using online experiments with thousands of real patients as well as evaluation by domain experts and consumers. Experimental results show that the customized LLM model substantially outperforms untuned base model in medical expertise as well as consumer satisfaction and trustworthiness, and it substantially reduces the gap between untuned LLMs and human doctors, elevating LLMs to the level of human experts. Additionally, we delve into the characteristics of textual consultation records and adopt interpretable machine learning techniques to identify what drives the performance gain. Finally, we showcase the practical value of our model through a decision support system designed to assist human doctors in a lab experiment.

We present a novel approach to predicting the pressure and flow rate of flexible electrohydrodynamic pumps using the Kolmogorov-Arnold Network. Inspired by the Kolmogorov-Arnold representation theorem, KAN replaces fixed activation functions with learnable spline-based activation functions, enabling it to approximate complex nonlinear functions more effectively than traditional models like Multi-Layer Perceptron and Random Forest. We evaluated KAN on a dataset of flexible EHD pump parameters and compared its performance against RF, and MLP models. KAN achieved superior predictive accuracy, with Mean Squared Errors of 12.186 and 0.001 for pressure and flow rate predictions, respectively. The symbolic formulas extracted from KAN provided insights into the nonlinear relationships between input parameters and pump performance. These findings demonstrate that KAN offers exceptional accuracy and interpretability, making it a promising alternative for predictive modeling in electrohydrodynamic pumping.

We consider channel coding for discrete memoryless channels (DMCs) with a novel cost constraint that constrains both the mean and the variance of the cost of the codewords. We show that the maximum (asymptotically) achievable rate under the new cost formulation is equal to the capacity-cost function; in particular, the strong converse holds. We further characterize the optimal second-order coding rate of these cost-constrained codes; in particular, the optimal second-order coding rate is finite. We then show that the second-order coding performance is strictly improved with feedback using a new variation of timid/bold coding, significantly broadening the applicability of timid/bold coding schemes from unconstrained compound-dispersion channels to all cost-constrained channels. Equivalent results on the minimum average probability of error are also given.

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering techniques are used to process LiDAR observations. The proposed MOT algorithm comprises a three-step association process, an Extended Kalman filter for estimating the motion of each detected dynamic obstacle, and a track management phase. The EKF motion model requires the current measured relative position and orientation of the observed object and the longitudinal and angular velocities of the ego vehicle as inputs. Unlike most state-of-the-art multi-modal MOT approaches, the proposed algorithm does not rely on maps or knowledge of the ego global pose. Moreover, it uses a 3D detector exclusively for cameras and is agnostic to the type of LiDAR sensor used. The algorithm is validated both in simulation and with real-world data, with satisfactory results.

Translational distance-based knowledge graph embedding has shown progressive improvements on the link prediction task, from TransE to the latest state-of-the-art RotatE. However, N-1, 1-N and N-N predictions still remain challenging. In this work, we propose a novel translational distance-based approach for knowledge graph link prediction. The proposed method includes two-folds, first we extend the RotatE from 2D complex domain to high dimension space with orthogonal transforms to model relations for better modeling capacity. Second, the graph context is explicitly modeled via two directed context representations. These context representations are used as part of the distance scoring function to measure the plausibility of the triples during training and inference. The proposed approach effectively improves prediction accuracy on the difficult N-1, 1-N and N-N cases for knowledge graph link prediction task. The experimental results show that it achieves better performance on two benchmark data sets compared to the baseline RotatE, especially on data set (FB15k-237) with many high in-degree connection nodes.