Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem definitions are elusive and challenging to quantify, learning-based solutions such as RL become particularly valuable. One instance of such complexity can be found in the realm of car racing, a dynamic and unpredictable environment that demands sophisticated decision-making algorithms. This study focuses on developing and training an RL agent to navigate a racing environment solely using feedforward raw lidar and velocity data in a simulated context. The agent's performance, trained in the simulation environment, is then experimentally evaluated in a real-world racing scenario. This exploration underlines the feasibility and potential benefits of RL algorithm enhancing autonomous racing performance, especially in the environments where prior map information is not available.
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Federated Learning (FL) has emerged as a promising solution for privacy-enhancement and latency minimization in various real-world applications, such as transportation, communications, and healthcare. FL endeavors to bring Machine Learning (ML) down to the edge by harnessing data from million of devices and IoT sensors, thus enabling rapid responses to dynamic environments and yielding highly personalized results. However, the increased amount of sensors across diverse applications poses challenges in terms of communication and resource allocation, hindering the participation of all devices in the federated process and prompting the need for effective FL client selection. To address this issue, we propose Cellular Automaton-based Client Selection (CA-CS), a novel client selection algorithm, which leverages Cellular Automata (CA) as models to effectively capture spatio-temporal changes in a fast-evolving environment. CA-CS considers the computational resources and communication capacity of each participating client, while also accounting for inter-client interactions between neighbors during the client selection process, enabling intelligent client selection for online FL processes on data streams that closely resemble real-world scenarios. In this paper, we present a thorough evaluation of the proposed CA-CS algorithm using MNIST and CIFAR-10 datasets, while making a direct comparison against a uniformly random client selection scheme. Our results demonstrate that CA-CS achieves comparable accuracy to the random selection approach, while effectively avoiding high-latency clients.
Sharding is essential for improving blockchain scalability. Existing protocols overlook diverse adversarial attacks, limiting transaction throughput. This paper presents Reticulum, a groundbreaking sharding protocol addressing this issue, boosting blockchain scalability. Reticulum employs a two-phase approach, adapting transaction throughput based on runtime adversarial attacks. It comprises "control" and "process" shards in two layers. Process shards contain at least one trustworthy node, while control shards have a majority of trusted nodes. In the first phase, transactions are written to blocks and voted on by nodes in process shards. Unanimously accepted blocks are confirmed. In the second phase, blocks without unanimous acceptance are voted on by control shards. Blocks are accepted if the majority votes in favor, eliminating first-phase opponents and silent voters. Reticulum uses unanimous voting in the first phase, involving fewer nodes, enabling more parallel process shards. Control shards finalize decisions and resolve disputes. Experiments confirm Reticulum's innovative design, providing high transaction throughput and robustness against various network attacks, outperforming existing sharding protocols for blockchain networks.
Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities with a pre-trained LLM to improve context understanding in driving situations. We also present a new dataset of 160k QA pairs derived from 10k driving scenarios, paired with high quality control commands collected with RL agent and question answer pairs generated by teacher LLM (GPT-3.5). A distinct pretraining strategy is devised to align numeric vector modalities with static LLM representations using vector captioning language data. We also introduce an evaluation metric for Driving QA and demonstrate our LLM-driver's proficiency in interpreting driving scenarios, answering questions, and decision-making. Our findings highlight the potential of LLM-based driving action generation in comparison to traditional behavioral cloning. We make our benchmark, datasets, and model available for further exploration.
In this work, a local Fourier analysis is presented to study the convergence of multigrid methods based on additive Schwarz smoothers. This analysis is presented as a general framework which allows us to study these smoothers for any type of discretization and problem. The presented framework is crucial in practice since it allows one to know a priori the answer to questions such as what is the size of the patch to use within these relaxations, the size of the overlapping, or even the optimal values for the weights involved in the smoother. Results are shown for a class of additive and restricted additive Schwarz relaxations used within a multigrid framework applied to high-order finite-element discretizations and saddle point problems, which are two of the contexts in which these type of relaxations are widely used.
Large Language models (LLMs) possess the capability to engage In-context Learning (ICL) by leveraging a few demonstrations pertaining to a new downstream task as conditions. However, this particular learning paradigm suffers from high instability stemming from substantial variances induced by factors such as the input distribution of selected examples, their ordering, and prompt formats. In this work, we demonstrate that even when all these factors are held constant, the random selection of examples still results in high variance. Consequently, we aim to explore the informative ability of data examples by quantifying the Information Gain (IG) obtained in prediction after observing a given example candidate. Then we propose to sample those with maximum IG. Additionally, we identify the presence of template bias, which can lead to unfair evaluations of IG during the sampling process. To mitigate this bias, we introduce Calibration Before Sampling strategy. The experimental results illustrate that our proposed method can yield an average relative improvement of 14.3% across six classification tasks using three LLMs.
Case-based reasoning (CBR) as a methodology for problem-solving can use any appropriate computational technique. This position paper argues that CBR researchers have somewhat overlooked recent developments in deep learning and large language models (LLMs). The underlying technical developments that have enabled the recent breakthroughs in AI have strong synergies with CBR and could be used to provide a persistent memory for LLMs to make progress towards Artificial General Intelligence.
Federated Learning (FL) is a decentralized machine-learning paradigm, in which a global server iteratively averages the model parameters of local users without accessing their data. User heterogeneity has imposed significant challenges to FL, which can incur drifted global models that are slow to converge. Knowledge Distillation has recently emerged to tackle this issue, by refining the server model using aggregated knowledge from heterogeneous users, other than directly averaging their model parameters. This approach, however, depends on a proxy dataset, making it impractical unless such a prerequisite is satisfied. Moreover, the ensemble knowledge is not fully utilized to guide local model learning, which may in turn affect the quality of the aggregated model. Inspired by the prior art, we propose a data-free knowledge distillation} approach to address heterogeneous FL, where the server learns a lightweight generator to ensemble user information in a data-free manner, which is then broadcasted to users, regulating local training using the learned knowledge as an inductive bias. Empirical studies powered by theoretical implications show that, our approach facilitates FL with better generalization performance using fewer communication rounds, compared with the state-of-the-art.
Graph Convolutional Network (GCN) has been widely applied in transportation demand prediction due to its excellent ability to capture non-Euclidean spatial dependence among station-level or regional transportation demands. However, in most of the existing research, the graph convolution was implemented on a heuristically generated adjacency matrix, which could neither reflect the real spatial relationships of stations accurately, nor capture the multi-level spatial dependence of demands adaptively. To cope with the above problems, this paper provides a novel graph convolutional network for transportation demand prediction. Firstly, a novel graph convolution architecture is proposed, which has different adjacency matrices in different layers and all the adjacency matrices are self-learned during the training process. Secondly, a layer-wise coupling mechanism is provided, which associates the upper-level adjacency matrix with the lower-level one. It also reduces the scale of parameters in our model. Lastly, a unitary network is constructed to give the final prediction result by integrating the hidden spatial states with gated recurrent unit, which could capture the multi-level spatial dependence and temporal dynamics simultaneously. Experiments have been conducted on two real-world datasets, NYC Citi Bike and NYC Taxi, and the results demonstrate the superiority of our model over the state-of-the-art ones.
Graph Neural Networks (GNN) has demonstrated the superior performance in many challenging applications, including the few-shot learning tasks. Despite its powerful capacity to learn and generalize from few samples, GNN usually suffers from severe over-fitting and over-smoothing as the model becomes deep, which limit the model scalability. In this work, we propose a novel Attentive GNN to tackle these challenges, by incorporating a triple-attention mechanism, \ie node self-attention, neighborhood attention, and layer memory attention. We explain why the proposed attentive modules can improve GNN for few-shot learning with theoretical analysis and illustrations. Extensive experiments show that the proposed Attentive GNN outperforms the state-of-the-art GNN-based methods for few-shot learning over the mini-ImageNet and Tiered-ImageNet datasets, with both inductive and transductive settings.
Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.
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