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Bayesian optimization (BO) is a popular black-box function optimization method, which makes sequential decisions based on a Bayesian model, typically a Gaussian process (GP), of the function. To ensure the quality of the model, transfer learning approaches have been developed to automatically design GP priors by learning from observations on "training" functions. These training functions are typically required to have the same domain as the "test" function (black-box function to be optimized). In this paper, we introduce MPHD, a model pre-training method on heterogeneous domains, which uses a neural net mapping from domain-specific contexts to specifications of hierarchical GPs. MPHD can be seamlessly integrated with BO to transfer knowledge across heterogeneous search spaces. Our theoretical and empirical results demonstrate the validity of MPHD and its superior performance on challenging black-box function optimization tasks.

Accurate trajectory prediction is crucial for safe and efficient autonomous driving, but handling partial observations presents significant challenges. To address this, we propose a novel trajectory prediction framework called Partial Observations Prediction (POP) for congested urban road scenarios. The framework consists of two stages: self-supervised learning (SSL) and feature distillation. In SSL, a reconstruction branch reconstructs the hidden history of partial observations using a mask procedure and reconstruction head. The feature distillation stage transfers knowledge from a fully observed teacher model to a partially observed student model, improving prediction accuracy. POP achieves comparable results to top-performing methods in open-loop experiments and outperforms the baseline method in closed-loop simulations, including safety metrics. Qualitative results illustrate the superiority of POP in providing reasonable and safe trajectory predictions.

We explore the ability of large language models (LLMs) to act as ASR post-processors that perform rescoring and error correction. Our focus is on instruction prompting to let LLMs perform these task without fine-tuning, for which we evaluate different prompting schemes, both zero- and few-shot in-context learning, and a novel task-activating prompting (TAP) method that combines instruction and demonstration. Using a pre-trained first-pass system and rescoring output on two out-of-domain tasks (ATIS and WSJ), we show that rescoring only by in-context learning with frozen LLMs achieves results that are competitive with rescoring by domain-tuned LMs. By combining prompting techniques with fine-tuning we achieve error rates below the N-best oracle level, showcasing the generalization power of the LLMs.

Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however mainly focused on positions, neglecting the orientation part which can be crucial to many tasks e.g. screwing. In this work, we propose a control algorithm that adapts the robot's rotational motion and impedance in a closed-loop manner. Given a first-order Dynamical System representing an orientation motion plan and a desired rotational stiffness profile, our approach enables the robot to follow the reference motion with an interactive behavior specified by the desired stiffness, while always being aware of the current orientation, represented as a Unit Quaternion (UQ). We rely on the Lie algebra to formulate our algorithm, since unlike positions, UQ feature constraints that should be respected in the devised controller. We validate our proposed approach in multiple robot experiments, showcasing the ability of our controller to follow complex orientation profiles, react safely to perturbations, and fulfill physical interaction tasks.

We propose a general framework for obtaining probabilistic solutions to PDE-based inverse problems. Bayesian methods are attractive for uncertainty quantification but assume knowledge of the likelihood model or data generation process. This assumption is difficult to justify in many inverse problems, where the specification of the data generation process is not obvious. We adopt a Gibbs posterior framework that directly posits a regularized variational problem on the space of probability distributions of the parameter. We propose a novel model comparison framework that evaluates the optimality of a given loss based on its "predictive performance". We provide cross-validation procedures to calibrate the regularization parameter of the variational objective and compare multiple loss functions. Some novel theoretical properties of Gibbs posteriors are also presented. We illustrate the utility of our framework via a simulated example, motivated by dispersion-based wave models used to characterize arterial vessels in ultrasound vibrometry.

In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to reproduce the skills required to acquire high-quality images while reducing the sonographer's physical efforts. In this paper, we address the control of the interaction of the probe with the patient's body, a critical aspect of ensuring safe and effective ultrasonography. We introduce a novel approach based on variable impedance control, allowing real-time optimisation of a compliant controller parameters during ultrasound procedures. This optimisation is formulated as a quadratic programming problem and incorporates physical constraints derived from viscoelastic parameter estimations. Safety and passivity constraints, including an energy tank, are also integrated to minimise potential risks during human-robot interaction. The proposed method's efficacy is demonstrated through experiments on a patient dummy torso, highlighting its potential for achieving safe behaviour and accurate force control during ultrasound procedures, even in cases of contact loss.

Recent research efforts on semantic communication have mostly considered accuracy as a main problem for optimizing goal-oriented communication systems. However, these approaches introduce a paradox: the accuracy of artificial intelligence (AI) tasks should naturally emerge through training rather than being dictated by network constraints. Acknowledging this dilemma, this work introduces an innovative approach that leverages the rate-distortion theory to analyze distortions induced by communication and semantic compression, thereby analyzing the learning process. Specifically, we examine the distribution shift between the original data and the distorted data, thus assessing its impact on the AI model's performance. Founding upon this analysis, we can preemptively estimate the empirical accuracy of AI tasks, making the goal-oriented semantic communication problem feasible. To achieve this objective, we present the theoretical foundation of our approach, accompanied by simulations and experiments that demonstrate its effectiveness. The experimental results indicate that our proposed method enables accurate AI task performance while adhering to network constraints, establishing it as a valuable contribution to the field of signal processing. Furthermore, this work advances research in goal-oriented semantic communication and highlights the significance of data-driven approaches in optimizing the performance of intelligent systems.

Triple extraction is an essential task in information extraction for natural language processing and knowledge graph construction. In this paper, we revisit the end-to-end triple extraction task for sequence generation. Since generative triple extraction may struggle to capture long-term dependencies and generate unfaithful triples, we introduce a novel model, contrastive triple extraction with a generative transformer. Specifically, we introduce a single shared transformer module for encoder-decoder-based generation. To generate faithful results, we propose a novel triplet contrastive training object. Moreover, we introduce two mechanisms to further improve model performance (i.e., batch-wise dynamic attention-masking and triple-wise calibration). Experimental results on three datasets (i.e., NYT, WebNLG, and MIE) show that our approach achieves better performance than that of baselines.

Federated learning is a new distributed machine learning framework, where a bunch of heterogeneous clients collaboratively train a model without sharing training data. In this work, we consider a practical and ubiquitous issue in federated learning: intermittent client availability, where the set of eligible clients may change during the training process. Such an intermittent client availability model would significantly deteriorate the performance of the classical Federated Averaging algorithm (FedAvg for short). We propose a simple distributed non-convex optimization algorithm, called Federated Latest Averaging (FedLaAvg for short), which leverages the latest gradients of all clients, even when the clients are not available, to jointly update the global model in each iteration. Our theoretical analysis shows that FedLaAvg attains the convergence rate of $O(1/(N^{1/4} T^{1/2}))$, achieving a sublinear speedup with respect to the total number of clients. We implement and evaluate FedLaAvg with the CIFAR-10 dataset. The evaluation results demonstrate that FedLaAvg indeed reaches a sublinear speedup and achieves 4.23% higher test accuracy than FedAvg.

Incompleteness is a common problem for existing knowledge graphs (KGs), and the completion of KG which aims to predict links between entities is challenging. Most existing KG completion methods only consider the direct relation between nodes and ignore the relation paths which contain useful information for link prediction. Recently, a few methods take relation paths into consideration but pay less attention to the order of relations in paths which is important for reasoning. In addition, these path-based models always ignore nonlinear contributions of path features for link prediction. To solve these problems, we propose a novel KG completion method named OPTransE. Instead of embedding both entities of a relation into the same latent space as in previous methods, we project the head entity and the tail entity of each relation into different spaces to guarantee the order of relations in the path. Meanwhile, we adopt a pooling strategy to extract nonlinear and complex features of different paths to further improve the performance of link prediction. Experimental results on two benchmark datasets show that the proposed model OPTransE performs better than state-of-the-art methods.