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This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic constraints effectively. Our contribution is twofold. First, we show how RBL is able to provide safety and convergence to the goal region without relying on communication between robots, nor neighbors control inputs, nor synchronization between the robots. We considered both case of holonomic and non-holonomic robots with control inputs saturation. Second, we show that the Lloyd-based algorithm (without rules) can be successfully used as a safety layer for learning-based approaches, leading to non-negligible benefits. We further prove the soundness, reliability, and scalability of RBL through extensive simulations, an updated comparison with the state of the art, and experimental validations on small-scale car-like robots.

Reconfigurable surface (RS) has been shown to be an effective solution for improving wireless communication links in general multi-user multiple-input multiple-output (MU-MIMO) setting. Current research efforts have been largely directed towards the study of reconfigurable intelligent surface (RIS), which corresponds to an RS made of passive reconfigurable elements with only phase shifting capabilities. RIS constitutes a cost- and energy- efficient solution for increased beamforming gain since it allows to generate constructive interference towards desired directions, e.g., towards a base station (BS). However, in many situations, multiplexing gain may have greater impact on the achievable transmission rates and number of simultaneously connected devices, while RIS has only been able to achieve minor improvements in this aspect. Recent work has proposed the use of alternative RS technologies, namely amplitude-reconfigurable intelligent surface (ARIS) and fully-reconfigurable intelligent surface (FRIS), to achieve perfect orthogonalization of MU-MIMO channels, thus allowing for maximum multiplexing gain at reduced complexity. In this work we consider the use of ARIS and FRIS for simultaneously orthogonalizing a MU-MIMO channel, while embedding extra information in the orthogonalized channel. We show that the resulting achievable rates allow for full exploitation of the degrees of freedom in a MU-MIMO system with excess of BS antennas.

Search is an important technique in program synthesis that allows for adaptive strategies such as focusing on particular search directions based on execution results. Several prior works have demonstrated that neural models are effective at guiding program synthesis searches. However, a common drawback of those approaches is the inability to handle iterative loops, higher-order functions, or lambda functions, thus limiting prior neural searches from synthesizing longer and more general programs. We address this gap by designing a search algorithm called LambdaBeam that can construct arbitrary lambda functions that compose operations within a given DSL. We create semantic vector representations of the execution behavior of the lambda functions and train a neural policy network to choose which lambdas to construct during search, and pass them as arguments to higher-order functions to perform looping computations. Our experiments show that LambdaBeam outperforms neural, symbolic, and LLM-based techniques in an integer list manipulation domain.

Active Queue Management (AQM) is a mechanism employed to alleviate transient congestion in network device buffers, such as routers and switches. Traditional AQM algorithms use fixed thresholds, like target delay or queue occupancy, to compute random packet drop probabilities. A very small target delay can increase packet losses and reduce link utilization, while a large target delay may increase queueing delays while lowering drop probability. Due to dynamic network traffic characteristics, where traffic fluctuations can lead to significant queue variations, maintaining a fixed threshold AQM may not suit all applications. Consequently, we explore the question: \textit{What is the ideal threshold (target delay) for AQMs?} In this work, we introduce DESiRED (Dynamic, Enhanced, and Smart iRED), a P4-based AQM that leverages precise network feedback from In-band Network Telemetry (INT) to feed a Deep Reinforcement Learning (DRL) model. This model dynamically adjusts the target delay based on rewards that maximize application Quality of Service (QoS). We evaluate DESiRED in a realistic P4-based test environment running an MPEG-DASH service. Our findings demonstrate up to a 90x reduction in video stall and a 42x increase in high-resolution video playback quality when the target delay is adjusted dynamically by DESiRED.

Extremely large-scale multiple-input-multiple output (XL-MIMO) is a promising technology to achieve high spectral efficiency (SE) and energy efficiency (EE) in future wireless systems. The larger array aperture of XL-MIMO makes communication scenarios closer to the near-field region. Therefore, near-field resource allocation is essential in realizing the above key performance indicators (KPIs). Moreover, the overall performance of XL-MIMO systems heavily depends on the channel characteristics of the selected users, eliminating interference between users through beamforming, power control, etc. The above resource allocation issue constitutes a complex joint multi-objective optimization problem since many variables and parameters must be optimized, including the spatial degree of freedom, rate, power allocation, and transmission technique. In this article, we review the basic properties of near-field communications and focus on the corresponding "resource allocation" problems. First, we identify available resources in near-field communication systems and highlight their distinctions from far-field communications. Then, we summarize optimization tools, such as numerical techniques and machine learning methods, for addressing near-field resource allocation, emphasizing their strengths and limitations. Finally, several important research directions of near-field communications are pointed out for further investigation.

Foundation models pretrained on diverse data at scale have demonstrated extraordinary capabilities in a wide range of vision and language tasks. When such models are deployed in real world environments, they inevitably interface with other entities and agents. For example, language models are often used to interact with human beings through dialogue, and visual perception models are used to autonomously navigate neighborhood streets. In response to these developments, new paradigms are emerging for training foundation models to interact with other agents and perform long-term reasoning. These paradigms leverage the existence of ever-larger datasets curated for multimodal, multitask, and generalist interaction. Research at the intersection of foundation models and decision making holds tremendous promise for creating powerful new systems that can interact effectively across a diverse range of applications such as dialogue, autonomous driving, healthcare, education, and robotics. In this manuscript, we examine the scope of foundation models for decision making, and provide conceptual tools and technical background for understanding the problem space and exploring new research directions. We review recent approaches that ground foundation models in practical decision making applications through a variety of methods such as prompting, conditional generative modeling, planning, optimal control, and reinforcement learning, and discuss common challenges and open problems in the field.

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

Large-scale pre-trained models (PTMs) such as BERT and GPT have recently achieved great success and become a milestone in the field of artificial intelligence (AI). Owing to sophisticated pre-training objectives and huge model parameters, large-scale PTMs can effectively capture knowledge from massive labeled and unlabeled data. By storing knowledge into huge parameters and fine-tuning on specific tasks, the rich knowledge implicitly encoded in huge parameters can benefit a variety of downstream tasks, which has been extensively demonstrated via experimental verification and empirical analysis. It is now the consensus of the AI community to adopt PTMs as backbone for downstream tasks rather than learning models from scratch. In this paper, we take a deep look into the history of pre-training, especially its special relation with transfer learning and self-supervised learning, to reveal the crucial position of PTMs in the AI development spectrum. Further, we comprehensively review the latest breakthroughs of PTMs. These breakthroughs are driven by the surge of computational power and the increasing availability of data, towards four important directions: designing effective architectures, utilizing rich contexts, improving computational efficiency, and conducting interpretation and theoretical analysis. Finally, we discuss a series of open problems and research directions of PTMs, and hope our view can inspire and advance the future study of PTMs.

With the advances of data-driven machine learning research, a wide variety of prediction problems have been tackled. It has become critical to explore how machine learning and specifically deep learning methods can be exploited to analyse healthcare data. A major limitation of existing methods has been the focus on grid-like data; however, the structure of physiological recordings are often irregular and unordered which makes it difficult to conceptualise them as a matrix. As such, graph neural networks have attracted significant attention by exploiting implicit information that resides in a biological system, with interactive nodes connected by edges whose weights can be either temporal associations or anatomical junctions. In this survey, we thoroughly review the different types of graph architectures and their applications in healthcare. We provide an overview of these methods in a systematic manner, organized by their domain of application including functional connectivity, anatomical structure and electrical-based analysis. We also outline the limitations of existing techniques and discuss potential directions for future research.

Graph convolutional network (GCN) has been successfully applied to many graph-based applications; however, training a large-scale GCN remains challenging. Current SGD-based algorithms suffer from either a high computational cost that exponentially grows with number of GCN layers, or a large space requirement for keeping the entire graph and the embedding of each node in memory. In this paper, we propose Cluster-GCN, a novel GCN algorithm that is suitable for SGD-based training by exploiting the graph clustering structure. Cluster-GCN works as the following: at each step, it samples a block of nodes that associate with a dense subgraph identified by a graph clustering algorithm, and restricts the neighborhood search within this subgraph. This simple but effective strategy leads to significantly improved memory and computational efficiency while being able to achieve comparable test accuracy with previous algorithms. To test the scalability of our algorithm, we create a new Amazon2M data with 2 million nodes and 61 million edges which is more than 5 times larger than the previous largest publicly available dataset (Reddit). For training a 3-layer GCN on this data, Cluster-GCN is faster than the previous state-of-the-art VR-GCN (1523 seconds vs 1961 seconds) and using much less memory (2.2GB vs 11.2GB). Furthermore, for training 4 layer GCN on this data, our algorithm can finish in around 36 minutes while all the existing GCN training algorithms fail to train due to the out-of-memory issue. Furthermore, Cluster-GCN allows us to train much deeper GCN without much time and memory overhead, which leads to improved prediction accuracy---using a 5-layer Cluster-GCN, we achieve state-of-the-art test F1 score 99.36 on the PPI dataset, while the previous best result was 98.71 by [16]. Our codes are publicly available at //github.com/google-research/google-research/tree/master/cluster_gcn.