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Pre-trained vision transformers have strong representation benefits to various downstream tasks. Recently, many parameter-efficient fine-tuning (PEFT) methods have been proposed, and their experiments demonstrate that tuning only 1\% extra parameters could surpass full fine-tuning in low-data resource scenarios. However, these methods overlook the task-specific information when fine-tuning diverse downstream tasks. In this paper, we propose a simple yet effective method called "Salient Channel Tuning" (SCT) to leverage the task-specific information by forwarding the model with the task images to select partial channels in a feature map that enables us to tune only 1/8 channels leading to significantly lower parameter costs. Experiments on 19 visual transfer learning downstream tasks demonstrate that our SCT outperforms full fine-tuning on 18 out of 19 tasks by adding only 0.11M parameters of the ViT-B, which is 780$\times$ fewer than its full fine-tuning counterpart. Furthermore, experiments on domain generalization and few-shot classification further demonstrate the effectiveness and generic of our approach. The code is available at //github.com/showlab/SCT.

Quantum communication networks (QCNs) utilize quantum mechanics for secure information transmission, but the reliance on fragile and expensive photonic quantum resources renders QCN resource optimization challenging. Unlike prior QCN works that relied on blindly compressing direct quantum embeddings of classical data, this letter proposes a novel quantum semantic communications (QSC) framework exploiting advancements in quantum machine learning and quantum semantic representations to extracts and embed only the relevant information from classical data into minimal high-dimensional quantum states that are accurately communicated over quantum channels with quantum communication and semantic fidelity measures. Simulation results indicate that, compared to semantic-agnostic QCN schemes, the proposed framework achieves approximately 50-75% reduction in quantum communication resources needed, while achieving a higher quantum semantic fidelity.

In recent years, the widespread application of multi-robot systems in areas such as power inspection, autonomous vehicle fleets has made multi-robot technology a research hotspot in the field of robotics. This paper investigates multi-robot cooperative exploration in unknown environments, proposing a training framework and decision strategy based on multi-agent reinforcement learning. Specifically we propose a Asymmetric Topological Representation based mapping framework (ATR-Mapping), combining the advantages of methods based on raw grid maps and methods based on topology, the structural information from the raw grid maps is extracted and combined with a topological graph constructed based on geometric distance information for decision-making. Leveraging this topological graph representation, we employs a decision network based on topological graph matching to assign corresponding boundary points to each robot as long-term target points for decision-making. We conducts testing and application of the proposed algorithms in real world scenarios using the Gazebo and Gibson simulation environments. It validates that the proposed method, when compared to existing methods, achieves a certain degree of performance improvement.

Numerous capability and safety techniques of Large Language Models (LLMs), including RLHF, automated red-teaming, prompt engineering, and infilling, can be cast as sampling from an unnormalized target distribution defined by a given reward or potential function over the full sequence. In this work, we leverage the rich toolkit of Sequential Monte Carlo (SMC) for these probabilistic inference problems. In particular, we use learned twist functions to estimate the expected future value of the potential at each timestep, which enables us to focus inference-time computation on promising partial sequences. We propose a novel contrastive method for learning the twist functions, and establish connections with the rich literature of soft reinforcement learning. As a complementary application of our twisted SMC framework, we present methods for evaluating the accuracy of language model inference techniques using novel bidirectional SMC bounds on the log partition function. These bounds can be used to estimate the KL divergence between the inference and target distributions in both directions. We apply our inference evaluation techniques to show that twisted SMC is effective for sampling undesirable outputs from a pretrained model (a useful component of harmlessness training and automated red-teaming), generating reviews with varied sentiment, and performing infilling tasks.

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in environments where understanding and acting on implicit human intentions are crucial. In this study, we introduce a novel task: reasoning grasping, where robots need to generate grasp poses based on indirect verbal instructions or intentions. To accomplish this, we propose an end-to-end reasoning grasping model that integrates a multi-modal Large Language Model (LLM) with a vision-based robotic grasping framework. In addition, we present the first reasoning grasping benchmark dataset generated from the GraspNet-1 billion, incorporating implicit instructions for object-level and part-level grasping, and this dataset will soon be available for public access. Our results show that directly integrating CLIP or LLaVA with the grasp detection model performs poorly on the challenging reasoning grasping tasks, while our proposed model demonstrates significantly enhanced performance both in the reasoning grasping benchmark and real-world experiments.

In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements and sensor data acquisitions. In this article, we present an approach for coordinating a system consisting of multiple robots to perform Active Collaborative SLAM (AC-SLAM) for environmental exploration. Our method efficiently spreads the robots for maximum exploration while keeping SLAM uncertainty low. Additionally, We also present two coordination approaches, synchronous and asynchronous to prioritize robot goal assignments by the central server. The proposed method is implemented in ROS and evaluated through simulation and experiments on publicly available datasets and similar methods, rendering promising results.

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or bird's eye views as representations of the environment. However, these approaches fall short in offering a comprehensive 3D environmental prediction. To bridge this gap, we introduce the first method for collaborative 3D semantic occupancy prediction. Particularly, it improves local 3D semantic occupancy predictions by hybrid fusion of (i) semantic and occupancy task features, and (ii) compressed orthogonal attention features shared between vehicles. Additionally, due to the lack of a collaborative perception dataset designed for semantic occupancy prediction, we augment a current collaborative perception dataset to include 3D collaborative semantic occupancy labels for a more robust evaluation. The experimental findings highlight that: (i) our collaborative semantic occupancy predictions excel above the results from single vehicles by over 30%, and (ii) models anchored on semantic occupancy outpace state-of-the-art collaborative 3D detection techniques in subsequent perception applications, showcasing enhanced accuracy and enriched semantic-awareness in road environments.

We consider federated learning in tiered communication networks. Our network model consists of a set of silos, each holding a vertical partition of the data. Each silo contains a hub and a set of clients, with the silo's vertical data shard partitioned horizontally across its clients. We propose Tiered Decentralized Coordinate Descent (TDCD), a communication-efficient decentralized training algorithm for such two-tiered networks. The clients in each silo perform multiple local gradient steps before sharing updates with their hub to reduce communication overhead. Each hub adjusts its coordinates by averaging its workers' updates, and then hubs exchange intermediate updates with one another. We present a theoretical analysis of our algorithm and show the dependence of the convergence rate on the number of vertical partitions and the number of local updates. We further validate our approach empirically via simulation-based experiments using a variety of datasets and objectives.

The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.

Recommender systems play a crucial role in mitigating the problem of information overload by suggesting users' personalized items or services. The vast majority of traditional recommender systems consider the recommendation procedure as a static process and make recommendations following a fixed strategy. In this paper, we propose a novel recommender system with the capability of continuously improving its strategies during the interactions with users. We model the sequential interactions between users and a recommender system as a Markov Decision Process (MDP) and leverage Reinforcement Learning (RL) to automatically learn the optimal strategies via recommending trial-and-error items and receiving reinforcements of these items from users' feedbacks. In particular, we introduce an online user-agent interacting environment simulator, which can pre-train and evaluate model parameters offline before applying the model online. Moreover, we validate the importance of list-wise recommendations during the interactions between users and agent, and develop a novel approach to incorporate them into the proposed framework LIRD for list-wide recommendations. The experimental results based on a real-world e-commerce dataset demonstrate the effectiveness of the proposed framework.