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Federated learning (FL) is an emerging machine learning (ML) paradigm that enables heterogeneous edge devices to collaboratively train ML models without revealing their raw data to a logically centralized server. However, beyond the heterogeneous device capacity, FL participants often exhibit differences in their data distributions, which are not independent and identically distributed (Non-IID). Many existing works present point solutions to address issues like slow convergence, low final accuracy, and bias in FL, all stemming from client heterogeneity. In this paper, we explore an additional layer of complexity to mitigate such heterogeneity by grouping clients with statistically similar data distributions (cohorts). We propose Auxo to gradually identify such cohorts in large-scale, low-availability, and resource-constrained FL populations. Auxo then adaptively determines how to train cohort-specific models in order to achieve better model performance and ensure resource efficiency. Our extensive evaluations show that, by identifying cohorts with smaller heterogeneity and performing efficient cohort-based training, Auxo boosts various existing FL solutions in terms of final accuracy (2.1% - 8.2%), convergence time (up to 2.2x), and model bias (4.8% - 53.8%).

Reinforcement learning methods, while effective for learning robotic navigation strategies, are known to be highly sample inefficient. This sample inefficiency comes in part from not suitably balancing the explore-exploit dilemma, especially in the presence of non-stationarity, during policy optimization. To incorporate a balance of exploration-exploitation for sample efficiency, we propose Ada-NAV, an adaptive trajectory length scheme where the length grows as a policy's randomness, represented by its Shannon or differential entropy, decreases. Our adaptive trajectory length scheme emphasizes exploration at the beginning of training due to more frequent gradient updates and emphasizes exploitation later on with longer trajectories. In gridworld, simulated robotic environments, and real-world robotic experiments, we demonstrate the merits of the approach over constant and randomly sampled trajectory lengths in terms of performance and sample efficiency. For a fixed sample budget, Ada-NAV results in an 18% increase in navigation success rate, a 20-38% decrease in the navigation path length, and 9.32% decrease in the elevation cost compared to the policies obtained by the other methods. We also demonstrate that Ada-NAV can be transferred and integrated into a Clearpath Husky robot without significant performance degradation.

Recent advances in federated learning (FL) enable collaborative training of machine learning (ML) models from large-scale and widely dispersed clients while protecting their privacy. However, when different clients' datasets are heterogeneous, traditional FL mechanisms produce a global model that does not adequately represent the poorer clients with limited data resources, resulting in lower accuracy and higher bias on their local data. According to the Matthew effect, which describes how the advantaged gain more advantage and the disadvantaged lose more over time, deploying such a global model in client applications may worsen the resource disparity among the clients and harm the principles of social welfare and fairness. To mitigate the Matthew effect, we propose Egalitarian Fairness Federated Learning (EFFL), where egalitarian fairness refers to the global model learned from FL has: (1) equal accuracy among clients; (2) equal decision bias among clients. Besides achieving egalitarian fairness among the clients, EFFL also aims for performance optimality, minimizing the empirical risk loss and the bias for each client; both are essential for any ML model training, whether centralized or decentralized. We formulate EFFL as a constrained multi-constrained multi-objectives optimization (MCMOO) problem, with the decision bias and egalitarian fairness as constraints and the minimization of the empirical risk losses on all clients as multiple objectives to be optimized. We propose a gradient-based three-stage algorithm to obtain the Pareto optimal solutions within the constraint space. Extensive experiments demonstrate that EFFL outperforms other state-of-the-art FL algorithms in achieving a high-performance global model with enhanced egalitarian fairness among all clients.

Machine learning (ML) based systems have been suffering a lack of interpretability. To address this problem, counterfactual explanations (CEs) have been proposed. CEs are unique as they provide workable suggestions to users, in addition to explaining why a certain outcome was predicted. However, the application of CEs has been hindered by two main challenges, namely general user preferences and variable ML systems. User preferences, in particular, tend to be general rather than specific feature values. Additionally, CEs need to be customized to suit the variability of ML models, while also maintaining robustness even when these validation models change. To overcome these challenges, we propose several possible general user preferences that have been validated by user research and map them to the properties of CEs. We also introduce a new method called \uline{T}ree-based \uline{C}onditions \uline{O}ptional \uline{L}inks (T-COL), which has two optional structures and several groups of conditions for generating CEs that can be adapted to general user preferences. Meanwhile, a group of conditions lead T-COL to generate more robust CEs that have higher validity when the ML model is replaced. We compared the properties of CEs generated by T-COL experimentally under different user preferences and demonstrated that T-COL is better suited for accommodating user preferences and variable ML systems compared to baseline methods including Large Language Models.

Deep learning has shown great potential for modeling the physical dynamics of complex particle systems such as fluids (in Lagrangian descriptions). Existing approaches, however, require the supervision of consecutive particle properties, including positions and velocities. In this paper, we consider a partially observable scenario known as fluid dynamics grounding, that is, inferring the state transitions and interactions within the fluid particle systems from sequential visual observations of the fluid surface. We propose a differentiable two-stage network named NeuroFluid. Our approach consists of (i) a particle-driven neural renderer, which involves fluid physical properties into the volume rendering function, and (ii) a particle transition model optimized to reduce the differences between the rendered and the observed images. NeuroFluid provides the first solution to unsupervised learning of particle-based fluid dynamics by training these two models jointly. It is shown to reasonably estimate the underlying physics of fluids with different initial shapes, viscosity, and densities. It is a potential alternative approach to understanding complex fluid mechanics, such as turbulence, that are difficult to model using traditional methods of mathematical physics.

Federated learning (FL) has been developed as a promising framework to leverage the resources of edge devices, enhance customers' privacy, comply with regulations, and reduce development costs. Although many methods and applications have been developed for FL, several critical challenges for practical FL systems remain unaddressed. This paper provides an outlook on FL development, categorized into five emerging directions of FL, namely algorithm foundation, personalization, hardware and security constraints, lifelong learning, and nonstandard data. Our unique perspectives are backed by practical observations from large-scale federated systems for edge devices.

There recently has been a surge of interest in developing a new class of deep learning (DL) architectures that integrate an explicit time dimension as a fundamental building block of learning and representation mechanisms. In turn, many recent results show that topological descriptors of the observed data, encoding information on the shape of the dataset in a topological space at different scales, that is, persistent homology of the data, may contain important complementary information, improving both performance and robustness of DL. As convergence of these two emerging ideas, we propose to enhance DL architectures with the most salient time-conditioned topological information of the data and introduce the concept of zigzag persistence into time-aware graph convolutional networks (GCNs). Zigzag persistence provides a systematic and mathematically rigorous framework to track the most important topological features of the observed data that tend to manifest themselves over time. To integrate the extracted time-conditioned topological descriptors into DL, we develop a new topological summary, zigzag persistence image, and derive its theoretical stability guarantees. We validate the new GCNs with a time-aware zigzag topological layer (Z-GCNETs), in application to traffic forecasting and Ethereum blockchain price prediction. Our results indicate that Z-GCNET outperforms 13 state-of-the-art methods on 4 time series datasets.

Semi-supervised learning on class-imbalanced data, although a realistic problem, has been under studied. While existing semi-supervised learning (SSL) methods are known to perform poorly on minority classes, we find that they still generate high precision pseudo-labels on minority classes. By exploiting this property, in this work, we propose Class-Rebalancing Self-Training (CReST), a simple yet effective framework to improve existing SSL methods on class-imbalanced data. CReST iteratively retrains a baseline SSL model with a labeled set expanded by adding pseudo-labeled samples from an unlabeled set, where pseudo-labeled samples from minority classes are selected more frequently according to an estimated class distribution. We also propose a progressive distribution alignment to adaptively adjust the rebalancing strength dubbed CReST+. We show that CReST and CReST+ improve state-of-the-art SSL algorithms on various class-imbalanced datasets and consistently outperform other popular rebalancing methods.

Few sample learning (FSL) is significant and challenging in the field of machine learning. The capability of learning and generalizing from very few samples successfully is a noticeable demarcation separating artificial intelligence and human intelligence since humans can readily establish their cognition to novelty from just a single or a handful of examples whereas machine learning algorithms typically entail hundreds or thousands of supervised samples to guarantee generalization ability. Despite the long history dated back to the early 2000s and the widespread attention in recent years with booming deep learning technologies, little surveys or reviews for FSL are available until now. In this context, we extensively review 200+ papers of FSL spanning from the 2000s to 2019 and provide a timely and comprehensive survey for FSL. In this survey, we review the evolution history as well as the current progress on FSL, categorize FSL approaches into the generative model based and discriminative model based kinds in principle, and emphasize particularly on the meta learning based FSL approaches. We also summarize several recently emerging extensional topics of FSL and review the latest advances on these topics. Furthermore, we highlight the important FSL applications covering many research hotspots in computer vision, natural language processing, audio and speech, reinforcement learning and robotic, data analysis, etc. Finally, we conclude the survey with a discussion on promising trends in the hope of providing guidance and insights to follow-up researches.

Graph-based semi-supervised learning (SSL) is an important learning problem where the goal is to assign labels to initially unlabeled nodes in a graph. Graph Convolutional Networks (GCNs) have recently been shown to be effective for graph-based SSL problems. GCNs inherently assume existence of pairwise relationships in the graph-structured data. However, in many real-world problems, relationships go beyond pairwise connections and hence are more complex. Hypergraphs provide a natural modeling tool to capture such complex relationships. In this work, we explore the use of GCNs for hypergraph-based SSL. In particular, we propose HyperGCN, an SSL method which uses a layer-wise propagation rule for convolutional neural networks operating directly on hypergraphs. To the best of our knowledge, this is the first principled adaptation of GCNs to hypergraphs. HyperGCN is able to encode both the hypergraph structure and hypernode features in an effective manner. Through detailed experimentation, we demonstrate HyperGCN's effectiveness at hypergraph-based SSL.