This paper presents a modification of the data-driven sensor-based fault detection and diagnosis (SFDD) algorithm for online robot monitoring. Our version of the algorithm uses a collection of generative models, in particular restricted Boltzmann machines, each of which represents the distribution of sliding window correlations between a pair of correlated measurements. We use such models in a residual generation scheme, where high residuals generate conflict sets that are then used in a subsequent diagnosis step. As a proof of concept, the framework is evaluated on a mobile logistics robot for the problem of recognising disconnected wheels, such that the evaluation demonstrates the feasibility of the framework (on the faulty data set, the models obtained 88.6% precision and 75.6% recall rates), but also shows that the monitoring results are influenced by the choice of distribution model and the model parameters as a whole.
In an era where test-time adaptation methods increasingly rely on the nuanced manipulation of batch normalization (BN) parameters, one critical assumption often goes overlooked: that of independently and identically distributed (i.i.d.) test batches with respect to unknown labels. This assumption culminates in biased estimates of BN statistics and jeopardizes system stability under non-i.i.d. conditions. This paper pioneers a departure from the i.i.d. paradigm by introducing a groundbreaking strategy termed "Un-Mixing Test-Time Normalization Statistics" (UnMix-TNS). UnMix-TNS re-calibrates the instance-wise statistics used to normalize each instance in a batch by mixing it with multiple unmixed statistics components, thus inherently simulating the i.i.d. environment. The key lies in our innovative online unmixing procedure, which persistently refines these statistics components by drawing upon the closest instances from an incoming test batch. Remarkably generic in its design, UnMix-TNS seamlessly integrates with an array of state-of-the-art test-time adaptation methods and pre-trained architectures equipped with BN layers. Empirical evaluations corroborate the robustness of UnMix-TNS under varied scenarios ranging from single to continual and mixed domain shifts. UnMix-TNS stands out when handling test data streams with temporal correlation, including those with corrupted real-world non-i.i.d. streams, sustaining its efficacy even with minimal batch sizes and individual samples. Our results set a new standard for test-time adaptation, demonstrating significant improvements in both stability and performance across multiple benchmarks.
Traffic forecasting, a crucial application of spatio-temporal graph (STG) learning, has traditionally relied on deterministic models for accurate point estimations. Yet, these models fall short of identifying latent risks of unexpected volatility in future observations. To address this gap, probabilistic methods, especially variants of diffusion models, have emerged as uncertainty-aware solutions. However, existing diffusion methods typically focus on generating separate future time series for individual sensors in the traffic network, resulting in insufficient involvement of spatial network characteristics in the probabilistic learning process. To better leverage spatial dependencies and systematic patterns inherent in traffic data, we propose SpecSTG, a novel spectral diffusion framework. Our method generates the Fourier representation of future time series, transforming the learning process into the spectral domain enriched with spatial information. Additionally, our approach incorporates a fast spectral graph convolution designed for Fourier input, alleviating the computational burden associated with existing models. Numerical experiments show that SpecSTG achieves outstanding performance with traffic flow and traffic speed datasets compared to state-of-the-art baselines. The source code for SpecSTG is available at //anonymous.4open.science/r/SpecSTG.
While achieving tremendous success in various fields, existing multi-agent reinforcement learning (MARL) with a black-box neural network architecture makes decisions in an opaque manner that hinders humans from understanding the learned knowledge and how input observations influence decisions. Instead, existing interpretable approaches, such as traditional linear models and decision trees, usually suffer from weak expressivity and low accuracy. To address this apparent dichotomy between performance and interpretability, our solution, MIXing Recurrent soft decision Trees (MIXRTs), is a novel interpretable architecture that can represent explicit decision processes via the root-to-leaf path and reflect each agent's contribution to the team. Specifically, we construct a novel soft decision tree to address partial observability by leveraging the advances in recurrent neural networks, and demonstrate which features influence the decision-making process through the tree-based model. Then, based on the value decomposition framework, we linearly assign credit to each agent by explicitly mixing individual action values to estimate the joint action value using only local observations, providing new insights into how agents cooperate to accomplish the task. Theoretical analysis shows that MIXRTs guarantees the structural constraint on additivity and monotonicity in the factorization of joint action values. Evaluations on the challenging Spread and StarCraft II tasks show that MIXRTs achieves competitive performance compared to widely investigated methods and delivers more straightforward explanations of the decision processes. We explore a promising path toward developing learning algorithms with both high performance and interpretability, potentially shedding light on new interpretable paradigms for MARL.
High-dimensional and incomplete (HDI) matrix contains many complex interactions between numerous nodes. A stochastic gradient descent (SGD)-based latent factor analysis (LFA) model is remarkably effective in extracting valuable information from an HDI matrix. However, such a model commonly encounters the problem of slow convergence because a standard SGD algorithm only considers the current learning error to compute the stochastic gradient without considering the historical and future state of the learning error. To address this critical issue, this paper innovatively proposes an ADRC-incorporated SGD (ADS) algorithm by refining the instance learning error by considering the historical and future state by following the principle of an ADRC controller. With it, an ADS-based LFA model is further achieved for fast and accurate latent factor analysis on an HDI matrix. Empirical studies on two HDI datasets demonstrate that the proposed model outperforms the state-of-the-art LFA models in terms of computational efficiency and accuracy for predicting the missing data of an HDI matrix.
This letter proposes a novel relaying framework, semantic-forward (SF), for cooperative communications towards the sixth-generation (6G) wireless networks. The SF relay extracts and transmits the semantic features, which reduces forwarding payload, and also improves the network robustness against intra-link errors. Based on the theoretical basis for cooperative communications with side information and the turbo principle, we design a joint source-channel coding algorithm to iteratively exchange the extrinsic information for enhancing the decoding gains at the destination. Surprisingly, simulation results indicate that even in bad channel conditions, SF relaying can still effectively improve the recovered information quality.
With the continuous growth in the number of parameters of transformer-based pretrained language models (PLMs), particularly the emergence of large language models (LLMs) with billions of parameters, many natural language processing (NLP) tasks have demonstrated remarkable success. However, the enormous size and computational demands of these models pose significant challenges for adapting them to specific downstream tasks, especially in environments with limited computational resources. Parameter Efficient Fine-Tuning (PEFT) offers an effective solution by reducing the number of fine-tuning parameters and memory usage while achieving comparable performance to full fine-tuning. The demands for fine-tuning PLMs, especially LLMs, have led to a surge in the development of PEFT methods, as depicted in Fig. 1. In this paper, we present a comprehensive and systematic review of PEFT methods for PLMs. We summarize these PEFT methods, discuss their applications, and outline future directions. Furthermore, we conduct experiments using several representative PEFT methods to better understand their effectiveness in parameter efficiency and memory efficiency. By offering insights into the latest advancements and practical applications, this survey serves as an invaluable resource for researchers and practitioners seeking to navigate the challenges and opportunities presented by PEFT in the context of PLMs.
Human intelligence thrives on the concept of cognitive synergy, where collaboration and information integration among different cognitive processes yield superior outcomes compared to individual cognitive processes in isolation. Although Large Language Models (LLMs) have demonstrated promising performance as general task-solving agents, they still struggle with tasks that require intensive domain knowledge and complex reasoning. In this work, we propose Solo Performance Prompting (SPP), which transforms a single LLM into a cognitive synergist by engaging in multi-turn self-collaboration with multiple personas. A cognitive synergist refers to an intelligent agent that collaborates with multiple minds, combining their individual strengths and knowledge, to enhance problem-solving and overall performance in complex tasks. By dynamically identifying and simulating different personas based on task inputs, SPP unleashes the potential of cognitive synergy in LLMs. We have discovered that assigning multiple, fine-grained personas in LLMs elicits better problem-solving abilities compared to using a single or fixed number of personas. We evaluate SPP on three challenging tasks: Trivia Creative Writing, Codenames Collaborative, and Logic Grid Puzzle, encompassing both knowledge-intensive and reasoning-intensive types. Unlike previous works, such as Chain-of-Thought, that solely enhance the reasoning abilities in LLMs, SPP effectively elicits internal knowledge acquisition abilities, reduces hallucination, and maintains strong reasoning capabilities. Code, data, and prompts can be found at: //github.com/MikeWangWZHL/Solo-Performance-Prompting.git.
With the breakthrough of AlphaGo, deep reinforcement learning becomes a recognized technique for solving sequential decision-making problems. Despite its reputation, data inefficiency caused by its trial and error learning mechanism makes deep reinforcement learning hard to be practical in a wide range of areas. Plenty of methods have been developed for sample efficient deep reinforcement learning, such as environment modeling, experience transfer, and distributed modifications, amongst which, distributed deep reinforcement learning has shown its potential in various applications, such as human-computer gaming, and intelligent transportation. In this paper, we conclude the state of this exciting field, by comparing the classical distributed deep reinforcement learning methods, and studying important components to achieve efficient distributed learning, covering single player single agent distributed deep reinforcement learning to the most complex multiple players multiple agents distributed deep reinforcement learning. Furthermore, we review recently released toolboxes that help to realize distributed deep reinforcement learning without many modifications of their non-distributed versions. By analyzing their strengths and weaknesses, a multi-player multi-agent distributed deep reinforcement learning toolbox is developed and released, which is further validated on Wargame, a complex environment, showing usability of the proposed toolbox for multiple players and multiple agents distributed deep reinforcement learning under complex games. Finally, we try to point out challenges and future trends, hoping this brief review can provide a guide or a spark for researchers who are interested in distributed deep reinforcement learning.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
Recurrent neural nets (RNN) and convolutional neural nets (CNN) are widely used on NLP tasks to capture the long-term and local dependencies, respectively. Attention mechanisms have recently attracted enormous interest due to their highly parallelizable computation, significantly less training time, and flexibility in modeling dependencies. We propose a novel attention mechanism in which the attention between elements from input sequence(s) is directional and multi-dimensional (i.e., feature-wise). A light-weight neural net, "Directional Self-Attention Network (DiSAN)", is then proposed to learn sentence embedding, based solely on the proposed attention without any RNN/CNN structure. DiSAN is only composed of a directional self-attention with temporal order encoded, followed by a multi-dimensional attention that compresses the sequence into a vector representation. Despite its simple form, DiSAN outperforms complicated RNN models on both prediction quality and time efficiency. It achieves the best test accuracy among all sentence encoding methods and improves the most recent best result by 1.02% on the Stanford Natural Language Inference (SNLI) dataset, and shows state-of-the-art test accuracy on the Stanford Sentiment Treebank (SST), Multi-Genre natural language inference (MultiNLI), Sentences Involving Compositional Knowledge (SICK), Customer Review, MPQA, TREC question-type classification and Subjectivity (SUBJ) datasets.