Despite the superior performance, Large Language Models~(LLMs) require significant computational resources for deployment and use. To overcome this issue, quantization methods have been widely applied to reduce the memory footprint of LLMs as well as increasing the inference rate. However, a major challenge is that low-bit quantization methods often lead to performance degradation. It is important to understand how quantization impacts the capacity of LLMs. Different from previous studies focused on overall performance, this work aims to investigate the impact of quantization on \emph{emergent abilities}, which are important characteristics that distinguish LLMs from small language models. Specially, we examine the abilities of in-context learning, chain-of-thought reasoning, and instruction-following in quantized LLMs. Our empirical experiments show that these emergent abilities still exist in 4-bit quantization models, while 2-bit models encounter severe performance degradation on the test of these abilities. To improve the performance of low-bit models, we conduct two special experiments: (1) fine-gained impact analysis that studies which components (or substructures) are more sensitive to quantization, and (2) performance compensation through model fine-tuning. Our work derives a series of important findings to understand the impact of quantization on emergent abilities, and sheds lights on the possibilities of extremely low-bit quantization for LLMs.
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This paper presents an empirical investigation of the extent to which spoken Humanoid Embodied Conversational Agents (HECAs) can foster usability in mobile serious game (MSG) applications. The aim of the research is to assess the impact of multiple agents and illusion of humanness on the quality of the interaction. The experiment investigates two styles of agent presentation: an agent of high human-likeness (HECA) and an agent of low human-likeness (text). The purpose of the experiment is to assess whether and how agents of high humanlikeness can evoke the illusion of humanness and affect usability. Agents of high human-likeness were designed by following the ECA design model that is a proposed guide for ECA development. The results of the experiment with 90 participants show that users prefer to interact with the HECAs. The difference between the two versions is statistically significant with a large effect size (d=1.01), with many of the participants justifying their choice by saying that the human-like characteristics of the HECA made the version more appealing. This research provides key information on the potential effect of HECAs on serious games, which can provide insight into the design of future mobile serious games.
This paper presents an innovative methodology for improving the robustness and computational efficiency of Spiking Neural Networks (SNNs), a critical component in neuromorphic computing. The proposed approach integrates astrocytes, a type of glial cell prevalent in the human brain, into SNNs, creating astrocyte-augmented networks. To achieve this, we designed and implemented an astrocyte model in two distinct platforms: CPU/GPU and FPGA. Our FPGA implementation notably utilizes Dynamic Function Exchange (DFX) technology, enabling real-time hardware reconfiguration and adaptive model creation based on current operating conditions. The novel approach of leveraging astrocytes significantly improves the fault tolerance of SNNs, thereby enhancing their robustness. Notably, our astrocyte-augmented SNN displays near-zero latency and theoretically infinite throughput, implying exceptional computational efficiency. Through comprehensive comparative analysis with prior works, it's established that our model surpasses others in terms of neuron and synapse count while maintaining an efficient power consumption profile. These results underscore the potential of our methodology in shaping the future of neuromorphic computing, by providing robust and energy-efficient systems.
We present VAPOR, a novel method for autonomous legged robot navigation in unstructured, densely vegetated outdoor environments using Offline Reinforcement Learning (RL). Our method trains a novel RL policy from unlabeled data collected in real outdoor vegetation. This policy uses height and intensity-based cost maps derived from 3D LiDAR point clouds, a goal cost map, and processed proprioception data as state inputs, and learns the physical and geometric properties of the surrounding vegetation such as height, density, and solidity/stiffness for navigation. Instead of using end-to-end policy actions, the fully-trained RL policy's Q network is used to evaluate dynamically feasible robot actions generated from a novel adaptive planner capable of navigating through dense narrow passages and preventing entrapment in vegetation such as tall grass and bushes. We demonstrate our method's capabilities on a legged robot in complex outdoor vegetation. We observe an improvement in success rates, a decrease in average power consumption, and decrease in normalized trajectory length compared to both existing end-to-end offline RL and outdoor navigation methods.
Information and Communication Technology (ICT) is being provided to the variety of end-users demands, thereby providing a better and improved management of services is crucial. Therefore, Service Level Agreements (SLAs) are essential and play a key role to manage the provided services among the network entities. This survey identifies the state of the art covering concepts, approaches and open problems of the SLAs establishment, deployment and management. This paper is organised in a way that the reader can access a variety of proposed SLA methods and models addressed and provides an overview of the SLA actors and elements. It also describes SLAs' characteristics and objectives. SLAs' existing methodologies are explained and categorised followed by the Service Quality Categories (SQD) and Quality-Based Service Descriptions (QSD). SLA modelling and architectures are discussed, and open research problems and future research directions are introduced. The establishment of a reliable, safe and QoE-aware computer networking needs a group of services that goes beyond pure networking services. Therefore, within the paper this broader set of services are taken into consideration and for each Service Level Objective (SLO) the related services domains will be indicated. The purpose of this survey is to identify existing research gaps in utilising SLA elements to develop a generic methodology, considering all quality parameters beyond the Quality of Service (QoS) and what must or can be taken into account to define, establish and deploy an SLA. This study is still an active research on how to specify and develop an SLA to achieve the win-win agreements among all actors.
This paper presents a novel hybrid Automatic Speech Recognition (ASR) system designed specifically for resource-constrained robots. The proposed approach combines Hidden Markov Models (HMMs) with deep learning models and leverages socket programming to distribute processing tasks effectively. In this architecture, the HMM-based processing takes place within the robot, while a separate PC handles the deep learning model. This synergy between HMMs and deep learning enhances speech recognition accuracy significantly. We conducted experiments across various robotic platforms, demonstrating real-time and precise speech recognition capabilities. Notably, the system exhibits adaptability to changing acoustic conditions and compatibility with low-power hardware, making it highly effective in environments with limited computational resources. This hybrid ASR paradigm opens up promising possibilities for seamless human-robot interaction. In conclusion, our research introduces a pioneering dimension to ASR techniques tailored for robotics. By employing socket programming to distribute processing tasks across distinct devices and strategically combining HMMs with deep learning models, our hybrid ASR system showcases its potential to enable robots to comprehend and respond to spoken language adeptly, even in environments with restricted computational resources. This paradigm sets a innovative course for enhancing human-robot interaction across a wide range of real-world scenarios.
With the extremely rapid advances in remote sensing (RS) technology, a great quantity of Earth observation (EO) data featuring considerable and complicated heterogeneity is readily available nowadays, which renders researchers an opportunity to tackle current geoscience applications in a fresh way. With the joint utilization of EO data, much research on multimodal RS data fusion has made tremendous progress in recent years, yet these developed traditional algorithms inevitably meet the performance bottleneck due to the lack of the ability to comprehensively analyse and interpret these strongly heterogeneous data. Hence, this non-negligible limitation further arouses an intense demand for an alternative tool with powerful processing competence. Deep learning (DL), as a cutting-edge technology, has witnessed remarkable breakthroughs in numerous computer vision tasks owing to its impressive ability in data representation and reconstruction. Naturally, it has been successfully applied to the field of multimodal RS data fusion, yielding great improvement compared with traditional methods. This survey aims to present a systematic overview in DL-based multimodal RS data fusion. More specifically, some essential knowledge about this topic is first given. Subsequently, a literature survey is conducted to analyse the trends of this field. Some prevalent sub-fields in the multimodal RS data fusion are then reviewed in terms of the to-be-fused data modalities, i.e., spatiospectral, spatiotemporal, light detection and ranging-optical, synthetic aperture radar-optical, and RS-Geospatial Big Data fusion. Furthermore, We collect and summarize some valuable resources for the sake of the development in multimodal RS data fusion. Finally, the remaining challenges and potential future directions are highlighted.
As an effective strategy, data augmentation (DA) alleviates data scarcity scenarios where deep learning techniques may fail. It is widely applied in computer vision then introduced to natural language processing and achieves improvements in many tasks. One of the main focuses of the DA methods is to improve the diversity of training data, thereby helping the model to better generalize to unseen testing data. In this survey, we frame DA methods into three categories based on the diversity of augmented data, including paraphrasing, noising, and sampling. Our paper sets out to analyze DA methods in detail according to the above categories. Further, we also introduce their applications in NLP tasks as well as the challenges.
Data transmission between two or more digital devices in industry and government demands secure and agile technology. Digital information distribution often requires deployment of Internet of Things (IoT) devices and Data Fusion techniques which have also gained popularity in both, civilian and military environments, such as, emergence of Smart Cities and Internet of Battlefield Things (IoBT). This usually requires capturing and consolidating data from multiple sources. Because datasets do not necessarily originate from identical sensors, fused data typically results in a complex Big Data problem. Due to potentially sensitive nature of IoT datasets, Blockchain technology is used to facilitate secure sharing of IoT datasets, which allows digital information to be distributed, but not copied. However, blockchain has several limitations related to complexity, scalability, and excessive energy consumption. We propose an approach to hide information (sensor signal) by transforming it to an image or an audio signal. In one of the latest attempts to the military modernization, we investigate sensor fusion approach by investigating the challenges of enabling an intelligent identification and detection operation and demonstrates the feasibility of the proposed Deep Learning and Anomaly Detection models that can support future application for specific hand gesture alert system from wearable devices.
Deep Learning (DL) is vulnerable to out-of-distribution and adversarial examples resulting in incorrect outputs. To make DL more robust, several posthoc anomaly detection techniques to detect (and discard) these anomalous samples have been proposed in the recent past. This survey tries to provide a structured and comprehensive overview of the research on anomaly detection for DL based applications. We provide a taxonomy for existing techniques based on their underlying assumptions and adopted approaches. We discuss various techniques in each of the categories and provide the relative strengths and weaknesses of the approaches. Our goal in this survey is to provide an easier yet better understanding of the techniques belonging to different categories in which research has been done on this topic. Finally, we highlight the unsolved research challenges while applying anomaly detection techniques in DL systems and present some high-impact future research directions.
The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem have benefited from the representational power of deep models. This paper provides a comprehensive survey on works that employ Deep Learning models to solve the task of MOT on single-camera videos. Four main steps in MOT algorithms are identified, and an in-depth review of how Deep Learning was employed in each one of these stages is presented. A complete experimental comparison of the presented works on the three MOTChallenge datasets is also provided, identifying a number of similarities among the top-performing methods and presenting some possible future research directions.
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