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Thanks to the explosive developments of data-driven learning methodologies recently, reinforcement learning (RL) emerges as a promising solution to address the legged locomotion problem in robotics. In this manuscript, we propose a novel concurrent teacher-student reinforcement learning architecture for legged locomotion over challenging terrains, based only on proprioceptive measurements in real-world deployment. Different from convectional teacher-student architecture that trains the teacher policy via RL and transfers the knowledge to the student policy through supervised learning, our proposed architecture trains teacher and student policy networks concurrently under the reinforcement learning paradigm. To achieve this, we develop a new training scheme based on conventional proximal policy gradient (PPO) method to accommodate the interaction between teacher policy network and student policy network. The effectiveness of the proposed architecture as well as the new training scheme is demonstrated through extensive indoor and outdoor experiments on quadrupedal robots and point-foot bipedal robot, showcasing robust locomotion over challenging terrains and improved performance compared to two-stage training methods.

We study joint optimization of service placement, request routing, and CPU sizing in a cooperative MEC system. The problem is considered from the perspective of the service provider (SP), which delivers heterogeneous MEC-enabled delay-sensitive services, and needs to pay for the used resources to the mobile network operators and the cloud provider, while earning revenue from the served requests. We formulate the problem of maximizing the SP's total profit subject to the computation, storage, and communication constraints of each edge node and end-to-end delay requirements of the services as a mixed-integer non-convex optimization problem, and prove it to be NP-hard. To tackle the challenges in solving the problem, we first introduce a design trade-off parameter for different delay requirements of each service, which maintains flexibility in prioritizing them, and transform the original optimization problem by the new delay constraints. Then, by exploiting a hidden convexity, we reformulate the delay constraints into an equivalent form. Next, to handle the challenge of the complicating (integer) variables, using primal decomposition, we decompose the problem into an equivalent form of master and inner sub-problems over the mixed and real variables, respectively. We then employ a cutting-plane approach for building up adequate representations of the extremal value of the inner problem as a function of the complicating variables and the set of values of the complicating variables for which the inner problem is feasible. Finally, we propose a solution strategy based on generalized Benders decomposition and prove its convergence to the optimal solution within a limited number of iterations. Extensive simulation results demonstrate that the proposed scheme significantly outperforms the existing mechanisms in terms of the SP's profit, cache hit ratio, running time, and end-to-end delay.

Large language models are well-known to be effective at few-shot in-context learning (ICL). Recent advancements in multimodal foundation models have enabled unprecedentedly long context windows, presenting an opportunity to explore their capability to perform ICL with many more demonstrating examples. In this work, we evaluate the performance of multimodal foundation models scaling from few-shot to many-shot ICL. We benchmark GPT-4o and Gemini 1.5 Pro across 10 datasets spanning multiple domains (natural imagery, medical imagery, remote sensing, and molecular imagery) and tasks (multi-class, multi-label, and fine-grained classification). We observe that many-shot ICL, including up to almost 2,000 multimodal demonstrating examples, leads to substantial improvements compared to few-shot (<100 examples) ICL across all of the datasets. Further, Gemini 1.5 Pro performance continues to improve log-linearly up to the maximum number of tested examples on many datasets. Given the high inference costs associated with the long prompts required for many-shot ICL, we also explore the impact of batching multiple queries in a single API call. We show that batching up to 50 queries can lead to performance improvements under zero-shot and many-shot ICL, with substantial gains in the zero-shot setting on multiple datasets, while drastically reducing per-query cost and latency. Finally, we measure ICL data efficiency of the models, or the rate at which the models learn from more demonstrating examples. We find that while GPT-4o and Gemini 1.5 Pro achieve similar zero-shot performance across the datasets, Gemini 1.5 Pro exhibits higher ICL data efficiency than GPT-4o on most datasets. Our results suggest that many-shot ICL could enable users to efficiently adapt multimodal foundation models to new applications and domains. Our codebase is publicly available at //github.com/stanfordmlgroup/ManyICL .

Federated learning (FL) is a distributed machine learning paradigm with high efficiency and low communication load, only transmitting parameters or gradients of network. However, the non-independent and identically distributed (Non-IID) data characteristic has a negative impact on this paradigm. Furthermore, the heterogeneity of communication quality will significantly affect the accuracy of parameter transmission, causing a degradation in the performance of the FL system or even preventing its convergence. This letter proposes a dual-segment clustering (DSC) strategy, which first clusters the clients according to the heterogeneous communication conditions and then performs a second clustering by the sample size and label distribution, so as to solve the problem of data and communication heterogeneity. Experimental results show that the DSC strategy proposed in this letter can improve the convergence rate of FL, and has superiority on accuracy in a heterogeneous environment compared with the classical algorithm of cluster.

Human learning is sensitive to rule-like structure and the curriculum of examples used for training. In tasks governed by succinct rules, learning is more robust when related examples are blocked across trials, but in the absence of such rules, interleaving is more effective. To date, no neural model has simultaneously captured these seemingly contradictory effects. Here we show that this same tradeoff spontaneously emerges with ``in-context learning'' (ICL) both in neural networks trained with metalearning and in large language models (LLMs). ICL is the ability to learn new tasks ``in context'' -- without weight changes -- via an inner-loop algorithm implemented in activation dynamics. Experiments with pretrained LLMs and metalearning transformers show that ICL exhibits the blocking advantage demonstrated in humans on a task involving rule-like structure, and conversely, that concurrent in-weight learning reproduces the interleaving advantage observed in humans on tasks lacking such structure.

BitVMX is a new design for a virtual CPU to optimistically execute arbitrary programs on Bitcoin based on a challenge response game introduced in BitVM. Similar to BitVM1 we create a general-purpose CPU to be verified in Bitcoin script. Our design supports common architectures, such as RISC-V or MIPS. Our main contribution to the state of the art is a design that uses hash chains of program traces, memory mapped registers, and a new challenge-response protocol. We present a new message linking protocol as a means to allow authenticated communication between the participants. This protocol emulates stateful smart contracts by sharing state between transactions. This provides a basis for our verification game which uses a graph of pre-signed transactions to support challenge-response interactions. In case of a dispute, the hash chain of program trace is used with selective pre-signed transactions to locate (via $n$-ary search) and then recover the precise nature of errors in the computation. Unlike BitVM1, our approach does not require the creation of Merkle trees for CPU instructions or memory words. Additionally, it does not rely on signature equivocations. These differences help avoid complexities associated with BitVM1 and make BitVMX a compelling alternative to BitVM2. Our approach is quite flexible, BitVMX can be instantiated to balance transaction cost vs round complexity, prover cost vs verifier cost, and precomputations vs round complexity.

In general-sum stochastic games, a stationary Stackelberg equilibrium (SSE) does not always exist, in which the leader maximizes leader's return for all the initial states when the follower takes the best response against the leader's policy. Existing methods of determining the SSEs require strong assumptions to guarantee the convergence and the coincidence of the limit with the SSE. Moreover, our analysis suggests that the performance at the fixed points of these methods is not reasonable when they are not SSEs. Herein, we introduced the concept of Pareto-optimality as a reasonable alternative to SSEs. We derive the policy improvement theorem for stochastic games with the best-response follower and propose an iterative algorithm to determine the Pareto-optimal policies based on it. Monotone improvement and convergence of the proposed approach are proved, and its convergence to SSEs is proved in a special case.

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.

Federated learning (FL) is a machine learning setting where many clients (e.g. mobile devices or whole organizations) collaboratively train a model under the orchestration of a central server (e.g. service provider), while keeping the training data decentralized. FL embodies the principles of focused data collection and minimization, and can mitigate many of the systemic privacy risks and costs resulting from traditional, centralized machine learning and data science approaches. Motivated by the explosive growth in FL research, this paper discusses recent advances and presents an extensive collection of open problems and challenges.

Learning with limited data is a key challenge for visual recognition. Few-shot learning methods address this challenge by learning an instance embedding function from seen classes and apply the function to instances from unseen classes with limited labels. This style of transfer learning is task-agnostic: the embedding function is not learned optimally discriminative with respect to the unseen classes, where discerning among them is the target task. In this paper, we propose a novel approach to adapt the embedding model to the target classification task, yielding embeddings that are task-specific and are discriminative. To this end, we employ a type of self-attention mechanism called Transformer to transform the embeddings from task-agnostic to task-specific by focusing on relating instances from the test instances to the training instances in both seen and unseen classes. Our approach also extends to both transductive and generalized few-shot classification, two important settings that have essential use cases. We verify the effectiveness of our model on two standard benchmark few-shot classification datasets --- MiniImageNet and CUB, where our approach demonstrates state-of-the-art empirical performance.